YASKAWA

USER'S MANUAL
AC Servomotors and Drivers SGM/SGMP Servomotors SGDA Servopack

YASKAWA

MANUAL NO. TSE-S800-15C

PREFACE
The rapid progress being made in today’s automation and information technologies is resulting in a growing need for even more-advanced motion control for future high-tech equipment. The end result is a need for devices that can provide more-precise and quicker motion at higher speeds. Servo control technology makes this possible. Launched by Yaskawa in 1993, the Σ Series consists of innovative AC Servos that were developed using leading-edge servo control technology. This manual covers all products in the Σ Series, which feature superior functions and performance. This manual was designed to provide comprehensible information for users who are about to use a servo for the first time as well as for users who already have experience in using servos. This manual enables users to understand what Σ-Series AC Servos are all about and how to design, install, operate, and maintain a servo system. Keep this manual in a convenient location and refer to it whenever necessary in operating and maintaining the servo system.

YASKAWA ELECTRIC CORPORATION

General Precautions
S Some drawings in this manual are shown with the protective cover or shields removed, in order to describe the detail with more clarity. Make sure all covers and shields are replaced before operating this product. S Some drawings in this manual are shown as typical example and may differ from the shipped product. S This manual may be modified when necessary because of improvement of the product, modification or changes in specifications. Such modification is made as a revision by renewing the manual No. S To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA representative listed on the last page stating the manual No. on the front cover. S YASKAWA is not responsible for accidents or damages due to any modification of the product made by the user since that will void our guarantee.

NOTES FOR SAFE OPERATION
Read this manual thoroughly before installation, operation, maintenance or inspection of the AC Servo Drives. In this manual, the NOTES FOR SAFE OPERATION are classified as “WARNING” or “CAUTION”.

WARNING
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious personal injury.

CAUTION
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment.

In some instances, items described in follow these important items.

CAUTION

may also result in a serious accident. In either case,

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WARNING
(WIRING) S Grounding must be in accordance with the national code and consistent with sound local practices. Failure to observe this warning may lead to electric shock or fire. (OPERATION) S Never touch any rotating motor parts during operation. Failure to observe this warning may result in personal injury. (INSPECTION AND MAINTENANCE) S Be sure to turn OFF power before inspection or maintenance. Otherwise, electric shock may result. S Never open the terminal cover while power is ON, and never turn ON power when the terminal cover is open. Otherwise, electric shock may result. S After turning OFF power, wait at least five minutes before servicing the product. Otherwise, residual electric charges may result in electric shock.

CAUTION
(RECEIVING) S Use the specified combination of SERVOMOTOR and SERVOPACK. Failure to observe this caution may lead to fire or failure. (INSTALLATION) S Never use the equipment where it may be exposed to splashes of water, corrosive or flammable gases, or near flammable materials. Failure to observe this caution may lead to electric shock or fire. (WIRING) S Do not connect three−phase power supply to output terminals U V and W. Failure to observe this caution may lead to personal injury or fire. S Securely tighten screws on the power supply and motor output terminals. Failure to observe this caution can result in a fire.

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CAUTION
(OPERATION) S To avoid inadvertent accidents, run the SERVOMOTOR only in test run (without load). Failure to observe this caution may result in personal injury. S Before starting operation with a load connected, set up user constants suitable for the machine. Starting operation without setting up user constants may lead to overrun failure. S Before starting operation with a load connected, make sure emergencystop procedures are in place. Failure to observe this caution may result in personal injury. S During operation, do not touch the heat sink. Failure to observe this caution may result in burns. (INSPECTION AND MAINTENANCE) S Do not disassemble the SERVOMOTOR. Failure to observe this caution may result in electric shock or personal injury. S Never change wiring while power is ON. Failure to observe this caution may result in electric shock or personal injury.

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Manual Contents
This manual provides Σ-Series users with information on the following: • An overview of servo systems for first-time users. • Checking the product on delivery and basic applications of the servo. • Servo applications. • Selecting an appropriate servo for your needs and placing an order. • Inspection and maintenance.

Manual Structure
All chapters in this manual are classified into one or more of three areas according to their contents: A, B, and C. Refer to the applicable chapters for the information you require. A: Chapters explaining how to select a servo: For users who wish to gain a basic understanding of Σ Series products or who need to select an appropriate servo. B: Chapters explaining how to design a servo system: For users who are about to design, install, and operate a Σ-Series Servo Control System. C: Chapters explaining maintenance: For users who are going to maintain and troubleshoot Σ-Series products. Chapter CHAPTER 1 CHAPTER 2 Title Page For First-time Users of AC Servos . . . . . . . . . . . . . . . . . . . . . . . 1 . . . . . . . . . Provides an overview of servos and the Σ Series. Basic Uses of Σ-series Products . . . . . . . . . . . . . . . . . . . . . . . . 15 . . . . . . . . . Describes steps to take when product is received, plus basic wiring and application methods. Applications of Σ-series Products . . . . . . . . . . . . . . . . . . . . . . . 51 . . . . . . . . . Describes the effective usage of Σ-Series features according to application. Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 . . . . . . . . Describes operating procedures for Σ-Series servos, turning features ON and OFF, setting control constants, etc. Servo Selection and Data Sheets . . . . . . . . . . . . . . . . . . . . . . . . 205 . . . . . . . . Describes selection methods for Σ-Series servos and peripherals and provides servo specifications. Inspection, Maintenance, and Troubleshooting . . . . . . . . . . . 343 . . . . . . . . Describes user maintenance and troubleshooting. Area A, B B

CHAPTER 3

B

CHAPTER 4

B

CHAPTER 5

A, B

CHAPTER 6

C

APPENDIXES A B C D E

Differences between SGDA and SGD Servopacks . . . . . . . . . . . Servo Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . List of I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . List of User Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . List of Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

367 374 365 397 409

........ ........ ........ ........ ........

A, B. C B, C A, B, C B, C B, C A, B, C

INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415 . . . . . . . .

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Basic Terms
Unless otherwise specified, the following definitions are used: Servomotor: Servopack: Servodrive: Σ-Series SGM/SGMP Servomotor An amplifier (Trademark of Yaskawa servo amplifier “SGDA Servopack”) A SGM/SGMP Servomotor and an amplifier (SGDA Servopack)

Servo system: A complete servo control system consisting of servodrive, host controller, and peripheral devices

Visual Aids
The following aids are used to indicate certain types of information for easier reference.

.
TERMS

Indicates references for additional information. Technical terms placed in bold in the text are briefly explained in a “TERMS” section at the bottom of the page. The following kinds of technical terms are explained: Technical terms that need to be explained to users who are not very familiar with servo systems or electronic devices and technical terms specific to Σ Series Servos that need to be explained in descriptions of functions. The text indicated by this icon is applicable only to Servopacks for speed/torque control (Type: SGDA-jjjS). If neither this icon nor the following icon appears, the description is applicable to both types of Servopack. The text indicated by this icon is applicable only to Servopacks for position control (Type: SGDA-jjjP). If neither this icon nor the previous icon appears, the description is applicable to both types of Servopack. The text indicated by this icon explains the operating procedure using hand-held type digital operator (Type: JUSP-OP02A-1).

SGDA-

S

Speed/Torque SGDAPositions P

JUSP-OP02A-1

The text indicated by this icon explains the operating procedure using mount type digital operator (Type: JUSP-OP03A).
JUSP-OP03A

NOTE

A Σ-Series Servodrive alone cannot ensure the functionality and performance of the entire machine control system. It must be combined with an appropriate machine and host controller so that the entire control system works properly. Therefore, carefully read the instruction manuals for the machine to be used before attempting to operate the servodrive.

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Yaskawa, 1995
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

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.9 Using Torque Restriction by Analog Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. . . . . . . . . 2. .6 Using Contact Input Speed Control . . . . CHAPTER 3 3.2. . 3. . . . . . . . . . . .2 3. . . . . . . .4 Supplementary Information on Test Run . 1. . 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. . . 1 2 2 5 11 Basic Understanding of AC Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Servo Configuration . . . . . . . . . . . .3. 3. . . . . . . . . . . . . . . . . . . . . 3. . . . . . x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . .1. . . 1. . 2. . . . . . . . . . . . . . . . . . . .3 Installing the Servopack . . . . . .3 Using Encoder Output . . .4. . . . . . . . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . .1 FOR FIRST-TIME USERS OF AC SERVOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1. . .1. . . . . . . . .5 Using Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . 2. . . . . . . . .3. .1 2. . . . . . . . . . . . 2. . . . . . . . . . .4 Precautions . . 3. . 3. . . . . . . . . .4 Setting the Motor Type . . . . . . . . . . . .1 Checking on Delivery . .11 Using the Reference Pulse Input Filter Selection Function . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . . . . . . . . . . . . . . . . .2 Setting the Jog Speed . . . . . . . . . . . . . . . . . .CONTENTS CHAPTER 1 1. . . . . . . . . . . . . . . . . . . . .10 Using the Reference Pulse Inhibit Function (INHIBIT) . . . . . . .1. . . . . . . . . . . . . . . Setting Up the Σ Servopack . . . . . . . . . . 3. . . . . . . . . . . 51 54 54 56 59 65 65 69 73 77 79 83 88 94 95 97 99 100 100 101 102 103 3. . . . . . . . . . . . . . . .3 Setting the Number of Encoder Pulses . . . . . .3 Step 2: Conducting a Test Run with the Motor Connected to the Machine . . . . . . . . . . . . . . . . . . . . . . .2. .2 Installing the Servomotor . . 2. . . . . . . . . . . . . . . . . . . . . . .3. . . . . . .3 Examples of Connecting I/O Signal Terminals . . . . . . . . . . . . . . 2. . . . . . . . . . . . . . . . . . . . . . . Setting User Constants According to Host Controller . . . . . . . . . . . .1 Test Run in Two Steps . . . . .3 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conducting a Test Run . . . . . . . Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Features of Σ-Series Servos . . . . . . . . . . . . . . . . . . . . . . .1 Changing the Direction of Motor Rotation . . . . . . . . . . .3 Setting User Constants According to Machine Characteristics . . . . . . . . . . .2. . . . . . . . . .1 Setting User Constants . . . . . . . . . .4. . . . . . . . . . . . . . . . . . . .2 Inputting Position Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2. . . . . .2. . . . . . . . . . .2 Step 1: Conducting a Test Run for Motor without Load . . . . . . . . . . . . . . . 15 16 16 18 18 19 22 25 25 28 30 37 37 39 44 46 48 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . . . . . . . . . . . . . . . . . 3. . . . . . . . . .1 Connecting to Peripheral Devices . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . .4 Using Contact I/O Signals . 3. . . . . . . . . . . . . . . . . . . . . .7 Using Torque Control . . . . . . . . . . . . .2. . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . CHAPTER 2 2. . . 1.5 Minimum User Constants Required and Input Signals . . . . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . .3 Restricting Torque . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . . 3. . . . . . . . . . . . . . . .2. . Connection and Wiring . . . .1 Servo Mechanisms . .3. . . .1. .2 Setting the Overtravel Limit Function . . . . . . . . . . . . . . . . . .1 APPLICATIONS OF Σ-SERIES PRODUCTS . . . . . . . . . . . . . . . . . . . . 2. . . . . . . . . . . . . . . . . . . . . . . . 3.4. . . . . . . . . . . . . . . . . . . .1. . . .1 Notes on Use . . . . . . . 2. . . 2.3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Main Circuit Wiring and Power ON Sequence . . . . . .4. . . . .8 Using Torque Feed-forward Function . . . . . .2. . . . . . . . . . . . . . .2. . . . . . . . . . . .2 BASIC USES OF Σ-SERIES PRODUCTS . . 3. . . . . . . . . .2. . . . . . . . . . . . . . . . . . 3. . . . .1 Inputting Speed Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1. . . . . . . . . . . .4. . .2. . . . .2. . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . 167 168 168 169 170 171 174 179 Basic Operations . . . . . . . . . . . . . . . . . . .5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 Setting the Torque Reference Filter Time Constant . . . . . . . . . . . . . . . . . . .4 Setting Stop Mode . . . . . . . . . . . . . . . . . . . . . . . . .7. . . . .7. . . . . . .4. . . . . . . . . . . .5 Operation in User Constant Setting Mode . 3. . . . . 3. . . . . . . . . . . . . . . .1 Using Servo Alarm Output and Alarm Code Output . . . . . . . . . . .7 Using SGDA Servopack with High Voltage Line . .6. . . . . .5. . . . . . . . . . . . . . . . .7. . . . 104 104 105 106 107 111 111 112 112 113 113 114 114 114 116 116 117 118 124 125 125 125 129 131 132 134 136 136 138 143 144 148 157 159 161 3. . . . . 3. . . . . . . .6 Operation in Monitor Mode . . . . . . .1. . . . . . . . . . . . . . . . . . . . . . . . . .5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Setting Servo Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Using Servo ON Input Signal . . . . . 3. . . . . . . . . . . . . . .4 Using Regenerative Units . . . . . . . . Minimizing Positioning Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Resetting Servo Alarms . . . . . . . . . . . . . . . . . . . . . . 3. . . 3. .6. . . . . . . . . . . 3. . . . . . . . . . . . .2 Using the Smoothing Function . . . .5. . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 Handling of Power Loss . . . . .5 Setting Speed Bias . . . . . . . 3.8 CHAPTER 4 4. . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . .1 Using the Soft Start Function . . . . . . . . . . .4.8. . . . . . . . . . . . . . . . . . Special Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.8 Connector Terminal Layouts . . . . . . . 3. . . . . . . . .1. . . . . . .6 Using Mode Switch . . . . . . .4 Using Holding Brake . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 3. . . . . . . . . .6. . . . .4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Wiring for Noise Control . . . . . . . . . . . 3.8. . . .1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Operation in Status Display Mode . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . Running the Motor Smoothly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Connecting the Digital Operator . . . . . . . . . . . . . . .6 Extending an Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . .5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Using Proportional Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Using Autotuning Function . .3 Using More Than One Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. . . . . . . .8. . .2 Using Dynamic Brake . . . .5 Using an Absolute Encoder . . . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . .8. . . . . . . . . . . . . . . . . . . . . . . 4. . . . . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . 4. . . . . . . . 3. . .6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1. . . . . .6 3. . . . . . . .3 Using Feed-forward Control .3 Adjusting Gain . .4. . . . . . . .1. . . . . . . . . . . . . . . . . . . . . . .5 Using Running Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4. . . . . . . . . . . . . . . . . . . . . . . . . . .4 Adjusting Offset . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . . . .8. . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . .6. . . . 4. . . . . . 3. . . . 4. . . . . . . . . . . . . . . . .7. . . . . 3. . . . . .4 Using Speed Coincidence Output Signal . . . . . . . . .1 Adjusting Offset . . . . . . .3 Using Zero-Clamp . . . 3. . . . . . . . . . . . . . . . . .8. . . . .7. . . . . . . . . . . . . 3. . . . . . . .8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7 3. . . . . . . . .8. . . . .1 USING THE DIGITAL OPERATOR .CONTENTS 3. . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7 Using Speed Loop Compensation Function .3 Basic Functions and Mode Selection . . . . . . . . . . .6. . .3 Using Positioning Complete Signal . . . . . . . . . . . . . . . . . . 3. xi . . . . . . .7. . . . . . . . . . . . . . . . Forming a Protective Sequence .1 Wiring Instructions . . . . .1. . . . . . . . . . . . . . . . . . 4. . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5. . . . . . 5. . . 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Selecting a Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . . . . . . . . . . . 5. . . . 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5. . .3 Autotuning . . . . . . . . . . . . . . . . . . . .2. . . . . . . . . . . . . . . . . . . . . . . .6. . . . . SGM Servomotor . . . . . . . . . . . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . .4. . . . . . . . . . .1 Selecting Peripheral Devices . . . . . .5 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . .3 Connector Kits . . . xii . . . . . . . . . . . . . . . .2 Mechanical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 Surge Suppressor . . . 5.14 Regenerative Unit . . .2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 Battery for Absolute Encoder . . . . . . . . . . . . . . . . . . . . . .2 5. 5. .4 Brake Power Supply . . . . . . . . . . . . . . . . . . . . . . . . 5. . . . . .2 Operation Using the Digital Operator . .3. . . . . . . . . . . . . . . 4. . . . .8 Connector Terminal Block Converter Unit . . . . . . . . . . . . . . 5. . . . . . . . . . . . . . . . . . . . . .6. . . . . . . .3 Digital Operator Dimensional Drawings . . . . . . 5. . .5 Overhanging Loads . . . . . . . . . . . . . . . . . 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . . . . . . .2.3 5. . . . . . . . . . . . . . . . . . . .6. . . .2 Overload Characteristics . . . . . . . . . . . . . . . . .4. . . . . . . . . . . . . .1 Selecting a Servomotor . . 5. . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . 5. .2. . . . . . . . . . . . . . . . .1 Cable Specifications and Peripheral Devices . . . . . . . . . . . Σ-Series Dimensional Drawings . . . . . .4 Load Inertia . . .4 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5. 5. . . . .4. . . . .2. . . . . . . . . . .1 SERVO SELECTION AND DATA SHEETS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .CONTENTS 4. . . . . . . . . . . . . . . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . . .2 Servopack Dimensional Drawings . . . . . . . . . . . . . . . . . . .7 Checking Motor Type . . . . . . . . . . . . . . . . . . . .1 Ratings and Specifications .6. . . . . .6 Clearing Alarm Trace-back Data . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . 5. . . . . . . . . . . . .3. . . . . . . 5. . . . . . . . . . . . . 4. . . . . . . . . . . . . . . . . .1. . . . . . . . . . . . . . . . .7 1CN Connector . . . . . . . . . 5. . . . .2 Order List . . . . . . . . . . . . . . . .6. . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . .5 5. . . . . . . . .10 Circuit Breaker . .3. . . . . . . . . . . . . . . . . . 5. .2 Using the Functions . .3 Selecting a Digital Operator .1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4. . . . . . . . . . . . . . . . . . . . .3 Starting Time and Stopping Time . . . . 5. . . . .2. Servopack Ratings and Specifications . . .6. . . . . . . . . . 183 183 186 189 196 174 202 203 204 CHAPTER 5 5. . . . . . . . . . . . . . . . . . . Specifications and Dimensional Drawings of Peripheral Devices . . . . . . . . . . . . . . . . . . .6.8 Checking Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 207 207 213 215 217 217 232 235 235 240 241 241 244 245 246 246 289 291 293 293 299 308 308 311 314 318 320 325 326 328 330 330 331 332 333 334 5. . . . . . . . . . . . 4. . . . . . . .6 Selecting a Σ-Series Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3. . .1 Operation in Alarm Trace-back Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5. . . . . . . . 5. . . . . . . . . . . . . . . . . . . . . . . . . . . .6. . . . . .2 Motor Cables . . . . 5. . . .1 Ratings and Specifications . 5. . . . . . . 5. . . . . . . . . . . . . . . . . . . . . 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Reference Offset Automatic Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12 Magnetic Contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5. . . . 5. . 4. . . . . . . . . . . . . . .5 Speed Reference Offset Manual Adjustment Mode . . . . . . . .2. . .3. . . . Selecting Peripheral Devices . . .9 Cable With 1CN Connector and One End Without Connector . . . . . . . . . . . .6. . . . . .1. . . .1 Servomotor Dimensional Drawings . . . . . . . . . 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . 5. . . . . . . . . . . . . . . . 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 In-rush Current and Power Loss . . . . . . . . .2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . Σ-Series AC Servopack Gain Adjustment . . . . . . . . . .6. . . . . . . . Troubleshooting . . . . . . . . . . . . . . . . . . . . . . 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1. . . . . . .2 Basic Rules for Gain Adjustment . . . . . . . . . . . . 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Troubleshooting Problems With No Alarm Display . . . . . . . . . Adjusting a Speed-control Servopack . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . . B.3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . APPENDIXES A B B. . . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . .1 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . Encoder Signal Converter Unit . . . . . . . . . . . . . .15 5. B. . . . . . Servo Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . .1 Σ-Series AC Servopacks and Gain Adjustment Methods . . . . . . MAINTENANCE. . . . . . . . . . . . . . . . . . . . . . . . . . 6. . . . . . . . . . . . . . . . . . . . . . . . . . AND TROUBLESHOOTING 343 344 344 345 346 347 347 366 368 6. . . . . . . . . . . . . . .2 Manual Adjustment . . . . . . . . . . . . . . . . . . . . . 367 374 374 374 375 376 376 377 380 380 381 385 385 385 397 409 B. . .1 INSPECTION. . . . . .1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . List of I/O Signals . . . . . .1 Adjusting Using Auto-tuning . . . . . . .1 Differences Between SGDA and SGD Servopacks . . .2. . . . . . . . . . . . . . . . . . . . . . B. . . . . . . . . . . . . . . .1. . . . . . . .2 Servopack . . . . . . . . .1 Adjusting Using Auto-tuning . . . . . .3 Replacing Battery for Absolute Encoder . . . . . . . . . . . . . . . B. . .1 Guidelines for Gain Settings According to Load Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6. . . . . .2 B. . . . .3 B. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B. . . . . . . . . . . . . . .2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . . . . . . . . . .1 Troubleshooting Problems with Alarm Display . . B. . . . . .2. . . Cables for Connecting PC and Servopack . . . . . . . . . . 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6. . . . . . . . . . . . . . . . . . . . . . . . . B. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1. 6. . . . . . . . . . . . . . . . . . . . .4. . . . .CONTENTS 5. . . . . . . . Adjusting a Position-control Servopack . . . . . . . . . . .1. . .4 C D E INDEX . . . . . . . . . . . . . . . . . . . . . . . 415 xiii . . . . . . Gain Setting References . . 335 336 338 CHAPTER 6 6. . . . List of User Constants . .3 Internal Connection Diagram and Instrument Connection Examples . . . . . .2 Manual Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Variable Resistor for Speed Setting . . . . . . . . . . . . . . . . . . . . . . . . . . List of Alarm Displays . . . . . . . . . . . . . . . .2 Inspection and Maintenance . .

. . . . . . . . . . . . Users who already have experience in using a servo should also take a look at this chapter to understand the features of Σ-Series AC Servos. . . . . . . . . . 1. . .3 Features of Σ-Series Servos . . . . . . . . . . . . . . . . .1.1 Basic Understanding of AC Servos . . . . . . . .FOR FIRST-TIME USERS OF AC SERVOS 1 1 2 2 5 11 This chapter is intended for first-time users of AC servos. .2 Servo Configuration . . . . . .1. . . 1 . . 1. . . . . . . . 1. . .1 Servo Mechanisms . . . . . . . . 1. . . . . . . .1. . . . . . . . . . . . . . . . . . . . . . . . It describes the basic configuration of a servo mechanism and basic technical terms relating to servos.

.1. . . .2 1. . . . . . . . . . . Servo Configuration . . Features of Σ-Series Servos . . . . . . . . 2 5 11 1. . . (Source: JIS B0181) 2 . . . . . . . . . . . . . . . . .1 1. . . . . .3 Servo Mechanisms . . . . In fact. . . . . . . . . . . . . . . . . . . . a servo mechanism is a control mechanism that monitors physical quantities such as specified positions. . . . In short. . . a “servo mechanism” is defined as a mechanism that uses the position. . . . . . . 1 1. Feedback control is normally performed by a servo mechanism. . . or orientation of an object as a process variable to control a system to follow any changes in a target value (set point). . . . . . a servo mechanism is like a servant who does tasks faithfully and quickly according to his master’s instructions. . . . . . . . . . . . . these terms are synonymous. . . . . .1 Basic Understanding of AC Servos This section describes the basic configuration of a servo mechanism and technical terms relating to servos and also explains the features of Σ-Series AC Servos. . . . .1.FOR FIRST−TIME USERS OF AC SERVOS 1. . direction.1 Servo Mechanisms You may be familiar with the following terms: • Servo • Servo mechanism • Servo control system In fact. . . . .1. .” TERMS Servo mechanism According to Japanese Industrial Standard (JIS) terminology. . . .1 Servo Mechanisms 1. . . . . . . . . .1. . More simply.1. . “servo” originally derives from the word “servant. . They have the following meaning: A control mechanism that monitors physical quantities such as specified positions.

3 . electric current. input data is defined as a position. However. for example. servo is synonymous with servo mechanism. feeds back the data to the input side. The main technical terms used in this manual are as follows: 1) Servo mechanism 2) Servo Normally. It is also called closed-loop control. speed. the specified position changes. This manual also follows this convention in the use of the term “servo”. water pressure. TERMS Feedback control A control that returns process variables to the input side and forms a closed loop. or voltage.1 Basic Understanding of AC Servos Servo system could be defined in more detail as a mechanism that: • Moves at a specified speed and • Locates an object in a specified position To develop such a servo system. In the above example. force (torque). If. and so on are typical controlled values for a servo system. because “mechanism” is omitted.1. Servo may refer to the entire servo mechanism but may also refer to an integral part of a servo mechanism such as a servomotor or a servo amplifier. but input data can be any physical quantities such as orientation (angle). and moves the machine by the difference between the compared data. In other words. Position. an automatic control system involving feedback control must be designed. compares it with the specified position (input data). the servo system is a control system that forces the output data to match the specified input data. the meaning becomes somewhat ambiguous. the servo system will reflect the changes. This automatic control system can be illustrated in the following block diagram: Configuration of Servo System Specified position input Servo amplifier Servo motor Controlled machine (load) Machine position output 1 Feedback part Detector This servo system is an automatic control system that detects the machine position (output data).

Trademark of Yaskawa servo amplifier “SGDA Servopack. A Servomotor and amplifier pair.” A closed control system consisting of a host controller.1.” Servopack is divided into two types: SGDA-jjjS (for speed/torque control) and SGDA-jjjP (for position control). the term “servo system” is also used as a synonym of servo control system. In some cases. servo drive and controlled system to form a servo mechanism. Also called “servo. Related Terms Meaning General servomotors or Yaskawa SGM/SGMP Servomotors. 3) Servo control system Servo control system is almost synonymous with servo mechanism but places the focus on system control. In this manual.1 Servo Mechanisms cont. 1 Servomotor Servopack Servo drive Servo system Host controller Reference Amplifier (Servopack) Servomotor Controlled system Operate Servo drive Servo system 4 .FOR FIRST−TIME USERS OF AC SERVOS 1. a position detector (encoder) is included in a servomotor.

which operates the servomotor. an encoder mounted on a motor is used as a position detector. (2) Servomotor: A main actuator that moves a controlled system. This includes a drive system that transmits torque from a servomotor. A device that controls a servo amplifier by specifying a position or speed as a set point. which processes error signals. A servo amplifier consists of a comparator. (3) Detector: (4) Servo amplifier: (5) Host controller: 5 . An amplifier that processes an error signal to correct the difference between a reference and feedback data and operates the servomotor accordingly. Normally.2 Servo Configuration 1) Configuration of Servo System The following diagram illustrates a servo system in detail: Host controller 1 (5) Position or speed reference Servo amplifier Comparator Power amplifier (Input) (4) (Output) Motor drive circuit Gear Position Speed (1) Movable table Position or speed feedback (3) (2) Detector Servomotor Controlled system Drive system Ball screw (1) Controlled system: Mechanical system for which the position or speed is to be controlled.1.1 Basic Understanding of AC Servos 1. Two types are available: AC servomotor and DC servomotor. A position or speed detector. and a power amplifier.1.

orientates the controlled system.FOR FIRST−TIME USERS OF AC SERVOS 1. so can be treated as a minor coupling device. This drive system is widely used for machining tools. the drive system consists of: 1 Gears + Ball Screw This drive system is most commonly used because the power transmission ratio (gear ratio) can be freely set to ensure high positioning accuracy. play in the gears must be minimized. 6 . A drive system connects an actuator (such as a servomotor) to a controlled system and serves as a mechanical control component that transmits torque to the controlled system. a coupling is useful because it has no play.2 Servo Configuration cont.1. A trapezoidal screw thread does not provide excellent positioning accuracy. Configure the controlled system by using an appropriate drive system for the control purpose. it is important to select a rigid drive system that has no play. The movable table is driven by a ball screw and is connected to the servomotor via gears. the controlled system is a movable table for which the position or speed is controlled. TERMS Drive system Also called a drive mechanism. However. Housing Rolling-contact guide Coupling Ball screw Rolling-contact bearing Timing Belt + Trapezoidal Screw Thread A timing belt is a coupling device that allows the power transmission ratio to be set freely and that has no play. The following drive system is also possible when the controlled system is a movable table: Coupling + Ball Screw When the power transmission ratio is 1 : 1. and converts motion from rotation to linear motion and vice versa. Servo components (1) to (5) are outlined below: (1) Controlled system In the previous figure. So. Servomotor Timing belt Trapezoidal screw thread To develop an excellent servo system.

refer to Chapter 6 Inspection. They have a long history. The following figure illustrates the structure of a synchronous type servomotor: Light-receiving Rotary disc element Armature Housing Front cap wire Light-emitting Stator core element Ball bearing Shaft Rotor core Position detector (encoder) Magnet Lead wire Yaskawa SGM and SGMP Servomotors are of the synchronous type. inspect and replace parts at regular intervals. Driven by alternating current (AC). The synchronous type is more commonly used. (b) AC Servomotor AC servomotors are divided into two types: synchronous type and induction type.1 Basic Understanding of AC Servos (2) Servomotor (a) DC Servomotor and AC Servomotor Servomotors are divided into two types: DC servomotors and AC servomotors. From 1984. so this type is ideal when precise positioning is required.1. AC servomotors were emerging as a result of rapid progress in microprocessor technology. Use this type for a servo mechanism for position control. motor speed is controlled by changing the frequency of alternating current. For a synchronous type servomotor. AC servomotors are now widely used because of the following advantages: • Easy maintenance: • High speed: No brush No limitation in rectification rate 1 Note however that servomotors and Servopacks use some parts that are subject to mechanical wear or aging. Maintenance. For details. For preventive maintenance. DC servomotors are driven by direct current (DC). A synchronous type servomotor provides strong holding torque when stopped. Up until the 1980s. and Troubleshooting. the term “servomotor” used to imply a DC servomotor. 7 .

It uses an encoder mounted on a servomotor for this purpose. 1 (3) Detector A servo system requires a position or speed detector. The term “power rating (kW/s)” is used to represent instantaneous power. • Difference between an absolute and incremental encoder: An absolute encoder will keep track of the motor shaft position even if system power is lost and some motion occurs during that period of time.001 mm). The greater the power rating. Encoders are divided into the following two types: (a) Incremental Encoder An incremental encoder is a pulse generator. 8 . It refers to the electric power (kW) that a servomotor generates per second. With an absolute encoder.. Hence zero return operation must be performed before positioning.. which generates a certain number of pulses per revolution (e.2 Servo Configuration cont. therefore. If this encoder is connected to the mechanical system and one pulse is defined as a certain length (e. 2.g.g. The incremental encoder is incapable of the above. The following figure illustrates the operation principle of a pulse generator: Phase A Phase B Phase Z Slit Center of revolution Light-emitting element Phase A pulse train Phase B pulse train Fixed slit Rotary disc Light-receiving element Rotary slit (b) Absolute Encoder An absolute encoder is designed to detect an absolute angle of rotation as well as to perform the general functions of an incremental encoder. it can be used as a position detector.FOR FIRST−TIME USERS OF AC SERVOS 1. 0. However. the more powerful the servomotor. it is possible to create a system that does not require zero return operation at the beginning of each operation. this encoder does not detect an absolute position and merely outputs a pulse train.1. (c) Performance of Servomotor A servomotor must have “instantaneous power” so that it can start as soon as a start reference is received.000 pulses per revolution).

In other words.) (b) Power Amplifier A power amplifier runs the servomotor at a speed or torque proportional to the output of the comparator. The following figure illustrates the configuration of a servo amplifier: Servo amplifier Power amplifier Motor driving AC power Comparator Reference input 1 Feedback Commercial AC power Servomotor A servo amplifier consists of the following two sections: (a) Comparator A comparator consists of a comparison function and a control function. which is more commonly used. from the commercial power supply of 50/60 Hz. it generates alternating current with a frequency proportional to the reference speed and runs the servomotor with this current. (It is not important if you do not understand these control terms completely at this point. The comparison function compares reference input (position or speed) with a feedback signal and generates a differential signal. In other words. 9 . The control function amplifies and transforms the differential signal. it performs proportional (P) control or proportional/integral (PI) control.1 Basic Understanding of AC Servos (4) Servo amplifier A servo amplifier is required to operate an AC servomotor.1. TERMS Proportional/integral (PI) control PI control provides more accurate position or speed control than proportional control.

the PROGIC-8 can provide position control. The PROGIC-8 also provides programmable controller functions. a position control loop may be formed in the host controller when a position feedback signal is received. If combined with a servo amplifier for speed control (maximum eight axis control).2 Servo Configuration cont.FOR FIRST−TIME USERS OF AC SERVOS 1. 10 . 1 TERMS PROGIC-8 A programmable machine controller. (5) Host Controller A host controller controls a servo amplifier by specifying a position or speed as a set point. Yaskawa PROGIC-8 is a typical host controller.1. For speed reference.

07 HP. 50 W. Reference input is by analog voltage.1. 0.13 HP.13 HP.27 HP. 11 .01 HP) 2) SGDA Servopacks are divided into the following two types according to usage: • For Speed/Torque Control: SGDA-jjjS Type This type uses speed or torque reference input.04 HP. 400 W.1 Basic Understanding of AC Servos 1. 0. The greater the power rating. 0. 0. 100 W. • For Position Control: SGDA-jjjP Type This type uses position reference input.1. 1 SGM type TERMS Power rating (kW/s) A constant that represents response performance of a servomotor. 200 W.53 HP. 1. 200 W. 0.3 Features of Σ-Series Servos 1) Σ-Series SGM/SGMP Servomotors are synchronous type servomotors and have the following features: • Size and weight reduced to one-third those of our conventional models. 0. the more powerful the servomotor. 300 W (0. Power rating is the electric power (kW) that a servomotor can generate per second. Reference input is by pulse train.04 HP. 50 W. 0. 0.07 HP. • A wide product range covering rated output of 30 W to 750 W.40 HP) 200 VAC: 30 W. 750 W (0. 100 W. Enhanced power rating (kW/s) to satisfy every need. It can be determined by dividing squared rated torque by motor inertia. Compact Servomotor for saving installation space.27 HP. • Servo performance (power rating) enhanced to three times that of our conventional models. Supply Voltage Rated Output SGMP type 100 VAC: 30 W.

12 . Yaskawa programmable machine controller PROGIC-8 is available as a typical host controller. 3) The most common usage of a Servopack for speed/torque control is shown below: • Using Servopack for Speed/Torque Control (Speed Control) Host controller Position reference + Position control loop 1 Position feedback Speed reference Servopack for speed/torque control Power amplifier Servomotor (Analog voltage) Torque (current) feedback Encoder Position Speed Convert Pulse train Position feedback As shown in the figure above. the host controller can freely perform the control required for the servo mechanism.FOR FIRST−TIME USERS OF AC SERVOS 1. In this way. The Servopack undertakes the speed control loop and subsequent control processing. The host controller compares a position reference with a position feedback signal and sends processing results to the Servopack as a speed reference. a position control loop is formed in the host controller.1.3 Features of Σ-Series Servos cont.

• Using Servopack for Speed/Torque Control (Torque Control) Host controller Position monitoring Position information 1 Torque reference Servopack for speed/torque control Power amplifier Servomotor (Analog voltage) Torque Position Speed (current) feedback Convert Pulse train Position feedback (Analog voltage) Speed reference Encoder Set the user constants for Servopack to switch between the following torque control modes: (1) Controlling servomotor torque by torque reference (Torque control I) (2) Operating servomotor by switching between torque reference and speed reference (Torque control II) The host controller outputs a torque reference or speed reference to control the Servopack.1. 13 . It also receives a pulse train (position information) from the Servopack and uses it to monitor the position.1 Basic Understanding of AC Servos 4) Servopack for speed/torque control can also provide torque control as shown below.

6) A Digital Operator can be used to set user constants for a Servopack as follows: (1) Setting user constants to enable or disable each function (2) Setting user constants required for functions to be used Set user constants according to the servo system to be set up.3 Features of Σ-Series Servos cont.1. 5) Servopack for position control can be used as below. 14 .FOR FIRST−TIME USERS OF AC SERVOS 1. • Using Servopack for Position Control Host controller Position monitoring 1 Position reference Position information Servopack for position control Power amplifier Servomotor Pulse train Speed/current loop Pulse train Position feedback Encoder The host controller can send a position reference (pulse train) to the Servopack to perform positioning or interpolation. User constants can be used to select either of the following pulse trains: (1) Code and pulse train (2) Two-phase pulse train with 90° phase difference (3) Forward and reverse pulse trains The host controller receives a pulse train (position information) from the Servopack and uses it to monitor the position. This type of Servopack contains a position control loop.

. . .4. . . . . .1 Test Run in Two Steps . . . . . . . . . . . . . . . .4. . . . . . . . . . . . . 2. . . . . . . . . . . . . . . 16 2. .3 Examples of Connecting I/O Signal Terminals . . . . .3. . . . . . . . . . . . . . . . . . . . . . . .1 Checking on Delivery . . . . . . .2 Main Circuit Wiring and Power ON Sequence .1 Notes on Use . . . . . . . . . . .3 Step 2: Conducting a Test Run with the Motor Connected to the Machine . 25 28 30 2. . . . . . . . . . 2. .1. . . .4 Supplementary Information on Test Run . . .2 Installing the Servomotor . . . . . . . . 25 2. . . . . . . . .5 Minimum User Constants Required and Input Signals . .4. . . . . . . . . . . . . . . . .1 Precautions . . . . . . . . . . . . . . . . . 2.4 Conducting a Test Run . . . . . . . . . . . . . . . 2. . . . . . .2. .BASIC USES OF Σ-SERIES PRODUCTS 2 2 16 18 19 22 This chapter describes the first things to do when Σ-Series products are delivered. . . . . . . . . . . . . .3 Connection and Wiring . .1 Connecting to Peripheral Devices . .2. . . . . . . . . 2. . . . .4. . . . . . . . . . . . . . . . . . 37 39 44 46 48 15 . . . . . 2. . . . . . 18 2. . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . . . . Both first-time and experienced servo users must read this chapter. It also explains the most fundamental ways of connecting and operating Σ-Series products. . . . . . . . . . . . . . . . . .3. 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2. . . 2. . . . . . . . . . . . . .4.2 Installation . . . . . . . . . . . . . . . .3. . . .3 Installing the Servopack . . . . . 2.2 Step 1: Conducting a Test Run for Motor without Load . . . . . . 2. . . . . . . . . . 37 2. . . . .

. . . Always turn the power OFF before connecting or disconnecting a connector. . 100 V and 200 V.) Direct connection 200 V or 100 V power supply Damage will result! Do not change wiring when power is ON. . JUSP-OP03A)) Extinguished Always turn the power OFF before connecting or disconnecting a connector. . . 2. . (Direct connection to the commercial power supply will damage the Servomotor. . . . . . . . . . . (Except for Digital Operator (Types: JUSPOP02A-1.1 Precautions This section provides notes on using Σ-Series products.1. . . Even after the power is turned OFF. . . . . residual voltage still remains in the capacitor inside the Servopack.1. .1 Notes on Use 2. . 16 2. .1 Notes on Use . . . . . . . Do not plug the SGM Servomotor directly into the commercial power supply. .BASIC USES OF Σ-SERIES PRODUCTS 2. always wait at least 5 minutes to avoid the risk of an electrical shock. Note that residual voltage still remains in the Servopack even after the power is turned OFF. . . . . . Be sure to use the correct type. . . The SGM Servomotor cannot run without the SGDA Servopack. . Careful! Residual voltage remains in capacitor Wait at least 5 minutes 16 .1 Notes on Use NOTE Always note the following to ensure safe use. . . Type NP 2 Voltage label Always use the SGM Servomotor and SGDA Servopack in pairs. . . . Both Σ-Series Servomotor and Servopack have 100 V and 200 V types. If inspection is to be performed after the power is turned OFF. Two types of supply voltage are available. .1. . .

For a ground-fault interrupter. If the signal line is noisy. D D D D Voltage: 1. Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate. D Use cables as short as possible. such as the motor deceleration time. vibration or malfunction will result. Use a fast-response type ground-fault interrupter. Provide sufficient clearance 10 mm Ambient temperature: 0 to 55°C Perform noise reduction and grounding properly. Ground-fault interrupter GOOD Fast-response type GOOD For PWM inverter POOR Time-delay type Do not perform continuous operation under overhanging load. vibration and shock.500 Vrms AC. D Never use a line filter for the power supply in the motor circuit. 2 Conduct a voltage resistance test under the following conditions. Servopack Power supply Starting and stopping by turning power ON and OFF 17 . Regenerative braking by the Servopack can be applied only for a short period. always use a fastresponse type or one designed for PWM inverters. D Use at least class 3 grounding (ground resistance 100Ω or below) for the Servomotor and Servopack.) Conduct a dielectric strength test as described on the left. Servomotor Regenerative braking continuously applied The Servomotor cannot be operated by turning the power ON and OFF. Note also that the Servopack must be in an environment free from condensation.2. Continuous operation cannot be performed by rotating the motor from the load and applying regenerative braking. one minute Braking current: 20 mA Frequency: 50/60 Hz Voltage applied point: Between R. Install the Servopack so that it can radiate heat freely. D Separate high-voltage cables from low-voltage cables. Do not use a time-delay type. The Servopack generates heat. T terminals and frame ground (connect terminals R and T securely.1 Precautions Always follow the specified installation method. Always start or stop the servomotor by using reference pulses.

. . . . Check for looseness by using a screwdriver as necessary.07HP 01:0. . . . . . . . . . . .13HP 02:0. . Check for damage. . .2. . . . If any of the above items are faulty or incorrect. . . . . . . shaft end screw hole provided Option B: With brake S: With oil seal D: With brake and oil seal P: Drip-proof provision 18 . . . . . . .BASIC USES OF Σ-SERIES PRODUCTS 2. . . . . . . . Check if the motor shaft rotates smoothly. .2. . . . . Installing the Servomotor . . . if the motor has brakes. . .40HP 04:0. . . check the following items: Check Items Remarks Check if the delivered products are Check the types marked on the nameplates of the ones you ordered. contact the dealer from which you purchased the products or your nearest local sales representative. . . . . . . . .2 Installation This section describes how to check Σ-Series products on delivery and how to install them. . . . .04HP A5:0. . . Check screws for looseness. . .1 Checking on Delivery 2. . . . .2.3 Checking on Delivery . . . . . . . . . . . . . and check for damage or scratches resulting from transportation. . . .2. . . . . . . . .01HP Power supply A:200V B:100V Encoder specifications 3: 2048P/R incremental encoder W: 12-bit absolute encoder Design revision order Shaft specifications 2: Straight without key 4: Straight with key 6: Straight with key. . 2. . .2. . . . . . . . . . . . If the motor shaft is smoothly turned by hand. it is normal. Servomotor and Servopack (see the table below).53HP 08:1. . Appearance Nameplate Type Rated output Servomotor type Σ-Series SGM Servomotor Rated current Rated torque Servo motor Serial number Manufacturing date Rated rotation speed Σ-Series SGMP Servomotor Σ-Series SGM: SGM Servomotor SGMP: SGM Servomotor Rated Output A3:0. . . . .1 Checking on Delivery 1) When Σ-Series products are delivered. .27HP 03:0.2 2. . Check the overall appearance. . .1 2. . . . Installing the Servopack . . . However. it cannot be turned manually. 18 19 22 2 2. . .

2. However.2.27HP 03:0. the service life will be shortened or unexpected problems will occur.2 Installing the Servomotor Servomotor SGM and SGMP types can be installed either horizontally or vertically. To prevent this. Before installation: Anticorrosive paint is coated on the edge of the motor shaft. store it in the following temperature range: Between −20°C and 60°C Installation sites: The Servomotor SGM and SGMP types are designed for indoor use.2 Installation Appearance Nameplate Servopack type Σ-Series SGDA Servopack Type Servopack Serial number Output power voltage Applicable power supply Rated Ouoput A3:0. Install Servomotor in an environment which meets the following conditions: SFree from corrosive and explosive gases 19 .04HP A5:0.40HP 04:0. always observe the installation instructions described below. Anticorrosive paint is coated here NOTE Avoid getting thinner on other parts of the Servomotor when cleaning the shaft.01HP Power Supply Type S: For speed/torque control P: For position control Applicable motor Blank: SGM Servomotor P: SGMP Servomotor Σ-Series SGDA Servopack 2 2.13HP 02:0. Clean off the anticorrosive paint thoroughly using a cloth moistened with thinner.53HP 08:1. Storage: When the Servomotor is to be stored with the power cable disconnected.07HP 01:0. if the Servomotor is installed incorrectly or in an inappropriate location.

Install the Servomotor so that alignment accuracy falls within the range shown below. TERMS Thrust load and radial load 1. 20 . resulting in damage to the bearings. Thrust load: Shaft-end load applied parallel to the centerline of a shaft 2.BASIC USES OF Σ-SERIES PRODUCTS 2. Design the mechanical system so that thrust load and radial load applied to the servomotor shaft end during operation falls within the range shown in the following table. then connect the shafts with couplings. Radial load: Shaft-end load applied perpendicular to the centerline of a shaft 2. Mechanical shock to the shaft end must be less than 98m/s2 (10G) and must be applied no more than twice. The difference between the maximum and minimum measurements must be 0. (Turn together with couplings) NOTE If the shafts are not aligned properly.03 mm or less.03 mm or less. vibration will occur. Measure this distance at four different positions in the circumference. Motor Shaft end 1. The difference between the maximum and minimum measurements must be 0.2 Installing the Servomotor cont. SWell-ventilated and free from dust and moisture SAmbient temperature of 0 to 40°C SRelative humidity of 20% to 80% (non-condensing) SInspection and cleaning can be performed easily If the Servomotor is used in a location subject to water or oil mist.2. install a shield cover over the Servomotor. (Turn together with couplings) Measure this distance at four different positions in the circumference. 2 Alignment: Align the shaft of the Servomotor with that of the equipment to be controlled.

02) 25 (1.2 Installation • Servomotor with incremental encoder Allowable Radial Load Fr [N(lb)] 68 (15) 68 (15) 78 (17) 245 (55) 245 (55) 245 (55) 392 (88) 78 (17) 245 (55) 245 (55) 245 (55) 392 (88) Allowable Thrust Load Fs [N(lb)] 54 (12) 54 (12) 54 (12) 74 (16) 74 (16) 74 (16) 147 (33) 49 (11) 68 (15) 68 (15) 69 (15) 147 (33) LR mm (in.82) 25 (1.82) 25 (1.) 20 (0.43) 20 (0.82) 20 (0.02) 35 (1.02) 35 (1.82) 20 (0.02) 25 (1.82) 25 (1.82) 25 (1.02) 25 (1.02) 35 (1.02) 35 (1.43) Motor Type SGM-A3 SGM-A5 SGM-01 SGM-02 SGM-03 SGM-04 SGM-08 SGMP-01 SGMP-02 SGMP-03 SGMP-04 SGMP-08 Reference Drawing LR Note The radial load and thrust load values shown above are the maximum allowed values for the sum of the load generated by motor torque and the load externally applied to the shaft.02) 25 (1.82) 20 (0.43) 20 (0.) 20 (0.43) Motor Type SGM-A3 SGM-A5 SGM-01 SGM-02 SGM-03 SGM-04 SGM-08 SGMP-01 SGMP-02 SGMP-03 SGMP-04 SGMP-08 Reference Drawing LR 2 • Servomotor with absolute encoder Allowable Radial Load Fr [N(lb)] 49 (11) 68 (15) 68 (15) 196 (44) 196 (44) 196 (44) 343 (77) 78 (17) 245 (55) 245 (55) 245 (55) 392 (88) Allowable Thrust Load Fs [N(lb)] 19 (4) 19 (4) 19 (4) 49 (11) 49 (11) 68 (15) 98 (22) 49 (11) 68 (15) 68 (15) 69 (15) 147 (33) LR mm (in.02) 25 (1.2.82) 20 (0.02) 25 (1.02) 25 (1. 21 .02) 25 (1.

The Servopack must be orientated as shown in the figure because it is designed to be cooled by natural convection. and cooling method so that the temperature around the periphery of the Servopack does not exceed 55°C. Corrosive gases do not immediately affect the Servopack but will eventually cause contactor-related devices to malfunction. Storage: When the Servopack is to be stored with the power cable disconnected. Avoid installation in a hot and humid place or where excessive dust or iron powder is present in the air.2. Incorrect installation will cause problems. When installed near a heating unit When installed near a source of vibration When installed in a place receiving corrosive gases Others Orientation: Install the Servopack perpendicular to the wall as shown in the figure. 22 . Always observe the installation instructions described in the next page.2.3 Installing the Servopack Σ-Series SGDA Servopack is a book-shaped compact servo controller. Install a vibration isolator underneath the Servopack to prevent it from receiving vibration. store it in the following temperature range: Between −20°C and 85°C Installation sites: SGDA Servopack 2 Situation When installed in a control panel Notes on Installation Design the control panel size.BASIC USES OF Σ-SERIES PRODUCTS 2. Take appropriate action to prevent corrosive gases. Ventilation • Firmly secure the Servopack through three or four mounting holes.3 Installing the Servopack 2. Suppress radiation heat from the heating unit and a temperature rise caused by convection so that the temperature around the periphery of the Servopack does not exceed 55°C. unit layout.

2 Installation Installation method: When installing multiple Servopacks side by side in a control panel. b) Provide sufficient space around each Servopack to allow cooling by natural convection. observe the following installation method: Fan Fan 50 mm or more Fin 30 mm or more 10 mm or more 50 mm or more 2 a) Install Servopack perpendicular to the wall so that the front panel (containing connectors) faces outward.2. 23 .

3 Installing the Servopack cont.BASIC USES OF Σ-SERIES PRODUCTS 2.5G (4.2. Install cooling fans above the Servopacks to prevent the temperature around each Servopack from increasing excessively and also to maintain the temperature inside the control panel evenly. c) When installing Servopacks side by side.9 m/s2) • Condensation and freezing: None • Ambient temperature to ensure long-term reliability: 45°C or less 24 . provide at least 10 mm space between them and at least 50 mm space above and below them as shown in the figure above. d) Maintain the following conditions inside the control panel: • Ambient temperature for Servopack: 0 to 55°C • Humidity: 90%RH or less 2 • Vibration: 0.

. . . . .3 Connecting to Peripheral Devices . . . . .1 Connecting to Peripheral Devices This section shows a standard example of connecting Σ-Series products to peripheral devices and briefly explains how to connect to each peripheral device. . . . . . . . . . . . . . .3 Connection and Wiring This section describes how to connect Σ-Series products to peripheral devices and explains a typical example of wiring the main circuit. . . . . 25 . It also describes an example of connecting to main host controllers. . . . Examples of Connecting I/O Signal Terminals . . . . . . . . . . . . . . .3 Connection and Wiring 2.3. . . . . . .3. . . . .2 2. . . Main Circuit Wiring and Power ON Sequence . . . . . . . . . . . . . .3. . . . 2.1 2. . .2.3. . 25 28 30 2 2. . .

Magnetic contactor Turns the servo ON or OFF. Digital Allows the user to set user constants or operation references and display operation status or alarm status.BASIC USES OF Σ-SERIES PRODUCTS Standard connection method for Σ-Series AC Servo Drives: Molded-case circuit breaker (MCCB) Used to protect power supply line. Type: HI-15E5 (30 A) Brake control relay Σ-Series Servopack Brake power supply Used for Servomotor with brake. Use a surge suppressor for the magnetic contactor. A3B. 02A. Types: LF-205A LF-210 LF-220 (for SGDA-A3A. and 01B) (for SGDA-04A and 02B) (for SGDA-03B and 08A) Mount type (JUSP-OP03A) This type can be mounted directly on the Servopack. Types: LPSE-2H01 (for 200 V input) LPDE-1H01 (for 100 V input) R T P N U V W Regenerative unit Type: JUSP-RG08 This wiring is required only for a Servomotor with brake Connector for PG (on Servopack side) Exterior type regenerative resistor Type: JUSP-RG08C Connector kits for pulse generator (PG) and for motor are not required if the following parts are ordered: S Cable with terminal connectors S Cable with connector and amplifier terminal 26 . The following two types are available in addition to personal computers: Power supply: Single-phase 200 or 100 V Noise filter Used to eliminate external noise from power supply line. Shuts the circuit off when overcurrent is detected. A5B. 01A. A5B.

motion controllers and indexers.) cable included Exclusive-use cable between personal computer and Servopack (for NEC PC) is available.8ft: DP9320083-3 49.3 Connection and Wiring Operator Personal computer Host controller Servopack is compatible with most P.4ft: DP9320081-2 32.8ft: DP9320089-3 49.) Consult factory about cable for IBM PC (IBM compatible PC).L. 6.6ft: DP9320083-5 A cable without connector and amplifier terminal is also available.2ft: DP9320081-4 65. Connector kit for PG On Servomotor side On Servopack side 2CN 1-meter cable with 1CN connector and one end without connector (Type: DE9404859) 0.4ft: DP9320083-2 32.4ft: DP9320089-2 32. PROGIC-8 Cable for PG 1CN connector kit (Type: DP9420007) Connector terminal block conversion unit (Type: JUSP-TA36P) The terminal block allows connection to a host controller.C.8ft: DP9320089-1 16. this cable is also used to wire the brake.6ft. Type: DE9405258 (2m. Connector for motor Σ-Series Servomotor 27 . For moving parts.8ft: DP9320088-1 16.8ft: DP9320083-1 16.6ft: DP9320088-5 A cable with a single connector (without connector on Servopack side) and a cable without connectors are also available.2ft: DP9320083-4 65. References are input as analog signals or pulse trains.6ft: DP9320081-5 • With brake (connector and amplifier terminal included) 9. Hand-held type (JUSP-OP02A-1) 1-meter(3. For a Servomotor with brake.2.8ft: DP9320081-1 16. The following two types of cable are available according to the encoder type: • Cable for incremental encoder (with connector on both ends) 9. Connector for PG (on motor side) Cable for motor This is a power cable for connecting a Servomotor to a Servopack.2ft: DP9320089-4 65.8ft: DP9320081-3 49.4ft: DP9320088-2 32.5-meter(1.2ft: DP9320088-4 65. This cable is used to connect a Servomotor encoder to a Servopack.3ft.6ft) cable with two 1CN connectors This connector kit is required for cables without connectors. a cable for robot must be ordered separately.8ft: DP9320088-3 49. Connector kit for motor Connector for motor (on motor side) This connector kit is required for cables without connector and amplifier terminal.6ft: DP9320089-5 • Cable for absolute encoder (with connectors on both ends) 9. • Without brake (connector and amplifier terminal included) 9.

3.2 Main Circuit Wiring and Power ON Sequence 2. 50/60Hz 28 . V to the white motor terminal.2 Main Circuit Wiring and Power ON Sequence 1) The following diagram shows a typical example of wiring the main circuit for Σ-Series products: For 100 V Type Single-phase 100 to 115 VAC Single-phase 200 to 230 VAC + 10 % . –15 50/60 Hz + 10 –15 % . 50/60Hz* –15 Connect U to the red motor terminal . Connect to a regenerative unit when applicable. 50/60 Hz 2 1MCCB: 1FIL: 1MC: 1Ry: 1PL: 1SUP: 1D: Circuit breaker Noise filter Contactor Relay Patrol light Surge suppressor Flywheel diode 2) The following table shows the name and description of each main circuit terminal: Terminal Symbol R T Name Main circuit AC input terminal Motor connection terminal Ground terminal Description Single-phase 200 to 230 VAC + 10 % .3. + 10 U V W P N Regenerative unit connection terminal * For 100 V power supply: Single-phase 100 to 115 VAC –15 % .BASIC USES OF Σ-SERIES PRODUCTS 2. and W to the blue motor terminal Connect to the motor ground terminal (green) for grounding purposes.

Since the Servopack has a capacitor in the power supply. This operation is required to initialize the Servopack. • Avoid frequently turning the power ON and OFF. 04Aj Type ype SGDASG 08Aj Single-phase 100 VAC A3Bj A5Bj. High voltage may remain in the Servopack. Therefore. (See the circuit diagram shown on the previous page.3 Connection and Wiring 3) Form a power ON sequence as follows: a) Form a power ON sequence so that the power is turned OFF when a servo alarm signal is output. do not touch the power terminals for 5 minutes. 02Bj 03B Power Holding Time 6 seconds 10 seconds 15 seconds 29 .) b) Hold down the power ON push-button for at least two seconds. a high charging current flows (for 0. 01Bj.2 second) when the power is turned ON.2. resulting in unexpected problems. 02Aj. Power supply 2 Servo alarm (ALM) output signal NOTE After turning the power OFF. • If the Servopack is turned ON immediately after being turned OFF. always wait for the time shown in the following table before turning the power ON again: Single-phase 200 VAC A3Aj. To prevent this. frequently turning the power ON and OFF causes the main power devices (such as capacitors and fuses) to deteriorate. a power loss alarm may arise. A5Aj Servopack 01Aj. The Servopack outputs a servo alarm signal for approximately two seconds or less when the power is turned ON.

2) Example of Connecting to PROGIC-8 2 SGDA-jjj S Speed/Torque Servopack for Speed/Torque Control Servopack Yaskawa MC unit Not used (Reserved) FG (connector frame) *1 These pin numbers are also applicable to SV2 to SV4. Connection to other host controllers is also possible.3. 30 . For other signals. refer to the relevant technical documentation.3 Examples of Connecting I/O Signal Terminals 1) This sub-section provides typical examples of connecting to main host controllers.3. Connect to the host controller according to the connection examples shown below by referring to technical documentation for the host controller. *2 Do not change the standard settings of user constants for the Servopack.3 Examples of Connecting I/O Signal Terminals 2. NOTE This sub-section describes signals related to the SGDA Servopack only.BASIC USES OF Σ-SERIES PRODUCTS 2.

Relay 1Ry is used to stop main circuit power supply to the Servopack.3 Connection and Wiring 3) Example of Connecting to GL-Series Positioning Module B2833 Servopack for Speed/Torque Control SERVOPACK SGDA-jjj S Speed/Torque (MADE BY YASKAWA) SERVO NORMAL 35 DECEL LS D/A OUTPUT 2 *1 ALARM * These signals are output for approximately two seconds when the power is turned ON.2. 31 . Take this into consideration when designing a power ON sequence.

Change the Cn-02 setting as follows: Bit No. Take this into consideration when designing a power ON sequence.3. 5 = 0 *3 Pull up the CLR signal with 1 kΩ resistance. Relay 1Ry is used to stop main circuit power supply to Servopack. A =1 32 .3 Examples of Connecting I/O Signal Terminals cont. 3 = 1 Bit No. 4 = 0 Bit No.BASIC USES OF Σ-SERIES PRODUCTS 2. 4) Example of Connecting to GL-Series Positioning Module B2813 Servopack for Position Control Servopack SGDA-jjj P Positions *2 (MADE BY YASKAWA) 35 2 SERVO NORMAL DECELERATION LS ALARM *1 These signals are output for approximately two seconds when the power is turned ON. *2 Change the Cn-02 setting as follows: Bit No.

Relay 1Ry is used to stop main circuit power supply to Servopack. Take this into consideration when designing a power ON sequence. 33 . Note The signals shown here are applicable only to OMRON Sequencer C500-NC222 and Yaskawa Servopack SGDA-VVVS.2.3 Connection and Wiring 5) Example of Connecting to OMRON Position Control Unit C500-NC222 Servopack for Speed/Torque Control Servopack I/O POWER SUPPLY SGDA-jjj S Speed/Torque SGDA-VVVS C500-NC222 (MADE BY OMRON) X-AXIS (Y-AXIS) (ON when positioning is stopped) (ON when proximity is detected) SERVOX 2 *1 2 (3) 0 11 12 *1 These signals are output for approximately two seconds when the power is turned ON.

4 = 0 Bit No. Relay 1Ry is used to stop main circuit power supply to Servopack. 34 . Take this into consideration when designing a power ON sequence. 3 = 1 Bit No.BASIC USES OF Σ-SERIES PRODUCTS 2. 6) Example of Connecting to OMRON Position Control Unit C500-NC112 Servopack for Position Control SERVOPACK SGDA-jjj P Positions I/O POWER SUPPLY C500-NC112 (MADE BY OMRON) +24V +24V 024V CW LIMIT EXTERNAL POWER SUPPLY 2 CCW LIMIT EMERGENCY STOP EXTERNAL INTERRUPT HOME POSITION HOME POSITION PROXIMITY LOCAL READY (ON when proximity is detected) PULSE OUTPUT CW + CCW DIRECTION OUTPUT CW 11A 11B 12A 12B 7A 7B +5V *1 These signals are output for approximately two seconds when the power is turned ON.3. *2 Change the Cn-02 setting as follows: Bit No. 5 = 0 Note The signals shown here are applicable only to OMRON Sequencer C500-NC112 and Yaskawa Servopack SGDA-VVVP.3 Examples of Connecting I/O Signal Terminals cont.

35 . Take this into consideration when designing a power ON sequence. Note The signals shown here are applicable only to MITSUBISHI Sequencer AD72 and Yaskawa Servopack SGDA-VVVS.3 Connection and Wiring 7) Example of Connecting to MITSUBISHI Positioning Unit AD72 Servopack for Speed/Torque Control SERVOPACK SGDA-jjj S Speed/Torque I/O POWER SUPPLY AD72 (MADE BY MITSUBISHI) (ON when positioning is stopped) (ON when proximity is detected) 2 SPEED REFERENCE *1 These signals are output for approximately two seconds when the power is turned ON.2. *2 These pin numbers are the same for both X and Y axes. Relay 1Ry is used to stop main circuit power supply to Servopack.

Relay 1Ry is used to stop main circuit power supply to Servopack.3.BASIC USES OF Σ-SERIES PRODUCTS 2. Ltd. 36 . Take this into consideration when designing a power ON sequence. *2 Manufactured by Yaskawa Controls Co. Note The signals shown here are applicable only to MITSUBISHI Sequencer AD71 (B Type) and Yaskawa Servopack SGDA-VVVP. 8) Example of Connecting to MITSUBISHI Positioning Unit AD71 (B Type) Servopack for Position Control SERVOPACK SGDA-jjj P Positions I/O POWER SUPPLY AD71 (B TYPE) (MADE BY MITSUBISHI) 2 X AXIS (Y AXIS) (ON when proximity is detected) (ON when positioning is stopped) 024V EXTERNAL POWER SUPPLY +24V 19 *1 These signals are output for approximately two seconds when the power is turned ON..3 Examples of Connecting I/O Signal Terminals cont.

. Step 1: Conducting a Test Run for Motor without Load . . . . . . . . 2. . . . . .1 Test Run in Two Steps Conduct the test run when wiring is complete. . . . . .1 2. . . . . . NOTE To prevent accidents. . . . . 37 39 44 46 48 2 2. . . . . . . . . conducting a test run for servo drives can be difficult. with all couplings and belts disconnected). . the test run can be performed safely and correctly. Do not run the servomotor while it is connected to a machine.4 Conducting a Test Run 2. .4 2. by following the two steps described below. . . . .4. . . . . .2. . .4. . . . .2 2. Generally. . . . .4.3 2. . . . ..e. . . .4. . . . . . . . . . . . . Minimum User Constants Required and Input Signals . 37 . . . Complete the test run in step 1 first. . initially conduct a test run only for a servomotor under no load (i. then proceed to step 2.5 Test Run in Two Steps . then proceed to step 2. The purposes of each step are described on the next page. . . The test run is divided into two steps. . . . . . . . The test run is divided here into steps 1 and 2. However. . . .4.4Conducting a Test Run This section describes how to conduct a full test run. . . . Complete a test run in step 1 first. . . . .4. . . Step 2: Conducting a Test Run with the Motor Connected to the Machine Supplementary Information on Test Run .

. . . 38 .BASIC USES OF Σ-SERIES PRODUCTS 2. . • Turn the power ON. • Check I/O signals (1CN). . . 2 Step 2: Conducting a test run with the motor and machine connected . . . refer to Section 2. Adjust Servopack according to machine characteristics. Conduct a test run with the motor shaft disconnected from the machine. . . .4. Outline: • Perform autotuning.1 Test Run in Two Steps cont. .4 Supplementary Information on Test Run before starting a test run. . . . Purpose: • To check power supply circuit wiring • To check motor wiring • To check I/O signal (1CN) wiring Outline: Check wiring. . . . . . . . Do not connect to a machine. Check that the motor is wired correctly. . . Operate the motor with a Digital Operator. . Speed adjustment by autotuning End of test run For customers who use a servomotor with a brake. Purpose: • To perform autotuning to adjust the motor according to machine characteristics • To match the speed and direction of rotation with the machine specifications • To check the final control mode Connect to the machine. .4. • Adjust user constant settings. Connect to the machine and conduct a test run. . . . • Record user constant settings. . . . • Operate the motor with a digital operator. • Conduct a test run using I/O signals. . Step 1: Conducting a test run for the motor without load . The following pages describe the test run procedure in detail. .

4. the alarm signal prevents the power supply circuit from being turned ON. Do not connect anything to the motor shaft (no-load status). I/O signals (1CN) are not to be used so leave connector 1CN disconnected.4 Supplemental Information on Test Run before starting a test run.4.5 Using an Absolute Encoder for details. temporarily short the alarm signal circuit. refer to Section 2. Alternatively. Conduct a test run for the motor without load according to the procedure described below. connect the battery. (2) Disconnect connector 1CN. Secure the servomotor to mounting holes to prevent it from moving during operation. If the motor fails to rotate properly during a servo drive test run. initialize the absolute encoder. install the servomotor on the machine and disconnect couplings and belts.2. 1CN disconnected 39 . the cause most frequently lies in incorrect wiring. (3) Short the alarm signal circuit. 2 Check wiring. Short this circuit. Disconnect connector 1CN Power supply 0V +24V Force this relay ON. (1) Secure the servomotor. Also.4 Conducting a Test Run 2. Operate the motor with a Digital Operator. See 3. Note: When absolute encoder is used. Do not connect to the machine. Therefore. Because connector 1CN is disconnected.2 Step 1: Conducting a Test Run for Motor without Load Check that the motor is wired correctly. Secure servomotor to mounting holes.8. then check the motor wiring in the power supply circuit. For customers who use a servomotor with brake.

or encoder wiring is incorrect. 2 Set the bit E of Cn−01 to 1. If the Servopack is turned ON normally.2 Operating Using the Digital Operator. Turn OFF the power once. In this case. Turn the Servopack power ON.BASIC USES OF Σ-SERIES PRODUCTS 2. turn the power OFF. 1 2 Normal display Alternately displayed Example of alarm display Refer to Appendix E List of Alarm Displays.2. (4) Turn the power ON. 40 . If an alarm display appears on the LED as shown in the figure above. Operation by Digital Operator 3 4 (5) Operate using the Digital Operator Operate the motor with the Digital Operator. the power supply circuit. Set the number of encoder pulses (Cn−11) to 1024. then correct the problem.4. Check that the motor runs normally. perform the following procedures after turning ON the power. Note: When absolute encoder is used. Then turn ON the power again after checking if the displays of digital operator extinguish. motor wiring. Refer to 4. If an alarm occurs. the LED on the Digital Operator lights up as shown in the figure. the power supply circuit. motor wiring or encoder wiring is incorrect. Power is not supplied to the servomotor because the servo is OFF.2 Step 1: Conducting a Test Run for Motor without Load cont. Set the dividing ratio of encoder pulses (Cn−0A) to 1024 or below.

However. Check the input signal wiring in monitor mode.) P-OT N-OT S-ON 1CN-16 1CN-17 1CN-14 Motor can rotate in forward direction when this input signal is at 0 V. (7) Check input signals. the motor fails to rotate. Servomotor Turn the servo ON 41 . Servopack (8) Turn servo (motor) ON. For speed/torque control (SGDA-jjjS): V-REF (1CN-3) and T-REF (1CN-1) are at 0 V. For the checking method. • Checking method Turn each connected signal line ON and OFF to check that the monitor bit display changes accordingly. Servo is turned ON when this input signal is at 0 V. (3) Connect connector 1CN.6 Operation in Monitor Mode. Motor can reverse when this input signal is at 0 V. short them as necessary. remove the short circuit. (If signal lines are not to be used. After turning the power OFF. leave the servo in OFF status. Input Signal High level or open 0 V level OFF ON ON/OFF Monitor Bit Display Extinguished Lit If the signal lines below are not wired correctly. Always wire them correctly. Example of Un-05 Internal status bit display (Un-05. (4) Turn the power ON again.2. For position control (SGDA-jjjP): PULS (1CN-1) and SIGN (1CN-3) are fixed. Connect connector 1CN as follows: (1) Turn the power OFF. (2) Retrun the alarm signal circuit shorted in the above step (3) to its original state. Un-06) N-CL (1CN-12) P-CL (1CN-11) 2 S-ON P-CON P-OT N-OT (1CN-14) (1CN-17) (1CN-16) (1CN-17) The memory switch can be used to eliminate the need for external short-circuits in wiring (see pages 55 and 128). Connect connector 1CN.1. refer to 4. Turn the servo ON as follows: (1) Check that no reference has been input.4 Conducting a Test Run (6) Connect signal lines.

(2) Turn the servo ON signal ON. take appropriate action as described in Appendix E List of Alarm Displays. the motor is turned ON and the Digital Operator displays the data as shown in the figure. If normal.4 Reference Offset Automatic Adjustment 42 . Set S-ON (1CN-14) to 0 V. If an alarm display appears.) (1) Gradually increase the speed reference input (V-REF.4. 2 SGDA- S Servopack for Speed/Torque (This section describes the standard speed control setting.2. 1CN-3) voltage. (9) Operate by reference input.2 Step 1: Conducting a Test Run for Motor without Load cont. correct the reference offset value as described in Section 4. The motor will rotate. In this case. Display when servo is turned ON The operating procedure differs according to the Servopack control mode used. Servopack Servomotor Speed/Torque Servomotor rotates at a speed proportional to the reference voltage. When a host controller such as a programmable controller performs position control. it may be difficult to directly input the speed reference voltage. (2) Check the following items in monitor mode (see page 179): (1) Has a reference speed been input? (2) Is the motor speed as set? (3) Does the reference speed match the actual motor speed? (4) Does the motor stop when no reference is input? Un-00 Un-01 Actual motor speed Reference speed (3) If the motor rotates at an extremely slow speed when 0 V is specified as the reference voltage.BASIC USES OF Σ-SERIES PRODUCTS 2. constant voltage reference should be input once to ensure correct operation.

Cn-03 Cn-02 bit 0 Speed reference gain (see page 68) Reverse rotation mode (see page 54) SGDA-jjjP Positions Servopack for Position Control (1) Set user constant Cn-02 so that the reference pulse form matches the host controller output form. (3) Check the following items in monitor mode (see page 179): (1) Has a reference pulse been input? (2) Is the motor speed as set? Host controller Reference pulse Servopack Servomotor (3) Does the reference speed match the actual motor speed? (4) Does the motor stop when no reference is input? Un-00 Un-07 Un-08 Actual motor speed Reference pulse speed display Position error 43 .2.) Selecting reference pulse form (See page 70) Bit 3 2 Cn-02 Bit 4 Bit 5 Bit D (2) Input a slow speed pulses from the host controller and execute low-speed operation. reset the user constants shown below. (See page 174 for details on how to set user constants.4 Conducting a Test Run (4) To change motor speed or the direction of rotation.

Therefore. all items including user constants setting and wiring should be tested as conclusively as possible before step 1 is complete. repeat step 1 (conducting a test run for the motor without load) until you are fully satisfied that the test has been completed successfully. NOTE Before proceeding to step 2. Cn-24. In this case. 2 Refer to Appendix E List of Alarm Displays and Appendix D List of User Constants.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine After step 1 is complete.Cn-25 Cn-02 bit 0 Electronic gear ratio (see page 81) Reverse rotation mode (see page 54) If an alarm occurs or the motor fails to rotate during the above operation. The purpose of step 2 is to adjust the Servopack according to the machine characteristics. then repeat step 1. 2. check the wiring and review the user constant settings.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine (4) To change motor speed or the direction of rotation. proceed to step 2 in which a test run is conducted with the motor connected to the machine.BASIC USES OF Σ-SERIES PRODUCTS 2. Purposes: 1) Autotuning 2) Speed adjustment SGDA Servopack Servomotor Connect to the machine.4. Operation faults that arise after the motor is connected to the machine not only damage the machine but may also cause an accident resulting in injury or death. Whenever possible. perform tuning associated with the host controller and other necessary adjustments in step 1 (before installing the motor on the machine). Conduct a test run according to the procedure described below. reset the user constants shown below. This is all that is required to complete step 1 (conducting a test run for motor without load).4. 44 . connector 1CN wiring is incorrect or the user constant settings do not match the host controller specifications.

2. 45 . Tune the Servopack according to the machine characteristics. perform adequate running-in.2 Installing the Servomotor. Servomotor (3) Perform autotuning. Servopack User constants Record the settings This is all that is required to conduct the test run. Perform tuning associated with the host controller. Turn the Servopack power OFF.3 Autotuning.4 Conducting a Test Run (1) Check that power is OFF.2. Refer to 2. As in step 1 (conducting a test run for motor without load). Set user constants as necessary. After a test run is complete. Normally. Refer to 4. Install servomotor on machine. Power supply Servopack Power OFF (2) Connect the servomotor to the machine. Record all the user constant settings for maintenance purposes. the machine may cause much friction because of an insufficient running-in period. Host controller Reference Servopack Servomotor (5) Set user constants and record the settings. 2 Autotuning: Automatically measures machine characteristics and performs optimum tuning Servopack Servomotor (4) Operate by reference input. perform (9) Operate by reference input on page 42.2.

Servopack uses the brake interlock output (BK) signal to control holding brake operation for a servomotor with brake. Power supply: single-phase 200 V or 100 V Brake control relay Servopack Brake power supply LPSE-2H01 (200 V input) LPDE-1H01 (100 V input) Cable for motor with brake 9. should motor power be lost.4.4. always refer to the information described below before starting a test run: • When using a servomotor with a brake • When performing position control from the host controller 1) When using a servomotor with brake The brake prevents the motor shaft from rotating due to a backdriving torque.6ft DP9320083-5 Servomotor with brake 46 . Then.4ft DP9320083-2 32.4. first check that the motor and holding brake operate normally with the motor disconnected from the machine.4 Supplementary Information on Test Run 2.8ft DP9320083-1 16. • Vertical axis Servomotor Holding brake Prevents the motor from rotating due to gravity External force • Axis to which external force is applied 2 Servomotor NOTE To prevent faulty operation caused by gravity (or external force).BASIC USES OF Σ-SERIES PRODUCTS 2. For wiring of a servomotor with a brake.8ft DP9320083-3 49.2ft DP9320083-4 65.4 Supplementary Information on Test Run In the following cases. refer to 3. Such a torque may be created by an external force or the force of gravity acting on the load and may result in undesired motion or the load. connect the motor to the machine and conduct a test run.4 Using Holding Brake.

Check whether the speed reference gain value (user constant Cn-03) is correct. the motor may run out of control. 47 .2. Review Items Jogging (constant-speed reference input from host controller) Motor speed D Run the motor at low speed. For speed control Type: Speed reference Host controller Position control Speed control Test run for motor without load 2 NOTE Check the motor operation with the motor disconnected from the machine. input a speed reference of 60 r/min and check that the motor makes one revolution per one second. If the host controller does not perform position control correctly. D Input a reference equivalent to one motor revolution and visually check that the motor shaft makes one revolution.4 Conducting a Test Run 2) When performing position control from the host controller Check motor operation first and then conduct a test run as described in the table below. D Check that the motor stops when P-OT and N-OT signals are input during continuous motor operation. Overtravel (when P-OT and N-OT signals are used) Whether the motor stops rotating when P-OT and N-OT signals are input If the motor does not stop. For example. Simple positioning Number of motor revolutions Check whether the dividing ratio count (user constant Cn-0A) is correct. review the P-OT and N-OT wiring. Reference from Host Controller Check Items Check Method Check the motor speed as follows: D Use the speed monitor (Un-00) of the digital operator.

In this case. then ON.5 Minimum User Constants Required and Input Signals 1) This section describes the minimum user constants that must be set to conduct a test run. For details on how to set each user constant. the wiring may be incorrect. always turn the power OFF.5 Minimum User Constants Required and Input Signals 2. always turn the power OFF.alone 2) If the specified direction of rotation differs from the actual direction of rotation.5 Cn-02 bit D Cn-02 bit F Cn-0A Cn-11 Cn-24 Cn-25 Encoder selection Motor selection Reference pulse form selection Logic of reference pulse Reference pulse output form Encoder pulse dividing ratio Number of encoder pulses Electronic gear ratio (numerator) Electronic gear ratio (denominator) After changing the Cn-02 setting. refer to the relevant page. This makes the new setting valid. For details of each input signal.BASIC USES OF Σ-SERIES PRODUCTS 2.1. a) Servopack for speed/torque control Cn-01 bit E Cn-02 bit 8 Cn-03 Encoder selection Motor selection Speed reference adjustment gain Encoder pulse dividing ratio Number of encoder pulse 2 Cn-0A Cn-11 b) Servopack for position control Cn-01 bit E Cn-02 bit 8 Cn-02 bits 3.4.5 Operation in User Constant Setting Mode. set the following user constant: Cn-02 (bit 0) Reverse rotation mode (see page 54) After changing the Cn-02 setting. 48 .4. This makes the new setting valid. if the direction of rotation is to be reversed. 3) The following table lists the minimum input signals required to conduct a test run. recheck the wiring and correct it accordingly. refer to 4. Then. then ON.4.

Overtravel limit switch The memory switch can be used to eliminate the need for external short-circuit wiring (see page 57).4 Conducting a Test Run Signal Name S-ON (servo ON) (forward rotation prohibited) (revere rotation prohibited) Pin Number 1CN-14 Function Switching between motor ON and OFF status. P-OT 1CN-16 N-OT 1CN-17 2 49 .2.The memory switch can be used to eliminate the need for external short-circuit wiring (see page 129).

. . . . . . . . Using Contact Input Speed Control . . .APPLICATIONS OF Σ-SERIES PRODUCTS 3 3 54 54 56 59 This chapter is prepared for readers who wish to learn more about the applications of Σ-series products after fully understanding Chapter 2 Basic Uses of Σ-series Products. . . . . .4. . . . . . . . . .3 3. . . Using Torque Feed-forward Function . . . . . . . Using the Reference Pulse Input Filter Selection Function . . . . . . . . . . 3. . .3 3. . . . . . . . . . . . . . .3. . . . . .2 3. . . . . . . . . . . . . . . . . . . . . 100 101 102 103 3. . . . . . . . . 3. . . . . . . . . . . . . . . . . . . . Using Zero-Clamp . . . . .11 Inputting Speed Reference . . . . . . .2. . . . . . . . . . . . . . . . Using Electronic Gear .2. . . . . . . . .4 Setting Stop Mode . . . . . . . Setting the Number of Encoder Pulses . .1. . Using Dynamic Brake . . . . .4 Adjusting Offset . . . . . . . . . . . . . . . . . . . . .9 3. . . . .1. . . .1 Changing the Direction of Motor Rotation . . Using Contact I/O Signals . .2 3. . .2. . . . . . . . . . .1. . . . . . . . . . . . . . . . 104 3. . . . 65 65 69 73 77 79 83 88 94 95 97 99 3. . . . . . . Using Encoder Output . . . 3.2. . . . . .1 3. . . . . . . . . . . . . . . . . . . . .4. . . . . . . . . . . . . . . . .2. . . .10 3. . . . . . 3. . . . . . . . . . . . .7 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting the Motor Type . . . .3. . . .1 Setting User Constants According to Machine Characteristics . . . . .3. .2. . . . Using Holding Brake . . . . . .2. . . . . . . . . . . . . . . . .3 Setting Up the Σ Servopack . . . . . . . . . . . .1 3. . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . Using Torque Restriction by Analog Voltage Reference . . .5 3. . .4 3. . . . . . . . . .3 Restricting Torque . . . . . .2 Setting User Constants According to Host Controller . . . . Using Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 3. . . . . . . . . . . . . . 3. . . . . . . Setting the Jog Speed . . . . . . . . . . . . . . It explains how to set user constants for each purpose and how to use each function. . . . .3 3. . 3. . . . . . . . . . . . . . . .4. . . . . . . . . .2.2 3. . . .6 3. .1 3. . Read the applicable sections according to your requirements. . . . . .2 Setting the Overtravel Limit Function . Inputting Position Reference . . . . . . . . . . . . . . Using the Reference Pulse Inhibit Function (INHIBIT) . .2. . . . . . . . 100 3. . . . . 104 105 106 107 51 . .4. . . . . . .4 Setting User Constants . . . . . . . . . . . . . . .

. . . . . . . . . . Setting the Torque Reference Filter Time Constant . . . . . . . . . . . Using the Smoothing Function . . . . . .6.6. . . . . . . . . . 114 114 116 116 117 118 124 3 3. . . . . . Using Mode Switch . . .2 3. . . . Using SGDA Servopack with High Voltage Line . . . . .8. .6 Minimizing Positioning Time . . . . . . . . . . . . . . . . . . . Continued 3. . 111 112 112 113 113 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7. . . . . . . . .8. . . . . . . . . . . . . . . . . . . . . . . Handling of Power Loss . . . . .1 3. . . . . . . . . . . . . . . . . . . . Connector Terminal Layouts . . . . . . . . . . . . . . . . . . . . . . . . . .1 3. . . . . Adjusting Gain . . . . . . . . .8 Wiring Instructions . .8. . . . . . . . Using More Than One Servo Drive . . . . . . . . .8. . . . . . Using an Absolute Encoder . . 114 3. . . . . . . . . . . . . . . . . . . . . . .5. . . . . . . . . . . .1 3. . . . . . . . . .8. .7. . .2 3. Using Speed Coincidence Output Signal . . . .6. . . . . . . . . . . . . . .7. . . . . . . . .7 3. .3 3. . . . . . . . .7.5. . . .3 3. . . . . . . . . . . . . 136 138 143 144 148 157 159 161 52 . . . . . . Adjusting Offset . . . . . . . . . . . . . . . . .5.7.8.6 Using Servo Alarm Output and Alarm Code Output .1 3. . . . . . . . . . . . . . . . . . . . . Setting Speed Bias . . . . . . . . .5 Using the Soft Start Function . . . . . . . . . . . .2 3. . . . . . .6. .8 Special Wiring . . . . . . . . . . . . .5 Running the Motor Smoothly .7 Forming a Protective Sequence . . Using Regenerative Units . . . . . . . . . . . . Using Positioning Complete Signal . . . . . . . . Using Running Output Signal . . . . . . . . . . . Setting Servo Gain . . . . . .6.5 3. . . . . . . . . . Wiring for Noise Control . .6. . . . . . . . . . . . . . . . . . . . .Chapter Table of Contents. . . . . . . .5. . .4 3. . . . . . . . . . . . . . . . . . . . .2 3. . . . . . . . . . . . . . . . . . . . .5. . . .7. . .8. . .5 3. . . . . . . . . . . . . . . . . . . . . Extending an Encoder Cable .6 3. .3 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 3. . . . Using Servo ON Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . Using Feed-forward Control . . . . . .4 3.3 3. . . . . . . . . . .5 3. . . . . . . . . . . . . . . . . . . . . 125 128 129 131 132 134 3. . . . . . . 136 3. . . . 125 3. . .6. . . . . . . . . . . . . . . . . .7 Using Autotuning Function . . . . . . . . . . . . . . . . . . .8. . . .4 3. 111 3. . Using Proportional Control . . . .6 3. . . . . Using Speed Loop Compensation Function . . . . . . . .

8. refer to Appendix C List of I/O Signals. 1) Memory switch Cn-01 and Cn-02 2) Constant setting Cn-03 and later Set each bit to ON or OFF to select a function.Before Reading this Chapter 1) This chapter describes how to use each 1CN connector I/O signal for the SGDA Servopack and how to set the corresponding user constant. refer to Appendix D List of User Constants. 4) User constants are divided into the following two types. refer to 3. I/O signals Host controller. refer to 4. For terminal arrangement for I/O signals of 1CN connecor.5 Operation in User Constant Setting Mode. 53 . Set a numerical value such as a torque limit value or speed loop gain. 2) For a list of I/O signals of 1CN connecor.1.8 Connector Terminal Layouts. SGDA Servopack User constants 5) For details on how to set user constants. external circuit 3 3) For a list of user constants.

The direction (+/−) of axial motion is reversed. .1. . . .1 Setting User Constants According to Machine Characteristics This section describes how to set user constants according to the dimensions and performance of the machine to be used. . . .1. . .3 Changing the Direction of Motor Rotation . . . . . .1 Changing the Direction of Motor Rotation 3. . . . . . . . . . . .1. . . . . . . . . . . . . . . Setting the Overtravel Limit Function . . . the direction of motor rotation can be reversed without other items being changed. . . Restricting Torque . . . . . Standard Setting Reverse Rotation Mode Forward Run Reference Encoder output from Servopack (Phase A) Encoder output from Servopack (Phase A) (Phase B) (Phase B) Reverse Run Reference Encoder output from Servopack (Phase A) Encoder output from Servopack (Phase A) (Phase B) (Phase B) 54 . . . . . . forward rotation is defined as counterclockwise (ccw) rotation viewed from the drive end.1. . . . . . .1 Changing the Direction of Motor Rotation 3 1) This Servopack provides a reverse rotation mode in which the direction of rotation can be reversed without altering the servomotor wiring. . . . . . . . . . . . 2) If reverse rotation mode is used. . . . . . 54 56 59 3. . . . . . . . . . . . With the standard setting. . . . . . . . . .2 3. . 3.APPLICATIONS OF Σ-SERIES PRODUCTS 3. .1. . . . .1 3. . .

method 1 is easier to use. reverse rotation mode is set regardless of the memory switch setting. In this case. Forward rotation is defined as clockwise rotation when viewed from the drive end. a) Method 1: Setting Memory Switch Set bit 0 of memory switch Cn-02 to select reverse rotation mode. Setting 0 Meaning Forward rotation is defined as counterclockwise rotation when viewed from the drive end. This method is used to standardize user constant settings without using the memory switch. (Standard setting) (Reverse rotation mode) 1 3 b) Method 2: Shorting the Wiring in the 2CN Connector Reverse rotation mode can be set for the 2CN connector for the encoder. Short 2CN-1 and 2CN-7 in the 2CN connector.1 Setting User Constants According to Machine Characteristics 3) Setting Reverse Rotation Mode: Reverse rotation mode can be set in either of the following two ways. Normally. Cn-02 Bit 0 Rotation Direction Selection Factory Setting: 0 For Speed/Torque Control and Position Control Set the direction of rotation.3. Servopack Servopack Servomotor Encoder 55 .

2) To use the overtravel limit function. Normal operation status. Forward rotation allowed.2 Setting the Overtravel Limit Function 3. ON: 1CN-17 is at low level.2 Setting the Overtravel Limit Function 1) The overtravel limit function forces the moving part of the machine to stop when it exceeds the movable range. OFF: 1CN-17 is at high level.APPLICATIONS OF Σ-SERIES PRODUCTS 3.1. Forward Rotation Prohibited (Forward Overtravel) Reverse Rotation Prohibited (Reverse Overtravel) For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control → Input P-OT 1CN-16 → Input N-OT 1CN-17 Inputs terminals for overtravel limit switch. connect the following input signal terminals correctly. Forward rotation prohibited (reverse rotation allowed). 56 . connect a limit switch to prevent damage to the machine. Reverse rotation prohibited (forward rotation allowed). Normal operation status. Reverse rotation allowed. Limit switch P-OT N-OT ON: 1CN-16 is at low level. Reverse rotation side Servomotor Forward rotation side Servopack 3 For linear motion. OFF: 1CN-16 is at high level.1.

This has the same effect as shorting 1CN-17 to 0 V. How to Stop Motor at Overtravel Operation to be Performed when Motor Stops after Overtravel Factory Setting: 0 Factory Setting: 0 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Cn-01 Bit 8 Cn-01 Bit 9 • Inputs signal for prohibiting forward rotation (P-OT. Reverse rotation is allowed when 1CN-17 is at 0 V.) Uses the N-OT input signal for prohibiting reverse rotation. 3 Meaning Uses the P-OT input signal for prohibiting forward rotation. (Forward rotation is always allowed. Bit Setting 0 Bit 2 1 Servopack The short-circuit wiring shown in the figure can be omitted when P-OT and N-OT are not used. Specifies “1” when external short-circuit wiring is to be omitted. 1CN-16) • Inputs signal for prohibiting reverse rotation (N-OT.1 Setting User Constants According to Machine Characteristics 3) Use the following user constants (memory switch) to specify whether input signals for overtravel are to be used.3. (Forward rotation is prohibited when 1CN-16 is open. 1CN-17) Specify how to stop the motor when either of the above signals is input. Use of P-OT Input Signal Use of N-OT Input Signal Factory Setting: 0 Factory Setting: 0 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Cn-01 Bit 2 Cn-01 Bit 3 Specifies whether the P-OT input signal for prohibiting forward rotation at overtravel (1CN-16) is to be used and whether the N-OT input signal for prohibiting reverse rotation at overtravel (1CN-17) is to be used. Forward rotation is allowed when 1CN-16 is at 0 V. (Reverse rotation is always allowed. set the following user constants to specify how to stop the motor. Overtravel Stop mode 0 0 1 Bit 8 1 Stop by dynamic brake Coasting to a stop 0 Deceleration stop 1 Releasing dynamic brake Servo OFF Bit 9 Zero-clamp After stop Bit 6 57 . (Reverse rotation is prohibited when 1CN-17 is open. This has the same effect as shorting 1CN-16 to 0 V.) Does not use the P-OT input signal for prohibiting forward rotation.) Does not use the N-OT input signal for prohibiting reverse rotation.) 0 Bit 3 1 4) If the P-OT and N-OT input signals are used.

Specify how to stop the motor when one of the above events occurs during operation. Specifies a torque value in terms of a percentage of the rated torque.APPLICATIONS OF Σ-SERIES PRODUCTS 3. • Servo alarm arises. EMGTRQ Emergency Stop Torque Unit: % Setting Range: 0 to Maximum Torque Factory Setting: Maximum Torque For Speed/Torque Control and Position Control Cn-06 Specifies the stop torque to be applied at overtravel when the input signal for prohibiting forward or reverse rotation is to be used. Input signal for prohibiting forward rotation P-OT (1CN-16) Memory switch Emergency stop torque Stop by dynamic brake Input signal for prohibiting reverse rotation N-OT (1CN-17) Coasting to a stop Cn-01 Bit 6 Cn-01 Bit 7 How to Stop Motor at Servo OFF Operation to Be Performed when Motor Stops after Servo OFF Factory Setting: 0 Factory Setting: 1 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control The Servopack enters servo OFF status when: • Servo ON input signal (S-ON. • Power is turned OFF. 3 If torque control mode is selected for the Servopack for speed/torque control (SGDA-jjjS). 1CN-14) is turned OFF. Setting 0 1 Meaning Stops the motor in the same way as when the servo is turned OFF. Setting Cn-01 Cn 01 bit 9 0 1 Meaning Turns the servo OFF when the motor stops in deceleration stop mode. the motor stops in the same way as when the servo is turned OFF. Stops the motor by decelerating it with the preset torque. Causes the motor to enter zero-clamp status after it stops in deceleration stop mode.1. The motor is stopped by dynamic brake or coasts to a stop. Servo OFF Stop mode 0 1 Stop by dynamic brake Bit 6 Coasting to a stop 1 0 After stop Releasing dynamic brake Bit 7 Holding dynamic brake Dynamic brake is a function that electrically applies brakes by using a resistor to consume motor rotation energy. 58 . specify the operation to be done after the motor stops. Either of these stop modes can be selected by setting bit 6 of Cn-01.2 Setting the Overtravel Limit Function cont. regardless of the setting of Cn-01 bit 8. Preset value: Cn-06 (EMGTRQ) emergency stop torque Cn-01 bit 8 If deceleration stop mode is selected.

The motor power is OFF and stops due to machine friction. Does not release dynamic brake even after the motor stops. If dynamic brake stop mode is selected. specify the operation to be performed when the motor stops. Setting Cn-01 bit 7 0 1 Meaning Releases dynamic brake after the motor stops. TLMTF Forward Rotation Torque Limit TLMTR Reverse Rotation Torque Limit Setting Range: 0 to Maximum Torque Setting Range: 0 to Maximum Torque Factory Setting: Maximum Torque Factory Setting: Maximum Torque For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Cn-08 Unit: % Unit: % Cn-09 59 .3 Restricting Torque 1) The Servopack can provide the following torque control: D Torque restriction Level 1: To restrict the maximum output torque to protect the machine or workpiece Level 2: To restrict torque after the motor moves the machine to a specified position D Torque control Level 3: To always control output torque.3. not speed Level 4: To alternately use speed control and torque control 3 This section describes how to use levels 1 and 2 of the torque restriction function. Causes the motor to coast to a stop. 3.1 Setting User Constants According to Machine Characteristics Setting Cn-01 C 01 bit 6 0 1 Meaning Stops the motor by dynamic brake.1. 2) How to Set Level 1: Internal Torque Limit The maximum torque is restricted to the values set in the following user constants.

This torque restriction function always monitors torque. Torque • Using TGON Signal This section describes how to use contact output signal TGON as a torque limit output signal. Output Signal for Torque Restriction Function D TGON (1CN-9) D Status indication mode bit data D Monitor mode (Un-05) bit 4 User Constant Setting: Memory switch (Cn-01) bit 4 = 1 Example of Use: Machine Protection Torque limit 3 Motor speed Note that too small a torque limit value will result in torque shortage at acceleration or deceleration. and outputs the signal shown on the right when the limit value is reached. respectively. Specifies a torque limit value in terms of a percentage of the rated torque. Sets the maximum torque values for forward rotation and reverse rotation. OFF status: The circuit between 1CN-9 and 1-CN10 is open.) 60 . I/O power supply Servopack Photocoupler Output Per output: Maximum operation voltage: 30 VDC Maximum output current: 50 mA DC or Output → TGON 1CN-9 Torque Limit Output (Running Output) For Speed/Torque Control and Position Control This signal indicates whether motor output torque (current) is being restricted.APPLICATIONS OF Σ-SERIES PRODUCTS 3. 1CN-9 is at low level.3 Restricting Torque cont. (Internal torque reference is greater than the preset value.1. Sets these user constants when torque must be restricted according to machine conditions. ON status: The circuit between 1CN-9 and 1CN-10 is closed. Motor output torque is being restricted.) Motor output torque is not being restricted. 1CN-9 is at high level. (Internal torque reference is equal to or below the preset value.

Compares the SGDA Servopack internal torque (current) reference with the preset value.1 Setting User Constants According to Machine Characteristics Preset Value: Cn-08 (TLMTF) Cn-09 (TLMTR) Cn-18 (CLMIF) : P-CL input only Cn-19 (CLMIR) : N-CL input only Note This function is changed to another function depending on the setting of bit 4 of memory switch Cn-01. 0 Motor speed ≥ preset Closes the circuit value between 1CN-9 and 1CN-10 Motor speed < preset value Opens the circuit between 1CN-9 and 1CN-10 Bit 4 of memory switch Cn-01 Rotation detection Torque detection Uses TGON output signal as a torque limit output signal.3. Setting Meaning Uses TGON output signal as a running output signal. This memory switch can also be used to set level 2 torque restriction (described in the next subsection). To use output signal TGON as a torque limit output signal. Compares the motor speed with the Cn-0B (TGONLV) setting. set the following memory switch to 1. Preset Value: Cn-08 (TLMTF) Cn-09 (TLMTR) Cn-18 (CLMIF): P-CL input only Cn-19 (CLMIR): N-CL input only Internal torque Opens the circuit (current) reference between 1CN-9 and ≥ preset value 1CN-10 Internal torque (current) reference < preset value Closes the circuit between 1CN-9 and 1CN-10 1 When TGON output signal is changed. the following bit data are also changed: • Status indication mode bit data • Monitor mode Un-05 bit 4 61 . TGON Output Signal Selection Factory Setting: 0 For Speed/Torque Control and Position Control Cn-01 Bit 4 3 Sets the output conditions for output signal TGON (1CN-9).

use a contact input signal to make the torque (current) limit value set in the user constant valid. Torque restriction does not apply during reverse rotation. • TGON (1CN-9) • Status indication mode bit data • Monitor mode Un-05 bit 4 User Constant Setting: Memory switch Cn-01 bit 4 = 1 Examples of Use: D Forced stopping D Holding workpiece by robot Sets a torque limit value when torque is restricted by external contact input.APPLICATIONS OF Σ-SERIES PRODUCTS 3.3 Restricting Torque cont. 62 . Torque restriction does not apply during forward rotation.1. ON: 1CN-12 is at low level. The contact input speed control function cannot be used. Torque restriction applies during reverse rotation. Torque restriction applies during forward rotation. Torque limit can be set separately for forward and reverse rotation. always set bit 2 of memory switch Cn-02 to 0 (standard setting). OFF: 1CN-11 is at high level. Reverse rotation Servopack Forward rotation Without torque limit Speed Torque With torque limit Speed Torque Without torque limit Speed Torque With torque limit Speed Torque 3 P-CL P CL N-CL N CL ON: 1CN-11 is at low level. Limit value: Cn-18 Limit value: Cn-19 Output Signal for Torque Restriction Function This torque restriction function outputs the signal shown on the right. 3) How to Set Level 2: External Torque Limit First. This function is valid when bit 2 of memory switch Cn-02 is set to 0. OFF: 1CN-12 is at high level. To use this function.

2. • Using P-CL and N-CL Signals This section describes how to use input signals P-CL and N-CL as torque limit input signals. Output Signal for Torque Restriction Function • TGON (1CN-9) • Status indication mode bit data • Monitor mode Un-05 bit 4 • User Constant Setting: Memory switch Cn-01 bit 4 = 1 63 .3. refer to 3. This function is useful in forced stopping.9 Using Torque Restriction by Analog Voltage Reference.1 Setting User Constants According to Machine Characteristics Cn-18 CLMIF Forward External Torque Limit CLMIR Reverse External Torque Limit Unit: % Cn-19 Unit: % Setting Range: 0 to Maximum Torque Setting Range: 0 to Maximum Torque Factory Setting: 100 Factory Setting: 100 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control When P-CL (1CN-11) is input When N-CL (1CN-12) is input Applies torque restriction as specified in Cn-18 Applies torque restriction as specified in Cn-19 For torque restriction by analog voltage reference. I/O power supply Servopack Photocoupler Host controller 5mA 3 → Input P-CL 1CN-11 → Input N-CL 1CN-12 Forward External Torque Limit Input (Speed Selection 1) Reverse External Torque Limit Input (Speed Selection 2) For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control These signals are for forward and reverse external torque (current) limit input.

If the contact input speed control function is used.1. Note This function is changed to another function depending on the setting of bit 2 of memory switch Cn-02 (see below). • Handling of the TGON signal is the same as for level 1 (internal torque limit). P-CL P CL N-CL N CL ON: 1CN-11 is at low level. Refer to Using TGON Signal on page 60. bits A and B of Cn-01 take precedence over this signal. P-CON (1CN-15) P-CL (1CN-11) N-CL (1CN-12) 1 Uses the contact input speed control function. the contents of the input signals shown below will change. Limit value: Cn-18 Limit value: Cn-19 The signal shown on the right is output while torque is being restricted. 1: ON P-CON P-CL 0 0 1 1 N-CL 0 1 1 0 Speed Setting Normal speed/torque or position control Cn-1F (SPEED1) Cn-20 (SPEED2) Cn-21 (SPEED3) Direction of rotation 0: Forward 1: Reverse 0 Does not use the contact input speed control function. OFF: 1CN-12 is at high level. Torque restriction applies during forward rotation.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Torque restriction does not apply during reverse rotation. Torque restriction does not apply during forward rotation. 64 . Cn-02 Bit 2 Contact Input Speed Control Selection Factory Setting: 0 For Speed/Torque Control and Position Control Servopack Run the motor at internally set speed 3 Prohibits the contact input speed control function. Contact input Servomotor After this memory switch is reset. (For speed/torque control. ON: 1CN-12 is at low level. the meanings of the following signals will also change: Monitor mode (Un-05) bit 7 and bit 8 Setting Meaning Input Signal Used to switch between P control and PI control.3 Restricting Torque cont. set the following memory switch to 0.) Used for forward external torque limit input Used for reverse external torque limit input 0: OFF. To use input signals P-CL and N-CL as torque limit input signals. Torque restriction applies during reverse rotation. OFF: 1CN-11 is at high level. Normal operation status. Normal operation status.

. Using Torque Restriction by Analog Voltage Reference .1 3. . . .2. . . . . . . For ordinary speed control. . set the optimum reference input for the system to be created. . . . . . . . . . . . . . . . . . .2 Setting User Constants According to Host Controller This section describes how to connect a Σ-series Servo to a host controller and how to set user constants. . .2. . . . . . . . . . . . . . . . . .2. . . . . . . 65 69 73 77 79 83 88 94 95 97 99 3 3. . . . . . . .2. . 3. . . . . . . . 65 . . . . . . . .5 3. . . . . .4 3. . . . . . . . . . . . . . .2. .2. . .2. . . always wire the VREF and SG-V terminals. . Using Encoder Output . . Inputting Position Reference . . . . . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Using the Reference Pulse Inhibit Function (INHIBIT) . . . . . . . .7 3. Using Electronic Gear .2 3. . . . . . . . . . . . . . . . . . . . . .2 Setting User Constants According to Host Controller 3. . . . . . . . . . . Using Torque Control . . Motor speed is controlled in proportion to the input voltage between V-REF and SG-V. . . . . . . . . . . Using Contact I/O Signals . . . . . . . . . . . . . . . . . . . . . .” Since this signal can be used in different ways. . . . . . . . . .3 3. Using Torque Feed-forward Function . . Using the Reference Pulse Input Filter Selection Function . . . . Using Contact Input Speed Control . . . . . . . . . . . . . . . . . . . . .2. . . . . . . . .2.2. .9 3. .11 Inputting Speed Reference . Servopack Torque reference Speed reference Torque reference input (analog voltage input) Speed reference input (analog voltage input) ↕P: Represents twisted-pair cables → Input V-REF → Input SG-V 1CN-3 1CN-4 Speed Reference Input Signal Ground for Speed Reference Input For Speed/Torque Control Only For Speed/Torque Control Only Use these signals when speed control is selected (bits A and B of memory switch Cn-01). . . . . . . . . . . . . . . . . .6 3. . .10 3. . . . . . . . . . . . . . . . . .8 3. . . . . . . . . . . . . . . . . . . .1 Inputting Speed Reference 1) Input a speed reference by using the following input signal “speed reference input. .2. Reference speed Standard setting −1500 −3000 −4500 Input voltage (V) Set the slope in Cn-03 (VREFGN). . . . . . .2. . . . . . . . . .

When position control is performed by a host controller such as a programmable controller.000 r/min) Examples: +6 V input → 3. adjust Cn-03 according to output voltage specifications.2. Servopack 1/2 W or more 3 Recommended Variable Resistor for Speed Setting: Type 25HP-10B manufactured by Sakae Tsushin Kogyo Co. Ltd. In this case.500 r/min in reverse direction User constant Cn-03 can be used to change the voltage input range. • Example of Input Circuit (See the figure on the right) For noise control.APPLICATIONS OF Σ-SERIES PRODUCTS 3.. Host controller Speed reference output terminals Servopack Feedback pulse input terminals ↕P: Represents twisted-pair cables 2) Use the memory switch and input signal P-CON to specify one of the four modes shown below.1 Inputting Speed Reference cont. always use twisted-pair cables. Connect V-REF and SG-V to speed reference output terminals on the host controller. • Standard Setting: Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3. Cn-01 Bit A Cn-01 Bit B Control Mode Selection Control Mode Selection Factory Setting: 0 Factory Setting: 0 For Speed/Torque Control Only For Speed/Torque Control Only The Servopack for speed/torque control (SGDA-jjjS) provides four different control modes. 66 .000 r/min in forward direction +1 V input → 500 r/min in forward direction −3 V input → 1.

Condition 2: Motor speed drops below the preset value.2. Zero-clamp Speed Control This speed control allows the zero-clamp function to be set when the motor stops. 1 1 0 1 Torque control I Torque control II For torque control. D Speed reference is input from V-REF (1CN-3). Preset value: Cn-0F (ZCLVL) 0 1 1CN-15 is open 1CN-15 is at 0 V Turns zero-clamp function OFF Turns zero-clamp function ON D Torque reference input T-REF (1CN-1) cannot be used. D P-CON (1CN-15) signal is used to turn the zero-clamp function ON or OFF. refer to 3.7 Using Torque Control.3. D Speed reference is input from V-REF (1CN-3). Speed reference 3 SGDA Servopack Zero-clamp Zero-clamp is performed when the following two conditions are met: Condition 1: P-CON is turned ON. 1CN-15 is open 1CN-15 is at 0 V PI control P control Speed reference P/PI changeover SGDA Servopack 0 0 D Torque reference input T-REF (1CN-1) cannot be used. D P-CON (1CN-15) signal is used to switch between P control and PI control.2 Setting User Constants According to Host Controller Cn-01 Setting Bit B Bit A Control Mode Speed Control This is normal speed control. 67 .

The factory setting is as follows: Rated speed (3. Sets the voltage range for speed reference input V-REF (1CN-3). Cn-03 VREFGN Speed Reference Gain Unit: Setting (r/min)/V Range: 0 to 2162 Factory Setting: 500 For Speed/Torque Control Only This user constant is for speed/torque control (SGDA-jjjS) only. Reference voltage (V) TERMS Zero-clamp function This function is used for a system in which the host controller does not form a position loop. Sets this user constant according to the output form of the host controller or external circuit.2. a position loop is internally formed so that the stopping position is firmly “clamped.000 r/min)/6 V = 500 Reference speed (r/min) Set this slope. Servopack Switching between P control and PI control Switching between zero-clamp enabled mode and zero-clamp prohibited mode Switching between torque control and speed control Memory switch Changing the direction of rotation Memory Switch 3 Cn-02 Bit 2 0 0 0 0 1 Cn-01 Bit B 0 0 1 1 − Cn-01 Bit A 0 1 0 1 − Meaning of P-CON Signal Switching between proportional (P) control and proportional/integral (PI) control Switching between zero-clamp enabled/prohibited mode (for speed/torque control (SGDA-jjjS) only) Not used (for speed/torque control (SGDA-jjjS) only) Switching between torque control and speed control (for speed/torque control (SGDA-jjjS) only) Changing the direction of rotation during contact input speed control 3) Adjust the speed reference gain using the following user constant. • Using P-CON Signal: → Input P-CON 1CN-15 Proportional Control. For Speed/Torque Control and Position Control The function of input signal P-CON changes with the memory switch setting. etc.” 68 .1 Inputting Speed Reference cont. the stopping position may shift even if a speed reference is set to 0. If the zeroclamp function is turned ON.APPLICATIONS OF Σ-SERIES PRODUCTS 3. In this case.

2. R1 = 180 Ω Host controller Servopack i Photocoupler ↕P: Represents twisted-pair cables Note The signal logic for open collector output is as follows.. Inputs a move reference by pulse input. R1 = 1 kΩ • When Vcc is 5 V. When Tr1 is ON When Tr1 is OFF Equivalent to high level input Equivalent to low level input 69 .” Since there are several specifications for input signal. Position reference can correspond to the following three types of output form: • Line driver output • +12V Open collector output • +5V Open collector output Connection Example 1: Line Driver Output Line Driver Used: SN75174 manufactured by Texas Instruments Inc.2 Setting User Constants According to Host Controller 3. select reference input for the system to be created. or MC3487 or equivalent.2 Inputting Position Reference SGDAPositions P 1) Input a position reference by using the following input signal “reference pulse input. Host controller Line driver Servopack Photocoupler Reference pulse input Reference sign input Error counter clear input ↕P: Represents twisted-pair cables Servopack 3 Connection Example 2: Open Collector Output Sets the value of limiting resistor R1 so that input current i falls within the following range: Input Current i: 7 to 15 mA Examples: • When Vcc is 12 V.3.

Cn-02 Bit D Bit 5 0 Bit 4 0 Bit 3 0 Input Pulse Multiplier Reference Pulse Form Sign + pulse train Twophase pulse train with 90° phase differ difference CW pulse + CCW pulse Host controller Position reference pulse Servopack Motor Forward Run Reference Motor Reverse Run Reference 0 0 (Posi (Positive logic setting) 1 0 ¢1 0 1 1 0 1 0 ¢2 ¢4 0 0 1 70 .2 Inputting Position Reference cont.2. 2) Use the following memory switch to select the reference pulse form to be used: → Input PULS → Input £PULS → Input SIGN → Input £SIGN 1CN-1 1CN-2 1CN-3 1CN-4 Reference Pulse Input Reference Pulse Input Reference Sign Input Reference Sign Input For Position Control Only For Position Control Only For Position Control Only For Position Control Only The motor only rotates at an angle proportional to the input pulse. Cn-02 Bit 3 Cn-02 Bit 4 3 Cn-02 Bit 5 Reference Pulse Form Selection Reference Pulse Form Selection Reference Pulse Form Selection Factory Setting: 0 Factory Setting: 0 Factory Setting: 0 For Position Control Only For Position Control Only For Position Control Only Sets the form of a reference pulse that is externally output to the Servopack. Sets the pulse form according to the host controller specifications.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Set also the input pulse logic in bit D of Cn-02.

2 Setting User Constants According to Host Controller Cn-02 Bit D Bit 5 0 Bit 4 0 Bit 3 0 Input Pulse Multiplier Reference Pulse Form Sign + pulse train Twophase pulse train with 90° phase differ difference CW pulse + CCW pulse Motor Forward Run Reference Motor Reverse Run Reference 0 1 (Nega (Negative logic setting) 1 0 ¢1 0 1 1 0 1 0 ¢2 ¢4 3 0 0 1 Input Pulse Multiply Function: When the reference form is two-phase pulse train with 90° phase difference. it becomes invalid. Otherwise. The error counter clear (CLR) signal must be ON for at least 20 μs. t5. The electronic gear function can also be used to convert input pulses. the reference pulse may not be input. the input pulse multiply function can be used. Otherwise. t6 ≤ 2 ms t7 ≥ 20 μs Note The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms.3. 71 . Example of I/O Signal Generation Timing Servo ON Base block Sign + pulse train Release Number of motor move pulses x4 x2 x1 Input reference pulse t1 ≤ 30 ms t2 ≤ 6 ms (When user constant Cn-12 is set to 0) t3 ≥ 40 ms PG pulse t4.

• Prohibits position loop control. Allowable Voltage Level and Timing for Reference Pulse Input Reference Pulse Form Sign + pulse train input (SIGN + PULS signal) Maximum reference frequency: 450 kpps ¨ reference © reference Electrical Specifications Remarks The signs for each reference pulse are as follows: ¨: High level ©: Low level 90° different two-phase pulse train (phase A + phase B) Maximum reference frequency x 1 multiplier: 450 kpps x 2 multiplier: 400 kpps x 4 multiplier: 200 kpps CCW pulse + CW pulse Maximum reference frequency: 450 kpps ¨ reference Phase A Phase B User constant Cn-02 (bits 3.2 Inputting Position Reference cont.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Servopack Clear Position loop error counter Bit A of memory switch Cn-02 can be set so that the error counter is cleared only once when the leading edge of an input pulse rises.2. Use this signal to clear the error counter from the host controller. 3 Phase B is 90° forward from phase B Phase B is 90° behind phase B CCW pulse CW pulse © reference 3) The following describes how to clear the error counter. Cn-02 Bit A Error Counter Clear Signal Selection Factory Setting: 0 For Position Control Only 72 . 4 and 5) is used to switch the input pulse multiplier mode. → Input → Input CLR 1CN-5 Error Counter Clear Input Error Counter Clear Input £CLR 1CN-6 For Position Control Only For Position Control Only Setting the CLR signal to high level does the following: • Sets the error counter inside the Servopack to 0.

Cleared only once at this point Cleared state 1 3.2 Setting User Constants According to Host Controller For position control (SGDA-jjjP) only. These signals can be used to form a position control loop in the host controller. Error pulses do not accumulate while the signal remains at high level. This output is explained here.2.3 Using Encoder Output 1) Encoder output signals divided inside the Servopack can be output externally. The unit is pulses per revolution.3. Setting 0 Meaning Clears the error counter when the CLR signal is set at high level. Selects the pulse form of error counter clear signal CLR (1CN-5). Clears the error counter only once when the rising edge of the CLR signal rises. Servopack Host controller 3 Servomotor encoder Phase A Phase B Phase C Frequency dividing circuit TERMS Divided (or dividing) “Dividing” means converting an input pulse train from the encoder mounted on the motor according to the preset pulse density and outputting the converted pulse. 73 .

Encoder Output Phase-A Encoder Output Phase-A Encoder Output Phase-B Encoder Output Phase-B Encoder Output Phase-C Encoder Output Phase-C For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Always connect these signal terminals when a position loop is formed in the host controller to perform position control.1 μF 2) I/O signals are described below.2. The output circuit is for line driver output. 25) for the electronic gear function of the Servopack for position control (SGDA-jjjP). or MC3486 (or equivalent) R (termination resistor): 220 to 470 Ω C (decoupling capacitor): 0. Output → PAO 1CN-20 Output → £ PAO 1CN-21 Output → PBO 1CN-22 Output → £ PBO 1CN-23 Output → PCO 1CN-24 Output → £ PCO 1CN-25 Divided encoder signals are output.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Set a dividing ratio in the following user constant. Servopack Phase A 4 Host controller Line receiver +5V Phase A Phase B 12 Phase B Phase C Phase C Choke coil 3 ↕P: Represents twisted-pair cables Smoothing capacitor Line receiver used: SN75175 manufactured by Texas Instruments Inc.3 Using Encoder Output cont. Dividing ratio setting Cn-0A PGRAT The dividing ratio setting is not relevant to the gear ratio setting (Cn-24. Connect each signal line according to the following circuit diagram. 74 .

FG: Connect to the cable shielded wire.5 Using an Absolute Encoder. After changing the memory switch setting. then ON. Motor Type SGM-jjj31j SGM-jjjW1j Number of Encoder Pulses Per Revolution (P/R) Incremental encoder: 2.3.2 Setting User Constants According to Host Controller Output Phase Form Incremental Encoder Forward rotation Phase A Phase B Phase C Reverse rotation Phase A Phase B Phase C Absolute Encoder Forward rotation Phase A Phase B Phase C Reverse rotation Phase A Phase B Phase C → Input SEN 1CN-5 SEN Signal Input SEN Signal Input Encoder Output Phase-S Encoder Output Phase-S Battery (+) Battery (−) → Input 0SEN 1CN-6 Output → PSO 1CN-26 Output → £ PSO 1CN-27 → Input BAT 1CN-28 → Input BAT0 1CN-29 For Speed/Torque Control Only For Speed/Torque Control Only For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control 3 Use these signals (SEN to BAT0) for absolute encoders. 3) Use the following memory switch to specify the type of the encoder to be used. always turn the power OFF.048 pulses per revolution Absolute encoder: 1.8.024 pulses per revolution Setting 0 1 75 . refer to 3. Cn-01 Bit E Encoder Type Selection Factory Setting: 0 For Speed/Torque Control and Position Control Sets the encoder type according to the servomotor type as shown in the table. For details. Output → SG 1CN-19 Output → FG 1CN-36 Signal Ground for Encoder Output Frame Ground For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control SG: Connect to 0 V on the host controller.

PBO and £PBO).APPLICATIONS OF Σ-SERIES PRODUCTS 3. of Encoder Pulses Factory Setting: 2048 For Speed/Torque Control and Position Control Cn-0A Sets the number of output pulses for PG output signals (PAO. The setting range varies according to the encoder used. Servomotor encoder Servopack Output terminals: PAO (1CN-20) £PAO (1CN-21) PBO (1CN-22) £PBO (1CN-23) Phase A Phase B Frequency dividing 3 The number of output pulses per revolution is set in this user constant.3 Using Encoder Output cont. PGRAT Dividing Ratio Setting Unit: P/R Setting Range: 16 to No. Set this value according to the reference unit of the machine or controller to be used.2. 4) Set the pulse dividing ratio in the following user constant. Setting example: Preset value: 16 1 revolution Motor Type SGM-jjj31j SGM-jjjW1j Number of Encoder Pulses Per Revolution Incremental encoder: 2048 pulses per revolution Absolute encoder: 1024 pulses per revolution Setting Range 16 to 2048 16 to 1024 76 . £PAO. Pulses from motor encoder (PG) are divided by the preset number of pulses before being output.

Servopack I/O power supply Photocoupler Host controller 3 Note Provide an external I/O power supply separately.4 Using Contact I/O Signals 1) Contact Input Signal Terminal Connections These signals are used to control SGDA Servopack operation. Connect these signal terminals as necessary.3. 77 .2.2 Setting User Constants According to Host Controller 3. External Power Supply: 24 1 VDC 50 mA or more Yaskawa recommends that this external power supply be the same type as for the output circuit. → Input +24VIN 1CN-13 I/O Power Supply For Speed/Torque Control and Position Control Servopack I/O power supply This external power supply input terminal is common to the following contact input signals: Contact Input Signals: P-CL N-CL S-ON P-CON P-OT N-OT ALMRST (1CN-11) (1CN-12) (1CN-14) (1CN-15) (1CN-16) (1CN-17) (1CN-18) Connect an external I/O power supply. There are no power terminals to which the SGDA Servopack outputs signals externally.

2) Contact Output Signal Terminal Connections These output signals are used to indicate SGDA Servopack operation status. Output Signal Ground Common For Speed/Torque Control and Position Control Output → SG-COM 1CN-10 This signal ground is used for the following output signals.2. Connect to 0 V on the external power supply. Servopack Photocoupler I/O power supply Photocoupler output Per output Maximum operational voltage: 30 VDC Maximum output current: 50 mA DC or Open collector output 3 Per output Maximum operational voltage: 30 VDC Maximum output current: 20 mA DC Host controller Note Provide an external I/O power supply separately. There are no power terminals to which the SGDA Servopack outputs signals externally.4 Using Contact I/O Signals cont. Yaskawa recommends that this external power supply be the same type as for the input circuit.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Contact Output Signals: BK (1CN-7) V-CMP (1CN-8) (for speed/torque control only) COIN (1CN-8) (for position control only) TGON (1CN-9) 78 .

One revolution is equivalent to 6 mm. Machine conditions and reference unit must be defined for the electronic gear function beforehand.2 Setting User Constants According to Host Controller 3.048 x 4 = 13.048 Ball screw pitch: 6 mm Number of encoder pulses: 2. 79 . When Electronic Gear Function is Not Used Workpiece SGDAPositions P When Electronic Gear Function is Used Workpiece Reference unit: 1 μm Number of encoder pulses: 2.2.653 (pulses) A total of 13653 pulses must be input as a reference.000 pulses 2) Setting the Electronic Gear Calculate the electronic gear ratio (B/A) according to the procedure below and set the value in Cn-24 and Cn-25. Motor Type SGM-jjj31j SGM-jjjW1j Encoder Type Incremental encoder Absolute encoder Number of Encoder Pulses Per Revolution 2048 1024 Same as user constant Cn-11 settings. To move a workpiece 10 mm: Reference unit is 1 μm.6666 x 2.5 Using Electronic Gear For position control (SGDA-jjjP) only. so 10 6 = 1. It allows the host controller to perform control without having to consider the machine gear ratio and the number of encoder pulses. Items related to electronic gear: − Gear ratio − Ball screw pitch − Pulley diameter Ball screw pitch Gear ratio b) Check the number of encoder pulses for the SGM Servomotor. 1) Outline The electronic gear function enables the motor travel distance per input reference pulse to be set to any value. a) Check the machine specifications. so 10 mm 1 μm = 10.6666 (revolutions) 2048 x 4 (pulses) is equivalent to one revolution. so 1.048 Ball screw pitch: 6 mm 3 To move a workpiece 10 mm.3. the host controller needs to make this calculation.

0. (Minimum unit of reference from host controller) Examples: 0. modify the load configuration or reference unit.001 mm Example: When reference unit is 1 μm If a reference of 50. In this case.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Reference unit is the minimum unit of position data used for moving the load.000 (reference units) Ball Screw Load shaft P: Pitch 1 revolution P = Reference unit Load shaft 1 revolution = 360° Reference unit D: Pulley diameter 1 revolution πD = Reference unit Disc Table Belt & Pulley Load shaft e) Determine the electronic gear ratio B .1°. 3 d) Determine the load travel distance per revolution of load shaft in reference units.001 mm 5/0. c) Determine the reference unit to be used. Electronic gear ratio  B A = Number of encoder pulses x 4 Travel distance per revolution of load shaft (in reference units) ×m n NOTE Make sure that the electronic gear ratio meets the following condition: 0.01 mm.000 x 1 μm). A If the load shaft makes “n” revolutions when the motor shaft makes “m” revolutions.001 = 5. 0. the Servopack does not work properly. n the gear ratio of motor shaft and load shaft is m.2. Determine the reference unit according to machine specifications and positioning accuracy.000 pulses is input.001 mm. 0. To move a table in 0.001 mm units Reference unit: 0.01 ≤ Electronic gear ratio B≤ 100 A If the electronic gear ratio is outside this range.5 Using Electronic Gear cont. Load travel distance per revolution of load shaft (in reference units) = Load travel distance per revolution of load shaft (in unit of distance) Reference unit Example: When ball screw pitch is 5 mm and reference unit is 0.01 inch Reference input of one pulse moves the load by one reference unit. 80 . the load moves 50 mm (50.

01 ≤ B ≤ 100 A  81 . then set A and B in the following user constants. RATB Electronic Gear Ratio (Numerator) RATA Electronic Gear Ratio (Denominator) Unit: None Unit: None Setting Range: 1 to 65535 Setting Range: 1 to 65535 Factory Setting: 1 Factory Setting: 1 For Position Control Only For Position Control Only Cn-24 Cn-25 3 Servomotor These user constants are for position control (SGDA-jjjP) only.2 Setting User Constants According to Host Controller f) Set the electronic gear ratio in the user constants below.  B A Cn-24 Cn-25 RATB Electronic gear ratio (numerator) RATA Electronic gear ratio (denominator) This is all that is required to set the electronic gear. Set the electronic gear ratio according to machine specifications. Electronic gear ratio B A Input reference pulse Servopack Electronic gear = Cn-24 Cn-25 B = [(Number of encoder pulses) x 4] x [Motor shaft rotating speed] A = [Reference unit (load travel distance per revolution of load shaft)] x [Load shaft rotating speed] Note that the user constant settings must meet the following condition: 0. Reduce the electronic gear ratio B to their lowest terms so that both A and B are an A integer smaller than 65535.3.

3) Examples of Setting an Electronic Gear Ratio for Different Load Mechanisms Ball Screw Reference unit: 0.4 : 1 Travel distance per = 3.0254mm revolution of load shaft Electronic gear ratio = 9830.1° Gear ratio: 3:1 Travel distance per revolution of load shaft Electronic gear ratio Preset values = 360° 0.14 x 100mm = 12362 0.2.APPLICATIONS OF Σ-SERIES PRODUCTS 3.1° = 3600 3 Load shaft Incremental encoder: 2048 pulses per revolution 4 B = 2048 ××× 3 = Cn-24 3600 1 A Cn-25 Cn-24 Cn-25 24576 3600 Belt & Pulley Reference unit: 0.0254 mm Load shaft Gear ratio: 2.001 mm Load shaft Travel distance per = 6mm = 6000 0.001mm revolution of load shaft Electronic gear ratio 4 B = 2048 ××× 1 = Cn-24 6000 1 A Cn-25 Preset values Cn-24 Cn-25 8192 6000 Ball screw Incremental pitch: 6 mm encoder: 2048 pulses per revolution Disc Table Reference unit: 0.5 Using Electronic Gearc ont.4 = Cn-24 12362 A Cn-25 Preset values Cn-24 Cn-25 49152 61810 Pulley diameter: 100 mm Absolute encoder: 1024 pulses per revolution 4) Control Block Diagram for SGDA-jjjP Servopack for Position Control SGDA Servopack for position control Differentiation Feed-forw ard gain Primary lag filter Bias COIN signal Reference pulse SGM Servomotor Smoot hing Error counter Speed loop Current loop PG signal output Encoder Frequency dividing 82 .4 = 49152 61810 12362 × B = 1024 × 4× 12.

6 Using Contact Input Speed Control 1) The contact input speed control function provides easy-to-use speed control. Servopack Contact input Speed selection Servomotor No external speed setting device or pulse generator is required. This function can be used for both speed/torque control (SGDA-jjjS) and position control (SGDA-jjjP). If the contact input speed control function is used. the contents of the input signals shown below will change. Contact Input Speed Control Selection Factory Setting: 0 For Speed/Torque Control and Position Control Servopack Run the motor at internally set Contact input speed Cn-02 Bit 2 Enables the contact input speed control function. It allows the user to initially set three different motor speeds in user constants.2. Servomotor When this memory switch is reset. a) Set the following memory switch to 1.3. select one of the speeds externally by contact input and run the motor.2 Setting User Constants According to Host Controller 3. perform Steps a) to c). the meanings of the following signals will also change: Monitor mode (Un-05) bit 7 and bit 8 83 . User constants The motor is operated at the speed set in the user constant. 3 2) To use the contact input speed control function.

SPEED3 0 1 3 b) Set three motor speeds in the following user constants.APPLICATIONS OF Σ-SERIES PRODUCTS 3. 1: ON P-CON Direction of rotation 0: Forward 1: Reverse P-CL 0 0 1 1 N-CL 0 1 1 0 Speed Setting Stop (or pulse reference) Cn-1F. SPEED1 Cn-20. Speed selection input signals P-CL (1CN-11) and N-CL (1CN-12). and rotation direction selection signal P-CON (1CN-15) enable the motor to run at the preset speeds. c) Set the soft start time. SPEED1 1st Speed (Contact Input Speed Control) SPEED2 2nd Speed (Contact Input Speed Control) SPEED3 3rd Speed (Contact Input Speed Control) Unit: Setting r/min Range: 0 to Maximum Speed Unit: Setting r/min Range: 0 to Maximum Speed Unit: Setting r/min Range: 0 to Maximum Speed Factory Setting: 100 Factory Setting: 200 Factory Setting: 300 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Cn-1F Cn-20 Cn-21 Use these user constants to set motor speeds when the contact input speed control function is used (set bit 2 of memory switch Cn-02). Uses the contact input speed control function.6 Using Contact Input Speed Control cont. SFSACC Soft Start Time (Acceleration) SFSDEC Soft Start Time (Deceleration) Unit: ms Unit: ms Setting Range: 0 to 10000 Setting Range: 0 to 10000 Contact input speed control (Memory switch Cn-02 bit 2 = 1) Servopack Run the motor at internally set speed Servomotor Contact input Cn-07 Factory Setting: 0 Factory Setting: 0 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Cn-23 84 . Setting Meaning Does not use the contact input speed control function. P-CON(1CN-15) P-CL(1CN-11) N-CL(1CN-12) Input Signal Used to switch between P control and PI control. SPEED2 Cn-21. Note In the case of the position control type.2. the referrence pulse inhibit function (INHIBIT) cannot be used. Used for forward external current limit input Used for reverse external current limit input 0: OFF.

set “0” in each user constant. • Cn-07: Time interval from the time the motor starts until it reaches the maximum speed (4.2 Setting User Constants According to Host Controller In the Servopack. The following input signals are used to start and stop the motor. smooth speed control can be performed. the soft start function is available only when the contact input speed control function is used. When a progressive speed reference is input or contact input speed control is used. a speed reference is multiplied by the preset acceleration or deceleration value to provide speed control. 1: ON Preset values (0 or 1) and input signal status in the portions indicated by horizontal bars (−) are optional.500 r/min) • Cn-23: Time interval from the time the motor is running at the maximum speed until it stops Note For position control type. 85 .3. Speed reference Soft start Servopack Internal speed reference Cn-07: Set this time interval. 3 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control → Input P-CL 1CN-11 → Input N-CL 1CN-12 Speed Selection 1 (Forward External Torque Limit Input) Speed Selection 2 (Reverse External Torque Limit Input) a) Contact Input Speed Control when Cn-02 bit 2 = 1 • For Speed/Torque Control: Contact Signal P CON P-CON P CL P-CL N CL N-CL User Constant Cn-0 2 Bit 2 Cn-01 Bit A 0 1 −−−− 0 0 1 Direction of rotation 0: Forward 1: Reverse 0 1 1 1 1 0 −−−− 0 1 Bit B 0 0 1 1 Stopped by internal Stop speed reference 0 Stopped by zero-clamp Analog speed reference (VREF) input With zero-clamp function SPEED1 (Cn-1F) −−−− SPEED2 (Cn-20) SPEED3 (Cn-21) Selected Speed 0: OFF. 3) Contact input speed control performs the following operation.) Set the following value in each user constant. Cn-23: Set this time interval. (For normal speed control.

etc. control by external reference (voltage reference) is possible when the contact input speed control function is used by setting bits A and B of user constant Cn-01. For the position control type. Note When the contact input speed control function is used.6 Using Contact Input Speed Control cont. Input signal P-CON is used to specify the direction of motor rotation. • For Position Control: 0: OFF.2. 86 . 1: ON (low level) b) Standard Setting when Cn-02 bit 2 = 0 P-CON signal is used for proportional control. For Speed/Torque Control and Position Control → Input P-CON 1CN-15 a) Contact Input Speed Control when Cn-02 bit 2 = 1 Use input signal P-CON to specify the direction of motor rotation. b) Standard Setting when Cn-02 bit 2 = 0 Input signals are used as external torque limit input. the reference pulse inhibit function is not available. Note For the speed/torque control type. zero-clamp and torque/speed control changeover. control by external reference (pulse reference) is possible when the contact input speed control function is used by setting bit F of user constant Cn-01.APPLICATIONS OF Σ-SERIES PRODUCTS 3. P-CON 1 0 Meaning Reverse rotation Forward rotation 0: OFF (high level). Proportional Control. 1: ON User Constant N CL N-CL Cn-0 2 Bit 2 Cn-01 Bit F 0 1 1 −−−− Stop Pulse reference input SPEED (Cn-1F) SPEED (Cn-20) SPEED (Cn-21) Selected Speed Contact Signal P CON P-CON P CL P-CL −−−− Direction of rotation 0: Forward otat o rotation 1: Reverse rotation 0 0 1 1 0 1 1 0 3 Preset values (0 or 1) and input signal status in the portions indicated by horizontal bars (−) are optional.

2nd or 3rd speed. 87 . Signal Generation Timing for Position Control Type Motor speed 0 r/min COIN Pulse reference N-CL P-CL Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed The above figure illustrates signal generation timing when the soft start function is used. if contact input speed control mode is switched to pulse reference input mode when the motor is running at the 1st. Using the soft start function reduces physical shock at speed changeover. OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF 3 OFF ON Note For the position control type. the soft start function is available only when contact input speed control is used. A maximum of 6 ms delay occurs when P-CL or N-CL signal is read. Always start outputting a pulse reference from the host controller after a positioning complete signal is output from the Servopack. The value of t1 is not influenced by use of the soft start function. For the position control type.2 Setting User Constants According to Host Controller 4) The figure below illustrates an example of operation in contact input speed control mode. The soft start function is not available when pulse reference input is used.3. the Servopack does not receive a pulse reference until positioning complete signal COIN is output. When Contact Input Speed Control is Used Motor speed 2nd speed 1st speed Stopped Stopped 1st speed 2nd speed 3rd speed Stopped 3rd speed Set acceleration and deceleration values in Cn-07 and Cn-23 (soft start time).

not speed Level 4: To switch between speed control and torque control Speed/Torque This section describes how to use levels 3 and 4 of the torque control function. D User constant Cn-14 can be used for maximum speed control.2. A motor torque reference value is externally input into the Servopack to control torque. Examples of Use: Tension control Pressure control Cn-01 Setting Bit B Bit A Torque Control I This is a dedicated torque control mode. D P-CON is not used.7 Using Torque Control 3. 1 0 D Speed reference input V-REF (1CN-3) cannot be used. 2) Use the following memory switch to select level 3 (torque control I) or level 4 (torque control II). D A torque reference is input from T-REF (1CN-1). Control Mode Selection Control Mode Selection Factory Setting: 0 Factory Setting: 0 For Speed/Torque Control Only For Speed/Torque Control Only 3 Cn-01 Bit A Cn-01 Bit B This is dedicated torque control.7 Using Torque Control SGDAS 1) The Servopack can provide the following torque control: D Torque restriction Level 1: To restrict the maximum output torque to protect the machine or workpiece Level 2: To restrict torque after the motor moves the machine to a specified position D Torque control Level 3: To always control output torque.2. Example of Use: Tension control Tension Servopack Torque reference Servopack Control Mode 88 .APPLICATIONS OF Σ-SERIES PRODUCTS 3.

2 Setting User Constants According to Host Controller Cn-01 Setting Bit B Bit A Torque Control II Control Mode Torque control and speed control can be switched. D A speed reference or speed limit value is input from V-REF (1CN-3). D V-REF voltage (+) limits motor speed during forward or reverse rotation.3. torque feed-forward reference or torque limit value depending on the control mode used. D T-REF (1CN-1) inputs a toque reference. Motor speed Speed limit range V-REF 89 . D P-CON (1CN-15) is used to switch between torque control and speed control. D V-REF can be used to limit motor speed. the actual motor speed limit value has a certain range depending on the load conditions. When 1CN-15 is open When 1CN-15 is at 0 V Torque control Speed control Speed reference Torque reference Switching between speed and torque reference Servopack 1 1 3 For Torque Control when P-CON is OFF: D T-REF reference controls torque. Principle of Speed Restriction: 1 1 When the speed exceeds the speed limit. negative feedback of torque proportional to the difference between the current speed and the limit speed is performed to return the speed to within the normal speed range. Therefore.

refer to 3. Remarks R k 1 1 1 −−−− Speed control with torque feed-forward Speed reference Torque feed-forward 3 0 1 Speed control with torque limit by analog voltage reference Speed reference Torque limit value 0 0 0 1 Speed control (Standard setting) Zero-clamp speed control 3) The following input signals perform torque control.9 3 2 9 Using Torque Restriction by Analog Voltage Reference. For details of speed control with torque limit by analog voltage reference.2.8 Using Torque Feed-forward Function.2.2. Cn-01 Setting Bit B Bit A Control Mode For Speed Control when P-CON is ON: Values set in bit F of user constant Cn-01 and bit F of Cn-02 determine the following: User Constant Cn-01 Bit F 0 Cn-02 Bit F 0 Speed Torque Input q p Reference (T-REF) (T REF) Input I t (1CN-1. Servopack Torque reference input (Analog voltage input) Speed reference input (Analog voltage input) Torque reference Speed reference ↕P: Represents twisted-pair cables 90 . refer to 3.7 Using Torque Control cont.4) Speed control Speed reference Cannot be used Any value can be set in bit F of Cn-02 (0 and 1 have the same effect). For details f F d t il of speed control d t l with torque feed-forward.2) (V-REF) (1CN-3.APPLICATIONS OF Σ-SERIES PRODUCTS 3.

1/2 W or more → Input V-REF 1CN-3 → Input SG-V 1CN-4 Speed Reference Input (or Speed Limit Input) Signal Ground for Speed Reference Input For Speed/Torque Control Only For Speed/Torque Control Only These signals are used when speed control is selected (bits A and B of memory switch Cn-01). Motor torque is controlled so that it is proportional to the input voltage between T-REF and SG-T. • Example of Variable Resistor for Speed Setting: Type 25HP-10B manufactured by Sakae Tsushin Kogyo Co.3 V input → 10% of rated torque in reverse direction 3 Servopack User constant Cn-13 can be used to change the voltage input range.. always connect these signal terminals. Reference speed (r/min) Standard setting Input voltage (V) Set the slope in Cn-03 (VREFGN). • For noise control. Examples: Reference torque (%) Standard setting Input voltage (V) Set the slope in Cn-13 (TCRFGN). always use twistedpair cables.3. Standard Setting Cn-13 = 30: This setting means that 3 V is equivalent to rated torque. Examples: +6 V input → 3000 r/min in forward direction +1 V input → 500 r/min in forward direction −3 V input → 1500 r/min in reverse direction 91 . +3 V input → Rated torque in forward direction +9 V input → 300% of rated torque in forward direction −0. Example of Input Circuit: See the figure on the right. Ltd. Standard Setting Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3000 r/min).2 Setting User Constants According to Host Controller → Input T-REF 1CN-1 → Input SG-T 1CN-2 Torque Reference Input Signal Ground for Torque Reference Input For Speed/Torque Control Only For Speed/Torque Control Only These signals are used when torque control is selected (bits A and B of memory switch Cn-01). For normal speed control. Motor speed is controlled so that it is proportional to the input voltage between V-REF and SG-V.

User constant Cn-03 can be used to change the voltage input range. For Speed/Torque Control and Position Control The function of this input signal varies according to the memory switch setting. etc..7 Using Torque Control cont. • Example of Variable Resistor for Speed Setting: Type 25HP-10B manufactured by Sakae Tsushin Kogyo Co. set both bits A and B of memory switch Cn-01 to 1. • For noise control.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Ltd. OFF: 1CN-15 is at high level. Servopack 1/2 W or more 3 → Input P-CON 1CN-15 Proportional Control.2. Speed control Torque control 92 . Servopack Proportional control Zero-clamp control Cn-02 Bit 2 0 0 Cn-01 Bit B 0 0 Cn-01 Bit A 0 1 Function of P-CON Proportional control (Standard setting) For speed/torque control (SGDA-jjjS) only Zero-clamp control For speed/torque control (SGDA-jjjS) only Not used For speed/torque control (SGDA-jjjS) only Torque/speed changeover control Rotation direction control for contact input speed control Memory switch Torque/speed control Rotation direction control The function of P-CON signal varies according to the memory switch setting. (This is also applicable to speed restriction. ON: 1CN-15 is at low level.) Example of Input Circuit: See the figure on the right. When input signal P-CON is used to switch between speed reference and torque reference for torque control II. 0 1 0 0 1 1 1 − − • Torque/Speed Changeover Control This function is used to switch between torque control and speed control in torque control II mode. always use twistedpair cables.

Sets the voltage range of torque reference input T-REF (1CN-1) according to the output form of the host controller or external circuit. set bits A and B of memory switch Cn-01. Reference voltage (V) The factory setting is 500 [rated speed (3. Speed Control Range for Torque Control I Motor speed TCRLMT Torque control range Torque For torque control I.000 r/min)/6 V = 500]. The factory setting is 30.2 Setting User Constants According to Host Controller 4) Set the following user constants for torque control according to the servo system used. Cn-14 TCRLMT Speed Limit for Torque Control I Unit: Setting r/min Range: 0 to Maximum Speed Factory Setting: Maximum Speed For Speed/Torque Control Only 3 Sets a motor speed limit value in this constant when torque control I is selected. Cn-03 VREFGN Speed Reference Gain Unit: Setting (r/min)/V Range: 0 to 2162 Factory Setting: 500 For Speed/Torque Control Only This user constant is for speed/torque control (SGDA-jjjS) only. 93 . Reference torque Rated torque Reference voltage (V) Set this reference voltage. so the rated torque is 3 V (30 x 0. This user constant is used to prevent machine overspeed during torque control.1 V/Rated Torque Setting Range: 10 to 100 Factory Setting: 30 For Speed/Torque Control Only Cn-13 This user constant is for speed/torque control (SGDA-jjjS) only. Sets the voltage range of speed reference input VREF (1CN-3) according to the output form of the host controller or external circuit.3. TCRFGN Torque Reference Gain Unit: 0.1). Reference speed (r/min) Set this slope.

1) Outline The torque feed-forward function reduces positioning time. set the following memory switch to 1. then sends this torque feed-forward reference and the speed reference to the Servopack.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Setting 0 1 Meaning Does not use the torque feed-forward function. 1CN-2). Selection of Torque Feed-forward Function Factory Setting: 0 For Speed/Torque Control Only Cn-01 Bit F Enables the torque feed-forward function. The host controller must generate a torque feed-forward reference from a speed reference.2.8 Using Torque Feed-forward Function 3.2. Speed/Torque 3 Host controller Position reference Schematic Block Diagram for Torque Feed-forward Control Servopack (SGDA-jjjS) Differen tiation Current loop Integration Speed calculation Frequency dividing Encoder Servomotor KP: Position loop gain KFF: Feed-forward gain 2) How to Use Torque Feed-forward Function To use the torque feed-forward function.8 Using Torque Feed-forward Function SGDAS For speed/torque control (SGDA-jjjS) only. It differentiates a speed reference at the host controller (prepared by the customer) to generate a torque feed-forward reference. Connect a speed reference signal line and torque feed-forward reference signal line from the host controller to V-REF (1CN-3. 94 . Uses the torque feed-forward function. To use the torque feed-forward function. Too high a torque feed-forward value will result in overshoot or undershoot. set the optimum value while observing system response. 1CN-4) and T-REF (1CN-1. input a speed reference to the V-REF terminal and a torque feed-forward reference to the T-REF terminal. respectively. To prevent this.

9 Using Torque Restriction by Analog Voltage Reference SGDAS 3 For speed/torque control (SGDA-jjjS) only.2. 1) Outline This function restricts torque by assigning the T-REF terminal (1CN-3. • For user constants and control modes. the torque feed-forward value is 3 V. described in 3. set the following memory switch to 1.2 Setting User Constants According to Host Controller • This function cannot be used with the function for torque restriction by analog voltage reference. TCRFGN Torque Reference Gain Unit: 0. refer to Appendix D List of User Constants. for example.1 V/Rated Torque Setting Range: 10 to 100 Factory Setting: 30 For Speed/Torque Control Only Cn-13 3.3. torque is restricted to 100% (rated torque).9 Using Torque Restriction by Analog Voltage Reference. Since torque reference input terminal T-REF is used as an input terminal. Torque Restriction by Analog Voltage Reference Factory Setting: 0 For Speed/Torque Control Only Cn-02 Bit F Enables this torque restriction function. 1CN-4) a torque limit value in terms of analog voltage.2. 3) Setting a Torque Feed-forward Value in User Constant Cn-13 The factory setting is Cn-13 = 30. If. Schematic Block Diagram for Torque Restriction by Analog Voltage Reference Speed/Torque Torque limit value Speed reference Speed loop gain (Cn-04) Torque reference Integration (Cn-05) Speed feedback Torque limit value 2) How to Use Torque Restriction by Analog Voltage Reference To use this torque restriction function. 95 . this function cannot be used for torque control.

(The same setting applies to both forward and reverse rotation. Torque restriction cannot be set separately for forward and reverse rotation.2. A torque value in excess of 100% is clamped at 100%. This function cannot be used for torque control. 3) Setting a Torque Limit Value in User Constant Cn-13 The factory setting is Cn-13 = 30. Uses the T-REF terminal as a torque limit value input terminal.8 Using Torque Feed-forward Function. torque is restricted to 100% (rated torque). TCRFGN Torque Reference Gain Unit: 0. refer to Appendix D List of User Constants. for example.APPLICATIONS OF Σ-SERIES PRODUCTS 3. To use this function.1 V/ Rated Torque Setting Range: 10 to 100 Factory Setting: 30 Cn-13 For Speed/Torque Control Only 96 . input a speed reference to the V-REF terminal and a torque limit value to the T-REF terminal.9 Using Torque Restriction by Analog Voltage Reference cont.2. the torque limit value is 3 V.) Setting 0 1 Meaning Uses the T-REF terminal as a torque reference or torque feed-forward reference input terminal. • This function cannot be used with the torque feed-forward function described in 3. 3 • For user constants and control modes. If.

10Using the Reference Pulse Inhibit Function (INHIBIT) SGDAPositions P For position control (SGDA-jjjP) only. While this function is being used. the P-CON signal cannot be used to switch between proportion (P) control and proportional/integral (PI) control for speed loop. therefore.2. select by bit F of Cn−01.) Schematic Block Diagram for INHIBIT Function Servopack (SGDA-jjjP) Cn-01 bit F 3 Error counter Reference pulse P-CON Feedback pulse Note: Whether INHIBIT function is used. The P-CON signal is used to enable or prohibit this function. 1 97 . (PI control is always used. the motor remains in servo locked (clamped) status.2 Setting User Constants According to Host Controller 3. Setting 0 Meaning Does not use the INHIBIT function. P-CON signal is used to enable or prohibit the INHIBIT function. Prohibits the Servopack from counting reference pulses. set the bit F of memory switch Cn−01 to 1: Cn-01 Bit F Reference Pulse Inhibit Function (INHIBIT) Factory Setting: 0 For Position Control Only Enables the INHIBIT function.3. ON The motor remains in servo locked (clamped) status. Reference pulses are always counted. 2) How to Use Reference Pulse Inhibit Function (INHIBIT) To use the INHIBIT function. 1) Outline This function inhibits a Servopack for position control from counting input reference pulses. P-CON Meaning OFF Counts reference pulses. Uses the INHIBIT function. When this function is used.

2. For the contact input speed function. (The P-CON signal is used for changing the motor rotation direction. the contact input speed control function is selected. • Always set bit 2 of memory switch Cn-02 to 0. refer to 3.10 Using the Reference Pulse Inhibit Function (INHIBIT) cont.6 Using Contact Input Speed Control.APPLICATIONS OF Σ-SERIES PRODUCTS 3. and the INHIBIT function cannot be used.) 3) Relationship between INHIBIT Signal and Reference Pulse INHIBIT signal (P-CON) Reference pulse Input reference pulses are not counted during this period. 3 98 . If bit 2 is set to 1.2.

make sure to set bit F of Cn−02 to 0. reference pulses may be miscounted (resulting in wrong positioning) due to noise.3. if frequency of reference pulse exceeds 200 kpps. the wire length must be as short as possible (maximum 3 m). 2) How to Use Reference Pulse Input Filter Set the following memory switch according to the output form of reference pulses from the host controller: Reference Pulse Input Filter Selection Function Factory Setting: 0 For Position Control Only Cn-02 Bit F 3 Sets the memory switch according to the output form (line driver or open collector) of reference pulses from the host controller. 1) Outline This function selects a reference pulse input filter inside the Servopack according to the output form of reference pulses from the host controller. 99 . If over 200 kpps reference pulses are output. Setting 0 1 Meaning Output form of reference pulses from host controller: Line driver output (maximum frequency of reference pulse: 450 kpps) Output form of reference pulses from host controller: Open collector output (maximum frequency of reference pulse: 200 kpps) • For open collector output.2 Setting User Constants According to Host Controller 3.2.11 Using the Reference Pulse Input Filter Selection Function SGDAPositions P For position control (SGDA-jjjP) only. Note Even if the open collector output is used.

. . 100 101 102 103 3. . . . .4 Setting User Constants . . . . A numerical value such as a torque limit value or speed loop gain is set in this constant. . ..1 3. . . Cn-02 2) User constant setting Cn-03 and later Each bit of this switch is turned ON or OFF to specify a function. ..3.3 Setting Up the Σ Servopack This section describes how to set user constants to operate the SGDA Servopack. . . . . . User constant setting 100 . . . . .1 Setting User Constants 3. . . and have parameters called “user constants” to allow the user to specify each function and perform fine adjustment. . . 1) Memory switch Cn-01. . . . Setting the Number of Encoder Pulses . .. . 2) User constants are divided into the following two types. . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting the Jog Speed . . . . . . . . . . .3. .3. . . .APPLICATIONS OF Σ-SERIES PRODUCTS 3. .3 3. AXISNO Speed reference gain . .2 3. . . . . . . . . . . . .. .3. . . . . . .3. .. . . Axis address Remarks Each bit number has a switch (ON/OFF). . . . . . . . . Setting the Motor Type . . . . . .. . .. . . . . .. . . . Cn-. . . . . . . . • For Speed/Torque Control: User Constant Cn-01 Cn-02 Cn-03 Cn-. . . . . . . . . . . . .3. . . .1 Setting User Constants 3 1) Σ-series Servopacks provide many functions. . . . .. . 3. . . . Servopack User constants Digital Operator is used to set user constants. .. . . . Cn-29 Name and Code Memory switch Memory switch VREFGN . . . .

.. Some user constants for speed/torque control type (SGDA-jjjS) and position control type (SGDA-jjjP) have different meanings.5 Operation in User Constant Setting Mode 3 3. 4) For details of how to set user constants. User constant setting 3) For a list of user constants. Refer to a list of user constants for each type. Cn-29 Name and Code Memory switch Memory switch LOOPHZ . Cn-... Axis address Remarks Each bit number has a switch (ON/OFF)..1.. AXISNO Speed loop gain ..3.. refer to 4..3 Setting Up the S Servopack • For Position Control: User Constant Cn-01 Cn-02 Cn-04 Cn-. refer to Appendix D List of User Constants.2 Setting the Jog Speed 1) Use the following user constant to set or modify a motor speed when operating the Σ-series Servo from a Digital Operator: JOGSPD Jog Speed Unit: Setting r/min Range: 0 to Maximum Speed Factory Setting: 500 For Speed/Torque Control and Position Control Cn-10 This constant is used to set a motor speed when the motor is operated using a Digital Operator.3. .. Operation Using Digital Operator 101 ..

then ON. then ON.3. turn the power OFF. turn the power OFF.3. After changing the memory switch setting.3 Setting the Number of Encoder Pulses 3. Motor Type SGM-jjj31j SGMP-jjj31j SGM-jjjW1j SGMP-jjjW1j Number of Encoder Pulses Per Revolution Incremental encoder: 2048 pulses per revolution Absolute encoder: 1024 pulses per revolution Preset Value 2048 1024 102 . After changing the memory switch setting. Motor Type Number of Encoder Pulses Per Revolution Incremental encoder: 2048 pulses per revolution Absolute encoder: 1024 pulses per revolution Preset Value 0 1 3 SGM-jjj31j SGMP-jjj31j SGM-jjjW1j SGMP-jjjW1j Cn-11 PULSNO Number of Encoder Pulses Unit: Pulses Per Revolution Setting Range: Number of Encoder Pulses Factory Setting: 2048 For Speed/Torque Control and Position Control Set the number of encoder pulses according to the servomotor type to be used.3 Setting the Number of Encoder Pulses 1) To ensure that the Σ-series Servo System operates properly.APPLICATIONS OF Σ-SERIES PRODUCTS 3. system operation cannot be guaranteed. If this user constant is set incorrectly. set the type of the encoder to be used and the number of encoder pulses per revolution in the following user constants: Encoder Type Selection Factory Setting: 0 For Speed/Torque Control and Position Control Cn-01 Bit E Set the encoder type according to the servomotor type to be used.

then ON.3. Motor Selection Factory Setting: SGDA-jjj: 0 SGDA-jjjP: 1 For Speed/Torque Control and Position Control Cn-02 Bit 8 Set this memory switch according to the servomotor type to be used (SGM or SGMP). turn the power OFF. Motor Type SGM-jjjjjj SGMP-jjjjjj Preset Value 0 1 3 103 .3.4 Setting the Motor Type 1) To ensure that the Σ-series Servo System operates properly. After changing the memory switch setting.3 Setting Up the S Servopack 3. set the type of the servomotor to be used in the following user constant.

. . . . . . . . . . . .4. . . . . . . . . . . . . . . . . When reference voltage from the host controller or external circuit has an offset Offset Reference voltage Reference voltage Offset is corrected by the Servopack. . . . . Using Zero-Clamp . . . . . . .2 3. . . . . 104 105 106 107 3. . . Using Holding Brake .1 3. . . . This happens when reference voltage from the host controller or external circuit has a slight reference offset (in mV units). . . . . . Using Dynamic Brake . . . . . . . .APPLICATIONS OF Σ-SERIES PRODUCTS 3. . . . .4. . . .4 Setting Stop Mode This section describes how to stop the motor properly. . . . . . . . . . .4. . . . . 104 . . . the motor may rotate at a very slow speed and fail to stop. . 3. . . . . . . .1 Adjusting Offset 3. . . . . . . . . . . . . . . . . . .4 Adjusting Offset . . . . . .4.3 3. . . . . . . . . . . the motor will stop. Reference offset can be intentionally set to a specified value. .4. . . . . . . . .1 Adjusting Offset 1) “Why does not the motor stop?” 3 When 0 V is specified as reference voltage for Servopack for speed/torque control. . . . . . . . . . . NOTE If a position control loop is formed in the host controller. . . . Reference speed or reference torque Reference speed or reference torque Offset adjustment 2) The following two methods can be used to adjust the reference offset to 0 V. . 1) Automatic adjustment of reference offset 2) Manual adjustment of reference offset Reference offset is automatically adjusted to 0 V. . . . . . . . . . . .4. . . . . . . . . . . . do not use automatic adjustment in 1. . . . . . . Always use manual adjustment in 2. . If this offset is adjusted to 0 V. . . . . . .

Adjustment Method 1) Automatic adjustment of reference offset 2) Manual adjustment of reference offset 4. Cn-01Bit 6 Cn-01Bit 7 How to Stop Motor When Servo is Turned OFF Operation to Be Performed When Motor Stops After Servo is Turned OFF Factory Setting: 0 Factory Setting: 1 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control 3 The Servopack enters servo OFF status when: • Servo ON input signal (S-ON. Setting Cn-01 Cn 01 bit 7 0 1 Meaning Releases dynamic brake after the motor stops.3.2 Using Dynamic Brake 1) To stop the servomotor by applying dynamic brake (DB). “Dynamic brake” suddenly stops a servomotor by shorting its electrical circuit.4 Reference Offset Automatic Adjustment 4. Does not release dynamic brake even after the motor stop.2. If dynamic brake is not used. This dynamic brake circuit is incorporated in the Servopack. Setting 0 Cn-01 bit 6 1 Servo OFF After stop Stop mode Stop by dynamic brake Bit 6 Coasting to a stop Releasing dynamic brake Bit 7 Holding dynamic brake Meaning Stops the motor by dynamic brake. 1CN-14) is turned OFF • Servo alarm arises • Power is turned OFF Specify how to stop the motor when one of the above events occurs during operation. The motor power is OFF and stops due to machine friction.4 Setting Stop Mode 3) For detailed adjustment procedures. TERMS Dynamic brake (DB) One of the general methods to cause a motor sudden stop.4. Causes the motor to coast to a stop. set desired values in the following memory switch. specify the operation to be performed when the motor stops. Servopack Servomotor 105 .2. If dynamic brake stop mode is selected. the servomotor will stop naturally due to machine friction.5 Speed Reference Offset Manual AdjustmentMode 3. refer to the following sections.

106 . Cn-01Bit A Cn-01Bit B Control Mode Selection Control Mode Selection Factory Setting:0 Factory Setting:0 For Speed/Torque Control Only For Speed/Torque Control Only → Input P-CON 1CN-15 Proportional Control.APPLICATIONS OF Σ-SERIES PRODUCTS 3. this function is used to cause the motor to stop and enter a servo locked status when the input voltage of speed reference V-REF is not 0 V. causing the motor to be clamped within one pulse. D P-CON (1CN-15) is used to turn the zero-clamp function ON or OFF. In other words. Even if the motor is forcibly rotated by external force. etc.4. When the zero-clamp function is turned ON. For Speed/Torque Control and Position Control Cn-01 Setting Bit B Bit A Control Mode Zero-clamp Speed Control This speed control allows the zero-clamp function to be set when the motor stops.3 Using Zero-Clamp 3. it returns to the zero-clamp position. Speed/Torque Speed reference less than Cn-0A setting is ignored Host controller Speed reference Stops instantaneously 3 2) Set the following memory switch so that input signal P-CON can be used to enable or disable the zero-clamp function. D A speed reference is input from V-REF (1CN-3). Motor speed is below the value set in Cn-0F (ZCLVL). P-CON (1CN-15) is open (OFF) P-CON (1CN-15) is closed (ON) Turns zero-clamp function OFF Turns zero-clamp function ON Servopack Speed reference Zero-clamp 0 1 Zero-clamp is performed when the following two conditions are met: P CON P-CON signal is closed.3 Using Zero-Clamp SGDAS 1) The zero-clamp function is used for a system in which the host controller does not form a position loop by speed reference input.4. an internal position loop is temporarily formed.

A servomotor with brake prevents the movable part from dropping due to gravitation when the system power is turned OFF. which is used for holding purposes only and cannot be used for braking purposes. V-REF speed reference Speed Preset value for zero-clamp P-CON input Zero-clamp being performed Open (OFF) Closed (ON) 3 Time 3. set the motor speed level at which zero-clamp is to be performed. respectively.3. c) Motor speed drops below the preset value. Servomotor Holding brake Prevents movable part from shifting due to gravitation when power is turned OFF NOTE The built-in brake in Servomotor with brake is a de-energization operation type.4.4 Using Holding Brake 1) Outline Holding brake is useful when a servo drive is used to control a vertical axis.4 Setting Stop Mode 3) Set in the following user constant the motor speed level at which zero-clamp is to be performed: ZCLVL Zero-Clamp Level Unit: Setting Range: r/min 0 to Maximum Speed Factory Setting: 10 For Speed/Torque Control Only Cn-0F If zero-clamp speed control is selected.(Bits A and B of memory switch Cn-01 are set to 1 and 0. 107 . Use the holding brake only to retain a stopped motor.) b) P-CON (1CN-15) is turned ON (0 V). Conditions for Zero-clamp Zero-clamp is performed when all the following conditions are met: a) Zero-clamp speed control is selected. Brake torque is more than 100% of the rated motor torque.

4 Using Holding Brake cont. 2) Use Servopack contact output-signal BK and brake power supply to form a brake ON/OFF circuit. Power supply Servopack Servomotor with brake Motor plug 3 BK-RY: Brake control relay Blue or yellow White Red Black Brake power supply Brake power supply has two types (200 V. This signal terminal need not be connected when a motor without brake is used. OFF Status: Circuit between 1CN-7 and 1CN-10 is open. Output → BK 1CN-7 Brake Interlock Output For Speed/Torque Control and Position Control This output signal controls the brake when a motor with brake is used. 1CN-7 is at high level. 108 .APPLICATIONS OF Σ-SERIES PRODUCTS 3. 100 V).4. 1CN-7 is at low level. An example of standard wiring is shown below. Applies the brake. Releases the brake. Related User Constants Cn-12 Cn-15 Cn-16 Time delay from brake signal until servo OFF Speed level for brake signal output during operation Output timing of brake signal during motor operation ON Status: Circuit between 1CN-7 and 1CN-10 is closed.

use Cn-15 and Cn-16.4 Setting Stop Mode Output → SG-COM 1CN-10 Output Signal Ground Common For Speed/Torque Control and Position Control This is a signal ground for the output signals shown below. set the following user constant to adjust brake ON timing: Time delay from the time a brake signal is output until servo OFF status occurs Unit: 10 ms Setting Range: 0 to 50 Factory Setting: 0 For Speed/Torque Control and Position Control Cn-12 BRKTIM 3 This user constant is used to set output timing of brake control signal BK (1CN-7) and servo OFF operation (motor output stop) when SGM/SGMP Servomotor with brake is used. If this happens. 109 . Contact Output Signals: BK (1CN-7) V-CMP (1CN-8) (for speed/torque control only) COIN (1CN-8) (for position control only) TGON (1CN-9) 3) If the machine moves slightly due to gravity when the brake is applied. use this user constant to delay servo OFF timing to prevent the machine from moving. Brake Timing when Motor is in Stopped Status S-ON input (1CN-14) BK output (1CN-7) Servo ON/OFF operation (motor ON/OFF status) Servo ON Release brake Motor is ON Servo OFF Apply brake Motor is OFF BRKTIM With the standard setting. For brake ON timing during motor operation.3. Set in this constant the brake ON timing used when the motor is in stopped status. This movement depends on machine configuration and brake characteristics. The machine may move slightly due to gravitation. the servo is turned OFF when BK signal (brake operation) is output. Connect this signal terminal to 0 V on the external power supply.

Therefore. brake ON timing when the motor stops must be appropriate. 110 . Brakes for SGM/SGMP Servomotors are designed as holding brakes.APPLICATIONS OF Σ-SERIES PRODUCTS 3. 1 2 Brake Timing when Motor is in Stopped Status Power OFF by S-ON input (1CN-14) or alarm occurrence Motor speed (r/min) BRKSPD (Cn-15) BK output (1CN-7) Servo ON Servo OFF Stop by dynamic brake or coasting to a stop (Cn-01 bit 6) BRKWAI (Cn-16) When this time elapses.4. The time set in Cn-16 (BRKWAI) has elapsed since servo OFF occurred. Use these user constants to set brake timing used when the servo is turned OFF by input signal S-ON (1CN-14) or alarm occurrence during motor rotation. The circuit between 1CN-7 and 1CN-10 is opened in either of the following situations. 4) Set the following user constants to adjust brake ON timing so that holding brake is applied when the motor stops. Speed Level at which Unit: Brake Signal Is Output r/min during Motor Operation Setting Range: 0 to Maximum Speed Setting Range: 10 to 100 Factory Setting: 100 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Cn-15 BRKSPD Cn-16 BRKWAI Output Timing of Brake Unit: Signal during Motor 10 ms Operation Factory Setting: 50 3 Cn-15 and Cn-16 are used for SGM/SGMP Servomotors with brake. BK signal is output. • Conditions for BK signal (1CN-7) output during motor operation.4 Using Holding Brake cont. Release brake Apply brake Motor speed drops below the value set in Cn-15 (BRKSPD) after servo OFF occurs. Adjust the user constant settings while observing machine operation.

. . . . . Smooth speed control can be achieved when progressive speed references are input or when contact input speed control is used. .5. . Adjusting Gain . . . Using the Smoothing Function . .1 Using the Soft Start Function 1) The soft start function adjusts progressive speed reference input inside the Servopack so that acceleration and deceleration can be as constant as possible. . . . . . . . . . . . . Adjusting Offset . . .4 3. . . . . . . . . . . . . . 3 SGDA- S Speed/Torque Cn-07 SFSACC Soft Start Time (Acceleration) Unit: ms Cn-23 SFSDEC Soft Start Time (Deceleration) Unit: ms Setting Range: 0 to 10000 Setting Range: 0 to 10000 Factory Setting: 0 Factory Setting: 0 For Speed/Torque Control Only For Speed/Torque Control Only In the Servopack. . . . . . . .5. . . .1 3. . .3. . . . . .5 Using the Soft Start Function . . . . . . . . . . . . . Cn-07: Time interval from the time the motor starts until the maximum speed (4500 r/min) is reached Cn-23: Time interval from the time the motor is running at the maximum speed (4500 r/min) until it stops 111 . . . . . Cn-23: Set this time interval. . . . . . 111 112 112 113 113 3. . . . . . . . . . .5 Running the Motor Smoothly This section explains how to run the servomotor smoothly. . . . . . . . . . .5. . To use this function. set the following user constants. . . . . . . . .2 3. . . . . . . . . . . . . . . . . . . . . . . 3. .5. . . . . . . . . . . . . . . . . . . . . . . . . .3 3. . . Setting the Torque Reference Filter Time Constant . . . .5. . . . . . . . . Speed reference Soft start SGDA Servopack internal speed reference Cn-07: Set this time interval. .5. . . . . . .5 Running the Motor Smoothly 3. . . . . . . Set these user constants as follows. . . . . . a speed reference is multiplied by the acceleration or deceleration value set in Cn-07 or Cn-23 to provide speed control. . . . . .

3 Adjusting Gain 3. the system will vibrate or become too susceptible. 2) For servo gain adjustment. This function performs acceleration/deceleration processing for input reference pulses (primary lag characteristics).2 Using the Smoothing Function SGDAPositions P 1) The smoothing function adjusts constant-frequency reference input inside the Servopack so that acceleration and deceleration can be as constant as possible. refer to the following section: 3.5. Reduce each loop gain value to an appropriate value. To use this function. set the following user constant.5.2 Setting Servo Gain 112 . smooth operation cannot be expected. Under such conditions. 3. ACCTME Cn-26 Position Reference Unit: Acceleration/Deceleration 0.6.APPLICATIONS OF Σ-SERIES PRODUCTS 3.3 Adjusting Gain 1) If speed loop gain or position loop gain exceeds the allowable limit for the servo system including the machine to be controlled. This function prevents the motor from running at progressive speeds in the following cases: • When the host controller which outputs references cannot perform acceleration/deceleration processing • When reference pulse frequency is too low Reference pulse Servopack Servomotor Accelerati on/decele ration 3 Reference pulse frequency Apply acceleration/deceleration processing Cn-26 (ACCTME) Reference pulse frequency • When reference electronic gear ratio is too high (more than 10 times) This function does not change the travel distance (number of pulses).1 ms Time Constant (Smoothing) Setting Range: 0 to 640 Factory Setting: 0 For Position Control Only This user constant is used for position control (SGDA-jjjP) only.5.

the machine may cause vibration resulting from the servo drive. In this case.5. 113 .2. possibly resulting from the servo drive. When Reference Voltage from Host Controller or External Circuit has an Offset Offset Reference voltage Reference speed or reference torque Reference speed or reference torque Offset is corrected by the Servopack.5 Speed Reference Offset Manual AdjustmentMode 3. the higher the torque control response. Reference offset can be intentionally set to a specified value. adjust the following filter time constant. 3 NOTE If a position control loop is formed in the host controller. Speed/Torque Reference voltage Offset adjustment 2) The following two methods are available to adjust the reference offset to 0 V. Vibration may stop. The smaller the value. however. smooth operation cannot be expected.5 Setting the Torque Reference Filter Time Constant 1) If the machine causes vibration.2.5. Adjust the reference offset to 0 V. machine problems and so on. Vibration can be caused by incorrect gain adjustment. a certain limit depending on machine conditions. 3) For detailed adjustment procedures.5 Running the Motor Smoothly 3. do not use automatic adjustment in 1).4 Reference Offset Automatic Adjustment 4.3. Always use manual adjustment in 2). There is. increase the constant setting. Vibration may stop.4 Adjusting Offset SGDAS 1) If reference voltage from the host controller or external circuit has an offset in the vicinity of 0 V. refer to the following sections: Adjustment Method 1) Automatic adjustment of reference offset 2) Manual adjustment of reference offset 4. 1) Automatic adjustment of reference offset 2) Manual adjustment of reference offset Reference offset is automatically adjusted. TRQFIL Torque Reference Filter Time Constant Unit: 100 µs Setting Range: 0 to 250 Factory Setting: 4 For Speed/Torque Control and Position Control Cn-17 Cn-17 is a torque reference filter time constant for the SGDA Servopack. With the standard setting.

. . . refer to 4. . . . . . . . . . Servo gain values are set in user constants.2 Setting Servo Gain 3. Techniques and experience are required to set these servo gain values according to machine configuration and machine rigidity. . . . . . . . . . c) Response performance needs to be further enhanced after autotuning. . .6. . . . . .4 3. . 3. . . . . . .6. . . . . . . . . . . . . . . . . . . . . . . Using Mode Switch . .5 3. . . . . . . . . . . .6. . . . .1 Using Autotuning Function 1) If speed loop gain and position loop gain for the servo system are not set properly. .3 Autotuning 3. . . . . . . . . . . . . . . . . . . . . . User Constant Cn-04 Cn-05 Cn-1A Speed loop gain Speed loop integration time constant Position loop gain Meaning 4) For details of how to perform autotuning. . . . . . . . . .1 3. . . . . . . . . . Using Speed Loop Compensation Function . . . . . . b) Each servo gain value checked in a) is to be directly set for another Servopack. . . . . . . Using Proportional Control . . . . . . Setting Servo Gain . . . . . .3 3. With this function. . . . . . . . . .6 3. . .APPLICATIONS OF Σ-SERIES PRODUCTS 3. . . . . . or servo gain values need to be reset for a system with lower response performance. . . . 3) The following user constants can be automatically set by the autotuning function. . . .6. . . . .2. . . . . . . .6. . Setting Speed Bias . . .2 Setting Servo Gain 1) Check and reset the servo gain when: a) Automatically set servo gain values need to be checked after autotuning. . . 114 114 116 116 117 118 124 3 3. . .6. . . . . . . . . . . . . 114 . . . . .2 3. . . . . Using Feed-forward Control . . . . . . . . . . . . . . . . . . . . . . . .6 Minimizing Positioning Time This section describes how to minimize positioning time. . . . . . . . . . . . . . . . . . . . . 2) Σ-series Servopacks have an autotuning function that automatically measures machine characteristics and sets the necessary servo gain values. .6. .6. . .6. . . . . . . . . . . . . . . . . . positioning may become slow. . even firsttime servo users can easily perform tuning for servo gain. . . .6. . . . . .7 Using Autotuning Function . . . . . . . . .

increase the value set in this user constant to suppress alarm detection.31) Normal control Cn-1E OVERLV (Alarm A. In this case. there is a certain limit depending on machine characteristics. POSGN Position Loop Gain (Kp) Unit: 1/s Setting Range: 1 to 200 Factory Setting: 40 Position reference 3 Cn-1A For Speed/Torque Control and Position Control Position loop gain This user constant is a position loop gain for the Servopack. the higher the speed control response. SGDAPositions P OVERLV Overflow Unit: 256 References Setting Range: 1 to 65536 Factory Setting: 1024 For Position Control Only Cn-1E This user constant is for position control (SGDA-jjjP) only. Error pulse (Alarm A.31) is detected. Speed feedback The higher the speed loop gain value or the smaller the speed loop integration time constant value. These user constants are automatically set by the autotuning function.01 ms. an overflow alarm may arise during high-speed operation.3. respectively. Increasing the position loop gain value provides position control with higher response and less error. However. 3) Set the following user constants related to position loop as necessary. The unit of speed loop integration time constant Cn-05 (Ti) can be changed to 0.31) If the machine permits only a small position loop gain value to be set in Cn-1A. LOOPHZ Speed Loop Gain (Kv) PITIME Speed Loop Integration Time Constant (Ti) Unit: Hz Unit: ms Setting Range: 1 to 2000 Setting Range: 2 to 10000 Factory Setting: 80 Factory Setting: 20 Speed reference Cn-04 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Speed loop gain Cn-05 Cn-04 and Cn-05 are a speed loop gain and an integration time constant for the Servopack. Position feedback This user constant is automatically set by the autotuning function. Set in this user constant the error pulse level at which a position error pulse overflow alarm (alarm A. There is. a certain limit depending on machine characteristics. 115 .6 Minimizing Positioning Time 2) Set the following user constants related to speed loop as necessary. however.

6. set 80% or less in this constant. FFGN Feed-forward Gain Unit: % Setting Range: 0 to 100 Factory Setting: 0 For Position Control Only This user constant is for position control (SGDA-jjjP) only. To use feed-forward control.4 Using Proportional Control SGDAS 1) If both bits A and B of memory switch Cn-01 are set to 0 as shown below. Use this user constant to shorten positioning time.6.3 Using Feed-forward Control SGDAPositions Cn-1D P Feed-forward control shortens positioning time. input signal P-CON serves as a PI/P control changeover switch.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Too high a value may cause the machine to vibrate. This user constant is set to apply feed-forward frequency compensation to position control inside the Servopack. enhancing response performance. Reference pulse Differe ntiation Feedback pulse 3 3.4 Using Proportional Control 3. Using feed-forward control increases effective servo gain.6. For ordinary machines. 116 . set the following user constant. • PI Control: Proportional/Integral control • P Control: Proportional control Cn-01 Bit A Cn-01Bit B Control Mode Selection Control Mode Selection Factory Setting: 0 Factory Setting: 0 For Speed/Torque Control Only For Speed/Torque Control Only Speed/Torque TERMS Feed-forward control Control for making necessary corrections beforehand to prevent the control system from receiving the effects of disturbance.

For particular conditions. use the following constant.3. 3. In this case. Use this constant to shorten settling time. the host controller can selectively use P control mode for particular conditions only. use P control mode to stop the motor. b) If PI control mode is used when the speed reference has a reference offset.6. D Speed reference is input from V-REF (1CN-3). a) When operation is performed by sending speed references from the host controller to the Servopack. Cn-01 Setting Bit B Bit A Control Mode Speed Control This is normal speed control. Set this user constant according to machine conditions. Speed reference SGDA Servopack P/PI changeover 0 0 3 2) Proportional control can be used in the following two ways.6.6 Minimizing Positioning Time For speed/torque control (SGDA-jjjS) only. This user constant is set to assign an offset to a speed reference in the SGDA Servopack. Internal speed reference Error pulse 117 . This method can prevent the occurrence of overshoot and also shorten settling time. BIASLV Bias Unit: Setting r/min Range: 0 to 450 Factory Setting: 0 For Position Control Only This user constant is for position control (SGDA-jjjP) only.6 Using Mode Switch. P-CON (1CN-15) PI control is open (OFF) P-CON (1CN-15) P control is closed (ON) D Torque reference input T-REF (1CN-1) cannot be used. To assign bias.5 Setting Speed Bias SGDAPositions Cn-1C P The settling time for positioning can be reduced by assigning bias to the speed reference output part in the Servopack. the motor may rotate at a very slow speed and fail to stop even if 0 is specified as a speed reference. refer to 3. D Signal P-CON (1CN-15) is used to switch between P control and PI control.

For normal use. NOTE The mode switch is used to fully utilize performance of a servo drive to achieve very highspeed positioning.6 Using Mode Switch 3. 118 . Overshoot Speed Actual motor operation Reference Time 3 Undershoot Settling time 2) In other words.6. the speed loop gain and position loop gain set by autotuning provide sufficient speed/position control. the mode switch is a function that automatically switches the speed control mode inside the Servopack from PI control to P control while certain conditions are being established. or smoothing time constant (Cn-26) for the Servopack. they can be suppressed by setting the acceleration/deceleration time constant for the host controller.APPLICATIONS OF Σ-SERIES PRODUCTS 3.6. In short. Cn-23). the soft start time constants (Cn-07. switching “from PI control to P control” reduces effective servo gain. b) To prevent undershoot during positioning in order to reduce settling time (for position control). making the servo system more stable.6 Using Mode Switch 1) Use the mode switch for the following purposes: a) To prevent overshoot during acceleration or deceleration (for speed control). Even if overshoot or undershoot occurs. The speed response waveform must be observed to adjust the mode switch. TERMS From PI control to P control PI control means proportional/integral control and P control means proportional control.

the speed loop switches to P control. Cn-0C Cn-0D Percentage of rated torque: % Motor speed: r/min Acceleration reference inside the Servopack: 10 (r/min)/s Reference unit 3 1 0 1 0 0 Cn-0E 1 1 0 Cn-0F When Torque Reference Is Used as a Detection Point of Mode Switch If a torque reference exceeds the torque value set in user constant Cn-0C. use the following memory switch.3. The SGDA Servopack is factory set to this standard mode (Cn-0C = 200). causing the motor speed to have overshoot or undershoot. Without mode switch Overshoot Motor speed Undershoot Motor speed With mode switch Time Time 119 . For Speed/ Torque Control (SGDA-jj jS) Memory Switch Cn-01 Bit D Bit C For Position Control (SGDAjjjP) Mode Switch Setting Memory Switch Cn-01 Bit D Bit C Bit B User Constant Unit 1 0 0 1 0 1 − 0 0 − 0 1 1 0 0 Does not use mode switch. torque may enter a saturation state during acceleration or deceleration. Uses torque reference as a detection point. Example of Use: Speed Reference speed (Standard Setting) Motor speed Internal torque reference Torque PI control P control PI control PI control P control If a mode switch is not used and PI control is always performed. Note that the mode switch setting methods for speed/ torque control and position control are slightly different. Uses acceleration reference as a detection point. To select a mode switch. Using the mode switch suppresses torque saturation and prevents the motor speed from having overshoot and undershoot.6 Minimizing Positioning Time 3)Servopacks can use four types of mode switches (1 to 4). Uses error pulse as a detection point. (Standard setting) Uses speed reference as a detection point.

Settling time When Acceleration Is Used as a Detection Point of Mode Switch If motor acceleration exceeds the value set in user constant Cn-0E. the speed loop switches to P control. Example of Use: Speed reference Speed Motor speed PI control P control PI control The mode switch is used to reduce settling time.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Using the mode switch suppresses torque saturation and prevents the motor speed from having overshoot and undershoot.6 Using Mode Switch cont. speed loop gain must be increased to reduce settling time.6. Without mode switch Speed reference Motor speed Motor speed Without mode switch Overshoot Motor speed Undershoot Increase speed loop gain 3 Settling time is long Time With mode switch Motor speed Suppress the occurrence of overshoot and undershoot. Using the mode switch suppresses the occurrence of overshoot and undershoot when speed loop gain is increased. the speed loop switches to P control. Generally. torque may enter a saturation state during acceleration or deceleration. When Speed Reference Is Used as a Detection Point of Mode Switch If a speed reference exceeds the value set in user constant Cn-0D. Reference speed Speed (Standard Setting) Motor speed Motor acceleration Acceleration Example of Use: PI control P control PI control PI control P control If a mode switch is not used and PI control is always performed. Without mode switch Overshoot Motor speed Undershoot Time With mode switch Motor speed Time 120 . causing the motor speed to have overshoot or undershoot.

Speed Speed reference Motor speed If an error pulse exceeds the value set in user constant Cn-0F. Setting Meaning 0 1 Uses the mode switch function Does not use the mode switch function Speed Reference Actual motor operation Time Settling time Mode switch is used to reduce settling time and suppress undershoot when the motor stops.6 Minimizing Positioning Time When Error Pulse Is Used as a Detection Point of Mode Switch SGDAPositions P For position control (SGDA-jjjP) only. set bits C and D of memory switch Cn-01. speed loop gain must be increased to reduce settling time. the speed loop switches to P control. 121 .3. Example of Use: Error pulse PI control P control PI control The mode switch is used to reduce settling time. Settling time 4) The user constants required to set each mode switch are summarized as follows. This user constant is used to enable or disable the mode switch function. For speed/torque control (SGDA-jjjS). bits C and D are used to enable or disable the mode switch function. Mode Switch ON/OFF Factory Setting: 0 For Position Control Only Cn-01Bit B SGDAPositions P For position control (SGDA-jjjP) only. It switches PI control to P control when certain conditions are met. Using the mode switch suppresses the occurrence of overshoot and undershoot when speed loop gain is increased. The Servopack allows use of four different types of mode switch. Generally. Without mode switch Speed reference Motor speed Motor speed Without mode switch Increase speed loop gain Motor speed Overshoot 3 Undershoot Settling time is long Time With mode switch Motor speed Suppress the occurrence of overshoot and undershoot. To select a mode switch.

6 Using Mode Switch cont. Memory Switch Cn-01 Bit D Bit C Mode Switch Type Uses torque reference as a detection point.6. Uses speed reference as a detection point.APPLICATIONS OF Σ-SERIES PRODUCTS 3. It switches PI control to P control when certain conditions are met. Uses acceleration reference as a detection point. User Constant for Setting Detection Point Cn-0C Cn-0D Cn-0E 0 0 1 0 1 0 3 1 1 Uses error pulse as a detection point. Cn-01 Bit C Cn-01 Bit D Mode Switch Selection Mode Switch Selection Factory Setting: 0 Factory Setting: 0 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Use the following user constants to set the mode switch to be used. 122 . Cn-0F Mode switch is used to reduce settling time and suppress undershoot when the motor stops. For speed/ torque control For position control Does not use mode switch.

set bits B. Uses error pulse as a detection point. Reference Speed Actual motor operation 3 Time Settling time The Servopack allows use of four different types of mode switch. It switches PI control to P control when certain conditions are met. For speed/torque control (SGDA-jjjS). C and D of memory switch Cn-01. User Constant Unit − 0 − 0 1 0 Cn-0C Percentage of rated torque: % Motor speed: r/min Acceleration reference inside the SGD Servopack: 10 (r/min)/s Reference unit 0 1 0 Cn-0D 1 0 0 Cn-0E 1 1 0 Cn-0F User constant Cn-0F is for position control (SGDA-jjjP) only.3. To select a mode switch. Uses torque reference as a detection point. Memory Switch Cn-01 Bit D Bit C Bit B Mode Switch Setting Does not use mode switch. Uses acceleration reference as a detection point.6 Minimizing Positioning Time TRQMSW Cn-0C Mode Switch (Torque Reference) Unit: % Setting Range: 0 to Maximum Torque Setting Range: 0 to Maximum Speed Setting Range: 0 to 3000 Setting Range: 0 to 10000 Factory Setting: 200 For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Position Control Only REFMSW Cn-0D Mode Switch (Speed Reference) Unit: r/min Factory Setting: 0 ACCMSW Cn-0E ERPMSW Cn-0F Mode Switch (Acceleration Reference) Mode Switch (Error Pulse) Unit: 10 (r/min)/s Factory Setting: 0 Unit: Reference Unit Factory Setting: 10000 Mode switch is used to reduce settling time and suppress undershoot when the motor stops. Cn-0F is used to set a zero-clamp level. 123 . Uses speed reference as a detection point.

) 2) Speed loop compensation function can be illustrated by the following block diagram: 3 Speed reference Current loop gain (Cn−04) Current loop Motor Speed loop integration time constant (Cn−05) Compensation gain K* Speed calculation * Compensation gain (K) is in proportion to the compensation constant (user constant Cn−28). find the proper value at which noise and oscillation are minimal. gradually increase the set value of Cn−28 from 0.6. adjust the servo (position/speed loop gain. 124 .7 Using Speed Loop Compensation Function 3. again. speed loop.APPLICATIONS OF Σ-SERIES PRODUCTS 3. it may bring little effect or even increase the oscillation. torque reference filter) appropriately in the “Cn−28 = 0” status. Note Use the speed loop compensation function (set value of Cn−28 is other than 0) under the following status: ⋅ No servo system oscillation ⋅ No abnormal noise from the machine Even if the speed loop compensation function is used. integration time constant. use the following constant. NDBCC Speed Loop Compensation Constant Unit:  Setting Range: 0 to 100 Factory Setting: 0 For Speed/Torque Control Only Speed/Torque Cn-28 First. Cn−28 = 0 shows no compensation status.6. Then. (Set the value of Cn−28 to 0. stop using the speed loop compensation function.7 Using Speed Loop Compensation Function SGDAS 1) This function compensates for the phase−delay generated by the digital control speed detection. For this function. In these cases.

1 Using Servo Alarm Output and Alarm Code Output 1) Basic Wiring for Alarm Output Signals 3 I/O power supply Servopack Photocoupler Photocoupler Output Per output: Maximum operation voltage: 30 VDC Maximum output current: 50 mADC Open Collector Output Per output: Maximum operation voltage: 30 VDC Maximum output current: 20 mADC Host controller Provide an external I/O power supply separately. . . . . . 3. . . . . . . . . .6 Using Servo Alarm Output and Alarm Code Output . . . . . . . . 125 128 129 131 132 134 3. . . . . .7 Forming a Protective Sequence 3. .7.2 3. . . . . . . .7 Forming a Protective Sequence This section describes how to use I/O signals from the Servopack to form a protective sequence for safety purposes. . . . .7. . . . . . . . . . . . . . . Handling of Power Loss .7. . . . . . . . .5 3.7. . . . . . . . . . . Using Servo ON Input Signal . . . . . . .4 3. . . . .7. . . . . Using Running Output Signal . . . . . Using Positioning Complete Signal . . . . . . . . . . . Using Speed Coincidence Output Signal . . . . . . . . . . . . .7. . . . . . . . . . . . . . . . . . There are no DC power available from Servopack for output signals. . . . . . .7. 125 . . . . . . . .1 3. . . . .3. . . . . . . . . . . . . . . . .3 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Use these signals to display alarm codes at the host controller. When an alarm signal is output. 2) Contact Output Signal ALM Servo Alarm Output For Speed Torque Control and Position Control For Speed Torque Control and Position Control Output → ALM 1CN-34 Output → ALM-SG 1CN-35 Signal Ground for Servo Alarm Output Signal ALM is output when the Servopack detects an alarm. take corrective action and operate again. 126 . For trouble shooting problems and procedures.2 Troubleshooting. and ALO3 Alarm Code Output For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control For Speed/Torque Control and Position Control Output → ALO1 1CN-30 Output → ALO2 1CN-31 Output → ALO3 1CN-32 Output → SG-AL 1CN-33 Alarm Code Output Alarm Code Output Signal Ground for Alarm Code Output These signals output an alarm code to indicate the type of alarm detected by the Servopack. NOTE Using Alarm Codes: When an alarm is detected.APPLICATIONS OF Σ-SERIES PRODUCTS 3. ALO2. be sure to identify the cause of the problem. 1CN-34 is at low level. ON status: OFF status: Circuit between 1CN-34 and 1CN-35 is closed. For this reason. Form an external circuit so that this alarm output (ALM) turns the Servopack OFF. Servopack Alarm detection ALM output Turns the power OFF 3 Normal state Alarm state Alarm codes ALO1.1 Using Servo Alarm Output and Alarm Code Output cont. The alarm code remains output for at least 100 ms. and ALO3 are output to indicate each alarm type.7. alarm output (ALM) causes the external circuit to turn the SGDA Servopack OFF. Circuit between 1CN-34 and 1CN-35 is open. the host controller must read the alarm code within 100 ms of the alarm occurrence. 1CN-34 is at high level. refer to 6. 3) Contact Output Signals ALO1. ALO2.

Overspeed Motor speed has exceeded the maximum allowable speed. Servopack overheated. Power loss occurred during operation. power was turned ON again within power holding time.7 Forming a Protective Sequence 4) Relationship between Alarm Display and Alarm Code Output Alarm Display and Alarm Code Output: Alarm Display Alarm Code Output ALO1 ALO2 ALO3 Servo Alarm (ALM) Output ¢ Alarm Type Alarm Description ¢ ¢ ¢ User constant error Overcurrent An absolute encoder error occurred or user constant is faulty. 127 . Overrun occurred due to motor or encoder signal wiring faults. Absolute encoder is faulty. Motor and Servopack are overloaded. Overcurrent flowed thorough the main circuit. ○ ¢ ¢ ¢ Position error pulse overflow ○ ○ ¢ ¢ ¢ ¢ ○ ¢ Overvoltage Main circuit DC voltage has exceeded approximately 420 V. refer to Appendix E List of Alarm Displays. Encoder signal line is disconnected.3. 3 ○ ○ ¢ ○ ○ ¢ Overload Overrun Disconnection of PG signal line Absolute encoder error Power loss alarm ○ ¢ ○ ¢ ○ ¢ ¢ ¢ ¢ ¢ ¢ ○ ¢ ¢ After power was turned OFF. For details. Undefined Digital Operator transmission error No error ¢ ¢ ¢ ○ ○ : Output transistor is ON ¢ : Output transistor is OFF * : Displays an alarm category number. The number of pulses in error counter has exceeded the preset value. Communication error occurred between Digital Operator and Servopack.

This is inoperable state (called “servo OFF state“). I/O power supply Servopack Photocoupler Host controller → Input S-ON 1CN-14 Servo ON For Speed/Torque Control and Position Control This signal is used to turn the motor ON or OFF. Servo OFF Motor is OFF Motor cannot run. When an alarm occurs. Alarm state is automatically reset when servo power is turned ON next time.2 Using Servo ON Input Signal 5) When the servo alarm (ALM) is output. Servo ON Motor is ON Motor is operated according to input signals.7. This function can be selected by setting bits 6 and 7 of memory switch Cn-01.2. always eliminate the cause before resetting the alarm state. Turns the motor OFF. eliminate the cause of the alarm and set the following ALMRST input signal at high level (+24 V) to reset the alarm state.” Use this signal to forcibly turn the servomotor OFF from the host controller. ON: 1CN-14 is at low level OFF: 1CN-14 is at high level Turns the motor ON. 6.7. This is because an external circuit is normally formed so that servo power is turned OFF when servo alarm is output.2 Using Servo ON Input Signal 1) This section describes how to wire and use contact input signal “servo ON (S-ON). the motor is decelerated to a stop by applying dynamic brake (standard setting). Alarm Reset For Speed/Torque Control and Position Control → Input ALMRST 1CN-18 This signal is used to reset the servo alarm state. This is normal operation state (called “servo ON state”).APPLICATIONS OF Σ-SERIES PRODUCTS 3. this signal terminal need not be wired. Alarm state can be reset using the Digital Operator. If the servo is turned OFF during motor operation. 3 3.1 Troubleshooting Problems with Alarm Display describes how to troubleshoot the system when an alarm arises. 128 . Normally.

2) If the S-ON signal is not to be used.3 Using Positioning Complete Signal SGDAPositions Servopack I/O power supply P 1) This section describes how to wire and use contact output-signal “positioning complete output (COIN). set the memory switch to “1. servo is ON. servo is OFF.3. (When 1CN-14 is open. set the following memory switch to 1: Use of Servo ON Input Signal Factory Setting: 0 For Speed/Torque Control and Position Control Cn-01 Bit 0 This memory switch is used to enable or disable the servo ON input signal S-ON (1CN-14).” This signal is output to indicate that servomotor operation is complete. Always use an input reference to start and stop the motor. 3 3.) Does not use servo ON signal S-ON. this short-circuit wiring can be omitted.7.” Servopack When S-ON is not used. Setting 0 1 Meaning Uses servo ON signal S-ON. Photocoupler output Per output: Maximum operation voltage: 30 VDC Maximum output current: 50 mADC 129 . When 1CN-14 is at 0 V. When external short-circuit wiring is omitted.7 Forming a Protective Sequence NOTE Do not use the S-ON signal to start or stop the motor.

1CN-8) to be output when motor operation is complete after a position reference pulse has been input. 3 Preset Value: Cn-1B (positioning complete range) 2) Set the number of error pulses in the following user constant to adjust output timing of COIN (positioning complete output). COINLV Positioning Complete Range Unit: Reference Unit Setting Range: 0 to 250 Factory Setting: 1 For Position Control Only Cn-1B For position control (SGDA-jjjP) only. Positioning is not complete (position error is over the preset value). causing COIN to be output continuously. Speed Motor This output signal indicates that motor operation is complete during position control.APPLICATIONS OF Σ-SERIES PRODUCTS 3. ON status: OFF status: Circuit between 1CN-8 and 1CN-10 is closed. This user constant is used to set output timing of positioning complete signal (COIN. COINLV does not affect the final positioning accuracy. Circuit between 1CN-8 and 1CN-10 is open. Error pulse Positioning is complete (position error is below the preset value). error may become too small when the motor runs at a low speed. Reference Speed Motor Error pulse Set the number of error pulses in terms of reference unit (the number of input pulses that is defined using the electronic gear function). If too large a value is set in this user constant. The host controller uses this signal as an interlock to confirm that positioning is complete.7. 1CN-8 is at low level. 130 . Output → COIN 1CN-8 Positioning Complete Output For Position Control Only Reference For position control (SGDA-jjjP) only. 1CN-8 is at high level.3 Using Positioning Complete Signal cont.

Motor speed Reference speed V-CMP is output within this range 131 . Preset value: Cn-22 (speed coincidence signal output width) 2) Set the following user constant to specify the output conditions for speed coincidence signal V-CMP.” This signal is output to indicate that actual motor speed matches a reference speed.4 Using Speed Coincidence Output Signal SGDAS Speed/Torque 1) This section describes how to wire and use contact output signal “speed coincidence output (V-CMP). Set the output conditions for speed coincidence signal V-CMP (1CN-8).7. I/O power supply Servopack Photocoupler Output Per output: Maximum operation voltage: 30 VDC Maximum output current: 50 mADC Output → V-CMP 1CN-8 Speed Coincidence Output For Speed/Torque Control Only 3 For speed/torque control (SGDA-jjjS) only.3. Motor speed Reference speed V-CMP is output within this range. Circuit between 1CN-8 and 1CN-10 is open. 1CN-8 is at low level.7 Forming a Protective Sequence 3. Actual motor speed matches the speed reference (speed difference is below the preset value). ON status: OFF status: Circuit between 1CN-8 and 1CN-10 is closed. This output signal indicates that actual motor speed matches the input speed reference during speed control. V-CMP signal is output when the difference between the reference speed and actual motor speed is not greater than the preset value. VCMPLV Speed Coincidence Signal Output Width Unit: Setting r/min Range: 0 to 100 Factory Setting: 10 For Speed/Torque Control Only Cn-22 For speed/torque control (SGDA-jjjS). Actual motor speed does not match the speed reference (speed difference is greater than the preset value). 1CN-8 is at high level. The host controller uses this signal as an interlock.

(Motor speed is below the preset value.5 Using Running Output Signal 1) This section describes how to wire and use contact output signal TGON as a running output signal. Motor speed Motor is running. 3. I/O power supply Servopack 3 Photocoupler Output Per output: Maximum operation voltage: 30 VDC Maximum output current: 50 mADC Output → TGON 1CN-9 Running Output (Torque Limit Output) For Speed/Torque Control and Position Control This output signal indicates that the motor is currently running.100 r/min. 1CN-9 is at high level. Circuit between 1CN-9 and 1CN-10 is open.APPLICATIONS OF Σ-SERIES PRODUCTS 3.7. (Motor speed is greater than the preset value. 132 .) Motor is stopped.) Preset value: Cn-0B (zero-speed level) Note This function is changed to another function depending on the setting of bit 4 of memory switch Cn-01. It is used as an external interlock. This signal indicates that a servomotor is currently running.7. ON status: OFF status: Circuit between 1CN-9 and 1CN-10 is closed. V-CMP is ON (circuit between 1CN-8 and 1CN-10 is closed) when the speed is between 1.5 Using Running Output Signal Example: When preset value is 100 and reference speed is 2000 r/min. 1CN-9 is at low level.900 and 2.

The following signals are output when motor speed exceeds the preset value. 133 . TGON compares motor speed with the value set in Cn-0B (TGONLV). TGON compares an internal torque (current) reference inside the SGDA Servopack with the preset value. Opens circuit between 1CN-9 and 1CN-10.) Signals are output when motor speed exceeds the preset value. 3 1 Uses TGON as a torque limit output signal.7 Forming a Protective Sequence 2) To use TGON as a running output signal. Setting Unit: Range: 1 to r/min Maximum Speed For Speed/Torque Control and Position Control Cn-0B TGONLV Zero-Speed Level Factory Setting: 20 This user constant is used to set the speed level at which the Servopack determines that the motor is running and then outputs a signal. (The circuit between 1CN-9 and 1CN-10 is closed when motor speed exceeds the preset value. the following bit data are also changed: • Status indication mode bit data • Monitor mode Un-05 bit 4 Setting Meaning Memory switch Cn-01 bit 4 Rotation detection Torque detection Uses TGON as a running output signal. set the following memory switch to “0. Preset Value: Cn-08 (TLMTF) Cn-09 (TLMTR) Cn-18 (CLMIF): P-CL input only Cn-19 (CLMIR): N-CL input only Internal torque (current) reference ≥ preset value Internal torque (current) reference < preset value Closes the circuit between 1CN-9 and 1CN-10 Opens the circuit between 1CN-9 and 1CN-10 3) Use the following user constant to specify the output conditions for running output signal TGON.3.” TGON Output Signal Selection Factory Setting: 0 For Speed/Torque Control and Position Control Cn-01 Bit 4 This memory switch is used to set output conditions for output signal TGON (1CN-9) When TGON signal is changed. 0 Motor speed ≥ preset value Motor speed < preset value Closes circuit between 1CN-9 and 1CN-10.

6 Handling of Power Loss 1) Use the following memory switch to specify whether to clear or hold a servo alarm that occurred at power loss. This alarm data can be displayed with a Digital Operator.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Clears servo alarm after recovery from power loss. Operation to Be Performed at Recovery from Power Loss Factory Setting: 0 For Speed/Torque Control and Position Control Cn-01 Bit 5 3 If the Servopack detects instantaneous voltage drop in power supply. Setting 0 1 Meaning Power loss 200 or 100 V supply voltage Cn-01 bit 5 = 0 Cn-01 bit 5 = 1 Holds servo alarm even after recovery from power loss.7. power loss is not stored as alarm traceback data.1 Operation in Alarm Trace-back Mode.2. Select the operation to be performed when voltage is recovered after alarm occurrence. 2) If this memory switch is set to “1” (to clear servo alarm). ALM output remains ON (circuit between 1CN-34 and 1CN-35 is closed). it outputs alarm A.F3 to prevent a hazardous situation. 134 .7.6 Handling of Power Loss D TGON (1CN-9) D Status indication mode bit data D Monitor mode Un-05 bit 4 User Constant Setting: Memory switch Cn-01 bit 4 = 0 Motor speed 3. For details. TERMS Alarm traceback data The SGDA Servopack stores up to 10 last alarms as alarm data. refer to 4. ALM output remains OFF (circuit between 1CN-34 and 1CN-35 remains open).

Although the modified (new) settings appear on the display.3. turn the power ON again. the old settings are still valid inside the Servopack. always wait for at least the “power holding time” after the Servopack is turned OFF. 3 135 . Follow the procedure below. user constants that have been modified do not become valid if these constants are made valid by turning the power OFF and then ON. In this case. Reason When bit 5 of Cn-01 is set to “1” (clearing servo alarm). Therefore. b) Make sure that the power and alarm indicators (LEDs) on the front panel of the Servopack have gone OFF. the inside of the Servopack has not yet been reset (power ON reset). c) Then. the Servopack will operate normally even if it is turned ON without waiting “power holding time” after being turned OFF.7 Forming a Protective Sequence Note Setting Bit 5 of Cn-01 to Clear Servo Alarm: To change a user constant that is made valid by turning the Servopack OFF and then ON. however. a) Make sure that all indicators (LEDs) on the Digital Operator have gone OFF. then turn the Servopack ON.

7 3. NOTE Always use the following cables for reference input and encoder wiring. .6 ft. . . . . . . . . . . . . . . 3. . . . . . . . . . . . . . . . . . . .2 Wiring for Noise Control. . . . . . . . .8. . 136 . . . . . . . . DE9404859 B9400064 (for incremental encoder) DP8409123 (for absolute encoder) • Trim off the excess portion of the cable to minimize the cable length. . . . • Always use one-line grounding. . . . .3 3. . . . . . .8 Special Wiring This section describes special wiring methods including the one for noise control. . . . . . .6 3. . . . . . . . . Extending an Encoder Cable . . . . • Since the conductor of a signal cable is very thin (0. . . • At least class 3 grounding (ground to 100 Ω or less) is recommended. . . and refer to other sections as necessary. 136 138 143 144 148 157 159 161 3 3. . .8. Maximum Allowable Length 3 m (9.2 3. . . . . . Connector Terminal Layouts . . . .3 mm). . .1 Notes on Wiring and 3. . Using an Absolute Encoder . . . . . . . . . . . . . . . . . . . .8. . . . . . . . . . . . . . . . . . . . . . . . . . . .2 to 0. .8 Wiring Instructions . . NOTE Do not bend or apply tension to cables. . Using Regenerative Units . . . Wiring for Noise Control . . .) 20 m (65. Always refer to 3. . . . . . . . . . . .8. . . . . . . . . . . . . use as thick a cable as possible. . . . . . . . . .1 Wiring Instructions To ensure safe and stable operation. . . . . . . .8. . . .8. . . . . . . .8 ft. . . . . . . . . . . . Using SGDA Servopack with High Voltage Line . . .8. • If the motor is insulated from the machine. . . . . . . . . . . . . . .APPLICATIONS OF Σ-SERIES PRODUCTS 3. . . . . .1 3. . . . . .8. .8. handle it with adequate care. . . . . . . Using More Than One Servo Drive . . . .4 3. . .5 3.8. . . . . .8. . . . . . . . . . . . . . . . . . . .) Cable Type For reference input For encoder Twisted-pair cables Multiconductor shielded twisted-pair cable Yaskawa Drawing No. . . . . ground the motor directly. . always refer to the following wiring instructions. . . .1 Wiring Instructions 3. .8. NOTE For a ground wire. . . . . . . . . . . .

Noise filter NOTE To prevent malfunction due to noise. install a noise filter on the input side of the power supply line. always take the above actions. refer to the following Caution. • The distance between a power line (such as a power supply line or motor cable) and a signal line must be at least 30 cm (12 in). Note a) Since Servopack uses high-speed switching elements. solenoid and magnetic contactor coils.) • If the servo is to be used near private houses or may receive noise interference. • Do not share the power supply with an electric welder or electrical discharge machine. To prevent this. b) For details of grounding and noise filters. Always use an MCCB or fuse to protect the servo system from accidental high voltage. Do not put the power and signal lines in the same duct or bundle them together. When the Servopack is placed near a high-frequency oscillator.3. install a noise filter on the input side of the power supply line.2 Wiring for Noise Control. Since this Servopack is designed as an industrial device.8 Special Wiring NOTE Use a noise filter to prevent noise interference. signal lines may receive noise. • Always install a surge absorber circuit in the relay. it provides no mechanism to prevent noise interference. • Select an appropriate MCCB or fuse according to the Servopack capacity and the number of Servopacks to be used as shown below. (For details. MCCB 137 .8. 3 NOTE Use a molded-case circuit breaker (MCCB) or fuse to protect the power supply line from high voltage. • This Servopack is directly connected to commercial power supply without a transformer. take the following actions: • Position the input reference device and noise filter as close to the Servopack as possible. refer to 3.

8. It may receive “switching noise” from these high-speed switching elements if wiring or grounding around the Servopack is not appropriate.8. always wire and ground the Servopack correctly.25 0. To protect the microprocessor from external noise. install a noise filter in place.75 1. b) This Servopack has a built-in microprocessor (CPU).2 Wiring for Noise Control 1) Example of Wiring for Noise Control a) This Servopack uses high-speed switching elements in the main circuit. To prevent this. A fast-operating fuse may blow out when the power is turned ON.4 Power Capacity Per MCCB or Fuse (A) (see note 2) Power Voltage Servopack Type SGDA-A3Aj SGDA-A5Aj SGDA-01Aj SGDA-02Aj SGDA-04Aj SGDA-08Aj SGDA-A3Bj SGDA-A5Bj SGDA-01Bj SGDA-02Bj SGDA-03Bj 5 9 16 5 8 15 200 V 100 V 3 Note 1) Power capacity at rated load 2) Operating characteristics (25°C): 2 seconds or more for 200%.3 0.2 0. 3. 0.APPLICATIONS OF Σ-SERIES PRODUCTS 3.75 1.5 0.01 second or more for 700% 3) A fast-operating fuse cannot be used because the Servopack power supply is a capacitor input type.3 0.5 0. 138 .2 Wiring for Noise Control MCCB or Fuse for Each Power Capacity Power Capacity Per Servopack (kVA) (see note 1) 0.2 0.2 2.

Always connect servomotor frame terminal FG (green) to the Servopack ground terminal. do the following. The above grounding is required to prevent the adverse effects of switching noise. If the main circuit wiring for the motor is accommodated in a metal conduit.5 mm2 (preferably. For all grounding. b) For wires indicated by P↕. Noise filter * Servomotor (Red) 100 or 200 VAC SGDA Servopack (White) (Blue) (Green) (Casing) • Operation relay sequence • Signal generation circuit (provided by customer) 3. ground the conduit and its junction box. Be sure to ground the ground terminal. always use one-line grounding. 139 .5 mm2 or more * When using a noise filter. • If the reference input line receives noise. 2) Correct Grounding • Always ground the motor frame. use a thick wire with a thickness of at least 3.3. Ground the 0 V line (such as SG-V and SG-T) of the reference input line. use twisted-pair cables whenever possible. • If the servomotor is grounded via the machine.5 mm2 or more 3.8 Special Wiring c) The following is an example of wiring for noise control. always observe the following wiring instructions: Note a) For a ground wire to be connected to the casing.5 mm2 or more 3 (Casing) (Casing) (Casing) (Casing) Ground plate Ground: One-line grounding (at least class 3 grounding) Wire with a thickness of 3. plain stitch cooper wire). a switching noise current will flow from the Servopack power unit through motor stray capacitance.

20 A Single-phase 200 VAC.13 HP) 200 W (0. 10 A Single-phase 200 VAC.01 HP) 30 W (0. contact your nearest Yaskawa sales representatives. 5 A 00 C. 140 .07 HP) 100 W (0.27 HP) 400 W (0.2 Wiring for Noise Control cont.07 HP) 100 W (0. The following table lists recommended noise filters for each Servopack type. and available from Yaskawa.13 HP) 200 W (0. 3) Noise Filter Installation a) Use an inhibit type noise filter to prevent noise from the power supply line. 10 A Single-phase 200 VAC.53 HP) 750 W (1.8.04 HP) 50 W (0. Noise Filter Types Power Voltage Noise Filter Connection Recommended Noise Filter Type LF-205A Specifications Single-phase 200 VAC. 20 A Note These noise filters are manufactured by Tokin Corp. For noise filters. 100 V LF-210 LF-220 Single-phase 200 VAC. 5 A 00 C.APPLICATIONS OF Σ-SERIES PRODUCTS 3.27 HP) 300 W (0.39 HP) SGDA-A3Aj SGDA-A5Aj SGDA-01Aj SGDA-02Aj SGDA-04Aj SGDA-08Aj SGDA-A3Bj SGDA-A5Bj SGDA-01Bj SGDA-02Bj SGDA-03Bj 3 200 V (Correct) LF-210 LF-220 (Incorrect) LF-205A Single-phase 200 VAC.04 HP) 50 W (0. Servopack Type 30 W (0. Install a noise filter on the power supply line for peripheral equipment as necessary.

3. • Separate input lines from output lines. Noise filter Noise filter Noise filter Noise filter 3 Separate these circuits. Do not accommodate the noise filter ground wire.8 Special Wiring b) Always observe the following installation and wiring instructions. Incorrect use of a noise filter halves its benefits. Noise filter Noise filter The ground wire can be close to input lines. output lines and other signal lines in the same duct or bundle them together. • Separate the noise filter ground wire from the output lines. Do not put the input and output lines in the same duct or bundle them together. 141 .

If a noise filter is located inside a Unit. then ground these wires. connect the noise filter ground wire and the ground wires from other devices inside the Unit to the ground plate for the Unit first. Do not connect the noise filter ground wire to other ground wires. • Connect the noise filter ground wire directly to the ground plate. Unit Noise filter Ground 142 .APPLICATIONS OF Σ-SERIES PRODUCTS 3.2 Wiring for Noise Control cont. Noise filter Noise filter Shielded ground wire Thick and short 3 • When grounding a noise filter inside a Unit.8.

so the output transistor is turned OFF when the system enters an alarm state. enhancing regenerative performance. 143 .8 Special Wiring 3.3 Using More Than One Servo Drive Example of Wiring More than One Servo Drive Power supply Power OFF Power ON Noise filter Servomotor Servopack 3 Servomotor Servopack Servomotor Servopack 1) Connect the alarm output (ALM) terminals for the three Servopacks in series to enable alarm detection relay 1RY to operate.8. connecting P and N terminals in parallel produces high power capacity as a whole. This is because ALM is a logical complement output signal. 2) Since the Servopack power supply is a capacitor input type.3.

8. For details. however.4 Using Regenerative Units 3) When connecting P and N terminals in parallel. Always select a MCCB or noise filter that has enough capacity for the total power capacity (load conditions) of those servos. the user must determine whether a regenerative unit is required or not: a) When the motor is used to control a vertical axis. 4) Multiple servos can share a single MCCB or noise filter. MCCB Noise filter 3 3. 144 . b) When the motor starts and stops frequently. refer to page 138. Servopack Electric energy Force Energy consumption Regenerative unit 2) “When is a Regenerative Unit Required?” Generally.8.4 Using Regenerative Units 1) “What is a Regenerative Unit?” A regenerative unit is designed to safely consume electric energy that is generated when the servomotor is rotated by the load. Do not turn any Servopack power ON when connecting P and N terminals in parallel. be sure to turn all the Servopack power ON simultaneously. a regenerative unit is not required. In the following cases.APPLICATIONS OF Σ-SERIES PRODUCTS 3.

” which is supplied free of charge. Speed reference Speed Servomotor Moves vertically d) When motor rotates at a speed higher than 3000 r/min. d) When the motor rotates at a speed higher than the rated speed (3000 r/min). Load inertia Servomotor Load inertia > Allowable load inertia for servomotor 3) “How can we Determine Whether a Regenerative Unit is Required or Not?” Using software “regenerative capacity check program” enables the user to easily determine whether a regenerative unit is required. This software is included as part of Yaskawa proprietary software “AC servomotor sizing software.3. Use this software as necessary. a) When motor controls a vertical axis. 145 . Speed reference Operating speed Rated speed 3000 r/min 3 Time c) When load inertia is too high.8 Special Wiring c) When load inertia exceeds the allowable load inertia on the motor side. b) When motor accelerates and decelerates frequently.

8.4 Using Regenerative Units cont. the internal alarm relay is actuated. 4) Connecting a Regenerative Unit (JUSP−RG08 type) The standard connection diagram for a regenerative unit (JUSP−RG08) is shown below.APPLICATIONS OF Σ-SERIES PRODUCTS 3. Servopack Servomotor Single-phase 200-230 VAC or 100-115 VAC Alarm 3 Alarm Regenerative unit (JUSP−RG08) a) A regenerative unit has the following fault detection functions: • Detecting disconnection in a regenerative resistor • Detecting faults in a regenerative transistor • Detecting overvoltage b) When one of these fault detection functions operates. 146 . c) Form a sequence so that the Servopack power is turned OFF when the alarm relay is actuated. Then. the circuit between output terminals C1 and C2 is opened.

d) The resistance value of the external resistor should be 50Ω min.) 3 Regenerative unit (JUSP−RG08C) a) A regenerative unit has the following fault detection functions: • Detecting disconnection in a regenerative resistor • Detecting faults in a regenerative transistor • Detecting overvoltage b) When one of these fault detection functions operates. Then. the circuit between output terminals C1 and C2 is opened. remove the shorting jumper between Y4 and Y5.8 Special Wiring 5) Connecting a Regenerative Unit (JUSP−RG08C type) Servopack Servomotor Single-phase 200-230 VAC or 100-115 VAC Alarm Servo alarm P Regenerative unit (JUSP−RG08C) N External resistor Regenerative unit (JUSP−RG08C) Alarm Shorting jumper (Remove when external resistor is used. the internal alarm relay is actuated. connect the resistor between P/Y3 and Y4. c) When an external resistor is used. 147 . Then.3.

PA serial interface is unnecessary. If such a system is to be formed in the host controller.APPLICATIONS OF Σ-SERIES PRODUCTS 3. PAO serial data is used. In this case.8. 148 .5 Using an Absolute Encoder 1) Outline An absolute value detection system detects an absolute position of the machine even when the servo system is OFF. Termination Resistor R: 220 to 470 Ω For Speed/Torque Control (SGDA-jjjS) Normally. SGMjjjW1j (SGMPjjjW1j) Always detects absolute position Zero return operation 3 12-bit absolute encoder 2) Standard Connection Diagram for a 12-bit Absolute Encoder Mounted on a Servomotor • Interface Circuit Host controller Servopack Servomotor 12-bit absolute encoder Battery Serial interface circuit Clear Up/ down counter Line receiver Decoder Serial interface circuit Represents twisted pair wires Line Receiver Used: SN75175 or MC3486 manufactured by Texas Instruments Inc.8. In this case. For Position Control (SGDA-jjjP) SEN signal is not used.5 Using an Absolute Encoder 3. automatic operation can be performed without zero return operation immediately after the power is turned ON. PSO serial data is used. use an SGM or SGMP Servomotor with absolute encoder. Normally. PS serial interface is unnecessary. Consequently.

then ON. • The motor is not turned ON until these operations are complete. solute encoder. and serial data and initial in• Signal level High level: Min. then ON again. 7406 or Approx. it must remain at high level for at least 1.7 V cremental pulses are transmitted.8 Special Wiring SEN signal Electrical Specifications Host controller Servopack • The SEN signal must be set at high level after at least three seconds after the power is At high level turned ON. This memory switch is available for absolute encoders only (not for incremental encoders). 1mA equivalent • When the SEN signal is changed from low level to high level.3 seconds before being turned OFF. 0. SEN signal OFF ON: High level 1. 4 V Low level: Max. After changing the memory switch setting. 3 Absolute encoder NOTE If the SEN signal is to be turned OFF.3 seconds or more OFF 15 ms or more ON 4) Memory Switch to 1 to Select Absolute Encoder Cn-01 Bit E Encoder Type Selection Factory Setting: 0 For Speed/Torque Control and Position Control Sets the encoder type according to the servomotor type to be used. Motor Type SGM-jjj31j SGMP-jjj31j SGM-jjjW1j SGMP-jjjW1j Number of Encoder Pulses Per Revolution Incremental encoder: 2048 pulses per revolution Absolute encoder: 1024 pulses per revolution Preset Value 0 1 149 . turn the power OFF. Setting 0 1 Meaning Uses SEN signal. +5 V is applied to the ab• A PNP transistor is recommended. Does not use SEN signal.3. 3) Memory Switch to Determine Whether to Use Input Signal SEN Cn-01 Bit 1 Use of SEN Input Signal Factory Setting: 0 For Speed/Torque Control Only Servopack Servomotor This memory switch is used to determine whether to use input signal SEN (1CN-5). regardless of the servo ON signal (SV-ON).

8.APPLICATIONS OF Σ-SERIES PRODUCTS 3. 2000 mAH D Connect the battery securely to prevent contact faults resulting from environmental changes or aging. Provide a battery voltage monitor circuit as necessary.5 Using an Absolute Encoder cont.6 V. Recommended battery: Lithium battery Toshiba Battery ER6V C3 Type 3. D Battery voltage is not monitored inside the Servopack. Motor Type SGM-jjj31j SGMP-jjj31j Number of Encoder Pulses Per Revolution Incremental encoder: 2048 pulses per revolution Absolute encoder: 1024 pulses per revolution Preset Value 2048 1024 3 SGM-jjjW1j SGMP-jjjW1j 5) Using a Battery Use the following battery to enable the absolute encoder to store position information even when the power is turned OFF. Use the following user constant to set the number of pulses for the absolute encoder to be used: PULSNO Number of Encoder Pulses Unit: P/R Setting Range: Number of Encoder Pulses Factory Setting: 2048 For Speed/Torque Control and Position Control Cn-11 Sets the number of encoder pulses according to the servomotor type to be used.8 V 6) Setting up Absolute Encoder a) Set up the absolute encoder in the following cases: • When starting the machine for the first time • When the absolute encoder is not connected to power supply or backup power supply (battery) for more than two days 150 . Minimum voltage: 2. Load the battery in the host controller and connect it to Servopack input terminals BAT and BAT0.

Use the following detailed information when designing a host controller. • Short-circuit encoder connector terminals 13 and 14 for two seconds or more. • Turn the SGDA Servopack ON and set the SEN signal at high level. • Return the wiring to the original state.00” arises. set the SEN signal at high level. always reset the machine home position.) • If alarm “A. then disconnect the encoder connector.8 Special Wiring b) The setup procedure is as follows: 1 Turning SGDA Servopack ON 3 Resetting Data • Wire the SGDA Servopack. (For position control SGDA-jjjP. • Turn the SGDA Servopack OFF.) • Keep the encoder turned ON for at least three minutes. PBO. the setup procedure is complete. a) Outline of Absolute Signal The 12-bit absolute encoder outputs PAO. 3 NOTE Setting up the encoder sets the revolution count inside the encoder to 0. 2 Turning the Encoder ON 4 Turning the Power ON • For speed/torque control (SGDA-jjjS). turn the SGDA Servopack ON only. This data exchange sequence is described below. repeat the same procedure from the beginning. (For position control (SGDA-jjjP). the encoder is already ON. • Connect the battery and turn the SGDA Servopack ON.3. • If no problem has occurred. Servopack Frequency dividing circuit Signal Name PAO Status Initial state Normal state Serial data Initial incremental pulse Incremental pulse Initial incremental pulse Incremental pulse Home position pulse Rotation count serial data Contents PBO PCO PSO Initial state Normal state Normal state Normal state 151 . 7) Absolute Data Exchange Sequence The Servopack sends absolute data to the host controller when receiving output from a 12-bit absolute encoder. After setting up the encoder. motor and encoder in the normal way. • It does not matter even if alarm status arises. PCO and PSO as shown on the right. Operating the machine without the home position being reset does not only damage the machine but may also cause an accident resulting in injury or death.

value of Cn-0A) c) Absolute Data Transmitting Sequence For speed/torque control (SGDA-jjjS). (3) Set the SEN signal at high level. (4) After 100 ms.900 r/min. Undefined serial data 1 to (5) Receive eight bytes of 3 ms serial data. b) Contents of Absolute Data Serial Data: Indicates how many turns the motor shaft has made from the reference position (position specified at setup). PE = M ¢ R+PO PM = PE − PS PE M PO PS PM R Current value read by encoder Serial data (rotation count data) Number of initial incremental pulses (Normally. SGDA- S Speed/Torque 152 . set the Rotation count Initial incremental serial data pulse system to serial data Incremental Undefined pulse reception-waiting-state. (6) The system enters a 15 ms 23 ms normal incremental operation state approximately 50 ms after the last serial data is received.5 Using an Absolute Encoder cont.APPLICATIONS OF Σ-SERIES PRODUCTS 3.8. Reference position (setup) Coordinate data Value M Current position Initial Incremental Pulse: 3 Absolute data PM can be determined using the following formula. this is a negative value) Number of initial incremental pulses read at setup Current value required for the customer system Number of pulses per encoder revolution (pulse count after dividing. Outputs pulses at the same pulse rate as when the motor shaft rotates from the home position to the current position at the maximum speed of 4. 10 to Approx. (Phase A) (Phase A) Clear the incremental Incremental Initial Undefined pulse incremental pulse up/down counter (Phase B) (Phase B) pulse Rotation count to zero.

Servopack Serial data Frequency dividing circuit Absolute data is read from phase S (PSO) as serial data. 153 . If PAO and PBO are used. A 12-bit absolute encoder outputs PAO. However. absolute data is output to PAO and PBO when power is turned ON as shown in the figure above. output operation becomes the same as normal incremental encoder operation (two-phase pulse with 90° phase difference). PBO. Next. since encoder power ON timing is not adjusted within the processing circuit prepared by the customer. 3 Servopack power supply Encoder power supply Serial data Undefined (Phase A) Undefined (Phase B) Approx. It is first output from PAO as serial data when the Servopack is turned ON. PBO and PCO as necessary. it is output as initial incremental pulses PAO and PBO (two-phase pulse with 90° phase difference). Rotation count serial data is output from PSO. Absolute data must be processed in the following sequence. absolute data cannot be read via PAO or PBO.8 Special Wiring SGDAPositions P For position control (SGDA-jjjP).3. Use PAO. PCO and PSO as shown below. Then. 23 ms 1 to 3 ms Rotation count serial data (Phase B) (Phase A) Initial incremental pulse Incremental pulse 120 to 300 ms Undefined *Encoder power is automatically turned ON inside the Servopack.

096 pulses per revolution) • Absolute position data increases during forward rotation (standard setting). The transmission cycle is approximately 40 ms. respectively.” Data Start bit Even parity • Absolute position data within one revolution is a value before frequency dividing. (Not valid in reverse rotation mode) • Incremental Pulse and Home Position Pulse: Initial incremental pulses which provide absolute data are first divided by the frequency divider inside the Servopack and then output in the same way as normal incremental pulses. • The maximum number of revolutions is 99999. Phase A Phase B Phase C Forward rotation Phase A Phase B Phase C Reverse rotation • Note that phase C is not divided so its pulse width is narrower than phase A. Data “P” or “A” “+” or “-” ”0” to “9”” “CR” Data transmission method Baud rate Start bit Stop bit Parity Character code Data format Start-stop synchronization (ASYNC) 9600 1 bit 1 bit Even number ASCII 7-bit code 8 characters. it returns to 0000.5 Using an Absolute Encoder cont. 3 • Specifications of PSO Serial Data: The number of revolutions and the absolute position within one revolution are always output in five and four digits. d) Detailed Specifications of Each Signal • Specifications of PAO Serial Data: The number of revolutions is output in five digits. If this value is exceeded.8.APPLICATIONS OF Σ-SERIES PRODUCTS 3. As shown on the right. (4. Number of revolutions: “0” to “9” “+” or “-” “P” or “A” “ Absolute position within one revolution: “0” to “9” “CR” . As shown on the right. Start bit Even parity • Data is P+00000 (CR) or P−00000 (CR) when the number of revolutions is zero. Data transmission method Baud rate Start bit Stop bit Parity Character code Data format Start-stop synchronization (ASYNC) 9600 1 bit 1 bit Even number ASCII 7-bit code 13 characters. 154 .

PGRAT Dividing Ratio Setting Unit: P/R Setting Range: 16 to Number of Encoder Pulses Factory Setting: 2048 For Speed/Torque Control and Position Control Cn-0A Set the number of output pulses for PG output signals (PAO. Number of Encoder Pulses Per Revolution Incremental encoder: 2048 pulses per revolution Absolute encoder: 1024 pulses per revolution Servomotor encoder Servopack Output terminals: PAO (1CN-20) *PAO (1CN-21) PBO (1CN-22) *PBO (1CN-23) Phase A Phase B Output Phase A Frequency Phase B divider Setting example: Preset value: 16 3 1 revolution Motor Type SGM-jjj31j SGM-jjjW1j Setting Range 16 to 2048 16 to 1024 155 . Pulses from motor encoder (PG) are divided by the preset number of pulses before being output. Set this value according to the reference unit of the machine or controller to be used. The setting range varies according to the encoder used.3. The number of output pulses per revolution is set in this user constant.8 Special Wiring • Use the following user constant to set the pulse dividing ratio. PBO and *PBO). *PAO.

Incremental pulse CR ALARMO* CR ALM8*.APPLICATIONS OF Σ-SERIES PRODUCTS 3.) SEN Signal Digital Operator Display PAO Serial Data PSO Serial Data “H” Error detection “H” “L”: “H” “L” or Absolute encoder alarm (Details unknown) Absolute encoder alarm (Alarm type identified) ALM80. H¦jjjjj. List of Alarms Digital Operator Display Alarm Type Meaning Indicates that backup voltage drop was detected. (This alarm helps maintain reliability of rotation count data.) Indicates that backup voltage drop was detected. the following alarms are detected and displayed. CR ALM81. PAO Serial Data PSO Serial Data ALARMOA BACK CR Backup Alarm ALM81. Indicates that the motor was running at a speed exceeding 400 r/min when the encoder was turned ON. jjjj CR jjjj CR and so on (Undefined) ALARMO* **** CR 156 . CR 3 Battery Alarm ALM83. (This alarm warns of battery replacement and disconnection. CR (Undefined) P¦jjjjj. CR Absolute Error Backup/Battery Combination Alarm ALM84.5 Using an Absolute Encoder cont.) Indicates that an error was detected in memory data check. CR The SEN signal can be used to output alarm information from PAO and PSO as serial data. CR ALARMOD BATT CR ALARMOB CHEC CR ALARMOP OVER CR ALARMOH ABSO CR ALARMOE BACK (BATT) CR Checksum Error ALM82. (This function is not available if the Servopack is turned OFF by the external circuit when an alarm occurs. CR Overspeed ALM85. 8) Alarm Display When a 12-bit absolute encoder is used.8. Indicates that an error was detected in sensor check inside the encoder.

80) when an absolute encoder is used.8 ft.8 Special Wiring 9) Absolute Encoder Home Position Error Detection Absolute Encoder Home Position Error Detection Factory Setting: 0 For Speed/Torque Control and Position Control Cn-02 Bit 1 This memory switch is used to specify whether to use home position error detection (alarm A. Does not detect a home position error. prepare an extension cable as described below. it inverts phase C and notifies the Servopack of the error.6 ft. 157 .) Cable with Connectors: • For incremental encoder: DP9320089-1 • For absolute encoder: DP9320088-1 TERMS Home position error detection This function detects an encoder count error resulting from noise. a) 3-meter (19.)). It checks the number of pulses per motor revolution. If a longer cable is required. and outputs a home position error alarm if that number is incorrect. If the absolute encoder detects an error.3.8. The maximum allowable cable length is 50 meters (164 ft. 3 3. Normally. set this memory switch to “0.6 Extending an Encoder Cable 1) Both incremental and absolute encoders have a standard encoder cable (maximum 20 meters (65. Setting 0 1 Meaning Detects a home position error. In this case.). this “home position error detection” function also works.” This memory switch has no significance when an incremental encoder is used.

) or less from each end. b) 50-meter (164 ft.) 158 .6 Extending an Encoder Cable cont.8.98 ft. Maximum 50 m (164 ft.) Extension Cable: • For both incremental and absolute encoders: DP8409179 Cut this cable 30 cm (0.APPLICATIONS OF Σ-SERIES PRODUCTS 3. 3 Be sure to connect each wire correctly (see the following table).

however. <Primary side> 1) 400 or 440 VAC 2) 400 or 440 VAC <Secondary side> 200 VAC 100 VAC 159 .7 Using SGDA Servopack with High Voltage Line 1) SGDA Servopacks are divided into single-phase 200 V and single-phase 100 V types according to supply voltage. Note that wiring for incremental and absolute encoders is different. Signal Name PG5V PG0V FG PA *PA PB *PB PC *PC PS *PS RESET BAT BAT0 3 3. 440 V) power supply must be used. prepare the following power transformer (for single-phase).3.8.8 Special Wiring 2) Connect cables of the same color to each other as shown in the table below. three-phase 400 VAC class (400 V. Color and Wire Size of Cable with Connectors Red Black Green/Yellow Blue White/Blue Yellow White/Yellow Green White/Green Violet White/Green White/Gray Orange White/Orange AWG22 AWG22 AWG22 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 Color and Wire Size of 50-meter Extension Cable (DP8409179) Red Black Green/Yellow Blue White/Blue Yellow White/Yellow Green White/Green Purple White/Green White/Gray Orange White/Orange AWG16 AWG16 AWG16 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 AWG26 Only the absolute encoder can be connected. If.

3 0.4 Supply Voltage Servopack Type SGDA-A3Aj SGDA-A5Aj SGDA-01Aj SGDA-02Aj SGDA-04Aj SGDA-08Aj SGDA-A3Bj SGDA-A5Bj SGDA-01Bj SGDA-02Bj SGDA-03Bj 200 V 100 V 3 Note At rated load. Servopack Power transformer Three-phase 400 or 440 VAC 200 or 100 VAC Magnetic contactor for power ON/OFF 160 .25 0.8.2 0. 2) Select appropriate power transformer capacity according to the following table.2 2.75 1.75 1.5 0. Power Supply Capacity Per SGDA Servopack (kVA) (see note) 0. 3) When 400-V-class supply voltage is used.7 Using SGDA Servopack with High Voltage Line cont. power must be turned ON and OFF on the primary side of the power transformer.5 0.APPLICATIONS OF Σ-SERIES PRODUCTS 3.2 0.3 0.

8.8 Special Wiring 3.3.8 Connector Terminal Layouts This section describes connector terminal layouts for Servopacks. SGDAS 1) Servopack Connectors for Speed/Torque Control 1CN Terminal Layout Speed/Torque 2 SG Torque reference input 0 V 1 T-REF Torque referrefer ence input i t 20 PAO Speed referrefer ence input SEN signal input (for absolute encoder only) 22 PBO 19 PG output phase A 21 PG output phase B 23 24 PCO PG output phase C 25 26 PSO PG output phase S (for absolute encoder only) Battery (+) (for absolute encoder only) 29 30 ALO1 Alarm code output (open collector output) SG PG output sigsig nal 0V l PG output phase A 3 4 SG Speed reference input 0 V SEN signal input (for absolute encoder only) 5 V−REF *PAO *PBO *PCO *PSO BAT0 SEN PG output phase B 6 0SEN 7 8 V-CMP Speed coincidence output 9 10 SG-COM BK/V-CMP/ TGON common 0 V 11 12 N-CL N CL Reverse exterexter nal t l torque limit li it ON input 13 14 S-ON Servo ON input 15 16 P-OT Forward rotarota tion ti prohibited hibit d 17 18 ALMRST Alarm reset input BK Brake interlock signal output PG output phase C PG output phase S (for p ( absolute enen coder only) Battery (−) ( y ( ) (for absolute enen coder only) Alarm code output (open p ( p collector outout put) Alarm code output comcom mon 0 V Servo alarm output TGON TGON signal g output 28 BAT 27 3 P-CL P CL Forward external torque limit ON input External power p supply input 32 ALO3 +24 V IN 31 ALO2 P-CON P CON P control input 34 ALM Reverse rotarota tion prohibited 36 FG Servo alarm output t t 33 SG-AL SG AL N-OT 35 Frame ground ALM-SG D Servopack Side Connector type: 10236-52A2JL (manufactured by 3M) D Cable Side Connector type: 10136-3000VE (manufactured by 3M) Connector case type: 10336-52A0-008 (manufactured by 3M) 2CN Terminal Layout 1 2 PG0V PG power supply 0 V 3 4 PG5V PG power supply +5 V 6 PG5V PG input phase S (for absolute encoder only) 7 DIR Rotation direction input PG input phase S (for absolute encoder only) 18 PB PG input phase B 19 20 FG Frame ground F d *PB PB PG input phase B 5 PG5V PG power supply +5 V 16 PA PG0V 14 PC PG0V PG power supply 0 V 12 BAT + Battery (+) (for absolute enb l t coder only) PG input phase C 15 PG input phase A 17 *PA *PC 11 Battery (−) (for absolute encoder only) PG input phase C PG input phase A 13 BAT − 8 PS 9 *PS 10 D Servopack Side Connector type: 10220-52A2JL (manufactured by 3M) D Cable Side Connector type: 10120-3000VE (manufactured by 3M) Connector case type: 10320-52A0-008 (manufactured by 3M) 161 . Servomotors and Digital Operators.

8.APPLICATIONS OF Σ-SERIES PRODUCTS 3. SGDAPositions P 2) Servopack Connectors for Position Control 1CN Terminal Layout 1 2 PULS Reference pulse i l input t 20 3 Reference signal input Error counter clear input Positioning g complete signal output 9 10 SG-COM BK/COIN/ TGON comcom mon 0V 11 12 N-CL N CL Reverse external torque limit ON input Servo ON input Forward rotation prohibited input Alarm reset input 15 P-CON P CON P control i t l input t 34 17 N-OT Reverse rotation prohibited 36 FG ALM Servo alarm output 35 Frame ground ALM-SG P-CL P CL TGON 5 CLR SIGN Reference sign input 22 Error counter clear input 24 7 8 COIN BK Brake inter interlock i l k signal l output 26 TGON signal output 28 Forward external torque limit ON input 30 13 +24 V IN External power supply input 32 ALO3 33 SG-AL SG AL Alarm code output comt t mon 0 V Servo alarm output ALO1 BAT PSO PCO PBO PAO 19 PG output phase A 21 PG output phase B 23 PG output phase C 25 PG output phase S (for absolute encoder only) 27 Battery (+) (for absolute encoder only) 29 BAT0 SG PG output sigsig nal 0 V l PG output phase A PG output phase B *PULS *SIGN *CLR Reference pulse input 4 *PAO *PBO *PCO 6 PG output phase C *PSO PG output phase S (for absolute encoder only) 3 Battery (−) y( ) (for absolute encoder only) Alarm code output (open collector output) Alarm code output (open collector output) 31 ALO2 14 S-ON S ON 16 P-OT 18 ALMRST D Servopack Side Connector type:10236-52A2JL (manufactured by 3M) D Cable Side Connector type:10136-3000VE (manufactured by 3M) Connector case type:10336-52A0-008 (manufactured by 3M) 2CN Terminal Layout 1 2 PG0V PG power supply 0 V 3 4 PG5V PG power supply +5 V 6 PG5V PG input phase S (for b l t (f absolute encoder only) 7 DIR Rotation R t ti direction input PG input phase S (for absolute encoder only) 18 PB PG input phase B 19 20 FG Frame ground F d 5 PG5V PG power supply +5 V 16 PA PG0V 14 PC PG0V PG power supply 0 V 12 BAT + Battery (+) (for b l t (f absolute encoder only) PG input phase C 15 PG input phase A 17 11 13 BAT − Battery (−) (for absolute encoder only) PG input phase C PG i input t phase A *PC *PA *PB 8 PS 9 *PS PG input phase B 10 D Servopack Side Connector type:10220-52A2JL (manufactured by 3M) D Cable Side Connector type:10120-3000VE (manufactured by 3M) Connector case type:10320-52A0-008 (manufactured by 3M) 162 .8 Connector Terminal Layouts cont.

3. Channel C output Items to be Prepared by Customer Cap: 172161-1 Socket: 170361-1 (chain type) or 170365-1 (loose type) 3 Blue White/Blue Yellow White/Yellow Green White/Green Red Black Green/Yellow Items to be Prepared by Customer Case: 10320-52A0-008 (manufactured by 3M) Connector: 10120-3000VE (manufactured by 3M) 163 .8 Special Wiring 3) Connectors for Incremental Encoder 1 2 3 4 5 7 8 9 Channel A output Channel A output Channel B output Channel B output Channel C output 0 V (power supply) +5 V (power supply) Frame ground (FG) Blue Blue/Black Yellow Yellow/Black Green Green/Black Gray Red Orange 6.

4) Connectors for Absolute Encoder 1 Channel A output 2 Channel A output 3 Channel B output 4 Channel B output 5 Channel Z output 6 Channel Z output 7 0 V (power supply) 8 +5 V (power supply) 9 Frame ground (FG) 10 Channel S output 11 Channel S output 12 (Capacitor reset) 13 Reset Blue White/Blue Yellow White/Yellow Green White/Green Black Red Green/Yellow Purple White/Purple (Gray) White/Gray White/Orange Orange Do not use this terminal.APPLICATIONS OF Σ-SERIES PRODUCTS 3.8 Connector Terminal Layouts cont. (It is used to discharge electricity from capacitor before shipment.6 V (battery) Items to be Prepared by Customer Cap: 172163-1 Socket: 170361-1 (chain type) or 170365-1 (loose type) Blue White/Blue Yellow White/Yellow Green White/Green Violet White/Violet Red Black Items to be Prepared by Customer Case: 10320-52A0-008 (manufactured by 3M) Connector: 10120-3000VE (manufactured by 3M) White/Gray Orange White/Orange Green/Blue 164 .8.) 3 14 0 V (battery) 15 3.

25-4TOR (manufactured by AMP.8 Special Wiring 5) Connectors and Terminals for Standard-type Motor without Brake 1 2 3 4 Phase U Phase V Phase W Red White Blue Green Frame ground (FG) Cap: 172159-1 Socket: 170362-1 or 170366-1 M4 crimp terminal Items to be Prepared by Customer Round crimp terminal R1.) 3 6) Connectors and Terminals for Motor with Brake 1 2 3 4 5 6 Phase U Phase V Phase W Red White Blue Green Black Black Frame ground (FG) Brake terminal Brake terminal Cap: 172160-1 Socket: 170362-1 or 170366-1 M4 crimp terminal Items to be Prepared by Customer Round crimp terminal R1. Ltd.3.) (DC side) Red Black Brake power supply (manufactured by Yaskawa Controls Co..25-4TOR (manufactured by AMP.) • 100 VAC input: 90 VDC (LPDE-1H01) • 200 VAC input: 90 VDC (LPSE-2H01) AC input 165 .

7) Connectors for Digital Operator • JUSP-OP02A-1 (Hand-held Type) • JUSP-OP03A (Mount Type) Fits directly into “OPERATOR” on the Servopack.K.8.8 Connector Terminal Layouts cont. # Signal ground 0 V 166 . 3 17JE-23090-02 (manufactured by Daiichi Denshi Kogyo K.) Flat cable (accessory) Pin Signal Signal Circuit Name No. Name 1 2 3 4 5 6 7 8 9 TXD Signal Direction PzS P!S # Transmit data (non-inversion side) P z S Transmit data (inversion side) Receive data (inversion side) Receive data (non-inversion side) P ! S *TXD RXD *RXD OPH *RXD RT 5VPP GND Shorting pins 6 and 7 produces a terminal resistance of 220 Ω between RXD and *RXD.APPLICATIONS OF Σ-SERIES PRODUCTS 3.

. . . .3 4. . . . . . . . . . . . . .1 Basic Operations . . . .1. . .1. . . . . . . . .2. Operate the digital operator as you read through this chapter. . . .1 4. 4. . . . . . . . . . . . . . . . . . . . . . . . . Autotuning . . . . . . . . . . . .2. . . .4 4. .2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 4. . . . . . . . .1. . . . . . . . . . . . . . . . . .2 4. . . . . . . . .5 4. .7 4. . . . . .1. . . . . . . . . . . . . . . .2. . . . . . . . . . . 183 4. . . . All constant settings and motor operations are possible by simple. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2. . . . .2. . . . . . . . . .1. . . . . .1. . Operation in Status Display Mode . . . . .USING THE DIGITAL OPERATOR 4 168 169 170 171 174 179 This chapter describes the basic operation of the digital operator and the convenient features it offers. . . . . . . . . . . .2.3 4. . . . . . . . . . . . 4 4. . . . . . . . . . . . . . convenient. . . . . . . . Operation in Monitor Mode . . Speed Reference Offset Manual Adjustment Mode . . Checking Software Version . .8 Operation in Alarm Trace-back Mode . . . 168 4.6 4. . . . . . . 183 186 189 196 199 202 203 204 167 . . . . .5 4. . . . . . . . . . . . . . . . . . . . .2 Using the Functions . . . . .2 4. . . . . . . . .2. . . . . Checking Motor Type . Operation in User Constant Setting Mode . Reference Offset Automatic Adjustment .1 4. Basic Functions and Mode Selection . . . . . Resetting Servo Alarms . . . Operation Using the Digital Operator . . . . . . Clearing Alarm Trace-back Data .6 Connecting the Digital Operator . . operation. . . . . . . . . . . . . . . . . . . . . . . .

. . . . JUSP-OP02A-1 (Hand-held Type) JUSP-OP03A (Mount Type) Attach directly to the Servopack Connect using the 1 m cable supplied. Each type is connected to the Servopack as shown below. . . . . . . . Operation in Status Display Mode . . . . .1 Connecting the Digital Operator 4 The Digital Operator is available as two types: JUSP-OP02A-1 (Hand-held Type) and JUSPOP03A (Mount Type). .1. . . . . . . . Servopack • The Digital Operator connector can be connected or disconnected while the Servopack power is ON. . . . . . .1. . . . . .1 Connecting the Digital Operator 4. . . 168 . . . . . . . . . . . . . . . . . .1. . . . . . . . . . . . . . . . . . .1. . . . . . . . . . . . . . 168 169 170 171 174 179 4. . .1. . . . Operation in Monitor Mode . . . . . . . . . . Resetting Servo Alarms . . .1. .1 4. . .4 4. . .1 Basic Operations This section describes the basic operations using the Digital Operator. . . . . .1. . . . . . . . . . . . . . . . . . . . . . . .6 Connecting the Digital Operator . . . . . . . . . . . . . .3 4. . . . . 4. . . .USING THE DIGITAL OPERATOR 4. . .2 4. . . . . . . . . . Basic Functions and Mode Selection . . . . . . . . . .1. . . . . .5 4. . . . . . Operation in User Constant Setting Mode . . . . . . . . . . . . . . . . . . . . .

1.1 Basic Operations 4.4. 4 169 .7.) Type: JUSP-OP02A-1 Alarm Reset Type: JUSP-OP03A Press Press simultaneously . Refer to Section 6. Refer to 3. (Servo alarms can also be reset by the 1CN-18.2 Troubleshooting to determine and remedy the cause of an alarm. remove the cause of the alarm before resetting it. ALMRST input signal. Alarm Reset NOTE After an alarm occurs.2 Resetting Servo Alarms Servo alarms can be reset using the Digital Operator.1 for details.

1. Each time the mode key is pressed. Status Display Mode → Sub-section 4. Alarm Trace-back Mode → Sub-section 4. key to switch the mode. the next mode in the sequence is selected.2.1.2. 170 . user constant setting.3 Basic Functions and Mode Selection 4.1.8 Monitor Mode → Sub-section 4.5 Motor-type check mode → Sub-section 4.1.4 4 Displays the Servopack status as bit data and codes. Setting Mode → Sub-section 4.6 Setting Displays the speed references to the Servopack. Special Modes These modes are selected by setting a value for user constant Mode Operation mode from Digital Operator → Sub-section 4. operating reference.6 Speed reference offset manual adjustment mode → Sub-section 4.2.2.1. the actual speed.2.2. and auto-tuning operations.2.2 Reference offset automatic adjustment mode → Sub-section 4.7 Auto-tuning mode → Sub-section 4.3 Software-version check mode → Sub-section 4.5 Sets the user constants to select and set all Servopack functions.USING THE DIGITAL OPERATOR 4.1 Displays a log of previous alarms.3 Basic Functions and Mode Selection Digital Operator operation allows status display. Basic Mode Selection The four basic modes are listed below.2.4 Clear alarm trace-back data → Sub-section 4. JUSP-OP02A-1 Press the JUSP-OP03A Press the key to switch the mode. and internal status.

1 Basic Operations 4. Note that the display differs between the speed/ torque control (SGDA -jjjS) and position control (SGDA -jjjP) types. For Speed/Torque Control (SGDA -jjjS) Bit Data Speed Coincidence Base Block Power ON Speed Reference Input SGDA-jjjS Speed/Torque Code 4 see next page see below TGON or Torque Limit Detected Torque Reference Input Code Base block Servo OFF (motor power OFF) Run Servo ON (motor power ON) Forward Rotation Prohibited (P-OT) Status 1CN-16 (P-OT) OFF. Status Display Mode The status display mode is selected when the power supply is turned ON. Alarm Status Displays the alarm number.1. Keys to the status display are shown below. See Cn-01 Bit 3 (page 57). See the table of alarms on page 185 171 . See Cn-01 Bit 2 (page 57).4 Operation in Status Display Mode The status display mode displays the Servopack status as bit data and codes. Reverse Rotation Prohibited (N-OT) 1CN-17 (N-OT) OFF. • Selecting Status Display Mode Press or to select the status display mode.4.

Bit Data Power ON Base Block Speed Coincidence TGON or Torque Limit Detected (selected by Cn-01 Bit 4) Description Lit when Servopack power ON. Preset value: Set in Cn-0B (20 r/min is factory setting) Lit if Servopack internal torque reference exceeds preset value. Not lit when Servopack power OFF. not lit. Not lit during torque control. Lit for base block. Not lit if input speed reference is below preset value. Lit if input speed reference exceeds preset value. Lit if motor speed reaches speed reference.USING THE DIGITAL OPERATOR 4. Lit if motor speed exceeds preset value. Preset value: Set in Cn-0B (10% rated torque is standard setting) Speed Reference Input Torque Reference Input 4 172 .1. Preset value: Set in Cn-08. Cn-19 is preset value during 1CN-12 (N-CL ) input.4 Operation in Status Display Mode cont. Otherwise. -09 (max. Not lit if motor speed is below preset value. Not lit if Servopack internal torque reference is below preset value. torque is standard setting) Cn-18 is preset value during 1CN-11 (P-CL ) input. Not lit if input torque reference is below preset value. Not lit at servo ON. Specified value: Set in Cn-0B (20 r/min is factory setting) Lit if input torque reference exceeds preset value.

Alarm Status Displays the alarm number. See Cn-01 Bit 2 (page 57).1 Basic Operations SGDA-jjjP Positions For Position Control (SGDA -jjjP) Bit Data Positioning Complete Base Block Power ON Reference Pulse Input Code TGON or Torque Limit Detected see next page see below Code Base block Servo OFF Run Servo ON Status Forward Rotation Prohibited 1CN-16 (P-OT) OFF. See Cn-01 Bit 3 (page 57). Reverse Rotation Prohibited 1CN-17 (N-OT) OFF. 4 173 . See the table of alarms on page 185.4.

The Servopack offers a large number of functions. Refer to Appendix D List of User Constant Settings. Preset value: Set in Cn-08. Not lit if error between position reference and actual motor position exceeds preset value.5 Operation in User Constant Setting Mode 1) Two types of user constant are used a) Constant Settings (Cn-03 to Cn-23) b) Memory Switches (Cn-01. Not lit if Servopack internal torque reference is below preset value. which are selected and adjusted by the user constant settings.1. Not lit at servo ON. The memory switches (Cn-01. The smaller of Cn-09 and Cn-19 is preset value during 1CN-12 (N-CL) input. Preset value: Set in Cn-0B (20 r/min is standard setting) Lit if Servopack internal torque reference exceeds preset value. Not lit if no reference pulse is input. Preset value: Set in Cn-1B (1 pulse is standard setting) Lit if motor speed exceeds preset value. -09 (max.1. Not lit when Servopack power OFF. 174 . 4 4. Not lit if motor speed is below preset value. The constant settings (Cn-03 to Cn-23) allow setting of a constant within a fixed range. Cn-02) allow the required functions to be selected. torque is standard setting) The smaller of Cn-08 and Cn-18 is preset value during 1CN-11 (P-CL) input.5 Operation in User Constant Setting Mode Bit Data Power ON Base Block Positioning Complete Description Lit when Servopack power ON. Lit for base block. Lit if error between position reference and actual motor position is below preset value.USING THE DIGITAL OPERATOR 4. Cn-02) The setting method is different for each type. TGON or Torque Limit Detected (selected by Cn-01 Bit 4) Reference Pulse Input Lit if reference pulse is input. Not lit during torque control.

For JUSP-OP02A-1 1) Press SET to select the user constant setting mode. Press the value. 6) Press ENTER once more to display the user constant number again. before changing the data. 7) Repeat steps 2 to 6 as often as required. DATA User Constant Number Data 175 . The example below shows how to change user setting Cn-15 from 100 to 85.1 Basic Operations 2) Using the Setting Mode for Constant Settings (Cn-03 to Cn-23) The constant settings (Cn-03 to Cn-23) allow setting of a constant. and and keys to select the keys to change the The selected digit flashes.4. JUSP-OP02A-1 DSPL Setting Mode 2) Select the user constant number to set. Press the digit. Press the digit. 5) Press DATA ENTER and and keys to select the keys to change the The selected digit flashes. Press the value. 3) Press ENTER to display the current data for the user constant selected at step 2. DATA User Constant Number Data 4 4) Set the required data. The stored data flashes. Check the permitted range of the constant in Appendix D List of User Constant Settings. to store the data.

User Constant Numberaa Data • Refer to Appendix D List of User Constant Settings 176 . MODE/SET Setting Mode UP DOWN and keys to select the 2) Press the user constant number to set.1. 7) Repeat steps 2 to 6 as often as required. Value changes rapidly when key held down DATA 4 5) Press to store the data. DATA 6) Press once more to display the user constant number again. The stored data flashes.5 Operation in User Constant Setting Mode cont. UP DOWN User Constant Number 4) Press the and keys to change the data to the required value.USING THE DIGITAL OPERATOR 4. For JUSP-OP03A MODE/SET JUSP-OP03A to select the user constant 1) Press setting mode. DATA 3) Press to display the current data for the user constant selected at step 2.

4. Press the value. JUSP-OP02A-1 DSPL Setting Mode 2) Select the user constant number to set. and and keys to select the keys to change the The selected digit flashes. Select the required functions by turning the appropriate bit ON (function ON) or OFF (function OFF). 6) Repeat steps 4 and 5 as often as required. Sixteen bits are available (1 to 9 and A to E). to select functions. not numbers. Cn-02) Turn the bits of the memory switches ON and OFF to select the functions required. 7) Press DATA ENTER Press either key. or to store the data. keys to select the 5) Press the and keys to set the memory switch data ON or OFF for the bit number. DATA User Constant Number Bit Memory Number Switch Data to Set 4 Bit Number to Set Bit Number and 4) Press the bit number to set. For JUSP-OP02A-1 1) Press SET to select the user constant setting mode.1 Basic Operations 3) Using the Setting Mode for Memory Switches (Cn-01. TERMS Turning Bits ON and OFF Memory switches use bits. The stored data flashes. 3) Press ENTER to display the current data for the memory switch selected at step 2. Press the digit. The example below shows how to turn ON Bit 4 of memory switch Cn-01. : = OFF = ON 177 .

1. MODE/SET 4 to display the current data 3) Press for the memory switch selected at step 2. Setting Mode UP DOWN 2) Press the and keys to select the user constant number to set. DATA User Constant Number Memory Switch Data • Refer to Appendix D List of User Constant Settings. 8) Press ENTER once more to display the user constant number again.USING THE DIGITAL OPERATOR 4. 6) Repeat steps 4 and 5 as often as required.5 Operation in User Constant Setting Mode cont. keys to select the Bit Number to Set Bit Number MODE/SET to set the memory switch 5) Press data ON or OFF for the bit number. User Constant Number Memory Switch Data • Refer to Appendix D List of User Constant Settings 178 . DATA 7) Press to store the data. DATA 8) Press once more to display the user constant number again. For JUSP-OP03A MODE/SET JUSP-OP03A 1) Press to select the user constant setting mode. The stored data flashes. User Constant Number Bit Number Memory Switch Data to Set UP DOWN and 4) Press the bit number to set.

For JUSP-OP02A-1 1) Press DSPL SET to select the monitor mode Monitor Mode JUSP-OP02A-1 and keys to select the 2) Press the monitor number to display. and Servopack internal status to be monitored.4. Monitor Number Data 179 . For JUSP-OP03A MODE/SET DATA Monitor Number Data JUSP-OP03A 1) Press to select the monitor mode. 3) Press ENTER to display the data for the monitor number selected at step 2.1 Basic Operations 4. Monitor Mode UP DOWN and keys to select the 2) Press the monitor number to display. DATA Monitor Number Data 4 4) Press ENTER once more to display the monitor number again. Monitor Number Data DATA once more to display the moni4) Press tor number again. the contents of monitor number Un-00.1.6 Operation in Monitor Mode 1) The monitor mode allows the reference values input into the Servopack. I/O signal status. The monitor mode can be set during motor operation. 2) Using the Monitor Mode The example below shows how to display 1500. DATA to display the data for the moni3) Press tor number selected at step 2.

Cn-01 Bit 2 1CN-17 (N-OT). status display mode 1CN-11 (P-CL) 1CN-12 (N-CL) 2CN-16(PA). zero clamp.6 Operation in Monitor Mode cont. Cn-02 Bit 2 1CN-16 (P-OT). B. 3) Keys to Monitor Mode Display are shown below. 2CN-7(DIR) 1CN-9 (TG-ON). Cn-01 Bit 0 1CN-15 (P-CON) . status display mode 1CN-8 (V-CMP). 2CN-17(£PA) 2CN-18(PB). or rotation direction input Forward overtravel Reverse overtravel SEN signal input Or contact input speed co o control Related I/O Signal. 2CN-15(£PC) 1CN-14 (S-ON) . 2CN-19(£PB) 2CN-14(PC). Cn-01 Bit 3 1CN-5 (SEN) 180 . For Speed/Torque Control (SGDA -jjjS) Monitor Number Monitor Display Actual motor speed Units: r/min. User Constant 1CN-34(ALM) Cn-02 Bit 0. Input speed reference Units: r/min. Internal torque reference Units: % (with respect to rated torque) Number of pulses from motor U-phase edge Units: pulses Electrical angle Units: deg Internal status bit display see below 20 SGDA-jjjS Speed/Torque Internal Status Bit Display 4 Bit # 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Servo alarm Description Dynamic brake ON Reverse rotation mode During motor rotation or torque limit Speed coincidence Mode switch ON During forward current limit During reverse current limit Motor power ON A-phase B-phase C-phase U-phase V-phase W-phase Servo ON P operation. Note that the display differs between the speed/torque control (SGDA -jjjS) and position control (SGDA -jjjP) types. Cn-01 Bit A.USING THE DIGITAL OPERATOR 4.1.

4. Internal torque reference Units: % (with respect to rated torque) Number of pulses from motor U-phase edge Units: pulses Electrical angle Units: deg Internal status bit display Internal status bit display Input reference pulse speed display Units: r/min.1 Basic Operations SGDA-jjjP Positions For Position Control (SGDA -jjjP) Monitor Number Monitor Display Actual motor speed Units:r/min. 2CN-15(*PC) 1CN-14 (S-ON). 2CN-19(*PB) 2CN-14(PC). status display mode 1CN-8 (COIN) . 2CN-17(*PA) 2CN-18(PB). Cn-01 Bit 2 1CN-17 (N-OT). 2CN-7 (DIR) 1CN-9 (TGON). User Constant 1CN-34 (ALM) Cn-02 Bit 0. Cn-01 Bit 0 1CN-15 (P-CON) 1CN-16 (P-OT). status display mode 1CN-11 (P-CL) 1CN-12 (N-CL) Monitor # Un-05 Bit # 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Description Servo alarm Dynamic brake ON Reverse rotation mode During motor rotation or current limit Positioning complete Mode switch ON During forward current limit During reverse current limit Motor power ON A-phase B-phase C-phase U-phase V-phase W-phase Servo ON P operation or rotation direction input Forward overtravel Reverse overtravel Not used Or contact input speed co o control 2CN-16(PA). Positional error Units: x1 reference unit (Cn-02 Bit E = 0) x100 reference unit (Cn-02 Bit E = 1) Reference pulse count value 0 to 65535 Units: reference unit Internal Status Bit Display 20 4 Related I/O Signal. Cn-01 Bit 3 181 .

USING THE DIGITAL OPERATOR 4. 1CN-4 (£SIGN) 1CN-5 (CLR). 1CN-2(£PULS) 1CN-3(SIGN).6 Operation in Monitor Mode cont. User Constant 1CN-1 (PLUS). 1CN-6(£CLR) 4 182 . Monitor Bit # Description # Un-06 1 Input reference pulse 2 3 4 to 20 Input pulse sign Error counter clear input Not used Related I/O Signal.1.

. . . . Autotuning . . . . . . . .2 Using the Functions 4. Clearing Alarm Trace-back Data . . . . . . 4. . . . . . . . . . . . .2. . . . . . . . . . . . . .4. . .4 4. . . . . . . . . . . This does not adversely affect operation.2. . . .1 4. . . . . . 4 Alarm Sequence Number The higher the number. . . . . . .2. . . .2. . . . . . . . . . . 183 . .2. Checking Software Version . Reference Offset Automatic Adjustment . . . . . . . . . . Refer to sub-section 4. . . . . .2 4. . . .6 for details. . By allowing confirmation of what alarm occurred when. . . . . . . . The data is cleared using the special mode: Clear alarm trace-back data. . . . Operation Using the Digital Operator . . . .1 Operation in Alarm Trace-back Mode 1) The alarm trace-back mode displays up to ten alarms which occurred previously. . the older the alarm data Alarm Code See the table of alarms on page 185. . . . . it is a useful aid to speed up troubleshooting. . . . . . . . . . . . . . . . . . . . 183 186 189 196 199 202 203 204 4. . . . . . . . . . . . . . . . . . . . . . . . . .6 4. .2. . . . . . . .2. . . . . . . . . .2. . . . . . . . . Checking Motor Type . . . . . . . . . . . . .5 4. . . . . . . . . . .7 4. . .2 Using the Functions This section describes how to use the basic operations described in section 1 to operate and adjust the motor. . . . . . . . .2. . . . . . . NOTE The alarm trace-back data is not cleared on alarm reset or when the Servopack power is turned OFF. . . . .3 4. . . . . Speed Reference Offset Manual Adjustment Mode . . . . . . . .8 Operation in Alarm Trace-back Mode . . . . . . .2. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

For JUSP-OP02A-1 SET 1) Press back mode. the older the alarm data. Older Newer 184 . the older the alarm data. 2) Using the Alarm Trace-back Mode Follow the procedure below to determine which alarms occurred previously. DSPL to select the alarm trace- JUSP-OP02A-1 Alarm Trace-back Mode 2) Press the and keys to scroll the alarm sequence numbers up and down and display information on previous alarms.1 Operation in Alarm Trace-back Mode cont. The higher the left-hand digit (alarm sequence number). to select the alarm trace- Alarm Trace-back Mode UP DOWN and keys to scroll the 2) Press the alarm sequence numbers up and down and display information on previous alarms. For JUSP-OP03A Older Newer 4 JUSP-OP03A MODE/SET 1) Press back mode.2. The higher the left-hand digit (alarm sequence number).USING THE DIGITAL OPERATOR 4.

B-phase disconnection Encoder C-phase disconnection Power loss error (detected if power reconnected within power holding time) Not an alarm. Reset by alarm reset or Servopack power ON.4.2 Using the Functions 3) The table below lists the alarms displayed in the alarm trace-back mode. Description 4 * This function prevents overrun. Displayed Alarm Code Absolute data error User constant breakdown User constant setting error Overcurrent Position error pulse overflow (for position control only) Overvoltage Overspeed Overload Absolute encoder error Absolute encoder back-up error Absolute encoder checksum error Absolute encoder battery error Absolute encoder data error Absolute encoder overspeed Reference input read error Servo overrun detected * Encoder output phase error Encoder A-. 185 .

JUSP-OP02A-1 Setting Mode DSPL 2) Select the user constant number Cn-00. No need to connect to host controller or external circuits. reverse.2.2 Operation Using the Digital Operator . Digital Operator transmission error 1 Digital Operator transmission error 2 • Refer to the troubleshooting procedures when an alarm occurs. The selected digit blinks. (User constant Cn-00 is selected when the power is turned ON.2. 1) Operation Using the Digital Operator Use the following procedure to operate the motor from the Digital Operator For JUSP-OP02A-1 to select the user constant 1) Press SET setting mode. without the trouble of connecting a host controller. described in section 6. speed settings possible. 4 Simple Motor Check Operation from the Digital Operator allows the Servopack to run the motor. 186 .USING THE DIGITAL OPERATOR 4. Press the and keys to select the Select Cn-00.2. Forward. 4. Power Used during machine set-up and testing.2 Operation Using the Digital Operator The following are operator-related alarms which are not recorded by alarm trace-back. and keys to change the value. Motor can be run just from the Digital Operator.) Press the digit. This allows rapid checking of basic operations during machine set-up and testing.

This 8) Press SET sets the servo OFF status (motor power turned OFF). Motor Forward/Reverse Rotation to revert to . (Alternatively.base block 4 Motor Forward Rotation Motor Reverse Rotation Motor runs forward while this key is pressed. 5) Press SET to set the Digital Operator in operation mode. and keys to operate the to change. Select Servo ON/Servo OFF 7) Press the motor. Servo OFF .motor ON (motor power turned ON). Press the keys to change the value. (This user constant is set to 00 when the power is turned ON. Display for operation mode from Digital Operator JOG SVON DSPL 6) Press to set the servo ON status Press Servo ON .2 Using the Functions 3) Press ENTER to display the current data for the user constant Cn-00. press OFF status.) 9) Press ENTER to return to the setting mode display.4. DATA DSPL JOG SVON to set the servo Setting Mode Display 187 . and keys to change the 4) Press the data to 00. This disables operation under Digital Operator control. Motor runs backward while this key is pressed.) DATA User Constant Number Data Set to 00-00. Operation is now possible under Digital Operator control.

2. DATA (Alternatively. Servo OFF .2 Operation Using the Digital Operator cont. and keys to operate the Motor runs forward while this key is pressed.) DATA Select Cn-00. Motor Forward Rotation Motor Reverse Rotation Motor Forward/Reverse Rotation MODE/SET to revert to .) to set the servo 188 . Value changes rapidly when key held down. (This user constant is set to 00 when the power is turned ON. press OFF status. Motor runs backward while this key is pressed.motor ON to change. MODE/SET 5) Press to set the Digital Operator in operation mode. Operation is now possible under Digital Operator control. This 8) Press sets the servo OFF status (motor power turned OFF).USING THE DIGITAL OPERATOR 4. 3) Press to display the current data for the user constant Cn-00. Setting Mode UP DOWN 2) Press the and keys to select the user constant number Cn-00. UP DOWN User Constant Number Data 4 and keys to change the 4) Press the data to 00. Select Servo ON/Servo OFF UP DOWN Press DATA Servo ON . Display for operation mode from Digital Operator DATA 6) Press to set the servo ON status (motor power turned ON).) Set to 00-00. For JUSP-OP03A MODE/SET JUSP-OP03A 1) Press to select the user constant setting mode. (User constant Cn-00 is selected when the power is turned ON.base block 7) Press the motor.

Units: r/min. User Constant: Cn-10 (JOGSPD). Standard setting: 500 For details about setting the motor speed. Load Inertia Servomotor Servopack Friction Autotuning is similar to auto-focus for a camera.2 Using the Functions DATA 9) Press to return to the setting mode display. 1) User Constants Automatically Settable with Autotuning SGDAS Speed/torque control (SGDA-jjjS) SGDAPositions P Position control (SGDA-jjjP) Speed/Torque Cn-04 Cn-05 Speed loop gain Speed loop integration time constant Cn-04 Cn-05 Cn-1A Speed loop gain Speed loop integration time constant Position loop gain 189 . However. The Servopack contains a built-in autotuning function to automatically measure the machine characteristics and set the user constants. Servo drives normally require tuning to match the machine configuration and rigidity. Setting Mode Display 2) Changing Motor Speed The motor speed for operation under Digital Operator control can be changed with a following user constant..2. No experience required to achieve optimum settings.5 Operation in User Constant Setting Mode and Appendix D List of User Constants.3 Autotuning .4. 4. refer to 4. 4 Autotuning Automatically measures the machine characteristics and sets the user constants. This disables operation under Digital Operator control. This tuning requires a great deal of experience and is difficult for a person unfamiliar with the tuning procedure.1. autotuning allows even totally inexperienced people to easily complete the tuning.

Position control (SGDA-jjP): Set both Cn-01 Bit B to 1. If the mode switch is used. In practice. Operating Level Torque reference Speed reference Acceleration Error pulse User Constant Setting Cn-0C to maximum torque Cn-0D to a preset value exceeding Cn-10 Cn-0E to the maximum value: 3000 Cn-0F to the maximum value: 10000 4 Select the operating level using Bit C and Bit D of Cn-01.6.6 for details of the mode switch function. Set the servo to high response for a machine. • Make sure that the speed control mode is set to PI control before starting autotuning. Speed control (SGDA-jjS): Set both Cn-01 Bit C and Bit D to 1. such as a machine tool. Refer to 3. TERMS Machine Rigidity The machine rigidity is one of the machine characteristics related to servo control. follow operation a) or operation b) below before starting autotuning. a) Set the user constants to disable the mode switch. and to low response for a machine. NOTE • Conduct autotuning with the motor attached to the machine. such as a robot. Once autotuning has been completed. such that P control is not selected. PI control automatically switches to P control above a set operating level (PI control to P control switching level). with high rigidity. with low rigidity. If the mode switch is used. Motor High rigidity Motor Low rigidity 190 .3 Autotuning cont. It is sufficient to directly set the user constants for subsequent machines. The machine rigidity can be selected from one of seven levels.USING THE DIGITAL OPERATOR 4. providing the machine specifications remain unchanged. b) Increase the operating level.2. • Make sure that the P-CON signal is OFF (PI control is selected) before starting autotuning. the autotuning procedure can be omitted for subsequent machines. Make sure that the machine is ready for operation and take sufficient safety precautions when operating the machine. even if the P-CON signal is OFF. set the operating level as shown in the table below.

Press the digit.4. 5) Press ity. keys to change the value. DSPL SET to display the machine rigid- Machine Rigidity Display and keys to select the 6) Press the machine rigidity. If the actual rigidity is unknown. For JUSP-OP02A-1 1) Press SET to select the user constant setting mode.) Select Cn-00. (User constant Cn-00 is selected when the power is turned ON. select medium rigidity. JUSP-OP02A-1 Setting Mode DSPL 2) Select the user constant number Cn-00. and keys to select the Press the value. High Rigidity Medium Rigidity Low Rigidity 7) Press DSPL SET to select autotuning mode.2 Using the Functions 2) Using Autotuning Follow the procedure below to run autotuning. The selected digit blinks. and keys to change the 4 User Constant Number 3) Press ENTER to display the current data for the user constant Cn-00. Autotuning Mode 191 . DATA Data 4) Press the data to 05. and keys to change the Press the Set to 00-05.

) DATA Select Cn-00. Servo OFF status is automatically selected. Setting Mode UP DOWN and keys to select the 2) Press the user constant number Cn-00. as shown to the right. JOG SVON 8) Press to set the servo ON status. For JUSP-OP03A MODE/SET JUSP-OP03A 1) Press to select the user constant setting mode.USING THE DIGITAL OPERATOR 4. Setting Mode Display DATA • Refer to sub-section 3) on page 194 for the precautions relating to autotuning.motor ON Servo OFF . keys to revert to 12) Press ENTER to return to the setting mode display. If Servo ON/Servo OFF is selected by a signal from an external contact. Press Servo ON .2. 9) Press the motor.base block Select Servo ON/Servo OFF to change. 3) Press to display the current data for the user constant Cn-00. and keys to operate the Motor runs forward while this key is pressed. Autotuning Complete 4 11) Release the the and display. Motor runs backward while this key is pressed. the END message is displayed. Motor Forward Rotation Motor Reverse Rotation Motor Forward/Reverse Rotation 10) When autotuning is complete. (User constant Cn-00 is selected when the power is turned ON. This ends the autotuning operation. User Constant Number Data 192 .3 Autotuning cont. turn this signal OFF.

the END message is displayed.2 Using the Functions UP DOWN 4) Press the data to 05. Motor runs backward while this key is pressed. Servo OFF status is automatically selected. and keys to change the Set to 00-05 Value changes rapidly when key held down.4. Motor Forward Rotation Motor Reverse Rotation Motor Forward/Reverse Rotation 10) When autotuning is complete. Press Servo ON . 4 Autotuning Mode DATA 8) Press to set the servo ON status.motor ON Servo OFF . MODE/SET 5) Press ity. to display the machine rigid- Machine Rigidity Display UP DOWN and 6) Press the machine rigidity. 9) Press the motor. keys to select the High Rigidity Medium Rigidity Low Rigidity MODE/SET 7) Press to select autotuning mode. turn this signal OFF. and keys to operate the Motor runs forward while this key is pressed.base block Select Servo ON/Servo OFF UP DOWN to change. Autotuning Complete 193 . If Servo ON/Servo OFF is selected by a signal from an external contact. as shown to the right.

machine resonance indicates an inappropriate machine rigidity setting. select medium rigidity.. keys to revert to 12) Press to return to the setting mode display. MODE/SET (1) Press the DSPL SET (or MODE/SET ) key to cancel autotuning.USING THE DIGITAL OPERATOR 4. and run autotuning once more. Follow the procedure below to correct the machine rigidity setting. • Refer to the following sub-section 3) for the precautions relating to autotuning. UP DOWN The motor runs intermittently while the The motor does not rotate continuously. 4 b) Machine Rigidity Selection Select the machine rigidity as described below. Autotuning may be unsuccessful if this value is set too low. DSPL SET 194 . If the actual rigidity is unknown. This ends autotuning operation. which is the factory setting. 3) Precautions Relating to Autotuning DATA Setting Mode Display a) Speed Setting During Autotuning The motor speed during autotuning is set by user constant Cn-10. Set to 500 r/min. Reduce the setting by one. or (or or ) key is held down.3 Autotuning cont. (or ) key once more to enter the machine rigidity setting (2) Press the mode. High Rigidity Medium Rigidity Low Rigidity • If the Machine Resonates JOG SVON DATA At servo ON when the (or ) key is pressed or when the motor is operated by UP DOWN pressing the or ( or ) key. UP DOWN 11) Release the the DATA and display.2.

Autotuning may not end for machines with large play or extremely low rigidity. Load DSPL 4 OFF ON Motor • Conduct autotuning when no overtravel has occurred (both P-OT and N-OT signal ON). use conventional manual adjustment. In these cases. MODE/SET (1) Press the DSPL SET (or MODE/SET ) key to cancel autotuning. and 3 to 1. 195 . To conduct autotuning without inputting these signals. set user constant Cn-01 Bits 1.4. c) Input Signals • The OT signal and SEN signal (absolute encoder only) are enabled during autotuning. ) key once more to enter the machine rigidity setting (2) Press the SET (or mode. Load ON ON Motor • Set the P-CON signal OFF during autotuning. Follow the procedure below to correct the machine rigidity setting. 2. • Autotuning is not possible during overtravel (P-OT or N-OT signal OFF). Increase the setting by one. and run autotuning once more.2 Using the Functions • If Autotuning Does Not End Failure of autotuning to end . is caused by an inappropriate machine rigid- ity setting. Input the OT signal and SEN signal (absolute encoder only) during autotuning.

• If using the S-ON signal to set the servo ON status. The amount of offset can be checked in the speed reference offset manual adjustment mode.5 for details. before turning 4. 196 . Reference Voltage Reference Speed or Reference Torque Offset Reference Voltage Automatic Adjustment of Offset 2) After completion of offset automatic adjustment.4 Reference Offset Automatic Adjustment SGDAS Speed/Torque 4 1) Why Does Reference Offset Occur? Using a speed/torque control (SGDA-jjjS) type. display ON the S-ON signal. The following diagram illustrates automatic adjustment of an offset in the reference voltage from the host controller or external circuit. the amount of offset is stored in the Servopack.USING THE DIGITAL OPERATOR 4.2. take one of the steps below before running autotuning. This occurs when the host controller or external circuit has a small offset (measured in mV) in the reference voltage. Refer to page 118 for details about setting the mode switch. (1) Cancel the mode switch. Refer to sub-section 4. (2) Set the mode switch operating level to a high level. Automatic Adjustment of Reference Voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage.2.4 Reference Offset Automatic Adjustment • If the mode switch is used.2. It adjusts both speed and torque references. Offset Automatically Adjusted in Servopack Reference Speed or Reference Torque . the motor may rotate slowly when the reference voltage is intended to be 0 V.

to select the user constant 2) Press SET setting mode. Press the keys to change the value. Press the value. 4 The selected digit blinks. (2) Then. DSPL Slow Rotation Motor Stops 7) Press ENTER to return to the setting mode display. 5) Press the data to 01. This ends reference offset automatic adjustment. JUSP-OP02A-1 Host Controller 0 V Speed Reference or Torque Reference Servo ON Motor (1) Input the (intended) 0 V reference voltage from the host controller or external circuit. The motor rotation stops. DSPL Slow Rotation Servopack Setting Mode 3) Select the user constant number Cn-00. For JUSP-OP02A-1 1) Follow the procedure below to set the motor into operating mode. 6) Press SET to automatically adjust the reference offset.4.2 Using the Functions 3) Using the Reference Offset Automatic Adjustment Mode Follow the procedure below to automatically adjust the reference offset. S-ON) signal. and keys to select the and keys to change the 4) Press ENTER to display the current data for the user constant Cn-00. and keys to change the User Constant Number Data Set to 00-01. Setting Mode Display DATA 197 . DATA Select Cn-00.) Press the digit. turn ON the servo ON (1CN-14. (User constant Cn-00 is selected when the power is turned ON.

4 Reference Offset Automatic Adjustment cont. (2)Then. (1) Input the (intended) 0V reference voltage from the host controller or external circuit. UP DOWN User Constant Number Data 5) Press the data to 01.2. Setting Mode Display 198 . (User constant Cn-00 is selected when the power is turned ON. Setting Mode UP DOWN 4 and keys to select the 3) Press the user constant number Cn-00. turn ON the servo ON (1CN-14. DATA Slow Rotation Motor Stops 7) Press to return to the setting mode display. For JUSP-OP03A 1) Follow the procedure below to set the motor into operating mode. and keys to change the Set to 00-01. 4) Press to display the current data for the user constant Cn-00. MODE/SET to automatically adjust the 6) Press reference offset. S-ON) signal. Value changes rapidly when key held down. The motor rotation stops. MODE/SET Host Controller 0 V Speed Reference or Torque Reference Servo ON Servopack Motor JUSP-OP03A Slow Rotation 2) Press to select the user constant setting mode.USING THE DIGITAL OPERATOR 4.) DATA Select Cn-00. This ends reference offset automatic adjustment.

5 for details. In this case. this mode operates in the same way as the reference offset automatic adjustment mode.4.2 Using the Functions 4) The reference offset automatic adjustment mode cannot be used where a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped. It is very convenient in the following situations: • If a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped. 4.038 r/min. (0.2.4.3 for details.076 mV) For Cn-03 = 500 (factory setting) 199 . Refer to sub-section 3. The offset can be set for speed references only. except that the amount of offset is directly input during the adjustment.5 Speed Reference Offset Manual Adjustment Mode SGDAS Speed/Torque 1) Speed reference offset manual adjustment is available for the speed/torque control (SGDA-jjjS) type. Refer to sub-section 4. use the speed reference offset manual adjustment mode. Zero-clamp speed control is available to force the motor to stop during zero speed reference. This mode can also be used to check the data set in the reference offset automatic adjustment mode. • To deliberately set the offset to some value. In principle. Offset Adjustment Range and Setting Units are as follows: 4 Reference Speed or Reference Torque Offset Adjustment Range Offset Units Sped Reference Input Voltage Offset Adjustment Range: -512 to +511 (78 mV) Offset Units: Reference Speed 0.2.

) Press the digit. and keys to select the Select Cn-00. DSPL (The amount of speed reference offset is displayed. Setting Mode DSPL JUSP-OP02A-1 2) Select the user constant number Cn-00.USING THE DIGITAL OPERATOR 4. and keys to change the 4 3) Press ENTER to display the current data for the user constant Cn-00. 2) Follow the procedure below to manually adjust the reference voltage. 4) Press the data to 03.5 Speed Reference Offset Manual Adjustment Mode cont.) 6) Press the and amount of offset. Press the keys to change the value. The selected digit flashes. Press value. keys to adjust the Speed Reference Offset Manual Adjustment Mode (Adjust the speed references.) 7) Press SET to return to the user constant data display. This ends the reference offset manual adjustment.2. DATA DSPL 200 Setting Mode Display . SET to select the speed refer5) Press ence offset manual adjustment mode. 8) Press ENTER to return to the setting mode display. (User constant Cn-00 is selected when the power is turned ON. and keys to change the DATA User Constant Number Data Set to 00-03. For JUSP-OP02A-1 1) Press SET to select the user constant setting mode.

) DATA Select Cn-00. Setting Mode UP DOWN 2) Press the and keys to select the user constant number Cn-00.) MODE/SET to return to the user 7) Press constant data display. 3) Press to display the current data for the user constant Cn-00. (User constant Cn-00 is selected when the power is turned ON.) UP DOWN Speed Reference Offset Manual Adjustment Mode 6) Press the and amount of offset.2 Using the Functions For JUSP-OP03A MODE/SET JUSP-OP03A to select the user constant 1) Press setting mode. DATA 8) Press to return to the setting mode display. UP DOWN User Constant Number Data 4) Press the data to 03. Value changes rapidly when key held down. Setting Mode Display 201 . This ends the reference offset manual adjustment. keys to adjust the (Adjust the speed references.4. MODE/SET 4 to select the speed refer5) Press ence offset manual adjustment mode. (The amount of speed reference offset is displayed. and keys to change the Set to 00-03.

Each alarm in the alarm history is set to A99. For JUSP-OP02A-1 1) Press SET to select the user constant setting mode. Press the keys to change the value. 5) Press data. 4) Press the data to 02.1 Operation in Alarm Trace-back Mode for details. Press the value. DSPL SET to clear the alarm trace-back Clear the alarm trace-back data. Setting Mode 202 . 4 Press the and keys to select the digit. Setting Mode DSPL JUSP-OP02A-1 2) Select the user constant number Cn-00.6 Clearing Alarm Trace-back Data 1) This procedure clears the alarm history.) Select Cn-00.USING THE DIGITAL OPERATOR 4.2. Refer to 4. DATA and keys to change the 3) Press ENTER to display the current data for the user constant Cn-00. 2) Follow the procedure below to clear the alarm trace-back data. The selected digit blinks.6 Clearing Alarm Trace-back Data 4. which stores the alarms occurring in the Servopack. and keys to change the User Constant Number Data Set to 00-02. DATA User Constant Number Data For JUSP-OP03A MODE/SET JUSP-OP03A 1) Press to select the user constant setting mode. (User constant Cn-00 is selected when the power is turned ON.2. which is not an alarm code. 6) Press ENTER to return to the user constant data display.2.

DATA to clear the alarm traceClear the alarm trace-back data. 3) Press to display the current data for the user constant Cn-00. This mode is used for maintenance and is not normally used by the customer. 4 User Constant Number Data 4. and keys to change the Set to 00-02. Value changes rapidly when key held down. UP DOWN User Constant Number Data 4) Press the data to 02.2 Using the Functions UP DOWN 2) Press the and keys to select the user constant number Cn-00. Operation Set Cn-00 to 00-04 Motor Type Display Motor Capacity Motor Type Motor type displayed Modification Index (Modification No.) 203 .) displayed Modification Index (Modification No.) DATA Select Cn-00.) Display Hexadecimal Display Modification index (Modification No. 6) Press to return to the user constant data display.4. MODE/SET 5) Press back data.2.7 Checking Motor Type Set Cn-00 to 00-04 to select the motor-type check mode. (User constant Cn-00 is selected when the power is turned ON.

8 Checking Software Version 1) Set Cn-00 to 00-06 to select the software-version check mode. Operation Set Cn-00 to 00-06 Software Version Type A: Speed/torque control d: Position control Software Version Display Software version displayed 4 204 .2.USING THE DIGITAL OPERATOR 4. This mode is used for maintenance and is not normally used by the customer.2.8 Checking Software Version 4.

. . . 217 5. . . 293 5. .3. . . .3. . . 5.2 5. . . . . .2 Servopack Dimensional Drawings . . . . .1 Selecting a Servomotor . . . . . . . Overload Characteristics . . . . Starting Time and Stopping Time . . .5.1. . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . 217 5. . Overhanging Loads . . . . . . . . . . . . . . . 246 5. . . .1 Selecting a Σ-Series Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 5. . . . . . . . . . . . . . . . . . . .1 5. . .3. . . .1 Ratings and Specifications . .2 Order List . . . . . . .1. . . . . . . . . . . . . . . . . . . . 207 5.3 5. . .1 Selecting Peripheral Devices . . . . . .3. . . . . . .6 Ratings and Specifications . . . . . . . . . . .2. .3 Selecting a Digital Operator . .4.3 Servopack Ratings and Specifications . . . . .SERVO SELECTION AND DATA SHEETS 5 5 This chapter describes how to select Σ-Series servo drives and peripheral devices. . . . . . . . . . . . . . 293 5. . . . . . . . . . . . .4 5. . . . . . . . . . Choose and carefully read the relevant sections of this chapter. . . . . . . .4. . . . . . . . . . . . . . 235 5. . . .2. . In-rush Current and Power Loss . . . . . . .1. . . . . . . . . . . . . .4 Σ-Series Dimensional Drawings . .2 SGM Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The section also presents the specifications and dimensional drawings required for selection and design. . . . 215 5. . . . . . . . . . . . . . . . . . . . . . . . . .4. . . 291 5. . . . . . 299 205 . .5 5. . . . . . . . . . . . . . . . 213 5. . . . . . . . . . . . . . . . . . . .2 Mechanical Characteristics . . . . . . . . . . . . . . . .5. . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Digital Operator Dimensional Drawings . . . . . . . . 232 5. . . . . . . . . . . Load Inertia . .2 Selecting a Servopack . . . . . . . . . . . . 207 5. . . .1 Servomotor Dimensional Drawings . . . . 235 240 241 241 244 245 5. . . . . . 246 5.5 Selecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 5. . . .3 5. .10 5.4 5. . . . . . . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . . .6. . . . . .17 Cable Specifications and Peripheral Devices .16 5. . . . . . . . . Brake Power Supply . . . . . Motor Cables . . . . . .7 5. . Cables for Connecting PC and Servopack . . . . . . . . . .6. . . . . . . . . . . . Connector Kits . . . Continued 5. . . . . . . . . . . . . . . . .Chapter Table of Contents. . . . .6. . . . . . . . . . . . . . . . . . . .14 5.6. . . . . . . . . . . Magnetic Contactor . . . . . . .15 5. . .6. . . . .11 5. . . . . . . . . .13 5. . . . . . . . . . . . . . . .6. . . . . . . . . .6. . . . . . . . . . . .6. . . . . . . .12 5.9 5. . . . . .6. . . . . . . . . . . . . . . . 308 5. . .6. . . . . . . 308 311 314 318 320 325 326 328 330 330 331 332 333 334 335 336 338 5 206 . . . . . . . . . .6. . . . . . . . . . . . . . .6. . . . . . . . . . . . . . .5 5. Encoder Cables . . . . . .6. . Surge Suppressor . . . . . . . . . . . . . . . . . . . . Connector Terminal Block Converter Unit . . . . . . . . . . . . . . . . . . Encoder Signal Converter Unit . . . . . . . . . . . . .6. . . . . . .6 Specifications and Dimensional Drawings of Peripheral Devices . . . . .2 5. Noise Filter . . . . .6.1 5. . . . . . 1CN Connector . . . . . . . . . . . Cable With 1CN Connector and One End Without Connector Circuit Breaker . . . Regenerative Unit . . . . . . . . . . . . . . . . . . . . . . . Variable Resistor for Speed Setting . . . . . . . . . . . . . . . . . . Battery for Absolute Encoder . . . . . . . . . .6. . . . . .

.1 5. . . .1. . . . . .3 Selecting a Servomotor . . . the seven alphanumeric characters after “SGM-” or “SGMP-”. . . . 207 213 215 5. . . . . . . . . . . . . . . . . . Servopack. .5.1 Selecting a Σ-Series Servo This section describes how to select the Σ-Series Servomotor. and Digital Operator. . . . . . . . . .2 5. . . . . Selecting a Digital Operator . . . . . . . . . . . . . . .1 Selecting a Servomotor 1) The selection of an SGM or SGMP Servomotor matched to the servo system in which it is used is based on the servomotor type. . . . . . . . . . . . . . . . . .1 Selecting a Σ-Series Servo 5.1.1. . . . . Selecting a Servopack . . 5 207 . . . . . . . . . . . . . . . . . .1. . described below. . . . . that is. . . . . . . . . . . . . . . . 5. The numbers (1) to (6) below correspond to the numbers in the flowchart for Servomotor selection on the following pages. . . . .

208 .01HP).07HP) (Types SGM and SGMP) 01: 100W (0.01HP). shaft end screw hole provided 6) Options B: with brake S: with shaft seal D: with brake and shaft seal P: drip-proofed Flowchart for Servomotor selection SGMP type 5 Selected motor type Example Axis 1 Axis 2 D D D D D SGM-jjjjjjj SGM-jjjjjjj D D D D 2) The actual selection of the SGM or SGMP Servomotor is conducted according to the flowchart in the next page.27HP) 03: 300W (0.1. SGMP Servomotors are available from 100W (0.01HP) SGM type 2) Supply voltage A: 200V B: 100V 3) Encoder specification 3: 2048 P/R incremental encoder W: 12-bit absolute encoder (Available upon special request) S: 15-bit absolute encoder 5: 2000 P/R incremental encoder 4) Design revision order 5) Shaft specification 2: Straight without key 4: Straight with key 6: Straight with key.13HP) 02: 200W (0.SERVO SELECTION AND DATA SHEETS 5.13HP) to 750W (1.1 Selecting a Servomotor cont. If an SGMP Servomotor is selected. SGM.53HP) 08: 750W (1. A 1500W (2.04HP) A5: 50W (0.01HP) type also exists but the SGDA Servopack can handle up to 750W (1.01 A 3 1 2 j Σ-Series SGM: SGM Servomotor SGMP: SGMP Servomotor (cube type) 1) Rated output (motor capacity) (Type SGM only) A3: 30W (0.40HP) 04: 400W (0. replace SGM with SGMP.

13HP) = 01. D Fill in Machine Data Table D D D Refer to 3) Machine Data Table on page 211. refer to the data sheets in 5.40HP) = 03.01HP) = 08 Determine motor capacity Enter rated output SGM-JJ_ _ _ _ _ 2) Determine supply voltage 100V / 200V ? 200 V power supply 100 V power supply 5 SGM-jjA_ _ _ _ SGM-jjB_ _ _ _ 3) Select encoder specification 2048 P/R incremental encoder 12-bit absolute encoder 15-bit absolute encoder 2000 P/R incremental encoder SGM-jj3_ _ _ SGM-jjW_ _ _ SGM-jjS_ _ _ SGM-jj4_ _ _ (Available upon special request) (Available upon special request) 4) Enter design revision order Always enter 1. 100W (0. 300W (0. D D D See note on the next page. Enter code as characters 1 and 2: 30W (0. 750W (1. 400W (0.5.1 Selecting a Σ-Series Servo Flowchart for Servomotor Selection Start Servomotor selection 1) Select motor capacity D D D If necessary.07HP) = A5.27HP) = 02.1 Ratings and Specifications. 50W (0.04HP) = A3.2. 200W (0.53HP) = 04. SGM-jjjj1_ _ To next page(A) 209 . D Select capacity using Servomotor sizing software.

210 . From previous page (A) 5) Select shaft specification Straight without key With/without key? SGM-jjjjj2_ SGM-jjjjj4_ Straight with key 6) Selection option specification Under gravitational load Oil used at end of shaft Gravitational load+oil Subject to water droplets With brake With shaft seal With brake and shaft seal Drip-proofed SGM-jjjjjjB SGM-jjjjjjS SGM-jjjjjjD SGM-jjjjjjP 5 Note End Servomotor selection Consult Yaskawa sales representative for sizing or sizing software.SERVO SELECTION AND DATA SHEETS 5.1 Selecting a Servomotor cont.1.

) kg (lb) kg (lb) Motor 4) Rack and Pinion Load mass Thrust Coefficient of friction Overall efficiency Gear ratio Gear+coupling Pinion diameter Pinion thickness W Rack Pinion kg¡cm2 (lb¡in2. 1) Ball Screw Horizontal Axis Load mass Thrust Coefficient of friction Overall efficiency Gear ratio Gear+coupling Ball screw pitch Ball screw diameter Ball screw length W F µ η R (= Nm/Nl) GD2g P D L W1 W2 µ η R (= Nm/Nl) GD2g P D L W F µ η R (= Nm/Nl) GD2g GD2d D W F µ η R (= Nm/Nl) GD2g D t kg¡cm2 (lb¡in2. use the servomotor sizing software to select the motor capacity.) mm (in.) mm (in.5.) kg¡cm2 (lb¡in2.) mm (in.) mm (in.) Gear+coupling p g GD2g Motor 211 .1 Selecting a Σ-Series Servo 3) Machine Data Table Fill out the machine data table below as an aid to selecting the drive system.) mm (in.) mm (in.) mm (in.) mm (in.) kg (lb) kg (lb) Gear+coupling p g GD2g 2) Ball Screw Vertical Axis Load mass Counterweight Coefficient of friction Overall efficiency Gear ratio Gear+coupling Ball screw pitch Ball screw diameter Ball screw length Motor Gear+coupling GD2g 3) Timing Belt Load mass Thrust Coefficient of friction Overall efficiency Gear ratio Gear+coupling Pulley Pulley diameter 5 Timing belt Gear+coupling GD2g kg¡cm2 (lb¡in2. When the machine data table is complete.) mm (in.) kg (lb) kg (lb) Pulley Ball B ll screw kg (lb) kg (lb) Table W Motor Ball screw kg¡cm2 (lb¡in2.

212 .) kg¡cm2 (lb¡in2.) kg (lb) kg (lb) mm (in.SERVO SELECTION AND DATA SHEETS 5. If both are entered.) kg¡cm2 (lb¡in2. specify priority.) kg¡cm2 (lb¡in2.) m/min s s kg¡cm2 (lb¡in2.) Motor Gear+coupling G 2g GD Press force P f Roller 6) Rotor Load GD2 Load torque Overall efficiency Gear ratio Gear+coupling Tℓ GD2 ℓ 7) Others Load GD2 Load torque Motor speed DUTY Positioning time Accel/decel time 5 D Duty cycle DUTY Positioning distance Moving member speed Positioning time Accel/decel time D Operating environment Enter either Vℓ or ts.1. 5) Roll Feeder Load GD2 Tension Press force Roller diameter Coefficient of friction Overall efficiency Gear ratio Gear+coupling GD2ℓ F P D µ η R (= Nm/Nl) GD2g GD2ℓ Tℓ η R (= Nm/Nl) GD2g GD2ℓ Tℓ Nm td ts ta td Ls Vℓ ts ta Operating temperature Other kg¡cm2 (lb¡in2.1 Selecting a Servomotor cont.) kg¡cm2 (lb¡in2.) r/min s s s s mm (in.) Motor Gear+coupling GD2g kg¡cm2 (lb¡in2.

01HP) 2) Supply voltage A: 200V B: 100V 3) Model S: For speed/torque control P: For position control 4) Factory setting of applicable motor type Blank: SGM Servomotor P: SGMP Servomotor 5 Flowchart for Servopack selection Selected Servopack type Example Axis 1 Axis 2 D D D D D D SGDA-jjjj SGDA-jjjj D D D * The applicable motor type (SGM/SGMP) can be changed by setting the user constants. that is.53HP) 08: 750W (1.5. SGDA.27HP) 03: 300W (0. described below.1 Selecting a Σ-Series Servo 5.13HP) 02: 200W (0. 2) The actual selection of the SGDA Servopack is conducted according to the flowchart in the next page.40HP) 04: 400W (0.07HP) 01: 100W (0. the four alphanumeric characters after “SGDA-”.2 Selecting a Servopack 1) The selection of an SGDA Servopack matched to the servo system in which it is used is based on the Servopack type. 213 .04HP) A5: 50W (0.01 A S P Σ-Series SGDA: SGDA Servopack 1) Rated output A3: 30W (0.1. The numbers (1) to (3) below correspond to the numbers in the flowchart for Servopack selection on the following pages.

40HP) = 03. Flowchart for Servopack Selection Start Servopack selection 1) Enter rated output D D D Check specifications in 5. 400W (0. 50W (0.53HP) = 04.07HP) = A5. D Enter a rated output equal to the motor capacity. 300W (0. 750W (1.SERVO SELECTION AND DATA SHEETS 5.1 Ratings and Specifications. 100W (0.3.13HP) = 01.27HP) = 02. 200W (0.01HP) = 80 SGDA-JJ__ Enter rated output 2) Determine supply voltage 100 V / 200 V ? 200 V power supply 100 V power supply SGDA-jjA_ SGDA-jjB_ 3) Select model 5 a) Variable speed control required? b) Form position control loop with host controller? No c) Tension control required? d) Forced stopping or other torque control required? No e) Switching required between variable speed and torque control? No f) Direct position specification required by pulse input? Yes Use speed references Yes Use torque references Yes Switch between speed and torque references Yes select model for speed/torque control SGDA-jjjS SGDA-jjjP select model for position control To next page (A) 214 .2 Selecting a Servopack cont.1. Enter code as characters 1 and 2: 30W (0.04HP) = A3.

. see Note below Type SGM SGDA-jjjj SGDA-jjjjP Type SGMP Type SGM / Type SGMP ? End Servopack selection Note The applicable motor type (SGM/SGMP) can be changed by setting the user constants. . 5 JUSP-OP03A (Mount Type) • Use attached to the top of the Servopack front face. JUSP-OP02A-1 (Hand-held Type) • Use held in the hand while connected with the 1 m cable supplied. 5.3 Selecting a Digital Operator 1) The following two types of Digital Operator are available. 215 . The two types cannot be used simultaneously.1 Selecting a Σ-Series Servo from previous page (A) 4) Determine applicable motor . it is convenient to prepare both types and use whichever suits the circumstances. However.1. Each type differs in shape but the operating functions are identical.5.

3 Selecting a Digital Operator cont. Flowchart for Digital Operator Selection Start Digital Operator selection 1) Is the Servopack front face easily accessible for operation? 2) Is compactness a priority? No 3) Is the Servopack front face not easily accessible for operation? 4) Hand-held operation required? Yes Select Mount Type Yes Select Hand-held Type Type JUSP-OP03A Type JUSP-OP02A-1 End Digital Operator selection 5 216 .SERVO SELECTION AND DATA SHEETS 5. 2) The Digital Operator is selected according to the flowchart below.1.

.355 (50. .671 (9.39 (338) 7.42 1.48 (67.576) 25. . . . .01) 2. .2 SGM Servomotor 5. Mechanical Characteristics . . . .026 (0.5) 0. .1) 1.74) 32. . .159 (22. . . .5 0. . .021 (0. .5) 0.29 (40.13) 0. .123 (1.2 Ratings and Specifications .5) 0.318 (45.590 (83.1) 0.5 1. . .9 1.408 (57.9 5 217 . .533 (75. .6 8. .07) 0. . . . . . . . . .040 (0. . .4 13. .2.2.1 Ratings and Specifications 1) Ratings and Specifications of 200-VAC SGM Servomotors Time rating: Heat resistance class: Vibration class: Withstand voltage: Insulation resistance: Enclosure: Ambient temperature: Ambient humidity: Excitation: Drive method: Mounting: SGM Servomotor Rated Output*1 Rated Torque*1 *2 q Instantaneous Peak Torque*1 q Rated Curent*1 Instantaneous Max Current*1 Rated Speed*1 Instantaneous Max Speed*1 Torque Constant*1 W (HP) N¡m (oz¡in) N¡m (oz¡in) A (rms) A (rms) r/min r/min N¡m/A (rms) (oz¡in/A) (rms) Moment of Inertia [JM] kg¡m2 ¢10−4 (oz¡in¡s2¢ 10−3) Rated Power Rate*1 Rated Angular Acceleration*1 Inertia Time Constant Inductive Time Constant kW/s rad/s2 ms ms A3A 30 (0. .52) 85.82 (542) 2. . .191 (2.8 0. .6) 0. . . . totally enclosed.6 666000 0.36 45200 1.5) 0. . .3 13 continuous Class B 15µm or below 1500 VAC 500 VDC 10MΩ min. .8 02A 200 (0. .2) 0. . . . .96 (135) 0. .70) 84.27) 0. . . . . .3 3000 4500 0.3 6.7) 0.53) 1.4 5. 217 232 5. . . .63 61200 0. . .4 0.286 (40.288) 4.6 1.0 6.5.87 2.1 (1010) 4. .4 0.095 (13. .9 01A 100 (0.1 5.368) 9.255 (36. .0 04A 400 (0.5) 0.9 0. 5.8) 0. . . .2) 0. self-cooled 0 to 40°C 20% to 80% (non-condensing) permanent magnet direct drive flange method A5A 50 (0. . .27 (181) 3. .4 79500 0.1 35600 0.8 51800 0. .0 08A 750 (1. .5 1.91 (270) 2. . Refer to these tables when selecting a Servomotor. . .2 SGM Servomotor This section presents tables of ratings and specifications for SGM and SGMP Servomotors.637 (90.04) 0.2.

84 x 0. *1 These items and torque-motor speed characteristics quoted in combination with an SGDA Servopack at an armature winding temperature of 100°C.2. Other specifications will also change slightly.)) heat sink attached. All values typical.025 (0.352) A5A SGM− 01A 02A 0. *2 Rated torques are continuous allowable torque values at 40°C with a 250 x 250 x 6 (mm) (9. Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder. SGM− Derating Rate (%) A3A 70 A5A 80 01A 90 02A 04A 95 08A 5 TERMS Holding Brake The holding brake is automatically applied to the motor shaft to prevent the load falling in vertical axis applications when the motor power supply is turned off or fails.0085 (0.98) Note When a shaft seal is mounted on a motor. run the motor at the following derating factors because of increase in friction torque.14 (1.24 (in.816) 04A 08A 0.058 (0. Type yp Item Holding brake g 12-bit absolute encoder d kg¡m2¢10−4 (oz¡in¡s2¢10−3) kg¡m2¢10−4 (oz¡in¡s2¢10−3) A3A 0.120) 0.1 Ratings and Specifications cont.SERVO SELECTION AND DATA SHEETS 5. It is only to hold the load and cannot be used for stopping motor. Other values quoted at 20°C.84 x 9. Motor Load Prevent load falling Load 218 . NOTE The ratings and specifications above refer to a standard Servomotor.

Standard Motor Model Motor Capacity (W) Capacity (W) SGM-A3jjjj SGM-A5jjjj SGM-01jjjj SGM-02jjjj SGM-04jjjj SGM-08jjjj 30 50 100 200 400 750 6 6 6 6.0 2.5.25 5 219 .27 0.067 0.0 3.5 6.067 0.27 0.5 6 Holding Brake Specifications Holding Torque (kg-cm) 2.25 0.072 0.2 SGM Servomotor Electrical Specifications of the Holding Brake a) SGM Type (Rated Voltage: 90 VDC) .0 3.25 0. .5 15 15 25 Coil Resistance Ω (at 20°C) 1350 1350 1350 1246 1246 1350 Rated Current A ( at 20°C) 0. .0 2.5 6.25 0.072 0.067 b) SGM Type (Rated Voltage: 24 VDC) . Non-standard Motor Model Motor Capacity (W) Capacity (W) SGM-A3jjjj SGM-A5jjjj SGM-01jjjj SGM-02jjjj SGM-04jjjj SGM-08jjjj 30 50 100 200 400 750 6 6 6 6.5 15 15 25 Coil Resistance Ω (at 20°C) 96 96 96 89 89 96 Rated Current A (at 20°C) 0.067 0.5 6 Holding Brake Specifications Holding Torque (kg-cm) 2.

J 200-VAC SGM Servomotor Torque-Motor Speed Characteristics • SGM-A3A • SGM-A5A 4000 3000 Motor Speed (r/min) 2000 1000 00 0 0.5 100 1 1.25 50 0.75 100 1 150 4000 Motor Speed (r/min) 3000 2000 1000 0 0 0 0.3 40 0.2.3 40 0.45 60 0.5 0.15 20 0.5 200 2 300 Motor Speed (r/min) 5 • SGM-04A • SGM-08A 4000 3000 2000 1000 0 0 0 1 200 2 3 400 4 600 4000 Motor Speed (r/min) 3000 2000 1000 0 0 0 2 400 4 6 800 8 1200 Motor Speed (r/min) A: Continuous Duty Zone B: Intermittent Duty Zone 220 .1 Ratings and Specifications cont.2 0.1 20 0.6 80 100 • SGM-01A • SGM-02A 4000 3000 2000 1000 0 0 0 0.4 60 4000 Motor Speed (r/min) 3000 2000 1000 0 0 0 0.SERVO SELECTION AND DATA SHEETS 5.

103 ¢10−4 (1.82 (542) 2.392 55.7 49200 0.89 2.347 ¢10−4 (4.917) 0.7 18 continuous Class B 15µm or below 1500 VAC 500 VDC 10MΩ min.318 (45. totally enclosed.27 (181) 3.54) 08A 750 (1.6 7.4 30500 0.55 ¢10−4 (36.96) 0.1 (1010) 4.1) 0. no . brake b k Absolute encoder.96 (135) 0. with .0 6. with .31) 0.1) 1.0 04A 400 (0.66) 46. brake b k Rated Power Rate *1 Rated Angular Acceleration *1 Inertia Time Constant Inductive Time Constant *1 W (HP) N¡m (oz¡in) N¡m (oz¡in) A (rms) A (rms) r/min r/min N¡m/A (rms) oz¡in/A (rms) (=GD2 M/4) kg¡m2 (oz¡in¡s2¢10−3) (=GD2 M/4) kg¡m2 (oz¡in¡s2¢10−3) (=GD2 M/4) kg¡m2 (oz¡in¡s2¢10−3) (=GD2 M/4) kg¡m2 (oz¡in¡s2¢10−3) kW/s rad/s ms ms 0.92) 0.3) 2.641 91.2 SGM Servomotor 2) Ratings and Specifications of 200-VAC SGMP Servomotors Time rating: Heat resistance class: Vibration class: Withstand voltage: Insulation resistance: Enclosure: Ambient temperature: Ambient humidity: Excitation: Drive method: Mounting: SGMP Servomotor Rated Output Rated Torque *1 *2 q Instantaneous Peak Torque q *1 Rated Current *1 Instantaneous Peak Current *1 Rated Rotation Speed *1 Max.6 8.9 11300 0. no .9) 2.1 13.7) 2.5. self-cooled 0 to 40°C 20% to 80% (non-condensing) permanent magnet direct drive flange method 01A 02A 200 (0.8 3000 4500 0.332 ¢10−4 (4. All values typical.0 2.535 75. Rotation Speed *1 Torque Constant *1 q Moment of Incremental Inertia encoder.209 ¢10−4 (2.5 0.14 ¢10−4 (30.46) 0.91 (270) 2.4 0. Other values quoted at 20°C.5 0.8 0.4 0.27) 0.8 36700 0.27) 0.470 ¢10−4 (6.349 49.39 (338) 7.234 ¢10−4 (3. brake b k Incremental encoder.637 (90.372 ¢10−4 (5.27) 0.1) 26.52 ¢10−4 (35.70) 19. 221 .4 8.01) 2.11 ¢10−4 (29.090 ¢10−4 (1.0 1.065 ¢10−4 (0.13) 5 *1 These items and torque-motor speed characteristics quoted in combination with an SGDA Servopack at an armature winding temperature of 100°C. brake b k Absolute encoder.7 3.9 100 (0.128 ¢10−4 (1. *2 Rated torques are continuous allowable torque values at 40°C with an attached heat sink as specified below.445 ¢10−4 (6.307 ¢10−4 (4.31) 0.35) 0.81) 15.7 0.

Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder. .36 02A 0. 250¢250¢6(mm).)) 08A . (9. SGMP− Derating Rate (%) 01A 90 02A 04A 95 08A 5 222 . 300¢300¢12(mm). Other specifications will also change slightly. .84¢0.41 5. Type yp Item Holding brake g 12-bit absolute encoder d kg¡m2¢10−4 (oz¡in¡s2¢10−3) kg¡m2¢10−4 (oz¡in¡s2¢10−3) 01A 0. . .81¢0.2. run the motor at the following derating factors because of increase in friction torque.82 Note When a shaft seal is mounted on a motor.1 Ratings and Specifications cont. Heat sink dimensions 01A.025 0.098 1.)) NOTE The ratings and specifications above refer to a standard Servomotor.038 0. .39 SGMP− 04A 08A 0.84¢9.24 (in. . 04A . .(11.47(in. . .54 0.SERVO SELECTION AND DATA SHEETS 5.81¢11. 02A.

5.062 0. Standard Motor Model Motor Capacity (W) Capacity (W) SGMP-01jjjj SGMP-02jjjj SGMP-04jjjj SGMP-08jjjj 100 200 400 750 6 5 7.5 Holding Brake Specifications Holding Torque (kg-cm) 5.23 0.083 b) SGMP Type (Rated Voltage: 24 VDC) .6 7. Non-standard Motor Model Motor Capacity (W) Capacity (W) SGMP-01jjjj SGMP-02jjjj SGMP-04jjjj SGMP-08jjjj 100 200 400 750 6 5 7.056 0.085 0.29 0.21 0.5 Holding Brake Specifications Holding Torque (kg-cm) 5.0 10 20 37 Coil Resistance Ω (at 20°C) 114 116 89 77 Rated Current A (at 20°C) 0.31 5 223 .0 10 20 37 Coil Resistance Ω (at 20°C) 1555 1573 1062 1083 Rated Current A ( at 20°C) 0.2 SGM Servomotor Electrical Specifications of the Holding Brake a) SGMP Type (Rated Voltage: 90 VDC) .6 7.

2.5 100 1 1.8 120 Motor Speed (r/min) 4000 3000 2000 1000 0 0 0 0.1 Ratings and Specifications cont. J 200-VAC SGMP Servomotor Torque-Motor Speed Characteristics • SGMP-01A • SGMP-02A 4000 3000 Motor Speed (r/min) 2000 1000 0 0 0 0.5 200 2 300 • SGMP-04A • SGMP-08A 4000 3000 Motor Speed (r/min) 2000 4000 3000 Motor Speed (r/min) 2000 1000 1 200 2 3 400 4 600 0 0 0 2 400 4 6 800 8 1200 5 1000 0 0 0 A: Continuous Duty Zone B: Intermittent Duty Zone 224 .2 40 0.SERVO SELECTION AND DATA SHEETS 5.6 80 0.4 0.

3 A5B 50 (0.318 (45. totally enclosed.)) heat sink attached.9 2.96 (135) 2.5) 0.8 51800 0.07) 0.026 ¢10−4 (0.63 61200 0.6 1.48 (67.72 (527.95 (135.156 (22.36 45200 1.0 3000 4500 0.4 03B 300 (0.4 79500 0.7) 3. *2 Rated torques are continuous allowable torque values at 40°C with a 250 x 250 x 6 (mm) (9.637 (90.7) 0.84 x 0.5) 0.288) 4. self-cooled 0 to 40°C 20% to 80% (non-condensing) permanent magnet direct drive flange method A3B 30 (0.5.71) 47.91 (270) 2.8 5 Rated Power Rating *1 Rated Angular Acceleration *1 Inertia Time Constant Inductive Time Constant *1 These items and torque-motor speed characteristics quoted in combination with an SGDA Servopack at an armature winding temperature of 100°C.6 0.159 (22.1) 0.2 7.279 (39. Rotation Speed *1 Torque Constant *1 q Moment of Inertia *1 W (HP) N¡m (oz¡in) N¡m (oz¡in) A (rms) A (rms) r/min r/min N¡m/A (rms) oz¡in/A (rms) (=GD 2M/4) kg¡m2 (oz¡in¡s2¢10−3) kW/S rad/s2 ms ms continuous Class B 15µm or below 1500 VAC 500 VDC 10MΩ min.8) 0.194 (27.7 0.3 0.0) 3. Other values quoted at 20°C.84 x 9.5) 0.27) 0.29 (40.6 1.63 2.1) 1.095 (13.6 0.368) 9.4 5.168 (23.74) 32.191 ¢10−4 (2.3 5.9 1.24 (in.1) 0.13) 0.6) 0.7 14. 225 .40) 0.1) 0.021 ¢10−4 (0. All values typical.3 49700 0.9 01B 100 (0.123 ¢10−4 (1.04) 0.6) 0.2 SGM Servomotor 3) Ratings and Specifications of 100-VAC SGM Servomotors Time rating: Heat resistance class: Vibration class: Withstand voltage: Insulation resistance: Enclosure: Ambient temperature: Ambient humidity: Excitation: Drive method: Mounting: SGM Servomotor Rated Output Rated Torque *1 *2 q Instantaneous Peak Torque *1 q Rated Current *1 Instantaneous Peak Current *1 Rated Rotation Speed *1 Max.040 ¢10−4 (0.7 8.576) 25.255 (36.1 02B 200 (0.

2.25 0. . .072 SGM-A3jjjj SGM-A5jjjj SGM-01jjjj SGM-02jjjj SGM-03jjjj 30 50 100 200 400 6 6 6 6.SERVO SELECTION AND DATA SHEETS 5.067 0. Standard 5 Motor Model Motor Capacity (W) Capacity (W) Holding Brake Specifications Holding Torque (kg-cm) 2. Non-standard Motor Model Motor Capacity (W) Capacity (W) SGM-A3jjjj SGM-A5jjjj SGM-01jjjj SGM-02jjjj SGM-03jjjj 30 50 100 200 400 6 6 6 6.067 0.0 3.5 b) SGM Type (Rated Voltage: 24 VDC) .0 2.025 0.5 15 15 Coil Resistance Ω ( at 20°C) 96 96 96 89 89 Rated Current A ( at 20°C) 0.072 0.25 0.27 0.5 6. run the motor at the following derating factors because of increase in friction torque.27 226 .5 Holding Brake Specifications Holding Torque (kg-cm) 2. NOTE The ratings and specifications above refer to a standard Servomotor.25 0. Type yp Item Holding brake g 12-bit absolute encoder d kg¡m2¢10−4 (oz¡in¡s2¢10−3) kg¡m2¢10−4 (oz¡in¡s2¢10−3) A3B 0. Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder. SGM− Derating Rate (%) A3B 70 A5B 80 01B 02B 90 03B Electrical Specifications of the Holding Brake a) SGM Type (Rated Voltage: 90 VDC) .5 6. Other specifications will also change slightly.5 15 15 Coil Resistance Ω (at 20°C) 1350 1350 1350 1246 1246 Rated Current A (at 20°C) 0.82 03B Note When a shaft seal is mounted on a motor.12 0.0 2.058 0.0 3.36 A5B SGM01B 02B 0.0085 0.1 Ratings and Specifications cont.067 0.

5 200 2 300 5 4000 Motor Speed (r/min) 3000 2000 1000 0 0 0 1 2 3 TORQUE (N•m) 200 400 4 600 A: Continuous Duty Zone B: Intermittent Duty Zone 227 .45 60 0.1 20 0.25 50 0.15 20 0.2 SGM Servomotor J 100-VAC SGM Servomotor Torque-Motor Speed Characteristics • SGM-A3B • SGM-A5B 4000 Motor Speed (r/min) 3000 2000 1000 00 0 0.75 100 1 150 Motor Speed (r/min) 4000 3000 2000 1000 00 0 0.3 40 0.3 40 0.6 80 100 • SGM-01B 4000 Motor Speed (r/min) 3000 2000 1000 0 0 0 • SGM-03B 0.5.5 0.2 0.4 60 Motor Speed (r/min) 4000 3000 2000 1000 0 0 0 • SGM-02B 0.5 100 1 1.

24 (in.246 34.445 ¢10−4 (6.103 ¢10−4 (1.258 36.5 02B 200 (0. All values typical.332 ¢10−4 (4.9 03B 300 (0.46) 0.7 6.470 ¢10−4 (6.3 0.7 49200 0.318 (45.128 ¢10−4 (1. 4) Ratings and Specifications of 100-VAC SGMP Servomotors Time rating: Heat resistance class: Vibration class: Withstand voltage: Insulation resistance: Enclosure: Ambient temperature: Ambient humidity: Excitation: Drive method: Mounting: SGMP Servomotor Rated Rated Torque*1 *2 q Instantaneous Peak Torque*1 q Rated Current*1 Instantaneous Peak Current*1 Rated Rotation Speed*1 Max.31) 0.234 ¢10−4 (3.4 8.91 (270) 2.8 0.70) 19.3 27500 0. 228 .)) heat sink attached.2 7. *2 Rated torques are continuous allowable torque values at 40_C with a 250 x 250 x 6 (mm) (9.13) 0.27) 0.347 ¢10−4 (4.8 3.4 30500 0.84 x 9.917) 0.27) 0.27) 0. no brake Incremental encoder.1) 0.3 13.86 (406) 4.96) 0.SERVO SELECTION AND DATA SHEETS 5.637 (90.1) 1.9 0. Rotation Speed*1 Torque Constant*1 q Output*1 W (HP) N¡m (oz¡in) N¡m (oz¡in) A (rms) A (rms) r/min r/min N¡m/A (rms) oz¡in/A (rms) (=GD 2M/4) kg¡m2 (oz¡in¡s2¢10−3) (=GD 2M/4) kg¡m2 (oz¡in¡s2¢10−3) (=GD 2M/4) kg¡m2 (oz¡in¡s2¢10−3) (=GD 2M/4) kg¡m2 (oz¡in¡s2 ¢10−3) Rated Power Rate*1 Rated Angular Acceleration*1 Inertia Time Constant Inductive Time Constant kW/s rad/s ms ms continuous Class B 15µm or below 1500 VAC 500 VDC 10MΩ min.209 ¢10−4 (2. self-cooled 0 to 40°C 20% to 80% (non-condensing) permanent magnet direct drive flange method 01B 100 (0.6 0.35) 0.81) 15.7 8.4 0.5 0.31) 0. no brake Absolute encoder.160 22. with brake *1 These items and torque-motor speed characteristics quoted in combination with an SGDA Servopack at an armature winding temperature of 100°C.955 (135) 2.1 Ratings and Specification scont .307 ¢10−4 (4.065 ¢10−4 (0. totally enclosed.1 3000 4500 0.2.92) 0.090 ¢10−4 (1.372 ¢10−4 (5.66) 26. with brake Absolute encoder. Other values quoted at 20°C.40) 5 Moment of Inertia Incremental encoder.84 x 0.96 (135) 2.

Type yp Item Holding brake g 12-bit absolute encoder d kg¡m¢10−4 (oz¡in¡s2¢10−3) kg¡m¢10−4 (oz¡in¡s2¢10−3) 0. Other specifications will also change slightly. Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder. SGMP− Derating Rate (%) 01B 90 02B 03B 95 5 229 .098 1.36 01B 0.038 0.54 0.39 SGMP02B 03B Note When a shaft seal is mounted on a motor.025 0.2 SGM Servomotor NOTE The ratings and specifications above refer to a standard Servomotor.5. run the motor at the following derating factors because of increase in friction torque.

21 0.31 5 SGMP-08jjjj 230 . Non-standard Motor Model Motor Capacity (W) Capacity (W) SGMP-01jjjj SGMP-02jjjj SGMP-04jjjj 100 200 400 750 6 5 7.SERVO SELECTION AND DATA SHEETS 5.083 b) SGMP Type (Rated Voltage: 24 VDC) .056 0.6 7.29 0.0 10 20 37 Coil Resistance Ω (at 20°C) 1555 1573 1062 1083 Rated Current A (at 20°C) 0.0 10 20 37 Coil Resistance Ω (at 20°C) 114 116 89 77 Rated Current A (at 20°C) 0.5 Holding Brake Specifications Holding Torque (kg-cm) 5. Standard Motor Model Motor Capacity (W) Capacity (W) SGMP-01jjjj SGMP-02jjjj SGMP-04jjjj SGMP-08jjjj 100 200 400 750 6 5 7.5 Holding Brake Specifications Holding Torque (kg-cm) 5. Electrical Specifications of the Holding Brake a) SGMP Type (Rated Voltage: 90 VDC) .2.062 0.6 7.23 0.085 0.1 Ratings and Specifications cont.

6 0.5.5 200 2 300 4000 3000 Motor Speed (r/min) 2000 1000 0 0 0 1 200 2 3 400 4 600 5 A: Continuous Duty Zone B: Intermittent Duty Zone 231 .2 SGM Servomotor J 100-VAC SGMP Servomotor Torque-Motor Speed Characteristics • SGMP-01B • SGMP-02B 4000 3000 Motor Speed (r/min) 2000 1000 0 0 0 • SGMP-03B 0.2 0.4 50 0.8 100 4000 3000 Motor Speed (r/min) 2000 1000 0 0 0 0.5 100 1 1.

SERVO SELECTION AND DATA SHEETS 5.02) 35 (1.82) 20 (0. Conduct mechanical design such that the thrust loads and radial loads do not exceed the values stated below.82) 25 (1.43) Motor Type SGM-A3 SGM-A5 SGM-01 SGM-02 SGM-03 SGM-04 SGM-08 SGMP-01 SGMP-02 SGMP-03 SGMP-04 SGMP-08 Reference Drawing LR 5 • Servomotor with absolute encoder Allowable Radial Load Fr [N(lb)] 49 (11) 68 (15) 68 (15) 196 (44) 196 (44) 196 (44) 343 (77) 78 (17) 245 (55) 245 (55) 245 (55) 392 (88) Allowable Thrust Load Fs [N(lb)] 19 (4) 19 (4) 19 (4) 49 (11) 49 (11) 68 (15) 98 (22) 49 (11) 68 (15) 68 (15) 69 (15) 147 (33) LR mm (in. • Servomotor with incremental encoder Allowable Radial Load Fr [N(lb)] 68 (15) 68 (15) 78 (17) 245 (55) 245 (55) 245 (55) 392 (88) 78 (17) 245 (55) 245 (55) 245 (55) 392 (88) Allowable Thrust Load Fs [N(lb)] 54 (12) 54 (12) 54 (12) 74 (16) 74 (16) 74 (16) 147 (33) 49 (11) 68 (15) 68 (15) 69 (15) 147 (33) LR mm (in.82) 20 (0.82) 20 (0. 232 .02) 35 (1.02) 35 (1.) 20 (0.02) 25 (1.43) Motor Type SGM-A3 SGM-A5 SGM-01 SGM-02 SGM-03 SGM-04 SGM-08 SGMP-01 SGMP-02 SGMP-03 SGMP-04 SGMP-08 Reference Drawing LR Note The radial load and thrust load limit values are the sum of the loads generated by the motor torque and the external loads applied to the shaft.02) 25 (1.02) 35 (1.02) 25 (1.02) 25 (1.2.43) 20 (0.2.02) 25 (1.2 Mechanical Characteristics 1) Allowable Radial Load.82) 20 (0.82) 25 (1.02) 25 (1.02) 25 (1.82) 25 (1.) 20 (0.43) 20 (0. Allowable Thrust Load The output shaft allowable loads for SGM and SGMP Servomotor are shown below.82) 25 (1.2 Mechanical Characteristics 5.02) 25 (1.

5 G) Longitudinal Vertical Vertical Horizontal shaft 5 Transverse Horizontal shaft 233 .) 0. Avoid applying impacts directly to the shaft as these may damage the detector 5) Vibration Resistance Mount the servomotor with the axis horizontal.2 SGM Servomotor 2) Mechanical Tolerance The tolerances of the SGM and SGMP Servomotor output shaft and installation are shown in the table below.I. an accurate detector is attached to the shaft at the opposite end from the load. Tolerance (T. B Run-out at end of shaft C 0. • Impact Acceleration: 98 m/s2 (10 G) • Number of Impacts: 2 NOTE In SGM and SGMP Servomotors.04mm (0. 4) Impact Resistance Mount the servomotor with the axis horizontal. viewing from the load. = Total Indicator Reading 3) Direction of Motor Rotation Positive rotation of the servomotor is counterclockwise.R.5.) Reference Diagram Note T.) Perpendicularity between flange face and output shaft A Mating concentricity of flange O.00079in. and longitudinal.5 m/s2 (2. The servomotor must withstand the following vibration accelerations in three directions: vertical. The servomotor must withstand the following vertical impacts. • Vibration Acceleration: 24. transverse.I.0016in.04mm (0.D.0016in.R.) 0.02mm (0.

SERVO SELECTION AND DATA SHEETS 5. 6) Vibration Class The SGM Servomotor meets the following vibration class at rated speed. • Vibration Class: 15µm or below Vibration Measurement Position 5 TERMS Vibration Class Vibration class 15µm or below indicates that the total amplitude of vibration of the motor alone. running at rated speed.2 Mechanical Characteristics cont. 234 .2. does not exceed 15µm.

. Refer to them as required when selecting a Servopack.63 (8. . . Overload Characteristics . . . . 235 240 241 241 244 245 5. . . .27) 02Bj 200 (0. .0 2.2) 3. . . .5.07) 200 VAC 01AS 100 (0. . . .53) 04Aj 400 (0. . . . . . .0 4. . . . . . . .3. . Load Inertia .13) 01Aj 100 (0. . . .80) 0. . . . . . . . .3 0. .78 (11. .1 2. . . . . . 2) Ratings and Specifications of SGDA Servopack for Speed/Torque Control Voltage SGDA Servopack Max. .7 8. . . . . . . . . . . absolute encoder 1024 P/R 0. .6 1.07) A5Aj 50 (0. . . . .13) 01Bj 100 (0. . . 5. . . . .27) 03BS 300 (0. .4 3. . .04) A5BS 50 (0. . . . . . . . . . . . . . . . . Motor Speed Applicable encoder Combined Specifications Allowable Load Inertia*1 JL kg¡m2¢ 10−4 (oz¡in¡s2¢ 10−3) Continuous Output Current Max.8 2. .40) 03Bj 300 (0.3 Servopack Ratings and Specifications This section presents tables of SGDA Servopack ratings and specifications separately for speed/torque control and for position control. .01) A3BS 30 (0. . .0 6.87 2. . . . . .1) Combined p Specifications ti 0. .13) 02BS 200 (0. In-rush Current and Power Loss . . . . .3. . . . . . .7 14. . .3. . .20 (17. . .6 8. .0) 1.2 7. .42 1. . .4 (189) 0. . . . . .1 5. . . . .20 (17. . . .6 Ratings and Specifications . .78 (11. .90 2. . . . . . . . . . . . .0 0. . . . . . Starting Time and Stopping Time . . .9 0. . . .4 5.04) A3Bj 30 (0. .1 Ratings and Specifications 1) The ratings and specifications of the SGDA Servopack are shown below.3. . .63 2. .3 Servopack Rating and Specifications 5. . . . .9 0. . Applicable Motor Capacity W (HP) Combined SpecificaS ifi tions Motor Type Motor Capacity W (HP) Rated/ Max.4 13.3. . . Refer to the specifications listed for combination with the appropriate type of Servomotor.5 5. .07) 100 VAC 01BS 100 (0.9 2.80) 0. . . .2 5.82 (54. . . . . .53) 08AS 750 (1. .63 (8. . . .8 235 .27) 02Aj 200 (0. .40) 5 3000/4500 r/min 3000/4500 r/min Incremental encoder 2048 P/R. . . . . . . . .13) 02AS 200 (0. . . . .0) 1. . . .2) 3. .04) A3Aj 30 (0. . . .0) 3. . . Overhanging Loads . . . . . .69 (52. . . . .27) 04AS 400 (0. . . . . . . .3. .3. .07) A5Bj 50 (0. . . Output Current A3AS 30 (0. . . .04) A5AS 50 (0. . . .82 (54.69 (52. . . .0) 3.1) 13. .3 5. . .01) 08Aj 750 (1. . . . . . . . . . .

(at rated speed) 1.2 (2.27) 03BS 300 (0.04) A5AS 50 (0.5/2G Base mounted 0.9 (1.98) 1.98) 1:5000 0% to 100%:0. Applicable Motor Capacity W (HP) Basic p Specifications ti Power Supply Control Method Feedback Location Ambient Temp. Voltage SGDA Servopack Max.0% 0 to 10 s ¦6 VDC (positive motor rotation with positive reference) at rated speed (factory setting) Variable setting range: ¦2 to ¦10 VDC at rated speed Approx.65) 1. 30 kΩ Approx.53) 08AS 750 (1. absolute encoder 1024 P/R 0 to 55°C*3 −20 to +85°C 90% or less (with no condensation) 0. 47 µs ¦3 VDC (positive motor rotation with positive reference) at rated speed (factory setting) Variable setting range: ¦1 to ¦10 VDC at rated torque Approx.13) 02BS 200 (0.1Ratings and Specifications cont.27) 04AS 400 (0.07) 200 VAC 01AS 100 (0.5 (3.31) 0.01% max. full-wave rectification IGBT-PWM (sine-wave driven) Incremental encoder 2048 P/R.SERVO SELECTION AND DATA SHEETS 5.07) 100 VAC 01BS 100 (0.3. 50/60 Hz Single-phase. mass kg (lb) Performance Speed Control Range*4 Speed g Regulation* ti *5 Load Regulation Voltage Regulation Temperature Regulation Frequency Characteristics Torque Control (Repeatability) Accel/Decel Time Setting Input Signal Speed Reference Rated Reference Voltage Input Impedance Circuit Time Constant Torque Reference Rated Reference Voltage Input Impedance Circuit Time Constant A3AS 30 (0.5 (3. 30 kΩ Approx.1% max.31) 5 250 Hz (at JL=JM) ¦2.9 (1.04) A5BS 50 (0.2 (2. (at rated speed) 0% 25¦25°C: ¦0. +10% to −15%.13) 02AS 200 (0. 50/60 Hz Single-phase 100 to 115 VAC*2. 47 µs 236 .01) A3BS 30 (0. Ambient/ Storage Humidity Vibration/ Shock Resistance Structure Approx.40) Single-phase 200 to 230 VAC.65) 1. Storage Temp. +10% to −15%.

*5 Speed regulation is defined as follows: No-load-speed – Full-load-speed × 100% Speed regulation = Rated speed The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation. If load inertias exceed these ranges. A step-down transformer is required if the voltage should exceed these values. When enclosed in a box.01 HP) Servomotors. speed coincidence. auto-tuning Sequence Output Dynamic Brake External Regenerative Unit Overtravel Protective Functions Indicators Others *1 Allowable load inertia ranges require no optional external regenerative unit. reverse run stop (N-OT). overload. P drive (or motor forward/reverse by torque control. overvoltage.3 Servopack Rating and Specifications Voltage I/O Signals Position p Output Output Form Frequency Dividing Ratio Sequence Input 200 VAC A-.04 HP) to 200 W (0. origin error. *6 N is the number of encoder pulses. zero clamp operation (position loop stop}. *2 Supply voltage should not exceed 230 V + 10% (253 V) or 115 V + 10% (127 V). and 20 times for 400 W (0. brake interlock signal output. current limit − selection (or internal speed selection). speed coincidence. CPU error. 5 237 . soft start/stop. B-. current limit + selection (or internal speed selection). or internal setting speed). *3 Use within the ambient temperature range. C-phase line driver (16 to N) /N N=2048.53 HP) and 750 W (1. forward run stop (P-OT).27 HP) Servomotors. 3-bit alarm codes Operated at main power OFF. Required when exceeding the allowable load inertia*1 Dynamic brake stop at P-OT or N-OT or deceleration stop Overcurrent. grounding. external brake interlock. the internal temperatures must not exceed the ambient temperature range. restrict the operation or use a regenerative unit. servo alarm or overtravel. overspeed. These ratios of the speed changes to the rated speed represent the speed regulation due to voltage and temperature variations. reference input read error. *4 The lowest speed of the speed control range is the speed at which the motor does not stop under 100% load. encoder error Alarm and power LEDs Programming panel is available as an option Torque control.5. Values are 30 times the moment of inertia for 30 W (0. reverse run connection. zero-clamp drive reference. 1024*6 100 VAC Servo ON. servo alarm. alarm reset Current limit detection (or TGON). overrun prevention. JOG run.

04) A5AP 50 (0.01) 08Aj 750 (1.1) 0.04) A3Aj 30 (0.31) 0. 50/60 Hz Single-phase.53) 04Aj 400 (0.0) 1. full-wave rectification IGBT-PWM (sine-wave driven) Incremental encoder 2048 P/R.13) 01Bj 100 (0.0 0.42 1.5/2G Base mounted 0.69 (52.78 (11.7 8.9 2.98) 1. Motor Speed Applicable encoder Allowable Load Inertia*1 JL kg¡m2¢ 10−4 (oz¡in¡s2¢ 10−3) Continuous Output Current Max.0 4.0) 3. absolute encoder 1024 P/R 0.53) 08AP 750 (1.40) 3000/4500 r/min 3000/4500 r/min Incremental encoder 2048 P/R. 3) Ratings and Specifications of SGDA Servopack for Position Control Voltage SGDA Servopack Max.63 (8.3.07) 200 VAC 01AP 100 (0.5 (3. +10% to −15%.2 (2.20 (17.63 2.78 (11.6 1.27) 02Bj 200 (0.20 (17.82 (54.65) 1.1 2.2 7.2 (2. Applicable Motor Capacity W (HP) Combined Specifications S ifi i Motor Type Motor Capacity W (HP) Rated/ Max.2) 3.65) 1.4 13.4 3.04) A3Bj 30 (0.4 (189) 0.0 6.9 0.90 2.01) A3BP 30 (0.1Ratings and Specifications cont.8 Single-phase 200 to 230 VAC.63 (8. (Setting resolution: 1 r/min.07) A5Bj 50 (0.13) 01Aj 100 (0.13) 02BP 200 (0.9 (1.87 2. Reference unit: minimum unit of position data which moves load 238 .07) 100 VAC 01BP 100 (0.6 8.04) A5BP 50 (0.7 14.13) 02AP 200 (0.8 2.80) 0.9 (1.27) 04AP 400 (0.2) 3.0) 3.82 (54. Storage Temp.27) 03BP 300 (0.80) 0.3 0.) 0 to 100% (Setting resolution: 1%) 0 to 250 reference units. Ambient/ Storage Humidity Vibration/ Shock Resistance Structure Mass kg (lb) Performance Bias Setting Feed Forward Compensation Position Complete Width Setting A3AP 30 (0. absolute encoder 1024 P/R 0 to 55°C*3 −20°C to +85°C 90% or less (with no condensation) 5 0.9 0.SERVO SELECTION AND DATA SHEETS 5.98) 1. 50/60 Hz*2 Single-phase 100 to 115 VAC*2.40) 03Bj 300 (0.0) 1.69 (52.31) 0 to 450 r/min.27) 02Aj 200 (0. Output Current Basic Specifications Power Supply Control Method Feedback Location Ambient Temp.0 2. +10% to −15%.07) A5Aj 50 (0.5 (3.1) 13.

(A-phase+B-phase). 5 239 . servo alarm or overtravel. CPU error. When enclosed in a box. JOG run. origin error. restrict the operation or use a regenerative unit.53 HP) and 750 W (1. *3 Use within the ambient temperature range. and 20 times for 400 W (0. 90° phase difference 2-phase pulse. overvoltage. open collector (+5 V or +12 V level) 0 to 450 kpps CLEAR (input pulse form identical to reference pulse) A-.27 HP) Servomotors.5. CCW pulse+CW pulse Line driver (+5 V level).04 HP) to 200 W (0. overflow Alarm and power LEDs Programming panel is available as an option Brake interlock signal output. *4 N is the number of encoder pulses. overspeed. servo alarm. B-. If load inertias exceed these ranges. current limit + selection (or internal speed selection). current limit − selection (or internal speed selection) Current limit detection (or TGON). grounding. *2 Supply voltage should not exceed 230 V + 10% (253 V) or 115 V + 10% (127 V). A step-down transformer is required if the voltage should exceed these values. overload. 1024)*4 Servo ON. the internal temperatures must not exceed the ambient temperature range. overrun prevention.01 HP) Servomotors. auto-tuning Sequence Output Dynamic Brake External Regenerative Unit Overtravel Protective Functions Indicators Others *1 Allowable load inertia ranges require no optional external regenerative unit. Required when exceeding the allowable load inertia Dynamic brake stop at P-OT or N-OT or deceleration stop Overcurrent. encoder error. electronic gear. brake interlock. alarm reset. positioning complete. reverse run connection.3 Servopack Rating and Specifications Voltage Input Signal Reference Pulse P l Type Pulse Form Pulse Frequency Control Signal I/O Signals Position p Output Output Form Frequency Dividing Ratio Sequence Input 200 VAC 100 VAC SIGN + PULSE train. P drive (or motor forward/reverse by internal speed setting). reverse run stop (N-OT). C-phase line driver (16 to N) /N N=2048. Values are 30 times the moment of inertia for 30 W (0. 3-bit alarm codes Operated at main power OFF. forward run stop (P-OT).

5 TERMS Hot Start Indicates that both Servopack and Servomotor have run long enough at rated load to be thermally saturated. the Servopack allowable power is limited by the overload protective function. 240 . The overload detection level is quoted under hot start conditions at a motor ambient temperature of 40°C. Therefore.3.SERVO SELECTION AND DATA SHEETS 5.2 Overload Characteristics The Servopack has a built-in overload protective function to protect the Servopack and Servomotor from overload.2Overload Characteristics 5.3. as shown below.

• Small Load Inertia Motor Load Motor Load 241 .3.3 Starting Time and Stopping Time 1) The motor starting time (tr) and stopping time (tf) under constant load are calculated by the following formulas. .4 Load Inertia 1) The larger the load inertia becomes.) JM: Motor moment of inertia (kg¡m2=lb¡in¡s2) . The motor viscous torque and friction torque are ignored. N (J + J L) Starting Time: tf = 104. .7 × R M [ms] K t·I R (α–β) Stopping Time: tf = 104.5.3 Servopack Rating and Specifications 5. (GD2M/4) JL: Load converted to shaft moment of inertia (kg¡m2) . . (GD2L/4) Kt: Motor torque constant (N¡m/A=lb¡in/A) IR: Motor rated current (A) α=IP/IR: Accel/decel current coefficient [where IP is accel/decel current (accel/decel current is α times the motor rated current) (A)] β=IL/IR]: Load current coefficient [IL]: Load torque equivalent current (load current is β times the motor rated current) (A)] Motor Current Time 5 Motor Speed Motor Current (size) . as shown in the diagrams below.Motor Speed Timing Chart Time 5. The size of the load inertia [JL] allowable when using a Servomotor depends on the motor capacity. the worse the movement response of the load.7 × N R (J M + J L) [ms] K t·I R (α + β) NR: Motor rated speed (r/min.3.

3. (That is. • Large Load Inertia Load Motor Motor Load a) SGM Servomotors 200-VAC Servomotors with incremental encoder Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) 30W (0.07HP) (10.63 (8.04HP) Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) (0.27HP) 0.7) 5 (0. 242 .13HP) (16.75) (51.4Load Inertia cont.0) Motor Speed Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) (0. Applying an acceleration/deceleration curve to the reference allows operation outside the range of the diagrams.2) (30.3) Motor Speed Motor Speed Note The above diagrams represent deceleration under maximum torque.SERVO SELECTION AND DATA SHEETS 5.4) Motor Speed Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) (0.8) Motor Speed Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) (52.7) Motor Speed Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) (1. characteristics change according to pattern of operation and load conditions).53HP) (26.01HP) (186) (65.

5. c) Reduce the maximum speed used.53HP) (48. a) Reduce the torque limit value.3) Motor Speed Motor Speed 5 Note Diagrams above represent deceleration under maximum torque.3) (29.3 Servopack Rating and Specifications b) SGMP Servomotors 200-VAC Servomotors with incremental encoder Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) (0.2) (146. (That is.01HP) (19. d) Add a regenerative unit.6) (52.3) Motor Speed Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) Motor Speed (0.2) Load Inertia kg¡m2¢10−4 (oz¡in¡s2¢10−3) (0. Take one of the countermeasures below. the characteristics change according to pattern of operation and load conditions).13HP) (22. b) Reduce the deceleration rate.5) (1.27HP) (20. Applying an acceleration/ deceleration curve to the reference allows operation outside the range of the diagrams. 2) An overvoltage alarm is likely during deceleration if the load inertia exceeds the range of the diagrams. 243 .

when the direction of the torque applied by the motor is opposite from the direction of shaft rotation). 244 . Under an overhanging load (e.5Overhanging Loads 5. the Servopack regenerative brake is applied continuously and the regenerative energy of the load may exceed the allowable range and damage the Servopack. • Overhanging Load Example 1: Motor drive for vertical axis.SERVO SELECTION AND DATA SHEETS 5. The regenerative brake capacity of the SGDA Servopack is rated for short-time operation.g.3. approximately equivalent to the deceleration stopping time.3. using no counterweight 5 • Overhanging Load Example 2: Tension control drive Tension Motor Motor subject to be rotated from feed motor to keep applied tension. that is a load which tends to continually rotate the motor.5 Overhanging Loads 1) A Servomotor may not be operated under an overhanging load.

07HP) 01 (100W-0.3 Servopack Rating and Specifications 5.27HP) 03 (300W-0.40HP) 5 245 .7 3.53HP) 08 (750W-1.04HP) A5 (50W-0.13HP) 02 (200W-0.6 0.13HP) 02 (200W-0.07HP) 01 (100W-0.27HP) 04 (400W-0.2 2.01HP) Supply Voltage 100V A3 (30W-0.3.63 0.9 2.7 15 18 20 35 45 60 17 20 30 47 70 Power Loss W Supply Voltage 200V A3 (30W-0.42 0.6 In-rush Current and Power Loss Servopack SGDA- In-rush Current (Peak Value) A 35 35 35 350 35 70 18 18 18 18 35 Output Current (Effective Value) A 0.87 2.04HP) A5 (50W-0.0 2.5.4 0.6 4.

750 W (1. . .4. . .53 HP) • 750W (1.SERVO SELECTION AND DATA SHEETS 5. Servopack Dimensional Drawings . with brake (from page 262) Motor capacities are available as 30 W (0. . .01 HP). .27 HP). .2 5. . 200 W (0. . . . . . 100 W (0. . . . . . . . .07 HP).4. These are grouped into three categories. .4 Σ-Series Dimensional Drawings This section presents dimensional drawings of the Σ-Series Servomotor. . . .13 HP) • 200W (0. 300W (0. Digital Operator Dimensional Drawings . . .13 HP).40 HP). . . . .01 HP) 246 . .53 HP).1 5. .4. . 50W (0. . . . . 100W (0. . . . . . . . no brake (from page 247) b) Incremental encoder. . . . .04 HP). . as follows: • 30W (0. . . 400 W (0. . . . . . . and Digital Operator.1 Servomotor Dimensional Drawings 5. . . .4. .07 HP). .04 HP). . . . . . . 246 289 291 5. . . . 5. . . a) Incremental encoder.40 HP). . 50 W (0. .3 Servomotor Dimensional Drawings . . with brake (from page 252) c) Absolute encoder. . . . .1 Servomotor Dimensional Drawings 1) The dimensional drawings of the SGM Servomotors are broadly grouped into the following four categories. . . . . 300 W (0. . . . . . Servopack.4.27 HP). no brake (from page 257) 5 d) Absolute encoder. . 400W (0.

02 Shaft end screw hole (SGM-jjA(B)316.20) 119.16) 5 (0.12) (0 12) M3 depth 6 (0.13 HP) 300±30 (11. 2-φ4.21 LM 40 (1.04) (0 0 ) Approx.24) (0 2 ) No key y 14 (0.31) (0 31) No key y 14 (0.10) A 0 -0.UL1828 or UL3534 300±30 (11.10) (1 10) 78 (18) ( )  50 (0.0016) Screw L 0.44) (1 ) 6 (0.42) (2 2) 8 (0.5 (0.08) (0 08) 2 (0.0 (3.18) Motor Plug (0.2 (0.37) φSh6 0 φ 30 -0.81±1.24) (0 2 ) No key y 14 (0.81) A Incremental Encoder 2048 P/R (0.3 (φ0.05) (0 0 ) 2 (0.5 (1.81±1.70) ( 0) 94.57) φ46 (φ1.73) (1 3) 6 (0.74) (2 ) 36.0 (1.17) with key type only) MTG Holes 40 (1.03) (3 03) 44.05) (0 0 ) 2 (0.5 depth 5 (0.20)(Black) Motor Lead (Teflon wire) AWG24.02) ( 02) 77.18) 35 (1.5 (4.66) (0 66) Allowable radial load N (lb) Allowable thrust load N (lb) 5 A3A312 A3B312 A3A314 A3B314 A3A316 A3B316 A5A312 A5B312 A5A314 A5B314 A5A316 A5B316 01A312 01B312 01A314 01B314 01A316 01B316 94. mass kg (lb) 0.30) 6.0 (4.55) (0 ) 1.88) (0 88) 247 .5 (3.0008) Protective Tube 5(φ0.08) (0 08)  68 (15) 54 (12) ( ) ( ) M2.26) QK Y Y 38.8 (1.04 HP). no brake (Type SGM-jjj31j) • 30W (0.100W (0.4 Σ-Series Dimensional Drawings (1) SGM Servomotor Incremental encoder.5 depth 5 (0.5 (0.02 ) A Cross-section Y-Y LL 33 (1.5.07 HP).8 (0.4 (0.20) 102.72) (3 2) 61.5 (2.08) (0 08) 2 (0.5 (3.13) (0 13) 0.55) (0 ) 1. 50W (0.12) (0 12) 3 (0.98) 2.18 4 (0.07) (0 0 ) 3 (0.5 (0.53) (φ 1.0008 φ0.08) (0 08) M2.2 (0.3 (0.5 (2.5 (1.0008) 0.20) 9.72) (3 2) 69.38) Encoder Lead UL2854 Encoder Plug U W T (0.04 25 (0.24)  100 (0.07) (0 0 ) 0.55) (0 ) 1.57) Type SGM- L LL LM S QK U W T Screw Dimensions Output W (HP) 30 (0.

400 W (0. 300 W (0. Note 1) The detector uses an incremental encoder 2048 P/R.27 HP). “01A(B)314” and “01A(B)316” have a keyed shaft. and type “B” indicates 100 V specification. The keyway complies with JIS B 1301-1976 (precision). “A5A(B)316”.3 60 (2. with key type only) 4-φ5. 2) Type “A” indicates 200 V specification. 3) “A3A(B)314”.76) Incremental Encoder 2048 P/R Shaft end screw hole (SGM-jjA(B)316.) from the motor mounting surface. A straight key is supplied. 4) The quoted allowable radial load is the value at a position 20 mm (0.53 HP) Encoder Lead Encoder Plug U W T Motor Lead (Teflon wire) AWG22 UL1828 or UL3534 Protective Tube (Black) Motor Plug Screw Cross-section Y-Y 5 4−R5.79 in.5 (φ0.1 Servomotor Dimensional Drawings cont.40 HP).“A5A(B)314”.SERVO SELECTION AND DATA SHEETS 5.4. • 200 W (0.36) φ70 (φ2.22) MTG Holes 248 . “A3A(B)316”.

20) (0 20) 5 (0.31) d h 8 (0 31) 154.) from the motor mounting surface.20) (0 20) 5 (0. depth (0.12) (0 12) 5 (0. depth 8 (0.40) (0 0) 1.31)  5 (0.80) (3 80) 62. 2) Type “A” indicates 200 V specification.90) ( 90) 90. The keyway complies with JIS B 1301-1976 (precision).20) (0 20) M5.7 (3.08) (6 08) 124. depth 8 (0.79) (0. “04A314” and “04A316” have a keyed shaft.20) (0 20)  M5.5 (4.5 (4.98 in. “03B316”. 4) The quoted allowable radial load is the value at a position 25 mm (0. “02A(B)316”. and type “B” indicates 100 V specification.20) (0 20) 5 (0.46) (2 6) No key y 20 (0.12) (0 9) (0 12)  5 (0.53) (0 3) 300 (0.79) (0 9) 3 (0.“03B314”.5 (2.4 Σ-Series Dimensional Drawings Type SGM- L LL LM QK U W T Screw Dimensions Output W (HP) 200 (0.43) (2 3) Allowable radial load N (lb) 245 (55.5 (3.31) 400 (0.98) ( 98) 96. A straight key is supplied.12) (0 9) (0 12) No key 20 3 (0.79) (0.1 (2.5 (3.27) (0 2 ) Approx. 3) “02A(B)314”.5 (6.5.20) (0 20) M5. .1) ( 1) Allowable thrust load N (lb) 74 (17) ( ) 02A312 02B312 02A314 02B314 02A316 02B316 03B312 03B314 03B316 04A312 04A314 04A316 126. mass kg (lb) 1.56) (3 6) No key 20 3 (0.75) (3 ) Note 1) The detector uses an incremental encoder 2048 P/R. 5 249 .

250 .20) (0 20) 5 (0. 4) The quoted allowable radial load is the value at a position 35 mm (1.28) MTG Holes 4−R8.18) (0.50) ( 0) Allowable Allowable radial thrust load load N (lb) N (lb) 392 ( ) (88) 147 ( ) (33) 08A312 08A314 08A316 No key 30 3 (1. 2) Type “A” indicates 200 V specification.31) Output W (HP) 750 (1.01) (1 01) Approx.20) (0 20) M5. • 750 W (1. A straight key is supplied.4. with key type only) 5 Type SGMQK U W T Screw Dimensions  5 (0.SERVO SELECTION AND DATA SHEETS 5.) from the motor mounting surface.011 80 (3.1 Servomotor Dimensional Drawings cont.0004 0 φ 16 -0.38 in.12) (1 18) (0 12) Note 1) The detector uses an incremental encoder 2048 P/R.2 Incremental Encoder Shaft end screw hole (SGM-08A316. The keyway complies with JIS B 1301-1976 (precision).63 4-φ7 (φ0.4 (7.15) φ90 (φ3.01 HP) Encoder Lead Encoder Plug Motor Lead (Teflon wire) AWG20 UL1828 or UL3534 Screw Motor Plug Protective Tube (Black) Cross-section Y-Y ) 0 -0. 3) “08A314” and “08A316” have a keyed shaft.54) (φ 0. depth 8(0. mass kg (lb) 3.

5.01 HP) Motor Plug Plug : 172167-1 (AMP) Pin: 170360-1 or 170364-1 (170359-1 or 170363-1: 30.4 S-Series Dimensional Drawings · Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1. 50. or 100 W only) Connected to Cap: 172159-1 Socket: 170362 -1 or 170366-1 Encoder Plug Plug: 172169-1 (Made by AMP) Pin: 170359-1 or 170363-1 Connected to Cap :172161-1 Socket: 170361-1 or 170365-1 Incremental Encoder Wiring Specifications 1 2 3 4 5 6 7 8 9 A channel output A channel output B channel output B channel output C channel output C channel output 0V (power supply) +5V (power supply) FG (Frame Ground) Blue Blue/Black Yellow Yellow/Black Green Green/Black Gray Red Orange Motor Wiring Specifications 1 2 3 4 U phase V phase W phase FG Red White Blue Green 5 251 .

SERVO SELECTION AND DATA SHEETS
5.4.1 Servomotor Dimensional Drawings cont.

(2) SGM Servomotor Incremental encoder, with brake (Type SGM-jjj31jB)

• 30W (0.04 HP), 50W (0.07 HP), 100W (0.13 HP)

Encoder Lead UL2854

300±30 (11.81±1.18) 35 (1.38)

Encoder Plug

Motor Lead (Teflon wire) AWG24, UL1828 or UL3534 Protective Tube φ6(φ0.24)(Black)

Motor Plug
(0.0016)

U
(0.0008) φ0.02 A

W T

0 φ 30 -0.21

33 (1.30) 6.5 (0.26)

LB
4 (0.16)

0 -0.0008

L LL LM
9.5 (0.37) 5 (0.20)

0.04 A
25 (0.98)

Screw

)

Cross-section Y-Y
40 (1.57) φ46 (φ1.81)

Brake Lead

38.8 (1.53)

Y A Holding Brake (Deenergisation Operation) Voltage: 90 VDC, Dissipated current (Reference): 0.08 A Brake Holding Torque = Motor Rated Torque
(0.0008)

Incremental Encoder 2048 P/R

0.02

Shaft end screw hole (SGM-jjA(B)316B, with key type only)

2-φ4.3 (φ0.17) MTG Holes

5
Type SGML LL LM LB S QK U W T Screw Dimensions Output W (HP) 30 (0.04) (0 04) Approx. mass kg (lb) 0.6 (1.32) (1 32) Allowable radial load N (lb) 68 ( ) (15) Allowable thrust load N (lb) 54 ( ) (12)

A3A312B A3B312B A3A314B A3B314B A3A316B A3B316B A5A312B A5B312B A5A314B A5B314B A5A316B A5B316B 01A312B 01B312B 01A314B 01B314B 01A316B 01B316B

126.0 (4.96) (4 96)

101.0 (3.98) (3 98)

36.5 (1.44) (1 44)

31.5 (1.24) (1 24)

6 (0.24) (0 24)

No key y 14 (0.55) (0 55) 1.2 (0.05) (0 05) 2 (0.08) (0 08) 2 (0.08) (0 08)

M2.5, depth 5 (0.20) 133.5 (5.26) (5 26) 108.5 (4.27) (4 27) 44.0 (1.73) (1 73) 31.5 (1.24) (1 24) 6 (0.24) (0 24) No key y 14 (0.55) (0 55) 1.2 (0.05) (0 05) 2 (0.08) (0 08) 2 (0.08) (0 08) M2.5, depth 5 (0.20) 160.0 (6.30) (6 30) 135.0 (5.31) (5 31) 61.5 (2.42) (2 42) 40.5 (1.59) (1 59) 8 (0.31) (0 31) No key y 14 (0.55) (0 55) 1.8 (0.07) (0 07) 3 (0.12) (0 12) 3 (0.12) (0 12) M3, depth 6 (0.24)

50 (0.07) (0 07)

0.7 (1.54) (1 54)

100 (0.13) (0 13)

0.8 (1.76) (1 76)

78 ( ) (18)

252

40 (1.57)

Y

(φ 1.18

QK

φSh6

2.5 (0.10)

5.4 Σ-Series Dimensional Drawings

Note

1) The detector uses an incremental encoder 2048 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification. 3) “A3A(B)314B”, “A3A(B)316B”, “A5A(B)314B”, “A5A(B)316B”, “01A(B)314B” and “01A(B)316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied. 4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

5

253

SERVO SELECTION AND DATA SHEETS
5.4.1 Servomotor Dimensional Drawings cont.

• 200 W (0.53 HP), 300 W (0.40 HP), 400 W (0.27 HP)
Encoder Lead Encoder Plug
Motor Lead (Teflon wire) AWG22 UL1828 or UL3534

Motor Plug

Screw

Protective Tube (Black) Cross-section Y-Y 34 (1.34) 12 (0.47) Brake Lead 4−R5.3
60 (2.36)

φ70
(φ2.76)

Incremental Encoder 2048 P/R

5
Type SGML LL LM

Holding Brake (Deenergisation Operation) Voltage: 90 VDC, Dissipated current (Reference): 0.1 A Brake Holding Torque = Motor Rated Torque

Shaft end screw hole (SGM-jjA(B)316B, with key type only)

4-φ5.5 (φ0.22) MTG Holes

QK

U

W

T

Screw Dimensions

Output W (HP) 200 (0.27) (0 2 )

Approx. mass kg (lb) 1.6 (3.53) (3 3)

Allowable radial load N (lb) 245 (55.1) ( 1)

Allowable thrust load N (lb) 74 (17) ( )

02A312B 02B312B 02A314B 02B314B 02A316B 02B316B 03B312B 03B314B 03B316B 04A312B 04A314B 04A316B

166.0 (6.54) (6 )

136.0 (5.35) ( 3 )

62.5 (2.46) (2 6)

No key y 20 (0.79) (0 9) 3 (0.12) (0 12) 5 (0.20) (0 20) 5 (0.20) (0 20)

M5, depth 8 , p (0.31)

194.0 (7.64) ( 6 )

164.0 (6.46) (6 6)

90.5 (3.56) (3 6)

No key 20 3 (0.79) (0.12) (0 9) (0 12) No key 20 3 (0.79) (0.12) (0 9) (0 12)

 5 (0.20) (0 20) 5 (0.20) (0 20)
M5, depth 8 (0.31)

300 (0.40) (0 0)

2.2 (4.85) ( 8 )

 5 (0.20) (0 20) 5 (0.20) (0 20)
M5, depth 8 (0.31)

400 (0.53) (0 3)

Note

1) The detector uses an incremental encoder 2048 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

254

5.4Σ-Series Dimensional Drawings

3) “02A(B)314B”, “02A(B)316B”, “03B314B”, “03B316B”,“04A314B” and “04A316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied. 4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor. • 750 W (1.01 HP)

Encoder Lead

Encoder Plug
Motor Lead (Teflon wire) AWG22 UL1828 or UL3534 Protective Tube (Black)

Screw Motor Plug

Cross-section Y-Y 34 (1.34) Brake Lead 111 (4.37) 15 (0.59)

80 (3.15)

φ90
(φ3.54)

5
Incremental Encoder 2048 P/R Holding Brake (Deenergisation Operation) Voltage: 90 VDC, Dissipated current (Reference): 0.15 A Brake Holding Torque= Motor Rated Torque
4-φ7 (φ0.28) MTG Holes

4−R8.2

Shaft end screw hole (SGM-08A316B, with key type only)

Type SGM-

QK

U

W

T

Screw Output DimenW sions (HP)  750 (1.01) (1 01)

08A312B No key 08A314B 30 (1.18) 08A316B (1 18)

3 (0.12) (0 12)

5 (0.20) (0 20)

5 (0.20) (0 20)

Approx. mass kg (lb) 4.3 (9.48) (9 8)

Allowable Allowable radial thrust load load N (lb) N (lb) 392 ( ) (88) 147 ( ) (33)

M5, depth 8 (0.31)

Note

1) The detector uses an incremental encoder 2048 P/R. 2) Type “A” indicates 200 V specification. 3) “08A314B” and “08A316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

255

SERVO SELECTION AND DATA SHEETS
5.4.1Servomotor Dimensional Drawings

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor. · Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)
Motor Plug Plug : 172168-1 (AMP) Pin: 170360-1 or 170364-1 (17359-1 or 170363-1: 30, 50, or 100 W only) Connected to Cap: 172160-1 Socket: 170362 -1 or 170366-1 Encoder Plug Incremental Encoder Wiring Specifications Plug: 172169-1 (AMP) Pin: 170359-1 or 170363-1 Connected to Cap :172161-1 Socket: 170361-1 or 170365-1 1 2 3 4 5 6 7 8 9 A channel output A channel output B channel output B channel output C channel output C channel output 0V (power supply) +5V (power supply) FG (Frame Ground) Blue Blue/Black Yellow Yellow/Black Green Green/Black Gray Red Orange 1 2 3 4 5 6 Motor Wiring Specifications U phase V phase W phase FG Brake terminal Brake terminal Red White Blue Green/Yellow Red Black

5

256

5.4 Σ-Series Dimensional Drawings

(3) SGM Servomotor Absolute encoder, no brake (Type SGM-jjjW1j) • 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP)
Encoder Lead UL20276
300±30 (11.81±1.18) 35 (1.38)

Encoder Plug U Motor Plug W T Cross-section Y-Y A
)
(0.0008) φ0.02 A

Motor Lead (Teflon wire) AWG24 UL1828 or UL3534 Protective Tube (Black) φ5 (φ0.20)
300±30 (11.81±1.18) (0.0016)

Screw

L LL
56 (2.20)
7 (0.28) 25 (0.98)

0.04

LM
4 9.5 (0.37) (0.16) 5 (0.20)

0 -0.21 0 1.18 -0.0008

2.5 (0.10)

φ46
(φ1.81)

40 (1.57)

QK

φ 30

φSh6

4−R3.7

φ53 (φ2.09)

Y Y A
(0.0008)

0.02

Absolute encoder 1024 P/R

Shaft end screw hole (SGM-jjA(B)W16, with key type only)

2-φ4.3 (φ0.17) MTG Holes

40 (1.57)

Type SGM-

L

LL

LM

S

QK

U

W

T

Screw Dimensions

Output W (HP) 30 (0.04) (0 0 )

Approx Allowmass able kg radial (lb) load N (lb) 0.45 (0.99) (0 99) 68 (15.3) (1 3)

Allowable thrust load N (lb) 54 (12.1) (12 1)

5

A3AW12 A3BW12 A3AW14 A3BW14 A3AW16 A3BW16 A5AW12 A5BW12 A5AW14 A5BW14 A5AW16 A5BW16 01AW12 01BW12 01AW14 01BW14 01AW16 01BW16

117.5 92.5 (4.63) (3.64) ( 63) (3 6 )

36.5 (1.44) (1 )

6 (0.24) (0 2 )

No key y 14 (0.55) (0 ) 1.2 (0.05) (0 0 ) 2 (0.08) (0 08) 2 (0.08) (0 08)

−−−

M2.5, depth 5 (0.20) 125.0 100.0 (4.92) (3.94) ( 92) (3 9 ) 44.0 (1.73) (1 3) 6 (0.24) (0 2 ) No key y 14 (0.55) (0 ) 1.2 (0.05) (0 0 ) 2 (0.08) (0 08) 2 (0.08) (0 08) M2.5, depth 5 (0.20) 142.5 117.5 (5.61) (4.63) ( 61) ( 63) 61.5 (2.42) (2 2) 8 (0.31) (0 31) No key y 14 (0.55) (0 ) 1.8 (0.07) (0 0 ) 3 (0.12) (0 12) 3 (0.12) (0 12) M3, depth 6 (0.24) −−− 100 (0.13) (0 13) 0.65 (1.43) (1 3) 78 (17.5) (1 ) −−− 50 (0.07) (0 0 ) 0.55 (1.21) (1 21) 68 (15.3) (1 3)

257

SERVO SELECTION AND DATA SHEETS
5.4.1 Servomotor Dimensional Drawings cont.

Note

1) The detector uses a 12-bit absolute encoder 1024 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification. 3) “A3A(B)W14”, “A3A(B)W16”, “A5A(B)W14”, “A5A(B)W16”, “01A(B)W14” and “01A(B)W16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied. 4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

• 200 W (0.27 HP), 300W (0.40 HP), 400 W (0.53 HP)
Encoder Lead UL20276
300±30 (11.81±1.18)

35 (1.38)

Encoder Plug W

U

Screw

Motor Lead (Teflon wire) AWG22 UL1828 or UL3534 Protective Tube (Black) φ6 (φ0.24)
300±30 (11.81±1.18)

Motor Plug
(0.0016)

T Cross-section Y-Y
(0.0016) φ0.04 A

L

0.04 A

5

LL
55 (2.17)
8.5 (0.33) 7.5 (0.30)

30 (1.18)

12 (0.47) 6 (0.24)

φ 14 -0.011 0 ( φ 0.55 -0.0004 )

LM

3 (0.12)

0

QK

4−R5.3

60 (2.36)

φ70 (φ2.76)

Y

A Absolute encoder 1024 P/R

(0.0008)

0.02

Y

φ 50

0 -0.025 0 1.97 -0.0010 )

Shaft end screw hole (SGM-jjA(B)W16, with key type only)

4-φ5.5 (φ0.22) MTG Holes

258

5.4 Σ-Series Dimensional Drawings

Type SGM-

L

LL

LM

QK

U

W

T

Screw Dimensions

Output W (HP)

Approx. mass kg (lb) 1.2 (2.65) (2 6 )

Allowable radial load N (lb) 245 (55.1) ( 1)

Allowable thrust load N (lb) 74 (16.6) (16 6)

02AW12 02BW12 02AW14 02BW14 02AW16 02BW16 03BW12 03BW14 03BW16

147.5 (5.81) ( 81)

117.5 (4.63) ( 63)

62.5 (2.46) (2 6)

No key y 20 (0.79) (0 9) 3 (0.12) (0 12) 5 (0.20) (0 20) 5 (0.20) (0 20)

200 (0.27) (0 2 )

M5, depth 8 (0.31) 175.5 (6.91) (6 91) 145.5 (5.73) ( 3) 90.5 (3.56) (3 6) No key 20 3 (0.79) (0.12) (0 9) (0 12)  5 (0.20) (0 20) 5 (0.20) (0 20) M5, depth 8 (0.31)  5 (0.20) (0 20) 5 (0.20) (0 20) M5, depth 8 (0.31) 400 (0.53) (0 3) 300 (0.40) (0 0) 1.8 (3.97) (3 9 )

04AW12 04AW14 04AW16

No key 20 3 (0.79) (0.12) (0 9) (0 12)

Note

1) The detector uses a 12-bit absolute encoder 1024 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification. 3) “02A(B)W14”, “02A(B)W16”, “03BW14” “03BW16”, “04AW14” and “04AW16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied. 4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5

259

76 0.0012 ) 80 (3.81±1.38 in.0016) 40 (1. A straight key is supplied.SERVO SELECTION AND DATA SHEETS 5.01) (1 01) Approx.0008) φ 20 (φ 0.12) (0 12) 5 (0.54) Y Y A Absolute encoder 1024 P/R (0.02 4-φ7 (φ0.38) Encoder Plug W U T Screw Motor Lead (Teflon wire AWG20.18) (0. 2) Type “A” indicates 200 V specification.0004 ) 55 (2.030 ( φ 2.18) 08AW16 (1 18) 3 (0. UL1828 or UL3534 Protective Tube (Black) Motor Plug φ6 (φ0. The keyway complies with JIS B 1301-1976 (precision).31) 0 φ 16 -0. with key type only) QK 5 Type SGM- QK U W T Screw Dimensions  Output W (HP) 750 (1.04 A 0 -0.01 HP) Encoder Lead UL20276 300±30 (11.28) 4−R8. 3) “08AW14” and “08AW16” have a keyed shaft.4 (0. mass kg (lb) 3.4) ) 08AW12 No key 08AW14 30 (1.20) (0 20) 5 (0.1 Servomotor Dimensional Drawings cont.81±1.011 0 ( φ 0.59) 0. • 750 W (1.57) 8 (0.15) φ90 (φ3.54) 111 (4.5 (7.) from the motor mounting surface.79) 0 φ 70 -0.72) ( 2) Allowable Allowable radial thrust load load N (Kgf) 392 ( (86.41) 206 (8. 260 .2 MTG Holes Shaft end screw hole (SGM-08AW16.39) 10.4.18) 35 (1.5) ) N (Kgf) 147 ( (32.10) 166 (6.35) 15 (0.24) 300±30 (11.04 A Cross-section Y-Y (0.17) 10 (0.63 -0. depth 8 (0.0016) φ0. 4) The quoted allowable radial load is the value at a position 35 mm (1.31) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.20) (0 20) M5.

04 HP) to 750 W (1.4 S-Series Dimensional Drawings · Details of Motor and Encoder Plugs (Common for 30 W (0. or 100 W only) Connected to Cap: 172159-1 Socket: 170362 -1 or 170366-1 Encoder Plug Plug: 172171-1 (AMP) Pin: 170359-1 or 170363-1 Connected to Cap :172163-1 Socket: 170361-1 or 170365-1 Incremental Encoder Wiring Specifications 1 2 3 4 5 6 7 8 9 10 11 Motor Wiring Specifications 1 2 3 4 U phase V phase W phase FG Red White Blue Green/Yellow * (12) 13 14 15 A channel output A channel output B channel output B channel output Z channel output Z channel output 0V (power supply) +5V (power supply) FG (Frame Ground) S channel output S channel output (Capacitor reset) Reset 0 V (battery) 3.5. 50. 5 261 .6 V (battery) Blue White/Blue Yellow White/Yellow Green White/Green Gray Red Orange Purple White/Purple (Gray) White/Gray White/Orange Orange * Terminal to discharge capacitor for product dispatch. Do not use.01 HP) Motor Plug Plug : 172167-1 (AMP) Pin: 170360-1 or 170364-1 (17359-1 or 170363-1: 30.

18) 35 (1.16) 5 (0.04 A 0 ( φ 1.7 40 (1.02 Holding Brake (Deenergisation Operation) Voltage: 90 VDC.57) 2-φ4.3 (φ0.10) 0 -0.18) (0.0008 ) 25 (0.4.SERVO SELECTION AND DATA SHEETS 5.28) LB 4 (0.1 Servomotor Dimensional Drawings cont.20) 7 (0.0008) 0.5 (0.81±1. with brake (Type SGM-jjjW1jB) • 30 W (0. Dissipated current (Reference): 0.24) 300±30 (11.20) 0.21 40 (1.38) Encoder Plug Motor Lead (Teflon wire) AWG24 UL1828 or UL3534 U W T Screw Motor Plug Protective Tube (Black) φ6 (φ0.17) MTG Holes Shaft end screw hole (SGM-jjA(B)W16B.81±1.08 A Brake Holding Torque = Motor Rated Torque Absolute encoder 1024 P/R 5 262 φ .37) 4 (0.0016) Cross-section Y-Y (0.18 -0.13 HP) Encoder Lead UL20276 300±30 (11.16) Brake Lead 30 φ46 (φ1.07 HP).98) 2.02 A L LL LM 9. with key type only) φ53 (φ2.0008) φ0.09) Y Y A (0. 50 W (0.04 HP).57) 56 (2.81) QK φSh6 4−R3. 100 W (0. (4) SGM Servomotor Absolute encoder.5 (0.

5.59) (1 9) 8 (0.0 (5.20) 183.5.79 in.4 Σ-Series Dimensional Drawings Type SGM- L LL LM LB S QK U W T Screw Dimensions Output W (HP) 30 (0.12) (0 12) 3 (0. A straight key is supplied. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.55) (0 ) 1.65) (1 6 ) Allowable radial load N (lb) 68 (15.87) ( 8 ) 124.5 (1. “A5A(B)W16B”.8 (0. “A3A(B)W16B”.) from the motor mounting surface.24) (0 2 ) No key y 14 (0.12) (0 12) M3.2 (0.75 (1. depth 6 (0.5.44) (1 ) 31.5 (1.0 (6.0 (7. 3) “A3A(B)W14B”.05) (0 0 ) 2 (0.5 (5.5 (2. “A5A(B)W14B”.0 (1.07) (0 0 ) 0.05) (0 0 ) 2 (0.08) (0 08) 2 (0. Mass kg (lb) 0.87) (1 8 ) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.73) (1 3) No key y 14 (0.85 (1. and type “B” indicates 100 V specification.13) (0 13) 0.08) (0 08) 2 (0. 5 263 .2 (0.07) (0 0 ) 3 (0.88) ( 88) 36. depth 5 (0.09) (2 09) 78 (17.42) (2 2) 40. depth 5 (0.20) ( 20) 158.16) (6 16) 131.1) (12 1) M2.5 (1.31) (0 31) No key y 14 (0. 4) The quoted allowable radial load is the value at a position 20 mm (0.0 (4. “01A(B)W14B” and “01A(B)W16B” have a keyed shaft.08) (0 08) M2.5 (6.20) 156.95 (2.5) (1 )  50 (0. The keyway complies with JIS B 1301-1976 (precision). 2) Type “A” indicates 200 V specification.24) (1 2 ) 6 (0.55) (0 ) 1.24)  100 (0.55) (0 ) 1.04) (0 0 ) A3AW12B A3BW12B A3AW14B A3BW14B A3AW16B A3BW16B A5AW12B A5BW12B A5AW14B A5BW14B A5AW16B A5BW16B 01AW12B 01BW12B 01AW14B 01BW14B 01AW16B 01BW16B 149.08) (0 08)  Approx.22) (6 22) 61.18) ( 18) 44.3) (1 3) Allowable thrust load N (lb) 54 (12.

0004 ) 3 (0.40) (0 0) 2.5 (2.40 HP).04 A U W Screw 55 (2.20) (0 20) 5 (0. 400 W (0.02 Shaft end screw hole (SGM-jjA(B)W16B.75) (3 ) Allowable radial load N (lb) 245 (55.1 A Brake Holding Torque = Motor Rated Torque A 0 φ 50 -0.07) ( 0 ) 04AW12B 04AW14B 04AW16B No key 20 3 (0.7 (3.79) (0. depth 8 (0.SERVO SELECTION AND DATA SHEETS 5.1) ( 1) Allowable thrust load N (lb) 74 (16.5 (3.12) (0.56) (3 6) No key 20 3 (0.18) L LL 0. Dissipated current (Reference): 0.20) (0 20) 5 (0. 300 W (0.0010 ) (0.56) 5.0008) 0.31) 215.47) 6 (0.5 (0.28) ( 28) 90.0016) Protective Tube (Black) 300±30 (11.53) (0 3) 300 (0.12) (0 9) (0 12)  5 (0.18) 0 -0.81±1.20) (0 20)  M5.55 -0. depth 8 (0.30) LM 12 (0.3 (0.79) (0.46) (2 6) No key y 20 (0.4.18) (6 18) 62.20) (0 20) M5.04 A 30 (1.27 HP). depth 8 (0.12) (0 12) 5 (0.025 ( φ 0 ( φ 1.5 (0.36) ( 36) 157.81±1.0016) φ0.33) 39.0 (7.0 (7.17) 8.12) (0 9) (0 12) 264 .3 60 (2. • 200 W (0.5 (φ0.21) 7.3 (5. mass kg (lb) 1. with key type only) 4-φ5.36) QK φ 14 φ70 (φ2.24) T Cross-section Y-Y 4−R5.46) (8 6) 185.20) (0 20) M5.38) Motor Lead (Teflon wire) AWG22 UL1828 or UL3534 Encoder Plug Motor Plug (0.5 (1.76) Y Y Absolute encoder 1024 P/R Holding Brake (Deenergisation Operation) Voltage: 90 VDC.0 (8.18) 35 (1.27) (0 2 ) Approx.97 -0.6) (16 6) 02AW12B 02BW12B 02AW14B 02BW14B 02AW16B 02BW16B 03BW12B 03BW14B 03BW16B 187.31)  5 (0.79) (0 9) 3 (0.53 HP) Encoder Lead UL20276 300±30 (11.20) (0 20) 5 (0.22) MTG Holes 5 Type SGM- L LL LM QK U W T Screw Dimensions Output W (HP) 200 (0.0 (6.011 0 0.31) 400 (0.1 Servomotor Dimensional Drawings cont.

5 265 . 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.5. 2) Type “A” indicates 200 V specification. “02A(B)W16B”.) from the motor mounting surface. and type “B” indicates 100 V specification.98 in. 4) The quoted allowable radial load is the value at a position 25 mm (0.4 Σ-Series Dimensional Drawings Note 1) The detector uses a 12-bit absolute encoder 1024 P/R. “03BW16B” “04AW14B” and “04AW16B” have a keyed shaft. A straight key is supplied. The keyway complies with JIS B 1301-1976 (precision). 3) “02A(B)W14B”. “03BW14B”.

04 A 0 -0.4. The keyway complies with JIS B 1301-1976 (precision).18) 08AW16B  3 (0.20) ( ) 5 (0.57) 3 (0.2 Shaft end screw hole (SGM-08AW16B. A straight key is supplied.81±1. 2) Type “A” indicates 200 V specification. with key type only) 5 Type SGM- QK U W T Screw Dimensions Output W (HP) Approx.0016) φ0.04 A 40 (1.31) Cross-section Y-Y (0.12) ( ) 5 (0.5) (86 ) Allowable thrust load N (lb) 147 (32.12) 8 (0. 266 .92) (9 92) Allowable radial load N (lb) 392 (86.011 80 (3.8 (0. • 750 W (1.5 (9.86) 210. 4) The quoted allowable radial load is the value at a position 35 mm (1.11) 0 φ 16 -0. 3) “08AW14B” and “08AW16B” a keyed shaft.20) ( ) M5.41) 15 (0.01 HP) 300±30 (11.030 ( φ 2.79) QK Y 4-φ7 (φ0.28) MTG Holes 4−R8.18) 35 (1.35) 10.63 44.31) 750 (1.81±1.02 0 φ 70 -0.18) 250.76 φ 20 (φ 0. Dissipated current (Reference): 0.1 Servomotor Dimensional Drawings cont. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.24) Encoder Lead UL20276 300±30 (11.5 (1.0008) 0.59) Motor Plug (0.15 A Brake Holding Torque = Motor Rated Torque A (0. mass kg (lb) 4.17) 10 (0.5 (9. depth 8 (0.75) 2.0016) 0 -0.38 in.29) 111 (4.38) Encoder Plug W U T Screw Motor Lead (Teflon wire) AWG20.SERVO SELECTION AND DATA SHEETS 5.01) (1 01) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.4 (0.5 (8.15) Brake Lead φ90 (φ3.0004 ) 0.0012 ) 55 (2.4) (32 ) 08AW12B No key ( ) 08AW14B 30 (1.39) ( φ 0.54) Y Absolute encoder Holding Brake 1024 P/R (Deenergisation Operation) Voltage: 90 VDC. UL1828 or UL3534 Protective Tube (Black) φ6 (φ0.) from the motor mounting surface.

Do not use.04 HP) to 750 W (1. 5 267 . 50.5.4 S-Series Dimensional Drawings · Details of Motor and Encoder Plugs (Common for 30 W (0.6 V (battery) Blue White/Blue Yellow White/Yellow Green White/Green Black Red Green/Yellow Purple White/Purple (Gray) White/Gray White/Orange Orange * Terminal to discharge capacitor for product dispatch. or 100 W only) Connected to Cap: 172160-1 Socket: 170362 -1 or 170366-1 Encoder Plug Plug: 172171-1 (AMP) Pin: 170359-1 or 170363-1 Connected to Cap :172163-1 Socket: 170361-1 or 170365-1 1 2 3 4 5 6 U phase V phase W phase FG Brake terminal Brake terminal Red White Blue Green/Yellow Red Black Motor Plug Incremental Encoder Wiring Specifications 1 2 3 4 5 6 7 8 9 10 11 * (12) 13 14 15 A channel output A channel output B channel output B channel output Z channel output Z channel output 0V (power supply) +5V (power supply) FG (Frame Ground) S channel output S channel output (Capacitor reset) Reset 0 V (battery) 3.01 HP) Motor Wiring Specifications Plug : 172168-1 (AMP) Pin: 170360-1 or 170364-1 (17359-1 or 170363-1: 30.

01 HP). with brake (from page 274) c) Absolute encoder.1 Servomotor Dimensional Drawings cont. no brake (from page 269) b) Incremental encoder.27 HP).13 HP) • 200W (0.40 HP) .13 HP). 300 W (0.40 HP). 300W (0. a) Incremental encoder. These are grouped into three categories.01 HP) 5 268 .4.27 HP). 200 W (0.SERVO SELECTION AND DATA SHEETS 5. no brake (from page 279) d) Absolute encoder. 400 W (0.53 HP) • 750W (1. 750 W (1. as follows: • 100W (0. with brake (from page 283) Motor capacities are available as 100 W (0. 2) The dimensional drawings of the SGMP Servomotors are broadly grouped into the following four categories. 400W (0.53 HP).

55) Motor Plug Sealant Incremental Encoder 4-∅5.31) (0 31) No key y 14 (0.67) (1 67) 8 (0.12) (0 12) --- M3.4 Σ-Series Dimensional Drawings (1) SGMP Servomotor Incremental encoder.07) (0 07) 3 (0. 5) Conforms to “IP55” protective structure (except connector and output shaft faces). 3) “01A(B)314” and “01A(B)316” have a keyed shaft.79 in.23) (3 23) 57 (2.24) Note 1) The detector uses an incremental encoder 2048 P/R. 2) Type “A” indicates 200 V specification.7 (1.12) (0 12) 3 (0. A straight key is supplied.55) (0 55) 1. no brake (Type SGMP-jjj31j) • 100 W (0. depth 6 (0. mass kg (lb) 0.24) (2 24) 42. The keyway complies with JIS B 1301-1976 (precision).5. and type “B” indicates 100 V specification. 269 .5 (1.5 (4-∅0. with key type only) 5 Type SGMP- L LL LM S QK U W T Screw dimensions Output W (HP) 100 (0.54) ( ) Allowable radial load N (lb) 78 ( ) (17) Allowable thrust load N (lb) 49 ( ) (11) 01A312 01B312 01A314 01B314 01A316 01B316 82 (3.22) MTG Holes Shaft end screw hole (SGMP-01A(B)316. Nut 14 (0.) from the motor mounting surface.8 (0.13) (0 13) Approx.13 HP) Encoder Lead UL2854 Motor Lead Encoder Plug Screw Screw Cross-section Y-Y Hex. 4) The quoted allowable radial load is the value at a position 20 mm (0.

12) (0 12) 5 (0. with key type only) 4-∅7 (4-∅0. depth 8 (0.31) 82 (3.0004) Shaft end screw hole (SGMP-jjA(B)316. Nut 14 (0.20) (0 20) 300 (0.20) (0 20) 5 (0.28) MTG Holes 5 Type SGMP- L LL LM QK U W T Screw dimensions Output W (HP) 200 (0.89) (1 89) No key y 16 (0. • 200 W (0.1 (4.40 HP).4.55) Sealant Incremental Encoder 0 ∅14 −0.53 HP) Encoder Lead UL2854 Motor Lead Encoder Plug Motor Plug Screw Cross-section Y-Y Hex.12) (0 63) (0 12) 5 (0.55 −0.63) ( 63) 04A312 04A314 04A316 No key 16 3 (0.41) 03B314 ( 1) 03B316 62 (2.20) (0 20) --- M5.31) 270 . 300 W (0.4 (3.44) (2 ) 48.63) (0. depth 8 (0.4) (1 ) 02A312 92 (3.53) (0 3) M5. 400 W (0.63) (0 63) 3 (0.12) (0 63) (0 12) --5 (0.20) (0 20) 5 (0.23) (3 23) 68.20) (0 20) M5.20) (0 20) 5 (0.31) --400 (0.011 0 (∅0.09) (3 09) Allowable radial load N (lb) 245 (55.40) (0 0) 2.1 (2.1) ( 1) Allowable thrust load N (lb) 68 (15.27) (0 2 ) Approx. mass kg (lb) 1.SERVO SELECTION AND DATA SHEETS 5.27 HP).1 Servomotor Dimensional Drawings cont.63) (0.62) 02B312 (3 62) 02A314 02B314 02A316 02B316 03B312 112 (4. depth 8 (0.1 (1.68) (2 68) No key 16 3 (0.

5. A straight key is supplied. and type “B” indicates 100 V specification.) from the motor mounting surface.98 in.“03B316”. “03B314”.4 Σ-Series Dimensional Drawings Note 1) The detector uses an incremental encoder 2048 P/R. 4) The quoted allowable radial load is the value at a position 25 mm (0.“04A314” and“04A316”. The keyway complies with JIS B 1301-1976 (precision). 5) Conforms to “IP55” protective structure (except connector and output shaft faces). 3) “02A(B)314”. 2) Type “A” indicates 200 V specification. “02A(B)316”. 5 271 . have a keyed shaft.

nut 17 (0.20) (0 20) 5 (0. 5) Conforms to IP55 protective structure (except connector and output shaft faces).20) (0 20) Approx.) from the motor mounting surface.2 392 (80) ( ) (9.01) (1 01) 08A312 08A314 08A316 No key 22 3 (0.67) Sealant MTG Holes 5 Incremental Encoder Shaft end screw hole (SGMP-08A316. 272 .SERVO SELECTION AND DATA SHEETS 5.87) (0.01 HP) Encoder Lead Encoder Plug Motor Lead Motor Plug Screw Cross-section Y-Y Hex.4. 4) The quoted allowable radial load is the value at a position 35 mm (1.12) (0 8 ) (0 12) 5 (0. • 750 W (1. The keyway complies with JIS B 1301-1976 (precision). with key type only) Type SGMP- QK U W T Screw dimensions --- Output W (HP) 750 (1. A straight key is supplied. Allowable mass radial kg load (lb) N (lb) 4.38in. 3) “08A314” and “08A316” have a keyed shaft.1 Servomotor Dimensional Drawings cont.31) Note 1) The detector uses an incremental encoder 2048 P/R. depth 8 (0. 2) Type “A” indicates 200 V specification.26) (9 26) Allowable thrust load N (lb) 147 ( ) (33) M5.

01HP)) Motor Wiring Specifications Motor Plug Plug : 172167-1 (AMP) Pin: 170360-1 or 170364-1 Connected to Cap 172159-1 Socket 170362-1 or 170366-1 Encoder Plug Plug: 172169-1 (AMP) Pin: 170359-1 or 170363-1 Connected to Cap :172161-1 Socket: 170361-1 or 170365-1 1 2 3 4 U phase V phase W phase FG Red White Blue Green/Yellow Incremental Encoder Wiring Specifications 1 2 3 4 5 6 7 8 9 A channel output A channel output B channel output B channel output C channel output C channel output 0V (power supply) +5V (power supply) FG (Frame Ground) Blue Blue/Black Yellow Yellow/Black Green Green/Black Gray Red Orange 5 273 .5.4 Σ-Series Dimensional Drawings • Details of Motor and Encoder Plugs (Common for 100 W (0.13HP) to 750 W (1.

14) (1 14) 8 (0.5 (4-∅0.1 Servomotor Dimensional Drawings cont.9 (1. mass kg (lb) 0. A straight key is supplied.5 (1.39) (3 39) 42.13) (0 13) Approx.83) Sealant 5 Incremental Encoder 2048 P/R Holding Brake (deenergization operation) Voltage: 90 VDC Brake holding torque = motor rated torque 4-∅5.8 (0.98) (1 98) Allowable radial load N (lb) 78 (17) Allowable thrust load N (lb) 49 (11) 01A312B 01B312B 01A314B 01B314B 01A316B 01B316B 111 (4.55) (0 55) 1. depth 6 (0. “01B314B” and “01B316B” have a keyed shaft.31) (0 31) No key y 14 (0.37) (4 37) 86 (3. and type “B” indicates 100V specification. 3) “01A314B”. (2) SGMP Servomotor Incremental encoder. 2) Type “A” indicates 200 V specification. “01A316B”. with brake (Type SGMP-jjj31jB) • 100 W (0.07) (0 07) 3 (0. The keyway complies with JIS B 1301-1976 (precision).12) (0 12) --- M3. 274 .SERVO SELECTION AND DATA SHEETS 5.67) (1 67) 29 (1.4.55) 21(0.22) MTG Holes Shaft end screw hole (SGMP-01A(B)316B.12) (0 12) 3 (0.13HP) Encoder Lead Encoder Plug Screw Motor Lead Motor Plug Cross-section Y-Y Hex. nut 14 (0.24) Note 1) The detector uses an incremental encoder 2048 P/R. with key type only) Type SGMP- L LL LM LB S QK U W T Screw dimensions Output W (HP) 100 (0.

300W (0.53HP) Encoder Lead Encoder Plug Motor Lead Motor Plug Screw Cross-section Y-Y Hex.7 (4-∅0.79in.4 Σ-Series Dimensional Drawings 4) The quoted allowable radial load is the value at a position 20 mm (0. with key type only) 275 . 6) Conforms to IP55 protective structure (except connector and output shaft faces). • 200 W (0.40HP). 400 W (0.28) MTG Holes Shaft end screw hole (SGMP-jjA(B)316B.5.) from the motor mounting surface.55) Sealant 5 Incremental Encoder 2048 P/R Holding Brake (deenergization operation) Voltage: 90 VDC Brake holding torque = motor rated torque 4-∅0. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.27HP). nut 14 (0.

63) (0.65) 03B314B ( 6 ) 03B316B 93.12) (0 63) (0 12) 5 (0.19) ( 19) Allowable radial load N (lb) 245 (55.1) ( 1) Allowable thrust load N (lb) 68 (15.5 (3. 276 . 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor. and type “B” indicates 100V specification.98in.47) ( ) 68. A straight key is supplied. depth 8 (0.53) (0 3) Note 1) The detector uses an incremental encoder 2048 P/R.1 (2. The keyway complies with JIS B 1301-1976 (precision).20) (0 20) 400 (0.20) (0 20) --- M5.9 (4.63) (0 63) 3 (0.31) --M5.5 (4. “03B314B”. “02A(B)316B”. 2) Type “A” indicates 200 V s”pecification.5 (5.73) ( 3) 04A312B 04A314B 04A316B No key 16 3 (0.5 (4. “03B316B”. 5 3) “02A(B)314B”. mass kg (lb) 1.) from the motor mounting surface.40) (0 0) 2.1 (1.20) (0 20) 5 (0.1 Servomotor Dimensional Drawings cont.31) 300 (0.4.31) 113.86) 02B312B ( 86) 02A314B 02B314B 02A316B 02B316B 03B312B 143. “04A314B” and “04A316B” have a keyed shaft. depth 8 (0.6 (5.12) (0 12) 5 (0. 6) Conforms to IP55 protective structure (except connector and output shaft faces). depth 8 (0. 4) The quoted allowable radial load is the value at a position 25 mm (0.68) (3 68) 48. Type SGMP- L LL LM QK U W T Screw dimensions Output W (HP) 200 (0.4) (1 ) 02A312B 123.63) (0.20) (0 20) M5.20) (0 20) 5 (0.SERVO SELECTION AND DATA SHEETS 5.89) (1 89) No key y 16 (0.27) (0 2 ) Approx.20) (0 20) 5 (0.68) (2 68) No key 16 3 (0.12) (0 63) (0 12) --5 (0.

87) 08A316B (0 8 ) 3 (0.0016) Shaft end screw hole (SGMP-08A316B.01) (1 01) 08A312B No key 08A314B 22 (0.4 Σ-Series Dimensional Drawings • 750 W (1. The keyway complies with JIS B 1301-1976 (precision). Allowable mass radial kg load (lb) N (lb) 6.31) Approx.1 392 (88) ( ) (13. with key type only) 5 Type SGMP- QK U W T Screw Dimensions  Output W (HP) 750 (1.12) ( ) 5 (0. 3) “08A314B” and “08A316B” have a keyed shaft. 2) Type “A” indicates 200 V specification. 277 .67) Sealant MTG Holes Incremental Encoder Holding Brake (deenergization operation) Voltage: 90 VDC Brake holding torque = motor rated torque (Φ0. A straight key is supplied.5.20) ( ) M5.01HP) Encoder Lead Encoder Plug Screw Motor Lead Motor Plug Cross-section Y-Y Hex.. depth 8 (0. nut 17 (0.20) ( ) 5 (0.45) (13 ) Allowable thrust load N (lb) 147 (33) ( ) Note 1) The detector uses an incremental encoder 2048 P/R.

13 HP) to 750 W (1.1 Servomotor Dimensional Drawings cont.01 HP)) Motor Wiring Specifications Plug : 172168-1 (AMP) Pin 170360-1 or 170364-1 Connected to Cap 172160-1 Socket 170362-1 or 170366-1 1 2 3 4 5 6 U phase V phase W phase FG Brake Brake Red White Blue Green/Yellow Black Black Motor Plug Encoder Plug Plug: 172169-1 (AMP) Pin: 170359-1 or 170366-1 Connected to Cap :172161-1 Socket: 170361-1 or 170365-1 5 Incremental Encoder Wiring Specifications 1 A channel output Blue 2 A channel output Blue/Black 3 B channel output Yellow 4 B channel output Yellow/Black 5 C channel output Green 6 C channel output Green/Black 7 0V (power supply) Gray 8 +5V (power supply) Red 9 FG (Frame Ground) Orange 278 . 6) Conforms to IP55 protective structure (except connector and output shaft faces). 4) The quoted allowable radial load is the value at a position 35 mm (1.SERVO SELECTION AND DATA SHEETS 5.) from the motor mounting surface.4. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.38 in. • Details of Motor and Encoder Plugs (Common for 100 W (0.

5.84) (1. no brake (Type SGMP-jjjW1j) • 100 W (0. and type “B” indicates 100 V specification.8 3 3 01AW14 (0.13HP) Encoder Lead Encoder Plug Motor lead Motor Plug Screw Cross-section Y-Y Hex.12) (0 ) (0 0 ) (0 12) (0 12) 01BW14 M3.24) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.5 8 No key y --100 01AW12 122.82) (3. 01AW16 depth 6 01BW16 (0.83) Absolute encoder 4-∅5.5 (4.07) (0.4 Σ-Series Dimensional Drawings (3) SGMP Servomotor Absolute encoder. 2) Type “A” indicates 200 V specification. mass kg (lb) 0.09) (2 09) Allowable radial load N (lb) 78 (17) ( ) Allowable thrust load N (lb) 49 ( ) (11) 42. 3) “01A(B)W14” and “01A(B)W16” have a keyed shaft.31) (0.17) sealant 21 (0.13) (0 13) 01BW12 ( 82) (3 8 ) (1 6 ) (0 31) 14 1.12) (0.79 in. with key type only) 5 Type SGMP- L LL LM S QK U W T Screw dimensions Output W (HP) Approx.22) MTG Holes Shaft end screw hole (SGMP-01A(B)W16. 5) Conforms to IP55 protective structure (except connector and output shaft faces).5 97. 4) The quoted allowable radial load is the value at a position 20 mm (0.5 (4-∅0. 279 . The keyway complies with JIS B 1301-1976 (precision).67) (0. nut 14 (0.) from the motor mounting surface. A straight key is supplied.55) 55 (2.55) (0.95 (2.

mass kg (lb) 1.3 (5.12) (0 63) (0 12) --5 (0.53HP) (200 V only) Encoder Lead Encoder Plug Motor Plug Screw Cross-section Y-Y Hex.20) (0 20) M5. A straight key is supplied.20) (0 20) 5 (0.37) 03BW14 ( 3 ) 03BW16 86.5 (4.28) MTG Holes Shaft end screw hole (SGMP-jj A(B)W16.5 (5.31) 300 (0.27) (0 2 ) Approx.53) (3 3) Allowable radial load N (lb) 245 (55.5 (3.59) 02BW12 ( 9) 02AW14 02BW14 02AW16 02BW16 03BW12 136.5 (4.1 Servomotor Dimensional Drawings cont.” 03BW14”.6 (3.63) (0. 3) “02A(B)W14”. nut 14 (0. • 200 W (0.63) (0 63) 3 (0.89) (1 89) No key y 16 (0. 400 W (0. “02A(B)W16”. and “04AW16” have a keyed shaft.68) (2 68) No key 16 3 (0. 2) Type “A” indicates 200 V specification.41) (3 1) 48.4) ) 02AW12 116.SERVO SELECTION AND DATA SHEETS 5.19) ( 19) 68.63) (0.12) (0 12) 5 (0.20) (0 20) M5.4. The keyway complies with JIS B 1301-1976 (precision). depth 8 (0.” 04AW14”.40 HP) (100 V only).27 HP).1 (2.07) ( 0 ) 04AW12 04AW14 04AW16 No key 16 3 (0.20) (0 20) 5 (0.31) --M5. 300 W (0. “03BW16”.20) (0 20) 400 (0.1) ( ) Allowable thrust load N (lb) 68 ( (15. depth 8 (0. with key type only) Type SGMP- L LL LM QK U W T 5 Screw dimensions --- Output W (HP) 200 (0.20) (0 20) 5 (0.53) (0 3) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.40) (0 0) 2.31) 106.12) (0 63) (0 12) 5 (0.1 (1. depth 8 (0.55) Screw Absolute encoder 4-∅7 (4-∅0. and type “B” indicates 100 V specification. 280 .

58) (10 8) Allowable radial load N (lb) 392 (88) ( ) Allowable thrust load N (lb) 147 (33) ( ) M5.02 A (0.8 (10.0004 ) 0 5 (φ4.20) (0 20) Approx.98 in.81¦1.0008) 4-R6 4-φ10 (φ0.39) MTG Holes Sealant 14 (0.12) (0 12) 5 (0.0016) 0.5 (0.7(2.38) U W T Motor Plug Encoder Plug Motor Lead UL2464 (35) (1.41) 106 (4.67) 40 (1.01HP) Encoder Lead UL20276 300¦30 (11.04 A (φ0.011 0 (φ0.18) Screw Cross-section Y-Y (146) (5.4 Σ-Series Dimensional Drawings 4) The quoted allowable radial load is the value at a position 25 mm (0.81¦1.14) (0.72) 38 (1.18) (35) (1.71) Shaft end screw hole (SGMP-08AW16. nut 17 (0.75) Hex. 5) Conforms to IP55 protective structure (except connector and output shaft faces).01) (1 01) 08AW12 No key 08AW14 22 (0.20) (0 20) 5 (0.5 (0.63) 10 (0.63 −0.38) 300¦30 (11. with key type only) Type SGMP- QK U W T Screw Dimensions  Output W (HP) 750 (1.39) 19 (0.50) 28(1.04 A 0.75) j120 (4.0014 ) Absolute encoder 1024 P/R φ0.55) 10.10) MAX QK Y φ16 −0.33 Y φ110 0 −0.035 0 −0. • 750 W (1.) from the motor mounting surface.5.57) 3.17) 66.31) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R. 2) Type “A” indicates 200 V specification. depth 8 (0.87) 08AW16 (0 8 ) 3 (0.0016) ϕ145 (φ5. 281 . mass kg (lb) 4.

• Details of Motor and Encoder Plugs (Common for 100 W (0. 5) Conforms to IP55 protective structure (except connector and output shaft faces).SERVO SELECTION AND DATA SHEETS 5.1 Servomotor Dimensional Drawings cont. 3) “08AW14” and “08AW16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision).38 in. A straight key is supplied.13 HP) to 750 W (1. 4) The quoted allowable radial load is the value at a position 35 mm (1.) from the motor mounting surface.6V(battery) Blue White/Blue Yellow White/Yellow Green White/Green Black Red Green/Yellow Purple White/Purple (Gray) White/Gray White/Orange Orange 5 * Terminal to discharge capacitor for product dispatch. 282 .01 HP)) Motor Wiring Specifications Motor Plug Plug : 172167-1 (AMP) Pin 170360-1 or 170364-1 Connected to Cap 172159-1 Socket 170362-1 or 170366-1 1 2 3 4 U phase V phase W phase FG Red White Blue Green/Yellow Encoder Plug Plug: 172171-1 (AMP) Pin: 170359-1 or 170363-1 Connected to Cap :172163-1 Socket: 170361-1 or 170365-1 Absolute Encoder Wiring Specifications 1 2 3 4 5 6 7 8 9 10 11 * (12) 13 14 15 A channel output A channel output B channel output B channel output Z channel output Z channel output 0V (power supply) +5 V(power supply) FG (Frame Ground) S channel output S channel output (Capacitor reset) Reset 0V(battery) 3.4. Do not use.

55) Motor Plug 55 (2. nut 14 (0. depth 6 (0.8 (0.96) (5 96) 126. with brake (Type SGMP-jjjW1jB) • 100 W (0.14) (1 14) 8 (0.5. 3) “01A(B)W14B” and “01A(B)W16B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision).5 (1.13 HP) Encoder Lead Motor Lead Encoder Plug Screw Cross-section Y-Y Hex.07) (0 07) 3 (0.31) (0 31) No key y 14 (0.24) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R. 2) Type “A” indicates 200 V specification.4 Σ-Series Dimensional Drawings (4) SGMP Servomotor Absolute encoder.13) (0 13) Approx.12) (0 12) 3 (0.5 (5. mass kg (lb) 1.5 (4.2 (2.55) (0 55) 1.65) (2 65) Allowable radial load N (lb) 78 ( ) (17) Allowable thrust load N (lb) 49 ( ) (11) 01AW12B 01BW12B 01AW14B 01BW14B 01AW16B 01BW16B 151. and type “B” indicates 100 V specification. A straight key is supplied.22) (SGMP-01A(B)W16B. 283 . MTG Holes with key type only) 5 Type SGMP- L LL LM LB S QK U W T Screw dimensions Output W (HP) 100 (0.67) (1 67) 29 (1.5 Shaft end screw hole (4-∅0.17) Sealant Sealant Absolute Encoder Holding Brake (deenergization operation) Voltage: 90 VDC Brake holding torque = motor rated torque 4-∅5.98) (4 98) 42.12) (0 12) --- M3.

4. 5 284 .79 in.) from the motor mounting surface.SERVO SELECTION AND DATA SHEETS 5. 4) The quoted allowable radial load is the value at a position 20 mm (0. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.1 Servomotor Dimensional Drawings cont. 6) Conforms to IP55 protective structure (except connector and output shaft faces).

07) ( 0 ) N (lb) 245 (55. 285 .63) (0.63) (0.1 (6.24) (1.12) 14 (0. 400 W (0.5. depth 8 (0.83) (4.28) MTG Holes j80(3.38) Motor Lead UL20276 (35) (1.25 8 3 (0.12) (0.71) Sealant L LL (0. with key type only) Type SGMP- L LL LM QK U W T Screw dimensions Output W (HP) Approx.20) (0 63) (0 12) (0 20) (0 20) --- 200 (0.20) (0 63) (0 12) (0 20) (0 20) M5.51) Sealant 30(1.68) (6 61) ( 3) (2 68) --No key 16 3 5 5 (0.hut 14 (0.81¦1.31) --No key 16 3 5 5 (0.0016) φ70 −0.63) (0.32) (0.27) (0 2 ) 2.4 Σ-Series Dimensional Drawings • 200 W (0.5(1.40) (0 0) 3.43) (2.011 0 (φ0.18) T Screw Cross-section Y-Y Hex. 2) Type “A” indicates 200 V specification.53) (0 3) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.31) 168 138 68.02 4-R8.20) (0.47) 0 Y (φ0.030 0 (φ2.0016) 0.0 (6.76 −0.18) LM 8.31) (0.53 HP) U Encoder Lead UL20276 300¦30 (11.27 HP).61) (5.20) (0 63) (0 12) (0 20) (0 20) M5.81¦1.18) Encoder Plug Motor Plug W (35) (1.4) ) Allowable radial load N (lb) Allowable thrust load 5 M5.15) 21(0.40 HP).1 (5.65) (1.83) Absolute Encoder 1024 P/R φ0. mass kg (lb) 02AW12B 02BW12B 02AW14B 02BW14B 02AW16B 02BW16B 03BW12B 03BW14B 03BW16B 148 118 48. depth 8 (0. and type “B” indicates 100 V specification.0004 ) (0.61) (6 61) 04AW12B 04AW14B 04AW16B 400 (0. 300 W (0.20) (0.04 A φ90 (φ3.1) 68 ( ( ) (15.0008) 4-φ7 (4-φ0.12) (0.2 A (0.0012 ) 0 MAX 12 38.4 31.55) QK Y φ14 −0.38) 300¦30 (11.04 A 0.20) (0.55 −0.55) 18(0.31) 300 (0.12) (0.89) ( 83) ( 6 ) (1 89) No key y 16 3 5 5 (0.3 (5.54) Holding Brake (deenergization operation) Voltage: 90 VDC Brake holding torque = motor rated torque Shaft end screw hole (SGMP-jjA(B)W16B. depth 8 (0.

SERVO SELECTION AND DATA SHEETS 5.) from the motor mounting surface. 6) Conforms to IP55 protective structure (except connector and output shaft faces). and “04AW16B” have a keyed shaft.98 in. 5 286 .1 Servomotor Dimensional Drawings cont. A straight key is supplied. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor. The keyway complies with JIS B 1301-1976 (precision). 3) “02A(B)W14B”.4. 4) The quoted allowable radial load is the value at a position 25 mm (0. 04AW14B”. “03BW14B”. “02A(B)W16B”. “03BW16B”.

4 Σ-Series Dimensional Drawings • 750 W (1.02 A (0.0004 ) 4-φ10 (4-φ0.41) 3.18) (35) (1.38) 300¦30 (11.5.33 −0.50) (0.81¦1.09) 140(5. The keyway complies with JIS B 1301-1976 (precision).67) 28(1.0016) φ145 (φ5.31) Approx.63 −0.0016) 0.18) W Motor Plug T Screw Cross-section Y-Y Hex.39) MTG Holes 0 Y φ110 −0.04 A (φ0.01) (1 01) 08AW12B 08AW14B 08AW16B No key 22 (0. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor. 3) “08AW14B” and “08AW16B” have a keyed shaft.63) 10 (0.04 A 0.12) (0 12) 5 (0.5 (0.20) ( ) M5. 287 . A straight key is supplied.035 0 (φ4.0014 ) 0 Absolute Encoder 1024 P/R Holding Brake (deenergization operation) Voltage: 90 VDC Brake holding torque = motor rated torque φ0.2 (13. with key type only) 5 Type SGMP- QK U W T Screw Dimensions  Output W (HP) 750 (1.38 in) from the motor mounting surface.5 180(7.81¦1.72) (0.10) MAX 12 (0.01 HP) Encoder Lead UL20276 300¦30 (11. mass kg (lb) 6. 2) Type “A” indicates 200 V specification. nut 17 (0.0008) 38(1. 4) The quoted allowable radial load is the value at a position 35 mm (1.71) Shaft end screw hole (SGMP-08AW16B.57) 66.47) Sealant 10.39) 19 (0.011 0 (φ0.51) 40(1.7(2.67) (13 6 ) Allowable Allowable radial thrust load load N (lb) N (lb) 392 (88) ( ) 147 (33) ( ) Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.38) U Encoder Plug Motor Lead UL2464 (35) (1.87) (0 8 ) 3 (0.75) j120(4. depth 8 (0.14) 4-R6 QK Y φ16 −0.20) (0 20) 5 (0.

1 Servomotor Dimensional Drawings cont. Do not use.01 HP)) Motor Wiring Specifications Plug : 172168-1 (AMP) Pin 170360-1 or 170364-1(1 to 4pin) 170359-1 or 170363 (5 to 6 pin) (17360-1 or 17364-1:only 750W) Connected to Cap 172160-1 Socket 170362-1 or 170366-1 Encoder Plug Absolute Encoder Wiring Specifications Plug: 172171-1 (AMP) Pin: 170359-1 or 170363-1 Connected to Cap :172163-1 Socket: 170361-1 or 170365-1 1 2 3 4 5 6 7 8 9 A channel output A channel output B channel output B channel output Z channel output Z channel output 0 V (power supply) +5 V (power supply) FG (Frame Ground) Blue White/Blue Yellow White/Yellow Green White/Green Black Red Green/Yellow Purple White/Purple (Gray) White/Gray White/Orange Orange 1 U phase 2 V phase 3 W phase 4 FG 5 Brake terminal 6 Brake terminal Red White Blue Green/Yellow Black Black Motor Plug 5 10 S channel output 11 S channel output * (12) (Capacitor reset) 13 Reset 14 0V(battery) 15 3.SERVO SELECTION AND DATA SHEETS 5. 6) Conforms to IP55 protective structure (except connector and output shaft faces).4.13 HP) to 750 W (1. 288 .6V(battery) * Terminal to discharge capacitor for product dispatch. • Details of Motor and Encoder Plugs (Common for 100W (0.

87) (6.20) (0.04 HP) to 100 W (0.4.30) 5 (0.24) (2-Φ0. 300W (0.98 lb) 289 . 400W (0. 750W (1.20) (0.04 HP) to 200 W (0. 200W (0.04 HP) to 200 W (0. 30 (0. 30 (0.24) MTG HOLES (5.17) Approx.27HP)) SGDA-A3Bj to 01Bj (100V.77) (0. Mass: 0.01 HP) 100V.40 HP) (Type: SGDA-08Aj) (Type: SGDA-03Bj) (1) SGDA-A3Aj to 02Aj (200V.97) (5.24) (1.27 HP) (Type: SGDA-02Bj) c) 200V.27HP) (Type: SGDA-A3Aj to 02Aj) 100V.9 kg (1. 30W (0.13HP) (Type: SGDA-A3Bj to 01Bj) b) 200V.53 HP) (Type: SGDA-04Aj) 100V.4 Σ-Series Dimensional Drawings 5.04 HP) to 100 W (0.13HP)) (0.5.20) (1.2 Servopack Dimensional Drawings 1) The dimension drawings of the SGDA Servopack are broadly grouped according to capacity into the following three categories.12) (2. 30W (0. a) 200V.

20) (6.20) (200V.12) (2. (2) SGDA-04Aj SGDA-02Bj (0.56) (0.36) (0.53 HP)) (100V.4. 200W (0.87) (0.2Servopack Dimensional Drawings cont.24) (0.27 HP)) (2-Φ0.96) Approx.30) (5.SERVO SELECTION AND DATA SHEETS 5.65 lb) 5 290 .2 kg (2. Mass: 1.24) (2. 400W (0.24) MTG HOLES (5.20) (2.

5 kg (3. a) JUSP-OP02A-1 Hand-held Type b) JUSP-OP03A Mount Type 291 . 750W (1.01 HP)) (100V. Mass: 1.54) (200V.4.31 lb) 5 5.28) (3.24) 6 (0.3 Digital Operator Dimensional Drawings 1) The following two types of Digital Operator are available.5.87) (0. 300W (0.40 HP)) (0.31) (0.13) Approx.12) (4.24) (5.24) MTG HOLES 6 (0.24) (5.30) (2-Φ0.20) (6.4 Σ-Series Dimensional Drawings (3) SGDA-08Aj SGDA-03Bj (0.

Approx.97) (2.31) (5. a) JUSP-OP02A-1 (2. Mass: 0.26) Approx.K.SERVO SELECTION AND DATA SHEETS 5.40 lb) b) JUSP-OP03A (2.59) (2.4.041lb) 292 .0.31) (39.37) 5 TYPE:17JE-23090-02 Made by DAIICHI DENSHI KOGYO K.13) (0. Mass: 0.48) (1.73) (0.28) (4.18) MTG HOLES (0.18 kg (0.92) (0.02 kg (0.3 Dgital Operator Dimensional Drawings cont.

. . . . . . . .5. • Variable resistors for speed setting • Encoder signal converter units • Cables for connecting PC and Servopack 5 293 . . . . . . . Refer to 5. .5 Selecting Peripheral Devices 5. . . . . 5. . . . . . . . . .1 Selecting Peripheral Devices Select the peripheral devices using the flowcharts on the subsequent pages. . . . . . . . . . .6 Specifications and Dimensional Drawings of Peripheral Devices. and peripheral devices are also included. digital operators. . . . . . . . . . . . . . .5. . . . . . . . Servopacks. . .5. . . . .5 Selecting Peripheral Devices This section shows how to select peripheral devices using flowcharts. . The items below are not included in the flowcharts. . . . . . . . . . .5. Order lists for Servomotors. . .2 Selecting Peripheral Devices . . 293 299 5. Order List . . . . . . . . . .1 5. . .

8ft) 15m (49.8ft) 5m (16.4ft) 10m (32.8ft) 15m (49.6ft) DP8409359-1 DP8409359-2 DP8409359-3 DP8409359-4 DP8409359-5 3m (9.6ft) DP9320081-1 DP9320081-2 DP9320081-3 DP9320081-4 DP9320081-5 3m (9.2ft) 20m (65.2ft) 20m (65.8ft) 15m (49.4ft) 10m (32.8ft) 5m (16. Incremental Select connector kit.4ft) 10m (32.2ft) 20m (65. Absolute Select connector kit.2ft) 20m (65.1 Selecting Peripheral Devices cont. Absolute Select connector kit. Select one of the following according to cable length.6ft) DP8409360-1 DP8409360-2 DP8409360-3 DP8409360-4 DP8409360-5 5 Incremental encoder/Absolute encoder Incremental encoder/Absolute encoder Incremental Select connector kit.8ft) 5m (16. DP94020006-1 DP94020006-3 DP94020006-2 DP94020006-4 1)’ Select brake power supply. <Flowchart for peripheral device selection> Start peripheral device selection 1) Select motor cables No brake/With brake? No brake With connector and AMP terminal/Cable only? With connector and amplifier terminal Select one of the following according to cable length.SERVO SELECTION AND DATA SHEETS 5.6ft) DP9320083-1 DP9320083-2 DP9320083-3 DP9320083-4 DP9320083-5 3m (9. With brake With connector and AMP terminal/Cable only? Cable only With connector and amplifier terminal Select one of the following according to cable length. Cable only Select one of the following according to cable length. 3m (9. 100 V input / 200 V input 100 V input LPDE-1H01 200 V input LPSE-2H01 to (a) 294 .5.8ft) 15m (49.8ft) 5m (16.4ft) 10m (32.

5. Cable only Select one of the following according to cable length. 3m (9.8ft) 15m (49.2ft) 20m (65.4ft) 10m (32.6ft) DP9400064-1 DP9400064-2 DP9400064-3 DP9400064-4 DP9400064-5 5 Connector kit previously selected at step 1) Yes No Select connector kit.4ft) 10m (32. Cable only Servopack end without connector Select one of the following according to cable length.6ft) DP9320089-1 DP9320089-2 DP9320089-3 DP9320089-4 DP9320089-5 3m (9.2ft) 20m (65.6ft) DP9320086-1 DP9320086-2 DP9320086-3 DP9320086-4 DP9320086-5 3m (9.8ft) 15m (49.2ft) 20m (65.8ft) 5m (16.5 Selecting Peripheral Devices from (a) 2) Select encoder cable Incremental encoder/Absolute encoder Absolute A Incremental Servopack Connector / end without / both ends connector Connector both ends Select one of the following according to cable length.4ft) 10m (32. DP94020006-1 DP94020006-2 to (b) 295 .8ft) 5m (16.8ft) 15m (49.8ft) 5m (16.

5 DP94020006-3 DP94020006-4 2)’ Select battery for absolute encoder. ER6VC3 (3.2ft) 20m (65.1 Selecting Peripheral Devices cont.2ft) 20m (65.6ft) DP8409123-1 DP8409123-2 DP8409123-3 DP8409123-4 DP8409123-5 Connector kit previously selected at step 1) Yes No Select connector kit.8ft) 5m (16. Cable only Servopack end without connector Select one of the following according to cable length.6ft) DP9320088-1 DP9320088-2 DP9320088-3 DP9320088-4 DP9320088-5 3m (9. 3m (9.8ft) 5m (16.4ft) 10m (32.8ft) 15m (49.8ft) 15m (49.4ft) 10m (32.6ft) DP9320085-1 DP9320085-2 DP9320085-3 DP9320085-4 DP9320085-5 3m (9.5. Cable only Select one of the following according to cable length.6V) to (b) 296 .SERVO SELECTION AND DATA SHEETS 5.4ft) 10m (32.8ft) 5m (16. A Absolute Servopack Connector / end without / both ends connector Connector both ends Select one of the following according to cable length.2ft) 20m (65.8ft) 15m (49.

6ft) 3m (9. 750W (1.27HP) 300W (0.3ft) 2m (6.13HP) Use circuit breaker for 5 A power supply capacity.04 to 0.01HP) Use circuit breaker for 16 A power supply capacity. 30 to 100W (0.8ft) DE9404859−1 DE9404859−2 DE9404859−3 4) Select circuit breaker (MCCB) and noise filter. 200W (0.27HP) (0. Use circuit breaker for 9 A power supply capacity.53HP) Use circuit breaker for 5 A power supply capacity. 5 200 V Servopack power supply 200 V/100 V? 100 V Servopack capacity? Servopack capacity? 30 to 200W 400W (0.5 Selecting Peripheral Devices from (b) 3) Select 1CN connector for reference input. Use circuit breaker for 8 A power supply capacity.04 to 0.40HP) Use circuit breaker for 15 A power supply capacity. Connector only / Terminal block unit / One cable end without connector Connector only 1CN connector Connector-to-terminal conversion unit Connector-to-terminal conversion unit One cable end without connector Cable with 1CN connector and one end without connector DP9420007 JUSP−TA36P 1m (3. Noise filter LF−205A Noise filter LF−210 Noise filter LF−220 Noise filter LF−205A Noise filter LF−210 Noise filter LF−220 to (c) 297 .5.

5. regardless of capacity. from (c) 5) Select magnetic contactor and surge suppressor. D This is the surge suppressor for HI-15E5.SERVO SELECTION AND DATA SHEETS 5. shown above. or 20 times motor inertia (400 W(0. I to IV I II III Type of application? 5 IV D Vertical axis D Exceeding 3000 r/min. D Frequent acceleration/deceleration (once per second. select the magnetic contactor according to the total capacity. Application I to IV Investigate regenerative unit capacity using AC Servomotor sizing software. 750 W(1. Magnetic contactor HI−15E5 D Use one 30 A magnetic contactor for a single Σ Series. or more).1 Selecting Peripheral Devices cont. Not application I to IV Result of investigation into regenerative unit? Add regenerative unit Applicable Regenerative unit not needed No regenerative unit required. D Load inertia exceeds 30 times motor inertia (50 to 200 W(0.53 HP). For multiple servo systems.07 to 0. Regenerative unit JUSP−RG08 JUSP−RG08C End peripheral device selection 298 . Surge Suppressor CR50500BL 6) Select regenerative unit.01HP)).27 HP).

5. Servopacks.5.2 Order List 1) Order lists are given below for the Servomotors. digital operators.5 Selecting Peripheral Devices 5. These order lists are a convenient aid to selecting peripheral devices. and peripheral devices which comprise the AC Servo Σ−Series. SGM Servomotor Servomotor Type SGM-jjjjjjj SGM-jjjjjjj SGM-jjjjjjj SGM-jjjjjjj SGM-jjjjjjj SGM-jjjjjjj Qty SGDA Servopack (excluding cables and connectors) Servopack Type SGDA-jjjj SGDA-jjjj SGDA-jjjj SGDA-jjjj SGDA-jjjj SGDA-jjjj Qty 5 SGMP Servomotor Servomotor Type SGMP-jjjjjjj SGMP-jjjjjjj SGMP-jjjjjjj SGMP-jjjjjjj SGMP-jjjjjjj SGMP-jjjjjjj Qty Digital Operator Digital Operator Type JUSP-OP02A-1 JUSP-OP03A (Purchase Separately) Qty 299 .

6 ft) (with connector and amplifier terminals) Cable Type DP9320081-1 DP9320081-2 DP9320081-3 DP9320081-4 DP9320081-5 M2 Cables for Servomotor without Brake (Purchase Separately) Cable Type Qty 3 m (9. Cables for Servomotor with Brake (Purchase Separately) Qty 3 m (9.8 ft) 5 m (16. Requires M3 K1 connector kit.4 ft) 10 m (32.SERVO SELECTION AND DATA SHEETS 5.5.8 ft) 5 m (16.4 ft) 10 m (32.4 ft) 10 m (32.6 ft) (Cable Only)*1 DP8409359-1 DP8409359-2 5 DP8409359-3 DP8409359-4 DP8409359-5 *1 Customer to attach connector and amplifier terminals.2 ft) 20 m (65.2 ft) 20 m (65.2 ft) 20 m (65.6 ft) (with connector and amplifier terminals) Cable Type DP9320083-1 DP9320083-2 DP9320083-3 DP9320083-4 DP9320083-5 300 .8 ft) 15 m (49. M1 Cables for Servomotor without Brake (Purchase Separately) Qty 3 m (9.8 ft) 15 m (49.2 Order List cont.8 ft) 15 m (49.8 ft) 5 m (16.

no brake) DP9420006-4 (Absolute encoder.8 ft) 15 m (49.8 ft) 5 m (16.4 ft) 10 m (32. Connector Kits (Purchase Separately) Connector Kit Type Qty DP9420006-1 (Incremental encoder.5 Selecting Peripheral Devices M4 Cables for Servomotor with Brake (Purchase Separately) Cable Type Qty 3 m (9.2 ft) 20 m (65. no brake) DP9420006-2 (Incremental encoder.5.6 ft) (Cable Only)*1 DP8409360-1 DP8409360-2 DP8409360-3 DP8409360-4 DP8409360-5 *1 Customer to attach connector and amplifier terminals. Requires K1 K1 connector kit. with brake) DP9420006-3 (Absolute encoder. with brake) 5 301 .

8 ft) 5m (16. 1) Motor Connector for Motor End of Cable . one 2CN connector 1) Motor Connector for Motor End of Cable 2) Encoder Connector for Motor End of Cable No Brake For Incremental Encoder 3) Encoder Connector for Servopack End of Cable 5 Brake Power Supply (for motor with brake) (Purchase Separately) Brake Power Supply Type LPSE−2H01 (for 200 V) LPDE−1H01 (for 100 V) Qty E1 Cables for Incremental Encoder (Purchase Separately) Cable Type Qty 3m (9... • The three products in the diagrams below are supplied as a set....8 ft) 15m (49.6 ft) (Connector Both Ends) DP9320089−1 DP9320089−2 DP9320089−3 DP9320089−4 DP9320089−5 302 .2 Order List cont.5..2 ft) 20m (65.SERVO SELECTION AND DATA SHEETS 5.4 ft) 10m (32. one connector for incremental or absolute encoder 3) Encoder Connector for Servopack End of Cable . one connector for Servomotor with or without brake 2) Encoder Connector for Motor End of Cable .

5.8 ft) 5m (16. Requires K1 connector kit. Requires E3 K1 connector kit.2 ft) 20m (65.6 ft) (Cable Only)*3 B9400064−1 B9400064−2 B9400064−3 B9400064−4 B9400064−5 5 *3 Customer to attach connector to both ends of cable.4 ft) 10m (32.8 ft) 5m (16.2 ft) 20m (65. 303 .5 Selecting Peripheral Devices E2 Cables for Incremental Encoder (Purchase Separately) Qty 3m (9.8 ft) 15m (49.4 ft) 10m (32.6 ft) (Servopack end without connectors)*2 Cable Type DP9320086−1 DP9320086−2 DP9320086−3 DP9320086−4 DP9320086−5 *2 Customer to attach connector to Servopack end of cable. Cables for Incremental Encoder (Purchase Separately) Cable Type Qty 3m (9.8 ft) 15m (49.

5. K1 connector 304 .8 ft) 5m (16.6 ft) (Connector Both Ends) DP9320088−1 DP9320088−2 DP9320088−3 DP9320088−4 DP9320088−5 E5 Cables for Absolute Encoder (Purchase Separately) Qty 3m (9. E4 Cables for Absolute Encoder (Purchase Separately) Cable Type Qty 3m (9.8 ft) 5m (16.2 ft) 20m (65.2 ft) 20m (65.8 ft) 15m (49. Requires kit.8 ft) 15m (49.4 ft) 10m (32.2 Order List cont.6 ft) (Servopack end without connectors)*2 Cable Type DP9320085−1 DP9320085−2 DP9320085−3 DP9320085−4 DP9320085−5 5 *2 Customer to attach connector to Servopack end of cable.SERVO SELECTION AND DATA SHEETS 5.4 ft) 10m (32.

8 ft) 5m (16.6V) Qty 5 C1 1CN Connector (Purchase Separately) Connector Type Qty DP9420007 One 1CN Connector 305 .8 ft) 15m (49. Requires Battery for Absolute Encoder K1 connector kit. (Purchase Separately) Battery Type ER6VC3 (3.2 ft) 20m (65.6 ft) (Cable Only)*3 DP8409123−1 DP8409123−2 DP8409123−3 DP8409123−4 DP8409123−5 *3 Customer to attach connector to both ends of cable.4 ft) 10m (32.5.5 Selecting Peripheral Devices E6 Cables for Absolute Encoder (Purchase Separately) Cable Type Qty 3m (9.

C2 Connector Terminal Block Converter Unit (Purchase Separately) Converter Unit Type Qty JUSP−TA36P 1CN Connector Cable (0.SERVO SELECTION AND DATA SHEETS 5.5.8 ft) 5 DE9404859−2 DE9404859−3 Noise Filter (Purchase Separately) Noise Filter Type LF−205A (5A) LF−210 (10A) LF−220 (20A) Qty Magnetic Contactor (Purchase Separately) Magnetic Contactor Type HI−15E5 (30A) Qty 306 .6 ft) 3m (9.5m) C3 Cable with 1CN Connector and One End Loose Wires (Purchase Separately) Cable Type Qty DE9404859−1 1m (3.3 ft) 2m (6.2 Order List cont.

5.5 Selecting Peripheral Devices Surge Suppressor (Purchase Separately) Surge Suppressor Type CR50500BL Qty Regenerative Unit (Purchase Separately) Regenerative Unit Type JUSP−RG08 Qty Variable Resistor for Speed Setting (Purchase Separately) Variable Resistor Type 25HP−10B Qty Cables for Connecting PC and Servopack (Purchase Separately) Cable Type DE9405258 2m (6.6 ft) Qty 5 Encoder Signal Converter Unit (Purchase Separately) Unit Type LRX−01/A1 LRX−01/A2 LRX−01/A3 LRX−01/A4 Qty 307 .

. . . . . .15 Variable Resistor for Speed Setting . . . . 5. . . . . . . . .12 Magnetic Contactor . . . . . . . . . .6. . .7 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6. . . 5 5. . . . . . . . .9 Cable Specifications and Peripheral Devices . . . . . . . . . 5.SERVO SELECTION AND DATA SHEETS 5. . . . . . . . Cable With 1CN Connector and One End Without Connector . . . . . . . . . . . 5. . . . . . . .6. . . . . . . . . . . . 308 . . . . . . . .6. .5 5. . . . . . . . . . . . . . .6 Specifications and Dimensional Drawings of Peripheral Devices This section shows the specifications and dimensional drawings of the peripheral devices required for the Σ-Series servo system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 5. . . . . .6. . . . . . . . . . . . . . . . . . . . .6. . . . . . Brake Power Supply . . . . . . 5. . . . . . . . . . . . . . . . . . .6. . . . . . . .1 Cable Specifications and Peripheral Devices 1) The rated current of the SGDA Servopack external terminals. . . . . . . . .1 5. . . . . . . . Battery for Absolute Encoder . . . The sequence of peripheral devices is given by the Flowchart for Peripheral Device Selection in 5. . . . . . . . . . 308 311 314 318 320 325 326 328 330 330 331 332 333 334 335 336 338 5.6. . . .3 5. . . . . . . . . . . . and peripheral devices are listed in the next table. . . . . . . . . .6. . . . . . . . . . . . . . .6.6. .6. . . . . . . . .11 Noise Filter . . . . . . . . 5. . . with the rated current flowing. .17 Cables for Connecting PC and Servopack . . . . . . . Motor Cables . . . . . . . . . . . . . . . . . . . . . . . .6. . . . . . . 1CN Connector . . . . . . . . . . . . . Encoder Cables . . . . . . . . . . . 5. . . . . . . . . . . . . . . . . . . . . . . The cable specifications were selected under conditions of three cables per bundle at 40_ C ambient temperature. .13 Surge Suppressor . . . . . . . Connector Kits . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 5. . . .6. . . . . . . . . . . . .10 Circuit Breaker . . . . . . . . . . . . . . . . . cable size. . . . . . . . . . . . . . . . . . . . .14 Regenerative Unit . . . . . . . . . . .1 Cable Specifications and Peripheral Devices 5. . 5. . . . . . . . . . . . The cable specifications and size are selected according to the operating environment and current capacity. . . . . . . . . . . . . . . . . . . . .5 Selecting Peripheral Devices. . . . . . . .6. . .16 Encoder Signal Converter Unit . . . . . . . . . . . . . . . . . . . . Connector Terminal Block Converter Unit . . .6. . . . . . . . . . . . .2 5. . 5. . . . . . . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . .4 5. . . . . . .6. . . .

*3 Yaskawa recommends noise filters manufactured by Tokin Corp.25 min. 700% for 0.6 750 W (1.3 0.25 0.07HP) 100 W (0.25 min.63 0.27HP) 400 W (0. check the cable current g rating and consider the id th operating environment. 10 A Singlephase 200 VAC Class.2 Use cable size AWG22 to t AWG18 (0.5 0.0 Cable spec.01HP) 08Aj 11.LFplicable 220 For 100 V 30 W (0.5 2. 10 A Singlephase 200 VAC Class.4 When selecting non-Yaskawa cables.0 min.07HP) 100 W (0.04HP) 50 W (0. 5A Singlephase 200 VAC Class. Power Supply capacity per Servopack*1 kVA 0.5 0.04HP) 50 W (0.5.6 Specifications and Dimensional Drawings of Peripheral Devices Type Servopack Type SGDA- Main circuit power input terminal (R) (T) Rated current A(rms) Cable spec. 20 A 2.75 MCCB or fuse capacity*2 A Noise filter type (reference diagram) Applicable Recommended noise filter*3 Type Spec.40HP) 03Bj 14.0 HIV 1...7 8 LF210 5 300 W (0. Yaskawa Controls Co.0 Use Yaskawa cable.3 1.13HP) 200 W (0.6 4. 2.5 4.0 4. See 5. can supply these noise filters. HIV 1.2 16 Not ap.0 6.7 1. 1.3 to 0. *2 Braking characteristics (at 25_C): 200% for 2 s min. i Motor connection terminals (U) (V) (W) Rated current A (rms) 0.42 0.0 min.2 Motor 562M t Cables below for details.87 2.13HP) 200 W (0.89 mm2).27HP) A3B j A5B j 01Bj 02Bj 2.6. 5 LF205A Singlep phase 200 VAC Class.0 2.0 3. 2.53HP) A3A j A5A j 01Aj 02Aj 04Aj 1. 309 . 5A Yaskawa HI-15E5 (30 A).75 5 LF205A HIV 2. 0.5 8.25 0. or A) equivalent HIV 2. 20 A Singlep phase 200 VAC Class.9 2. Ltd.4 15 LF220 *1 Value at rated load. i 0.6 0.2 9 LF210 Singlephase 200 VAC Class.01 s min. Power ON/OFF switch For 200 V 30 W (0.3 0.

6 ft).1 Cable Specifications and Peripheral Devices cont.28. 2) Consider allowable current reduction ratio if cables are bundled in PVC or metal ducts.63 in. 2) The types of cable are shown in the table below. 3) Use temperature-resistant cable under high ambient or panel temperature where normal vinyl cables rapidly deteriorate. Applicable cable types: AWG24.6. Use it in combination with the table above.26.) mm MAX. Use twisted-pair shielded cable if Yaskawa cable is not used. Control I/O Signal Connector Co ecto 1CN Cable Applicable Cable Finished Cable Dimensions Cable Use twisted-pair cable or twisted-pair shielded cable.6(∅0. 3) The appropriate cables for Servopack connectors 1CN and 2CN are shown in the table below. 310 .46 in. withstand voltage for main circuits. use AWG22 for encoder power supply and FG line.0 mm (∅ 0. Use AWG26 for other signals. However.)MAX. 30. 26.30 ∅16. 28. with the rated current flowing. Use Yaskawa cable. These connections permit wiring distances up to 20 m (65. AWG24.SERVO SELECTION AND DATA SHEETS 5. 5 PG Signal Connector 2CN Applicable Cable Finished Cable Dimensions Note Cable selection conditions: three cables per bundle at 40 _C ambient temperature. ∅11. Cable Type Symbol PVC IV HIV Name Normal vinyl cable 600 V vinyl cable Temperature-resistant vinyl cable Conductor Allowable Temperature p C _C --60 75 Note 1) Use cable with 600 V min.

Specify the cable type when ordering.6 Specifications and Dimensional Drawings of Peripheral Devices 5.67 20000 0 +500 (66.67 0 ) +1.97) 5 L in mm (feet) b) Cables For Motor With Brake (with connector and AMP terminals) Type DP9320083-1 DP9320083-2 DP9320083-3 DP9320083-4 DP9320083-5 3000 0 +100 (10 0 +0.7 0 ) Connector for Motor End of Cable Cap: 172159-1 (4-pin) Socket: 170362-1 or 170366-1 Finished Dimension:∅7.5mm Max Cable: AWG20 x 4 core Shrink Tube Shrink Tube Servopack End of Cable AMP Terminals M4 Crimped Terminals (1.7 0 ) Connector for Motor End of Cable Cap: 172160-1 (6-pin) Socket: 170362-1 or 170366-1 Finished Dimension: ∅7.7 0 +0.67 (66.38) (1.3 0 (50 +1.33 ) ) +500 10000 0 +500 15000 0 +1.33 (16.38) (1.7 0 10000 0 15000 0 20000 0 +500 +500 +500 (33. a) Cables For Motor Without Brake (with connector and AMP terminals) Type DP9320081-1 DP9320081-2 DP9320081-3 DP9320081-4 DP9320081-5 3000 0 5000 0 +100 +100 L in mm (feet) (10 0 +0.67 +1.5mm Max Cable: AWG20 x 4 core Shrink Tube Shrink Tube Servopack End of Cable AMP Terminals M4 Crimped Terminals (1.33 ) ) ) +100 5000 0 +0.67 0 ) +1.33 ) (16.3 0 (50 +1.5.2 Motor Cables 1) The dimensions and appearance of the motor cables are shown below.97) Marker Tube 311 .6.67 (33.

33 (16.3 0 15000 0 20000 0 +500 +500 (50 +1.SERVO SELECTION AND DATA SHEETS 5.33 ) ) ) +100 5000 0 +500 10000 0 +0.6.) * 5 Pin # Red White Blue Green [ M4 Crimped Terminals ] U phase V phase W phase FG * 312 .67 (66. c) Cables For Motor Without Brake (Cable Only) Cable AWG20 x 4 core Type DP8409359-1 DP8409359-2 DP8409359-3 DP8409359-4 DP8409359-5 3000 0 +100 L in mm (feet) (10 0 +0.67 0 ) +1.7 0 +1.7 0 ) AMP Connector Cap: 172159-1 Socket: 170362-1 or 170366-1 (Manufactured by AMP.2 Motor Cables cont.67 (33.

6.) * Pin # Red White Blue Green Black Black [ M4 Crimped Terminals ] * U phase V phase W phase FG (Frame Ground) Br (Brake Terminal) Br (Brake Terminal) 5 * If cable only is ordered.5.67 0 ) +1.67 (33. 313 .67 (66.7 0 +1.7 0 ) AMP Connector Cap: 172160-1 Socket: 170362-1 or 170366-1 (Manufactured by AMP.6 Specifications and Dimensional Drawings of Peripheral Devices d) Cables For Motor With Brake (Cable Only) Cable AWG20 x 6 core Type DP8409360-1 DP8409360-2 DP8409360-3 DP8409360-4 DP8409360-5 3000 0 +100 L in mm (feet) (10 0 +0.33 ) ) ) +100 5000 0 +500 10000 0 +0.3 0 15000 0 20000 0 +500 +500 (50 +1. Refer to 5. purchase the AMP connector and M4 crimped terminals separately.3 Connector Kits for details about caps and sockets.33 (16.

Encoder Connector for Motor End of Cable Encoder Connector for Servopack End of Cable Motor Connector for Motor End of Cable Four types of connector kit are available according to the following information: • Is the encoder incremental or absolute? 5 • Is the motor with or without a brake? A connector kit is required in the following cases: a) If motor cable only is purchased (whether or not motor has a brake).55) (0. or encoder cable only is purchased (for either incremental or absolute encoder). b) If the encoder cable with a motor connector only and Servopack end without connector.3 Connector Kits 1) A connector kit comprises three connectors as shown in the diagram below: one encoder connector at both the motor and Servopack ends of the cable and a motor connector for the motor end of the cable. a) For Incremental Encoder (0.6.14 (0.3 Connector Kits 5.16) (0.16) Cap: 172161-1 Socket: 170365-1 314 16 (0.63) .6. 2) Select one of the following two types of encoder cable connector.0(0.55) 4.SERVO SELECTION AND DATA SHEETS 5.93) 14.

93) 11.46) 4.2(0.55) 4.2(0.63) (0.55) 9.17) Cap: 172163-1 Socket: 170361-1 or 170365-1 (0.46) Cap: 172160-1 Socket: 170362-1 or 170366-1 (0.6 Specifications and Dimensional Drawings of Peripheral Devices b) For Absolute Encoder (0.93) 11.17) 315 .8(0.88) 14.8(0.39) (0.14 (0.8(0.39) 9.8(0.5.17) 5 (0.93) 16(0. a) Motor Without Brake b) Motor With Brake (0.16) (0.16) Cap: 172159-1 Socket: 170362-1 or 170366-1 3) Select one of the following two types of motor cable connector.39) 4.0(0.17) (0.

11) (0. 4) Only one type of encoder connector is available for the Servopack end of the cable. • Connector (0.45) B 17.SERVO SELECTION AND DATA SHEETS 5.10) (0.3 Connector Kits cont.50) Units: mm (inches) Connector Type 10120-3000VE A 11.09) 5.6.43(0.1(0.0(0.20) (0.36) Pin #1 (0.3(0.69) C 22.30) 5 Pin # 11 (0.05) (0.6(0.26) (0.87) 316 (0.76) .05) 2.

5.6 Specifications and Dimensional Drawings of Peripheral Devices

• Case

(0.22)

(0.94)

(0.5)

For -52A0

Diagram of Assembled Connector (for reference)

Units: mm (inches)
Connector 10120-3000VE Case 10320-52A0-008 A 22.0 (0.87) B 18.0 (0.71) C 14.0 (0.55) D 12.0 (0.47) E 10.0 (0.39) F 27.4 (1.08)

5) The types of connector kit are shown below. Select the type of connector kit according to the connectors selected in (2), (3), and (4) above.
Connector Kit Type T Application Encoder/Motor Cable / Encoder Type Motor Brake With/ Without Without Cap Type *1 172161 -1 DP9420006-2 Incremental With Q ty 1 Encoder End Socket Type *1 170365 -1 Qt y *3 10 Connector Kit Part List For Encoder Cable Servopack End Connector Type *2 101203000VE Q ty 1 Case Type *2 1032052A0008 Q ty 1 Cap Type *1 172159 -1 *1 172160 -1 DP9420006-3 Absolute Without *1 172163 -1 DP9420006-4 Absolute With 1 *3 16 *1 172159 -1 *1 172160 -1 1 1 1 Q ty 1 Socket Type *1 170366 -1 Qt y *3 5 *3 7 *3 5 *3 7 For Motor Cable

5

DP9420006-1

Incremental

*1 Manufactured by AMP. *2 Manufactured by 3M. *3 Including one spare.

317

SERVO SELECTION AND DATA SHEETS
5.6.4 Brake Power Supply

5.6.4 Brake Power Supply
1) Brake power supplies are available for 200 V and 100 V input. 200 VAC Input: LPSE-2H01 100 VAC Input: LPDE-1H01

Use for Servomotor with brake.

• Dimensional Drawings
(1.97) (1.18)

Manufactured by Yaskawa Controls Co., Ltd.

2-∅3(2-∅0.12) MTG HOLES (SPOT FACING ∅5.5 (∅0.22), 4 (0.16) LONG)

5

Name Plate

Lead Wires

(0.98)

• Lead Wire Length: 500 mm each (19.69 in.) • Max. Ambient Temperature: 60_C • Lead Wires: Color Coded
AC Input 100V Blue/White 200V Yellow/White Red/Black Brake

318

(0.79)

5.6 Specifications and Dimensional Drawings of Peripheral Devices

2) The internal circuits are shown below. While it is possible to switch either the AC or DC side of the brake power supply, it is normally safer to switch the AC side. If the DC side is to be switched, install a surge suppressor near the brake coil to prevent the surge voltages due to switching the DC side damaging the brake coil. • Internal Circuit for 200 VAC Input (LPSE-2H01)

Yellow AC Side Surge Suppressor

Red DC (Brake) Side Black

Diode

White

• Internal Circuit for 100 VAC Input (LPDE-1H01)

Diode Bridge Blue AC Side Surge Suppressor Red DC (Brake) Side Surge Suppressor Black

White

5

319

SERVO SELECTION AND DATA SHEETS
5.6.5 Encoder Cables

5.6.5 Encoder Cables
1) The dimensions and appearance of the encoder cables are shown below. Specify the cable type when ordering. a) Cables for Incremental Encoder (Connector Both Ends)
Connector for Encoder End of Cable Cap: 172161-1 (9-pin) Socket: 170361-1 or 170365-1 Cable B9400064 Shrink Tube Servopack End of Cable Case: 10320-52A0-008 Connector: 10120-3000VE

(1.38)

Type DP9320089-1 DP9320089-2 DP9320089-3 DP9320089-4 3000 0 5000 0
+100 +100 +500

L in mm (feet) (10 0
+0.33

) ) )

(16.7 0

+0.33 +1.67

10000 0

(33.3 0 (50

+500 15000 0

+1.67 0 ) +1.67

5

DP9320089-5

20000 0

+500

(66.7 0

)

b) Cables for Absolute Encoder (Connector Both Ends)
Servopack End of Cable Connector for Encoder End of Cable Cap: 172163-1 (15-pin) Socket: 170361-1 or 170365-1 Cable DP8409123 Shrink Tube Case: 10320-52A0-008 Connector: 10120-3000VE

(1.38)

Type DP9320088-1 DP9320088-2 DP9320088-3 DP9320088-4 DP9320088-5 3000 0
+100

L in mm (feet) (10 0
+0.33

) ) )

+100 5000 0

+0.33 (16.7 0

10000 0

+500

(33.3 0 (50

+1.67

+500 15000 0

+1.67 0 ) +1.67

20000 0

+500

(66.7 0

)

320

5.6 Specifications and Dimensional Drawings of Peripheral Devices

c) Cables for Incremental Encoder (Servopack End without Connector)
Wire Markers Wires Shrink Tube Shrink Tube Servopack End Encoder End (1.38) (2.36) (0.79)

Cap: 172161-1 (9-pin) Socket: 170361-1 (connected)

Cable B9400064 (AWG22 x 3C, AWG26 x 4P)

Type DP9320086-1 DP9320086-2 DP9320086-3 DP9320086-4 DP9320086-5 3000 0 5000 0
+100 +100

L in mm (feet) (10 0
+0.33

) ) )

(16.7 0

+0.33

+500 10000 0 +500 15000 0

+1.67 (33.3 0

(50

+1.67 0 ) +1.67

20000 0

+500

(66.7 0

)

Case: 10320-52A0-008 (Manufactured by 3M.) Connector: 10120-3000VE (Manufactured by 3M.) Cap: 172161-1 Socket: 170361-1
Blue White/Blue Yellow White/Yellow Green White/Green Red Black

*

5

Servopack End

Encoder End

Green/Yellow

P: twisted-pair shielded cables.

*Purchase cases and connectors separately. Refer to 5.6.3 Connector Kits for details.

321

SERVO SELECTION AND DATA SHEETS
5.6.5 Encoder Cables cont.

d) Cables for Absolute Encoder (Servopack End without Connector)
Wire Markers Cap: 172163-1 (15-pin) Socket: 170361-1 (connected) Cable DP8409123 (AWG22 x 3C, AWG26 x 6P) Shrink Tube Encoder End Shrink Tube Servopack End Wires

(1.38) (2.36)

(0.79)

Type DP9320085-1 DP9320085-2 DP9320085-3 DP9320085-4 DP9320085-5 3000 0
+100

L in mm (feet) (10 0
+0.33

) ) )

+100 5000 0

+0.33 (16.7 0

10000 0

+500

(33.3 0 (50

+1.67

+500 15000 0

+1.67 0 ) +1.67

20000 0

+500

(66.7 0

)
*

Case: 10320-52A0-008 (Manufactured by 3M.)

5
Cap: 172163-1 Socket: 170365-1

Connector: 10120-3000VE (Manufactured by 3M.)

Encoder End

Blue White/Blue Yellow White/Yellow Green White/Green Purple White/Purple Red Black

Servopack End

White/Grey Orange White/Orange Green/Yellow

P: twisted-pair shielded cables.

*Purchase cases and connectors separately. Refer to 5.6.3 Connector Kits for details. e) Cables for Incremental Encoder (Cable Only)
Cable AWG22 x 3C, AWG26 x 4P

322

5.6 Specifications and Dimensional Drawings of Peripheral Devices

Type B9400064-1 B9400064-2 B9400064-3 B9400064-4 B9400064-5 3000 0
+100

L in mm (feet) (10 0
+0.33

) ) )

+100 5000 0

+0.33 (16.7 0

10000 0

+500

(33.3 0 (50

+1.67

+500 15000 0 +500 20000 0

+1.67 0 ) +1.67

(66.7 0

)

* Cap: 172161-1 (Manufactured by AMP.) Socket: 170361-1 or 170365-1 (Manufactured by AMP.) Case: 10320-52A0-008 (Manufactured by 3M.) Connector: 10120-3000VE (Manufactured by 3M.)

*

Encoder End

8 7

Blue White/Blue Yellow White/Yellow Green White/Green Red Black

Connector

Servopack End

Green/Yellow

P: twisted-pair shielded cables.

5

*

Purchase caps, sockets, cases, and connectors separately. Refer to 3. Connector Kits for details. f) Cables for Absolute Encoder (Cable Only)
Cable AWG22 x 3C, AWG26 x 6P

323

SERVO SELECTION AND DATA SHEETS
5.6.5 Encoder Cables cont.

Type DP8409123-1 DP8409123-2 DP8409123-3 DP8409123-4 DP8409123-5 3000 0
+100

L in mm (feet) (10 0
+0.33

) ) )

+100 5000 0

+0.33 (16.7 0

10000 0 15000 0 20000 0

+500 +500 +500

(33.3 0 (50

+1.67

+1.67 0 ) +1.67

(66.7 0

)

* Cap: 172163-1 Socket: 170361-1 or 170365-1 Case: 10320-52A0-008 (Manufactured by 3M.) Connector: 10120-3000VE (Manufactured by 3M.)

*

Blue White/Blue Yellow White/Yellow Green White/Green Purple White/Purple Red Black

5
*

White/Grey Orange White/Orange Green/Yellow

P: twisted-pair shielded cables.

Purchase caps, sockets, cases, and connectors separately. Refer to 3. Connector Kits for details. 2) Details of the encoder cables are summarized in the table below. These cables are not supplied as accessories with a Servopack or Servomotor. Purchase in standard specified lengths as required.

324

.) .8ft.).8ft.0 mm (∅0.5 mm (∅0.6.4ft.) A1 A2 A3 F1 F2 F3 F4 Red Black Green/Yellow Blue − White/Blue (Twisted pair) Yellow − White/Yellow (Twisted Pair) Green − White/Green (Twisted Pair) Orange − White/Orange (Twisted Pair) A1 A2 A3 B1 B2 B3 B4 B5 B6 Red Black Green/Yellow Blue − White/Blue (Twisted pair) Yellow − White/Yellow (Twisted Pair) Green − White/Green (Twisted Pair) Orange − White/Orange (Twisted Pair) Purple − White/Purple (Twisted Pair) Grey − White/Grey (Twisted Pair) Yaskawa standard specifications Standard lengths: 3 m (9.) * *When appropriate cable is used.6 Specifications and Dimensional Drawings of Peripheral Devices Cable Specification Basic Specifications Finished Dimension Internal Structure and Lead Colors Incremental Encoder (Yaskawa Drg.) Absolute Encoder (Yaskawa Drg. 20 m (65. Note See items a) to d) in this section for details about cables with connectors.30 in.2ft. AWG26 x 6P ∅8. the allowable wiring distance between Servopack and Servomotor (PG) is 20 m (65. AWG26 x 4P ∅7. (Manufactured by Toshiba Battery Co. 5 5. 5 m (16.) • Lithium Battery: ER 6 V C3 • Nominal Voltage: 3.6ft.6 V • Standard Capacity: 2000 mAh 325 .31 in. 10 m (32. #DP8409123) Compound KQVV-SW AWG22 x 3C.) max.5.6 Battery for Absolute Encoder 1) Purchase the following battery if using an absolute encoder.).) . #B9400064) Compound KQVV-SW AWG22 x 3C.6ft. Ltd. 15 m (49.

05) 5.3(0.05) (0.6. • Connector 2.85) B 27.26) (0.7 1CN Connector 1) This connector is required to connect the host controller to 1CN on the Servopack.7 1CN Connector 5.27 (0.09) C 32.54(0.8 (1.6.10) 1.50) Units: mm (inches) Connector Type 10136-3000VE A 21.2 (1.SERVO SELECTION AND DATA SHEETS 5.11) (0.09) 2.20) (0.36) Pin #1 (0.1(0.76) .30) 5 Pin # 19 1.27) 326 (0.59 (0.27(0.

2 (1.55) F 37.0 (0.22) (0.94) (0.0 (0.71) C 18. 327 .71) D 17.0 (0.5 (1. Connector Type T DP9420007 Application pp Connector Part List Connector Type Qty 10136-3000V 1 E* Case Type 10336-52A0008* Qty 1 I/O connector for 1CN * Manufactured by 3M.48) 5 2) The 1CN connector type is shown below.6 Specifications and Dimensional Drawings of Peripheral Devices • Case (0.6 (1.67) E 14.27) B 43.5) For -52A0 Diagram of Assembled Connector (for reference) Units: mm (inches) Connect or Type 101363000VE Case Type 10336-52 A0-008 A 32.5.

8 Connector Terminal Block Converter Unit 1) A connector terminal block converter unit comprises a 1CN connector 0.64 ft) cable.5 m (1. M3.SERVO SELECTION AND DATA SHEETS 5.6.6.5 m (1. The terminal block numbers match the Servopack 1CN connector numbers.64 ft) 40-Pin Connector Plug: FCN-364P040-AU Servopack 40-Pin Terminal Block.5 screws 5 328 .8 Connector Terminal Block Converter Unit 5. • Connector Terminal Block Converter Unit Type: JUSP-TA36P Cable Length: 0.

6 Specifications and Dimensional Drawings of Peripheral Devices 2) The relationships between terminal block pin numbers and signal names are shown in the table below.5. SGDA Servopack Signal Name Speed Control Position Control JUSP-TA36P Terminal Block Unit 1CN Pin # 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 P P P P P P P P P Connector # A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 A10 B10 A11 B11 A12 B12 A13 B13 A14 B14 A15 B15 A16 B16 A17 B17 A18 B18 A19 B19 Cable: Supplied with terminal block P : Twisted pair A20 B20 Terminal Block # 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 T-REF SG V-REF SG SEN 0SEN /BK /V-CMP /TGON SG-COM /P-CL /N-CL +24VIN /S-ON /P-CON P-OT N-OT /ALMRST SG PAO *PAO PBO *PBO PCO *PCO PSO *PSO BAT BAT0 ALO1 ALO2 ALO3 AG-AL ALM ALM-SG FG PULS *PULS SIGN *SIGN CLR *CLR /BK /COIN /TGON SG-COM /P-CL /N-CL +24VIN /S-ON /P-CON P-OT N-OT /ALMRST SG PAO *PAO PBO *PBO PCO *PCO PSO *PSO BAT BAT0 ALO1 ALO2 AL03 AG-AL ALM ALM-SG FG 5 Connector Case 329 .

SGDA Servopack (3M36P connector) (3M) Connector at Servopack End (36 P) 10136-6000EL Terminal number labels Shell Cable (Black) SSRFPVV-SB 28 x 18P 10336-52A0-008 ( 3.1 A. 10 A. 32 A. 25 A. 45A Use to protect the power lines. 16 A.10 Circuit Breaker 5. Type: MN50-CF Rated Current: 7. 330 . Ltd.033 0 ft ) • Cable with 1CN Connector and One End Loose Wires: Details of Leads Case Shield Twisted Pair 5 5.098 0 ft ) ( 0.13 +0.6.9 Cable With 1CN Connector and One End Without Connector 1) Use a cable with no connector at the host controller end.10 Circuit Breaker Connector Unit 1) The customer should purchase a circuit breaker (MCCB) of appropriate capacity. The loose wires are marked with labels with terminal numbers indicated.6.6. • Recommended Product Ground fault detector for motor protection manufactured by Mitsubishi Electric Co.3 DE9404859 +0.SERVO SELECTION AND DATA SHEETS 5.

71) (8-Φ0.94) (6-Φ0.42) (0.100W(0.77) (1.48) (2. 10 A) (2.59) (1.14) 5 IN Rating Plate (2.13HP).74) (4.83) (3.400W(0. 5 A) (1.18 ) IN Rating Plate (3.53HP) 300W(0.30) • LF-210 (Single-phase 200 VAC Class.04 HP).01HP) Noise Filter Type LF-205A LF-210 LF-220 • Dimensional Diagrams • LF-205A (Single-phase 200 VAC Class.50W(0. Install to eliminate external noise from the power lines.63) (0.27HP)(100V).07HP). Servopack Capacity 30W(0.63) (0.5.57) (1.53) (0.6 Specifications and Dimensional Drawings of Peripheral Devices 5.53) (0.53) (0.200W(0.18) (0.40HP)(100V).27HP) 200W(0.19) (0.750W(1.24) (1.98) (1.13) (4.11 Noise Filter 1) Select the noise filter from the following three types according to the Servopack capacity.97) 331 .6.

20 A) (2.76) (2.30) (1. • Internal Connection Diagram 332 .02) IN Rating Plate (5. regardless of capacity.6.36) 5.12 Magnetic Contactor • LF-220 (Single-phase 200 VAC Class.14) (1.14) (1. (Note)Attach an appropriate surge suppressor to the magnetic contactor. Type: HI-15E5 (30 A) 5 Turns servo ON and OFF.57) (4-∅0.18) (2.12) (5.67) (6.12 Magnetic Contactor 1) Use one 30 A magnetic contactor of the type shown below for a single Σ Series. select the magnetic contactor according to the total capacity.28) (1.6. For multiple servo systems.SERVO SELECTION AND DATA SHEETS 5.

44) (0.20) (3.5 μF  20% Resistance: 50 Ω (1/2 W) 30% (1. Type: CR50500BA (250 VAC) Static Electricity Capacity: 0.00) (2.21) (1.54) min.5.34) 2 x M4 Mounting Holes (1.6 Specifications and Dimensional Drawings of Peripheral Devices • Dimensional Diagram 2 x M4 Mounting Holes M4 Auxiliary Contact Terminals (0.13) Slider Approx.38) (0.33 kg (0.35) 90 (3.73 lb) 5.13 Surge Suppressor 1) Attach a surge suppressor to the magnetic contactor to prevent power supply noise and protect contacts.05) Main Contact Terminals M4 Coil Terminals (0.33) (1.50) (2.48) (0.89) 5 333 . Ltd. (2. Mass: 0.6.48) (2..70) (0. • Recommended Product Spark Killer manufactured by Okaya Electric Industries Co.

6. • Dimensional Drawings (0.59) (6.14 Regenerative Unit 1) JUSP−RG08 type Dimensional drawings of the regenerative unit are shown below.59) (0.24) (0.87) (0.73) 5 2) JUSP−RG08C type JUSP−RG08C type is an exterior type regenerative unit.98) (1.98) M4 External Terminal Screws (0.30) (5.14 Regenerative Unit 5.20) (5.12) Approx.20 lb) (0. When regenerative ability of the built−in resistor is insufficient. install this regenerative unit to enhance the regenerative ability.12) (0. Mass: 1 kg (2.98) (1.24) (0.24) (0.59) (0.20) Approx.24) Hole 6 dia.24) M4 External Terminal Screws (6. (Φ0.12) (5.87) (0. • Dimensional Drawings Nameplate (0.97) (0.30) (5. Mass: 1 kg (2.73) (5.78) Hole 6 dia.97) (0.SERVO SELECTION AND DATA SHEETS 5.59) (0.6.12) 334 .20 lb) (0. (Φ0.24) (5.

5.18) Φ7.04) (0.6. 2 kΩ 25 HP Helicolumn (0.5 (Φ0.04) Φ31¦1) (Φ1.K. Multidial 335 .04) MD (0.94¦0.17W ¢ 6.39) Type 25HP-10B Multi-wrap variable resistor with MD10-30B4 dial. • Dimensional Drawings SGDA Servopack 5 1.04) (1. overvoltage Normally closed contact (open when protective function operates) in mm (inches) 55W¢160H¢130D (2.30) HOLE Φ2.31D) 200 V operation OK Regenerative Resistance: 50 Ω.22¦ 0.6 Specifications and Dimensional Drawings of Peripheral Devices • Regenerative Unit Specifications Type Applicable Servopack Regenerative Working Voltage Regenerative Processing Current Error Detection Function JUSP-RG08 JUSP−RG08C SGDA Servopack 380Vdc 8Adc Regenerative resistance disconnection.45¦0.48¦0.10) HOLE (0. manufactured by Sakae Tsushin Kogyo K.83) Panel (0. Type 25HP-10B.04) (0.30H¢ 5. 60 W Remarks Alarm Output Dimensions 5.15 Variable Resistor for Speed Setting 1) This variable resistor is used to give speed references by applying the speed reference voltage from the external power supply across 1CN pins #3 and #4.04) Panel Drilling Diagram Φ25¦1 (Φ0.57¦0.5(Φ0.8k Ω (1/2 W) min.98¦ 0. regenerative transistor fault.

5 mm dia.0079) 51 max.5 x 7 Seams screws (0.31) Holes 2 x 4.01) 33.75) 81max(3.6.57¦0.19) (5.6. (1.18) (0. (Φ0.94) (0.20) (0.5 max.16 Encoder Signal Converter Unit 5. (2. Line Receiver Unit • Terminal Numbers Input A Phase Input A Phase Input B Phase Input B Phase Input Z Phase Input Z Phase Output A Phase Output B Phase Output Z Phase 5 • Dimensional Drawings 11 − M3.97) (0.39) 118 max.SERVO SELECTION AND DATA SHEETS 5.32) 336 .65) (1.39) (1.16) (0. (4.08) (3.16) (1.15) (3.16 Encoder Signal Converter Unit 1) Unit to convert the encoder signal output from the line driver to an open collector output or voltage pulse output.16) (1.

(30 mA) Withstand voltage: 50 V Receiver Unit LRX-01/A2 LRX-01/A3 LRX-01/A4 5 VDC  10%. (30 mA) 0 to +60°C L: 0. 100 mA Operating Ambient Temperature Range IC Used AM26LS32C Receiver IC. (30 mA) L: 0.5.6 Specifications and Dimensional Drawings of Peripheral Devices 2) The encoder signal converter unit specifications are as follows: Type Spec. or equivalent 5 337 .5 V max.3 V. 100 mA Balanced line driver input (RS-422) Voltage pulse Open collector Voltage pulse Open collector output output output output Voltage differential ≥ 0. internal termination resistance 100 Ω H: 10 V min.5 V max. (30 mA) Withstand voltage: 50 V H: 3 V min. Power Supply Input Signals Output Signals Input Signal Level Output Signal Level LRX-01/A1 12 VDC 10%. (1 mA) L: 0. (1 mA) L: 0.5 V max.5 V max.

2) The communications specifications and connecting-circuit specifications are listed below.6. Rear of PC Servopack 17LE-13090-27 (D2BC) (Made by DDK.SERVO SELECTION AND DATA SHEETS 5.164) 5 M2. PC software is available for these communications. • Baud Rate: 9600 bps 1 bit 7 bits 1 bit 1 bit (even) Start-Stop None None • Number of Bits Start: Data: Stop: Parity: • Synchronization • XON/XOFF Control • Shift Control: 338 .56 ft) or less D-Sub 9-pin (Male) 17JE-23090-02 (D8B) D-Sub 25-pin (Male) or D-sub 9-pin (Male) (Made by DDK. Operate the software as described in the manual supplied.16 ×7) shielded pitch cable Pin Connector 17JE-23090-02 (D1) Note: Fold back the cable shielding at each end of the cable and secure it with clamps.6.56¦0.5 (0.17 Cables for Connecting PC and Servopack 1) Special cables for connecting a PC to a Servopack.) • Dimensional Drawings for Type DE9405258 (for NEC PC) D-Sub connector 25-pin (Male) 17JE-23250-02 (D8A) (6. 0. Ask your Yaskawa representative for details.6 screw Cable (Black) UL2921 Two M3 screws x 9−strand twisted 10 length.) Connection Cable (2 m) (6. Using these cables allows monitoring and setting of user constants with a PC.17 Cables for Connecting PC and Servopack 5.

6 Specifications and Dimensional Drawings of Peripheral Devices • Communications Method: Servopack End (3CN) Semi-duplex RS-232C Port (Personal Computer End) Shield Case Note: Maximum cable length is 2 m (6. 339 . • Transmission System: RS-422A Servopack End (3CN) RS-422A Port (Personal Computer End) Shield Case 5 • Terminal Arrangement at Servopack End Pin # 1 2 3 4 5 6 7 8 9 Signal Name TXD *TXD RXD *RXD OPH *RXD RT 5VPP GND Signal Circuit Name Transmit data (not inverted) Transmit data (inverted) Receive data (not inverted) Receive data (inverted) Signal Direction P←S P←S P→S P→S # Shorting pins 6 and 7 inserts 220 Ω termination resistance gp between RXD and *RXD b d *RXD. leave open.56 ft).5. In this case. 3) Connection is also possible to the RS-422A port. the connection circuit is as follows: • Transmission Distance: 30 m (98.4 ft) max. # Signal ground 0 V P: Personal computer S: Servopack #: Terminal not used.

16 ×7) shielded cable 2−M3 Screw Pitch 0. • Dimensional Drawings D−sub Connector 17JE−13090−02(D8A) 2−M2.5 (0.5 Pin Connector 17JE−23090−02(D1) Note: Fold back the cable shielding at each end of the cable and secure it with clamp.6 Screw Pitch 0.6.45 Cable (Black) 2−M3 Screw UL2921 9−strand twisted Pitch 0.16 ×7) shielded cable Pin Connector 17JE−23090−02(D1) Note: Fold back the cable shielding at each end of the cable and secure it with clamp.17 Cables for Connecting PC and Servopack cont. 340 . • Connection Personal Computer End (D−sub 9−pin) Clamp with Hood Servopack End (D−sub 9−pin) Clamp with Hood 5 5) Cable for connecting Servopack and NEC PC−98 half−pithc connector Use Yaskawa DE9408564 type cable.SERVO SELECTION AND DATA SHEETS 5. 4) Cable for connecting Servopack and IBM PC (IBM compatible PC) Use Yaskawa DE9408565 type cable. • Dimensional Drawings Plug: 10114EL Shell:10314−3210−000 (Made by 3M) Cable (Black) UL2921 9−strand twisted (0.

6 Specifications and Dimensional Drawings of Peripheral Devices • Connection Personal Computer End Clamp with Hood Servopack End (3CN) Clamp with Hood 5 341 .5.

. . . . . troubleshooting procedures are described for problems which cause an alarm display and for problems which result in no alarm display. . . . .1 Troubleshooting Problems with Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . AND TROUBLESHOOTING 6 344 347 This chapter describes the basic inspections and maintenance to be carried out by the customer. 368 6 343 . . . . 346 6. . . . . . . . . . .1. . . . .2. . . . . .2 Troubleshooting .2 Servopack .INSPECTION. . . . . . .1.2. . . . . . .1 Inspection and Maintenance . . . . . . . . . . . . . . . 6. . 345 6. . 366 6. . . . . . . . . . . .3 Internal Connection Diagram and Instrument Connection Examples . . . . . . . . . . 6. . . . . . In addition. . . . . . . 344 6.1. . .3 Replacing Battery for Absolute Encoder .2 Troubleshooting Problems With No Alarm Display . . . . . 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 6. . .1 Servomotor . . .2. . MAINTENANCE. .

. . . . . . . . . . . . Comments Levels higher than normal? Insulation resistance measurement Replace oil seal Overhaul Disconnect Servopack and test insulation resistance at 500 V. . . .1. . . . . . daily inspection is sufficient.1. . contact your Yaskawa representative. (See note below) Every 5. . . . . Must exceed 10 MΩ. . . . . . . . . . . . . . . . . . . . . During inspection and maintenance. Contact your Yaskawa representative if the insulation resistance is below 10 MΩ. . . . . . . The inspection and maintenance frequencies in the table are only guidelines. . . . . . . . . The AC servomotors are brushless. . . . . . The customer should not disassemble and clean the servomotor.1 Inspection and Maintenance This section describes the basic inspections and maintenance for Σ-Series servo drives. . Applies only to motors with oil seal. . . . . Every 20. . .000 Contact your Yaskawa hours or 5 years representative. . .1. 6. . . Simple.INSPECTION. . 6 Item Vibration and noise Appearance Frequency Daily According to degree of contamination Yearly Procedure Touch and listen. .1. Replacing Battery for Absolute Encoder . . . .1 Servomotor For inspection and maintenance of servomotors. . . . . . or W-phase (blue) power lead. MAINTENANCE AND TROUBLESHOOTING 6. . .2 6.1 6. . . . Servopack . 344 . . . . daily inspection procedures in the table below. . . . . If disassembly of the servomotor is required. . . . . . . do not disassemble the servomotor. . .1. Clean with cloth or compressed air. follow the simple. . . . . . .1 Servomotor 6. . . . Note Measure across the servomotor FG (green/yellow) and the U-phase (red). . .3 Servomotor . . . . . . . . . . Increase or decrease the frequency to suit the operating conditions and environment. .000 Remove servomotor from hours machine and replace oil seal. . . 344 345 346 6. . Vphase (white). . . .

Contact your Yaskawa representative. Check for discoloration. The Servopack contains highly reliable parts and daily inspection is not required. dirt. Replace with new part. damage or discontinuities due to heating. To avoid failure. Part Replacement Schedule The following parts are subject to mechanical wear or deterioration over time. replace these parts at the frequency indicated. Check for loose terminal block and connector screws. Carry out the inspections and maintenance in the table below once every year. Test. Tighten any loose screws.6.1 Inspection and Maintenance 6. Frequency Yearly Yearly Yearly Procedure Check for dust. follow the inspection procedures in the table below at least once every year.1. Item Clean unit interior and circuit boards Loose screws Defective parts in unit or on circuit boards. Remedy Clean with compressed air. 6 Note Operating Conditions: • Ambient Temperature: annual average 30°C • Load Factor: 80% max. Part Smoothing Capacitor Relays Fuse Standard Replacement Period 7 to 8 years --10 years Replacement Method Test.2 Servopack For inspection and maintenance of the Servopack. Replace with new part if necessary. 345 . • Operation Rate: 20 hours/day max. Replace if necessary. and oil on the surfaces.

INSPECTION. the absolute encoder will function normally for up to 2 days with no battery. The absolute encoder capacitors are charged. MAINTENANCE AND TROUBLESHOOTING 6. Replace the battery according to the following procedure if the battery voltage drops to the minimum required battery voltage. 3. The battery type recommended below (purchased by the customer) is installed in the host controller to allow the absolute encoder to store position data when the power is turned OFF.1. 2) Replace the battery in the host controller. manufactured by Toshiba Battery Co. Therefore. 2000 mAh Estimated Life: Approximately 10 years Servomotor 12-bit absolute encoder Host Controller +5 V 0V Battery Servopack 0V 0V 6 The battery voltage is not internally monitored in the Servopack.3 Replacing Battery for Absolute Encoder Battery replacement is only required for servo systems using an absolute encoder. Recommended Battery: • Lithium Battery ER 6 V C3.. The battery maintains absolute position data stored in the encoder. 346 . Battery Replacement Procedure: 1) Turn ON the Servopack and wait at least 3 minutes. The Servopack power supply can be ON or OFF during battery replacement. Ltd.8 V. detect low battery voltage at the host controller.6 V.1. Minimum required battery voltage is 2.3 Replacing Battery for Absolute Encoder 6. Note After completing step 1 above.

. . . 1. . Internal Connection Diagram and Instrument Connection Examples . E. . 347 . .1 6. 6. . . B.2 6. . . . .2 Troubleshooting 6. Alarm Display and Troubleshooting Table Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. . D. .3 Troubleshooting Problems with Alarm Display . .2 Troubleshooting This section describes causes and remedies for problems which cause an alarm display and for problems which result in no alarm display. C. . . . F B. . . . . Note that A.6. 347 366 368 6. . . .00 Absolute data error 6 OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON At SEN signal input A. C. F Speed control Cn-01 Bit 1 = 1 A. F Speed control Cn-01 Bit 1 = 0 F B. . Contact your Yaskawa representative if the problem cannot be solved by the described procedures. E.2.1 Troubleshooting Problems with Alarm Display Refer to the tables below to identify the cause of a problem which causes an alarm display and take the remedy described. . . . . Troubleshooting Problems With No Alarm Display . . .2. . D. .2. .2. . D. . . . Position control A. .99 does not indicate an alarm. . E. . . . C.

Replace Servopack. Incorrect absolute encoder wiring (PA. • For speed control (Cn-01 Bit 1 = 0).1 Troubleshooting Problems with Alarm Display cont. MAINTENANCE AND TROUBLESHOOTING 6. C D Incorrect user constant setting. Cause A B Power turned OFF during parameter write. turn Servopack power OFF and back ON.) Absolute encoder malfunctioned Remedy Use the Servopack power supply for the absolute encoder. turning it OFF and then back ON) for any reason. Check and correct the absolute encoder wiring.. Alarm occurred next power ON. SEN signal (for speed control).02 User constants breakdown OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON A. Replace Servopack. Circuit board (1PWB) defective 348 . It is not reset by the normal alarm reset.2. Incremental encoder used with Cn-01 Bit E set to 1. turn SEN signal OFF and back ON. ON NOTE SEN signal 15 ms min. Resetting SEN Signal When resetting the SEN signal (i. Absolute encoder defective Circuit board (1PWB) defective Set Cn-01 Bit E to 0. (See note) • For speed control (Cn-01 Bit 1 = 1) or position control.INSPECTION.00 is reset when the power is turned OFF and back ON. RESET. Display and Outputs 6 Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A.e. keep the SEN signal at the high level for more than 1. E F Replace servomotor. PB.3 s min. OFF ON = High Level OFF 1. Cause A B Absolute encoder power not supplied from Servopack. etc. Note Alarm A.3 s before turning it OFF. B Remedy Replace Servopack.

B Remedy Reset all user constants in range. Circuit board (1PWB) defective Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 ON Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. re-load correct user constants. E At power ON D 349 . Replace Servopack. C.2 Troubleshooting Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. D. E When servo ON (S-ON) signal turned ON D.6. Otherwise.10 Overcurrent OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred During servomotor operation 6 A. B. Cause A B An out-of-range user constant was previously set or loaded.04 User constant setting error OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON A.

C D E Servomotor U. Replace Servopack.INSPECTION. • Circuit board (1PWB) defective • Power transistor defective Current feedback circuit. Servopack ambient temperature exceeds 55°C Remedy Check and correct wiring.31 Position error pulse overflow (position control only) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred During servomotor operation At power ON 6 F Overflow during high-speed operation No feedback pulse returned after reference pulse input. Cause A B Wiring grounded between Servopack and servomotor.1 Troubleshooting Problems with Alarm Display cont. MAINTENANCE AND TROUBLESHOOTING 6. or W phase grounded. F C. A B. or circuit board defective. power transistor. Bring Servopack ambient temperature to 55°C Note Alarm cannot be reset while power transistor module temperature exceeds 90°C.2. V. E 350 . D. Replace servomotor. DB relay. Normal operation but overflow when large reference input. Replace Servopack. Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 ON Alarm Code Output ALO2 ALO3 ON OFF Alarm Output p OFF A.

N terminals in parallel. 351 . Reduce motor speed.) Servopack adjustment incorrect Servomotor overloaded Position reference pulse frequency too high Circuit board (1PWB) defective. Replace Servopack. C-phase pulses correct at 2CN ) C h l 2CN. shortcircuit. • Decrease reference pulse frequency. • Change electronic gear ratio.2 Troubleshooting Cause A B C D E Servomotor wiring incorrect. • Use regenerative unit. Otherwise. (Check A-. replace with larger capacity servomotor.6. g ( . B-. Reduce load torque and inertia. D During normal operation Cause A Load inertia high and motor speed too high Remedy • Change operating conditions. C.) Increase speed loop gain (Cn-04) and/or position loop gain (Cn-1A). Change input voltage to normal value. F Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 OFF ON Alarm Output p ALO3 OFF A. power supply. Replace Servopack. B C D E F Load exceeds capacity of regenerative unit Servomotor speed too high Servopack defective Input voltage too high Circuit board (1PWB) defective. Change operating conditions. . • If multiple units are used. etc. Encoder wiring incorrect (disconnection.40 Overvoltage OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred During servomotor operation At power ON E. Remedy Check and correct wiring. connect all P. D B. Replace Servopack. • Use smoothing function. F 6 During motor deceleration A.

Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 ON Alarm Code Output ALO2 OFF ON Alarm Output p ALO3 OFF A.) Incremental encoder power not supplied from Servopack.1 Troubleshooting Problems with Alarm Display cont. B-. D. B. Remedy Check and correct wiring. E Cause A • Servomotor wiring incorrect. C. • Encoder wiring incorrect (disconnection. Use the Servopack power supply for the encoder. B 6 C D E 352 . C-phase pulses correct at 2CN.51 Overspeed OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred When servo ON (S-ON) signal turned ON A. D. Separate encoder wiring from main wiring circuits. Circuit board (1PWB) defective Replace Servopack. Noise in encoder wiring. speed A. E At power ON E During high-speed servomotor rotation after reference input Alarm detected at 110% max. MAINTENANCE AND TROUBLESHOOTING 6.2. number of pulses. B.INSPECTION. etc. Incorrect user constant (number of encoder Set user constant Cn-11 to the correct pulses) setting. (Check A-.) shortcircuit. power supply. C.

replace with larger capacity servomotor. B. Use the Servopack power supply for the encoder. During normal operation A B C D E Servomotor wiring incorrect or disconnected Encoder wiring incorrect or disconnected Load greatly exceeds rated torque Incremental encoder power not supplied from Servopack. Reduce load torque and inertia. D At power ON E When speed reference input No servomotor rotation B.70 Overload OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred When servo ON (S-ON) signal turned ON A. Replace Servopack.2 Troubleshooting Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 ON Alarm Code Output ALO2 ON ON Alarm Output p ALO3 OFF A. Check wiring and connectors at encoder. Otherwise. E Cause Remedy Check wiring and connectors at servomotor.6. C. D D. Circuit board (1PWB) defective 6 353 .

) Absolute encoder malfunctioned B C D Circuit board (1PWB) defective Error occurred in absolute encoder. first turn servo OFF). C Speed control Cn-01 Bit 1 = 1 Position control A. Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. Replace Servopack. RESET. B. PB. • For speed control (Cn-01 Bit 1 = 1) or position control. B. • For speed control (Cn-01 Bit 1 = 1) or position control. SEN signal (for speed control). MAINTENANCE AND TROUBLESHOOTING 6. 354 . • Separate encoder wiring from main wiring circuits. etc. turn SEN signal OFF and back ON (if servomotor is rotating.INSPECTION. E Servopack miscounted pulses (positional displacement) or malfunctioned due to noise. turn SEN signal OFF and back ON (if servomotor is rotating.2. turn Servopack power OFF and back ON. first turn servo OFF). turn SEN signal OFF and back ON. • For speed control (Cn-01 Bit 1 = 0). Another encoder alarm displayed when SEN signal or power supply turned back ON. D For speed control (Cn-01 Bit 1 = 0). B. turn Servopack power OFF and back ON.80 Absolute encoder error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON During servomotor operation A. D For speed control (Cn-01 Bit 1 = 1) or position control. D. C Cause Remedy Check and correct the absolute encoder wiring. A 6 Incorrect absolute encoder wiring (PA. • For speed control (Cn-01 Bit 1 = 0). E Speed control Cn-01 Bit 1 = 0 C A. turn Servopack power OFF and back ON.1 Troubleshooting Problems with Alarm Display cont.

C Cause Remedy Follow absolute encoder set-up procedures. 355 . A The following power supplied to the absolute encoder all failed: • +5 V supply • Battery (ER6V C3) • Internal capacitor Circuit board (1PWB) defective Absolute encoder malfunctioned 6 B C Replace Servopack. Replace servomotor.2 Troubleshooting Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. C Speed control Cn-01 Bit 1 = 1 Position control A.81 Absolute encoder back-up error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When SEN signal turned ON Cn-01 Bit 1 = 0 A.6. C Speed control Cn-01 Bit 1 = 0 B A.

82) does occur during operation if the host controller is receiving the S-phase signal (serial data). Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. 6 A Abnormality during absolute encoder memory check B Circuit board (1PWB) defective Note An absolute encoder error (A.1 Troubleshooting Problems with Alarm Display cont. Cn-01 Bit 1 = 0 A Speed control Cn-01 Bit 1 = 0 B A. B Cause Remedy • Follow absolute encoder set-up procedures.82) occurs after turning the SEN signal (or Servopack power supply) OFF and back ON. the sum-check error (A. The sum-check error (A.INSPECTION. B During operation (see note) A Speed control Cn-01 Bit 1 = 1 Position control A.80) is given initially if a sum-check error (A. • Replace servomotor if error occurs frequently. Replace Servopack. MAINTENANCE AND TROUBLESHOOTING 6.2. 356 . However.82 Absolute encoder sum-check error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When SEN signal turned ON.82) is generated during operation.

Specified value: 2.83) can be read during operation if the host controller is receiving the S-phase signal (serial data). However.2 Troubleshooting Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. Circuit board (1PWB) defective 6 Note No alarm occurs at the Servopack when a battery error (A. the battery error (A.83 Absolute encoder sum-check error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When SEN signal turned ON.83) is generated. B Cause Remedy Check and correct battery connection.6.83) occurs the next time the SEN signal (or Servopack) turns ON. Install new battery and turn SEN signal (or Servopack) ON.8 V. B Speed control Cn-01 Bit 1 = 0 C A. A B C • Battery not connected • Battery connection defective Battery voltage below specified value. B During operation (see note) A. 357 . B Speed control Cn-01 Bit 1 = 1 Position control A. Cn-01 Bit 1 = 0 A. The battery error (A. Replace Servopack.

turn SEN signal OFF and back ON. • Replace servomotor if error occurs frequently.2. MAINTENANCE AND TROUBLESHOOTING 6.1 Troubleshooting Problems with Alarm Display cont. The data error (A.84) can be read during operation if the host controller is receiving the S-phase signal (serial data). Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. the data error (A. 358 . 6 A Absolute encoder malfunctioned B Circuit board (1PWB) defective Note No alarm occurs at the Servopack when a data error (A.84 Absolute encoder data error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When SEN signal turned ON. • For speed control (Cn-01 Bit 1 = 1) or position control.INSPECTION.84) is generated. However. Replace Servopack. turn Servopack power OFF and back ON. Cn-01 Bit 1 = 0 A Speed control Cn-01 Bit 1 = 0 B A During operation (see note) A Speed control Cn-01 Bit 1 = 1 Position control A Cause Remedy • For speed control (Cn-01 Bit 1 = 0).84) occurs the next time the SEN signal (or Servopack) turns ON.

6.85 Absolute encoder overspeed (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When SEN signal turned ON. Replace Servopack. Circuit board (1PWB) defective 6 B 359 . Cn-01 Bit 1 = 0 A Speed control Cn-01 Bit 1 = 0 B A Speed control Cn-01 Bit 1 = 1 Position control A Cause Remedy Turn ON encoder power supply (or SEN signal or Servopack power supply) at a speed not exceeding 400 r/min. A Absolute encoder turned ON at a speed exceeding 400 r/min.2 Troubleshooting Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A.

C. Circuit board (1PWB) defective Replace Servopack. D. C. B. Part defective in reference read-in unit Replace Servopack. C. B.b1 Reference input read error (for speed/torque control only) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred During servomotor operation A. D. E User constant Cn-01 Bit 0 = 0 E On speed reference input A. E 360 .INSPECTION.C1 Servo overrun OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When servo ON (S-ON) signal turned ON A.2.). (A/D converter. B Cause At power ON C Remedy A B C Part malfunctioned in reference read-in unit Reset alarm and restart operation. B. Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p OFF A. E Occurred 1 to 3 seconds after power ON User constant Cn-01 Bit 0 = 1 A. etc. D.1 Troubleshooting Problems with Alarm Display cont. etc. MAINTENANCE AND TROUBLESHOOTING 6.). Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 ON Alarm Code Output ALO2 OFF ON Alarm Output p ALO3 OFF 6 A. (A/D converter.

6. Check wiring and connectors at encoder. 6 A B C D Noise in encoder wiring. Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 ON Alarm Code Output ALO2 OFF ON Alarm Output p ALO3 OFF A. C.2 Troubleshooting Cause A B C D E Servomotor wiring incorrect or disconnected Encoder wiring incorrect or disconnected Incremental encoder power not supplied from Servopack. Encoder defective Circuit board (1PWB) defective Remedy Check wiring and connectors at servomotor. Replace Servopack. Check wiring and connectors at encoder.C2 Encoder phase detection error OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON D During servomotor operation A. C. B. B. D Occurred 1 to 3 seconds after power ON A. Use the Servopack power supply for the encoder. Replace servomotor. Encoder wiring incorrect or poor connection Encoder defective Circuit board (1PWB) defective 361 . Replace servomotor. D Cause Remedy Separate encoder wiring from main wiring circuits. Replace Servopack.

C. MAINTENANCE AND TROUBLESHOOTING 6. C. B-phase discontinuity OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When servo ON (S-ON) signal turned ON A.2. D Occurred 1 to 3 seconds after power ON User constant Cn-01 Bit 0 = 1 A. D User constant Cn-01 Bit 0 = 0 D During servomotor operation A. B. B. 6 A B C D Encoder wiring incorrect or poor connection Noise in encoder wiring. Replace Servopack. Replace servomotor. B. C Cause Remedy Check wiring and connectors at encoder.INSPECTION.1 Troubleshooting Problems with Alarm Display cont. Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 ON Alarm Code Output ALO2 OFF ON Alarm Output p ALO3 OFF A. Encoder defective Circuit board (1PWB) defective 362 . Separate encoder wiring from main wiring circuits.C3 Encoder A-.

Separate encoder wiring from main wiring circuits.2 Troubleshooting Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 ON Alarm Code Output ALO2 OFF ON Alarm Output p ALO3 OFF A. D Cause Remedy Check wiring and connectors at encoder. A B C D Encoder wiring incorrect or poor connection Noise in encoder wiring. C.6. D User constant Cn-01 Bit 0 = 0 C During servomotor operation A. Encoder defective Circuit board (1PWB) defective 6 363 . B. B. Replace Servopack. B. C. C.C4 Encoder C-phase discontinuity OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When servo ON (S-ON) signal turned ON A. Replace servomotor. D Occurred 1 to 3 seconds after power ON User constant Cn-01 Bit 0 = 1 A.

A. conditions are met during motor operation: Terms • Complete power failure : half cycle of sup. B. C. 364 . MAINTENANCE AND TROUBLESHOOTING 6.F3 Power loss error OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON A Cause During servomotor operation B Remedy A B Time between turning power OFF and back After turning power OFF.1 Troubleshooting Problems with Alarm Display cont. A. Replace digital operator.• Complete power failure=Power failure ply frequency where voltage drops to zero. Replace Servopack. B. C. according to type) before turning the power back ON. Digital operator connected before Servopack power turned ON. D Cause Digital operator connected to Servopack while power turned ON. D Remedy A B C D Cable defective or poor contact between digital operator and Servopack. Separate digital operator and cable from noise source. Status When Alarm Occurred At power ON. time. Display and Outputs 6 Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 Not specified Alarm Code Output ALO2 Alarm Output p ALO3 CPF00 Digital operator transmission error 1 Note This alarm is not stored in alarm trace-back function memory.2. Malfunction due to external noise Digital operator defective Servopack defective • Check connector connections. If any of the following power supply Check the power supply. • Replace cable. but not to zero. • Voltage drop: full cycle of supply frequency • Voltage drop=Power failure where voltage Note Because of detector lag and detector margin. Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 ON OFF Alarm Output p OFF A.INSPECTION. power loss of 30 to 55 ms does not cause an alarm. drops. wait more than ON was shorter than the power holding the power holding time (6 to 15 s.

Not an alarm. C.99 OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred Indicates normal operation.6. Replace Servopack. Replace digital operator. 365 . Cause A B C D Cable defective or poor contact between digital operator and Servopack. Status When Alarm Occurred During operation A. • Replace cable. Separate digital operator and cable from noise source. B. Malfunction due to external noise Digital operator defective Servopack defective Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 OFF Alarm Code Output ALO2 ALO3 OFF OFF Alarm Output p ON 6 A.2 Troubleshooting Display and Outputs Digital Operator g p Display d Di l and Alarm Name Alarm Output ALO1 Not specified Alarm Code Output ALO2 Alarm Output p ALO3 CPF01 Digital operator transmission error 2 Note This alarm is not stored in alarm trace-back function memory. D Remedy • Check connector connections.

Troubleshooting Table No Alarm Display Symptom Servomotor does not start Cause Power not connected Loose connection Connector (1CN) external wiring incorrect Servomotor or encoder wiring disconnected. Refer to Subsection 3. Check user constants Cn-01 Bits A. 2CN).2. Reconnect wiring Reduce load or replace with larger capacity servomotor. Encoder type differs from user constant setting. Turn SEN input ON. Overloaded Speed/position references not input S-ON is turned OFF P-CON input function setting incorrect Reference pulse mode selection incorrect. 3 are 0) Check status of error counter clear input. Correctly input speed/position references. Turn alarm reset signal (ALM-RST) from ON to OFF. Run under no load.8 and correct wiring. Check terminals of connectors (1CN. CLR input is turned ON SEN input is turned OFF. MAINTENANCE AND TROUBLESHOOTING 6. Turn OFF the servo system power supply before commencing the shaded procedures. then stops Number of encoder pulses differs from user constant setting. Check connector (1CN) external wiring Remedy Correct the power circuit. Check input pins # 1 to 4 of connector 1CN. Set the user constant (Cn-11) to match the number of encoder pulses. Select correct user constants Cn-02 Bits 3. Turn S-ON input ON.8. Cn-01 Bit 0 is 0. Servomotor moves instantaneously. Tighten any loose parts. 5. Alarm reset signal (ALM-RST) is turned ON because an alarm occurred. B.INSPECTION.2. Wiring connection to motor defective Check connection of power lead (U.2. Refer to Subsection 3. P-OT and N-OT inputs are turned OFF.2 Troubleshooting Problems With No Alarm Display Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described. Refer to Subsection 3. Servomotor or encoder wiring incorrect. and W phase) and encoder connectors. Inspection Check voltage across R and T. Refer to connection diagram and correct wiring. Set user constants Cn-01 Bit E to the encoder type used. Tighten any loose terminals or connectors. Remove cause of alarm. V.2. Turn CLR input OFF. 4. Contact your Yaskawa representative if the problem cannot be solved by the described procedures.2 Troubleshooting Problems With No Alarm Display 6. 2048 pulses/revolution or 1024 pulses/revolution 6 Suddenly stops during operation and will not restart Servomotor speed unstable 366 .1 and set user constants to match application. Absolute encoder used with Cn-01 Bit 1 set to 0. Incremental or absolute encoder? (If Cn-01 Bits 2.2. Turn P-OT and N-OT input signals ON.

2 Troubleshooting Symptom Servomotor vibrates at approximately 200 to app o ate y 00 400 Hz. --- Reduce ambient temperature to 40°C max. Consult your Yaskawa representative if defective.2. Tighten mounting screws.4 and 4. Center coupling. Ambient temperature too high Servomotor surface dirty Overloaded Abnormal noise Mechanical mounting incorrect co ect Measure servomotor ambient temperature. damage or deformation of sliding parts of machine.6. Visual check Run under no load. Bearing defective Machine causing vibrations Speed reference 0 V but servomotor rotates. Inspection Remedy Reduce speed loop gain (Cn-04) preset value. Speed/position reference input lead is bundled with power cables. Balance coupling.2. Speed/position reference input lead too long. Reduce speed loop gain (Cn-04) preset value. Servomotor mounting screws loose? Coupling not centered? Coupling unbalanced? Check noise and vibration near bearing. Reduce load or replace with larger capacity servomotor. Minimize length of speed/position reference input lead.5 and adjust reference offset. with impedance not exceeding several hundred ohms Separate reference input lead at least 30 cm from power cables. Servomotor overheated Speed loop gain value too high. Consult with machine manufacturer. Refer to Subsections 4. Foreign object intrusion. High rotation speed overshoot on starting and stopping. Clean dust and oil from motor surface. Speed reference voltage offset applied 6 367 . Cause Speed loop gain value too high.

2.INSPECTION. MAINTENANCE AND TROUBLESHOOTING 6.2. 50/60 Hz 50/60 Hz Current Detector Servomotor Red White Blue Green or single-phase 100 to 115 VAC Noise Filter DB Circuit Fault Detection Isolator PWM Generator Circuit Power Supply Control Circuit Relay Current Detection Encoder +5V -5V Main Main Circuit Circuit OFF ON PG5V Surge For I/O Signals Current Reference Position Control Suppressor Control Power Supply Alarm Display For Digital Operator For Position Control Only 6 Current Control Speed Control Speed Calculation 368 . 1) Internal Connection Diagram (for speed/torque control and position control) Single-phase 200 to 230 VAC + 10 –15 %.3 Internal Connection Diagram and Instrument Connection Examples 6.3 Internal Connection Diagram and Instrument Connection Examples The SGDA Servopack internal connection diagram and instrument connection examples are given below. Refer to these diagrams during inspection and maintenance. + 10 –15 %.

) Encoder Servo ON P Control Reverse Drive Disabled Forward Drive Disabled Correctly terminate end of shielded cable. Alarm Reset Reverse Current Control ON Forward Current Control ON 6 Photocoupler Output Maximum operational voltage: 30 VDC Maximum operational current: 50 mA 5Ry OFF for Servo Alarm 4Ry OFF for External Motor Brake ON OK Servo Alarm Brake Interlock Speed concidence Turned ON when the motor zero-speed level (set in the parameter) is exceeded 8Ry ON for Speed Match ON. Power Supply ON OFF Servo Alarm Display For Power Supply Switching Attach surge suppressor to magnetic contactor and relays. 369 .6. 3: I/O power supply must be prepared by customers. Servopack (SGDA-jjjS) Servomotor SEN Signal Input Speed Reference Input Rated Speed / ±2 V to ±10 V Torque Reference Input Rated Torque / ±2 V to ±10 V Servo ON for 1Ry ON P Control for 2Ry ON Reverse Drive Disabled for N-LS OPEN Forward Drive Disabled for P-LS OPEN Alarm Reset for 3Ry ON Reverse Current Control ON for 6Ry ON Forward Current Control ON for 7Ry is ON Must be grounded Class 3 grounding (100 Ω max.2 Troubleshooting SGDA-jjjS Speed/Torque 2) Instrument Connection Examples − Speed/Torque Control Single-phase 200 to 230 VAC + 10 –15 % 50/60 Hz For 100 V Application Single-phase 100 to 115 VAC + 10 –15 % 50/60 Hz Noise Filter Noise filter eliminates external noise. 2: Signal input line ↕P represents twisted pair wires. 9Ry ON for TGON PG Output Line Driver Phase A Phase B Phase C Phase S Line Driver SN75ALS194NS (manufactured by T-I) For Absolute Encoder Alarm Code Output Note 1: The capacity of each output circuit is below 30 VDC and 50 mA.

2.INSPECTION. 450 kpps) Error Counter Clear Signal (Active High) Must be grounded Class 3 grounding (100 Ω max.3 Internal Connection Diagram and Instrument Connection Examples cont. Motor Reference Pulse (max. SGDA-jjj P Positions 3) Instrument Connection Examples − Position Control Single-phase 200 to 230 VAC + 10 –15 % 50/60 Hz For 100 V Application Single-phase 100 to 115 VAC + 10 –15 % 50/60 Hz Noise Filter Noise filter eliminates external noise. 2: Signal input line ↕P represents twisted pair wires. 3: I/O power supply must be prepared by customers.) Encoder Servo ON for 1Ry ON Reverse Drive Disabled for N-LS OPEN Forward Drive Disabled for P-LS OPEN Alarm Reset for 3Ry ON Reverse Current Control ON for 8 Ry ON Forward Current Control ON for 7 Ry ON Servo ON Reverse Drive Disabled Forward Drive Disabled Correctly terminate end of shielded cable. MAINTENANCE AND TROUBLESHOOTING 6. Power Supply ON OFF Servopack (SGDA-jjjP) Servo Alarm Display For Power Supply Switching Attach surge suppressor to magnetic contactor and relays. 370 . Alarm Reset Reverse Current Control ON Forward Current Control ON P Control P-Control for 2Ry ON 2 5Ry P-CON 15 6 5Ry OFF for Servo Alarm 4Ry OFF for Holding Brake ON OK 8Ry ON for positioning complete 9Ry ON for TGON Servo Alarm Brake Interlock Positioning Complete TGON Phase A Turned ON when the motor zero-speed level (set in Cn-0B) is exceeded Photocoupler Output Maximum operational voltage: 30 VDC Maximum operational current: 50 mA PG Output Line Driver Phase B Phase C Phase S Line Driver SN75ALS194NS (manufactured by T-I) For Absolute Encoder Alarm Code Output Note 1: The capacity of each output circuit is below 30 VDC and 50 mA.

Therefore. as described on the following pages. 371 .Appendix A A Differences Between SGDA and SGD Servopacks The SGDA Servopack external dimensions. the customer can replace an existing SGD Servopack to obtain the enhanced performance and functions of the SGDA Servopack. and peripheral devices are all identical to the SGD Servopack. connectors. connector cables. without changing wiring or installed dimensions.

SGDA Servopack 150 Hz No 3-stage settings User constant setting/editing SGD Servopack A Serial Communications Features Multi-axis Communications 100 V. No No None Possible Not possible Yes Switch the P-CON signal with the user constant settings. Possible (Monitor mode Un-09) No Not possible Note 1) Material is being prepared on speed loop servo gain compensation. 1:1 communications when axis address is set. Item Speed Loop Frequency Characteristics Servo Gain Compensation (See note 1) Auto Tuning 250 Hz Yes 7-stage settings User constant setting/editing Reference to all monitored values Auto-tuning Alarm trace-back confirmation Yes (However. i lt l Settings identical for forward and reverse. No Servopack change required. Select according to output form of the customer’s controller (line driver or open collector). SGMP-compatible Servopack Types SGMPcompatible S: Speed control P: Position control Capacity (03 available in 100 V only) Torque Feed Forward (See note 2) Yes Torque Restriction with Analog Yes References (See note 2) Reference Pulse Input Unit Filter Selection (See note 3) External Reference Receive During Contact Input Speed Control Reference Pulse Inhibit Reference Pulse Value Display (See note 3) Yes Torque feed forward and torque restriction with analog references cannot be used g simultaneously. Servopack must be changed to use SGMP servomotor. 2) Speed control type only. 750 W version) Both SGM and SGMP servomotors Either servomotor type can be used by changing user constant (memory switch) setting. 372 .) Yes (External dimensions identical to 200 V. 3) Position control type only. 300 W Version Applicable Servomotors No No SGM servomotors.DIFFERENCES BETWEEN SGDA AND SGD SERVOPACKS Comparison of the SGDA Servopack with the SGD Servopack shows the following improvements in performance and functions.

376 B. . . .3 Adjusting a Position-control Servopack . 380 B. . . . . . . . . . . .3.2. . . . describes various adjustment techniques. . . . . . . . . 381 B. .4. . . . . 374 B. and gives some preset values as guidelines. . . B. . . . . 377 B. . . . . . . . . . . . . . . . . . . 376 B. . . . . .1. . .4 Gain Setting References .2. .3. . . . . B. . . . 375 B. . . . . . .Appendix B B 374 Servo Adjustment This appendix presents the basic rules for Σ-Series AC Servopack gain adjustment. . .1 Σ-Series AC Servopacks and Gain Adjustment Methods . . . . . . . . . . . . .2 Manual Adjustment . . . . . . . .2 Adjusting a Speed-control Servopack . . . . . . . 385 B. .1 Adjusting Using Auto-tuning . . . . . . . . . . . . .1 Adjusting Using Auto-tuning . . . . . . . . .1 Σ-Series AC Servopack Gain Adjustment . . . . . . . . . .1 Guidelines for Gain Settings According to Load Inertia Ratio 385 373 . . . . . . . .2 Manual Adjustment . . . . . . . . . . . . . . . . . . . . .1. 380 B. . . . .2 Basic Rules for Gain Adjustment . . . .

SGDB. The DR1 Servopack does not offer auto-tuning. the same adjustment can be achieved using Cn-03 (Speed Reference Gain). .1 Σ-Series AC Servopacks and Gain Adjustment Methods 1) Five types of Σ-Series AC Servopack are available: SGD. . DR2. and the current SGDA. . . . 2) The main user constants changed by the customer to adjust the servo system include the following: • Cn-04 (Speed Loop Gain) • Cn-05 (Speed Loop Integration Time Constant) • Cn-17 (Torque Reference Filter Time Constant) • Cn-1A (Position Loop Gain) In a speed-control Servopack (where speed references are applied as analog voltages). . . . .1. . but the servomotor may not reach maximum speed for some preset values of this user constant. The SGDA. so the position loop gain is normally adjusted at the host controller. . . . If adjustment is not possible at the host controller. . . . A simple block diagram of the servo system is shown below. DR1. .1 B. .1. . . .1. . . SGDB and DR2 Servopacks allow both manual adjustment by the conventional method of observing the machine response and automatic adjustment using the internal auto-tuning function. .2 Σ-Series AC Servopacks and Gain Adjustment Methods . 374 375 B. . . Servo System Block Diagram Speed Speed Pattern B Pulse Train Position-control Servopack Analog Voltage Error Counter (D/A Converter) Speed-control Servopack Motor Speed Control Section Current Control Section Power Converter Time Position Control Loop Using Speed-control Servopack Host Controller (supplied by customer) Servopack Speed Control Loop Encoder Servopack Using Position-control Servopack Host Controller (supplied by customer) Kp: Position Loop Gain Kv: Speed Loop Gain Ti: Integration Time Constant Note: A position-control Servopack has no D/A converter for speed reference output. SGD. .1 Σ-Series AC Servopacks and Gain Adjustment Methods B. B. 374 . . . . This conversion is handled by internal calculations. . . .1 Σ-Series AC Servopack Gain Adjustment This section gives some basic information required to adjust the servo system. . . . . Basic Rules for Gain Adjustment . .SERVO ADJUSTMENT B. except that autotuning is not available for some types. The adjustment method is basically identical for each Servopack type. .1. the position loop is controlled by the host controller. . .

and the position loop tends to decrease the speed references. the speed references oscillate and the result is increased. In particular. motor. This type of machine allows a position loop gain of only 10 to 20 (1/sec). 4) In cases where the position loop response is greater than or equal to the speed loop response and linear acceleration or deceleration is attempted. The response deteriorates and oscillates if this principle is not obeyed. 2) The position loop and speed loop must be adjusted to provide a balanced response. The motor moves faster and overshoots as a result of increased speed references. Speed Reference Output with Unbalanced Position Loop Gain and Speed Loop Gain Speed Reference Speed references actually output from controller Speed references calculated in controller Time B 375 . If the mechanical system starts to oscillate after the position loop gain and speed loop gain are increased. as well as the speed loop integration time constant and torque reference filter. reduce the position loop gain or increase the speed loop gain to eliminate the speed reference oscillations. the harmonic gears used in an articulated robot form a structure with extremely poor rigidity and a characteristic frequency of approximately 10 to 20 Hz. The response must increase from outer loop to inner loop (see Servo System Block Diagram. Sufficient response is assured for the current loop. 3) The position loop gain should not normally be increased above the characteristic frequency of the mechanical system. and current loop.2 Basic Rules for Gain Adjustment 1) The servo system comprises three feedback systems: position loop. However. it is also important to improve the rigidity of the mechanical system. The customer cannot adjust the current loop. If the position loop gain (or Cn-03) is increased. servo driver. oscillating position control times.1.B. the characteristic frequency of a precision machine tool such as a chip mounter or IC bonder exceeds 70 Hz. The customer can adjust the position loop gain and speed loop gain. etc. as shown in the diagram below. For example. If this problem occurs. detectors. the poor speed loop response and follow-up cause an accumulation of position loop errors and result in increased output of speed references from the position loop. above).) is an important factor where good response is required. speed loop.1 Σ-Series AC Servopack Gain Adjustment B. although the response of the servo system (controller. the poor motor follow-up due to the poor speed loop response results in oscillating speed references. allowing a position loop gain exceeding 70 (1/sec) for some machines. do not increase the gains further. Therefore. if the position loop gain only is increased (adjustment with Cn-03 at the Servopack if position loop gain adjustment is not possible at the host controller). the speed loop gain (Cn-04) must be similarly increased. Conversely.

. . . . SGDB. . . . Drive Method Ball screw. . direct Ball screw. .SERVO ADJUSTMENT B. . Level 7 (C-007) 6 (C-006) 5 (C-005) 4 (C-004) 3 (C-003) 2 (C-002) 1 (C-001) High ⋮ ⋮ ⋮ Medium ⋮ Low Rigidity 376 . Set the speed with the user constant Cn-10 (Jog speed). . . 376 377 B B. . . . . . . . . . .1 Adjusting Using Auto-tuning B. . . . . . B.1 B.2. . . . . . with reduction gears Timing belt Chain Wave reduction gears* Machine Rigidity SGDA. . b) Selecting Machine Rigidity If the machine rigidity is unknown. . Set the speed to approximately 500 r/min. . . SGDB and DR2 according to the table. . . . . 1) Important Points About Auto-tuning a) Speed During Auto-tuning Auto-tuning may not function correctly if the speed is too low. .2.2 Adjusting Using Auto-tuning . . . . . . . DR2 3 (C-003) to 7 (C-007) 2 (C-002) to 3 (C-003) 1 (C-001) to 3 (C-003) 1 (C-001) to 2 (C-002) 1 (C-001) to 2 (C-002) SGD High/medium response Medium response Low/medium response Low response Low response * Product name: Harmonic Drive Select the machine rigidity level for SGDA. . .2 Adjusting a Speed-control Servopack This section gives examples of adjusting the gains of a speed-control Servopack manually and using auto-tuning. . . . select the rigidity according to the following standards. . . .1 Adjusting Using Auto-tuning The DR1 Servopack does not offer auto-tuning. . . . . . . . .2. . . . . Manual Adjustment .2. . . . . . . . . . .

In particular. Similarly. Even if auto-tuning is successful for a machine with large fluctuations in load inertia or load torque. If response is slow after auto-tuning. the target position may not be reached if low response is selected. In these cases.2. If this occurs. 2) If Auto-tuning is Unsuccessful Auto-tuning may be unsuccessful (the end of auto-tuning not displayed) for machines with large play or extremely low rigidity.2 Manual Adjustment 1) The role of each user constant is briefly described below.B. Auto-tuning does not set the torque reference filter (Cn-17) or speed reference gain (Cn-03). An excessively high setting of the integration time constant (Cn-05) during auto-tuning is one cause of this problem. 3) Response During Operation is Unsatisfactory after Auto-tuning Auto-tuning sets the gain and integration time constant with some safety margin (to avoid oscillations). In this case. auto-tuning may be unsuccessful for a machine with high load inertia (exceeding 15 to 30 times the motor moment of inertia). the speed loop gain cannot be manually increased very much before oscillation starts. This can result in positioning times. The following formula relates the speed loop gain to the load inertia. The response is improved by setting this user constant to the maximum value in the range which does not cause vibrations in the mechanical system. vibrations or noise may still occur in some positions. because the machine does not move in response to the final minute references. 377 . use conventional manual adjustment. B B. halt the auto-tuning and change the machine rigidity selection. Speed Loop Gain Kv [Hz] = 2 × (Cn-04 Preset value) GD L 2 GD M +1 2 GDL2: Motor Axis Converted Load Inertia GDM2: Motor Moment of Inertia b) Speed Loop Integration Time Constant (Cn-05) The speed loop has an integration element to allow response to micro-inputs. manually reduce the integration time constant while observing the machine behavior to ensure oscillation does not occur.2 Adjusting a Speed-control Servopack Auto-tuning may not end if high response is selected for a low-rigidity machine or low response is selected for a high-rigidity machine. a) Speed Loop Gain (Cn-04) This user constant sets the speed loop response.

b) Slightly reduce the speed loop gain from the value at step 1. 2) Adjustment Procedure a) Set the position loop gain at the host controller to a low value and increase the speed loop gain (Cn-04) within the range that no abnormal noise or vibration occurs. and its value should not be increased more than necessary. This integration element can produce a delay in the servo system. This vibration can sometimes be overcome by increasing the torque reference filter time constant.3 × 1 2π × Kv Ti: Integration Time Constant (sec) Kv: Speed Loop Gain (Hz) (calculated above) B c) Torque Reference Filter Time Constant (Cn-17) When a ball screw is used.2 Manual Adjustmentcont. torsional resonance may occur which increases the pitch of the vibration noise. NOTE For a speed-control SGD or SGDA Servopack or for speed control SGDB or DR2 Servopack . That is.SERVO ADJUSTMENT B. and increase the position loop gain at the host controller in the range that no overshooting or vibration occurs. For normal control. just like the integration time constant. The following formula calculates a guideline value. the position loop gain (Cn-1A) is valid in zero-clamp mode only. 378 . reducing the speed reference gain is equivalent to reducing the position loop gain and increasing it is equivalent to increasing the position loop gain.2. However. reduce the speed reference gain (Cn-03). Ti ≥ 2. change the position loop gain at the host controller or adjust the speed reference gain (Cn-03) in the Servopack. However. d) Speed Reference Gain (Cn-03) Changing the speed reference gain (Cn-03) changes the position loop gain an equivalent amount. If adjustment of the position loop gain is not possible at the host controller. Changing Cn-1A does not change the position loop gain. The position loop gain (Cn-1A) user constant is alwa 2 ys invalid for a DR1 Servopack. and the positioning setting time increases and response becomes slower as the time constant increases. this filter will produce a delay in the servo system. the integration time constant must be increased to prevent machine vibration if the load inertia is large or the mechanical system includes a element that is prone to vibration. Use this user constant (Cn-03) in the following circumstances: • No position loop gain adjustment at host controller (including cases where fine adjustment not possible by changing number of D/A converter bits) • Clamping the speed reference output range to specific speeds Normally leave at the factory setting.

speed gain. and integration time constant is required to determine the optimum point for step response. e) Finally. by observing the positioning setting time and vibrations in the mechanical system. The positioning setting time may become excessive if the speed loop integration time constant (Cn-05) is too large. d) It is not necessary to change the torque reference filter time constant (Cn-17) unless torsional resonance occurs in the machine shafts. c) Determine the speed loop integration time constant (Cn-05).2 Adjusting a Speed-control Servopack If adjustment of the position loop gain is not possible at the host controller. increase the speed reference gain (Cn-03). B 379 .B. Torsional resonance may be indicated by a high vibration noise. Adjust the torque reference filter time constant (Cn-17) to reduce the vibration noise. fine adjustment of the position gain.

. select the rigidity according to the following standards. . DR2 3 (C-003) to 7 (C-007) 2 (C-002) to 3 (C-003) 1 (C-001) to 3 (C-003) 1 (C-001) to 2 (C-002) 1 (C-001) to 2 (C-002) SGD High/medium response Medium response Low/medium response Low response Low response * Procuct name: Harmonic Drive Select the machine rigidity level for SGDA. . . . . b) Selecting Machine Rigidity If the machine rigidity is unknown. .1 B. . .1 Adjusting Using Auto-tuning B. . .3 Adjusting a Position-control Servopack This section gives examples of adjusting the gains of a position-control Servopack manually and using auto-tuning. Level 7 (C-007) 6 (C-006) 5 (C-005) 4 (C-004) 3 (C-003) 2 (C-002) 1 (C-001) High ⋮ ⋮ ⋮ Medium ⋮ Low Rigidity 380 . direct Ball screw. . Manual Adjustment .1 Adjusting Using Auto-tuning The DR1 Servopack does not offer auto-tuning. SGDB and DR2 according to the table. .3. .3.SERVO ADJUSTMENT B. . . . Drive Method Ball screw. . . . . . with reduction gears Timing belt Chain Wave reduction gears* Machine Rigidity SGDA. . . . . . . . . 1) Important Points About Auto-tuning a) Speed During Auto-tuning Auto-tuning may not function correctly if the speed is too low. . .2 Adjusting Using Auto-tuning . SGDB. . . . . . . . . . . . . . . . Set the speed to approximately 500 r/min. . .3. . . . B. . . . . . . .3. . . . . . . . . . 380 381 B B. . . . . . . . . Set the speed with the user constant Cn-10 (Jog speed). .

use conventional manual adjustment. 2) If Auto-tuning is Unsuccessful Auto-tuning may be unsuccessful (the end of auto-tuning not displayed) for machines with large play or extremely low rigidity. Even if auto-tuning is successful for a machine with large fluctuations in load inertia or load torque. B B. because the machine does not move in response to the final minute references. An excessively high setting of the integration time constant (Cn-05) during auto-tuning is one cause of this problem.2 Manual Adjustment 1) The role of each user constant is briefly described below. In these cases.3. manually reduce the integration time constant while observing the machine behavior to ensure oscillation does not occur. The following formula relates the speed loop gain to the load inertia. Similarly. This can result in positioning times.3 Adjusting a Position-control Servopack Auto-tuning may not end if high response is selected for a low-rigidity machine or low response is selected for a high-rigidity machine. vibrations or noise may still occur in some positions. the speed loop gain cannot be manually increased very much before vibration starts. auto-tuning may be unsuccessful for a machine with high load inertia (exceeding 15 to 30 times the motor moment of inertia). Auto-tuning does not set the torque reference filter (Cn-17).B. The response is improved by setting this user constant to the maximum value in the range which does not cause vibrations in the mechanical system. In this case. In particular. 3) Response During Operation is Unsatisfactory after Auto-tuning Auto-tuning sets the gain and integration time constant with some safety margin (to avoid oscillations). Speed Loop Gain Kv [Hz] = 2 +1 × (Cn-04 Preset value) GD M 2 GD L 2 GDL2: Motor Axis Converted Load Inertia GDM2: Motor Moment of Inertia b) Speed Loop Integration Time Constant (Cn-05) The speed loop has an integration element to allow response to micro-inputs. If this occurs. a) Speed Loop Gain (Cn-04) This user constant sets the speed loop response. If response is slow after auto-tuning. 381 . halt the auto-tuning and change the machine rigidity selection. the target position may not be reached if low response is selected.

However.2 Manual Adjustmentcont. torsional resonance may occur which increases the pitch of the vibration noise. These vibrations can sometimes be overcome by increasing the torque reference filter time constant. and its value should not be increased more than necessary. the better the response and shorter the positioning times. d) Position Loop Gain The position loop gain user constant sets the servo system response. The positioning set time may become excessive if the speed loop integration time constant (Cn-05) is too large. Torsional resonance may be indicated by a high vibration noise. Adjust the torque reference filter time constant to reduce the vibration noise. and increase the position loop gain in the range that no overshooting or vibration occurs. Therefore. this filter can produce a delay in the servo system. c) Determine the speed loop integration time constant (Cn-05).3 × 1 2π × Kv Ti: Integration Time Constant (sec) Kv: Speed Loop Gain (Hz) (calculated above) B c) Torque Reference Filter Time Constant (Cn-17) When a ball screw is used. 382 .SERVO ADJUSTMENT B. e) Finally. fine adjustment of the position gain. speed gain. 2) Adjustment Procedure a) Set the position loop gain to a low value and increase the speed loop gain (Cn-04) within the range that no abnormal noise or oscillation occurs. and integration time constant is required to determine the optimum point for step response. the integration time constant must be increased to prevent machine vibration if the load inertia is large or the mechanical system includes a vibration elements. This integration element can produce a delay in the servo system. The higher the position loop gain is set. as is the integration time constant. b) Slightly reduce the speed loop gain from the value at step 1. Ti ≥ 2.3. However. To enable a high setting of the position loop gain. the speed references output from the position loop oscillate. that is. d) It is not necessary to change the torque reference time constant (Cn-17) unless torsional resonance occurs in the machine shafts. increase the machine rigidity and raise the machine characteristic frequency. by observing the positioning set time and vibrations in the mechanical system. also increase the speed loop gain while observing the response. and the positioning setting time increases and response becomes slower as the time constant increases. etc. Increasing the position loop gain only to improve the response can result in oscillating response of the overall servo system. The following formula calculates a guideline value.

ensure that the positioning complete (COIN) signal breaks up (alternately turns ON/OFF) and that the speed does not overshoot.3 Adjusting a Position-control Servopack 3) Functions to Improve Response The mode switch. The motor speed becomes unstable if the bias amount is too large. as described above. This filter can be used to correct breakup (alternatingly turning ON/OFF) of the positioning complete (COIN) signal or speed overshoot arising when feed-forward is activated. These problems can arise if the feed-forward is set too high. Set Cn-0C to zero (0) when the bias is not used. Follow the procedure below to adjust the feed-forward amount (Cn-1D). However. and bias functions improve response. (8) Gradually increase the feed-forward amount (Cn-1D). Bias Function Speed Speed Reference Motor Speed with No Bias Motor Speed with Bias B Time Positioning Complete (COIN) Signal 383 . For all types of Servopack except DR1.B. feed-forward. a) Mode Switch The mode switch improves the transition characteristics when the torque references become saturated during acceleration or deceleration. However. the bias amount (Cn-1C) is no longer added. c) Bias Function When the lag pulses in the error counter exceeds the positioning complete width (Cn-1B). Follow the points outlined below and observe the actual response while making adjustments. Observe the response during adjustment as the optimum value depends on the load. the bias amount (Cn-1C) is added to the error counter output (speed reference). and positioning complete width. (7) Adjust the speed loop and position loop. If the lag pulses in the error counter lies within the positioning complete width (Cn-1B). This reduces the number of pulses in the error counter and shortens the positioning time. feed-forward may be ineffective in systems where a sufficiently high value of position loop gain is not possible. they are not certain to improve response and may even worsen it in some cases. such that the positioning complete (COIN) signal is output early. gain. a primary delay filter can be applied to feedforward. Above the set level. the speed loop control switches from PI (proportional/integral) control to P (proportional) control. b) Feed-forward Function Use feed-forward to improve the response speed. At this point.

SERVO ADJUSTMENT
B.3.2 Manual Adjustmentcont.

The adjustment procedures described above are common for all Yaskawa digital AC Servopacks. However, not all functions are available on each Servopack. Consult the technical specifications of your Servopack for details. The adjustment procedures are also identical for conventional analog servos. However, in this case, the adjustments are made using potentiometers instead of the user constants.

B

384

B.4 Gain Setting References

B.4

Gain Setting References

This section presents tables of load inertia values for reference when adjusting the gain. B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio . . . . . . . . 385

B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio
1) Adjustment guidelines are given below according to the rigidity of the mechanical system and load inertia. Use these values as guidelines when adjusting according to the procedures described above. These values are given as guidelines only. Oscillations and poor response may occur inside the specified value ranges. Observe the response (waveform) when optimizing the adjustment. Higher gains are possible for machines with high rigidity. a) Machines with High Rigidity Ball Screw, Direct Drive Machines Example: Chip mounter, IC bonder, precision machine tools
Load/Inertia Ratio (GDL2/GDM2) 1x 3x 5x 10 x 15 x 20 x 30 x Position Loop Gain (Cn-1A) [1/s] 50 to 70 Speed Loop Gain (Cn-04) [Hz] Speed Loop Integration Time Constant (Cn-05) [ms] 5 to 20 Slightly increase for inertia ratio of 20 x, or greater. greater

B

50 to 70 100 to 140 150 to 200 270 to 380 400 to 560 500 to 730 700 to 1100

For an inertia ratio of 10 x, or greater, slightly reduce the position loop gain and speed loop gain below the values shown and set the integration time constant to a higher value before starting the adjustment. As the inertia ratio increases, set the position loop gain and speed loop gain to the lower limit of the range of values specified. Conversely, increase the speed loop integration time constant. b) Machines with Medium Rigidity Machines driven by ball screw through reduction gears, or machines directly driven by long ball screws. Example: General machine tools, orthogonal robots, conveyors

385

SERVO ADJUSTMENT
B.4.1 Guidelines for Gain Settings According to LoadInertia Ratio cont.

Load/Inertia Ratio (GDL2/GDM2) 1x 3x 5x 10 x 15 x 20 x 30 x

Position Loop Gain (Cn-1A) [1/s] 30 to 50

Speed Loop Gain (Cn-04) [Hz]

30 to 50 60 to 100 90 to 150 160 to 270 240 to 400 310 to 520 450 to 770

Speed Loop Integration Time Constant (Cn-05) [ms] 10 to 40 Slightly increase for inertia ratio of 20 x, or greater. greater

B

For an inertia ratio of 10 x, or greater, slightly reduce the position loop gain and speed loop gain below the values shown and set the integration time constant to a higher value before starting the adjustment. As the inertia ratio increases, set the position loop gain and speed loop gain to the lower limit of the range of values specified. Conversely, increase the speed loop integration time constant. c) Machines with Low Rigidity Machines driven by timing belts, chains or wave reduction gears (product name: Harmonic Drive). Example: Conveyors, articulated robots
Load/Inertia Ratio (GDL2/GDM2) 1x 3x 5x 10 x 15 x 20 x 30 x Position Loop Gain (Cn-1A) [1/s] 10 to 20 Speed Loop Gain (Cn-04) [Hz] Speed Loop Integration Time Constant (Cn-05) [ms] 50 to 120 Slightly increase for inertia ratio of 20 x, or greater. greater

10 to 20 20 to 40 30 to 60 50 to 110 80 to 160 100 to 210 150 to 310

For an inertia ratio of 10 x, or greater, slightly reduce the position loop gain and speed loop gain below the values shown and set the integration time constant to a higher value before starting the adjustment. As the inertia ratio increases, set the position loop gain and speed loop gain to the lower limit of the range of values specified. Conversely, increase the speed loop integration time constant.

386

B.4 Gain Setting References

2) When a speed-control Servopack is used, set the position loop gain at the host controller. If the position loop gain cannot be set at the host controller, adjust the Servopack speed reference gain (Cn-03). The position loop gain (Cn-1A) of a speed-control Servopack is valid in zero-clamp mode only. The position loop gain is determined from the following relationship. K p = VS Á
KP [1/s]: Position loop gain VS [PPS]: Steady speed reference ε: (pulse): Steady error (The number of pulses in the error counter at steady speed.)

B

387

Appendix

C
C

List of I/O Signals

This appendix lists I/O signal terminals (connector 1CN) on Servopacks which connect to a host controller or external circuit.

NOTE 1) The meanings of some signals for speed/torque control and position control are different. Always refer to the correct list for the Servopack type. 2) Refer to Chapter 3 for details of how to use I/O signals. 3) Note that the functions of I/O signal terminals differ according to the memory switch (Cn-01, Cn-02) settings.

389

LIST OF I/O SIGNALS
SGDA-jjjS Speed/Torque Specifications Standard Specifications Absolute Encoder Torque Limit Output Zeroclamp Contact Input Speed Control Speed Control with Torque Restriction by Analog Voltage Reference Cn-02 Bit Bi F = 1 T-REF Torque limit input 3.2.9 SG-T Signal ground for torque limit input V-REF Speed reference 3.2.9 SG-V Signal ground for speed reference

List of Input Signals for Speed/Torque Control (1)

Memory y Switch S i h Setting 1

Standard Setting g

Cn-01 Bit Bi E = 1

Cn-01 Bit Bi 4 = 1

Cn-01 Bit Bi A = 1 Bit B = 0

Cn-02 Bit 2 = 1 Cn-01 Cn-01 Bit B = 0 Bit B = 1

--(Unused)

2

--(Unused) V-REF Speed reference input SG-V Signal ground for speed reference input --(Unused) --(Unused) --(Unused) 3.2.1 --(Unused) 3.2.6 V-REF Speed reference SG-V Signal ground for speed reference 3.2.6

C

3

4

5 1CN Terminal No.

SEN Sensor ON 0SEN Signal ground for sensor ON signal 3.4.4

6

3.8.5

7

BK Brake interlock output V-CMP Speed coincidence output TGON Running output SG-COM Signal ground common P-CL Forward rotation torque limit N-CL Reverse rotation torque limit

8

3.7.4 3.7.5 TGON 3.1.3 Torque limit detection

9

10

3.2.4

11

3.1.3

12

3.1.3

P-CL Contact input speed control 1 3.2.6 N-CL Contact input speed control 2

P-CL Contact input speed control 1 3.2.6 N-CL Contact input speed control 2

390

Specifications

Standard Specifications

Absolute Encoder

Torque Limit Output

Zeroclamp

Contact Input Speed Control

Memory Switch Setting 13 14 15

Standard Setting

Cn-01 Bit E = 1 3.2.4 3.7.2

Cn-01 Bit 4 = 1

Cn-01 Bit A = 1 Bit B = 0

Cn-02 Bit 2 = 1 Cn-01 Cn-01 Bit B = 0 Bit B = 1

Speed Control with Torque Restriction by Analog Voltage Reference Cn-02 Bit F = 1

+24VIN I/O power supply S-ON Servo ON P-CON Proportional control P-OT Forward rotation prohibited N-OT Reverse rotation prohibited ALMRST Alarm reset SG-PG Signal ground for PG signal output PG signal PAO Phase A output *PAO Phase A PBO Phase B *PBO Phase B PCO Phase C *PCO Phase C --(Unused) --(Unused) --(Unused) --(Unused)

3.2.1

16

P-CON Zero-clamp operation reference 3.4.3

P-CON Rotation direction reference 3.2.6

P-CON Rotation direction reference 3.2.6

3.1.2

17

3.1.2 3.7.1 3.2.3

C

18 19

1CN Terminal No.

20 21 22 23 24 25 26

3.2.3

PSO Phase S output *PSO Phase S output BAT Backup battery (+) input BAT0 Backup battery 0 V input

27

3.8.5

28

3.8.5

29

3.8.5

Note

Information described in the “Standard Specifications” column is also applicable to blank columns. Number “x.x.x” in box represents a section number corresponding to each signal name. For example, 3.2.1 represents Section 3.2.1.

391

LIST OF I/O SIGNALS

Specifications

Standard Specifications

Absolute Encoder

Torque Limit Output

Zeroclamp

Contact Input Speed Control

Memory y Switch S i h Setting 30 31 1CN Terminal No. 32 33

Standard Setting g

Cn-01 Bit Bi E = 1

Cn-01 Bit Bi 4 = 1

Cn-01 Bit Bi A = 1 Bit B = 0

Cn-02 Bit 2 = 1 Cn-01 Cn-01 Bit B = 0 Bit B = 1

Speed Control with Torque Restriction by Analog Voltage Reference Cn-02 Bit Bi F = 1

ALO1 Alarm code output ALO2 Alarm code output ALO3 Alarm code output 3.7.1 SG-AL Signal ground for alarm code output ALM Alarm output ALM-SG Signal ground for alarm output FG Frame ground 3.7.1

34 35

C

36

3.2.3

Note

Information described in the “Standard Specifications” column is also applicable to blank columns. Number “x.x.x” in box represents a section number corresponding to each signal name. For example, 3.2.1 represents Section 3.2.1.

392

SGDA-jjjS Speed/Torque

List of Input Signals for Speed/Torque Control (2)

Specifications

Standard Specifications

Speed Control with Torque Feedforward Cn-01 Bit F = 1

Torque Control I

Torque Control II

Memory y Switch S it h Setting

Standard Setting g

Cn-01 Bit A = 0, 0 B=1

Cn-01 Bit A = 1, B = 1 P-CON = OFF --Cn-01 Bit F = 0, Cn-02 Bit F = 0 --(Unused) P-CON = ON Cn-01 Bit F = 0, Cn-02 Bit F = 1 T-REF Torque limit value Cn-01 Bit F = 1, Cn-02 Bit F = 0 or 1 T-REF Torque feed-forward reference SG-T Signal ground for torque feed-forward reference V-REF Speed reference SG-V Signal ground for speed reference

1

--(Unused)

T-REF Torque feed-forward reference SG-T Signal ground for torque feed-forward reference V-REF Speed reference

T-REF Torque reference

T-REF Torque reference

C

2

--(Unused)

3.2.8

SG-T Signal ground for torque reference --(Unused)

3.1.3

3.2.7
SG-T Signal ground for torque reference V-REF Speed limit value SG-V Signal ground for speed limit value --(Unused)

3.2.7
SG-T Signal ground for torque limit value V-REF Speed reference SG-V Signal ground for speed reference

3.2.7
V-REF Speed reference SG-V Signal ground for speed reference

3.2.7

3

V-REF Speed reference input SG-V Signal ground for speed reference input

1CN Terminal No.

4

3.2.1

3.2.8 --SG-V Signal (Unused) ground for speed reference

5 6 7 8 9 10 11

--(Unused) --(Unused) BK Brake interlock output V-CMP Speed coincidence output TGON Running output SG-COM Signal ground common P-CL Forward rotation torque limit N-CL Reverse rotation torque limit

3.2.7

3.2.7

3.4.4 3.7.4 3.7.5 3.2.4 3.1.3 3.1.3

12

Note

Information described in the “Standard Specifications” column is also applicable to blank columns. Number “x.x.x” in box represents a section number corresponding to each signal name. For example, 3.2.1 represents Section 3.2.1.

393

LIST OF I/O SIGNALS

Specifications

Standard Specifications

Speed Control with Torque Feedforward Cn-01 Bit F = 1

Torque Control I

Torque Control II

Memory Switch Setting Memory Switch Setting S tti

Standard Setting

Cn-01 Bit A = 0, B=1 P-CON = OFF ---

Cn-01 Bit A = 1, B = 1

P-CON = ON Cn-01 Bit F = 0, Cn-02 Bit F = 0 Cn-01 Bit F = 0, Cn-02 Bit F = 1 Cn-01 Bit F = 1, Cn-02 Bit F = 0 or 1

13 14 15

C

16

+24VIN I/O power supply S-ON Servo ON P-CON Proportional control P-OT Forward rotation prohibited N-OT Reverse rotation prohibited ALMRST Alarm reset SG-PG Signal ground for PG signal output PG signal PAO output Phase A *PAO Phase A PBO Phase B *PBO Phase B PCO Phase C *PCO Phase C --(Unused) --(Unused) --(Unused) --(Unused)

3.2.4 3.7.2 3.2.1 3.1.2

17

3.1.2 3.7.1 3.2.3

18 19 1CN Terminal No.

20 21 22 23 24 25 26 27 28 29

3.2.3

394

Specifications

Standard Specifications

Memory y Switch S i h Setting

Standard Setting g

Speed Control with Torque Feedforward Cn-01 Bit Bi F = 1

Torque Control I

Torque Control II

Cn-01 Bit Bi A = 0, 0 B=1

P-CON = OFF ---

Cn-01 Bit A = 1, B = 1 P-CON = ON Cn-01 Bit F = 0, Cn-02 Bit F = 0 Cn-01 Bit F = 0, Cn-02 Bit F = 1 Cn-01 Bit F = 1, Cn-02 Bit F = 0 or 1

30 31 1CN Terminal No. 32 33

ALO1 Alarm code output ALO2 Alarm code output ALO3 Alarm code output SG-AL Signal ground for alarm code output ALM Alarm output ALM-SG Signal ground for alarm output FG Frame ground

3.7.1

C

34 35

3.7.1

36

3.2.3

Note

Information described in the “Standard Specifications” column is also applicable to blank columns. Number “x.x.x” in box represents a section number corresponding to each signal name. For example, 3.2.1 represents Section 3.2.1.

395

LIST OF I/O SIGNALS

SGDA-jjjP Positions Specifications

List of I/O Signals for Position Control

Standard Specifications

Absolute Encoder

Torque Limit Output

Contact Input Speed Control

CCW Pulse + CW Pulse Reference Cn-02 Bits 5, 4, 3 = 0, 0, 1

90° Different Two-phase Pulse Reference Cn-02 Bits 5, 4, 3 = 0, 1, 0 (x 1 multiplication) = 0, 1, 1 (x 2 multiplication) = 1, 0, 0 (x 4 multiplication) PULS Phase A reference pulse input 3.2.2

Memory Switch Setting

Standard Setting

Cn-01 Bit E=1

Cn-01 Bit 4=1

Cn-02 Bit 2=1 Cn-01 Bit F=0

Cn-02 Bit 2=1 Cn-01 Bit F=1

1

PULS

Reference pulse input

--(Unused)

C
2

PULS Reference pulse input 3.2.2

PULS Forward rotation (CCW) reference pulse input

*PULS

3.2.2

*PULS Reference pulse input
3.2.2

1CN Terminal No.

*PULS Forward rotation (CCW) reference pulse input
SIGN Reverse rotation (CW) reference pulse input

*PULS Phase A reference pulse input
3.2.2 SIGN Phase B reference pulse input 3.2.2

3

SIGN

Reference sign input

--(Unused)

SIGN Reference pulse input 3.2.2

4

*SIGN

3.2.2

*SIGN Reference pulse input
3.2.2

*SIGN Reverse rotation (CW) reference pulse input

*SIGN Phase B reference pulse input
3.2.2

5 6 7 8

CLR

*CLR

Error counter clear signal input

3.2.2

3.4.4 3.7.3

BK Brake interlock output COIN Positioning complete signal

396

Specifications

Standard Specifications

Absolute Encoder

Torque Limit Output

Contact Input Speed Control

CCW Pulse + CW Pulse Reference

90° Different Two-phase Pulse Reference

Memory Switch Setting

Standard Setting

Cn-01 Bit E=1

Cn-01 Bit 4=1

Cn-02 Bit 2=1 Cn-01 Bit F=0

Cn-02 Bit 2=1 Cn-01 Bit F=1

Cn-02 Cn-02 Bits 5, 4, Bits 5, 4, 3 = 0, 1, 0 (x 1 3 = 0, 0, 1 multiplication) = 0, 1, 1 (x 2 multiplication) = 1, 0, 0 (x 4 multiplication)

9

TGON Running output

3.7.5

TGON Torque limit output

3.1.3

10 11

SG-COM 3.2.4 Signal ground common P-CL Forward rotation 3.1.3 torque limit

12

N-CL Reverse rotation torque limit

3.1.3

P-CL 3.2.6 Contact input speed control mode 1 N-CL Contact 3.2.6 input speed control mode 2

P-CL Contact input speed control mode 1 N-CL Contact input speed control mode 2

3.2.6

C
3.2.6

1CN Terminal No.

13 14 15

+24VIN I/O power supply S-ON Servo ON P-CON Proportional control

3.2.4 3.7.2 3.2.1 3.2.6 P-CON Rotation direction command at contact input speed control mode P-CON Rotation 3.2.6 direction command at contact input speed control mode

16

P-OT Forward rotation prohibited

3.1.2

Note

Information described in the “Standard Specifications” column is also applicable to blank columns. Number “x.x.x” in box represents a section number corresponding to each signal name. For example, 3.2.1 represents Section 3.2.1.

397

2.2. Number “x.1. 1 90° Different Two-phase Pulse Reference Cn-02 Bits 5. 1.3 signal output PG signal PAO output Phase A *PAO Phase A PBO Phase B 3.2.2. 4. 1 (x 2 multiplication) = 1. 3. 3 = 0.1 represents Section 3. 0 (x 4 multiplication) Memory Switch Setting Standard Setting Cn-01 Bit E=1 Cn-01 Bit 4=1 Cn-02 Bit 2=1 Cn-01 Bit F=0 Cn-02 Bit 2=1 Cn-01 Bit F=1 17 N-OT Reverse rotation prohibited 3. C 20 21 22 23 24 25 ALMRST 3.LIST OF I/O SIGNALS Specifications Standard Specifications Absolute Encoder Torque Limit Output Contact Input Speed Control CCW Pulse + CW Pulse Reference Cn-02 Bits 5.x.x” in box represents a section number corresponding to each signal name.2 18 19 1CN Terminal No. 1. 4. 0. 0 (x 1 multiplication) = 0. 0.7. 3 = 0.3 *PBO Phase B PCO Phase C *PCO Phase C Note Information described in the “Standard Specifications” column is also applicable to blank columns.1 Alarm reset SG-PG Signal ground for PG 3.1. 398 . For example.

3 Note Information described in the “Standard Specifications” column is also applicable to blank columns.5 input BAT0 Backup battery (−) 3. 4. 3. 0. For example.x” in box represents a section number corresponding to each signal name. Number “x.8.8.5 28 1CN Terminal No.x. 3 = 0. 399 . 3 = 0. 0 (x 4 multiplication) Memory Switch Setting Standard Setting Cn-01 Bit E=1 Cn-01 Bit 4=1 Cn-02 Bit 2=1 Cn-01 Bit F=0 Cn-02 Bit 2=1 Cn-01 Bit F=1 26 --(Unused) --(Unused) --(Unused) --(Unused) Alarm ALO1 code d ALO2 output ALO3 SG-AL Signal ground for alarm code output ALM Alarm output ALM-SG Signal ground for alarm output FG Frame ground PSO Phase S output *PSO Phase S output 27 3. 29 BAT Backup battery (+) 3.1. 1 90° Different Two-phase Pulse Reference Cn-02 Bits 5.1 36 3. 1.2.1 represents Section 3.7.2. 0. 0 (x 1 multiplication) = 0. 1. 1 (x 2 multiplication) = 1.7.Specifications Standard Specifications Absolute Encoder Torque Limit Output Contact Input Speed Control CCW Pulse + CW Pulse Reference Cn-02 Bits 5.8.1 34 35 3. 4.5 input C 30 31 32 33 3.2.

2) Refer to Chapter 3 for details of how to use user constants. refer to Section 4. 3) For details of how to set user constants. and have parameters called “user constants” to allow the user to select each function and perform fine adjustment. Always refer to the correct list of user constants for the Servopack type.Appendix D D List of User Constants • Σ-Series Servopacks provide many functions. • User constants are divided into the following two types: 1)Memory switch Cn-01.5 Operation in User Constant Setting Mode 401 .1. A numerical value such as a torque limit value or speed loop gain is set in this constant. This appendix lists these user constants. Cn-02 5) User constant setting Cn-03 and later Each bit of this switch is turned ON or OFF to select a function. SGDA Servopack User constants NOTE 1) Some user constants for speed/torque control and position control are different.

) Memory switch (see on page 405. Code Name Unit Lower Limit Upper Limit Factory Setting Remarks Cn-00 Cn-01 Cn-02 Gain Related Cn-03 Constants Co sta ts Cn-04 Cn-05 Not a user constant. (Cn-00 is used to select special mode for digital operator.1 V/rated torque) % % % r/min 100 µs % % ms ms r/min r/min 10 ms 1 10 500 100 40 30 See note 1 See note 1 See note 2 See note 2 Cn-1A Torque Related Constants Cn-13 See note 2 and 3 D Cn-06 Cn-08 Cn-09 Cn-14 Cn-17 EMGTRQ TLMTF TLMTR TCRLMT TRQFIL 0 0 0 0 0 Maximum torque Maximum torque Maximum torque Maximum speed 250 Maximum torque Maximum torque Maximum torque Maximum speed 4 Cn-18 Cn-19 Sequence Related e ated Constants C Cn-07 Cn-23 Cn-0B Cn-0F Cn-12 CLMIF CLMIR SFSACC SFSDEC TGONLV ZCLVL BRKTIM 0 0 0 0 1 0 0 Maximum torque Maximum torque 10000 10000 Maximum speed 16383 50 100 100 0 0 20 10 0 See note 4 See note 4 Cn-15 BRKSPD r/min 0 Maximum speed 100 100 Cn-16 BRKWAI 10 ms 10 50 402 .LIST OF USER CONSTANTS SGDA-jjjS Speed/Torque For Speed/Torque Control (SGDA-jjjS) List of User Constants (User Constant Setting) Category User Constant No.) Memory switch (see on page 404.) VREFGN Speed reference (r/min)/V 0 2162 500 gain LOOPHZ Speed loop gain Hz 1 2000 80 PITIME Speed loop ms 2 10000 20 integration time constant POSGN TCRFGN Position loop gain Torque reference gain Emergency stop torque Forward rotation torque limit Reverse rotation torque limit Speed limit for torque control I Torque reference filter time constant Forward external torque limit Reverse external torque limit Soft start time (acceleration) Soft start time (deceleration) Zero-speed level Zero-clamp level Time delay from brake reference until servo OFF Speed level for brake reference output during motor operation Output timing of brake reference during motor operation 1/s (0.

403 . This makes the new set ting valid. then ON. always set both Cn-07 and Cn-23. always turn the power OFF. 2) Automatically set by autotuning function 3) Valid only when zero-clamp function is used 4) To use soft start function. Cn-22 Code Name Unit Lower Limit 0 Upper Limit 100 Factory Setting 10 Remarks VCMPLV Pulse Related e ated Constants C Other Constants Co sta ts Cn-0A Cn-11 Cn-0C Cn-0D Cn-0E PGRAT PULSNO TRQMSW REFMSW ACCMSW Speed coincidence signal output range Dividing ratio setting Number of encoder pulses Mode switch (torque reference) Mode switch (speed reference) Mode switch (acceleration reference) Jog speed 1st speed (contact input speed control) 2nd speed (contact input speed control) 3rd speed (contact input speed control) Speed loop compensation constant Axis address r/min P/R P/R % r/min 10 (r/min)/s r/min r/min 16 513 0 0 0 32768 32768 Maximum torque Maximum speed 3000 2048 2048 200 0 0 See note 1 See note 1 Cn-10 Cn-1F JOGSPD SPEED1 0 0 Maximum speed Maximum speed Maximum speed Maximum speed 100 500 100 Cn-20 SPEED2 r/min 0 200 Cn-21 SPEED3 r/min 0 300 D Cn-28 NFBCC --- 0 0 Cn-29 AXISNO --- 0 14 0 : User constants that must be always set Note 1) After changing the setting.Category User Constant No.

0 Uses SEN signal input (SEN) when absolute encoder is used. 1 Decelerates the motor to a stop by applying the torque specified in Cn-06 when overtravel is detected (P-OT. 1 When an alarm arises. N-OT). 0 Remains in servo alarm status at recovery from power loss. 0 When overtravel is detected (P-OT. stops the motor by applying dynamic brake and then releases dynamic brake. 1•0 Torque control I 1•1 Torque control II 0 0 3 0 TGON signal g switching i hi 4 0 D Operation performed at recovery from power loss Sequence q selection at l i alarm condition 5 0 0 7 1 8 0 9 0 Control mode selection l i B•A 0•0 Mode switch selection l i D•C 0•0 Uses internal torque reference as a condition. Input signal p g enable/disable bl /di bl Cn-01 Bit No. 0 Uses TGON signal (TGON) as running output. 0 Stops the motor according to bit 6 setting when overtravel is detected (P-OT. N-OT). N-OT). 1 Does not use reverse rotation prohibited input (N-OT). Servo is always ON. decelerates the motor to a stop by applying the torque specified in Cn-06 and then turns the servo OFF. Reverse rotation is always possible. N-OT). 0•0 Speed control 0•1 Speed control with zero-clamp function 0•1 Uses speed reference as a condition. decelerates the motor to a stop by applying the torque specified in Cn-06 and then performs zero-clamp. 0 0 Uses servo ON input (S-ON). (Level setting: Cn-0D) Setting Factory Setting 0 1 2 1 Does not use servo ON input (S-ON). 1 Uses TGON signal (TGON) as torque limit output. (Level setting: Cn-0E) 1•1 Does not use mode switch function. 1 Automatically resets servo alarm status at recovery from power loss. 1 Does not use SEN signal input (SEN) when absolute encoder is used. 6 0 Stops the motor by applying dynamic brake when an alarm arises. Forward rotation is always possible. Servopack automatically treats signal voltage as high level. 1 Does not use forward rotation prohibited input (P-OT). 0•0 404 . 0 When an alarm arises. 1 When overtravel is detected (P-OT. stops the motor by applying dynamic brake but does not release dynamic brake. 0 Uses forward rotation prohibited input (P-OT). 1 Causes the motor to coast to a stop when an alarm arises.LIST OF USER CONSTANTS List of User Constants (Memory Switch Setting) (1) User Constant No. (Level setting: Cn-0C) 1•0 Uses acceleration as a condition. 0 Uses reverse rotation prohibited input (N-OT).

always turn the power OFF and then ON after changing the setting. The factory setting depends on the Servopack type as shown below. 0 Detects home position error (when absolute encoder is used). 1 Uses torque feed-forward function. Cn-01 E F Setting 0 Uses incremental encoder. This makes the new setting valid.Encoder selection l i Torque q feed-forward f df d function Rotation direction di i selection Home position error processing selection Contact input p speed control d l User Bit Constant No. 0 Note For the Cn-01 and Cn-02 memory switches. 1 Defines clockwise (CW) rotation as forward rotation (reverse rotation mode). 0 Does not use torque feed-forward function.01 ms 1 Secondary 1 Uses analog voltage reference as torque limit input. 0 Defines counterclockwise (CCW) rotation as forward rotation. Reserved Motor selection Reserved Integration time g constant setting unit i i Torque reference filter q type Reserved Torque reference q input selection i l i Cn-02 Bit No. Setting Factory Setting 0 * 0 0 0 0 0 5•4•3•7•6 8 A•9 B C E•D F Reserved (not to be set) 0 SGM motor Reserved (not to be set) 0 1 ms 0 Primary Reserved (not to be set) 0 Uses torque reference or torque feed-forward reference. Factory Setting 0 0 Cn-02 0 0 1 0 2 0 Does not use contact input speed control. SGDA-jjjS Speed/Torque For Speed/Torque Control (SGDA-jjjS) List of User Constants (Memory Switch Setting) (2) D User Constant No. 1 Uses contact input speed control. Servopack Type SGDA-jjjS SGDA-jjjSP 0 1 Factory Setting Note For the Cn-01 and Cn-02 memory switches. 1 Uses absolute encoder. 1 Does not detect home position error. always turn the power OFF and then ON after changing the setting. 405 . No. 1 SGMP motor 1 0. This makes the new setting valid.

) Memory switch (see on page 408.) Memory switch (see on page 410.LIST OF USER CONSTANTS SGDA-jjj P Positions For Position Control (SGDA-jjjP) List of User Constants (User Constant Setting) Category User Constant No.) LOOPHZ Speed loop Hz 1 2000 80 gain PITIME Speed loop ms 2 10000 20 integration time constant POSGN Position loop 1/s 1 500 40 gain BIASLV Bias r/min 0 450 0 FFGN Feed-forward % 0 100 0 ACCTME Position 0 640 0 100 µs reference acceleration/de celeration time constant FFFILT Feed-forward 0 640 0 100 µs reference filter EMGTRQ Emergency % 0 Maximum Maximum stop torque torque torque TLMTF Forward % 0 Maximum Maximum rotation torque torque torque limit TLMTR Reverse % 0 Maximum Maximum rotation torque torque torque limit TRQFIL Torque 0 250 4 100 µs reference filter time constant CLMIF Forward % 0 Maximum 100 external torque torque limit CLMIR Reverse % 0 Maximum 100 external torque torque limit SFSACC Soft start time ms 0 10000 0 (acceleration) SFSDEC Soft start time ms 0 10000 0 (deceleration) TGONLV Zero-speed r/min 1 Maximum 20 level speed BRKTIM Time delay 10 ms 0 50 0 from brake reference until servo OFF BRKSPD Speed level for r/min 0 Maximum 100 brake reference speed output during motor operation See note 1 See note 1 See note 2 See note 2 See note 2 See note 4 See note 4 406 . Cn-00 Cn-01 Cn-02 Cn-04 Cn-05 Cn-1A Cn-1C Cn-1D Cn-26 Code Name Unit Lower Limit Upper Limit Factory Setting Remarks Gain Related e ated Constants C D Cn-27 Torque Related e ated Constants C Cn-06 Cn-08 Cn-09 Cn-17 Cn-18 Cn-19 Sequence Related e ated Constants C Cn-07 Cn-23 Cn-0B Cn-12 Cn-15 Not a user constant. (Cn-00 is used to select special mode for digital operator.

407 . This makes the new set ting valid. Cn-16 BRKWAI Name Output timing of brake reference during motor operation Positioning complete range Dividing ratio setting Number of encoder pulses Electronic gear ratio (numerator) Electronic gear ratio (denominator) Mode switch (torque reference) Mode switch (speed reference) Mode switch (acceleration reference) Mode switch (error pulse) Jog speed Overflow 1st speed (contact input speed control) 2nd speed (contact input speed control) 3rd speed (contact input speed control) Speed loop compensation constant Axis address Unit 10 ms Lower Limit 10 Upper Limit 100 Factory Setting 50 Remarks Cn-1B Pulse Related e ated Constants C Cn-0A Cn-11 Cn-24 Cn-25 Other Constants Cn-0C Cn-0D Cn-0E Cn-0F Cn-10 Cn-1E Cn-1F Cn-20 Cn-21 Cn-28 Cn-29 COINLV PGRAT PULSNO RATB RATA TRQMSW REFMSW ACCMSW ERPMSW JOGSPD OVERLV SPEED1 SPEED2 SPEED3 NFBCC AXISNO Reference unit P/R P/R 0 16 513 1 1 250 32768 32768 65535 65535 Maximum torque Maximum speed 3000 10000 Maximum speed 32767 Maximum speed Maximum speed Maximum speed 100 14 7 2048 2048 4 1 200 0 0 10000 500 1024 100 200 300 0 0 See note 1 See note 1 See note 3 See note 3 % r/min 0 0 10 (r/min)/s 0 Reference unit r/min 256 reference unit r/min r/min r/min ----0 0 1 0 0 0 0 0 D Note : User constants that must be always set 1) After changing the setting. The function is invalid during pulse command operations. always turn the power OFF.Category Sequence Related Constants User Code Constant No. 2) Automatically set by autotuning function 3) The following restriction applies to electronic gear ratio (Cn-24 and Cn-25): B(Cn-24) ≦ 100 0. then ON.01 ≦ A(Cn-25) 4) The soft-start function is valid during the jog operation or when the contact input speed control mode is selected.

Reverse rotation is always possible. 1 Causes the motor to coast to a stop when an alarm arises. 0 0 User Constant No. 1 When overtravel is detected (P-OT. 0 Uses TGON signal (TGON) as running output. 0 408 . 1 Does not use forward rotation prohibited input (P-OT). 0 When an alarm arises. decelerates the motor to a stop by applying the torque specified in Cn-06 and then turns the servo OFF. 1 Automatically resets servo alarm status at recovery from power loss. 0 Remains in servo alarm status at recovery from power loss. N-OT). Servo is always ON. N-OT). 1 Decelerates the motor to a stop by applying the torque specified in Cn-06 when overtravel is detected (P-OT. 7 1 8 0 9 0 When overtravel is detected (P-OT. 1 Does not use reverse rotation prohibited input (N-OT). 0 Stops the motor according to bit 6 setting when overtravel is detected (P-OT. N-OT). stops the motor by applying dynamic brake but does not release dynamic brake. 0 Uses reverse rotation prohibited input (N-OT). stops the motor by applying dynamic brake and then releases dynamic brake. 0 0 Uses servo ON input (S-ON). Input signal p g enable/ bl / disable Cn-01 1 2 Reserved (not to be set) 0 Uses forward rotation prohibited input (P-OT). N-OT). decelerates the motor to a stop by applying the torque specified in Cn-06 and then performs zero-clamp. 1 When an alarm arises. 0 0 3 0 D TGON signal g switching i hi Operation performed at recovery from power loss Sequence q selection at l i alarm condition 4 0 5 0 6 0 Stops the motor by applying dynamic brake when an alarm arises. 1 Uses TGON signal (TGON) as torque limit output. Setting Factory Setting 1 Does not use servo ON input (S-ON).LIST OF USER CONSTANTS SGDA-jjj P Positions For Position Control (SGDA-jjjP) List of User Constants (Memory Switch Setting) Bit No. Forward rotation is always possible.

0 Defines counterclockwise (CCW) rotation as forward rotation.User Constant No. 0 Always receives pulse reference. 0•0 0•1 Uses internal torque Uses speed reference as a condition. 0 0 0 1 Enables INHIBIT function. 0 Detects home position error (when absolute encoder is used). A Setting Factory Setting 1 Does not clear error pulse when servo is turned OFF. reference as a condition. 1 Does not use mode switch function. 0•0•0 0•1•0 0•1•1 1•0•0 Phase A + Phase A + Phase A + Phase B (x 1 Phase B (x 2 Phase B (x 4 multiplication multiplication multiplication ) ) ) 0 See note 2 1 SGMP motor 409 . 1•0 1•1 Uses Uses error acceleration pulse as a as a condition. (Level (Level setting: setting: Cn-0F) Cn-0E) 1 Uses absolute encoder. 1 Does not detect home position error. 0 Stops the motor when both contact signals P-CL and N-CL are OFF. 0 Uses mode switch function as set in bits D and C of Cn-01. 0 B D•C 0 Clears error pulse when servo is turned OFF. condition. (Level setting: Cn-0C) (Level setting: Cn-0D) 0 0•0 Encoder selection l i Internal speed d selection*1 INHIBIT function f i Rotation direction di i selection Home position error processing selection Contact input speed i d control Reference pulse f l form selection Cn-02 E F 0 Uses incremental encoder. 0•0•0 Sign + Pulse 0•0•1 CW + CCW 5•4• 3 Reserved Motor selection l i 7•6 8 Reserved (not to be used) 0 SGM motor 0 1 Uses contact input speed control. Operation p performed at f d servo OFF Mode switch selection l i Cn-01 Bit No. 0 D 1 0 2 0 Does not use contact input speed control. 1 Receives pulse reference when both contact signals P-CL and N-CL are OFF. 1 Defines clockwise (CW) rotation as forward rotation (reverse rotation mode).

Error counter Cn-02 clear signal l i l Bit No. 0 1 ms Integration time constant setting unit Torque reference filter Reference pulse logic l l i Others B C 0 Primary D 0 Does not invert reference pulse logic.” 2) The factory setting depends on the Servopack type as shown below. 0 1 0. 0 Line driver (Maximum reference pulse frequency: 450 kpps) E 0 F 0 D : User constants that must be always set NOTE For the Cn-01 and Cn-02 memory switches. 1 Displays position error Un-08 in x 100 reference units while in monitor mode. This makes the new setting valid.01 ms 1 Secondary 1 Inverts reference pulse logic. 0 Displays position error Un-08 in x 1 reference units while in monitor mode. A Setting Factory Setting 0 1 Clears the error counter when the leading edge of an error counter clear signal rises. Servopack Type SGDA-jjjP SGDA-jjjPP 0 1 Factory Setting Note 410 .LIST OF USER CONSTANTS User Constant No. 1) Internal speed selection is valid only when bit 2 of Cn-02 is set to “1. always turn the power OFF and then ON after changing the setting. 1 Open collector (Maximum reference pulse frequency: 200 kpps) 0 0 0 Clears the error counter when an error counter clear signal is at high level.

1 Operation in Alarm Trace-back Mode • For the cause of each alarm and the action to be taken. refer to the following section: 4.2.1 Troubleshooting Problems with Alarm Display 411 .Appendix E E List of Alarm Displays • SGDA Servopack allows up to 10 last alarms to be displayed at a digital operator. refer to the following section: 6. Alarm number Alarm display • This appendix provides the name and meaning of each alarm display. • For details of how to display an alarm.2. This function is called a traceback function.

412 .02 OFF OFF OFF OFF User constant breakdown User constant setting error Overcurrent Position error pulse overflow Overvoltage Overspeed Overload Absolute encoder error Absolute encoder backup error Absolute encoder checksum error Absolute encoder battery error Checksum results of user constants are abnormal. For absolute encoder only For absolute encoder only For absolute encoder only For absolute encoder only OFF: ON: Output transistor is OFF Output transistor is ON TERMS Checksum An automatic check function for a set of data such as user constants.80 OFF ON ON OFF OFF OFF ON OFF ON ON ON OFF OFF OFF OFF OFF E A.82 OFF OFF OFF OFF All three power supplies for the absolute encoder (+5 V.51 A. Position error pulse has exceeded the value set in user constant Cn-1E (overflow).00 Alarm Output Alarm Code Output ALO1 OFF AL02 OFF AL03 OFF ALM Output OFF Alarm Name Meaning Remarks Absolute data error Absolute data fails to be received.LIST OF ALARM DISPLAYS Alarm Display Alarm Display on Digital Operator A. The main circuit voltage for motor operation has become too high.40 A. battery and internal capacitor) have failed. An overcurrent flowed through the power transistor.31 ON ON OFF ON OFF OFF OFF OFF For position control only A. recalculates the sum at specific timing. A. For absolute encoder only A.81 OFF OFF OFF OFF A. or received absolute data is abnormal. The number of pulses per absolute encoder revolution is abnormal. It stores the sum of user constant data. Motor speed has exceeded 4950 r/min. The user constant setting is outside the allowable setting range. The checksum results of absolute encoder memory is abnormal.83 OFF OFF OFF OFF Battery voltage for the absolute encoder is abnormal.04 OFF OFF OFF OFF A. This function is a simple method of checking whether a set of data is correct.70 A. A. Rated torque was exceeded during continuous operation. and then checks whether the stored value matches the recalculated value.10 A.

Servopack CPU failed to detect reference input. Phases A. disconnection Power loss error Digital operator transmission error 1 Digital operator transmission error 2 Not an error A power interruption exceeding one cycle occurred in AC power supply.C4 ON OFF ON OFF A. Transmission error has occurred five consecutive times. Normal operation status A. Wiring in encoder phase A or B is B-phase disconnected. Digital operator fails to communicate with Servopack even five seconds after power is turned ON. B and C output by the encoder are abnormal.84 Alarm Output Alarm Code Output ALO1 OFF AL02 OFF AL03 OFF ALM Output OFF Alarm Name Meaning Remarks Absolute encoder data error Absolute encoder overspeed Reference input read error Servo overun detected Encoder output phase error Received absolute data is abnormal.99 OFF OFF OFF ON OFF: ON: Output transistor is OFF Output transistor is ON 413 . A.F3 CPF00 OFF ON OFF OFF Undefined CPF01 Undefined These alarms are not stored in alarm l traceback memory.Alarm Display on Digital Operator A.C1 A. A. E A.C2 ON ON OFF OFF ON ON OFF OFF The servomotor (encoder) ran out of control.C3 ON OFF ON OFF Encoder A-.61 OFF OFF OFF OFF For absolute encoder only For absolute encoder only For speed/tor que control A.85 OFF OFF OFF OFF The motor was running at a speed exceeding 400 r/min when the absolute encoder was turned ON. disconnection Encoder Wiring in encoder phase C is C-phase disconnected. A.

164 Digital Operator. 314 dimension drawings. 189 B battery. 412 alarm code output. 84 contact output signal terminalsconnections. 169 alignment. 83 motor speeds. reset. 318 D deceleration stop mode. 347 Servo. 148 AC servomotor sizing software. reverse rotation mode. 165 standard-type motor with brake. 151 transmitting sequence. 6 meaning. 134 clearing. test run. 163 motor cables. 9 connections contact input signal terminals. 315 standard-type motor without brake. 320 specifications. 78 controlled systems components. 150 absolute encoder. 156 troubleshooting. Servopack. 39 2CN. 55 absolute encoder. 315 dimensional drawings. 5 A absolute data exchange sequence. 183 alarms display. 380 adjustment of speed-control Servopacks. 77 contact output signal terminals. 326 1CN connector kit. 77 contact input speed control function. 311 specifications. 311 specifications. absolute encoder. 161 contact input signal terminalsconnections. 20 autotuning. 39 alarm traceback data. 376 precautions. 314 incremental encoder. display. 326 specifications. 314 specifications. 162 Servopack speed/torque control. 27 connectors 1CN. 320 for connecting PC and Servopack. 202 alarm traceback mode. 325 replacement. 78 I/O signal terminals. 136 encoders dimensional drawings. 191 adjustment of position control Servopacks. 319 specifications. 58 415 . 194 autotuning function. 20 radial load. 308 tension. 165 terminal layouts. 318 C cables. 27 internal circuit. 314 connector terminal block conversion unit. 20 thrust load. 161 Servopack position control. test run. 30 connector kits. 26 dimensional drawings. 64 soft start time. 84 prohibiting. 125 alarm signal circuit. list. 177 brake power supply. 152 absolute value detection system. 136 comparators. resetting using Digital Operator.INDEX Number 1CN connector dimensional drawings. 145 alarm. 114 Digital Operators. 125 alarm output signals. turning ON and OFF. 346 bits. 169 servo. wiring. 338 motor connectors. 166 encoder cables.

157 incremental. 226 100-VAC SGMP Servomotors. 223 home position error detection. 325 battery replacement. 63 F feed-forward control. 62 external torque limit input. 17 wiring. 246 1CN connector. 79 reference unit. 73 drive systems. 6 dynamic brake. 169 simple motor check. 5 Digital Operators. 8. 246–280 Servopacks. 157 416 . number per revolution. 79 electronic gear ratio. 216 servo alarm reset. 82 load travel distance per revolution of load shaft in reference units. 326 brake power supply. 314 dimensional drawings. 59 encoder pulses. 27 alarm traceback mode. 171 user constant setting mode. 105 stop mode. 320 specifications. 385 ground wire. 334 Servomotors. divided. Servopacks. clearing. meaning. 79 number of encoder pulses for the SGM Servomotor. 80 encoder output. encoders. 159 holding brake. 75 error counter. 112. 73 signals. 336 specifications. 8 meaning. 318 cables. 183 autotuning. 80 machine specifications. 17 grounding. 139 E electronic gear function. 215 flowchart. 189 connection. 186 selection. 148 battery. 291 Encoder Signal Converter Unit. 136 ground-fault interrupter. 63 forward. 336 magnetic contactor. 230 200-VAC SGM Servomotors. 332 motor cables. 291 mode selection. 218 200-VAC SGMP Servomotors. 374 setting references. 157 cables connectors. 107 electrical specifications 100-VAC SGM Servomotors. 73 H high-voltage lines. 72 external torque limit. 8 specification. 179 status display mode. 3 fuse. 63 reverse. 114 AC Servopack. 314 Digital Operators. 311 regenerative unit. 320 connector kits. 335 dividing. 336 encoders absolute. 320 extending cables. 79 setting. 174 motor operation. 116 feedback control. 138 G gain adjustment. 346 home position error detection. 186 test run. 170 monitor mode. 40 dimensional diagrams. 102 Encoder Signal Converter Unit dimensional drawings. noise filter. 289 variable resistors. load inertia ratio. 331 dimensional drawings.detectors encoders. 79 for different load mechanisms. 168 dimensional drawings. 14.

22 internal torque limit. 65. Digital Operators. alignment. 121 motor acceleration. 91 signal ground for torque reference input. 56 load inertia. 56 SEN signal input. 332 maintenance. 120 speed reference. 57 noise control. 70 reference sign input. 68 reference pulse input. 332 internal connection diagram. 331 J jog speed. 26. 91 speed reference input. 331 installation. 70 reverse external torque limit input.host controllers. 232 allowable thrust load. 138. 30 list position control. 128 battery. 186 operation. 65. 194 magnetic contactor. 330 mechanical tolerance. 20 Servomotors. 5. 137 dimensional diagrams. 91 torque/speed changeover. Digital Operators. 345 Servomotors. 91 speed selection. 27 hot start. 17 filter. 19 Servopacks. 345 MCCB. 26. 92 zero-clamp speed control. 344 Servopacks. 26 dimensional drawings. 120 torque reference. 86 proportional/integral control. 396 speed/torque control. 128 signal ground for speed reference input. 233 In−rush Current. 179 motor checking. 140 specifications. 332 specifications. 245 input pulse multiply function. 186 type check. 63 reverse rotation prohibited. 241 gain settings. 72 forward external torque limit input. 203 N N-OT input signal. 190 selection. 345 installation. 101 417 . 232 I I/O signal terminals connections. 344. 18 servomotor. 211 machine rigidity. 71 input signal terminals alarm reset. 345 Servomotors. 385 loads allowable radial load. 106 inspection. Digital Operators. 56 overtravel limit function. 137. 240 L limit switch. 118 detection points error pulse. 390 impact resistance. 85 torque reference input. 233 memory switches see user constants mode selection. 75 servo ON. 75 error counter clear input. 119 molded-case circuit breaker see⇒MCCB monitor mode. 170 mode switch. 344. 10. 59 M machine data table. 344 Servopacks. 77 motor rotation direction. 63 forward rotation prohibited. 56 I/O power supply.

299 output phase. 114 power amplifiers. 76 O order lists. 9 Power Loss. 113. 130 running output. characteristics. 11 S SEN signal. 113 reference pulse form. 75 absolute encoder. 225 100-VAC SGMP Servomotors. 126 signal ground for alarm code output. meaning. 16 pressure control. 104. 129 positioning time. 134 power ratings. 308 wiring. 55 user constant. 69 open collector output. 70 input allowable voltage level. 69 positioning complete signal. form. 74. 57 peripheral devices selection. 196 automatic adjustment. 334 specifications. 17 Servomotors. 75 signal ground for servo alarm output. 149 servo amplifiers. precautions. 138 precautions. 126 signal ground for encoder output. 146 dimensional drawings. 5 servo drive. 238 reference offset. 72 timing. minimizing. 132 P P-OT input signal. 75 incremental encoder. 16 reverse rotation mode. 217 200-VAC SGMP Servomotors. 56 limit switch. 104. 9. 88 proportional control. 4 418 . 108 encoder output. 294 specifications. 334 residual voltage. 109 positioning complete output. 57 forward. 75 frame ground. 60 overhanging load precautions. 68 protective sequence. inputs. 293 flowchart. 56 R radial load.wiring. prohibiting. 9 meaning. 99 regenerative unit. 54. 144 connection. 116 proportional/integral control. 26. 132 servo alarm output. 245 power loss. Servopacks. 125 pulse dividing ratio. 75 output signal terminals alarm code output. 196 manual adjustment. 97 reference pulse input filter selection function. 69 line driver output. 240 overtravel limit function. prohibiting. 235 for position control. 228 200-VAC SGM Servomotors. 55 2CN connector. 27 position references. 57 running output signal. 126 speed coincidence output. 116 signal. 221 SGDA Servopacks. 131 torque limit output. 72 reference pulse inhibit function. 244 overload. 126 brake interlock output. 20 ratings 100-VAC SGM Servomotors. 57 reverse. 78. 25 personal computer. 75 output signal ground common. 55 rotation.

238 speed bias. 246–280 inspection. 308 regenerative unit. 7 dimensional drawings. 308 encoders. 380 manual adjustment. 228 1CN connector. 221 brake power supply. 221 200-VAC SGMP torque-motor speed characteristics. 225 100-VAC SGMP Servomotors. 199 speed references. 111 software. 368 maintenance. 103 test run. 214 specifications. 238 speed-control autotuning. 67 Speed Loop Compensation Function. 154 SGDA Servopacks. 65 gain. 4 gain adjustment. 112 soft start function. 211 setting the type. 344 installation. 7 synchronous. 331 peripheral devices. 5 meaning. 2 servo OFF. 374 differences between SGDA and SGD. 240 position control autotuning. 220 200-VAC SGMP ratings. 128 Servomotors. 169 control systems. 39 Servopacks. 372 dimensional drawings. 217 200-VAC SGM torque-motor speed characteristics.servo mechanisms illustration. 228 100-VAC SGMP specifications. 227 100-VAC SGMP ratings. 332 noise filter. 318 cables. 171 stop mode. 68 inputs. 125 alarm reset. 4. 241 status display mode. 217 200-VAC SGM specifications. 289 high-voltage lines. 3 smoothing function. 376 manual adjustment. 238 selection. 345 meaning. 334 serial data. 22 instrument connection examples. 213 flowchart. 7 components. version check. 124 speed reference offset. 204 specifications 100-VAC SGM Servomotors. 65 starting time. 345 installation. setting. 159 inspection. 377 test run. 228 100-VAC SGMP torque-motor speed characteristics. 235 for position control. 207 flowchart. 154 incremental pulse. 131 speed control. 67 zero-clamp. 42 servos alarm output. 344 meaning. 5 overhanging load. 225 100-VAC SGM torque-motor speed characteristics. 235 for position control. 112 position reference acceleration/deceleration time constant. 224 AC. 114 meaning. 314 home position pulse. 235 for position control. 381 ratings. 320 connector kits. 326 200-VAC SGM Servomotors. 217 200-VAC SGMP Servomotors. 4 overload characteristics. 344 100-VAC SGM ratings. 345 AC. 209 machine data table. 58 servo ON input signal. 19 maintenance. 225 100-VAC SGM specifications. 221 200-VAC SGMP specifications. 7 DC. gain adjustment. manual adjustment mode. 7 induction. 104 419 . 112. meaning. 231 200-VAC SGM ratings. 244 selection. 87. 368 internal connection diagram. 117 speed coincidence output signal. 154 magnetic contactor.

64 output signal. 129 soft start time. 46 thrust load. 150 operation at recovery from power loss. 115 speed loop integration time constant. 102. 165 standard-type motor with brake. 116 position loop gain. 95 torque limit value. 131 speed limit for torque control I. 95. 111 speed coincidence signal output width. 149 servo ON input signal.107 V variable resistordimensional drawings. 96 torque restriction by analog voltage reference. 20 torque control. 347 without alarm display. 59. 110 brake signal speed level output during motor operation. 37 minimum user constants. 106 zero-speed level. 57 TGON output signal selection. 155 dividing ratio settings. 366 U user constant setting mode. 55 SEN input signal. 402 mode switch ON/OFF. 122 motor selection. 88 torque feed-forward function selection. 94 torque reference filter time constant. 88 torque feed-forward function. 76. 95 zero-clamp speed control. 84. 66 dividing ratio setting. 134 operation when motor stops after overtravel. 109 torque control. 16 surge suppressor. 63 reverse rotation mode. 48 motor alone. 113 torque restriction function. 115 speed reference gain. 88 terminals standard-type motor without brake. 58.stop torque. 149 error counter clear signal selection. 84 N-OT input signal. 335 vibration class. 115 positioning complete range. 75. 68. 81 emergency stop torque. 62 troubleshooting alarm display. 63 forward rotation torque limit. 57. 93 stopping motor at servo OFF. 59 jog speed. 93 speed loop gain. 113 torque reference gain. 47 servomotor with brake. 64. 117 brake signal output timing during motor operation. 55 reverse rotation torque limit. precautions. 72 feed-forward gain. 115 PI/P changeover. 60 value. 165 test run. 58 encoder type selection. 130 P-OT input signal. 121 mode switch selection. 103 motor speeds. 133 zero-clamp level. 83 control mode selection. 55. 59 rotation direction selection. 74 electronic gear ratio. 97 reference pulse input filter selection function. 133 time delay from brake signal output to servo OFF. 110 contact input speed control function. 234 420 . 61. 99 reverse external torque limit. 58 stopping time. 94 torque limit input signals. 96 torque reference filter time constant. 174 user constants. 406 speed/torque control. 57 operation when motor stops after servo OFF. 64 contact input speed control selection. 57 reference pulse form selection. 64 bias. 241 supply voltages. 39 motor connected to the machine. 62 by analog voltage reference. 57 number of encoder pulses. 44 position control from the host controller. 70 reference pulse inhibit function. 116 forward external torque limit. 58 overflow. 93. 105 stopping the motor at overtravel. 101 list position control. 102. 333 T tension control.

16. 233 voltage resistance test. 28. 136 shorting. 55. 106 421 . 68. 28 more than one servo drive. 55 Z zero-clamp function.136 grounding. 25 precautions. 138 peripheral devices. 139 main circuit. 25. 17 W wiring.vibration resistance. 2CN connector. 143 noise control.

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