= Series SGM/SGMP/SGD USER'S MANUAL AC Servodrives SGM/SGMP Servomotors SGD-DH Servopack YASKAWA TSE-S800-15.7Preface Features Based on Yaskawa servo manufacturing technology and servo application technology accumulated ‘ver the ast half a century, Yaskawa has launched the AC Servo Series that, together with its rich line Of products, meets the needs of the modern needs of FA and FMS in their application to machining tools and robots. ‘AC Servos not only provide stable, highly accurate, and high-speed response control even under ad- ‘verse environments, but also provide such features as easy application, flexibility, and easy maintain, ‘The iew Yasakawa AC Servos can be used in Various setvo fields, including machining tools and ro- bots. © The highest available power rates and response inthis class of servo. ‘© Compared with conventional products, these servomotors are approximately 1/3 both in volume and weight and Servopacks are approximately 1/4 in volume. ‘© The book-shape Servopacks can be used with either incremental encoders or absolute encoders. © Positioning by the serial communications © Electronic gear function provided. © For incremental encoders, there are now only 9 lines to wire between the motor and encoder (pre- viously: 15 lines). ‘© Improved environmental resistance by using varnish coating,General Precautions © The diagrams in this manual may be indicated without covers or safety shields to show de- tails. Be sure to restore covers or shields before operating the Units and run the Units accord- ing to the instructions described in this manual © Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable. ©” The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and/or the manual. A new version of the manual will be released under a revised manual number when any changes are made, ‘© When ordering anew copy of the manual due to damage or loss, contact your Yaskawa dealer or the nearest Yaskawasales office and provide the manual number shown on the front cover. ‘© Yaskawa assumes no responsibilities for products that are modified by users.Safety Nouces ——— EE Safety Notices ‘The following conventions are used to indicate precautions inthis manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products (or to related equipment and systems. ZX WARNING Indicates precautions that, if not heeded, are likely to result in loss of lte or serious injury. \ Caution indicates precautions that, if not heeded, could result in relatively serious or minor injury, ‘damage to the product, or faulty operation.TABLE OF CONTENTS Preface Features «2... General Prééaittions - | - Saféty Notices Safety Precautions ..... 1 Configuration and Model Numbers 1.1 Configuration . 1.2’ Model Numbers ... 41.2.1 Servomotor Model Numbers 1.2.2 Servopack Model Numbers . . 2 Ratings-and Specifications 2.1. Ratings/Specitications for 200-VAC SGM Servomotors . 2.1.1 Ratings and Specifications ss 2.2. Ratings/Specifications for 100-VAC SGM Servomotors ... 2.2.1 Ratings and Specifications 2.3 Ratings/Specifications for 200-VAC SGMP Servomotors . 2.3.1 Ratings and Specifications . foc 2.4 Ratings/Specifications for 100-VAC SGMP Servomotors . 2.4.1 Ratings and Specticatons a a. 2.5 Servopack Ratings and Specifications . 2.6 Standard Servodrives .......... 3 Servodrive Characteristics 3.1 Overload Characteristics ... 3.2 Starting and Stopping Time ....... 3.3 Allowable Repeatability . 3.3.1 Allowable Repeatability as Limited by the Servomeotor 3.4 Large-amplitude Frequency Characteristics ... 3.5 Mechanical Characteristics ... 315.1 Mechanical Strength 3.52 Alowable Radial Loads and Allowable Thrust Loads .. 3.5.3 Mechanical Tolerances . . 3.84 Direction of Motor Rotation 3.8.5 Impact Resistance .. 3.5.6 Vibration Resistance 3.58.7 Vibration ClassTABLE_OF CONTENTS ———————— EEE 4 Configuration and Connections 4.1 Internal Connection Diagram . 4.2 Main Circuit Terminals .. FS = 4.3 Applicable Receptacles . 4.3.1 1CN Connector for YO Signals . 4.32 2CN Connector for Encoder . 43.3 SCN Connector for Serial Communications... 4.4 Connecting an Incremental Encoder . 4.4.1 Typical Example 4.42, 10N VO Connector Terminals 45 Connecting an Absolute Encoder 4.5.1 Typical Example... 452 1CN VO Connector Terminals 46 Output Circuits . Oh e F666 & BW aa Panne sees 4015 4.7 Connector Terminal Block Converter Unit for 1CN 4.7.4 Application .... 4.7.2 Connection Specifications 4.73 Cable Speotications (Accessory for Connector Terminal Block Converter Unt)” 4-17 4.8 2CN Encoder Connector Terminals . + 4-18 4.8.1 2CN Terminal Layout 4.8.2 Applicable Cables 4.8.3 2CN Connection Method 4.9 3CN Serial Communications Connectors . 4.9.1 SCN Terminal Layout ........+. : 4.9.2 SCN Connection Method and Extemal Signal Processing ... 4.9.3 SCN VO Signals and Their Application: a 5 Application 5.1 Turning Power ON/OFF . 5.2 Position Control .. 6.2.1 Electronic Gear Function 5.2.2 Feed-forward Function . 5.3 Setting Up a 12-bit Absolute Encoder . 5.3.1 Battery ........ 5.32 Setup Procedure . ©00022® FO GHo DN 5.4 Protection Functions 54.1 Dynamic Brake Function 5.42 Efror Detection Function 5.4.3 ALM, ALM-SG: Servo Alarm Output 5.4.4 Handling Protection Circuit Operation 5.4.8 Servo Alarm Reset ....... : 5.4.6 Indications .. a5.5 Precautions 5.5.1 Overhanging Loads 5.52 Load Inertia JL 5.8.3 Regenerative Unit 5.5.4 Noise Control 5.5.5 High Voltage Lines 5.5.6 Power Supply Line Protection 5.6 Appropriate Applications 6.6.1 Holding Brake Interlock Signal 5.7 Adjustments 18.7.1. Servo System Adustments . 5.7.2 User Constants .. 5,73 Functions that improve Respénse - . 57.4 Guidelines for Gain Soings According tothe Load Inertia aio ......-...+. 5-25 6 . Serial Communications 6.1 Specifications .. 6.2 Control Structure .. 6.3 Sending Commands from Controiler to Servopack 6.3.1. Confirmation Return Signal’ 6.3.2 Typical Send Examples. 6.4 Serial Commands 64.1 List of Serial Commands 64.2 Command Functions . 7 User Constants 7.1 Setting User Constants .. 7AA Gain-related Constants . 7.42 Postonng Unit Related Constans - 7.4.3 Torque Related Constants 7.1.4 Sequence Related Constants . 7.1.8 Other Constants ..... 7.1.8 Memory Switches - 7.2 User Constants:‘TABLE OF CONTENTS 8 Using the Digital Operator 8.1 Switch Operation .. 8-2 8.2 Basic Function and Mode Selection . 8-3 83 Status Display Mode .. 8-5 8.4 Setting Mode .. 8-6 8.4.1 User Constants . 8-6 £8.42 Operation Using the Digital Operator 8-11 8.43 Clearing Alarm Traceback Data . a-12 8.4.4 Checking Servomotor Parameters 2-13 8.4.5 Checking the Sofware Version . 8-15 8.5 Monitor Mode {85.1 Monitor Display ea ceseeee {85.2 Internal Status Bit Display in Monitor Mode. fees B18 8.6 Alarm Traceback Mode . + 8-19 9 _ Installation and Wiring 9.1 Checking on Delivery . 9.2 Installation 9.2.1 Installing the Servomotor .. 92.2 Instaling the Servopack .... 92.3 Power Loss ......... 9.3 Wiring . 9.3.1 Wiring Instructions 9.3.2 Cable Spectfications . 93.3 Cable Types .. 10 -Series Dimensional Drawings 10.1 Servomotor Dimensional Drawings 10.1.1 SGM Servomotors . 10.1.2 SGMP Servomotors . 10.2 Servopack Dimensional Drawings . 10.2.1 SGD-A3AH to 02AH, SGD-ASBH to O1BH 1022 SGD-04AH, SGD-02BH : 102.8 SGD-08AH, SGD-03BH 10.3 Digital Operator Dimensional Drawings . 10.4 Specifications and Dimensional Drawings of Peripheral Devices 10-39 10.4.1 Regenerative Unit. 10-39 10.4.2 Cable Specifications 10-39 10.4.3 Connector Kits . 10-46 10.4.4 Noise Fiters ... 10-49 10.4.5 Connector Terminal Glock Converter Unit 10-49 10.4.6 Brake Power Supply 10.4.7 Analog Monitor Cables 10-50 10-5111 Trial Operation > 11.1 Check Items before Trial Operation .. 1-2 11.1.1 Servortotor . 1-2 11.1.2 Servopack .. 11-2 11.2 Trial Operation Procedure . 1-3 11.2.1 Preparation for Trial Operation ..: 11-3 11.22 Operation .. 11-3 11.2.3 Inspection during ial Operon 11-4 12. Settings 12.1 Characteristics at the Factory .. 12.2 Reset . 12.3 Adjusting Servo Performance .. 12-3 123.1 Setting Usor Constants ee ee 1232 Seting Optimum Position and Speed Loop Gain... ....2+....-. 12-3 13 Maintenance and Inspection : 13.1 Servodrive Maintenance and Inspection 13-2 13.1.1 Servomotor 13-2 13.12 Servopack ..... 13-3 18.1.3 Replacing Battery fr Absolute Encoder 13-3 13.2 Troubleshooting. 13-4 482.1 Servomotor ...-:.. 13-4 13.22 Sorvopack .. 13-5Safety Precautions ~ Safety Precautions Checking Products upon Delivery QQ Caution ‘© Always use the Servorotor and Servopack in one of the specified combinations. Not doing so may cause fire or malfunction Installation AX Caution (© Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles. Doing so may result n electric shock or fire. Wiring “A\ WARNING {© Connect the ground terminal oa clase ground (1002 res. Improper grounding may result in else shock of Ay Caution 1 Do not connect a three-phase power supply tothe U, V, or W output terminals Doxng so may result in ingury or fre. ‘© Securely fasten the power supply terminal screws and motor output terminal screws. [Not doing so may result in fire, Operation \ WARNING ‘© Never touch any rotating motor parts while the motor is running, Doing so may result injury.AQ Caution ‘chine to avoid any unexpected accidents. [Not doing so may result sn snjury ‘constants ofthe machine, ‘contol ot malfunction, applied at any time. Not doing s0 may result in yur. ‘* Do not touch the heatsinks during operation, Doing so may result in bums due to high temperatures. ‘© Conduct tral operation onthe Servomotor alone withthe motor shaft disconnected from ma- ‘© Before starung operation with a machine connected, change the settings to match the user's Starting operation without matching the proper settings may cause the machune to run out of ‘© Before starting operation with a machine connected, make sute that an emergency stop can be ‘© Never touch the msde ofthe Servopacks. : Doing so may result elecinc shock. ‘© Do not remove the panel cover while the power ts ON Doing so may result electne shock, ‘© Do not touch terminals for five minutes after the power 1 tured OFF, Residual voltage may cause electne shock. © Do not disassemble the Servomotor. Doing so may result in electric shock or yur. ‘@ Do not attempt to change wiring while the power 8 ON, Doing so may result in electric shock or yur. Maintenance and Inspection : ZY WARNING AQ Cautionety Precautions Warming Label Warning Label —__| Grounding Label ORE 7] Grounding Label Warning Label and Grounding Label Sticker Attachment Positions (Servopack)| Configuration and Model Numbers 1.1 Configuration . 1.2 Model Numbers .. 1.2.1. Servomotor Model Numbers . 1.2.2 Servopack Model Numbers ......... ooe w‘Configuration and Model Numbers 1.1 Configuration @e 1.2 Model Numbers 1.2.1 Servomotor Model Numbers SGM -01A312 E-Series Servomotor L Ontos _ : B: With bra SGMP: SMP Senomotor : th brake and shat seal (cube type) P: Drip-proof S: With shaft seal Rated Output (Motor Capacity). —— ‘SGM Type Only Shaft Specifications 30W AS: 50W 2: Straight without key SGM and SGMP Types 4: Straight with key 01: 100 W 02: 200 W 03: 300 W : 400 W08: 750 W Design Revision Order e@ Encoder Specifications Standard 3: 2048 P/R incremental encoder ‘W: 12-bit absolute encoder Not Standard 5: 2000 P/R incremental encoder S: 15-bit absolute encoder 1.2.2 Servopack Model Numbers SGD -01AH-P E-Series SGD Servopack L___ Applicable Motor Blank: SGM Servomotor P: SGMP Servomot Rated Output (Motor Capacity) wor AB: 30W AS: SOW O01: 100W L_ Mode! 02: 200W 03: 300W 04: 400W : hog oad H: Position controV/serial communications ‘Supply Voltage ‘A: 200VRatings and Specifications ‘Thus chapter provides Servomotor ratings, specifications, and torque-speed characteristics, as well as Servopack ratings and specifications. 2.1 Ratings/Specifications for 200-VAC SGM Servomotors 2.1.1 Ratings and Specications 2.2 Ratings/Specifications for 100-VAC SGM Servomotors .. 2-5 22.4 Ratings and Specifications 2.3 Ratings/Specifications for 200-VAC SGMP Servomotors .. 23.1 Ratings and Specifications 2.4 Ratings/Specifications for 100-VAC SGMP Servomotors 2.4.1 Ratings and Specifications 2.5 Servopack Ratings and Specifications 2.6 Standard Servodrives .. FRatings and Specifications 2 Ratmgs and Specifications 2.1 Ratings/Specifications for 200-VAC SGM Servomotors 2.1.1 Ratings and Specifications ‘Time Rating: Continuous Enclosure: ‘Totally enclosed, self cooled Excitation: Permanent magnet Insulation Class: Class B ‘Ambient Temperature 010 40°C Drive Method: Direct drive Vibration Class: 15 jm or below ‘Ambiént Humidity: 20% to 80% (with no condensation) ‘Mounting: Flange method Withstand Voltage: 1500 VAC Insulation Resistance: 500 VDC, 10 MQ min 2-2RaunguSpectfiations for 200-VAC SGM Servomotors LL @ : risa 200A 0 Snel fangs nd Spectntos [SGM Servemotor Type: SGN RUA_[ ASA | O1A_| O2A_| O4A | 086A Fated Output Ww 30 3 700) 200) 00 750 Rated Torque"? Nm 0005 [o1so losis joss? [t27___ [239 oxin 735 [226 [451 [oot 181 338 Tnstantaneous Peak Nm 020 [04a fooe _[to1__|ae2 [7 Torquet ozin 405 jer? [135 270) 542 1010 Rated Current’? A (rms) 0.42 06 0.87, 20 26 44 Instantaneous Max Current? | A (rms) 1.3 1.9 28 6.0 8.0 13.9 Rated Speed"! amin 3000 Instantaneous Max Speed"? | r/min 4500, FTorgue Constant NawvA (ms) [0255 [0286 [ose [oss [oss [0.500 gtemA [260 [292 |aie |ae2 [544 [601 e ts ‘Moment of [Incremental | (=GDyw/4)kg | 0.021 0.026 0.040 0.123 0.191 0.671 Inertia [Jy] | encorder, no. | .m? a ide 104 x10 a x104 fond ozins®10% [0288 [oses [o.s7e [1.74 2.70 9.52 incremental |(=GD4y/a}xq [0.090 | 0.035, Joos o.tet, 0.249, joi encorder, ud x104 x10 x104 xio4 ee pt a 0.408 0.488 0.696 256 3.52 1.5 ‘Absolute 0.046, [00st [0.065 [0.148 [0216 | 0.696 ‘encorder, no x04 x1o4 x10-* ue x10 x04 e@ bre Gio [oreo —|oaes aos [0s [oar ‘Absolute (0.055, [0.060 0.078 [0.208 |o274 | 0.896, ‘encorder, «104 x10 xio4 ie 104 x14 wih beac ‘ozin-s*x10- | 0.760 0.840, 1.048 2.91 3.87 1.9 Rated Power Rate"? KWis 4.36 9.63 25.4 32.8 846 85.1 Rated Angular radis® 45200 61200 79500 $1800 66600 ‘35600 |Acceleration*! Inertia Time Constant me 15 08 05 04 03 03 e Inductive Time Constant ms 15 1.8 1.9 54 64 13. [Note 1. These tems and torque-motor speed characteris quoted in combination with a Servopack are at an arma- ture winding temperature of 100°C Other values quoted at 20°C. All values are typical 2. Rated torques are continuous allowable torque values at 40°C watha 250 x 250 x6 (mm) (9.84%9.84x0.24 (in) heat sink attached. ‘3. When a motor is ited with shaft sea, use the ftlowing reduction ratings Because ofthe higher faction toque. SoM RaA_[_ASA_[ OvA_| O28 | 04 | 08K Reduction Rating ()| 70 8 0 20 5 3Ratings and Specifications OO 11 Ratngs and Specifications 1M 200:VAC SGM Servomotor Torque-Motor Speed Characteristics SGM-ASA ~ SGM-ASA io 4000 © Motor Speed - (tn) 2000 ‘000 : 29 018 03 0.4506 org Nem) to 0806 2 - “erg (2s) : sci ~ SGM-02A- : 0 : oor 299° 7 Motor "9000 3 Speed Speed - tn) 2000 tt.” 2000 1000, cc) 0025 05075 1 ° orale vend oa 10 Torque (ozen) ee | SGM-O4A SGMOBA 4000 4000 Motor °°) ° : Wetar 20° ° Speed Speed itr) 2000 {mn} 2000 1000 1000 ° Todas * eae Tora Ne “ergo ot 10 20 o wo —e00. 1200 “orve (ore) Torque (czen) ‘A: Continuous Duty Zone B: Intermittent Duty Zone22 Rang/Specficauons for 100-VAC SGM Servomotors 2.2 Ratings/Specifications for 100-VAC SGM Servomotors 2.2.1 Ratings and Specifications Time Rating: Continuous Enclosure: ‘Totally enclosed, self cooled Excitation: Permanent magnet Insulation Class: Class Bo” : Ambient Temperature. 0 to 40°C Drive Method: Direct drive Vibration Class: © 15 pm orbelow, Ambient Humidity: 20% to 80% (with no condensation) ‘Mounting: Flange method Withstand Voltage: 1500 VAC Insulation Resistance: 500 VDC, 10MQ min, asRatings and Specifications TI Ratings an Spetionons Table 22 100-VAC SGM Servomotor Ratings and Specifications [SGM Servomator Type: SGM 238 7B 018. 02 038 Rated Output ™ Ww 30 50 700 200 300 Rated Torque “7 Nm 0.085 _[o.tes jose _[oes7 [0.95 on 135, 226 45.1 90.1 135; Tnetantaneous Peak Torque? [Nm 028 0.48: 096 [1.91 372, ozin 405- [677 135; 270 528 Rated Current Arms) 0.63 09 22 27 37 Instantaneous Peak Gurrent?_[A (rms) 20 29 Zt a4 148 Rated Rotation Speed“! ‘in 3000 Max. Rotation Speed? ‘iin 4500 Torque Constant ** Neva (ema) 0168 [ote _[o1se [oass [oa7e gfemv/a (ems) | 1.72 1.98 158 2.60 2.85 Moment of [Incremental | (=GD@w/4) kgm® 0.021, [0.026 - [0049 [0.129 [0.19% Inerta (Jy) | encorder, no xtot | xtot tot [xctot [xt a ozins®10> 0288 [0.368 0576, 174 Bal Tneromental | (=GD@y/4) kgm? [0.030 |0.035, _[0.049. [0.18% 0.248, ‘encoder, with xtot tot tot [cto [cto Lsiond 0408. [0.488 [oss6 [2.66 3.53 ‘Absolute 0.046 [0.051 0.085, 0.148 J o2t6, fencorder, no xt | xtot tot [xtort | tort Lind ozins®ios [0.640 (0.720 0.928 2.09) 307, Fosoute _—|(=GD4yaykgn? ]0.055 [0.060 joo7a 0.206 |ozra ‘encorder, with xtot | xto# tot [x10 | x10 brake ozins® iO 0.760 0.840, 1.048 2.9% 3.89 ated Power Rating * KIS 4.38 2.63 254 328 a73, Rated Angular Accelerabon“?_| rads? ‘45200 [61200 __|79500 [51800 __| 49700 Inertia Time Constant ms: 16 08 06 04, 03 Inductive Time Constant ms. 13 16. 16 87 53 [Note 1 These tems and torque-motor sped charatensics quoted in combination witha Servopack area an arma- ture winding temperature of 100°C. Other values quoted at 20°C. Al values ae typed. 2. Rated torques are continuous allowable torque values at 40°C wath a 250 x 250 x6 (mm) (.84x9.84 x0.24 (an) heatsink attached, 3. When a motor ited wath a shaft seal use the following reduction ratings because ofthe higher fneton torque SGM 8. oy 1 028 036. Reduction Rating (| 70 0 0 30 90 2.622. RatngsSpeciiaions for 100-VAC SGM Servomotors _ 100-VAC SGM Servomotor Torque-Motor Speed Characteristics SGM-ASB ‘SGM-ASB 4000 4000 Motor °° Motor 99° : Speed ‘Speed (min) 2000 (din) 2000 1000 +1000 °9 oi 02 03 04 015_ 03 045 06 Torque (Nem) Torque (Nem) «0 6 ot 406080 tbo Torque (on) Torque (oz) SGM-01B a SGM-02B 4000 4000 Motor 5°00 . he ee a Speed Speed (min) 2000 {cmin) 2000 1000 1000 °o 025 05 075 7 % os + 15 2 “Torque (Nem) Torque (Ne) a0 5 a oo___200 S00 Torque (ozo) “Torque (ozin) SGM-038 4000 Motor 9000 ‘Speed 4 2 (cin) 2000 1000 ‘A: Continuous Duty Zone B: Intermittent Duty Zone cont ‘ 28 Torque (Nem) 200400 600 “Torque (orn)Ratings and Specifications ——————— 231 Ratings nd Specfcauons 2.3 Ratings/Specifications for 200-VAC SGMP Servomotors 2.3.1 Ratings and Specifications ‘Tiine Rating: Enclosure: Excitation: Insulation Class: _- Ambient Temperature Drive Method: Vibration Class: Ambient Humidity Mounting: Withstand Voltage: Insulation Resistance: Continuous ‘Totally enclosed, self cooled Permanent magnet Class B 01040°C Direct drive 15 pmeor below 20% to 80% (with no condensation) Flange method 1500 VAC. 300 VDC, 10 M2 min.ngs/Speciicauons fer 200-VAC SGMP Servomotors e ne [SGMP Servomotor Type: SGMP- oA a Ca CY Rated Output ** w 100) 200 200 750) Rated Torque “7° ~ [Nm 0318 0.657 1.27 239 ozin 45.4 20.4 181 338 Instantaneous Peak Torque [Nm 0.96) 131 3.82 74 o2in 135; 270 42 1010 Rated Curent Arms) 0.89 20 26 cI Instantaneous Peak Current. | A (rms) 28 6.0 8.0 13.9 Rated Rotation Speed"? | min 3000 (Max. Rotation Speed"? | min 4500 Torque Constant“ Nava (mms) [0.392 0349) 0.535 0641 e ‘kgfonvA (rms) _[ 4.00 3.56 5.46 6.55 Moment of [inoremental |(=GD? wa) | 0.065, 0.209) 0347 2m Inertia ‘encoder, no kgm? x04 x104 10-4 x04 Kalened ozins®10> [0.917 2.96 492. 298 Incremental | (=GD?/4) 0.108 0.307 0.445, 2.52 encoder, with kgm? x10 x10-4 x1o4 x104+ hbama ozins®109 (1.46 435 631 357 ‘Absolute (=GD? w/4) 0.090 0.234 0.372 2.14 ‘encoder, no | kg-m? x1o-4 x10-+ x10-4 x10-+ e ae ozins®xi0s | 1.27 331 527 303 ‘Absolute 0.128) 0.392, 0.470, 255 fencoder, with x10 Leto x10 x04 — _ [1.81 4.70 6.66 36.1 Rated Power Rate *? 15.7 19.4 46.8 26.9 ated Angular Acceleration "48200 "30500 36700 11300 Tneia Timo Constant o7 06 04 o7 Inductive Time Constant a7 Tra 85 18 Note 1. These tems and torque-rhotor speed characteristics quoted in combination with a Servopack are at an arma ture winding temperature of 100°C. Other values quoted at 20°C. All values are typical, 2.Rated torques are continuous allowable torque values at 40°C with the specified heat sink atached, Heat sink dimensions O1A,02A, O4A: 250 x 250 x 6 (mm) (9:84 x 9.84 x 0.24 (n)) OBA. osc 300 x 300. 12 (mm (181 x 1.81 x 0.47 Gn) 3. When a motor ited with a shaft sea, use the following reduction ratings because ofthe higher fiction torque ‘SoMP- oA GA OA 06h Reduction Rating | 00 % |Ratings and Speci 231 Ratings and Specficanons 1 200-VAC SGMP Servomotor Torque-Motor Speed Characteristics SGMP-01A ‘SGMP-02A, 4000 4000 Motor 9900 : Motor 5° : ‘Speed P Speed (ume) 2000 (emia) 2000 +1000 1000 02 04 08 0 °o 05 2 ‘Torque (Nem) Torque one ioe “1002003007 “Torque (ozs) “Torque (azn) SGMP-04A ‘SGMP-08A, 4000 4000 Motor 9900 i ls ‘Speed . = ° (ein) 2000 = (imum) 2000 +1000 1000 Comteas ‘Torque (Nem) 0200400600 “Torque (ozs) ‘A: Continuous Duty Zone B: Intermittent Duty Zone24 RaungsSpeciiaons for 100-VAC SG} Servomotors 2.4 Ratings/Specifications for 100-VAC SGMP Servomotors 2.4.1 Ratings and Specifications ‘Time Rating: Continuous Enclosure: ‘Totally enclosed, self cooled Excitation: Permanent magnet, Insulation Class: Class B ‘Ambient Temperature | 0 10 40°C Drive Method: Direct drive ‘Vibration Class: 15 um or below Ambient Humidity: 20% to 80% (with no condensation) Mounting: Flange method Withstand Voltage: 1500 VAC Insulation Resistance: 500 VDC, 10MQ min.Ratings and Specifications 241 Ratings and Specifications Table 2.4 100-VAC SGMP Servomotor Ratings and Specifications 'SGMP Servomotor Type: SGMP- 018 28 058 Rated Output? Ww 100 200 300 Rated Torque"? Nm 0318 0.657 0.955. ozin 45.1 90.1 135; Instantaneous Peak Torque"? Nin 0.96 1.91 206 ozin 135. 270 406 Rated Current? ‘Acrms) 22 27 43 Instantaneous Peak Gurrent™™ ‘Avrms) 7A a4 139 Rated Rotation Speed"? min 3000 Max. Rotation Speed"? in 4500 "Torque Constant™™ NiwA(ams) [0.160 (0258 0.246 kghomV/A (rms) _|1.64 2.63 251 (Moment of neria Incremental encoder, | (=GD%y/4) | 0.085 0.208, 0.347, 2 no brake, kgm? xio+ x04 x10 ozins®aos [0917 2.96 4.92 incremental encoder, | (=GD%y/4) | 0.103 0.307, 0.445, with brake kgm? xo x10 x10 ezine [1.46 435 631 ‘bsolute encoder, no [(=GD%y/4) | 0.090 0.234, 0372, brake kgm? xio4 x10 x104 ozinsedo> [1.27 331 527 ‘Absolute encoder, | (=GD@wa) | 0.128 0.332, 0.470, with brake kgm? x10+ x104 x10 zinta [1.81 470 6.66 Rated Power Rater? KWis 157, 194 263 ated Angular Acceleration"? rads 48200 [30500 27500 Inertia Time Constant ms 08 (07 oa Tnduative Time Constant ms 36 63 a5 [Note 1. These items and torque-motor speed characteristics quoted in combination with aServopack ae tan arma- ture winding temperature of 100°C. Other values quoted at 20°C. All values are typical 2. Rated torques are continuous allowable torque values at 40°C with a250 x 250x 6 (mm) (9.84 x9 84 x0.24 (4m) heat sink aitached. 3. When a motors fitted with a shaft seal, use the following reduction ratings because ofthe higher fiction ~ torque. ‘SGMP- OB O28 038 Reduction Rating () 90 90 52.4 RanngsSpecicatons for 100-VAC SGMP Servomotors EEE I 100-VAC SGMP Servomotor Torque-Motor Speed Characteristics ‘SGMP-01B 4000 Motor 9000 | E Speed (emer) 2000 1000 02 04 06 08 “Torque (Nem) so 100 Torque (o2sin) “SGMP-03B 4000 Motor ° (emia) 2000 1000 7200400 Torque (oz-n) ‘SGMP-02B 4000 Motor 39° ‘Speed {eimin) 2000 1000 Os ise ‘Torque (Nem) 100 200 300 ‘Torque (oz) ‘A: Continuous Duty Zone B: Intermittent Duty ZoneRatings and Specifications 2.5 Servopack Ratings and Specifications ~ ‘The ratings and specifications for the SGD Servopiack are shown below. Refer to them as required. ‘when selecting a Servopack. Refer to the specifications listed in the table for combination with the appropriate type of Servomotor. Table 2.5 Servopack and Applicable Servomotors ‘Voltage 7200 VAC 100 VAC ‘SGD Servopack GAH [ASAH [OTAH [O2AH [O4AH [08AH [ASH [ASBH [O1BH [02BH [OSBH ‘Max. Applicable Motor Capactyw [30 [60 [100 200 [400 [750 [30 [s0 [100 | 200 300 (HP) (0.04 | (0.07 | (0.19) | (027) | (053) | (1.01) | (0.04) | (0.07) | 0.13) | (0.27) | (0.40) ‘Combined. | Motor | Type: TASAC) | ASAC [OTACT |O2AT) [O4AC) [o8ACI [ASC |ASBO /o1eC) | o2BC |os8— Speciications SGM ea Wotorea- [30 —] 59 —|700 300 —[<00_—[750 [30 [so | 100 (200° [300 pactyW |(0.08) | (0.07) | (013) | (0.27) | (083) |(1.01) | (0.04) | (0.07) | (0.13) | (027) | (0.40) (HP) Rated? | 8000/4500 rimin "3000/4500 rman Max. Motor Speed “Applicable | Incremental encoder 2048 P/R or 2000 P/R, absolute encoder 1024 PIR fencoder ‘Alowable [06S [078 ]120 ]a69 |3e2 [is 06s [o7e ]120 |s69 [3.82 Load iner- | (8.80) | (11.0) | (17.0) | (62.2) | (G41) | (189) | (@e0) | (11.0) | (17.0) | (622) | (64.1) tet uxt kgm? (ozns?x, 10°) Continuous Ouipt [042 [os oar [20 |26 |44 |oss loo [22 [27 |37 Current Max. OuputCurent [13 [19 [28 [60 [so lias [20 [20 [71 [ea [148 ‘Basic Specti- | Power Supply ‘Single-phase 200 to 290 VAC, +10% to-15%,- | Single-phase 10010 115 VAC", cations 50/60 Ha"? 10% to ~15%, 50/60 Hz ‘Control Method ‘Single-phase, ful-wave rectification IGBT-PWM (sine-wave dnven) Feedback Trcremental encoder 2048 P/R or 2000 PIR, absolute encoder 1026 P/RL Location [Ambient | 010 55°C Temp. ‘Storage | -2010 485°C Temp. “Ambient” | 90% or less (with no condensabon) Storage Humicty Vibration’ [4.97196 mis? (05/26) ‘Shock Re- sistance ‘Structure Book (Base-mounted) “Approx. Mass kg (b) | 0.9 (1.98) 12 [15 [09(1.98) 12 [is (265) | (31) 2.65) |31) Performance | Bias Seting ‘0 to 450 rimn. (Setting resolution: 1 rimin ) Feed Forward Gom- | Oto 100% (Setting resolution: 194) pensation Position Complete | Oto 100 reference units et Seine, FRference unt: Mumum unt of postion data which moves the loados sew heget e ae aa _ ee a S Se ee Seca eae aa ee pngeenee See sa on goa egg E Tae SUS Spsnaaieer Renee avnsone ue saaaa—| Se armam pao onesie oa maa SS eraereearrraain SS a am OTe cons ei i eee a a copies — oe e ‘Digital Operator standard with opbons = a ‘Note 1. Allowable load inertia ranges require no optional External Regenerative Resistor Unit, Values are 30 times ‘he moment of inertia for 30-W to 200-W Servomotors, and 20 times for 300-W, 400-W and 750-W Servo- ‘motors. 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, ‘ot exceed the ambient temperature range. e 3. Use within the specified ambient temperature ange. When enclosed in a box, the intemal temperature mustRatings and Specifications 2.6 Standard Servodrives ‘The rated current for the external terminal ofthe SGD Servopack, applicable power supply size, and peripheral equipment are lised in the following table. Table 2.6... Sil Servomoior, SGD Servopack, and Peripheral Device Combinations Type | Sevvepack Wodel | Applcabie-| Power Sup-| MGGB | Applon”| —focammendad Noles —| Power ONDOFF Soo | Servomotse shins tor ‘ontactor Woda! Fier (eter. ‘ence Dia- | Model ‘Spec. gram) 200 [ Sw [SaDAIAH[SOMPAGAE [ows 3] epics] EF HEN | Saiopaw — Vnave vac [sow [sap-asai_[soM-AsAcl [03 Bi) BevACetan, | LISS 20.) Too W” | SGDOIAN.- [SOMOIAG : now | sob-02an|saMo2a0) T ow | SGD-OrAH | SGM-OFACT™] 12 7 TE 10 | See sto vie ion sow | SOD-OeANT | SGNORATT |B To fener spots [EE 250 Psi pase She aovvacsies, Ba Tm [sow [sobaen | Sowcavwe [os 3 | pgp ERR Sees vac [sow [sco-asai[soMAseC [03 BOVAC tas wow [scpo1BH | sGmo180 [0s 200w | sop-o28H | sawtonaa 075 7 TE [Sagopa 200 VAC as 1A teow [semen SHOR |e 5 TR | Smee pe 20 VAC as 204 Note 1. Values forthe rated load 2, Shut off characterises (at 25°C): 200%: 2s min., 700%: 0.01 s min, 3.A Tolan Corp. noise filter available from Yaskawa Control Co, Lid. 1s recommended.Servodrive Characteristics ‘This chapter provides characteristics of Servopacks and Servomotors. 3.1 Overload Characteristics .. 3-2 3.2 Starting and Stopping Time 3-3 3.3 Allowable Repeatability .. + 3-4 3.3.1 Allowable Repeatability as Limited by the Servomotor.. 3-4 3.4 Large-amplitude Frequency Characteristics .. + 3-6 3.5 Mechanical Characteristics .. cesses O67 3.5.1 Mechanical Strength .........- 3-7 3.5.2 Allowable Racial Loads and Alowable Thrust Loads .. 3-7 3.5.3' Mechanical Tolerances . 3-8 3.5.4 Direction of Motor Rotation . 3-8 3.55 Impact Resistance 3-9 3.56 Vibration Resistance 3-10 35.7 Vibration Class. 3-10Servodrive Characteristics 3.1 Overload Characteristics ‘The Servopack has a built-in overload protective function to protect the Servopack and Servomotor from overload. Allowable power for the Servopack is therefore limited by the overload protective function as shown below. ‘The overload detection level quoted under hot start conditions at a motor ambient temperature of 40°C cannot be modified. (Operating te (8) {00 = 0 Motor rated currant (%) Figure 3.1 Overload Characteristics 323.2 Starting and Stopping Time ‘The motor starting (tr) and stopping time () with a constant load are calculated using the following ‘equations. Motor viscous torque and friction torque have been ignored. Nadu + 5) Starting time: or = 104.7 RECT ms Nadu +1) Stopping time: of = 104.7 x a+ B) [ms] Na: Rated motor speed (e/min) Jue: Motor moment of inertia (kgem..(GD?4y/4) JL: Load converted to shaft moment of inertia (kgem?)..(GD?1/4) Kx" Motor torque constant (Nem/A) J: Rated motor current (A) = Iplg: Acceleration/deceleration curent coefficient Where Ips acceV/ecel current (acceVdecel curent 1s times the rated motor curent) (A)] B= Il: Lond current coefficient [Where Is the load torque equivalent current (load currents B times the rated motor current) (A)] wom {fo tigy Figure 3.2 Motor Current - Motor Speed Timing ChartServodrive Character 331 Allowable Repeatability as Limted by the Servomotor 3.3 Allowable Repeatability 7 Running and stopping repesiabilty are limited by the Servomotor. 3.3.1 Allowable Repeatability as Limited by the Servomotor Running and stopping repeatability vary with motor conditions, such asthe load conditions and ‘running time. A typical example is given below (See 3.2 Stating and Stopping Time details on symbols.) Motor Idling or Stopped 7 ‘The most common example is the operating cycle shown in Fig. 3.3 where rms frequency for ‘motor armature current is lower than the rated motor current. If we assume that Tis the operating cycle, then the range for T will-satisfy the following.equation. 7a Pair p+ Pas Find Ip tr, and tf that satisfy the equation above whén cycle time (T) is already known. Time a | 7 Figure 3.3 Motor Current — Motor Speed Timing Chart33 Allowable Repeat _ With Motor Stopped without Idling Except during Acceleration or Deceleration ‘The timing chart for motor armature current and motor speed is shown in Fig. 3.4. If we assume that allowable repeatability is N (times per minute), then N can be found using the equation given below. . Kt Ty 2/0 — N= 2865 x TET (1/0 ~ Bi/a) times per mnt] Motor curent Motor speed Figure 3.4 Motor Current --Motor Speed Timing Chart I With Motor Constantly Cycling through Acceleration, Idling, and Deceleration without Stopping ‘The timing chart for motor armature current and motor speed is shown in Fig. 3.5. If we assume ‘that allowable repeatability isN (times per minute), then N can be found using the equation given below. N = 2865 x Kt te 7 P ar minute} Sx EGS (Wa = Ba) mes por mouse} Motor cunt Motor speed Figure 3.5 Motor Current - Motor Speed Timing ChartServodrive Characteristics tics 3.4 Large-amplitude Frequency Characte! ‘When looking at frequency. characteristics with a Servopack and Motor combination, the motor speed amplitude is limited by the peak current through the Servopack. The relationship between mo- tor speed (N) and frequency (f) is expressed using the equation given below. askily Get Toy (r/min) Figure 3.6 Motor Current - Motor Speed Timing Chart 3635 Mechanical Charactensics ———— ee 3.5 Mechanical Characteristics 3.5.1 Mechanical Strength ‘A Servomotor can withstand instantaneous peak torque on the output shaft of up to 300% of the ‘motor rating. 3.5.2 Allowable Radial Loads and Allowable Thrust Loads ‘The output shaft allowable loads for SGM and SGMP Servomotors are shown below. ‘Use mechanical designs where thrust and radial loads do not exceed the values below during mo- tor operation. Table 3.1 Allowable Radial Loads and Allowable Thrust Loads for SGM and SGMP Servomotors ‘owabie Racial Lond Fr ‘Miowsbie Tria Lad Fe Servomotor a Win With With | Reference Diagram Incremental | Absolute | incremental | Absolute Encoder _| Encoder | Encoder_| Encoder [SGM-AS eM, oO) 3455) 19a) 'SGM-AS 68) 6), 345.5) 192) 'SGM-O1 788) 87) 54155) 192) ‘SGM-02 24505) | 19620)_| 74075) 4905) SGM-03 245,05) [19620 | 7475) 8) 'SGM-04 245,25) | 1960)_| 74073) 687) 'SGM-08 32a | 343G5)_[_ 14705) 98 (10) ‘SGMP-O1 788) 78(8) 9) 495) Somp-o2 | 245025) | _ 245 05) eM, 4909) [SGMP-03 245.25) [245 25) 68) 495) [SGMP-04 245.25) [245 25) 687) 4965) 'SGMP-08 39240) [39240] 14705) 40) Note Radial and thrust load limt values are the sum of the loads generated by the mo- tor torque and external loads applied tothe shaft,Servodrive Characteristics 1354 Dyechon of Motor Rottion 3.5.3 Mechanical Tolerances ‘Tolerances for Servomotor output shaft and installa 1 are shown in Table 3.2. Table 3.2 Mechanical Tolerances "Tolerance (TR) (eee note) Reference Diagram Perpendicuanty between the Mange 008 min face and utp shat _000iein 12. Mang concern of flange OD. 0.04 mm = @on1sin ‘Run-out at the end of the shaft 0,02 mm re : © eos Nite T.LA’= Total indicator Reading 3.5.4. Direction of Motor. Rotation Servomotor rotation when a forward run command is input is counterclockwise as viewed from the load end of the shaft. Figure 3.7 - Direction of Rotation for Forward Run Command input35 Mechanical Charactersios ™@ Connector Wiring Specifications Motor Sie (Standard) Motor Side with Brake) jel 1] Uphase Red TT U phase Red fore] [apa Whe aL 2 LV phase ‘wie o) SPW Bis aoa STW ata Bie 4 [FS Game gomnd [Green [FS (ame pound) : [Brake rnin Encoder Side Encoder Side © [Brake emma Blak (ineremental (Absolute Encoder) Encoder) T [ Channel A ouipat he : = T | Chane A capt [Bie DOD) [| cramer oupar | Baek ana) 2 camer A onpar | wireiae DEG} — [ [commers oupur | Yeow DORE] [former 8 capa —[ etn DO} [| chamer onpur | Vatiowack Daya] [2 Cannel ¥oupa —| Wheaton S| Chane C ouput [Green 3 | Chane! 7 oapat | Green 6 [Channel € output | Grenfiock | Chanel oupet | Winercen [OV (power supply) | Gray 7_[ ov power spp) | Black €[-3V power spp) [Ral | =5V ower supp) | Red 3 [FO Grane ound) — Ones 9 FG (ame ground) | GresVoow Tf Chanse Soup | Purple Tf Chanel S ouput | Wh Pane + | Capstor tee [Grand 13 [Reet ‘wae 1 [OV taney Wrong 13 [36 ate) Grange Do not we terminal 2, wa used only vo di charge the captor fr shpment 3.5.5 Impact Resistance ‘The Servomotor will withstand two vertical impacts at an impact acceleration of 98 m/s? (10 G) (See Fig. 3.8.) when the axis of the Servomotor is mounted horizontally. ‘Since a precision detector is attached to the shaft at the end opposite the load end, do not subject the shaft to direct impact as this may damage the detector. a f. _—— Figure 3.8 Impact MeasurementServodrive Characteristics 3.5.6 Vibration Resistance ‘The Servomtor will withstand a vibration acceleration of 24.5 mvs? 2.5 G)inthe vertical, trans- verse, and longitudinal directions (See Fig. 3.9) when the axis ofthe Servomotor is mounted hor- ier ; Longitudinal waa} 7. NT] fen Figure 3.9 Vibrition Resistance Measurement 3.5.7 Vibration Class ‘The vibration class of the Servomotor is 15 jum or below atthe rated speed (See Fig. 3.10) Vibration measurement position ei Figure 3.10 Vibration MeasurementConfiguration and Connections ‘This chapter describes Servodrive configmations and connections. 4.1 Internal Connection Diagram ... 42 Main Circuit Terminals ......... 4.3 Applicable Receptacles 43.1. 1CN Connector for YO Signals 4.3.2 2CN Connector for Encoder 43.3 CN Connector for Senal Communications 4.4 Connecting an Incremental Encoder 4.4.1 Typical Example . . 442 CN VO Connector Terminals. 45 Connecting an Absolute Encoder 45.1 Typical Example .. ‘452 1CN VO Connector Terminals 4.6 Output Circuits 4.7 Connector Terminal Block Converter Unit for 1CN 47.1 Applicaton. Ge : 4.72 Connection Specifications : 4.7.3 Cable Speotcations (Accessory for Connector Terminal Block Converter Unit) 4-17 4.8 2CN Encoder Connector Terminals ... 48:1 2CN Terminal Layout . 4.8.2 Applicable Cables 4.83 2CN Connection Method ....... 49 3CN Serial Communications Connectors 49.1 SCN Terminal Layout... 4.92 SCN Connection Method and External Signal Processing 4.9.3 SCN VO Signals and Their Application teConfiguration and Connections 4.1 Internal Connection Diagram ‘The internal connection diagram of the SGD-CIH Servopack is given below. a | aon ta Jel hy _ tants A _ i Pal {cx "l at | I i ii | +4 Lh [ijelemerag i i tt me on gfe Figure 4.1 Internal Connection Diagram for the Servopack ‘ 2Termunals 4.2 Main Circuit Terminals Table 4.1. Main Circult Terminal ‘Terminal Signal Name Description RT Power supply input tenminal_| Single-phase 200 to 230 VAC "075%, SO160 Ha™ UW ‘Motor terminal Connect U to the red motor terminal, V tothe white motor terminal, and W to the blue motor termunal o (Ground terminal (Connect to the motor ground terminal (gren) for grounding RN ‘Regenerate Resistor Unit | Connect toa Regenerative Resistor Unt (Extemal Connection is usvally nor terminal needed.) Note For 100 V power supply: Single phase 100 to 115 VAC “915%, SO/60 Hz 4.3 Applicable Receptacles 4.3.1 1CN Connector for I/O Signals - Table 4.2 Specifications for Applicable Servopack VO Signal Receptacles: SUMITOMO 3M), 36-P nght angle ‘Specifications for Servopack ‘Applicable Receptacle Model Connectors ‘Solder Case ‘Manufacturer 10236-S2A2IL (Manufactured by | 10136-3000VE T0336-52A0-008 SUMITOMO 3M 4.3.2 2CN Connector for Encoder Table 4.3 Applicable Receptacle and Cable Specifications ‘Specifications for “Applicable Receptacle Model Cable Specifications Servopack Connectors Solder Gane Wanufactorer (ee note) 10220-S2A2IL (Manafac- | 10T20-3000VE 10520-52A0-008 | SUMITOMO 3M | See 0.4.2 Cable Spear tured by SUMITOMO 3M), ications. 20-P mght angle "Note This cable 1s available from Yaskaws. Refer to 10.42 Cable Specifications for more details on cables. 4.3.3 3CN Connector for Serial Communications Table 4.4 Applicable Receptacle ‘Specifications for Servopack ‘Applicable Receptacle Model (Connectors Solder Case ‘Manufacturer T7LE-13090-77 (Manufactured by | 175-23090-02 (D&B) [Provided with receptacle | Dauichi Densh Kogyo Co, Daitchi Denshu Kogyo Co,, Lid), Lid, 9-pin right anglesuration and Connections FA Typical Example 4.4 Connecting an Incremental Encoder @ 4.4.1 Typical Example phase 200 19290 VAC (Single-phase 100 o,115 VAC 1%, 5OI6O He 0 5%, 50160 Hz = Sin ey 2 Rg Foren nenovorr ‘SUP papa coarser Servopact. (se0-00CH) : El ex ae as Cac et, 108 | cede mace ie soy sev iis 47KO Sv ON wh Ry ON oo overs dre prohtted mes nis oren®V[NSES N-OT|i7 vee cm pas Farr ve pono wih PLS OPEN Fanaa ON wen ong cecaraon LS Das roar nt ON why ON {= neraeeron Forward caret nt ON wi Ty ON P conte wth 2 ON eRe wy van Rar aprin age 20 VOC ‘Moxmon spomng core 207A SRY OFF wth se ton ny ON wen savory ry ON we ponte com Fy ON ora ones + Note 1. The capacity of each ‘output circu is 50 mA. max. or 30 VDC max. 2, Signal output ine TP represents twisted-pair : wires. 3. UO power supply must ‘mom oping tage 20 VOC be supplied by the user. e Figure 4.2 SGD-CILIDH Servopack Connection 4444 Conecong an Incremental Encoder rE 4.4.2 1CN /O Connector Terminals Terminal Layout Table 4.5 1CN Terminal Layout pa | Reernce ‘i bemoan 10] Notusea zl | Barco pulse moat 20) Notused eterno 3| pa | Balance, 21) Notused oe pulse input 22 ‘Not used aaa ng oon Net |; = 2 ed 6| “CLR ‘ongin signal 2 Not used. = R Brake inter- 7 fockagnal 25] Notused Peinonng cube | com |cominw ze| —_ Notused Sia output eras a jefecton r econ | °| OT fret 10] sa.com [ect common ed lee Forward | PC ‘current limit 2 Notused Reverse oNirput orent 12] RCN eae am ste pt | 19] scx |pomersnoy ar| aoe | aapitoomn| re son | Semon sun “ ‘input 32] ALOs [Alarm code CON | Ponto 33) SG-AL | output com- aa smput mon 0. r Gnepre- Servo alarm e) mor | awa. comag | an | Sip ps leatoa 17) Nor drive prohib- s output Deceleraton tediut 18) DEC | Sigua rt | 6! Fe Foe, Note Do notuse vacant pins for relay or other purposes. Set PRM36 bit 3 to when using areference pulse input (see page 7-7), and set PRM39 bit 7to I when using an external origin signal input (Gee page 7 - 9).442 ION VO Connector Terminals VO Signal Connections and External Signal Processing Servopeck ($GD-OCIOH) BESRBEBREES 4 OM (Sen ON he 8) cn content ON) (Sowert en O°) {ovaravt whan OFF) (Goon stow ts) (coal une (cosa when ON Note 1. /O power supply must be supplied by the user. nal output line Tp represents twisted-pair cable, ‘See Pulse String Input: PRM36 bit 2 for more details on reference pulses (page 7-7), and Origin Pulse Selection: PRM39 bit 7 for more details on external origin signals (page 7 - 12). ‘1€N VO Signal Connection and External Signal Processing44 Connecting an Incremental Encoder @ Input Signals and Their Application Table 4.6 input Signs ‘Signal | 1CNPin No, Description Name SON 1 Servo ON * When input, this signal tiggers a tandby status for the reference smput 1 * Cancels the base block and dynamic brake + The Servo ON signal can be canceled with user constant PRM37 bit Of not needed PON is Proportional contol ref- | When input, this signal switches the speed Toop control mods From (Two functions can | erence PF (proportional-integral) to P (proportional) contro beset via user constant PRM37 __ | Extemal se speed seles- [When N-CL and P-CL are used as the TOG ran relernce, tha ag bra) + Pon als used asthe reference speed selection signal NOT 7 Reverse dnve prohibited | > Connect tothe appropnate forward or reverse limit switch signal Por 16 Forward dave prohibited | for linear or other types of dive. The signals are CLOSED dung ‘normal operation and are OPEN when the mit switch is operated. ‘+ These functions can be canceled with user constant PRM37 bit | Always NCOT or Always PLOT can also be set. HAVIN [13 mV This signal is the extemal power supply input for pins TI, 12,14, 15,16, 17 and 18 of ICN. The user must provide the HO (50 mA mun.) power supply NCL 2 Reverse current mit [ Ths signal ws the current mit reference or JOG run reference put FEL " reference (Reverse JOG _| depending on the setting of user constant PRM37 bt 2, ‘un reference) The current lami and set speed values are set vath user constant Forward current mt | setungs, reference (Forward JOG run reference) DEC ie ‘Ongin deceleration LS [+ This signals the deceleration LS input when the motor urns 0 the ongin. The signal s CLOSED on te LS. + Polantycan be reversed (OPEN on LS) with user constant PRM37 bie, @ Input Circuits ‘The input signals are Servo ON, P control reference, forward/reverse overtravel prohibited, for- ward/reverse current limit reference, and origin deceleration LS. They comprise the input cir- ‘cuits that use UO power supply (See Fig. 4.4.) See Fig. 4.2 for an example of connections, ‘The user must provide /O power supply: 24 VDC: V, 50 mA min. (about 5 mA per circuit) ay Photocoupler | + I I Figure 4.4 Input Circuit ConfigurationConfiguration and Connections Pci fain aE $42 TGN VO Connector Tenmnals P-CON “The P-CON signal is used as one of the following two signals depending on the setting of user constant PRM37 bit 2. ‘© P Control (PRM37 bit 2 = 0) ‘This signal swatches the speed loop control mode between PI (proportional-integral) andl P (proportional) control. ‘© External Set Speed Selection (PRM37 bit 2= 1) ‘This signal is used to input the speed set selection in user constants PRM26 and 27. P-OT and N-OT: Forward and Reverse Drive Prohibited “These inputs are used to stop the forward operation ofthe motor (counterclockwise when viewed from the drive end of the motor) and reverse operation. When the overtravel prevention input is not used, connect ICN 16 and 17 to the 0V of the external 24-V power supply, or disable this, function by setting bit 1 of user constant PRM37. ‘When an overtravél occurs, regardless ofthe speed reference, the internal circuit will forcibly change the speed reférence to zero and immediately stop the motor. The motor will be zero- clamped after it stops. ‘S-ON: Servo ON ‘Turning ON this signal activates the power drive circuit in the Servopack main circuits. The mo- tor cannot rotate without inputting this signal (Servo OFF status). Ifthe Servo is tuned OFF while the motors rotating, the motor will be stopped with the dynamic brake. This signal can be automatically input by setting bit 0 of user constant PRM37. P-CL, N-CL ‘These signals.are used as one of the following two signals depending on the setting of user constant PRM37 bit 2. (© Forward and Reverse Current Limit References (PRM37 Bit = 0) ‘Thus circut limits the peak Gurrent of the motor armature during forward (counterclockwise viewed from the load coupling side) or-reverse rotation. Limits can be set individually for forward and reverse rotation with user constants PRM8 and 9. The continuous output current {is set at 100%, and can be set up to the peak output current. ‘© JOG Run Reference (PRM37 Bit 2= 1) ‘This is the JOG run reference input. Table 4.7. P-CL and N-CL Wel Reverse 10G ran reference Po Forward JOG nan referenceIncremental Encoder OOOO e rows FOR FCON | Speed reference OFF ‘Speed ON Speed? LS DEC: Origin Deceleration ‘When the motor returns to the ongin, it decelerates from the ongin return speed (PRM18) to creep speed (PRMI9) when this signal changes from H toL. After the signal changes from L to 1H, the motor moves from the first C-pulse position until it reaches the position set for PRM20 (final travel distance) where it stops. @ Output Signals and Their Application Table 49 Output Signals Signal] 1CN pin No. Description Name ALM HO Seno Alan Taras OFF when anerore detec See 5.4.2 Error Detection Function for further deals ar 30) Current Lame Detecuon | + Whea NCL or PCL is ON, tis signal tums ON when he Torque 9s reaches the lower level value eter limited by Cn-18 and Ch-19 or set in Cn-08 and Cn-09 4 + ‘Rims ON when the torque st for PRM28 and 29 s applied while NECL and P-CL are OFF haw Ta RO ap a TAT SRF Fen ops | Dap oe ps mye rT aera aa al | mis} —— | tases Joram a RS Vice etn wg Ove @ kes Mire age 2 49Configuration and Connections 431 Typical Example 4.5 Connecting an Absolute Encoder e@ 4.5.1 Typical Example : x , ly Spgeregeow 20 Nc ( Sepsis pts vAc nwees,)5 HOP he, S060 He Ope, S160 Hz Nae te sninates external noise: J Ferpower see OWOFF Saco : =a ae 7 ‘Servopack ul z aM (8GD-0100H) : cera ee ¥ — ‘SCN + axa} te Poko una i oe oreceaty |e 1x0 = sno ow — Conroy termiat the e Feneard voponone ih PLS OPEN | este cart ien ON w O Fear ure 8 wt 78 ON Pert th 2 ON SP OFF wi ser om Ry ON wt sev r0037 For eons ard cad} Note 1. The capacity ofeach outputenreut is $0 mA max. or 30 VDC max. 2. Signal ouput line “To represents ‘wisted-parr wires. a 3. UO power-supply must be sup- on | pled by the usr. a oy OX we post cee Fy ON deg mati ‘Aum ete optg 45 Connecting an Absolute Encoder e@ ~ 4.5.2 1CN/O Connector Terminals _ lM Terminal Layout Table 4.10_1CN Terminal Layout Hae [eed ooo 18] Notused Reterenco ay Pulse input 20 Not used 3| PB a ‘Not used Reteronce 4| 0 ee 22] Notused eae External 93 TT] 5] con | sei oe 23] Notuses [cn | Stapragnal 2 Notused input = (Banter tock 2s Positioning z me — 8] TON | compete a Notused Sonal ouput - Curent it Al es Sototon a fpecom | °| ST [eaten 10] se-cow |r eonmen a ear | Baty) - Forward a " ett 20] sato | Baty) verse input current %2) NEL | mt ON in- 90) ator Alarm code = Exemal ‘Alarm code ee 13| +24,v | power supoy| cutput(open | s1| aLoz [24D (open so now alecor out bry 14) SON peel put) put 2] aLoa Nemes Toman | | POOR | fete 38) so-aL__|outputcom- ora mon ative pro- Sine alarm D [lo ee oe 17| NOT | dnve prohib- s wes | output fed input 18 ‘arm rset Frame vie ‘input ae ‘ground Note Donot use vacant pins for relay or other purposes. Set PRM36 bit 3 to I when using a reference pulse input (see page 7-7), and set PRM39 bit 7 to 1 when using an external origin signal input (see page 7-9). :Configuration and Connections “452 1ONVO Connector Terminals 1/0 Signal Connections and External Signal Processing ‘Servopack (SGD-OIO0H) | Bar, 2evasVoackptenay “TF _BATO : savin ‘Se ON (Sey2 ON Wren) Peal conte whan ON, (rowmet wen 7) {Groat when OFF (our oN (Seon ween ON 1s 2 Eg 3 agtcneg congia (ierpctonns ‘one gpa rg atl at (fang Saar nd eke aoc ut {Orwerprepaton empta) — ‘em oso oPceaim Note 1. 1/0 power supply must be supplied by the user. 2, Signal output line Tp represents twisted-pair wires 3. See Pulse String Input: PRM36 Bit? for more details on reference pulses (page 7-7). and Origin Pulse Selection: PRM39 Bit 7 for more details on external origin signals (page 7-12) Figure 4.6 1€N VO Signal Connection and External Signal Processing an4.5 Connecting an Absolute Encoder — ee eee Input Signals and Their Application Table 4.11 Input Signals ‘Signal TON Pin No. Description Name SON 1% ‘Servo ON * When input, his signal mggers standby satus fora reference im put + Cancels the base block and dyna brake, * The Servo ON signal can be canceled with user constant PRM37 bit OF not needed 5 Proportonal contra ref | When input, dus signal swhes the speed Toop contal mode Tom (wo funcuons can |e PI (proportinalintegra) wo (proporunal) contol beset va user j37___| Bxtemal set speed selec- | When NCL and PCL are used as the JOG ran levees ge eayeeee lca nal used asthe reference speed selection signal Nor it ‘Reverse dave prohibited |» Connect to the appropnate Forward or reverse hn switch signal Por 16 Forward drive prohibited | for linear or oter types of dnve. The signals are CLOSED during ‘normal operation and are OPEN when the lint switch is operated, *+ This function can be canceled with user constant PRM37 bit I Ale ways NOT or Always P-OT can also be set. HAVIN [13 mV [Thus signal is the extemal power supply input for pms TI, 12, 14, 15, 16, 17 and 18 of ICN. The user must provide the UO (50 mA min.) power supply. NL 2 Reverse current mit | + This signals the Curent lt reference or OG ran reference impor fred " reference (Reverse JOG | depending on the sting of user constant PRMST bt 2. * The current limit and set speed values are st with user constants. Forward current limit reference (Forward JOG run reference) ALMRST [18 ‘Alarm rset "This signal resets the servo alarm sat, BAT 3 ++ Backup battery mput Ths terminal connects to the Backup ballery used when power to Baro » ~ Backup battery input _ | the absolute encoder 1s OFF. The voltage 1s 2 8 to 4.5 V (The user must supply the battery.) Input Circuits ‘The mput signals are the same as those for the incremental encoder (See page 4 - 7 Input Circuits lunder 5.4.2 CN /O Connector Terminals) except that the DEC signal is the alarm reset (ALMRST) signal.1 Output Signals and Their Application Table 4.12 Output Signals Signal] TON Pino, “Descriptor Name : ie ee Sena Na Tas OFF wena ers td (aM sex 542 ror Deco Fagor fate ar [a0 ana LA Don | + Wes EL or FCT ON ts gna ns ON wc Ere ‘eka elowerlee averted by Cr IBandCol3or Snr 08 and Co ' Tums ON when torque sét for PRM28 and 29s applied while N= : Land PCL ae OFF. BK T Ed)» | Brake Tnterlock Output _| Outputs the timing signal forthe external brake signal CoN BO Postuoning Complete | Ouipat when the pulses remaining inthe error counter falls with aS the positioning complete range set for PRMS. z ‘ALO! 3063), “Alarm Code Ouiput | Open collector outpat ALO2 31.3) (BCD code) ‘Maximim operating voltage: 30 VDC ‘ALO3 3233) Maximum operating current: 20 mA46 Oispit Crus 4.6 Output Circuits : ‘The output signals are the current limit detection, brake interlock, servo alarm, and positioning com- blete signals that comprise the non-contact transistor circuits, as well asthe three open collector out ut alarm codes. The voltage arid current specifications forall signals are as follows: Applied Voltage (V max.) $30 V- ‘Conduction Current (ip) < 50 inA (20 mA for ALOI to 3) . Output circuits require a power supply (open collector output S20 mA) that must be provided by the user. We recommend the same I/O power supply as that used forthe input circuits (See Fig. 4.7.) OPtecounter ee OF tena “heme Sen see Positoring compiate Fyueo de (Mako Sree doce'stacng | engm orton} Figure 4.7 Output Circuits 4.7 Connector Terminal Block Converter Unit for 1CN i 4.7.1 Application Servopack Connector Terminal Block Sap-ESoH Convertor Unt SUSP-TASBPD) so] . Cable — 1 | Connect o 10N hen] bs O vas some Note There is no connector Terminal Block Converter Unit for the 2CN. Separate encoder cables are provided for the 2CN connector. Obtain a cable of suitable length (See 10.4.2 Cable Specifica- tions.)Configuration and Connections "472 Connection Specifications = 4.7.2 Connection Specifications - "Temmnal Boek Converter Unt Cone Terma ie Boke PA aor AL 7 al cite BI 2 PB 2 3 ___te Bz 4 oun — a. 3 “CaF TP Fs s —_ “ m 7 COW a 4} — 3 er : + ° '5G-COM 10 BS. 10 xem tt a8 it NL 32 + 86 12 24V IN “18. — AT 73 EON 14 = Ea 14 ECON. 16 + AB - 15 POT 16 - Be 16 NOT 7 mo : 17 ‘DEC (MAST) 18 — 88 18 19 i 10 19 20 B10 20 at — Atte 21 2 SS ee 22 23 : tz 2 24 —F BIZ 24 25 ‘Arg 25 28 TF B13 126 27 - i 7 GAD 28 + te Bia {28 (ATO) 29 ; ANS 20 ‘ALOT 30 : BIS {90 ‘ALO2 at 7 ats {at 08 32 —+ B16 2 SG-AL 33 i Az ea AM 34 mari $ B17 34 AMSG 35 < As 38 FG 36, - Bite 6 ‘Connector as js Ato 37 Cable: Provided withthe trinnal block. | ~B18 Ls TP: rwstet-parwires B20 ia Note Do notuse vacant pins.47 Consecoe Terminal Block Converter Unt for ICN e 4.7.3 Cable Specifications (Accessory for Connector Terminal Block Converter Unit) 40-pin connector forthe Connector 36pm connector _Termunal Block Converter Unt forthe Servopack FCN-987J040-AV ‘10136-60008 eeConfiguration and Connections {2CN Tenmnal Layout 4.8 2CN Encoder Connector Terminals 4.8.1 2CN Terminal Layout Table 4.13 2CN Terminal Layout be Paov = ye u power power trae 2) Paov | etppiyov Suppyov [12] BATs | Cro enese Baio) 3) roo : sro |13] war |ferebe, Po power : wa | rosy Seay ul eo | Sas 5 | Posy | ops v 15] “ec | prose 64 posv ve] oma | tego ‘ | eens rowan |" z 17] PA | phase A a waz] ] ‘re | patee seen |) ops |mmaee 1o} ve | Some 4 = » mo] ro | fare2 4.8.2 Applicable Cables 48 2CN Encoder Connector Terminals ‘Yaskawa provides cables with the following specafications. Cables are not provided withthe Ser- vopack or motor. Order cables in the standard specificitions (lengths) as required. Table 4.14 Applicabie Cables incremental Eneoder ‘Absolute Encoder (Yaskawa Dwg. #89400064) (Yaskawa Dwg. #0P8409123) Bane ‘Compound KQVV.SW (Compound KQVV-SW Speetfcations | AwG22 x 3C, AWG26 x 4P |AWG22 x 3C, AWG26 x6P Finished [@7-5 mm (90:30 mn) (980 mm (60.31 in) Dimension Internal Structure and Lead Colors (DP8409123, : standard) AL AL ‘Az Black ‘A Black ‘AS Green yellow Ay Green yellow Fy Blue/White blue Twasted pair By BlueWhite blue Twisted pair }F2 Yellow/White yellow Twasted pair By Yellow/White yellow ‘Twisted pa }F3Green/White green Twisted pair By Green/White green ‘Twisted pair Fy Orange/White orange Twisted pair By ‘Orange/White orange ‘Twisted pair 1B; PurpleyWhite purple Twisted parr | Bg _Gray/White gray __Twasted par Yaskawa Standard fengths: 3 m (9.9 W),5 m (16.4 fi), 10m 2.8 W), 15 m (49.2 A), 20 m (65.6) (eee note 2) Standard Spectications Note 1. The maximum allowable wiring distance for applicable cables between the Servopack and the Servomotor (PG) 1s 20m 65.6.0). 2,See 104.2 Cable. Specfications for details on cables:Configuration and Connections G3 ICN Conecion Method 4.8.3 2CN Connection Method “ll Incremental Encoder © samt (oot) Note 1+ represents twisted-pair wires. Figure 4.8 Using a 89400064 Cable for an Incremental Encoder 4.2022CN Encodes Connector Tena ™ Absolute Encoder [ee 3 rt (05 2) Note +t represents twisted-pair wires. ae Figure 4.9 Using a DP8409123 Cable for an Absolute Encoder‘Configuration.and Connections 92 SCN Connecuon Method and External Sigal Processing 4.9. 3CN Serial Communications Connectors 4.9.1 3CN Terminal Layout Table 4.15 SCN Terminal Layout ‘Sonal communications: [>< rxo. | Normal ine dnver ouput = Sena ciuncatons: = E Inverted line receiver. ‘Seal comimunsations. 6) 00: | ie 2| -txo | Inverted ine driver output 7 | Rr =| Terminating resistance Serial communications: 3 | xD "| Normal ine recovar nput 8.| svep |. Digtal Operator “Senal communications. 4 | + -axo | ivertediine recewerinput power supply (+5 v) 9 | no | signal ground ov 5.| opH | Digital Operator signal 4.9.2 3CN Connection Method and External Signal Processing Host controller Servopack Note [represents twisted-pair wires,CN Senal Commutications Connectors ns Conecto 1 Multiple Axis Connections Short 3CN pins 6 and 7 to insert a terminating resistor only atthe Servopack for the last axis on the line, No.1 Aus Sorvopack re ‘No.2 Axis Servopack ee Final Aes Servepack Note 1. This type of connection is only for short distances (2 m (6.56 ft) max.). Use RS-422 specifica 2 tions for longer distances, ‘These 2-m (6.56-ft) cables are available from Yaskawa, Refer to 10.4.2 Cables for details on cables and connections. For PC98 (25-pin D-sub): DE9405258 For PC98 (half-pitch corinector): DE9408564 D-sub): DES4ORS6Ssuration and Connections F99 3CN UO Signals and Thew Appicaton 4.9.3 3CN I/O Signals and Their Application Table 4.16 SCN Output Signals sears Fe eRe creer oe er ion = aerate a eet pee, |e, asus one oe Trica eee oe a (cee epnaietee a ae ee ep ae pecans = mit ORO Ramee *RXD 6 Terminating resistor oe RxD Short ‘pins 6 and 7 to insert a terminating, . Sir eee =—H totes = —fi ave a eT ERT ETS “TL aver _| for the Digital Operator. Do not connect GND 9 ‘Signal ground 0 V = - . ‘Signal ground 0 V for TXD (*TXD) and ‘Note I. Connect the shield on the seral communications cable tothe connector case. 2. Semal data send signal: The signal line goes to high impedance when datas not being sent, 0 attach pull-up ‘and pull-down resistors tothe data recerve section of the host controle '3.The allowable wiring distance 1s a maximum of 20 m (65.6 ft) with RS-422 cablesApplication ‘This chapter describes how to use Servodrives. 5.1 Turning Power ON/OFF . 5-2 5.2 Position Control 5-3 sn to oc oa > 5.2.2 Feed-forward Function .... 5-5 5.3 Setting poe deciueeaee Encoder . 5-6 233 Stein. es 5.4 Protection Functions 5-8 845 A ane pt es 2 Bis Sovoflamtoe es sce roca os 5.5 Precautions . 5-10 tes noescans on 355 Pom oy tn on 5.6 Appropriate Applications 5-19 5.7 Adjustments 5-20 steers om ors tewomiane re e $73 nase igs oa 574 Ganson igo asa ss oa a5.1 Turning Power ON/OFF ‘The figure below shows a typical example of the power ON/OFF sequence. fmregpon er Me ISuP see note 1 twee sao Tad rel i Single phase 200 o 290 VAC'or =~. ud 100 to 15 VAC (60/60 H2) IMPORTANT. 8 sendpack rye) win EY on Bee note 2 [Note 1. CRSOS0OBA surge suppresor(OKAYA ElectncIndusines Co ,.Lid orth equivalent 2. Flywheel diode (to prevent spikes n Ry) Figure 5.1, Example.of Power ON/OFF Sequence 11 Construct a power ON sequence so the power is turned OFF a servo alarm signals output. See 5.4.4 Han- ding Protection Circuat Operation for more details on handling the alarm signal output 12. During the power ON/OFF sequence shown in Fig. 5.1, takes up to two seconds until the normal signal 1s valid once power 1s tured ON. The Servopack outputs a servo alarm signal for upto two seconds when power 1s tured ON in order to give time to initalze the Servopack. ‘8. The Servopack has a capacitor in the power supply. A high charging cutent will hus flow for 0.2 seconds \when the powerssturned ON. Freqiently turning the power ON and OFF will cause the main power devices (uch as capacitors and fuses) to detenorate and can result unexpected problems, Start and stop the Servo- ‘motor with Start and Stop commands rather than turning the power supply ON and OFF. 4. A power loss alarm may occur ifthe Servopack i turned ON immediately after being tuned OFF. To pre- vent this, always wat forthe time shown in the tale below before turing the power ON again “Servopack Type SAH ‘OTA ‘BAH | _200-VAC input ‘SGD- ASAH AH O4AH 38H ‘ASBH OBA TOO-VAC input O1BH BH : Power Holding Time & 10s 13s __ | Maximum values 5. Afterturingthe power OFF, donot touch the power termunals for atleast five minutes because high voltage ‘may remain inthe Servopack . : 5-2 @‘52 Poston Control 5.2 Position Control . 5.2.1 Electronic Gear Function . ‘The electronic gear function enables the motor travel distance per input reference pulse to b? set toany Value, More specifically, the value is set based on the number of encoder pulses, reference ‘unit (minimum unit of position data for moving the load), and machine gear ratio. An-input of * oné pulse moves the load by one reference unit I Setting the Electronic Gear Ratio (B/A) - Determining the Reference Unit ‘The reference unit is the minimum unit of position data for moving the load, e.g.,0.01 mm, 0.1°, 00.01 inches. A L-pulse input moves the load by 1 reference unit Example: Reference Unit = 0.1 im Ifa reference of $0000 pulses is input, the load will move S mm (50000 x 0.1 = $000 um = 5 mm). ‘Determine the reference unit based on factors like equipment specifications and positioning pre- Determining the Load Travel Distance per Load Shaft Revoluition in Reference Units ‘Load travel distance pe oad shaft Load travel distance per load shat revoluion revolution Saccde ‘Table 5.1 shows an example of the load travel distance per load shaft revolution. Table 5.1 Example of the Load Travel Distance per Load Shaft Revolution 5-3