Omron JUNMA PULSE User manual

169Junma Pulse servo drive
AC Servo systems
SJDE-@APA-OY
Junma Pulse servo drive
A new concept in drive simplicity
Save space, save time
• Ultra compact drive size reduces panel space
• Tuning-less technology, no gain parameters need to
be set
• Peak torque 300% of nominal for 3 seconds
• High response, high speed, high torque and high
accuracy
• Fully “Parameter-less” just plug and run
• Position resolution of 10,000 steps per revolution
Ratings
• 230 VAC Single-phase 100 W to 750 W (2.39 Nm)
System Configuration
200V
SJDE- 02 APA-OY
PULSE
FIL
REF
AL1
AL2
AL3
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
N
1
C
N
2
PWR
L1
L2
+
U
V
W
-
CNA CNB
Junma Servo Motor
3,000 rpm
(100-750 W)
Power cable
Encoder cable
Junma PULSE Servo Drive Configuration
Junma Pulse
Servo Drive
Connector terminal block
General purpose controller
(with pulse output)
Position control
unit
Servomotor / Servo Drive Combination
Junma Servomotor Junma servo drive
Voltage Rated Torque Capacity Model without brake Model with brake Pulse Control
SJME- (3000 min-1) 200 V 0.318 Nm 100 W SJME-01AMB41-OY SJME-01AMB4C-OY SJDE-01APA-OY
0.637 Nm 200 W SJME-02AMB41-OY SJME-02AMB4C-OY SJDE-02APA-OY
1.27 Nm 400 W SJME-04AMB41-OY SJME-04AMB4C-OY SJDE-04APA-OY
2.39 Nm 750 W SJME-08AMB41-OY SJME-08AMB4C-OY SJDE-08APA-OY
Servo Drive Type Designation
SJDE - 02 A P A - OY
JUNMA servo drive
A
pplicable servomotor capacity
Power supply voltage
Control Interface specification
Code
A
: 200 VAC
Design revision
A: Standard
N: MECHATROLINK-II
P: Pulse train input
01
02
04
08
Output (W)
100
200
400
750
OMRON YASKAWA Motion Control BV
Y203-EN2-03+Motion_Drives+Cat.book Seite 169 Donnerstag, 2. August 2007 2:51 14

170 AC Servo Systems
Junma Pulse Servo Drives
Note: *1. Value without external regeneration unit
Junma pulse control servo drives
SJDE-01, 02APA-OY (200V, 100 to 200W)
Servo Drive Specifications
Servo Drive Type SJDE- @01APA-OY 02APA-OY 04APA-OY 08APA-OY
Applicable servomotor SJME-@01A@02A@04A@08A@
Basic specifications
Max. Applicable Motor capacity W 100 200 400 750
Continuous output current Arms 0.84 1.1 2.0 3.7
Max. output current Arms 2.5 3.3 6.0 11.1
Input power supply
(Main circuit and control circuit)
Voltage Single-phase, 200 to 230 VAC, + 10 to -15% (50/60 Hz)
Capacity KVA 0.40 0.75 1.2 2.2
Control Method PWM control, sine wave current drive system
Feedback Analogue incremental encoder (10000 steps per revolution)
Allowable load inertia*1 kg⋅m20.6 ×10-4 3.0 ×10-4 5.0 ×10-4 10.0 ×10-4
Usage / storage temperature 0 to +55° C / -20 to 70° C
Usage / storage humidity 90%RH or less (non-condensing)
Altitude 1000 m or less above sea level
Vibration/shock Resistance 4.9m/s2(0.5G) / 19.6m/s2 (2G)
Configuration Base mounted
Cooling method Forced cooling (built-in fan)
Approx. mass kg 0.5 1.0
Built-in functions
Dynamic brake (DB) Operated at main power OFF, servo alarm, servo OFF.(OFF after motor stops; ON when motor power is off.)
Regenerative processing Optional (If the regenerated energy is too large, install a regenerative unit JUSP-RG08D)
LED display 5 (PWE, REF, AL1, AL2, AL3)
Reference filter Select one of eight levels with FIL switch
Protection Speed errors, overload, encoder errors, voltage errors, overcurrents, disablement of the built-in cooling fan,
system errors
I/O Signals
Input signal for reference
Designated pulse type and
pulse resolution with PULSE
switch.
Pulse type Select one of the following signals:
1. CCW + CW
2. Sign + pulse train
3. CCW + CW (logic reversal)
4. Sign + pulse train (logic reversal)
Pulse resolution Select one of the following signals:
1. 1000 pulses/rev (Open collector/line driver) 75 kpps max.
2. 2500 pulses/rev (Open collector/line driver) 187.5 kpps max.
3. 5000 pulses/rev (Line driver) 375 kpps max.
4. 10000 pulses/rev (Line driver) 750 kpps max.
Clear input signal Clears the positioning error when turned ON
Servo ON input signal Turns the servomotor ON or OFF
Alarm output signal OFF if an alarm occurs. (Note: OFF for 2s when power is turned ON)
Brake output signal External signal to control brakes. Turn ON to release the brake
Positioning completed output signal ON if the current position is equal to the reference position ±10 pulses.External signal to control brakes.
Origin output signal ON if the motor is at the origin. (Width: 1/500 rev)
(Note:Use the pulse edge that changes the signal from OFF to ON)
Dimensions
Ground Terminal
2-M4 screws
Approx. mass : 0.5 kg
Units in mm
(17)
5
105
7
5
140
35
(4.5)
(5)
(14)
(5)
(28)
Cooling fan
AIR FLOW
2-M4 screw holes
(Mounting pitch)
Mounting Hole Diagram
(75)
130 ± 0.5
130
120
12.5 15
4.5
10
5
(10)
(5)
140
7
19
35
CN1
CN2
4.5 dia.holes
CNB
200V
SJDE- 02 APA-OY
PULSE
FIL
REF
AL1
AL2
AL3
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
N
1
C
N
2
PWR
L1
L2
+
U
V
W
-
CNA CNB
CNA AIR FLOW
Y203-EN2-03+Motion_Drives+Cat.book Seite 170 Donnerstag, 2. August 2007 2:51 14

Junma Pulse servo drive 171
AC Servo systems
SJDE-04APA-OY (200V, 400W)
SJDE-08APA-OY (200V, 800W)
Ordering Information
Junma Pulse Servo Drive Configuration
Ground Terminal
2-M4 screws
Approx. mass : 0.5 kg
Units in mm
105
57
40
140
5130 ± 0.5
(14)(17)
(4.5)
(5)
(5)
(33)
(75)
Cooling fan
2-M4 mounting holes
(Mounting pitch)
Mounting Hole Diagram
Visible outline
130
120
4.5
12.5 15
10
5
(10)
(5)
7
19
40
140
4.5 dia.holes
CN1
CN2
CNA
CNB
200V
SJDE- 04 APA-OY
PULSE
FIL
REF
AL1
AL2
AL3
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
N
1
C
N
2
PWR
CNA CNB
L1
L2
+
U
V
W
-
AIR FLOW
AIR FLOW
Ground Terminal
2-M4 screws
Approx. mass : 1 kg
Units in mm
5
145
140
130 ± 0.5
70
14
17
30
5
(75)
(4.5) (13)
(5)
2-M4 mounting holes
(Mounting pitch)
Mounting Hole Diagram
Visible outline
Cooling fan
(35)
(44)(17)
140 130 5(5)
10(10) 120
12.5 15
14 30
70
17
4.5
CNA
CNB
CN1
CN2
4.5 dia.holes
200V
SJDE- 08 APA-OY
PULSE
FIL
C
N
1
C
N
2
PWR
CNA CNB
L1
L2
+
U
V
W
-
REF
AL1
AL2
AL3
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
AIR FLOW
AIR FLOW
200V
SJDE- 02 APA-OY
PULSE
FIL
REF
AL1
AL2
AL3
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
N
1
C
N
2
PWR
L1
L2
+
U
V
W
-
CNA CNB
Junma Pulse
Servo Drive
Junma Servo Motor
3,000 rpm
(100-750 W)
(Refer to servo motor chapter)
J
I
Power cable
Encoder cable
Filter
K
B
C
A
D
F
H
EG
I
Connector terminal block
General purpose controller
(with pulse output)
Position control
unit
Y203-EN2-03+Motion_Drives+Cat.book Seite 171 Donnerstag, 2. August 2007 2:51 14

172 AC Servo Systems
Servomotors and Servo drives
Control cables (for CN1) Filters
Regenerative Unit Model (Option)
Connectors
Power and encoder cables
Note: CD Refer to the Junma servo motor section for motor cables or connec-
tors selection
Symbol Specifications AServomotor model B Servo drive model
Voltage Encoder and Design Rated Torque Capacity Pulse Control
AB 1 Phase
200 VAC
Analogue Incremental
Encoder
Straight shaft with key
Without brake 0.318 Nm 100 W SJME-01AMB41-OY SJDE-01APA-OY
0.637 Nm 200 W SJME-02AMB41-OY SJDE-02APA-OY
1.27 Nm 400 W SJME-04AMB41-OY SJDE-04APA-OY
2.39 Nm 750 W SJME-08AMB41-OY SJDE-08APA-OY
With brake 0.318 Nm 100 W SJME-01AMB4C-OY SJDE-01APA-OY
0.637 Nm 200 W SJME-02AMB4C-OY SJDE-02APA-OY
1.27 Nm 400 W SJME-04AMB4C-OY SJDE-04APA-OY
2.39 Nm 750 W SJME-08AMB4C-OY SJDE-08APA-OY
Symbol Name Compatible units Model
EServo relay
unit
Units: CS1W-NC113/133,
CJ1W-NC113/133,
C200HW-NC113
- XW2B-20J6-1B
(1 axis)
Units:
CS1W-NC213/233/413/433,
CJ1W-NC213/233/413/433,
C200HW-NC213/413
- XW2B-40J6-2B
(2 axes)
Units: CQM1H-PLB21 and
CQM1-CPU43-V1
- XW2B-20J6-3B
(1 axis)
Use with
CJ1M-CPU21/22/23
- XW2B-20J6-8A
(1 axis)
- XW2B-40J6-9A
(2 axes)
FCable to
servo drive
For the servo relay unit
XW2B-@@J6-@B,
XW2B-20J6-8A,
XW2B-40J6-9A
1 m XW2Z-100J-B17
2 m XW2Z-200J-B17
GCable to po-
sition
control unit
CQM1H-PLB21 and
CQM1-CPU43-V1
0.5 m XW2Z-050J-A3
1 m XW2Z-100J-A3
CS1W-NC113 and
C200HW-NC113
0.5 m XW2Z-050J-A8
1 m XW2Z-100J-A8
CS1W-NC213/413 and
C200HW-NC213/413
0.5 m XW2Z-050J-A9
1 m XW2Z-100J-A9
CS1W-NC133 0.5 m XW2Z-050J-A12
1 m XW2Z-100J-A12
CS1W-NC233/433 0.5 m XW2Z-050J-A13
1 m XW2Z-100J-A13
CJ1W-NC113 0.5 m XW2Z-050J-A16
1 m XW2Z-100J-A16
CJ1W-NC213/413 0.5 m XW2Z-050J-A17
1 m XW2Z-100J-A17
CJ1W-NC133 0.5 m XW2Z-050J-A20
1 m XW2Z-100J-A20
CS1W-NC233/433 0.5 m XW2Z-050J-A21
1 m XW2Z-100J-A21
CJ1M-CPU21/22/23 0.5 m XW2Z-050J-A26
1 m XW2Z-100J-A26
HControl ca-
ble
For general-purpose control-
lers
1 m R7A-CPZ001S
or JZSP-CHI003-01
2 m R7A-CPZ002S
or JZSP-CHI003-02
3 m JZSP-CHI003-03
IConnector
terminal
block cable
For general-purpose
controllers
1 m XW2Z-100J-B19
2 m XW2Z-200J-B19
Connector
terminal
block
- XW2B-20G5
Symbol Applicable servo
drive
Rated
current
Leakage
current
Rated
voltage
Filter model
JSJDE-01APA-OY
SJDE-02APA-OY
SJDE-04APA-OY
5A 1.7 mA 250 VAC
1- phase
R7A-FIZP105-BE
SJDE-08APA-OY 9A 1.7 mA R7A-FIZP109-BE
Symbol Specifications Model (Omron) Model (Yaskawa)
KExternal regenerative unit
(Optional)
R88A-RG08UA JUSP-RG08D
Specification Model (Omron) Model (Yaskawa)
Control I/O connector (for CN1) R7A-CNA01R JZSP-CHI9-1
Power input connector (for CNB).
(Included in drive the box)
R7A-CNZ01P JZSP-CHG9-1
In the interest of product improvement, specifications are subject to change without notice.
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I71E-EN-01
Y203-EN2-03+Motion_Drives+Cat.book Seite 172 Donnerstag, 2. August 2007 2:51 14