YASKAWA Profibus-DP SGDH Series User manual

MANUAL NO. TOB-C718-8C
形式 JUSP-NS500, JUSP-NS500-E
Profibus-DP
アプリケーションモジュール
Σ-ΙΙ シリーズSGDH
取扱説明書
製品を安全にお使い頂くために，本書を必ずお読みください。
また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。
Type JUSP-NS500, JUSP-NS500-E
Profibus-DP
Application Module
Σ-ΙΙ Series SGDH
INSTRUCTIONS
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
COSMOS以外（A5）（和英併記）新CI

Copyright ©2000 YASKAWA ELECTRIC CORPORATION
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.

iii
INTRODUCTION
■Manual Contents
This manual consists of Japanese Version and English Version.
• Japanese Version: Described on pages J-1 to J-20.
• English Version: Described on pages E-1 to E-20.
Use the Japanese Version or English Version as needed.
■User Instructions
Use these instructions for the following jobs:
• Checking Σ-II Series SERVOPACK on delivery
• Installing Σ-II Series SERVOPACK
• Wiring Σ-II Series SERVOPACK
• Operating Σ-II Series SERVOPACK
• Inspecting and maintenance of Σ-II Series SERVOPACK

E-1
INSTRUCTIONS
Σ-II Series SGDH Profibus-DP
Application Module
SYMBOLS FOR SAFE OPERATION - - - - - - - - - - - - - - - - - - - - - - - E-4
NOTES FOR SAFE OPERATION - - - - - - - - - - - - - - - - - - - - - - - - - E-4
1 PARTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-8
2 CHECKING ON DELIVERY - - - - - - - - - - - - - - - - - - - - - - - E-8
2.1 Checking Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-9
2.2 Appearance and Nameplate - - - - - - - - - - - - - - - - - - - - - - - E-9
2.3 Type Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-9
2.4 Mounting NS500 Module - - - - - - - - - - - - - - - - - - - - - - - - E-10
3 INSTALLATION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-12
3.1 Storage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-12
3.2 Installation Sites - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-12
3.3 Orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-13
3.4 Installation Precautions - - - - - - - - - - - - - - - - - - - - - - - - - E-13
4 WIRING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14
4.1 Profibus-DP Connection Example - - - - - - - - - - - - - - - - - - E-15
4.2 Precautions on Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - E-15
5 GSD File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-16
6 OPERATION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-17
6.1 Precautions at Test Run - - - - - - - - - - - - - - - - - - - - - - - - - E-17
6.2 Precautions at Operation - - - - - - - - - - - - - - - - - - - - - - - - E-18
7 INSPECTION AND MAINTENANCE - - - - - - - - - - - - - - - E-18

E-2
8 MEASURES TO SATISFY THE EMC DIRECTIVE - - - - - - E-19
8.1 Profibus-DP Communication Cable - - - - - - - - - - - - - - - - - E-19
8.2 Fully Closed Encoder Cable - - - - - - - - - - - - - - - - - - - - - - E-19
8.3 The Core on the Cable - - - - - - - - - - - - - - - - - - - - - - - - - - E-19
8.4 Cable Clamp - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-20
8.5 Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-21

E-3
This instruction manual covers Σ-II series SGDH Profibus-DP Application Module (herein-
after called NS500 Module), which is an application module to be connected to Σ-II series
SGDH SERVOPACK for Profibus-DP.
To properly use the NS500 Module, read this manual thoroughly and retain for easy refer-
ence for inspections and maintenance etc.
Reference materials are listed below:
Manual Titles Manual No.
Σ-II series SGMH/SGDH User’s Manual SIEPS80000005
Σ-II series SGDH Profibus-DP Application Module User’s Manual SIE-C718-8
AC SERVOMOTOR INSTRUCTIONS TOE-C231-2
Σ-II series SGDH Instruction Manual TOB-S800-32

E-4
SYMBOLS FOR SAFE OPERATION
In this manual, the NOTES FOR SAFE OPERATION are classified as “WARNING” or
“CAUTION”. The following symbols are used.
Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious personal injury.
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 may also result in a serious accident.
In either case, follow these important items.
NOTES FOR SAFE OPERATION
Read this manual thoroughly before installation, operation, maintenance or inspection of the
AC Servo Drives.
CHECKING ON DELIVERY
STORAGE AND TRANSPORTATION
WARNING
CAUTION
CAUTION
(Ref.No.)
• When SGDH SERVOPACK is used with a NS500 Module mounted, the
parameters are automatically set so that the NS500 Module can be operated
from the first power ON.
For details of parameter setting methods, refer to Σ-II Series SGMH/SGDH User’s
Manual (SIEPS80000005).
E-8
(Ref.No.)
• If disinfectants or insecticides must be used to treat packing materials such as
wooden frames, pallets, or plywood, the packing materials must be treated
before the product is packaged, and methods other than fumigation must be
used.
Example: Heat treatment, where materials are kiln-dried to a core
temperature of 56°C for 30 minutes or more.
If the electronic products, which include stand-alone products and products installed
in machines, are packed with fumigated wooden materials, the electrical components
may be greatly damaged by the gases or fumes resulting from the fumigation process.
In particular, disinfectants containing halogen, which includes chlorine, fluorine, bro-
mine, of iodine can contribute to the erosion of the capacitors.
CAUTION
CAUTION

E-5
INSTALLATION
WIRING
OPERATION
(Ref.No.)
• Never use the equipment where it may be exposed to splashes of water, cor-
rosive or flammable gases, or near flammable materials.
Failure to observe this caution may lead to electric shock or fire.
E-12
(Ref.No.)
• SERVOPACK 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.
E-14
(Ref.No.)
• Do not connect three-phase power supply to SERVOPACK output terminals
U, V, and W.
Failure to observe this caution may lead to personal injury or fire.
E-14
• Securely tighten screws on the power supply and motor output terminals.
Failure to observe this caution can result in a fire.
E-14
(Ref.No.)
• To avoid inadvertent accidents, run the servomotor only in test run (without
load).
Failure to observe this caution may result in personal injury.
E-17
• Before starting operation with a load connected, set up parameters suitable
for the machine.
Starting operation without setting up parameters may lead to overrun failure.
E-17
• Before starting operation with a load connected, make sure emergency-stop
procedures are in place.
Failure to observe this caution may result in personal injury.
E-17
• During operation, do not touch the SERVOPACK’s heatsink.
Failure to observe this caution may result in burns.
E-18
CAUTION
WARNING
CAUTION
CAUTION

E-6
INSPECTION AND MAINTENANCE
(Ref.No.)
• Be sure to turn OFF power before inspection or maintenance.
Otherwise, electric shock may result.
E-18
• 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.
E-18
• After turning OFF power, wait at least five minutes before servicing the prod-
uct.
Otherwise, residual electric charges may result in electric shock.
E-18
(Ref.No.)
• Never change wiring while power is ON.
Failure to observe this caution may result in electric shock or personal injury.
E-18
WARNING
CAUTION
Note the following to ensure safe application.
• 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.
• Some drawings in this manual are shown as typical example and may differ from the
shipped product.
• 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.
• 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.
• 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.

E-7
WARNING LABEL
SERVOPACK warning label position
SERVOPACK Warning Label and Grounding Mark Position
May cause burn.
WARNING
CAUTION
Use proper grounding techniques.
Disconnect all power and wait 5 min.
before servicing. May cause electric shock.
Do not touch heat sink when power is ON.
ᔅߕࠕ࡯ࠬ✢ࠍធ⛯ߖࠃ
ෂޓ㒾 ㅢ㔚߅ࠃ߮㔚Ḯࠝࡈᓟ㧘ಽ㑆┵ሶㇱߦ⸅ࠆߥ㧍ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ߪࡅ࡯࠻ࠪࡦࠢߦ⸅ࠆߥ㧍Ἣ்ߩᕟࠇ޽ࠅ
ᵈޓᗧ

E-8
1PARTS
The NS500 Module parts names are as follows:
2 CHECKING ON DELIVERY
• When SGDH SERVOPACK is used with a NS500 Module mounted, the parameters are
automatically set so that the NS500 Module can be operated from the first power ON.
For details of parameter setting methods, refer to Σ-II Series SGMH/SGDH User’s Manual
(SIEPS80000005).
Ground wire: Connected to the terminal marked “G”
on the SGDH SERVOPACK.
Rotary switches (×1, ×10)
Used to set the Profibus-DP station address.
Connector for Profibus-DP Communications.
RS-232C Communications Connector (CN11):
Used to communicate with the Setup Tool.
LED (COMM): Communication Status LED for Profibus-DP
Profibus-DP Communications Connector (CN6):
LED (ERR): Module Error Status LED
External I/O Connector (CN4):
Connector for external I/O signals and fully closed
encoder signals.
CAUTION

2 CHECKING ON DELIVERY
E-9
2.1 Checking Items
When Σ-II Series products are delivered, check the following items:
If any of the above items are faulty or incorrect, contact the dealer from which you pur-
chased the products or your nearest local sales representative.
2.2 Appearance and Nameplate
2.3 Type Designation
Check Items Remarks
Check if the delivered products
are the ones you ordered.
Check the types marked on the nameplates of the NS500 Module.
Check if the motor shaft rotates
smoothly.
If the motor shaft is smoothly turned by hand, it is normal. How-
ever, if the motor has brakes, it cannot be turned manually.
Check for damage. Check the overall appearance, and check for damage or scratches
resulting from transportation.
Check if SERVOPACK is the
type applicable for NS500 Mod-
ule?
Check the nameplate of SERVOPACK.
SERVOPACK Type
SGDH-E-
c d
“SGDH” in c, and “E” in d
SERVOPACK
Profibus-DP I/F UNIT
MODEL JUSP−NS500 VER. 000000
S/N V81003−69
YASKAWA ELECTRIC
MADE IN JAPAN
NS500 Module
Application module type
Application module name
Serial number Version number
JUSP − NS50 0 − E
SERVOPACK peripheral device
Model
NS50: Profibus-DP interface
Design revision order
RoHS compliance

E-10
2.4 Mounting NS500 Module
Mount a NS500 Module on a SGDH SERVOPACK in the following manner. Provide the
screws for connecting ground wire as shown below.
1. Remove the connector cover mounted on CN10 of SERVOPACK.
2. Mount an application module.
Mounting
Method
SERVOPACK Type Screw Remarks
Base
mounted
SGDH-A3 to 02BE
SGDH-A3 to 10AE
M3×10 round head screws
(with spring washer and plain
washer)
Attachments.
SGDH-15 to 50AE
SGDH-05 to 50DE
M4×10 round head screws
(with spring washer and plain
washer)
Attachments.
SGDH-60 to 1EAE
SGDH-60 to 1EDE
M4×8 round head screws
(with spring washer and plain
washer)
Use the screw of the front panel.
Rack
mounted
SGDH-A3 to 02BE-R
SGDH-A3 to 50AE-R
SGDH-05 to 50DE-R
M4×6 round head screws
(with spring washer and plain
washer)
Attachments.
Note: Make sure that spring washers and
plain washers are used for mounting.
(Otherwise, the screw for connecting
ground wire sticks out from the other
side of the flange, and the SERVOPACK
cannot be mounted properly.)
Duct
ventilated
SGDH-60 to 1EAE-P
SGDH-60 to 1EDE-P
M4×8 round head screws
(with spring washer and plain
washer)
Use the screw of the front panel.
MODE/SET DATA/
CHARGE POWER
SGDH−
SERVOPACK
YASKAWA
Connector
cover
CN10
SERVOPACK
CN10
L1
L2
1
2
L1C
L2C
B1
B2
U
V
W
YASKAWA SERVOPACK
SGDH−
Ver.
POWERCHARGE
Connector
(to SERVOPACK)

2 CHECKING ON DELIVERY
E-11
3. For grounding, connect a ground wire of the NS500 Module to the marked “G” on the
SERVOPACK.
The appearance of SERVOPACK with NS500 Module properly mounted is shown
below.
MODE/SET DATA/
CHARGE POWER
SGDH−
SERVOPACKYAS KAWA NS500
NS100
SERVOPACK 200V
SGDH −
YASKAWA
Ground wire
Ground wire
G
G
For SERVOPACK (30 W to 5.0 kW)
For SERVOPACK (6.0 kW to 7.5 kW)

E-12
3INSTALLATION
Σ-II Series SGDH SERVOPACK is a base-mount type servo controller. Incorrect installation
will cause problems. Always observe the installation instructions described below.
3.1 Storage
When the SERVOPACK is to be stored with the power cable disconnected, store it in the fol-
lowing temperature range:
Between -20 to +85°C
3.2 Installation Sites
For installation sites, use proper care with the following notes.
• Never use the equipment where it may be exposed to splashes of water, corrosive or flam-
mable gases, or near flammable materials.
Failure to observe this caution may lead to electric shock or fire.
CAUTION
Σ-II Series
SGDH SERVOPACK with NS500 Module mounted
Situation Notes on Installation
When installed in a control panel Design the control panel size, unit layout, and cooling method
so that the temperature around the periphery of the SERVO-
PACK does not exceed 55°C.
When installed near a heating unit Suppress radiation heat from the heating unit and a tempera-
ture rise caused by convection so that the temperature around
the periphery of the SERVOPACK does not exceed 55°C.
When installed near a source of
vibration
Install a vibration isolator underneath the SERVOPACK to
prevent it from receiving vibration.
When installed in a place receiving
corrosive gases
Corrosive gases do not immediately affect the SERVOPACK
but will eventually cause contactorñrelated devices to mal-
function. Take appropriate action to protect against corrosive
gases.
Others Avoid installation in a hot and humid place or where excessive
dust or iron powder is present in the air. Install in a place
where the altitude is 1000 m or less.

3 INSTALLATION
E-13
3.3 Orientation
Install the SERVOPACK perpendicular to the wall as shown in the figure below.
The SERVOPACK is cooled by fan or natural convection. The SERVOPACK must be ori-
entated as shown in the figure.
Firmly secure the SERVOPACK through two to four mounting holes depending on the SER-
VOPACK capacity.
3.4 Installation Precautions
When installing multiple SERVOPACKs side by side in a control panel, observe the follow-
ing installation method:
Front Panel
Install SERVOPACK perpendicular to the wall so that the front panel (digital operator
mounted face) faces outward.
Cooling
Provide sufficient space around each SERVOPACK to allow cooling by fan and natural con-
vection.
Ventilation
Mounting face
MADE IN JAPAN
YASKAWA ELECTRIC
NS500 NS500 NS500NS500
30 mm (1.2 in.) or more
10 mm (0.4 in.) or more 50 mm (2 in.) or more
50 mm (2 in.) or more
FAN FAN

E-14
Where mounted side by side
When installing SERVOPACKs side by side, provide at least 10 mm (0.4 in.) space between
them and at least 50 mm (2 in.) space above and below them as shown in the figure above.
Install cooling fans above the SERVOPACKs to prevent the temperature around each SER-
VOPACK from increasing excessively and also to maintain the temperature inside the con-
trol panel evenly.
Environments in Control Panel
Maintain the following conditions inside the control panel:
• Ambient temperature for SERVOPACK: 0 to 55°C
• Humidity: 90%RH or less
• Vibration: 4.9 m/s2
• Condensation and freezing: None
• Ambient temperature to ensure long-term reliability: 45°C or less
• Altitude of 1000 m max.
4WIRING
This section shows a standard example for connecting Σ-II series products to peripheral devices
and briefly explains how to connect each peripheral device.
For the following wiring, refer to Σ-II series SGMH/SGDH User’s Manual (SIEPS80000005)
and Σ-II series SGDH Profibus-DP Application Module User’s Manual (SIE-C718-8).
• Main circuit wiring
• I/O signal wiring
• Encoder wiring
• Example of connections
• SERVOPACK 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.
• Do not connect three-phase power supply to SERVOPACK output terminals U, V, and W.
Failure to observe this caution may lead to personal injury or fire.
• Securely tighten screws on the power supply and motor output terminals.
Failure to observe this caution can result in a fire.
WARNING
CAUTION

4 WIRING
E-15
4.1 Profibus-DP Connection Example
An example of Profibus-DP connection is shown below.
4.2 Precautions on Wiring
Take note the following precautions at wiring.
Connectable Maximum Number of Stations
Up to 32 slave stations can be connected.
Using a repeater, up to 126 slave stations can be connected.
Cables
Use the special A cable.
For other peripheral devices, refer to Σ-II series SGMH/SGDH User’s Manual
(SIEPS80000005) and Σ-II series SGDH Profibus-DP Application Module User’s Manual
(SIE-C718-8).
Total cable length
The following table shows the relation between the baud rate and the communications dis-
tance when using the A cable.
Terminator
The last station in the network must have a terminator for electrical resistance.
M
SGDH
DP master device
DP slave devices
M
SGDH
M
SGDH
M
PROFIBUS−DP
PLC
NS500
Module
NS500
Module
NS500
Module
MotorMotor Motor Motor
Inverter
Actuator Sensor
Baud rate (kbps) 9.6 19.2 93.75 187.5 500 1500 12000
Communications
distance (m)
1200 1000 400 200 100

E-16
5 GSD File
A GSD file is required to operate the NS500 Module as a slave of the PROFIBUS-DP. After
registering a GSD file to the PROFIBUS-DP master, the NS500 can be used as a slave.
The GSD file differs in accordance with the product used.
Download the GSD File from the Profibus Organization’s homepage or Yaskawa’s e-mecha-
tronics site (http://www.e-mechatronics.com/).
Product Model GSD File Name
JUSP-NS500 YASK0508.GSD
JUSP-NS500-E YASK0A62.GSD

6 OPERATION
E-17
6 OPERATION
This section provides precautions at test run and operation. For instructions on test run and oper-
ation, refer to Σ-II series SGMH/SGDH User’s Manual (SIEPS80000005) and Σ-II series
SGDH Profibus-DP Application Module User’s Manual (SIE-C718-8).
6.1 Precautions at Test Run
Conducting Test Run for Servomotor without Load
When servomotor is operated without load, set the load inertia ratio (parameter Pn103) to 0.
(Factory setting is 0)
When servomotor is rotated without load, if the value has been set to other than 0, the servo-
motor may oscillate.
To avoid this, make sure to set the load inertia ratio to 0 and then servo ON.
Conducting Test Run with Servomotor Connected to Machine
SERVOPACK initial parameters setting is performed assuming normal operation conditions.
Before test run, set up parameters suitable for the machine.
Failure to set up the parameters initial setting may result in machine overrun or breakdown.
As for the setting procedures and methods, refer to Σ-II Series SGMH/SGDH User’s Man-
ual (SIEPS80000005).
Check Item during Test Run
The following items should be checked during test run.
• Unusual vibration
• Abnormal noise
• Excessive temperature rise
• To avoid inadvertent accidents, run the servomotor only in test run (without load).
Failure to observe this caution may result in personal injury.
• Before starting operation with a load connected, set up parameters suitable for the
machine.
Starting operation without setting up parameters may lead to overrun failure.
• Before starting operation with a connected load, make sure emergency-stop procedures
are in place.
Failure to observe this caution may result in personal injury.
CAUTION