YASKAWA S-II Series User manual

MANUAL NO. TOB-C718-4C
形式：JUSP-NS100
対象サーボパック形式：SGDH-E-
MECHATROLINKインタフェースモジュール
Σ-IIシリーズ
ACサーボパック
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。
Model: JUSP-NS100
Applicable SERVOPACK Model: SGDH-E-
MECHATROLINK Interface Module
Σ-II Series
AC SERVOPACK
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 ©2001 株式会社 安川電機 YASKAWA ELECTRIC CORPORATION
本書の内容の一部または全部を，当社の文書による許可なしに，転載または複製する
ことは，固くお断りします。
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
はじめに
■本書の構成
この取扱説明書は，日本語編と英語編で構成しています。
• 日本語編： J-1 ページ ～J-25 ページに掲載
• 英語編： E-1 ページ ～E-25 ページに掲載
必要に応じて，ご活用ください。
■本書の対象読者
本書は下記の方々を対象読者としています。
• Σ-II シリーズ サーボパックの到着時の点検を行う方
• Σ-II シリーズ サーボパックの盤組み込みや配線を行う方
• Σ-II シリーズ サーボパックの操作や運転を行う方
• Σ-II シリーズ サーボパックの保守や点検を行う方
INTRODUCTION
■Manual Contents
This manual consists of Japanese Version and English Version.
• Japanese Version: Described on pages J-1 to J-25.
• English Version: Described on pages E-1 to E-25.
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

v
CONTENTS
Σ-II Series
MECHATROLINK Interface Module - - - - - - - - - - - - - - E-1
SYMBOLS FOR SAFE OPERATION - - - - - - - - - - - - - - - - - - - - - - - E-4
NOTES FOR SAFE OPERATION - - - - - - - - - - - - - - - - - - - - - - - - - E-4
1 PARTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-8
2 CHECKING ON DELIVERY - - - - - - - - - - - - - - - - - - - - - - - E-9
2.1 Checking Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-10
2.2 Appearance and Nameplate - - - - - - - - - - - - - - - - - - - - - - E-10
2.3 Type Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-11
2.4 Mounting NS100 Module- - - - - - - - - - - - - - - - - - - - - - - - - E-11
3 INSTALLATION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14
3.1 Storage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14
3.2 Installation Sites - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15
3.3 Orientation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15
3.4 Installation Precations- - - - - - - - - - - - - - - - - - - - - - - - - - - E-16
4 WIRING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-17
4.1 MECHATROLINK Connection Example - - - - - - - - - - - - - - E-18
4.2 Precautions on Wiring- - - - - - - - - - - - - - - - - - - - - - - - - - - E-19
5 OPERATION- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-20
5.1 Precautions at Test Run - - - - - - - - - - - - - - - - - - - - - - - - - E-20
5.2 Precautions at Operation - - - - - - - - - - - - - - - - - - - - - - - - E-21
6 INSPECTION AND MAINTENANCE - - - - - - - - - - - - - - - - E-22
7 MEASURES TO SATISFY THE EMC DIRECTIVE - - - - - - E-23
7.1 MECHATROLINK Communication Cable - - - - - - - - - - - - - E-23
7.2 Fully Closed Encoder Cable - - - - - - - - - - - - - - - - - - - - - - E-23
7.3 The Core on the Cable - - - - - - - - - - - - - - - - - - - - - - - - - - E-23
7.4 Cable Clamp - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-24
7.5 Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-25

E-1
INSTRUCTIONS
Σ-II Series
MECHATROLINK Interface Module
Σ-II Series MECHATROLINK Interface Module - - - - - - - - - - - E-1
SYMBOLS FOR SAFE OPERATION - - - - - - - - - - - - - - - - - - - - - - - E-4
NOTES FOR SAFE OPERATION - - - - - - - - - - - - - - - - - - - - - - - - - E-4
1 PARTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-8
2 CHECKING ON DELIVERY - - - - - - - - - - - - - - - - - - - - - - - E-9
2.1 Checking Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-10
2.2 Appearance and Nameplate - - - - - - - - - - - - - - - - - - - - - - E-10
2.3 Type Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-11
2.4 Mounting NS100 Module- - - - - - - - - - - - - - - - - - - - - - - - - E-11
3 INSTALLATION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14
3.1 Storage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14
3.2 Installation Sites - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15
3.3 Orientation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15
3.4 Installation Precations- - - - - - - - - - - - - - - - - - - - - - - - - - - E-16
4 WIRING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-17
4.1 MECHATROLINK Connection Example - - - - - - - - - - - - - - E-18
4.2 Precautions on Wiring- - - - - - - - - - - - - - - - - - - - - - - - - - - E-19
5 OPERATION- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-20
5.1 Precautions at Test Run - - - - - - - - - - - - - - - - - - - - - - - - - E-20
5.2 Precautions at Operation - - - - - - - - - - - - - - - - - - - - - - - - E-21
6 INSPECTION AND MAINTENANCE - - - - - - - - - - - - - - - - E-22

E-2
7 MEASURES TO SATISFY THE EMC DIRECTIVE - - - - - - E-23
7.1 MECHATROLINK Communication Cable - - - - - - - - - - - - - E-23
7.2 Fully Closed Encoder Cable - - - - - - - - - - - - - - - - - - - - - - E-23
7.3 The Core on the Cable - - - - - - - - - - - - - - - - - - - - - - - - - - E-23
7.4 Cable Clamp - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-24
7.5 Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-25

E-3
This instruction manual covers Σ-II series SGDH MECHATROLINK Interface Module
(hereinafter called NS100 Module), which is an application module to be connected to Σ-II
series SGDH SERVOPACK for MECHATROLINK.
To properly use the application module, read this manual thoroughly and retain for easy ref-
erence for inspections and maintenance etc.
Reference materials are listed below:
Manual Titles manual No.
Σ-II series SGMH/SGDH User’s Manual
Servo Selection and Data Sheets
SIE-S800-32.1
Σ-II series SGMH/SGDH User’s Manual
Design and Maintenance
SIE-S800-32.2
Σ-II series SGDH MECHATROLINK Interface Module User’s Manual SIE-C718-4
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
WARNING
CAUTION
CAUTION
(Ref.No.)
• Do not apply or use the NS100 Module in conjunction with SGDH SERVOPACK
version 12.
There is a potential for an unintended servomotor brake release with the NS100 Module in
connection with the SGDH SERVOPACK version 12 and in connection with Σ-II motors
with holding brakes.
AN UNINTENDED RELEASE COULD RESULT IN INJURY TO PERSONS OR
EQUIPMENT IN CLOSE PROXIMITY TO ANY MECHINERY CONTROLLED BY
THE SERVO SYSTEM.
IN CLOSE PROXIMITY TO ANY MACHINERY CONTROLLED BY THE SERVO
SYSTEM.
In this product combination the motor holding brake will release 3 seconds after power is
supplied to the SGDH SERVOPACK even though the SERVOPACK is disabled (SERVO
ON signal is OFF).
E-9
WARNING

E-5
INSTALLATION
WIRING
(Ref.No.)
• There is a limitation in the combination of the software version of the SGDH SER-
VOPACK and the software version of the NS100 Module.
When the software version of the SGDH SERVOPACK is 11 or lower: Applicable to
all the versions of the NS100
When the software version of the SGDH SERVOPACK is 12 or higher: Applicable
to version 7 or higher of the NS100
When the wrong combination is used, an alarm A.BF SYSTEM ERROR (operation error)
may occur.
E-9
• When SGDH SERVOPACK is used with a NS100 Module mounted, the parame-
ters are automatically set so that the NS100 Module can be operated from the first
power ON.
For details of parameter setting methods, refer to Σ-II Series SGM/SGDH User’s Manual
Desine and Maintenance (SIE-S800-32.2).
E-10
(Ref.No.)
• Never use the equipment where it may be exposed to splashes of water, corrosive
or flammable gases, or near flammable materials.
Failure to observe this caution may result in electric shock or fire.
E-14
(Ref.No.)
• SERVOPACK grounding must be in accordance with the national code and consis-
tent with sound local practices.
Failure to observe this warning may result in electric shock or fire.
E-17
(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-17
• Securely tighten screws on the power supply and motor output terminals.
Failure to observe this caution may result in a fire.
E-17
CAUTION
CAUTION
WARNING
CAUTION

E-6
OPERATION
INSPECTION AND MAINTENANCE
(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-20
• Before starting operation with a load connected, set up parameters suitable for the
machine.
Starting operation without setting up parameters may result in machine overrun or failure.
E-20
• Before starting operation with a load connected, make sure emergency-stop proce-
dures are in place.
Failure to observe this caution may result in personal injury.
E-20
• During operation, do not touch the SERVOPACK’S heatsink.
Failure to observe this caution may result in burns.
E-21
(Ref.No.)
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
E-22
• Never open the terminal cover while power is ON, and never turn ON power when
the terminal cover is open.
Failure to observe this warning may result in electric shock.
E-22
• After turning OFF power, wait at least five minutes before servicing the product.
Otherwise, residual electric charges may result in electric shock.
E-22
(Ref.No.)
• Never change wiring while power is ON.
Failure to observe this caution may result in electric shock or personal injury.
E-22
CAUTION
WARNING
CAUTION

E-7
General Precautions
WARNING LABEL
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 represen-
tative 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.
Disconnect all power and wait 5 min.
before servcing. May cause electric shock.
Do not touch heat sink when power is ON.
May cause burn.
Use proper grounding techniques.
5
WARNING
CAUTION
SERVOPACK warning label position
SERVOPACK Warning Label and Grounding Mark Position
SGDH- 200 V
SERVOPACK
YASKAWA
S
W
1
S
W
2
C
N
6
A
C
N
6
C
N
4
B
A
R
NS100

E-8
1 PARTS
The NS100 Module parts names are as follows:
Ground wire for connecting to SERVOPACK
Rotary switch (SW1) for MECHATROLINK station
address settings
LED (A) for alarm
LED (R) for MECHATROLINK communication
DIP switch (SW2) for MECHATROLINK
communication settings
Nameplate with operation module type and serial
No.
MECHATROLINK communication connectors
(CN6A and CN6B)
Fully closed encoder signal connector (CN4)
NS100
S
W
1
S
W
2
C
A
A
6
C
A
B
6
C
A
4
A
R

2 CHECKING ON DELIVERY
E-9
2 CHECKING ON DELIVERY
Note: The brake release above occurs only when the software version 12 of
the SGDH SERVOPACK and any versions of the NS100 Module are
used together. It does not occur when only the SGDH SERVOPACK
is used or is used with any application modules other than the NS100
Module.
Check the software version of the SGDH SERVOPACK on the front
face underneath the model number or in the parameter Fn012.
Version tool:
Monitor mode: Fn012.
Note: Check the software version as follows:
Software version of the SGDH SERVOPACK: Lower two digit of the
version tool
Software version of the NS100 Module: Lower two digits of the ver-
sion number in the nameplate
• Do not apply or use the NS100 Module in conjunction with the SGDH NS100 SERVOPACK
version 12.
There is a potential for an unintended servomotor brake release with the NS100 Module in connection
with the SGDH SERVOPACK version 12 and in connection with Σ-II motors with holding brakes.
AN UNINTENDED RELEASE COULD RESULT IN INJURY TO PERSONS OR EQUIPMENT IN
CLOSE PROXIMITY TO ANY MECHINERY CONTROLLED BY THE SERVO SYSTEM.
IN CLOSE PROXIMITY TO ANY MACHINERY CONTROLLED BY THE SERVO SYSTEM.
In this product combination the motor holding brake will release 3 seconds after power is supplied to the
SGDH SERVOPACK even though the SERVOPACK is disabled (SERVO ON signal is OFF).
WARNING
∗∗∗ 12
The lower two digits of the software version
• There is a limitation in the combination of the software version of the SGDH SERVOPACK and
the software version of the NS100 Module.
When the software version of the SGDH SERVOPACK is 11 or lower: Applicable to all the ver-
sions of the NS100 Module
When the software version of the SGDH SERVOPACK is 12 or higher: Applicable to version 7
or higher of the NS100 Module
When the wrong combination is used, an alarm A.BF SYSTEM ERROR (operation error) may occur.
CAUTION
∗∗∗ 12
∗∗∗ 07

E-10
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
• When SGDH SERVOPACK is used with a NS100 Module mounted, the parameters are auto-
matically set so that the NS100 Module can be operated from the first power ON.
For details of parameter setting methods, refer to Σ-II Series SGM/SGDH User’s Manual Desine and
Maintenance (SIE-S800-32.2).
CAUTION
Check Items Remarks
Check if the delivered products
are the ones you ordered.
Check the types marked on the nameplates of the NS100 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 NS100 Mod-
ule?
Check the nameplate of SERVOPACK.
SERVOPACK Type
SGDH-E-
cd
“SGDH” in c, and “E” in d
CE marking
Order Number Protection class
UL marking
MECHATROLINK APPLICATION MODULE
MODEL JUSP-NS100 VER. 01000
SERVOPACK 1P1X
NS100
S
W
1
S
W
2
C
N
6
A
C
N
6
C
N
4
B
A
R
NS100 module

2 CHECKING ON DELIVERY
E-11
2.3 Type Designation
2.4 Mounting NS100 Module
Mount a NS100 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.
JUSP
- NS10 0
SERVOPACK peripheral device
Model
NS10: MECHATROLINLK interface
Design revision order
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 SERVO-
PACK 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
CN10
SERVOPACK
Connector
cover

E-12
2. Mount a NS100 Module.
3. For grounding, connect a ground wire of the NS100 Module to the marked “G” on the
SERVOPACK.
CN10
Connector (to SERVOPACK)
SGDH-
SERVOPACK
YASKAWA
Ground wire
G
For SERVOPACK (30 W to 5.0 kW)
MODE/SET DATA/
CHARGE POWER
SGDH-
SERVOPACK
YASKAWA
NS100
SGDH-
SERVOPACK 200 V
YASKAWA
G
Ground wire
For SERVOPACK (6.0 kW to 7.5 kW)
NS100

2 CHECKING ON DELIVERY
E-13
The appearance of SERVOPACK with application module properly mounted is shown
below
SGDH-
SERVOPACK
YASKAWA
S
W
1
S
W
2
C
N
6
A
C
N
6
C
N
4
B
A
R
NS100

E-14
3 INSTALLATION
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:
• Never use the equipment where it may be exposed to splashes of water, corrosive or flamma-
ble gases, or near flammable materials.
Failure to observe this caution may lead to electric shock or fire.
CAUTION
SGDH- 200 V
SERVOPACK
YASKAWA
S
W
1
S
W
2
C
N
6
A
C
N
6
C
N
4
B
A
R
NS100
Between -20 to +85 ° C
S -II Series
SGDH SERVOPACK with NS100 Module Mounted

3 INSTALLATION
E-15
3.2 Installation Sites
For installation sites, use proper care with the following notes.
3.3 Orientation
Install the SERVOPACK perpendicular to the wall as shown in the figure below.
The SERVOPACK must be orientated as shown in the figure.
Firmly secure the SERVOPACK through two to four mounting holes depending on the SER-
VOPACK capacity.
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 contactor-related devices to malfunc-
tion. 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.
MADE IN JAPAN
Mounting face
Ventilation

E-16
3.4 Installation Precations
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.
Where mounted side by side
When installing SERVOPACKs side by side, provide at least 10mm (0.4in.) space between
them and at least 50mm (2in.) 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.
FAN FAN
5.0 mm (2in.) or more
5.0 mm (2in.) or more
10 mm (0.4in.) or more
30 mm (1.2in.) or more