YASKAWA CPCR-MR08C Manual

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BULLETIN
_ I .qPmvnpAnk"I I I
_,,JL----I iVV/IIVI 'qL
DC SERVOMOTOR CONTROLI ER
FOR SPEED CONTROL
TYPE CPCR-MR01C TO -MRggc
\
V
YASKAWA

SERVOPACK type CPCR-MRE!C isa speed controller for power servomotors such
as Print Motor Standard Series, Cup Motor, Hi-Cup Motor, Minertia Motor, and Miner-
tia Motor J Series. The speed of these servomotors, forward or reverse, Is precise-
ly controlled through a wide range.
The SERVOPACK type CPCR-MRFiC, thus, is useful for industrial machines
in the fields where the following requirements are especially high:
• Wide range of variable speed control (1000:1)
• Frequent start and stop operations
(1000 operations/min)
• Frequent reversing operations (1000 operations/min)
• High-speed precise positioning (10#m or less)
• High-levelservo characteristics
(Frequency response: DC to 100 Hz).
SERVOPCAK
TYPES CPCR-MR01C
TO -MR07C
POWER THERMAL
SINGLE-PHASE TRANSFORMER
AC MAGNETIC_-"_...-- I1_11_ OVERLOAD
200/220VAC ±10% CONTACTOR - -" -- __._ RELAY MINERTIA MOTOR
OR 100/110 VAC "_ J SERIES WITH TG
±10%, 50/60Hz
SPEED ADJUSTING IL_
POTENTIOMETER _ _li_ 581-,88
58o-97_, > _ <
ConfigurationofSERVOPACK Types CPCR-MR01C
to -MR07C, Servomotor and Optional Components
SERVOPACK
TYPESCPCR-MR080
TO-MR99C
THERMAL
DC REACTOR OVERLOAD
RELAY
3-PHASE HI-CUPMOTOR
200/220 VAC _+10%, AC MAGNETIC WITH TG
50/60 Hz CONTACTOR
481-1_ 581-142
SPEED
ADJUSTING
POTENTIOMETER , :> I]
281-87
580-97 581-152
Configuration of SERVOPACK Types CPCR-MR08C
to -MR99C,ServomotorandOptionalComponents

CONTENTS
1. RATINGS AND SPECIFICATIONS/4 4. INSTALLATION AND WIRING / 44
1.1SERVOPACK RATINGS AND SPECIFICATIONS / 4 4.1INSTALLATION/ 44
1.2 SERVOPACK OVERLOAD CHARACTERISTICS / 6 4. 2 WIRING/ 44
1.3 SERVOMOTOR RATINGS FOR SERVOPACK / 8 4. 3 POWER LOSS/ 47
1.4 SERVOMOTOR CHARACTERISTICS
FOR SERVOPACK / 9 5. DIMENSIONS in mm / 48
5.1 SERVOPACK / 48
2.CONFIGURATION / 13 5. 2 POWER TRANSFORMER/ 54
2.1 COMPONENTS / 13 5. 3 DC REACTOR/ 54
2.2 INTERNAL BLOCK DIAGRAM/ 14 5.4 RESISTOR UNIT (TYPE JUSP-RAO3) / 54
2.3 EXTERNALTERMINALS / 19 5. 5 SPEED ADJUSTING POTENTIOMETER/ 54
5, 6 THERMAL OVERLOAD RELAY/ 55
3, OPERATION / 22 5. 7 REGENERATIVE UNIT
3. 1 POWER ON AND OFF / 22 (TYPES JUSP-RGO01 TO -RGO03) / 55
3. 2 SPEED REFERENCE/ 25 5.8 PROTECTION DEVICE (TYPE JESP-PT) / 55
3.3 BUILT-IN FUNCTION / 26
3.4 PRECAUTIONS FOR APPLICATION/ 31 6.ORDER / 55
3.5 PRECAUTIONS OF OPERATION / 33
3.6 CONNECTION DIAGRAM OF SERVOPACK / 35 7, SELECTION GUIDE/57
3, 7 APPLICATION / 38 7.1 DYNAMICS FORMULA FOR
3.8 OPTIONAL COMPONENTS / 39 ELECTRIC FORCE / 57
7.2 SERVOMOTOR SELECTION GUIDE / 58
INDEX
Subject SectionNo. Page
A Allowable Frequency of Operation ..................... 1.4.2 • • • 9
APPLICATION ............................... 3.7 • • •38
Auxiliary Input Terminal .......................... 3.2.4 • - - 26
B BUILT-IN FUNCTION ........................... 3.3 .... 26
C Coating (Varnish) Treatment ........................ 3.4.1- • • 31
COMPONENTS ...................... '........ 2.1 .... 13
CONFIGURATION ............................. 2..... 13
CONNECTION DIAGRAM OF SERVOPACK .................. 3.6 .... 35
Current Monitor .............................. 3.3.7, . . 31
D DC REACTOR ............................... 5.3 .... 54
DIMENSIONS in mm ............................ 5..... 48
Display .................................. 3.3.6. • • 30
Driving Motor with Cooling Fan and Motor with Separate Excitation ..... 3.5.3 - - - 34
DYNAMICS FORMULA FOR ELECTRIC FORCE .............. 7.1 .... 57
E Emergency Stop DynamicBraking (DR) Circuit ............... 3.7.2 • -- 38
External Base off Circuit .......................... 3.3.4 • . . 29
External Current Limiting Reference Circuit ................. 3.3.1 • • •26
External Terminals for Components to be combined ............ 2.3.3 • • - 21
EXTERNAL TERMINALS .......................... 2.3 .... 19
External Terminals for Types CPCR-MRO1Cto-MR07C ........... 2.3,1 •• • 19
External Terminals for Types CPCR-MR08C to -MR99C ........... 2.3.2 •••20
H Handling of Speed Reference Input Terminal ................ 3.2.3 - - • 26
I INSTALLATION .............................. 4,1.... 44
INSTALLATION AND WIRING ....................... 4..... 44
INTERNAL BLOCK DIAGRAM ........................ 2.2 .... 14
2

INDEX (Cont'd)
Subject SectionNo. Page
L Load Inertia ................................ 3.4.6 • • 32
Location .................................. 4.1.1 • . 44
M Minus Load ................................ 3.4.2- • 31
Motor Overload Protection ......................... 3.4.7 - • 32
Mounting ................................. 4.1.2. • .44
NNoise Treatment .......................... i i i 3.5.1• . • 33
O OPERATION ................................ 3..... 22
OPTIONAL COMPONENTS ........................ 3.8 .... 39
ORDER .................................. 6..... 55
Overspeed Drive (O-SDrive) ....................... 3.3.8 - • - 31
Overtravel Preventive Circuit (Forward OFF, ReverseOFF Circuit) ..... 3.3.3 .... 28
P Power LineProtection ........................... 3.5.2. - • 34
POWER LOSS ............................... 4.3 .... 47
POWER ON AND OFF ........................... 3.1 .... 22
POWER TRANSFORMER ......................... 5.2.... 54
PRECAUTIONS FOR APPLICATION .................... 3.4 .... 31
Precautions for Wiring ........................... 4.2.2 • • • 47
PRECAUTIONS OF OPERATION ........... :.......... 3.5.... 33
Proportional DriveReference Circuit (CompleteStop ReferenceCircuit)- • - 3.3.2- • - 27
PROTECTION DEVICE TYPE JESP-PT ................... 5.8 .... 55
Protection Device Type JESP-PT_-] .... "................. 3.8.1 • • • 39
ProtectiveCircuit ............................. 3.3.5 • • • 29
R RATINGS AND SPECIFICATIONS ..................... 1..... 4
Regenerative Unit Type JUSP-RG ....... •.............. 3.8.2 • • • 42
REGENERATIVE UNIT TYPES JUSP-RG001 TO -RG003 .......... 5.7 .... 55
RESISTOR UNIT TYPE JUSP-RA03 .................... 5.4 .... 54
S SELECTION GUIDE ............................ 7..... 57
Selection ofCable Size........................... 4.2.1 • • . 44
SERVOMOTOR CHARACTERISTICS FOR SERVOPACK ............ 1.4 .... 9
Servomotor Frequency .......................... 1.4.3- • - 12
SERVOMOTOR RATINGS FOR SERVOPACK ................ 1.3 .... 8
SERVOMOTOR SELECTION GUIDE .................... 7.2.... 58
SERVOPACK ................................ 5.1 .... 48
SERVOPACK OVERLOAD CHARACTERISTICS ............... 1.2.... 6
SERVOPACK RATINGS AND SPECIFICATIONS ............... 1.1 .... 4
SERVOPACK Types CPCR-MR01C to -MR07C ................ 3.1.1•• • 22
SERVOPACK Types CPCR-MR08C (W) to -MR99C .............. 3.1.2- • -25
Special Power Voltage ........................... 3.4.5 • - • 32
SPEED ADJUSTING POTENTIOMETER .................. 5.5 .... 54
Speed-Input VoltageCharacteristics .................... 1.4.4 • •- 12
SPEED REFERENCE ........................... 3.2.... 25
Speed Reference Circuit .......................... 3.2.1 • - 25
Starting and Stopping Time........................ 1.4.1 • . 9
Stop Reference Circuit ........................... 3.2.2• - 26
Switching Operation ofMultipleServomotors ................ 3.7.1 - - 38
T Tachometer Connection .......................... 3.7.4. • 39
THERMAL OVERLOAD RELAY ...................... 5.6 .... 55
Transformerfor Multiple SERVOPACKs .................... 3.7.5 - - - 39
TypeCPCR-MR_-_CL and Type JESP-PT[_L Application ........... 3.4.4 - • - 32
Type CPCR-MR[]CW Application ....................... 3.4.3 • • - 31
Types CPCR-MR01Cto-MR07C ...................... 3.6.1 • • - 35
Types CPCFI-MR08C to -MR55C ...................... 3.6.2 • - - 36
TypesCPCR-MR75C,-MR99C ....................... 3.6.3. • -37
U Use ofServomotor with Holding Magnetic Brake.............. 3.7.3 • • • 39
W WIRING ............................ ...... 4.2.... 44
3

1. RATINGS AND SPECIFICATIONS
1.1 SERVOPACK RATINGS AND SPECIFICATIONS
Table1.1 SERVOPACK Ratings and Specifications
SERVOPACK Types CPCR- MR01 C MR01 CJ MR02C MR02CJ MR05C MR07C
Motor Output kW 0.1 max 0.1 0.2 0.2 0.5 0.77
Control Method Single-phase bridge rectifying (power transformer installed separately), transistorized PWM control
Main Voltage Single-phase, 200/220VAC +10% or 100/110VAC _10%, 50/60Hz ---1_5%
Power Circuit Capacity* kVA 0.3 0.3 0.5 0.5 1 1.5
Supply
Control Circuit Single-phase, 100/110VAC _+-_10%, 50/60Hz, 50VA (with power transformer installed separately)
MaxOutput VoItage (V MAx) VDC -----30 (at +-6A)--1,100 (at+-3A)___45 (at +-7A)--1,100 (at_--+6A) +85 (at _8A)--1.80 (at +-13A)
Instantaneous Max Output _--t-15_+ 10% _+ 11 -+ 10% _+20_+ 10% ___15--1. 10% --1, 20 -t- 10% __.30--1, 10%
Current (IMAX) A
Continuous Output Current (I out)A--1.6 _--t-3 --1,7 +6_+ 8 --1,13
Current Limiting RangeA +-3 to +-15 +1 to_+11 +-3 to +-20 +3 to +-15 +-3 to _20 +-6 to ±30
Waveform Factor 1.05 and below
Derating Factor 0.95 and below
Speed Control Range 1000 : 1
Load Regulation 0 to 100% 0.1% and below at rated speed, -t-0.05% and below at 1/1000 rated speed
Voltage Regulation --+10% --1,0.1% and below at rated speed, --1,0.02% and below at 1/1000 rated speed
Temperature Regulation --1,0.5% and below at rated speed, --1,0.1% and below at 1/1000 rated speed
25-+35°0
con- Tach-gen(TG) Temperature _0.05%/oC
Regulation
Rated Reference Voltage +-6VDC (forward running at plus reference)
-o _ - Resistance 20k_2+ 10%
u_ rr__ Circuit Time Constant 35/_s ___20%
Rated Reference Voltage --1.2 to -+10 V
"5 Resistance 3.3 k_l/V
Circuit Time Constant 45/_s and below
Speed Feedback DC tachometer generator feedback control (7V/1000r/min)
Built-in Reference Power Supply --1.12VDC, -+30mA
Ambient Temperature -- 10"C to +60°C (-- 10°C to +40°C in panel)
Storage Temperature --20°C to -t-60=C
Humidity 85% and below (non-condensing)
Print motor standard series,Minertia motor: 3 times motor inertia
Allowable Load Inertia Cup motor, Hi-cup motor, Minertia motor J series: 2 times motor inertia
*Forratedoutput Notes:
fused for application at a rated reference voltage other than -t-6 V. 1. Make sure that the power voltage is limited to less than 220 V +10 %
(242 V). For voltages higher than 220 to 242 V, use a step down trans-
Type Designation former to reduce the voltage.
CPCR-M R i_-][_-]C[_-] - [_-] 2. Thedrive characteristicoftypeCPCR-MR[]]C differs forServopoc_$ and
"--_ T applicablemotors as shown inFig. 1.1 (a)and(b). Theallowable
/
L
current-conduction time for the instantaneous rating depends on com-
_!ar_e_s_A_d Servomotor tobe Applied binations with the applicable motor and is guaranteed only for time of
• Blank: Standard Motor (Cup Motor) start and stop (approx. ls or _ess) in the allowable inertia
:oi_rlo_i_ I/PWM See Table 1.2. range. An overload protection suchas motor locking is therefore
rsing " J: Minertia Motor J Series (JM) necessary depending on the application conditions.
• M: Minertia Motor Standard
Series(MM) 3. When a servomotor is driven by thyristor drive units, the armature
• H: Hi-Cup Motor (HM) current generally pulsates, differing from that of battery-driven units.
• 08: 0.75kW •C: Cup Motor(CM) This reduces the average value (component to "produce torque) of ar-
• 15: 1.5 kW • P: Print Motor (PM) mature current when the motor rated current equals armature current
•22: 2.2 kW (r/min), and therefore, it is necessary to reduce the rated torque for the
• 55: 5.5kW Optional motor.
•75: 7.5kW
•99: 9.9 kW •Blank: Standard type Thereduction rate is termed the derating factor. The derating
• W_: Externally ventilatingfan typefactorof ServopacktypeCPCR-MR[]]C isvery excellent, 95%or greater.
Design Revision Order • L: Built-in overload detection typeExample: When typeCPCR-MR[]C or 95 % derating factor is com-
- J: Overspeed drive type for JM binedwith a motor ofratedoutput 1.5kW(8.183N.m), the effective
•C: SecondRevision • Y[]]: Special order output(torque) is1.5kW(8.183N.m)X0.95(14.25kW).
tType CPCR-MR[]]C and TypeCPCR-MR[]]CW differ inthe shapesand4. In the speed control range,the lowest speed is definedunderthe con-
cooling systems. For ventilatingconstruction with overload detection dition not stopped by 100 % load variation.
circuit, the type CPCR-MR[]]CWL is applied. 5. Speed regulation is generally defined as follows:
No load speed-- Full load speed
Speed regulation =×100 96
4Rated speed

MR08C MR15C MR22C MR55C
MR08CW MR15CW MR22CW MR55CW MR75C MR99C
0.8 1.5 2.2 3.7 5.5 6.0 7.5 6.2 9.9
Three-phase bridge rectifying, transistorized PWM control
Three-phase, 200 /220 VAC 4- 10 %, 50 /60 Hz 4- 5%
1.6 I 3.0 I4.0 I 6.9I 9 I 10 I13 I 10 I 17
Single-phase, 200/220VAC 4-10%, 50/60Hz, 50VA
_--+200(at -+7A) __.200 (at _+13A) 4-200 (at ___18A) _4-200 (at _30A) 4-200 (at _40A) 2:200 (at +55A)
--+60+10% --+55 -+75 -+120 4-100
4- 20 -+ 10% -+ 25 4- 10% 4- 40 4- 10%(-+55_+10%) -+10%--+10% -+10% +10%
•+7 -+13 -+18 -+30 4-40 -+55
•+1.5 to -+20 -+2.5 to -+25 -+3.5 to _+40 -+6 to -+60 _+7to_+55 _+7to_+75 _+10to+_120 _+10to+_100
1.05 and below
0.95 or more
1000 : 1
0.1% and below at rated speed, +0.05% and below at 1/1000 rated speed
•+0.1% and below at rated speed, -+0.05% and below at 1/1000 rated speed
•+ 0.5% and below at rated speed, 4-0.1% and below at 1/1000 rated speed
-- 0.05 % /°C
•+ 6VDC (forward running atplus reference)
20k_ -+10%
0.5 ms 4- 20%
•+2 to -+10V
3.3k_/V
0.1 ms and below
DC tachometer generator feedback control (7V/1000r/min)
•+ 12VDC, -+ 30mA
--10°Cto 4- 60°C(--10°Cto 4- 40°Cin panel)
-- 20 °C to 4- 70 °C
85% and below (non-condensing)
Up to 3 times motor inertia / Up to 2 times motor inertia
Actually, however, the calculated resistance value is varied by am- 6. When housed in a panel, the inside temperature must not exceed am-
plifier drift due to voltage'and temperature fluctuations, and such an blent temperature range•
effect appears as a speed change. The percentage ratio of this speed 7. Type CPCR-MR[_]C is limited in its regenerative control capability and
change to the rated speed is the respective speed regulation due to therefore its load inertia is limited. (At a constant motor speed, the
voltage and temperature fluctuations,regenerative energy of the motor is proportional to inertia.) When
The speed regulation due to temperature fluctuation must con- the load inertia exceeds the allowable range, make sure to follow
sider the effect of TG temperature fluctuation. The TG temperature Par. 3.4.6 "Load Inertia" and 3.8.2 "Regenerative Unit Type JUSP-RG."
fluctuation, relating to the ratio to TG generation voltage, is not sig-
nificant at a low speed, but cannot be ignored when the speed is high.
OUTPUT CURRENT ALLOWABLE OPERATIONAL
OUTPUT CURRENT
(TMAX) ,MAX ,
, I (TMAX) _"._MOTOR
IMAXt ---- . IL ALLOWABLE OPERATIONAL <_ CURRENT RANGE OF INSTANTANEOUS I\ H'"- CURRENT RANGE OF
'ouq RATING - i'k,_l_ MOTOR '^''_.IliNS'ANTANEO_S"_"_'_"_'""G, , _-_-_.
/R[CO_TNUO--UE !_'_ I'i IR CONTINUOUS iRATING i _-'1tl SPEED(OUTPUT VOLTAGE) CR_-AOilNG:; [--'_'_ SPEED (OUTPUT VOLTAGE)
NR/ N MAX: Depending on motors. Ni NFt N MAX: Depending on motors.
NI MAX (V MAX) ( V MAX)
(a) Combination of Type CPCR-MR[]C (b) Combination of Type CPCR-MR[_]CJ,
and DC Servomotors (PM, CM, HM, MM) -MR[_.]C-J, and DC Servomotors (JM)
NR: Rated Motor Speed IR: Rated Motor Current lOUT: Continuous Output Current
NMAX: Maximum Drive Speed IMAX: Instantanious Maximum Output Current NiMAX: Instantaneous Maximum
(Maximum Output VoltageVMAX) (Instant&neousMaximum Torque TMAX) Torque Drive Speed
Fig. 1.1 Type CPCR-MR[_]C Drive Characteristic
5

1.2 SERVOPACK OVERLOAD CHARACTERISTICS
The allowable conduction time of CPCR-MR[?.C • Hot start: The overload characteristic when
is shwon in Fig. 1.2 (a) through (h). Servopack is running at the rated load and so
saturated thermally.
In Fig. i. 2, cold and hot starts mean the follow-
ing: •Ambient temperature: For thesedata,the ambient
• Cold start: The overload characteristic when temperature is 60°C. At lower ambient tempera-
tures, the allowable conduction time increases.
Servopack at the ambient temperature starts
to operate.
5000 5000
1000 100£
5OO
ALLOWABLE100_ALLOWABLE10£ __"--. -_.
CONDUCTION CONDUCTION \, _"_
50_ TIME(s) 50 "_
TIME(s) _.
lHOT ST
10 _ 1£ ___
_OVERLOAD DETECT!ON_Z_EZZZZZ
5_LEVEL OFTYPES_ -_
_SP-PT101L,-P_ _ -- OVERLOADDETECTION
T102L_ LEVELOFTYPE \
JESP-PT20'L\
1_ 10 15 20 J'S 10 20 30
LOAD CURRENT (A) LOAD CURRENT (A)
(a) Types CPCR-MR01Cand-MR02C (c) TypeCPCR-MR07C
100C
500
COLD START
ALLOWABLE ALLOWABLE10E
CONDUCTION CONDUCTION
TIME(s) TIME(s) 50
1C 10
5
DETECTION LEVEL
TYPE CPCR-MR08CL
5 10 15 20 1 10 15 20
LOADCURRENT(A) LOADCURRENT(A)
(b) Type CPCR-MR05C (d) TypeCPCR-MR08C
Fig.1.2 Allowable Conduction Time of SERVOPACK
6

5OOO
1OO13 1OOOi
- _. COLpSTA_
"-4..
IOC _..
ALLOWABLE _%._.ALLOWABLE 10C _..
CONDUCTION _ CONDUCTION _ _.
HOTSTART _
I£ IC _,
OVERLOAD _,
- DETECTION _ OVERLOAD_
LEVELOETYPE_ _ DETECT,ON__ '
LEVELOFTYPE
CPCR-MRI5CL __ CPCR-MR55CL
1 _'10 15 20 251 _'304050 60
LOADCURRENT(A) LOADCURRENT(A)
(e) Type CPCR-MR15C (g) Type CPCR-MR55C
5O00
1000500 1000500t
_'_ COLD STAF
ALLOWABLE100 ALLOWABLE100 k '_
CONDUCTION CONDUCTION
TIME(s) 50 _ TIME(s) 50
\
" \
OVERLOAD DETECT'ION _ _"
OVERLOADDETECTION_ _ LEVELOFTYPE _
LEVELOFTYPE CPCR-MR75CL _
CPCR-MR22CL _ _
1
0 10 20 30 40 0-"20 30 40 50 60 70 75
LOADCURRENT(A) LOADCURRENT(A)
(f) TypeCPCR-MR22C (h) Type CPCR-MR75C
Fig. 1.2 Allowable Conduction Time of SERVOPACK (Cont'd)
,7

1.3 SERVOMOTOR RATINGS FRO SERVOPACK
Table1.2 ServomotorRatingsforSERVOPACK
DC Servomotor
SERVOPACK
Type Effective Rated Effective Instantaneous Effective Allowable Max Drive Max Torque
CPCR- Type Output Speed Rated TorqueMax Torque Current Inertia Speed DriveSpeed
kW r/min N-m N.rn A kg-m=xlO -" r/min r/min
UGPMEN-08 0.047 4000 0.114 0.451 4.9 1.175 5000 4000
MR01 C PMES-09 0.095 4000 0.225 0.745 5.5 1.375 4500 4000
UGPMEN- 09 0.095 4000 0.225 0.745 5.7 1.3 4500 4000
M R 01CJ UGJMED - 10 M 0.095 1000 0.904 4.9 2.3 12 1700 100
PMES-12 0.19 3000 0,603 2.156 6.4 4.5 3250 3000
MR02C
UGPMEN - 12 0.19 3000 0.603 2.156 6.6 4.8 3250 3000
MR02C-M UGMMEM-06 0.18 3000 0.559 1.96 6.2 2.85 3400 3000
UGJMED -40 M 0.152 1000 1.452 5.586 5.0 32 2100 700
MR02CJ
UGJMED -40 L 0.24 1000 2.272 7.546 5.6 40 2050 700
PMES -16 0.47 2500 1.813 5.488 7.3 18.6 2550 2500
MR05C
UGPMEN- 16 0.47 2500 1.813 5.488 7.5 18.9 2550 2500
UGCMED-04 AA 0.37 1750 2.029 5.88 8.0 44.75 2300 1750
MR05C-C
UGCMEM-04 0.38 1750 2.078 5.88 8.0 46 2250 1750
MR 05C- H UGHMED-03 GG 0.24 1000 2.234 6.566 7.8 40.75 1850 1200
MR 05- M UGMMEM - 13 0.38 3000 1.205 3.528 7.4 4.25 3850 3000
M R 07 C*UGMMEM - 25 0.73 3000 2.323 5.488 13.1 8.5 3400 3000
MR 08C UGCMED-08AA 0.71 1750 3.881 13.132 6.7 132.5 2500 2000
MR08CW UGCMEM -08GC 0.71 1750 3.881 13.134 6.4 108 2500 2000
UGHMED- 06 AA 0.57 1000 5.439 19.6 6.2 219 1600 1200
MR08C-H
UGHMEM -06AA 0.57 1000 5.439 21.56 5.5 163.75 1500 1200
MR08CW-H
UGHMED-06GG 0.49 1000 4.655 15.974 6.5 99 1800 1200
MR08C-J
UGJMED- 60 MA 0.43 1000 4.096 17.64 6.0 132 1800 1000
MR08CW-J
MR 15 C UGCMED- 15 AA 1.43 1750 7.771 19.6 11.2 303 2250 2000
MR15CW UGCMEM-15GC 1.43 1750 7.771 18.13 11.9 255 2400 2000
M R 15 C-P PM ES - 20 0.95 3000 3.018 9.996 8.3 61 3900 3600
UGHMED - 12AA 1.14 1000 10.898 28.42 10.6 402 1450 1200
MR15C-H
UGHMEM- 12AA 1.14 1000 10.898 29.106 10.0 260 1450 1200
MR15CW-H
UGHMED-12GG 1.14 1000 10.898 28.42 10.6 402 1450 1200
MR15C-J UGJMED-60L0.81 1000 7.713 21.56 11.0 189 1700 1000
MR15CW-J UGJMED-80M 1.05 1000 9.967 25.48 11.5 420 1700 1000
MR15C-M
UGMMEM -50 AA 1.46 3000 4.655 10.486 12.1 27 4000 3000
MR15CW-M
MR22C UGCMED- 22AA 2.09 1750 11.456 30.38 16.1 456 2350 2000
MR 22CW UGCMEM-22GC 2.09 1750 11.456 29.106 17.2 369 2400 2000
UGHMED-20AA 1.90 1000 18.159 49 16.6 876 1400 1200
MR22C-H
UGHMEM-20AA 1.90 1000 18.159 46.256 16.9 708 1450 1200
MR22CW-H
UGHMED -20GG 1.71 1000 16.297 45.08 16.2 702 1500 1200
MR22C-J
UGJMED- 80 L 1.54 1000 14.671 39.2 18.0 735 1700 1000
MR22CW-J
UGCMED- 37 AA 3.52 1750 19.179 48.02 27.0 596 2250 2000
MR55C
UGCMEM -37 FB 3.52 1750 19.179 45.472 27.6 750 2400 2000
MR55CW
UGCMED- 55 AA 5.23 1750 28.489 63.504 30.0 946 1750 1750
UGHMED- 30 AA 2.85 1000 27.185 70.756 23.3 988 1300 1000
MR55C" H UGHMEM -30AA 2.85 1000 27.185 66.346 24.2 788 1450 1200
MR55CW-H UGHMED-30GG 2.74 1000 26.068 73.99 21.0 730 1250 1000
UGHMED -44AA 4.18 1000 39.847 94.472 24.7 2276 1000 1000
MR55C-J
UGJMED - 80 K 2.47 1000 23.745 77.028 23.0 670 1450 650
MR55CW-J
MR55C-M
UGMMEM - 1 AA 2.93 3000 9.31 24.5 24.9 50.5 4000 3000
MR55CW-M
MR 750 UGCMFD- 75 AA 6.92 1750 37.701 78.4 40.0 1446 1750 1750
MR75 C - H UG HMFD -60 AA 5.70 1000 54.37 98.98 33.6 2276 1000 1000
MR 99C GEELM- K 9.14 1750 47.784 98 53.5 1000 1750 1750
MR99C- M UGMMKR-2 AA 5.86 3000 18.62 45.08 54.1 105 4000 3000
*Specifications are the same as those for typeCPCR-MR08. 5. For thedetails of combination of types CPCR-MR75C-H and UGHMFD
Notes: -60, contact the company.
1. Motors in _ areapplied toServopac_with standard adjustment. 6.Inthe combination of CPCR-MR99C and GEELM-K, therated speed
2.The instantaneous maximum torque means the motor-generated torque differs from the rated speed of the motor.
when the Servopock is at the maximum instantaneous output current, 7. Motor types PM: Print motor standard series, JM: Minertia motor
when Servopockand a servomotor are combined for start and stop op- J series, MM: Minertia motor standard series,CM: Cupmotor,HM:
erations(Fig.1.2). Hi-Cupmotor
3, The maximum drive speed is the speed that can be driven at the rated 8. Allowable inertia is the value at rated motor speed or below. When
motor torqueor below,operating speed exceeds rated speed, the values ofallowable
inertia are smaller than those listed in the table above.
4. The instantaneous maximum torquedrivespeed is the maximum speed
available at the instantaneous maximumtorque(Fig. 1.2).

1.4 SERVOMOTOR CHARACTERISTICS FOR__STARTINGTIME (tr)//p= 100%
SERVOPACK
..... STOPPING /_=1
120 TI/
1.4.1 Starting and Stopping Time 100
The starting time and stopping time of servomotor 80
under a constant load is shown by the formula TIME
below• Viscous or friction torque of the motor (ms)60 _" i Ip=150%
is neglected. 40 _ _ _=15
Starting Time: 20 "-_ 100%
...... , s__o_....... _ IP=300%
............ 300='o------ _= 3
I I
NR (JM + JL) (ms) 0 0'20!4 06 0.8 110
tr=104.7 × KtIR (a--#)LOAD CURRENT COEFFICIENT _ .
Stopping Time: (a) Combination of SERVOPACK Type CPCR-MR02C-M
and Servomotor Type UGMMEM-06AA1
NR(JM + JL) (ms)
tf=104. 7 XKt IR (_-}-/_) STARTING
--rIME (t,)
STOPPING
..... TIME (tf)
Where, 200 /Ip=100%
NR: Rated motor speed (r/min) _ _=I
JM: Motor inertia (kg.m z) 150
TIME
EL : Load inertia converted to the motor (ms)100
shaft. (kg .m z) . _ IP=150°/0
Kt " Torque constant of motor (N.m/A) 5[ ___ 100%__.... Ip=300%
- - "-'--22-"- ----------- -_ 150%_= 3
IR : Motor rated current (A) 300%
=Ip/In" Acceleration/deceleration current 0'2014 016 0'8 110
constant LOAD CURRENT COEFFICIENT fl
Ip ; Acceleration/deceleration current (b) Combination of SERVOPACK Type CPCR-MR15C-H
(Acceleration/deceleration current _ times and Servomotor Type UGHMED-12AA
the motor rated current) (A) Fig. 1.4 Motor Starting and Stopping Time
l_=IL/IR :Load current constant
IL : Current equivalent to load torque
(Load current /3 times the motor rated 1.4.2 Allowable Frequency of Operation
current) (A) The allowable frequency of operation is restricted
by the servomotor and Servopack, and both the
_-_ I conditions must be considered for satisfactory
MOTOR -a op eration.
ARMATURE " TIME
CURRENT I tr .lt, II &t (i) Allowable Frequency of Operation restricted
i lI,!I I by the Servopack
I The allowable frequency of operation is restricted
_ by the heat generated in the regenerative resistor
I
MOTOR ,/" N I TIME in the Servopack and varies depending on the SPEED
motor type, capacity,load inertia, acceleration/
Fig. 1.3 Timing Chart of deceleration current values ,and motor speed.
Motor Armature Current and Speed Figs. 1.5 to 1.7 show the allowable frequency
of operation when Servopack is combined with
Fig. 1.4(a) shows the starting and stopping servomotors such as Cup Motor, Hi-Cup Motor or
time when Servopack type CPCR-MR02-M is com- Minertia Motor.
bined with servomotor type UGMMEM-06. Fig.l.4 The values in Figs. 1.5 to 1.7 are shown when
(b) shows the starting and stopping time when load inertia is 0. When load inertia is m times of
Servopack type CPCR-MRIEC-H is combined with 1
servomotor type UGHMED-12AA motor inertia, the frequency is __ times the • m+l
The values shown in Fig. 1.4 are measured value in the figure. If load inertia exceeds three
when operating motor at no load (JL = 0). When times the motor inertia or if the combination of
JL is equal to JM , the starting and stopping time Servopack type CPCR-MR 99C and industrial DC
is twice the value in Fig. 1.4. When JL is double motor type GEELM-K is applied, contact your
JM , the starting and stopping time is three times Yaskawa representative.
the value in Fig. 1.4.
9

1.4.2Allowable Frequency of Operation (Cont'd)
IIIllll ,.l
FREQUENCY FREQUENCY 100 FREQUENCY
OF OPERATION 100 OF OPERATION ?_ OF OPERATION 100
(TIMES/MIN) ' : : : : (TIMES/MIN) (TIMES/MIN)
I['Mi
iiiii
, , 011 I I I I I I 11 I I I oIL___J_
0 1000 '20()0 500 1000 1200 1000 2000 3000
MOTOR SPEED (r/rain) MOTOR SPEED (r/rain) MOTOR SPEED (r/min)
(a) Combination of Type CPCR-MR08C (a) Combination of Type CPCR-MR08C-H (a) Combination of Type CPCR-MR15C-M
andTypeUGCMED-08 andTypeUGHMED-06 andTypeUGMMEM-50
•t
ALLOWABLE ALLOWABLE ALLOWABLE
FREQUENCY 100 FREQUENCY _-'.C'/,_,¢,_ FREQUENCY tnn
OF OPERATION OF OPERATION 100 OF OPERATION.v_
(TIMES/MIN) (TIMES/MIN) (TIMES/MIN)
I I"_]
I111o_
1000 2000 500 1000 1200 1000 2000 3000
MOTOR SPEED (r/rain) MOTOR SPEED (r/min) MOTOR SPEED (r/rain)
(b) Combinationof TypeCPCR-MR15C (b) CombinationofTypeCPCR-MR15C-H (b)CombinationofTypeCPCR-MR55C-M
and TypeUGCMED-15 andTypeUGHMED-12 andTypeUGMMEM-1Aor Type
CPCR-MR99C-MandTypeUGMMKR-2A
200 ____ 200 \i__ Fig. 1.7AIIowableFrequencyof
I I I ! OperationofCombinationof
ALLOWABLE III I I\_\_1 I II ALLOWABLE SERVOPACK and Minertia Motor
FREQUENCY 1_)0 ! ___ FREQUENCY_,
OF OPERATION OF OPERATION 100
(TIMES/MIN) (TIMES/MIN) I r'-L'- (2) Allowable Frequency of
I I I b4"i I ] ] ] "Operation restricted by the
0 Servomotor
1000 2000 500 1000 1200
MOTOR SPEED (r/min) MOTOR SPEED (r/rain)
The allowable frequency of operation
(c) Combination of Type CPCR-MR22C (c) Combination of Type CPCR-MR22C-H
and TypeUGCMED-22 andTypeUGHMED-20 varies depending on the load condi-
tions, motor running time and the
200 II_l III I I 2OO_[_[_[Z[Z[_E_ operating conditions. Typical exam-
I I I I ll_l plesareshown below. SeePar. 1.4.1
iI I I I___I [ I I ] __ "Startingand Stopping Time" for
ALLOWABLEFREQUENCY10£ ! c:_O_,__G,_!_, ALLOWABLEFREQUENCY_ symbols.
OF OPERATION OFOPERATION 100
(TIMES/MIN) C_--_-_ (TIMES/MIN) " When motor repeats rated-speed
i i i i [ i-_]_ [ operation andbeing at standstill.
0_ Cycle time (T) should be deter-
1000 2000 500 1000 1200
MOTORSPEED (r/min) MOTOR SPEED (r/min) mined sothat RMS value of motor
(d)Combinationof TypeCPCR-MR55C (d)CombinationofTypeCPCR-MR55C-H armature current is lower than the
andTypeUGCMED-37 andTypeUGHMED-30motor rated current:
I-H-__ r__ ip2 (t_+i_tf) +1_,ts (s)
ALLOWABLEALLOWABLE _ O.
FREQUENCY 10(]FREQUENCY 100Where cycle time (T) is determinedOFOPERATIONOFOPERATION
(TIMES/MIN) (TIMES/MIN) I I ,'_b.,_! ! values Ip, tr, tf satisfying theformula
_i_ above, should be specified.
0
1000 2000 500 1000
MOTORSPEED (r/min) MOTOR SPEED (r/rain) MOTORARMATUREt|_t
(e)Combinationof TypeCPCR-MR55CandType UGCMED-55orType (e) Combinationof TypeCPCR-MR55C-HandTypeUGHMED-44 CURRENT ] ___J,_ TIME
CPCR-MR75Cand TypeUGCMFD-75 , , : : , , ;'
Fig. 1 5 Allowable Frequency of Fig.1.6 Allowable Frequency of SPEEO
• TIME
Operation of Combination of Operation of Combination of
SERVOPACK and Cup Motor SERVOPACK and Hi-Cup Motor Fig. 1.8 Time Chart of Motor
Armature and Motor Speed
10

• When the motor remains at standstill between • When the motor accelerates, runs at constant
cycles of acceleration and deceleration without speed, and decelerates in a continuing cycle
continuous rated speed running, without being at standstill.
The timing chart of the motor armature current The timing chart of the motor armature current
and speed is as shown in Fig. i. 9. The allowable and speed is as shown in Fig. i. ii. The allow-
frequency of operation "n" can be calculated as able frequency of operation "n" can be calculated
follows : as follows.
Kt "IRKt •IR
n=286.5XNR (JM + JL)Xn=286.5XNn(JM + JL)X
(i/___fl_/_3) (times/min) (i/_--fl 2/_) (times/min)
Fig. 1.10(a) and (b) indicate allowable frequency Fig. 1.12(a) and (b) indicate allowable frequency
of operation of Minertia Motor type'UGMMEN-06AAI of operation of Minertia Motor type UGMMEN-06AAI
and Hi-Cup Motor type UGHMED-12AA, respectively, and Hi-Cup Motor type UGHMED-12AA, respectively.
The values in Fig. i.i0 are measured when The values in Fig. 1.12 are measured when
operating motor at no load. When JL is equal to operating motor at no load. When JL is equal to
JM , the frequency is half of the value in the figure. JM , the frequency is half of the value in the figure.
When JL is twice of JM , the frequency is one-third When JL is twice of JM , the frequency is one-third
of the value in the figure, of the value in the figure.
MOTOR --7 _
ARMATURE ! I j t : f - T,ME MOTOR
CURRENT Ii ARMATURE f TIME
II'_i I_ l CURRENTIll
' ' i I I l I I
l, MOTOR I /_f k I /kI__
MOTOR T,ME SPEED/" "I V X,;4.T,ME
SPEED
Fig. 1.9 Timing Chart of Fig. 1.11 Timing Chart of
Motor Armature Current and Speed Motor Armature Current and Speed
1000 _ _ i __._11000%
p=100%
800 - Ip= 150%\ ,.-,,:1 800 Ip: 100%
,,,ow,
FREQUENCY 600 /p=_ FREQUENCY 600_
OFOPERATION OFOPERATION
(TIMES/MIN) (TIMES/MIN)
400 Ip= 300% _._
400
200 200
0I I I I I 0
0.2 0.4 0.6 0.S 1.0 0.2 0.4 0.6 0.8 1.0
LOAD CURRENT COEFFICIENT fl LOAD CURRENT COEFFICIENT fl
(a) Minertia Motor Type UGMMEM-06AA1 (a) Minertia Motor Type UGMMEM-06AA1
300 300
Ip= 100%
_'=1 = 100%
ALLOWABLE 200 ALLOWABLE 200 = "
FREQUENCY __ FREQUENCY _
OF OPERATION /p=200% a'=2 _.._ OF OPERATION
(TIMES/MIN)
(TIMES/MIN) /p= 300% _ _
100 _ 100
0 _ _ _ T _ 0
0.2 0.4 0.60.8 1.0 0.2 0.4 0.60.8 1.0
LOAD CURRENT COEFFICIENT/3 LOAD CURRENT COEFFICIENT/3
(b) Hi-Cup Motor Type UGHMED-12AA (b) Hi-Cup Motor Type UGHMED-12AA
Fig. 1.10 Allowable Frequency of Operation Fig. 1.12 Allowable Frequency of Operation
11

1 4.3 Servomotor Frequency SPEED
• (r/rain)
In the servo drive consisting of Servopack and RATED [_________
servomotor, motor speed amplitude is restricted SPEED(+) .......,
2500TO ',
by the maximum armature current controlled by 4000* i
Servopack. (a)CombinationofSERVOPACK
and Print Motor lTI I
--6--4--'2,_0 2 4 6
The relation between motor speed amplitude (N)
and frequency(f )is shown by the formula below: /]INPUT VOLTAGE (V)
/ I
_X Kt X IR Jr/mini L/_..... _ RATEDSPEED(--)
N=1.52 (J'_w+ .]L) f _ --2500TO4000*
Fig. 1.14 shows servomotor frequency of Hi- "variesdependingon motortype.
Cup Motor type UGHMED-12AA. The values in I
Fig. 1.14 are measured when operating motor at SPEED17501
no load. When JL is equal to JM, the speed is half (r/rain)i000_/:
of the value in the figure. When JL is twice of JM , (b)CombinationofSERVOPACK
the speed is one-third of the value in the figure, andCupMotor i 1 c )tI ! I I
--6--4--2/10 2 46
!/I INPUT VOLTAGE (V)
MOTOR
ARMATURE
tCURRENT
SPEED'000 --//----Yi
(r/min) l /;
MOTOR (C) CombinationofSERVOPACK 5oo-1-/
t SPEED and Minertia Motor J Series
or Hi-CupMotor i i i Y i I r
--6--4--2/10 2 4 6
Fig. 1.13 Timing Chart of _ /IINPUTVOLTAGE(V)
Meter Armature Current and Speed i/1- 5o0 -
_---- ---1-_1000
100G
MOTOR 10(] _ Ip=300%SPEED3000 -------_.....
SPEEDN(r/rain) 2000-_ /i
(r/rain) Ip=200%
/p=lOOO/o(d) Combinationof SERVOPACK
lc andMinertiaMotor looo_ /i
/
I
StandardSeries _ _ t_ : _
--6_--4--2J--4--2 0 2 4 6
1 , i _ /i/---1000 INPUT VOLTAGE (V)
•0 3 1_0 30 100 ---2000
FREQUENCY f(Hz) il______ _ --3000
Fig. 1.14 Servomotor Frequency
of Hi-Cup Motor Type UGHMED-12AA
Fig. 1.15 Speed--Input Voltage Characteristics
Adjustable with
1.4.4 Speed-Input Voltage Characteristic RATED SPEED (+)-_,__/_--_1-', .... I
Fig. I. 15 shows motor speed and input voltage /_<_///" i
curve when speed reference input terminals ICN-
(_)and (_) are used. -'10J8-_s-'4-_2 4 6 8 _0
I
When the auxiliary input terminals (_) and _) _/INPUT VOLTAGE(V)
',' _l_
are used,by adjusting Servopack [FN2_, the
, I
rated speed can be obtained by input voltages RATEDSPEED(--)
of --+2 to + 10 V (Fig. 1.16).
The forward motor rotation (+) means counter-
clockwise rotation when viewed from the drive Fig. 1.16 Speed--Input Voltage Characteristic
end (Forward motor rotation is given by connec- when Auxiliary Input Terminal
tion as shwon in Figs. 2.1 to 2.5.) (_)and (_)are used.
12

2. CONFIGURATION
2.1 COMPONENTS
Table 2.1 shows optional components to be com-
bined with Servopack.
Table2.1 Combination of SERVOPACK and Servomotors
and Optional Component
Optional Components to be Combined
SERVOPACK Servomotor Thermal Power DC Speed Magnetic Protection Regen- Magnetic
Type TypewithTG Adjusting
CPCR o (7V/1000 r/min) Overload Transformer Reactor Potentiometer Contactor Device erative Field Power
Relay Type Type Type Type Type Type Unit Unit Type
UGPMEN-08 RHP-15/4.9
CPT8585 JESP JUSP
MR01C PMES-09 RHP-15/5.7 (300 VA) -PT101 (L) -RG003
UGPMEN-09
MR01CJ UGJMED-10M RH-18/2.2PV CPT8589 JESP JUSP
(300 VA) -PT2OI(L) -RGOO1
PMES-12
MR02C RHP-15/6.6 CPT8624 JESP JUSP
UGPMEN-12 (500VA) -PT102(L) -RG002
MR02C-M UGMMEM°06 RH-35/6.2HV
UGJMED-40M RH-18/5.0PV CPT8630 JESP JUSP
MR02CJ UGJMED-40L RH-18/5.5PV (500 VA) -- HI-10E -PT202(L) -RG001
PMES-16 JESP
MR05C RHP-15/7.5
UGPMEN-16 -PT203(L)
UGCMED-04AA JESP
CPT8660 -PT203(L)-C JUSP
MR05C-C UGCMEM-04GC RH-35/7.8HV (1 kVA) -RG001
MR05C-H UGHMED-03GG JEESP
-PT203(L)-H
MR05C-M UGMMEM-13 RH-35/6.9HV Jl=SP
-PT203(L)-M
PT866
MR07C UGMMEM-25 RH-35/12.5HV _;1.5kVSA_ JESP -PT204(L)
UGCMED-08AA RH-35/6.9HV
MRO8C(W)
UGCMEM-08GC RH-35/6.2HV
UGHMED-06AA RH-35/6.2HV X3055
MR08C(W)-H UGHMEM-06AA RH-35/5.5HV (10mH8A)
UGHMED-06GG RH-35/6.2HV
MR08C-J UGJMED-60MA RH-35/TT
UGCMED-15AA
MR15C(W) UGCMEM-15GC RH-35/11.5HV
MR15C-P PMES-20 RHP-15/8.3F 25HP-10B --
UGHMED-12AA RH-35/10.5HV 2 k£
X3056 HI-15Es
MR15C(W)-H UGHMEM-12AA RH-35/10HV -- i(10mH13A)
UGHMED-12GG RH-35/10.5HV
UGJMED-60L RH-35/15T1
M R15C(W)-J
UGJMED-80M RH-35/15T2
MR15C(W)-M ' UGMMEM-50AA RH-35/12.5HV
IMR22C(W) UGCMED-22AA RH-35/17HV
UGCMEM-22GC RH-35/17.5HV
UGHMED-20AA RH-35/17HV X3057
MR22C(W)-H UGHMEM-20AA RH-35/17.5HV (10mH18A)
UGHMED-20GG RH-35/_6HV
MR22C(W)-J UGJMED-80L RH-35/26T
UGCMED-37AA RH-35/27HV
MR55C UGCMEM-37FB RH-35/28HV
UGCMED-55AA RH-35/30HV 3.7 kW or
below:
UGHMED-30AA RH-35/23.5HV X3058 HI-18E
MR55C(W)-H UGHMEM-30AA RH-35/24.5HV -- (10mH28A)
UGHMED-30GG RH-35/21HV 3.7 to
UGHMED-44AA RH-35/24.5HV 5.5 kW:
MR55C(W)-J UGJMED-80K RH-35/30T HI-25E
MR55C(W)-M UGMMEM-1AA RH-35/24.5HV 5.5 to
I MR75C UGCMFD-75AA RH-35/41.2HV X3066 11 kW:
MR75C-H UGHMFD-60AA RH-35/33HV (10mH40A) HI-35E
MR99C GEELM-K X3067 Regenerative
-- resistorunit NP A- M
MR99C-M UGMMKR-2AA RH-35/53HVW (10mH55A) JUSP-RAO3 -2_)_1_H_-"_1
Notes: 4.When ordering,see Par.6."Order."
1.Servopocks in _ are standard products.
2.Thermal overloadrelay,RH-35/,:_]HVcomesattachedtothe 5.Whenpower supply100/110VACisusedfor CPCR-MR07C,
motor. Othersmustbeprocuredseparately, usemagneticcontactor,HI-15E.
3. ForCPCR-MR99Cand CPCR-MR99C-M,the regenerative
resistorunitmustbe installedseparately.13

2.2 INTERNAL BLOCK DIAGRAM
POWER SUPPLY
SINGLE-PHASE
200/220 VAC, 100/110 VAC
+_10o , 50/60 Hz POWER
[i POWE ON,TH°'
^_ r---'m 1MC 1 Ry
_
_L._--ISURGESUF_%SS_NG SURGESUPPRESgNGMC c_'_cE t _ DEVI¢
t THERMAL OVERLOAD
RELAY 1 THR
I .... I _.I
1X
1 MC- :1 MCpowE R
TRANSFORMER I 1-2 6 5
1 FU
1Tr
2C DCSERVOMOTOR
1 DB
,I
2R
,,
U22 ,,
V21( (+)
c_ 7-- DC TACHOMETER
&&
GENERATORITG)
...... 2 C'--_ 2 CN 7 V/(1000 r/min)
+12V(+30mA) 10 CONTROL
0V 11 POWER
--12V(--30 mA) 12 /I_ [F0wE_
V[_-] -12V
3CR 3ml
SPEED REFERENCE
(0 V) ] (SEE PAR 3.2.1.)
PROPORTIONAL
DRIVE REFERENCE 37 VR 11VR +6 V
(WITH I CR ON)
(SEE PAR.3.3.2.)
I
!
1 CR I_
PWM
GENERATOR
_r
I
I
I
FWD_2mA 13 VR_
OVERTRAVEL PREVENTION 13( IRVS EXTERNAL
(BASEOFFWITHTERMS. 4. CURRENTLIMIT
5-6 OR TERMS. 5-7 OPEN) 1;( I FWD (SEE PAR. 3.3.1 .)
(SEE PAR.3.3.3.)
I
4CR 3mA1TrTO4Tr -- i
•_, -- _ DRIVE 2CN
CIRCUIT I
(ov) i
OFF OV.OCDETECTION/
EXTERNAL BASE ;_ti'_'_"_ I ._1(WITH 4 CRON) " I
(SEE PAR. 3.3.4.) 1 PWB(TYPE CPCR-MR-CA;,:]Ci
......... ]-4_CN- -- -I
Notes:
1.Terminals (_ and (_arenormally open contact.They aredifferent from terminals
(_) and _) (normally closed contacts) ofthe previous types (CPCR-MR01to oMR05),
2. Thermal overload relay is directly connected to terminal (_) and the motorin series. Pre-
vious types (CPCR-MR01 to °MR05) have connection terminal (_).
3,Terminal (_) is not connected internally. In the previous types (CPCR-MR01 to -MR05)
it is common toSG OV.
4.O.S drive works only for type CPCR-MRE]CJ.
Fig.2.1 InternalBlock Diagramof SERVOPACKTypes
CPCR-MR01C to -MR05C
14

POWER SUPPLY
SINGLE-PHASE
200/220 VAC,
100/110 VAC _+10%
50160 Hz POWER
POWER ON 1THR
OFF _.1_1 MC 1 Ry
1 MC _URGESUPPRESSING
DEVICE
t THERMALOVERLOAD
RELAY 1 THR
I ' I
1MC" -1MCpowER 1X
TRANSFORMER 1"---"2-6--.o5
1 FU
1 PTU I
DC SERVOMOTOR
1D
1 DB
2R
I
U2:I
i
V_,( (÷)
& r&, DCTACHOMETER
GENERATOR (TG)
F j _ 7 V/(1000r/min)
r t- -_ ''"2CN
+12V (+30 mh 10 CONTROL
0V POWER
--12V (--30 mA) 12 -'.._ rPOW_
PROPORT,ONA" _ DRIVE REFERENCE
WITH 1 CRON) V_-] ÷12VSEEPAR. 3.3.2.)
3 CR 3 m,._A
(_)--_--o-- --
(0 V) SPEED REFERENCE
J (SEEPAR.3.2.1.)
7VR 0TO_+6V
3 11VR
r---l" -- -- --
I I
I PWM 5VR
1 ca J(_ GENERATOR
i
Ii
I__
FWD_ 3VR_ _(_
2 mA
OVERTRAVELPREVENTION 13
(BASE OFF WITH i(_ RVS EXTERNAL
TERMS.5-6OR CURRENTLIMIT
TERMS,5-7OPEN) 144
(SEE PAR. 3.3.3.)I ' FWD (SEE PAR. 3.3.1.)
4CR 3mA 1TrTO4Tr -- /
DRIVE/ 2 CN
o
CIRCUIT
(0 V)
EXTERNAL BASE OFF i 0
Iv,0_
I
(SEEPAR.3.3.4.) t PWB(TYPECPCR-MR-CAi_TC]
J
I .......... 4ON ....... :]
Notes:
1. Terminals (Q and (_ are normally open contact. They are different from terminals
(_ and (_)(normally closed contacts) of the previous types (CPCR-MR01 to -MR05).
2. Thermal overload relay is directly connected to terminal (_ and the motor in series. Pre-
vious types (CPCR-MR01 to -MR05) have connection terminal(_.
3. Terminal (_ is not connected internally. In the previous types (CPCR-MR01 to -MR05)
it is common to SG 0V.
4. O.S drive works only for type CPCR-MR_._CJ.
Fig. 2.2 Internal Block Diagram of SERVOPACK Type CPCR-MR07C
15

2.2 INTERNAL BLOCK DIAGRAM (Cont'd)