YASKAWA E-II Series Installation instructions

MANUAL NO. TOBP C710800 01A
形式：JUSP-NS115
対象サーボパック形式：SGDH-E-
MECHATROLINK-II アプリケーションモジュール
Σ-IIシリーズ
ACサーボドライブ
安全上のご注意
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-NS115
Applicable SERVOPACK Model: SGDH-E-
MECHATROLINK-II Application Module
Σ-II Series
AC Servo Drives
SAFETY PRECAUTIONS
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 ©2002 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.

1 INTRODUCTION
E-1
1 INTRODUCTION
This instruction manual covers Σ-II series SGDH MECHATROLINK-II Application Module
NS115 Module (hereinafter called NS115 Module), which is an application module to be con-
nected to Σ-II series SGDH SERVOPACK for MECHATROLINK-II.
To safety use the application module, read this manual thoroughly and retain for easy reference
for inspections and maintenance etc. Make sure that these manuals reach the end user.
2 REFERENCE MANUALS
Reference manuals are listed below:
3 GENERAL PRECAUTIONS
The following describes general precautions. 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.
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-II
Application Module User’s Manual
SIEPC71080001
AC SERVOMOTOR INSTRUCTIONS TOE-C231-2
Σ-II series AC SERVOPACK SGDH/SGDM
Safety Precautions
TOBPS80000004

E-2
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.
Indicates prohibited actions that must not be performed. For example, this symbol
would be used to indicate that fire is prohibited as follows: .
Indicates compulsory actions that must be performed. For example, this symbol
would be used as follows to indicate that grounding is compulsory: .
The warning symbols for ISO and JIS standards are different, as shown below.
The ISO symbol is used in this manual.
Both of these symbols appear on warning labels on Yaskawa products. Please abide by these
warning labels regardless of which symbol is used.
ISO JIS
WARNING
CAUTION
CAUTION
PROHIBITED
MANDATORY

5 NOTES FOR SAFE OPERATION
E-3
5 NOTES FOR SAFE OPERATION
Read this manual thoroughly before checking products on delivery, storage and transportation,
installation, wiring, operation and inspection, and disposal of the NS115 Module.
• Never touch any motor rotating parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Failure to observe this warning may result in injury.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not remove the panel cover while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for trial operation precisely as noted in the relevant User’s
Manual.
Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but
may also cause an accident resulting in death or injury.
• Do not remove the terminal cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not damage, press, pinch, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.
• Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a
servomotor with brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting momentary power loss to avoid an
unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• SERVOPACK grounding must be in accordance with the national code and consistent with sound
local practices.
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
WARNING

E-4
CHECKING ON DELIVERY
STORAGE AND TRANSPORTATION
INSTALLATION
• Always use the NS115 Module and the SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in motor overrun or shutdown of the products.
• Do not store or install the product in the following places.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage/installation temperature condi-
tions.
• Locations subject to humidity outside the range specified in the storage/installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pal-
lets, or plywood, the packing materials must be treated before the product is packaged, and meth-
ods 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 chlo-
rine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.
• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
CAUTION
CAUTION
CAUTION

5 NOTES FOR SAFE OPERATION
E-5
WIRING
OPERATION
• Provide the specified clearances between the SERVOPACK and the control panel or with other
devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong shock.
Failure to observe this caution may result in malfunction.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminal screws and motor output terminal screws.
Failure to observe this caution may result in fire.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal
lines separated by at least 30 cm.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder
(PG) feedback lines.
The maximum length is 3 m for reference input lines and is 20 m for PG feedback lines. If feelback lines are
longer than 20 m, use the 50 m cable.
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to
avoid any unexpected accidents.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters
of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal-
function.
CAUTION
CAUTION
CAUTION

E-6
MAINTENANCE AND INSPECTION
DISPOSAL
6 CHECKING ON DELIVERY
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 purchased
the products or your nearest local sales representative.
• Do not disassemble the servomotor.
Failure to observe this caution may result in electric shock or injury.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• When replacing the SERVOPACK, resume operation only after transferring the previous SERVO-
PACK parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.
• When disposing of the products, treat them as ordinary industrial waste.
CAUTION
CAUTION
Check Items Remarks
Check if the delivered products
are the ones you ordered.
Check the types marked on the nameplates of the NS115 Module.
Check for damage. Check the overall appearance, and check for damage or scratches
resulting from transportation.
Check if SERVOPACK is the
type applicable for NS115
Module.
1. Check the nameplate of SERVOPACK.
SERVOPACK Type
SGDH-E-
cd
“SGDH” in c, and “E” in d
2. Check the software version of the SGDH SERVOPACK in the
version seal on the front face underneath the model number or
use the auxiliary funciton mode of Fn012 without installing
the NS115 Module.
• When checking the software version with the version seal,
make sure the lower two digits of the software version
should be 33 or more.
• When using the auxiliary funciton mode, make sure the
software version should be 33 or more.

7 WARNING LABEL
E-7
7 WARNING LABEL
The following illustration shows the SERVOPACK warning lavel and position.
8 NAMEPLATE
The following illustration shows the SERVOPACK nameplate and position.
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.
ෂ㒾ㅢ㔚෸߮㔚Ḯࠝࡈᓟ㧘5ಽ㑆┵ሶㇱߦ⸅ࠆߥ㧍ޓᗵ㔚ߩ߅ߘࠇ޽ࠅ
ㅢ㔚ߪࡅ࡯࠻ࠪࡦࠢߦ⸅ࠆߥ㧍ޓἫ்ߩᕟࠇ޽ࠅ
WARNING
ᵈᗧ
ᔅߕࠕ࡯ࠬ✢ࠍធ⛯ߖࠃ
CAUTION
NS115 Module
warning label position
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
NS115
CE marking
Order Number Protection class
UL marking
MECHATROLINK-II APPLICATION MODULE
MODEL JUSP-NS115 VER. 01000
SERVOPACK 1P1X
NS115
S
W
1
S
W
2
C
N
6
A
C
N
6
C
N
4
B
A
R
NS115 Module

E-8
9 INSTALLING AN NS115 Module
This section describes the methods and the installation sites for mounting an NS115 Module on
a SERVOPACK.
Mounting of the NS115 Module
Mount an NS115 Module on a SGDH SERVOPACK in the following manner.
1. Remove the connector cover mounted on the CN10 of the SERVOPACK.
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)
Use attached screws on the NS115 Module.
SGDH-15 to 50AE
SGDH-05 to 50DE
M4×10 round head screws
(with spring washer and
plain washer)
Use attached screws on the NS115 Module.
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)
Use attached screws on the NS115 Module.
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

9 INSTALLING AN NS115 Module
E-9
2. Mount an NS115 Module.
3. For grounding, connect the ground wire of the NS115 Module to the terminal marked
“G” on the
SERVOPACK.
CN10
Connector (to SERVOPACK)
SGDH-
SERVOPACK
YASKAWA
5
Ground wire
G
For the SERVOPACK (30 W to 5.0 kW)
MODE/SET DATA/
CHARGE POWER
SGDH-
SERVOPACK
YASKAWA
NS115
SGDH-
SERVOPACK 200 V
YASKAWA
G
Ground wire
For the SERVOPACK (6.0 kW to 7.5 kW)
NS100

E-10
The following diagram shows the SERVOPACK with the NS115 Module correctly
mounted.
Installation Sites
For installation sites, use proper care with the following notes.
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.
SGDH-
SERVOPACK
YASKAWA
S
W
1
S
W
2
C
N
6
A
C
N
6
C
N
4
B
A
R
NS115

9 INSTALLING AN NS115 Module
E-11
Installation Precations
When installing multiple SERVOPACKs side by side in a control panel, observe the follow-
ing installation method:
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: 1000 m or less.
Fan Fan
50 mm or more
50 mm or more
10 mm or more
30 mm or more

E-12
10 INSPECTION AND MAINTENANCE
This section describes the basic inspections and maintenance. If any failure occures on the
SERVOPACK, refer to Σ-II Series SGMH/SGDH User’s Manual Design and Maintenace
Section 9.2 Troubleshooting (SIE-S800-32.2) and Σ-II Series SGDH MECHATROLINK-II
Application Module User’s Manual (SIEPC71080001). Contact your Yaskawa representative if
the problem cannot be solved by the procedures described.
NS115 Module Inspection
For inspections and maintenance of the NS115 Module, follow the inspeciton procedures in
the table below at least once every year.
11 GENERAL SPECIFICATIONS
The following table shows the NS115 Module general specifications.
Item Frequency Procedure Remedy
Clean unit interior
and circuit boards
At least once a year Check for dust, dirt, and oil on
surfaces.
Clean with compressed
air or cloth.
Loose screws At least once a year Check for loose terminal block
and connector screws.
Tighten any loose
screws.
Defective parts in
unit or on circuit
boards
At least once a year Check for discoloration, damage
or discontinuities due to heating.
Contact your
YASKAWA representa-
tive.
Item Specifications
Operating/Storage Temperature 0 to +55 °C/-20 to +85 °C
Operating/Storage Humidity 90 %RH or less (non-condensing)
Operating Environment Installation category (Overvoltage category): II
Pollution degree: 2
Protection class: 1X
Altitude: 1,000 m or less
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2

12 MEASURES TO SATISFY THE EMC DIRECTIVES
E-13
12 MEASURES TO SATISFY THE EMC DIRECTIVES
This section describes the measures required for NS115 Module to conform to EMC Directives:
EN50081-2 and EN50082-2.
MECHATROLINK-II Communication Cable
For MECHATROLINK-II communication (CN6A, CN6B) connector, use the connector for
special use.
Max. cable length is 50 m.
Fully Closed Encoder Cable
For fully closed encoder (CN4) connector, use the following connector.
Use the twisted pair shielded cable.
Connector: 54306-2011 (Made by Molex Japan)
Connector case: 54331-0201 (Made by Molex Japan)
The Core on the Cable
Attach the core on the cable as shown below:
Cable line and the line position where the core are attached are shown below.
Core Model ESD-SR-25
Quantity 1
Turn 2
Manufacturer Tokin
Cable Name Mounting Position of Core
MECHATROLINK-II Communication Cable Near the host controller and SERVOPACK side
Fully Closed Encoder Cable Near the SERVOPACK side
Cable
Core

E-14
Cable Clamp
Fix and ground the cable shield using a piece of conductive metal.
<Example of Cable Clamp>
SERVOPACK side
Ground plate Cable
Cable
Clamp
Shield (cable sheath stripped)
Remove paint on mounting surface.
Fix and ground the cable shield
using a piece of conductive metal.

12 MEASURES TO SATISFY THE EMC DIRECTIVES
E-15
Wiring Examples
The following diagrams show the wiring example. Before wiring, turn OFF the Power ON/
OFF switch and post a notice of “No Conduction.” Only an electrical expert can perform the
wiring. The noise filter and the core are shown in the diagram.
Note: 1. Clamp: Secure and ground cable shields using conductive metal parts.
2. Make sure that the grounding plate are securely connected to the grounding.
3. Remove the paint from the grounding plate to insure a good connection with filter, SER-
VOPACK, clamp, etc.
<REQUIRED EMC SPECIFICATIONS> Grounding plate/Box
Three-phase
400 VAC
Single-phase
200 VAC
Clamp
Noise
filter 1
Noise
filter 2
AC/DC
converter
CN1
Core Core
Core
Core
CoreCore
Core
Open
Moter
Servomotor Host controller
Encoder
CoreCore
Clamp Clamp Clamp Clamp
Core
Control box
NS115
SGDH
SERVOPACK
L1, L2, L3
A1, A2 CN6A
CN6B
U, V, W, CN2
Clamp
Main
power
supply
Control
power
supply

IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone [phone] Fax [phone]
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax [phone]
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone [phone] Fax [phone]
YASKAWA EUROPE GmbH
Hauptstraβe 185, Eschborn 65760, Germany
Phone [phone] Fax [phone]
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone [phone] Fax [phone]
YASKAWA ELECTRIC KOREA CORPORATION
9F, Kyobo Securities Bldg. 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea
Phone [phone] Fax [phone]
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone [phone] Fax [phone]
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
12F, Carlton Bld., No.21 HuangHe Road, HuangPu District, Shanghai 200003, China
Phone [phone] Fax [phone]
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone [phone] Fax [phone]
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan
Phone [phone] Fax [phone]
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to
follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
©2002-2012 YASKAWA ELECTRIC CORPORATION. All rights reserved.
Published in Japan January 2012 02-12
MANUAL NO. TOBP C710800 01A
11-12-5
8 -0
YASKAWA ELECTRIC CORPORATION
MECHATROLINK-II Application Module
Σ-II Series
AC Servo Drives
SAFETY PRECAUTIONS