YASKAWA SGMAS User manual

YA S K AWA
YASKAWA
YASKAWA
MANUAL NO. SIEP S800000 25A
USER'S MANUAL
SGMAS/SGMPS/SGMSS/SGMCS Servomotors
SGDS-□□□7□A SERVOPACK
Series SGM□S/SGDS
For SynqNet Communications

SynqNetTM is a registered trademark of the Motion Engineering, Inc. 
Copyright ©2004 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 con-
stantly 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.
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About this Manual
Intended Audience
This manual is intended for the following users.
• Those selecting Σ-III Series Servodrives or peripheral devices for Σ-III Series servodrives.
• Those wanting to know about the ratings and characteristics of Σ-III Series servodrives.
• Those designing Σ-III Series servodrive systems.
• Those installing or wiring Σ-III Series servodrives.
• Those performing trial operation or adjustments of Σ-III Series servodrives.
• Those maintaining or inspecting Σ-III Series servodrives.
Description of Technical Terms
The terms in this manual are defined as follows:
• Servomotor = Σ-III Series SGMAS, SGMPS, SGMSS, SGMCS (direct drive) servomotor.
• SERVOPACK = Σ-III Series SGDS amplifier.
• Servodrive = A set including a servomotor and servo amplifier.
• Servo System = A servo control system that includes the combination of a servodrive with a host
computer and peripheral devices.
Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
• S-ON = /S-ON
• P-CON = /P-CON
Outline of the Contents
Chapter Description
1 Outline Describes the outline of Σ-III series servodrive.
2 Selections Describes the models of a servodrive and peripheral devices.
3 SERVOPACK Specifications and
Dimensional Drawings
Describes the specifications and dimensional drawings of Σ-III series
SERVOPACK.
4 Specifications and Dimensional Drawings
of Cables and Peripheral Devices
Describes the specifications and dimensional drawings of cables and
peripheral devices.
5 Wiring Describes wiring after purchase.
6 SynqNet™ Communications Describes the wiring and communication method of the SynqNet com-
munications.
7 Operation Describes the operation of the SERVOPACK.
8 Adjustments Describes the adjustment functions contain autotuning.
9 Inspection, Maintenance, and
Troubleshooting
Describes maintenance and inspection contain troubleshooting if an
alarm occurs.
10 Appendix Describes the list of parameters and alarm codes.
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■Visual Aids
The following aids are used to indicate certain types of information for easier reference.
• Indicates important information that should be memorized, including precautions such as alarm dis-
plays to avoid damaging the devices.
• Indicates supplemental information.
• Indicates application examples.
• Indicates definitions of difficult terms or terms that have not been previously explained in this man-
ual.
Related Manuals
Refer to the following manuals as required.
IMPORTANT
INFO
EXAMPLE
TERMS
Manual Name Manual Number Contents
Σ-III Series AC SERVOPACK SGDS
Safety Precautions
TOBP S800000 00 Describes the safety precautions of Σ-III series
SERVOPACK.
Σ-III Series SGMS/SGDS Digital
Operator Operation Manual
TOBP S800000 01 Provides detailed information on the operation of the
JUSP-OP05A Digital Operator.
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Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.
Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious consequences if not heeded.
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
PROHIBITED
MANDATORY
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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 AC servodrives.
• Never touch any rotating motor 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 Σ-ΙΙΙ
series User’s Manual (Manual No.: SIEP S800000 00).
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• The output range of multi-turn data for Σ-ΙΙΙ series absolute detection system differs from
that for conventional systems (15-bit encoder and 12-bit encoder). Especially when “Infinite
length positioning system” of conventional type is to be configured with Σ-ΙΙΙ series, be sure
to make the system modification.
• The multi-turn limit value must be changed only for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in
the SERVOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the
encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be
detected, resulting in a dangerous situation where the machine will move to unexpected positions.
• Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• Do not damage, press, 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.
• 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.
WARNING
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Checking on Delivery
Storage and Transportation
• 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.
• Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
• Connect the ground terminal to electrical codes (ground resistance: 100 W or less).
Improper grounding may result in electric shock or fire.
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• 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 or installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage or 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.
• Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
WARNING
CAUTION
CAUTION
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Installation
• 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.
• 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 impact.
Failure to observe this caution may result in malfunction.
CAUTION
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Wiring
• 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 (11.81 in).
• 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 (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is out first before starting an inspection.
• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to
deteriorate, resulting in unexpected problems.
• Observe the following precautions when wiring main circuit terminal blocks.
• Remove the terminal block from the SERVOPACK prior to wiring.
• Insert only one wire per terminal on the terminal block.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• Install the battery at either the host controller or the battery case of the encoder.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
CAUTION
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Operation
• Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
Failure to observe this caution may result in damage to the product.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery or cause it to explode.
CAUTION
• 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 malfunction.
• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due
to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at
occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
• Set to the correct moment of inertia ratio.
Setting to an incorrect moment of inertia ratio may cause vibration.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in injury.
• Do not use the servo brake of the servomotor for ordinary braking.
Failure to observe this caution may result in malfunction.
CAUTION
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Maintenance and Inspection
Disposal
General Precautions
• When replacing the SERVOPACK, resume operation only after transferring the previous
SERVOPACK parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble the servomotor.
Failure to observe this caution may result in electric shock or injury.
• When disposing of the products, treat them as general industrial waste.
Note the following to ensure safe application.
• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace
the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as a next
edition.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall
not be liable for any damages or troubles resulting from unauthorized modification.
CAUTION
CAUTION
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CONTENTS
About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -v
Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
1 Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.2 SERVOPACKs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3 Examples of Servo System Configurations - - - - - - - - - - - - - 1-6
1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - 1-11
1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
2 Selections
2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Model SGMAS/SGMPS/SGMSS - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Model SGMCS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - 2-5
2.3 Σ-III Series SERVOPACKs and Applicable Servomotors - - - 2-6
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.4.1 Cables for SGMAS and SGMPS Servomotor - - - - - - - - - - - - - - - - - - 2-7
2.4.2 Cables for SGMSS Servomotor- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15
2.4.3 Cables for SGMCS Servomotor- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-20
2.5 Selecting Peripheral Devices- - - - - - - - - - - - - - - - - - - - - - 2-24
2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24
2.5.2 Molded-case Circuit Breaker and Fuse Capacity- - - - - - - - - - - - - - - 2-25
2.5.3 Noise Filters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26
2.5.4 Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-27
3 SERVOPACK Specifications and Dimensional Drawings
3.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - 3-2
3.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.3 SERVOPACK Internal Block Diagrams- - - - - - - - - - - - - - - - 3-6
3.3.1 Single-phase 100 V, 50 W to 400 W Models - - - - - - - - - - - - - - - - - - - 3-6
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3.3.2 Single-phase 200 V, 50 W to 400W Models- - - - - - - - - - - - - - - - - - - -3-7
3.3.3 Three-phase 200 V, 1.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - -3-8
3.3.4 Single-phase 200 V, 750 W Model - - - - - - - - - - - - - - - - - - - - - - - - - -3-9
3.3.5 Three-phase 200 V, 1.5 kW to 3.0 kW Models - - - - - - - - - - - - - - - - - 3-10
3.4 SERVOPACK Power Losses - - - - - - - - - - - - - - - - - - - - - - 3-11
3.5 SERVOPACK Overload Characteristics and Load Moment of
Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-13
3.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-13
3.6 Dimensional Drawings of SERVOPACK Model
SGDS-72- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
3.6.1 Classification table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
3.6.2 Single-phase 100 V/200 V, 50 W/100 W/200 W - - - - - - - - - - - - - - - -3-17
3.6.3 Single-phase 200 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.6.4 Single-phase 100 V, 400 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.6.5 Single-phase 200 V, 750 W, and Three-phase 200 V, 1.0 kW - - - - - - 3-19
3.6.6 Three-phase 200 V, 1.5 kW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-19
3.6.7 Three-phase 200 V, 2.0 kW / 3.0 kW - - - - - - - - - - - - - - - - - - - - - - -3-20
4 Specifications and Dimensional Drawings of Cables and
Peripheral Devices
4.1 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - 4-2
4.2 Connectors for Main Circuit, Control Power Supply,
and Servomotor Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.2.1 Spring Type (Standard) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-4
4.2.2 Crimp Type (Option) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-5
4.3 CN1 Cables for I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - 4-6
4.3.1 Standard Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-6
4.3.2 Connector Type and Cable Size- - - - - - - - - - - - - - - - - - - - - - - - - - - -4-6
4.4 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.4.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - - -4-8
4.4.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8
4.4.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8
4.4.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - -4-9
4.4.5 Brake Power Supply Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-10
4.4.6 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.7 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-13
4.4.8 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - -4-14
4.4.9 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-15
4.4.10 Magnetic Contactor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
4.4.11 Surge Protector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.4.12 AC/DC Reactors for Harmonic Suppression - - - - - - - - - - - - - - - - - 4-21
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5 Wiring
5.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Names and Descriptions of Main Circuit Terminals - - - - - - - - - - - - - - 5-2
5.1.2 Wiring Main Circuit Terminal Block (Spring Type) - - - - - - - - - - - - - - - 5-3
5.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2 Wiring Encoders- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.3 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - 5-8
5.3.1 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.3.2 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - 5-9
5.3.3 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - 5-10
5.3.4 SynqNet Connectors (CN6A and CN6B) - - - - - - - - - - - - - - - - - - - - 5-11
5.4 Special Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.4.1 Wiring Precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.4.3 Using More Than One SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.4.4 400-V Power Supply Voltage- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
5.4.5 AC/DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - 5-19
5.5 Connecting Regenerative Resistors - - - - - - - - - - - - - - - - - 5-20
5.5.1 Regenerative Power and Regenerative Resistance- - - - - - - - - - - - - 5-20
5.5.2 Connecting External Regenerative Resistors - - - - - - - - - - - - - - - - - 5-20
5.6 Flexible Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
6 SynqNet™ Communications
6.1 Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 SynqNet Packet Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Specifications and Configurations - - - - - - - - - - - - - - - - - - - 6-4
6.2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2.2 SynqNet Communications Connection Example - - - - - - - - - - - - - - - - 6-4
6.2.3 Precautions for Wiring SynqNet Cables - - - - - - - - - - - - - - - - - - - - - - 6-5
6.2.4 Grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
6.3 Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.1 Switch ID Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.2 SynqNet Port LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.3 LED 7-Segment Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.4 Supported SynqNet Features - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.1 Cyclic Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.2 Cyclic Responses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.4.3 Service Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
7 Operation
7.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Digital Operator Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
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-xv
xv
8 Adjustments
8.1 Torque Filters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.2 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
9 Inspection, Maintenance, and Troubleshooting
9.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.2 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-4
9.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - -9-5
9.1.4 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - 9-17
9.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - 9-21
9.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21
9.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-21
9.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - 9-22
10 Appendix
10.1 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-3
10.2 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-10
INDEX
Revision History
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1-1
1
1
Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4
1.2.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3 Examples of Servo System Configurations - - - - - - - - - - - - - 1-6
1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - 1-11
1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
SIEPS80000025.book 1 ページ ２００４年１０月２５日 月曜日 午前１１時５７分

1 Outline
1.1.1 Check Items
1-2
1.1 Checking Products
The following procedure is used to check the AC servodrives of Σ-III Series products on delivery.
1.1.1 Check Items
Check the following items when Σ-III Series products are delivered.
If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.
1.1.2 Servomotors
(1) Types SGMAS and SGMPS
(2) Type SGMSS
Check Items Comments
Are the delivered products the ones
that were ordered?
Check the model numbers marked on the nameplates on the servomo-
tor and SERVOPACK. (Refer to the descriptions of model numbers in
the following section.)
Does the servomotor shaft rotate
smoothly?
The servomotor shaft is normal if it can be turned smoothly by hand.
servomotors with brakes, however, cannot be turned manually.
Is there any damage? Check the overall appearance, and check for damage or scratches that
may have occurred during shipping.
AC SERVO MOTOR
SGMAS-04ACA21
400 200 2.6
WVA
N

3000 B
1.27 min Ins.
O/N9271316-1
S/NDD9964567890012
YASKAWA ELECTRIC CORPORATION JAPAN
Serial number
Nameplate
-1
Order number
Servomotor model
Ratings
AC SERVO MOTOR
TYPE
1000 W
5.7 A
3.18 N
200 V
3000 min
CONT ins F
O/N 9W0774 002A - 039
S/N BB2 753000039 0002
YASKAWA ELECTRIC MADE IN JAPAN
DATE
N
V
SGMSS-10ACA21
N
 m
Nameplate
-1
Serial number
Order number
Servomotor model
Ratings
SIEPS80000025.book 2 ページ ２００４年１０月２５日 月曜日 午前１１時５７分

1.1 Checking Products
1-3
1
(3) Type SGMCS Direct-drive (Small-capacity Series)
(4) Type SGMCS Direct-drive (Middle-capacity Series)
1.1.3 SERVOPACKs
AC SERVO MOTOR
SGMCS-04C3A11
84 200 2.1
WVA
N

200 A
4.0
min Ins.
O/N9271316-1
S/NDD9964567890012
YASKAWA ELECTRIC CORPORATION JAPAN
Nameplate
-1
Serial number
Order number
Servomotor model
Ratings
AC SERVO MOTOR
TYPE
707 W
5.8 A
45 N m
200 V
150 min
CONT ins F
O/N 252909-101
S/N 842000045
YASKAWA ELECTRIC MADE IN JAPAN
DATE 0306
SGMCS-45M3A11
Servomotor model
Ratings
Serial number
Nameplate
-1
Order number
SERVOPACK
model
Nameplate
Serial
number
Applicable
power supply Applicable
motor capacity
SGDS-10A72A
AC-OUTPUT
S/N
O/N
AC-INPUT
SERVOPACK MODEL
YASKAWA ELECTRIC
MADE IN JAPAN
SIEPS80000025.book 3 ページ ２００４年１０月２５日 月曜日 午前１１時５７分

1 Outline
1.2.1 Servomotors
1-4
1.2 Product Part Names
1.2.1 Servomotors
(1) Types SGMAS and SGMPS without Gears and Brakes
(2) Type SGMSS without Gears and Brakes
(3) Type SGMCS Direct-drive (Small-capacity Series)
SGMAS or SGMPS-01 to 04 for 100 W to 400 W SGMPS-08, 15 for 750 W, 1.5 kW
Flange
Output
shaft
Nameplate
Encoder
connector
Encoder
(Detecting section)
Servomotor
connector Encoder
connector
Servomotor
connector
Servomotor
main circuit cable
Flange
Encoder
cable
Nameplate
Encoder
(Detecting section)
Output
shaft
Flange
Output shaft
Nameplate
Encoder connector
Encoder
(Detecting section)
Servomotor connector
Frame
Rotary axis
A
Nameplate
Servomotor connector
Encoder
connector
Mounting
flange View A
Encoder
connector
Servomotor
connector
Nameplate
SIEPS80000025.book 4 ページ ２００４年１０月２５日 月曜日 午前１１時５７分

1.2 Product Part Names
1-5
1
(4) Type SGMCS Direct-drive (Medium-capacity Series)
1.2.2 SERVOPACKs
Connecting terminal
For connecting a reactor, refer to 5.4.5 AC/DC Reactor for Harmonic Suppression.
Rotary axis
Mounting flange
Frame
Servomotor connector
Encoder connector
Nameplate
Lights when the control power supply is on.
Used for I/O with a digital operator.
Refer to 4.4.2 Digital Operator.
Refer to 4.4.3 Cables for Analog Monitor.
Refer to 6.3.2 SynqNet Port LED Indicators.
Used to communicate with SynqNet controller.
Refer to 5.3.4 SynqNet Connectors (CN6A and
CN6B).
Used for reference input signals and sequence
Lights when an alarm exists.
Used to communicate with SynqNet controller.
Refer to 5.3.4 SynqNet Connectors (CN6A and
CN6B).
Refer to 5.3 Examples of I/O Signal Connections.
Indicates the SERVOPACK model and ratings.
Refer to 1.1.3 SERVOPACKs.
Connects to the encoder of the SERVOPACK.
Refer to 5.2 Wiring Encoders.
Refer to 5.5 Connecting Regenerative Resistors.
Refer to 2.2 SERVOPACK Model Designations.
INFO
SIEPS80000025.book 5 ページ ２００４年１０月２５日 月曜日 午前１１時５７分