YASKAWA S-II Plus Series User manual
YASKAWA
形式(Type) :SGDP- □PA（位置制御用）(for position control)
YA S K AWA
株式会社安川電機
資料番号 (MANUAL NO.) TOB-S800-33.10
この取扱説明書は,最終的に本製品をお使いになる方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。
Upon receipt of the product and prior to installing the product, read these instructions
thoroughly, and retain for future reference.
取扱説明書 INSTRUCTIONS
∑-ⅡPLUS SERIES AC SERVOPACK SGDP
ii
はじめに
J本書の構成
この取扱説明書は，日本語編と英語編で構成しています。
D日本語編： J-1 ページ 〜 J-23 ページに掲載
D英語編： E-1 ページ 〜 E-23 ページに掲載
必要に応じて，ご活用ください。
J本書の対象読者
本書は下記の方々を対象読者としています。
DΣ-ⅡPLUS シリーズ サーボパックの到着時の点検を行う方
DΣ-ⅡPLUS シリーズ サーボパックの盤組み込みや配線を行う方
DΣ-ⅡPLUS シリーズ サーボパックの操作や運転を行う方
DΣ-ⅡPLUS シリーズ サーボパックの保守や点検を行う方
INTRODUCTION
JManual Contents
This manual consists of Japanese Version and English Version.
DJapanese Version: Described on pages J-1 to J-23.
DEnglish Version: Described on pages E-1 to E-23.
Use the Japanese Version or English Version as needed.
JUser Instructions
Use these instructions for the following jobs:
DChecking Σ-II PLUS Series SERVOPACK on delivery
DInstalling Σ-II PLUS Series SERVOPACK
DWiring Σ-II PLUS Series SERVOPACK
DOperating Σ-II PLUS Series SERVOPACK
DInspecting and maintenance of Σ-II PLUS Series SERVOPACK
v
CONTENTS
Σ-II PLUS SERIES AC SERVOPACK E - 1.......................
SYMBOLS FOR SAFE OPERATION E - 4...............................
NOTES FOR SAFE OPERATION E - 5..................................
1 PARTS E - 7...............................................
2 CHECKING ON DELIVERY E - 7.............................
2.1 Checking Items E - 7............................................
2.2 Appearance and Nameplate E - 8.................................
2.3 Type Designation E - 8..........................................
3 INSTALLATION E - 9.......................................
3.1 Storage E - 9...................................................
3.2 Installation Sites E - 9...........................................
3.3 Orientation E - 10................................................
3.4 Installation Precations E - 10......................................
4 WIRING E - 11..............................................
4.1 Connecting to Peripheral Devices E - 12............................
4.2 Grounding Wire E - 14............................................
4.3 Power Supply E - 14..............................................
4.4 Noise Control E - 14..............................................
5 OPERATION E - 15..........................................
5.1 Precautions at Test Run E - 15.....................................
5.2 Precautions at Operation E - 15....................................
6 INSPECTION AND MAINTENANCE E - 16.....................
6.1 SERVOPACK E - 17..............................................
vi
7 INSTALLATION CONDITIONS OF EMC DIRECTIVE E - 18......
7.1 EMC Installation Conditions E - 18.................................
7.2 Cable Core and Cable Clamp E - 21................................
8 PERIPHERAL DEVICE E - 22.................................
8.1 Peripheral Device Types and Capacities E - 22.......................
8.2 Noise Filter for Brake Power Supply E - 22..........................
8.3 Cable Specifications E-22........................................
8.4 Recommended Ferrite Cores E-23....................................
8.5 Shield Box E - 23................................................
E-1
INSTRUCTIONS
Σ-II PLUS SERIES AC SERVOPACK
Σ-II PLUS SERIES AC SERVOPACK E-1........
SYMBOLS FOR SAFE OPERATION E - 4.................
NOTES FOR SAFE OPERATION E - 5...................
1 PARTS E - 7................................
2 CHECKING ON DELIVERY E - 7..............
2.1 Checking Items E - 7...............................
2.2 Appearance and Nameplate E - 8....................
2.3 Type Designation E - 8.............................
3 INSTALLATION E - 9.........................
3.1 Storage E - 9......................................
3.2 Installation Sites E - 9..............................
3.3 Orientation E - 10...................................
3.4 Installation Precations E - 10.........................
4 WIRING E - 11...............................
4.1 Connecting to Peripheral Devices E - 12...............
4.2 Grounding Wire E - 14...............................
4.3 Power Supply E - 14................................
4.4 Noise Control E - 14................................
5 OPERATION E - 15...........................
5.1 Precautions at Test Run E - 15.......................
5.2 Precautions at Operation E - 15......................
6 INSPECTION AND MAINTENANCE E - 16.......
6.1 SERVOPACK E - 17................................
7 INSTALLATION CONDITIONS OF EMC
DIRECTIVE E - 18............................
7.1 EMC Installation Conditions E - 18....................
7.2 Cable Core and Cable Clamp E - 21...................
CONTENTS
S-II PLUS SERIES AC SERVOPACK
E-2
8 PERIPHERAL DEVICE E - 22..................
8.1 Peripheral Device Types and Capacities E - 22.........
8.2 Noise Filter for Brake Power Supply E - 22.............
8.3 Cable Specifications E - 22..........................
8.4 Recommended Ferrite Cores E - 23...................
8.5 Shield Box E - 23...................................
E-3
This instruction manual covers Σ-II PLUS series SERVOPACK controlling Σ-II PLUS series
AC SERVOMOTOR.
To properly use the Σ-II PLUS series SERVOPACK, read this manual thoroughly and retain
for easy reference for inspections and maintenance, etc.
Reference materials are listed below:
Manual Titles Manual No.
Σ-II PLUS Series SGMjH/SGDP USER'S MANUAL
Servo Selection and Data Sheets
SIE-S800-33.11
Σ-II PLUS Series SGMjH/SGDP USER'S MANUAL
Design and Maintenance
SIE-S800-33.12
AC Servomotor INSTRUCTIONS TOE-C231-2
General Precautions
SSome 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 oper-
ating this product.
SSome drawings in this manual are shown as typical example and may differ from the shipped
product.
SThis manual may be modified when necessary because of improvement of the product, modifica-
tion or changes in specifications.
Such modification is made as a revision by renewing the manual No.
STo 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.
SYASKAWA is not responsible for accidents or damages due to any modification of the product
made by the user since that will void our guarantee.
E-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 per-
sonal 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.
WARNING
CAUTION
CAUTION
E-5
NOTES FOR SAFE OPERATION
Read this manual thoroughly before installation, operation, maintenance or inspection of the AC
Servo Drives.
WARNING
(Ref.No.)
(WIRING)
DSERVOPACK Grounding must be in accordance with the national code and consistent
with sound local practices.
Failure to observe this warning may lead to electric shock or fire.
E-11
(INSPECTION AND MAINTENANCE)
DBe sure to turn OFF power before inspection or maintenance.
Otherwise, electric shock may result.
E-16
DNever open the terminal cover while power is ON, and never turn ON power when the
terminal cover is open.
Otherwise, electric shock may result.
E-16
DAfter turning OFF power, wait at least five minutes before servicing the product.
Otherwise, residual electric charges may result in electric shock.
E-16
CAUTION
(Ref.No.)
(RECEIVING)
DUse the specified combination of Servomotor and SERVOPACK.
Failure to observe this caution may lead to fire or failure.
E-7
(INSTALLATION)
DNever use the equipment where it may be exposed to splashes of water, corrosive or
flammable gases, or near flammable materials.
Failure to observe this caution may lead to electric shock or fire.
E-9
(WIRING)
DDo not connect three-phase power supply to SERVOPACK output terminals U, V, and
W.
Failure to observe this caution may lead to personal injury or fire.
E-11
DSecurely tighten screws on the power supply and motor output terminals.
Failure to observe this caution can result in a fire.
E-11
E-6
CAUTION
(OPERATION)
DTo avoid inadvertent accidents, run the servomotor only in test run (without load).
Failure to observe this caution may result in personal injury.
E-15
DBefore starting operation with a load connected, set up parameters suitable for the ma-
chine.
Starting operation without setting up parameters may lead to overrun failure.
E-15
DBefore starting operation with a load connected, make sure emergency-stop proce-
dures are in place.
Failure to observe this caution may result in personal injury.
E-15
DDuring operation, do not touch the SERVOPACK’s heat sink.
Failure to observe this caution may result in burns.
E-15
(INSPECTION AND MAINTENANCE)
DNever change wiring while power is ON.
Failure to observe this caution may result in electric shock or personal injury.
E-16
SERVOPACK warning lable position
WARNING LABLE
L1
L2
L3
U
V
W
L1C
L2C
B1
B2
B3
1
2
C
N
3
C
N
1
C
N
2
YASKAWA
MODE/SET DATA/
CHARGE POWER
200V
SERVOPACK
SGDP−
SERVOPACK Warning Lable and Grounding Mark Position
2.1 Checking Items
E-7
1 PARTS
Σ-II PLUS Series SERVOPACK parts names are as follows:
YASKAWA
SERVOPACK
MODE/SET DATA/
CHARGE POWER
SGDP−
200V
C
N
3
C
N
1
C
N
2
L1
L2
1
2
L1C
L2C
B1
B2
U
V
W
Main power
terminal
Indicators
Switch
Operator
connector CN3
I/O signal
connector CN1
Nameplate
Encoder
connector CN2
Heat sink
(side)
Control power
terminal
Motor connection terminal
Grounding
terminal
2 CHECKING ON DELIVERY
CAUTION
DUse the specified combination of servomotor and SERVOPACK.
Failure to observe this caution may lead to fire or failure.
For more information, refer toΣ-II
PLUS Series SGMVH/SGDP User’sManual Desgin and Maintenance
Par. 8.2.1.
2.1 Checking Items
When Σ-II PLUS Series products are delivered, check the following items:
Check Items Remarks
Check if the delivered products
are the ones you ordered.
Check the types marked on the nameplates of servomotor and
SERVOPACK (see the next page).
Check if the motor shaft rotates
smoothly.
If the motor shaft is smoothly turned by hand, it is normal. Howev-
er, if the motor has brakes, it cannot be turned manually.
Check for damage. Check the overall appearance, and check for damage or scratches
resulting from transportation.
Check screws for looseness. Check for looseness with a screwdriver.
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.
2CHECKING ON DELIVERY
E-8
2.2 Appearance and Nameplate
Σ-II PLUS Series
SGDP SERVOPACK
L1
L2
L3
U
V
W
L1C
L2C
B1
B2
B3
1
2
C
N
3
C
N
1
C
N
2
YASKAWA
SERVOPACK
MODE/SET DATA/
CHARGE POWER
SGDP−
200V
O/N
SGDP-04FPA
S/N
100−115 V
1PHASE 11.0 0.40 (0.536)
SERVOPACK type
Serial number
Applicable power supply
Servomotor output
2.3 Type Designation
SGDP −08APA−j
Σ-II PLUS series
SGDP SERVOPACK
Max. applicable
servomotor output
(See table below)
Voltage
A: Input 200 V to drive 200-V motor
B: Input 100 V to drive 100-V motor
F: Input 100 V to drive 200-V motor
Model
P: Position control
Option
R: Rack mounted type
Design revision order
(Blank, A, B, C, ...)
Max. Applicable
Servomotor Output Code
Output (kW)
A3 0.03
A5 0.05
01 0.10
02 0.20
04 0.40
08 0.75
3.1 Storage
E-9
3 INSTALLATION
Σ−II PLUS Series SGDP SERVOPACK is a base-mount type servo controller. Incorrect installation
will cause problems. Always observe the installation instructions described below.
CAUTION
DNever use the equipment where it may be exposed to splashes of water, corrosive or flammable
gases, or near flammable materials.
Failure to observe this caution may lead to electric shock or fire.
3.1 Storage
When the SERVOPACK is to be stored with the power cable disconnected, store it in the fol-
lowing temperature range:
Between −20 µ+85 C_
Σ-II PLUS Series
SGDP SERVOPACK
L1
L2
L3
U
V
W
L1C
L2C
B1
B2
B3
1
2
C
N
3
C
N
1
C
N
2
YASKAWA
SERVOPACK
MODE/SET DATA/
CHARGE POWER
SGDP−
200V
3.2 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 temperature
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.
3INSTALLATION
E-10
3.3 Orientation
Install the SERVOPACK perpendicular to the wall as shown in the figure below.
The SERVOPACK must be orientated as shown in the figure.
Firmly secure the SERVOPACK through two to four mounting holes depending on the SER-
VOPACK capacity.
Ventilation
Mounting face
3.4 Installation Precations
When installing multiple SERVOPACKs side by side in a control panel, observe the following
installation method:
FanFan
30mm (1.2in.) or more
10mm (0.4in.) or more
50mm (2in.) or more
50mm (2in.) or more
JFront Panel
Install SERVOPACK perpendicular to the wall so that the front panel (digital operator mounted
face) faces outward.
JCooling
Provide sufficient space around each SERVOPACK to allow cooling by fan and natural con-
vection.
3.4 Installation Precations
E-11
JWhere mounted side by side
When installing SERVOPACKs side by side, provide at least 10mm (0.4in.) space between
them and at least 50mm (2in.) space above and below them as shown in the figure above. Install
cooling fans above the SERVOPACKs to prevent the temperature around each SERVOPACK
from increasing excessively and also to maintain the temperature inside the control panel even-
ly.
JEnvironments in Control Panel
Maintain the following conditions inside the control panel:
DAmbient temperature for SERVOPACK: 0 to 55°C
DHumidity: 90%RH or less
DVibration: 4.9 m/s2
DCondensation and freezing: None
DAmbient temperature to ensure long-term reliability: 45°C or less
4 WIRING
This section shows a standard example for connecting Σ-II PLUS Series products to peripheral de-
vices and briefly explains how to connect each peripheral device.
WARNING
DSERVOPACK Grounding must be in accordance with the national code and consistent with sound
local practices.
Failure to observe this warning may lead to electric shock or fire.
CAUTION
(WIRING)
DDo not connect three-phase power supply to SERVOPACK output terminals U, V and W.
Failure to observe this caution may lead to personal injury or fire.
DSecurely tighten screws on the power supply and motor output terminals.
Failure to observe this caution can result in a fire.
For the following wiring, refer to Σ-II PLUS Series SGMVH/SGDP User’s Manual Design and
Maintenance (SIE-S800-33.12).
DMain circuit wiring
DI/O signal wiring
DEncoder wiring
DExample of connections
4WIRING
E-12
4.1 Connecting to Peripheral Devices
JSingle−phase Main Circuit (100VAC or 200VAC)
.
..
RST
L1 L2 L1C L2C
B1 B2
UVW
YASKAWA
SERVOPACK
MODE/SET DATA/
CHARGE POWER
SGDP−
200V
C
N
3
C
N
1
C
N
2
L1
L2
1
2
L1C
L2C
B1
B2
U
V
W
Molded-case circuit
breaker (MCCB)
Used to protect
power supply line.
Shuts the circuit
OFF if overcurrent
is detected.
Noise filter
Used to eliminate external
noise from power supply
line.
Magnetic contactor
Turns the servo
ON or OFF.
Use a surge
suppressor for
the magnetic
contactor.
Brake power supply
Types:
LPSE-2H01 (for 200 V input)
LPDE-1H01 (for 100 V input)
Regenerative resistor unit
If the capacity of the regenerative resistor is
insufficient, connect the external regenera-
tive resistor unit to the B1-B2 terminals.
Molded-case
circuit breaker
Noise filter
Magnetic
contactor
Magnetic
contactor
Power
ground
Regenerative
resistor (option)
Brake
power supply
Cable and
Connector for
encoder
Allows the user to set
parameters or
operation references
and display operation
status or alarmstatus.
The operator is
communicated with
personal computers.
Digital operator
JUSP-OP02A−2
Personal computer
Host controller
SERVOPACK is compatible with most P.L.C.
motion controllers and indexers.
Cable type: JZSP−CMS01 TO 03
MEMOCON GL120,GL130 with Motion Module
Power supply
3 phase AC 200V
4.1 Connecting to Peripheral Devices
E-13
JThree−phase Main Circuit (200VAC)
L1
L2
L3
U
V
W
L1C
L2C
B1
B2
B3
1
2
C
N
3
C
N
1
C
N
2
YASKAWA
SERVOPACK
MODE/SET DATA/
CHARGE POWER
SGDP−
200V
RST
UVW
L1 L2 L3L1C L2C B1 B2
Molded-case circuit
breaker (MCCB)
Used to protect
power supply line.
Shuts the circuit
OFF if overcurrent
is detected.
Noise filter
Used to eliminate external
noise from power supply
line.
Magnetic contactor
Turns the servo
ON or OFF.
Use a surge
suppressor for
the magnetic
contactor.
Brake power supply
Types:
LPSE-2H01 (for 200 V input)
LPDE-1H01 (for 100 V input)
Host controller
SERVOPACK is compatible with most P.L.C.
motion controllers and indexers.
MEMOCON GL120,GL130 with Motion Module
Allows the user to set
parameters or
operation references
and display operation
status or alarm status.
The operator is
communicated with
personal computers.
Digital operator
JUSP-OP02A−2
Personal computer
Cable type: JZSP−CMS01 TO 03
Cable and
Connector for
encoder
Power supply
3 phase AC 200V
Molded-case
circuit breaker
Noise filter
Magnetic
contactor
Brake
power supply
ground
Magnetic
contactor
Regenerative
resistor (option)
Regenerative resistor unit
If the capacity of the regenerative resistor is
insufficient, remove the lead between B2 and
B3 terminals, and connect the external regen-
erative resistor unit to the B1−B2 terminals.
Power
4WIRING
E-14
4.2 Grounding Wire
DIn conformance with local electrical codes, ground the SERVOPACK’ s grounding termi-
nal (grounding resistance: 100 Ωοr less).
DBe sure to connect the grounding wire of the servomotor to of the SERVOPACK.
DNever share the grounding cable or grounding rod with welders, power equipment, or other
high-voltage devices. Separate the grounding cable from wiring of high-voltage equip-
ments.
DMake the grounding wire as short as possible. As for cable size, see Σ-II PLUS Series
SGMjH/SGDP User’s Manual Servo Selection and Data Sheets Par. 6.1.1 Cable Size
(SIE-S800-33.1) .
DIf two or more SERVOPACKs are used, ground them as shown in (a) below.
Avoid methods (b) and (c).
Good
(a)
Poor
(b)
Poor
(c)
4.3 Power Supply
Use the SERVOPACK power supply according to product ratings. See the following table.
Power
SERVOPACK
Motor
Output
Specifications
Connection Termi-
nals
100V
SGDP-jBPA
200W
(0.27HP) max.
1−Phase 100V to 115VAC
(+10% to -15%), 50/60Hz
L1, L2 (Main)
L1C, L2C (Control)
SGDP-jFPA
400W
(0.54HP)
200V
SGDP-jAPA
400W
(0.54HP) max.
1−Phase 200V to 230VAC
(+10% to -15%), 50/60Hz
L1, L2 (Main)
L1C, L2C (Control)
750W
(1.01HP)
3−Phase 200V to 230VAC
(+10% to -15%), 50/60Hz
L1, L2, L3 (Main)
1−Phase 200V to 230VAC
(+10% to -15%), 50/60Hz
L1C, L2C (Control)
4.4 Noise Control
If the signal line is affected by noise, malfunction may result.
DSeparate power cables from control cables.
DMake the signal line as short as possible and use twisted-pair wires.
Never use a line filter (for power input) for servomotor circuit. If peripheral devices malfunc-
tion due to the noise from SERVOPACK, insert a line filter (for output, type LF-310KA, made
by Tokin Corp.) between servomotor and SERVOPACK.
5.1 Precautions at Test Run
E-15
5 OPERATION
This section provides precautions at test run and operation. For instructions on test run and opera-
tion, refer to Σ-II PLUS Series SGMVH/SGDP User’s Manual Design and Maintenance (SIE-
S800-33.12).
5.1 Precautions at Test Run
CAUTION
DTo avoid inadvertent accidents, run the SERVOMOTOR only in test run (without load).
Failure to observe this caution may result in personal injury.
DBefore starting operation with a load connected, set up parameters suitable for the machine.
Starting operation without setting up parameters may lead to overrun failure.
DBefore starting operation with a connected load, make sure emergency-stop procedures are in
place.
Failure to observe this caution may result in personal injury.
JConducting Test Run with Servomotor Connected to Machine
SERVOPACK initial parameters setting is performed assuming normal operation conditions.
Before test run, set up parameters suitable for the machine.
Failure to set up the parameter initial setting may result in machine overrun or breakdown.
As for the setting procedures and methods, refer to Σ-II PLUS Series SGMVH/SGDP User’s
Manual Design and Maintenance (SIE-S800-33.12).
JCheck Item during Test Run
The following items should be checked during test run.
DUnusual vibration
DAbnormal noise
DExcessive temperature rise
5.2 Precautions at Operation
CAUTION
DDuring operation, do not touch the SERVOPACK’s heat sink.
Failure to observe this caution may result in burns.
6INSPECTION AND MAINTENANCE
E-16
6 INSPECTION AND MAINTENANCE
This section describes the basic inspections and maintenance for Σ-II PLUS Series SERVOPACK.
If any failure occures on SERVOPACK, refer to Σ-II PLUS Series SGMVH/SGDP User’s Manual
Design and Maintenace Section 9.2 Troubleshooting (SIE-S800-33.12). Contact your YASKAWA
representative if the problem cannot be solved by the procedures described.
WARNING
DBe sure to turn OFF power before inspection or maintenance.
Otherwise, electric shock may result.
DNever open the terminal cover while power is ON, and never turn ON power when the terminal
cover is open.
Otherwise, electric shock may result.
DAfter turning OFF power, wait at least five minutes before servicing the product.
Otherwise, residual electric charges may result in electric shock.
CAUTION
DNever change wiring while power is ON.
Failure to observe this caution may result in electric shock or personal injury.
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