YASKAWA S Series User manual

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SM
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Instra

°",.1W-ArAgmFl°5F4'.
-T7-7-Ace2-S,-4K1447n ?Mgas-VAt
ESeries SGM /SGDB
USER'S MANUAL
AC Servodrives
SGMG/SGMS/SGMD/SGMP Servomotors
SGDB-N SERVOPACK
YASKAWA MANUAL NO. SIE-S800-26.4B

Safety Information
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precau-
tions provided in this manual can result in serious or possibly even fatal injury or damage to the prod-
ucts or to related equipment and systems.
A WARNING
A CAUTION
©Yaskawa, 1998
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.
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 writ-
ten permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained
herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information
contained in this manual is subject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability
assumed for damages resulting from the use of the information contained in this publication.
iii

OVERVIEW
OVERVIEW
Overview
Safety Precautions xiv
Safety Precautions xiii
1Configuration and Models
1.1 Configuration 1 -2
1.2 Model Numbers 1 -2
2Ratings and Characteristics
2.1 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1500 r/min 2 -2
2.2 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1000 r/min 2 -6
2.3 SGMS Servomotor Ratings and Specifications 2 -10
2.4 SGMD Servomotor Ratings and Specifications
(with Holding Brake) 2 -13
2.5 SGMP Servomotor (1.5 kW) Ratings and Specifications 2 -15
2.6 SERVOPACK Ratings and Specifications 2 -17
2.7 Combined Specifications 2 -19
3Servodrive Characteristics
3.1 Overload Characteristics 3 -2
3.2 Starting and Stopping Time 3 -3
3.3 Allowable Repeatability 3 -4
3.4 Large-amplitude Frequency Characteristics 3 -6
3.5 Mechanical Characteristics 3 -7
4Configuration and Connections
4.1 Internal Connection Diagram 4 -3
4.2 Name and Description of Main Circuit Terminals 4 -7
4.3 Applicable Receptacles 4 -7
4.4 Connecting an Incremental Encoder 4 -9
4.5 Connecting an Absolute Encoder 4 -14
4.6 Output Circuits 4 -18
4.7 Connector Terminal Block Converter Unit for 1CN 4 -19
4.8 2CN Encoder Connector Terminals 4 -22
4.9 4CN Connectors for MECHATROLINK Communications 4 -26
5Application
5.1 Turning Power ON/OFF 5 -3
5.2 Position Control 5 -4
5.3 Setting Up a 12-bit Absolute Encoder 5 -6
5.4 Protection Functions 5 -8
5.5 Indications 5 -9
5.6 Precautions 5 -10
5.7 Application Precautions 5 -13

5.8 Appropriate Applications 5 -18
5.9 Adjustments 5 -19
6MECHATROLINK Communication
6.1 Specifications and Configuration 6 -2
6.2 1SW Rotary Switch for MECHATROLINK Station
Address Settings 6 -3
6.3 MECHATROLINK Command List 6 -4
6.4 Special Descriptions 6 -7
6.5 Power ON Sequence (Communications Sequence) 6 -15
6.6 List of Alarm and Warning Codes 6 -18
7User Constants
7.1 Setting User Constants 7 -2
7.2 List of User Constants 7 -13
7.3 Memory Switch Bit Details 7 -16
7.4 Limits to User Constant Changes 7 -22
7.5 Procedure for Transferring User Constants 7 -23
8Installation and Wiring
8.1 Checking on Delivery 8 -2
8.2 Installation 8 -3
8.3 Wiring Specifications 8 -7
9Servodrives Dimensional Drawings
9.1 AC Servomotors 9 -3
9.2 SERVOPACKS 9 -53
9.3 Cables 9 -64
9.4 Connectors 9 -75
9.5 Noise Filters 9 -94
9.6 Peripheral Devices 9 -96
10 Trial Operation
10.1 Check Items before Trial Operation 10 -2
10.2 Trial Operation Procedure 10 -3
11 Settings
11.1 Characteristics when Shipped 11 -2
11.2 Resetting 11 -2
11.3 Adjusting Servo Performance 11 -2
12 Maintenance and Inspection
12.1 Maintenance and Inspection of Servodrives 12 -2
12.2 Troubleshooting 12 -5
vi

TABLE OF CONTENTS
1
Overview
Safety Precautions
Configuration and Models
1.1 Configuration
1.2 Model Numbers
1
1
xiv
-2
-2
1.2.1 Servomotor Model Numbers 1-2
1.2.2 SERVOPACK Model Numbers 1-4
2Ratings and Characteristics
2.1 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1500 r/min 2-2
2.1.1 Ratings and Specifications 2 -2
2.2 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1000 r/min 2 -6
2.2.1 Ratings and Specifications 2-6
3.1 Overload Characteristics 3-2
3.2 Starting and Stopping Time 3-3
3.3 Allowable Repeatability 3 -4
3.3.1 Allowable Repeatability as Limited by the Servomotor 3 -4
TABLE OF CONTENTS
2.3 SGMS Servomotor Ratings and Specifications 2 -10
2.3.1 Ratings and Specifications 2 -10
2.4 SGMD Servomotor Ratings and Specifications
(with Holding Brake) 2 -13
2.4.1 Ratings and Specifications 2 -13
2.5 SGMP Servomotor (1.5 kW) Ratings and Specifications 2 -15
2.5.1 Ratings and Specifications 2 -15
2.6 SERVOPACK Ratings and Specifications 2 -17
2.6.1 Ratings and Specifications 2 -17
2.7 Combined Specifications 2 -19
2.7.1 Standard Combinations 2 -19
2.7.2 Peripheral Device Combinations 2 -22
3Servodrive Characteristics

3.4 Large-amplitude Frequency Characteristics 3 -6
3.5 Mechanical Characteristics 3 -7
3.5.1 Mechanical Strength 3 -7
3.5.2 Allowable Radial and Thrust Load 3 -7
3.5.3 Mechanical Tolerances 3 -8
3.5.4 Direction of Motor Rotation 3 -8
3.5.5 Impact Resistance 3 -8
3.5.6 Vibration Resistance 3 -9
3.5.7 Vibration Class 3 -9
4Configuration and Connections
4.1 Internal Connection Diagram 4 -3
4.1.1 0.5 kW to 1.5 kW Servodrives 4 -3
4.1.2 2.0 kW to 3.0 kW Servodrives 4 -4
4.1.3 5.0 kW Servodrive 4 -5
4.1.4 6.0 kW to 15.0 kW Servodrives •• 4 -6
4.2 Name and Description of Main Circuit Terminals 4 -7
4.3 Applicable Receptacles 4 -7
4.3.1 1CN Connector for I/O Signals 4 -7
4.3.2 2CN Connector for Encoder 4 -7
4.3.3 4CN Connector for MECHATROLINK Communication 4 -8
4.4 Connecting an Incremental Encoder 4 -9
4.4.1 Typical Example 4 -9
4.4.2 1CN I/O Connector Terminals 4 -10
4.5 Connecting an Absolute Encoder 4 -14
4.5.1 Typical Example 4 -14
4.5.2 1CN I/O Connector Terminals 4 -15
4.6 Output Circuits 4 -18
4.7 Connector Terminal Block Converter Unit for 1CN 4 -19
4.7.1 Application 4 -19
4.7.2 Connection Specifications 4 -20
4.7.3 Cable Specifications Accessory (for Connector Terminal Block Converter Unit) 4 -21
4.8 2CN Encoder Connector Terminals 4 -22
4.8.1 2CN Terminal Layout 4 -22
4.8.2 Applicable Cables 4 -23
4.8.3 2CN Connection Method 4 -24
4.9 4CN Connectors for MECHATROLINK Communications 4 -26
4.9.1 4CN Terminal Layout 4 -26
4.9.2 4CN Connection Method 4 -26

5.7 Application Precautions 5 -13
5.7.1 Noise Control 5 -13
5.7.2 Power Supply Line Protection 5 -16
TABLE OF CONTENTS
5Application
5.1 Turning Power ON/OFF 5 -3
5.2 Position Control 5 -4
5.2.1 Electronic Gear Function 5 -4
5.2.2 Feed-forward Control Function 5 -5
5.3 Setting Up a 12-bit Absolute Encoder 5 -6
5.3.1 Battery 5 -6
5.3.2 Absolute Encoder Setup Procedure 5 -6
5.4 Protection Functions 5 -8
5.4.1 Dynamic Brake Function 5 -8
5.4.2 Error Detection Function 5 -8
5.4.3 Servo Alarm Output (ALM, ALM-SG) 5 -9
5.4.4 Handling Protection Circuit Operation 5 -9
5.4.5 Servo Alarm Reset 5 -9
5.5 Indications 5 -9
5.6 Precautions 5 -10
5.6.1 Overhanging Load 5 -10
5.6.2 Load Inertia JL 5 -10
5.6.3 Regenerative Resistor Unit 5 -10
5.6.4 High Voltage Lines 5 -12
5.9 Adjustments 5 -19
5.9.1 Servo System Adjustments 5 -19
5.9.2 User Constants 5 -20
5.9.3 Functions that Improve Response 5 -23
5.9.4 Guidelines for Setting the Load Inertia Ratio 5 -24
6.1 Specifications and Configuration 6 -2
6.1.1 Specifications 6 -2
6.1.2 Control Structure 6-2
6.2 1SW Rotary Switch for MECHATROLINK Station
Address Settings 6 -3
6.3 MECHATROLINK Command List 6 -4
5.8 Appropriate Applications 5 -18
5.8.1 Holding Brake Interlock Signal 5 -18
6MECHATROLINK Communication

6.5 Power ON Sequence (Communications Sequence) 6 -15
6.4 Special Descriptions 6 -7
6.4.1 Option Field Specifications 6 -7
6.4.2 I/O Monitor Specifications 6 -8
6.4.3 Monitor 1/2 Type Field Specifications 6 -9
6.4.4 CONFIG Specifications 6 -10
6.4.5 ALM_RD Specifications 6 -10
6.4.6 ALM_CLR Specifications 6 -11
6.4.7 CONNECT Specifications 6 -11
6.4.8 INTERPOLATE Specifications 6 -12
6.4.9 LATCH (Interpolation Feed with Position Detection) Specifications 6 -12
6.4.10 POSING Command Specifications 6 -13
6.4.11 INTERPOLATE Command Specifications 6 -13
6.4.12 ID_RD (ID Read) Specifications 6 -13
6.4.13 Unsupported Commands 6 -14
7.1 Setting User Constants 7-2
7.1.1 Basic User Constants 7 -2
7.1.2 Gain-related Constants 7-2
7.1.3 Torque-related Constants 7 -3
7.1.4 Sequence-related Constants 7 -4
7.1.5 Motion-related Constants 7 -5
7.1.6 Other Constants 7 -8
7.1.7 Memory Switches 7 -9
7.3.1 Cn-0001: Memory Switches 1 7 -16
7.3.2 Cn-0002: Memory Switches 2 7 -18
7.3.3 Cn-0013: Memory Switches 3 7 -19
7.3.4 Cn-0014: Memory Switches 4 7 -20
8.1 Checking on Delivery 8 -2
8.2 Installation 8 -3
8.2.1 Installing the Servomotor 8 -3
8.2.2 Installing the SERVOPACK 8-4
6.6 List of Alarm and Warning Codes 6 -18
7User Constants
7.2 List of User Constants 7 -13
7.3 Memory Switch Bit Details 7 -16
7.4 Limits to User Constant Changes 7 -22
7.5 Procedure for Transferring User Constants 7 -23
8Installation and Wiring

TABLE OF CONTENTS
8.3 Wiring Specifications 8-7
8.3.1 Rated Current and Cable Specifications 8 -7
8.3.2 Wiring Instructions 8 -9
8.3.3 Power Loss 8 -11
9.1 AC Servomotors 9 -3
9.1.1 SGMG-DDADA Servomotors 9 -3
9.1.2 SGMG-DDADB Servomotors 9 -16
9.1.3 SGMS-DDA Servomotors 9 -26
9.1.4 SGMD-DDA Servomotors 9 -34
9.1.5 SGMP-15A Servomotor 9 -38
9.1.6 List of Encoder and Servomotor End Connectors 9 -46
9.2 SERVOPACKS 9 -53
9.2.1 SGDB-05AND to 15AND SERVOPACKS (0.5 to 1.5 kW) 9 -53
9.2.2 SGDB-20AND to 30AND SERVOPACKS (2.0 to 3.0 kW) 9 -54
9.2.3 SGDB-50AND SERVOPACKS (5.0 kW) 9 -55
9.2.4 SGDB-60AND to 75ANO SERVOPACKS (6.0 to 7.5 kW) 9 -56
9.2.5 SGDB-1AAN, 1EAN SERVOPACKS (11, 15 kW) 9 -57
9.2.6 SGDB-05AND-P to 15AND-P SERVOPACKS 9 -58
9.2.7 SGDB-20AND-P to 30AND-P SERVOPACKS 9 -59
9.2.8 SGDB-50AND-P SERVOPACK 9 -60
9.2.9 SGDB-60AND to 75AND-P SERVOPACKS 9 -61
9.2.10 SGDB-1AAN-P, 1 EAN-P SERVOPACKS 9 -62
9.3 Cables 9 -64
9.3.1 Encoder Cables 9 -64
9.3.2 Servomotor Cables 9 -73
9.3.3 I/O Signal Cables (1CN) 9 -74
9.3.4 MECHATROLINK Communication Cables (4CN) 9 -74
9.4 Connectors 9 -75
9.4.1 SGMG, SGMS and SGMD Servomotors Connections 9 -75
9.4.2 SGM and SGMP Servomotors Connections 9 -87
9.4.3 SGMP-15A Servomotor Connectors 9 -89
9.4.4 SERVOPACK Encoder Connectors 9 -90
9.4.5 1CN, 2CN Connector for SERVOPACK 9 -92
9.4.6 4CN Connector for SERVOPACK 9 -93
9.5 Noise Filters
9.5.1 Dimensional Diagram
9.6 Peripheral Devices
9 -94
9 -94
9 -96
9.6.1 Connector Terminal Block Converter Unit 9 -96
9.6.2 Brake Power Supply 9 -96
9.6.3 Molded-case Circuit Breaker 9 -98
9.6.4 Magnetic Contactor 9 -98
9.6.5 Surge Suppressor 9-100
9.6.6 Regenerative Resistor Unit 9-100
9.6.7 Analog Monitor Cable 9-101
9Servodrives Dimensional Drawings
xi

10 Trial Operation
10.1 Check Items before Trial Operation 10 -2
10.1.1 Servomotors 10 -2
10.1.2 SERVOPACKS 10 -2
10.2 Trial Operation Procedure 10 -3
10.2.1 Preparations for Trial 'Operation 10 -3
10.2.2 Operating the Servodrive 10 -4
10.2.3 Trial Operation Inspection 10 -4
11 Settings
11.1 Characteristics when Shipped 11 -2
11.2 Resetting 111 -2
11.3 Adjusting Servo Performance 11 -2
11.3.1 Setting User Constants 11 -2
11.3.2 Setting Optimum Position and Speed Loop Gain 11 -3
12 Maintenance and Inspection
12.1 Maintenance and Inspection of Servodrives 12 -2
12.1.1 Servomotor Inspection 12 -2
12.1.2 SERVOPACK Inspection 12 -3
12.1.3 Replacing the Battery for Absolute Encoders 12 -4
12.2 Troubleshooting 12 -5
12.2.1 Servomotors 12 -5
12.2.2 SERVOPACKS 12 -6

Preface
Manual Name Manual No. Contents
MECHATROLINK Systems
User's Manual
SIE-S800-26.1 Gives a detailed description of the MECHA-
TROLINK Network.
MECHATROLINK Servo
Command User's Manual
SIE-S800-26.2 Provides a detailed description of the ME-
CHATROLINK servo commands.
Preface
Based on Yaskawa servo manufacturing technology and servo application technology accumulated
over the last half a century, Yaskawa has launched the AC Servo Series that, together with its rich
line of products, meets the needs of the modern needs of FA and FMS in their application to machin-
ing tools and robots.
AC Servos not only provide stable, highly accurate, and high-speed response control even under ad-
verse environments, but also provide such features as easy application, flexibility, and easy main-
tain. The new Yaskawa AC Servos can be used in various servo fields, including machining tools
and robots.
Features
•The base-mounted SERVOPACKS are provided as a single unit compatible with either incremen-
tal encoders or absolute encoders.
•Positioning via the MECHATROLINK High-speed Field Network.
•Electronic gear function provided.
•For incremental encoders, there are now only 9 lines to wire between the encoder and the SERVO-
PACK (previously 15 lines).
•Wiring is reduced by a reduction in the number of I/O from 15 to 6.
•Distributed system design is now possible with a maximum cable length of 50 m (previously 3 m).
Related Manuals
Refer to the following manuals as required
Read this manual carefully to ensure the proper use of the SERVOPACKS. Also, keep this manual
in a safe place so that it can be referred to whenever necessary.

Safety Precautions
The following precautions are for checking products upon delivery, installation, wiring, operation,
maintenance and inspections.
■Checking Products on Delivery
LCAUTION
•Be sure to use the specified Servomotor and SERVOPACK combination.
Fire or damage may result if the wrong combination is used..
■Installation
LCAUTION
•Do not use the products in or near environments exposed to moisture, corrosive gases, flammable
gases., or other flammable materials.
Electric shock or fire may result.
■Wiring
LWARNING
•Be sure to ground the SERVOPACK ground terminal Q less than 100 Q.
Electric shock or fire may result if the SERVOPACK is not grounded properly.
LCAUTION
•Do not connect a three—phase power supply to the U, V, and W output terminals of the SERVO-
PACK.
Injury or fire may result.
•Make sure the power supply and Servomotor output terminals are securely tightened.
Fire may result if terminals are loose.
XV

Safety Precautions
■Operation
L. WARNING
•Do not touch rotating parts of the Servomotor during operation.
Injury may result.
•CAUTION
•In order to avoid accidents, do not connect the Servomotor shaft to the controlled equipment dur-
ing the trial operation.
Injury may result.
•Be sure to set the proper user constantsforthe controlled equipment priorto starting operation with
the Servomotor connected to the equipment.
Equipment overrun or damage may result without proper settings prior to the start of operation.
•Always set up an emergency stop prior to starting operation with the Servomotor connected to the
equipment.
Injury may result if an emergency stop is not readily available.
•Do not touch the heat sink area during operation.
Severe burns due to high temperatures may result.
■Maintenance and Inspection
L. WARNING
•Do not touch areas inside the SERVOPACK.
Electric shock may result.
•Make sure the panel cover is attached when power is ON.
Electric shock may result if the panel cover is left open.
•Turn OFF power and wait 5 minutes before touching terminals.
Electric shock from residual voltage may result if terminals are touched within 5 minutes of turning OFF
power.
•CAUTION
•Do not disassemble the Servomotor.
Electric shock or injury may result.
•Do not change wiring with the power turned ON.
Electric shock or injury may result.

■General Precautions
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. The edition number appears on the front and back covers.
•If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representa-
tive 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 prod-
uct. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modifi-
cation.
Warning Label
Z\ WARNING
Warning Label
Grounding Label
4CN
6 CN
LJ
SERVOPACK
SGDB-10AN
CHARGE
3 CN
POWERAM,,, ID 5CN
1SW
2CN
Warning Label and Grounding Label Sticker
Attachment Positions
AaltoT6tiA0
ittPatitIt715
iliTtli4ti I
May cause
electric shock.
Disconnect al power
and wait 5 min.
before servicing.
Grounding Label
1617-MIt
*NMI
Use proper
grouncing techniques.
xvi

1
1.1 Configuration 1 - 2
1.2 Model Numbers 1 - 2
1.2.1 Servomotor Model Numbers 1 - 2
1.2.2 SERVOPACK Model Numbers 1 - 4
Configuration and Models
This chapter describes the configuration and model numbers for Servo-
drives.
1-1

Configuration and Models
1.2.1 Servomotor Model Numbers
1.1 Configuration
Servodrives are configured using a SERVOPACK (Controller) and Servomotors.
•SGDB-DOAN SERVOPACK
•AC Servomotor
1.2 Model Numbers
1.2.1 Servomotor Model Numbers
■SGMP Servomotors
SGMP- 15 A 3 1 2
E-Series
SGMP: SGMP Servomotor
Servomotor Capacity
04: 400 W, 08: 750 W, 15:1.5 kW
Supply Voltage
A: 200 V
I— Options
B: With brake
D: With brake and shaft seal
P: Drip-proof
S: With shaft seal
Shaft Specifications
2: Straight without key
4: Straight with key
6: Straight with key and tap
Design Revision Order
Encoder Specification
3: 2048 P/R incremental encoder
W: 12-bit absolute encoder
(special order)
1-2

1.2 Model Numbers
■SGMG/SGMS/SGMD Servomotors
SGM
I-Series
SGMG: SGMG Servomotor
SGMS: SGMS Servomotor
SGMD: SGMD Servomotor
Servomotor Capacity
-03A2AA
03: 0.3 kW, 05: 0.45 kW, 06: 0.6 kW
09: 0.85 kW/0.9 kW, 10: 1.0 kW
12: 1.2 kW, 13:1.3 kW, 15:1.5 kW
20: 1.8 kW/2.0 kW, 22: 2.2 kW
30: 2.9 kW/3.0 kW, 32: 3.2 kW
40: 4.0 kW, 44: 4.4 kW, 50: 5.0 kW
55: 5.5 kW, 60: 6.0 kW, 75: 7.5 kW
1A: 11 kW, 1E: 15 kW
Supply Voltage
A: 200 V
Encoder Specification
2: 8192 P/R incremental encoder
6: 4096 P/R incremental encoder
W: 12-bit absolute encoder
S: 15-bit absolute encoder
Lead Specification
Blank: Standard connector
Options
Blank:Standard
1: Standard
(with a lead specification)
S: With shaft seal
B: With 90 VDC brake
C: -With 24 VDC brake
F: With shaft seal
and 90 VDC brake
G: With shaft seal
and 24 VDC brake
—Shaft Specification
Blank:Standard
[Straight without key]
A: Standard [Straight without key]
(with an optional/lead specification)
B: Straight with key, with axis end tap (1)
C: Taper 1/10, with parallel key
D: Taper1/10, with woodruff key
(G Series 05 and 09 only)
Rated Motor Speed
A: SGMG 1500 r/min
SGMS 3000 r/min
SGMD 2000 r/min
B: SGMG 1000 r/min
1-3