YASKAWA S Series User manual

Artisan Technology Group is your source for quality
new and certied-used/pre-owned equipment
• FAST SHIPPING AND
DELIVERY
• TENS OF THOUSANDS OF
IN-STOCK ITEMS
• EQUIPMENT DEMOS
• HUNDREDS OF
MANUFACTURERS
SUPPORTED
• LEASING/MONTHLY
RENTALS
• ITAR CERTIFIED
SECURE ASSET SOLUTIONS
SERVICE CENTER REPAIRS
Experienced engineers and technicians on staff
at our full-service, in-house repair center
WE BUY USED EQUIPMENT
Sell your excess, underutilized, and idle used equipment
We also offer credit for buy-backs and trade-ins
www.artisantg.com/WeBuyEquipment
REMOTE INSPECTION
Remotely inspect equipment before purchasing with
our interactive website at www.instraview.com
LOOKING FOR MORE INFORMATION?
Visit us on the web at www.artisantg.com for more
information on price quotations, drivers, technical
specications, manuals, and documentation
Contact us: (888) 88-SOURCE | [e-mail] | www.artisantg.com
SM
View
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