YASKAWA S-V Series Installation instructions

モーションコントロール事業部（A6）（和英併記）
MANUAL NO. TOBP C710800 10E
形式 SGDV-FA
SGDV-AA
SGDV-DA
Σ-V シリーズ AC サーボパック SGDV
Σ-V SERIES AC SERVOPACK SGDV
安全上のご注意
Type SGDV-FA
SGDV-AA
SGDV-DA
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.
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。

Copyright © 2007 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, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject 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.

E-1
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.
General Precautions
• 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 man-
ual is published as a next edition. The edition number appears on
the front and back covers.
• Yaskawa will not take responsibility for the results of unautho-
rized modifications of this product. Yaskawa shall not be liable for
any damages or troubles resulting from unauthorized modifica-
tion.
Indicates precautions that, if not heeded, could possi-
bly 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 series consequences if not heeded.
Indicates prohibited actions that must not be per-
formed. For example, this symbol would be used to in-
dicate 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: .
WARNING
CAUTION
PROHIBITED
MANDATORY

E-2
Notes for Safe Operation
WARNING
• Never touch any rotating motor parts while the motor is run-
ning.
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 or damage to
the product.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not remove the cover of power supply terminal 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 while the charge indicator is lit.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resis-
tance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for the trial operation
as noted in the applicable manual for that product.
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-Vseries absolute
detection system differs from that for conventional systems
(15-bit encoder and 12-bit encoder). Especially when “Infi-
nite length positioning system” of Σseries is to be config-
ured with Σ-Vseries, be sure to make the system
modification.

E-3
• 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 on the foreside while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not damage, press, exert excessive force or place heavy
objects on the cables.
Failure to observe this warning may result in electric shock, stop-
ping operation of the product, or fire.
• Do not modify the product.
Failure to observe this warning may result in injury, damage to the
product, or fire.
• 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 reset-
ting 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.
• Connect the ground terminal to electrical codes (ground
resistance: 100 Ωor less for a SERVOPACK with a 200 V/
100 V power supply. 10 Ωor less for a SERVOPACK with a
400 V power supply).
Improper grounding may result in electric shock or fire.
WARNING

E-4
• Installation, disassembly, or repair must be performed only
by authorized personnel.
Failure to observe this warning may result in electric shock or
injury.
• The person who designs a system using the safety function
(Hard Wire Baseblock function) must have full knowledge of
the related safety standards and full understanding of the
instructions in Σ-V series User’s Manual Design and Mainte-
nance.
Failure to observe this warning may result in injury or damage to
the product.
WARNING

E-5
Storage and Transportation
CAUTION
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the
storage/installation temperature conditions.
• Locations subject to humidity outside the range specified in the stor-
age/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.
Failure to observe this caution may result in fire, electric shock, or dam-
age to the product.
• Do not hold the product by the cables, motor shaft, or detector
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 pack-
ing box.
Failure to observe this caution may result in injury or malfunction.
• If disinfectants or insecticides must be used to treat packing
materials such as wooden frames, pallets, or plywood, the pack-
ing materials must be treated before the product is packaged,
and methods 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 prod-
ucts installed in machines, are packed with fumigated wooden materi-
als, the electrical components may be greatly damaged by the gases or
fumes resulting from the fumigation process. In particular, disinfectants
containing halogen, which includes chlorine, fluorine, bromine, or
iodine can contribute to the erosion of the capacitors.

E-6
Installation
CAUTION
• Never use the products in an environment subject to water, cor-
rosive 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 or malfunction.
• 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 deterio-
rate 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.

E-7
Wiring
CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or
malfunction.
• Do not connect a commercial power supply to the U, V, or W ser-
vomotor connection terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminal screws and servo-
motor connection terminal screws.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables and input/output sig-
nal lines or the encoder cables 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 input/output signal lines and the encoder
cables.
The maximum length is 3 m for input/output signal lines and 20 m for
encoder cables.
• Do not touch the power terminals for 5 minutes after turning
power OFF because high voltage may still remain in the SERVO-
PACK.
Make sure the charge indicator is out first before wiring or starting an
inspection.
• Observe the following precautions when wiring main circuit termi-
nal blocks.
• If the main circuit terminal is the connector, remove the connector
from the SERVOPACK prior to wiring.
• Insert only one wire per insertion slot on the terminal block and the
connector.
• Make sure that the core wire is not electrically shorted to adjacent core
wires.

E-8
• Install the battery at either the host controller and the battery unit
of the encoder.
It is dangerous to install batteries at both simultaneously, because that
sets up a loop circuit between the batteries.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire.
• Take appropriate measures to ensure that the input power supply
is supplied within the specified voltage fluctuation range. Be par-
ticularly 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-cir-
cuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each when
installing systems in the following locations.
• 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.
Failure to observe this caution may result in damage to the product.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, SERVOPACK,
and servomotor or cause it to explode.
• Wiring or inspection must be performed by a technical expert.
CAUTION

E-9
Operation
CAUTION
• Conduct trial operation on the servomotor alone with the motor
shaft disconnected from machine to avoid any unexpected acci-
dents.
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.
• Avoid frequently turning power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high
charging current flows 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.
• Forced stop function with forward/reverse overtravel is not effec-
tive during JOG mode operation using utility function Fn002 and
zero point search using Fn003.
• 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.
• When not using the tuning-less function, set to the correct
moment of inertia ratio Pn103.
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 tempera-
tures.
• Do not make any extreme adjustments or setting changes of
parameters.
Failure to observe this caution may result in injury or damage to the
product due to unstable operation.

E-10
Maintenance and Inspection
• 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 damage to the product, fire,
or injury.
• Do not use the holding brake of the servomotor for braking.
Failure to observe this caution may result in malfunction.
• Always use the servomotor and SERVOPACK in one of the spec-
ified combinations.
Failure to observe this caution so may result in fire or malfunction.
• The servomotor stopping method of turning the main-circuit or
control-circuit power OFF without turning the servo OFF during
operation can not be set in Parameter Pn001.
• When turning the main-circuit power OFF without turning the servo
OFF:
The servomotor will be stopped by dynamic braking (DB).
• When turning the control-circuit power OFF without turning the servo
OFF:
The stopping method will vary depending on the SERVOPACK
model.
Refer to the Σ-V Series User's Manual Design and Maintenance for
details.
CAUTION
• Do not disassemble the SERVOPACK.
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 SERVOPACK parameters to the new
SERVOPACK.
Failure to observe this caution may result in damage to the product.
CAUTION

E-11
Disposal
Warranty Information
Free Warranty Period
This product is warranted for twelve months after being delivered to Yaskawa’s
customer or if applicable eighteen months from the date of shipment from
Yaskawa’s factory whichever comes first.
Scope of Warranty
If a Yaskawa product is found to be defective due to Yaskawa workmanship or
materials and the defect occurs during the warranty period, Yaskawa will pro-
vide a replacement, repair the defective product, and provide shipping to and
from the site free of charge.
However, if the Yaskawa Authorized Service Center determines that the problem
with a Yaskawa product is not due to defects in Yaskawa’s workmanship or
materials, then the customer will be responsible for the cost of any necessary
repairs.
CAUTION
• When disposing of the products, treat them as ordinary industrial
waste.

E-12
1 Checking Products on Delivery
Check the following items when the Σ-V Series SERVOPACK is delivered.
If any of the above items are faulty or incorrect, contact your Yaskawa sales
representative or the dealer from whom you purchased the products.
1.1 Nameplate
SERVOPACK nameplate
Items Check Method
Is the delivered SERVOPACK the one
that was ordered?
Check the model numbers marked on the
nameplates of the SERVOPACK. Check the
accessories as well.
Is there any damage? Check the overall appearance, and check for
damage or scratches that may have occurred
during shipping.
Are there any loose screws? Check screws for looseness using a screw-
driver.
MODEL SGDV-1R6A01A
Use proper grounding techniques.
SERVOPACK type
Serial number
A
pplicable
power supply Rated output current

2 Installation
E-13
2 Installation
Observe the Installation instructions in Σ -V series User’s Manual Setup
Rotational Motor (SIEPS80000043) or Σ -V series User’s Manual Setup Lin-
ear Motor (SIEPS80000044).
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 cool-
ing method so that the surrounding air temperature
of the SERVOPACK does not exceed 55°C.
• When installing multiple SERVOPACKs side by
side in a control panel, install cooling fans and pro-
vide sufficient space around each SERVOPACK to
allow cooling by fan and natural convection. Pro-
vide a space of 5 mm or more between each of the
SGDV-R70A, R90A, 1R6A, or 2R8A SERVO-
PACKs and 10 mm or more for any other SERVO-
PACK s .
When installed near a heat-
ing unit
Suppress radiation heat from the heating unit and a
temperature rise caused by convection so that the sur-
rounding air temperature of the SERVOPACK does
not exceed 55°C.
When installed near a
source of vibration
Install a vibration isolator underneath the SERVO-
PACK to prevent it from receiving vibration.
When installed in a place re-
ceiving corrosive gases
Corrosive gases do not immediately affect the SER-
VOPACK but will eventually cause SERVOPACK or
contactor-related devices to malfunction. Take appro-
priate 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.
• Be sure there is no condensation or freezing.
• Keep the surrounding air temperature 45 °C or less
to ensure long-term reliability.

E-14
3 Wiring
3.1 Molded-case Circuit Breaker and Fuse
When choosing a molded-case circuit breaker and a fuse capacity, refer to
this table. The rated input current of the SERVOPACK is the nominal value
at the rated load.
Select the appropriate capacity in accordance with the specified derating.
Cutoff characteristics (25°C): 300% five seconds min.
SERVOPACK
Model SGDV-
Power Supply
Capacity per
SERVOPACK
(kVA)
Rated Input Current of
SERVOPACK
(Arms)Rated Voltage
Main circuit
power supply
Control circuit
power supply Fuse MCCB
R70F 0.2 1.5 0.38 250 V 240 V
R90F 0.3 2.5
2R1F 0.7 5
2R8F 1.4 10
R70A 0.2 1.0 0.2
R90A 0.3 1.0
1R6A 0.6 2.0
2R8A 1 3.0
3R8A 1.4 3.0
5R5A 1.6 6.0
7R6A 2.3 6.0
120A 3.2 7.5 0.25
180A 4 10
200A 5.9 15
330A 7.5 25 0.3
470A 10.7 29
550A 14.6 37
590A 21.7 54 0.45 600 V 480 V
780A 29.6 73
1R9D 1.1 1.4 1.2
3R5D 2.3 2.9
5R4D 3.5 4.3
8R4D 4.5 5.8 1.4
120D 7.1 8.6
170D 11.7 14.5
210D 12.4 17.4 1.5
260D 14.4 21.7
280D 21.9 31.8 1.7
370D 30.6 43.4

3 Wiring
E-15
3.2 Main Circuit Wiring
Do not use SGDV SERVOPACKs in a power-supply environment where a
short-circuit current of 5000 A or more flows after a short circuit occurs.
The maximum available voltage is
• With 100V class: 115 Vrms
• With 200V class: 230 Vrms
• With 400V class: 480 Vrms (neutral grounding)
SERVOPACKs must be used with UL-listed fuses or circuit breakers, in
accordance with the guidelines of the National Electrical Code (NEC).
Use 75 °C heat-resistant copper wires or an equivalent.
Use a flexible cable for moving parts when the SERVOPACK is used with a
linear servomotor.
3.3 Wire Size and Tightening Torque
Cable Types
• Wire sizes are selected for three cables per bundle at 40°C surrounding air
temperature with the rated current.
• Use cable with a minimum withstand voltage of 600 V for main circuits.
• If cables are bundled in PVC or metal ducts, consider the reduction ratio
of the allowable current.
• Use heat-resistant cables under high surrounding air or panel tempera-
tures where normal vinyl cables will rapidly deteriorate.
• Use cables within the allowable moment of inertia.
• Do not use cables under continuous regenerative state.
The following table shows the wire size and allowable current for three
cables. Use a cable whose specifications meet or are less than the values in
the table.

E-16
600-V Heat-resistant Vinyl Cables (HIV)
Note: The values in the table are only for reference.
Wire Size
The following table shows the markings for the power-supply terminals,
the wire sizes, the screw sizes and torque for the ground terminals of the
SERVOPACK.
L1, L2, L3: Main circuit power-supply input terminals
U, V, W: Servomotor connection terminals
L1C, L2C / 24 V, 0 V: Control power input terminals
B1, B2: External regenerative resistor terminals
: Ground terminal
AWG Size
Nominal
Cross
Section
Diameter
mm2
Configuration
Number of
wires/mm2
Conductive
Resistance
Ω/km
Allowable Current
at Surrounding Air
Temperature A
30°C40°C50°C
20 0.5 19/0.18 39.5 6.6 5.6 4.5
- 0.75 30/0.18 26.0 8.8 7.0 5.5
18 0.9 37/0.18 24.4 9.0 7.7 6.0
16 1.25 50/0.18 15.6 12.0 11.0 8.5
14 2.0 7/0.6 9.53 23 20 16
12 3.5 7/0.8 5.41 33 29 24
10 5.5 7/1.0 3.47 43 38 31
8 8.0 7/1.2 2.41 55 49 40
6 14.0 7/1.6 1.35 79 70 57
4 22.0 7/2.0 0.85 91 81 66

3 Wiring
E-17
Wire Size and Tightening Torque for Connectors
SERVOPACK
Model SGDV-
Terminal Symbol and Wire Size(mm
2
)Ground Terminal
L1, L2, L3
/L1, L2 U, V, W L1C, L2C /24V, 0V B1/+, B2
Te r m i n a l
Screw
Size
Tightening
Torque
(N x m)
R70F HIV
1.25
HIV
1.25
HIV
1.25
HIV
1.25
HIV2.0
or more
M4 1.2 to 1.4
R90F
2R1F HIV
2.0
2R8F
R70A HIV
1.25
HIV
1.25
HIV
1.25
HIV
1.25
HIV2.0
or more
M4 1.2 to 1.4
R90A
1R6A
2R8A HIV
2.0
3R8A HIV
2.0
5R5A
7R6A
120A
1R9D HIV
1.25
HIV
1.25
HIV
1.25
HIV
1.25
HIV2.0
or more
M4 1.2 to 1.4
3R5D
5R4D

E-18
Wire Size and Tightening Torque for Terminal Screws
* 1. The tightening torque is 1.8 Nxm for the following terminal on the SGDV-330A
SERVOPACK.
・Servomotor connection terminals (U, V, W)
* 2. The tightening torque is 2.5 to 3.8 Nxm for the following terminal on the
SGDV-470A, -550A, -590A, and -780A SERVOPACKs.
・Ground terminal ( )
* 3. The tightening torque is 1.4 Nxm for all terminals other than the ground terminal
( ) on the SGDV-8R4D and -120D SERVOPACKs.
* 4. The screw size is M5 and the tightening torque is 2.4 Nxm for the following ter-
minals on the SGDV-170D SERVOPACK.
・Main circuit power-supply input terminals (L1, L2, L3)
・Servomotor connection terminals (U, V, W)
The screw size is M4 and the tightening torque is 1.8 Nxm for the following ter-
minals on the SGDV-170D SERVOPACK.
・Control power input terminals (24 V, 0 V)
SERVOPACK
Model SGDV-
Terminal Symbol and Wire Size(mm
2
)Te r m i n a l
Screw
Size
Tightening
Torque
(N x m)
L1, L2, L3 U, V, W L1C, L2C
/24V, 0V B1/+, B2
180A HIV
3.5
HIV
3.5
HIV
1.25
HIV
2.0
HIV2.0
or more
M4 1.2 to 1.4*
1
200A HIV
5.5
HIV
3.5
330A HIV
5.5
HIV
8.0
HIV
5.5
470A HIV
8.0
HIV
14.0
HIV
8.0
M6 4.5 to 5.5*
2
550A HIV
14.0
590A HIV
22.0
HIV
22.0
HIV
22.0
780A
8R4D HIV
2.0
HIV
2.0
HIV
1.25
HIV
1.25
HIV2.0
or more M4*
3
1.2 to 1.4*
3
120D
170D HIV
3.5
HIV
3.5
HIV
2.0 M5*
4
1.6 to 2.4*
4
210D HIV
3.5
HIV
5.5
HIV
3.5 M6*
5
4.5 to 5.5*
5
260D HIV
5.5
280D HIV
8.0
HIV
8.0
HIV
5.5
370D HIV
14.0
HIV
14.0
HIV
8.0