YASKAWA SGM series User manual

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-~
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C Series SGMISGMPISGD
USER'SMANUAL
AC Servodrives
SGMISGMP Servomotors
SGD-OH Servopack
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Preface
Preface
Based on Yaskawa servo manufacturingtechnology and servo application technology accumulated
overthe last half acentury,Yaskawahas launchedthe
AC ServoSeriesthat, together with itsrich line
of products, meets the needs of the modern needs of
FA and FMS in their application to machining
tools and robots.
AC servosnot only providestable,highly accurate, and high-speed response control even unde; ad-
verseenvironments,but alsoprovidesuch featuresas easy application,flexibility,and easy maintain.
he new Yasakawa AC Servoscan be used in varioussei-vofields,includ~ng machining tools and ro-
bots.
Features -
The highest available power rates and response in this class of servo.
Compared with conventional products, these setvomotors are approximately 113 both in volume
and weight and Servopacksare approximately 114 in volume.
The book-shape Servopackscan be used with eitherincrementalencodersor absolute encoders.
Positioning by the serialcommun~cations
Electronic gear function provided.
For incrementalencoders, there are now only 9 lines to wlre between the motor and encoder(pre-
viously:
15 lines).
I
Improvedenvironmental resistance by us-ingvarnish coating.
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General Precautions
The diagrams in this manual may be indicated wrthout coversor safety shieldsto show de-
- tails.Be suretorestorecoversorshieldsbefore operating the Unitsand run the Unitsaccord-
ing to the instructions descnbed in this manual.
Any rllustrations,photographs, or examples used in this manual are provided as examples
I- -
only and may not apply to all products to which this manual is applicable.
0- Theproducts and specificationsdescrrbed in this manual or the content and presentation of
themanualmay be changedwithoutnoticeto improvetheproductand/orthemanual.
A new
version of themanual will be releasedunder arevisedmanual number when anychangesare
made.
-Whenorderinganew copyof the manual dueto damageorloss,contactyourYaskawadealer
-
orthe nearestYaskawa salesofficeand providethemanual number shownon the frontcover.
Yaskawa assumes no responsibilities forproducts that are modified by users. -
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Safety Notlces
Safety Notices
Thefollowingconventions areusedtoindicate precautionsin thisinanual.Failuretoheed precautions
provided in this manual can result in serious or possibly even fatal injury or damage to the products
-orto related equipment andsystems.
WARNING
Caution
lndicates precautionsthat, if not heeded,are likely to result in loss of life or serious injury.
lndicates precautions that, if not heeded, could result in relatively serious or minor injury,
damageto the product,or fahyoperation.
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TABLE- OF CONTENTS
Preface .................................................. -.
.....
Features .;. ...................... , .............. , ................
.................................
GeneralPrecautions ........... :
Safety Notices .-. :
- ..................... ..........................
iii
iii
iv
v
xi
~afeGprecautions ......................... .- ......................
Configurationand Model Numbers
1 .I Configuration .. .-; ... i ......................................
- -I - - ,
- ,- __?_ _ -
1.2 . ~odel umbers ............................................
............................................
1.2.1 ServomotorModelNumbers
1.2.2 Servopack ModelNumbers
.............................................
Ratings-and'specifications __ . -
2.1 Ratings/Specificationsfor 200-VAC SGM-Servomotors ........
2.1.1 RatingsandSpecificat~ons .............................................
2.2 RatingslSpecifications for 100-VAC SGM Servomotors ........
2.2.1 RatingsandSpecifications ...............................................
2.3 Ratings/Specificationsfor 200-VAC SGMP Servomotors ......
2 - 8
.............................................
- 2.3.1 Ratingsand Specifications 2 - 8
2.4 ~atin~sl~~ecificationsfor 100-VACSGMP Servomotors ...... 2 - 11
.............................................
. 2.4.1 Ratingsand Specificat~ons 2 - 11
.......................
2<5 servopack ~atin~sandspecifications 2 --I4
-.-.
................ ............
2.6 StandardServodrives ,. ....... ; 2 - 16
- -3 Served-rive Characteristics
3.1 Overloadcharacteristics .................................... 3 - 2 ..
- -
- -
................................. -
3.2 StartingandStoppingTime 3 3
.. -
......................
.............. -
3;3 Allowable Repeatability ; 3 4
......................
. 3.3.1 Allowable Repeatabilityas L~mltedbythe Servomotor
3 - 4
3.4 Large-amplitudeFrequencycharacteristics ................... 3 - 6
-
.................................
-- 3.5 MechanicalCharacteristics 3 - 7
- -
..................................................
3.5.1 MechanicalStrength
3 - 7
3-.5.2 Allowable RadialLoads and ~llowableThrust Loads .......................
3 - 7 - -
......................................
.........
3.5.3 MechanicalTolerances ; 3 - 8 ..
- 3.5.4 Directionof Motor Rotation ............................................. 3 8
.
- - 3.5.5 ImpactRes~stance ..................................................... 3 - 9
-- - - -
.........................................
........ - - 3.5.6 Vibration Resistance ; 3 10
3.5.7 VibrationClass ....................................................... 3 - 10
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TABLE OFCONTENTS
4 Configuration and Connections
4.1 Internal ConnectionDiagram ....... : ........................
4.2 Main Circuit Terminals ................. ; ....................
4.3 Applicable Receptacles ......................................
.......................................... 4.3.1 1CN Connectorfor 110 Signals
.............................................
4.3.2 2CN Connectorfor Encoder
............................... 4.3.3 ~CN connectorfor serial ~ommunications
I
......................... 4.4 Connectingan IncrementalEncoder
4.4.1 TypicalExample .......................................................
....... ........................... .......
4.4.2. 1 CN I/OConnectorTerminals a: ;
.45 connecting an ~bsolute~ncoder: ...........................
.................................. ...................
4.5.1 -TypicalExample :
4.5.2 1CN I/OConnectorTermmals ...........................................
..
. .
I .
............................................ 4.6 Output Circuits
4.7 Connector Terminal Block Converter Unitfor
1CN ............
4.7.1 Application ...........................................................
4.7.2 ConnectionSpecifications ........... f ......... : ........................
4 . 16
4.7.3 CableSpec~fications(Accessoryfor Connector TerminalBlockConverter Un~t)-
> .
4.8 2CN Encoder Connector ~erminals .... ; ... ; .................
4.8.1 2CNTerminal Layout .......... ............ .- .. ....... ; ....................
..................................................... 4.8.2 ApplicableCables
4.8.3 2CN ConnectionMethod
.......... ; ....................................
4.9 ~CN Serial Communicationsconnectors .......................
4.9.1 3CNTerminalLayout ........................
...........................
4.9.2 3CN ConnectionMethodand ExternalSignal-Processmg ...................
.....................................
4.9.3 3CN I/OSignalsandTheir Applicat~on
.. 1
5 Application
...................
..................
5.1 ~urningPower ONIOFF ,
7. .
5.2 Positioncontrol ...........................................
...............................................
5.2.1 ElectronicGear Function
.................................................
5.2.2 Feed-forwardFunction
53 Setting Up a 12-bit Absolute Encoder ........................
...............................................................
5.3.1 Battery
5.3.2 Setup Procedure
. ......................................................
........................................
5k Protection Functions
...............................................
DynamicBrakeFunction
Error DetectionFunction
................................................
ALM. ALM-SG: Servo Alarm Output ......................................
HandlingProtectionCircuitOperation .....................................
....................................................
ServoAlarm Reset
...........................................................
Indications
. -
. .
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. .
.................................................
5.5 Precautions '.
...................................................
5.5.1 OverhangingLoads
.......................................................
5.5.2 LoadInertiaJL
......................................................
5.5.3 RegenerativeUnit
........................................................
5.5.4 NoiseControl
.........................................
5.5.5 HighVoltage Lines ........... ;
.................................
........ 5.5,6 PowerSupply Line Protection
,
. .
....................................
5.6 Appropriate Applications
..........................................
5.6.1 HoldingBrakeInterlockSignal
...............................................
5.7 Adjustments
. .
...........................
.................
5.7.1 Servo System Adjustments i
.............................. ........................
5.7.2 User Constants
s . ;
.................................
5.7.3 unctions that improve~esponse ..... :
.............
5.7.4 Guidelinesfor GainSettingsAccording to-theLoadInertiaRatio
4. .
6 . Serial Communications
....................................
.6.1 Specifications , ..........
...............................
6.2 Control Structure .... .......
...........
-6.3 Sending Commandsfrom controller to-~ervopa'ck
............................................. .
- 6.3.1 ConfirmationReturnSignal ,
. .
.......................................
.......... 6.3.2 TypicalSend Examples -.
. .
. .
...........................................
. 6.4 Serial Commands
................... ...........
6.4.1 Listof SerialCommiands ....... .-. ; .. .......
...................................................
6.4.2 Command Functions
User Constants .
.....................................
7.1 Setting User Constants
................................................
7.1.1 Gain-relatedConstants
.........................
7.1.2 PositioningUnit RelatedConstants .'. ............
..............................................
7.1.3 Torque RelatedConstants
............................................
., 7.1.4 Sequence RelatedConstants
-0
......................................................
7.1.5 OtherConstants
................................ .....................
7.1.6 MemorySwitches ;
...
....................
7.2 User Constants- ..... -., ; ................
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TABLE OFCONTENTS
8 Using the DigitalOperator
............................
...............
8.1 SwitchOperation ; 8 = 2
..................
8.2 Basic Functionand Mode Selction ... '. ... ; 8 = 3
.......................................
8.3 Status Display Mode 8
= 5
........................
8.4 Setting Mode ... ...... ... ......... 8 . 6
.......................................................
8.4.1 UserConstants 8 . 6
.....................................
8.4.2 Operation Usingthe DigitalOperator 8 . 11
.........................................
8.4.3 ClearingAlarm Traceback Data
8 . 12
.......................................
8.4.4 CheckingServomotorParameters
8 . 13
.........................................
8.4.5 Checkingthe SoftwareVersion 8 . 15
..............................................
8.5 Monitor Mode 8
1 17
.......................................................
8.5.1 Monitor Dsplay 8 . 17
...............................
8.5.2 InternalStatus Bit DisplayinMonitor Mode
8 . 18
.................... .............
8.6 Alarm Traceback Mode .... 8 . 19
9 1-nstallationandWiring
.......................................
9.1 Checkingon Delivery 9 . 2
................................................
9.2 Installation 9 . 2
...............................................
9.2.1 Installingthe Servomotor
9 . 2
...............................................
9.2.2 Installingthe Servopack
9 . 4
..........................................................
9.2.3 Power Loss
9 . 5
......................................................
9.3 Wiring 9 . 6
....................................................
9.3.1 Wiring lnstruct~ons
9 . 6
...............................
9.3.2 CableSpec~ficat~ons ; ................... 9 . 7
.........................................................
. 9.3.3 CableTypes 9 . 8
10 >Series Dimensional Drawings
......................... .
10.1 Servomotor Dimensional Drawings 10 2
...................................................
10.1 . 1 SGM Servomotors 10 . 2
10.1.2 SGMPServomotors .................................................. 10-18
..........................
10.2 Servopack DimensionalDrawings 10
. 35
.............................
10.2.1 SGD-A3AHto 02AH. SGD-A3BHto 01 BH 10 . 35
.............................................
10.2.2 SGD.04AHl SGD-02BH 10 . 36
.............................................
10.2.3 SGD.08AHl SGD-03BH 10 . 37
.....................
10.3 Digital Operator DimensionalDrawings 10
. 38
10.4 Specificationsand DimensionalDrawingsof Peripheral
Devices
.................... .......m.m....m..m........... 10-39
....................................................
10.4.1 RegenerativeUnit
10 . 39
.................................................
10.4.2 CableSpecifications
10 . 39
......................................................
10.4.3 ConnectorKits
10 . 46
........................................................
10.4.4 Noise Filters
10 . 49
...............................
10.4.5 ConnectorTerminal BlockConverterUnit
10 . 49
.................................................
10.4.6 Brake Power Supply
10 . 50
...............................................
10.4.7 Analog Mon~torCables
10 . 51
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11 Trial Operation - -
-
--
< -
1i.l check Hems before rial operation'. .-i. :; .. ;. ........ i. .....
r. ..................
11.l.1 Servomotor ......................................... .-
, -
11.1.2 Servopack ..........................................................
. ......
11.2 Trial Operation Procedure
.; .................... ....
- -
......... 11.2.1 Preparationfor Trial Operat~on .. ; : ............................
........
...... ...............
...........................
11.2.2 Operation .-. ; :
- -
I,
11.2.3 Inspectionduring Trial-Operation ........................................
%* - :
. --
12 Settings
- -
12.1 Characteristicsat the.Factory ..... ; ... ; ....... .L-. ..........
.- -
.. .... ..................
12.2 Reset ........................... .-; ; ;
I"
-,
I-.. - I
12.3 Adjusting Servo'Performance ...... ; .......................
12.3.1 Settmg User Constants ...................... .' ..........................
12.3.2 SettingOptimum ~os~tion'andSpeed Loop Gam ........ : ................
13 Maintenanceand lnspection ,
- -*
- -
- -
- .. ..
13.1 ServodriveMaintenanceand lnspection -A -. ; ............
...
............... .......................................
--
-1 3.1.1 Servomotor , :
-, -
.................
. 13.1.2Servopack ....................................... ; ;.
. -
. -
13.1.3 ~Glacin~Battery for Absolute.Encoder ..................... -. ............
..-.. ......................................................
13.2.1 Servomotor ;
13.2.2 Servopack ...........................................
. ,
,r-
- -
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Safety Precautions
Safety Precautions
CheckingProductsupon Delivery
Caution
Always us; the Servomotorand Servopackin one of the spec~fiedcombmahons.
Not doing so may causefire or malfunction.
Installation
A Caution
Doing so may result in electricshock or fire.
-
Wiring
Never use the products in an environment subject to water, corrosive gases, mflammable
gases, or combustibles.
- -
Connect the ground terminal to a class-3ground (100 R or less).
Improper grounding may result in electnc shock or ire.
Caution
. -
Do not connect a three-phase power supply to the U, V, or W output terminals.
- I
Domg so may result in Injury or fire.
I Securely fasten the power supply terminal screws and motor output terminal screws.
I
Not doing so may result in fire.
Operation
WARNING
Never touch any rotating motor parts wh~lethe motor is runnmg.
Doing so may result In injury.
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/i\ Caution
8 Conduct tr~aloperat~onon the Servomotoralone w~ththe motor shaft d~sconnectedfrom ma-
chme to avoid any unexpected acc~dents.
- -
Not doing so may result In ~njury.
Before startmg operatlon with a machme connected, change the settrngs to match the user's
constantsof the machine.
Startingoperation without matchmg the proper settmgs may cause the machme to run out of
control or malfunct~on.
-
8 Before startmgoperatlon with amachmeconnected,make surethat an emergency stopcan be
apphed at any t~me.
Not doing so may result in Injury.
Do not touch the heat smks dur~ngoperatlon.
Dorng so may result inburns due to h~ghtemperatures.
I Maintenanceand Inspection
WARNING
Never touch the m~deof the Servopacks.
-
Domg so may result In electr~cshock.
Do not remove the panel cover whde the power IS ON
Doing so may result In electr~cshock.
Do not touch termmals for five mlnutes after the power IS turned OFF.
Residual voltage may cause electnc shock.
Caution
Do not d~sassemblethe Servomotor.
-
Domg so may result in electncshock or Injury. - -
'8 bonot attempt to changewmng while the power IS ON.
Domg so may result in electf~cshock or Injury.
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Safety Precautions
Warning Label
Grounding Label
Warning Label
GroundingLabel
Warning Label and Grounding Label
Sticker Attachment Positions
(Servopack)
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- Configurationand-Model Numbers
1.1 Configuration ............. , .................................. 1-2
1.2 ModelNumbers
............ . ...................... - ....; ..... 1-3
1.2.1 Servomotor Model Numbers .. . . . , . . ....... . .. .. . . . .. . . . .. . . . .. .... . . . . . 1 - 3
1.2.2 Servopack Model Numbers .. . .. ... .... . . .. . . . . . . . .. . .... . . .... . . . . . . . .. 1 - 3
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Configurationand Model Numbers
1 .I Configuration
Servopack DigitalOperator
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1 2 Model Numbers
1.2 Model Numbers
1.2.1 Servomotor Model Numbers
SGM - 01 A
&Series Servomotor I
SGM: SGM Servomotor
SGMP: SGMP Servomotor
(cubetype)
RatedOutput(Motor Capacity) -
SGMType Only
A3: 30 W A5: 50 W
SGM andSGMPTypes
01
: 100W02: 200 W03: 300 W
04: 400 W08: 750
W
Supply Voltage
L Options
8: With brake
D: Withbrakeandshaftseal
P: Drip-proof
S: With shaft seal
Shaft Specifications
2: Straightwithout key
4: Straightwith key
Design RevisionOrder
Encoder Specifications
Standard
3: 2048 PIR incrementalencoder
W: 12-bitabsoluteencoder
Not Standard
5: 2000 PIR incrementalencoder
S: 15-bitabsolute encoder
1.2.2 Servopack Model Numbers
SGD-01 AH-P
=-T
1
~
&Series SGD Servopack
RatedOutput (Motor Capacity)
A3: 30W A5: 50W 01: 100W
02: 200 W 03: 300W 04: 400 W
08: 750W
Supply Voltage
'T L Applicable Motor
Blank: SGM Servomotor
P
: SGMP Servomotor
Model
H: Positioncontrollserialcommunications
P: Positioncontrol
S: Speedltorquecontrol
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Ratingsand Specifications
Thlschapterprovides~e;vomotorratings.specifications.andtorque-speed
characteristics.as well as Servopack ratings and specifications
.
. 2.1 RatingslSpecificationsfor 200-VAC SGM Servomotors ........ 2 2
.
2.1.1 Ratings andSpecifcations ............................................. 2 2
.
........
2.2 RatingslSpecificationsfor 100-VAC SGM Servomotors 2 5
.
2.2.1 Ratingsand Specif~cations .............................................. 2 5
.
2.3 RatingsISpecificationsfor 200-VAC SGMP Servomotors ...... 2 8
.
2.3.1 RatingsandSpecifications .............................................. 2 8
.
2.4 RatingsISpecificationsfor 100-VAC SGMP Servomotors ...... 2 11
.
2.4.1 RatingsandSpecifications ............................................. 2 11
. 2.5 Servopack Ratingsand Specifications ....................... 2 14
.. ........ .
2.6 Standard Servodrives ................... ... ..; 2 16
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