YASKAWA Sigma Mini SGMM Series User manual

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YASKAWA
YA S K AWA
MANUAL NO. SIE-S800-27C
AC Servomotors and Driver
SGMM Servomotor
SGDF Servopack
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— iii —
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-
vided in this manual may result in serious or possibly even fatal injury or damage to the products or to re-
lated equipment and systems.
WARNING
Indicates precautions that, if not heeded, could result in loss of life or serious injury.
CAUTION
Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the
product, or faulty operations.
In some instances, items described in CAUTION may also result in a serious accident.
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.
TERMS
—iv—
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates references for additional information.
Indicates definitions of difficult terms that have not been previously explained in
this manual.
Indicates information that is applicable only to Servopacks for speed/torque con-
trol (Model SGDF-jjCS).
If neither this icon nor the following icon appears, the description is applicable to
both types of Servopack.
Indicates information that is applicable only to Servopacks for position control
(Model SGDF-jjCP).
If neither this icon nor the previous icon appears, the description is applicable to
both types of Servopack.
Indicates information explaining the operating procedure using Hand-held Digital
Operator (Model JUSP-OP02A-3).
Speed/Torque
Positions
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CONTENTS
—v—
Safety Precautions xi...................................................
CHAPTER 1 BASIC OPERATION 1-1..................................
1.1 Precautions 1-2.............................................................
1.2 Installation 1-4.............................................................
1.2.1 Checking on Delivery 1-4..............................................
1.2.2 Installing the Servomotor 1-6...........................................
1.2.3 Installing the Servopack 1-9............................................
1.2.4 Power Loss 1-11......................................................
1.3 Connection and Wiring 1-12....................................................
1.3.1 Connecting to Peripheral Devices 1-12....................................
1.3.2 Main Circuit Wiring and Power ON Sequence 1-14..........................
1.3.3 Examples of Connecting Host Controllers 1-16..............................
1.4 Conducting a Test Run 1-23....................................................
1.4.1 Test Run in Two Steps 1-23.............................................
1.4.2 Step 1: Test Run for Servomotor without Load 1-24..........................
1.4.3 Step 2: Test Run with the Servomotor Connected to the Machine 1-28............
1.4.4 Supplementary Information on Test Run 1-29...............................
1.4.5 Minimum Parameters and Input Signals 1-30...............................
CHAPTER 2 APPLICATIONS 2-1......................................
2.1 Setting Parameters According to Machine Characteristics 2-4.........................
2.1.1 Changing Motor Rotation Direction 2-4...................................
2.1.2 Torque Limit 2-5.....................................................
2.2 Setting Parameters According to Host Controller 2-9...............................
2.2.1 Speed References 2-9.................................................
2.2.2 Position References 2-13...............................................
2.2.3 Encoder Output 2-17..................................................
2.2.4 Contact I/O 2-21......................................................
2.2.5 Electronic Gear 2-24...................................................
2.2.6 Contact Input Speed Control 2-28........................................
2.2.7 Torque Control 2-32...................................................
2.2.8 Reference Pulse Inhibit Function (INHIBIT) 2-36............................
2.2.9 Reference Pulse Input Filter Selection Function 2-37.........................
2.3 Setting Up the Σ-Series Servopack 2-38...........................................
2.3.1 Parameters 2-38......................................................
2.3.2 Jog Speed 2-39.......................................................
2.4 Setting Stop Mode 2-40.......................................................
2.4.1 Offset Adjustment 2-40................................................
2.4.2 Zero-clamp 2-41......................................................
2.4.3 Holding Brake 2-43...................................................
2.5 Running the Motor Smoothly 2-46...............................................
2.5.1 Soft Start Function 2-46................................................
2.5.2 Smoothing 2-47......................................................
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CONTENTS
—vi—
2.5.3 Gain Adjustment 2-47.................................................
2.5.4 Offset Adjustment 2-48................................................
2.5.5 Torque Reference Filter Time Constant 2-48................................
2.6 Minimizing Positioning Time 2-49...............................................
2.6.1 Autotuning 2-49......................................................
2.6.2 Servo Gain 2-49......................................................
2.6.3 Feed-forward Control 2-51..............................................
2.6.4 Proportional Control 2-51...............................................
2.6.5 Setting Speed Bias 2-52................................................
2.6.6 Mode Switch 2-53....................................................
2.6.7 Speed Loop Compensation 2-58..........................................
2.7 Designing a Protective Sequence 2-60............................................
2.7.1 Servo Alarm Output 2-60...............................................
2.7.2 Servo ON Input Signal 2-62.............................................
2.7.3 Positioning Complete Output 2-63........................................
2.7.4 Speed Coincidence Output 2-64..........................................
2.7.5 Running Output Signal 2-65.............................................
2.8 Special Wiring 2-67..........................................................
2.8.1 Wiring Precautions 2-67................................................
2.8.2 Wiring for Noise Control 2-69...........................................
2.8.3 Using More Than One Servo Drive 2-73...................................
2.8.4 Connector Terminal Layouts 2-74........................................
CHAPTER 3 USING THE DIGITAL OPERATOR 3-1.....................
3.1 Basic Operations 3-2.........................................................
3.1.1 Connecting the Digital Operator 3-2.....................................
3.1.2 Resetting Servo Alarms 3-3............................................
3.1.3 Basic Functins and Mode Selection 3-4...................................
3.1.4 Operation in Status Display Mode 3-5....................................
3.1.5 Operation in Parameter Setting Mode 3-7.................................
3.1.6 Operation in Monitor Mode 3-9.........................................
3.2 Applications 3-13............................................................
3.2.1 Operation in Alarm Traceback Mode 3-13..................................
3.2.2 Operation Using the Digital Operator 3-15.................................
3.2.3 Autotuning 3-16......................................................
3.2.4 Reference Offset Automatic Adjustment 3-21...............................
3.2.5 Reference Offset Manual Adjustment 3-22.................................
3.2.6 Clearing Alarm Traceback Data 3-25......................................
3.2.7 Checking Motor Type 3-26..............................................
3.2.8 Checking Software Version 3-26.........................................
CHAPTER 4 SERVO SELECTION AND DATA SHEETS 4-1...............
4.1 Selecting a Servo Drive 4-3...................................................
4.1.1 Selecting a Servomotor 4-3............................................
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CONTENTS
— vii —
4.1.2 Selecting a Servopack 4-9.............................................
4.2 Servomotor Ratings and Characteristics 4-11.......................................
4.2.1 Ratings and Specifications 4-11..........................................
4.2.2 Mechanical Characteristics 4-16..........................................
4.3 Servopack Ratings and Characteristics 4-18........................................
4.3.1 Ratings and Specifications 4-18..........................................
4.3.2 Overload Characteristics 4-25...........................................
4.3.3 Starting Time and Stopping Time 4-26.....................................
4.3.4 Overhanging Loads 4-26...............................................
4.3.5 In-rush Current and Power Loss 4-27......................................
4.4 Servo Drive Dimensional Drawings 4-28..........................................
4.4.1 Servomotor Dimensional Drawings 4-28...................................
4.4.2 Servomotor Dimensional Drawings: European Safety Standards 4-37............
4.4.3 Servopack Dimensional Drawings 4-45....................................
4.4.4 Digital Operator Dimensional Drawings 4-46...............................
4.5 Selecting Peripheral Devices 4-47...............................................
4.5.1 Selecting Peripheral Devices 4-47........................................
4.6 Specifications and Dimensional Drawings of Peripheral Devices 4-50...................
4.6.1 Cable Specifications and Peripheral Devices 4-50............................
4.6.2 Motor Cables 4-51....................................................
4.6.3 Encoder Cables 4-54...................................................
4.6.4 Connector Kits 4-56...................................................
4.6.5 Cable with CN1 Connector at One End Only 4-61...........................
4.6.6 Circuit Breaker 4-61...................................................
4.6.7 Noise Filter 4-62......................................................
4.6.8 Magnetic Contactor 4-62...............................................
4.6.9 Surge Suppressor 4-64.................................................
4.6.10 Variable Resistor for Speed Setting 4-64...................................
4.6.11 Encoder Signal Converter Unit 4-65......................................
4.6.12 Cables for Connecting PC and Servopack 4-67..............................
CHAPTER 5 INSPECTION AND MAINTENANCE 5-1....................
5.1 Servo Drive Inspection and Maintenance 5-2......................................
5.1.1 Servomotors 5-2.....................................................
5.1.2 Servopack 5-3.......................................................
5.2 Error Diagnosis and Troubleshooting 5-4.........................................
5.2.1 Troubleshooting Problems with Alarm Display 5-4..........................
5.2.2 Troubleshooting Problems With No Alarm Display 5-13......................
5.2.3 Servopack Connection Diagrams 5-15.....................................
CHAPTER 6 EMC DIRECTIVE MEASURES 6-1.........................
6.1 Servo Drive Inspection and Maintenance 6-2......................................
6.1.1 What are EN Standards? 6-2............................................
6.1.2 What is the CE Marking? 6-2...........................................
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CONTENTS
— viii —
6.1.3 EMC Directive 6-2...................................................
6.1.4 TÜV Certification Body Authorized by EU 6-3.............................
6.2 Measures to Satisfy the EMC Directive 6-4.......................................
6.2.1 Applicable Servomotors 6-4............................................
6.2.2 Applicable Noise Filter 6-4............................................
6.2.3 Applicable Power Supply 6-4...........................................
6.2.4 Motor Cables 6-4....................................................
6.2.5 Encoder Cables 6-5...................................................
6.2.6 Control I/O 6-7......................................................
6.2.7 Digital Operator and Monitoring by Personal Computer 6-7...................
6.2.8 Cable Core 6-7......................................................
6.2.9 Wiring Examples 6-8.................................................
APPENDICES
A Servo Adjustment A-1........................................................
A.1 Σ-Series AC Servopack Gain Adjustment A-2......................................
A.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods A-2..................
A.1.2 Basic Rules for Gain Adjustment A-3.....................................
A.2 Adjusting a Speed-control Servopack A-4..........................................
A.2.1 Adjusting Using Autotuning A-4........................................
A.2.2 Manual Adjustment A-5...............................................
A.3 Adjusting a Position-control Servopack A-8........................................
A.3.1 Adjusting Using Autotuning A-8........................................
A.3.2 Manual Adjustment A-9...............................................
A.4 Gain Setting References A-13....................................................
A.4.1 Guidelines for Gain Settings According to Load Inertia Ratio A-13..............
B List of I/O Signals B-1........................................................
C List of Parameters C-1........................................................
D List of Alarm Displays D-1....................................................
INDEX Index 1...........................................................
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—ix—
Overview
About this Manual
This manual provides the following information for users of Σ-Series Servomotors and Servo Drives.
•An overview of Servo Systems for first-time users.
•Checking the product on delivery and basic applications of the Servo.
•Servo applications.
•Selecting an appropriate Servo for your needs and placing an order.
•Inspection and maintenance.
Using this Manual
Manual Structure
All chapters in this manual are classified into one or more of three areas according to their contents: A, B,
and C. Refer to the applicable chapters for the information required.
A: Chapters explaining how to select a Servo: For users who wish to gain a basic understanding of
Σ-Series products or who need to select an appropriate Servo.
B: Chapters explaining how to design a Servo System: For users who intend to design, install, and op-
erate a Σ-Series Servo Control System.
C: Chapters explaining maintenance: For users who are going to maintain and troubleshoot Σ-Series
products.
Chapter Title Page Area
CHAPTER 1 Basic Operation 1-1 B........................................ .........
Describes steps to take when product is received, plus basic
wiring and application methods.
CHAPTER 2 Applications 2-1 B........................................... .........
Describes the effective usage of Σ-Series features according
to application.
CHAPTER 3 Using the Digital Operator 3-1 B
.............................. .........
Describes operating procedures for Σ-Series Servos, turning
features ON and OFF, setting control constants, etc.
CHAPTER 4 Servo Selection and Data Sheets 4-1 A, B........................ .........
Describes selection methods for Σ-Series Servos and periph-
erals and provides Servo specifications.
CHAPTER 5 Inspection and Maintenance 5-1 C............................ .........
Describes user maintenance and troubleshooting.
CHAPTER 6 EMC Directive Measures 6-1 B
................................ .........
Provides the measures to conform to EN standards.
APPENDICES
AServo Adjustment A-1 B, C
....................................... ........
BList of I/O Signals B-1 A, B, C....................................... ........
CList of Parameters C-1 B, C....................................... ........
DList of Alarm Displays D-1 B, C.................................... ........
INDEX Index 1 A, B, C
.............................................................. ....
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BASIC USES OF Σ-SERIES PRODUCTS
—x—
Basic Terms
Meaning of Basic Terms
Unless otherwise specified, the following definitions are used in this manual.
Servomotor: Σ-Series SGMM Servomotor.
Servopack: Σ-Series SGDF Servopack.
Servo Drive: A set including an SGMM/SGDF Servomotor and an SGDF Servopack
Servo System: A complete Servo control system consisting of Servo Drive, host controller, and
peripheral devices.
Description of Technical Terms
Technical terminology that appears as bold in text is explained briefly at the bottom of the page.
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—xi—
Safety Precautions
The following precautions are for checking products upon delivery, installation, wiring, operation,
maintenance and inspections.
JChecking Products upon Delivery
CAUTION
!
DAlways use the Servomotor and Servopack in one of the specified combinations.
Not doing so may cause fire or malfunction.
JInstallation
CAUTION
!
DNever use the products in an environment subject to water, corrosive gases, inflammable gases,
or combustibles
Doing so may result in electric shock or fire.
JWiring
WARNING
!
DGround the equipment ground terminal according to electrical codes (ground resistance: 100 Ωor
less).
Improper grounding may result in electric shock or fire.
CAUTION
!
DDo not connect a three-phase power supply to the U, V, or W output terminals.
Doing so may result in injury or fire.
DSecurely fasten the power supply terminal screws and motor output terminal screws.
Not doing so may result in fire.
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BASIC USES OF Σ-SERIES PRODUCTS
— xii —
JOperation
WARNING
!
DNever touch any rotating motor parts while the motor is running.
Doing so may result in injury.
CAUTION
!
DConduct trial operation on the Servomotor alone with the motor shaft disconnected from machine
to avoid any unexpected accidents.
Not doing so may result in injury.
DBefore starting operation with a machine connected, change the settings to match the user’s
constants of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal-
function.
DBefore starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Not doing so may result in injury.
DDo not touch the heat sinks during operation.
Doing so may result in burns due to high temperatures.
JMaintenance and Inspection
WARNING
!
DNever touch the inside of the Servopacks.
Doing so may result in electric shock.
DDo not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
CAUTION
!
DDo not disassemble the Servomotor.
Doing so may result in electric shock or injury.
DDo not attempt to change wiring while the power is ON.
Doing so may result in electric shock or injury.
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— xiii —
JGeneral Precautions
Note the following to ensure safe application.
SThe 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.
SThe drawings presented in this manual are typical examples and may not match the product you
received.
SThis 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.
SIf 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.
SYaskawa 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.
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BASIC USES OF Σ-SERIES PRODUCTS
— xiv —
Yaskawa, 1999
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 written 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 as-
sumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the
information contained in this publication.
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1
— 1-1 —
BASIC OPERATION
This chapter describes the initial procedures when Σ-Series products are de-
livered. It also explains the basic methods of connecting and operating Σ-Se-
ries products. Both first-time and experienced servo users must read this
chapter.
1.1 Precautions 1-2...............................
1.2 Installation 1-4...............................
1.2.1 Checking on Delivery 1-4................................
1.2.2 Installing the Servomotor 1-6.............................
1.2.3 Installing the Servopack 1-9..............................
1.2.4 Power Loss 1-11........................................
1.3 Connection and Wiring 1-12.....................
1.3.1 Connecting to Peripheral Devices 1-12......................
1.3.2 Main Circuit Wiring and Power ON Sequence 1-14............
1.3.3 Examples of Connecting Host Controllers 1-16................
1.4 Conducting a Test Run 1-23.....................
1.4.1 Test Run in Two Steps 1-23...............................
1.4.2 Step 1: Test Run for Servomotor without Load 1-24............
1.4.3 Step 2: Test Run with the Servomotor Connected to
the Machine 1-28........................................
1.4.4 Supplementary Information on Test Run 1-29.................
1.4.5 Minimum Parameters and Input Signals 1-30..................
1
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BASIC OPERATION
— 1-2 —
1.1 Precautions
This section provides precautions that must be observed when using Σ-Series products.
Do not connect the Servomotor directly to a commercial power supply.
Do not plug the Servomotor directly into the com-
mercial power supply. Direct connection to the
commercial power supply will damage the Servo-
motor. The Servomotor cannot operate without a
Servopack.
Do not connect or disconnect the connector when power is ON.
Always turn the power OFF before connecting or
disconnecting a connector, except for the connec-
tor for the Digital Operator.
Do not perform inspection or maintenance work for at least 5 minutes after the
power is turned OFF.
Even after the power is turned OFF, residual volt-
age still remains in the capacitor inside the Servo-
pack. If inspection is to be performed after the
power is turned OFF, always wait at least 5 min-
utes to avoid the risk of an electrical shock.
Install the Servopack at least 10 mm from other devices.
The Servopack generates heat. Configure the
system layout so that the Servopack is located
where it can radiate heat freely. The Servopack
must be installed in an environment free from con-
densation, vibration, and shock.
1
Do not connect
directly.
200 V or
100 V power
supply
Damage will result!
Not lit
Always turn OFF
the power before
connecting or
disconnecting a
connector.
Careful!
Residual
voltage remains
in capacitor
Wait at least 5
minutes
Provide sufficient
clearance.
Ambient
temperature:
0to50°C
10 mm
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1.1Precautions
— 1-3 —
Perform noise reduction and grounding properly.
If the signal line is noisy, vibration or malfunction
will result.
Install the system according to the following pre-
cautions.
DSeparate high-voltage cables from low-voltage cables.
DUse cables as short as possible.
DBe sure to ground (ground resistance 100 Ωor
less) for the Servomotor and Servopack.
DNever use a noise filter for the power supply
between the Servomotor and Servopack.
Do not perform continuous operation under overhanging load.
Continuous operation cannot be performed by ro-
tating the motor from the load and applying regen-
erative braking. Regenerative braking by the Ser-
vopack can be applied only for a short period,
such as when the motor is stopped.
Do not operate the Servomotor by turning the power ON and OFF.
Frequently turning the power ON and OFF causes
the internal circuit elements to deteriorate. Always
start or stop the Servomotor by using reference
pulses.
1
Casing
Servopack
Signal
line Servomotor
Be sure to ground
(less than 100 Ω).
Servomotor
Do not apply regenerative
braking continuously.
Power
supply
Servopack
Do not start and stop by
turning power ON and OFF
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BASIC OPERATION
1.2.1 Checking on Delivery
— 1-4 —
1.2 Installation
This section describes how to check Σ-Series products on delivery and how to install
them.
1.2.1 Checking on Delivery
When Σ-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 following table).
Check if the motor shaft rotates
smoothly.
If the motor shaft is smoothly turned by hand, it is
normal. If the motor has brakes, however, 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 by using a screwdriver.
If any of the above items are faulty or incorrect, contact the dealer from which you pur-
chased the products or your Yaskawa representative.
1
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1.2Installation
— 1-5 —
Appearance Nameplate Type
Rated output
Servomotor model
Rated output
current
Standard Servomotors
A1: 10 W B3: 3 W
A2: 20 W B5: 5 W
A3: 30 W B9: 10 W
Option
C: With brake (24 VDC)
2: Straight without key
3: Straight with flat seat
Design revision order
Encoder specifications
Σ-Series
SGMM Servomotor
Supply voltage
3: 2048 P/R incremental encoder
B: 100 VAC
C: 24 VDC
S: EC safety standards, 24 VDC
(10 W, 20 W)
Rated output
Shaft specifications
F: 1024 P/R incremental encoder
Servo-
motors
Σ-Series
SGMM Servomotor
Manufacturing
date
Serial number
Rated speed
G89526−1−1−10
98/8 Servomotors with Reduction Gears
Option
C: With brake (24 VDC)
2: Straight without key
6: Straight with key and tap
Encoder specifications
Σ-Series
SGMM Servomotor
Supply voltage
3: 2048 P/R incremental encoder
With reduction gears
A: 1.5 1: 1/5
B: 1/16 2: 1/16
C: 1/25 3: 1/25
(10/20 W) (30 W)
Rated output
Gear ratio
Shaft specifications
A1: 10 W
A2: 20 W
A3: 30 W
B: 100 VAC
C: 24 VDC
S: EC safety standards, 24 VDC
(10 W, 20 W)
A
Servo-
packs
SGDF-
A1CS
DC24V
CN3
C
N
5
CN4
CN1/IO
CN2/PG
SERVOPACK
RDY
ALM
Σ-Series SGDF
Servopack
Servopack model
Serial number
Applicable power supply
Applicable
motor capacity
A1: 10 W B3: 3 W
A2: 20 W B5: 5 W
A3: 30 W B9: 10 W
Σ-Series
SGDF Servopack
Type
S: For speed/torque control
P: For position control
Supply voltage
C: 24 VDC
Rated output
1
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BASIC OPERATION
1.2.2 Installing the Servomotor
— 1-6 —
1.2.2 Installing the Servomotor
Servomotors can be installed either horizontally or vertically. If, however, the Servomotor is
installed incorrectly or in an inappropriate location, the service life will be shortened or unex-
pected problems will occur. To prevent this, always follow the installation instructions de-
scribed below and install properly.
Before Installation
The edge of the motor shaft has an anticorrosive coating. Carefully and thoroughly clean
off the anti-corrosive coating using a cloth moistened with thinner before installing the
motor. Make sure that the thinner is completely wiped off.
Anticorrosive coating
Note Do not get thinner on any other parts of the Servomotor when cleaning the shaft.
Storage Temperature
When the Servomotor is to be stored with the power cable disconnected, store it within
the following temperature range.
Between −20 and 60 °C
Installation Site
The Servomotors are designed for indoor use.
Install the Servomotor in an environment which meets the following conditions:
•Free from corrosive and explosive gases
•Well-ventilated and free from dust and moisture
•Ambient temperature of 0 °Cto40°C
•Relative humidity of 20% to 80% (with no condensation)
•Inspection and cleaning can be performed easily
If the Servomotor is used in a location subject to water or oil mist, install a shield cover
over the Servomotor to prevent water or oil mist from entering the Servomotor.
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