YASKAWA Sigma-V Series User manual

SGDV SERVOPACK
Σ-VSeries
AC Servo Drives
USER'S MANUAL
Operation of Digital Operator
MANUAL NO. SIEP S800000 55A
モーションコントロール事業部（A5）（英文）新CI
Introduction
Parameter/Monitor Modes
Utility Function Mode
Parameter Copy Mode
1
2
3
4

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, electronic, photo-
copying, 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
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
About this Manual
This manual provides the users of the Σ-V series of SGMS/SGDV servodrives with
an explanation of the digital operator (Model: JUSP-OP05A-1-E) and its features,
including the following items:
• Functions and connection method
• Parameters and monitor mode
• Utility function mode
• Parameter copy mode
Intended Audience
This manual is intended for the following users.
• Those performing trial operation or adjustments of Σ-V Series servodrives.
• Those maintaining or inspecting Σ-V Series servodrives.
Description of Technical Terms
The terms in this manual are defined as follows:
• Servomotor or motor = Σ-V Series SGMAV, SGMJV, SGMGV, SGMCS (direct
drive), SGLGW, SGLFW, SGLTW, or SGLCW servomotor.
• SERVOPACK = Σ-V Series SGDV SERVOPACK.
• Servodrive = A set including a servomotor and servo amplifier.
• Servo System = A servo control system that includes the combination of a servo-
drive with a host computer and peripheral devices.
Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written
with a forward slash (/) before the signal name, as shown in the following example:
•S-ON
= /S-ON
•P-CON
= /P-CON
Outline of the Contents
Chapter Description
1. Outline Describes the outline of the function, how to connect, and parts
names of JUSP-OP05A-1-E digital operator.
2. Parameters and
Monitor Modes Describes how to operate the Parameter Mode and Monitor Mode.
3. Utility Function
Modes Describes how to operate the Utility Function Mode.
4. Parameter Copy
Modes Describes how to operate the Parameter Copy Mode.

iv
Related Manuals
Refer to the following manuals as required.
Manuals
SERVOPACKs,
Servomotors,
and Peripheral
Devices
Ratings
and
Charac-
teristics
System
Design
Panel
Configura-
tion and
Wiring
Trial
operation
Trial
Operation
and Servo
Adjustment
Inspec-
tion and
Mainte-
nance
Σ-V series
SGMV/SGDV
Catalogue
(Manual No.
KAEPS80000042)

Σ-V series
SGMV/SGDV
User’s Manual
Setup
Rotational Motor
(Manual No.
SIEPS80000043)

Σ-V series
SGMV/SGDV
User’s Manual
Design and
Maintenance
Rotational Motor/
Analog and Pulse
(Manual No.
SIEPS80000045)
   
Σ-V series
SGMV/SGDV
User’s Manual
Design and
Maintenance
Linear Motor/
MECHATROLINK-II
Communications
Reference
(Manual No.
SIEPS80000048)
   
Σ-Vseries
AC SERVOPACK
SGDV
Safety Precautions
(Manual No.
TOBPC71080010)

Σ-V
series
SGMV/SGDV
User’s Manual
MECHATROLINK-II
Command
(Manual No.
SIEPS80000054 )


v
AC
SERVOMOTOR
Safety Precautions
(Manual No.
TOBPC23020000)

Manuals
SERVOPACKs,
Servomotors,
and Peripheral
Devices
Ratings
and
Charac-
teristics
System
Design
Panel
Configura-
tion and
Wiring
Trial
operation
Trial
Operation
and Servo
Adjustment
Inspec-
tion and
Mainte-
nance

vi
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.
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.
In some situations, the precautions indicated could
have serious consequences if not heeded.
Indicates prohibited actions that must not be
performed. For example, this symbol would be used to
indicate 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

vii
Notes for Safe Operation
Read this manual thoroughly before checking products on delivery, storage and trans-
portation, installation, wiring, operation and inspection, and disposal of the AC ser-
vodrives.
WARNING
• Never touch any rotating motor parts while the motor is running.
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 for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for the trial operation as noted in this
manual.
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 “Infinite length positioning system” of Σseries is to be con-
figured with Σ-Vseries, be sure to make the system modification.
• 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, stopping 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.

viii
• 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 resetting 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 Ω
or less for a SERVOPACK with a 200 V power supply. 10 Ωor less for a
SERVOPACK with a 400 V power supply).
Improper grounding may result in electric shock or fire.
• 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 stan-
dards and full understanding of the instructions in Σ-V series User’s Manual
Design and Maintenance.
Failure to observe this warning may result in injury or damage to the product.
• Do not come close to the machine immediately after resetting a momentary
power loss. The machine may restart unexpectedly. Take appropriate mea-
sures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
WARNING

ix
Storage and Transportation
Installation
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 or installa-
tion temperature conditions.
• Locations subject to humidity outside the range specified in the storage or 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 damage to the product.
• Do not hold the product by the cables or motor shaft 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 packing box.
Failure to observe this caution may result in injury or malfunction.
CAUTION
• Never use the products in an environment subject to water, corrosive 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.
• 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 deteriorate resulting in mal-
function 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.

x
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 servomoter connec-
tion terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminal screws and servomoter connection
terminal screws.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables and input/output signal lines or the
encoder cables together in the same duct. Keep power and signal lines sepa-
rated by at least 30 cm (11.81 in).
• 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 (118.11 in) for input/output signal lines and 20 m
(787.40 in) for encoder cables.
• Do not touch the power terminals for 5 minutes after turning power OFF because
high voltage may still remain in the SERVOPACK.
Make sure the charge indicator is out first before wiring or starting an inspection.
• Observe the following precautions when wiring main circuit terminal blocks.
• If the main circuit terminal is the connector, remove the connector from the SERVO-
PACK prior to wiring.
• Insert only one wire per connector insertion slot on the terminal block.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
• Install the battery at either the host controller or the battery unit of the encoder.
It is dangerous to install batteries at both simultaneously, because that sets up a loop cir-
cuit 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 particularly 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-circuiting in external
wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each when installing sys-
tems 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.