YASKAWA Sigma-V Series User manual

Multi-Winding Drive Unit Model: JUSP-MD3DA
SERVOPACK Model: SGDV-101JF1A
Converter Model: SGDV-COA5EDA
Servomotor Model: SGMVV-7EDB
Rotational Motor
Multi-Winding Drive System
-VSeries
AC Servo Drives
USER’S MANUAL
For Use with Large-Capacity Models Setup
MANUAL NO. SIEP S800001 85C
1
2
3
4
5
6
Overview of Setup
Installation
Wiring and Connection
Safety Function
Trial Operation
(Checking Servomotor Operation)
Introduction to Multi-Winding
Drive Systems

Copyright ©2015 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 setup manual describes the installation, wiring, connections, and independent
servomotor operation confirmation with jogging of Σ-V Multi-Winding Drive Sys-
tems.
Be sure to refer to this manual and perform setup operations correctly.
Keep this manual in a location where it can be accessed for reference whenever
required.
Description of Technical Terms
The following table shows the meanings of terms used in this manual.
Te r m Meaning
Servomotor A Σ-V Series SGMVV servomotor
Multi-winding drive
unit A Σ-V-series JUSP-MDD multi-winding drive unit
SERVOPACK A Σ-V-series SGDV-J servo amplifier
Converter A Σ-V Series SGDV-COA converter
Servo Drive A set that includes a servomotor, SERVOPACK, and converter
Multi-winding drive
system
A set that includes a servomotor, multi-winding drive unit, SER-
VOPACK, and converter
Servo System A servo control system that includes the combination of a servo
drive with a host controller and peripheral devices
Analog pulse model A multi-winding drive unit with an analog voltage and pulse train
reference interface
M-II model A multi-winding drive unit with a MECHATROLINK-II commu-
nications reference interface.
Servo ON Power to motor ON
Servo OFF Power to motor OFF
Base Block (BB) Power supply to motor is turned OFF by shutting off the base cur-
rent to the power transistor in the current amplifier.
Main Circuit Cable
Cables which connect to the main circuit terminals, including
main circuit power supply cables, control power supply cables,
servomotor main circuit cables, and others.
Cursor Input position indicated by Digital Operator

iv
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
Notation Used in this Manual
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:
Example
S-ON = /S-ON
Manuals Related to the Σ-V Series
Refer to the following manuals as required.
• Indicates important information that should be memorized, as well as
precautions, such as alarm displays, that do not involve potential damage
to equipment.
Name
Selecting
Models
and
Peripheral
Devices
Ratings
and
Specifi-
cations
System
Design
Panels
and
Wiring
Trial
Operation
Trial
Operation
and
Servo
Adjustment
Maintenance
and
Inspection
Large-Capacity
Σ-V Series
Product Catalog
(KAEP S800000 86)

Σ-V Series User’s
Manual for Use with
Large-Capacity
Models Design and
Maintenance
Multi-Winding Drive
System
Analog Voltage and
Pulse Train
References/
Rotational Motor
(SIEP S800001 68)
  
Σ-V Series User’s
Manual for Use with
Large-Capacity
Models Design and
Maintenance
Multi-Winding Drive
System
MECHATROLINK-II
Communications
References/
Rotational Motor
(SIEP S800001 69)
  

v
Σ-V Series/DC Power
Input Σ-V Series/Σ-V
Series for Large-
Capacity Models
User’s Manual
MECHATROLINK-II
Commands
(SIEP S800000 54)

Σ-V Series
User’s Manual
Operation of Digital
Operator
(SIEP S800000 55)
 
AC Servomotor
Safety Precautions
(TOBP C230200 00)

AC SERVOPACK and
Converter
Σ-V Series
Safety Precautions
for Use with Large-
Capacity Models
(TOMP C710829 07)
 
Multi-Winding Drive
Unit
Σ-V Series Safety
Precautions
for Use with Large-
Capacity Models
(TOMP C710829 15)

ΣSeries
Safety Precautions
Digital Operator
(TOBP C730800 00)

(cont’d)
Name
Selecting
Models
and
Peripheral
Devices
Ratings
and
Specifi-
cations
System
Design
Panels
and
Wiring
Trial
Operation
Trial
Operation
and
Servo
Adjustment
Maintenance
and
Inspection

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
Safety Precautions
These safety precautions are very important. Read them before performing any pro-
cedures such as checking products on delivery, storage and transportation, installa-
tion, wiring, operation and inspection, or disposal. Be sure to always observe these
precautions thoroughly.
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 a multi-winding drive unit, SERVOPACK, or con-
verter.
Failure to observe this warning may result in electric shock.
• Do not remove the front cover of the power supply terminals while the
power is ON.
Failure to observe this warning may result in electric shock.
• Do not touch any terminals while the CHARGE lamp on the SERVOPACK
or converter is lit either immediately after the power supply is turned OFF
or after a dielectric strength test. For details on the charging time of the
main circuit’s capacitor, refer to 4.2 Discharging Time of the Main Circuit’s
Capacitor.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in this manual for trial
operation.
Failure to do so may result not only in faulty operation and damage to equipment,
but also in personal injury.
• The output range of the rotational serial data for the absolute position
detecting system used for Σ-V large-capacity servo drives is different from
that of earlier systems for 12-bit and 15-bit encoders. As a result, the
infinite-length positioning system of the Σservo drives must be changed for
use with Σ-V large-capacity servo drives. Be sure to make the system mod-
ifications.
• The multi-turn limit value need not be changed except for special applica-
tions.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm occurs, check the setting of
parameter Pn205 in the multi-winding drive unit 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, or connectors from the multi-winding
drive unit while the power is ON.
Failure to observe this warning may result in electric shock or damage to the prod-
uct.

viii
• Do not damage, press, exert excessive force on, 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, fire, or damage to the product.
• Provide an appropriate braking device on the machine side to ensure
safety. The holding brake on a servomotor with a brake is not a braking
device for ensuring safety.
Failure to observe this warning may result in injury.
• 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.
• Do not wire the regenerative resistor unit incorrectly. Never short-circuit the
B1 and B2 terminals.
Failure to observe this warning may result in fire or damage to the product.
• Connect the ground terminals on the multi-winding drive unit, SERVO-
PACK, and converter according to local electrical codes (100 Ωor less for
systems with a 200 V power supply, 10 Ωor less for systems with a 400 V
power supply).
Improper grounding may result in electric shock or fire.
• Be sure to connect the servomotor’s built-in thermostat to the host control-
ler or to the main circuit magnetic contactor’s operation circuit.
For details, refer to
 Protecting the Servomotor in 3.2.5 Other Precau-
tions.
Failure to observe this warning may result in injury, fire, or damage to the product.
• 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 the design and mainte-
nance user’s manual for your SERVOPACK.
Failure to observe this warning may result in injury or damage to the product.
WARNING

ix
Storage and Transportation
CAUTION
• Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the
product.
• 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 storage/installa-
tion humidity conditions
• Locations subject to condensation as the result of extreme changes in tempera-
ture
• 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
• Do not hold the product by the cables, motor shaft, or terminal box 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.
• If disinfectants or insecticides must be used to treat packing materials such
as wooden frames, pallets, or plywood, the packing 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 products
installed in machines, are packed with fumigated wooden materials, 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 capaci-
tors.

x
Installation
CAUTION
• Never use the product 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 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 deteriorate 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 multi-winding drive unit,
SERVOPACK, converter, control panel, and 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.