YASKAWA USAREM-A5A Manual

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AC SERVO DRIVES
RSERIES FOR SPEED CONTROL
SERVOMOTOR TYPE USAREM (With Optical Encoder)
SERVOPACK TYPE CACR-SR:..ft (Rack-Mounted Type)
FT
YASKAWA

Yaskawa AC Servo Drives have been de-
veloped as basic mechatronics drives for
the most advanced FA and FMS including
robots and machine tools.
Yaskawa takes great pride in introduc-
ing the R series as the latest addition to
the M, F, and S series AC Servo Drives
which have enjoyed an outstanding reputa-
tion among their users.
The R series achieves lower cost and
smaller size in spite of high speed opera-
tion and high reliability. Originally designed
for point-to-point positioning, it has been
found in such applications as assembly
robots, chip mounters, small-type X-Y
tables, coil winding machines, etc.
FEATURES
•High speed operation possible
•High accuracy and quick responce for
speed control even under adverse envi-
ronmental conditions
Compact design and light weight
User-friendly protective functions with
LED alarm indications

CONTENTS
1. RATINGS AND SPECIFICATIONS 1
11 RATINGS AND SPECIFICATIONS OF
RSERIES AC SERVOMOTORS (FOR 200 V) 1
12 RATINGS AND SPECIFICATIONS OF
RSERIES AC SERVOMOTORS (FOR 100 V) 4
13 RATINGS AND
SPECIFICATIONS OF SERVOPACK 6
2. TYPE DESIGNATION 7
3. LIST OF STANDARD COMBINATION 8
4. CHARACTERISTICS 9
4 1 OVERLOAD CHARACTERISTICS 9
42 STARTING AND STOPPING TIME 9
43 ALLOWABLE FREQUENCY
OF OPERATION 10
44 SERVOMOTOR FREQUENCY 11
45 MOTOR SPEED-REFERENCE
INPUT CHARACTERISTICS 11
46 MOTOR MECHANICAL CHARACTERISTICS 11
5. CONFIGURATION 13
51 CONNECTION DIAGRAM 13
52 INTERNAL BLOCK DIAGRAM 14
53 MAIN-CIRCUIT TERMINALS 16
54 CONNECTOR TERMINAL
(1CN) FOR I/O SIGNAL 16
5.5 CONNECTOR TERMINAL (2CN)
FOR OPTICAL ENCODER (PG) CONNECTION 19
6. OPERATION 21
6. 1 POWER ON AND OFF 21
62 SPEED REFERENCE 22
63 EXTERNAL CURRENT LIMIT
REFERENCE CIRCUIT [P-CL, N-CL] 23
64 CONFIGURATION OF I/O CIRCUIT 24
65 PROTECTIVE CIRCUIT 26
66 LED INDICATION 27
67 PRECAUTIONS FOR APPLICATION 27
68 PRECAUTIONS OF OPERATION 27
69 APPLICATION 29
7. INSTALLATION AND WIRING 30
71 RECEIVING 30
72 INSTALLATION 30
73 WIRING 31
8. DIMENSIONS 33
8 1 SERVOMOTOR DIMENSIONS 33
82 SERVOPACK DIMENSIONS 37
83 PERIPHERAL EQUIPMENT 38
9. TEST RUN 39
9 1 CHECK ITEMS BEFORE TEST RUN 39
92 TEST RUN PROCEDURES 39
10. ADJUSTMENT 40
10 1 SETTINGS AT
THE TIME OF DELIVERY 40
10 2 CHARACTERISTICS AT
THE TIME OF DELIVERY 41
10 3 READJUSTMENT 42
10 4 ADJUSTMENT PROCEDURES 42
10 5 SWITCH SETTING 45
11. INSPECTION AND MAINTENANCE 46
11 1 AC SERVOMOTOR 46
11 2 SERVOPACK 46
12. TROUBLESHOOTING GUIDE 47
12 1 AC SERVOMOTOR 47
12 2 SERVOPACK 48

INDEX
Subject Chapter Section No. Page
AAC SERVOMOTOR (Inspection and maintenance) • 11 11 146
AC SERVOMOTOR (Troubleshooting guide) • 1212 147
ADJUSTMENT 10 • 40
ADJUSTMENT PROCEDURES 1010 442
ALLOWABLE FREQUENCY OF OPERATION 443 10
Allowable Radial Load and Thrust Load
APPLICATION
Auxiliary Input Circuit (± 2 to ± 10 V)
4462 11
66 9 29
6624 22
CCHARACTERISTICS 4 9
CHARACTERISTICS AT THE TIME OF DELIVERY 1010 241
CHECK ITEMS BEFORE TEST RUN 991 39
CONFIGURATION 513
CONFIGURATION OF I/O CIRCUIT 664 24
CONNECTION DIAGRAM
Connection for Reverse Motor Running
Connector 1 CN Layout and Connection of SERVOPACK
CONNECTOR TERMINAL (1 CN) FOR I/O SIGNAL
551 13
66 9 1 29
5542 16
55 4 • • - • ----- 16
CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER (PG) CONNECTION 555 19
Current Limit when Motor is Locked 6 -6 3 3 23
DDIMENSIONS 833
Direction of Rotation 446 4 12
EExamples of Troubleshooting for Defective Wiring or Parts 12 .12 2 249
Examples of Troubleshooting for Incomplete Adjustment 1212 2 349
EXTERNAL CURRENT LIMIT REFERENCE CIRCUIT [P-CL, N-CL] 663 23
HHandling of Speed Reference Input Terminal 662 322
High Voltage Line 6 -6 7 3 27
IImpact Resistance 446 5 12
Input Circuit 664 1 24
INSPECTION AND MAINTENANCE 11 46
Inspection during Test Run 992 3 39
INSTALLATION 772 30
INSTALLATION AND WIRING
INTERNAL BLOCK DIAGRAM
730
552 14
LLED INDICATION 666 27
LED Indication (7-segment) for Troubleshooting 1212 2 148
LIST OF STANDARD COMBINATION 3 8
Load Inertia (GD2) 667 2 27
MMAIN-CIRCUIT TERMINALS 553 16
Mechanical Specifications 446 3 11
Mechanical Strength 446 1 11
Method of Giving External Current Limit Reference 663 1 23
Minus Load 667 1 27
MOTOR MECHANICAL CHARACTERISTICS 446 11
MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS 445 11
NNoise Control 668 1 27
0Operation 9 9 2 2 39
OPERATION 621
Optical Encoder (PG) Output Circuit [PAO, *PAO, PBO, *PBCI, PCO, *PC0] • 664 3 25
Output Circuit 664 2 24
OVERLOAD CHARACTERISTICS 441 ----- • • • • 9
—Ill —

INDEX (Cont'd)
Subject Chapter Section No. Page
PPERIPHERAL EQUIPMENT 8• • 8 3 38
Power Line Protection 668 2 29
Power Loss 773 3 32
POWER ON AND OFF 661 21
PRECAUTIONS FOR APPLICATION 667 27
PRECAUTIONS OF OPERATION 668 27
Preparation of Operation 992 1 39
PROTECTIVE CIRCUIT 665 26
RRated Current and Cable Size 77 3 1 31
RATINGS AND SPECIFICATIONS 1 1
RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 100 V) 112 4
RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 200 V) 1 1 1 1
RATINGS AND SPECIFICATIONS OF SERVOPACK 113 6
READJUSTMENT
RECEIVING
10 103 42
77 1 30
SSERVOMOTOR (Installation) 7• 7 2 1 30
SERVOMOTOR (Test run) 9 9 1 1 • • • • • 39
SERVOMOTOR DIMENSIONS 881 • • • • • • • • 33
SERVOMOTOR FREQUENCY 444 11
SERVOPACK (Installation) 7 7 2 2 31
SERVOPACK (Test run)
SERVOPACK (Inspection and maintenance)
SERVOPACK (Troubleshooting guide)
SERVOPACK Connector (2CN) Terminal Layout and Connection
SERVOPACK DIMENSIONS
Set Voltage and Current Limit Values
SETTINGS AT THE TIME OF DELIVERY
Specifications of Applicable Receptacles
Specifications of Applicable Receptacles and Cables (Table 5 6)
Speed and Torque Measurement
99 1 2 39
11•••112 46
1212 2 48
55 5 2 19
88 2 37
66 3 2 23
10101 40
5 5 4 1 16
55 5 1 19
6692 29
SPEED REFERENCE 662 • • • • ----- 22
Speed Reference Circuit 662 1 22
STARTING AND STOPPING TIME 442 9
Stop Reference Circuit 662 2 22
SWITCH SETTING 1010 5 45
TTEST RUN 939
TEST RUN PROCEDURES 992 39
TROUBLESHOOTING GUIDE 1247
TYPE DESIGNATION 2 7
UUse of Servomotor with Magnetic Holding Brake 669 3 30
✓Vibration Class 446 7 12
Vibration Resistance 446 6 12
WWIRING 7. 7 3 31
Wiring Precautions 773 2 32

1. RATINGS AND SPECIFICATIONS
1. 1 RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 200 V)
(1) Ratings
Time Rating: Continuous
Insulation: Class B
Isolation Voltage: 1000 VAC, one minute
Insulation Resistance: 500 VDC, 10 MO or more
Enclosure: Totally-enclosed, self-cooled
Ambient Temperature: 0 to +40°C
Storage Temperature -20 to +60°C
Motor Type USAREM-
Item A5A 2 -01A 2 -D2A 2 -03A 2 -05A 2 -07A ,2
Rated Output* W
(HP)
50
(0 07)
100
(0 13)
200
(0 27)
300
(0 40)
500
(0 67)
700
(0 93)
Rated Torque* N• in
(oz•in)
0 159
(22 5)
0 318
(45)
0 637
(90)
0 955
(135)
159
(225)
2 23
(316)
Continuous Max Torque* N•rn
(oz• in)
0 182
(25 9)
0 367
(51 8)
0 733
(103 5)
11
(155 3)
182
(258.8)
2 56
(363 0)
Instantaneous Max Torque* N•rn
(oz• in)
0 476
(675)
0 955
(135)
191
(270)
2 86
(405)
4 76
(675)
6 68
(948)
Rated Current* A 0 99 136 2 75 3 70 5 29 5 29
Rated Speed* r/min 3000
Max Speed* r/min 4500
Torque Constant N• m/A
(oz• in/A)
0 17
(24 0)
0 247
(35 0)
0 243
(34 4)
0 271
(38 5)
0 319
(45 3)
0 457
(60 4)
Inertia kg • m2 X10-6
J(oz-In-s2 X10-3)
7 64
(1 08)
12 5
(1 78)
50 7
(7 18)
76 6
(10 9)
272
(38 6)
372
(52 8)
Power Rating* kW/s 3.30 8.09 8.01 11 9 9 26 13 3
Inertia Time Constant ms 5 0 3 7 3.6 3 1 3.6 3 4
Inductive Time Constant ms 12 15 3 8 4 2 8 7 9.9
Ambient Humidity: 20% to 80% (non-condensing)
Vibration: 15 pm or below
Finish in Munsell Notation: N1.5
Excitation: Permanent magnet
Mounting: Flange mounted
Drive Method: Direct drive
Tab le 1.1 Ratings and Specifications of R Series
AC SERVOMOTORS (For 200V)
*Values when SERVOMOTOR is combined with SERVOPACK and the armature winding temperature s 75°C
Other values at 20°C Shown are normal (TYP) values above
Notes
1i::] in type designation is determined by output pulses (pulses/rev) of optical encoder as follows
•Standard E (1500 pulses/rev)
•Optional F (1000 pulses/rev)
2The power supply unit for brake
•Input 200 VAC Output 90 VDC (DP8401002 1)
For details, see Par 8 3 (2) on page 38
3The table above shows the data when an aluminum plate (heat sink) 25(1mm x 250 mm x 6 mm
(9 84 in x 9 84 in x 0 24 in) is mounted as a cooling agent
1

1. 1 RATINGS AND SPECIFICATIONS OF R SERIES
AC SERVOMOTORS (FOR 200 V) (Cont'd)
-I
A B
(2) Torque-Speed Characteristics
The values in intermittent duty zone are normal
(TYP) values when the power voltage of
SERVOPACK is 200 VAC.
•r/min-N • m
Type USAREM-A5A
5000
4000
SPEED 3000
(r/min)2000
1000
0
Type USAREM-02A
5000
4000
SPEED 3000
(r/mtn)
2000
1000
0
B
A02 04 06
RMS TORQUE (N•rn)
B
08 16
RMS TORQUE (N m)
24
If 200 VAC or below, the output characteristics
may be decreased even if the data is within
allowable variation.
Type USAREM-01A
5000
4000
SPEED 3000
(r/min)2000
1000
0
Type USAREM-03A
5000
4000
3000
SPEED
(Om) 2000
1000
0
Type USAREM-05A Type USAREM-07A
5000
4000
3000
SPEED
(r/m) 2000
1000
0
B
24
RMS TORQUE (N m)
6
5000
B
04 08
RMS TORQUE (N m)
12
4000
3000
SPEED
(r/mm) 2000
1000
12 24
RMS TORQUE (N m)
36
A B
28 56
RMS TORQUE (N • m)
I-I : Continuous Duty Zone
El : Intermittent Duty Zone

■r/min-oz•in
Type USAREM-A5A
5000
4000
AB
te;,
3000
SPEED
(rim) 2000
1000
0
B
25 50 75
RMS TORQUE(oz in)
Type USAREM-01A
5000
4000
SPEED 3000
(r/min)
2000
1000
Type USAREM-02A Type USAREM-03A
5000
4000
3000
SPEED
(r/min) 2000
1000
0
B
Type USAREM-05A
5000
4000
SPEED 3000
(r/min) 2000
1000
0
100 200 300
RMS TORQUE (oz -in)
250 500 750
RMS TORQUE(oz in)
0
5000
4000
3000
SPEED
(r/enn) 2000
1000
0
Type USAREM-07A
5000
4000
SPEED 3000
(r/men) 2000
IA1
1000
0
"14
B
50 100 150
RMS TORQUE(oz in)
eq•
B
150 300 450
RMS TORQUE(oz en)
250 500 750 1000
RMS TORQUE (oz
:Continuous Duty Zone
1111 : Intermittent Duty Zone