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

Ambient Temperature: 0 to +40°C
Motor Type USAREM- _A5BE12 -01BE2 -0213E2 -03BE32
Item
Rated Output* W
(HP)
50
(0 07)
100
(0 13)
200
(0 27)
300
(0 40)
Rated Torque* N • m
(oz•in)
0 159
(22 5)
0 318
(45)
0 637
(90)
0 955
(135)
Continuous Max Torque* N • m
(oz• in)
0 182
(25 9)
0 357
(51 8)
0 733
(103 5)
11
(155 3)
N•m
Instantaneous Max Torque* ,
liin • in)
0 476
(67 5)
0 955
(135)
191
(270)
286
(405)
Rated Current* A 17 24 4 1 5 0
Rated Speed* r/min 3000
Max Speed* r/min 4000
Torque Constant N•rn/A
(oz - in/A)
0 10
(14 2)
0 143
(20 3)
0 169
(23 9)
0 205
(29 0)
Inertia Jkg-m2x10-6
(oz•in•s2x 10-3)
764
(1 08)
12 5
(1 78)
50 7
(7 18)
76 6
(109)
Power Ratings kW/s 3 30 8 09 8 01 11 9
Inertia Time Constant ms 4 7 36 3 6 30
Inductive Time Constant ms 13 16 3 9 4 3
1.2 RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 100V)
Time Rating: Continuous
Insulation: Class B
Isolation Voltage: 1000 VAC, one minute
Ambient Humidity: 20% to 80% (non-condensing)
Vibration: 15 ,um or below
Finish in Munsell Notation: N1.5
Insulation Resistance: 500 VDC, 10 MS1 or more Exaltation: Permanent magnet
Enclosure: Totally-enclosed, self-cooled Mounting: Flange mounted
Drive Method: Direct drive
Table 1.2 Ratings and Specifications of R Series
AC SERVOMOTORS (For 100V)
•Values when SERVOMOTOR is combined with SERVOPACK and the armature winding temperature is 75°C
Other values at 20°C Shown are normal (TYP) values above
Notes
1Li 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 100 VAC, Output 90 VDC (DP8401002-2)
For details, see Par 8 3 (21 on page 38
3The table above shows the data when an aluminum plate (heat sink) 250 mm x 250 mm x 6 mm
(9 84 in x 9 84 in x 0 24 in ) is mounted as a cooling agent
4

(2) Torque-Speed Characteristics
The values in intermittent duty zone are normal If 100 VAC or below, the output characteristics
(TYP) values when the power voltage of may be decreased even if the data is within
SERVOPACK is 100 VAC. allowable variation.
A,
A A B
•r/min-N•m
Type USAREM-A5B 5000
4000
3000
SPEED
(r/mon)2000
1000
Type USAREM-01 B 5000
4000
SPEED 3000
(r/mn)
2000
1000
0
Type USAREM-02B 5000
4000
SPEED 3000
(limn)
2000
1000
0
02 04 06
RMS TORQUE (N m)
A
Type USAREM-03B 5000
4000
3000
SPEED
(r/mon)2000
10
04 08
RMS TORQUE (N m)
12
A
08 16
RMS TORQUE (N • m)
24
12 24
RMS TORQUE (N m)
6
111r/min-oz•in
Type USAREM-A5B 5000
4000
SPEED 3000
(r/mm)
2000
1000
0
Type USAREM-0113 5000
4000
SPEED 3000
(r/mrn)
2000
1000
0
Type USAREM-028 5000
Type USAREM-03B
4000
3000
SPEED
(r/mon)
2000
1000
0
25 50 75
RMS TORQUE(oz -on)
A B
5000
4000
SPEED 3000
(rim')
I-A%1
2000
1000
0
50 100 150
RMS TORQUE(oz on)
A
100 200 300
RMS TORQUE(oz in)
B
150 300 450
RMS TORQUE( oz • in)
:Continuous Duty Zone
:Intermittent Duty Zone
5

1. 3 RATINGS AND SPECIFICATIONS OF SERVOPACK
Voltage Class 200V
Servopack Type CACR- SRA5AB1 R SR01A81 R SRO2AB1 R SRO3AB1 R SRO5A81 R SRO5AB1, RY3
Combined
Specifica-
bons
Type USAREM- A5A 01A 02A 03A 05A 07A
Applicable
AC
Servomotor
W
Output (HP) 50
(0.07)
100
(0 13)
200
(0 27)
300
(0 40)
500
(0 67)
700
(0 93)
Rated/Max Speed r/min 3000 4500
Continuous Output Current ADC ±1 ±1.4 ±2 8 ±3 7 ±5 3 ±5 3
Max Output Current ADC ±3 ±4 ±8 ±11 ±16 ±16
Allowable Load Inertia Ji(=GD2L/4) kg• m2 0 764X10-4 125X10-4 5D75X10-4 766X10- 27.25X 10-4 4 37.25X10-
Basic
Specifica-
Lions
Power Main +10%
1-Phase 200 to 230 VAC -15% 50/60 Hz"Supply
Control
Control Maethod 1-Phase full-wave rectifying, transistonzed PWM control
Feedback Optical encoder (1500 or 1000 pulses/rev)
Environ-
mental
Conditions
Ambient Temp *2 0to + 55t
Storage Temp -20 to +85t
Ambient and Storage Humidity 90% or less (non-condensing)
Vibration-/Shock-Resistance 0 5G/2G
Mounting Structure Rack mounted
Speed
Control
Speed Control Range" 11000
Speed
Regulation *,
Load 0 to 100% 0 1% or less at 3000 r/min, ±0 05% or less at 3 r/min
Voltage Rating±10% ±0 1% or less at 3000r/min, ±0 05% or less at 3r/min
Temperature 25±25t ±0 5% or less at 3000r/min, ±0 2% or less at 3r/min
Erequency Response 100Hz at JL (GD2L) = JM (GD2M)
Signal
I/O
Speed
Reference
Rated Reference Voltage ±6VDC at 3000r/min (forward run at plus reference)
Input Impedance Approx 30k0
Circuit Time Constant Approx 35 PS 41/
Auxiliary
Reference"
Rated Reference Voltage ±2 to ±10VDC at 3000r/min (forward run at plus reference)
Input Impedance Approx 5k 0 per V
Circuit Time Constant Approx. 22 PS
Built-in Reference Power Supply ±12VDC ±5%, ±30mA
PG Pulse
Output
Types AO, BO, CO Line driver and open collector
Frequency Dividing Ratio 1/1, 1/2, 1/3, 1/4, 1/5, 1/6, 1/10, 1/12, 1/15, 1/20, 1/30, 2/3, 2/5
Sequence Input Servo ON, P dnve, F run inhibit (P-OT), R run inhibit (N-OT), alarm reset
Sequence Output Servo alarm, current limit, TG ON, servo ready, alarm code (3-bit)
External Current Limit 20% to max current in each of P and N (3V/100% current)
Buld-in
Functions
Dynamic Brake Operated at main power OFF, servo alarm, servo OFF, etc
Regeneration •50W/100W type Not provided
•200W to 700W type. provided (containing regenerative resistor)
Applicable Load Inertia" Up to 10 times motor inertia
Overtravel Prevention DB stop at P-OT, N-OT
Protection Overvoltage (OV), overcurrent (OC), overload (OL), overspeed (OS), MCCB
trip (MCCB), PG trouble (P0), voltage drop (UV), CPU error (CPU, A/D)
Indication Power supply (MCCB LED), alarm (7-segment LEDs)
Monitor Output Speed 2V±5% at 1000r/min, torque 3V±1O% at 100%
Others Reverse run connection Possible (Reverse at plus reference)
Tab le 1.3 Rating and Specifications of SERVOPACK
*1 In main circuit power supply, voltage should not exceed
230V, +10% (253V) If the voltage should exceed this
value, a step down transformer is required
*2 When housed in a panel, the inside temperature must not
exceed ambient temperature range
*3 In the speed control range, the lowest speed is defined
under the condition in with there is 100% load regulation, but
not stopped.
*4 Speed regulation is generally defined as follows
No load speed -Rated speed
Speed regulation = X100(%)
Rated speed
Motor speed may be changed by voltage variation or
operational amplifier drift due to temperature The ratio of
this speed change to the rated speed represents the speed
regulation due to voltage or temperature change
*5 Used for application at rated reference voltages other than ±
6V
*6 When load inertia (GD2) exceeds-applicable range, see Par 6
72, "Load Inertia (G132) "
—6 —

2. TYPE DESIGNATION
100y
SRA5AB2 IA SRO1AB2: :R SRO2AB2: R SRO3AB2. :R
A5B 01B 02B 03B
50
(0 07)
100
(0 13)
200
(0.27)
300
(0 40)
3000/4000
±1 7 +2 3 ±4 3 +6 0
±5 ±7 ±12 ±16
010-4 10-4 5 075X10— 47 66X10—
+10%
1-Phase 100 to 115 VAC 50/60 Hz"
—15%
1-Phase full-wave rectifying, transistorized PWM control
Optical encoder (1500 or 1000 pulses/rev)
0to + 55°C
—20 to +85°C_
90% or less (non-condensing)
0 5G/2G
Rack mounted
11000
0to 100% 0 1% or less at 3000 r/min, ±0 05% or less at 3 limn
Rating±10% ±0 1% or less at 3000r/min, ±0 05% or less at 3r/min
25±25t ±0 5% or less at 3000r/min, ±0 2% or less at 3r/min
100Hz at JL (GD2L) = JM (GD2M)
±6VDC at 3000r/min (forward run at plus reference)_
Approx 30k 0
Approx 35 us
±2 to ±10VDC at 3000r/min (forward run at plus reference)
Approx 5k0 per V
Approx 22 us
±12VDC ±5%, ±30mA
AO, BO, CO' Line driver and open collector
1/1, 1/2, 1/3, 1/4, 1/5, 1/6, 1/10, 1/12, 1/15, 1/20, 1/30, 2/3, 2/5
Servo ON, P dnve, F run inhibit (P-OT), R run inhibit (N-OT), alarm reset
Servo alarm, current limit, TG ON, servo ready, alarm code (3-bit)
_
20% to max current in each of P and N (3V/100% current)
Operated at main power OFF, servo alarm, servo OFF, etc
• 50W type Not provided
• 100W to 300W type : provided(contaming regenerative resistor)
Up to 10 times motor inertia
DB stop at P-OT, N-OT
Overvoltage (OV), overcurrent (OC), overload (OL), overspeed (OS), MCCB tnp
(MCCB), PG trouble (PG), voltage drop (UV), CPU error (CPU, AID)
Power supply (MCCB LED), alarm (7-segment LEDs)
Speed : 2V±5% at 1000r/min, torque 3V±5% at 100%
Reverse run connection possible (Reverse at plus reference)
•AC SERVOMOTOR
US ARE M - 05A E 2 Ej [jj
AC I
SERVOM OTOR
SERIES
•AR R Senes
ENCLOSURE
• E Totally-enclosed
Self cooled Type
MAGNET TYPE
•M Rare Earth
MOTOR OUTPUT
•AS 50W 0 07HP
• 01 100W 01311P
• 02 200W 027 HP
• 02 300W 0 40HP
•OE 500W 0 67HP
•0) 700W 093 HP
DESIGN REVISION ORDER
•A 200V Class
•B 100V Class
DE FECTOR(Table 2 3)
• E 1500 pulses/rev (Standard)
• F 1000 pulses/rev
SHAFT TYPE
•1 Taper
• 2 Straight(Standard)
DRIVE END SPECIFICATION
•Blank Standard
•0 Standard (With Brake)
•K With Key (Standard)
•S With Shaft Seal
•T Wsh Key & Shaft Seal
OPPOSITE DRIVE END
SPECIFICATION
• Blank Standard
•B With Brake (Excittng Wriding Voltage 90 VDC)
•SERVOPACK
AC.
SERVOPACK--)
SERIES
CONTROL TYPE
• SR Speed
MOTOR OUTPUT
•A5 50W 007 HP
• 01 100W 013HP
•02 200W 027 HP
•03 300W 040 HP
•05 500W 0 67HP
CACR- SRO5A B1 ER
I
APPLICATION
•A R Series
DESIGN REVISION
ORDER
INPUT FORM
•1 200V Analog
• 2 100V Analog
I
DETECTOR
• E 1 500 pulses/rev
• F 1000 pulses/rev
I
APPLICABLE MOTOR
SERIES
•R Series
I
7

3. LIST OF STANDARD COMBINATION
Class SERVOPACK
Type CACR-
AC SERVOMOTOR Power
Capacity
per
SERVOPACK*
kVA
Current
Capacity
per MCCB
or Fuse t
A
Applicable
Noise
Filter
Recommended
Noise Filter* Power
ON/OFF
Switch
Type
USAREM-
Optical
Encoder
pulses/rev
Type Specification
200V
50W
(0.07H P)
SRA5AB1ER A5AE2 1500 0 3
5
°---I- —°
1
GOOD
1W
POOR
LF -
205A
Single-
phase,
200VAC
class
5A
Yaskawa
type
Hl-16E5
rated 35/
or equiva
lent
SRA5AB1FR A5AF2 1000
100W
(0 13HP)
SR01AB1ER 01AE2 1500 0 5
SR01AB1FR 01AF2 1000
200W
(0.27HP)
SRO2AB1ER 02AE2 1500 0 75
SRO2AB1FR 02AF2 1000
300W
(0 40HP)
SRO3AB1ER 03AE2 1500 10 7LF-
210 10A
SRO3AB1FR 03AF2 1000
500W
(0 67HP)
SRO5AB1ER 05AE2 1500 14 11 LF-
215 15A
SRO5AB1FR 05AF2 1000
700W
(0 93H P)
SRO5AB1ERY3 07AE2 1500 14 11
SRO5AB1FRY3 07AF2 1000
100V
50W
(0 07HP)
SRA5AB2ER A5BE2 1500 0 3
5LF-
205A Single-
phase,
200VAC
class
5A
SRA5AB2FR A5BF2 1000
100W
(0 13HP)
SRO1AB2ER 01 BE2 1500 0.5
SRO1AB2FR 01BF2 1000
200W
(0 27HP)
SRO2AB2ER 02BF2 1500 0 75 8LF-
210 10A
SRO2AB2FR 02BF2 1000
300W
(0 4OHP)
SRO3AB2ER 03BE2 1500 10 11 LF-
215 15A
SRO3AB2FR 03BF2 1000
Class SEVOPACK
Type CACR-
AC
SERVOMOTOR
Type
USAREM-
AC SERVOMOTOR Detector Holding Brake
Receptacle
Type
L-type
Plug
Cable
Clamp
Receptacle
Type
1-type
Plug
Cable
Clamp
Receptacle
Type
L-type
Plug
Cable
Clamp
200V
SRA5AB1ER A5AE2KB
MS3101A
14S-2P
MS3106B*
14S-2S
MS3057
-6A
MS3101A
20-29A
M531068
20-29S*
MS3057
-12A
MS3101A
14S-6P
MS3106B
14S-6S*
MS3057
-6A
SRA5AB1FR A5AF2KB
SR01AB1ER 01AE2KB
SR01AB1FR 01AF2KB
SRO2AB1ER 02AE2KB
MS3102A
18-10P
MS3108B
18S-10S
MS3057
-10A
MS3102A
20-29S
MS3108B
20-29S
MS3057
-12A
MS3102A
18S-12P
MS3108B
18S-12S
MS3057
-10A
SRO2AB1FR 02AF2KB
SRO3AB1ER 03AE2KB
SRO3AB1FR 03AF2KB
SR05AB1ER 05AE2KB
MS3102A
20-4P
MS3108B
20-4S
MS3057
-12A
MS3102A
20-17P
MS3108B
20-17S
MS3057
-12A
SRO5AB1FR 05AF2KB
SRO5AB1ERY3
07AE2KB
SRO5AB1FRY3
07AF2KB
100V
SRA5AB2ER A5BE2KB
MS3101A
14S-2P
MS3106B
145-25*
MS3057
-6A
MS3101A
20-29P
MS3106B
20-29S*
MS3057
-12A
MS3101A
14S-6P
MS3106B
14S-6S*
MS3057
-6A
SRA5AB2FR A5BF2KB
SRO1AB2ER 01BE2KB
SRO1AB2FR 016F2KB
SRO2AB2ER 02BE2KB
MS3102A
18-10P
MS3108B
18S-10S
MS3057
-10A
MS3102A
20-29P
MS3108B
20-29P
MS3102A
18S-12P
MS3108B
18S-12S
MS3057
-10A
SRO2AB2FR 02BF2KB
SRO3AB2ER 03BE2KB
SRO3AB2FR 03BF2KB
Table 3. 1 List of Standard Combination
*Values at rated load
*Operating charactenstic (25°C) 200% 2s or more, 700% 0 01s or more
*Made by Token Corp
Table 3.2 Characteristics of AC SERVOMOTOR,
Detector and Holding Brake for Standard Combination
*Straight plug

4. CHARACTERISTICS
4. 1 OVERLOAD CHARACTERISTICS
The overload protective circuit built in SERVOPACK
prevents the motor and SERVOPACK from over-
loading and restricts the allowable conduction
time of SERVOPACK. (See Fig. 4.1.)
If the allowable power-on time during motor
locking is maximum, the higher the motor speed
is, the quicker the motor responce to the same
overload.
The overload detection level is set precisely
by the hot start conditions at an ambient tem-
perature of 55°C and cannot be changed.
NOTE
Hot start is the overload characteristics when the
SERVOPACK is running at the rated load and thermally
saturated
1000
100
OPERATING
TIME
(s)
10
1
07100
N=0 r/mun
(AT MOTOR
\LOCK
N= 3000 r/min
(AT RATED
\SPEED )
200 300
MOTOR RATED CURRENT (%)
Fig 4 1 Overload Characteristics
4. 2 STARTING AND STOPPING TIME
The starting time and stopping time of SERVO-
MOTOR under a constant load is shown by the
formula below. Viscous or friction torque of
the motor is disregarded.
Starting Time:
tr = 104.7 x NR (hi +
Stopping Time:
Kt ht (a- /3)
NR (JM
tf= 104. 7 x (ms)
Kt IR (a-t-fl)
( ms)
Where,
NR Rated motor speed (r/min)
JM :Motor inertia of motor(kg.m2 x10-4= lb•1n2)
JL :Moment of inertia of motor ( kg • m2 x10-4= lb. in2 )
Kt: Torque constant of motor (N•m/A)
tit : Motor rated current (A)
=Ir //R :Accel/decel current constant
Ir.
=
IL :
Accel/decel current (Accel/decel current cr
times the motor rated current) (A)
IL /IR :Load current constant
Current equivalent to load torque
(Load current /3 times the motor rated
current) (A)
MOTOR
ARMATURE
CURRENT
MOTOR!
SPEED
Fig. 4.2 Timing Chart of
Motor Armature Current and Speed
(Constant Load)
TIME
TIME

4. 3 ALLOWABLE FREQUENCY OF OPERATION
The allowable frequency of operation is restricted
by the SERVOMOTOR and SERVOPACK, and the
conditions must be considered for satisfactory
operation.
Allowable frequency of operation restricted by
the SERVOPACK
The allowable frequency of operation is re-
stricted by the heat generated in the regen-
erative resistor in the SERVOPACK, and varies
depending on the motor types, capacity, load
GD2 , acceleration/deceleration current values,
and motor speed. If the frequency of opera-
tion exceeds 60 times /min when load inertia Jr,
(GD2L) before the motor becomes rated speed,
or if it exceeds m6+0 1 cycles/min when load
inertia JL (GD2L) = motor inertia JM (GD2M) x m,
contact your YASKAWA representative.
Allowable frequency of operation restricted by
the SERVOMOTOR
The allowable frequency of operation varies
depending on the load conditions, motor running
time and the operating conditions. Typical
examples are shown below. See Par.4.2,"Starting
and Stopping Time" for symbols.
When the motor repeats rated-speed operation
and being at standstill (Fig.4.3).
Cycle time(T) should be determined so that
RMS value of motor armature current is lower
than the motor rated current:
T.1p2 (tr+tf)+Ifts (s)
/R2
Where cycle time(T) is determined, values
Ip, tr, tf satisfying the formula above, should
be specified.
MOTOR
ARMATURE
CURRENT
MOTOR I
SPEED
Fig 4.3 Timing Chart of
Motor Armature Current and Speed
(Restricted by SERVOMOTOR)
TIME
TIME
When the motor remains at standstill between
cycles of acceleration and deceleration without
continuous rated speed running (Fig.4.4).
The timing chart of the motor armature cur-
rent and speed is as shown in Fig .4.4. The
allowable frequency of operation "n" can be
calculated as follows:
n=286.5 x
MOTOR
ARMATURE
CURRENT
MOTOR
SPEED
Kt •IR ( 1 fi'2\
NR GrAi +hi a a3
(times /min )
Fig 4 4 Timing Chart of
Motor Armature Current and Speed
'The motor remains at standstill between
cycles of accel/decel without continuous
`rated speed running
TIME
TIME
When the motor accelerates, runs at constant
speed, and decelerates in a continuing cycle
without being at standstill (Fig. 4.5).
The timing chart of the motor armature
current and speed is as shown in Fig.4.5.
The allowable frequency of operation "n" can
be calculated as follows.
Kt • IR( 1 #2\
n= 286. 5 XNR (Jm +JD a a )
(times /min)
MOTOR
ARMATURE
CURRENT
MOTOR 1
SPEED
Fig 4.5 Timing Chart of
Motor Armature Current and Speed
[The motor accelerates, runs at constant speed,
and decelerates in a continuing cycle without be-
ing at standstill
TIME
TIME

4.4 SERVOMOTOR FREQUENCY
Motor Type
USAREM—
Allowable
Radial Load
N(lb)
Allowable
Thrust Load
N (Ib)
A5AE2K 78 4 (18) 39 2 (9)
01 AE2K
02AE2K 245 (55) 98 (22)
CI3AE2K
05AE2K 392 (88) 147 (33)
07AE2K
In the servo drive consisting of SERVOPACK and
SERVOMOTOR, motor speed amplitude is restricted
by the maximum armature current controlled by
SERVOPACK.
The relation between motor speed amplitude
(N) and frequency(f) is shown by the formula
below:
N= 1.52 X
ax Kt X IR
(im + .11.) I ( r/mui )
MOTOR
ARMATURE
Fig 4 6 Timing Chart of
Motor Armature Current and Speed
(Restricted by the maximum armature current)
4. 5 MOTOR SPEED-REFERENCE INPUT
CHARACTERISTICS
Fig.4.7 shows motor speed and input voltage
curve when speed reference input terminals
1CN - 0 and 0 are used. With auxiliary in-
put terminals, 1CN - 0 and © , motor speed
can be set to the rating by adjusting
potentiometer as long as input voltage is within
±2V to ±10V. See Fig. 14.8.
The forward motor rotation (+) means coun-
terclockwise (CCW) rotation when viewed from
the drive end.
RATED
SPEED (+1
I
1
i
I
ti I
02 4 6 -10-8-6
i
INPUT t
VOLTAGE (V)
RATED SPEED( + )
RATED
SPEED I-)
Fig 4 7
Speed-Input Voltage
Characteristics
IIN-B
ADJUSTABLE WITH IN-B
24 6 8 10
INPUT VOLTAGE IV)
RATED SPEED t - I
Fig 4 8
Speed-Input Voltage
Characteristics
when Auxiliary Input
Terminals 1CN-g
and 0 are used
4.6 MOTOR MECHANICAL CHARACTERISTICS
46 1 Mechanical Strength
AC SREVOMOTORS can carry up to 300% of the
rated momentary maximum torque at output
shaft.
46 2 Allowable Radial Load and Thrust Load
Table 14.1 shows allowable loads according to AC
SERVOMOTOR types.
Table 4. 1 R Series Allowable Radial
Load and Thrust Load
•Maximu values of the load applying to the shaft extension
46 3 Mechanical Specifications
Table 4 2 Mechanical Specifications in mm
Accuracy (T I R )f Reference Diagram
Flange surface
perpendicular to shaft ® 0 04
Flange diameter
concentric to shaft 8 0 04
Shaft run out © 0 02
TT I R (Total Indicator Reading

46 4 Direction of Rotation
AChannel A output KChannel U output
BChannel A output LChannel U output
CChannel B output MChannel V output
DChannel IT output NChannel V output
EChannel Z output PChannel W output
FChannel 7 output RChannel W output
GOV S —
H+5VDC T —
JFrame ground — —
AC SERVOMOTORS rotate counterclockwise (CCW)
when viewed from the drive end when motor and
detector leads are connected as shown below.
Fig 4.9 AC SERVOMOTOR
(1) Connector Specifications
(a) Motor receptacle
•Standard
•With brake
(50W 0 07HP )
100W. 0 1 3HP)
APhase U
BPhase V
CPhase W
DFrame Ground
APhase U
BPhase V
CPhase W
(200W, 0 27HP) (500W 0 67HP) \300W040HP)\700W093HP) D
E
Brake terminal
FFrame Ground
(b) Detector receptacle
46 5 Impact Resistance
When mounted horizontally and exposed to vertical
shock impulses, the motor can withstand up to two
impacts with inpact acceleration of 50 G (490 m/s2)
(Fig 4 10)
NOTE
Aprecision detector is mounted on the oppsosite-dnve
end of the AC SERVOMOTOR Care should be taken
to protect the shaft from impacts that could damage the
detector
VERTICAL
HORIZONTAL
Fig 4 10 Impact Resistance
46 6 Vibration Resistance
When mounted horizontally, the motor can withstand
vibration (vertical, lateral, axial) of 2 5 G (24 5 m/sz)
(Fig 4 11)
VERTICAL
Iniii AXIAL
LATERAL
NIHORIZONTAL
Fig 4 11 Vibration Resistance
46 7 Vibration Class
Vibration of the motor running at rated speed
is 15pm or below (Fig.4.12).
POSITION FOR
CHECKING VIBRATION
Fig. 4 12 Vibration Checking
—12 —

5. CONFIGURATION
5. 1 CONNECTION DIAGRAM
•FOR 200V • FOR 100V
POWER SUPPLY POWER SUPPLY
200 TO 230V -112t 100 TO 115V Ilgt
50/60Hz 50/60Hz
RI T
1MCCB )
Prevent external noise with a noise filter
Use relays highly reliable in
contact (Yaskawa Bestact
relays or equivalent or arrange
in two contact parallel connec
bon for low level)
NOISE FILTER
SPEED
REFERENCE
:
+
Connect the output relay surge absorbing diode with the correct polarity
+24V_±1V (If connection is wrong output transistor is damaged)
(SUPPLIED BY USER )
Bold lines indicate power lines
(excluding the grounding line)
POWER
POWER ON 5Ry
OFF
1MC
1MC
LEAD LENGTH
3METERS OR LESS
3Ry 5mA
••
4Ry 5mA
4A
4113
-48( 4-12V)
49
46(-12V)
47
5Ry
0—Q
SERVO TROUBLE
INDICATION
SERVOPACK
TYPE
CACR-SR
MAIN
CIRCUIT
TERMINALS
41
-38
SERVO \
ALARM/
39
1MC
1SUP
Y4
EXAMPLES OF INDICATION
MAGNETIC CONTACTOR
FOR POWER ON/OFF(See Table 3 1)
Be sure to fit a surge suppressing
device to both the magnetic
contactor and the relay
Must be securely
grounded
MOTOR
OPTICAL
ENCODER
LEAD LENGTH
20 METERS OR LESS
CONNECTING CABLE
YASKAWA DRAWING
No DP8409123 OR
No DE8400093
Be sure to perform terminal treatment
of shielded cable
Fig 5 1 Example of Connection Diagram of SERVOPACK
with a SERVOMOTOR and Peripherals