Yuhai Sg-as series User manual

.....

-·

-

--

__;-

SG-AS

**

Series

AC

Servo

Drive

SERVOPACK

with

Analog

Voltage/Pulse Train

References

Product

Manual

Model:

SG-AS

D:IIJ

Using This Manual

+Technical Terms Used in This Manual

T'1e

•;,

owr>g

term

Term

Servomoto;

R_· _.,

Ser.~,.,:,:or

S~r;c

S,stc,.,

tla!>e

bock

t88

se"'o

c <

'.';1rC·:u:Cabe

Meanrng

SY

'S::.'es

Rota~

Scrvomct::r

A genenc :erm ..sed

tor

a

SG,AS

SE'

·es

Rcmry

Servo~otor

(

60SY

80SY

90SY.tt

OSY,

t30SY

•SOSY'

SG

SEne~SG·AS

Servo

Amp

~er

"·

:r

""<log Votage

P.

se2:!_

~

Retererces

T>le

.!;rro.na!IOI' of a

Servcrrr~

a'Kl

SE'RvOPACK

A

servo

cortro

sys•em tna• "\C

uaes

the

comb

rat

on

o•

a Servo [)rive

Nlti"

a

i"'st

ccr.tro er

d

~:e·

pnera

devces

Supp2..

og

pc'>Wer

•o the

~ottlr

~-:

suppyog

pe,wer

to

the motor

Shdtrl"g

ocF

:he

pawer

suoo,

to

'"e

"'10tor

t1

snuttrng

OFF

tnebase

cur<e~:

to

the power

trars

star

II"

the

SERVOPACK.

A s·a:e n wnrcr

me

~o·or

rs

s:ocoed and

rs

~a

post

en

ooo

,,

:~a

pos.tron

"fl'ererce

cf

0

- - ---

One

of

:-e

cab

es

!hat

conrec:

:o

t"e

marn c

rc~o

• :ermrna s. ,,.,cud ng the

Mar~

Crrcu t Power

Suopy Cao

e.

Cor•ro Power

Scpp,

Gab

e.

and Servomotor Mar

Crrcu.~

Cabre.

• Notation Used in this Manual

• Notation

for

Reverse Signa s

The names

of

reverse

s1gna

s ( e

..

ones that are

var.d

when ow)

are

wntten

w1th

a forward

sash

(I)

before the

s1gna

abbreviation.

Notalion Exampe

BK

is

wntten as /BK.

• Notation

for

Parameters

The notaliondependson whether the parameter

reqUJres

a numeric

sett1ng

(parameter for numenc

sett:rtg)

or

reqUJres

the select

JOn

of

a function (parameter for seecling functions).

• Parameters for Numenc Settmgs

Parame

ters

for

Se

ecling

Functions

Pa-ame«•

n.DODD I

The

o.bsouto

encode<

asusod

as the absoutovauo

fdefcaJ

t

....n.ng,

encodet.

abso

ute

va

ue

data

sena

output I

-~~....;;;;;;,Mann:rementalooOCXXleo

-.

-l

M..-~

~

Tho

o.bso

uto

encode<

as

used

u tho abso

ute

va

uo

enc:odet.

do

noc

make

atsoute

vaue

data outpu1:.

Nota

bon

Examp

e

ThonotaW1

'n

DDDD

"""""'''""

parametlffor

•eetng

f\.n::tJons

e..:;:t.C~u~·

~ngtorcnedgl

Th-"""'lCMlnlflOirwnl"

..

,....,.thlll:hltwdc:toc

.,...__.

l't-e'9"C••to2

"Eo

0 0 0 =:

~-~

......

d9t.

from

n.OODX

tre

nght n Pn002

Pn002 •

"""*-

..

181Xrd digll

n.DOXD lrom

..

!!It!InPn002

Pn002 = IJrdcatoo

..

trlrd

d9t

Iron

~

DXDD

tt-e

nght n Pn002

Pn002 = ndocatoo tl"e

fOl6tll

dogl!

"""'

n..X

ODD

hnghtnPn002

I!

~

Pn002 =

n.DOOI

Pn002 =

n.

DDID

Pn002 =

n.OlOD

Pn002-

n.I

DDD

• Visual Aids

NuT'a!CVauoNcCat>cn

~

ndcatoo

!hat

tno

l'nl

dogl!

1rom

tnonght n Pn002

11

set

to

1

rdColoo

.....

tno

I8IXrd

dog~!

lrom

Chlf'!!jt!l.

f'\

PnCX12

·-to!

ndlea1estnat tno trlrd

cf9t

1rom

t!"IO

nght n Pn002

Is

sono

1

nocates-

""'

fou1h

dogl!

lrom

*'-:

·gttnPral2••

~

·

The

follow1ng

aJds

are used

to

JndJCate

certrun types

of

•nfOimatJOn

for

ea51er

reference.

lndoeates precautiOnS

or

restnctJOnS tnat must

be

obsenled

A so tndlcates

aarm

dlslliBYS

and

otner precauoons that

wl

no1

resutn

I'TI8CIWl8

damage

IndiCates

defin~t1ons

of dllfJCu't

terms

or

terms that have

not

been previOUsly

exp

aoned

1n

th1s

manua

.,

ndtcates operattng

or

sentng examples.

IndiCates

sup~ementa

1nformat10n

to

deepen

understandtng

or

usefultnforrnatJOn.

Safety Precautions

+ Safety Information

r1

rt.

•

per~onal

,.,

,,

,

and

~~qu:pment

damage

1n

advance. the followong

sognal

words

are used

to

ondo~.;clte

safety precautiOns

1n

tt>os

document.

The

sognal

words

are used to classofy the hazards

and the degree

of

damage

or

InJury

that

may

occ;r

of

a

product

IS

used oncorrectly. InformatiOn

"1arked

as

shewn

below

os

l"lpor:an: •orsa:ety. Always read thiS ontcr'llatiOr and heed

tre

precaJ-

tlons that are proVIded

[ &

WARNING

I

• lndocates precautoons that,

;I

not

~eeded

could result

on

loss

of

lofe,

senous

onJury,

or

fore.

_j

&CAUTION

• lndtcates precaut1ons that.

1f

not heeded, could result m relat•vely senous

or

m1nor

JOJury,

or

1n

Ire

NOTICE

• lndocates precautoons that !

not

neeoed.

co"ld

result

in

propel1y damage

+ Safety Precaut1ons That Must Always Be Observed

• General Precaut

oons

A DANGER

• Read

and

understand

thos

manual

to

ensure thesafe usage

of

the

product.

• Keep

thos

manual

on

a safe. convenoent

place

so

thatot

can

be

referred

to

whenever necessary.

MaKe sure thatotos delivered

to

the

tonal

user of the product.

• Do

not

remove covers, cables connectors.

or

optoonal

devices

whole

power

os

beong

supploed

to

the SERVOPACK.

There

os

a

r•s<

of

eoectroc

shock, operat•Onal

fa·

ure

of

the product,

or

burnng

WARNING

•

Use

a

power

supply

woth

specofocatoons (num

ber

of phases. voltage, frequency, and AC

type)

that

are

appropnate

for

the

product

"here.sa

nM

of

ourrlllg.

elec~1C

shocK

'-e

•

Connect

the

ground

terrnonals on the SERVOPACK

and

Servomotor

to

ground

po

l

es

accord•ng

to

local eoectncaf

codes

(100

nor

less

tor

a SERVOPACK woth a 220-VAC

power

supply, and tO

U

or

·ess

for

a SERVOPACK

woth

a 380-VAC power supply).

There

sa

nsK

of

etect·.c:

shoe<

or

~re

• Do

not

attempt

to

d•sassemble,

repaor,

or

mod

ty the

product.

There

sa

ns<

off

re

or

!allure.

The warranty

•s

veld for

lhe

procuct

1f

you d•sassembfe,

repaor,

or

mOidofy

•t.

&CAUTION

•

The

SERVOPACK

heat

s1nks, regeneratiVe res1stors, External Dynam1c

Brake

Res1stors. Servo-

motors,

and

other

components

can

be

very

hot

while

power

Is

ON

or

soon

after

the

power

1s

turned

OFF.

Implement

safety

measures. such

as

1nstall1ng

covers,

so

that

hands

and

parts

such

as

cables

do

not

come

1nto

contact

w1th

hot

components.

Th

~fJ

IS a n;k

of

bur ,

ry.

•

For

a

24-VDC

power

supply.

use

a

power

supply

dev1ce w1th

double

•nsulallon

or

reonforced

insulation.

There

os

a

;K

of

oc~nc

shock

•

Do

not

damage

,

pull

on,

apply

excessove force to,

place

heavy

ObJects

on,

or

ponch

cables

There

os

a nsK

of

fa

lure, damage.

or

electnc

shx•.

• Do

not

use

the

product

man

envoronment

that

•s

subject

to

water

, corros•ve

gases,

or

flamma-

ble

gases,

or

near

flammable

matenals.

There

IS

a

nsk

of

electnc

shock

or

fore

• Install

external

emergency

stop

corcu•ts

that

shut

OFF

the

power

supply

and

stops

operatoon

Immediately

when

an

error

occurs

• In locatoonswoth

poor

power

supply

condo

lions.

onstall

the

necessary

protective

devoces

(such

as

AC

reactors)

to

ensure

that

the

mput

power

os

supplied

w1thm

the

spec1hed

voltage

range

.

There

os

a

nsk

of

damage

to

the SERVOPACK.

•

Use

a Noose F1ller

to

monom1ze

the

effects

of

e•ectromagnetoc Interference

Electromcdev1ces

used

noar the SERVOPACK

'nay

be

affected

by

electromagnetiC onterlerence.

•

Always

use

a

Servomotor

and

SERVOPACK

ir

one

of

the

specof1ed combmatoons.

•

Do

not

touch

a SERVOPACK

or

Servomotor

v.oth

wet

hands.

Theoe

os

a

nsk

of

product

fo

ure

• Storage Precautions

~

CAUTION

•

Do

not

place

an

excessove

load

on

the

product

dunng

storage

.

(Follow

all mstructoons

on

the

packages.)

There

os

a

nsk

of

InJury

or

damage.

NOTICE

•

Do

not

onstalt

or

store

the

product

on

any

of

the

followong

locations.

Locatoos

that

aresutljeCt

to

dorect sunllgnt

Locatoos

that

are subjeCt

to

amboen: tempe•atures

that

exceod

product

spectfocatiOflS

Locatoens

that

are subjeCt

to

relatiVe

humd•IES

that

exceed

prOduCt

specofoca:oens

Locatoos

that

are subjeCt

to

eondensat•on as the result

of

extremechanges In temperature

Locatoons that are subject

to

corrosove

or

llarrmable

gases

Locatoos

that

are near llammable matenals

Locatoos

that

are subject

to

dust.

salts.

or

oron

powder

Locatoons

that

are subjeCt

to

water,

col,

or

chemicals

Locatoons

that

are subteet

to

vtbratoon

or

shock

that

exceedS

product

specdica:.oons

LocatiOns that are subjeCt

to

radoatoo

L Ifyou store

or

mstall

the

product

In

any

of

the

above locatiOns,

:.,e

product

may

faol

or

be<l3maged

----------------------------~

iii

iv

• Transportation Precauttons

~

CAUTION

•

Transpon

the

product

1n

a

way

that

1S

SUitable to

the

mass

of

the

product.

•

Do

not

use

the

eyebolts

on a SERVOPACK

or

Servomotor

to

move

the

machine.

There

1s

a nsk

of

d:

nage

:'r

•n,ury

• When you

handle

a SERVOPACK

or

Servomotor.

be

careful

of

sharp

pans,

such

as

the

corners

Tnere

1S

a

ns'<

of

•"JUry.

•

Do

not

place

an excess1ve toad

on

the

product

dunng

transponatoon. (Follow all

~nstructoons

on

the

packages.)

Tnere

1s

a nsk

of

tnjury

or

damage.

NOTICE

•

Do

not

hold

onto

the

front

cover

or

connectors

when

you

move

a SERVOPACK.

Tnere

IS

a

•1s~

of''

SERVOPACK

'aJLng

• A SERVOPACK

or

Servomotor

1s

a

prec1s1on

devoce

Do

not

drop

11

or

sub,ect

11

to

strong

shock.

Tnere

<S

a

s-

of '

re

or

aamage

• Do

not

subtect

connectors

to

shock.

There

1S

a nsk

of

faulty connectiOns

or

damage.

•

If

d1S1nfectants

or

1nsect1codes

must

be

used

to treat pack1ng matenals such

as

wooden

frames.

plywood.

or

pallets.

the

packong matenals

must

be

treated

before

the

product

IS

packaged,

and

methods

other

than fumogatton

must

be

used.

Example

Heat

treatment,

where

matenals

are

k

ln-dned

to

a

core

temperature

of

56

C

for

30

mmutes

or

more.

If

tne

e1ectron1c

products, whiCh onclude stand-alone

products

and

products

1nstalled

1n

mach1nes.

are

packed

w1th

fumogated wooden matenals. the etectncal components may

be

greatly damaged

by

tne

gases

or

fumes

resu~_ng

from

tne

fullliQattOO

process. In pan1cular, d1Stnfectan:s contantng

halogen.

whoch

1ncludes chlnr1ne. ftucrtne, brom1ne,

or

ocKMe

can

contr1bute

to

the

eros10n

ot

the

capac.:ors.

•

Do

not

oven1ghten

the

eyebolts

on

a SERVOPACK

or

Servomotor

.

•!

you

use

a tool to

oven~ghten

the

eyebolts,

the

tapped holos may be damaged.

• Installation Precautions

~

CAUTION

• Install

the

Servomotor

or

SERVOPACK

1n

a way that

Will

suppon

the

mass g1ven in techntcal

documents.

• Instal SERVOPACKs.

Servomotors

. regenerat1ve res1stors.

and

External Dynam1c Brake Resis-

tors

on

nonnammable

matenals

lnstalattOO d•rectly

1t0

or

near

~.;mmable

matera

nay

r~

.ult

on

ftr~.

• Provode

the

spec1foed

clearances

between

the

SERVOPACK and

the

control

panel

as

well as

wtth

other

devices.

There

1S

a

nsk

o1'

(&

,

fa11ure

• Install

the

SERVOPACK

1n

the

specof1ed onentat1on.

There

1S

a

nsk

of

f•re

or

fa1ture.

• Do

not

step

on

or

place

a

heavy

obtecl

on

the

product.

futre

1s

a nsk

of

fBtlure, damage,

or

1n1ury.

•

Do

not

allow

any fore1gn

matter

to

enter

the

SERVOPACK

or

Servomotor

Th

~~

s a

~~

of

f •

CY

fire

•

Do

not

Install

or

store

the

produ

ct

1n

any

of

the follow•ng

locations

Locatoos

that are sub,ect to dlfect sunlight

Locations tnat are

sut>rect

to

amboent temoe<a!ures that exceed prOduct specrhcatiOils

Locat•ons that are sut>,ect to relative humodt es that exceed product specifiCations

Locat•ons that are subtect to

condensatoo

as the result

of

extreme changes

•n

temperature

LocatiOns that are sub,ect

to

corrosNe or

flammable

gases

Locations that are nearflammable matll<l8ls

Locatoos

that are sut>,ect to dust.

sa~s.

or

ron powder

Locatoos

that are

subJeCt

to water, oil, or chemiCals

LC!Catoos that are sub,ect to v'brat•on or shocktnat exceeds product spec•f!Catoos

Locat•-.n• that aresubtect to

rad•atiOO

~you

;tpre or

1nstal

tne product

1n

any

of

theabove

Jocat!Ofls.

theproduct

may

f811

•r

be

damaged.

•

Use

the

product

1n

an environment

that

is

appropnate

for

the

product specifications.

If

you

use the product

1n

an

enwonment

that exceeds product specifiCatiOns. the product

may

faJI

or be damaged

• A SERVOPACK

or

Servomotor

is

a preciSion

de

vice Do

not

drop

11

or

subject

11

to

strong

shock.

There

IS

ansk

of

fa11ure

or

damage

• Always mstall a SERVOPACK

1n

a control panel.

•

Do

not

allow

any

fore1gn

matter

to

enter a SERVOPACK

or

a Servomotor

w1th

a Cooling Fan and

do

not

cover the

outlet

from the Servomotor's cooling fan.

There

•S

a nsk

of

fa•lure.

•

W1ring

Precaut1ons

• Do

not

change

any

w~r1ng

while

power

IS being supplied.

There IS ansk

of

electnc shock

or

•nsu'Y

&

WARNING

•

Winng

and Inspections must

be

performed only

by

qualified eng•neers.

There

IS

a nsk

of

electnc shock

or

product

faJiure

• Check all w1nng

and

power

supplies carefully.

Incorrect wmng or

IOCO<I'ect

~age

appliCatiOn

to

the output c"cu•ts

may

cause

short·c~rcu•t

fa•l·

ures If a Shorl·Circu•t fa•lure occurs as a result

of

any

of

thesecauses. the hold•ng

br<!Jke

Will

not

work.

Th•s

couldclamage the mach•ne

or

cause

an

acc1dent that may result

1n

death

or

•njury.

•

Connect

the

AC

power

supplies to the specifiedSERVOPACK terminals

• Connect an

AC

power supply to the L1 L2 and

L3

term•nals and the L

1C

and L2C term•nals

on

the

SERVOPACK.

There IS a nsk of fa•lure or fife.

•

If

you

use

a SERVOPACK

w1th

the

Oynam1c Brake Handware Opt1on, connect an External

Dynamic Brake Res•stor that

IS

sortable

for

the machme

and

eqUipment spec•f•catJons

to

the

specified terminals

There

•S

a nsk ofunexpected

operatoo,

mach•nedamage. burnlll9.

or

"'JU'Y

wnen

an

emer-geocy

Stop

1$

performed.

v

V1

&CAUTION

~-----------------------

•

wa,t

fO<

at least

sox

minutes

after

turnong OFF the

power

supply (with a SERVOPACK

fO<

a

100-

VAC onput,

waot

fO<

at least

none

mmutes) and then

make

sure that the CHARGE ondocator

,,s

not

lit before startong wonng

0<

mspectoon work. Do

not

touch

the

power

supply termonals while the

CHARGE

lamp

os

ht

after

turnong OFF

the

power

supply

beCause

hogh

voltage

may

stoll

rema'n m

the SERVOPACK.

There

'S

a

IISI<

Of elactiiC

SCOCK.

• Observe the precautoonsand onstructoons

for

w>~~ng

and

t11at

operatoon precosety

as

descnbed

'n

thos

document.

Fa.ll"eScaused

b7

fl<:orrec;

wonng

Of

lflCO!rec: vo•:age

appbcatJOO

n tne Orake

CirCU:t

may cause

tne SERVOPACK :.J :a

••

damage

tile

eq~pment.

or cause

at'

ace

der:

resu:;ing

Ill

deatn

or

InJUry

.

•

Check

the Wiling

to

be

sure

ot

has

been performed correctly.

ConnectO<s and

pon

layoutsare sometimes d,f!erent

for

dofferent

models.

Alwaysconform the

pon

layouts m technocal'

documents

for

your model before operatoon.

"'here

IS

a nsk

o!

fa

lure

or

ma:lunctJon.

• Connect

wores

to

power

supply termonals and

motor

connectoon termonats securely

woth

the

specof,ed

methods

and

bghtenong torQue

"5-

~101en:

•:ghten:ng may ca..so

w"cs

lli'O

:er!T11nat

blocks

to

generate

hea~

duo

to

faulty co•:ae;,

possibly

resuttong

"'

!

re

•

Use

shoelded twosted-pa r caOies

or

screened unshoelded multo-twosted-pa" cables far 1!0

So

g-

nat Cables

and

EncoderCables.

• Observe the fottowong precautoons when wonog the SERVOPACK's

maon

CirCUli

termonals.

Turn

ON

the power supply

to

the SERVOPACK onlyafter all w'nng, 'ncludong the ma.n

corcu~

termo-

~a

s,

nas

~n

comp,eted

Ifa connectO<IS uSed for

the

mall1

Cira;,;

te'lnl~als.

remove tne

maon

CirCU•t

connectO< from theSEA·

VOPACK

oefe<e

you

W118

;

Insert only one

wwe

per

ll'ISE!f11an

hole

"'

me

tnaJn

CirCuit

·ermona1s

'Mler

you nsert a w

•e

. "'13ke sure

:hat

me

conducte<

Wlre

te

g ,

M'~JSkers)

dOeS nc:

CC1"1e

~n:o

cor

lac'will' ad;aceN

wres.

• Install

molded-case

corcuot

breakers and other

safety

measures

10

provode protectoon agaonst

short Ctrcutts

'"

externa~

w1nng

There

IS a

nsk

o~

fire

or

failure

---------~

NOTICE

• Whenever possoble. use the Cables

specofoed

Oy

Yaskawa

If

you

use any othercables. conform the rated

current

and

apphcat,on

enwonment

of

your

model

and

use the

wo11ng

matenats

specofoed

by

Yaskawa

or

eQu,.atent matenals.

• Securely toghten cable

connector

screws and

lock

mechanosms.

lnsuff•oent

IIQ~ten

ng

may

•esuit II'cable

CCMe;!o:s

'alhng

011

du..ng eperatoon

• Do

not

bundle

power

lines(e.g., the

Maon

Corcuot

Cable) and low-current lines

ce.g

, the

VO

Sog-

nat

Cables

or

Encoder Cables)

together

or run them

througll

the same

duct

. If

you

do

not

place

power

tones

and

tow-current lines 'n separate ducts. separate

them

by

at

!least

30

em.

11

L~e

cablesa·e

too

ClOse

to

eacl' other, 'T'a!fu'lC!IOI's

may

occyr

due

:o

n01se

affeclil'lg tne

~w-cur

·

rent

lineS

e Install a

battery

at eother

the

host

controller or

on

the Encoder Cable.

If you

onstall

battenes

bctn

at the host controller and

on

the Encoder Cable

at

the

sar.oe

tllll9,

you

woll

create a

lOOP

ClfCo't between the batte•,es. resultong

'"a

ns~

o~

damageorburn!l'!g

• When connectong a battery, connect the ootanty correctly

Tnere

•s

a risk of battery n.ptU'e

or

encoder

fru

ure.

_____

J

•

Oper

a

t1on

Precaut1ons &

WARNING

• Before start1ng operation

w1th

a machtne connected, change

the

sett1ngs

of

the sw1tches

and

parameters

to

match

the machtne.

Unexpected mach•neoperat100.

f&JitJre.

or

persona'

•nJury

may occur f

operat1011

;;tarted before

appropnate sett•ngs are made

•

Do

not

rad•calty

change

the

settmgs

of

the

parat'leters

Th8"•

a

n-L

1'

un• table operatiOn,

mach

ne

damage.

or

lllJU'Y

• Install

hm1t

sw•tches

or

stoppers at the

ends

of

toe mov.ng parts

of

the

mach1ne

to

prevent

unexpected acc1dents

There

rs

a

r111k

of mac.hrne damage or

InJury.

•

For

trial operation, securely mount the Servomotor and disconnect

it

from the machine.

There

is

a

rrsk

of

1n1ury

• Forcing the

motor

to

stop

for

overtravells

d1sabled when

the

Jog

(Fn002),

utility

function

1s

executed. Take necessary precautions.

There

1S

a

r•

ik

1f

maeh1oe

damag~

...,,

n1

ury.

• When

an

alarm

occurs,

the Servomotor will coast

to

a

stop

or

stop

w1th

the dynam1c

brake

accordrng

to

the SERVOPACK Opt1on

and

setlmgs. The coasting d1stance

Will

change

w1th

the

moment

of

1nert1a

of

the

load and the resistance of

the

External Dynam1c Brake Res1stor

Check

the

coasting d1stance

dunng

tnal operation a

nd

Implement su1table

safety

measures

on

the

mach1ne.

•

Do

not

enter

the

machine's range

of

motion

dunng

operalien.

The<e

a n

,k

of

Injury.

•

Do

not

touch

the mov•ng

parts

of

the

Se<vomotor

or

mach•ne

dunng

operat•on

ThereIS a

<1sk

of

Injury.

Lt.

CAUTION

• Oes•gn the

system

to

ensure safety even when problems,

such

as bnoken s•gnal lines, occur.

For

example,

the

P-OT

and

N-OT

s•gnals

ar

e

set•n

the default

set11ngs

to

operate

on

the safe

s•de If a

s•gnallme

breaks.

Do

not

change

the polanty

of

th•s

type

of

srgnal.

• Whenovertravel occurs. the

power

supply

to

the

motor

•s

turned

OFF and the brake Isreleased

II

you

use

the

Servomotor

to

dnve

a vertical load, set

the

Servomotor

to

entera zeno-clamped

state after the

Servomotor

stops. Also, Install safety

devices

(such

as

an external brake

or

counterweight)

to

prevent the mov1ng parts

of

the mach•ne

from

falling.

• Always turn OFF the servo before

you

turn

OFF

the

power

supply. II

you

turn OFF the main cir-

cuit

power

supply

or

control

power

supply

during operat1on before

you

turn

OFF the servo, the

Servomotor

w1ll

stop

as

follows:

II

you

turn OFF the ma•n

c~rcu•t

power supply dunngoperatton w•thout turn•ng

OFF

the

S(WO,

the

Se<vomotor w•" stop

abrupty

w•th the dynamrcbrake

If

you

turn OFF the control power supply wrtttout tumlllQ

OFF

the servo. thestopp.ng method that rs

used

by

the Se<vornotor

depends

on

the

model

ofthe SERVOPACK. Fordetails, refer

to

themanual

for the SERVOPACK

If

you

usea SERVOPACK wrth the DynamiC Brake Hardware Opt

ron

, the Se<vornotor stopptng

meth·

ods

wtll

be

dtfferent from the stopptng methods

Jsed

wrthout theOpttOn

or

wrthother Hardware

OpttOn~

For

deta~s.

refer

to

the E-7-Senes AC Selva Dnve E

7SIE-7W

SERVOPACK w,th DynamiC

Brake

H<

rdware

OptiOfl SpeofiCBtiOfls

Product

Manual.

•

Do

not

use the dynamiC brake

for

any

application other than an emergency stop.

There

•s

a

risl<

of fali\Jre oue

to

rapod delenoratlonofelements

"'

L'le SERVOPACK and

the

ns1<

o•

unexpectl'ldoporatton

mactw>t

damage

,

D<.mong.

or

lllJU'Y

vi

I

-~j

NOTICE

• When you ad1ust the

ga1n

dunng

system

comM,ss,on,ng. use a measunng 1nstrument

to

momtor

the

torque waveform

and

speed waveform and conf,rm

that

there

1s

no

v1brat•on.

Ha Ng'l

ga

causes

Vlbra:oOI',

theSeNOmotor

"'I

oe

da"laged

QUICKly.

•

Do

not

frequently

turn

the

power

supply

ON

and

OFF.

After

you

have started actual operat1on,

allow at least one

hour

between turn,ng the power

supply

ON

and OFF tas a gu•deime).

Do

not

use

tne

product

•n

apphcat,ons that

re~UIIe

the

power

supply

to

be

turned

ON

and OFF

freque,!ly.

Tre

eements ,

the

SERVOPACK w

dettlOCYate

QUIC•.Iy

• Maintenance and lnspect1on Precautions

A DANGER

•

Do

not

change

any

w•nng wh1le powe<

•s

be.rg

supp

•ed

There

.sa r.sk of e;ectnc

Shock

or

11\'U"')'

•

.&.

WARNING

•

W1nng

and mspect•ons must be performed only

by

qual,f•ed eng•neers

"here

sa

risk

o!

elt-c!X

shoe< or product

'a

...

·e

.&.

CAUTION

•

Wa1t

for

at least

s1x

m1nutes

after

turn1ng OFF the

power

supply

(w1th

a SERVOPACK for a

100-

VAC Input, wa•t

for

at least

n1ne

minutes) and then

make

sure that

the

CHARGE

indicator

IS

not

ht

before start1ng

w~r~ng

or

mspechon work. Do

not

touch the

power

supply

terminals

wh1le

the

CHARGE

lamp

Is

lit

after

turn1ng OFF the pov.er supply because

h1gh

voltage

may

stdl remam

1n

the SERVOPACK

There

IS a

f'Sk

ore

ec:nc shock.

• Before

you

replace a SERVOPACK,

back

up

the

sen,ngs

of

the SERVOPACK parameters

Copy

the backed

up

parameter settings

to

the new SERVOPACK

and

conf~tm

that

they

were

cop•ed

correctly.

If

you

dO

nc:

copy

bacKe<l

up

parametersen.n£S or I tne

copy

operation

IS

not cornolete<l nor"la,ty.

normal operatiOn

may

not be

POSS10ie,

poss•bly resulting

'"

mach•ne

or

eou,pment damage.

NOTICE

• Otsc:harge all stat•C e ectnc•ty from your body

before

you

operate

any

of

the

butlons

or

swttches J

ms•de the front

cover

of

the SEAVOPACK.

There

IS

o nsk of

eQU1pmeot

damage.

• Troubleshooting Precautions A

DANGER

• If

the

safety

device

(molded-cas

e

CirCUit

breaker

or

fuse) InStalled

on

the

power

supply

lone

oper-

ates,

remove

the

cause

before

you

supply

power to

the

SERVOPACK again.

If

necessary,

repa~r

or

replace

the

SERVOPACK,

check

the

wonng,

and

remove

the

factor

that

caused

the

safety

devoce

to

operate.

1,_

There

os

a

nsk

of

fire

e_lu.,;_ctr,;•c_s;_h,;oc.,;_k;,.'

o;,.r_';..."

:.:iu

-'

ry..:..

_

___________________

_j

&

WARNING

• The

product

may

sudde~ly

stan

to

operate

when

the

power

supply

os

recovered

after

a

momen-

tary

power

onterruphon. Des•gn

the

mach

one

to

ensure

human

safety

when

operat•on res

tans

There s a

nsk

of

n1ury

&

CAUTION

• When an alarm

occurs,

remove

the

cause

of

the

alarm and ensure safety. Then reset

the

alarm

or

turn

the

power

supply

OFF and ON again

to

restan

operatoon.

There

IS

a risk

of

101ury

or

mach•nedamage.

•

If

the

Servo ON s•gnal

IS

inpu

t

to

the

SERVOPACK and

an

alarm

IS

reset.

the

Servomotor

may

suddenly

restartoperatoon. Conform

that

the

servo

•S

OFF and

ensure

safety

before

you

reset

an

alarm

There

•S

a nsK

of

•OJUry

ormachine

damage

•

Always

onsert a

magnehc

contactor

•n

the

hre

between

the

ma•nc•rcuot

power

supply

and

the

ma.n

corCUit

power

supply

te~onals

on

the

SERVOPACK

so

that

the

power

supply

can

be

shut

OFF

at

the

ma•n

corcuot

power

supply.

Ifa magnetiC

contactor

os

not

connected when

the

SERVOPACK fails. a largecurrent may flow.

poss1bly resultong

on

fore

.

•

If

an alarm

occurs,

shut

OFF

the

maon

corcUI:

power

supply.

There

is

a nsk

of

fife

due

to a regeneratove

resstor

overheat•ng as the result

of

regenerat"'e transls·

tor

faolure.

• Install a

ground

fault

detector

aga•nst

overloads

and shon-corcUihng

or

onstall a

molded-case

c•rcuit

breaker

comb<ned w1th a

ground

fauH

detector

.

There

IS

a riSk

of

SERVOPACK failure or fire

~a

ground

fault

occurs

• The hold•ng

brake

on

a ServornotOif w

II

not

ensure safety

1f

there ••

the

poss1bt •ty

that

111'1

exter-

nai force (onclud•ng grav•ty)

may

move

the

current poSitton and

create

a hazardous s•tuatoon

when

power

os

onterrupted

or

an

error

occurs.

If

an

external

force

may

cause

movement

, onstall

an external brakong

mechanism

that ensures

safety

.

• Disposal Precautions

• When dosposing

of

the

product.

treat

ot

as

ordonary ondustrlal wasta. However. local

ordinances

and

national

laws

must

be

observed.

Implement

alllabehng

and warnongs as a

tonal

product

as

required.

• General Precautions

• Fogures proVIded

on

th•s

document

are

typocal

examples

or

conceptual

representatoons There

may

be dofferences

between

them

and actual wonng, corcuots.

and

products.

• The

products

shown

on

ollustrahons

on

th•s

document

are

somettmes

shown

w1thout

covers

or

protectove

guaords

Always

replace all

cov

e

rs

and protectove

guards

befOife

you

use

the

product.

•

If

you

need

a

new

copy

of

thos

document

because

ot

has

been

lost

or

daomaged.

contact

your

nearest YUHAI representat1ve

or

one

of

the

offices

listed

on

the

back

of

this

document.

• This

document

os

subtect

to

change

wothoutnotoce for

product

Improvements, spectfiC8t•ons

changes,

and

omprovements

to

the

manualo:self.

We w•ll

update

the

document

number

of

the

document

and

Issue

rev•SIOOS

when

changes

are

made.

•

Any

and all

quahty

guarantees

provoded

by

YUHAI are

null

and

vo•d

of

the

custome< mod•f•es

the

product

in

any

way. YUHAI dosavows

any

responstbt~ty

for

damages

Olf losses

that

are

caused

by

mod1f1ed

products

ix

Contents

About

th1s

Manual

............•....

.....

..•........•.•.

....

.......

1

Outline

of

Manual

.....•.

•

...............

.

.............•.

.....

. .

..

11

.................

....

..•..........•....

..

......

iii

Using

Th1s

Manual.

. . . . . . . . . . . . . . . . . . . . . . . • . . . . . . . . . . • . . . . . . . . . . . w

Safety Precautions

.................

....

..........................

v

Warranty

.....................................................

.

Compliance

with

UL

Standards, EU Directives,

and

Other

Safety

Standards

...

XI

o B

asic

Information

on

SERVOPACKS

Ill

The SG-

AS

Series · ·.-

..

-.-

..

-

..

-.-

..

-..-.-

..

-

..

-.-..-

..

-.-

..

-

..

-.-..-

..

-.···

02

lfl

Pa

rt

Names·· ···· ···· ···· ······ ·· ····· ····· ····· ·· ··· ····

02

IEJ

M

odel

De

sig

na

ti

ons

-· ··.·· ··· ··· ·· ··· ·· ··· ·· ··· ······· ··

03

Dl

SE

RVOPACK

Overload

Protection

Characteristics··············

04

Ill

Specifications ·· ····· ·· ··· ·· ··· ··· ·· ··· ·· ··· ···· ··· ·· ·

04-05

Ill

External

Dimensions··································

06-07

a SERVOPACK

Installation

fJI Installation

Pr

ecautio

n

s·

· ·· ····· ···· ··· ·· ··· ·······

....

..

09

m

Mount

ing

Typ

es

and Orie

nta

ti

on

·· ···· ···· ··· ·· ······ 10

fJI M

oun

t

ing

nt

erva

.......

.

.....

..

.........................

10

2.3.1

nsta

1n9

One

SERVOPACK

in

a Contro Pane

2.3.2

nsta ing More Than One

SERVOPACK

tn

a Contro Pane

10

11

• Wiri

ng

a

nd

Co

n

necti

ng SERVOP

AC

Ks

Ell W

iri

ng and Conn

ec

ting

SERVOPACKS

·.

· ·· ·

··

.....

·

13-15

3.

1.1 General Precauttons 13-14

3.

1.2

Countermeasures agatnst

N01se

. .

..

.. ..

. .

...

15-16

3.1.3

Grounding 17

Ell

Basic

Wiring

Diagrams

..................

··

.............

18

EIJI

Wiringthe Power Supply

to

the

SERVOPACK

·· ·· ··· ···· ····

19

3.3.1

Ter

mtnal Symbols and Terminal Names 19

Ell Wiring Servomotors

...

·· ·· ··· ·· ···· ··· ··•·· ·· ··· ···

20-21

3.4 1 Term

tn

al Symbols and

Term~nal

Names

3.4.2

Ptn

Arrangement

of

Encoder Connector

(CN4)

3.4.3 Wtnng the SERVOPACK to

the

Ho

ldtng Brake · . .

20

21

Ell 1/0 Signal Connections·· ···· ···· ··· .·.·· ·•··· ·· ·· ·

22-29

3.

5.1

1/0 Stgnal Connector

(CN1

) Names and

Functtons

3.5.2 1/0 Stgnal Wtnng Examples

..............

22·23

..

24-26

3.5.3 1/0 CircUits

.....................

27-29

Basic

Functions

That Require

Setting

befor

e

Oper

a

tion

Ill

Manipulating Parameters

(PnDDD)

····· •··· ·· ··· ·

31-37

4.1.1 Notat1on for Parameters

4.1

2 lmttaltzmg Parameter Settt

ngs

31

..

31

lfl

Control Method Selection

-··

.....

·

..

·.······

.........

32

Ill

Automatic Detection

of

Co nnected Motor

-·.··

.........

32

Ill

Functions

and

Settings

for

the

/S-ON

(Servo

ON)

59lal

····.. ·

....

...

32

4.4.1 FunctJon

of

the

/S-ON tServo ON) Signal

32

IJI

Motor

Direction Setting

.................

.

....•....•.....

33

Ill

Overtravel and Related Settings

.··········

·

···········

34

4 6.1 Overtravel Stgnals ....

34

4.6.2 Setttng to Enable/Dtsable Overtravel .... · · . .. .. .. .

34

Ill

Holding Brake······· ······ ·· ···· ·.· ·.·. ··· ··· ·······

35-36

4.7.1

472

4.7.3

4.7 4

Brake Operattng Sequence

/BK (Brake) Stgnal

Output

Tim~ng

of

IBK

(Brake) Stgnal When

the

Servomotor Is Stopped

Output Timing of /BK (Brake) Stgnal When the

Servomotor IsOperating.

35

36

Ill

Electronic Gear Settings... .. ......... ... .. ... .......•.. . 37

4.9.1 Electronic Gear Ratto Setttngs .. .. ... .. ·· ··· ·· ·· ··

•·

.. 38

4.9.2 Electrontc Gear Ratto Setting Examples 38

llliJ Resetting the Absolute Encoder························· 39

4.

10.1

Precautions

on

Resetting

4.10.2 Preparattons

4.10.3 Applicable Tools

39

0

Appli

cation Funct

ion

B1

1/0

Signal Allocations ...

....

.

..

. . . 42-46

•..

42-435.1 1

Input

Signal

Allocations

•

..

•.

• •

5 1 2

Output

Signal

Allocations

•• • .. • • • • • • . • • . . • 44

5.1 3

ALM

(Servo

Alarm)

Signal

5.1.4 I'TGON

(Rotation

Detectoon)

Signal

5.1

5 IS·RDY

(Servo

Ready)

Signal

•. •

Ill

Operation

for Momentary

Power

Interruptions

•

•.•••

45

4&

•

46

47

Ill

Speed C

ont

rol

.......

.

..............

. 58-64

5 3.1

Basic

Settongs

for

Speed

Control

•

5.3.2

Soft

Start

Settongs . . • • . . • •• • •

•••••

•

5.3.3 Speed Reference Folter

••

5.3.4

Zero

Clampong

48

..

51

.

••••••••

51

52

5.3.5

!V·CMP

(Speed

Coincidence

Detectoon) Sognal 54

Ill

Position

Control

......

..

.

..

....

...

. . . . . . . . . . 55-58

5.4.1

Basic

Settings

for

Position

Control

.55

5.4 2

CLR

(

Pos

it

io

n

Deviation

Clear

)

Signal

Function

and

Settongs • • • • • • 56

5.4.3

Smooth

ing

Settings

5.4 4 /COIN (Po

sitioning

Completion)

Signal

5.4 5

Reference

Pulse

Inhibition

Function

........•

..

57

.58

•....•...•......

58

Ill

Torque

Control

...

..........

...

..

.

....

. 59-

61

5.5.1

Basic

Settongs

for

Torque

Control

.59

5.5

2

Adjusting

tho

Torque

Reference

Offsot

• • • • .. • • • • • • . . . .

....

..

.60

5.5.3 Speod Limot

during

Torque

Control

•••••.

61

m

Encoder

Di

vided

Pulse

Output

• • • • •• "'-''

-'-

'

-'-

' _6=2

'-

-63

.:=..=;_

5.6.1

Encoder

Dovoded

Pulse

Output

Signals

.62

5.6.2

Setting

for

tho

Encoder

Divided

P

ulse

Output

...

..

...

63

Ill

Internal

Set Speed

Control

62-65

5.7.1

Input

Signals

for

Internal

Set Speod

Control

64

5.7 2 Settong tho

Control

Method

to

Internal

Sot

Speed

Control

• 64

5 7.3

Settings

for

Internal

Set

Speed

Control

• • .

.•

• .

•••••.

•

••.

65

5.7.4

Changing

Internal

Set

Speeds woth

Input

Signals

.

...

. .

..

...

.

....

65

D Selecting

Combined

Control

Methods

.. . . . . . •

66-67

5.6.1 Settong

PnOOO

•

n.DDXD

(Co1trol MothodSelection)

to

4, 5.

or

6 . .

67

Ill

Selecting

Torque

Limits

5 9.1

Internal

Torque

Limits

. . . .

5.9.2

External

Torque

Limits

.

...

..

.

..

.....

..

. 68-73

.68

5

9.3

Limiting

Torque

with

an

A

nalog

Reference

••

, • • • • • • • • •

..

• .70

5.9.•

Limiting

Torque

woth

an

External

Torque

Limit

and

an

Analog

Voltage

Reference

..

.....

...

.

....

•

..

71

5.9.5 I

CLT

(T

orque

Limit

Detection)

Signa

l

...

..

. , , • , • . • . . . • . . .73

11m

Absolute

Encoders

. . ._._._. _._._._._._._._._._._._._._._

5

10

1 SEN

Signal

Connection

...

5.10 2

Option

Of

Absolute

Encoder

.

5.10.3

Battery

Usage

74-77

74

75

5

10

.4

Sand

And

Receive

Sequence

Of

Absolute

Data

...........

, • .

75

0 Main

te

nan

ce

Dllnspectio

ns and Part

Repla

cemen

t

·······

...

....

............

79-80

6.1.1

lnspectoons

6.1.2 GUidelines for Pari Replacement

6.1.3

Replacong

the Battery . .. . ..

79

IIJ

Alarm

Displays

..

.

....

.

.......

.

........

.

..

...

.

...

.

..

. .

..

81-87

6.2.1 List ol Alarms

6.2.2

Troubleshoo~ng

Alarms •

6.2.3

Resenong

Alarms .

6

.2

.4

Oosplayong

the

Alarm

HoSIO<y

....

o Panel Displays and Panel

Operator

Procedures

...

81

82

87

Ill

Panel

Operator..

..

...

..

.

..

..............

..

.

..

...

..

96-97

7.1.1 Panel OperatorKey Names

and

Functoons

....

oo

••

oo

...

oo oo

7.1.2

Changong

Modes .

oo

..

oo.

oo oo oo oo oo

•

oo

oo oo

.. ..

7.1.3 Status

Oospiays

.

00

•oooo

..

oooo

00 00 00 00 00

00

96

97

Ill

Plnmeter (PrCI:Il

Operations

on

the

P

anel

Operator

· . . •. ••. . •. .

98-99

7.2.1

Sellong

Parameters

That

Re

uore

Numenc

SeCJngS

• •

oo oo

00000000

oo

oo oo

98

7.2.2

Sellong

Pnmeta<s

Thai

ReQwe

Seiecllon

oC

Func:too<.

99

Ill

Monitor

Display

(Un)

Operations

on

1t1e

P

anel

()per@tor

·•••••••••••· 100-102

7.3.1

Bas1c

Mon1tor

01splay

Operations

7.3.2 Input

Sognaf

Mon1

tor (Un005)

7.3.3 Output

Sognaf

Monotor

(Un006)

0 0

00 00 00

....

0 • 100

0 •

00

000

00

0

00

00"

"00

.....

" 101

0 0 0 0

00

..

00

....

00 00

000....

102

Ill

Ut

ifity

F

unction

(F

n)

~

r

anons

on

the

Panel

Operator

···........... 103-109

74

.1

Otsplay

Alarm

Htstory

(

FnOOO

) . 103

742

Jog (Fn002i 104

7 4.3 lntltalize Parameters (Fn005f

00

••

00

0

00

104

7.4.4

Autotune

AnalOg

:

Speed

Torque.

Refe•ence

Offset

(

Fn009

t·

105

7.4.5 Manually

AdJUSt

Speed

Reference

Offset (F

nOOA)

• 105

7.4.6 Manually

AdJUSt

Torque

Reference

Offset (

FnOOB

J·

·

00

106

7 4.7 D.splay Servomotor Model 1F

n011

)·

· 106

748

Ot

Sj)lay

Software

Versoon

(Fn012r 107

74

.9

Mu1

·

tum

IJm

,t

Ser

...

ng

a'!er

M

...

!t

tu

m

Llmn

Otsagreerrer:

t

A

~

arm

t_F

n0

13

t 107

~

Parame

te

r Lis

ts

~~---------------------------------------------

Ill

List

of

Parameters

.....

.

........................

... 109-118

8.11 Interpreting the Para

met

er L sts

81.2 List

of

Parameters. . . . . . . . ... .

00

0

Communica

tio

n

109

. •110

IJII

Communication Wiring.. .... .. ..... ..... ... .... ... .. .. ..

120

ID

User Parameter.. .. .. ... .... ....... ... .. ..... ... ....... .

120

m MODBUS Communiation Protocol ·· ·· ·· · ·

··

·· ··· ··· 121-128

m MODBUS Communi

at

ion Address .

.............

.. 128-129

~~---------------

Internal position control

mode

parameter 131-150

Basic Information on

SERVOPACKs

This

chapter

prov1des

information

requ1red

to seect

SE

RVO

P

ACKs.

such as SE

RVOPAC

K modes

and

combi-

nations w1

th

Servomotors.

..

The SG·AS Series ·· ·· ··· ·· ···· ···

·.

·· ···· ·· ··

02

Ill

Part Names ·· ··· ·· ··· ·· ····· ·· ···· ····· ·· ·· ···02

Ill

Model Designations-·· ··

..

··· ... ... .... .. ... .

03

Ill

SERVOPACK

Overload

Protection

Charactenst1cs·

··

04

Ill

Specifications· · ··· ····· ··· ·· ···· ··· ···· ·· ·

04-05

Ill

External Dimensions· · ·· ····· ··· ·· ···· ·· ··

06-07

01

1.1

SGSenes

Ill

SG

Series

02

TheSG

senes

SERVOPACKs

are

Cles•gned

to·

apphcat.oPs that reqwe frequent h•gh-speed

ana

~gh-prec•s•on

pos•!IOmng

The

SERVOPACK

wtll

ma<e

the most o!

l"'lach•ne

pertormance

1n

the shortest

t1me

poss,ble, thus contnbut,'g to •mproving proouctMty.

TheSG

senes

SERVOPACKs

include SG-AS

SERVOPACKs

for

S1ngle-ax's

control and SG-AD

SERVOPACKs

for two-ax•s control.

Part Names

Motor

term•nals

W1th

Front

Cover

Open

~

FQM

••

-: I

(E

o.

:

Name

Oescnptoon

<I>

Front Cover

~

NaMePlate

__

• IndiCates the SERVOPACK model

and

ra~ng-s.--

(Jl •

1.

~pu:

Vollage

CHARGE

Ut

~e

the

mrunc

rc11

t

power

IS

beng

supplied

N:te

Even

u

ya.

:.n

OFF""'l!'.an

acu:

~

supply.

C'U

ln<kator

wil

be

II

as

lOng

as

tne

lnlemal ce::aator

remU>S

Cllarged.

Do'""

·

oucn

tne

maon

drl:u.:or motor

:"""""""

+

--

-II"$

•NX<lt:>'

IS

1.

Oc'!'!!.!O

I1'V¥j

~I"~

Sl10d<

.

The terrT'Inals

deperd

on

tne man

CIICUit

power

supply

1nput spec1flcat1oos

of

the SERVOPACK.

--ServomotOr

Term,na-ls--

The

connectiOn

ter

minals for

theSel'lomotor

Main

CIICUII

6

~

W

)

__

__Cable

(power

lone)

.

Ground Tilf"'lnaJ

(@l

The ground termnals

to

oreventelectnc Shock.

Al"'ays

connect

~termin

a

l.

___

__

485

Communca11011

8

connectoqCNt.CN

2l

-----

----

9

tO

s.g.,.

Cont>ec:1011CN31

Connects

Ia

reference

"'IJU'

aognaJs

aod sequence I0

aogna1s

tO

EncoderConnector

(CN4)

,._____

11

Panel Otsplay

~

--

• Rotary Servomotor Connects

to

the encooer

1n

the

Sel\lcmotor

•

L1neat

Servomotor: Connects

to

a Senal Converter

Un1t

or

near

t-

encoder.

___

_

__

Used

to

d1splay SERVOPACK status, alarmnumbers. and

t parameters.

12

PanelOoe<ator Keys

-13-Panet

O:leri.tor~~~~~~-

~set

parameters

=

1.2 Pa

rt

Names

Ill

Model

Designation

_s

----~~---~

SG-A

/

B-S

/

D-30-A-F

i

~T

-

'I

I

Flncnmontal

I

M.Aboolu!e

/l.PWe

B AAIIIog

C:comopen

M2

M2Bus

MJ

MJBuo

1.4

SERVOPACK Overload Protection Characteristics

The overload detect1on

1evel1s

set for

hot

sta-t cond•t10ns

w1trt

a SERVOPACK surround1ng a•r tem-

perature

of

SO"C

.

Art overlOad alarm (A.710

or

A.720) will occur

1f

overload operat100 that exceeds

the

over10ad pro-

tection charactenst1cs

shown

1n

the followtng d1agram

~.e.,

operatiOn

on

the

nght

s1d

e

of

the

appli-

cable

hne)

IS performed.

The actual overload detectiOn level wtll

be

the detect1on level

of

the connected SERVOPACK

or

Ser-

vomotor

that

has

the lower overload

pro

tec!Jon

cha

ractenst1cs.

In

most

cases. that will

be

the overload protect1on characterishcs

of

the Servomotor.

10000

-'

l

1000 \

f.'-'-

~""

100

-

10

~

1

lnei'~

m8)QtT'U'n

o.np,A

o.MTrt

..

1~

300

Cotttnna

""'PUP

"""""

~,_,..,""'PUPCII'Wlti

Note

The~

ove<1oad

protectJOn ctl8factenstoes

do

net"-'

!hat you

can

perform

CX>I".:nuout

()..ty

operatOt>

W•th

IWI

OUtput Of t 00'!1,

Of

higher

Fa<

a

YUHIII-$1>8C0f>ed

oombona!IOil

of

SERVOPAQ<

andServomotO<.

tnadlt&n

tile

ol!eotNe

~

w:tw1

the

COflllnuOUS

duty

zone

of 1he IOtQIIe-motO<

speed

chanoc:tens'.JC

o1

tile Senlomctor

03

1.5 1.5 SpecificatioaTable

Encoderfeedbacl<

lncromenlal

e

ncod

er.

2500

P

PR

Standard

oncrementaltype.2500PPR

Sav•no l

•ne

•ncreme'ltal

Serrat

encoder 2

17

't•t

Incremental

encoder 2'7

1216

b•t

Absolute

encoder

~~

SurTOUndongAorTempenoture 0 .

so

c,

Storage

Humodrty:

20

-•

85

(

Env<OOmentai

Surrou'drlgAlrT~

go.

RH rolabve

tu'TIOdoty

max ''

"lh

no freezong

or

condensaiJOn'

Cond•hons Storage

Hum•c!tty

Vtbrallon

Resistance

Shock

Resistance

Structure

Speed

Control

Range

Performance

Speed

response

4

9m.s

2

196m

s'

Base

mountedtype

I

10000

•

AIIhe

rated

torque.lhe

lower

hl1lll

of

the

speed

controlrenge

must

not

cause

the

Servomotor

to

stop •

1KHz

Coetrocoent

of

Speed

=0

01

..

of rated

speed

maxtfor aload nuctuaoon

of

0

~

to1

00..)

FluctuatJono

Load

Change

Coeffcent

of

Speed

Rated

VOltage:::

10

.,.

0

"'

for

rated speed'

FluCIU8t.on

\loltage

Change

I

Coel!loent

of

Speed

F

l

uct~JatiOf\

Temperature

Change

Analog

Speed

Refenance

Voltage

Reference I

nput

Input

Impedance

Cli·QJ•I

Ttme

Constant

Anaog

Torque

Reference

Voltage

R.l.,.,.,.

tnput

lnpullmpedance

SaqJOnOelnput

Sognals

Cueu•t

Tme Constant

"llmber

of

•nput

po.nts

Inpu

t Sognals

That

Can

Be

Allocated

DC

+

tOV

About20K

O

47

f'

S

DC +tQV

Abou120K O

47

..

8poonts

IS

ON

5eM>

ON

sgnao

P

CON

Proportional Control

.Sognai

P-OT

FOfWan:l

Onve

Proh•btt

,

andN

OT·

Reverse

Onve

Protublt

-s.gnats

ALM

RST

Alarm

Reset

s.gnal

P-

CL

'

Focward

ExtemaJ

TorqueLMn~t

,and

N

CL•

Reverse

External

Torque

Umtt

-~n~~ts

CLR

P01-

Dov.abon ClearSognol

l

ntema•

Sat

Speed

Setec:t.on

Sogn.l

A

sognao

can

be allocoted and the -ond negat.ve lOge Can bo Changed

Jo&Jmber

of

output poonts 6 poonts

~nee

Out>utSognais

Input

Sognals

That

Can

Be

Allocalecl

Encoder

Oovodecl

Pulse

Output

04

ALM

RST

Alarm

~eset

sognal

• COIN Pos.looningCompietJon Sognal

• v .

CMP

.Speed Coonadenoa DetectiOn Sognal

• oTGON·Rotat.ort

DeteciiOn

SognaJ

• S

ROY

,Servo R

eady

sogna

• CLT,

Torque

l.JrM DetediOn

Sognal

• j

8K

Bral(e

5ql3f

•

PGC

E

ncoder

Z

e<o

output

Sognal

A

sognal

Can

be allocated and

the

posrove and negatrve

logoe

Can beChanged

PhaseA

phase

S phaseC

Lone

dnver

output

Number

of

dMded

output

pulses

An~

set!Jngosal

-..d

Yuhai SG-AS Series User manual

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