Outline Panel Operator Wiring and Connection Trial Operation Operation Adjustments Utility Functions (Fn) Monitor Displays (Un) Fully-closed Loop Control
1 2 3 4 5 6 7 8 9 10
SGDV SERVOPACK
SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors
Rotational Motor
Analog Voltage and Pulse Train Reference
- V Series
AC Servo Drives
USER’S MANUAL
Design and Maintenance
Copyright
©
2007 YASKAWA ELECTRIC CORPORATIONAll 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, photocopying, 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 con- stantly 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
About this Manual
This manual describes information required for designing, testing, adjusting, and maintaining Σ-V Series SERVOPACKs.
Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application.
Description of Technical Terms
The following table shows the meanings of terms used in this manual.
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
Term Meaning
Cursor Input position indicated by Digital Operator
Servomotor Σ-V Series SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, or SGMCS (Direct Drive) servomotor
SERVOPACK Σ-V Series SGDV servo amplifier
Servo Drive A set including a servomotor and SERVOPACK (i.e., a servo ampli- fier)
Servo System A servo control system that includes the combination of a servo drive with a host controller and peripheral devices
Analog Pulse Model Analog voltage and pulse train reference used for SERVOPACK inter- face
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 current to the power transistor in the current SERVOPACK.
Servo Lock A state in which the motor is stopped and is in position loop with a position reference of 0.
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.
Zero-speed Stopping Stopping the servomotor by setting the speed reference to 0
• Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment.
Notation Used in this Manual
• Notation for Reverse Signals
The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name.
Notation Example BK = /BK
• Notation for Parameters
The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting functions).
• Parameters for Numeric Settings
Notation Example Pn406
Emergency Stop Torque Setting Range
0 to 800 1% 800 After change
Setting Unit Factory Setting When Enabled Classification Setup
Parameter Meaning When Enabled Classification
Pn002 After restart
n.0
[Factory setting]
n.1 Uses the absolute encoder as an incremental encoder.
Uses the absolute encoder as an absolute encoder.
Setup Parameter
number
Parameter number
Position Torque
Control methods for which the parameter applies.
Speed : Speed control : Position control : Torque control
Indicates the parameter setting before shipment.
Indicates when a change to the parameter will be effective.
Indicates the parameter classification.
Indicates the minimum setting unit for the parameter.
Torque Position
Speed
Indicates the setting range for the parameter.
The notation “n.” indicates a parameter for selecting functions. Each corresponds to the setting value of that digit. The notation shown here means that the third digit is 1.
This section explains the selections for the function.
• Parameters for Selecting Functions
1st digit 2nd digit 3rd digit 4th digit
Panel Operator Display (Display Example for Pn002)
Digit Notation Setting Notation
Meaning Notation Meaning
Pn002.0 Pn002.1 Pn002.2 Pn002.3
Indicates the value for the 1st digit of parameter Pn002.
Indicates the value for the 2nd digit of parameter Pn002.
Indicates the value for the 3rd digit of parameter Pn002.
Indicates the value for the 4th digit of parameter Pn002.
Pn002.0 = x or n.x Pn002.1 = x or n.x
Indicates that the value for the 1st digit of parameter Pn002 is x.
Indicates that the value for the 2nd digit of parameter Pn002 is x.
Pn002.2 = x or n.x
Pn002.3 = x or n.x
Indicates that the value for the 3rd digit of parameter Pn002 is x.
Indicates that the value for the 4th digit of parameter Pn002 is x.
Notation
Manuals Related to the Σ-V Series
Refer to the following manuals as required.
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro- vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
Name
Selecting Models and
Peripheral Devices
Ratings and
Specifications System
Design Panels and
Wiring Trial Operation
Trial Operation and Servo Adjustment
Maintenance and Inspection Σ-V Series
User’s Manual Setup
Rotational Motor (No.: SIEP S800000 43)
− − − − −
Σ-V Series Product Catalog
(No.: KAEP S800000 42)
− − − −
Σ-V Series User's Manual
Design and Maintenance Rotational Motor/
Analog Voltage and Pulse Train Reference
(this manual)
− − −
Σ-V Series User’s Manual
Operation of Digital Operator (No.: SIEP S800000 55)
− − − −
Σ-V Series
AC SERVOPACK SGDV Safety Precautions (No.: TOBP C710800 10)
− − − −
Σ Series Digital Operator Safety Precautions (No.: TOBP C730800 00)
− − − − − −
AC SERVOMOTOR Safety Precautions
(No.: TOBP C230200 00) − − −
− −
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
WARNING
CAUTION
PROHIBITED
Safety Precautions
This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thor- oughly.
WARNING
• Never touch any rotating servomotor parts during operation.
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 equipment.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not remove the cover of the power supply terminal block while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not touch the power supply terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK. Make sure the CHARGE lamp is OFF first before starting to do wiring or inspections.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in the manuals for the products being used in the 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 Σ-V absolute position detecting system is differ- ent from that of earlier systems for 12-bit and 15-bit encoders. As a result, the infinite-length posi- tioning system of the Σ Series must be changed for use with products in the Σ-V Series.
• The multiturn limit value need not be changed except for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER- VOPACK 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 top front cover, cables, connectors, or optional items from the SERVOPACK while the power is ON.
Failure to observe this warning may result in electric shock or equipment damage.
• Do not damage, pull, 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, damage to the equipment, or fire.
• Provide appropriate braking devices 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 an instantaneous power interruption to avoid an unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Connect the ground terminal according to local electrical codes (100 Ω or less for a SERVOPACK with a 100 V, 200 V power supply, 10 Ω or less for a SERVOPACK with a 400 V power supply).
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the safety function (Hard Wire Baseblock function) must have full knowledge of the related safety standards and full understanding of the instructions in this manual.
Failure to observe this warning may result in injury or damage to the equipment.
Storage and Transportation
Installation
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 equipment.
• Locations subject to direct sunlight
• Locations subject to temperatures outside the range specified in the storage/installation temperature condi- tions
• Locations subject to humidity outside the range specified in the storage/installation humidity conditions
• Locations subject to condensation as the result of extreme changes in temperature
• Locations subject to corrosive or flammable gases
• Locations subject to dust, salts, or iron dust
• Locations subject to exposure to water, oil, or chemicals
• Locations subject to shock or vibration
• Do not hold the product by the cables, motor shaft, or encoder 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, pal- lets, or plywood, the packing materials must be treated before the product is packaged, and meth- ods 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 chlo- rine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.
CAUTION
• Never use the product in an environment subject to water, corrosive gases, flammable 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 SERVOPACK and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
Failure to observe this caution may result in malfunction.
Wiring
CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.
Failure to observe this caution may result in injury or fire.
• Securely connect the main circuit terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in the same duct. Keep the main circuit cables separated from the I/O signal cables and the encoder cables with a gap of at least 30 cm.
Placing these cables too close to each other may result in malfunction.
• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and the encoder cables.
• The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main circuit cables, and 10 m for control power supply cables for the SERVOPACK with a 400-V power supply (+24 V, 0 V).
• Be sure to observe the following precautions when wiring the SERVOPACK main circuit terminal blocks.
• Do not turn the SERVOPACK power ON until all wiring, including the main circuit terminal blocks, has been completed.
• If a connector is used for the main circuit terminals, remove the connector from the SERVOPACK before you wire it.
• Insert only one wire into one opening in the main circuit connector.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuits) adjacent wires.
• Install a battery at either the host controller or the SERVOPACK, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the batteries.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the equipment.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations.
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields and magnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
Failure to observe this caution may result in damage to the equipment.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, the SERVOPACK or servomotor, or cause an explo- sion.
• Wiring or inspection must be performed by a technical expert.
• Use a 24-VDC power supply with double insulation or reinforced insulation.
Operation
Maintenance and Inspection
CAUTION
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.
Failure to observe this caution may result in injury.
• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system safety against problems such as signal line disconnection.
Failure to observe this caution may result in injury or equipment damage.
• Before starting operation with a machine connected, change the parameter settings to match the parameters of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal- function.
• Do not turn the power ON and OFF more than necessary.
Do not use the SERVOPACK for applications that require the power to turn ON and OFF frequently. Such applications will cause elements in the SERVOPACK to deteriorate.
As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual operation has been started.
• When carrying out JOG operation (Fn002), origin search (Fn003), or EasyFFT (Fn206), forcing movable machine parts to stop does not work for forward overtravel or reverse overtravel. Take necessary precautions.
Failure to observe this caution may result in damage to the equipment.
• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from fall- ing due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
• When not using the turning-less function, set the correct moment of inertia ratio (Pn103).
Setting an incorrect moment of inertia ratio may cause machine vibration.
• Do not touch the SERVOPACK heat sinks, regenerative resistor, or servomotor while power is ON or soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the equipment due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.
Failure to observe this caution may result in damage to the equipment, fire, or injury.
• Do not use the holding brake of the servomotor for braking.
Failure to observe this caution may result in malfunction.
• An alarm or warning may occur if communications are performed with the host controller while the SigmaWin+ or Digital Operator is operating.
If an alarm or warning occurs, it may stop the current process and stop the system.
CAUTION
• Do not disassemble the SERVOPACK and the servomotor.
Failure to observe this caution may result in electric shock or injury.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the equipment.
Disposal
General Precautions
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
Observe the following general precautions to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without covers or protective guards.
Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
Warranty
(1) Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reach- ing the end of its service life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cata- logs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself 3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship- ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
(2) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer pur- chasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or man- uals.
(3) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in condi- tions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys- tems, medical equipment, amusement machines, and installations subject to separate industry or gov- ernment regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
4. Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for ref- erence. Check the functionality and safety of the actual devices and equipment to be used before using the product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.
(4) Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.
Harmonized Standards
North American Safety Standards (UL)
European Directives
Model UL Standards
(UL File No.)
SERVOPACK SGDV UL508C (E147823)
Servomotor
• SGMJV
• SGMAV
• SGMPS
• SGMGV
• SGMSV
UL1004 (E165827)
Model European Directives Harmonized Standards
SERVOPACK SGDV
Machinery Directive 2006/42/EC
EN ISO13849-1: 2008 EN 954-1
EMC Directive 2004/108/EC
EN 55011 group1, classA EN 61000-6-2
EN 61800-3 Low Voltage Directive
2006/95/EC
EN 50178 EN 61800-5-1
Servomotor
• SGMJV
• SGMAV
• SGMPS
• SGMGV
• SGMSV
EMC Directive 2004/108/EC
EN 55011 group1, classA EN 61000-6-2
EN 61800-3 Low Voltage Directive
2006/95/EC
EN 60034-1 EN 60034-5
Safety Standards
Safe Performance
Model Safety Standards Standards
SERVOPACK SGDV
Safety of Machinery
EN ISO13849-1: 2008 EN 954-1
IEC 60204-1
Functional Safety
IEC 61508 series IEC 62061 IEC 61800-5-2
EMC IEC 61326-3-1
Items Standards Performance Level
Safety Integrity Level IEC 61508 SIL2
IEC 62061 SILCL2
Probability of Dangerous Failure per Hour IEC 61508
IEC 62061 PFH = 1.7×10-9 [1/h]
(0.17% of SIL2)
Category EN 954-1 Category 3
Performance Level EN ISO 13849-1 PL d (Category 3)
Mean Time to Dangerous Failure of Each
Channel EN ISO 13849-1 MTTFd: High
Average Diagnostic Coverage EN ISO 13849-1 DCavg: Low
Stop Category IEC 60204-1 Stop category 0
Safety Function IEC 61800-5-2 STO
Proof test Interval IEC 61508 10 years
Contents
About this Manual . . . iii
Safety Precautions. . . vi
Warranty. . . xi
Harmonized Standards . . . xiii
Chapter 1 Outline . . . .1-1 1.1 Σ-V Series SERVOPACKs. . . 1-2 1.2 Part Names . . . 1-2 1.3 SERVOPACK Ratings and Specifications . . . 1-3
1.3.1 Ratings . . . 1-3 1.3.2 Basic Specifications . . . 1-5 1.3.3 Speed/Position/Torque Control. . . 1-8
1.4 SERVOPACK Internal Block Diagrams . . . 1-9
1.4.1 Single-phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models . . . 1-9 1.4.2 Single-phase 100 V, SGDV-2R8F01A Model . . . 1-9 1.4.3 Single-phase 200 V, SGDV-120A01A008000 Model . . . 1-10 1.4.4 Three-phase 200 V, SGDV-R70A01, -R90A01, -1R6A01 Models . . . 1-10 1.4.5 Three-phase 200 V, SGDV-2R8A01 Model. . . 1-11 1.4.6 Three-phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models . . . 1-11 1.4.7 Three-phase 200 V, SGDV-120A01A Model . . . 1-12 1.4.8 Three-phase 200 V, SGDV-180A01A, -200A01A Models . . . 1-12 1.4.9 Three-phase 200 V, SGDV-330A01A Model . . . 1-13 1.4.10 Three-phase 200 V, SGDV-470A01A, -550A01A Models . . . 1-13 1.4.11 Three-phase 200 V SGDV-590A01A, -780A01A Models . . . 1-14 1.4.12 Three-phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models . . . 1-14 1.4.13 Three-phase 400 V, SGDV-8R4D01A, -120D01A Models . . . 1-15 1.4.14 Three-phase 400 V, SGDV-170D01A Model . . . 1-15 1.4.15 Three-phase 400 V, SGDV-210D01A, -260D01A Models . . . 1-16 1.4.16 Three-phase 400 V, SGDV-280D01A, -370D01A Models . . . 1-16
1.5 Examples of Servo System Configurations . . . 1-17
1.5.1 Connecting to SGDV-F01A SERVOPACK . . . 1-17 1.5.2 Connecting to SGDV-A01 SERVOPACK. . . 1-18 1.5.3 Connecting to SGDV-D01A SERVOPACK . . . 1-20
1.6 SERVOPACK Model Designation . . . 1-21 1.7 Servo Drive Maintenance and Inspection . . . 1-22
1.7.1 SERVOPACK Inspection . . . 1-22 1.7.2 SERVOPACK’s Parts Replacement Schedule . . . 1-22 1.7.3 Servomotor Inspection . . . . 1-23
Chapter 2 Panel Operator . . . .2-1 2.1 Overview . . . 2-2
2.1.1 Names and Functions . . . 2-2 2.1.2 Display Selection . . . 2-2 2.1.3 Status Display . . . 2-3
2.2 Utility Functions (Fn) . . . 2-4 2.3 Parameters (Pn) . . . 2-5
2.3.1 Parameter Classification . . . 2-5 2.3.2 Notation for Parameters . . . 2-5 2.3.3 Setting Parameters . . . 2-6
Chapter 3 Wiring and Connection . . . .3-1 3.1 Main Circuit Wiring . . . 3-2
3.1.1 Main Circuit Terminals . . . 3-2 3.1.2 Using a Standard Power Supply
(Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) . . . 3-3 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input . . . 3-11 3.1.4 Using the SERVOPACK with a DC Power Input . . . 3-15 3.1.5 Using More Than One SERVOPACK. . . 3-17 3.1.6 General Precautions for Wiring . . . 3-18
3.2 I/O Signal Connections. . . 3-19
3.2.1 I/O Signal (CN1) Names and Functions. . . 3-19 3.2.2 Safety Function Signal (CN8) Names and Functions. . . 3-21 3.2.3 Example of I/O Signal Connections in Speed Control . . . 3-22 3.2.4 Example of I/O Signal Connections in Position Control . . . 3-23 3.2.5 Example of I/O Signal Connections in Torque Control . . . 3-24
3.3 I/O Signal Allocations . . . 3-25
3.3.1 Input Signal Allocations . . . 3-25 3.3.2 Output Signal Allocations . . . . 3-29
3.4 Examples of Connection to Host Controller . . . 3-33
3.4.1 Reference Input Circuit . . . 3-33 3.4.2 Sequence Input Circuit. . . 3-35 3.4.3 Sequence Output Circuit . . . 3-37
3.5 Encoder Connection. . . 3-39
3.5.1 Encoder Signal (CN2) Names and Functions . . . 3-39 3.5.2 Encoder Connection Examples . . . 3-39
3.6 Connecting Regenerative Resistors. . . 3-41
3.6.1 Connecting Regenerative Resistors. . . 3-41 3.6.2 Setting Regenerative Resistor Capacity . . . 3-43
3.7 Noise Control and Measures for Harmonic Suppression . . . 3-44
3.7.1 Wiring for Noise Control . . . 3-44 3.7.2 Precautions on Connecting Noise Filter. . . 3-46 3.7.3 Connecting a Reactor for Harmonic Suppression . . . 3-47
Chapter 4 Trial Operation . . . .4-1 4.1 Inspection and Checking before Trial Operation . . . 4-2 4.2 Trial Operation for Servomotor without Load . . . 4-2 4.3 Trial Operation for Servomotor without Load from Host Reference . . . 4-3
4.3.1 Inspecting Connection and Status of Input Signals . . . 4-5 4.3.2 Trial Operation in Speed Control . . . 4-7 4.3.3 Trial Operation under Position Control from the Host Controller
with the SERVOPACK Used for Speed Control . . . 4-8 4.3.4 Trial Operation in Position Control . . . 4-9
4.4 Trial Operation with the Servomotor Connected to the Machine . . . 4-10 4.5 Trial Operation of Servomotor with Brakes. . . 4-11 4.6 Test Without Motor Function. . . 4-12
4.6.1 Motor Information . . . 4-12 4.6.2 Motor Position and Speed Responses . . . 4-13 4.6.3 Limitations . . . 4-14 4.6.4 Operator Displays during Testing without Motor . . . 4-15
Chapter 5 Operation . . . .5-1 5.1 Control Method Selection. . . 5-3 5.2 Basic Functions Settings . . . 5-4
5.2.1 Servo ON Signal . . . 5-4 5.2.2 Servomotor Rotation Direction . . . 5-5 5.2.3 Overtravel. . . 5-6 5.2.4 Holding Brakes. . . 5-9 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence . . . 5-14 5.2.6 Instantaneous Power Interruption Settings . . . 5-16 5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage
for Main Circuit) . . . . 5-17 5.2.8 Setting Motor Overload Detection Level . . . 5-20
5.3 Speed Control . . . 5-22
5.3.1 Basic Settings for Speed Control . . . 5-22 5.3.2 Reference Offset Adjustment . . . 5-23 5.3.3 Soft Start. . . 5-26 5.3.4 Speed Reference Filter . . . . 5-26 5.3.5 Zero Clamp Function . . . 5-27 5.3.6 Encoder Output Pulses . . . 5-29 5.3.7 Setting Encoder Output Pulse . . . 5-30 5.3.8 Setting Speed Coincidence Signal . . . 5-31
5.4 Position Control . . . 5-32
5.4.1 Basic Settings for Position Control. . . 5-33 5.4.2 Clear Signal Setting . . . 5-37 5.4.3 Reference Pulse Input Multiplication Switching Function. . . 5-38 5.4.4 Electronic Gear . . . 5-39 5.4.5 Smoothing . . . 5-42 5.4.6 Positioning Completed Signal . . . 5-43 5.4.7 Positioning Near Signal . . . 5-44 5.4.8 Reference Pulse Inhibit Function . . . 5-45
5.5 Torque Control . . . 5-46
5.5.1 Basic Settings for Torque Control. . . 5-46 5.5.2 Reference Offset Adjustment . . . 5-47 5.5.3 Torque Reference Filter . . . 5-50 5.5.4 Speed Limit in Torque Control . . . 5-50
5.6 Internal Set Speed Control. . . 5-52
5.6.1 Basic Settings for Speed Control with an Internal Set Speed . . . 5-52 5.6.2 Example of Operating with Internal Set Speeds. . . 5-54
5.7 Combination of Control Methods . . . 5-55
5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) . . . 5-55 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) . . . 5-58 5.7.3 Switching Other Than Internal Set Speed Control (Pn000.1 = A or B). . . 5-58
5.8 Limiting Torque. . . 5-59
5.8.1 Internal Torque Limit. . . 5-59 5.8.2 External Torque Limit . . . 5-60 5.8.3 Torque Limiting Using an Analog Voltage Reference. . . 5-61 5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference . . . 5-63 5.8.5 Checking Output Torque Limiting during Operation . . . 5-65
5.9 Absolute Encoders. . . 5-66
5.9.1 Connecting the Absolute Encoder . . . 5-67 5.9.2 Absolute Data Request Signal (SEN). . . 5-69 5.9.3 Battery Replacement . . . 5-70 5.9.4 Absolute Encoder Setup and Reinitialization . . . 5-73 5.9.5 Absolute Data Reception Sequence . . . 5-74 5.9.6 Multiturn Limit Setting. . . 5-78 5.9.7 Multiturn Limit Disagreement Alarm (A.CC0) . . . 5-79
5.10 Other Output Signals . . . 5-80
5.10.1 Servo Alarm Output Signal (ALM)
and Alarm Code Output Signals (ALO1, ALO2, and ALO3). . . 5-80 5.10.2 Warning Output Signal (/WARN) . . . 5-81 5.10.3 Rotation Detection Output Signal (/TGON) . . . 5-82 5.10.4 Servo Ready Output Signal (/S-RDY) . . . 5-82
5.11 Safety Function. . . 5-83
5.11.1 Hard Wire Base Block (HWBB) Function . . . 5-83 5.11.2 External Device Monitor (EDM1) . . . 5-87 5.11.3 Application Example of Safety Functions . . . 5-89 5.11.4 Confirming Safety Functions . . . 5-90 5.11.5 Safety Device Connections . . . 5-91 5.11.6 Precautions for Safety Functions . . . 5-92
Chapter 6 Adjustments . . . .6-1 6.1 Type of Adjustments and Basic Adjustment Procedure . . . 6-3
6.1.1 Adjustments . . . 6-3 6.1.2 Basic Adjustment Procedure . . . 6-5 6.1.3 Monitoring Operation during Adjustment . . . 6-6 6.1.4 Safety Precautions on Adjustment of Servo Gains . . . 6-9
6.2 Tuning-less Function . . . 6-12
6.2.1 Tuning-less Function . . . 6-12 6.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . 6-15 6.2.3 Related Parameters . . . 6-18
6.3 Advanced Autotuning (Fn201) . . . 6-19
6.3.1 Advanced Autotuning . . . . 6-19 6.3.2 Advanced Autotuning Procedure . . . 6-22 6.3.3 Related Parameters . . . 6-28
6.4 Advanced Autotuning by Reference (Fn202) . . . 6-29
6.4.1 Advanced Autotuning by Reference. . . 6-29 6.4.2 Advanced Autotuning by Reference Procedure . . . 6-32 6.4.3 Related Parameters . . . 6-36
6.5 One-parameter Tuning (Fn203) . . . 6-37
6.5.1 One-parameter Tuning . . . 6-37 6.5.2 One-parameter Tuning Procedure . . . 6-39 6.5.3 One-parameter Tuning Example . . . 6-46 6.5.4 Related Parameters . . . 6-48
6.6 Anti-Resonance Control Adjustment Function (Fn204) . . . 6-49
6.6.1 Anti-Resonance Control Adjustment Function . . . 6-49 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. . . 6-50 6.6.3 Related Parameters . . . 6-55
6.7 Vibration Suppression Function (Fn205) . . . 6-56
6.7.1 Vibration Suppression Function . . . 6-56 6.7.2 Vibration Suppression Function Operating Procedure. . . 6-57 6.7.3 Related Parameters . . . 6-60
6.8 Additional Adjustment Function . . . 6-61
6.8.1 Switching Gain Settings . . . . 6-61 6.8.2 Manual Adjustment of Friction Compensation . . . 6-65 6.8.3 Current Control Mode Selection Function . . . 6-67 6.8.4 Current Gain Level Setting. . . 6-67 6.8.5 Speed Detection Method Selection . . . 6-67
6.9 Compatible Adjustment Function . . . 6-68
6.9.1 Feedforward Reference . . . 6-68 6.9.2 Torque Feedforward . . . 6-68 6.9.3 Speed Feedforward . . . 6-70 6.9.4 Proportional Control . . . 6-71 6.9.5 Mode Switch (P/PI Switching) . . . 6-72 6.9.6 Torque Reference Filter . . . 6-74 6.9.7 Position Integral . . . 6-76
Chapter 7 Utility Functions (Fn) . . . .7-1 7.1 List of Utility Functions . . . 7-2 7.2 Alarm History Display (Fn000) . . . 7-3 7.3 JOG Operation (Fn002) . . . 7-4 7.4 Origin Search (Fn003) . . . 7-6 7.5 Program JOG Operation (Fn004) . . . 7-8 7.6 Initializing Parameter Settings (Fn005) . . . 7-12 7.7 Clearing Alarm History (Fn006) . . . 7-13 7.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . 7-14 7.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . 7-16 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection
Signal (Fn00E). . . 7-18 7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal
(Fn00F) . . . 7-19 7.12 Write Prohibited Setting (Fn010) . . . 7-21 7.13 Servomotor Model Display (Fn011) . . . 7-23 7.14 Software Version Display (Fn012) . . . 7-25 7.15 Resetting Configuration Errors in Option Modules (Fn014) . . . 7-26 7.16 Vibration Detection Level Initialization (Fn01B) . . . 7-27 7.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . 7-29 7.18 Display of Servomotor ID in Feedback Option Module (Fn01F) . . . 7-31 7.19 Origin Setting (Fn020) . . . 7-32 7.20 Software Reset (Fn030). . . 7-33 7.21 EasyFFT (Fn206). . . 7-34 7.22 Online Vibration Monitor (Fn207). . . 7-37
Chapter 8 Monitor Displays (Un) . . . .8-1 8.1 List of Monitor Displays . . . 8-2 8.2 Viewing Monitor Displays. . . 8-3 8.3 Reading 32-bit Data in Decimal Displays. . . 8-4 8.4 Monitoring Input Signals . . . 8-5
8.4.1 Displaying Input Signal Status . . . . 8-5 8.4.2 Interpreting Input Signal Display Status . . . 8-5 8.4.3 Input Signal Display Example . . . 8-6
8.5 Monitoring Output Signals . . . 8-7
8.5.1 Displaying Output Signal Status. . . .8-7 8.5.2 Interpreting Output Signal Display Status . . . 8-8 8.5.3 Output Signal Display Example . . . 8-8
8.6 Monitoring Safety Input Signals . . . 8-9
8.6.1 Displaying Safety Input Signals . . . 8-9 8.6.2 Interpreting Safety Input Signal Display Status . . . 8-9 8.6.3 Safety Input Signal Display Example . . . 8-10
8.7 Monitor Display at Power ON. . . 8-10
Chapter 9 Fully-closed Loop Control. . . .9-1 9.1 System Configuration and Connection Example
for SERVOPACK with Fully-closed Loop Control. . . 9-2
9.1.1 System Configuration. . . 9-2 9.1.2 Internal Block Diagram of Fully-closed Loop Control . . . 9-3 9.1.3 Serial Converter Unit . . . 9-3 9.1.4 Example of Connections to External Encoders . . . 9-5 9.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder
by Renishaw plc. . . 9-6 9.1.6 Precautions When Using an External Incremental Encoder by Magnescale . . . 9-7
9.2 SERVOPACK Startup Procedure . . . 9-10 9.3 Parameter Settings for Fully-closed Loop Control . . . 9-12
9.3.1 Motor Rotation Direction . . . . 9-13 9.3.2 Sine Wave Pitch (Frequency) for an External Encoder . . . 9-15 9.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO). . . 9-15 9.3.4 External Absolute Encoder Data Reception Sequence . . . 9-16 9.3.5 Electronic Gear . . . 9-19 9.3.6 Alarm Detection . . . 9-20 9.3.7 Analog Monitor Signal . . . 9-21 9.3.8 Speed Feedback Method during Fully-closed Loop Control . . . 9-21
Chapter 10 Troubleshooting . . . .10-1 10.1 Alarm Displays . . . 10-2
10.1.1 List of Alarms . . . 10-2 10.1.2 Troubleshooting of Alarms . . . 10-7
10.2 Warning Displays . . . 10-23
10.2.1 List of Warnings . . . 10-23 10.2.2 Troubleshooting of Warnings . . . 10-24
10.3 Troubleshooting Malfunction Based on Operation
and Conditions of the Servomotor . . . 10-27
Chapter 11 Appendix. . . 11-1 11.1 Connection to Host Controller. . . 11-2
11.1.1 Connection to MP2200/MP2300 Motion Module SVA-01. . . 11-2 11.1.2 Connection to MP920 Servo Module SVA-01A . . . 11-3 11.1.3 Connection to OMRON’s Motion Control Unit . . . 11-4 11.1.4 Connection to OMRON’s Position Control Unit . . . 11-5 11.1.5 Connection to MITSUBISHI’s AD72 Positioning Module
(SERVOPACK in Speed Control) . . . 11-6 11.1.6 Connection to MITSUBISHI’s AD75 Positioning Module
(SERVOPACK in Position Control) . . . 11-7 11.1.7 Connection to MITSUBISHI’s QD75D Positioning Module
(SERVOPACK in Position Control) . . . 11-8
11.2 List of Parameters. . . 11-9 11.3 Parameter Recording Table . . . 11-34
Index. . . Index-1
Revision History
1
Outline
1
Outline
1.1 Σ-V Series SERVOPACKs . . . .1-2 1.2 Part Names . . . 1-2 1.3 SERVOPACK Ratings and Specifications . . . 1-3
1.3.1 Ratings . . . 1-3 1.3.2 Basic Specifications . . . 1-5 1.3.3 Speed/Position/Torque Control . . . 1-8
1.4 SERVOPACK Internal Block Diagrams . . . 1-9
1.4.1 Single-phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models . . . 1-9 1.4.2 Single-phase 100 V, SGDV-2R8F01A Model . . . 1-9 1.4.3 Single-phase 200 V, SGDV-120A01A008000 Model . . . 1-10 1.4.4 Three-phase 200 V, SGDV-R70A01, -R90A01, -1R6A01 Models . . . 1-10 1.4.5 Three-phase 200 V, SGDV-2R8A01 Model . . . 1-11 1.4.6 Three-phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models . . . 1-11 1.4.7 Three-phase 200 V, SGDV-120A01A Model . . . 1-12 1.4.8 Three-phase 200 V, SGDV-180A01A, -200A01A Models . . . 1-12 1.4.9 Three-phase 200 V, SGDV-330A01A Model . . . 1-13 1.4.10 Three-phase 200 V, SGDV-470A01A, -550A01A Models . . . 1-13 1.4.11 Three-phase 200 V SGDV-590A01A, -780A01A Models . . . 1-14 1.4.12 Three-phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models . . . 1-14 1.4.13 Three-phase 400 V, SGDV-8R4D01A, -120D01A Models . . . 1-15 1.4.14 Three-phase 400 V, SGDV-170D01A Model . . . 1-15 1.4.15 Three-phase 400 V, SGDV-210D01A, -260D01A Models . . . 1-16 1.4.16 Three-phase 400 V, SGDV-280D01A, -370D01A Models . . . 1-16
1.5 Examples of Servo System Configurations . . . 1-17
1.5.1 Connecting to SGDV-F01A SERVOPACK . . . 1-17 1.5.2 Connecting to SGDV-A01 SERVOPACK . . . 1-18 1.5.3 Connecting to SGDV-D01A SERVOPACK . . . 1-20
1.6 SERVOPACK Model Designation . . . 1-21 1.7 Servo Drive Maintenance and Inspection . . . 1-22
1.7.1 SERVOPACK Inspection . . . 1-22 1.7.2 SERVOPACK’s Parts Replacement Schedule . . . 1-22
1 Outline
1.1 Σ-V Series SERVOPACKs
The Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-pre- cision positioning. The SERVOPACK makes the most of machine performance in the shortest time possi- ble, thus contributing to improving productivity.
1.2 Part Names
This section describes the part names of SGDV SERVOPACK for analog voltage and pulse train reference.
CN5 Analog monitor connector Used to monitor motor speed, torque reference, and other values through a special cable (option).
Panel display Serial number
Used to display SERVOPACK status, alarm numbers, and other values when parameters are input.
Connects external regenerative resistors.
Used for control power supply input.
Panel operator keys Used to set parameters.
Panel operator
Charge indicator Front cover
CN3 Connector for digital operator
CN1 I/O signal connector
Used for reference input signals and sequence I/O signals.
CN7 Connector for personal computer (USB connector) Communicates with a personal computer.
Use the connection cable (model: JZSP-CVS06-02-E).
CN2 Encoder connector
Connects the encoder in the servomotor.
Ground terminal
Be sure to connect to protect against electric shock.
Main circuit power supply terminals Used for main circuit power supply input.
Control power supply terminals
Servomotor terminals
Connects the main circuit cable for servomotor.
SERVOPACK model
Regenerative resistor connecting terminals
Input voltage
CN8 Connector for safety function devices DC reactor terminals for harmonic suppression
CN3
CN7
CN1
CN8
CN2
㸴 With front cover open
Nameplate (Found on side of SERVOPACK.) Indicates the SERVOPACK model and ratings.
Lights when the main circuit power supply is ON and stays lit as long as the internal capacitor remains charged. Therefore, do not touch the SERVOPACK even after the power supply is turned OFF if the indicator is lit.
It may result in electric shock.
Refer to 2.1 Overview.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.6 Connecting Regenerative Resistors.
Refer to 3.7.3 Connecting a Reactor for Harmonic Suppression.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.5 Encoder Connection.
Refer to 6.1.3 Monitoring Operation during Adjustment.
Refer to 2.1 Overview.
Refer to 1.6 SERVOPACK Model Designation.
Refer to 3.2 I/O Signal Connections.
Connects a safety function device.
Note: When not using a safety function device, use the SERVOPACK with the safety function’s jumper con- nector inserted (the factory default state).
For the connecting method, refer to 3.2.2 Safety Function Signal (CN8) Names and Functions.
For details on how to use the safety function, refer to 5.11 Safety Function.
Connects a digital operator (option, model: JUSP-OP05A-1-E) or a personal computer (RS422).
Refer to Σ-V Series Product Catalog
(No.: KAEP S800000 42) and Σ-V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55).
1.3 SERVOPACK Ratings and Specifications
1
Outline
1.3 SERVOPACK Ratings and Specifications
This section describes the ratings and specifications of SERVOPACKs.
1.3.1 Ratings
Ratings of SERVOPACKs are as shown below.
(1) SGDV with Single-phase, 100-V Rating
∗ Refer to 3.6 Connecting Regenerative Resistors for details.
(2) SGDV with Single-phase, 200-V Rating
∗1. The official model number is SGDV-120A01A008000.
∗2. Refer to 3.6 Connecting Regenerative Resistors for details.
(3) SGDV with Three-phase, 200-V Rating
∗ Refer to 3.6 Connecting Regenerative Resistors for details.
SGDV (Single Phase, 100 V) R70 R90 2R1 2R8
Continuous Output Current [Arms] 0.66 0.91 2.1 2.8
Instantaneous Max. Output Current [Arms] 2.1 2.9 6.5 9.3
Regenerative Resistor * None or external
Main Circuit Power Supply Single-phase, 100 to 115 VAC, +10% to -15%, 50/60 Hz Control Power Supply Single-phase, 100 to 115 VAC, +10% to -15%, 50/60 Hz
Overvoltage Category III
SGDV (Single Phase, 200 V) 120 *1
Continuous Output Current [Arms] 11.6
Instantaneous Max. Output Current [Arms] 28
Regenerative Resistor *2 Built-in or external
Main Circuit Power Supply Single-phase, 220 to 230 VAC, +10% to -15%, 50/60 Hz Control Power Supply Single-phase, 220 to 230 VAC, +10% to -15%, 50/60 Hz
Overvoltage Category III
SGDV
(Three Phase, 200 V) R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780 Continuous Output Current
[Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78.0 Instantaneous Max. Output
Current [Arms] 2.1 2.9 5.8 9.3 11.0 16.9 17 28 42 56 84 110 130 140 170
Regenerative Resistor * None or external Built-in or external External Main Circuit Power Supply Three-phase, 200 to 230 VAC, +10% to -15%, 50/60 Hz
Control Power Supply Single-phase, 200 to 230 VAC, +10% to -15%, 50/60 Hz Overvoltage Category III
1 Outline 1.3.1 Ratings
(4) SGDV with Three-phase, 400-V Rating
∗ Refer to 3.6 Connecting Regenerative Resistors for details.
SGDV
(Three Phase, 400 V) 1R9 3R5 5R4 8R4 120 170 210 260 280 370
Continuous Output Current
[Arms] 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2
Instantaneous Max. Output
Current [Arms] 5.5 8.5 14 20 28 42 55 65 70 85
Regenerative Resistor * Built-in or external External
Main Circuit Power Supply Three-phase, 380 to 480 VAC, +10% to -15%, 50/60 Hz Control Power Supply 24 VDC ±15%
Overvoltage Category III
1.3 SERVOPACK Ratings and Specifications
1
Outline
1.3.2 Basic Specifications
Basic specifications of SERVOPACKs are shown below.
Drive Method Sine-wave current drive with PWM control of IGBT
Feedback Encoder: 13-bit (incremental), 17-bit, 20-bit (incremental/absolute) Note: Only 13-bit feedback is possible for incremental encoders.
Operating Conditions
Ambient Operating Tem-
perature 0°C to +55°C
Storage Temperature -20°C to +85°C Ambient Humidity 90% RH or
less
With no freezing or condensation Storage Humidity 90% RH or
less Vibration Resistance 4.9 m/s2 Shock Resistance 19.6 m/s2
Protection Class IP10 An environment that satisfies the following conditions.
• Free of corrosive or flammable gases
• Free of exposure to water, oil, or chemicals
• Free of dust, salts, or iron dust
Pollution Degree 2
Altitude 1000 m or less
Others Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to radioactivity
Harmonized Standards
UL508C
EN 50178, EN 55011 Group 1 class A, EN 61000-6-2, EN 61800-3, EN 61800-5-1, EN 954-1, and IEC 61508-1 to 61508-4
Mounting Standard: Base-mounted
Optional: Rack-mounted or duct-ventilated
Perfor- mance
Speed Control Range 1:5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.)
Speed Regu- lation*1
Load
Regulation 0% to 100% load: ±0.01% max. (at rated speed) Voltage
Regulation Rated voltage ±10%: 0% (at rated speed) Temperature
Regulation 25 ± 25°C: ±0.1% max. (at rated speed) Torque Control
Tolerance
(Repeatability) ±1%
Soft Start Time
Setting 0 to 10 s (Can be set individually for acceleration and deceleration.)
1 Outline
1.3.2 Basic Specifications
I/O Signals
Encoder Output Pulse Phase A, B, C: line driver
Encoder output pulse: any setting ratio (Refer to 5.3.7.)
Sequence Input
Fixed Input SEN signal
Input Signals which can be allocated
Number of Channels 7 ch
Functions
• Servo ON (/S-ON)
• Proportional control (/P-CON)
• Forward run prohibited (P-OT), reverse run prohibited (N- OT)
• Alarm reset (/ALM-RST)
• Forward external torque limit (/P-CL), reverse external torque limit (/N-CL)
• Internal set speed control (/SPD-D, /SPD-A, /SPD-B)
• Control selection (/C-SEL)
• Zero clamping (/ZCLAMP)
• Reference pulse inhibit (/INHIBIT)
• Gain selection (/G-SEL)
• Reference pulse input multiplication switching (/PSEL)
Signal allocations can be performed, and positive and negative logic can be changed.
Sequence Output
Fixed Output Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs
Output Signals which can be allocated
Number of Channels 3 ch
Functions
• Positioning completion (/COIN)
• Speed coincidence detection (/V-CMP)
• Rotation detection (/TGON)
• Servo ready (/S-RDY)
• Torque limit detection (/CLT)
• Speed limit detection (/VLT)
• Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
• Reference pulse input multiplication switching output (/PSELA)
Signal allocations can be performed, and positive and negative logic can be changed.
Communi- cations Function
RS422A Commu- nications (CN3)
Interface Digital operator (model: JUSP-OP05A-1-E)
Personal computer (can be connected with SigmaWin+) 1:N
Communica-
tions N = Up to 15 stations possible at RS422A Axis
Address
Setting Set by parameter USB
Commu- nications (CN7)
Interface Personal computer (can be connected with SigmaWin+) Communica-
tions
Standard Complies with standard USB1.1. (12 Mbps)
LED Display CHARGE indicator
Panel Operator Func- tions
Display Unit Five 7-segment LEDs Switches Four push switches
Analog Monitor (CN5)
Number of points: 2
Output voltage: ± 10VDC (linearity effective range ± 8 V) Resolution: 16 bits
Accuracy: ± 20 mV (Typ) Max. output current: ± 10 mA Settling time (± 1%): 1.2 ms (Typ)
(cont’d)
1.3 SERVOPACK Ratings and Specifications
1
Outline
∗1. Speed regulation by load regulation is defined as follows:
∗2. Refer to 1.3.1 Ratings for details on regenerative resistors.
∗3. Perform risk assessment for the system and be sure that the safety requirements are fulfilled.
Dynamic Brake (DB) Activated when a servo alarm or overtraveling occurs or when the power supply for the main circuit or servomotor is OFF.
Regenerative Processing Included *2
Overtravel Prevention (OT) Dynamic brake stop, deceleration to a stop, or free run to a stop at P-OT or N-OT
Protective Function Overcurrent, overvoltage, insufficient voltage, overload, regeneration error, and so on.
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
Safety Function
Input /HWBB1, /HWBB2: Baseblock signal for power module Output EDM1: Monitoring status of internal safety circuit (fixed output) Standards *3 EN954 Category 3, IEC61508 SIL2
Option Module Fully-closed module, safety module
(cont’d)
Speed regulation = No-load motor speed Total load motor speed
Rated motor speed- ×100%
1 Outline
1.3.3 Speed/Position/Torque Control
1.3.3 Speed/Position/Torque Control
The following table shows the basic specifications at speed/position/torque control.
Control Method Specifications
Speed Control
Performance Soft Start Time Setting 0 to 10 s (Can be set individually for acceleration and deceleration.)
Input Signals
Reference Voltage
• Max. input voltage: ±12 V
(forward speed reference with positive reference)
• Factory setting: 6 VDC at rated speed Input gain setting can be varied.
Input Impedance Approx. 14 kΩ Circuit Time Constant 30 μs
Internal Set Speed Control
Rotation Direction Selection With P control signal
Speed Selection
With forward/reverse external torque limit signal (speed 1 to 3 selection).
Servomotor stops or another control method is used when both are OFF.
Position Control
Performance
Feedforward Compensation 0% to 100%
Positioning Completed
Width Setting 0 to 1073741824 reference units
Input Signals
Reference Pulse
Type Select one of them:
Sign + pulse train, CW + CCW pulse train, or two-phase pulse train with 90° phase differential
Form For line driver, open collector
Max. Input Pulse Fre- quency
Line driver
Sign + pulse train, CW + CCW pulse train: 4 Mpps Two-phase pulse train with 90° phase differential:
1 Mpps Open Collector
Sign + pulse train, CW + CCW pulse train: 200 kpps Two-phase pulse train with 90° phase differential: 200 kpps
Reference Pulse Input Multiplication Switching
1 to 100 times
Clear Signal Position error clear
For line driver, open collector
Torque Control Input Signals
Reference Voltage
• Max. input voltage: ±12 V
(forward torque reference with positive reference)
• Factory setting: 3 VDC at rated torque Input gain setting can be varied.
Input Impedance Approx. 14 kΩ Circuit Time Constant 16 μs
1.4 SERVOPACK Internal Block Diagrams
1
Outline
1.4 SERVOPACK Internal Block Diagrams
1.4.1 Single-phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models
1.4.2 Single-phase 100 V, SGDV-2R8F01A Model
L1
B1/ B2
L2
L1C L2C
U V
CHARGE W M
ENC
CN3
CN2
A/D
I/O
CN1 CN5
CN7 CN8
Control power supply Main circuit power supply
Control power supply
±12 V +5 V +17 V
Current sensor
Dynamic brake circuit
Servomotor
Gate drive Voltage
sensor Voltage
sensor Varistor
Varistor
Gate drive overcurrent protector Temperature
sensor Relay
drive
+12 V Fan
ASIC (PWM control, etc.)
CPU (Position/speed calculation, etc.) Panel operator
Digital operator
Analog monitor output Reference pulse input
Reference voltage input
I/O signal Analog
voltage converter
Personal
computer Signal for safety function
Encoder output pulse +
– + –
+ –
L1
L2
L1C L2C
B1/ B2
U V
CHARGE W M
ENC
CN2
A/D
CN1 CN5
+12 V
±12 V +5 V +17 V Control
power supply
Current sensor
Dynamic brake circuit
Servomotor
Gate drive Voltage
sensor Voltage
sensor Varistor
Varistor
Gate drive overcurrent protector
Temperature sensor Relay
drive
Fan
ASIC (PWM control, etc.)
CPU (Position/speed calculation, etc.)
Analog monitor output Reference pulse input
Reference voltage input Analog
voltage converter +
– + –
+
Control power –
supply Main circuit power supply
Encoder output pulse
1 Outline
1.4.3 Single-phase 200 V, SGDV-120A01A008000 Model
1.4.3 Single-phase 200 V, SGDV-120A01A008000 Model
1.4.4 Three-phase 200 V, SGDV-R70A01 , -R90A01 , -1R6A01 Models
∗ The following SERVOPACKs do not have cooling fans: SGDV-B
L1
B1/ B2 B3
L2
1 2
L1C L2C
U V W
CN3
CN2
ENC
A/D
I/O
CN1 CN5
L3 CHARGE M
CN7 CN8
+15 V × 4
±12 V +5 V
Current sensor
Dynamic brake circuit
Servomotor
Gate drive Voltage
sensor
Overheat protector, overcurrent protector
Voltage sensor Varistor
Varistor
Relay drive
Fan 2 Fan 1
ASIC (PWM control, etc.)
CPU (Position/speed calculation, etc.) Panel operator
Digital operator
Analog monitor output Reference pulse input
Reference voltage input
I/O signal Analog
voltage converter
Personal computer
Signal for safety function Control
power supply
±12 V
±12 V
+ –
+ –
Main circuit power supply
Control power supply
Encoder output pulse
L1
B1/ B2 B3
L2 L3 1 2
L1C L2C
U V W
CN3 CN7
CN2
ENC
A/D
I/O
CN1 CN5
M
CHARGE
CN8
+17 V
±12 V +5 V
Current sensor
Dynamic brake circuit
Servomotor
Gate drive Voltage sensor Voltage
sensor Varistor
Varistor
Gate drive overcurrent protector Temperature
sensor Relay
drive
Fan
ASIC (PWM control, etc.)
CPU (Position/speed calculation, etc.) Panel operator
Digital operator
Analog monitor output Reference pulse input
Reference voltage input
I/O signal Analog
voltage converter
Personal
computer Signal for safety function
Control power supply
+12 V
+ –
+ –
Main circuit power supply
Control power supply
Encoder output pulse
∗
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