YASKAWA___ =-I Series SG€MLJH/SGDM USER'S MANUAL Design and Maintenance SGMAH/SGMPH/SGMGH/SGMSH/SGMDH Servomotors SGDM Servopack YASKAWA MANUAL NO SIE-S800-31 2BSefey fformaiton Safety Information ‘The following conventions are used to indicate precautions in this manual Failure to heed precau tuons provided inthis manual can result in serious or possibly even fatal injury or damage to the prod- ucts orto related equipment and systems ZXWARNING _ Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury QXCAUTION _ Indicates precautions that, #f not heeded, could result in relatively serous or minor injury, damage to the product, or faulty operation QPROHIBITED Indicates actions that must never be taken ©Yaskawa, 1998 Ailnghts reserved No part ofthis publication may be reproduced, stored ina retrieval system, or transmatted, in any form, ‘or by any means, mechanical, electrome, photocopying, recording, or otherwise, without the prior wntten permission of Yaskawa No patent hability 1s assumed with respect to the use of the information contained herein Moreover. because Yaskawa 1s constantly striving to improve sts high-quality products. the information contained in this manual 1s subject 10 ‘change without notice Every precaution has been taken in the preparation of this manual Nevertheless, Yaskawa as- sumes no responsibility for errors or omissions Neither 1s any habilty assumed for damages resulting from the use of the snformation contained inthis publication<4EXAMPLED => IMPORTANT ‘The following ards are used to mdicate certain types of informauon for easter reference Indicates application examples Indicates supplemental snformation Indicates important information that should be memorized, including precautions such as alarm displays to avoid damaging the devices Indicates definitions of difficult terms or terms that have not been previously explained in this manual3 CONTENTS Safety Information Visual Aids Overview Using This Manual Safety Precautions Checking Products and Part Names. 4.1 Checking 5-ll Series Products on Delivery .... 111 Servomotors 112 Servopacks 1.2 Product PartNames . .. 121 Servomotors 122 Sorvopacks Installation 2.1 Servomotors . 211 Storage Temperature 2.12 Installation Site 213 Algnment 214 Onentation 21 Allowable Shatt Loads 2.1.6 Handling Oil and Water 217 Cable Stess 2.2 Servopacks .... 221 Storage Condtions 222 Installation Site 223 Onentaton 224 Installaton Wiring 3.1 Connecting to Peripheral Devices .. 3.11 Single-phase (100 V or 200 V) Main Circuit Specifications 3.12 Three-phase (200 V) Main Crrcutt Specifications 3.2 Servopack Internal Block Diagrams ..... 3.21 30 to 400 W 200-V and 30 10 200 W 100-V Models 322 OSKWt0 1 S KW 200-V Models 323 2OKW to 50 KW 200-V Models 3.2.4 6 OKW and7 5 KW 200-V Models w xt xi xn NY yuvennne % 3733 Main Circuit Wiring .... 8.9.1 Names and Descnptions of Main Curcut Terminals 332 Typical Main Cucut Winng Example 3.9.3 Cable Spectications and Penpheral Devices 334 Servopack Power Losses 3.3.5 Winng Main Circutt Terminal Blocks 3.4 VO Signals . 3.41 Examples of VO Signat Connections 342 Listof CN1 Termnals 3.43 VO Signal Names and Functions 344 interface Cucuts 3.5 Wiring Encoders ...... 2... 381 Connecting an Encoder (CN2) and Oulput Signals from the Servopack (CN1) 3.82 ON? Encoder Connector Terminal Layout and Types 3.6 Examples of Standard Connections ........ 361 Single-phase Power Supply Spectications 362 Three-phase Power Supply Specitications 363 Postion Control Mode 364 Speed Control Mode 365 Torque Contra! Mode 4 Trial Operation 4.1 Two-step Trial Operation .... ... peerratTeeys 411 Step 1 Taal Operation for Servomotor without Load 412 Step 2 Tnal Operation with the Servomotar Connected to the Machine 4.2 Supplementary Information on Trial Operation . 42.1 Servomotore with Brakes 422 Position Control by Host Controller 4.3 Minimum User Constants and Input Signals . 431 User Constants 432 Input Signals, 5 User Constant Settings and Functions 5.1 Settings According to Device Characteristics . 5.11 Smitching Servomotor Rotation Direction. 5.12 Satting the Overtravel Limit Function 5.13 Limting Torques 5.14 Limting Speed 3-8 39 3-10 3-10 a-t 342 3-13 344 3.15 3-16 3-19 3-22 3-22 3-23 3-24 3-28 3.25 3-28 3-27 3-28 ane oon 4-10 4.10 an 4-12 4-12 4-13,5.2 Settings According to Host Controller 521 Speed Reference 522 Position Reference 52.3 Using the Encoder Signal Output 524 Sequence VO Signals 5.2 Using the Electronic Gear Function 526 Contact Input Speed Control 527 Using Torque Control 52.8 Torque Feed-forward Function 529 Speed Feedforward Function 5.2 10 Torque Limiting by Analog Voltage Reference, Function 1 52 11 Torque Limiting by Anaiog Voltage Reference, Function 2 5.2 12 Reference Pulse Inhibit Function (JNHIBIT) 5.3 Setting Up the Servopack 831 User Constants 532 JOG Speod 53 Input Crrcutt Signal Allocation 53.4 Output Circutt Signal Allocation 535 Control Mode Selection 53.6 DC Power input 5.4 Setting Stop Functions ..... 541 Adusting Offset 542 Using the Dynamic Brake 54 Using the Zero Clamp Function 544 Using the Holding Brake 5.5 Forming a Protective Sequence . 551 Using Servo Alarm and Alam Code Outputs 552 Using the Servo ON Input Signal 553 Using the Posttionng Completed Output Signal 554 Speed Coincidence Output 55 Using the Running Output Signal 56 Using the Servo Ready Output Signal 5.57 Using the Warning Output Signal 558 Using the Near Output Signal 559 Handing Power Loss 5.6 Selecting a Regenerative Resistor .. 561 Extemal Regenerative Resistors 562 Calculating the Required Capacty of Regenerate Resistors 5.7 Absolute Encoders . 571 Interface Cricut 572 Selecting an Absolute Encoder 573 Handing Battenes 57.4 Absolute Encoder Sotup 576 Absolute Encoder Reception Sequence 57.6 Multturn Lim Seting 5-15 5.15 5.47 5-23 5.26 5-28 5-32 5-38 5-44 5-45 5-46 5-47 5-49 5-50 5-51 5-51 5.57 5-60 5-62 5-71 6-71 5-73 5.74 5-75 5877 5-78 5-79 5-80 5-82 5-83 5-84 5-86 5-92 5-98 5-94 5-94 3-97 5-1015.8 Special Wiring . 581 Wirng Procautions 582 Wirng for Noise Control 5.833 Using More Than One Servodnve 584 Extending Encoder Cables 585 400 Power Supply Voltage 5.8.6 DC Reactor for Harmonie Suppression 6 Servo Adjustment 6.1 Smooth Operation ...... 611 Using the Soft Start Function 61.2 Smoothing 618 Adusting Gan 614 Adusting Offset 6 15 Setting the Torque Reference Filter Time Constant 61.6 Notch Fitter 6.2 High-speed Positioning... 621 Setung Serve Gan 622 Using Feedforward Control 623 Using Proportional Control 624 Sotting Speed Bias 625 Using Mode Switch 626 Speed Feedback Compensation 627 Gai Gnangng Function 6.3 Autotuning .. . 631 Online Avtotuning 632 Machine Fugiity Settings for Onlne Autotuning 633 Saving Results of Onine Autoturing 634 User Constants Related to Onine Autotuning 64 Servo Gain Adjustments ...... 641 Servo Gain User Constants 642 Basic Rules of Gain Adjustment 643 Making Manual Adustments 644 Gamn Setting Reference Values 65 AnalogMonitor 22. 5. ve cee cree eee oe 7 Using the Digital Operator 71 Basic Operation. ... . . 7.11 Connecting the Oigtal Operator 712 Functions 713 Resetting Servo Alarms 714 Basic Mode Selection 7155 Status Display Mode 7 1.6 Operation in User Constant Setting Mode 7.17 Operation in Montor Mode 5-105 5-105 5-109 5-113 5-114 5-116 5-772 Applied Operation ...... 6... ceeseeeeeeeeeneee “19 7.21 Operation n Alarm Traceback Mode 7-20 722 Gontroling Operation Through the Digtal Operator 72 72.3 Automatic Adjustment of he Speed and Torque Reference Ose 7.23 7.2.4 Manual Adjustment of the Speed and Torque Reference Offset 7.26 725 Gleanng Alarm Traceback Data 7-30 726 Checking the Motor Model 7-32 7.27 Checking the Software Version 7-35 728 Ongmn Search Mode 7-38 7.29 Intialaing User Constant Settings 7-38 7.2.10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output 7-40 72.11 Adusting the Motor Current Detection Otfset 7-48, 7.2.12 Password Setting (Wate Prohibted Setting) 7-49 8 Ratings and Characteristics 8.1 Servomotors . 8-2 811 Ratings. Spectications, and Dimensional Drawings 82 82 Servopacks ..... . 821 Combined Speciticatons 822 Ratings and Specifications 823 Omensional Drawings 9 Inspection, Maintenance, and Troubleshooting 9.1 Servodrive Inspection and Maintenance . 911 Servomotar Inspection 81.2 Servopack inspection 91.3 Replacing Battery for Absolute Encoder 9.2 Troubleshooting . Sedat ppeeeesl 9-5 9.21 Troubleshooting Problems with Alarm Displays 95 9.22 Troubleshooting Problems with No Alarm Display 9-31 923 Alarm Display Table 9-23 92.4 Waring Displays 9-35A Host Controller Connection Examples A.1 Connecting the GL-series MC20 Motion Module . A.2 Connecting the CP-9200SH Servo Controller Module (SVA) .. A.3 Connecting the GL-series B2813 Positioning Module . ....... A4 Connecting OMRON's C500-NC222 Position Control Unit AS Connecting OMRON’s C500-NC112 Position Control Unit 6 Connecting MITSUBISHI's AD72 Positioning Unit .. A7 Connecting MITSUBISHI’s AD75 Positioning Unit . B List of User Constants B.1 User Constants © ........eeeeeeee B.2 Switches .... ..... B.3 Input Signal Selections B.4 Output Signal Selections ............... : B.5 Auxiliary Functions . B.6 Monitor Modes C Additional Functions for SGDM-1IDA (New Version) C.1 Additional Functions for SGDM-iDA (New Version) .. As AT AB B-A3 BS B46Overview About this Manual ‘This manual provides the following information tor the E-Il Series SGMOIH/SGDM Servodrives ‘© Procedures for mstalling and wiring the Servomotor and Servopack © Procedures tor operation of the Seivodrive ‘© Procedures for using functions and adjusting the Servodrives ‘© Procedures for using the butlt-in Panel Operator and the Hand-held Digital Operator ‘© Ratings and specitications for standard models © Procedures for maintenance and inspection Mi Related Manuals Reter to the following manuals as tequited Read this manual catetully to ensure the proper use of E-II Series Servodnves Also, keep this manu- ‘al ia safe place so that 1 can be 1elerted 10 whenever necessary ‘Manual Name ‘anual Number Contents El Senes SOM=HISGDW | S/-S8003T 1 | Describes the procedure used to select ET User's Manu Senes Servodirives and capaciues Servo Selecuon and Data Sheets Tell Senes Servopack Personal | SIE-S8O0-35 | Describes the applications and operation of Computer Momioring Soltware sofiwae tor the E-Il Series Servodrive mont Operation Manual toring devices for use on personal computers Ell Senes SGM_HSGDM | TO-S80034 Provides detailed mformation on the opers= Digual Operate tuon of the JUSP.OPO2A.2 Digital Operator, Opetaon Manual \whict 1s an optional productUsing This Manual Intended Audience ‘Thus manual 1s intended forthe following users © ‘Those designing E-II Series Servodeive systems © ‘Those installing or wiring E-II Series Servadtives © ‘Those performing tial operation or adjustments of E-If Senes Servodrves ‘© Those maimiauning or nspecting E-Il Sentes Servodnves 1 Descnption of Technical Terms In ths manual, the following terms aie defined as follows © Servomotor = E-l Sere SGMAH SGMPH. SGMGH. SGMSH. or SGMDH Servomotor © Servopack = Z-lI Sertes SGDM Servopack © Servodrive = A set including a Se1vomotor and Servo Amphfier © Servo System = A servo control system that includes the Combination of a Servodrive with a host computer and penpheral devices W indication of Reverse Signals in this manual. the names of 1everse signals (ones that are valid when low) are written with a forward slash (/) before the signal name. as shown in the following examples ° SON © CONSafety Precaut ‘The following precautions are for checking products upon delivery. installation. wiring, operation, ‘maintenance and inspections {@ Checking Products upon Delivery 4 CAUTION '* Always use the Servomotor and Servopack in one of the specified combinations [Not dovng so may cause fie or matuncton installation 2 CAUTION '@ Never use the products n an environment subject to water, corrosive gases, inflammable gases, ‘or combusbbles Doing so inay result an electri. shock or hie gs Winng 2 WARNING © Connect the ground terminal to a class-3 ground (100 0 or less) [L_tmproper grounding may result melt, shoo re 4s CAUTION '* Do not connect a three-phase power supply tothe U, V. or W output terminals Dong so may result in unary or hte ‘© Securely fasten the power supply terminal screws and motor output terminal screws, | _ Notdomng so may resulM Operation 4 WARNING Never touch any rotating motor parts while the motor is running Doing so may result m myury 2, CAUTION Conduct tnal operation on the Servomator alone with the motor shait disconnected from machin to avoid any unexpected acardents Nor doung so may result sn inyury Before starting operaton with a machine connected, change the settngs to match the user's: Constants of the machine Starting operation without matching the proper setaings may cause the machine to runout of contol or mal- Before startng operation with a machine connected, make sure that an emergency stop can be applied at any time Nor doing so may result in myury Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures Maintenance and Inspection 2. WARNING Never touch the inside of the Servopacks Doing so may result n electric shock Do not remove the panel cover while the power is ON Doing so mav result in electric shock Do not touch terminals for five minutes after the power 1s tuted OFF Residual voltage may cause elecine shock & CAUTION Do not disassemble the Servamotor Dong so may result elecnic shock os 1qyuty Do not attempt to change winng whule the power is ON. Dorng so may result n elon shock or myuryGeneral Precautions Note the following to ensure safe application | | * The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the covet or protective guard as specified first. and then operate the ! products sn accoudance with the manual \ ‘+ The drawings presemted in this manual are typical exemples and may not match the product you received 4 + This manual 1s subject to change due to product improvement. specsfieation modification, and ‘manual improvernent When this manual 1s revised. the manual code 1s updated and the new | manuals pubshed asa next edition The edition mmber appears onthe front and back covers ‘© Ifthe manual must be ordered due to loss or damage. mform your nearest Yaskawa representa- uve or one of the offices listed on the back of this manual ‘Yaskawa will not take responsibubaty for the results of unauthorized modifications of this prod= uct. Yaskawa shall not be table for any damages or troubles resulting from unauthorized modifi- ccatvononChecking Products and Part Names ‘Ths chapter describes the procedure for checking products upon delivery as well as names for product parts 11 Checking 5-I! Senes Products on Delivery 1 - 114 Servomotors 112 Servopacks 12 Product Part Names it 1- 121 Servomotors 1.22 ServopacksChecking Products and Part Names 111 Servomotors 1.1 Checking 5-II Series Products on Delivery ‘The following procedure 1s used to check E-II Sentes products upon delivery Check the following tems when E-If Senes products are delivered ‘Check items Comments ‘Are the delivered products the ones | Check the model numbers marked on the nameplates | that were ordered? ofthe Servomotor and Servopack (Refer tothe de- scriptions of model numbers on fellowing pages) Does the Servomotor shaft rotate | The Servomotor shaft 1s normal if can be turned ‘smoothly? | smoothly by hand Servomotors wath brakes, however, cannot be turned manually a ils there any damage? | Cheek the overall appearance, and check for damage Jor scraiches tha may have occurred during shipping /Are there any loose screws? [Check screws for looseness using a screwdnver any of the above temsare faulty or incorrect, contact your Yaskawasalesrepresentative orthe deal er from whom you purchased the products, 1.1.1 Servomotors External Appearance and Nameplate Examples -—— Rated output ‘Servomotor med! ‘AC SERVO MOTOR ‘TYPE SGISH-DACATL Nem al Series Servomotor@ Model Numbers Standard Servomotors 1) Servomotor Capacity (See Table 1 1) 2) Supply Voltage * Theonly 100-V Servomotorsan the 2 kW oress [SGM AH and SGMPH Servomoies ' 43) Senal Encoder Speattcations (See Table 12) Table 11 Servomotor Capacity (kW) 3 End Speatteaton (Gee 30013 4) Deeg 9 Revision Order sous Set nscormen Seven Sees BE Be hnpeeuncees —— 8) Brake and 01 Seal Specitcatons vet vos oate Eee ‘Symbol | SGMAH SGNPH SGHGH | SGNSH] SGMDH | Symbol "SGMAH | SGMPH’ SGMGH | SGMSH [SGMDH= | 7” 3000 T3000] 1500 7 1000 | 3000, 7000 ‘3000 ‘3000 100" 1000 | 3000 2000 simi |_eimie | cima | mn | cn imi | tn cin nin | in| we ae os os BB [ oes = a te 0 ao ao for - fp. fe 22 oz o2 oz | - |= = = 30, = [= 29 730 30 = A | =e fae == aa [05 == a= 5 af = 06 06 = = Cae = = = so | - 08 == ss 08 ot tr (10 peor poe eee ee Pe eee eee eee Seta erect ae eee [ee ererieetin aera oa == rie - Toble 12 Senel Encoders Spesification ‘SGMPH [SGMGH [SGMSH SGMOH [Tost absolute encoder ‘Sandaat —— = = 2 [17-0 absolute encoder = = Standard | Sandan | Standard A__| 13-bit incremental encoder ‘Standard | Standard | = Ee | BB; 16-bit incremental encoder ‘Optional | Opuonal | — = = = emenal encoder Sandan Table 13 Axis End Specifications (Straight) Code | Specification ‘SOMAH [SGMPH |SGGH |SGMSH ~SGMDH 2 [Scag without key ‘Standard | Standard * Sandard_; Standard | Standard | 3 Taper 1/10, wah parallel Key ‘Opuional Optional | Optional 4, Suan with Key | Oniienat| Optional 5 | Taper 1710, wa wood Key ‘puonai_ | Opuonat : [Sra wit key and ap ‘Opienat | Opueral | Optional —Opona| Opmonal [Swag wath ap ‘Opuonal | Options : j ¥Checking Products and Part Names 111 Servomators Servomotors with Gears SGMPH-OTAAAG 1 2B | Sense Senomoer tone —! 8) Brake Specifications ‘Sour 8 Wena Seucn 8 Winzt voc tne Sous 7) Shaft End Speciicabons (seoTabi 18) 1) Servomotor Capacity (Seo Table 1 4) Ley ooar rato 60 Tone 17) 2) Sey Say oe ey * The only 100-V Servomotors are the 0 2 kW ar ese SMP Serene 0) era caer peceanre So Tob 15) 5) Gear Type (Soe Table 16) 44) Design Revision Orde i sous SEM 500 me) 8 SEK tr wanepootspeceaen) Table 1.4 Servomotor Capacity (kW) 7 Svmboi | Seman T sawen [sana | Sewsi_[Symbot “sawan_ | soweH [—sawon —T sawsi ‘3000 | 3000 1500 1000 3000 1 3000 ; 3000 1500 | 1000 ; 3000 min amin | rin rimin | rin {fin | rimin | rfmin | rfmin | fin as | 00 | - SF PEeSrer Perris retest eerste erie reece erst PASTE [Eto ost Eee te eee eet etc pene [erm eee = pie [20 720 apo fo |-)-]- ~)2 7 -. - )-][-—- 2 | 02 = P- p= [se [= = 2s [30 [30 | - See epee poe be [vac eee eee 04 oO Le P-L - 4] 05 = eas fe ara eo | - = =| 06 = 50 = = = -_, 50 Tos ow os [- - - s f s oo |= = [oso de 10 - Se 10 75 = = 7s) = =| 12 = = = 12 = : ep} - prt -] - : f Table 1 5. Senal Encoders Code ‘Specification ‘SGMAH | SGMPH | SGMGH | SGMSH | 1 [6bir abso encoder Standard] Standard [_— = 2 [T-b absolut encoder Standard Suandard A incremental encoder ‘Standard | - | B_Iebu wncremenual encoder Opuonad "= 7 c ‘meremental encoder = =| Standard | Standard111 Checking El St Table16 Gear Type Code Speciheation ‘SamaH | SGMPH | SGWGH | SGMSH ~@_|ADS planerylow-baash ear Sandal Sanda | td I |Sansard backlash ge Standard Standard! 8 _| wih toot T [Range Standard L_[IMt planetary Tow backlash gear Standard | Sindard Table 17 Gear Ratio (Varies with Gear Type) Code Specification ‘SGWAH SGMPH SGMGH SGMGH aie : Ls B_ [iors 6 yf 6 [| st [iat @i_[ or [st + fus iar | ~ 2 | c EEE LI ! 3 [i0er 10? d J | 8 [10 c c 7 [129 or Gi Gt Ls.™ Et fis Le | * Notall applicable models avarlable Table 1.8 Shaft End Specification (Varies with Gear Type ) Specification ‘SGHAHSGMPH | SGNGH | SGMSH Rosia Gi as | 2_[Sirsugnv wihou key Gi 671 [a |Stemgit wth key Gc) Gs T [76 | Straight wu Key and tap GJ GI aChecking Products and Part Names 112 Servapacks: 1.1.2 Servopacks External Appearance and Nameplate Examples = ‘Servopack model 7 ToT Fars go0-zs0}vars ¢-290 HOLS 207e|bease & Phage 978° IRAE 2s 9 BES tro [ete Sote0) 37 42808-1681 YASKAWA ELECTRIC MAGE TN JAPA SenalrunBer poorcobio capacty lSenes S6DM Applicable Senopace ower spb Model Numbers Ell Sones 'SGOM Servopack Maximum Applicable Servomotor Capacty —— (See Table 19) Supply Votage A 200V B 100v" * The only 100-V Servometors are the 02 KW or Jess SGMAH and SGMPH Servomoios 1 For torque, speed, and postion contol ‘Design Rewsion Order Blank, A.B. ote Optons. [R Rack mounted (5 kW or less) Duct ventiated (6 KW 0°75 KW only)11 Checking «Table 19 Maxmum Applicable | Capacity (kW) | Maximum Applicable | Capacity (nw) | Servomotor Capacity Servomotor Capecty Symbol ‘Symbol t a ae a He i AS 005 20 20 ot 10 3 30 02 T 020 50 30 04 040 60 60 i 35 090 7 ios f 08 O75 2 : i 70 TO = =‘Checking Products and Part Names 121 Sewomoors 1.2 Product Part Names ‘This section describes product part names 1.2.1 Servomotors Encoder Frame Flange Output shatt1.2.2 Servopacks 12 Product Part Names The figure below shows the part names for Servopacks Battery Holder Used to house the backup battery for an ab- solute encoder ‘CNS Analog Monitor Connector sod 1 mentor motor epoad. torquoroor- fence, and oer values twough a specal cable |Z ONB Batty Connector Used to connect to the backup battery for an abso encoder |_— Panel Display S-digt 7-sogment LED used to display sore Stat, alarm sats, and oher values when User constants are mput lp, - a Panel Keys Used to set user constanis Power ON Indicator LUghts when the control power supply 15 ON Charge Indicator Lghis when the man ercut power supply is ON {and stays tas long as the main crcut power ‘supply capactor romans charged Taeretore, ‘do nol touch the Servopack even after the pow- ‘er supply is tured OFF ifthe ncator i kt CNS Connector for Personal Computer Monitonng Used to communicate wth a personal computer oro con- ecto a Digtal Operator Nt VO Signal Connector Used for referonco mput signals and sequonce VO signals Nameplate Indicates the Servopack model and ratings ‘CN2 Encoder Connector Connects tothe encoder nthe Sorvomotor Ground Terminal ‘Must be connected to protect against electncal shock Main Circuit Power Supply Terminal ‘Used for mam excut power supply input Control Power Supply Terminal ‘Connects othe contol power supply and externally ‘meuntod regeneratwe roestor ‘Servomotor Terminal ‘Connects tothe Servomotor power ine rInstallation ‘Ths chapter describes precautions for E-II Series Servomotor and Servo- pack installation 21 Servomotors .... Raed et He a 211 Storage Temperature 2-2 212 Instalaton Site 2-3 21 Algnment 2-3 21.4 Onentabon 2-3 215 Allowable Shaft Loads 2-4 2.16 Handling Oil and Water 2-6 217 Cable Stross, 2-6 22 Servopacks 2-7 221 Storage Conditions a7 222 Installation Ste 2-7 223 Onentation 2-8 224 Installation 2-8Instatlation 2.1 Servomotors SGMCIH Servomotors can be installed enther horizontally or vertically The service life of the Servomotor will be shortened or unexpected problems will occur ifthe Servo- ‘motor is installed incorrectly or in an inappropriate location Always observe the following installa- tuon instructions 4 CAUTION © Donot connect the Servomotor directly toa commer- ‘ial powerline This will damage the Servomotor ‘The Servomotor cannot operate without the proper Servo: pack IMPORTANT Proc fo Installation ‘The end of the motor shafts coated with antcorrosive pasnt Thoroughly remove the p ‘ened wath thinner prior to installation Avoid getung thinner on other parts ofthe Servomotor when cleaning the shaft 2.1.1 Storage Temperature ‘Store the Servomotor within the following temperature range if sts stored wath the power cable disconnected -20 10 60°C21 Senomotors —_—— 2.1.2 Installation Site SGM(H Servomotors are designed for indoor use Install the Servomotor in environments that ‘satisfy the following conditions ‘© Free of corrosive or explosive gases (© Well-venulated and free of dust and morsture (© Ambient temperature of 0 10 40°C © Relative humudity of 20 to 80% with no condensation ‘© Facilitates inspection and cleaning E 2.1.3 Alignment ‘Alig the shaft of the Servomotor with the shaft of the equipment, and then couple the shafts Install the Servomotor so that slignment accuracy falls within the following range Measure ths distance at four dforent positons on the crcumfarence The ciference between the ‘maximum and rnimum measurements must be 0 G3 mm (0.0012 in) or ess (Turn together with ouping ) =r Measure this distance at four dflerent posttons on the crcumiorence The ference between the maxamum and marumum measurements Must be (003 mm (20012 in) ores (Turn together with couping ) FIMPORTANT] * Vibration that wall damage the Bearings will occur the shafts are not property aligned + Do not allow direct mpact to be applied to the shafts when installing the coupling Otherwise the en- ‘coder mounted on the opposite end ol the shaft may be damaged 2.1.4 Orientation SGMUIH Servomotors can be installed either horizontally or verticallyInstallation 215 Allowable Shaft Loads 2.1.5 Allowable Shaft Loads Design the mechanical system so thrust and radial loads applied to the Servomotor shaftend dur- ang operation falls within the ranges shown in the Table 2 1 ‘The allowable radial load inthe table 1s the maximum load allowed on the end of the output shaft Table 21 Allowable Radial and Thrust Loads for the Servomotor j Servomotor Model ' Allowable Radial | Allowable Thrust LR | Reference Losd* | Load mm | Diagram Fr IN (bm) FeIN (bq)! (inch) SGMAR- AB Bis, ui) | 2 AS 52) | Sa) | 0) i of 78075) $42 14) : 2 245 551) 741668) | 3 04 245 (55.1) 74.06.63) (098) 2D 147 30) 3 | ! (138) [SaMPH- OF 77S waiG 20 ' on “ j a Cr ae rrr cy 245 55) 681529) | 098) | Li n' 08 392 (881) 4730 | S| se 15 #2001) | 4730) | (138) | SGMGH- O5ACIA | 490.110) 98 (220) se 1S U OsACA | s80cii0) 98220) | 2281 : SAGA | 686 (154) MAT) : BOALIA | 11762643) 490.110) 3 goaca | uname [soul 0m | MATA 14706308) 29010) | T5ASA 17643965) se (132) | 445) i Thrust and radial loads fr ‘Thrust load (Fs) Shaft-end load applied parallel to the centerline of the shaft + Rahal load (Fr Shaf-end load applied pempendiculartothecenesine oftheshat | seryemotor Fe Shalt end21 Sevomotors Servomotor Model | Allowable Radial Allowable Thrust | LR | Reference Load i Load mm Diagram | FrIN(ib}] =| Fs (N(lbf)] (inch) | "SGMGH- OSADB | 490 (110) 98220) 8 i : 06) 490 (10) 98 220) (228) | Sart iets | 12A08 1176 (268 3) 490 (110) 2038 | 1470304) wo (ii) | GD | 30281470 G304) 90 410) | M408 1764 (396 5), 588 (132) 13 LR 1 BOA=B 1764 3965) 568 (132) | 445) | a SGMSH- 104 sess | 19644) alc Hi | rN e615) sean 7m A UL gs i 20 (686.154) 196 44.) 0] | i 308 ‘980 (220) 362 8D) @ U ! 408 i176 (264.3) 392 (881) | 248) “50A 1176 (264 3) 392.881) SGMDH- 2A | 1176 a543) $90 (110) 38 328, 1176 2643) 490 (110) | 217) 40a 1176 2683) 490 (110) 6 256) 28Installation (i. aaa 217 Cable Stress 2.1.6 Handling Oil and Water Install a protective cover over the Servomotor if 118 used in a location that 1s subject to water Cr orl mist Also use a Servomotor with an orl seal to seal the through shafl section Install the Servomotor with the connector facing down ‘Through shaft section Lo q 2.1.7 Cable Stress ‘Make sure there are no bends or tension on the power lanes Be especially careful to wire signal line cables so that they are not subyect to stress because the core wires are very thin at only 0 2 t0 0.3 mm (0 0079 10 0012 1n) { Thnough sectons ofthe shat “Ths refers tothe gap where the aft protrudes fom the end of the motor 2622 Servopacks 2.2 Servopacks “The SGDM Servopacksare base-mounted servoamps Incorrect mstallation will cause problems Al- ways observe the mstallation instructions below 2.2.1 Storage Conditions ‘Store the Servopack within the following temperature range 1f 1s stored with the power cable disconnected ce EF ll Sones SGDM Servopack 2.2.2 Installation Site ‘Take the following precautions at the installation site Situation Installation Precaution 1 [EEE ES SEER See ree See Installation in a Control | Design the control panel size, unt layout, and cooling method so the Panel ‘temperature around the Servopack does not exceed 55°C Installation Near a ‘Manumize heat radiated from the heating urut as well as any tempera- Heating Unit ture se caused by natural convection so the temperature around the ‘Servopack does not exceed 55°C ! Installation Near a Install a vibration ssolator beneath the Servopack to avoid subjecting. | ‘Source of Vibration —_ st to vibraton Installation at a Site | Corrosive gas does not have an immedhate effect on the Servopack, Exposed to Corrosive but will eventually cause electronic components and contactor related Gas devices to malfunction Take appropriate action to avoid corrosive ats [other Situations: | Do not install the Servopack in hot and humid Locations os locations subyect to excessive dust or ron powder inthe ait 27Installation 224 instalation 2.2.3 Orientation Install the Servopack perpendicular to the wall 2s shown in the figure The Servopack must be oriented this way because st 1s designed to be cooled by natural convecuon or cooling fan ‘Secure the Servopack using? to 4 mounting holes The number of holes depends on the capacity 2.2.4 Installat Follow the procedure below to install multiple Scrvopacks side by side in a control panel UPN ARMAS | sonmesromn oS co ae) 50 men (1 87 9) min 30 mmf (1 181m) mn _ 10 mm (0:39 in) mn Servopack Orient: Install the Servopack perpendicular tothe wall so the front panel containing connectors faces ‘outward @ Cooling ‘As shown inthe figure above, allow sufficient space around each Servopack for cooling by cool- ing fans oF natural convection Side-by-side Installation ‘When installing Servopacks side by side as shown 1n the figure above, allow at least 10 mm (0.39 in) between and a leat 50mm (1 97 1n) above and below each Servopack Install cooling fans above the Servopacks toavoid excessive temperature rise and to maintain even temperature snside the control panel 23822 Servopacks Environmental Conditions in the Control Panel © Ambient Temperature Oto SS°C © Humidity 90% RH or less © Vibration. 05G (49 mis?) © Condensation and Freezing None © Ambient Temperature for Long-term Reliability 45°C max 29Wiring ‘Thus chapter describes the procedure used to connect 2-ll Senes products to peripheral devices and gives typical examples of main circuit wiring as well as 0 signal connections 31 Connecting to Peripheral Devices: a 3-2 3.111 Single-phase (100 V or 200 V) Main Cireult ‘Spectications 3-3 3.12 Three-phase (200 V) Main Circutt Specifications. 3-4 32 Servopack Internal Block Diagrams 3-5 321 300 400W 200-V and 30 t0 200W 100-V Models 3-5 322 05KWto 1 5 KW 200-V Models 3-6 323 20KW1050 KW 200-V Models 3-6 324 6 0kW and 75 KW 200-V Models 3.7 33 Main Circutt Winng . os 3-8 331 Names and Desenptons of Main Cicut Terminals 3-9 32 Typical Man Crout Winng Example 3-10 3.99 Cable Spectications and Penpheral Devices 2-10 3.34 Servopack Power Losses act 3.35 Winng Main Creu Terminal Blocks 3-12 3.4 I/O Signals +o Petes b eat 3-13 3.41 Examples of iO Signal Connections 3-14 3.42 Lit of CNI Terminals 3-18 3.43 YO Signal Names and Functons 3-16 3.44 interlace Crcuts 2:19 35 Wiring Encoders...... 3-22 351 Connecting an Encoder (CN2) and Output Signals from the Servopack (CN1) 3-22 352 CN2 Encoder Connector Terminal Layout and “Types 3-29 3.6 Examples of Standard Connections 3-24 361 Single-phase Power Supply Specifications 3-24 362 Three-phase Power Supply Specifications 3-25 3.63 Potton Control Mode 3-26 364 Speed Control Mode: 3-27 365 Torque Control! Modo 3-28 Bu3.1 Connecting to Peripheral Devices ‘This section provides examples of standard Z-II Series product connections to penpheral devices I also briefly explains how to connect each peripheral device.3.1 Connecong to Peripheral Dewees 3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications ioe Se SSthroter essen cad) MEWOCONLI20 GL120 trevantren Hoa Molded-case Circuit F (CCB) Nose Filter aso amen eerie Cana nae J2SP-CNSD 003 Magnetic Contactor seas Power Supply for Brak Regenerative Resistor ‘easortoiomrae Ohara e (Beregenerin copcty mlWinng ‘312 Trvee-phase (200 V) Man Crcull Specticatons 3.1.2 Three-phase (200 V) Main Circuit Specifications i “Gevae ha SGOM Serene 9a Hoot car ‘emsencrmen oon em Digtal Operator JUS onan Notse Fitter Cate ntl JSP SE 609 Magnetic Contactor isewe Suan Regenerative Resistor tng apap afte tna age ests Inatcar nexe awe bean Beans nt aetna32 Servopack internal Block Diagrams 3.2 Servopack Internal Block Diagrams ‘The following sections show internal block diagrams of the Servopacks 3.2.1 30 to 400 W 200-V and 30 to 200 W 100-V Models * The power supply voltages 10010 118 V8 (S060 Hr forthe 3010 200 W 100-V modelsWining "323 2OKWIO5 KW 200-V Models, 3.2.2 0.5 kW to 1.5 kW 200-V Models32 Sorvopack intemal Block Diagrams 3.2.4 6.0 kW and 7.5 kW 200-V Models arene rcaWinng 3.3 Main Circuit Wiring This section shows typical examples of main circust wiring for E-I1 Senes servo products. functions ‘of main circuit terminals, and the power ON sequence Observe the following precautions when wiring. 4) CAUTION \ ‘© Donotbundie orrun power and signatlines ogetherinthe same duct Keep power and signallines separated by atleast 30 em (11 81 n) © Use twsted-pair wires or mult-core shielded-paur wires for signal and encoder (PG) feedback ines © Donottouch the power terminals for S minutes after tuming power OFF because high voltage may Stil remain in the Servopack Make sue the charge indicator 1s out frst before starting an inspection ‘© Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute nce the Servopack has a capacrior inthe power supply. a high charging current flows for 02 seconds | ‘when power sturned ON Frequently turning power ON and OFF causes main power devices ike capact- | (ors and fuses to deterorate, resulting in unexpected problems I 383.3.1 Names and Descriptions of Main 33 Man Oircut Winng cuit Terminals Table 3 1 gives the names and a description of main carcutt terminals Table 3.1. Main Circurt Names and Description. Terminal Name Description Symbol i 1H, t20r [Mancrout ACmpu |30W10200W [Single-phase 1000 115 V 710%, -I5€ (50/60 Hz) | 14, £2, U8 terminal 30W 19 400W _Simgle;phase 2000 230 V #10, -15% (50/60 12) jos KW t07SKW —Three-phase 200 to 230 V #0, -13% (50/60 Hz) ; 1UV,W_[Servomotor connection | Connects tothe Servomotor ' exmunal Jive, t2e [Conor power mputier |30W1200W | Single-phase 10010 115 V +108, 9% (50/60 112) ronal 30Ww75KW [Single-phase 200 0 230 v +1, 15% (50/60 Hz) : © Ground terminal ‘Connects o the power supply ground ermunals and movor ground wera 1 \2places) 1 [51,62 [extemal regenerauvere- “30W 10 00W | Normally not connected 1 or stor tera Bibel ee [Connect an extemal generate resistor (proved by custom ia : 2 erween BI and B21 the regenerauve eapeciy 1s insu ren, j j ote No B3 temminal JOS kW to 50KW Normally shor 82 and B3 Foran internal regenerative res5- to) ' Remove the wire between B2 and B3 and connect an extemal regeneranve rensor (provided by customer between BI and ! ! 2 sf the capac ofthe internal regenerate wessiorisnsafi- | i creat B1,B2 extemal regeneraure se- [60KW,75KW | Connect an extemal regenerative rettor (provided by custom jor stor terminal ceoybetween terminals BI and B2 Refer to 5 6 Selecting a Re- BI, Ba, 83 generative Resistor for details : Note No B3 termunal @1,@2 __DCreactorerminalcon- | Normally shor i and @2 eo fo power ery couemesse sgn POET Sup ON wave need connect DC aemonie wave cOUET: | east berween I and @2 | measure | Note ‘These terminals do not eis on Servopacks wih a caput of 6 KW o: higher le am eeu plus term | Normally not connected | | ie | Nate Ths terminals on Seropzcks wha capac of KW argh ony i 3 ‘Mian eeu manus te | Normally wot connected : rnal ” 38Wiring 333 peciications and Pensheral Devices: uit Wiring Example 3.3.2 Typical Main ‘The following figure shows a typical example of main circuxt wiring 2 woos os my Fotmesemecen || nw pea Rage | | wmofe tt we Get IE | IMCCB: Molded-case circurt breaker (for the inverter) 1Ry Relay 1PL: Indicator lamp 1SUP Surge suppressor 1D: Flywheel diode FIL, Noise filter MC Magnetic Contactor 1H Designing a Power ON Sequence [Note the foliowing points when designing the power ON sequence 1 Design the power ON sequence so that power 1s turned OFF when a servo alarm signal 1 output (See the eircut figure above ) (© Hold the power ON button for atleast wo seconds ‘The Servopack will outputa servo alarm signal for two seconds or less when power is turned ON This required in order to autalize the Servopack Powersupply ——— 20 smax ‘Servo alarm (ALM) output signal 3.3.3 Cable Specifications and Peripheral Devices Refer to the SGM—H/SGDM User's Manual Servo Selection and Dara Sheers (Manual No SIE-$800-31 1)33 Nan Greut Wing 3.3.4 Servopack Power Losses Table 3 2 shows Servopack power losses atthe rated output, Table 3.2 Servopack Power Losses at Rated Output Main | Maximum | ServopackModel | Output | Main Regenerative | Control | Total Circuit, | Applicable ‘Current Circuit: Resistor Circurt Power Power | Servomotor (Effective | Power PowerLoss | Power | Loss | Supply | Capacity Value) | Loss tw | Lose oy ew] ww co) | ™ | ‘Single- 003 [SGDM-A3AD.-A3ADA | 044 31 8 11 | phase 200 005 /SGDM-ASAD,-asADA| 064 46 76 010 [SGDMOIAD.-o1aDA | 091 or | 197 ! 020 |SGDM-02AD, -02ADA 2 133 263 { | 040 “oapa | 28 20 ; 3 Three- 050 /sGpwosap.-osapa | 38 n rt 5 so phase rm 200 075 |scpwosap.osapa | 57, at oe to |scpw-toap.-1apa | 76 | 55 2 15 “apa | 16 123 aa 152 20 SGDM-20AD,-20ADA | 185 | 120 28" 13) | 7 oe i | 30 |scpwisoa.z0apa | 248. 155 198 50 |scpv-soapa, 329 240 56 er 60 SGDM-60ADA 469 290 as aT 317 75 |scpM-75aD4 7} 330 [38 ‘Single- 003 |scpM-A3BD,-a3BDA| 066 | 35 = Top | ws | phase | toov 005 |SGDM-ASBD,-ASBDA | 095 32 | 182 010 |scowono.owpa | 24 | 2 | i 25 | 020 |scpM-02BD,-c2spa | 30 164 a 1. Servopacks witha capacty of 3010400 W do ot have bull-m egenerativeresistors Ifthe regenerative enrgy exceeds the specified value, conneet an external regenerative resistor Refer to 56 2 Calculating the Required ‘Capacity of Regenerauve Resstors * 2. Regenerative resistor power losses are allowable losses Take the following action if this valve 1s exceeded Remove the lead from the internal regenerative resistor inthe Servopack Install an extemal regeneratve resistor * 3. Anexternal regenerauve resistor must be connected to Servopacks with a capacity of 6 OW or higher The fol- Towing Regenerate Resistor Unis are provided for this purpose For the SGDM-GOADA IUSP-RAO4 (allowable loss 180 W) For the SGDM-7SADA_JUSP-RAOS (allowable loss 350W) ‘Note Extemal Regenerauve Resistor Unts are optional Refer to 5 6 Selectng a Regeneratwe Resistor for deals onwinng ‘83.5 Winng Man Creut Terminal Blocks 3.3.5 Wi ing Main Circuit Terminal Blocks ‘Observe the following precautions when wiring main circuit terminal blocks 4, CAUTION Remove the terminal block from the Servopack pnor to winng | Insert only one wire per terminal on the terminal block Make sure thatthe core wire isnot electncaly shorted to adjacent core wires, 1 Reconnect any wires that were accidentally pulled out ‘Servopacks with acapacity below 1 5 kW will have connector-type terminal blocks for mam c1r- ‘cuit terminals Follow the procedure below when connecting to the terminal block Connection Procedure 1. Strip the end of the wire ase eee 81> 9mm(031 00.35) 2. Open the wire terminal on the terminal block housing (plug) with the tool using the proce dure shown m Fig A or B ' Insert the hook end of the provided tool nto the slot as shown in Fig A Press on the lever end to open the wire terminal © Use a standard flat-blade screwdriver (blade width of 3 0t0 3.5 mm (0 1200 14 1n)) Put the blade into the slot, as shown m Fig B. and press down firmly to open the wire terminal Erther the procedure shown in Fig A or B can be used to open the wire insert opening, Fig A > Fig B 3. Insert the ware core into the opening and then close the opening by releasing the lever or re~ ‘moving the screwdriver Preparing the End of the Wire ‘Wire can be used simply by stripping back the outer coating The following are applicable wire © Single wire 205 0 1.6mm © Braided wre AWG28t0 AWGI2 a234 WO Signals 3.4 VO Signals ‘Thus section describes VO signals for the SGDM ServopackWinng "341 Examples of 10 Signal Connections 3.4.1 Examples of I/O Signal Connections “The following diagram shows a typical example of VO signal connections SSGDM Sorvopack a vaer }s. a” ad Reference speed i een 4210410 Virated ee imotr speed vohtage 3000 Maximum operaing Torque reference arent 207A DC #11010 Vieted mote torque Pus ow ro sign [se PG ding rato output roeronce ) OR ‘Appcable ine recever 'SN75175 oF C3486 manufactured by Tor the cquvalert Open-collector PLT — ae Pe 8, y power supply Fe wo P80 Amount of S-phase rolation \—24 pso Sonal data output enna ere | 1} go Abbie ie recover ewasve” q rt 'SN75175 or MC3486 2ewasy ster | ‘manuactured by TA or the ai ‘equvalent av ‘SEN signal input’? iP rate? fsa Servo ON (Servo ON when ON) P control { control when ON) Reverse run prohibited (Prohibited when OFF) Forward run prohibited (Prohibited when OFF) ‘Alarm reset (Pesat whien ON) Reverse current mt (Lani when ON) Forward current it (Lami when ON) Lge represents wmisced: parr wires ‘Speed comnedence detection {ON when speed comades) Positonng completed (ON ‘when positoning 1s completed) TGON output (ONatlovais above the seting) Servo ready output {ON when ready} ‘Serv alarm output {OFF fora alarm) Photocoupier output ‘Maxamum operating voltage 30vDe Maximum operating current FG Connect soi Soman connector she * 3, connect when using an absolute encoder * 2. The wine constant forthe prmary keris 47 ys * A. Used only with an absolute encoder 33.4.2 List of CN1 Terminals 3.4 VO Signals ‘The following diagram shows the layout and specifications of CNI terminals @ CN1 Terminal! Layout 7 [se Jen 186 Teno GH |AGON® [TON nigral = ‘on oupar pot LT Open ces xtra ae TAGON FON sgl i tor reference 1 output TN SET) ierccrapply {29 |SRDYs Servo rexiy | 7 3 |VREF [Reference ite 30 [/S-RDY [Servo ready 6 ~/GND_ speed mput [3] |ALM+ | Servo alarm output i EEE eee EEE | 7 [PULS [Reference ouput ALM |Servo alarm = Reference jpuiempar [53 [ao |p divided output pulse mput output ! 9 PEREF | Torque refer Aphae [34 [PAO Pande ence mput ouput [10 [sa jonp BO |PGdnided iAphase i ' ouput i THISIGN [Reference | Biphase |36 [BO | Po awed ‘ Jigninpue | nut 312 |/SIGN Reference | 37 | ALO ‘Alarm code | B-phase : symbol mput Fis pLa__Open-collec- thea 38 |ALO2 [Alarm code | tor reference i Z output a pmversiay [> [RUB ete 1 15 CLR Clear input ' : 40 |/S-ON | Servo ON in- 6 : i | a1 [PCON | Poperaion pt L | I Nae 7 put a2 |P-OT | Forward over 18 1PL3. | Open-collec- | 43 |N-OT Reverse over- ‘rave input i toe reference travel mp |_| I power supply [19 [PCO [PG aned 4 7ALM. [Alarm ese \ output jest | put | 30 1PCO [PG dvnded fcophase [AS |P-CL | Forward eves i J output | !ren at ON | i Coase [TBAT [Bamery GD input a6 [RCC | Rovere oe i i rent mit ON BBATO) Baweye) | | a7 sa Enea mpat input Bl =| _[pewer surely S-phase signal zy oa 9 [PSO | S phase gal outa : [25 [A-CMIPS | Speed comes er xo] - = cows dence dees- in ouput i Note 1. Do not use unused terminals for relays 2. Connect the sheld ofthe VO sigal cable to the connector shell ‘Connect ta the FG (rame ground) at the Servopackend connector ausWing EE ‘343 UO Signal Names and Functions CN1 Specifications ‘Specifications for ‘Applicable Receptacles | Servopack | Connectors Solder Type Case Manufacturer; [rasosaraa er fiowosiows —[iosszanon amine Se | Equivalent 50-p rutomo 3M Co Right Angle Plug : | ! 3.4.3 VO Signal Names and Functions The following section describes Servopack VO signal names and functions HI Input Signals F Signal Name inNo Function Refer- | ! i | ence [Camimon [SON | a0 | Servo ON Tuas ON ihe enomntor wien ihe gae Dlckin he mvenernre | S52 teased TP-GON | a1 Funcuon selecicd wa wer constant 321. $27 Proportional opsrauon — [Suviches the speed contol Toop from PI (propomtonal) 1 $21 i reference :ntogal to P (poporuonal) contel when ON Direction reerence | With ineral reference speed selected Switches ibe | 526 ection of roation : I ‘Control made swaching | Postion «speed 327 CConirol + torque | Enables control mode swxching : | Torque +> speed ' 1 Zero-amp ference | Speed contol with zero * 5, Connectan extemal egeneratve resistor between ermt- als BI and B2 -Servopacks wit capacity of60kW orhugher (Theretsnotermnal B3 on these Servopacks )ad ‘winng "363 Posivon Control Mode 3.6.3 Position Control Mode acco) Bb ‘eon inane’ ‘oles we pose t= sews Pestunmieene | | ope sates er eke sensgraeru? Serr ON wes #60 sre ee Petes we US oat Sh ” TP ea aewescnetimoine yor RES EE remevareincon verso LEB BCL wet aE acter seems tommee 77" AO) ro oweng abo cupy re0| Merleslle ceva ‘SSS area manne Seedy Terie saa ene ‘sq | APzAC ab Ine “acer” 86) curss75 or mC2450 one Screen TSO TGOM sat Toe (ON nat above esata) * LBP represents tsed-par wes * 2. connect when using an absolute encoder 3. Used only wah an absolue encoder * 8, Set wa wer constant 3.26 * 4, Connectaneweral regeneraveresistorbe- ‘ween temnals BI and B2 for Servopacks thacapacny of 6 ORW oc higher (Theres ‘0 terminal B3 on these Servopacks ) (OFF Winans =— et) |3.6.4 Speed Control Mode 36 Examples of Standard Connections etwonc pete ferro teoatanar. seen say 2650459 Sev aga nee? ‘v0 ON me By ON I so Peorlwth 2FyO% aves in poner WAS i ee wy ON Pevetes cut int ON wh FON Foss cret it ON wah Ty OM 1 $e sepresents twisted-pr wires 2. The ume constant for the pamary fier i 47 us * 3. Connect when usngan absolute encoder * 4, Used only wath an absolice encoder 27} naone ON 13806 1 a Cormac esto corner sb * 5. ser va userconstant { * 6. Connect an external regenerative resstor be- tween terminals Band B2 for Servopacks with ‘capac of 6 0 EW or higher (There no er- ‘inal B3 on these Servopacks ) 327 | bo soto eucra sve supiesso's ne crton fol eeagate corto need wie ney sowe =| LPA0) Fo evan acu: | Molesbete cna (0 suase7sceweatesmantoe ‘cay ow egal pnoetal Sehese ate pees ra ecaver enced Tha Sevesconcdeceaeactan {Gh wen pees conc) (Nations tore ese) Serre out (Oiswnensendy Sere am cue (OFF mina nse) Praocoupe orp fcr oer ong ‘sovoe somnoe. }Winng ‘365 Torque Control Mode 3.6.5 Torque Control Mode Lean ‘wece dies Una ee Texge reterce NOs10Vesedmaartrgae Basan ty 20104503 Son gu ee? sn0 Own 17 ON gp 500 P conrmn 208 a Eerste pooner faa rn roid wes ‘0s wn yO Revere arent nt OW wth iy ON Fara cut int ON wh 78 ON 91 gP represents twistedpar wires ¥ 2 The ume constant forthe pemary fiers 47s * 3. Connect when using an absolute encoder 4. Used only wah an absolute encoder ra Joh OE Ee eon Teer t Coneecor shat US SaDM Servopack 8 ee (ie thee sop ioe, Mesearererang = oa, 4 80 3 Mannan onan extent Paovang nooo ad) epsave ie econ POO} Syrs17S or c2486 manuae neq MeO Tarren 59) 7 12) sg) Anau cts phaseritton PSO} Soa ce ost Pe | Ascane reece Shree orucaiae Speedo agp (Braucg apes anon cae GON. (Nate above Se [Frc EE (Pamey ZaSFOve sevo wssy out Sov (ONwen easy sero wa ont (OFF wnaneam * 6, Set vin user constant * 7. Connectan eemal regenerative resistor between term ‘als BJ and B2 for Servopacks wih acapactyof6OkW lorhigher (Theres notermanal 3 on these Servopacks )Trial Operation ‘This chapter describes a two-step tnal operation Be sure to complete step 1 before proceeding to step 2 41 Two-step Tal Operation .......... 0. 4-2 411 Step 1 Tnal Operation for Servomotor vathout Load 4-3 412 Step 2 Thal Operation with the Servomotor Connected to the Machine 4-9 4.2. Supplementary Information on Tal Operation eee 4-10 42.1 Servomotors with Brakes 4-10 422 Positon Control by Host Controller an 4.3 Minimum User Constants and Input Signals 4- 12 431 User Constants 4.12 432 Input Signals 4-13‘Tnal Operation ———ESE ee 4.1 Two-step Trial Operation Make sure that all wining 1s completed prior to starung tnal operation Perform the tral operation inthe order given below (step 1 and 2)for yoursafety Seed J J and 1 2 for more details on the inal operation Step 1: Trial Operation for Servomotor without Load Make sure the Servomotor is wired properly and then turn the shaft prior to connecting the Servomotor to the equipment Do not connect to the equipment Step 2: Trial Operation with the Equipment and Servomotor Connected Adjust the Servomotor according to equipment charactenstics, connect the Servomotor to the equipment, and perform the trial operation Adjust speed by autctunng SGMEH 5 a psey Servomctor Servopack Ln ; Connect to the equipment 424.1 Two>step Thal Operation 4.1.1 Step 1: Trial Operation for Servomotor without Load : 4 CAUTION ‘© Do not operate the Servomotor while is connected to the equipment ‘To prevent aceidents, rally perform step 1 where the tral operation 1s conducted under no-load cond tuons (with all couplings and belts disconnected) Tn step 1, make sure thatthe Servomotor 1s wired properly as shown below Incorrect wing 1s ‘generally the reason why Servomotors fall to operate properly during inal operation © Check main power supply circuit wining, © Check Servomotor wiring © Check CNJ VO signal wiring. “Make sure the host controller and other adjustments are completed as much as possible in step | (prior to connecting the Servomotor to equipment) r Donot connect the equipment IMPORTANT] Check the tems on the following pages in the order given during the Servomotor tn operation See 42 I Servomotors wth Brakes if you are using a Servomotor wath brakes‘Tnal Operation “$11 Step Tnal Operaton for Servomotor wihout Load A. Secure the Servomotor Secure the mounting plate ofthe Sorvomotor tothe equipment Do not connect anythng tothe shatt (90-08 conattons) ‘Secure the Servomotor mounting plate to the equipment in order to prevent the Servomotor from moving during operation 2. Check the wiring Disconnect the CNT ‘connector Disconnect the CNI connector and check Servomotor wiring in the power supply circuit NI VO signals are not used, so leave the connector disconnected 3. Turn ON power Ale) Erle) Seite =] AFL “Turn ON Servopack power If the Servopack has turned ON normally, the LED display on the front panel of the Servopack will appear as shown above Power 1s not supplied to the ‘Servomotor because the servo 1s OFF Iran alarm display appears on the LED indicator as shown above. the power supply circurt, ‘Servomotor wiring. oF encoder wiring 1s incorrect In this case. turn OFF power and take appropriate action See 9 2 Troubleshoonng an absolute encoder is used. must be set up Refer to 5 74 Absolute Encoder Serup 444.1 Twostop Tral Oporaton 4. Operate with Panel Operator aIeIaIB| QEee, H}- Panl Operator Operate the Servomoter using the Panel Operator Check to see ifthe Servomotor runs nor- mally See 72 2 Operation Using the Digutal Operator for more details on the procedure 5. Connect the signal Lines Use the following procedure to connect the CNI connector a) Turn OFF power 1b) Connect the CN1 connector © Tum ON power again Cheek the mput signals ‘Check input signal wiring in Monitor Mode using the Panel Operator See 7 J 7 Operation 1m Monuor Mode for more details on the procedure ‘Tur ON and OFF each signal line to see ifthe LED monitor bit display on the panel changes as shown below Input signal LED ctsplay Top lights when OFF (high level) ‘Bottom lights when ON (ow level) JAMLAST Pe NL SENTral Operation ‘411 Stop 1 Tnal Oporation for Servomotor without Load Input Signal Status LED Display FF high evel) Top LED indicators light ON (low level) Bottom LED indieators ght IMPORTANT] The Servomotor wil not operate properly f the following signal hes are not wired correctly Shor the signal lunes f they will nt be used The input signal selections (user constants PaSOA to PnSOD) can be used to elim nate the need for external short exiting { Signal Symbot ' Connector Pin No. Desenption POT ena The Servomotor can rotate in the forward direction when this signal line 1s low (0-V) i NOT Nas The Servomotor can rotate mm the reverse direction when! chs signal Ine s low (OV) 1S.0N cN140 "the Servomotor i tumed ON when tus signal ines | i Jow (0'V) Leave the Servomotor OFF HAVIN cNLaT [Control power supply terminal for sequence signals IF an absolute encoder 1s being used. the servo wall not tum ON when the servo ONsignal /S-ON) ss input unless the SEN signal is also ON ‘When the SEN signal is checked in monsior mode, the top ofthe LED will ght because the SEN signal ishigh when ON 7. Turn ON the servo Senvopack Sorvomotor eel. KO on. ov Turns ON the serve ‘Turn ON the servo using the following procedure 1, Make sure there are no reference signals mput ‘© Set V-REF (CN1-5) and T-REF (CN1-9) t0 0 V for speed and torque control '* Set PULS (CNI-7) and SIGN (CNI-11) to low for position controt 2. Turn ON the servo ON signal Display with the servo ON Set /S-ON (CN1-40) 10.0 V If normal, the Servomotor wall turn ON and the LED indicator ‘onthe front panel wall display as shown above Ifan alarm display appears, take appropriate action as described in 9 2 Troubleshooung 4641. Two-step Thal Operation —__——$—< eee IMPORTANT] __!fthere1snorse m the reference voltage for speed control, the" onthe left of the 7-segment LED may flash MI Operating Using Reference Input ‘The operating procedure here depends on the user constant settings (control mode selection at ‘memory switch PnO00 1) Use the following procedure for operations with speed and position control Operating Procedure in Speed Control Mode: Set Pn000.1 to 0 Standard speed control setting 1s desenibed here Servopack Sowvometor vaer| O ‘Servomotor rotates ata speed proportonal tothe retorence voltage” v 1, Gradually increase the reference speed mput (V-REF. CN1-5) voltage The Servomotor will rotate 2. Check the following stems in Monitor Mode See 7 / 7 Operation in Momtor Mode pauunaunGensnusnEnensnnnasuaaaaeni ‘un000 [Aco ‘motor speed ‘unoot "Reference speed EHSL ‘© Has the reference speed been input? ‘+ Is the motor speed as designed? ‘© Does the reference speed coincide the actual motor speed? ‘* Docs the Servomotor stop when the speed reference 1s 0” 3. Ifthe Servomotor rotates at extremely stow speed with O V specified forthe reference volt- age, correct the reference offset value as described in 7 2 3 Automatic Adjustment of Speed ‘and Torque Reference Offset ot 7 24 Manual Adjustment of Speed and Torgue Reference Offset 4, Reset the user constants shown below to change the motor speed or direction of rotation Pn300 ‘Sets the reference speed input gain See 521 Speed Reference | Pno00 0 " Selects the rotation direction [See 5 1 1 Swutchung Servomotor Rotauon | Direction ee Ee‘nal Operation —_— ‘41 1 Step 1 Thal Operaton for Servomotor without Load Operating Procedure in Position Control Mode: Set Pn000.1 to 1 1. Set the user constant Pn200 Oso the reference pulse form the same asthe host controller ‘output form Selecting the reference pulse form See 5 2 2 Position Reference 2. Input a slow speed pulse from the host controller and execute low-speed operation Host controter Servopack rvomoter tere TES IN? x58 Nt) aan | SGRoni-n1) [asian (eni-13] 3. Check the following stems in Monitor Mode See 7 1 7 Operation in Monitor Mode ‘uno00 ‘Actual motor speed unoo7 Reference pulse speed display Uunoo8 Position offset ‘© Has the reference pulse been input? ‘+ Isthe motor speed as designed? ‘© Does the reference speed coincide with the actual motor speed” ‘* Does the Servomotor stop when the speed reference 15 0”, 4, Reset the user constants shown below to change the motor speed or direction of rotation Pn202, Pn203_ | Flecwomie gear ratio See $25 Using the Electronte Gear Function Pn900 0 Selects the direction of rotation | See 5 11 Switching Servomoior Rotation Durecuon fan alarm occuts or the Servomotor fails to operate during the above operation, CN! connector ‘wiring s incorrect oruser constant settings do not match the host controller specifications Check the wiring and review the user constant settings, then repeat step 1 (> ewe + Listof Alarms See 92 3 Alarm Display Table + Listof User Constants See Appendix B Last of User Constants=> 41 Two-step Tral Op th the Servomotor Connected to the ton 4 WARNING ‘© Follow the procedure below tor step-2 operation precisely as gwen Malfunctions that occur alter the Servomotor 1s connected tothe equipment not only damage the equip- ‘ment, But may also cause an acewdent resulting death or nyury Before proceeding to step 2, repeat step 1 (Servomotor tral operation without a load) until you are fully sausfied that all tems including user constants and wiring have been tested completely After step 1 has been completed, proceed to step 2 for nal operation with the Servomotor con- nected tothe equipment The purpose of step 21s toadjust the Servopack according woequipment charactenisties © Use autotuning to match the Servopack to equipment charactensuics (© Match the direction of rotation and speed to equipment specifications © Check the final control form ‘SGM Senvopack <> Servomotor Fe et Connect to the machine Follow the procedures below to perform the trial operation 1 2 3. 3 Make sure power ts OFF ‘Connect the Servomotor to the equipment See 2 / Servomorors for more details on connecting the Servomotor Use autotuning to match the Servopack to equipment charactensties See 6 3 Autotuning Operate the Servomotor by reference input Asin step 1 (Servomotor trial operation with no-load), execute operation by reference input asdesenbed in 4 J 1 Step I Servomotor Tral Operation Tune to match the host controller at this ume as well Set and record user settings ‘Set user constants as required and record all setungs for use later in maintenance ‘The Servomotor wall not be broken in completely during the tal operation Theretore, lett the system run for ‘a sufficient amount of adémonal time to ensure that 11s propetly broken in FTnal Operation “421 Sorvomotors wih Brakes 4.2 Supplementary Information on Tr | Operation Always refer to this information before starting tnal operation in the following instances © 421 Servomotor with Brakes © 422 Position Control by Host Controller 4.2.1 Servomotors with Brakes ‘Use Servomotors with brakes for vertical shaft applications or when extemal force 1s applied to the shaft to prevent the shaft from rotating duc to gravity or external force when power 1s lost ‘The Servopack uses the brake interlock output (/BK) signal to control holding brake operation ‘when using Servomotors with brakes Veruca Shaft 1 Shaft with Extemal Force Applied Servomotor Ss Holding brake extemal Servorotor from {ema FH g rctating cvs to gray sono | eee we or oo] IMPORTANT] Te prevent faulty operauon due to gravny or external force, make sure thatthe Servomoror and holding brake ‘operate normally with the Servornotor disconnected from the equipment When both of them operate normally, ‘connect the servomotor to the equipment to start tal operation ‘The following figure shows wiring for a Servomotor with brakes. See 5-4 4 Using the Holding Brake for dels on wiring Power supply Three-phase 200 V a Litas Magnouc Contactor Single-phase 1 te 2oov (sovoc) Brake contol relay Brake power supply LPDE-1HO! (100-V mput) LPSE-2H01 (200-V input) $10‘42 Supplementary information on Taal Operation If position control from the host controller has not been confirmed, disconnect the Servomotor from the equipment and perform a tra operation, otherwise the Servomotor may run out of con- {rol Check Servomotor operation as described inthe following table Reterence —e28, [scom Host Sonopack nO) cone “nal operation for “Speod conta Savomotor wihout load Positon contro! “Reference trom | Check item / Check Method | Review Items | the Host j ' : Controller JOG Operation |Moior speed [Check motor speed as fol- | Check the user constant set~ lows tung at Pn300 to see frefer- (Constant Reference + Usethe speed monor [20°F SPeed Baim is conrect ‘Speed Input (Un000) on the Pane! from Host Operator : sontroller) Run the Servomotor at low | . speed Input a reference speed of 60 ¢/min for ex ample to check to see if the Servomotor makes one | revolution per second simple No of motor [Input a reference equivalent [Check the user constant se Positioning | otatons to one Servomotor rotation ting st Pn201 to see ifthe {and visually check to see f number of dividing pulses [ie sare makes one revoli- cores TOvertravel —|Whetherthe | Check (o see the Servomo. | Review P-OT and NOT wir- H Servomotor _torstops when P-OT and fing ifthe Servomotor does H{P-OT and NOT Used) [98 olaung_—|-OTsrgnals are nput during "no stopTnal Operation Tat User Constants 4.3 Minimum User Constants and Input Signals ‘This secuion describes the minimum user constants and input signals required for tral operation 4.3.1 User Constants See 7 1 6 Operation in User Constant Sertng Mode for more details on setting user constants, ‘Turn OFF power once after changing any user constant except Pn300 ‘The change will be valid when power 1s turned ON agaun Basic Parameters Pn0001 [Function Selection Basic Switches Control Method Selection See 53.5 Speed Control [Pns0oo Speed Reference Input Gain See S21 i Pn201 | PG Divider See 523 Position Control Pn2000 Reference Pulse Form See522 jE . Pn203- | Electrome Gear Rauo (Denominator) See 525 Changing Servomotor Rotation Direction “The wiring may be incorrect the specified direction of rotation differs from the actual direction ‘of rotation Recheck the wiring and correct if necessary. Use the following user constant to re- verse the direction of rotation Pn0000 —/Funcuon Selecuon Baste Swiiches. Direction Selection Sees IT4.3.2. Input Signals Refer to the relevant page for details on cach input signal Input signal sctection settings through user constants can be used to climate the nced for exter- nal short circunts Signal Name Pin Deserption Number | 1S-ON Servo ON (eN1-40 | See 552 for more details on turing ON end OFF the | ‘Servomotor POT — Forward run —[CN1-42 | See 5 / 2 for more details on the overtavel mut switch j prohibited ‘ NOT Reverse run |CNI-43 | prohibited |User Constant Settings and Functions This chaprer descstbes the procedure for setting and applying userconstants 51 Settings According to Device Characteristics. 5-4 5.11 Switching Servomotor Rotation Direction 54 5 12 Setting the Overtravel Limit Function 55 513 Limiting Torques 5-9 514 Limiting Speed 5.13 5 2 Settings According to Host Controller 5-15 521 Speed Reference 5418 522 Poston Reference 847 523 Using the Encoder Signal Output 5-23 524 Sequence VO Signals 5-26 525 Using the Electronic Gear Function 5-28 526 Contact Input Speed Control 5-32 527 Using Torque Controt 5-38 528 Torque Feed-forward Function 5-48 529 Speed Feec-torward Function 5-45 52 10 Torque Limiting by Analog Voltage Reference. Function 1 5-48 5211 Torque Limting by Analog Voltage Reference, Function 2 5-47 52 12 Relerence Pulse Inhibit Function (INHIBIT) 5-49 53 Setting Up the Servopack . §-50 531 User Constants 5-50 592 JOG Speed 5-51 533 Input Circut Signal Allocation 5-51User Constant Settings and Functions ee 5.8.4 Output Cxcut Signal Allocation 5-57 5.85 Contol Mode Selection 5-0 5.96 DC Power Input 5-62 54 Setting Stop Functions 5-63 5.41 Adusting Offset 6 5.42 Using the Dynamme Brake 64 5.49 Usng the Zero Clamp Function 65 5.44 Usng the Holding Breke or 55 Forming a Protective Sequence . 5-71 5511 Using Servo Alarm and Alarm Code Outputs 571 55.2 Using the Servo ON Input Signal 573 55 Using the Positioning Completed Output Signal 5-74 554 Speed Comeidence Output 5-75 5.5 Using the Running Output Signal 57 56 Using the Servo Ready Output Signal 5-78 5.57 Using the Warning Output Signal 3-79 5.58 Using the Near Output Signal 5-80 559 Handing Power Loss 5-02 56 Selecting a Regenerative Resistor 5-83 561 External Regenerative Resistors 5-84 5.62 Calculating the Requred Capacty of Regenerative Resistors 5-85 57 Absolute Encoders 5-92 571 Interface Cucut 5.93 572 Selecting an Absolute Encodor 5.94 573 Handling Battenes 5-94 574 Absolute Encoder Setup 5-95 1575 Absolute Encoder Reception Sequence 5.97 57.6 Multturn Lint Setting 5-101 58 Special Wiring 5-105 5.81 Winng Precautions 5-105 58.2 Wirng for Noise Control 5-109 589 Using More Than Ono Senvodnve 5.413 5.84 Extending Encoder Cables sad 5.85 400.V Power Supply Voltage 5-116 5 86 DC Reactor for Harmonie Suppression S.i7I Before Reading t! Chapter ‘This chapter describes the use of each CN1 connector 1/0 signals in the SGDM Servopack as well as the procedure for setting the related user constants for the mtended purposes ‘The following sections can be used as references for ths chapter © List of CNI /O signals See 34 3 1/0 Signal Names and Functions © CNI WO signal terminal layout See 342 List of CNI Terminals © List of user constants Appendix Appendix B List of User Constants © User constant setting procedure 7 1 6 Operation in User Constant Setting Mode ‘The CNI connector 1s used to exchange signals with the host controller and external eircurts User Constant Configurations User constants are comprised ofthe types shown m the following table See Appendix B List of User Constants Type User Constant No. Description | Function Selection |Pn000 to Pn003 | Selee baste and apliation funcuons suchas the Constants {iype of conto rte stop rode used when an {alarm occurs [ServoGainand —"Pn100to PmIt8 Set numencal values such as speed and positon Other Constants loop gains Position Control Pr200toPn205 Set postion contol parameters such asthe refer ‘Constants ! ence plse nput form and pear rato ‘Speed Control |Pn300t0 Pr308 | Set speed conirol parameters such as speed refer. | Constants ence input gain and soft start deceleration ume Torque Control | Pn400to R407 | Se vorque contol parameters such asthe vorgue Constants reference input gain and forward/reverse trae | Jamas Sequence Tpns00t0 Pns10 | Set ouput conduons for all sequence signals and Constants changes VO signal selecuons and allocauons Others | Pn600 to Pné01 | Specity the capocny for an extemal egeneratve resistor and reserved constants | ‘Auniliary Function |Fr000to Fn012 | Execute sary functions suchas JOG Mode | Execution operation i Monitor Modes Un000t0 UNOOD Enable speed and torque reference monmtonng, as ‘wel a momoning to check whether WO signals are ON or OFFUser Constant Settings and Functions ee 51 1 Swiching Servemoter Rotation Dwecton 5.1 Settings According to Device Characteristics ‘This section describes the procedure for setung user constants according to the dimensions and per~ formance of the equipment used 5.1.1 Switching Servomotor Rotation Direction “The Servopack has a Reverse Rotation Mode that reverses the direction of Servomotor rotation ‘without rewiring Forward rotation mn the standard setting 1s defined as counterclockwise as ‘viewed from the load ‘With the Reverse Rotation Mode. the direction of Servomotor rotation can be reversed without changing other items The direction (+, —-) of shaft motuon 1s reversed Standard Setting Reverse Rotation Mode Forward cen FneOder Output j ew Encoder output i Reference St womBerepcx [ator seropace AO {phase A) PAO (phase A) g_ RR | (q— “anne ' " PB0 iphase 8) PRO {phase B) Reverse | ex Ennoder output Encoder output Reference | |X tom seropack 5 onserpek PAO (phase A) PAO (phase A) | g— nant fg nnn BO (phase 8) BO (phase 8) Il Setting Reverse Rotation Mode Use user constant Pn000 0 'Pn000.0 [Direction Selection Factory | Speed/Torque Setting: | Control, Position Control I ° i Use the following settings to select the direction of Servomotor rotation Deseniption Forward rotation 1s defined as counterclockwise | (Standard sextng) (CCW) rotation as viewed from the load 1 Forward rotation is defined as clockwise (CW) | (Reverse Rotation ‘| rotation as viewed from the load Mode) fe cS) [C3]5.1 Setinge According to Deuce Charactonstcs 5.1.2 Setting the Overtravel Limit Function ‘The overtavel Lumut tuncuon forces movable equipment parts to stop if they exceed the allow- able range of mouen Using the Overtravel Function ‘To use the overuavel funcuon connect the overtravel limut switch mput signal terminals shown below to the correct pins of the Servopack CN1 connector Forward Run Prohibited "Speed/Torque [Contrel, Position Control ano ee) (Forward Overtravel) Reverse Run Prohibited (Reverse Overtravel) Set seer ‘Connect lumat swatches as shown below to prevent damage to the devices during linear motion Reverse otaton end Forward rotation end {ama | HIF SUT pot ors Dave status with an input signal ON o1 OFF 1s shown inthe following table P.oT EN1-42 alow level Forward rotation allowed Normal operation status when OV EN1-A2 athngh level | Forward run prohibuted reverse rotaon allowed) when OFF { NOT CNI-43 at tow level Reverse retauon allowed Normal operation status | when ON 7 CNI-3 at high evel] Reverse sun profubuted (forward rotanon allowed) | when OFF CUMPORTANT) — Lag pulses are maimianed he oxerravel function stops the motor at position control lear signal 1s re- IMPORTANT, ‘quired ro clear lag pulsesUser Constant Settings and Functions 512 Setung the Overvavel Lim Funcion Enabling/Disabling Input Signals Set the following user constants to specify whether input signals are used for overtravel or not ‘The factory setting s “used” Tpusca3 ROY Sinai Menuung (Fowad Ran] Pns0a3 | P-OT Signal Mapping (Forward Run i Prohibit input Signal) i | [Speed/Torque [Controt, Position Controt Setting: {if Pn60B0 !N-OT Signal Mapping (Reverse Run | Factory Speed/Torque Prohibit input Signal) Setting Control, oe Gestion Control sep oc on | tmeaortereatwme sown me ture canbe Biter oar cx ass h User Constant ‘Setting tem Paso 3 Teste POT pail fo roibng foward Eee eed emcees ener prac es (x1 woperandusiowes wien Niatea0 | i j Tpocrna ne FT apr nal fo pg [forward rotation (Forward rotation 1s always allowed |mnotar ienane eiter atoning caTszt6OvY | Pns08 0 es the OT npr aa for pohibns revese Facog) ton Reventon eed hen CNS | | sopen ands allowed when CNI-43 ist 0V) 3 "est seh X-OT pial Fer rong reer rotten (Revere tans always lowed [fount same ets sate CT 60) Servomotor Stop Mode for P-OT and N-OT Input Signals Set the following user constants to specify the Servomotor Stop Mode when P.OT and N-OT input signals are used Specify the Servomotor Stop Mode when enther of the following signals is input during Servo- ‘motor operation (© Forward run prohibited input (P-OT,CN1-42) © Reverse run prohubited input (N-OT.CNI-43) 36| Pn0ot 1 ‘Overtravel Stop Mode 51 Settings According to Device Charactenstics ‘Aterstoppng —Pn001 + seting Poot 10 Coast ]_y g status Zero clamp] —> 1 [coast statu] —» 2 FFor torque control, the servomotor willbe placed in coast status after ether decelerating or coasting toa stop (according to the stop mode set 1n PrOD1 0), regardless of the setting of PnOO! 1 User Constant Setting ten Pn001t 0 Stops the Servomotor the same wa | servo OFF (according to Pn001 0) y as turning the I Decco e Sevommorio 3 rorgeon ten lk te Sem Nise “Torque setting Prd0s emergency 1p atthe preset otor in Zero Clamp | stop torque Tocque seiting Pr§06 emergency Decelerates the Servomotor toa stop atthe preset torque, and puts the Servomotor m coast status stop torque ward or reverse rotation 1s used Pn406 specifies the stop torque applied for overtravel when the input signal for prohibiting for- ‘The torque limit is specified as a percentage of rated torque Pndo6 Emergency Stop Torque Unit | Setting Factory a | Range | Setting otoMax. | 800 Torque Valid when Pn001.t 191 or 2 Forward ran prohibit input P-OT (CNI-42) Z ‘Stop by dynamic brake otf Goasttoa sop, prohibit input N-OT (CNT-49) LJ _{Dessierte oa atop Max torque soting for an ‘emergency stop ProsUser Constant Settings and Functions ———E—EE '51 2 Seting the Overtravel Lint Function @ Servo OFF Stop Mode Selection ‘The SGDM Servopack tums OFF under the following conditions «Servo ON input signal (/S-ON, CN1-40) 1s turned OFF ‘© Servo alarm occurs «¢ Powers tumed OFF Specify the Stop Mode af any of these occurs during operation, Pn06i 0 [Serve OFF or Alarm Siop Mode Factory = | Setting: | ! o = Stop ase Merson 10-0 0 [TaETT] The marc brake olecrcaly apples a 2 secon] Brak by vain ares fo consume a Sovomsor ator energy _- [eam] S404 20000 me rae ae briov0-2 caatonmas }- [conan User Constant | __Setting tem Pnooi 9 ° Uses the dynamic brake to sop te Servomotoe. and ' (Factory seting) | manuins dynamic brake sas afer topping, 1 Uses the dynamic brake to stop the Servomotor, and | cancels dynamic brake stats afer stopping 1 g0 0 coast tats j 2 "Coass ite Servomotar toa sop The Servomotrs turned OFF and stops due to equipment fiction Note Ifthe Servomotor is stopped or rotating at extremely low speed when the tems above are set at 0 (dynamic brake statu after stopping with the dynam brake), then braking power 1s not generated and the Servomotor will stop the same as sn coast status se51 Settings According 1o Deuce Charactenstics —_—[$$_S_ i. iv _- 5.1.3 Limiting Torques => ‘The SGDM Servopack limits torques as follows © Level Limits maxtmum output torque to protect the equipment or workpiece © Level2 Limits torque after the Servomotor moves the equipment to a specified position (in- ternal torque lumit) © Level 3 Always limuts output torque rather than speed © Level 4 Switches between speed and torque limit Application of levels 1 and 2 n the (orque limut function are described below @ Setting Level 1: Internal Torque Limits ‘Maximum torque 1 mated (othe values set in the following user constants [pn4o2 [Forward Torque Limit | Unit? Setting ] Factory "Speed/Torque |} ' ve © Range: | Setting: | Control, | | Otogoo | 800 See Pna03 [Reverse Torque Limit | Unit | Setting | Factory |Speed/Torque | ym | Range: ; Setting: |Control, oto800 | 00 (Position Controt lumuts reached +r + Monitor Modo (Un006) 1 I Coneion that outputs a CLT signal | PhSOFO allocates an ouiput termunal fiom SO 10 | $03 ‘The following signals are output by the torque lam function ‘The torque lmuts are specified as a percentage of the rated torque ‘This user constant sets the maximum torque limits for forward and reverse rotation Use this user constant when torque must be limited due to equipment conditions E ‘The torque limit function always monttors torque and outputs the signals below when the torque 1s the lime, 1 sel higher than the maximum (orgue ofthe Servomor, the maximum tarque of the Servomator Application Example Equipment Protection ‘Torque lmmt Too sila torque mst will resut in @ ‘deceleration 39 imeuficrent torque dunng acceleration andUser Constant Settings and Functions 313 Liming Torques Using /CLT Signal ‘The following secon describes the use of the contact output signal (CLT as a torque limit output signal YO power supply pe Photocoupier output ‘Maxsmum operating voltage per output 30 VDC ‘Maximum operating curent per cutput S0:mA DC cure cur wl [Torque Limit Output ‘SpeedTorque Control, Position Controt ‘This signal indicates whether Servomotor output torque (current) 1s being hmated ON Status The circunt between Servomotor output torque i being lamated CNI-*1 and *21s closed eee ea ease dnernal tore reference ts greater than the lt set- une) OFF Status The circurt between CNL-*1 and "21s closed CNI-*1 sat low level ‘Servomotor output torque 1s not being timated (lrvernal torque reference isles than the limit seting ) Settings Pn402 (Forward Torque Limit) Pnd403 (Reverse Torque Limit) Pnd04 (Forward External Torque Lamut) /P- 1L input only Pn40s (Reverse External Torque Limit) /N-CL anput only ‘When the CLT signal is used. the following user constant must be used to electthe output signal [SpeedTorque | [Control, Position Control PnS0F | Output Signal Selections 2 as0F0 | Outputtormnal 1 | Acop utaszeison 2+ on1-27, 28 (802) detection St on-29, 30,803) Use the following table to select which terminal will output the /CLT signal {User Constant | Setting ‘Output Terminal (CNT) a Pns0RO eee = T = {EEE EI 25 26 : 2 ~ 28 ; a 3.105.1 Setings According to Device Charactenstics ‘Note Muluple signals allocated to the same output circu are output using OR loge ‘Set other output signals to a value other than that allocated tothe /CLT signal 1m order 10 use just the (CLT output signal See 5 3.4 Ousput Circit Signal Al- locaton Setting Level 2: External Torque Limit Acontact nput signal sused tocnable the torque (current) limits previously set in user constants ‘Torque lnmts can be set separately for forward and reverse rotation Servopack, Torque lat Rotaton} Reverse Pnaoz rotation | $200 pol iS Tame enrag] ; Torun rat Rowavon{ t P02 or Praca speed ff (ime by whichever 's smallor} Torque | 1-Torque tt remacs| Peston pics rotation | Speed ma} 5 7 yf ¢ SH Tora tt Rotatont —t F409 or Prt | apes” (ited by wticnevers ! mal Torque bat [Speeditorque ‘Spoed/Torque ‘Control, Position Control | Forward External Torque Limit Input a eemen SSSSRCTIETIMRR Revrce Exes Torque uma | speed Torque inp Contre, Poation Contre ‘This1s the external torque (current) Inmut mput for forward and reverse rotation Check iputsignal allocation status when using this funcuon (See.5 3 3 Input Circut Signal Allocation ) Factory setungs are given in the following table 7P-CLCNI-AS alow level Use forward torque limit Thame] wien ON Paso [CNT-43 at igh level Do not use forward torque hit = when OFF Normal operation i TCL [ENTS atow level | Use reverse torque limit amt when ON Poa [CN1-46 at high level [Do not use reverse torque lumit Normal operation | — when OFFUser Constant Settings and Functions ———————— 313 Lining Torques ‘The following output signals and monitor methods are used when torque ts beng limuted {sicur ‘+ Monitor Made 1 + Un005 Nos 6 and 7 (With factory settings) (Re ferto 71 7 Operation mn Montor Mode ) + Un006 Depending on output signal allocation ‘Condiison that outputs @ CLT signal | PnSOFO is allocated to an output terminal from SO | 10 803 pesos Application Examples © Forced stop ‘© Robot holding a workpiece nao [Forward Extemal | Unit | Setting | Factory ‘Speed/Torque | Torque Limit Range: _ Setting: ;Control, 7 Position Control otosoo too Position | Pn405 Reverse External Unit: Setting | Factory ‘Speed/Torque | Torque Limit mm | Range. | Sottng, jControt, | | j 7 otoseo | 100 [Position Controt | Set the torque limits when the torque 1s lmited by an external contact input i IP-CL (GN1-45) Input 7 PaO torgue It applied | IN-CL (GNT-46) Input Pa torque lm applied See $2 10 Using Torque Limiting by Analog Voltage Reference Using /P-CL and /N-CL Signals The procedure for using /P-CL. and JN-CL. as torque limit input signals s illustrated below Servopack Vo.power supply8:1 Settngs According 1o Device Character 5.1.4 Limiting Speed ‘The SGDM Servopack lumuts speed when perlorming a torque control Using /VLT Signal ‘The folowing section deste the use othe contact output signal/VLTas a speed mit output signal 10 power supply Sencpack cae Photocoupier output +t Maximum operatng votage per output 50 VOC /Maxumum operating current per output 50m DC = J This s ON Status OFF Status nal Setungs Pnd07 (Speed Limst) al indicates whether Serwomoto: speed 1s being Inited “The eeu beeen Servomotor speed 1s berg limited CRIT and *2 15 loved cn *1 1s at ow iavel The cucu berween ‘Servomoror speed is not being Inmited CNI-1 and "28 ulosed cs ‘When the /VLT signal is used the following user constant must be used to select the output sig- z a eee Pns0F [Output Signal Selections 2 Factory Torque Controt Setting 0000 ‘Output terminal cy Torque it elecnen | Aap nat anicon 221 ont-27 28 (802) e-8 + ont29, 99:803) Use the following table to select which termunal will output the /VLT signal User Gonetant Satin ‘Output Terminal (ONT) 4 2 PnsoF 1 0 = - 1 T 8 Fg ; 2 7 Ey | 5 2 FD EUser Constant Settings and Functions 514 Liming Speed Note Mule signay allocated tothe same output circum are output using OR loge Set other output signals to a value ther than that allocated to the /VLT signal sm order to use pst the F¥LT ouput segnal See $34 Ourrut Circa Signal l- locaton5.2 Sottngs According to Host Contioior 5.2 Settings According to Host Controller Thus section desc ibes the procedure for connecting aZ-II Series Servo toa host controlfer. cluding, the procedure for setting telated user constants 5.2.1 Speed Reference Input the speed reterence using the following input signal speed reference mput Since this signal has vartous uses set the optimum reterence mput for the system created Servovack Torque reterence mput 122 bs torque {analog votago input) 9" relerence Speed rterarce input (anraleg voitage npul) Speed Control ‘Speed Control ‘The above inputs ate used fo speed control (analog reference) (Pn000 1 = 0, 4. 7. 9. oF A) Always ware for normal speed contol ‘The motor speed 1s controlled 1m proportion to the mput voltage between V-REF and SG ‘The slope is set n Pi300 Setting Examples Pn300= 600 This setting means that 6 V 1s equivalent to the rated motor speed ‘Speed Reference | __Roiation Motor Speed, SGMAH Servomotor Input Direction | | TeV Fonward raawon | Raied motor speed | _——_3000 7mm HY Forward roto |11/6) rated movor speed ‘300 rn / BV Reverse roion _[ll/2) rated moor speed 1500 sma ‘User constant Pn300 can be used 10 change the voltage mput rangeUser Constant Settings and Functions 521 Speed Relerence Input Circuit Example 4TOQ.12Wmn — Senonecie s12v+ eal YE ung e spent ‘# Always use wisted-pam cable for nose control Recommended variable resistor Model 2SHP-10B manufactured by Sakae Tsushin Ko- gyo Co. Lid ‘Connect V-REF and SG to the speed reference ourput terminalson the host contioller when using. a host conticllet such ay a programmable controller, for position control Hostcontote Senopack ven speed { ons tee {LB ea dcr rosaback 3 posomps { a : feral as FP incoates woste.par ores Adjust Pn300 accouding to output vollage specifications Adu the speed reterence mput gain at the following user constant Pn300 | Speed Reference Input | Unt. Setting | Speed Control a oo1virated motor | RANGE | ; | eopoed goto 3000 Sethe voltage :ange for the specd teterence input V-REF at CN1-5 acording to host controller and external cuicutt output tor Reteronce Soeed vm | Sets slope Reterence woragervs The tactory setting 1s adjusted so that 4 6-V input 1s equivalent (0 the 1ated motor speed of all applicable Sei vomotory52 Settings Accorting to Host Contrallar au SSS5Qo0QOuauaa“ Using the /P-CON Signal haw” Control Reference Speed Control, | ‘The /P-CON input signal switches the Speed Control Mode from Pl (proporuonal-integral) to P (proportional control in ordet 10 reduce Se1vomotor rotation and minute vibrations due to speedreterence input druit The uve o! this signal will vary with apphicatwons because Servomotor rigidity (holding force) drops when the Sei vormotor 1s stopped 5.2.2 Position Reference The reference pulse reletence code. and clear mputs are used for the position reterence Since this signal can be used in dierent ways. set the opumum reference input for the system created I Reference by Pulse Input Positioning 1s controlled by inputting a move releience pulse Seropack or rus loz re senves, (gus é] ews Aelroce oases Carnet {1 inacatststdpar wes Any of the following forms can be used for the postion reference © Linedver output © +12.V opem collector output © 45.V ope Hector output Connection Example 1: Line-driver Output Applicable line driver. SN’ lent 174 manufactured by Texas Instruments Inc , MC3487 or equiva- Host contraler Servopack Photocoupier Lear purslowsg 00" : eussaua | f 1GNJONt, Bsicy cet hy,a User Constant Settings and Functions eee 522 Postion Reference 4EXAMPLED IMPORTANT, Connection Example 2: Open-collector Output Set limiting resistor RI so that input curtent, 1 falls within the following range Host convoller Servopack vee PPhotocoupte| ps8 1” wT lor Te siosfouset be K ar ont. am [He cia fort hy 4 P Indicates wires parwres Input eursent s 716 1S mA © Wiha Voc of #12V RI= 1K © When Veo #5.V RI = 1802 Note The following table shows the ign I tor an open-colleetor output When Trt 1s ON Equivalent to high-level input | When Tr 1s OFF Buna olow-leel mpot | ‘This eireust uses the 12-V power supply built into the Servopack Input is not ase when the Servopack 18 0°V Host contollen Servopack 10 N25 V max IP inccates tasted: pair wires "The nosse margin ofthe put signal will decrease othe relerence pulses given using an open- 34) Le Reese teen (200-kpps open-collector oe 1 utp) cut 100 $50 jew pulse and CCW pulse — WO Be Olus - !Maxamum reference B33 frequency 500 kpps cow, oe ow (200-kpps open-collector output) “Two:phase pulse train with 90° phase ditferential (A | Phase + B phase) ‘Maximum reference frequency x 1 500 kpps (200-kpps open-collector output) 2 400 kpps x4 200 kpps u aeons tous Error Counter Clear Input ‘The procedure for clearing the e111 counter 1s dascribed below Clear Input Clear Input | Cie constant 52000 rs used 10 switch the input pulse | mulupher mode Position Control | Position Control ‘The following occur when the CLR signal 1s set to high level Sorvopack © The error counter mside the Se1vopack 15 set 10 0 © Position loop control 1s prohibited Use ‘operation through user constant Pn200 1 signal to Clear the e110 counter from the host controller or select the following clear P2001 Error Counter Clear Signal Form Position Control | 0 IUser Constant Settings and Functions —oo 522 Postion Reterence j Pn2001 Description Clear Timing | Setting | 0 Clearsthe enor outer when the CLR i sional goes hg 8 ton I Sieared tate | | Eerar pulses do net accuonutate as long asthe signal remains 1 Clears the err counter on the sing oun high Jedge of the CLR signal (Nas, Clears the err counter only once on (Cleared only once at this point the nsing edge ot the CLR signal ‘Clears the eor counter when the CLR. | signal goes ow cu —|_Low ert [ont-15) Cloned sate Error pulbes do not asumuae as lng |, Comes sta asthe signal 2 Gears the enor counter onthe tilling CLR —]_ tow fens) edge ol the CLR wigral52 Setings Accorcing 1o Host Controter 5.2.3 Using the Encoder Signal Output Encoder output signals divided inside the Servopack can be output externally These signals can bbe used to form a position contiol loop in the host controller [These outputs plained here Servopack Host controlar (Borvemetor} Encoder ‘The output exrcuntis tor hne-diiver ouput Connect each signal line according to the following coreurt diagram Servopack Host contolar Line ecaver a Appcable ine receiver SN75175 manufactured by Toxas JP Inccates wstd-par wae itrmanss ne M3498 ra aqvalet (lommmnater: 220 t0 470.0 © (Becouping capacton 0 yF + Dwang Dvn soaring sn mata rmcencde nounedon fe enone acer the ee pulse density and curpuing the conserad pulse: The uns ae pulses per eevoluuonUser Constant Settings and Functions 328 Using the Eneost B10 Signals UO signals ae described below 4 Ty aE Encoder Output Phase A Speed/Torque Control. Position Control former leer) Encoder Output Phase /A ‘Speed/Torque Control, Position Controt TOT Encoder Output Phase 8 Speed/Torque | |Control, 7 Position Controt | fom eee Coe TCT) Encoder Output Phase /B ‘Speed/Torque Control, Position Control) Tes cool TET Encoder Output Phase C ‘Speed/Torque Control, Position Control rrereetiaeek Encoder Output Phase /C ‘Speed/Torque Control, | Position Control Divided encoder signals are output Always connect these signal terminals when @ position loop 1s formed sn the host controller for position contiol Set a dividing ratio at the following user const [Fedmang Rate [e201 cat ratio setting (Pn202 and 203) for the Servopack electron gear funtion dung pain wont ‘The dividing ratio setting isnotielatedtothe Output Phase Form bid aH 90° eee He 90° prased LI LI prason — LJ LT mea LE LIL omen S LIL Prose ——F 1 Prase ¢5.2 Settings According to Host Controter SSeS 'SEN Signal Input Speed/Torque Controt ‘Signal Ground |Speed/Torque [Control rer) Encoder Output Phase S 'Speed/Torque Control, Position Control on raey Se Lo) Encoder Output Phase/S Speed/Torque Control, i Position Control STC) Battery (*) SpeedTorque Control, Position Control mee Tees Battery (-) ‘Speed/Torque Control, Position Control Use SEN to BAT (~) signals [or absolute encoders See 5 7 Absolute Encoder for more details |Speed/Torque Control, Position Control Single Ground SG Connect to 0 V on the host contiollet When using the Servopuck phase C pulse ugnal to return tothe machine ongin slays tam the Servomotor atleast ice betote turing the ong vetumn oper son It the contiguratton of the mechanical system prevents turning the Servornotor betore the origin turn operation then perform the origin retora operation at & Servor ‘notor speed 01 640 1imun or below Thy phase C pulse signal mav not be correctly output sf the Servomotor ss tumed Faster than 600 ¢/min IMPORTANT ™ Pulse Divider Setting Set the pulse d ing tano in the following user constant Setting | Factory [Speed/Torque * pm Range: Setting Control, 16 to 16384 16384 _| Postion Control Set the number of pulses for PG vuiput signals (PAO. /PAO. PBO. /PBO) externally output Pn201 PG Divider Output termaals pao (ONt-39) PRO (CNI-34) Senemotr Seebeck P8O (CN1-36) ‘encode FBO iCNt-36) Freqverey]| phase a Po) sion PHS A Guy ® mae om ‘Secal ata Pulses froin the Set vomotorencodet (PG) are divided by the preset number of pulses betore be- ing outputa User Constant Settings and Functions COC 524 Sequence V0 Signals “The number of output pulses per revolution 1s set at this user constant Set the value using the relerence units of the equipment or the controller used “The setimg range varies with the encoder used setung Preset value 16 Exarple POANnAANnARAnARAA ‘revolution Servomotor Model and | Resolution | Number of Encoder | Setting Range Specifications : (PIR | 4 x | Saar sees TEE a | 16384 PR 16 0 16386 cz | 32768 PIR 7 1. Turn OFF power once and turn ON we in attr changing the user constant 2. A S3-buencoder wil run at 2048 PR even the setng a Po20H 8 Set higher than 2049 5.2.4 Sequence I/O Signals Sequence VO stgnals are used to control Seevopack operation Connect these signal terminals as requued @ Input Signal Connections Conneet the sequence input signals as shown below Servopack PO power supply =zeyngoma 9 7S cn ae vealeus PE L. cela [OTRRE (3 ew DO Te Host controlar . | po oer PouiMPORTANT 5.2 Sertngs According to Host Controter Provide an external mput power supply the Servopack does not have an anternal 24-V power supply + Extemal power supply specitiations 24:41 VDC, $0 m4 min YYaskawva recommends using the same external power supply as that used for output errcunts The allowabe voltage range forthe 24-V sequent input iran power supply 1$ 11 40 25 V Although 2 12-V power supply ean be used contact rults can easily o.cur for eelays and other mechanical contacts under low currents Con- ‘mechanical contacts before using a 12-V power supply furm the characteristics of relays an oth The tunction allocation tor sequence input signal circuits can be changed See 5.3.3 Inpur Circuit Signal Allocaiton tox more details ‘Speed/Torque control, Position Control External YO Power Supply input ‘The external power supply input terminal is common {o sequence input signals Servopack VO power supply ‘Connect an external LO power supply Contact mput signals /S-ON (CN1-40) PP-CON (CNI-41) POT(CNI- N-O1 (CN1-43) JALME-RST (CN1-44) PPL (CNI-4S) ANCL (CNI-86}User Constant Settings and Functions 5 ‘Using te Electronic Gear Function Output Signal Connections Connect the sequense output signals ay shown in the following figure power supBWy Sequence output signals are Used to indicate Servooack Protoccupler outst per output l<—} Maximum operating voltage 11 VOC Maximum output current sma De ie Opencolleceroumut | per cutout xt Maxum opera vettage 30 VOC Marmum output current Pama DC 5 torso IMPORTANT! — Protideaseparateevternsl HO power supply the Ser upack does not haven nterral 24-V power supply: Yas aves recommends using the sane type external power supply as that used for input Lar utl> Function allocation for some sequen output signal cin uits can be changed See 5.34 Onpur Cera Stenei! Mocearwn tox more devs 5.2.5 Using the Electronic Gear Function ‘The electronic gear tuncinun enables the Sei vomotor travel distance per mput reference pulse to be set o.any value Itallows the host contoller generating pubes fo be used tor ontrol without having to onsidet the equipment veas 1449 1 the number of encoder pulses \When the Electronic Gear When the Electronic Gear Function s Not Usec Functions Used. ES paerse re tur — ( Eaupmrent conditions andreterence : | ante must be defined forthe electronic | gear funchon beforehand To move a workpi9ce 10 mm [0.88 revolution 6 =m Therefore Tomove a workorce 10: (0397) 10-621 £668 avounons terence untis 4 um Therelora revoluven Trerelre, 9653 pulses | 19563 puses are nour as aleencos | The equauon mus’ be calevatesat Me "hast conve 10.200 « sco00 pisos52 Settings According to Host Controller Setting the Electronic Gear Calculate the electromie yeas 1440 (B/) using the following procedure, and set the values m user constants Pn202 and 203 1. Cheek equipment speciltations ems related to the electionie gear '* Daceleranon ratio © Ball screw pitch, © Pulley diameter co Ball screw pitch, Hl cesstrtenano 2. Ceshie mumbo of nner pubs fr she SOME Sersomoxo Servomotor Model and Encoder Type Number of Encoder: Encoder Specifications Pulses Per Revolution | (PIR) ‘ Incremental encoder [Be 2048 B tobe 16384 c ‘incu encoder e-b ioaea | feet ot 32768 See EEE EES eee eee eee ‘The numberof bis representing he resoutton tthe applicable encoder not the same as the number ot encod: signal pulses (4 and B phase} output Ieom the Servopack 3. Determine the reterence unit used Areletence units the minimum postion data unitused to move a lond (Minimum unit of reference trom the host venttollet Tomove a table 90001 mn units Retorence unt “1 mm {_k Determane the reference unt according to ‘aquipment spectications and positoning accuracy © 0.01 mm 6.0004 mm), 9001 mm, 0 1*.001 meh Areleience unit of one pulse moves the load by one reference unit “4EXAMPLE © When the relerence unit I um It ateterence of 50000 units 15 input, the toad moves 50 mm (1 97 in} (50000 « Iyum)User Constant Settings and Functions 525 Using ihe Electionc Gear Functon 4 Determine the load yavel distance pet load shalt revoluuon in reference untts ‘Travel distance per load shaft revolution Relerence unt S4EXAMPLED © When the ball serew prtch 1s $ mm (0 20 in) and the reference unit 1s 0001 mm Travel stance per load shalt revolution (1etetence unit) Tapr ~ 5000 ‘referencefigureunt) [7 ear'serew ise Tab Beit and Pulley Load shatt ¢—» p i —) Load shat 2D, Sire, | Load sat Pa Paley | P| sigurerevo uton = 360" 5, rs x Htowereenton = cask weet retuon « Il 5 Electronic gear ratio is given 3 Ihe decelerotor ao of the motor andthe luad shafts given as 2 whete m1 the toution ofthe motor and ns the rotation of the load shat No el encoder pulses x4 Travel dance per load shalt revoluuon lecnom gear rano (3) avo cavsties the ysing sendition IMPORTANT] Moke sure the electron ge oo oar geo aha 8) 100 The Servopack wall ma work property 1 He elestrorae ses rauo ws outside ths range Fn this case mousy the 16, Set the usct Constants Reduce the elecirom gear tatto() 10 the lower terms so that both 4 and B are integers smaller than 6583S, then set and B he vespecuve user constants Electrons Gear avo Numerator Elestone Gear ano Denominator ‘That rs all that is tequied to set the elecuwome gear 14810 Pn202 [Electronic Gear Ratio | unit | Setting Factory [Position Control (Numerator) Iwone | Range | Setting : : 1 to 65595 4 : n203 ElecrenieGearRaio Unt | Setng | Factory Postion Conivl | Set the elecion. gear rate a. orchng 10 equipment specifications5.2 Setings According o Host Controller SGDM Servapack mse SOMZH Senometr mputulse ripin || oe | ann} ar 2 PTO a B) S Pn202 Brecon ger satcharine( 2) a) Bn203 8B [(Number of encoder pulses) x 4] x [motor speed] [Reference umits (travel distance per load shaft revoluuon)] x [load shaft revolution speed] @ Electronic Gear Setting Examples The follow 1g examples show electronic gear settings for diflerent load mechanisms Ball Screws: Reterence unt 0.001 mm ‘Load shatt ravel dstance per lo revolution = Staeinemm — Travel detance per load shat revolution = 5 Stainemm — . go9q oe Elecwone gear rathawine(2) ~ 2088 1 . Botte E Pres! Pro? 8193, Values | “6000 Circular Tables Rotorence unt 01 Deceteration rato 31 Travel distance per load shalt revolutonharine = 266, Pee Incremental encoder mA 1Sbit Electonc gear raohearine() meets - pee Fiset | pave] _aas7e Peer Pn203' 3600 Belts and Pulleys Feterence unt 0 0254 mm (0 00101n) ‘Travel detance per load shett cevoltion = 3.1éhamine » hi hne100h ‘cede Caetano 8) _ 102mavine x harinedne lectrone goa rtoharne(® Decotrapon CO Putey aameter eee mela "286Rhariine 00m Seta PG aiding rato equvalent to 1024 PIR lor the absokte ‘encoder 15: Gr8i0User Constant Settings and Functions eS SE EEE "26 Contact input Speed Control Control Block Diagram The following diagram ilustrates a contiol block tor position control ‘Servopack (positon contol) Deena] 8 fpr msey | PE [Reference a ei A, ISeremotor set 53 Rpeca [Caren ‘cep. floor © anal entoser 5.2.6 Contact Input Speed Control The contact input speed contol function provides easy-to-use speed control It allows the user toxamally secthice dlterent moti speeds with user constants. selectone ofthe speeds ex nally by contact input and operate the Set vomotor Servopack 4 FO 1 Specdselecton | Contact input “Tre Servomotor operates at Exteal speed seting dewoas 200 the speed setin ha user palse generators Userconstans | constant ate nol “aquired52 Settings Accovsing 1o Host Controler @ Using Contact Input Speed Control Follow steps | 10 3 below to use the Contact input speed control function 1. Set contact imput speed control as shown below Pn0001 | Control Mode Selection Factory Speed/Torque I Setting Control, 7 ° Position Control ‘The speed can be contiolled via contact inputs Servopack | Servomotor Convact mp ‘Meanings for the following signals change when the contact input speed control function vs used Pno001 | Description Input Signal |__ Setting 0,152,789, Contact input //P-CONWCVLANY Used to swatch between P and ‘AB speed sont] Pl contrat tunetion aot | ———— —— a LIGNIN Used o switch Between or» ward external torque hat ON and OFF NCLCN 6) Used te swuch between e- ‘verse external torgue lint ON and OFF 3.4.5.6 Comact mpor | P-cON | mech TCL | Speed eenng speed coniol | SPD-D) usPb-ay | USPD-BI runcuon used ' T Decuan ot © £0 Joreterenee. | OFerwand 9 1 SPEED! | 1 Reverse : P30) | EE eee I 1 SPEED 2 j jPns02) 1 o SPEED3— | (P0303) Note 10 OFF thigh levelt | ON dow levely 2 IP-CON /P-CL and IN-CL tunciions difer tom those mn the table above when Pn000 Tissot io 3 S oF 6 The function 8 switched automatically when PrSOA 01s set 10 0 3. The/SPD-D /SPD-A and/SPD-B signalscan be sed only when signals are allocated to the mput Cucuts See 53 3 Input Crreut Signet Allocauon suUser Constant Settings and Functions —————_—_—_ 152.6 Contact Input Speed Com 2. Set the motor speeds with the following user constants Png01 Speed 1(SPEED 1) | Unit Setting Factory |Speed Control (Contact input Speed |, Range | Setting Control) bi ; Oto 10000 | 100 Setting Factory _, Speed Control Range; Setting | oto 10000 | 200 ‘Speed 2(SPEED 2) | Unit (Contact Input Speed Control) min ' Pn303 | Speed 3 (SPEED 3) Unit Setting Factory Speed Control CComactinpat specs |v, Range, | Seting | L ae 01010000 300 | “These user Lonstants are used to set motor speeds when the contact input speed control func tion is selected If the serting 1s hugher thar the maximum motor speed of the Servomotor. then the Servomoror will rotate at its maximum speed. ‘Contact input Speed Control Servomoto: Speed selectom anput signals /P-CL(SPD-A)(CNI-45) and /N-CLUSPD-B\(CN 1-46) and the rotation direction selection signal /P-CON (/SPD-D)(CNI-41 enable the Servomotor to run atthe preset speeds 3. Set the soft start ume unt Range ) Setting to 10000 0 Setting Factory ee ms Pn306 [Soft Start Deceleration | Unit Setting! Factory Speed Control ‘tame Range Setting. = [owt | “The Servopack internal speed reterence controls speed by applying this acceleration setng Speed relerence sof start /AMaumum sp20d Servopack: ¢ internal speed reference Pn305 Gels ths tme terval Maximum speed ts Pna06 Sets ths Ume tervalngs According to Host Controlar ‘Smooth speed contiol ean be performed by inputting a progressive speed reference or using contact input speed contiol Set each constant to 0 for normal speed contol Set each user constant to the following ume mtervals ‘+ Pn305 Tune interval irom when the Servomotor starts untl reaches maximum speed. 4 Pn306 Time interval trom when the Servomotor maximum speed until stops Operation by Contact Input Speed Control The following descutbes operation by contact input speed control Start and Stop The following input signals are uved to statt and stop the Servomotor nr mee ‘Speed Selection 1 Speed/Torque Control, Position Control | (Forward External Torque Limit Input) ‘Speed Selection 2 Speed/Torque Control, (Reverse External Torque Limit ee stion Control Input) © Use the following table when Contact input speed control is used Contact Signal User Selected Speed | Constant m-CONUSPD-D)| —P-cL | INCL Pno00 1 USPD-A) (SPD) ~ ° ° 3 | Sopped by an meral speed reference of : Analog peed reterence (V-REF) inp Pulse reference put ‘positon control) | 6 Analog torque reference put (corque contr) | moat cor Drecion ot 0 I 1 3436 |SPEED I Pn30n potation | Common | | 7 1 1 SPEED 2 (Pn302) | 0 Fowand 1 Reverse 1 ° | SPEED 3 «Pn: B SEE Eee eet eee eee Note 1. 0 OFF high levels 1 ON ‘low level) 2 Input signals mndisted by the honszontal bar (~1 are optonal © When contact input speed control 1s not used, input signals are used as external torque limit anputsUser Constant Settings and Functions '526 Contact input Speed Conta (RESTS Te comer np specs corto sunsion sure onte when nas areallocate o'SPD-D ISPD-A and/SPD- B Direction of Rotation Selection “The mput signal /P-CONUSPD-D) 1s used to speenfy the direction of Servomotor rotation ‘Speed/Torque Control, Position Control Proportional Control Reference, ete ‘© When contact input speed contiol is used. the input signal /P-CON (/SPD-D) specifies the direction of Sei vomotor rotatwen IP-CON USPD-D) | “Meaning a Forwd roiatton HEH ’ Teverse rota Note 0 OFF thigh levels | ON low level ‘© When contact input speed contiol isnot used the /P-CON signal ss used fot proportional con: trol, zero Clamping. and o1que/speed control switching52 Settings Accorcing o Host Controller Example of Contact Input Speed Control Operation ‘The following example shows uperation by contact input speed control Using the soft start fune= tuon reduces physical shock when the speed 1s changed ‘Contact input Speed Control s9E8> 8 [Set accoleraton ana deceleration at Pr305 and ssrecoz [Pr06 (sft start mas) The soft start tunction 1s avatlable only when contact mp speed controls used with PaQ00 J set to $ and as ‘ot available when « pulse reterence input used It Contact Input Speed Control Mode is switched to Pulse Relerence Input Mode white the Seivomotor ts operating at speed speed 2, or speed 3 the Servopack vl fot receive a relerence pulse unt the positioning completed signal COIN ts output Always star pulse refer: ence output trom the host controller ates postioming completed signal 16 output from the Servopack ‘Signal Generation Timang fr Postvon Conia! Woior Speed ime ‘con : i ' q na i i it 31 Reference H H bade aett POLISH | OFF} ON oN OF 1 OF nce yseDe) | ON] oN] OFF OFF on Seieciec Speed | Speed | Speed? | Speeds | Buse reference | Speed t th > Bae Note 1. Theabove tigure llusirstes signl generation timing when the sot start fune- tion is used 2 The valve of 111s ot allevied bv the use ofthe sot start function A maxt- ‘mum 2-ms delay occuts when the ‘PC-L:/SPD-A) or /N-CLUSPD-B) sgnat 1s readUser Constant Settings and Functions SS 527 Using Torque Contror 5.2.7 Using Torque Control ‘The SGDM Servopack limits torque as shown below © Level 1 Lamuts maximum output torque to protect the equipment or workpiece © Level 2 Limits torque after the Servornotor moves the equipment ioa specified position (in- ternal torque hint) her than speed output © Level 3 Always control torque © Level 4 Swuiches between speed and torque control ‘The following descibes uses for levels 3 and 4 1n the torque control Lunction Torque Control Selection Set in the following user constants to select level 3 or 4 torque control | Pn000 1 “Control Method Selection Factory | Speed/Torque ! Setting 'Controt, 0 Position Control A torque reterence 1s input from the host controller to the Servopack 1n order to control torque5.2 Settings According to Host Contoter Application Examples ‘© Tension control © Pressuie control P0001 Control Mode Torque Control "Truss. a dedicated Torque Control Mode + A tongue reference 1s input trom TEREF (CN1-91 + Speed reference input V-REF (CNI-S) cannot be used tor speed control if Pa002 1 4s et 101 + User constant P07 can be used for masionuin speed con uot Applcavon Example SEM erccsal Tension cont! 9 ‘Torque Control <-> Speed Control (Analog Reference) Senvopack Suches between tongue an speed contol Speed nce fo + V-REP (CNI-S) inputs a speed efeence or speed mt Pee + EREF (CN1-9) puts tongue recience torque tei-tor- reference ow | _ Yatdeferene or ngue me depending onthe crnot Speederd cod mote toraue eee nat referer + PP.CON (IC-SELNCN 41) 1s used 1o sich berween iorque — Swtehing and speed control ar ‘Speed cont Torque Control When /P-CON (/C-SEL) 1s OFF 1 #The FREF retecence controls 1 + V-REF can be used fo limit Servomotos speed when Pn002 1 is set o 1 V-REF voliage (+ lt Servomotor speed during + forward and reverse rotation on + User constant P07 can be used to Iimat the maximum Ser vomotor speedUser Constant Settings and Functions oo 327 Usng Torque Conticr [-Prooot | Control Method ‘Speed Control When /P-CON (/C-SEL) 1s ON Se she user constant Pn002 0 as shown belo User Constant Speed Reference Torque Reference Remarks Pno02 0 Input Input . i (V-REF) (CN1-5,6) | (T-REF)(CN1-9.10)_ _ t 0 Speed contol | Speed relewence TGannot be used T Torgue hant speed control by analog vollage ref- See 5210 for more de- ereme tails on torque hrme ' —— speed contol by analog | Speed veteence “ore It age tesco 2 Speed control wah onyue Tea-forward See $76 for more d= es talls on torque feed-for Speed reterence orqueFeefOrWaPD ant gneve e Position Control ~» Torque Control [Can be used to swuch berweer speed (contact seterence! and torgue control 4+ P.CON (IC-SELNCNI-A1) 16. use to sre conto [Xtatis open "Postion vonuol [Qiansov “Torque contol Position Control When /P-con (/C-SEL) 1s ON Sette user constant P02 0 os shorn below User Constant “Torque Reference input Remarks Pnoo2 0 (EREF) (CN1-9,10) | 0 “Poston contvel ; Cannot be used 1 "Torque mn postion central by analog vohage [See 52 10 Tor more de- reference tas on torque tnt positon control by ana- L __ Forge bmn Jog voltage reference | 2 Potion contol wath ongue feed-forward ‘See 528 for more de "Fagus ealionagh fis ore fed or “6 “Speed Control (Contact Reference) — Torque Controt Can be used to swich benween speed (contact reference and vorgue contol + /P-CON UC-SELVCN1-45) and (N-CL(SPD-B WCN1-46) are use to suateh control “IP-CL(SPD-A) | IN-CL(/SPO-B) | = Jo OFF (cn as CN1-46 ae I 0 0 “Torque control i ° 1 [Speed control eco relerence’ 1 @ | Eesaue! ote Tnpar signal /C-SEL cam be wsed only when 8 signals allocated tothe put creat See 533 Inpr Circat Sienal AllocatonInput Signals Torque Reference Inputs ‘The following input signals are used fo1 torque control peyurgeer (ac = eomenet (be aes frepeerswseiaarwas Signal Ground for the Torque ‘Speed/Torque Reference input Controt ‘These signals are used when tongue control is selected ‘Servomotor torque 1s controlled s0 that t1s proportional to the isput voltage between T-REF and SG acy sete : ae ehge sce The slope s sotto Pao © Factory Setings Pago 10 This setmg meany that 3 V ss equivalent to the raved 1orque +3 V input Rated torque m the torwand direction +9 V mput_ 300% of rated torque inthe torward direction 03 V input. 10% of rated torque in the reverse direction User constant Pna00 can be used 0 change the voltage input range © Example of an Input Circust ‘© Always use nwisted-pau cables for noise control * Recommended vanable revstor Mode! 25HP- 108 manutactured by Sakae Tsushia Ko- gyoCe LidUser Constant Settings and Functions ———————— B27 Using Torque Contror Speed Reference Inputs Refer 10521 Using the /P-CON Signal Proportional Control, ete |Speed/Torque Control, Position Control “The function of the input signal /P-CON varies with the setting at Pr000 1 Servo Prand Pi conta swichrg / Leeioclarip ON OFF switching InbTONOFF seeing q\[eomernode snteing ‘rection ol eiaton swtohing kerooo 1 Pno001 Setting | 1P-CON Function | | 0 | Switches herween P (proportional) and PI ¢proportional-imegral? control 2 Nor used : f 3456 Swteies the ditectov oF rovanon in Coatact Input Speed Control Mode 7B9 Swatuies the cone! med a Tuins ON/OFF ze10 clamp i B Turns onto ONOFF “The /P-CON signal luncuon swatches automate lv when PaSOA Os set to 0 ™@ User Constant The following user constant is used fon (orque control Set the user constant according to the ser~ vo system used Pn400_ | Torque Unit Setting Factory | Speed/Torque Reference put 4 yrareg _ Range Seltng Centro ' torque | 10 to 100 3 | “The user constant sets the voltage range lot torque reference input T-REF (CN1-9) according 19 the ouput form of the hest conulier or external arcutt The factory setting 1s 30, so the sated torque output is 3 V (30x01)52 Setings According to Host Conta Reference torque Rated torque Retoronce votage (V» This roteronce voltage ie set ‘Two speed limst functions during torque control are available by the user constant setting as, shown below 1 pno02 1 setting Description. epee eee Eee ee ee GCE Cee eeer eee Pee 0 Ese pad na seby POT bmeral ped om ancy : 'sey V-REF (CNI-S and 6) a8 external speed limit mput and sets speed Tn by voltage which input to V-REF and Pa300 ‘ ways valid or always snvald 8 Seis S-ON signal so that 1s always nvalid i 9 [tnpats me /S-ON signal fom ce SIO(CNI-30vaerut enmnal | Signal Polarity Reversed Toa “Inputs the /S-ON signal trom the SH (CN1-31) input terminal Example Servo-ON signal (/S-ON) 1s valid when "high ‘OFF ' [8 jlnpurs the SON signal fom the S12 C82) apt ermal © Inputs ihe ON signal from the S13 1CNIL Inputs the /S-ON signal trom the Sd (CNT pur tannal Inputs the -ON signal from the SIS ¢CNT-88) put ternanal F toputsthe/S-ON signal from the S16(CNE-46) put ternal ; Note Setings 9 through Fan be used wseverse gna poly Ths fonction ssup- ported only by the new version ofthe SGDM Servopacks (SGDV-OD§) PIMPORTANT: lt feverse polunty 1s set tor the Serve-ON Fors ard Run Prolubat or Reverse Run Prohibit signals sate opera= won may not eccur when roubles such as broken signal lines coeur You must Lonturm operational safety 1f seu reverse pola necessary for one ur more ofthese signals Ay shown im the table above the /S-ON signal can be allocated to any input terminal trom. Sl0t0 S16 /S-ON salway' input when PaSOA Lsset (07. andan external signal hne would, theretore not be needed because the Servopack wall determune whether the servo 1s ON or OFF ‘The /S-ON signal 1s not used when PnSOA 1 1s set to 8 This setting 1s meaningful only in the following instances © When tte factory set input al are to be replaced by another input signal ‘© The signal must be lett ON (low level) during normal operatyon to make the signal valid when OFF (high level when forward run prohibit (P-OT) and reverse run probibit