Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manual do Utilizador

SGDV-H, -J SERVOPACKSGDV-COA ConverterSGMVV ServomotorRotational MotorMECHATROLINK-III Communications ReferenceΣ-V SeriesAC Servo DrivesUSER’S M

x Storage and Transportation Installation CAUTION• Do not store or install the product in the following locations.Failure to observe this cautio

xi Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.• Do no

xii Operation Maintenance and Inspection CAUTION• Always use the servomotor, the SERVOPACK, and the converter in one of the specified combina-ti

xiii Disposal General Precautions CAUTION• When disposing of the products, treat them as ordinary industrial waste.Observe the following general pre

xivWarranty(1) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered product”) i

xv(3) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yask

xviHarmonized Standards North American Safety Standards (UL) European DirectivesName (Model)UL Standards(UL File No.)Mark RemarksSERVOPACK (SGDV

xvii Safety Standards Safe PerformanceName (Model) Safety Standards Standards RemarksSERVOPACK (SGDV-H, -J),Converter (SGDV-COA)Safety of Mach

xviiiContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii

xix3.3.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-253.4 I/O Signal Alloc

Copyright © 2013 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xx4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-384.7.1 Connecting the Absolut

xxi5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-575.8.1 Switching Gain Settings . . . .

xxiiChapter 8 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-18.1 System Configuration and Connection Exa

1-11Outline1Outline1.1 Σ-V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . .1-21.2 SERVOPACK Part Names . . . . . . . . . .

1 Outline 1-21.1 Σ-V Large-Capacity SERVOPACKs and ConvertersThe Σ-V large-capacity SERVOPACKs and converters are designed for applications that req

1.2 SERVOPACK Part Names1-31Outline SERVOPACK model Indicates the model number of the SERVOPACK. 1.7 SERVOPACK Model Designation Serial number ––D

1 Outline 1-41.3 Converter Part NamesThis section describes the parts of a converter.Use a converter together with a SERVOPACK. For details, refer t

1.3 Converter Part Names1-51OutlineSerial number ––Converter LED indicator(C-RDY)Lights (green) when the converter is ready to be used for operations

1 Outline1.4.1 Ratings1-61.4 Ratings and SpecificationsThis section describes the ratings and specifications of SERVOPACKs and converters.1.4.1 Rati

1.4 Ratings and Specifications1-71Outline1.4.2 Basic SpecificationsBasic specifications of SERVOPACKs and converters are shown below.Drive Method Sin

iiiAbout this ManualThis manual describes information required for designing, testing, adjusting, and maintaining large-capacity models of servo syste

1 Outline1.4.2 Basic Specifications1-8I/OSignalsEncoder Output PulsePhase A, B, C: line driver Encoder output pulse: any setting ratio (Refer to 4.4

1.4 Ratings and Specifications1-91Outline∗1. Speed regulation by load regulation is defined as follows:∗2. Set Pn001 to n.2 if you do not use the

1 Outline1.5.1 Three-phase 200 V1-101.5 SERVOPACK and Converter Internal Block Diagrams1.5.1 Three-phase 200 VL1+B2L2UVW- 1L3driveMC- 2CHARGEP24 V

1.5 SERVOPACK and Converter Internal Block Diagrams1-111Outline1.5.2 Three-phase 400 VControl power supply L1 + B2 L2 +24 V 0 V U V W +5 VVoltage sen

1 Outline1-121.6 Examples of Servo System ConfigurationsA system configuration for a three-phase main circuit power supply voltage of 400 VAC is show

1.7 SERVOPACK Model Designation1-131Outline1.7 SERVOPACK Model DesignationThis section shows SERVOPACK model designation.Note: When digits 8 to 13 ar

1 Outline1-141.8 Converter Model DesignationThis section shows converter model designation.Note: When digits 8 to 13 are all zeros (0) in the model d

1.9 Combinations of Servomotors, SERVOPACKs, and Converters1-151Outline1.9 Combinations of Servomotors, SERVOPACKs, and ConvertersThe following table

1 Outline1-161.10 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACKs and converters.(1) SERVOPACK or Conve

2-12Panel Display and Operation of Digital Operator2Panel Display and Operation of Digital Operator2.1 Panel Display . . . . . . . . . . . . . . . .

iv IMPORTANT ExplanationsThe following icon is displayed for explanations requiring special attention. Notation Used in this Manual• Notation fo

vNotation Example1st digit 2nd digit 3rd digit 4th digit Digital Operator Display(Display Example for Pn002) Digit Notation Setting NotationMeaning N

vi Manuals Related to the Σ-V Large-Capacity ModelsRefer to the following manuals as required.NameSelecting Models and Peripheral DevicesRatings

vii TrademarksMECHATROLINK is a trademark of the MECHATROLINK Members Association. Safety InformationThe following conventions are used to indicate

viiiSafety PrecautionsThese safety precautions are very important. Read them before performing any procedures such as checking products on deliver

ix• Be sure to connect the servomotor’s built-in thermostat to the host controller or to the main circuit magnetic contactor’s operation circuit.Failu