Yaskawa Sigma II Series SGMVH Manual do Utilizador

SGMVH ServomotorSGDM/SGDH SERVOPACKsΣ-II SeriesAC Servo DrivesUSER'S MANUAL OutlineSelectionsServomotor Specifications andDimensional DrawingsSER

x• Do not connect a three-phase power supply to the U, V, or W output terminals.Failure to observe this caution may result in injury or fire.• S

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-195.5.7 Molded-case Circuit Breaker (MCCB)If select

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.8 Noise Filter5-205.5.8 Noise FilterThe noise filters model FN manufa

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-21(2) Model: FN258L-180-07Dimensional DrawingsExtern

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.9 Surge Absorber5-22(3) Model: FN359P-250-99, FN359P-300-995.5.9 Surg

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-235.5.10 Regenerative Resistor Unit(1) ModelRefer t

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.10 Regenerative Resistor Unit5-24(3) Dimensional Drawings(a) JUSP-RA08

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-25(c) JUSP-RA11 Regenerative Resistor Unit(d) JUSP-R

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.10 Regenerative Resistor Unit5-26(e) JUSP-RA13 Regenerative Resistor U

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-27(g) JUSP-RA15 Regenerative Resistor Unit (h) JUSP-

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.10 Regenerative Resistor Unit5-28(i) JUSP-RA25 Regenerative Resistor U

xiOperation• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents. Failu

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-295.5.11 Dynamic Brake (DB) UnitExternally attach a

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.11 Dynamic Brake (DB) Unit5-30(3) Dimensional Drawings(a) JUSP-DB01 Dy

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-31(c) JUSP-DB03 Dynamic Brake Unit (d) JUSP-DB04 Dyn

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.11 Dynamic Brake (DB) Unit5-32(e) JUSP-DB05 Dynamic Brake Unit (f) JUS

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-33(g) JUSP-DB12 Dynamic Brake Unit(4) Connections(a)

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.11 Dynamic Brake (DB) Unit5-34• SGDM-3GADB SERVOPACKSGDH-3GAEB, SERVO

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-35• SGDM-3GADB SERVOPACKSGDH-3GAEB SERVOPACKSGDH-3G

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.12 Thermal Relays5-365.5.12 Thermal RelaysConnect a thermal relay to

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-37(3) Internal Connection DiagramThe following conne

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.12 Thermal Relays5-38(5) Selecting a Thermal RelayWhen preparing the d

xiiMaintenance and InspectionDisposalGeneral Precautions• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-395.5.13 Variable Resistor for Speed and Torque Set

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.14 Encoder Signal Converter Unit5-405.5.14 Encoder Signal Converter U

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-415.5.15 MECHATROLINK Application Module(1) Model :

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.16 DeviceNet Application Module5-425.5.16 DeviceNet Application Modul

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-435.5.17 PROFIBUS-DP Application Module(1) Model: J

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.18 Fully-closed Application Module5-445.5.18 Fully-closed Application

6Wiring6-16Wiring6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-26.1.1 Names and Functions of Main Circuit Ter

6 Wiring6.1.1 Names and Functions of Main Circuit Terminals6-26.1 Wiring Main CircuitThis section describes typical examples of main circuit wiring

6.1 Wiring Main Circuit6Wiring6-3(2) Servomotor terminal names and descriptionTerminal SymbolExternal Terminal NameMain Circuit Voltage (V)FunctionsU

6 Wiring6.1.2 Typical Main Circuit Wiring Examples6-46.1.2 Typical Main Circuit Wiring Examples(1) Three-phase 200 V, 22 kW and 30 kW SERVOPACKsL1/

xiiiCONTENTSAbout this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iiiSafety

6.1 Wiring Main Circuit6Wiring6-5(2) Three-phase 200 V, 37 kW SERVOPACKL1/RL1C/rPGUVWM+24V0 V241Ry31321DOFF1RyON1RyL2/SL3/TL3C/tB1B2DUDVDWU(A)V(B)

6 Wiring6.1.2 Typical Main Circuit Wiring Examples6-6(3) Three-phase 400 V, 22 kW and 30 kW SERVOPACKsL1/RDC24PPGSERVOPACKSGDH- DEBUVWMALM -+24V0

6.1 Wiring Main Circuit6Wiring6-7(4) Three-phase 400 V, 37 kW to 90 kW SERVOPACKsDesigning a Power ON SequenceNote the following points when designi

6 Wiring6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)6-86.2 Wiring EncodersThe connection cables between encoder an

6.2 Wiring Encoders6Wiring6-9(2) Absolute Encoders* 1. : represents twisted-pair wires.* 2. Applicable line receiver: SN75175 manufactured by Texa

6 Wiring6.3.1 Example of I/O Signal Connection6-106.3 I/O Signal Connections6.3.1 Example of I/O Signal Connection* 1. represents twisted-pair

6.3 I/O Signal Connections6Wiring6-116.3.2 I/O Signal Connector (CN1) Terminal LayoutThe following diagram shows the terminal layout and the signals

6 Wiring6.3.3 I/O Signal (CN1) Names and Functions6-126.3.3 I/O Signal (CN1) Names and Functions(1) Input SignalsNote: 1. Pin numbers in parenthes

6.3 I/O Signal Connections6Wiring6-13(2) Output SignalsNotes: 1. Pin numbers in parentheses () indicate signal grounds.2. The functions allocated t

6 Wiring6.3.4 Interface Circuit6-146.3.4 Interface CircuitThis section shows examples of SERVOPACK I/O signal connection to the host controller.(1)

xiv3.3.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-153.4

6.3 I/O Signal Connections6Wiring6-15(2) Sequence Input Circuit InterfaceCN1 connector terminals 40 to 47 is explained below.The sequence input circu

6 Wiring6.3.4 Interface Circuit6-16(b) Open-collector Output CircuitCN1 connector terminals 37 to 39: Alarm code output are explained below.Alarm co

6.4 Others6Wiring6-176.4 Others6.4.1 Wiring PrecautionsTo ensure safe and stable operation, always observe the following wiring precautions.1. For

6 Wiring6.4.2 Wiring for Noise Control6-186.4.2 Wiring for Noise Control(1) Wiring ExampleThe SERVOPACK uses high-speed switching elements in the m

6.4 Others6Wiring6-19* 1. For ground wires connected to the casing, use a thick wire with a thickness of at least 3.5 mm (preferably, plain stitch

6 Wiring6.4.2 Wiring for Noise Control6-20(3) Using Noise FiltersUse an inhibit type noise filter to prevent noise from the power supply line. The f

6.4 Others6Wiring6-212. Separate the noise filter ground wire from the output lines.Do not accommodate the noise filter ground wire, output lines, a

6 Wiring6.4.3 Using More Than One SERVOPACK6-226.4.3 Using More Than One SERVOPACKThe following diagram is an example of the wiring when more than

6.4 Others6Wiring6-23(2) Three-phase 400 VAC: SGDH-DEBNote: Wire the system, so that the phase-S power supply will be the ground phase.RS TQF1KM1SA

6 Wiring6.4.4 Extending Encoder Cables6-246.4.4 Extending Encoder CablesStandard encoder cables have a maximum length of 20 m. If a longer cable is

xv5.4 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-105.4.1 Standard Cables - - - - - - - - - -

7Digital Operator/Panel Operator7-17Digital Operator/Panel Operator7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - 7-27.1.1 C

7 Digital Operator/Panel Operator7.1.1 Connecting the Digital Operator7-27.1 Functions on Digital Operator/Panel OperatorThis section describes the

7.1 Functions on Digital Operator/Panel Operator7Digital Operator/Panel Operator7-37.1.2 Key Names and Functions Key names and functions for the dig

7 Digital Operator/Panel Operator7.1.3 Basic Mode Selection and Operation7-47.1.3 Basic Mode Selection and OperationThe basic modes include: Status

7.1 Functions on Digital Operator/Panel Operator7Digital Operator/Panel Operator7-57.1.4 Status Display (1) Bit Data and MeaningsBit dataCode

7 Digital Operator/Panel Operator7.1.4 Status Display7-6(2) Codes and MeaningsCode MeaningBaseblockServo OFF (motor power OFF)RunServo ON (motor pow

7.2 Operation in Utility Function Mode (Fn)7Digital Operator/Panel Operator7-77.2 Operation in Utility Function Mode (Fn)7.2.1 List of Utilit

7 Digital Operator/Panel Operator7.2.2 Alarm Traceback Data Display (Fn000)7-87.2.2 Alarm Traceback Data Display (Fn000)The alarm traceback display

7.2 Operation in Utility Function Mode (Fn)7Digital Operator/Panel Operator7-97.2.3 Zero-point Search Mode (Fn003)The zero-point search mode is d

7 Digital Operator/Panel Operator7.2.4 Parameter Settings Initialization (Fn005)7-10Forward run prohibited (P-OT) and reverse run prohibited (N-OT)

xvi7 Digital Operator/Panel Operator7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 7-27.1.1

7.2 Operation in Utility Function Mode (Fn)7Digital Operator/Panel Operator7-117.2.5 Alarm Traceback Data Clear (Fn006)This function clears the a

7 Digital Operator/Panel Operator7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)7-127.2.6 Manual Zero Adju

7.2 Operation in Utility Function Mode (Fn)7Digital Operator/Panel Operator7-13(1) Manual Zero adjustment of Analog Monitor Output (Fn00C)StepDisp

7 Digital Operator/Panel Operator7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)7-14(2) Manual Gain adjustm

7.2 Operation in Utility Function Mode (Fn)7Digital Operator/Panel Operator7-157.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E,

7 Digital Operator/Panel Operator7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F)7-16(2) Manual Offset Adjustment of Motor C

7.2 Operation in Utility Function Mode (Fn)7Digital Operator/Panel Operator7-177.2.8 Password Setting (Protects Parameters from Being Changed) (F

7 Digital Operator/Panel Operator7.2.9 Motor Models Display (Fn011)7-187.2.9 Motor Models Display (Fn011)This mode is used for motor maintenance su

7.2 Operation in Utility Function Mode (Fn)7Digital Operator/Panel Operator7-197.2.10 Software Version Display (Fn012)Set the Fn012 to select the

7 Digital Operator/Panel Operator7.2.11 Application Module Detection Results Clear (Fn014)7-207.2.11 Application Module Detection Results Clear (Fn

xvii8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-318.4.5 Abs

7.3 Operation in Parameter Setting Mode (Pn)7Digital Operator/Panel Operator7-217.3 Operation in Parameter Setting Mode (Pn)Functions can be s

7 Digital Operator/Panel Operator7.3.1 Setting Parameters7-22(c) Parameter IndicationsIn this manual, the parameter is explained with using the foll

7.3 Operation in Parameter Setting Mode (Pn)7Digital Operator/Panel Operator7-23(b) Example of Changing Function SelectionThe procedure to change

7 Digital Operator/Panel Operator7.3.2 Input Circuit Signal Allocation7-24(c) Parameter IndicationsEach digit of the function selection parameters i

7.3 Operation in Parameter Setting Mode (Pn)7Digital Operator/Panel Operator7-25(2) Changing the Allocation (Pn50A.0 = 1)Set the parameter in acco

7 Digital Operator/Panel Operator7.3.2 Input Circuit Signal Allocation7-26(3) Allocating Input SignalsThe procedure to replace Servo ON (/S-ON) sign

7.3 Operation in Parameter Setting Mode (Pn)7Digital Operator/Panel Operator7-277.3.3 Output Circuit Signal AllocationFunctions can be allocated

7 Digital Operator/Panel Operator7.3.3 Output Circuit Signal Allocation7-28• Allocating Output SignalsThe procedure to replace Servomotor Rotation

7.4 Operation in Monitor Mode (Un)7Digital Operator/Panel Operator7-297.4 Operation in Monitor Mode (Un)The monitor mode can be used for monit

7 Digital Operator/Panel Operator7.4.1 List of Monitor Modes7-30(2) Sequence I/O Signal Monitor DisplayThe following section describes the monitor d

xviii8.11 Other Output Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-778.11.1 Servo Alarm Output (A

7.4 Operation in Monitor Mode (Un)7Digital Operator/Panel Operator7-31(b) Output Signal Monitor DisplayThe status of output signal allocated to ea

7 Digital Operator/Panel Operator7.4.1 List of Monitor Modes7-32(4) Monitor Display of Reference Pulse Counter and Feedback Pulse CounterThe monitor

8Operation8-18Operation8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48.1.1 Trial Operation for Servomotor

8 Operation 8-28.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 8-498.6.1 Setting Parameters - - - - - - - - - - - - - -

8Operation8-3

8 Operation 8-48.1 Trial OperationMake sure that all wiring has been completed prior to trial operation.Perform the following three types of trial

8.1 Trial Operation8Operation8-5Step Item Description Reference1Installation and mountingInstall the servomotor and SERVOPACK according to the instal

8 Operation8.1.1 Trial Operation for Servomotor without Load8-68.1.1 Trial Operation for Servomotor without LoadIn this section, confirm the cable

8.1 Trial Operation8Operation8-7• JOG Mode Operation (Fn002)5Operate with the panel operator.Use the panel operator to operate the servomotor with u

8 Operation8.1.1 Trial Operation for Servomotor without Load8-8The servomotor’s rotation direction depends on the setting of parameter Pn000.0 (Dire

xix11 Appendix11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - 11-211.1.1 Selection Example for Spee

8.1 Trial Operation8Operation8-98.1.2 Trial Operation for Servomotor without Load from Host Reference Check that the servomotor move reference or I/

8 Operation8.1.2 Trial Operation for Servomotor without Load from Host Reference8-10Step Description Check Method and Remarks1Configure an input sig

8.1 Trial Operation8Operation8-11(2) Operating Procedure in Speed Control Mode (Pn000 = n.0)The following circuit is required: External input sign

8 Operation8.1.2 Trial Operation for Servomotor without Load from Host Reference8-12 When Position Control is configured at the HostWhen the SERVOP

8.1 Trial Operation8Operation8-13(3) Operating Procedure in Position Control Mode (Pn000 = n.1)The following circuit is required: External input s

8 Operation8.1.2 Trial Operation for Servomotor without Load from Host Reference8-1412 Check that the Un007 and Un000 values in steps 9 and 10 are e

8.1 Trial Operation8Operation8-158.1.3 Trial Operation with the Servomotor Connected to the MachineFollow the procedures below to perform the trial

8 Operation8.1.4 Servomotor with Brakes8-168.1.4 Servomotor with BrakesHolding brake operation of the servomotor with brake can be controlled with

8.2 Control Mode Selection8Operation8-178.2 Control Mode SelectionThe control modes supported by the SGDM/SGDH SERVOPACKs are described below.Parame

8 Operation8.3.1 Setting the Servo ON Signal8-188.3 Setting Common Basic Functions8.3.1 Setting the Servo ON SignalThis sets the servo ON signal (

Copyright © 2008 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1Outline1-11Outline1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-21.1.1 Check Items - - - - - - - - - - - -

8.3 Setting Common Basic Functions8Operation8-198.3.2 Switching the Servomotor Rotation DirectionThe rotation direction of the servomotor can be swi

8 Operation8.3.3 Setting the Overtravel Limit Function8-208.3.3 Setting the Overtravel Limit FunctionThe overtravel limit function forces movable m

8.3 Setting Common Basic Functions8Operation8-21(3) Selecting the Motor Stop Method When Overtravel is UsedThis is used to set the stop method when a

8 Operation8.3.4 Setting for Holding Brakes8-228.3.4 Setting for Holding BrakesThe holding brake is used when a SERVOPACK controls a vertical axis.

8.3 Setting Common Basic Functions8Operation8-231. The brake built into the servomotor with brakes is a deenergization brake, which is used only to

8 Operation8.3.4 Setting for Holding Brakes8-24(2) Brake Interlock Output (/BK)(3) Allocating Brake Interlock Output Signals (/BK)The brake interloc

8.3 Setting Common Basic Functions8Operation8-25(5) Setting the Brake ON Timing When Servomotor RunningThe following parameters can be used to change

8 Operation8.3.5 Selecting the Stopping Method After Servo OFF8-268.3.5 Selecting the Stopping Method After Servo OFFThe stopping method when the p

8.3 Setting Common Basic Functions8Operation8-278.3.6 Instantaneous Power Loss SettingsDetermines whether to continue operation or turn the servo OF

8 Operation8-288.4 Absolute EncodersIf a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host co

1 Outline1.1.1 Check Items1-21.1 Checking ProductsThe following procedure is used to check the AC servo drives of Σ-ΙΙ Series products on delivery.

8.4 Absolute Encoders8Operation8-298.4.1 Interface CircuitsThe following diagram shows the standard connections for a an absolute encoder mounted to

8 Operation8.4.2 Selecting an Absolute Encoder8-308.4.2 Selecting an Absolute EncoderAn absolute encoder can also be used as an incremental encoder

8.4 Absolute Encoders8Operation8-318.4.4 Replacing BatteriesThe SERVOPACK will generate an absolute encoder battery alarm (A.83) when the battery vo

8 Operation8.4.5 Absolute Encoder Setup (Fn008)8-328.4.5 Absolute Encoder Setup (Fn008)Setting up (initializing) the absolute encoder is necessary

8.4 Absolute Encoders8Operation8-338.4.6 Absolute Encoder Reception SequenceThe sequence in which the SERVOPACK receives outputs from the absolute e

8 Operation8.4.6 Absolute Encoder Reception Sequence8-34Final absolute data PM is calculated by following formula.(3) Detailed Signal Specifications

8.4 Absolute Encoders8Operation8-35(b) PSO Serial Data SpecificationsThe number of revolutions is always output in five digits and seven digits (abso

8 Operation8.4.7 Multiturn Limit Setting8-368.4.7 Multiturn Limit SettingThe parameter for the multiturn limit setting sets the upper limit for the

8.4 Absolute Encoders8Operation8-378.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) OccurredPerform the following operation us

8 Operation8.5.1 Setting Parameters8-388.5 Operating Using Speed Control with Analog Reference8.5.1 Setting ParametersParameter DescriptionPn000n.

1.2 Examples of Servo System Configurations1Outline1-31.2 Examples of Servo System ConfigurationsThis section describes examples of basic servo syst

8.5 Operating Using Speed Control with Analog Reference8Operation8-398.5.2 Setting Input Signals(1) Speed Reference InputInput the speed reference t

8 Operation8.5.3 Adjusting Offset8-408.5.3 Adjusting OffsetWhen using the speed control, the servomotor may rotate slowly even if 0 V is specified

8.5 Operating Using Speed Control with Analog Reference8Operation8-41(1) Automatic Adjustment of the Speed Reference OffsetThe automatic adjustment o

8 Operation8.5.3 Adjusting Offset8-42(2) Manual Adjustment of the Speed Reference OffsetUse the speed reference offset manual adjustment (Fn00A) in

8.5 Operating Using Speed Control with Analog Reference8Operation8-438.5.4 Soft StartThe soft start function converts the stepwise speed reference i

8 Operation8.5.6 Using the Zero Clamp Function8-44(2) Parameter Setting(3) Input Signal SettingParameter MeaningPn000n.AControl mode selection: S

8.5 Operating Using Speed Control with Analog Reference8Operation8-458.5.7 Encoder Signal OutputEncoder feedback pulses processed inside the SERVOPA

8 Operation8.5.7 Encoder Signal Output8-46• Pulse Dividing Ratio SettingThe upper limit of PG dividing ratio (Pn201) is 16384 [P/R] that is decided

8.5 Operating Using Speed Control with Analog Reference8Operation8-47When Pn212 is set without connecting a servomotor to the SERVOPACK, the upper li

8 Operation8.5.8 Speed Coincidence Output8-488.5.8 Speed Coincidence OutputThe speed coincidence (/V-CMP) output signal is output when the actual m

1 Outline1.2.2 Three-phase, 400 V Series1-41.2.2 Three-phase, 400 V SeriesRegenerativeResistor UnitUVWB1B20VPower supply for cooling fanPower

8.6 Operating Using Position Control8Operation8-498.6 Operating Using Position Control8.6.1 Setting ParametersSet the following parameters for posi

8 Operation8.6.1 Setting Parameters8-50(3) Clear Signal Form SelectionThe internal processing of the SERVOPACK for the clear signal can be set to ei

8.6 Operating Using Position Control8Operation8-518.6.2 Setting the Electronic Gear(1) Number of Encoder PulsesNote: For details on reading servomot

8 Operation8.6.2 Setting the Electronic Gear8-52(3) Related Parameters(4) Procedure for Setting the Electronic Gear RatioUse the following procedure

8.6 Operating Using Position Control8Operation8-53(5) Electronic Gear Ratio Setting ExamplesThe following examples show electronic gear ratio setting

8 Operation8.6.3 Position Reference8-548.6.3 Position ReferenceThe servomotor positioning is controlled by inputting a pulse train reference.The pu

8.6 Operating Using Position Control8Operation8-55(2) Connection Example(a) Connection Example for Line-driver OutputApplicable line driver: SN75174

8 Operation8.6.3 Position Reference8-56The SERVOPACK internal power supply can be used. In this case, the circuit will not be isolated.* : Represe

8.6 Operating Using Position Control8Operation8-578.6.4 SmoothingA filter can be applied in the SERVOPACK to a constant-frequency reference pulse.(1

8 Operation8.6.5 Positioning Completed Output Signal8-588.6.5 Positioning Completed Output SignalThis signal indicates that servomotor movement has

1.3 Applicable Standards1Outline1-51.3 Applicable Standards1.3.1 North American Safety Standards (UL)* 1. 200 V SERVOPACKs and servomotors have no

8.6 Operating Using Position Control8Operation8-598.6.6 Positioning Near SignalThis signal indicates that the positioning of the servomotor is near

8 Operation8.6.7 Reference Pulse Inhibit Function (INHIBIT)8-608.6.7 Reference Pulse Inhibit Function (INHIBIT)(1) DescriptionThis function inhibit

8.6 Operating Using Position Control8Operation8-618.6.8 Reference Pulse Input Multiplication Switching FunctionIf the /PSEL signal for switching the

8 Operation8.6.8 Reference Pulse Input Multiplication Switching Function8-62Note: After changing the setting, turn OFF the power and ON again to en

8.7 Operating Using Torque Control8Operation8-638.7 Operating Using Torque Control8.7.1 Setting ParametersThe following parameters must be set for

8 Operation8.7.3 Adjusting the Reference Offset8-648.7.3 Adjusting the Reference Offset(1) Automatic Adjustment of the Torque Reference OffsetWhen

8.7 Operating Using Torque Control8Operation8-65(2) Manual Adjustment of the Torque Reference OffsetManual adjustment of the torque reference offset

8 Operation8.7.4 Limiting Servomotor Speed during Torque Control8-668.7.4 Limiting Servomotor Speed during Torque ControlDuring torque control, the

8.7 Operating Using Torque Control8Operation8-67(4) Signals Output during Servomotor Speed LimitTypeSignal NameConnector Pin NumberSetting MeaningOut

8 Operation8.8.1 Setting Parameters8-688.8 Operating Using Speed Control with an Internally Set Speed• Internally Set Speed SelectionThis function

2Selections2-12Selections2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - 2-22.2 SERVOPACK Model Designations - - - - -

8.8 Operating Using Speed Control with an Internally Set Speed8Operation8-698.8.2 Input Signal SettingsThe following input signals are used to switc

8 Operation8.8.3 Operating Using an Internally Set Speed8-70• Example of Operating with Internally Set Speed SelectionThe shock that results when t

8.9 Limiting Torque8Operation8-718.9 Limiting TorqueThe SERVOPACK provides the following four methods for limiting output torque to protect the mach

8 Operation8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)8-728.9.2 External Torque Limit (Output Torque Limiting by Input Si

8.9 Limiting Torque8Operation8-738.9.3 Torque Limiting Using an Analog Voltage ReferenceTorque limiting by analog voltage reference limits torque by

8 Operation8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference8-748.9.4 Torque Limiting Using an External Torque Limi

8.9 Limiting Torque8Operation8-75(2) Input Signals8.9.5 Checking Output Torque Limiting during OperationThe following signal can be output to indica

8 Operation8.10.1 Setting Parameters8-768.10 Control Mode SelectionThe methods and conditions for switching SERVOPACK control modes are described b

8.11 Other Output Signals8Operation8-778.11 Other Output SignalsThe following output signals, which have no direct connection with the control modes

8 Operation8.11.2 Warning Output (/WARN)8-788.11.2 Warning Output (/WARN)• Related ParametersThe following parameter is used to select the alarm c

2 Selections 2-22.1 Servomotor Model Designations(1) Available ModelsSGMVH − 2B A 2 B 2 N4th digit: Serial Encoder7th digit: Brake and Oil SealCode

8.11 Other Output Signals8Operation8-798.11.4 Servo Ready (/S-RDY) OutputTypeSignal NameConnector Pin NumberSetting MeaningOutput /S-RDYCN1-29, 30(F

9Adjustments9-19Adjustments9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29.1.1 Servo Gain Adjustment Met

9 Adjustments9.1.1 Servo Gain Adjustment Methods9-29.1 Autotuning9.1.1 Servo Gain Adjustment MethodsThe SERVOPACK has the servo gains to determine

9.1 Autotuning9Adjustments9-3(3) Vibration Reduction FunctionsFunction Name and Related ParametersDescription Features Valid Control ModesRefer-ence

9 Adjustments9.3.1 Explanation of Servo Gain9-49.2 Online AutotuningOnline autotuning functions cannot be used for SERVOPACKs of 22 kW or more.9.3

9.3 Manual Tuning9Adjustments9-59.3.2 Servo Gain Manual TuningThe SERVOPACK has the following parameters for the servo gains. Setting the servo gai

9 Adjustments9.3.4 Speed Loop Gain9-69.3.4 Speed Loop Gain9.3.5 Speed Loop Integral Time Constant Selecting the Speed Loop Control Method (PI Con

9.4 Servo Gain Adjustment Functions9Adjustments9-79.4 Servo Gain Adjustment Functions9.4.1 Feed-forward Reference9.4.2 Torque Feed-forwardPn109 Fe

9 Adjustments9.4.3 Speed Feed-forward9-89.4.3 Speed Feed-forwardParameter MeaningPn207 n.0Disabledn.1Uses V-REF terminal for speed feed-forwa

9.4 Servo Gain Adjustment Functions9Adjustments9-99.4.4 Proportional Control Operation (Proportional Operation Reference)If parameter Pn000.1 is set

2.2 SERVOPACK Model Designations2Selections2-32.2 SERVOPACK Model DesignationsSelect the SERVOPACK according to the applied servomotor.Code2B3Z3GRat

9 Adjustments9.4.5 Using the Mode Switch (P/PI Switching)9-109.4.5 Using the Mode Switch (P/PI Switching)Use the mode switch (P/PI switching) funct

9.4 Servo Gain Adjustment Functions9Adjustments9-11Using the Torque Reference Level to Switch Modes (Factory Setting)With this setting, the speed loo

9 Adjustments9.4.5 Using the Mode Switch (P/PI Switching)9-12Using the Acceleration Level to Switch ModesWith this setting, the speed loop is switch

9.4 Servo Gain Adjustment Functions9Adjustments9-139.4.6 Setting the Speed BiasThe settling time for positioning can be reduced by setting the follo

9 Adjustments9.4.9 Switching Gain Settings9-149.4.9 Switching Gain SettingsGain switching functions by the external signal, or by using automatic g

9.4 Servo Gain Adjustment Functions9Adjustments9-15(2) Automatic Gain Switching FunctionThe automatic gain switching function switches the gain setti

9 Adjustments9.4.10 Torque Reference Filter9-16(1) Related ParametersNote: After changing the setting, turn OFF the power and ON again to enable the

9.4 Servo Gain Adjustment Functions9Adjustments9-17(2) Notch FilterUsing the notch filter in accordance with the components of specific vibration fre

9 Adjustments9.4.10 Torque Reference Filter9-18(a) Notch FilterThe notch filter can decrease the set frequency responsiveness. The notch filter puts

9.4 Servo Gain Adjustment Functions9Adjustments9-191. Sufficient precautions must be taken when setting the notch frequency. Do not set the notch fi

2 Selections2-42.3 Σ-II Series SERVOPACKs and Applicable ServomotorNote: =A: 200 V, D: 400 VBe sure to match the voltage ratio on the servomotor an

9 Adjustments9-209.5 Analog MonitorSignals for analog voltage references can be monitored. To monitor analog signals, connect the analog monitor cab

9.5 Analog Monitor9Adjustments9-21(1) Related Parameters The following signals can be monitored.(a) Pn003: Function Selections * When using speed co

10-110Inspection, Maintenance, and Troubleshooting10Inspection, Maintenance, andTroubleshooting10.1 Troubleshooting - - - - - - - - - - - - - - - -

10 Inspection, Maintenance, and Troubleshooting10.1.1 Alarm Display Table10-210.1 Troubleshooting10.1.1 Alarm Display TableThe relation between al

10.1 Troubleshooting10-310Inspection, Maintenance, and Troubleshooting* For the SERVOPACK with a capacity of 22 kW or more, alarm A.40 indicates det

10 Inspection, Maintenance, and Troubleshooting10.1.2 Warning Display10-410.1.2 Warning DisplayThe relation between warning displays and warning co

10.1 Troubleshooting10-510Inspection, Maintenance, and Troubleshooting10.1.3 Alarm Display Table when the Application Module is UsedThe following sp

10 Inspection, Maintenance, and Troubleshooting10.1.4 Warning Display Table when the Application Module is Used10-610.1.4 Warning Display Table whe

10.1 Troubleshooting10-710Inspection, Maintenance, and Troubleshooting10.1.5 Troubleshooting of Alarm and WarningWhen an error occurs in servodrive,

10 Inspection, Maintenance, and Troubleshooting10.1.5 Troubleshooting of Alarm and Warning10-8A.10Overcurrent (An overcurrent flowed through the IGB

2.4 Selecting Cables2Selections2-52.4 Selecting Cables2.4.1 Cables for SGMVH ServomotorName Length Type SpecificationsRefer-encecEncoder CableCable

10.1 Troubleshooting10-910Inspection, Maintenance, and TroubleshootingA.40OvervoltageOccurred when the control power sup-ply was turned ON.A SERVOPAC

10 Inspection, Maintenance, and Troubleshooting10.1.5 Troubleshooting of Alarm and Warning10-10A.71A.72OverloadA.71: Instantaneous Peak LoadA.72: Co

10.1 Troubleshooting10-1110Inspection, Maintenance, and TroubleshootingA.81Encoder Backup ErrorOccurred when the control power sup-ply was turned ON.

10 Inspection, Maintenance, and Troubleshooting10.1.5 Troubleshooting of Alarm and Warning10-12A.b2Reference Torque Input Read ErrorOccurred when th

10.1 Troubleshooting10-1310Inspection, Maintenance, and TroubleshootingA.CbEncoder Echo-back ErrorOccurred when the control power sup-ply was turned

10 Inspection, Maintenance, and Troubleshooting10.1.5 Troubleshooting of Alarm and Warning10-14A.F5Servomotor Disconnection AlarmOccurred when the c

10.1 Troubleshooting10-1510Inspection, Maintenance, and Troubleshooting(2) Warning Display and TroubleshootingTable 10.6 Warning Display and Trouble

10 Inspection, Maintenance, and Troubleshooting10.1.6 Troubleshooting for Malfunction without Alarm Display10-1610.1.6 Troubleshooting for Malfunct

10.1 Troubleshooting10-1710Inspection, Maintenance, and TroubleshootingAbnormal Noise from Servomotor Mounting not secured Check if there are any loo

10 Inspection, Maintenance, and Troubleshooting10.1.6 Troubleshooting for Malfunction without Alarm Display10-18Absolute Encoder Position Difference

iiiAbout this ManualIntended AudienceThis manual is intended for the following users.• Those selecting Σ-II Series servo drives or peripheral device

2 Selections2.5.1 Special Options2-62.5 Selecting Peripheral Devices2.5.1 Special OptionsPersonalcomputerDigital operatorHost controllerI/O signa

10.1 Troubleshooting10-1910Inspection, Maintenance, and TroubleshootingOvertravel (OT)(Movement over the zone specified by the host con-troller)(cont

10 Inspection, Maintenance, and Troubleshooting10.2.1 Servomotor Inspection10-2010.2 Inspection and Maintenance10.2.1 Servomotor InspectionThe AC

10.2 Inspection and Maintenance10-2110Inspection, Maintenance, and Troubleshooting10.2.3 SERVOPACK’s Parts Replacement ScheduleThe following electri

11-111Appendix11Appendix11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - 11-211.1.1 Selection Example for Speed Control - - - - -

11 Appendix11.1.1 Selection Example for Speed Control11-211.1 Servomotor Capacity Selection Examples11.1.1 Selection Example for Speed Controll(1)

11.1 Servomotor Capacity Selection Examples11-311Appendix(5) Load Moving Power(6) Load Acceleration Power(7) Servomotor Provisional Selection(a) Sele

11 Appendix11.1.2 Selection Example for Position Control11-4(9) ResultThe provisionally selected servomotor and SERVOPACK are confirmed to be applic

11.1 Servomotor Capacity Selection Examples11-511Appendix(4) Load Moment of Inertia• Liner motion section• Ball screw• Coupling• Load moment of i

11 Appendix11.1.2 Selection Example for Position Control11-6(8) Verification on Provisionally Selected Servomotor• Required starting torque• Requi

11.2 Connection to Host Controller11-711Appendix11.2 Connection to Host Controller11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-0

2.5 Selecting Peripheral Devices2Selections2-7* For details, refer to the manuals of each application module.Name Length Type SpecificationsRefer-en

11 Appendix11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-0111-811.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01*

11.2 Connection to Host Controller11-911Appendix11.2.3 Example of Connection to OMRON’s Motion Control Unit* 1. Connect when an absolute encoder is

11 Appendix11.2.4 Example of Connection to OMRON’s Position Control Unit11-1011.2.4 Example of Connection to OMRON’s Position Control Unit* 1. The

11.2 Connection to Host Controller11-1111Appendix11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode

11 Appendix11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)11-1211.2.6 Example of Connection

11.3 List of Parameters11-1311Appendix11.3 List of Parameters11.3.1 Utility Functions ListThe following list shows the available utility functions.

11 Appendix11.3.2 List of Parameters11-1411.3.2 List of Parameters(1) Parameter DisplayParameter settings are displayed as shown below.Since each d

11.3 List of Parameters11-1511AppendixParameter No.Name Setting Range UnitsFactorySettingSettingValidationPn000 Function Selection Basic Switches−−00

11 Appendix11.3.2 List of Parameters11-16Pn001 Function Selection Application Switches 1−−0000 After restartPn002 Function Selection Application Swi

11.3 List of Parameters11-1711AppendixParameter No.Name Setting Range UnitsFactorySettingSettingValidationPn003 Function Selection Application Switch

2 Selections2.5.2 Molded-case Circuit Breaker and Fuse Capacity2-82.5.2 Molded-case Circuit Breaker and Fuse CapacitySelect a input fuse or molded-

11 Appendix11.3.2 List of Parameters11-18Parameter No.Name Setting Range UnitsFactorySettingSettingValidationPn10A Feed-forward Filter Time Constant

11.3 List of Parameters11-1911Appendix* 1. The parameters Pn110 and Pn111 settings are disabled.* 2. Not used for the SERVOPACKs of 22 kW or more.P

11 Appendix11.3.2 List of Parameters11-20* This setting must be changed only for special applications. Do not change this limit inappropriately or

11.3 List of Parameters11-2111AppendixParameter No.Name Setting Range UnitFactorySettingSettingValidationPn207 Position Control Function Switches0000

11 Appendix11.3.2 List of Parameters11-22Parameter No.Name Setting Range UnitFactorySettingSettingValidationPn304 JOG Speed 0 to 100001 min-1500 Imm

11.3 List of Parameters11-2311Appendix* When Pn50A.0 is set to 0 for the input signal standard allocation mode, the following modes are compatible:

11 Appendix11.3.2 List of Parameters11-24 Input signal polaritiesParameter No.Name Setting Range UnitFactorySettingSettingValidationPn50B Input Sig

11.3 List of Parameters11-2511AppendixParameter No.Name Setting Range UnitFactorySettingSettingValidationPn50C Input Signal Selections 3−−8888 After

11 Appendix11.3.2 List of Parameters11-26Pn50D Input Signal Selections 4−−8888 After restartPn50E Output Signal Selections 1−−3211 After restartPara

11.3 List of Parameters11-2711AppendixPn50F Output Signal Selections 2−−0000 After restartPn510 Output Signal Selections 3−−0000 After restartPn511 R

2.5 Selecting Peripheral Devices2Selections2-92.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply UnitsNote: 1. If some SERVOPACKs are

11 Appendix11.3.2 List of Parameters11-28* 1. Normally set to “0.” When using an external regenerative resistor, set the allowable power loss (W)

11.4 Parameter Recording Table11-2911Appendix11.4 Parameter Recording TableUse the following table for recording parameters.Note: Setting validatio

11 Appendix11-30Pn122 0 Hz Reserved (Do not change) ImmediatelyPn123 0% Reserved (Do not change) ImmediatelyPn124 100 ms Automatic Gain Switching Tim

11.4 Parameter Recording Table11-3111AppendixPn50220 min-1Rotation Detection Level ImmediatelyPn50310 min-1Speed Coincidence Signal Output WidthImmed

IndexIndex-1INDEXAabsolute encoder battery - - - - - - - - - - - - - - - - - - - - - - - - -2-7, 5-18absolute encoder reception sequence - - - - - -

IndexIndex-2I/O signal cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7, 5-10I/O signal connections - - - - - - - - - - - - -

IndexIndex-3QQ value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18Rreference pulse formCW pulse + CCW pulse - -

IndexIndex-4using more than one SERVOPACK - - - - - - - - - - - - - - - - - - - - 6-22using noise filters- - - - - - - - - - - - - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.Date ofPublicationRev. No.Section Revi

08-5-3MANUAL NO. SIEP S800000 59APublished in Japan August 2008 08-8 英文 No.4-5 (A4) メカトロ製品用YASKAWA ELECTRIC CORPORATIONIn the event that the end

2 Selections2.5.5 Dynamic Brake (DB) Units2-102.5.5 Dynamic Brake (DB) UnitsExternally attach a dynamic brake resistor to the SERVOPACK to dissipat

2.5 Selecting Peripheral Devices2Selections2-112.5.6 Thermal RelaysDynamic Brake (DB) Unit and Regenerative ResistorUnit ModelThermal Relay ModelThe

3Servomotor Specifications and Dimensional Drawings3-13Servomotor Specifications andDimensional Drawings3.1 Ratings and Specifications of SGMVH (1500

3 Servomotor Specifications and Dimensional Drawings 3-23.1 Ratings and Specifications of SGMVH (1500 min-1)(1) Ratings and Specifications(a) 200 V

3.1 Ratings and Specifications of SGMVH (1500 min-1)3Servomotor Specifications and Dimensional Drawings3-3(b) 400 V Class* These items and torque-mo

3 Servomotor Specifications and Dimensional Drawings 3-4(2) Torque-Motor Speed Characteristics (200 V class)200015001000 500 0 0100 200 300 400S

ivQuick access to your required informationRead the chapters marked with 9 to get the information required for your purpose. Visual AidsThe follo

3.1 Ratings and Specifications of SGMVH (1500 min-1)3Servomotor Specifications and Dimensional Drawings3-5(3) Torque-Motor Speed Characteristics (400

3 Servomotor Specifications and Dimensional Drawings 3-63.2 Ratings and Specifications of SGMVH (800 min-1)(1) Ratings and Specifications(a) 200 V

3.2 Ratings and Specifications of SGMVH (800 min-1)3Servomotor Specifications and Dimensional Drawings3-7(b) 400 V Class* These items and torque-mot

3 Servomotor Specifications and Dimensional Drawings 3-8(2) Torque-Motor Speed Characteristics (200 V class)(3) Torque-Motor Speed Characteristics (

3.3 Mechanical Specifications of Servomotors3Servomotor Specifications and Dimensional Drawings3-93.3 Mechanical Specifications of Servomotors3.3.1

3 Servomotor Specifications and Dimensional Drawings3.3.1 Precautions on Servomotor Installation3-101. Before starting installation, thoroughly rem

3.3 Mechanical Specifications of Servomotors3Servomotor Specifications and Dimensional Drawings3-11Wring the Motor Terminal Box• Connect the servomot

3 Servomotor Specifications and Dimensional Drawings3.3.1 Precautions on Servomotor Installation3-12Encoder-end Connector SpecificationsAbsolute Enc

3.3 Mechanical Specifications of Servomotors3Servomotor Specifications and Dimensional Drawings3-133.3.2 Allowable Radial and Thrust LoadsThe follow

3 Servomotor Specifications and Dimensional Drawings3.3.3 Mechanical Tolerance3-143.3.3 Mechanical ToleranceThe following table shows tolerances fo

v Indication of Reverse SignalsIn this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before

3.3 Mechanical Specifications of Servomotors3Servomotor Specifications and Dimensional Drawings3-153.3.7 Vibration ClassThe vibration class 1for the

3 Servomotor Specifications and Dimensional Drawings3-163.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)(1) 22 kW (-2BAB, -2BDB)• Shaft

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)3Servomotor Specifications and Dimensional Drawings3-17(2) 30 kW (-3ZAB, -3ZDB)• Shaft E

3 Servomotor Specifications and Dimensional Drawings3-18(3) 37 kW (-3GAB, -3GDB)• Shaft End Specifications* Shaft end key is a JIS B 1301-1996 ho

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)3Servomotor Specifications and Dimensional Drawings3-19(4) 45 kW (-4EDB)• Shaft End Speci

3 Servomotor Specifications and Dimensional Drawings3-20(5) 55 kW (-5EDB)• Shaft End Specifications* Shaft end key is a JIS B 1301-1996 horizonta

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)3Servomotor Specifications and Dimensional Drawings3-21(6) 75 kW (-7EDB)• Shaft End Speci

3 Servomotor Specifications and Dimensional Drawings3-223.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)(1) 22 kW (-2BAD, -2BDD)• Shaft

3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)3Servomotor Specifications and Dimensional Drawings3-23(2) 30 kW (-3ZAD, -3ZDD)• Shaft En

3 Servomotor Specifications and Dimensional Drawings3-24(3) 37 kW (-3GAD, -3GDD)• Shaft End Specifications* Shaft end key is a JIS B 1301-1996 ho

viSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual

3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)3Servomotor Specifications and Dimensional Drawings3-25(4) 45 kW (-4EDD)• Shaft End Specif

4SERVOPACK Specifications and Dimensional Drawings4-14SERVOPACK Specifications andDimensional Drawings4.1 SERVOPACK Ratings and Specifications - - -

4 SERVOPACK Specifications and Dimensional Drawings4.1.1 Three-phase 200 V4-24.1 SERVOPACK Ratings and Specifications4.1.1 Three-phase 200 VThe va

4.1 SERVOPACK Ratings and Specifications4SERVOPACK Specifications and Dimensional Drawings4-34.1.3 SERVOPACK Ratings and SpecificationsBasic Specifi

4 SERVOPACK Specifications and Dimensional Drawings4.1.3 SERVOPACK Ratings and Specifications4-4* 1. Use the SERVOPACK within the surrounding air t

4.2 SERVOPACK Installation4SERVOPACK Specifications and Dimensional Drawings4-54.2 SERVOPACK InstallationThe SGDM/SGDH SERVOPACKs can be mounted on

4 SERVOPACK Specifications and Dimensional Drawings4-6Installation Follow the procedure below to install multiple SERVOPACKs side by side in a contro

4.3 SERVOPACK Internal Block Diagrams4SERVOPACK Specifications and Dimensional Drawings4-74.3 SERVOPACK Internal Block Diagrams4.3.1 Three-phase 20

4 SERVOPACK Specifications and Dimensional Drawings4.3.2 Three-phase 200 V, 37 kW Model4-84.3.2 Three-phase 200 V, 37 kW ModelFILRST1KML1/R+ 1+ 2R1

4.3 SERVOPACK Internal Block Diagrams4SERVOPACK Specifications and Dimensional Drawings4-94.3.3 Three-phase 400 V, 22 kW, 30 kW Models4.3.4 Three-p

viiNotes for Safe OperationRead this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operat

4 SERVOPACK Specifications and Dimensional Drawings4.3.5 Three-phase 400 V, 45 kW, 55 kW Models4-104.3.5 Three-phase 400 V, 45 kW, 55 kW Models4.3.

4.4 SERVOPACK’s Power Supply Capacities and Power Losses4SERVOPACK Specifications and Dimensional Drawings4-114.4 SERVOPACK’s Power Supply Capacitie

4 SERVOPACK Specifications and Dimensional Drawings4.5.1 Overload Characteristics4-124.5 SERVOPACK Overload Characteristics and Allowable Load Mome

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia4SERVOPACK Specifications and Dimensional Drawings4-134.5.2 Starting and

4 SERVOPACK Specifications and Dimensional Drawings4.5.3 Load Moment of Inertia4-144.5.3 Load Moment of InertiaThe larger the load moment of inerti

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia4SERVOPACK Specifications and Dimensional Drawings4-15(2) Overhanging Load

4 SERVOPACK Specifications and Dimensional Drawings4.6.1 Three-phase 200 V, 22 kW, 30 kW Models4-164.6 SERVOPACK Dimensional Drawings4.6.1 Three-p

4.6 SERVOPACK Dimensional Drawings4SERVOPACK Specifications and Dimensional Drawings4-174.6.2 Three-phase 200 V, 37 kW Model(1) SGDM-3GADB(2) SGDH-3

4 SERVOPACK Specifications and Dimensional Drawings4.6.3 Three-phase 400 V, 22 kW Model4-184.6.3 Three-phase 400 V, 22 kW Model(1) SGDH-2BDEB+2-+1L

4.6 SERVOPACK Dimensional Drawings4SERVOPACK Specifications and Dimensional Drawings4-194.6.4 Three-phase 400 V, 30 kW Model(1) SGDH-3ZDEBCN34591511

viiiChecking on DeliveryStorage and Transportation• Always use the servomotor and SERVOPACK in one of the specified combinations.Failure to obs

4 SERVOPACK Specifications and Dimensional Drawings4.6.5 Three-phase 400 V, 37 kW Model4-204.6.5 Three-phase 400 V, 37 kW Model(1) SGDH-3GDEB4.6.6

4.6 SERVOPACK Dimensional Drawings4SERVOPACK Specifications and Dimensional Drawings4-214.6.7 Three-phase 400 V, 90 kW Model(1) SGDH-9ZDEB24 450 244

5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-15Specifications and Dimensional Drawings of Cables and Peripheral Devices5

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.1.1 Wiring Cables to Main Circuit Terminals5-25.1 SERVOPACK Main Circui

5.1 SERVOPACK Main Circuit Wire Size5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-35.1.2 Three-phase 200 VSERVOPACK Mod

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.1.3 Three-phase 400 V5-45.1.3 Three-phase 400 VSERVOPACK ModelSGDH-DE

5.1 SERVOPACK Main Circuit Wire Size5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-54EL1/R, L2/S, L3/T-, +1, +2M10 17.5 t

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.2.1 Encoder Cable with Connectors on Both Ends5-65.2 Encoder Cables for

5.2 Encoder Cables for CN2 Connector5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-75.2.2 Cable with Loose Wire at Encod

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5-85.3 Connectors and Cables for Encoder Signals(1) Cable Type(2) SERVOPAC

ixWiring• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.Failure to observe this caution may res

5.3 Connectors and Cables for Encoder Signals5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-9(4) Encoder Cable Specificat

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.4.1 Standard Cables5-105.4 I/O Signal Cables for CN1 Connector5.4.1 St

5.4 I/O Signal Cables for CN1 Connector5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-11(2) Dimensional Drawing of Connec

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.4.3 Connection Diagram5-125.4.3 Connection DiagramSGSGPL1SENV-REFSGPULS

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-135.5 Peripheral Devices5.5.1 Cables for Connectin

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.2 Digital Operator5-145.5.2 Digital Operator(1) Model JUSP-OP02A-2 wi

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-155.5.3 Cables for Analog Monitor(1) Cable Type: JZ

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.4 Connector Terminal Block Converter Unit5-165.5.4 Connector Terminal

5.5 Peripheral Devices5Specifications and Dimensional Drawings of Cables and Peripheral Devices5-175.5.5 Brake Power Supply Unit(1) Model: LPSE-2H01

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.6 Absolute Encoder Battery5-18(b) Internal Circuit for 100 VACBrake Po