YASKAWA SMG Series Manual de usuario

YASKAWA

MANUAL NO. TSE-S800-16E

AC Servomotors and Driver

SGMG/SGMS/SGMD/SGM/SGMP Servomotors

SGDB Servopack

PREFACE

The rapid progress being made in today’s automation and information

technologies is resulting in a growing need for even more-advanced motion

control for future high-tech equipment. The end result is a need for devices

that can provide more-precise and quicker motion at higher speeds. Servo

control technology makes this possible. Launched by Yaskawa in 1993, the

ΣSeries consists of innovative AC Servos that were developed using

leading-edge servo control technology.

This manual covers all products in the ΣSeries, which feature superior

functions and performance. This manual was designed to provide

comprehensible information for users who are about to use a servo for the

first time as well as for users who already have experience in using servos.

This manual enables users to understand what Σ-Series AC Servos are all

about and how to design, install, operate, and maintain a servo system.

Keep this manual in a convenient location and refer to it whenever

necessary in operating and maintaining the servo system.

YASKAWA ELECTRIC CORPORATION

General Precautions

SSome drawings in this manual are shown with the protective cover or shields removed, in order to

describe the detail with more clarity. Make sure all covers and shields are replaced before operat-

ing this product.

SSome drawings in this manual are shown as typical example and may differ from the shipped

product.

SThis manual may be modified when necessary because of improvement of the product, modifica-

tion or changes in specifications.

Such modification is made as a revision by renewing the manual No.

STo order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA

representative listed on the last page stating the manual No. on the front cover.

SYASKAWA is not responsible for accidents or damages due to any modification of the product

made by the user since that will void our guarantee.

−iv −

NOTES FOR SAFE OPERATION

Read this manual thoroughly before installation, operation, maintenance or inspection of the AC Servo

Drives. In this manual, the NOTES FOR SAFE OPERATION are classified as “WARNING” or

“CAUTION”.

WARNING

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious personal inju-

ry.

CAUTION

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate personal

injury and/or damage to the equipment.

In some instances, items described in CAUTION may also result in a serious accident. In either case,

follow these important items.

−v−

WARNING

(WIRING)

SGrounding must be in accordance with the national code and consistent

with sound local practices.

Failure to observe this warning may lead to electric shock or fire.

(OPERATION)

SNever touch any rotating motor parts during operation.

Failure to observe this warning may result in personal injury.

(INSPECTION AND MAINTENANCE)

SBe sure to turn OFF power before inspection or maintenance.

Otherwise, electric shock may result.

SNever open the terminal cover while power is ON, and never turn ON pow-

er when the terminal cover is open.

Otherwise, electric shock may result.

SAfter turning OFF power, wait at least five minutes before servicing the

product.

Otherwise, residual electric charges may result in electric shock.

CAUTION

(RECEIVING)

SUse the specified combination of servomotor and SERVOPACK.

Failure to observe this caution may lead to fire or failure.

(INSTALLATION)

SNever use the equipment where it may be exposed to splashes of water,

corrosive or flammable gases, or near flammable materials.

Failure to observe this caution may lead to electric shock or fire.

(WIRING)

SDo not connect three−phase power supply to output terminals UV

and

Failure to observe this caution may lead to personal injury or fire.

SSecurely tighten screws on the power supply and motor output terminals.

Failure to observe this caution can result in a fire.

−vi −

CAUTION

(OPERATION)

STo avoid inadvertent accidents, run the servomotor only in test run (with-

out load).

Failure to observe this caution may result in personal injury.

SBefore starting operation with a load connected, set up parameters suit-

able for the machine.

Starting operation without setting up parameters may lead to overrun failure.

SBefore starting operation with a load connected, make sure emergency-

stop procedures are in place.

Failure to observe this caution may result in personal injury.

SDuring operation, do not touch the heat sink.

Failure to observe this caution may result in burns.

(INSPECTION AND MAINTENANCE)

SDo not disassemble the servomotor.

Failure to observe this caution may result in electric shock or personal injury.

SNever change wiring while power is ON.

Failure to observe this caution may result in electric shock or personal injury.

TERMS

−viii −

Basic Terms

Unless otherwise specified, the following definitions are used:

Servomotor: Σ-Series SGMG/SGMD/SGMS/SGM/SGMP servomotor

SERVOPACK: An amplifier (Trademark of Yaskawa servo amplifier “Σ-Series SGDB-jAD

SERVOPACK”)

Servodrive: A servomotor and an amplifier (SGDB SERVOPACK)

Servo system: A complete servo control system consisting of servodrive, host controller,

and peripheral devices

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates references for additional information.

Technical terms placed in bold in the text are briefly explained in a “TERMS” sec-

tion at the bottom of the page. The following kinds of technical terms are explained:

Technical terms that need to be explained to users who are not very familiar with

servo systems or electronic devices and technical terms specific to ΣSeries Ser-

vos that need to be explained in descriptions of functions.

The text indicated by this icon explains the operating procedure using hand-held

type digital operator (Type: JUSP-OP02A-1).

The text indicated by this icon explains the operating procedure using mount type

digital operator (Type: JUSP-OP03A).

NOTE AΣ-Series Servodrive alone cannot ensure the functionality and performance of the entire

machine control system. It must be combined with an appropriate machine and host control-

ler so that the entire control system works properly. Therefore, carefully read the instruction

manuals for the machine to be used before attempting to operate the servodrive.

JUSP-OP02A-1

−ix −

Yaskawa, 1995

by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yas-

kawa. No patent liability is assumed with respect to the use of the information contained herein.Moreover, becauseYaskawa

is constantly striving to improve its high-quality products, the information contained in this manual is subject to change

without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no re-

sponsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information

contained in this publication.

FOR FIRST-TIME USERS OF AC

SERVOS

This chapter is intended for first-time users of AC servos. It describes the ba-

sic configuration of a servo mechanism and basic technical terms relating to

servos.

Users who already have experience in using a servo should also take a look at

this chapter to understand the features of Σ-Series AC Servos.

1.1 Servo Mechanisms 2.......................

1.2 Servo Configuration 5.....................

1.3 Features of Σ-Series Servos 11................

1.3.1 Servomotor Type 11..................................

1.3.2 Control Type of SERVOPACKs 11.......................

1.3.3 How to Use the SGDB SERVOPACKs 12.................

FOR FIRST-TIME USERS OF AC SERVOS

1.1 Servo Mechanisms

You may be familiar with the following terms:

•Servo

•Servo mechanism

•Servo control system

In fact, these terms are synonymous. They have the following meaning:

A control mechanism that monitors physical quantities such as specified positions.

In short, a servo mechanism is like a servant who does tasks faithfully and quickly according

to his master’s instructions. In fact, “servo” originally derives from the word “servant.”

TERMS Servo mechanism

According to Japanese Industrial Standard (JIS) terminology, a “servo mechanism” is de-

fined as a mechanism that uses the position, direction, or orientation of an object as a pro-

cess variable to control a system to follow any changes in a target value (set point).

More simply, a servo mechanism is a control mechanism that monitors physical quantities

such as specified positions. Feedback control is normally performed by a servo mecha-

nism. (Source: JIS B0181)

1.1Servo Mechanisms

Servo system could be defined in more detail as a mechanism that:

•Moves at a specified speed and

•Locates an object in a specified position

To develop such a servo system, an automatic control system involving feedback control

must be designed. This automatic control system can be illustrated in the following block dia-

gram:

Configuration of Servo System

Specified position

input

Servo

amplifier

Servo

motor

Controlled

machine

(load)

Machine position

output

Feedback part

Detector

This servo system is an automatic control system that detects the machine position (output

data), feeds back the data to the input side, compares it with the specified position (input

data), and moves the machine by the difference between the compared data.

In other words, the servo system is a system to control the output data to match the

specified input data.

If, for example, the specified position changes, the servo system will reflect the changes.

In the above example, input data is defined as a position, but input data can be any physical

quantities such as orientation (angle), water pressure, or voltage.

Position, speed, force (torque), electric current, and so on are typical controlled values for a

servo system.

The main technical terms used in this manual are as follows:

1) Servo mechanism

2) Servo

Normally, servo is synonymous with servo mechanism. However, because “mechanism” is

omitted, the meaning becomes somewhat ambiguous. Servo may refer to the entire servo

mechanism but may also refer to an integral part of a servo mechanism such as a servomotor

or a servo amplifier. This manual also follows this convention in the use of the term “servo”.

TERMS Feedback control

A control that returns process variables to the input side and forms a closed loop. It is also

called closed-loop control.

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