YASKAWA SGM series Manual de usuario

YASKAWA

YA S K A WA

MANUAL NO. SIE-S800-26.4B

Safety Information

iii

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precau-

tions provided in this manual can result in serious or possibly even fatal injury or damage to the prod-

ucts or to related equipment and systems.

WARNING Indicates precautions that, if not heeded, could possibly result in loss of life or

serious injury.

CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minor

injury, damage to the product, or faulty operation.

Yaskawa, 1998

any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior writ-

ten permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained

herein. Moreover, because Yaskawa 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 responsibility for errors or omissions. Neither is any liability

assumed for damages resulting from the use of the information contained in this publication.

OVERVIEW

Overview v..................................................

Safety Precautions xiv.........................................

Safety Precautions xiii.........................................

1Configuration and Models

1.1 Configuration 1 -2..........................................

1.2 Model Numbers 1 -2........................................

2Ratings and Characteristics

2.1 Ratings and Specifications of SGMG Servomotors

for Rated Speed 1500 r/min 2 -2...........................

2.2 Ratings and Specifications of SGMG Servomotors

for Rated Speed 1000 r/min 2 -6...........................

2.3 SGMS Servomotor Ratings and Specifications 2 -10..............

2.4 SGMD Servomotor Ratings and Specifications

(with Holding Brake) 2 -13..................................

2.5 SGMP Servomotor (1.5 kW) Ratings and Specifications 2 -15......

2.6 SERVOPACK Ratings and Specifications 2 -17..................

2.7 Combined Specifications 2 -19................................

3Servodrive Characteristics

3.1 Overload Characteristics 3 -2................................

3.2 Starting and Stopping Time 3 -3..............................

3.3 Allowable Repeatability 3 -4..................................

3.4 Large-amplitude Frequency Characteristics 3 -6................

3.5 Mechanical Characteristics 3 -7..............................

4Configuration and Connections

4.1 Internal Connection Diagram 4 -3.............................

4.2 Name and Description of Main Circuit Terminals 4 -7............

4.3 Applicable Receptacles 4 -7..................................

4.4 Connecting an Incremental Encoder 4 -9.......................

4.5 Connecting an Absolute Encoder 4 -14.........................

4.6 Output Circuits 4 -18.........................................

4.7 Connector Terminal Block Converter Unit for 1CN 4 -19...........

4.8 2CN Encoder Connector Terminals 4 -22........................

4.9 4CN Connectors for MECHATROLINK Communications 4 -26.....

5Application

5.1 Turning Power ON/OFF 5 -3.................................

5.2 Position Control 5 -4........................................

5.3 Setting Up a 12-bit Absolute Encoder 5 -6......................

5.4 Protection Functions 5 -8....................................

5.5 Indications 5 -9.............................................

5.6 Precautions 5 -10............................................

5.7 Application Precautions 5 -13..................................

5.8 Appropriate Applications 5 -18.................................

5.9 Adjustments 5 -19...........................................

6MECHATROLINK Communication

6.1 Specifications and Configuration 6 -2..........................

6.2 1SW Rotary Switch for MECHATROLINK Station

Address Settings 6 -3.....................................

6.3 MECHATROLINK Command List 6 -4.........................

6.4 Special Descriptions 6 -7....................................

6.5 Power ON Sequence (Communications Sequence) 6 -15.........

6.6 List of Alarm and Warning Codes 6 -18.........................

7User Constants

7.1 Setting User Constants 7 -2..................................

7.2 List of User Constants 7 -13...................................

7.3 Memory Switch Bit Details 7 -16...............................

7.4 Limits to User Constant Changes 7 -22.........................

7.5 Procedure for Transferring User Constants 7 -23.................

8Installation and Wiring

8.1 Checking on Delivery 8 -2...................................

8.2 Installation 8 -3.............................................

8.3 Wiring Specifications 8 -7....................................

9Servodrives Dimensional Drawings

9.1 AC Servomotors 9 -3........................................

9.2 SERVOPACKS 9 -53.........................................

9.3 Cables 9 -64................................................

9.4 Connectors 9 -75............................................

9.5 Noise Filters 9 -94...........................................

9.6 Peripheral Devices 9 -96......................................

10 Trial Operation

10.1 Check Items before Trial Operation 10 -2......................

10.2 Trial Operation Procedure 10 -3..............................

11 Settings

11.1 Characteristics when Shipped 11 -2...........................

11.2 Resetting 11 -2.............................................

11.3 Adjusting Servo Performance 11 -2............................

12 Maintenance and Inspection

12.1 Maintenance and Inspection of Servodrives 12 -2...............

12.2 Troubleshooting 12 -5.......................................

TABLE OF CONTENTS

vii

TABLE OF CONTENTS

Overview v.......................................................

Safety Precautions xiv..............................................

1Configuration and Models

1.1 Configuration 1 -2..............................................

1.2 Model Numbers 1 -2............................................

1.2.1 Servomotor Model Numbers 1 -2...........................................

1.2.2 SERVOPACK Model Numbers 1 -4.........................................

2Ratings and Characteristics

2.1 Ratings and Specifications of SGMG Servomotors

for Rated Speed 1500 r/min 2 -2................................

2.1.1 Ratings and Specifications 2 -2.............................................

2.2 Ratings and Specifications of SGMG Servomotors

for Rated Speed 1000 r/min 2 -6................................

2.2.1 Ratings and Specifications 2 -6.............................................

2.3 SGMS Servomotor Ratings and Specifications 2 -10................

2.3.1 Ratings and Specifications 2 -10.............................................

2.4 SGMD Servomotor Ratings and Specifications

(with Holding Brake) 2 -13.......................................

2.4.1 Ratings and Specifications 2 -13.............................................

2.5 SGMP Servomotor (1.5 kW) Ratings and Specifications 2 -15.......

2.5.1 Ratings and Specifications 2 -15.............................................

2.6 SERVOPACK Ratings and Specifications 2 -17.....................

2.6.1 Ratings and Specifications 2 -17.............................................

2.7 Combined Specifications 2 -19...................................

2.7.1 Standard Combinations 2 -19...............................................

2.7.2 Peripheral Device Combinations 2 -22........................................

3Servodrive Characteristics

3.1 Overload Characteristics 3 -2....................................

3.2 Starting and Stopping Time 3 -3.................................

3.3 Allowable Repeatability 3 -4.....................................

3.3.1 Allowable Repeatability as Limited by the Servomotor 3 -4.....................

viii

3.4 Large-amplitude Frequency Characteristics 3 -6..................

3.5 Mechanical Characteristics 3 -7.................................

3.5.1 Mechanical Strength 3 -7..................................................

3.5.2 Allowable Radial and Thrust Load 3 -7.......................................

3.5.3 Mechanical Tolerances 3 -8................................................

3.5.4 Direction of Motor Rotation 3 -8............................................

3.5.5 Impact Resistance 3 -8....................................................

3.5.6 Vibration Resistance 3 -9..................................................

3.5.7 Vibration Class 3 -9.......................................................

4Configuration and Connections

4.1 Internal Connection Diagram 4 -3................................

4.1.1 0.5 kW to 1.5 kW Servodrives 4 -3..........................................

4.1.2 2.0 kW to 3.0 kW Servodrives 4 -4..........................................

4.1.3 5.0 kW Servodrive 4 -5....................................................

4.1.4 6.0 kW to 15.0 kW Servodrives 4 -6.........................................

4.2 Name and Description of Main Circuit Terminals 4 -7..............

4.3 Applicable Receptacles 4 -7.....................................

4.3.1 1CN Connector for I/O Signals 4 -7.........................................

4.3.2 2CN Connector for Encoder 4 -7............................................

4.3.3 4CN Connector for MECHATROLINK Communication 4 -8.....................

4.4 Connecting an Incremental Encoder 4 -9.........................

4.4.1 Typical Example 4 -9......................................................

4.4.2 1CN I/O Connector Terminals 4 -10..........................................

4.5 Connecting an Absolute Encoder 4 -14............................

4.5.1 Typical Example 4 -14......................................................

4.5.2 1CN I/O Connector Terminals 4 -15..........................................

4.6 Output Circuits 4 -18.............................................

4.7 Connector Terminal Block Converter Unit for 1CN 4 -19............

4.7.1 Application 4 -19...........................................................

4.7.2 Connection Specifications 4 -20.............................................

4.7.3 Cable Specifications Accessory (for Connector Terminal Block Converter Unit) 4 -21

4.8 2CN Encoder Connector Terminals 4 -22..........................

4.8.1 2CN Terminal Layout 4 -22..................................................

4.8.2 Applicable Cables 4 -23....................................................

4.8.3 2CN Connection Method 4 -24..............................................

4.9 4CN Connectors for MECHATROLINK Communications 4 -26.......

4.9.1 4CN Terminal Layout 4 -26..................................................

4.9.2 4CN Connection Method 4 -26..............................................

TABLE OF CONTENTS

5Application

5.1 Turning Power ON/OFF 5 -3.....................................

5.2 Position Control 5 -4............................................

5.2.1 Electronic Gear Function 5 -4..............................................

5.2.2 Feed-forward Control Function 5 -5.........................................

5.3 Setting Up a 12-bit Absolute Encoder 5 -6........................

5.3.1 Battery 5-6..............................................................

5.3.2 Absolute Encoder Setup Procedure 5 -6.....................................

5.4 Protection Functions 5 -8.......................................

5.4.1 Dynamic Brake Function 5 -8..............................................

5.4.2 Error Detection Function 5 -8...............................................

5.4.3 Servo Alarm Output (ALM, ALM-SG) 5 -9....................................

5.4.4 Handling Protection Circuit Operation 5 -9...................................

5.4.5 Servo Alarm Reset 5 -9...................................................

5.5 Indications 5 -9.................................................

5.6 Precautions 5 -10................................................

5.6.1 Overhanging Load 5 -10....................................................

5.6.2 Load Inertia JL5 -10.......................................................

5.6.3 Regenerative Resistor Unit 5 -10............................................

5.6.4 High Voltage Lines 5 -12....................................................

5.7 Application Precautions 5 -13....................................

5.7.1 Noise Control 5 -13........................................................

5.7.2 Power Supply Line Protection 5 -16..........................................

5.8 Appropriate Applications 5 -18...................................

5.8.1 Holding Brake Interlock Signal 5 -18..........................................

5.9 Adjustments 5 -19...............................................

5.9.1 Servo System Adjustments 5 -19............................................

5.9.2 User Constants 5 -20......................................................

5.9.3 Functions that Improve Response 5 -23......................................

5.9.4 Guidelines for Setting the Load Inertia Ratio 5 -24..............................

6MECHATROLINK Communication

6.1 Specifications and Configuration 6 -2............................

6.1.1 Specifications 6 -2........................................................

6.1.2 Control Structure 6 -2.....................................................

6.2 1SW Rotary Switch for MECHATROLINK Station

Address Settings 6 -3..........................................

6.3 MECHATROLINK Command List 6 -4.............................

6.4 Special Descriptions 6-7........................................

6.4.1 Option Field Specifications 6-7.............................................

6.4.2 I/O Monitor Specifications 6 -8.............................................

6.4.3 Monitor 1/2 Type Field Specifications 6 -9....................................

6.4.4 CONFIG Specifications 6-10................................................

6.4.5 ALM_RD Specifications 6 -10...............................................

6.4.6 ALM_CLR Specifications 6 -11..............................................

6.4.7 CONNECT Specifications 6 -11.............................................

6.4.8 INTERPOLATE Specifications 6 -12..........................................

6.4.9 LATCH (Interpolation Feed with Position Detection) Specifications 6 -12..........

6.4.10 POSING Command Specifications 6 -13.....................................

6.4.11 INTERPOLATE Command Specifications 6 -13...............................

6.4.12 ID_RD (ID Read) Specifications 6 -13.......................................

6.4.13 Unsupported Commands 6 -14.............................................

6.5 Power ON Sequence (Communications Sequence) 6 -15............

6.6 List of Alarm and Warning Codes 6 -18............................

7User Constants

7.1 Setting User Constants 7 -2.....................................

7.1.1 Basic User Constants 7 -2.................................................

7.1.2 Gain-related Constants 7 -2................................................

7.1.3 Torque-related Constants 7 -3..............................................

7.1.4 Sequence-related Constants 7 -4...........................................

7.1.5 Motion-related Constants 7 -5..............................................

7.1.6 Other Constants 7 -8......................................................

7.1.7 Memory Switches 7 -9....................................................

7.2 List of User Constants 7 -13......................................

7.3 Memory Switch Bit Details 7 -16..................................

7.3.1 Cn-0001: Memory Switches 1 7 -16..........................................

7.3.2 Cn-0002: Memory Switches 2 7 -18..........................................

7.3.3 Cn-0013: Memory Switches 3 7 -19..........................................

7.3.4 Cn-0014: Memory Switches 4 7 -20..........................................

7.4 Limits to User Constant Changes 7 -22............................

7.5 Procedure for Transferring User Constants 7 -23...................

8Installation and Wiring

8.1 Checking on Delivery 8 -2.......................................

8.2 Installation 8 -3.................................................

8.2.1 Installing the Servomotor 8 -3..............................................

8.2.2 Installing the SERVOPACK 8 -4............................................

TABLE OF CONTENTS

8.3 Wiring Specifications 8 -7.......................................

8.3.1 Rated Current and Cable Specifications 8 -7.................................

8.3.2 Wiring Instructions 8 -9....................................................

8.3.3 Power Loss 8 -11..........................................................

9Servodrives Dimensional Drawings

9.1 AC Servomotors 9 -3............................................

9.1.1 SGMG-jjAjA Servomotors 9 -3.........................................

9.1.2 SGMG-jjAjB Servomotors 9 -16.........................................

9.1.3 SGMS-jjA Servomotors 9 -26.............................................

9.1.4 SGMD-jjA Servomotors 9 -34.............................................

9.1.5 SGMP-15A Servomotor 9 -38...............................................

9.1.6 List of Encoder and Servomotor End Connectors 9 -46.........................

9.2 SERVOPACKS 9 -53.............................................

9.2.1 SGDB-05ANjto 15ANjSERVOPACKS (0.5 to 1.5 kW) 9 -53..................

9.2.2 SGDB-20ANjto 30ANjSERVOPACKS (2.0 to 3.0 kW) 9 -54..................

9.2.3 SGDB-50ANjSERVOPACKS (5.0 kW) 9 -55.................................

9.2.4 SGDB-60ANjto 75ANjSERVOPACKS (6.0 to 7.5 kW) 9 -56..................

9.2.5 SGDB-1AAN, 1EAN SERVOPACKS (11, 15 kW) 9 -57.........................

9.2.6 SGDB-05ANj-P to 15ANj-P SERVOPACKS 9 -58...........................

9.2.7 SGDB-20ANj-P to 30ANj-P SERVOPACKS 9 -59...........................

9.2.8 SGDB-50ANj-P SERVOPACK 9 -60........................................

9.2.9 SGDB-60ANjto 75ANj-P SERVOPACKS 9 -61.............................

9.2.10 SGDB-1AAN-P, 1EAN-P SERVOPACKS 9 -62...............................

9.3 Cables 9 -64.....................................................

9.3.1 Encoder Cables 9 -64......................................................

9.3.2 Servomotor Cables 9 -73...................................................

9.3.3 I/O Signal Cables (1CN) 9 -74...............................................

9.3.4 MECHATROLINK Communication Cables (4CN) 9 -74.........................

9.4 Connectors 9 -75................................................

9.4.1 SGMG, SGMS and SGMD Servomotors Connections 9 -75.....................

9.4.2 SGM and SGMP Servomotors Connections 9 -87..............................

9.4.3 SGMP-15A Servomotor Connectors 9 -89....................................

9.4.4 SERVOPACK Encoder Connectors 9 -90.....................................

9.4.5 1CN, 2CN Connector for SERVOPACK 9 -92..................................

9.4.6 4CN Connector for SERVOPACK 9 -93.......................................

9.5 Noise Filters 9 -94...............................................

9.5.1 Dimensional Diagram 9 -94.................................................

9.6 Peripheral Devices 9 -96.........................................

9.6.1 Connector Terminal Block Converter Unit 9 -96................................

9.6.2 Brake Power Supply 9 -96..................................................

9.6.3 Molded-case Circuit Breaker 9 -98...........................................

9.6.4 Magnetic Contactor 9 -98...................................................

9.6.5 Surge Suppressor 9 -100....................................................

9.6.6 Regenerative Resistor Unit 9 -100............................................

9.6.7 Analog Monitor Cable 9 -101.................................................

xii

10 Trial Operation

10.1 Check Items before Trial Operation 10 -2.........................

10.1.1 Servomotors 10 -2........................................................

10.1.2 SERVOPACKS 10 -2......................................................

10.2 Trial Operation Procedure 10 -3..................................

10.2.1 Preparations for Trial Operation 10 -3.......................................

10.2.2 Operating the Servodrive 10 -4.............................................

10.2.3 Trial Operation Inspection 10 -4............................................

11 Settings

11.1 Characteristics when Shipped 11 -2..............................

11.2 Resetting 11 -2.................................................

11.3 Adjusting Servo Performance 11 -2..............................

11.3.1 Setting User Constants 11 -2...............................................

11.3.2 Setting Optimum Position and Speed Loop Gain 11 -3.........................

12 Maintenance and Inspection

12.1 Maintenance and Inspection of Servodrives 12 -2.................

12.1.1 Servomotor Inspection 12 -2...............................................

12.1.2 SERVOPACK Inspection 12 -3.............................................

12.1.3 Replacing the Battery for Absolute Encoders 12 -4............................

12.2 Troubleshooting 12 -5..........................................

12.2.1 Servomotors 12 -5........................................................

12.2.2 SERVOPACKS 12 -6......................................................

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