YASKAWA E-III Series Instrucciones de instalación

MANUAL NO. TOBP S800000 00J

形式：SGDS-A

SGDS-F

SGDS-B

Σ-IIIシリーズ

ACサーボパック

安全上のご注意

製品を安全にお使い頂くために，本書を必ずお読みください。

また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる

ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。

Model: SGDS-A

SGDS-F

SGDS-B

Σ-III Series

AC SERVOPACK

SAFETY PRECAUTIONS

To properly use the product, read this manual thoroughly and retain

for easy reference, inspection, and maintenance. Ensure the end user

receives this manual.

本書の内容の一部または全部を，当社の文書による許可なしに，転載または複製する

ことは，固くお断りします。

or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,

or otherwise, without the prior written 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.

1 Introduction

E-1

1 Introduction

This safety precautions manual covers Σ-III series SERVOPACK controlling Σ-III series AC

servomotor. To properly use the Σ-III series SERVOPACK, read this safety precautions manual

and user’s manual (see the following table) thoroughly, and retain for easy reference for inspec-

tions and maintenance, and so on. Make sure that these manuals reach the end user.

2 Reference Manuals

This table lists related reference manuals:

3 General Precautions

The following describes general precautions. Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protec-

tive guards. Always replace the cover or protective guard as specified first, and then

operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the

product you received.

• This manual is subject to change due to product improvement, specification modifica-

tion, and manual improvement. When this manual is revised, the manual code is

updated and the new manual is published as a next edition. The edition number appears

on the front and back covers.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa rep-

resentative or one of the offices listed on the back of this manual.

• Yaskawa will not take responsibility for the results of unauthorized modifications of this

product. Yaskawa shall not be liable for any damages or troubles resulting from unau-

thorized modification.

Manual Titles Manual No.

Σ-III Series SGMS/SGDS User’s Manual SIEPS80000000

Σ-III Series SGMS/SGDS Digital Operator INSTRUCTIONS TOBPS80000001

Σ-III Series SGMS/SGDS User’s Manual

For DeviceNet communications SIEPS80000002

Σ-III Series SGMS/SGDS User’s Manual

For MECHATROLINK-II communications SIEPS80000011

Linear ΣSeries SGL/SGDS User’s Manual SIEPS80000016

E-2

4 Safety Information

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

cautions provided in this manual can result in serious or possibly even fatal injury or damage to

the products or to related equipment and systems.

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

injury.

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

damage to the product, or faulty operation.

In some situations, the precautions indicated could have series consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol would

be used to indicate that fire is prohibited as follows: .

Indicates compulsory actions that must be performed. For example, this symbol

would be used as follows to indicate that grounding is compulsory: .

WARNING

CAUTION

PROHIBITED

MANDATORY

5 Notes for Safe Operation

E-3

5 Notes for Safe Operation

Read this manual thoroughly before checking products on delivery, storage and transportation,

installation, wiring, operation and inspection, and disposal of the AC servo drives.

• Never touch any rotating motor parts while the motor is running.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can be

applied at any time.

Failure to observe this warning may result in injury.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not remove the panel cover while the power is ON.

Failure to observe this warning may result in electric shock.

• Do not touch terminals for five minutes after the power is turned OFF.

Residual voltage may cause electric shock.

• Do not touch terminals for five minutes after voltage resistance test.

Residual voltage may cause electric shock.

• Follow the procedures and instructions for trial operation precisely as noted in the Σ-ΙΙΙ series User’s

Manual (Manual No.: SIEPS80000000A).

• Follow the procedures and instructions for the trial operation as noted in the applicable manual for

that product.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment,

but may also cause an accident resulting in death or injury.

• The output range of multi-turn data for Σ-ΙΙΙ series absolute detection system differs from that for con-

ventional systems (15-bit encoder and 12-bit encoder). Especially when “Infinite length positioning

system” of conventional type is to be configured with Σ-ΙΙΙ series, be sure to make the system modi-

fication.

• The multi-turn limit value must be changed only for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER-

VOPACK to be sure that it is correct.

If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The

alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a dan-

gerous situation where the machine will move to unexpected positions.

WARNING

E-4

Checking on Delivery

• Do not remove the front cover, cables, connectors, or optional items while the power is ON.

Failure to observe this warning may result in electric shock.

• Do not damage, press, exert excessive force or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.

• Do not modify the product.

Failure to observe this warning may result in injury or damage to the product.

• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a

servomotor with brake is not a stopping device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting momentary power loss to avoid an

unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

• Connect the ground terminal to electrical codes (ground resistance: 100 Ωor less).

Improper grounding may result in electric shock or fire.

• Installation, disassembly, or repair must be performed only by authorized personnel.

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

• Always use the servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution so may result in fire or malfunction.

WARNING

CAUTION

5 Notes for Safe Operation

E-5

Storage and Transportation

Installation

• Do not store or install the product in the following places.

• Locations subject to direct sunlight.

• Locations subject to temperatures outside the range specified in the storage/installation temperature conditions.

• Locations subject to humidity outside the range specified in the storage/installation humidity conditions.

• Locations subject to condensation as the result of extreme changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Do not hold the product by the cables or motor shaft while transporting it.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or

plywood, the packing materials must be treated before the product is packaged, and methods other than

fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30

minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with

fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from

the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or

iodine can contribute to the erosion of the capacitors.

• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or com-

bustibles.

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

• Do not step on or place a heavy object on the product.

Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

CAUTION

E-6

Wiring

• 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.

• Securely connect the power supply terminal screws and motor output terminal screws.

Failure to observe this caution may result in fire.

• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa-

rated by at least 30 cm (11.81 in).

• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG) feed-

back lines.

The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.

• Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still

remain in the SERVOPACK.

Make sure the charge indicator is out first before starting an inspection.

• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.

Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when

power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to

deteriorate, resulting in unexpected problems.

• Observe the following precautions when wiring main circuit terminal blocks.

• Remove the terminal block from the SERVOPACK prior to wiring.

• Insert only one wire per terminal on the terminal block.

• Make sure that the core wire is not electrically shorted to adjacent core wires.

• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.

The SERVOPACK will be destroyed.

• Install the battery at either the host controller or the battery unit of the encoder.

It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Always use the specified power supply voltage.

An incorrect voltage may result in burning.

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage

fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

CAUTION

5 Notes for Safe Operation

E-7

Operation

• Take appropriate and sufficient countermeasures for each when installing systems in the following loca-

tions.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

Failure to observe this caution may result in damage to the product.

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may damage the battery or cause it to explode.

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid

any unexpected accidents.

Failure to observe this caution may result in injury.

• Before starting operation with a machine connected, change the settings to match the parameters of the

machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during JOG

mode operation using parameter Fn002 and zero point search mode using parameter Fn003.

• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due

to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at occur-

rence of overtravel.

Failure to observe this caution may cause workpieces to fall off due to overtravel.

• When not using the normal autotuning, set to the correct moment of inertia ratio.

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon

after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume opera-

tion.

Failure to observe this caution may result in injury.

• Do not use the servo brake of the servomotor for ordinary braking.

Failure to observe this caution may result in malfunction.

CAUTION

E-8

Maintenance and Inspection

Disposal

• Do not disassemble the SERVOPACK.

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

• Do not attempt to change wiring while the power is ON.

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

• When replacing the SERVOPACK, resume operation only after transferring the previous SERVOPACK

parameters to the new SERVOPACK.

Failure to observe this caution may result in damage to the product.

• When disposing of the products, treat them as ordinary industrial waste.

CAUTION

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