YASKAWA E-V Series Manual de usuario

Overview of Setup

Installation

Wiring and Connection

Trial Operation

(Checking Servomotor Operation)

SGDV SERVOPACK

SGM7M, SGMMV Servomotor

Rotational Motor

DC Power Input -VSeries

AC Servo Drives

USER'S MANUAL

Setup

MANUAL NO. SIEP S800000 80B

system, or transmitted, in any form, or by any means, mechanical, electronic, photo-

copying, 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.

iii

About this Manual

This manual describes procedures required for installation, wiring, and connecting

DC power input Σ-V Series servo drives, including a JOG operation for servomotors

not connected to machinery.

Be sure to refer to this manual and perform setup operations correctly.

Keep this manual in a location where it can be accessed for reference whenever

required.

Description of Technical Terms

The following table shows the meanings of terms used in this manual.

Important Explanations

The following icon is displayed for explanations requiring special attention.

Notation Used in this Manual

In this manual, the names of reverse signals (ones that are valid when low) are written

with a forward slash (/) before the signal name, as shown in the following example:

Example

S-ON = /S-ON

Te r m Meaning

Servomotor Σ-7mini Series SGM7M servomotor

Σ-Vmini Series SGMMV servomotor

SERVOPACK DC power input Σ-V Series SGDV SERVOPACK

Servo Drive A set including a servomotor and a SERVOPACK (i.e., a servo

amplifier)

Servo System A servo control system that includes the combination of a servo

drive with a host controller and peripheral devices

Analog voltage

model Analog voltage reference is used for the SERVOPACK interface.

Pulse train model Pulse train reference is used for the SERVOPACK interface.

M-II model MECHATROLINK-II communications reference is used for the

SERVOPACK interface.

M-III model MECHATROLINK-III communications reference is used for the

SERVOPACK interface.

• Indicates important information that should be memorized, as well as

precautions, such as alarm displays, that do not involve potential damage

to equipment.

Manuals Related to the DC Power Input Σ-V Series

Refer to the following manuals as required.

Name

Selecting

Models

and

Peripheral

Devices

Ratings

and

Specifi-

cations

System

Design

Panels

and

Wiring

Trial

Operation

Trial

Operation

and

Servo

Adjustment

Maintenance

and

Inspection

Σ-V Series

Product Catalog

(KAEP S800000 42)



DC Power Input

Σ-V Series

User's Manual

Design and

Maintenance

Rotational Motor/

Analog Voltage

Reference and Pulse

Train Reference

(SIEP S800000 81)

  

DC Power Input

Σ-V Series

User's Manual

Design and

Maintenance

Rotational Motor/

MECHATROLINK-II

Communications

Reference

(SIEP S800000 82)

  

Σ-V Series

User’s Manual

MECHATROLINK-II

Command

(SIEP S800000 54)



Σ-V Series

User’s Manual

Operation of Digital

Operator

(SIEP S800000 55)

 

Σ-V Series

User’s Manual

MECHATROLINK-III

Command

(SIEP S800000 63)



Safety Information

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

heed precautions provided in this manual can result in serious or possibly even fatal

injury or damage to the products or to related equipment and systems.

DC Power Input

Σ-V Series

User's Manual

Design and

Maintenance

Rotational Motor/

MECHATROLINK-III

Communications

Reference

(SIEP S800000 83)

  

AC SERVOMOTOR

Safety Precautions

(TOBP C230200 00)



DC Power Input

Σ-V Series

AC SERVOPACK

SGDV Safety

Precautions

(TOBP C710829 06)

 

ΣSeries

Digital Operator

Safety Precautions

(TOBP C730800 00)



(cont’d)

Name

Selecting

Models

and

Peripheral

Devices

Ratings

and

Specifi-

cations

System

Design

Panels

and

Wiring

Trial

Operation

Trial

Operation

and

Servo

Adjustment

Maintenance

and

Inspection

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 serious 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

Safety Precautions

This section describes important precautions that must be followed during storage,

transportation, installation, wiring, operation, maintenance, inspection, and disposal.

Be sure to always observe these precautions thoroughly.

WARNING

• Never touch any rotating servomotor parts during operation.

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 or damage to the equipment.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Immediately after the power is turned OFF or after a voltage resistance

test, do not touch terminals.

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in the manuals for the

products being used in the trial operation.

Failure to do so may result not only in faulty operation and damage to equipment,

but also in personal injury.

• The multiturn limit value need not be changed except for special applica-

tions.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multiturn Limit Disagreement alarm occurs, check the setting of

parameter Pn205 in the SERVOPACK 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 dangerous situation where

the machine will move to unexpected positions.

• Do not remove the cables or connectors from the SERVOPACK while the

power is ON.

Failure to observe this warning may result in electric shock.

• Do not damage, pull, exert excessive force on, or place heavy objects on

the cables.

Failure to observe this warning may result in electric shock, stopping operation of

the product, or fire.

• Do not modify the product.

Failure to observe this warning may result in injury, damage to the equipment, or

fire.

• Provide appropriate braking devices on the machine side to ensure safety.

The holding brake on a servomotor with a brake is not a braking device for

ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting an instanta-

neous power interruption to avoid an unexpected restart. Take appropriate

measures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

vii

Storage and Transportation

• Connect the ground terminal according to local electrical codes (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.

WARNING

CAUTION

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

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

equipment.

• 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/instal-

lation humidity conditions

• Locations subject to condensation as the result of extreme changes in tempera-

ture

• 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

• Do not hold the product by the cables, motor shaft, or encoder while trans-

porting 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 capaci-

tors.

viii

Installation

Wiring

CAUTION

• Never use the product in an environment subject to water, corrosive gases,

flammable gases, or combustibles.

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 or malfunction.

• 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 con-

trol 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

• Be sure to wire correctly and securely.

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

• Do not connect a commercial power supply to the U, V, or W terminals for

the servomotor connection.

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

• Securely connect the main circuit terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run the servomotor main circuit cables together with the

I/O signal cables or the encoder cables in the same duct. Keep the servo-

motor main circuit cables separated from the I/O signal cables and encoder

cables by at least 30 cm.

Placing these cables too close to each other may result in malfunction.

• Use shielded twisted-pair cables or screened unshielded twisted-pair

cables for I/O signal cables and the encoder cables.

• The maximum wiring length is 3 m for I/O signal cables, 50 m for servomo-

tor main circuit cables and encoder cables, and 10 m for power supply

cables.

• Install the battery in the battery unit of the encoder cable with a battery unit.

• Voltage remains in the SERVOPACK even after the power supply is turned

OFF. To prevent electric shock, do not touch the input terminals for the

main circuit power supply or those for the control power supply.

Before wiring or inspections, confirm that the SERVOPACK has completely dis-

charged.

• Be sure to observe the following precautions when wiring the SERVO-

PACK main circuit terminal blocks.

• Do not turn the SERVOPACK power ON until all wiring, including the main

circuit terminal blocks, has been completed.

• Remove detachable power supply input connectors or motor connectors from

the SERVOPACK before wiring.

• Make sure that the wiring for both the main circuit power supply and control

power supply is correct.

Incorrect wiring may cause damage.

• Make sure that the polarity of the input power supply is correct.

Incorrect polarity may cause damage.

• Always use the specified power supply voltage.

An incorrect voltage may result in fire or malfunction.

• Take appropriate measures to ensure that the input power supply is sup-

plied within the specified voltage fluctuation range.

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

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

external wiring.

Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each form of potential

interference when installing systems in the following locations.

• 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 equipment.

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

Failure to observe this caution may damage the battery, the SERVOPACK or ser-

vomotor, or cause an explosion.

• Wiring or inspection must be performed by a technical expert.

• Use a 24-VDC or 48-VDC power supply with double insulation or rein-

forced insulation.

• Failures caused by incorrect wiring or wrong voltage application in the

brake circuit may damage the equipment or cause an accident resulting in

death or injury. Follow the procedures and instructions for wiring and trial

operation precisely as described in this manual.

• When using a detector or a breaker for leakage current, select the appro-

priate one by considering the grounding conditions and the leakage current

of noise filter. For details, contact the manufacturer of the noise filter.

• Incorrect wiring or incorrect voltage application to the output circuit may

cause short-circuit.

The above failures will prevent the holding brake from working, which may dam-

age the machine or cause an accident resulting in death or injury.

• Inverting the polarity of the brake signal (/BK), i.e. positive logic, will pre-

vent the holding brake from working in case of its signal line disconnection.

If this setting is absolutely necessary, check the operation and confirm that

there are no safety problems.

• Provide separate AC/DC power supplies for the main circuits and for con-

trols.

Failure to observe this caution may result in malfunction.

CAUTION

Operation

• Do not connect devices (such as motors or solenoids) that greatly change

the load or devices (such as electromagnetic switches) that generate surge

voltages to the controller power line.

Failure to observe this caution may result in deterioration of the internal elements

or a blown fuse.

CAUTION

• Always use the servomotor and SERVOPACK in one of the specified com-

binations.

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

• Conduct trial operation on the servomotor alone with the motor shaft dis-

connected from the machine to avoid accidents.

Failure to observe this caution may result in injury.

• During trial operation, confirm that the holding brake works correctly. Fur-

thermore, secure system safety against problems such as signal line dis-

connection.

• Before starting operation with a machine connected, change the parameter

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.

• Do not turn the power ON and OFF more than necessary.

Do not use the SERVOPACK for applications that require the power to turn ON

and OFF frequently. Such applications will cause elements in the SERVOPACK to

deteriorate.

As a guideline, at least one hour should be allowed between the power being

turned ON and OFF once actual operation has been started.

• When carrying out JOG operation (Fn002), origin search (Fn003), or

EasyFFT (Fn206), forcing movable machine parts to stop does not work for

forward overtravel or reverse overtravel. Take necessary precautions.

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

• When using the servomotor for a vertical axis, install safety devices to pre-

vent workpieces from falling due to alarms or overtravels. Set the servomo-

tor so that it will stop in the zero clamp state when overtravel occurs.

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

• When not using the tuning-less function, set the correct moment of inertia

ratio (Pn103).

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

• Do not touch the SERVOPACK heat sinks 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 or damage to the equipment due

to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming

safety, and then resume operation.

Failure to observe this caution may result in damage to the equipment, fire, or

injury.

CAUTION

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