YASKAWA Sigma-V Series Manual de usuario

SGDV SERVOPACK

Σ-VSeries

AC Servo Drives

USER'S MANUAL

Operation of Digital Operator

MANUAL NO. SIEP S800000 55A

モーションコントロール事業部（A5）（英文）新CI

Introduction

Parameter/Monitor Modes

Utility Function Mode

Parameter Copy Mode

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 provides the users of the Σ-V series of SGMS/SGDV servodrives with

an explanation of the digital operator (Model: JUSP-OP05A-1-E) and its features,

including the following items:

• Functions and connection method

• Parameters and monitor mode

• Utility function mode

• Parameter copy mode

Intended Audience

This manual is intended for the following users.

• Those performing trial operation or adjustments of Σ-V Series servodrives.

• Those maintaining or inspecting Σ-V Series servodrives.

Description of Technical Terms

The terms in this manual are defined as follows:

• Servomotor or motor = Σ-V Series SGMAV, SGMJV, SGMGV, SGMCS (direct

drive), SGLGW, SGLFW, SGLTW, or SGLCW servomotor.

• SERVOPACK = Σ-V Series SGDV SERVOPACK.

• Servodrive = A set including a servomotor and servo amplifier.

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

drive with a host computer and peripheral devices.

Indication of Reverse Signals

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:

•S-ON

= /S-ON

•P-CON

= /P-CON

Outline of the Contents

Chapter Description

1. Outline Describes the outline of the function, how to connect, and parts

names of JUSP-OP05A-1-E digital operator.

2. Parameters and

Monitor Modes Describes how to operate the Parameter Mode and Monitor Mode.

3. Utility Function

Modes Describes how to operate the Utility Function Mode.

4. Parameter Copy

Modes Describes how to operate the Parameter Copy Mode.

Related Manuals

Refer to the following manuals as required.

Manuals

SERVOPACKs,

Servomotors,

and Peripheral

Devices

Ratings

and

Charac-

teristics

System

Design

Panel

Configura-

tion and

Wiring

Trial

operation

Trial

Operation

and Servo

Adjustment

Inspec-

tion and

Mainte-

nance

Σ-V series

SGMV/SGDV

Catalogue

(Manual No.

KAEPS80000042)



Σ-V series

SGMV/SGDV

User’s Manual

Setup

Rotational Motor

(Manual No.

SIEPS80000043)



Σ-V series

SGMV/SGDV

User’s Manual

Design and

Maintenance

Rotational Motor/

Analog and Pulse

(Manual No.

SIEPS80000045)

   

Σ-V series

SGMV/SGDV

User’s Manual

Design and

Maintenance

Linear Motor/

MECHATROLINK-II

Communications

Reference

(Manual No.

SIEPS80000048)

   

Σ-Vseries

AC SERVOPACK

SGDV

Safety Precautions

(Manual No.

TOBPC71080010)



Σ-V

series

SGMV/SGDV

User’s Manual

MECHATROLINK-II

Command

(Manual No.

SIEPS80000054

)



SERVOMOTOR

Safety Precautions

(Manual No.

TOBPC23020000)



Manuals

SERVOPACKs,

Servomotors,

and Peripheral

Devices

Ratings

and

Charac-

teristics

System

Design

Panel

Configura-

tion and

Wiring

Trial

operation

Trial

Operation

and Servo

Adjustment

Inspec-

tion and

Mainte-

nance

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.

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

vii

Notes for Safe Operation

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

portation, installation, wiring, operation and inspection, and disposal of the AC ser-

vodrives.

WARNING

• 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 or damage to the product.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not remove the cover of power supply terminal 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 the trial operation as noted in this

manual.

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-Vseries absolute detection system

differs from that for conventional systems (15-bit encoder and 12-bit

encoder).

Especially when “Infinite length positioning system” of Σseries is to be con-

figured with Σ-Vseries, be sure to make the system modification.

• 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 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 front cover, cables, connectors, or optional items on the

foreside 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 fire.

• Do not modify the product.

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

viii

• 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 Ω

or less for a SERVOPACK with a 200 V power supply. 10 Ωor less for a

SERVOPACK with a 400 V power supply).

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.

• The person who designs a system using the safety function (Hard Wire

Baseblock function) must have full knowledge of the related safety stan-

dards and full understanding of the instructions in Σ-V series User’s Manual

Design and Maintenance.

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

• Do not come close to the machine immediately after resetting a momentary

power loss. The machine may restart unexpectedly. Take appropriate mea-

sures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

WARNING

Storage and Transportation

Installation

CAUTION

• 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 or installa-

tion temperature conditions.

• Locations subject to humidity outside the range specified in the storage or 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.

CAUTION

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

inflammable 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.

• 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 mal-

function 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.

Wiring

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 servomoter connec-

tion terminals.

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

• Securely connect the power supply terminal screws and servomoter connection

terminal screws.

Failure to observe this caution may result in fire.

• Do not bundle or run the main circuit cables and input/output signal lines or the

encoder cables 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 input/

output signal lines and the encoder cables.

The maximum length is 3 m (118.11 in) for input/output signal lines and 20 m

(787.40 in) for encoder cables.

• 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 wiring or starting an inspection.

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

• If the main circuit terminal is the connector, remove the connector from the SERVO-

PACK prior to wiring.

• Insert only one wire per connector insertion slot on the terminal block.

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

• 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 cir-

cuit between the batteries.

• Always use the specified power supply voltage.

An incorrect voltage may result in fire.

• 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.

• Take appropriate and sufficient countermeasures for each when installing sys-

tems 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 product.

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

Failure to observe this caution may damage the battery, servopack, and servomotor or

cause it to explode.

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

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