YASKAWA Sigma-V Series Manual de usuario

Multi-Winding Drive Unit Model: JUSP-MD3DA

SERVOPACK Model: SGDV-101JF1A

Converter Model: SGDV-COA5EDA

Servomotor Model: SGMVV-7EDB

Rotational Motor

Multi-Winding Drive System

-VSeries

AC Servo Drives

USER’S MANUAL

For Use with Large-Capacity Models Setup

MANUAL NO. SIEP S800001 85C

Overview of Setup

Installation

Wiring and Connection

Safety Function

Trial Operation

(Checking Servomotor Operation)

Introduction to Multi-Winding

Drive Systems

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 setup manual describes the installation, wiring, connections, and independent

servomotor operation confirmation with jogging of Σ-V Multi-Winding Drive Sys-

tems.

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.

Te r m Meaning

Servomotor A Σ-V Series SGMVV servomotor

Multi-winding drive

unit A Σ-V-series JUSP-MDD multi-winding drive unit

SERVOPACK A Σ-V-series SGDV-J servo amplifier

Converter A Σ-V Series SGDV-COA converter

Servo Drive A set that includes a servomotor, SERVOPACK, and converter

Multi-winding drive

system

A set that includes a servomotor, multi-winding drive unit, SER-

VOPACK, and converter

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

drive with a host controller and peripheral devices

Analog pulse model A multi-winding drive unit with an analog voltage and pulse train

reference interface

M-II model A multi-winding drive unit with a MECHATROLINK-II commu-

nications reference interface.

Servo ON Power to motor ON

Servo OFF Power to motor OFF

Base Block (BB) Power supply to motor is turned OFF by shutting off the base cur-

rent to the power transistor in the current amplifier.

Main Circuit Cable

Cables which connect to the main circuit terminals, including

main circuit power supply cables, control power supply cables,

servomotor main circuit cables, and others.

Cursor Input position indicated by Digital Operator

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

Manuals Related to the Σ-V Series

Refer to the following manuals as required.

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

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

to equipment.

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

Large-Capacity

Σ-V Series

Product Catalog

(KAEP S800000 86)



Σ-V Series User’s

Manual for Use with

Large-Capacity

Models Design and

Maintenance

Multi-Winding Drive

System

Analog Voltage and

Pulse Train

References/

Rotational Motor

(SIEP S800001 68)

  

Σ-V Series User’s

Manual for Use with

Large-Capacity

Models Design and

Maintenance

Multi-Winding Drive

System

MECHATROLINK-II

Communications

References/

Rotational Motor

(SIEP S800001 69)

  

Σ-V Series/DC Power

Input Σ-V Series/Σ-V

Series for Large-

Capacity Models

User’s Manual

MECHATROLINK-II

Commands

(SIEP S800000 54)



Σ-V Series

User’s Manual

Operation of Digital

Operator

(SIEP S800000 55)

 

AC Servomotor

Safety Precautions

(TOBP C230200 00)



AC SERVOPACK and

Converter

Σ-V Series

Safety Precautions

for Use with Large-

Capacity Models

(TOMP C710829 07)

 

Multi-Winding Drive

Unit

Σ-V Series Safety

Precautions

for Use with Large-

Capacity Models

(TOMP C710829 15)



ΣSeries

Safety Precautions

Digital Operator

(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

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

Safety Precautions

These safety precautions are very important. Read them before performing any pro-

cedures such as checking products on delivery, storage and transportation, installa-

tion, wiring, operation and inspection, or disposal. Be sure to always observe these

precautions thoroughly.

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 a multi-winding drive unit, SERVOPACK, or con-

verter.

Failure to observe this warning may result in electric shock.

• Do not remove the front cover of the power supply terminals while the

power is ON.

Failure to observe this warning may result in electric shock.

• Do not touch any terminals while the CHARGE lamp on the SERVOPACK

or converter is lit either immediately after the power supply is turned OFF

or after a dielectric strength test. For details on the charging time of the

main circuit’s capacitor, refer to 4.2 Discharging Time of the Main Circuit’s

Capacitor.

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in this manual for trial

operation.

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

but also in personal injury.

• The output range of the rotational serial data for the absolute position

detecting system used for Σ-V large-capacity servo drives is different from

that of earlier systems for 12-bit and 15-bit encoders. As a result, the

infinite-length positioning system of the Σservo drives must be changed for

use with Σ-V large-capacity servo drives. Be sure to make the system mod-

ifications.

• The multi-turn 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 multi-winding drive unit 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, or connectors from the multi-winding

drive unit while the power is ON.

Failure to observe this warning may result in electric shock or damage to the prod-

uct.

viii

• Do not damage, press, 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, fire, or damage to the product.

• Provide an appropriate braking device 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 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.

• Do not wire the regenerative resistor unit incorrectly. Never short-circuit the

B1 and B2 terminals.

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

• Connect the ground terminals on the multi-winding drive unit, SERVO-

PACK, and converter according to local electrical codes (100 Ωor less for

systems with a 200 V power supply, 10 Ωor less for systems with a 400 V

power supply).

Improper grounding may result in electric shock or fire.

• Be sure to connect the servomotor’s built-in thermostat to the host control-

ler or to the main circuit magnetic contactor’s operation circuit.

For details, refer to



Protecting the Servomotor in 3.2.5 Other Precau-

tions.

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

• 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 the design and mainte-

nance user’s manual for your SERVOPACK.

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

WARNING

Storage and Transportation

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

product.

• 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/installa-

tion 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 terminal box 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 capaci-

tors.

Installation

CAUTION

• Never use the product 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 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 multi-winding drive unit,

SERVOPACK, converter, control panel, and 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.

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