Yaskawa Electric Engineering Corporation AC SERVOPACK. EGSV3 Series. User s Manual EGSV3- Document No. ESI-M-005E <1>

Transcription

1 Yaskawa Electric Engineering Corporation AC SERVOPACK EGSV3 Series User s Manual EGSV3- Document No. ESI-M-005E <1>

2 Copyright (c) 2014 Yaskawa Electric Engineering Corporation Reprinting or reproduction of this document or any information contained herein, partial or wholly, without written consent from Yaskawa Electric Engineering Corporation, is strictly prohibited.

3 Contract 0. Precautions EGSV3 Series Overview Explanation of Terminology SERVOPACK Model Designation SGDA SERVOPACK Upgrade Set Codes SGDB SERVOPACK Upgrade Set Codes DR2 SERVOPACK Upgrade Set Codes R Series SERVOPACK Upgrade Set Codes SGDA/SGDE/SGDL SERVOPACK Upgrade Set EGSV3-DA-, EGSV3-DE External dimensions EGSV3-DA-A3B, A5B, 01B, A3A, A5A, 01A, 02A, EGSV3-DE-A3B, A5B, 01B, A3A, A5A, 01A, 02A EGSV3-DA-02B, 04A, EGSV3-DE-02B, 04A EGSV3-DA-03B, 08A, EGSV3-DE-03B, 08A Wiring Main Circuit Wiring Command Input/Output Cable Encoder Cable SGDB SERVOPACK Upgrade Set EGSV3-DB- AD External dimensions EGSV3-DB-03AD -RG, 05AD -RG, 07AD -RG, 10AD -RG EGSV3-DB-15AD -RG EGSV3-DB-20AD -RG, 30AD -RG EGSV3-DB-44AD -RG, 50AD -RG EGSV3-DB-60AD, 75ADG EGSV3-DB-1AADG, 1EADG EGSV3-DB-03AD -PB, 05AD -PB, 07AD -PB, 10AD -PB EGSV3-DB-15AD -PB EGSV3-DB-20AD -PB, 30AD -PB Wiring Main Circuit Wiring Command Input/Output Cable Encoder Cable DR2 SERVOPACK Upgrade Set EGSV3-DR2- C External dimensions EGSV3-DR2-A3AC, A5AC, 01AC, 02AC, A3BC, A5BC, 01BC EGSV3-DR2-04AC, 02BC EGSV3-DR2-DR2-08AC, 03BC Wiring Main Circuit Wiring Command Input/Output Cable Encoder Cable R Series SERVOPACK Upgrade Set EGSV3-PR A, SR A External dimensions EGSV3-PRA5AC4, A5AC3, 01AC3 01AE4 02AE3 02AE4 03AE EGSV3-PR01AC4, 02AC EGSV3-PR02AC4, 03AC EGSV3-PR03AC4, 05AC EGSV3-PR05AC4, 07AC EGSV3-SRA5AC2, A5AC1, 01AC1, A5AY2, A5AY1, 01AY1 01AE2 01AX2 02AE1 02AE2 02AX1 02AX2 03AE1 03AX EGSV3-SR01AC2, 02AC1, 01AY2, 02AY EGSV3-SR02AC2, 03AC1, 02AY2, 03AY EGSV3-SR03AC2, 05AC1, 03AY2, 05AY EGSV3-SR05AC2, 07AC1, 05AY2, 07AY Wiring Main Circuit Wiring Command Input/Output Cable

4 Encoder Cable Peripheral Options External Regenerative Resistor Unit EGDR-R01 (140 W, 50 ) External Regenerative Resistor Unit JUSP-RA05-E (1760 W, 3.13 ) SGDB CN1 Extension Cable EGDR-CBL07D SERVOPACK Unit Specifications SERVOPACK Part Names Applicable Standards SERVOPACK Model Designation Set Model SERVOPACK Compatibility SERVOPACK Ratings and Specifications V AC Input CACR- -EE1VBD V AC Input CACR- -EE2VBD General Specifications Main Circuit Wiring Main Circuit Terminal Names and Functions Precautions When Turning On Power Supply Input/Output Signal Connections CN1 Operation/Command Names and Functions CN1 Command Input/Output Connector Configuration CN2A Pulse Encoder Connector CN2B Serial Encoder Connector CN3 Digital Operator Connector CN7 USB Port Connection Examples Speed Control Connection Example Position Control Connection Example External dimensions CACR-2R1-EE2VBD-00, CACR-R70-EE1VBD-00, CACR-2R1-EE1VBD CACR-2R8-EE2VBD-00, CACR-2R8-EE1VBD CACR-5R5-EE2VBD-00, CACR-7R6-EE1VBD CACR-240-EE1VBD CACR-330-EE1VBD CACR-550-EE1VBD CACR-780-EE1VBD Parameters Additional and Modified Parameters Encoder Pulse No. Parameter Motor Parameter Segment LED Display Status Display Additional Alarms and Warnings Utility Functions (Fn ) Monitor Display (Un ) Nameplate Appendix Differences compared to Standard -V Products V Series Related Documents Differences compared to Series SERVOPACK External Regenerative Resistor Comparison Comparison of Mounting Dimensions and External Dimensions Differences compared to R Series Products Alarm Code Specification Differences Comparison of Mounting Dimensions and External Dimensions Specification Code and Motor Code Labeling Revision History... 97

5 0. Precautions 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. WARNIG CAUTION PROHIBITED 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: MANDATORY Indicates compulsory actions that must be performed. For example, this symbol would be used to indicate that ing is compulsory as follows: 5

6 Safety Precautions This section describes important precautions requiring full compliance when storing, transporting, installing, wiring, operating, maintaining, inspecting, or disposing of the system. WARNIG Never touch the rotating parts of the servo motor while it is operating. Disregarding this warning may result in injury. When starting operations with the SERVOPACK fitted to the machinery, make sure operations can be stopped at any time in the event of an emergency. Disregarding this warning may result in injury or damage to equipment. Never touch the interior of the SERVOPACK. Disregarding this warning may result in electric shock. Make sure the power supply terminal cover is always fitted when power is turned on. Disregarding this warning may result in electric shock. Avoid touching the terminals while the CHARGE lamp is illuminated. Disregarding this warning may result in electric shock from residual voltage. Test runs should be performed in accordance with the procedures and instructions described in the corresponding user manual for the product. Incorrect operations with the servo motor fitted to the machinery may result in injuries in addition to damage to the machinery. Do not detach the front cover, cables, connectors, or optional items from the top of the front face while the power is turned on. Disregarding this warning may result in electric shock. Do not damage, pull hard, apply excessive force, place under heavy objects, or entrap the cables. Disregarding this warning may result in electric shock, product malfunctions, or fire. Never attempt to modify the product. Disregarding this warning may result in injury, damage to equipment, or fire. Install a braking device on the machinery to ensure safety. The holding brake on servo motors equipped with a brake is not a braking device intended to guarantee safety. Disregarding this warning may result in injury. If a momentary power failure occurs during operations and power is subsequently restored, keep a safe distance from the machinery in case it restarts unexpectedly. Take measures to ensure the safety of personnel even in the event that the machinery restarts. Disregarding this warning may result in injury. Always connect the SERVOPACK terminal to a ing electrode (or connect the 100V or 200V power supply SERVOPACK to D class ing electrode). Disregarding this warning may result in electric shock and fire. The equipment must not be installed, dismantled, or repaired except by authorized persons. Disregarding this warning may result in electric shock and injury. 6

7 Storage and transportation Mounting CAUTION Do not store or install in environments like those described below: Disregarding this warning may result in fire, electric shock, and damage to equipment. Locations exposed to direct sunlight Locations where ambient temperatures exceed the temperatures specified for storage and installation Locations where relative humidity exceeds the humidity specified for storage and installation Locations subject to sudden temperature fluctuations or condensation Locations where corrosive or flammable gases are present Locations where dust, salt, or metal particles are present Locations subject to the risk of splashing from water, oil, or chemicals Locations where the equipment is subject to vibration or impact Do not transport the equipment by grasping cables, motor spindles, or encoders. Disregarding this warning may result in injury or malfunctions. Do not over-stack products. (Follow the instructions marked.) Disregarding this warning may result in injury or malfunctions. If disinfection or insecticidal treatment is required for packing timber (e.g., wooden crates, plywood, and pallets), use a method other than fumigation. Example: Heat treatment (at least 30 minutes to ensure core temperature exceeds 56 C) Make sure that the timber is treated separately before packing and not as a whole once packing is complete. Using timber that has been fumigated for packing electrical equipment (individual components or fitted to the machinery) may result in critical damage to electronic components from gas or vapor emitted from the timber. Halogen-based disinfectants (e.g., fluorine, chlorine, bromine, iodine) in particular will corrode the insides of capacitors. CAUTION Never use in locations subject to risk of splashing water or in corrosive environments, in the presence of flammable gases, or near flammable materials. Disregarding this warning may result in electric shock and fire. Do not climb on or place heavy items on top of the equipment. Disregarding this warning may result in injury and malfunctions. Do not block the inlet or outlet vents. Do not insert objects inside the product. Disregarding this warning may result in degradation of interior components and subsequent malfunctions or fire. Always mount in the correct direction. Disregarding this warning may result in malfunctions. During installation, be sure to leave the specified gaps between the SERVOPACK and control panel interior and other devices. Disregarding this warning may result in fire or malfunctions. Do not subject to strong impact. Disregarding this warning may result in malfunctions. 7

8 Wiring CAUTION Wire the equipment correctly. Disregarding this warning may result in motor runaway, injury, and malfunctions. Do not connect the U, V, W motor terminals on the SERVOPACK to a commercial power source. Disregarding this warning may result in injury or fire. Connect the main circuit terminals securely. Disregarding this warning may result in fire. Do not route the main circuit cables through the same duct or bundle together with the / signal or encoder cables. The main circuit cables should be routed at least 30 cm away from / signal and encoder cables. Routing the cables too close together may result in malfunctions. Use shielded twisted-pair or multi-core common-shielded twisted-pair cables for / signal and encoder cables. The / signal cable should not exceed 3 m in length. The servo motor main circuit cable and encoder cable should not exceed 50 m in length. Avoid touching the power supply terminals while the CHARGE lamp is illuminated. A high-voltage charge may remain inside the SERVOPACK even after power is turned off. Confirm that the CHARGE lamp is off before starting wiring or inspection work. The following precautions refer to matters related to the SERVOPACK main circuit terminal wiring that require full compliance. Do not turn on the SERVOPACK power until the main circuit terminals and all other wiring has been completed. If the main circuit terminals are connectors, disconnect the connectors from the SERVOPACK unit before wiring. Insert one power supply cable into each main circuit terminal power inlet socket. When inserting the power supply cables, make sure stray wire strands do not come into contact with (short circuit) neighboring cables. Install a battery unit on one of the upstream equipment or the SERVOPACK, not both. Installing battery packs on both the upstream equipment and SERVOPACK is dangerous because it forms a closed loop between the two batteries. Use only with the specified power supply voltage Disregarding this warning may result in fire or malfunctions. Connect with the correct polarity (+ and -). Disregarding this warning may result in rupture or other damage. If power source conditions are poor, take measures to ensure that the power source is within the stipulated voltage variation range. Disregarding this warning may result in damage to equipment. Install a circuit breaker or other safety devices to protect against short circuits in the external wiring. Disregarding this warning may result in fire. Ensure the appropriate and adequate shielding if the equipment is used in any of the following locations: Locations subject to electromagnetic noise, such as from static electricity Locations subject to strong electrical or magnetic fields Locations involving potential exposure to radiation Locations close to a power cable Disregarding this warning may result in damage to equipment. When connecting the battery, connect with the correct polarity. Disregarding this warning may result in damage to or explosion of the battery, SERVOPACK, or servo motor. Wiring and inspection must be carried out by a qualified engineer. 24 V DC power source must be double-insulated or have reinforced insulation. 8

9 Operation CAUTION Use the SERVOPACK specified for use with the corresponding servo motor. Disregarding this warning may result in fire or malfunctions. Test-run the servo motor separately (with the motor shaft not connected to the machinery) to prevent unforeseen accidents. Disregarding this warning may result in injury. During the test run, confirm that the holding brake functions correctly. Make sure the system remains safe to operate even when faults such as signal cable open circuits occur. When starting mounted machine operations, set the parameters beforehand to match the machinery. Failure to adjust settings before starting may result in machine runaway or malfunctions. Avoid turning power on and off repeatedly. Do not use for applications that require turning the power on and off frequently; doing so will degrade the components inside the SERVOPACK. After commencing normal operations, if turning power off, allow an interval of at least one hour before turning on again. Note that the auto stop function for forward and reverse over-travel will not activate for JOG operations (Fn002) or Home position search operations (Fn003). Disregarding this warning may result in damage to equipment. When using the servo motor with the axis vertical, install safety mechanisms to keep the workpiece from dropping if an alarm or over-travel occurs. Set the system to stop with zero clamping if over-travel occurs. Disregarding this warning may result in the workpiece dropping if over-travel occurs. Set the correct moment of inertia ratio (Pn103). Setting the incorrect moment of inertia ratio may result in machine vibrations. Avoid touching the SERVOPACK heat sink, regenerative resistors, or servo motor during operations or shortly after turning off power. These areas may be hot. Disregarding this warning may result in burn injuries. Keep cables and other materials away from the regenerative resistors. Disregarding this warning may result in fire or malfunctions. Never adjust or alter the settings to extreme values; doing so may destabilize operations. Disregarding this warning may result in injury and damage to equipment. If an alarm occurs, clear the cause of the problem, confirm safety, and reset the alarm before resuming operations. Disregarding this warning may result in damage to equipment, fire, and injury. Do not use the holding brake on the servo motor to control speed. Doing so will lead to malfunctions. Note that an alarm or warning may be issued if communication is attempted with the upstream device while operating SigmaWin+ or the digital operator. Disregarding this warning may result in operations in progress being aborted and the system shutting down if an alarm or warning occurs. Maintenance and inspections Disposal CAUTION Do not attempt to disassemble the SERVOPACK or servo motor. Disregarding this warning may result in electric shock and injury. Do not alter the wiring while power is turned on. Disregarding this warning may result in electric shock and injury. When replacing the SERVOPACK, copy the parameters from the old SERVOPACK to the new one before resuming operations. Disregarding this warning may result in damage to equipment. CAUTION This product should be disposed of as regular industrial waste. 9

10 General precautions Usage precautions In some of the figures included in this manual, covers or safety shields are shown removed to illustrate details more clearly. Covers and safety shields must always be refitted as stipulated before operating the product in accordance with this user manual. The figures included in this manual are representative examples and may differ slightly from the actual product purchased. To reorder copies of this manual if it becomes lost or defaced, please contact your dealer or the nearest customer service department listed on the rear cover. Provide the document number. 10

11 Warranty (1) Details of Warranty Warranty Period The warranty period for a product that was purchased (hereinafter called delivered product ) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner. Warranty Scope Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life. This warranty does not cover failures that result from any of the following causes. 1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications 2. Causes not attributable to the delivered product itself 3. Modifications or repairs not performed by Yaskawa 4. Abuse of the delivered product in a manner in which it was not originally intended 5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa 6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product. 2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products. 3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license. 4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals. (3) Suitability for Use 1. It is the customer s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure. Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations Systems, machines, and equipment that may present a risk to life or property Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety 4. Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed. 5. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product. 6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties. (4) Specifications Change The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product. 11

12 1. EGSV3 Series Overview The EGSV3 SERVOPACK is an upgrade for Yasukawa Electric Corporation AC SERVOPACK models that are no longer in production. This product can be used to replace Yaskawa AC SERVOPACKs by attaching a mounting attachment, relay terminal block, and relay cables to the EGSV3 SERVOPACK. This product replaces the following models: Series: SGDA, SGDB, DR2 R Series: CACR-SR**AC, CACR-SR**AY, CACR-PR**AC 1.1. Explanation of Terminology The terminology used in this manual is defined as shown below. Term SERVOPACK unit Set Mounting attachment Relay terminal block) Relay cable Meaning The SERVOPACK without the mounting attachment, terminal block, or cable fitted Model codes start with CACR-. The SERVOPACK with the mounting attachment, terminal block, and cable fitted Model codes start with EGSV3-. Attachment fitted to the SERVOPACK to match the mounting configuration of the discontinued model Terminal block fitted to the SERVOPACK to match the wiring specifications of the discontinued model Cable fitted to the SERVOPACK to match the wiring specifications of the discontinued model Mounting attachment SERVOPACK unit SERVOPACK unit Relay terminal block Relay cable Mounting attachment 12

13 2. SERVOPACK Model Designation 2.1. SGDA SERVOPACK Upgrade Set Codes EGSV3 DA (Y8) Special specifications number None: Standard Y8: With regenerative resistor Motor code None: SGM P: SGMP Control type S: Speed/torque control P: Position control Input voltage A: 200 V B: 100 V Capacity A3: 30 W 03: 300 W A5: 50 W 04: 400 W 01: 100 W 08: 750 W 02: 200 W Series DA: For SGDA upgrades DE: For SGDE/SGDL upgrades 13

14 Control/ Old product Control/ Old product EGSV3 SET CODE Voltage code Voltage code EGSV3 SET CODE Speed S*GDA-A3BS* EGSV3-DA-A3BS* Position SGDA-A3BP* EGSV3-DA-A3BP* control S*GDA-A5BS* EGSV3-DA-A5BS* control SGDA-A5BP* EGSV3-DA-A5BP* 100V S*GDA-01BS* EGSV3-DA-01BS* 100V SGDA-01BP* EGSV3-DA-01BP* S*GDA-02BS* EGSV3-DA-02BS* SGDA-02BP* EGSV3-DA-02BP* S*GDA-03BS* EGSV3-DA-03BS* SGDA-03BP* EGSV3-DA-03BP* EGSV3-DA-03BS*Y8 *1 EGSV3-DA-03BP*Y8 *1 Speed S*GDA-A3AS* EGSV3-DA-A3AS* Position SGDA-A3AP* EGSV3-DA-A3AP* control S*GDA-A5AS* EGSV3-DA-A5AS* control SGDA-A5AP* EGSV3-DA-A5AP* 200V S*GDA-01AS* EGSV3-DA-01AS* 200V SGDA-01AP* EGSV3-DA-01AP* S*GDA-02AS* EGSV3-DA-02AS* SGDA-02AP* EGSV3-DA-02AP* S*GDA-04AS* EGSV3-DA-04AS* SGDA-04AP* EGSV3-DA-04AP* S*GDA-08AS* EGSV3-DA-08AS* SGDA-08AP* EGSV3-DA-08AP* EGSV3-DA-08AS*Y8 *1 EGSV3-DA-08AP*Y8 *1 Speed SGDE, L-A3BS EGSV3-DE-A3BS Position SGDE, L-A3BP EGSV3-DE-A3BP control SGDE, L-A5BS EGSV3-DE-A5BS control SGDE, L-A5BP EGSV3-DE-A5BP 100V SGDE, L-01BS EGSV3-DE-01BS 100V SGDE, L-01BP EGSV3-DE-01BP SGDE, L-02BS EGSV3-DE-02BS SGDE, L-02BP EGSV3-DE-02BP SGDE, L-03BS EGSV3-DE-03BS SGDE, L-03BP EGSV3-DE-03BP EGSV3-DE-03BSY8 *1 EGSV3-DE-03BPY8 *1 Speed SGDE, L-A3AS EGSV3-DE-A3AS Position SGDE, L-A3AP EGSV3-DE-A3AP control SGDE, L-A5AS EGSV3-DE-A5AS control SGDE, L-A5AP EGSV3-DE-A5AP 200V SGDE, L-01AS EGSV3-DE-01AS 200V SGDE, L-01AP EGSV3-DE-01AP SGDE, L-02AS EGSV3-DE-02AS SGDE, L-02AP EGSV3-DE-02AP SGDE, L-04AS EGSV3-DE-04AS SGDE, L-04AP EGSV3-DE-04AP SGDE, L-08AS EGSV3-DE-08AS SGDE, L-08AP EGSV3-DE-08AP EGSV3-DE-08ASY8 *1 EGSV3-DE-08APY8 *1 *1: Use this model when connecting a regenerative resistor externally with the EGSV3-DA-03B* or EGSV3-08A* models. When using an external regenerative resistor, always set the resistance to match the Pn600 regenerative resistor capacity. The EGDR-R01 (140 W, 50 ), an external regenerative resistor unit, is available as an option. 14

15 2.2. SGDB SERVOPACK Upgrade Set Codes EGSV3 DB A D (Y8) Special specifications number None: Standard Y8: With regenerative resistor Additional code None/RG: Base mount attachment PG: For duct mounting (not duct ventilation mounted) Motor code G: SGMG A A D: SGMD M: SGMG A B P: SGMP S: SGMS : SGM Control type D: Position/speed/torque control Input voltage A: 200V Capacity 03: 300 W 44: 4.4 kw 05: 500 W 50: 5 kw 07: 700 W 60: 6 kw 10: 1 kw 75: 7.5 kw 15: 1.5 kw 1A: 11 kw 20: 2 kw 1E: 15 kw 30: 3 kw Series DB: For SGDB upgrades Old product code EGSV3 SET CODE Old product code EGSV3 SET CODE SGDB-03ADM EGSV3-DB-03ADM-RG SGDB-03ADMY8 EGSV3-DB-03ADM-RGY8 *1 SGDB-05AD* EGSV3-DB-05AD*-RG SGDB-05AD*Y8 EGSV3-DB-05AD*-RGY8 *1 SGDB-07ADM EGSV3-DB-07ADM-RG SGDB-07ADMY8 EGSV3-DB-07ADM-RGY8 *1 SGDB-10AD* EGSV3-DB-10AD*-RG SGDB-10AD*Y8 EGSV3-DB-10AD*-RGY8 *1 SGDB-15AD* EGSV3-DB-15AD*-RG SGDB-15AD*Y8 EGSV3-DB-15AD*-RGY8 *1 SGDB-20AD* EGSV3-DB-20AD*-RG SGDB-20AD*Y8 EGSV3-DB-20AD*-RGY8 *1 SGDB-30AD* EGSV3-DB-30AD*-RG SGDB-30AD*Y8 EGSV3-DB-30AD*-RGY8 *1 SGDB-44AD* EGSV3-DB-44AD*-RG SGDB-44AD*Y8 EGSV3-DB-44AD*-RGY8 *1 SGDB-50AD* EGSV3-DB-50AD*-RG SGDB-50AD*Y8 EGSV3-DB-50AD*-RGY8 *1 SGDB-60AD* EGSV3-DB-60AD* *2 SGDB-03ADMY8-P EGSV3-DB-03ADM-PBY8 *1 SGDB-75ADG EGSV3-DB-75ADG *2 SGDB-05AD*Y8-P EGSV3-DB-05AD*-PBY8 *1 SGDB-1AADG EGSV3-DB-1AADG *2 SGDB-07ADMY8-P EGSV3-DB-07ADM-PBY8 *1 SGDB-1EADG EGSV3-DB-1EADG *2 SGDB-10AD*Y8-P EGSV3-DB-10AD*-PBY8 *1 SGDB-03ADM-P EGSV3-DB-03ADM-PB SGDB-15AD*Y8-P EGSV3-DB-15AD*-PBY8 *1 SGDB-05AD*-P EGSV3-DB-05AD*-PB SGDB-20AD*Y8-P EGSV3-DB-20AD*-PBY8 *1 SGDB-07ADM-P EGSV3-DB-07ADM-PB SGDB-30AD*Y8-P EGSV3-DB-30AD*-PBY8 *1 SGDB-10AD*-P EGSV3-DB-10AD*-PB SGDB-15AD*-P EGSV3-DB-15AD*-PB SGDB-20AD*-P EGSV3-DB-20AD*-PB SGDB-30AD*-P EGSV3-DB-30AD*-PB *1: Use this model when connecting a regenerative resistor externally. When using an external regenerative resistor, always set the resistance to match the Pn600 regenerative resistor capacity. *2: A regenerative resistor must be connected externally with this model. The JUSP-RA05-E (1760 W, 3.13 ), an external regenerative resistor unit, is available as an option. 15

16 2.3. DR2 SERVOPACK Upgrade Set Codes EGSV3 DR2 C Motor code None: SGM P: SGMP Control type C: Position/speed/torque control Input voltage A: 200 V B: 100 V Capacity A3: 30 W 03: 300 W A5: 50 W 04: 400 W 01: 100 W 08: 750 W 02: 200 W Series DR2: For DR2 upgrades Voltage Old product code EGSV3 SET CODE 100 V DR2-A3BC EGSV3-DR2-A3BC DR2-A5BC EGSV3-DR2-A5BC DR2-01BC EGSV3-DR2-01BC DR2-02BC EGSV3-DR2-02BC DR2-03BC EGSV3-DR2-03BC EGSV3-DR2-03BCY8 *1 200 V DR2-A3AC EGSV3-DR2-A3AC DR2-A5AC EGSV3-DR2-A5AC DR2-01AC EGSV3-DR2-01AC DR2-02AC EGSV3-DR2-02AC DR2-04AC EGSV3-DR2-04AC DR2-08AC EGSV3-DR2-08AC EGSV3-DR2-08ACY8 *1 *1: Use this model when connecting a regenerative resistor externally with the EGSV3-DR2-03BC or EGSV3-DR2-08AC models. When using an external regenerative resistor, always set the resistance to match the Pn600 regenerative resistor capacity. The EGDR-R01 (140 W, 50 ), an external regenerative resistor unit, is available as an option. 16

17 2.4. R Series SERVOPACK Upgrade Set Codes EGSV3 PR A (Y8) Special specifications number None: Standard Y8: With regenerative resistor Motor code R: USAREM P: USAPEM No. of encoder pulses Code Encoder type No. of encoder pulses F 1000 H Conventional 1440 E incremental pulse 1500 K encoder 2000 C 2500 S Absolute pulse 8192 W encoder 1024 Input voltage 1: 200 V (for SR model) 2: 100 V (for SR model) 3: 200 V (for PR model) 4: 100 V (for PR model) Encoder type C or E: Conventional incremental pulse encoder Y or X: Absolute pulse encoder Capacity A3: 30 W 03: 300 W A5: 50 W 04: 400 W 01: 100 W 07: 700 W 02: 200 W Series PR: For PR (position control) upgrades SR: For SR (speed control) upgrades Specifications Old product code EGSV3 SET CODE Incremental CACR-PRA5AC4** encoder CACR-PRA5AE4** EGSV3-PRA5AC4** Position CACR-PR01AC4** EGSV3-PR01AC4** control CACR-PR01AE4** EGSV3-PR01AE4** 100 V CACR-PR02AC4** EGSV3-PR02AC4** CACR-PR02AE4** EGSV3-PR02AE4** CACR-PR03AC4** EGSV3-PR03AC4** EGSV3-PR03AC4**Y8 *1 Incremental encoder Position control 200 V CACR-PR05AC4** CACR-PRA5AC3** CACR-PRA5AE3** CACR-PR01AC3** CACR-PR01AE3** CACR-PR02AC3** CACR-PR02AE3** CACR-PR03AC3** CACR-PR03AE3** CACR-PR05AC3** CACR-PR07AC3** EGSV3-PR05AC4** EGSV3-PR05AC4**Y8 *1 EGSV3-PRA5AC3** EGSV3-PR01AC3** EGSV3-PR02AC3** EGSV3-PR02AE3** EGSV3-PR03AC3** EGSV3-PR03AE3** EGSV3-PR05AC3** EGSV3-PR05AC3**Y8 *1 EGSV3-PR07AC3** EGSV3-PR07AC3**Y8 *1 17

18 Specifications Old product code EGSV3 SET CODE Incremental CACR-SRA5AC2** encoder CACR-SRA5AE2** EGSV3-SRA5AC2** Speed control CACR-SR01AC2** EGSV3-SR01AC2** 100 V CACR-SR01AE2** EGSV3-SR01AE2** CACR-SR02AC2** EGSV3-SR02AC2** CACR-SR02AE2** EGSV3-SR02AE2** CACR-SR03AC2** EGSV3-SR03AC2** EGSV3-SR03AC2**Y8 *1 Incremental encoder Speed control 200 V Absolute pulse encoder Speed control 100 V Absolute pulse encoder Speed control 200 V CACR-SR05AC2** CACR-SRA5AC1** CACR-SRA5AE1** CACR-SR01AC1** CACR-SR01AE1** CACR-SR02AC1** CACR-SR02AE1** CACR-SR03AC1** CACR-SR03AE1** CACR-SR05AC1** CACR-SR07AC1** CACR-SRA5AY2** CACR-SRA5AX2** CACR-SR01AY2** CACR-SR01AX2** CACR-SR02AY2** CACR-SR02AX2** CACR-SR03AY2** CACR-SR05AY2** CACR-SRA5AY1** CACR-SRA5AX1** CACR-SR01AY1** CACR-SR01AX1** CACR-SR02AY1** CACR-SR02AX1** CACR-SR03AY1** CACR-SR03AX1** EGSV3-SR05AC2** EGSV3-SR05AC2**Y8 *1 EGSV3-SRA5AC1** EGSV3-SR01AC1** EGSV3-SR02AC1** EGSV3-SR02AE1** EGSV3-SR03AC1** EGSV3-SR03AE1** EGSV3-SR05AC1** EGSV3-SR05AC1**Y8 *1 EGSV3-SR07AC1** EGSV3-SR07AC1**Y8 *1 EGSV3-SRA5AY2** EGSV3-SR01AY2** EGSV3-SR01AX2** EGSV3-SR02AY2** EGSV3-SR02AX2** EGSV3-SR03AY2** EGSV3-SR03AY2**Y8 *1 EGSV3-SR05AY2** EGSV3-SR05AY2**Y8 *1 EGSV3-SRA5AY1** EGSV3-SR01AY1** EGSV3-SR02AY1** EGSV3-SR02AX1** EGSV3-SR03AY1** EGSV3-SR03AX1** EGSV3-SR05AY1** CACR-SR05AY1** EGSV3-SR05AY1**Y8 *1 EGSV3-SR07AY1** CACR-SR07AY1** EGSV3-SR07AY1**Y8 *1 *1: Use this model when connecting a regenerative resistor externally. When using an external regenerative resistor, always set the resistance to match the Pn600 regenerative resistor capacity. The EGDR-R01 (140 W, 50 ), an external regenerative resistor unit, is available as an option. 18

19 3. SGDA/SGDE/SGDL SERVOPACK Upgrade Set EGSV3-DA-, EGSV3-DE External dimensions EGSV3-DA-A3B, A5B, 01B, A3A, A5A, 01A, 02A, EGSV3-DE-A3B, A5B, 01B, A3A, A5A, 01A, 02A mounting hole Approx. weight: 1.2 kg EGSV3-DA-02B, 04A, EGSV3-DE-02B, 04A mounting hole Approx. weight: 1.5 kg 19

20 EGSV3-DA-03B, 08A, EGSV3-DE-03B, 08A mounting hole Approx. weight: 1.9 kg 20

21 3.2. Wiring Main Circuit Wiring Power Input Remove the insulating cap from the main circuit relay cable and connect to the R/L1 and T/L2 terminals. Reattach the insulating cap after wiring. SERVOPACK connector R/L1 T/L2 R/L1 T/L2 Enlarged view Insulated cap Regenerative Resistor Connection Terminal The previous JUSP-RG08 regenerative unit cannot be connected to the B1 to B2 terminals. If regeneration is required, use the EGDR-R01 regenerative unit. When using the JUSP-RG08C with a regenerative resistor attached, connect the regenerative resistor directly to the SERVOPACK. With the EGSV3-DA-03B and 8A, use a model with a code ending in Y8 (specifications with external regenerative resistor). When using an external regenerative resistor, always set the resistance to match the Pn600 regenerative resistor capacity. 21

22 Motor Output No adapter terminal block is provided. Wire in accordance with EGSV3 SERVOPACK main circuit wiring specifications. Cable connector Product code Manufacturer Motor / Wago Wiring procedure 1. Remove the spring-type main circuit terminal connector from the SERVOPACK. Motor cable 2. Strip the sheathing from the wires to be used. 8-9 mm 3. Use an appropriate tool to open the wire insertion holes in the terminal connector. The holes can be opened in one of two ways, as shown below. Either method may be used. Grounding terminal 2-M4 screw [Using a spring opener] Use the spring opener provided with the SERVOPACK to open the holes as shown below. Note: The Tyco Electronics spring opener ( ) can also be used. Spring opener Wire [Using a screwdriver] Push a slot-head screwdriver (with 3.0 to 3.5 mm wide tip) firmly into the screwdriver insertion slots to open the wire insertion holes. 4. Insert the wire core into the wire insertion hole. Once inserted, remove the spring opener or the screwdriver. 5. Repeat in the same way for all required connections. 6. Once wiring is complete, reattach the connector to the SERVOPACK. 22

23 Command Input/Output Cable Connect to the relay cable as shown in the diagram below. SERVOPACK connector 50 mm Connect to the customer s existing command cable Opposing connector specifications Connector: VE Hood: A0-008 EGDR-CBL07* * = S: Speed control * = P: Position control 4-pin plug DF11-4DEP-2C plug connector DF11-EP2428PC 100 mm Analog monitor connector Cable connector Case Connector Manufacturer Code Qty Code Qty PE A set 1 Sumitomo 3M (soldered type) 23

24 EGSV3-DA- S (Analog command type configuration) 2 SG 4 SG 6 0SEN 8 /V-CMP 10 SG-COM 12 /N-CL 14 /S-ON 16 P-OT 18 /ALM -RST Signal Signal SEN signal Speed matching signal /BK/C-CMP/ TGON common 0 V Reverse torque limit Servo on Forward drive prohibit Alarm reset 1 T-REF 3 V-REF 5 SEN 7 /BK 9 /TGON- 11 /P-CL V-IN 15 /P-CON 17 N-OT Torque command Speed command SEN signal Brake signal Rotation detection Forward torque limit IO power P operations command Reverse drive prohibit 20 PAO 22 PBO 24 PCO 26 PSO Division pulse A phase Division pulse B phase Division pulse C phase S phase 28 BAT+ Battery+ 30 AL01 32 AL03 34 ALM+ 36 FG Alarm code Alarm code Servo alarm Frame 19 SG Signal 21 /PAO 23 /PBO 25 /PCO 27 /PSO Division pulse A phase Division pulse B phase Division pulse C phase S phase 29 /BAT- Battery- 31 AL02 33 SG-AL 35 ALM- Alarm code Alarm code common 0 V Servo alarm EGSV3-DA- P (Pulse train command type configuration) 2 /PLUS 4 /SIGN Command pulse Command sign 1 PULS 3 SIGN Command pulse Command sign 20 PAO 22 PBO Division pulse A phase Division pulse B phase Division pulse C phase 19 SG Signal 21 /PAO 5 CLR Clear 23 /PBO 6 /CLR Clear 24 PCO Brake 7 /BK signal 8 /COIN+ 10 SG-COM 12 /N-CL 14 /S-ON 16 P-OT 18 /ALM -RST Speed matching /BK/C-CMP/ TGON common 0 V Reverse torque limit Servo on Forward drive prohibit Alarm reset 9 /TGON- 11 /P-CL V-IN 15 /P-CON 17 N-OT Rotation detection Forward torque limit IO power P operations command Reverse drive prohibit 26 PSO S phase 28 BAT+ Battery+ 30 AL01 32 AL03 34 ALM+ 36 FG Alarm code Alarm code Servo alarm Frame 25 /PCO 27 /PSO Division pulse A phase Division pulse B phase Division pulse C phase S phase 29 /BAT- Battery- 31 AL02 33 SG-AL 35 ALM- Alarm code Alarm code common 0 V Servo alarm 24

25 EGSV3-DE- S (Analog command type configuration) 2 SG Signal Signal 1 T-REF Torque command Speed command 20 PAO Division pulse 3 V-REF A phase Division 21 /PAO pulse B phase Division 23 /PBO pulse 7 /BK Brake signal C phase 25 /PCO 4 SG 22 PBO Not 5 - available 6 - Not available 24 PCO 8 - Not available 26 - Not available Rotation 9 /TGONdetection 10 SG-COM 12 /N-CL 14 /S-ON 16 P-OT 18 /ALM -RST /BK/C-CMP/ TGON common 0 V Reverse torque limit Servo on Forward drive prohibit Alarm reset 11 /P-CL V-IN 15 /P-CON 17 N-OT Forward torque limit IO power P operations command Reverse drive prohibit 28 - Not available 30 AL01 32 AL03 34 ALM+ 36 FG Alarm code Alarm code Servo alarm Frame 19 SG Signal Division pulse A phase Division pulse B phase Division pulse C phase 27 - Not available 29 - Not available 31 AL02 33 SG-AL 35 ALM- Alarm code Alarm code common 0 V Servo alarm EGSV3-DE- P (Pulse train command type configuration) 2 /PLUS 4 /SIGN Command pulse Command sign 1 PULS 3 SIGN Command pulse Command sign 20 - Not available 22 - Not available 19 - Not available 21 - Not available 5 CLR Clear 23 - Not available 6 /CLR Clear 24 - Not available 8 /COIN+ Speed matching /BK/C-CMP/ TGON common 0 V 7 /BK Brake signal 25 - Not available 9 - Not available 26 - Not available 10 SG-COM 28 - Not available Not 11 - available 12 - Not available 30 - Not available IO power V-IN 14 /S-ON 16 P-OT 18 /ALM -RST Servo on Forward drive prohibit Alarm reset 15 /P-CON 17 N-OT P operations command Reverse drive prohibit 32 PCO 34 ALM+ 36 FG Open collector C phase Servo alarm Frame 27 - Not available 29 - Not available 31 - Not available 33 SG-AL 35 ALM- Alarm code common 0 V Servo alarm Analog Monitor Connector Pin No. Cable color Signal name Details 1 White Analog monitor 1 Torque command: 0.88 V/rated torque (set at factory) 2 Red Analog monitor 2 Motor rotation speed: 0.5 V/1000 min -1 (set at factory) 3 Black Signal Analog monitor GND: 0 V 4 Black Signal Analog monitor GND: 0 V 25

26 Encoder Cable Connect to the EGSV3 SERVOPACK CN2A connector. 2 SG 4 PG5V 6 PG5V Signal +5 V power supply +5 V power supply S phase 1 SG 3 SG 5 PG5V 7 DIR Signal Signal +5 V power supply Rotation direction 12 BAT+ 14 PC 16 PA 8 PS 18 PB S phase 9 /PS FG Battery + C phase A phase B phase Frame BAT- 15 /PC 17 /PA 19 /PB Battery - C phase A phase B phase [CN2A connector] Case Connector Manufacturer Code Qty Code Qty PE A set 1 Sumitomo 3M (soldered type) 26

27 4. SGDB SERVOPACK Upgrade Set EGSV3-DB- AD 4.1. External dimensions EGSV3-DB-03AD -RG, 05AD -RG, 07AD -RG, 10AD -RG Base BS04B EKE Regenerative resistor unit hole SERVOPACK Attachment AT04 Approx. weight: 3.4 kg 4-M4 tap Mounting diagram 27

28 EGSV3-DB-15AD -RG hole Regenerative resistor unit Base BS04B SERVOPACK Attachment AT04 Approx. weight: 4.7kg 4-M4 tap Mounting diagram 28

29 EGSV3-DB-20AD -RG, 30AD -RG Base BS05B EKE Regenerative resistor unit hole SERVOPACK Attachment AT04 Approx. weight: 4.9 kg 4-M4 tap Mounting diagram 29

30 EGSV3-DB-44AD -RG, 50AD -RG Base BS06B EKE hole Regenerative resistor unit Attachment EGDDR-AT06 SERVOPACK Attachment AT06 Approx. weight: 7.8 kg 4-M5 tap Mounting diagram 30

31 EGSV3-DB-60AD, 75ADG (75) M6 tap Approx. weight: 11.1 kg Mounting diagram 31

32 EGSV3-DB-1AADG, 1EADG Approx. weight: 21.3 kg 4-M6 screw hole (mounting pitch) (mounting pitch) Mounting diagram 32

33 EGSV3-DB-03AD -PB, 05AD -PB, 07AD -PB, 10AD -PB 12 (75) Approx. weight: 3.1 kg 4-M5 screw hole Hollow (min. 10) (min. 10) Mounting face machining diagram 33

34 EGSV3-DB-15AD -PB 120 (75) Approx. weight: 4.4 kg 4-M5 screw hole Hollow (min. 10) (min. 10) Mounting face machining diagram 34

35 EGSV3-DB-20AD -PB, 30AD -PB (75) Approx. weight: 4.5 kg 4-M5 screw hole Hollow (min. 10) (min. 10) Mounting face machining diagram 35

36 4.2. Wiring Main Circuit Wiring Connect to the adapter terminal block. Terminal code R, S, T Function Main circuit power supply terminals U, V, W Motor connection terminals Connect to the motor. r, t P, B P1, B (x2) Control power supply terminals Ground terminals Regenerative resistor unit connection terminals Regenerative resistor unit connection terminals Details 3-phase V, +10% ~ -15% (50/60 Hz) Single-phase V, +10% ~ -15% (50/60 Hz) Connect to the power supply terminal and motor terminal and appropriately. These normally do not need to be connected. Connect the regenerative resistor to a SERVOPACK with a capacity of at least 6 kw. Main circuit negative N This normally does not need to be connected. terminal Note: SERVOPACKs with a capacity of 5 kw or lower do not have a P1 terminal. 36

37 Command Input/Output Cable Connect to the EGSV3 SERVOPACK CN1 connector. 2 SG 4 SEN 6 SG 8 /PLUS 10 SG 12 /SIGN Signal SEN signal Signal Command pulse Signal Command sign 1 SG 3 PL1 5 V-REF 7 PLUS 9 T-REF 11 SIGN 13 PL2 Signal Open collector power supply Speed command Command pulse Torque command Command sign Open collector power supply 27 /TGON+ 29 /S-RDY+ 31 ALM+ 33 PAO 35 PBO 37 AL01 14 /CLR Clear 39 AL03 16 MON1 18 PL3 20 /PCO Analog monitor 1 Open collector power supply Division pulse C phase Rotation detection Servo ready Servo alarm Division pulse A phase Division pulse B phase Alarm code Alarm code 26 /COIN- 28 /TGON- 30 /S-RDY- 32 ALM- 34 /PAO 36 /PBO 38 AL02 Positioning complete Rotation detection Servo ready Servo alarm Division pulse A phase Division pulse B phase Alarm code 15 CLR Clear 40 /S-ON Servo on P operations 41 /P-CON 17 MON2 19 PCO Analog monitor 2 Division pulse C phase 43 /N-OT Reverse prohibit 42 /P-OT 44 /ALM-RST 45 /P-CL Forward torque limit 21 BAT+ Battery + 46 /N-CL 22 BAT- Battery V V-IN V power supply 24-12V -12 V power supply 25 /COIN+ Positioning complete 49 /PSO IO power supply S phase 48 PSO Forward prohibit Alarm reset Reverse torque limit S phase 50 FG Frame [CN1 cable connector] Connector kit code (Yaskawa supply code) Case JZSP-CSI9-1-E Z set Connector Code Qty Code Qty PE (soldered type) Manufacturer 1 Sumitomo 3M 37

38 Encoder Cable Connect to the EGSV3 SERVOPACK CN2A connector. 2 SG 4 PG5V 6 PG5V Signal +5 V power supply +5 V power supply S phase 1 SG 3 SG 5 PG5V 7 DIR Signal Signal +5 V power supply Rotation direction 12 BAT+ 14 PC 16 PA 8 PS 18 PB S phase 9 /PS FG Battery + C phase A phase B phase Frame BAT- 15 /PC 17 /PA 19 /PB Battery - C phase A phase B phase [CN2A connector] Case Connector Manufacturer Code Qty Code Qty PE A set 1 Sumitomo 3M (soldered type) 38

39 5. DR2 SERVOPACK Upgrade Set EGSV3-DR2- C 5.1. External dimensions EGSV3-DR2-A3AC, A5AC, 01AC, 02AC, A3BC, A5BC, 01BC Mounting hole machining diagram M4 screw hole 130 Approx. weight: 1.3 kg 39

40 EGSV3-DR2-04AC, 02BC Mounting hole machining diagram M4 screw hole 130 Approx. weight: 1.5 kg EGSV3-DR2-DR2-08AC, 03BC Mounting hole machining diagram M4 screw hole 180 Approx. weight: 1.8 kg 40

41 5.2. Wiring Main Circuit Wiring No adapter terminal block is provided. Wire in accordance with EGSV3 SERVOPACK main circuit wiring specifications. Cable connector Product code Manufacturer Power supply / Wago Motor / Wago Wiring procedure 1. Remove the spring-type main circuit terminal connector from the SERVOPACK. 2. Strip the sheathing from the wires to be used. 8-9 mm 3. Use an appropriate tool to open the wire insertion holes in the terminal connector. The holes can be opened in one of two ways, as shown below. Either method may be used. [Using a spring opener] Use the spring opener provided with the SERVOPACK to open the holes as shown below. Note: The Tyco Electronics spring opener ( ) can also be used. Grounding terminal Spring opener 2-M4 screw Wire [Using a screwdriver] Push a slot-head screwdriver (with 3.0 to 3.5 mm wide tip) firmly into the screwdriver insertion slots to open the wire insertion holes. 4. Insert the wire core into the wire insertion hole. Once inserted, remove the spring opener or the screwdriver. 5. Repeat in the same way for all required connections. 6. Once wiring is complete, reattach the connector to the SERVOPACK. 41

42 Command Input/Output Cable Connect to the adapter cable. Connect to the customer s existing command cable 4 Connect to the SERVOPACK 1 SG 33 PAO Division Signal pulse 2 SG 34 /PAO A phase 3 PL1 4 SEN 5 V-REF 6 SG Open collector command power supply SEN signal Speed command Signal 19 PCO Division pulse C phase 20 /PCO 36 /PBO 21 BAT+ Battery + 37 ALO1 22 BAT- Battery - 38 ALO2 7 PULS V Speed/torque 39 ALO3 Command command pulse 8 /PULS 24-15V power supply 40 /S-ON 9 T-REF 10 SG Torque command Signal 25 /CLT+ Current limit detection 41 /P-C0N 26 /CLT 42 P-OT 11 SIGN 27 /TGON+ Rotation 43 N-OT Command detection sign /ALM- 12 /SIGN 28 /TGON- 44 RST Open collector 13 PL2 command 29 /S-RDY+ 45 /P-CL power supply Servo ready 14 /CLR 30 /S-RDY- 46 /N-CL Clear 15 CLR 31 ALM VIN Servo alarm 16 TRQ-M Torque 32 ALMmonitor 48 PSO 17 VTG-M Speed monitor 49 /PSO Open collector 18 PL3 command 50 FG power supply 35 PBO Division pulse B phase Alarm code open collector Servo on P operations Forward prohibit Reverse prohibit Alarm reset Forward current limit on Reverse current limit on External power supply S phase Frame [Cable connector] Case Connector Adapter cable end Code Qty Code Qty MR-50M MR-50L 1 1 MR-50RFA4 (soldered type) Manufacturer Honda Tsushin Kogyo 42

43 Encoder Cable Connect to the adapter cable. Connect to the customer s existing encoder cable. Connect to the SERVOPACK PC 8 PS 2 Signal S phase PG0V 15 /PC 9 /PS 3 16 PA /PA +5 V PG5V power 18 PB supply 12 BAT+ Battery 6 19 /PB 13 BAT- Rotation 7 DIR 20 FG direction C phase A phase B phase Frame [Cable connector] Case Connector Adapter cable end Code Qty Code Qty MR-50F MR-20L 1 1 MR-50RMA4 (soldered type) Manufacturer Honda Tsushin Kogyo 43

44 6. R Series SERVOPACK Upgrade Set EGSV3-PR A, SR A 6.1. External dimensions EGSV3-PRA5AC4, A5AC3, 01AC3 01AE4 02AE3 02AE4 03AE3 Mounting hole machining diagram M4 screw hole 180 Approx. weight: 2.2 kg EGSV3-PR01AC4, 02AC3 Mounting hole machining diagram M4 screw hole 3 Approx. weight: 2.4 kg 44

45 EGSV3-PR02AC4, 03AC3 Mounting hole machining diagram M4 screw hole 180 Approx. weight: 2.6 kg EGSV3-PR03AC4, 05AC3 Mounting hole machining diagram M4 screw hole 180 Approx. weight: 2.9 kg 45

46 EGSV3-PR05AC4, 07AC3 Mounting hole machining diagram M4 screw hole 180 Approx. weight: 3.1 kg 46

47 EGSV3-SRA5AC2, A5AC1, 01AC1, A5AY2, A5AY1, 01AY1 01AE2 01AX2 02AE1 02AE2 02AX1 02AX2 03AE1 03AX1 Mounting hole machining diagram M4 screw hole 130 Approx. weight: 1.3 kg EGSV3-SR01AC2, 02AC1, 01AY2, 02AY1 Mounting hole machining diagram M4 screw hole 130 Approx. weight: 1.4 kg 47

48 EGSV3-SR02AC2, 03AC1, 02AY2, 03AY1 Mounting hole machining diagram M4 screw hole 130 Approx. weight: 1.6 kg EGSV3-SR03AC2, 05AC1, 03AY2, 05AY1 Mounting hole machining diagram M4 screw hole 180 Approx. weight: 1.9 kg 48

49 EGSV3-SR05AC2, 07AC1, 05AY2, 07AY1 Mounting hole machining diagram M4 screw hole 180 Approx. weight: 2.0 kg 49

50 6.2. Wiring Main Circuit Wiring No adapter terminal block is provided. Wire in accordance with EGSV3 SERVOPACK main circuit wiring specifications. Cable connector Product code Manufacturer Power supply / Wago Motor / Wago Wiring procedure 1. Remove the spring-type main circuit terminal connector from the SERVOPACK. 2. Strip the sheathing from the wires to be used. 8-9 mm 3. Use an appropriate tool to open the wire insertion holes in the terminal connector. The holes can be opened in one of two ways, as shown below. Either method may be used. [Using a spring opener] Use the spring opener provided with the SERVOPACK to open the holes as shown below. Note: The Tyco Electronics spring opener ( ) can also be used. Grounding terminal Spring opener 2-M4 screw Wire [Using a screwdriver] Push a slot-head screwdriver (with 3.0 to 3.5 mm wide tip) firmly into the screwdriver insertion slots to open the wire insertion holes. 4. Insert the wire core into the wire insertion hole. Once inserted, remove the spring opener or the screwdriver. 5. Repeat in the same way for all required connections. 6. Once wiring is complete, reattach the connector to the SERVOPACK. 50

51 Command Input/Output Cable Connect to the relay cable EGSV3-PR AC Cable Connect to the customer s existing command cable. Connect to the SERVOPACK. MR connector (Honda Tsushin Kogyo) Receptacle MR-50RM+ Case MR-50LK2+ MDR system connector (Sumitomo 3M) Plug PE Shell Z0-008 Connect to ED * With EGSV3-PR-**AC models, use in conjunction with the ED command / adapter EGSV3-SR AC and EGSV3-SR AY cable Connect to the customer s existing command cable. * Connect to the SERVOPACK. [Cable connector] Case Connector Adapter cable end Code Qty Code Qty MR-50F MR-50L 1 1 MR-50RMA4 (soldered type) Manufacturer Honda Tsushin Kogyo 51

52 EGSV3-PR AC 1 33 PAO Division pulse 2 34 /PAO A phase 3 19 PCO Division 35 PBO Division 4 SG pulse pulse Signal 20 /PCO C phase 36 /PBO B phase Open 5 21 PULS Command collector 37 PCOT pulse C phase 6 22 SIGN 7 +24VIN 8 /S-ON 9 /PULS 10 /SIGN 11 AU*-A 12 AU*-B 13 /INH 14 SG 15 TRQ-M 16 VTG-M 17 SG 18 FG External power supply Servo on Command pulse Command sign Auxiliary command A phase Auxiliary command B phase Command prohibit Signal Torque monitor Speed monitor Signal Frame Command sign 38 ALM+ 23 /CL Clear 39 ALM- Servo alarm P-OT 26 N-OT 27 S-RDY- Reverse prohibit Servo ready Forward prohibit /ALM- RST Alarm reset 28 S-RDY+ 44 COIN+ Positioning complete 29 OVER+ Overflow 45 COIN- 30 OVER ALO1 32 SG Signal 48 ALO2 49 ALO3 50 FG Alarm code Frame 52

53 EGSV3-SR AC 1 33 PAO Division pulse Signal 2 SG 34 /PAO A phase 3 19 PCO Division 35 PBO Division pulse pulse Alarm code 4 ALO1 20 /PCO C phase 36 /PBO B phase 1 Alarm code 2 Alarm code 3 5 CLT+ Current limit detection 21 ALO2 37 ALO3 6 CLT- 22 TGON+ 38 ALM+ Rotation Servo alarm External detection 7 +24VIN power 23 TGON- 39 ALMsupply 8 /S-ON Servo on P operations 24 /P-CON TRQ-M Torque Forward P-OT monitor prohibit 10 VTG-M Speed Reverse 26 N-OT monitor prohibit Signal /ALM- Alarm reset 11 SG 27 S-RDY+ 43 RST Servo ready Speed Analog 12 IN-A command 28 S-RDY- 44 P-CL current limit 13 SG Signal Signal SG 14 IN-B Auxiliary Signal 30 SG 46-12V -12 V 15 SG Signal Signal 31-12V -12 V 47 SG V +12 V 32 SG Signal V +12 V 17 SG Signal Signal 49 SG 18 FG Frame Frame 50 FG * The IN-A and IN-B s form a short circuit and cannot be used at the same time. 53

54 EGSV3-SR AY 1 2 Signal 34 /PAO SG Division 3 19 PCO pulse C phase 4 SEN SEN signal 20 /PCO 36 /PBO 33 PAO Division pulse A phase 35 PBO Division pulse B phase 5 CLT+ Current limit detection 21 BAT+ Battery + 37 BAT- Battery - 6 CLT- 22 TGON+ 38 ALM+ Rotation Servo alarm External detection 7 +24VIN power 23 TGON- 39 ALMsupply 8 /S-ON Servo on P operations 24 /P-CON TRQ-M Torque Forward P-OT monitor prohibit 10 VTG-M Speed Reverse 26 N-OT monitor prohibit Signal /ALM- Alarm reset 11 SG 27 S-RDY+ 43 RST Servo ready Speed Analog 12 IN-A command 28 S-RDY- 44 P-CL current limit 13 SG Signal Signal SG 14 IN-B Auxiliary Signal 30 SG 46-12V -12 V 15 SG Signal Signal 31-12V -12 V 47 SG V +12 V 32 SG Signal V +12 V 17 SG Signal Signal 49 SG 18 FG Frame Frame 50 FG * The IN-A and IN-B s form a short circuit and cannot be used at the same time. 54

55 Encoder Cable Connect to the adapter cable. Connect to the customer s existing encoder cable. Connect to the SERVOPACK PC 8 PU 2 Signal U phase PG0V 15 /PC 9 /PU 3 16 PA 10 PV V phase 4 17 /PA +5 V 11 /PV 5 PG5V power 18 PB supply PW 12 (BAT+) W phase 6 19 /PB 7 DIR Rotation direction 13 /PW (BAT-) 20 FG C phase A phase B phase Frame [Cable connector] Case Connector Adapter cable end Code Qty Code Qty MR-50F MR-20L 1 1 MR-50RMA4 (soldered type) Manufacturer Honda Tsushin Kogyo 55

56 P B 7. Peripheral Options 7.1. External Regenerative Resistor Unit EGDR-R01 (140 W, 50 ) The EGDR-R01, an external regenerative resistor unit, is available for 30 W to 1 kw applications. When using an external regenerative resistor, always set the resistance to match the Pn600 regenerative resistor capacity. 2-5 Base EKE Terminal block TL15 4P Cover EKE Resistor RH120 Resistor RH120 Case EKE Terminal codes 56

57 7.2. External Regenerative Resistor Unit JUSP-RA05-E (1760 W, 3.13 ) A regenerative resistor must be connected externally with the EGSV3-DB-60AD to 1EAD (6 kw to 15 W). The JUSP-RA05-E (1760 W, 3.13 Ω), an external regenerative resistor unit, is available as an option. 4-6 mounting hole Protective cover Terminal numbers External terminals (M5 screw) Ground base (M4 screw) Cement resistor 220 W, 25 (8 connected in parallel) Approx. weight: 7 kg 57

58 7.3. SGDB CN1 Extension Cable EGDR-CBL07D The CN1 command connector position on the EGSV3-DB- for upgrading SGDB SERVOPACKs differs from that on the SGDB. EGDR-CBL07D, an extension cable, is available if the command cable is not long enough for the upgrade. The EGDR-CBL07D extension cable has an analog monitor connector. SERVOPACK connector Opposing connector specifications Connector: PE Hood: Z mm Connector orientation EGDR-CBL0 200 mm 58

59 8. SERVOPACK Unit Specifications This section gives the specifications for the SERVOPACK units used for the various upgrade sets SERVOPACK Part Names The SERVOPACK part names are described below. Input voltage (power supply voltage) Product code (SERVOPACK product code) CHARGE lamp Illuminates when the main circuit power supply is on. Avoid touching the power supply terminals while the CHARGE lamp is illuminated; doing so may result in electric shock, even if the main circuit power supply is turned off. Terminals (power, motor connections) 7-segment LED display unit PC connector (CN7) Digital operator connector (CN3) Pulse encoder connector (CN2A) Input/ signal connector (CN1) Serial signal connector (CN2B) Grounding terminal Grounding terminal to prevent electric shock. This must always be connected Applicable Standards UL: UL508C 3rd edition (File No.E151696) CSA: CSAC22.2 No.14 (File No.E151696) 59

60 8.3. SERVOPACK Model Designation CACR - - EE V B D- 00 Special specifications 00 = Standard product Command type D = Analog/pulse command Command connector B = (CN1) 50PIN Series V = - V Input voltage specifications 1 = 200 V AC system 2 = 100 V AC system Indicates specifications for the Yaskawa EGSV3. SERVOPACK capacity (current indication) R70 = 50 W (200 V) 2R1 = 200 W (200 V), 100 W (100 V) 2R8 = 400 W (200 V), 200 W (100 V) 5R5 = 300 W (100 V) 7R6 = 1 kw (200 V) 240 = 3 kw (200 V) 330 = 5 kw (200 V) 550 = 7.5 kw (200 V) 780 = 15 kw (200 V) AC SERVOPACK 60

61 8.4. Set Model SERVOPACK Compatibility Series Type Old product code Set code Compatible SERVOPACK SGDA SGDE SGDL Speed control 100 V Speed control 200 V Position control 100 V Position control 200 V Speed control 100 V Speed control 200 V Position control 100 V Position control 200 V SGDA-A3BS EGSV3-DA-A3BS SGDA-A5BS EGSV3-DA-A5BS CACR-2R1-EE2VBD-00 SGDA-01BS EGSV3-DA-01BS SGDA-02BS EGSV3-DA-02BS CACR-2R8-EE2VBD-00 SGDA-03BS EGSV3-DA-03BS CACR-5R5-EE2VBD-00 SGDA-A3AS EGSV3-DA-A3AS SGDA-A5AS EGSV3-DA-A5AS CACR-R70-EE1VBD-00 SGDA-01AS EGSV3-DA-01AS SGDA-02AS EGSV3-DA-02AS CACR-2R1-EE1VBD-00 SGDA-04AS EGSV3-DA-04AS CACR-2R8-EE1VBD-00 SGDA-08AS EGSV3-DA-08AS CACR-7R6-EE1VBD-00 SGDA-A3BP EGSV3-DA-A3BP SGDA-A5BP EGSV3-DA-A5BP CACR-2R1-EE2VBD-00 SGDA-01BP EGSV3-DA-01BP SGDA-02BP EGSV3-DA-02BP CACR-2R8-EE2VBD-00 SGDA-03BP EGSV3-DA-03BP CACR-5R5-EE2VBD-00 SGDA-A3AP EGSV3-DA-A3AP SGDA-A5AP EGSV3-DA-A5AP CACR-R70-EE1VBD-00 SGDA-01AP EGSV3-DA-01AP SGDA-02AP EGSV3-DA-02AP CACR-2R1-EE1VBD-00 SGDA-04AP EGSV3-DA-04AP CACR-2R8-EE1VBD-00 SGDA-08AP EGSV3-DA-08AP CACR-7R6-EE1VBD-00 SGDE-A3BS, SGDL-A3BS EGSV3-DE-A3BS SGDE-A5BS, SGDL-A5BS EGSV3-DE-A5BS CACR-2R1-EE2VBD-00 SGDE-01BS, SGDL-01BS EGSV3-DE-01BS SGDE-02BS, SGDL-02BS EGSV3-DE-02BS CACR-2R8-EE2VBD-00 SGDE-03BS, SGDL-03BS EGSV3-DE-03BS CACR-5R5-EE2VBD-00 SGDE-A3AS, SGDL-A3AS EGSV3-DE-A3AS SGDE-A5AS, SGDL-A5AS EGSV3-DE-A5AS CACR-R70-EE1VBD-00 SGDE-01AS, SGDL-01AS EGSV3-DE-01AS SGDE-02AS, SGDL-02AS EGSV3-DE-02AS CACR-2R1-EE1VBD-00 SGDE-04AS, SGDL-04AS EGSV3-DE-04AS CACR-2R8-EE1VBD-00 SGDE-08AS, SGDL-08AS EGSV3-DE-08AS CACR-7R6-EE1VBD-00 SGDE-A3BP, SGDL-A3BP EGSV3-DE-A3BP SGDE-A5BP, SGDL-A5BP EGSV3-DE-A5BP CACR-2R1-EE2VBD-00 SGDE-01BP, SGDL-01BP EGSV3-DE-01BP SGDE-02BP, SGDL-02BP EGSV3-DE-02BP CACR-2R8-EE2VBD-00 SGDE-03BP, SGDL-03BP EGSV3-DE-03BP CACR-5R5-EE2VBD-00 SGDE-A3AP, SGDL-A3AP EGSV3-DE-A3AP SGDE-A5AP, SGDL-A5AP EGSV3-DE-A5AP CACR-R70-EE1VBD-00 SGDE-01AP, SGDL-01AP EGSV3-DE-01AP SGDE-02AP, SGDL-02AP EGSV3-DE-02AP CACR-2R1-EE1VBD-00 SGDE-04AP, SGDL-04AP EGSV3-DE-04AP CACR-2R8-EE1VBD-00 SGDE-08AP, SGDL-08AP EGSV3-DE-08AP CACR-7R6-EE1VBD-00 61

62 Series Type Old product code Set code Compatible SERVOPACK Note 1 Note 1 Note 2 DR2 Position/speed DR2-A3BC EGSV3-DR2-A3BC control DR2-A5BC EGSV3-DR2-A5BC CACR-2R1-EE2VBD V DR2-01BC EGSV3-DR2-01BC DR2-02BC EGSV3-DR2-02BC CACR-2R8-EE2VBD-00 DR2-03BC EGSV3-DR2-03BC CACR-5R5-EE2VBD-00 Position/speed DR2-A3AC EGSV3-DR2-A3AC control DR2-A5AC EGSV3-DR2-A5AC CACR-R70-EE1VBD V DR2-01AC EGSV3-DR2-01AC DR2-02AC EGSV3-DR2-02AC CACR-2R1-EE1VBD-00 DR2-04AC EGSV3-DR2-04AC CACR-2R8-EE1VBD-00 DR2-08AC EGSV3-DR2-08AC CACR-7R6-EE1VBD-00 SGDB Position/speed SGDB-03ADM EGSV3-DB-03ADM-RG control SGDB-05AD* EGSV3-DB-05AD*-RG 200 V SGDB-07ADM EGSV3-DB-07ADM-RG CACR-7R6-EE1VBD-01 SGDB-10AD* EGSV3-DB-10AD*-RG SGDB-15AD* EGSV3-DB-15AD*-RG SGDB-20AD* EGSV3-DB-20AD*-RG CACR-240-EE1VBD-00 SGDB-30AD* EGSV3-DB-30AD*-RG SGDB-44AD* EGSV3-DB-44AD*-RG CACR-330-EE1VBD-00 SGDB-50AD* EGSV3-DB-50AD*-RG SGDB-60AD* EGSV3-DB-60AD* SGDB-75ADG EGSV3-DB-75ADG CACR-550-EE1VBD-00 SGDB-1AADG EGSV3-DB-1AADG SGDB-1EADG EGSV3-DB-1EADG CACR-780-EE1VBD-00 SGDB-03ADM-P EGSV3-DB-03ADM-PB SGDB-05AD*-P EGSV3-DB-05AD*-PB SGDB-07ADM-P EGSV3-DB-07ADM-PB CACR-7R6-EE1VBD-01 SGDB-10AD*-P EGSV3-DB-10AD*-PB SGDB-15AD*-P EGSV3-DB-15AD*-PB SGDB-20AD*-P EGSV3-DB-20AD*-PB CACR-240-EE1VBD-00 SGDB-30AD*-P EGSV3-DB-30AD*-PB Note 1: * in the product code is the motor code. Note 2: Products with a code ending in -01 are external regenerative resistor types. 62

63 Series Type Old product code Set code Compatible SERVOPACK Note 1 Note 1 R Conventional CACR-PRA5AC4** EGSV3-PRA5AC4** incremental pulse CACR-PRA5AE4** CACR-2R1-EE2VBD-00 encoder CACR-PR01AC4** EGSV3-PR01AC4** Position control CACR-PR01AE4** EGSV3-PR01AE4** 100 V CACR-PR02AC4** EGSV3-PR02AC4** CACR-PR02AE4** EGSV3-PR02AE4** CACR-2R8-EE2VBD-00 CACR-PR03AC4** EGSV3-PR03AC4** CACR-PR05AC4** EGSV3-PR05AC4** CACR-5R5-EE2VBD-00 Conventional CACR-PRA5AC3** incremental pulse CACR-PRA5AE3** EGSV3-PRA5AC3** CACR-R70-EE1VBD-00 encoder CACR-PR01AC3** EGSV3-PR01AC3** Position control CACR-PR01AE3** 200 V CACR-2R1-EE1VBD-00 CACR-PR02AC3** EGSV3-PR02AC3** CACR-PR02AE3** EGSV3-PR02AE3** CACR-PR03AC3** EGSV3-PR03AC3** CACR-PR03AE3** EGSV3-PR03AE3** CACR-2R8-EE1VBD-00 CACR-PR05AC3** EGSV3-PR05AC3** CACR-PR07AC3** EGSV3-PR07AC3** CACR-7R6-EE1VBD-00 Conventional CACR-SRA5AC2** EGSV3-SRA5AC2** incremental pulse CACR-SRA5AE2** CACR-2R1-EE2VBD-00 encoder CACR-SR01AC2** EGSV3-SR01AC2** Speed control CACR-SR01AE2** EGSV3-SR01AE2** 100 V CACR-SR02AC2** EGSV3-SR02AC2** CACR-SR02AE2** EGSV3-SR02AE2** CACR-2R8-EE2VBD-00 CACR-SR03AC2** EGSV3-SR03AC2** CACR-SR05AC2** EGSV3-SR05AC2** CACR-5R5-EE2VBD-00 Conventional CACR-SRA5AC1** incremental pulse CACR-SRA5AE1** EGSV3-SRA5AC1** CACR-R70-EE1VBD-00 encoder CACR-SR01AC1** EGSV3-SR01AC1** Speed control CACR-SR01AE1** 200 V CACR-2R1-EE1VBD-00 CACR-SR02AC1** EGSV3-SR02AC1** CACR-SR02AE1** EGSV3-SR02AE1** CACR-SR03AC1** EGSV3-SR03AC1** CACR-SR03AE1** EGSV3-SR03AE1** CACR-2R8-EE1VBD-00 CACR-SR05AC1** EGSV3-SR05AC1** CACR-SR07AC1** EGSV3-SR07AC1** CACR-7R6-EE1VBD-00 Note 1: ** at the end of the product code is the motor code and indicates encoder specifications. 63

64 Series Type Old product code Set code Compatible SERVOPACK Note 1 Note 1 R Absolute pulse CACR-SRA5AY2** EGSV3-SRA5AY2** encoder CACR-SRA5AX2** CACR-2R1-EE2VBD-00 Speed control CACR-SR01AY2** EGSV3-SR01AY2** 100 V CACR-SR01AX2** EGSV3-SR01AX2** CACR-SR02AY2** EGSV3-SR02AY2** CACR-SR02AX2** EGSV3-SR02AX2** CACR-2R8-EE2VBD-00 CACR-SR03AY2** EGSV3-SR03AY2** CACR-SR05AY2** EGSV3-SR05AY2** CACR-5R5-EE2VBD-00 Absolute pulse CACR-SRA5AY1** encoder CACR-SRA5AX1** EGSV3-SRA5AY1** CACR-R70-EE1VBD-00 Speed control CACR-SR01AY1** EGSV3-SR01AY1** 200 V CACR-SR01AX1** CACR-2R1-EE1VBD-00 CACR-SR02AY1** EGSV3-SR02AY1** CACR-SR02AX1** EGSV3-SR02AX1** CACR-SR03AY1** EGSV3-SR03AY1** CACR-SR03AX1** EGSV3-SR03AX1** CACR-2R8-EE1VBD-00 CACR-SR05AY1** EGSV3-SR05AY1** CACR-SR07AY1** EGSV3-SR07AY1** CACR-7R6-EE1VBD-00 Note 1: ** at the end of the product code is the motor code and indicates encoder specifications. 64

65 8.5. SERVOPACK Ratings and Specifications V AC Input CACR- -EE1VBD-00 R70 2R1 2R8 7R Capacity 50 W 200 W 400 W 1 kw 3 kw 5 kw 7.5 kw 15 kw Continuous current 0.66 A 2.1 A 2.8 A 7.6 A 24.8 A 32.9 A 54.7 A 78.0 A Maximum current 2.1 A 6.5 A 9.3 A 17 A 56 A 84 A 130 A 170 A Control power supply Single-phase AC 200 V to 230 V +10%-15% 50/60 Hz 5% Single-phase AC 200 V to Main circuit power Three-phase AC 200 V to 230 V+10%-15% 230 V +10%-15% 50/60 Hz supply 50/60 Hz 5% 5% Regenerative function External regenerative resistor Built-in regenerative resistor 40 W 80 W 180 W External regenerative resistor Minimum permissible regenerative resistance Approximate weight 1.0 kg 1.2 kg 1.5 kg 2.8 kg 4.6 kg 10.2 kg 21.3 kg V AC Input CACR- -EE2VBD-00 2R1 2R8 5R5 Capacity 100W 200W 300W Continuous current 2.1A 2.8A 5.5A Maximum current 6.5A 9.3A 16.9A Control power supply Single-phase AC 100 V to 115 V +10%-15% 50/60 Hz 5% Main circuit power supply Single-phase AC100 V to 115 V +10%-15% 50/60 Hz 5% Regenerative function Minimum permissible regenerative resistance External regenerative resistor Built-in regenerative resistor 40 W Approximate weight 1.0 kg 1.2 kg 1.5 kg 65

66 General Specifications Item Control type Encoder Operating temperature/storage temperature Operating humidity/storage humidity Max permissible vibration/max permissible impact Altitude Dynamic brake function Protective functions Display functions Pulse Sign Specifications IGBT PWM control, sinusoidal current drive Multiplexed incremental pulse encoder: 8192, 2048, 1024 p/rev Absolute pulse encoder: 8192, 1024 p/rev Conventional incremental pulse encoder: 1000 to 6000 p/rev 0 C to 55 C /-20 C to 85 C Max. 90% RH (with no condensation) 4.9 m/s 2 / 19.6 m/s 2 Max. 1,000 m Operates when main power supply and servo are off. Overcurrent, overvoltage, low voltage, regeneration error, overload, overspeed, runaway, heat sink overheating, encoder error, CPU error CHARGE_LED, 7Seg_LED Line driver, open collector support 1 Mpps/200 Kpps Clear signal Line driver, open collector support Speed command 10 V DC, control range: 1:5000 Torque command DC 10 V /S-ON signal /P-CON signal /P-OT signal /N-OT signal Photocoupler /P-CL signal /N-CL signal /ALM-RST ALM S-RDY Photocoupler, max. voltage 30 V DC, max. current 50 ma DC TG-ON COIN Alarm code (x3) Encoder division Analog motor 1 Analog motor 2 Interface function USB interface function Digital operator Mounting Open collector, max. voltage 30 V DC, max. current 20 ma DC A/B/C-phase line driver (equivalent to SN75ALS174) Torque command monitor 1 V/100%, 8 V, 10 ma, accuracy 20 mv Speed monitor 1 V/1000 r/min -1, 8 V, 10 ma, accuracy 20 mv RS422A Conforms to USB1.1 standard JUSP-OP05A-1-E Base mounting 66

67 8.6. Main Circuit Wiring Main Circuit Terminal Names and Functions (1) CACR-R70-EE VBD-00 to CACR-2R8-EE VBD-00 Name Terminal code Function Main circuit power Main circuit power supply, single-phase L1, L2, L3 supply terminal * Single-phase connection; terminal L3 not used Control power Control power supply L1C, L2C supply terminal External regenerative resistor connection terminal Servo motor connection terminal Grounding terminals (x2) B1, B2 U, V, W No built-in regenerative resistor Connect an external regenerative resistor between B1 and B2 if regenerative capacity is insufficient. The external regenerative resistor must be purchased separately. Used to connect to the servo motor Connect to the power supply terminal and motor terminal, then connect to. Connect using an M4 screw. (2) CACR-5R5-EE2VBD-00 Name Terminal code Function Main circuit power Main circuit power supply, single-phase L1, L2, L3 supply terminal * Single-phase connection; terminal L3 not used. Control power Control power supply L1C, L2C supply terminal A built-in regenerative resistor is connected. - B1, B2 Do not wire to these terminals. Servo motor Used to connect to the servo motor. U, V, W connection terminal Grounding terminals (x2) Connect to the power supply terminal and motor terminal, then connect to. Connect using an M4 screw. (3) CACR-7R6-EE1VBD-00 Name Terminal code Function Main circuit power Main circuit power supply, three-phase L1, L2, L3 supply terminal Control power Control power supply L1C, L2C supply terminal A built-in regenerative resistor is connected. - B1, B2 Do not wire to these terminals. Servo motor Used to connect to the servo motor. U, V, W connection terminal Grounding terminals (x2) Connect to the power supply terminal and motor terminal, then connect to. Connect using an M4 screw. The main circuit terminals for (1), (2), and (3) above are connector type terminals. Cable end connector Product code Manufacturer Connector / Wago Connector / Wago 67

68 (4) CACR-240-EE1VBD-00, CACR-330-EE1VBD-00 Name Terminal code Function Main circuit power Main circuit power supply, three-phase L1, L2, L3 supply terminal Control power supply Control power supply L1C, L2C terminal External regenerative resistor connection terminal B1/(+),B2 Create an open circuit at (disconnect the wiring) B2-B3 and connect an external regenerative resistor between B1/(+) and B2 if regenerative capacity is insufficient. The external regenerative resistor must be purchased separately. Built-in regenerative B3 A built-in regenerative resistor is connected to terminal B1/(+) resistor Power supply high-frequency control DC reactor connection terminal Servo motor connection terminal Grounding terminals (x2) (-)1, (-)2 U, V, W All terminals are screw-type M4 terminals. B2-B3 as shipped are short-circuited. For connecting a DC reactor between 1 and 2 if power supply high-frequency suppression is required Used to connect to the servo motor. Connect to the power supply terminal and motor terminal, then connect to. (5) CACR-550-EE1VBD-00, CACR-780-EE1VBD-00 Terminal Name Function code Main circuit power Main circuit power supply, three-phase L1, L2, L3 supply terminal Control power supply Control power supply L1C, L2C terminal External regenerative Always connect an external regenerative resistor. resistor connection B1/(+),B2 terminal Main circuit load Used with DC power supply (-) terminal Negative terminal. Servo motor Used to connect to the servo motor. U, V, W connection terminal Grounding terminals (x2) All terminals are screw-type M6 terminals. Connect to the power supply terminal and motor terminal, then connect to Precautions When Turning On Power Supply Design the power-on sequence to account for the following points: Design so that the main circuit power supply switches off if a servo alarm signal is. When the control power supply is turned on, the ALM signal is (1Ry: Off) for a maximum of 5.0 s. These conditions must be taken into consideration when designing the power-on sequence. Additionally, use this relay to turn off the main circuit power supply to the SERVOPACK. Control power supply Servo alarm (ALM) signal Max. 5.0 s Make sure the power supply specifications of the components used match the power supply. IMPORTANT The control power supply and main circuit power supply should be turned on simultaneously or the main circuit power supply should be turned on after the control power supply. The control power supply should be turned off after the main circuit power supply. The following pages show some typical main circuit wiring examples. WARNIG Avoid touching the power supply terminals while the CHARGE lamp is illuminated. A high-voltage charge may remain inside the SERVOPACK even after power is turned off. The CHARGE lamp goes out once discharge has been completed. Confirm that this lamp is off before starting connecting or inspecting terminals. 68

69 8.7. Input/Output Signal Connections CN1 Operation/Command Names and Functions Input Control type Signal name Pin No. Function /S-ON 40 Controls servo motor on/off. /P-CON 41 Sets the speed control loop to P control only. May be set to other functions by changing the parameters. P-OT 42 Over-travel prevention function N-OT 43 Common /P-CL /N-CL Enables the external torque limit function. Applies internal settings as parameters for speed control. /ALM-RST 44 Alarm reset +24VIN 47 Sequence control 24 V DC power SEN 4 Initial data request signal when using absolute encoder BAT+ BAT Backup battery connection pin for the absolute encoder Not connected when using an encoder cable fitted with a battery unit Speed V-REF 5 Inputs the analog speed command. Torque T-REF 9 Inputs the analog torque command. PULS /PULS 7 8 Speed/position command in pulse sequence format Position SIGN 11 /SIGN 12 CLR /CLR Position deviation clear signal in pulse sequence format Output Control type Signal name Pin No. Function ALM+ 31 Servo alarm signal; signal is off when an error occurs. ALM- 32 /TGON+ /TGON Motor rotation detection signal; on when the motor speed exceeds the setting. /S-RDY+ /S-RDY On when the servo on (/S-ON) signal can be received May be changed to the brake (BK) signal using the parameters /BK Brake control (BK) signal - SG-COM PAO 33 Encoder A phase signal Common /PAO 34 PBO 35 Encoder B phase signal /PBO 36 PCO 19 Encoder C phase signal /PCO 20 PSO 48 S phase signal /PSO 49 AL01 37 Alarm code AL02 AL FG 50 Frame /V-CMP - Motor rotation speed matches speed command value. Speed +12V -12V Analog command (speed/torque) power supply /COIN+ 25 Positioning complete confirmation Position Monitor /COIN- PL1 PL2 PL3 MON1 MON Open collector command power supply Analog monitor signal; the factory defaults are MON1 for torque command monitor and MON2 for speed monitor. 69

70 CN1 Command Input/Output Connector Configuration 2 SG 4 SEN 6 SG 8 /PLUS 10 SG 12 /SIGN Signal SEN signal Signal Command pulse Signal Command sign 1 SG 3 PL1 5 V-REF 7 PLUS 9 T-REF 11 SIGN 13 PL2 Signal Open collector power supply Speed command Command pulse Torque command Command sign Open collector power supply 27 /TGON+ 29 /S-RDY+ 31 ALM+ 33 PAO 35 PBO 37 AL01 14 /CLR Clear 39 AL03 16 MON1 18 PL3 20 /PCO Analog monitor 1 Open collector power supply Division pulse C phase Rotation detection Servo ready Servo alarm Division pulse A phase Division pulse B phase Alarm code Alarm code 26 /COIN- 28 /TGON- 30 /S-RDY- 32 ALM- 34 /PAO 36 /PBO 38 AL02 Positioning complete Rotation detection Servo ready Servo alarm Division pulse A phase Division pulse B phase Alarm code 15 CLR Clear 40 /S-ON Servo on P operation 41 /P-CON 17 MON2 19 PCO Analog monitor 2 Division pulse C phase 43 /N-OT Reverse inhibit 42 /P-OT 44 /ALM-RST 45 /P-CL Forward torque limit 21 BAT+ Battery + 46 /N-CL 22 BAT- Battery- +12 V V-IN V power supply 24-12V -12 V power supply 25 /COIN+ Positioning complete 49 /PSO IO power supply S phase 48 PSO Forward inhibit Alarm reset Reverse torque limit S phase 50 FG Frame [CN1 cable connector kit] Connector kit code (Yaskawa supply code) Case JZSP-CSI9-1-E Z set Connector Code Qty Code Qty PE (soldered type) Manufacturer 1 Sumitomo 3M 70

71 CN2A Pulse Encoder Connector [CN2A terminal configuration] 2 SG 4 PG5V 6 PG5V 8 PS (PU) 10 (PV) Signal +5 V power supply +5 V power supply S phase (U phase ) (V phase ) 1 SG 3 SG 5 PG5V 7 DIR 9 /PS (/PU) Signal Signal +5 V power supply Rotation direction S phase (U phase ) 12 BAT+ 14 PC 16 PA 18 PB 20 FG Battery + C phase A phase B phase Frame 11 (/PV) 13 BAT- (/PW) 15 /PC 17 /PA 19 /PB (V phase ) Battery - (W phase ) C phase A phase B phase [CN2AConnector] Case Connector Manufacturer Code Qty Code Qty A set PE (soldered type) 1 Sumitomo 3M CN2B Serial Encoder Connector Not implemented CN3 Digital Operator Connector For digital operator (JUSP-0P05A-1-E) connection CN7 USB Port For interface with PC. Conforms to USB 1.1 standard 71

72 8.8. Connection Examples Speed Control Connection Example SERVOPACK Speed command (Max. voltage: ±12 V) External torque limit/torque feed-forward (Max. voltage: ±12 V) Alarm code Max. operating voltage: 30 V DC Max. current: 20 ma DC Backup *2 battery V Encoder division pulse Applicable line receiver TI SN75175 or MC3486 or equivalent SEN signal *2 Servo on (Servo on when on) P operation (P operates when on) Forward drive inhibit (Drive inhibited when off) Backward drive inhibit (Drive inhibited when off) Alarm reset (Reset when on) Forward torque limit (Limited when on) Reverse torque limit (Limited when on) Speed matching detection (on when speed matching is detected) Rotation detection (on when above setting is enabled) Servo ready (on when ready) Servo alarm (off when alarm occurs) Photocoupler Max. operating voltage: 30 V DC Max. current: 50 ma DC *1: indicates twisted-pair cable. SERVOPACK connector shell Shield cable connected to connector shell *2: Connected when using an absolute encoder. However, do not connect a backup battery when an encoder cable fitted with a battery unit is connected. *3: Enabled via parameter settings *4: The 24 V DC power supply must be provided by the customer. The 24 V DC power supply should be a double-insulated device. 72

73 Position Control Connection Example SERVOPACK Position command A phase B phase Alarm code Max. operating voltage: 30 V DC Max. current: 20 ma DC Backup *2 battery V Encoder division pulse Applicable line receiver TI SN75175 or MC3486 or equivalent SEN signal *2 Open collector command power supply Servo on (Servo on when on) P operation (P operates when on) Forward drive inhibit (Drive inhibited when off) Backward drive inhibit (Drive inhibited when off) Alarm reset (Reset when on) Forward torque limit (Limited when on) Reverse torque limit (Limited when on) Positioning complete (on when positioning is complete) TG on (on when setting is exceeded) Servo ready (on when ready) Servo alarm (off when alarm occurs) Photocoupler Max. operating voltage: 30 V DC Max. current: 50 ma DC SERVOPACK connector shell *1: indicates twisted-pair cable. Shield cable connected to connector shell *2: Connected when using an absolute encoder. However, do not connect a backup battery when an encoder cable fitted with a battery unit is connected. *3: Enabled via parameter settings *4: The 24 V DC power supply must be provided by the customer. The 24 V DC power supply should be a double-insulated device. 73

74 8.9. External dimensions CACR-2R1-EE2VBD-00, CACR-R70-EE1VBD-00, CACR-2R1-EE1VBD-00 2-M4 screw hole Input voltage Type (mounting pitch) Exterior Terminals (two types) (mounting pitch) Grounding terminal 2-M4 screw Nameplates Approx. weight: 1.0 kg CACR-2R8-EE2VBD-00, CACR-2R8-EE1VBD-00 2-M4 screw hole Input voltage Type (mounting pitch) Exterior Terminals (two types) (mounting pitch) Grounding terminal 2-M4 screw Nameplates Approx. weight: 1.2 kg 74

75 CACR-5R5-EE2VBD-00, CACR-7R6-EE1VBD-00 Input voltage Air flow Cooling fan Type Air flow Terminals two types Nameplates 3-M4 screw hole Grounding terminal 2-M4 screw (mounting pitch) Exterior Air flow Approx. weight: 1.5 kg (mounting pitch) CACR-240-EE1VBD-00 Nameplates Input voltage Type Air flow Terminal I3-M4 screw Terminal detailed diagram Grounding terminal 2-M4 screw 4-M4 screw hole Air flow (mounting pitch) Exterior Cooling fan (mounting pitch) Approx. weight: 2.8kg 75

76 CACR-330-EE1VBD-00 Nameplates Input voltage Type Air flow Cooling fan Terminal I3-M4 screw Terminal detailed diagram 4-M4 screw hole Air flow (mounting pitch) Exterior Grounding terminal 2-M4 screw Cooling fan (mounting pitch) Approx. weight: 4.6 kg CACR-550-EE1VBD-00 Cooling fan Air flow Nameplates Input voltage Type 4-M6 screw hole Terminal 5-M6 screw (mounting pitch) Exterior Grounding terminal 2-M6 screw Air flow Terminal 6-M6 screw Cooling fan (mounting pitch) Approx. weight: 10.2 kg 76

77 CACR-780-EE1VBD-00 Nameplates Input voltage Type Air flow Terminal 5-M6 screw 4-M6 screw hole Terminal 6-M6 screw (mounting pitch) Exterior Grounding terminal 2-M6 screw Air flow (mounting pitch) Approx. weight: 21.3 kg 77

78 8.10. Parameters The EGSV3 SERVOPACK includes the following additional parameters for the standard -V Series: CAUTION The parameters not described in this manual or the -V Series user manual are set at the factory and should not be altered. Modifying the parameters without reason may result in malfunctions and consequent risk of injury or damage to equipment Additional and Modified Parameters Parameter No. Pn000 Name Setting range Setting units Factory setting Function selection switch to 03B When valid After power is turned back on Type Setup Digit 3 Digit 2 Digit 1 Digit 0 n Rotation direction selection * Same as -V standard parameter. Control method selection * Same as -V standard parameter. Pulse encoder division function selection 0 to 2 Reserved parameters (Do not set.) 3 Division function auto setting Reserved parameter (Do not change.) Pn002 Function selection switch to After power is turned back on Setup Digit 3 Digit 2 Digit 1 Digit 0 n Speed/position control option (T-REF assignment) * Same as -V standard parameter. Torque control option (V-REF assignment) * Same as -V standard parameter. Absolute encoder usage method 0 Use absolute encoder as absolute encoder. 1 to 3 Reserved parameters (Do not set) External encoder usage method * This function is not available with the EGSV3 SERVOPACK. 78

79 Parameter No. Pn009 Name Setting range Setting units Factory setting Function selection switch to When valid After power is turned back on Type Tuning Digit 3 Digit 2 Digit 1 Digit 0 n Reserved parameter (Do not change.) Current control mode selection * Same as -V standard parameter. Speed detection method selection * Same as -V standard parameter. PG power supply voltage selection V V V V V V V V Pn00B Function selection switch B 0000 to After power is turned back on Setup Digit 3 Digit 2 Digit 1 Digit 0 n Operator parameter display selection * Same as -V standard parameter. Gr.2 alarm stop method selection * Same as -V standard parameter. Power supply selection for three-phase specifications SERVOPACK 0 Use with three-phase power supply. 1 Use with single-phase power supply. * While this is the same as the -V standard parameter, the factory setting may differ, depending on the model. SERVOPACK capacity Factory setting 7R6, 240, 330, 550, R70, 2R1, 2R8, 5R5 1 Reserved parameter (Do not change.) Pn170 Reserved parameter (Do not change.)

80 Parameter No. Pn212 Name No. of encoder division pulses Setting range 16 to Setting units Factory setting 1 P/ Rev By model When valid After power is turned back on Type Setup SERVOPACK capacity Factory setting R70, 2R1, 2R8, 5R R6, 240, 330, 550, Pn230 Pn232 Reserved parameter (Do not change.) Motor selection 0100 to Digit 3 Digit 2 Digit 1 Digit 0 n Motor parameter selection 0 Motor parameter 1 selection 1 Motor parameter 2 selection 2 Reserved parameter (Do not change.) * Selected as described in Motor Parameter. After power is turned back on Setup Reserved parameter (Do not change.) Reserved parameter (Do not change.) Reserved parameter (Do not change.) 80

81 Parameter No. Pn50E Name Setting range Setting units Factory setting Output signal selection to When valid After power is turned back on Type Setup Digit 3 Digit 2 Digit 1 Digit 0 n Positioning complete signal assignment (/COIN) 0 to 3 Note Speed matching detection signal assignment (/V-CMP) 0 to 3 Note Rotation detection signal assignment (/TGON) 0 to 3 Note Servo ready signal assignment (/S-RDY) 0 to 3 Note Pn50F Output signal selection to Note After power is turned back on Setup Digit 3 Digit 2 Digit 1 Digit 0 n Torque limited signal assignment (/CLT) 0 to 3 Note Speed limit detection signal assignment (/VLT) 0 to 3 Note Brake signal assignment (/BK) 0 to 3 Note Warning signal assignment (/WARN) 0 to 3 Note Note: The correspondence between the parameter settings and the terminals is as shown below. Setting Output terminal 0 Disabled (Corresponding signal not ) 1 Outputs from CN1-25, Outputs from CN1-27, Outputs from CN1-29,

82 Parameter No. PnF20 Note 1 Name Setting range Setting units Motor 1 encoder selection 0000 to FFFF - Factory setting By model Note 2 When valid After power is turned back on Type Setup Digit 3 Digit 2 Digit 1 Digit 0 n Encoder pulse No. selection * Selected as described in Encoder Pulse No. Parameter. Reserved parameter (Do not change.) Encoder type selection 0 Conventional incremental pulse encoder 1 Absolute pulse encoder 3 Multiplexed incremental pulse encoder PnF40 Note 1 Motor 2 encoder selection 0000 to FFFF - By model Note 2 After power is turned back on Setup Digit 3 Digit 2 Digit 1 Digit 0 n Encoder pulse No. selection * Selected as described in Encoder Pulse No. Parameter. Reserved parameter (Do not change.) Encoder type selection 0 Conventional incremental pulse encoder 1 Absolute pulse encoder 3 Multiplexed incremental pulse encoder Note 1: Does not support the parameter setting initialization (Fn005) function. Note 2: Default factory setting SERVOPACK product code CACR-2R1-EE2VBD-00 CACR-2R8-EE2VBD-00 CACR-5R5-EE2VBD-00 CACR-R70-EE1VBD-00 CACR-2R1-EE1VBD-00 CACR-2R8-EE1VBD-00 CACR-7R6-EE1VBD-00 CACR-240-EE1VBD-00 CACR-330-EE1VBD-00 CACR-550-EE1VBD-00 CACR-780-EE1VBD-00 Factory setting PnF20 PnF40 300B 310B 310C 300B 310B C 82

83 Encoder Pulse No. Parameter The number of encoder pulses is selected as shown below via the PnF20.1,0 or PnF40.1,0 parameters. PnF20.1,0 or PnF40.1,0 No. of encoder pulses 00 Do not select the number A B C D E F * The OC and 10 settings will both be 8192 p/rev. The OE and 11 settings will both be set to p/rev Motor Parameter The motor is selected as shown below via the Pn232.0 parameter. For SERVOPACKs with motors other than these set, refer to 9.5. Specification Code and Motor Code Labeling. SERVOPACK product code CACR-2R1-EE2VBD-00 Motor parameter 1 Motor parameter 2 Motor type Encoder type Motor type Encoder type SGM-01B SGMP-01B CACR-2R8-EE2VBD-00 SGM-02B SGMP-02B CACR-5R5-EE2VBD-00 SGM-03B 2048 p/r multiplexed SGMP-03B incremental pulse CACR-R70-EE1VBD-00 SGM-A5A encoder CACR-2R1-EE1VBD-00 SGM-02A SGMP-02A CACR-2R8-EE1VBD-00 SGM-04A SGMP-04A 2048 p/r multiplexed incremental pulse encoder CACR-7R6-EE1VBD-00 SGMG-09A*A SGMS-10A*A 4096 p/r multiplexed CACR-240-EE1VBD-00 SGMG-30A*A SGMS-30A*A incremental pulse 8192 p/r multiplexed encoder CACR-330-EE1VBD-00 SGMG-44A*A incremental pulse SGMS-40A*A encoder CACR-550-EE1VBD-00 SGMG-75A*A 8192 p/r multiplexed incremental pulse CACR-780-EE1VBD-00 SGMG-1EA*A encoder 83

84 Segment LED Display The SERVOPACK features a 7-segment LED single-digit display on the front at the top. This indicates the SERVOPACK status and alarms Status Display Operating Status Display The operating status is indicated by a single character. Display Details Digital operator display Base block display (servo off) BB RUN display (servo on) RUN Initializing or downloading CPF00/CPF Over-travel Status Display POT (forward over-travel) or NOT (reverse over-travel) is displayed one letter at a time. If both forward and reverse over-travel occur, they are displayed in alternation. Example: For POT Status display Off P Off o Off t Off Alarm and Warning Display Alarm or warning numbers are displayed one character at a time. Example: For alarm A.C20 Status display Off A. Off C Off 2 Off 0 Off 84

85 Additional Alarms and Warnings This SERVOPACK includes the following alarm and warning functions in addition to those on -V standard products. For detailed information for functions identical to those for -V standard products, refer to Analog Voltage, Pulse Sequence Command/Rotation Type in Yaskawa document number SIJP S AC Servo Drive -V Series User Manual - Design/Maintenance Additional Alarms No. Alarm name Alarm details A.800 A.C20 A.C21 C phase error/pulse error Phase error detection at power on Phase error detection during operation Motor 1 rotation C-phase value differs from pulse setting. Alarm stop method Alarm resettable Alarm code ALO1 ALO2 ALO3 Gr1 No H H H UVW signal detected at power on. Gr1 No L H L UVW signal detected during operation. Gr1 No L H L A.C22 Initial rotation data error Initialization information not received within specified time Gr1 No L H L A.C30 PG open circuit 1 (A) A phase is open-circuit. Gr1 No L H L A.C31 PG open circuit 1 (B) B phase is open-circuit. Gr1 No L H L A.C40 PG open circuit 2 (C) C phase is open-circuit. Gr1 No L H L Gr1: Alarm stop method as for Pn Factory setting is for stopping using dynamic brake (DB) Additional Warnings No. Warning name Warning details A.912 Heat sink warning temperature Heat sink exceeds the temperature setting. 85

86 8.12. Utility Functions (Fn ) Utility functions are indicated by numbers prefixed with Fn ; these functions are related to servo motor operations and adjustments. The Utility functions are listed in the table below. For details and operating procedures for the functions, refer to the following documents: Document No. SIJPS V Series SGM V/SGDV User Manual - Design/Maintenance Analog Voltage, Pulse Sequence Command/Rotation Type Document No. SIJP S V Series AC Servo Drive User Manual Digital Operator Controls Fn No. Function Fn000 Fn002 Fn003 Fn004 Fn005 Fn006 Fn009 Fn00A Fn00B Fn00C Fn00D Fn00E Fn00F Fn010 Fn030 Alarm history display Jog operation Home position search Program jog operation Parameter setting initialization Alarm history clear Analog (speed/torque) command offset auto adjustment Speed command offset manual adjustment Torque command offset manual adjustment Analog monitor offset adjustment Analog monitor gain adjustment Motor current detection signal offset auto adjustment Motor current detection signal offset manual adjustment Parameter write disable setting Software reset 86

87 8.13. Monitor Display (Un ) The monitor display displays the / signal status and SERVOPACK internal status. The following table lists all the indications that can appear on the monitor display. For details of the display and operating procedures, refer to the following documents: Document No. SIJP S V Series SGM V/SGDV User Manual - Design/Maintenance Analog Voltage, Pulse Sequence Command/Rotation Type Document No. SIJP S V Series AC Servo Drive User Manual Digital Operator Controls Un No. Display details Units Un000 Motor rotation speed min -1 Un001 Speed command min -1 Un002 Internal torque command (% of rated torque) % Un003 Rotation angle 1 (No. of encoder pulses from C phase home position, displayed in base 10) Encoder pulses Un004 Rotation angle (Angle [electrical angle] from pole home position) deg Un005 Input signal monitor Un006 Output signal monitor Un007 Input command pulse speed (valid for position control only) min -1 Un008 Position deviation (valid for position control only) Command units Un009 Un00A Un00B Total load factor (% of rated torque: effective torque for 10 s period) Regenerative load factor (% of available regenerative capacity: regenerative power consumption for 10 s period) DB resistance power consumption (% of available power during dynamic brake operation: DB power consumption for 10 s period) Un00C Input command pulse counter Command units Un00D Feedback pulse counter Encoder pulses Un012 Total operating time 100 ms Un013 Feedback pulse counter Command units % % % 87

88 8.14. Nameplate (1) (2) (3) (4) (5) (6) (7) (11) (8) (10) (9) No Details Product name Model Protection classification Input/ specifications Operating temperature range Order number Serial number Manufacturer name Country of manufacture Barcode Safety standard approval symbols 88

89 9. Appendix 9.1. Differences compared to Standard -V Products The EGSV3 SERVOPACK incorporates standard -V technology with certain common parts. Nevertheless, certain parts differ. The main differences are listed below. Common parts Item Details Remarks Digital operator May be connected - SigmaWin+ May be connected Install EGSV3 component. Differing parts Item Details Remarks Option modules Option modules cannot be connected to the EGSV3. - Mechatronic link command No mechatrolink command type - Panel operator function No panel operator - -V safety function No safety function V AC SERVOPACK function A 100 V type motor is connected with the 100 V type EGSV3. A 200 V type motor is connected with the standard -V 100 V type because the main circuit voltage is doubled within the SERVOPACK V Series Related Documents The following documents concerning this product are available; please refer to the relevant document when necessary: Document -V Series User Manual Design/Maintenance Analog Voltage, Pulse Sequence Command/Rotation Type (Document No. SIJP S ) -V Series User Manual Digital Operator Controls (Document No. SIJP S ) AC SERVOPACK Safety Precautions Model: CACR-***-EE (Document No. GS ) Σ-V Series Digital Operator Controls Safety Precautions (Document No. TOBP C ) Model and peripheral selection System settings Board mounting and wiring Test running Test running and servo adjustments Maintenance and inspection 89

90 9.3. Differences compared to Series SERVOPACK Item Details Remarks Auto tuning function The EGSV3 does not include the auto tuning function available on the Series. Speed bias function Cn-1C The EGSV3 does not include a speed bias function. Adjustments can be performed by Yaskawa where necessary. When using an external regenerative resistor External regenerative resistor unit When using an external regenerative resistor, set Pn600 to the permissible power consumption matching the resistance capacity of the external resistor. To connect an external regenerative resistor to the EGSV3-DA-08A*, EGSV3-DA-03B*, EGSV3-DR2-08AC, or EGSV3-DR2-03B, use one ending in Y8. The EGSV3 has built-in regenerative circuitry, and the regenerative resistor is connected directly. The SGDA regenerative unit JUSP-RG08 cannot be used. The EGDR-R01, an external regenerative resistor unit, is available for the EGSV3. SGDA DR2 SGDA DR2-***C-F The EGSV3 does not support full-closed control. DR2 Regenerative resistor The EGSV3-DB-**AD*-RG features a regenerative resistor on the side of the SERVOPACK set. Change the regenerative resistor if the regenerative resistance of the existing equipment is below the minimum permissible resistance of the EGSV3. SGDB External regenerative resistor minimum permissible resistance SGDB-**AD*-P Mounting dimensions External dimensions The minimum permissible resistance will differ for the EGSV3 and SGDB external regenerative resistors. Change the regenerative resistance if the regenerative resistance of the existing equipment is below the minimum permissible value for the EGSV3. Refer to External Regenerative Resistor Comparison. The EGSV3-DB-**AD*-PB is intended for upgrades of the SGDB-**AD*-P, but the construction does not the heat sink to the duct. The heat sink unit is contained in the control panel. This means control panel interior temperatures may rise after the SERVOPACK is upgraded. If operating load factors and control board cooling capacity margins are insufficient, measure the actual temperature rise to verify safety. For details of differences in mounting dimensions and external dimensions, refer to Comparison of Mounting Dimensions and External Dimensions. SGDB SGDB External Regenerative Resistor Comparison SGDB Minimum Code permissible resistance SGDB-03AD SGDB-05AD 15 SGDB-07AD SGDB-10AD SGDB-15AD SGDB-20AD 9 SGDB-30AD SGDB-44AD 5.8 SGDB-50AD EGSV3 Minimum Code permissible resistance EGSV3-03AD EGSV3-05AD 40 EGSV3-07AD EGSV3-10AD EGSV3-15AD EGSV3-20AD 12 EGSV3-30AD EGSV3-44AD 8 EGSV3-50AD 90

91 Comparison of Mounting Dimensions and External Dimensions Group Old code External dimensions EGSV3 set code External dimensions W H D W H D SGDA SGDA-A3B* EGSV3-DA-A3B* V SGDA-A5B* EGSV3-DA-A5B* SGDA-01B* EGSV3-DA-01B* SGDA-02B* EGSV3-DA-02B* SGDA-03B* EGSV3-DA-03B* SGDA SGDA-A3A* EGSV3-DA-A3A* V SGDA-A5A* EGSV3-DA-A5A* SGDA-01A* EGSV3-DA-01A* SGDA-02A* EGSV3-DA-02A* SGDA-04A* EGSV3-DA-04A* SGDA-08A* EGSV3-DA-08A* DR2 DR2-A3BC EGSV3-DR2-A3BC Position/ DR2-A5BC EGSV3-DR2-A5BC speed DR2-01BC EGSV3-DR2-01BC 100 V DR2-02BC EGSV3-DR2-02BC DR2-03BC EGSV3-DR2-03BC DR2 DR2-A3AC EGSV3-DR2-A3AC Position/ DR2-A5AC EGSV3-DR2-A5AC speed DR2-01AC EGSV3-DR2-01AC 200 V DR2-02AC EGSV3-DR2-02AC DR2-04AC EGSV3-DR2-04AC DR2-08AC EGSV3-DR2-08AC SGDB SGDB-03ADM EGSV3-DB-03ADM Standard SGDB-05AD* EGSV3-DB-05AD* SGDB-07ADM EGSV3-DB-07ADM SGDB-10AD* EGSV3-DB-10AD* SGDB-15AD* EGSV3-DB-15AD* SGDB-20AD* EGSV3-DB-20AD* SGDB-30AD* EGSV3-DB-30AD* SGDB-44AD* EGSV3-DB-44AD* SGDB-50AD* EGSV3-DB-50AD* SGDB-60AD* EGSV3-DB-60AD* SGDB-75ADG EGSV3-DB-75ADG SGDB-1AADG EGSV3-DB-1AADG SGDB-1EADG EGSV3-DB-1EADG External dimensions Mounting dimensions Upstream equipment / wiring Encoder wiring Power supply wiring Motor wiring * Length dimensions for EGSV3-DB-***** include signal cable space. Height/length may be extended. Interchangeable Interchangeable Interchangeable DR2 non-interchangeable All others interchangeable EGSV3-DA/DR2 non-interchangeable All others interchangeable 91

92 9.4. Differences compared to R Series Products Item Details Remarks Speed command Input can be fed from either in-a or in-b. The in-a and in-b s are SR type in-a/in-b short-circuited internally and cannot be used at the same time. Current limit R Series: Analog voltage limit using two forward and reverse s. SR type Inhibit (INH) Speed bias function SW6 Division pulse open collector Setting the number of division pulse Main circuit wiring When using external regenerative resistor Alarm code (AL01/02/03) specifications Mounting dimensions External dimensions EGSV3: Analog voltage limit using one common forward/reverse or on/off control using sequence signal with limit set as parameter. When using the INH signal, always wire the CN1 45-pin /COIN on the existing upstream equipment cable. The EGSV3 lacks a speed bias function. Adjustments can be performed by Yaskawa where necessary. The EGSV3-SR lacks division pulse by open collector. The EGSV3 does not allow 2/3 and 2/5 division ratios to be set. The possible values are listed below. 1500P/R: 1500, 750, 500, 375, 300, 250, 150, 125, 100, 75, 60, P/R: 1000, 500, 250, 200, 125, 100, 50 The EGSV3 is not compatible with the R Series main circuit wiring. The existing cables cannot be used without modification. Rewire appropriately. When using an external regenerative resistor, set Pn600 to the permissible power consumption matching the resistance capacity of the external resistor. If connecting an external regenerative resistor to the following, use one ending in Y8. EGSV3-PR03AC4, EGSV3-PR05AC4, EGSV3-PR05AC3, EGSV3-PR07AC3, EGSV3-SR03AC2, EGSV3-SR05AC2, EGSV3-SR05AC1, EGSV3-SR07AC1, EGSV3-SR03AY2, EGSV3-SR05AY2, EGSV3-SR05AY1, EGSV3-SR07AY1. The alarm code specifications for the EGSV3 differ from the R Series. Refer to Alarm Code Specification Differences. For details of differences in mounting dimensions and external dimensions, refer to Comparison of Mounting Dimensions and External Dimensions. PR type PR type SR type 92

93 Alarm Code Specification Differences Output logic The EGSV3 does not feature an alarm code logic selector function. The CACR-SR**AC includes an alarm code logic selector function. The logic is set by default to the reverse of the EGSV3. The CACR-PR**AC includes alarm code, but does not include a logic selector function. The logic is the same as for the EGSV3. The CACR-SR**AY does not include alarm code. Alarm code specifications comparison table Alarm code AL01/02/03 Output logic selection SR-AC Yes Yes PR-AC Yes No Default logic Low when normal High when normal Remarks SW1-7: Off EGSV3 Reverse Same SR-AY No - - no care Low voltage alarm codes For the EGSV3, the low voltage alarm codes and high voltage alarm codes are the same. EGSV3 R Series ALO1 High High ALO2 High Low ALO3 Low Low 93

94 Comparison of Mounting Dimensions and External Dimensions Group Old code External dimensions EGSV3 set code External dimensions W H D W H D PRA5AC4 PRA5AE4 EGSV3-PRA5AC4 Incremental PR01AE4 75 EGSV3-PR01AE pulse encoder PR02AE4 EGSV3-PR02AE4 Pulse PR01AC4 EGSV3-PR01AC4 control PR02AC4 100 EGSV3-PR02AC v PR03AC4 EGSV3-PR03AC4 PR05AC4 135 EGSV3-PR05AC PRA5AC3 PRA5AE3 EGSV3-PRA5AC3 180 PR01AC3 Incremental PR01AE3 75 EGSV3-PR01AC pulse PR02AE3 EGSV3-PR02AE3 encoder Pulse PR03AE3 EGSV3-PR03AE3 control PR02AC3 EGSV3-PR02AC3 200 v PR03AC3 100 EGSV3-PR03AC PR05AC3 EGSV3-PR05AC3 PR07AC3 135 EGSV3-PR07AC SRA5AC2 Incremental SRA5AE2 EGSV3-SRA5AC2 pulse SR01AE EGSV3-SR01AE2 encoder SR02AE2 130 EGSV3-SR02AE2 Speed SR01AC2 EGSV3-SR01AC2 control 100 v SR02AC2 100 EGSV3-SR02AC SR03AC2 EGSV3-SR03AC2 180 SR05AC2 135 EGSV3-SR05AC SRA5AC1 SRA5AE EGSV3-SRA5AC1 SR01AC1 Incremental SR01AE1 75 EGSV3-SR01AC pulse SR02AE1 EGSV3-SR02AE1 encoder Speed SR03AE1 EGSV3-SR03AE1 control SR02AC1 EGSV3-SR02AC v SR03AC1 100 EGSV3-SR03AC SR05AC1 EGSV3-SR05AC1 SR07AC1 135 EGSV3-SR07AC SRA5AX2 Absolute SR01AX EGSV3-SR01AX2 pulse encoder SR02AX2 130 EGSV3-SR02AX2 Speed SR01AY2 EGSV3-SR01AY2 SRA5AY2 EGSV3-SRA5AY2 control SR02AY2 100 EGSV3-SR02AY v SR03AY2 EGSV3-SR03AY2 180 SR05AY2 135 EGSV3-SR05AY SRA5AY1 SRA5AX1 EGSV3-SRA5AY1 SR01AY1 Absolute SR01AX1 75 EGSV3-SR01AY pulse SR02AX1 EGSV3-SR02AX1 encoder Speed SR03AX1 EGSV3-SR03AX1 control SR02AY1 EGSV3-SR02AY v SR03AY1 100 EGSV3-SR03AY SR05AY1 EGSV3-SR05AY1 SR07AY1 135 EGSV3-SR07AY External dimensions Reduced length Mounting dimensions Interchangeable Upstream equipment / wiring Interchangeable Encoder wiring Interchangeable Power supply wiring Non-interchangeable Existing cable must be modified. Motor wiring Non-interchangeable Existing cable must be modified. 94

95 9.5. Specification Code and Motor Code Labeling The specification code and motor code are used to identify the SERVOPACK settings and motor parameter settings. SERVOPACK product code Motor code 2 Motor code 1 SERVOPACK version CACR-2R1-EE1VBD -00 STD000 STD000 A3A7A7 E0000 Specification code The specification code indicates the SERVOPACK settings. Specification code E0008 E0009 E000A E000B E000C E000D E000E E000F Details For EGSV3-DA-***S and EGSV3-DE-***S For EGSV3-DA-***P For EGSV3-DR2-***C For EGSV3-DB-**AD For EGSV3-PR**AC For EGSV3-SR**AC For EGSV3-SR**AY For EGSV3-DE-***P 95