YASKAWA AC SERVO DRIVES JUNMA SERIES SJME SERVOMOTOR SJDE SERVOPACK

Transcription

1 YSK SERO DRIES JUM SERIES SJME SEROMOTOR SJDE SEROPK

2 SERO DRIES JUM SERIES O T E T S ith Yaskawa s world-leading servo drive technology, we are proud to introduce the Junma series for a wide range of applications. Following our policy to make user-friendly products, the Junma series is different from conventional models, because no more parameter settings and no more servo adjustments are required; therefore, the setup and test runs are greatly reduced. lso, the Junma series has the standard servo characteristics such as high response, high speed, high torque, and high accuracy. Try Yaskawa s Junma series to improve your system so that it better suits your needs. System onfiguration Selection of Devices Servomotors SEROPKs onnection Diagram Installation ables / Peripheral Devices Selection of Servomotor Size onnection to Host ontroller Product Standard Life Terminology FQs Revision History Fast & Easy Setup Settings are easy to make, so setup time is reduced. Unpacking Remove the SEROPK from the box. Installation and wiring onnect the cables for the power supply, signal lines, and a motor. Reference pulse setting Select the reference pulse switch for your of the controller. o parameter settings and gain adjustments are needed. Setup completion The motor is ready to run with the reference from the controller. The required torque is possible even at a highspeed rotation of min-. ttached Screwdriver

3 System onfiguration Selection of Devices Manufacturer * * onnection to Peripheral Devices Surge protector To protect the system from lightening surge. Rated output reactor Used to control power supply harmonics. Fuse To protect the equipment, always install fuses. RIG orrectly connect the connectors and B. Incorrect wiring may result in electric shock, injury, or damage to the equipment. fter wiring correctly, install the connectors as shown here. Used for a regenerative unit. Regenerative unit Used if regenerative energy is high. Power supply Single-phase L L ithout brake SJME-M SJME-M SJME-M SJME-M Molded-case circuit breaker To protect the equipment and wiring, always connect a molded-case circuit breaker (earth leakage breaker). oise filter Used to suppress noise from power lines for E marking requirements. Magnetic contactor Used to turn off the servo power supply when using a regenerative unit or in case of emergency. aristor To the control circuits of magnetic contactor Servomotor Used for a servomotor with a brake.* -D power supply* Relay *: Prepare a -D power supply for the brake separate from the sequence power supply. ith brake SJME-M SJME-M SJME-M SJME-M Yaskawa Electric orporation YSK ELETRI SHGHI O.,LTD B B DEF DEF SJDE SEROPKs REF Motor main circuit cable (for relay) onnectors for motor main circuit cable (B) onnectors for power supply/regenerative unit () SEROPK SJDE-P SJDE-P SJDE-P SJDE-P ever open the protective cover for the connector. Do not use the connector since the connector is reserved for adjustment by the manufacturer. If the connector is used, a SEROPK failure may result. I/O signal cable SJME Servomotors Power Supply apacity per SEROPK k UTIO Host controller Encoder cable (for relay) SEROPKs and pplicable Peripheral Devices urrent apacity for Molded-case ircuit Breakers rms*, * urrent apacity and Model of External Fuse.. KLK.T rms.. KLK.T rms Littelfuse Inc. KUSH FUJIX IMPORT D EXPORT TRDE O.,LTD. : Typical value at the rated load. The specified derating is required to select the appropriate capacity of molded-case circuit breaker. : Operating characteristics ( ): % two seconds min. and %. seconds min. : Refer to the list on page for contact information. ote: The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions. low-resistance ground fault occurs between the main circuit cable and connector for the servomotor. The power supply is turned O during a ground fault. To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth leakage breaker for ground protection and a molded-case circuit breaker. Inrush urrent -P ables and onnectors ame Servomotor main o brake circuit cables with connectors at both ends (for relay)* ith brakes onnectors for servomotor main circuit cables* Tool to remove wires* onnectors for battery case/ regenerative unit* Encoder cables with connectors at both ends (for relay)* onnectors for encoder cables* ables for I/O signals onnectors for I/O signals (for )* * * Magnetic ontactor HI-J HI-J Yaskawa ontrols o., Ltd. Motor end SEROPK end (for B) For Motor end SEROPK end (for ) Type/Model Length Specifications Manufacturer ontact JZSP-HM- m KUSH FUJIX JZSP-HM- m Fujix IMPORT D JZSP-HM- m o., Ltd EXPORT TRDE O.,LTD. JZSP-HM- m J-FT-OT JZSP-HP- JZSP-HP- JZSP-HI- JZSP-HI- JZSP-HI- Soldered type Shell kit: -- Plug: -E oise Filter F-/ F-/ F-/ Schaffner Electronic R M-BQZ- m m m m m Reactor X X JUSP-RGD X X Yaskawa ontrols o., Ltd. Yaskawa Electric orporation YSK ELETRI SHGHI O.,LTD Molex Japan o., Ltd JST. Mfg. o., Ltd. Sun-a Technos orporation Molex Japan o., Ltd Sumitomo M Ltd. Sun-a Technos orporation Sumitomo M Ltd. : ontact your Yaskawa representative for the servomotor main circuit or the encoder cables of m, m, and m. : onnectors for, B,, and are sold separately. onnectors at the motor end are also sold separately. The customer must provide these connectors. : Refer to page for a list of models of crimping tools. : Refer to the list on page for contact information. YSK ELETRI SHGHI O.,LTD Schaffner EM Ltd.Shanghai rimp type* Receptacle: -R- Terminal: T(chained) or TL(detached) Spring type Receptacle: JFT-SYGF- Spring type Receptacle: JFT-SBXGF- rimp type* Receptacle: -R- Terminal: T(chained) or TL(detached) rimp type(gray)* Plug and cable cover set: - Plug housing: - rimp terminal: -(chained) or -(detached) Soldered type (gray) Plug and cable cover set: - Plug connector: - Soldered type (black) Shell kit: -- Receptacle: -JL Surge Protector Okaya Electric Industries o., Ltd. OKY HOG KOG TRDIG LIMITED. Regenerative Unit Shanghai Molex Interconnect Shanghai o.,ltd Shenzhen Molex Hong Kong hina Ltd., Shenzhen Office Shanghai J.S.T SHGHI O.,LTD. Hong Kong J.S.T H.K. O.,LTD. SHGHI SU- TEHOS O.,LTD Shanghai Molex Interconnect Shanghai o.,ltd Shenzhen Molex Hong Kong hina Ltd., Shenzhen Office SHGHI SU- TEHOS O.,LTD Selection of Devices System onfiguration

4 Selection of Devices Precautions when Selecting Peripheral Devices Regenerative Units The rotational energy of driven machines, including servomotor, is returned to the SEROPK as electric power. This is called regenerative power. The power is absorbed by the smoothing capacitor. hen the capacitor has reached its limit in power absorption, the excess is then consumed by the regenerative unit. The servomotor is driven in the regeneration state in the following circumstances: hile decelerating to a stop during acceleration and deceleration operation. During continuous operation on the vertical axis. During continuous operation with the servomotor rotated from the load side (negative load). <llowable Load Inertia Moment and llowable Regenerative Frequency with Regenerative Unit > The graphs below show the capacity absorbed regenerative energy and allowable regenerative frequency of the SEROPKs with regenerative units connected. The graphs show values for horizontal axis. For the vertical axis, refer to the JunmaSize+: Servomotor Selection Software. Power Supply oltage: Power Supply oltage: Load moment of inertia ( - kgžm ) SJDE-() Speed (min - ) Regenerative unit not required. Load moment of inertia ( - kgžm ) SJDE-() Speed (min - ) Regenerative unit not required. Load moment of inertia ( - kgžm ) SJDE-() SJDE-() rotations/min... rotations/min rotations /min... rotations /min. Regenerative unit.. not required.. Regenerative unit not required. Speed (min - ) Speed (min - ) Load moment of inertia ( - kgžm ) SJDE-() SJDE-() Load moment of inertia ( - kgžm )... Speed (min - ) rotations/min rotations/min rotations /min Regenerative unit not required. Load moment of inertia ( - kgžm )... Speed (min - ) rotations/min rotations/min rotations /min Regenerative unit not required. Load moment of inertia ( - kgžm ) SJDE-() Load moment of inertia ( - kgžm ) SJDE-() rotations/min. rotations/min rotations/min. rotations/min rotations/min. rotations/min.. Regenerative unit. Regenerative unit not required. not required. Speed (min - ) Speed (min - ) ote: n overvoltage alarm will occur without a required regenerative unit.

5 <aution> Do not touch the regenerative units as they reach high temperatures. Use heat-resistant, nonflammable wiring and make sure that the wiring does not touch the units. For connecting wire size when connecting a unit, refer to P. The regenerative unit has three error detection functions: regenerative resistor burnout, regenerative transistor failure, and overvoltage detection. hen these functions are tripped, the built-in alarm relay will operate and the and output terminals of the regenerative unit will be opened. onstruct a sequence so that the power supply (through L and L) to the SEROPK will be always shut OFF when the alarm relay operates. Two to three seconds are required to reset the alarm relay once the alarm relay operates. The alarm state will return to normal when the main capacitor in the SEROPK finishes discharging. Molded-case ircuit Breaker (MB) If selecting a molded-case circuit breaker, observe the following precautions. <Maximum Input urrent > The instantaneous maximum output of SEROPK is approximately times the rated output. The output can last up to seconds. ccordingly, select a molded-case circuit breaker whose breaking time is seconds or more at % of SEROPK rated current. The general-purpose low-speed acting moldedcase circuit breakers are applicable. The consumption of other controllers must be considered when selecting a molded-case circuit breaker. The power-supply capacity per SEROPK when using a servomotor is described in nseropks and pplicable Peripheral Devices on page. If using several SEROPKs, select a molded-case circuit breaker with a capacity larger than the effective load current, which is calculated from the total power supply capacity. Selection of Devices < Inrush urrent > The allowable inrush current for a low-speed acting molded-case circuit breaker is approximately times the rated current for. seconds. If several SEROPKs are being used at the same time, select a molded-case circuit breaker with an allowable current ( ms) greater than the total inrush current of the SEROPK. Refer to nseropks and pplicable Peripheral Devices on page for more information on the SEROPK's inrush current. Earth Leakage Breaker It is recommended to use a general-purpose circuit breaker of the rated current m or more, or a circuit breaker for inverters (for high-frequency). High-frequency current may leak through the armature of a servomotor when switching in the SEROPKs. Magnetic ontactor magnetic contactor is required to make the power to SEROPK O/OFF sequence externally. Be sure to attach a spark killer to the excitation coil of the magnetic contactor. oise Filter Install a noise filter on the power supply line for peripheral equipment as necessary. Use a noise filter to prevent noise interference. If the equipment is to be used near private houses or may receive noise interference, install a noise filter on the input side of the power supply line. Because the SJDE SEROPK is designed as an industrial device, it provides no mechanism to prevent noise interference. Install the input reference device and noise filter as close to the SEROPK as possible.

6 Servomotors Ratings and Specifications oltage Servomotor Model: SJME- pplicable SEROPK SJDE- Rated Output* Rated Torque*, * Instantaneous Peak Torque* Rated urrent* Instantaneous Max. urrent* Rated Speed* Max. Speed* Torque onstant Rotor Moment of Inertia Rated Power Rate* Rated ngular cceleration* Time Rating Thermal lass ibration lass ithstand oltage Insulation Resistance Enclosure Impact Resistance ibration Resistance žm žm rms rms min - min - žm/rms kgžm - kw/s rad/s ontinuous B... µm or below for one minute D, MΩ min. Totally enclosed, self-cooled, IP (excluding shaft opening and connectors) Impact acceleration: m/s in three directions vertical, side to side, and front to back. Impact occurrences: ibration acceleration: m/s in three directions vertical, side to side, and front to back. Holding Brake Specifications Description Servomotor Model:SJME- Description Rated oltage Holding Brake Moment of Inertia* apacity Min. Holding Torque (Static Friction Torque) oil Resistance Rated urrent Brake Release Time Rise Time for Holding Torque kgžm - žm Ω(at ) (at ) ms ms... D ±%.... max. max..... Torque against an external force to hold the shaft Resistance of the built-in coil in the brake urrent that flows when the brake is released Time from when the power for the holding brake is turned on until the brake is released. Time from when the power for the holding brake is turned off until the brake reaches the set torque. *: To obtain the motor moment of inertia with a brake, add the holding brake moment of inertia to the rotor moment of inertia. The rated power rate and angular acceleration of the motor will change according to the motor moment of inertia. otes: The holding brake is only used to hold the load and cannot be used to stop the servomotor. Do not use the holding brake when the servo is on. Failure to observe this caution may result in an overload in the SEROPK or a decrease in the brake life. Speed / Torque haracteristics How to Read a Gragh of Speed and Torque haracteristics SJME- Speed (min - ) Motor output at the rated operating point Torque at the rated operating point Maximum instantaneous torque of the motor urrent flowing to the motor at the rated operating point Maximum instantaneous current that is allowed to flow to the motor Speed at the rated operating point Highest possible speed Generated torque ratio for current flowing to the motor Inertia moment at the rotor shaft Motor output per unit time The theoretical angular acceleration(also called torque-toinertia ratio) at the rated torque "ontinuous rating" means that the temperature of the servomotor in continuous operation under specified conditions will not exceed a specified temperature or other limitation. Highest allowable temperature for armature winding: The maximum vibration amplitude of the motor expressed in units of micrometers on the condition that the vibration is measured with a vibrometer parallel to the shaft and in two directions perpendicular to the shaft. Level of protection from dust and water drops Impact resistance of the motor in three directions (up and down, left and right, and back and forth) with the motor shaft mounted horizontally ibration resistance of the motor in three directions (up and down, left and right, and back and forth) with the motor shaft mounted horizontally * : These items and speed/torque characteristics quoted in combination with an SJDE SEROPK are at an armature winding temperature of. Other values quoted at. * : The rated torques listed here are the values for the continuous allowable torque at with an aluminum heatsink ( mm mm mm) attached.. ontinuous operating range Safe range allowing the continuous operation of the servomotor. The effective torque must be within this range. B Torque(žm) The output torque will decrease if the speed exceeds the rated speed. Rated operating point Rated torque The same torque is output at any rotation speed. B. Repetitive operating range Range where the motor can be operated for a short time, provided that the effective torque of the motor is within the continuous operating range. SJME- SJME- SJME- SJME- Speed (min - ) Speed (min - ) B B Speed (min - ) B Speed (min - ) B Torque(žm) Torque(žm) Torque(žm) Torque(žm) ote: Solid lines show the torque/speed characteristics of the servomotor at, and the broken lines show them at.

7 Dimensions Units: mm Encoder cable Type SJME- M M to Servomotor main circuit cable L LL L ± LL ±. pprox. Mass kg dia. -. dia.. Encoder connector Motor connector. ross Section - Holding brake (de-energization operation) Power supply: D. dia. ote: Only for servomotors with brakes Holding brake torque = Motor rated torque dia. -. dia. Motor onnector Specifications Phase U Phase Phase F G Plug: -P- Terminal (o. to,, ): T(chained) or TL(detached) Grounding Pin (o.): -(chained) or - (detached) (Manufacture: Molex Japan o., Ltd) o brake Red hite Blue Green/Yellow Phase U Phase Phase F G Brake Brake Encoder onnector Specifications PG PG(GD) Phase + Phase Phase B+ Phase B Phase /Z Phase U Phase Phase FG ith brake Red hite Blue Green/Yellow Red Black Plug: -P- Terminal: T(chained) or TL(detached) (Manufacture: Molex Japan o., Ltd) Red Black Blue Blue/hite Yellow Yellow/hite Purple Gray Green Orange Shield Servomotors Encoder cable ± Encoder connector Servomotor main circuit cable Motor connector L LL ± LG. LR LE. LF dia. QK LD S dia. LB dia. ross Section - L L dia. Holding brake (de-energization operation) Power supply: D ote: Only for servomotors with brakes Holding brake torque = Motor rated torque. dia. -LZ dia. Type SJME- L LL LR M.. M.. M.. M.. M M LG LE S LB L LD LF L LZ. pprox. Mass QK kg......

8 SEROPKs SEROPK model SJDE- P P P P Description Max. applicable servomotor capacity [k].... Motor capacity that the SEROPK can drive. ontinuous output current [rms].... urrent that the SEROPK can output continuously. Instantaneous max. output current [rms] Input power supply (for main circuit and control circuit) Power loss at rated output [] Input control method Output control method Feedback Input signal for reference Designated pulse type and pulse resolution with PULSE switch. LED display Reference filter ooling method Operating temperature Operating humidity Storage temperature Storage humidity Installation site ltitude ibration resistance Shock resistance Operating conditions oltage Frequency apacity at rated output [k] Pulse type Pulse resolution lear input signal Servo O input signal larm output signal Brake output signal Origin output signal Dynamic brake (DB) Regenerative processing Single-phase to, +% to % /Hz ±%.... apacitor-input type, single-phase full-wave rectification with resistance to prevent inrush currents. PM control, sine wave power driven system nalog output encoder llowable load inertia [kgm ]* I/O Signals Built-in functions Ratings and Specifications Positioning completed output signal Protection*.... Select one of the following signals:. +. Sign + pulse train. + (logic reversal). Sign + pulse train (logic reversal) Select one of the following signals:. pulses/rev (Open collector/line driver) kpps max.. pulses/rev (Open collector/line driver). kpps max.. pulses/rev (Line driver) kpps max.. pulses/rev (Line driver) kpps max. lears the positioning error when turned O. Turns the servomotor on or off. OFF if an alarm occurs. ote: OFF for s when power is turned O. External signal to control brakes. Turn O to release the brake. O if the current position is equal to the reference position ± pulses. O if the motor is at the origin. (idth: / rev) ote: Use the pulse edge that changes the signal from OFF to O. Operated at main power OFF, servo alarm, servo OFF. (OFF after motor stops; O if the motor power is off.) Optional (If the regenerated energy is too large, install a regenerative unit.) Speed errors, overload, encoder errors, voltage errors, overcurrents, disablement of the built-in cooling fan, system errors. ote: o built-in circuit for ground protection. (PR, REF, L, L, L) Select one of eight levels with FIL switch. Forced cooling (built-in fan) to + % RH or less (with no condensation) to + % RH or less (with no condensation) Free of corrosive gases Free of dust and iron powder lean and dry m or below.m/s.m/s Installation category (overvoltage category): Pollution degree: Protection class: IPX (E) Maximum current that the SEROPK can output instantaneously. Power supply capacity required to operate a motor at the rated output. Electric power emitted as heat from the SEROPK while operating the motor at the rated torque and rated speed. Speed or position detector fixed on the motor shaft opposite the load side. Maximum allowable moment of inertia converted into the moment of inertia at the motor shaft of the machine. Type of pulse train signal to drive motor, input into the SEROPK. For +, input both forward and reverse rotation pulse trains. umber of reference pulses required to rotate the motor one turn Only one point of origin per rotation Method that stops the motor by short-circuiting the internal circuit of the SEROPK. Function to consume rotational power generated when the motor is rotated by external force. This function is required for a high load moment of inertia. * : Be sure to use the motor with in the allowable load inertia moment. The operation of the motor will become unstable if the allowable load Inertia moment is exceeded. * : The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions. low-resistance ground fault occurs in the main circuit cable or in the connector of the cable for the servomotor. The power supply is turned O during a ground fault. To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth leakage breaker for ground protection and a molded-case circuit breaker.

9 Dimensions Units: mm SJDE-, (, ) () () () Mounting Hole Diagram. dia.holes irflow -M mounting holes YSK SJDE- P PULSE FIL B B DEF DEF REF L L L () (). Ground terminal with M screws PR L L + - SJDE- () B. U B () (.) YSK ELETRI MDE I HI ameplate irflow ooling fan ±. (Mounting pitch) () () () () SEROPKs () Mounting Hole Diagram. dia.holes irflow -M mounting holes isible ovutline YSK SJDE- P PULSE FIL B B DEF DEF REF L L L ±. (Mounting pitch) YSK ELETRI MDE I HI ooling fan SJDE- () () (.) ameplate irflow () () () (). PR L L + - B U B () () Ground terminal with M screws. () Mounting Hole Diagram () (). Ground terminal with M screws.. dia.holes YSK SJDE- P REF PULSE L L L FIL PR L L + - B B DEF DEF B U B () YSK ELETRI MDE I HI ameplate irflow (.) () irflow ooling fan ±. () (Mounting pitch) -M mounting holes isible outline

10 SEROPKs Part ames and Functions Type Rotary switch for reference pulse setting (PULSE) Rotary switch for reference filter setting (FIL) YSK SJDE- P PULSE FIL B B D D E F E F REF L L L Input voltage Reference indicator (REF) larm indicators (L to L) I/O signal connector () Power supply indicator (PR) PR Encoder connector () Ground terminal L L U onnector for motor main circuit cable (B) B onnectors for power supply / regenerative unit () Reference Pulse Setting (PULSE) Reference Filter Setting (FIL) PULSE B DEF FIL B DEF Pulse Setting alue B D E F Reference Pulse Resolution (P/RE) Reference Pulse onnection Method Open collector or line driver Line driver Open collector or line driver Line driver Open collector or line driver Line driver Open collector or line driver Line driver Reference Pulse Type + Positive logic + egative logic Sign + pulse sequence, Positive logic PULS SIG Sign + pulse sequence, egative logic PULS SIG otes: Make settings after turning OFF the power. The factory setting is. Filter Setting alue* * to F cceleration/ Deceleration Time for Step Reference* Time between Set Reference and ompleted Positioning (Settling Time)* ms to ms ms to ms ms to ms ms to ms ms to ms ms to ms ms to ms ms to ms Do not set through F. Description Small filter time constant (short positioning time) Large filter time constant (little vibration with a long positioning time) * : If the machine vibrates when starting or stopping the machine, set a larger value. * : The factory setting is. ot necessary to change this value unless machine vibrates. * : The value changes depending on conditions such as the level of command acceleration and deceleration, the rigidity of the motor drive of the machine, and the motor resolution. * : Select the appropriate servomotor capacity with these values if using a step reference without any acceleration or deceleration time.

11 Reference (REF) Indicators* Motor Power Reference Pulses Lit orange. Blinks orange. Lit green. Blinks green. OFF OFF O O Input Input *: Lit yellow for s when the clear signal is input. larm (L, L, and L) : Lit : OFF Indicators Meaning of larm Indicators L L L L L L ormal Speed error L L L L L L Meaning of larm Overcurrent ooling fan in SEROPK stopped L L L L L L L Overload Encoder error L L L L L Blinks at regular intervals. System error Rotary switch for reference pulse setting (PULSE) changed. SEROPKs L L L oltage error onnector for Power Supply/ Regenerative Unit () Pin o. Symbol Signal ame L L Power supply input terminals + Regenerative unit - connection terminals onnector for Motor Main ircuit able (B) Pin o. Symbol Signal ame U - Phase U Phase Phase ot used I/O Signal onnector () Pin o. I/O Symbol Signal ame Pin o. I/O Symbol Signal ame Input Input Input, PULS /, /PULS, SIG Reverse rotation pulse, reference pulse Forward rotation pulse, Input Input Output LR /LR PO Position error pulse clear Phase- signal Input /, /SIG reference sign Output SG-PO Phase- signal ground Input Input Output +I /S-O SG-OM External input power supply Servo O Output signal ground Shell Output Output Output - LM /BK /OI - Servo alarm Brake Positioning completed FG Encoder onnector () Pin o. Symbol Signal ame Pin o. Symbol Signal ame PG PG + - B+ PG power supply + PG power supply Phase + Phase - Phase B+ B- /Z U Phase B- Phase /Z Phase U Phase Phase

12 onnection Diagram Example Power supply Single-phase to /Hz L L Molded-case circuit breaker Surge protector oise filter S S M M M Spark killer Reactor L L R* - power supply + to SEROPK Ry B aristor U U Brake Servomotor + + FG to R - power supply + Regenerative unit JUSP- Y RGD Y ontroller,puls Ω PG /,/PULS Ω PG,SIG Ω + /,/SIG Ω LR Ω B+.kΩ /LR PO Ω B /Z Encoder SG-PO U +I Ry /S-O LM /BK.kΩ Shell Shield Flywheel diode Shield /OI SG-OM Shell * : Prepare a -D power supply for the brake separate from the sequence power supply. otes: R : -D power supply for brake R : -D power supply for sequence S : Power OFF switch S : Power O switch M : Magnetic contactor Ry : Relay for brake ž Manufactures of omponents Spark killer Flywheel diode Relay for brake aristor Okaya Electric Industries o., Ltd.: Toshiba orp.: Omron orp.: ippon hemi-on orp.: RE- H MY series TRK The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions. low-resistance ground fault occurs between the main circuit cable and connector for the servomotor. The power supply is turned O during a ground fault. To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth leakage breaker for ground protection and a molded-case circuit breaker.

13 Main ircuit iring SJDE SEROPKs are suitable where the power supply is less than rms ( rms max.). SEROPKs must be used with UL-listed fuses or circuit breakers, in accordance with the ational Electrical ode (E). Use heat-resistant copper wires or an equivalent. SEROPK Main ircuit ire Size and Tightning Torque able Types Symbol P I HI able Types ame ormal vinyl cable - vinyl cable Temperature-resistant vinyl cable llowable onductor Temperature ire sizes are selected for three cables per bundle at ambient temperature with the rated current. Use cables with a minimum withstand voltage of for main circuits. If cables are bundled in P or metal ducts, consider the reduction ratio of the allowable current. Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables will rapidly deteriorate. Do not use cables under continuous regenerative state. The following table shows the wire size and allowable current for three cables. Use a cable whose specifications meet or are less than the values in the table. onnection Diagram - Heat-resistant inyl ables (HI) G Size ominal ross Section Diameter mm..... ote: The values in the table are only for reference. onfiguration umber of wires/mm /. /. /. /. /. onductive Resistance Ω /mm..... llowable urrent at mbient Temperature

14 onnection Diagram Power Supply Input Terminals (L, L), Motor onnection Terminals (U,, ), and Regenerative Unit onnection Terminals (+, ) apacity SEROPK Type SJDE- SJDE- SJDE- SJDE- ote: onnectors are used for all wiring. Ground Terminal ( ) L, L Terminal Symbol HI.mm HI.mm iring length: HI.mm m max. U,, +, HI.mm iring length:. m max. ire Size HI. mm min. Terminal Screw Size Tightening Torque M. to.žm <Signal Line ire Sizes> The following wires are used for the and connectors on the SEROPK. onnector ame and Symbol I/O signal connector Encoder signal connector able Item Maximum cable length pplicable wires Finished cable outer diameter able Maximum cable length pplicable wires Finished cable outer diameter Specifications Use twisted-pair wires or shielded twisted-pair wires. m G(. mm ), G(. mm ), G(. mm ) mm dia. max. Use the cables specified by Yaskawa or use shielded twisted-pair wires. m G (. mm ) and G (. mm ) Used G for the encoder power supply and G for signal lines. mm dia. max.

15 YSK SJDE- P D TL PULSE L L D L FIL PR L L + - B E E F YSK SJDE- P D TL PULSE L L D L FIL PR L L + - B E E B F B F F B U B U YSK SJDE- P D TL PULSE L L D L FIL PR L L + - B E E B F F B U iring Precautions Only an electrical engineer should perform the wiring. Design the circuit so that both the /S-O signal and the main-circuit power supply turn OFF at an emergency stop. n overtravel function is not provided for the SEROPK. To configure a safer system, include a function so that the /S-O signal will turn OFF when the limit switch is activated. If the servomotor is used to drive a vertical axis, install a safety device such as a counterweight to prevent the workpiece from falling down when an alarm occurs. Failure to observe this precaution may result in injury or damage to the equipment from fallen workpieces. Use a molded-case circuit breaker and fuse to protect the power supply line from high voltage. The SJDE SEROPK connects directly to a commercial power supply without a transformer, so always use a circuit breaker and fuse to protect the SEROPK from accidental high voltage. The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions. ž low-resistance ground fault occurs between the main circuit cable and connector for the servomotor. ž The power supply is turned O during a ground fault. To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth leakage breaker for ground protection and a molded-case circuit breaker. The distance between a power line (such as a power supply line or servomotor cable) and a signal line must be at least cm. Do not put the power and signal lines in the same duct, and do not bundle them together. The longer a pulse line is, the lower the maximum frequency of the line is. ustomers must purchase a D power supply with double-shielded enclosure. Install an interlock system in the circuit to avoid any accident when opening or closing the machine s protective cover. onnection Diagram aution for Grounding To ground a SEROPK, follow these conditions. ž Use as thick a cable as possible (HI. mm or thicker) for grounding. ž ground resistance of Ω or less is recommended. ž Ground to one point only. aution for able For wiring, use the specified cables. Use cables that are as short as possible. Do not bend exessively or apply tension to cables. The conductor of a signal cable is very thin (. to. mm ), so handle the cables carefully.

16 onnection Diagram Explanation of I/O Signals Pulse train references are given to control the position of the servomotor. The following pulse train output forms are supported from the host controller. Line driver output +- open-collector output +- open-collector output +- open-collector output I/O Signal Timing Examples Servo O (/S-O) Motor O Brake (/BK) t O Motor O Brake released H t t: pprox. ms t: pprox. ms* t ms* (Motor with brake: ms) Sign + pulse train (SIG) (PULS) t H L Positioning completed (/OI) lear (LR) O t O t µs* * : The interval from when the servo O signal is turned O until the reference pulse is input must be at least ms, or the reference pulse may not be received by the SEROPK. If a motor with a brake is in used, more time will be required to release the brake. Therefore, provide an interval of at least ms. * : The error counter clear signal must be O for at least µs. If the reference pulse is stopped when the clear signal is turned O, the motor will stop at that position. * : The lag time for the brake is ms. Use a relay for brakes with an operating time of ms or less. otes: The maximum lag time from the moment that an error or fault was detected until the alarm signal turns O is ms. larm detection LM ms max. If using the phase- output signal, use an edge when the signal changes from OFF to O at the beginning, so that the changes in the waveform from O to OFF are round edged. PO Edge when the signal changes from OFF to O Reference Pulse Signal Form Electrical Specifications Remarks Sign + pulse train input (SIG + PULS signal) Maximum reference frequency: kpps (. kpps for an open-collector output) SIG PULS t T t Forward reference t Reverse reference t, t, t > µs.µs ( /T) % Sign (SIG): High = Forward reference Low = Reverse reference pulse + pulse Maximum reference frequency: kpps (. kpps for an open-collector output) T Forward reference t Reverse reference t > µs.µs ( /T) %

17 onnection Examples of Input Signal Line Driver Output pplicable line driver: S or M (Manufactured by Texas Instruments or equivalent) - Power supply + Host controller +I /S-O PULS SEROPK.kΩ Photocoupler m Ω /PULS SIG /SIG LR /LR Ω Ω Ω Ω Ω *: Twisted-pair wires Open-collector Output Set the R through R current limit resistors so that input current (i) will fall within the following range. Input current (i) = m to m - Power supply + Host controller Tr cc R i +I /S-O PULS /PULS SEROPK.kΩ Photocoupler m Ω Photocoupler Ω Examples: hen cc is + : R through R =. kω hen cc is + : R through R = kω hen cc is + : R through R = Ω ote: The following signal logic applies for an open-collector output. Tr to Tr O Tr to Tr OFF Equivalent to high level input Equivalent to low level input onnection Diagram Tr Tr R R i i SIG /SIG LR /LR Ω Ω Ω Ω *: Twisted-pair wires onnection Example of Output Signal Set the load so that the output current (i) will fall within m or less. Photocoupler output (per output signal) Max. voltage: D Max. current: md SEROPK Photocoupler m max. PO SG-PO Load - Power supply + LM Load /OI Load BK Load SG-OM

18 Installation Servomotor Installation Precautions The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location. lways observe the precautions in this section when installing a servomotor. If the relay cables are connected to the motor, be sure to connect the end for the servomotor's main-circuit cables before connecting the end for the encoder cable. If the encoder cable's end is connected first, the encoder may become damaged because of the voltage differences between the Frame Ground (FG) pins on the servomotor and the grounding terminal of the SEROPK. If using cables that are not made by Yaskawa, ensure that connector pins and cables are correctly configured. Make sure there is no foreign matter (such as dust and metal chips) in the connector before connecting. hen handling a servomotor with its cables connected, hold the servomotor or the connectors and cables will be damaged. Installation onditions Environment Operating temperature Operating humidity Installation sites Storage conditions ltitude ote: Do not directly connect the servomotor to a commercial power line. This will damage the servomotor. aterproof Specifications The protective structure of the servomotors is designed with an IP rating. The servomotor can be used in a location that is subject to water drops, except for the connector and the section where the shaft passes through. Do not use the servomotor in a location that is subject to oil mist. Flange Environment to + without freezing % to %RH with no condensation Indoors Free of corrosive or explosive gases ell-ventilated and free of dust and moisture Facilitates inspection and cleaning If the power cable is disconnected, store the motor under these conditions. Temperature: - to + without freezing Humidity: % to %RH with no condensation m or below above sea level Through shaft section This refers to the gap where the shaft protrudes from the end of the motor. Shaft Direction of Servomotor Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load. ounterclockwise

19 Installation Direction The motor can be installed horizontally or vertically. If the motor is mounted vertically, provide a cable trap so that water drops do not enter the motor. If the motor is installed with the axis pointing up, take preventative measures so that oil does not splash on the motor from other parts of the machine such as the gearbox. Do not bend or pull excessively any cables, the lead openings, and the junctions of the cables. The cores in the encoder cable and the brake signal line in the main circuit cable are only. mm or. mm. Be sure to protect them from stress. Horizontal ertical able trap Installation Method The end of the motor shaft is coated with an anticorrosive coating. Thoroughly remove the coating prior to installation, or it will not be possible to couple the motor to the mechanical system. nticorrosive coating Installation Use the mounting holes (two for - models and four for - to - models) on the motor installation surface to secure the motor. ut Motor installation plate asher Mounting screw Do not apply shock directly to the output shaft or encoder when mounting the motor, because the servomotor shaft is directly coupled to the encoder. The encoder may be damaged by the shock. <Precautions> The motor main circuit cable, encoder cable, and relay cable cannot be used for applications in which the cables are moved, twisted, or rotated to a small bending radius. The cable bending radius in the center of the cable must be a of mm or larger. If the cables need to be bent, consult your Yaskawa representative. Bending radius R =

20 Installation oupling to the Machine Observe the following precautions when coupling the servomotor with the drive axis of the machine. lign the shaft of the servomotor with the shaft of the equipment, and then couple the shafts. Make sure that the motor and the machine are accurately aligned. Failure to observe this caution may result in damage to the motor axis or deterioration of the standard life of the servomotor by an eccentric load. Keep the eccentric load as small as possible. lignment ccuracy oupling Measure this distance at four different positions on the circumference. The difference between the maximum and minimum measurements must be. mm or less. ote: hen measuring the difference, turn the motor and the coupling together. metal disk coupling designed for servomotors is recommended to maintain the response characteristics and durability of the servomotor. hen attaching the coupling to the shaft of the servomotor, do not hammer the axis or near the encoder. Such shocks and vibrations may cause the encoder to malfunction. llowable Loads Design the mechanical system so that, during operation, the thrust and radial loads applied to the servomotor shaft do not exceed the range shown in the table below. Servomotor Model SJME- llowable Radial Load llowable Thrust Load Direction or B Run-out at the end of the shaft. mm Distance from Flange mm Mechanical Tolerance TIR (Total Indicator Reading) Perpendicularity between the flange face and output shaft. mm Distance from Flange The following diagram shows tolerances for the servomotor's output shaft and installation area. llowable Radial Load B llowable Thrust Load Matching concentricity of the flange. dia. mm

21 PR TL L L L PR TL L L L PR TL L L L PR TL L L L SEROPK Installation Installation onditions Installation Site Installation in a control panel Installation near a heating unit Installation near a source of vibration Installation at a site exposed to corrosive gas Installation at a contaminated site otes Design the control panel size, unit layout, and cooling method so the temperature around the SEROPK does not exceed. ote: The maximum ambient temperature for long-term reliability is. Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SEROPK does not exceed. Install a vibration isolator beneath the SEROPK to avoid subjecting it to vibration. orrosive gas does not have an immediate effect on the SEROPK but will eventually cause the electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive gas. Take appropriate action to avoid any contaminants such as dust, iron particles, water drops, or oil mist. ontamination will cause the electronic components to malfunction. Installation Method Install the SEROPK perpendicular to the wall. The SEROPK contains a built-in fan for cooling and must be mounted in the specified direction. onnect the mounting holes securely to the mounting surface with M screws (two mounting holes). Installation SEROPK installation plate M screw Space between SEROPK Units Be sure to keep a space between adjacent SEROPK units if they are mounted inside the control panel so that the units can be cooled. irflow mm min. YSK SJDE- P YSK SJDE- P YSK SJDE- P YSK SJDE- P PULSE FIL D E F B D E F B PULSE FIL D E F B D E F B PULSE FIL B B D E F D E F PULSE FIL B D E F B D E F L U L U L U L U L L L L B B B B mm min. mm min. irflow mm min.

22 ables / Peripheral Devices Servomotor Main-circuit ables with onnectors at both Ends (for Relays) Specifications Motor Type o brake ith brakes able Model JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- SEROPK end mm Length (L) Manufacturer m m m m L Fujix o., Ltd ote: ontact your Yaskawa representative for the servomotor main-circuit cables of m, m, and m. Dimensions / iring Specifications JZSP-HM-oo(For motors without brakes) ontact KUSH FUJIX IMPORT D EXPORT TRDE O.,LTD. Motor end M crimped terminals onnector (crimp type) Receptacle: FFSS--KY Terminal: SFF-GF-P. or SFF-GF-P. (J.S.T. Mfg. o., Ltd.) onnector (crimp type) Receptacle:-R- Terminal: T(chained) or TL(detached) (Molex Japan o., Ltd.) SEROPK-end onnector Pin o. rimped terminals SEROPK end Signal Phase U Phase Phase F G* mm ire olor Red hite Blue Green/Yellow *: onnect the FG pin to the grounding terminal of the SEROPK. JZSP-HM-oo(For motors with brakes) L Servomotor-end onnector Pin o. Signal Phase U Phase Phase F G Motor end ire olor Red hite Blue Green/Yellow M crimped terminals onnector (crimp type) Receptacle: FFSS--KY Terminal: SFF-GF-P. or SFF-GF-P. (J.S.T. Mfg. o., Ltd.) SEROPK-end onnector Pin o. Signal Phase U Phase Phase ire olor Red hite Blue rimped terminals rimped terminals rimped terminals F G* Brake* Brake* Green/Yellow Black Black * : onnect the FG pin to the grounding terminal of the SEROPK. : o polarity for connection to the brake. * onnector (crimp type) Receptacle:-R- Terminal: T(chained) or TL(detached) (Molex Japan o., Ltd.) Servomotor-end onnector Pin o. Signal Phase U Phase Phase F G Brake Brake ire olor Red hite Blue Green/Yellow Black Black

23 onnectors for Servomotor Main-circuit ables Specifications Type Parts Model Manufacturer ontact Receptacle -R- Shanghai Terminal Molex Japan Molex Interconnect(Shanghai)o.,Ltd. rimp type T(chained) or TL(detached) o., Ltd. Shenzhen rimping tool - Molex Hong Kong hina Ltd., Shenzhen Office Dimensions Units: mm.... onnectors for Battery ase, Regenerative Unit, and Servomotor Main-circuit ables Specifications Type Spring type Parts For battery case/ connector regenerative unit For servomotor B connector main-circuit cables Tool to remove wires Dimensions Units: mm Power Supply/Regenerative Unit onnector JFT-SBXGF- Model Manufacturer ontact JFT-SBXGF- JFT-SYGF- J-FT-OT J.S.T. Mfg. o., Ltd. Shanghai J.S.T.(SHGHI) O LTD Shenzhen J.S.T.(H.K) O LTD Servomotor Main ircuit able onnector JFT-SYGF-.. JST RX JST Y ables / Peripheral Devices Tool to Remove ires J-FT-OT

24 ables / Peripheral Devices Encoder ables with onnectors at both Ends (for Relay) Specifications Model JZSP-HP- JZSP-HP- Length (L) m m Manufacturer Sun-a Technos orporation ote: ontact your Yaskawa representative for the encoder cables of m, m, and m. ontact SHGHI SU- TEHOS O.,LTD Dimensions SEROPK end L Motor end rimp type (Gray) Plug and cable cover set : - Plug housing : - rimped terminals: -(chained) or -(detached) (Molex Japan o., Ltd.) Solder type (Black) Shell kit : -- Receptacle : -FD Receptacle : -R- Terminal : T(chained) or TL(detached) (Molex Japan o., Ltd.) iring Specifications Pin o. Signal ire olor Shell PG PG(GD) Phase + Phase Phase B+ Phase B Phase /Z Phase U Phase Phase Red Black Blue Blue/hite Yellow Yellow/hite Purple Gray Green Orange Shield wire Shield wire Pin o. Signal ire olor PG PG(GD) Phase + Phase Phase B+ Phase B Phase /Z Phase U Phase Phase FG Red Black Blue Blue/hite Yellow Yellow/hite Purple Gray Green Orange Shield

25 onnectors for Encoder ables Specifications Motor End Type rimp type Parts Model Manufacturer ontact Receptacle -R- Shanghai T(chained) or Molex Japan Molex Interconnect(Shanghai)o.,Ltd. Terminal TL(detached) o., Ltd. Shenzhen rimping tool - Molex Hong Kong hina Ltd., Shenzhen Office SEROPK End Type rimp type (gray) Soldered type (gray) Soldered type (black) Parts Model Plug and cable cover set - Plug housing - rimp terminal -(chained) or -(detached) rimping tool - Plug and cable cover set - Plug connector - Shell kit -- Receptacle -FD Dimensions Units: mm Motor End.... Manufacturer Molex Japan o., Ltd. Sumitomo M Ltd. ontact Shanghai Molex Interconnect(Shanghai) o.,ltd. Shenzhen Molex Hong Kong hina Ltd., Shenzhen Office SHGHI SU- TEHOS O.,LTD ables / Peripheral Devices SEROPK End.

26 ables / Peripheral Devices ables for I/O Signals Specifications able Model Length (L) Manufacturer ontact JZSP-HI- JZSP-HI- JZSP-HI- m m m Sun-a Technos orporation SHGHI SU- TEHOS O.,LTD Dimensions Units: mm SEROPK end L Host controller end + onnectors for I/O Signals Specifications Type Parts Models Manufacturer ontact Soldered type Shell kit Plug -- -E Sumitomo M Ltd (.) (.)..... Pin o... M (. dia.) onnector(p) : -EL Shell : -- (Sumitomo M Ltd.) able (black) HP-SB/SR G# P UL - iring Specifications Pin o. Signal ode, PULS /, /PULS, SIG /, /SIG +I /S-O SG-OM Signal ame Reverse rotation pulse, reference pulse Forward rotation pulse, reference signal External input power supply Servo O Output signal ground Lead olor Orange Light gray hite Yellow Marking Pin o. Dots olor Black Red Black Red Black Red Black Shell Signal ode LR /LR PO SG-PO LM /BK /OI - Signal ame Position error pulse clear Phase- signal Phase- signal ground Servo alarm Brake Positioning completed FG Lead olor Yellow Pink Orange Light gray - Marking Dots olor Red Black Red Black Red Black Red - SHGHI SU- TEHOS O.,LTD Dimensions Units: mm Shell Kit Plug Pin o....

27 Magnetic ontactor Specifications Model HI-J HI-J Specifications Manufacturer Yaskawa ontrols o., Ltd. Dimensions Units: mm HI-J ontact YSK ELETRIH (SHGHI) O.,LTD. Dimensions Mounting Hole Dimensions Terminal Symbols.. a b oil terminal M... uxiliary ontact O Structure. O R S T R S T U U.. HI-J.. uxiliary contact terminal M. Main contact terminal M. Dimensions M mounting holes Mounting Hole Dimensions O R S T U Terminal Symbols ables / Peripheral Devices.. R.. a S T b oil terminal M... uxiliary ontact O Structure U O R U S T.... M mounting holes uxiliary contact terminal M. Main contact terminal M

28 ables / Peripheral Devices External Fuse Specifications Fuse Model KLK.T KLK.T Rated urrent rms rms Rated oltage Fusing Time ithin s at % pplicable SEROPKs SJDE- to SJDE- Manufacturer Littelfuse Inc. ontact KUSH FUJIX IMPORT D EXPORT TRDE O.,LTD. Fuse Block Model Type LMSQ Screw terminal, poles LM opper box lug, poles Manufacturer Littelfuse Inc. ontact KUSH FUJIX IMPORT D EXPORT TRDE O.,LTD. Dimensions Units: mm Fuse.. Fuse Block...

29 oise Filter Specifications Model F-/ F-/ F-/ Specifications Single-phase, Single-phase, Single-phase, Manufacturer Schaffner Electronic ontact Schaffner Shanghai o.,ltd. Dimensions Units: mm F-/, F-/ Top view Side view ontact terminal D ±. P//E B ±..±..±. ±..±..±. + - Model F-/ F-/.±.± ± F-/ B ±. ±. ±.± D.±..±. ables / Peripheral Devices Top view Side view ontact terminal.±. ±. ±..±.±..±.±. ±..±. P//E + - ±. ±..±

30 ables / Peripheral Devices Regenerative Unit Specifications Model JUSP-RGD Manufacturer ontact Resistance Ω llowable regenerative energy Regenerative operating voltage Regenerative processing current Error detection larm output dc dc Disconnection of regenerative resistance, failure of regenerative transistor, or overvoltage contact (Opens if a protective function is used.) ontact specifications:,. (inductive load) Yaskawa Electric orporation YSK ELETRI (SHGHI) O.,LTD. Dimensions Units: mm ameplate -dia. hole M screw for external terminal REGEERTIE UIT JUSP-RGD POER RE-O L-RE L- +(Y) - (Y) (Y) YSK (.) M screw for ground terminal pprox. mass :.kg Surge Protector (For lightning surge protection) Specifications Model Specifications Manufacturer ontact Single-phase Okaya Electric OKY HOG KOG RžžM-BQZ- Industries o., Ltd. TRDIG LIMITED Dimensions Units: mm Dimensions Internal onnection Diagram. dia. ±. ±.±..±. onnection cables ase ± + -.±. ±

31 Reactor Specifications Model X X X X Inductance (mh).... Dimensions Units: mm H dia. otch B I dia. D G E F Rated urrent ().... ameplate Manufacturer Yaskawa ontrols o., Ltd. ontact YSK ELETRIH (SHGHI) O.,LTD. ables / Peripheral Devices Model X X X X B Dimensions mm D E F G H I.... pprox. Mass kg.... Replacement ooling Fan Specifications Model JZSP-HF- JZSP-HF- pplicable SEROPKs SJDE- to SJDE- Manufacturer Sun-a Technos orporation ontact SHGHI SU- TEHOS O.,LTD External iews JZSP-HF- JZSP-HF-

32 ables / Peripheral Devices ontact Information Manufacture Fujix o., Ltd Representative in hina Kunshan Fujix Import and Export Trade o.,ltd Manufacture Representative in hina Shanghai Okaya Hong Kong Trading Limited. Shanghai Molex Japan o., Ltd Shenzhen Okaya Electric Industries o., Ltd. Shenzhen Okaya Hong Kong Trading Limited. Hong Kong Okaya Hong Kong Trading Limited. Shanghai Kunshan Fujix Import and Export Trade o.,ltd JST. Mfg. o., Ltd. Hong Kong Littelfuse Inc. Yaskawa ontrols o., Ltd. Yaskawa Electroc (Shanghai) o.,ltd. Sun-a Technos orporation Shanghai Sun-a Technos o.,ltd Yaskawa Electric orporation Sumitomo M Ltd. Schaffner Electronic

33 Selection of Servomotor Size Servomotor Selection Software: JunmaSize+ JunmaSize+ is software designed for the capacity selection of servomotors in the Junma series. Features The latest product information. wizard system with conversational mode to select optimal servomotors. References and reuses previously input and stored data. Servomotor Selection Screen ables / Peripheral Devices Selection of Servomotor Size