AC SERVO DRIVES JUNMA SERIES D E F I JUNMA JUNMA JUNMA JUNMA JUNMA JUNMA JUNMA JUNMA

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1 AC SERVO DRIVES JUNMA SERIES Pulse Reference Type Mechatrolink-II Network Type GB D E F I JUNMA JUNMA JUNMA JUNMA JUNMA JUNMA JUNMA JUNMA

2 New Servo Concept JUNMA Contents Page 2 About YASKAWA New Servo Concept JUNMA Page JUNMA SERVOPACK Fast & Easy Setup About YASKAWA Servos Page 4/ Servomotors s & Dimensions Page / Servopacks Pulse Reference Type s & Dimensions JUNMA similarly uses the world s toplevel servo technology to provide a quick and efficient setup. JUNMA is a modern concept of digital servo drive technology that requires no parameter settings and gain adjustments to achieve high-precision positioning. JUNMA s simple Plug n Play design, easy set-up procedures and high precision characteristics offer optimum drive performance and efficiency for any kind of application and industry. The JUNMA Mechatrolink-II network type servo drive can maintain steady operation YASKAWA JUNMA Features at high speed by automatically adjusting the speed to compensate load change in real time. JUNMA ML-II easily connects every servo drive with the other (up to axis) and enables start-up and control using one cable. JUNMA occupies 0% less space than comparable drives in the market and remarkably reduces start-up and installation time. JUNMA s ready-to-use features for highspeed, high-torque, and high-precision operation are ready to work for you. Page 8/9 Servopacks Mechatrolink-II Network Type s & Dimensions Features of JUNMA Pulse Reference Type Drives Attain optimum servo performance without setting parameters or adjusting gains Quick and efficient setup connect and go! Same concept as other JUNMA products, hence no troublesome parameter settings and gain adjustments needed Page 0/ Ordering Instructions Resolution: 0,000 pulses/rev High torque output at high speeds of 4,00 min -, easily suppress mechanical vibrations with the turn of the rotary switch Conforms to international standards Features of Mechatrolink-II Communications Type Automatic speed adjustment when load changes constant automatic adjustment function quickly reacts to load changes, steady operation for applications with high frequency speed and torque changes Enhanced control functions high-precision and high-performance positioning. The position reference, speed reference, and acceleration/deceleration time can be changed in real time during positioning. external positioning function using position latch signal: Detects the accurate position when a latch signal is received and adjusts the amount of movement. This is useful for transfer, wrapping, and printing equipment zero point return: A zero point can be individually set for each of customer s machines other functions: Interpolation, JOG operation, alarm reset, and other helpful functions Conforms to international standards 2 YASKAWA JUNMA

3 About YASKAWA Servos JUNMA SERVOPACK FAST & EASY SETUP Settings are easy to make, so setup time is reduced. Unpacking Remove the SERVOPACK from the box. Installation and wiring Connect the cables for the power supply, signal lines, and a motor. Pulse Control Type Mechatrolink-II Network Type Reference pulse setting Select the reference pulse switch for your controller. No parameter settings and gain adjustments are needed. Communication settings Only required for communication settings. No gain adjustments are needed. YASKAWA Screwdriver provided Controller Setup completion The motor is ready to run with the reference from the controller. The required torque is possible even at a high-speed rotation of 400 min -.

4 Servomotors Ratings and s Voltage 200VAC Servomotor Model SJME- A Applicable servopack SJDE- A Rated output * W Rated Torque *, * 2 Nm Instantaneous peak torque * Nm Rated current * A rms Instantaneous max. current * A rms Rated speed * min Max. speed * min Torque constant Nm/A rms Rotor moment of inertia kg m Rated power rate * kw*/s Rated angular acceleration * rad/s Time rating Continuous Thermal class B Vibration class μm or below * These items and speed/torque characteristics quoted in combination with an SJDE Servopack are at an armature winding temperature of 00 C. Other vallues are at 20 C. * 2 The rated torques listed here are the values for the continuous allowable torque at 40 C with an aluminium heatsink (20 mm 20 mm mm) attached. Withstand voltage Insulation resistance Enclosure Impact resistance Vibration resistance 00 VAC for one minute 00 VDC, 0 MΩ min. Totally enclosed, self-cooled, IP (excluding shaft opening and connectors) Impact acceleration: 490 m/s 2 in three directions vertical, side to side, and front to back. Impact occurrencies: 2 Vibration acceleration: 49 m/s 2 in three directions vertical, side to side, and front to back. Holding s Servomotor Model SJME- A Rated voltage 24 VDC ± 0% * 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. Notes: The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 Do not use the holding brake when the servo is on. Failure to observe this caution may result in an overload of the servopack or a decrease of brake life. Holding brake moment of inertia * kg m Capacity W.9. Minimum holding torque (Static friction torque) Nm Coil resistance Ω (at 20 C) 9 8 Rated current A (at 20 C) release time ms 80 max. Rise time for holding torque ms 00 max. How to read a graph of speed and torque characteristics Speed/Torque Characteristics Speed (min - ) Torque (Nm) A. continuous operating range Safe range allowing the continuous operation of the servomotor. The effective torque must be within this range. The output torque will decrease if the speed exceeds the rated speed. Rated operating point Rated torque The same torque is output at any rotating 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. Speed (min - ) Speed (min - ) Speed (min - ) Speed (min - ) Torque (Nm) Torque (Nm) Torque (Nm) Torque (Nm) Note: Solid lines show the torque/speed characteristics of the servomotor at 200 VAC, and the broken lines show them at 20 VAC. 4 YASKAWA JUNMA

5 Dimensions Units: mm 00 W Motor Connector s Motor Connector s Motor Connector s Extension: BKUA84NN008A000 Encoder cable Motor Connector s Extension: BKUA84NN008A000 Male Contact (Crimp):.00. No brake With brake Extension: BKUA84NN008A000 Male Contact (Crimp):.00. Male Contact (Crimp):.00. Pin Description Colour Description Colour Encoder connector Motor connector Servomotor main circuit cable U U Plug: BSTA82NN00820A000 Motor Connector42s2 4 4 Plug: BSTA82NN00820A000 Plug: BSTA82NN00820A V White V White Extension: BKUA84NN008A000 Female Female Contact (Crimp): Contact (Crimp): Contact (Crimp): Male Contact (Crimp):Female.00. W W (Solder): (Solder): (Solder): Cross Section A-A U V W FG L LL Approx. mass (kg) AMA4C FG V White White Extension: BKUA84NN008A000 U W U Male contact ( Crimp):.00. (Intercontec) UV UV FG White Plug: White BSTA82NN00820A000 V VW White White Female Contact: W U (Crimp): W W Male Contact (Crimp):.004. Encoder Connector s s 2 Connector Encoder Connector s Encoder Encoder Connector s Extension: AKUA04NN0084A000 Plug: ASTA04NN A000 9 Extension: AKUA04NN0084A000 Male Contact (Crimp):.004. Pin Description Colour (Crimp): 8 0 Extension: AKUA04NN0084A Female Contact Male Contact (Crimp): (Solder): Contact PG V(Crimp): Male Plug: ASTA04NN A000 2 PG0 V (GND) 2 Female Contact 2(Crimp): PG V ASTA04NN A000 A+ Plug: (Solder): Note: Only for servomotors with brakes Holding brake torque = Motor rated torque 0AMA4 U V White V White FG FG (Solder): W FG W FG FG Encoder ConnectorFG s Extension: AKUA04NN0084A000 9 Holding brake (de-energization operation) Power supply: 24 VDC Type SJME- FG Plug: BSTA82NN00820A000 Female Contact (Crimp): (Solder): U PG0 V(GND) A+ 4 / White A4 PG V PG0 V(GND) B+ Yellow A+ Yellow / White B- / White APurpleV /Z PG B+ GrayV U YellowPG White V(GND) BGreen V Yellow /PG0 V(GND) /Z A+ Orange W PurplePG0 Gray -U A+ AGreen V Shield Wire Case Frame Ground A- Encoder connector Servomotor main circuit cable B Yellow/White 8 / Z Purple 9 U Gray 0 V Green / White Orange Orange W - / White W -Yellow - B+ 2 Case Frame Ground Shield Wire Yellow Yellow B+ BCase / White Frame ground Shield wire Yellow / White Purple B/Z Extension: AKUA04NN0084A000 Purple /Z Gray U Male contact ( Crimp):.004. (Intercontec) Gray Green UV Plug: ASTA04NN A000 Green V Orange W Female Contact: (Crimp): Orange W (Solder): Case Frame Ground Shield Wire Case Frame Ground Shield Wire 200 W to 0 W Encoder cable Plug: 4 ASTA04NN A000 A (Crimp): /White Female Contact Female Contact (Crimp): (Solder): B+(Solder): Yellow Motor connector Cross Section A-A Holding brake (de-energization operation) Power supply: 24 VDC Note: Only for servomotors with brakes Holding brake torque = Motor rated torque Type SJME- L LL 02AMA AMA4C.. 04AMA AMA4C AMA4 08AMA4C 2 LR LG LE 0 S LB LC LD LF LZ QK Approx. mass (kg) LA

6 Servopacks Pulse Reference Type Ratings and s SERVOPACK Model SJDE- 0APA 02APA 0APA 04APA Max. applicable servomotor capacity kw Continuous output current A rms Instantaneous max. output current A rms Input power supply (for main circuit and control circuit) Voltage Single-phase 200 to 20 VAC, +0 to % Frequency 0/0 Hz ± % Voltage frequency capacity at rated output kva Power loss at rated output W 4 24 Input control method Output control method Feedback Capacitor-input type, single-phase full-wave rectification with resistance to prevent inrush currents PWM control, sine wave power driven system Analog output encoder Allowable load inertia* kgm I/O signals Input signal for reference (designated pulse type and pulse resolution with pulse switch) Clear input signal Servo on input signal Alarm output signal output signal Pulse type Position completed output signal Pulse resolution Select one of the following signals:. CCW + CW 2. Sign + pulse train. CCW + CW (logic reversal) 4. Sign + pulse train (logic reversal) Select one of the following signals:. 000 pulses/rev (open collector/line driver) kpps max pulses/rev (open collector/line driver) 8, kpps max pulses/rev (line driver) kpps max pulses/rev (line driver) 0 kpps max. Clears the positioning error when turned on Turns the servomotor on or off Off if an alarm occurs External signal to control brakes. Turn ON to release the brake. On if the current position is equal to the reference position ± 0 pulses Origin output signal On if the motor is at the origin (width: /00 rev) Dynamic brake (DB) Operated at main power off, servo alarm, servo off (off after motor stops; on if the motor power is off) * Be sure to use the motor within the allowable load moment of inertia. The motor will become unstable if the load moment of inertia exceeds the allowable value. * 2 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 cases: A 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 on during a ground fault. Built-in functions Regenerative processing Protection* 2 Display Reference filter Cooling method Optional (if the regenerative energy is too large, install a regenerative unit) Speed errors, overload, encoder errors, voltage errors, over currents, disablement of the built-in cooling fan, system errors Five LED indicators (PWR, Ref, Al, AL2, Al) Select one of eight levels with Fil switch Forced cooling (built-in fan) Operating temperature 0 C to + C Operating humidity Storage temperature 20 C to +0 C Storage humidity Installation site Altitude Vibration resistance 4.9 m/s 2 Shock resistance 9. m/s 2 Operating conditions 90% RH or less (no condensation) 90% RH or less (no condensation) Free of corrosive gases Free of dust and iron powder Clean and dry 000 m or below Installation category (overvoltage category): II Pollution degree: 2 Protection class: IPX (EN08) YASKAWA JUNMA

7 Dimensions SJDE-0, 02 (00W, 200W) Units: mm Mounting Hole Diagram 4. dia. holes 2-M4 mounting holes Airflow Cooling fan Nameplate Airflow Ground terminal with 2xM4 screws SJDE-04 (400W) 4. dia. holes Airflow Mounting Hole Diagram 2-M4 mounting holes Visible outline Cooling fan Nameplate Airflow Ground terminal with 2xM4 screws SJDE-08 (800W) 4. dia. holes Airflow Mounting Hole Diagram 2-M4 mounting holes Visible outline Cooling fan Nameplate Airflow Ground terminal with 2xM4 screws

8 Servopacks Mechatrolink-II Network Type Ratings and s * Be sure to use the motor within the allowable load moment of inertia. The motor will become unstable if the load moment of inertia exceeds the allowable value. * 2 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 cases: A 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 on during a ground fault. SERVOPACK Model SJDE- 0ANA 02ANA 0ANA 04ANA Applicable servomotor capacity kw Continuous output current A rms Instantaneous max. output current A rms 2... Voltage Single-phase 200 to 20 VAC, +0 to % Input power supply (for main circuit Frequency 0/0 Hz ± % and control circuit) Voltage frequency capacity at rated output kva Power loss at rated output W 4 24 Input control method Capacitor-input type, single-phase full-wave rectification with resistance to prevent inrush currents Output control method PWM control, sine wave power driven system Allowable load moment of inertia* kgm Leakage current. ma max. Dynamic brake (DB) Activated when the power is off, a servo is off, or an alarm occurs (Released after the motor stops, applied if the power supply is turned off) Communications for maintenance JunmaWin (Modification/initialization of parameters, JOG operation, etc) Regenerative processing If the regenerative energy is too large, mount a regenerative unit Emergency stop Emergency Stop (E-STP) Overtravel (OT) prevention Forward run prohibited (P-OT), reverse run prohibited (N-OT) Display Four LED indicators (PWR, RDY, COM, ALM) Monitor Power supply status monitor, servo ON/OFF monitor, MECHATROLINK monitor Feedback Incremental encoder (892 pulsesrev) Reference resolution setting (electronic gear) 0.0 B/A 00 Protection Speed error, overload, encoder error, voltage error, overcurrent, built-in cooling fan stop, system error, ground fault * 2 Communications protocol MECHATROLINK-II Station address 4H to FH MECHATROLINK communications Transmission speed 0 Mbps Transmission cycle ms,. ms, 2 ms, ms, 4 ms Data length bytes or 2 bytes MECHATROLINK-II communications Command method Performance MECHATROLINK-II commands (for motion, data setting/reference, monitor, adjustment, and other commands) Sequence input signals Fixed inputs points (external latch signal, homing deceleration signal, forward run prohibited signal, reverse run prohibited signal, and emergency stop signal) Sequence output signals Fixed outputs 2 points (servo alarm and holding brake) Operating temperature / operating humidity 0 C to + C /90% RH or less (no condensation) Storage temperature / storage humidity 20 C to +0 C /90% RH or less (no condensation) Ambient conditions Free from corrosive gases, free from dust and iron particles, free from water droplets or machine oil Altitude 000 m or below Vibration resistance / shock resistance 4.9 m/s 2 /9. m/s 2 Operating conditions Installation category (overvoltage category): II, pollution degree: 2, protection class: IPX (EN08) Basic specifications Built-in functions 8 YASKAWA JUNMA

9 SJDE-0, 02 (00W, 200W) Mounting Hole Diagram Dimensions Units: mm 2-M4 mounting holes Visible outline Ground terminal with 2xM4 screws Nameplate SJDE-04 (400W) Mounting Hole Diagram 0 YASKAWA () 2 () (4.) 0 9.±0.. 2-M4 mounting holes Visible outline YASKAWA ELECTRIC Ground terminal with 2xM4 screws 4 () Nameplate () 0 () 2±0. (8) 4 SJDE-08 (800W) Mounting Hole Diagram 0 Ground terminal with 2xM4 screws 0 () 2 () YASKAWA ELECTRIC () Nameplate Cooling fan () 80 (4) 0 () 9.±0.. 8±0. () 0 -M4 mounting holes Visible outline 9

10 Ordering Instructions Servo Motor Model Designation SJME - 02 A M C 4 Junma Servomotor Junma Servo Motor,000 rpm (00 0 W) Capacity Output (W) s No 24 VDC C Shaft end s Straight with key 4 Voltage 200 VAC A Design procedure Standard C Feedback specification Analogue output encoder M Servopack Model Designation SJDE - 02 A P A Junma Mechatrolink-II Servo Drive Junma Pulse Servo Drive 200V SJDE- 02 APA-OY REF PULSE AL AL2 AL FIL C N Junma Series SJDE Servopack Applicable Servomotor Capacity Output (W) Design Revision Order A, B Interface Pulse Reference Control Mechatrolink-II P N C N 2 PWR L L2 + - U V W 0 08 Power Supply Voltage CNA CNB 200 VAC A 0 YASKAWA JUNMA

11 Ordering Instructions Power Cables s Model Appearance. m JZSP-CHM E-G2 Power cable for Junma servomotors without brake Power cable for Junma servomotors without brake Flexible cables (Standard) Shielded Cable Bending radius (Dynamic) > 0 x Diameter Bending cycles > Million Flexible cables (Standard) Shielded Cable Bending radius (Dynamic) > 0 x Diameter Bending cycles > Million m JZSP-CHM000-0-E-G2 m JZSP-CHM000-0-E-G2 0 m JZSP-CHM000-0-E-G2 m JZSP-CHM000--E-G2 20 m JZSP-CHM E-G2. m JZSP-CHM E-G2 m JZSP-CHM00-0-E-G2 m JZSP-CHM00-0-E-G2 0 m JZSP-CHM00-0-E-G2 m JZSP-CHM00--E-G2 20 m JZSP-CHM00-20-E-G2 Encoder Cables s Model Appearance. m JZSP-CHP E-G2 Encoder cable for Junma servomotors Flexible cables (Standard) Shielded Cable Bending radius (Dynamic) > 0 x Diameter Bending cycles > Million m JZSP-CHP800-0-E-G2 m JZSP-CHP800-0-E-G2 0 m JZSP-CHP800-0-E-G2 m JZSP-CHP800--E-G2 20 m JZSP-CHP E-G2 Connectors for power and encoder cables s Model (Yaskawa) Model (Manufacturer) Connectors for making power cables Connectors for making encoder cables * Note: Female contacts for Intercontec plugs have to be ordered separately, Crimp Type: Solder Type: Signal and communication cables Drive side (CNB) Manufacturer: JST JZSP-CHM9-2 04JFAT-SAYGF-N Motor side Manufacturer: Intercontec BSTA82NN00820A000 * Drive side (CN2) Manufacturers: M and Molex JZSP-CHP-2 Motor side Manufacturer: Intercontec ASTA04NN A000 * Name Type Model Length Appearance I/O Signal Cables JZSP-CHI00-0 JZSP-CHI00-02 JZSP-CHI00-0 m 2 m m I/O Signal Connector Kits For SERVOPACK CN Soldered Type JZSP-CHI9- Cable with Connectors JEPMC-W002- * 2 at Both Ends * (Without Ferrite Core) JEPMC-W002- * 2 -E (Compliant with RoHS Directive) MECHATROLINK-II Communication Cable Cable with Connectors at Both Ends * (With Ferrite Core) JEPMC-W00- * 2 JEPMC-W00- * 2 -E (Compliant with RoHS Directive) JEPMC-W022- * 2 Terminators JEPMC-W022- * 2 -E (Compliant with RoHS Directive) Cable for Personal Computer Cables JZSP-CPS m * : The total cable length must be 0 m max. and the cable length between stations 0. m min. *2: Specify the cable length in when ordering as shown in the table below. Cable length m Cable length m Cable length m Cable length m Cable length m A

12 YASKAWA Electric Europe GmbH Hauptstr. 8 0 Eschborn Deutschland / Germany info@yaskawa.de s are subject to change without notice for ongoing product modifications and improvements. YASKAWA Electric Europe GmbH. All rights reserved. Literature No. YEG_MuC_JUNMA_GB_v2_08 Printed in Germany November 2008