Great Stability. despite Load Changes! JUNMA. Connect it and, zip! It s ready to go. 4 Setup Completion. 3 Communication.

Transcription

1 YASKAA MEHATROLINK- OMMUNIATIONS TYPE A SERO DRIES JUNMA SERIES SEROPAK TYPE SJDE SEROMOTOR TYPE SJME Great stability despite load changes! Quick and efficient setup! Improved machine efficiency! Enhanced control functions!

2 Great Stability High-speed Network despite Load hanges! JUNMA * MEHATROLINK- ommunications Type * : Referred to as JUNMA M- in this catalogue. Like speed skaters, who compete by using refined skills to maintain high speeds both linearly and on curves... The JUNMA M- servo drive can maintain steady operation at high speed by automatically adjusting the speed to compensate for load change in real time. There is no need to bother with parameter settings and gain adjustments, which are usually required for servo drives. Features Automatic speed adjustment when load changes! Quick and efficient setup! onnect and go! Shared concept with other products in the JUNMA series. No troublesome parameter settings and gain adjustments needed. Equipped with a constant automatic adjustment function that quickly reacts to load changes, the JUNMA- brings steady operation to applications with high frequency speed and torque changes. Added value with MEHATROLINK- communications! Requires less space and less wiring. You can build the system to your own need because the YASKAA A servo drives, as well as various devices made by member companies of the MEHATROLINK Members Association, can be connected to your system. Startup time is greatly reduced by incorporating a machine controller from the YASKAA MP series. Servomotor information, including position, speed, motor ID, servo parameters, and error information, is digitally managed to simplify monitoring and maintenance. 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. onforms to international standards. onnect it and, zip! Note: Scheduled to conform to the RoHS directive. (RoHS directive: Restriction of the Use of ertain Hazardous Substances in Electrical and Electronic Equipment) O N T E N T S System onfiguration Model Designation Selection of Devices Servomotors SEROPAKs onnection Diagram Installation able and onnector Dimensions Peripheral Device Dimensions Engineering Tool Selection of Servomotor Size 9 Reference See for yourself how the JUNMA M- can improve performance, response, and usability of your machine. It s ready to go. System onfiguration Example ontroller Ethernet MP MEHATROLINK- / -Stick Touch Panel PL JUNMA M I/O products by member companies in the MEHATROLINK Members Association. Bit-type Distributed I/O Terminal (by Anywire orporation) Inline Bus oupler (by Phoenix ontact K.K.) Unpacking Remove the SEROPAK from the box. Installation and iring onnect the cables for the power supply and signals. Then connect the servomotor, SEROPAK and the MEHATROLINKcompatible controller. ontroller ommunication Settings Only required for communication settings. No gain adjustments are needed. Setup ompletion The motor is ready to run with the reference from the controller.

3 System onfiguration/ Model Designation onnection to Peripheral Devices Power supply Single-phase A L L Molded-case circuit breaker* Download Surge absorber Noise filter Junmain* P Magnetic contactor SJDE SEROPAKs A reactor For a servomotor with a holding brake. D power supply* Relay I/O signal cable onnect to the MEHATROLINK- Upper controller Fuse Encoder cable (Junction cable) Motor main circuit cable (Junction cable) For a regenerative unit. Regenerative unit onnector for motor main circuit cable (NB) onnector for power supply/regenerative unit (NA) SJME Servomotors To the control circuits of magnetic contactor * * : Install a ground fault interrupter to protect against both overloads and shortcircuits, or install a ground fault interrupter for ground protection and a molded-case circuit breaker. : Prepare D power supplies for a holding brake and I/O signals. : Junmain software can be downloaded from Model Designation SEROPAKs SJDE JUNMA-series SJDE SEROPAKs Applicable Servomotor apacity ode apacity 7 A N A Design Revision Order A Interface Specification N : MEHATROLINK- Power Supply oltage A : A Servomotors SJME A M B JUNMA-series SJME Servomotors Rated Output : : : Options : 7 : No option : D holding brake Power Supply oltage Shaft End Specification A : A : Straight, key Encoder Specification M : Incremental encoder Design Revision Order B

4 Selection of Devices ables and onnectors Name Servomotor Main ircuit ables with onnectors at Both Ends (Junction ables) onnector Kits for Servomotor Main ircuit able* Power Supply and Regenerative Unit onnector Kits* Encoder able onnector Kits* I/O Signal ables I/O Signal onnector Kits* MEHATROLINK- ommunication able able for Personal omputer Type ithout holding brake ith holding brake To Servomotor Plug (For servomotors w/wo brake) To SEROPAK NB (For servomotors w/wo brake) To SEROPAK NA Encoder ables with onnectors at Both Ends (Junction ables) To Servomotor To SEROPAK N For SEROPAK N able with onnectors at Both Ends* (ithout Ferrite ore) able with onnectors at Both Ends* (ith Ferrite ore) Terminators ables rimp Type Spring Type rimp Type Spring Type rimp Type Soldered Type(Black) Soldered Type(Gray) Soldered Type Model JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM9-* JZSP-HM9-* Receptacle: FFSS--KY Receptacle contact: SFF-GF-P. rimping tool: YRF- JZSP-HG9-* JZSP-HP- JZSP-HP- JZSP-HP- JZSP-HP- JZSP-HP- JZSP-HP9-* JZSP-HP9- JZSP-HP9- JZSP-HI- JZSP-HI- JZSP-HI- JZSP-HI9- JEPM-- * JEPM-- * -E (ompliant with RoHS Directive) JEPM-- * JEPM-- * -E (ompliant with RoHS Directive) JEPM-- * JEPM-- * -E (ompliant with RoHS Directive) JZSP-PS- Length m m m m m m m m m m m m m m m m m m m Appearance Ref. Page P. P. P. P. P. P. P. P. ontact Yaskawa Local Office Yaskawa Local Office Yaskawa Local Office J.S.T.Mfg o., Ltd Yaskawa Local Office Yaskawa Local Office Yaskawa Local Office Yaskawa Local Office Yaskawa Local Office System onfiguration / Model Designation / Selection of Devices * : Sold separately. If making cable assemblies, these connectors are necessary. : Refer to page for the crimping tool model number. The crimping tool must be prepared by customers. : ith tool (lever for wiring). : The total cable length must be m max. and the cable length between stations. m min. : Specify the cable length in when ordering as shown in the table below. A 7 able length m able length m

5 Selection of Devices SEROPAKs and Applicable Peripheral Devices Rated Output ithout Holding Brake Servomotor ith Holding Brake SEROPAK Power Supply apacity per SEROPAK ka urrent apacity for Moldedcase ircuit Breakers Arms urrent apacity and Model of External Fuse Inrush urrent (A-P) Magnetic ontactor 7 Manufacturer ontact Details SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJME-AMB Yaskawa Electric orporation SJDE-ANA SJDE-ANA SJDE-ANA SJDE-ANA..7.. KLK.T ( Arms) KLK.T( Arms) Littelfuse Inc. P. HI-J HI-J Yaskawa ontrols o., Ltd. P. Rated Output ithout Holding Brake Servomotor ith Holding Brake SEROPAK Noise Filter Surge Absorber A Reactor Regenerative Unit SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJDE-ANA SJDE-ANA SJDE-ANA FN7-/7 FN7-/7 RžžM-BQZ- X X X JUSP-RGD 7 SJME-AMB SJME-AMB SJDE-ANA FN7-/7 X Manufacturer Yaskawa Electric orporation Schaffner Electronic Okaya Electric Industries o., Ltd. Yaskawa ontrols o., Ltd. Yaskawa Electric orporation ontact Details P. P.7 P. Precautions hen Selecting Peripheral Devices Molded-case ircuit Breaker (MB) Observe the following precautions when selecting a molded-case circuit breaker. <Maximum Input urrent> The instantaneous maximum output of SEROPAK is approximately times the rated output and the output can last up to seconds. Select a molded-case circuit breaker whose operating time is seconds or more at % of SEROPAK rated current. The general-purpose low-speed acting molded-case circuit breakers are applicable. Rated torque for a molded-case circuit breaker must be equal to or greater than the total power consumption of all devices including the controllers. If using more than one SEROPAK, calculate an effective load current from the total power supply capacity. The power capacity per SEROPAK is shown in the table above, SEROPAKs and Applicable Peripheral Devices. <Inrush urrent> Select a molded-case circuit breaker with an allowable current larger than the total inrush current of the SEROPAKs if multiple SEROPAKs are turned on at the same time. SEROPAK s inrush current is shown in the table above, SEROPAKs and Applicable Peripheral Devices. Ground Fault Interrupter Use ground fault interrupters for high-frequency compliant inverters. If a general-purpose ground fault interrupter is used, select a rated current of ma or more. High-frequency current may leak through the armature of a servomotor due to high-speed switching in the SEROPAKs. Magnetic ontactor A magnetic contactor is required to make the A power to SEROPAK on/off sequence externally. Be sure to attach a spark killer to the exciting coil of the magnetic contactor. Noise Filter Install a noise filter on the power supply lines for peripheral devices as necessary. Because the SJDE SEROPAK is designed as an industrial device, it provides no mechanism to prevent noise interference. 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. Place the reference input device and noise filter as close to the SEROPAK as possible.

6 A Servomotor Selection Software. Regenerative Units The rotational energy of driven machines, including the servomotor, is returned to the SEROPAK as electric power. This is called regenerative power. The power is absorbed by the main capacitor inside the SEROPAK. hen the capacitor has reached its limit in power absorption, the regenerative unit is reguired to dissipate the excess. The servomotor will be driven in the regeneration state in the following circumstances: Deceleration period to a stop during deceleration operations. During continuous descending operations along the vertical axis. During continuous operations with the servomotor rotated from the load side (negative load). <Allowable Regenerative Frequency> The following graphs show the allowable regenerative frequency determined by load moment of inertia and motor speed. The graphs show values for the horizontal axis. For the vertical axis, refer to the results obtained with the SigmaJunmaSize+: A Servomotor Selection Software. Load moment of inertia ( - kgžm ) Load moment of inertia ( - kgžm ) Load moment of inertia ( - kgžm ) Load moment of inertia ( - kgžm ) Power Supply oltage: SJDE- ( ). No limit (Regenerative unit not required.)..... Speed (min - ) SJDE- ( ) SJDE- ( ) Speed (min - ) SJDE- (7 ) Speed (min - ) Allowable Regenerative Frequency Allowable Regenerative Frequency times/min (Regenerative unit required.) times/min (Regenerative unit required.) times/min (Regenerative unit required.) No limit (Regenerative unit not required.) times/min (Regenerative unit required.) times/min (Regenerative unit required.) times/min (Regenerative unit required.) No limit (Regenerative unit not required.) Load moment of inertia ( - kgžm ) Load moment of inertia ( - kgžm ) Load moment of inertia ( - kgžm ) Load moment of inertia ( - kgžm ) Power Supply oltage: SJDE- ( ) Allowable Regenerative Frequency. No limit (Regenerative unit not required.)..... Speed (min - ) times/min times/min.. (Regenerative unit required.). (Regenerative unit required.) times/min (Regenerative unit required.)... times/min. (Regenerative unit required.) No limit.. (Regenerative unit not required.). No limit (Regenerative unit not required.) Speed (min - ) Speed (min - ) Allowable Regenerative Frequency Allowable Regenerative Frequency SJDE- ( ) SJDE- ( ) Speed (min - ) SJDE- (7 ) Speed (min - ) Allowable Regenerative Frequency Allowable Regenerative Frequency times/min (Regenerative unit required.) times/min (Regenerative unit required.) times/min (Regenerative unit required.) No limit (Regenerative unit not required.) Allowable Regenerative Frequency times/min (Regenerative unit required.) times/min (Regenerative unit required.) times/min (Regenerative unit required.) No limit (Regenerative unit not required.) Selection of Devices Note : An overvoltage alarm will occur if the regenerative frequency exceeds its allowable limit. This may cause a failure of the regenerative unit. <aution> The regenerative unit heats up and reaches a high temperature. Use heat-resistant, non-flammable cables and make sure that the cables do not touch the unit. Refer to P for the applicable size of cables to connect the unit. The regenerative unit has three error detection functions: regenerative resistor disconnection, regenerative transistor fault, and overvoltage detection. hen one of these errors is detected, the builtin alarm relay will operate and the and output terminals of the regenerative unit will be opened. The power supply (through L and L) to the SEROPAK must be turned off when the alarm relay turns on. Two to three seconds are required to reset the alarm relay once the alarm relay operates. The alarm state will return to normal after the main capacitor in the SEROPAK finishes discharging. 7

7 Servomotors Ratings and Specifications oltage Servomotor Model : SJME- A Applicable SEROPAK Model : SJDE- A Rated Output Rated Torque* Nžm Instantaneous Peak Torque Nžm Rated urrent Arms Instantaneous Max. urrent Arms Rated Speed min - Max. Speed min - Torque onstant Nžm/Arms Rotor Moment of Inertia kgžm - Rated Power Rate kw/s Rated Angular Acceleration rad/s Time Rating Thermal lass ibration lass ithstand oltage Insulation Resistance Enclosure Impact Resistance ibration Resistance A ontinuous B A for one minute D, MΩ min. Totally enclosed, self-cooled, IP (excluding shaft opening and connectors) Impact acceleration : 9 m/s in three directions vertical, side to side, and front to back. Impact occurrences : ibration acceleration : 9 m/s in three directions - vertical,side to side, and front to back. Description 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 current allowed to flow instantaneously to the motor Speed at the rated operating point Highest possible speed Generated torque ratio per current flowing to the motor Inertia moment at the rotor shaft Motor output per unit time The theoretical angular acceleration (also called torque-to-inertia 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 The rated torques listed here are the values for the continuous allowable torque at with an aluminum heatsink ( mm mm mm) attached. * : Holding Brake Specifications Servomotor Model: SJME- A Rated oltage Holding Brake Moment of Inertia* apacity Min. Holding Torque (Static Friction Torque) oil Resistance Rated urrent Holding Brake Release Time Rise Time for Holding Torque kgžm - Nžm Ω (at ) A (at ) ms ms Description D ±% max. max Torque against an external force to hold the shaft Resistance of the built-in coil in the holding brake urrent that flows when the holding brake is released : To obtain the moment of inertia of a motor with a holding brake, add the holding brake moment of inertia to the rotor moment of inertia. The rated power rate and * rated 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. Do not apply the holding brake when the servo is on. Failure to observe this caution may cause an overload in the SEROPAK or a decrease in the brake life. Speed / Torque haracteristics How to Read a Gragh of Speed and Torque haracteristics A.ontinuous duty zone Safe zone allowing the continuous operation of the servomotor. The effective torque must be within this zone. Speed (min - ) A SJME-A B Torque (Nžm) 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.Intermittent duty zone Zone where the motor can be operated for a short time, provided that the effective torque of the motor is within the continuous duty zone. SJME-A SJME-A SJME-A SJME-A Speed (min - ) Speed (min - ) A B A B Speed (min - ) A B Speed (min - ) A B Torque (Nžm) Torque (Nžm) Torque (Nžm) Torque (Nžm)

8 Dimensions Units : mm SJME-A ( ) Encoder cable Type SJME-AMB SJME-AMB ± Servomotor main circuit cable L LL L 9 LL 9 9 ±. A Approx. Mass kg..7. A. A -.9 dia. -. dia. A Holding brake (de-energization operation) Power supply: D Note : Only for servomotors with holding brakes Holding brake torque=motor rated torque Encoder connector Motor connector. ross Section A-A. dia. A dia. -. dia. Motor onnector Specifications 9 7 Plug: 9-P- Terminal (No. to ) : T (chained) or TL (detached) Grounding Pin (No.) : 9- (chained) or 9- (detached) (Manufacture: Molex Japan o., Ltd) Encoder onnector Specifications 7 9 ithout brake Phase U Phase Phase FG Red hite Blue Green/Yellow PG PG (GND) Phase A+ Phase A Phase B+ Phase B Phase /Z Phase U Phase Phase FG Phase U Phase Phase FG Brake Brake ith brake Plug: 9-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 Red hite Blue Green/Yellow Red Black Servomotors SJME-A, A, A (,, 7 ) Encoder cable ± Encoder connector Servomotor main circuit cable Motor connector ± L LL LG. A LR LE A. LF dia. QK A A LD S dia. LB dia. ross Section A-A L LA dia. Holding brake (de-energization operation) Power supply: D Note : Only for servomotors with holding brakes Holding brake torque=motor rated torque. dia. A -LZ dia. Type SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJME-AMB SJME-AMB L LL LR LG LE S.. 7 LB.9. L LD LF LA 7 9 LZ. 7 QK Approx. Mass kg

9 SEROPAKs Basic Specifications Built-in Functions Specifications Applicable Servomotor apacity k ontinuous Output urrent Arms Instantaneous Max. Output urrent Arms Input Power Supply oltage (for main circuit and control circuit) Frequency oltage Frequency apacity atrated Output ka Power Loss at Rated Output Input ontrol Method Output ontrol Method Allowable Load Moment of Inertia* kgm Leakage urrent Dynamic Brake(DB) ommunications for Maintenance Regenerative Processing Emergency Stop Overtravel(OT) Prevention Display Monitor Feedback SEROPAK Model SJDE- Reference Resolution Setting (Electronic Gear) Protection ommunications Protocol Station Address MEHATROLINK Transmission Speed ommunications Transmission ycle Data Length ommand Method Performance Sequence Input Signals Fixed Inputs Sequence Output Signals Fixed Outputs Operating Temperature / Operating Humidity Storage Temperature / Storage Humidity Ambient onditions Altitude ibration Resistance / Shock Resistance Operating onditions * ANA ANA ANA ANA Single-phase to A, + to % Hz±%..7.. apacitor-input type, single-phase full-wave rectification with resistance to prevent inrush currents. PM control, sine wave power driven system ma max. 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) Junmain (Modification/initialization of parameters, JOG operatoin, etc) If the regenerative energy is too large, mount a regenerative unit. Emergency Stop (E-STP) Forward run prohibited (P-OT), reverse run prohibited (N-OT) Four LED indicators : (PR, RDY, OM, ALM) Power supply status monitor, servo ON/OFF monitor, MEHATROLINK monitor Incremental encoder (9 pulsesrev). B/A Speed error, overload*, encoder error, voltage error, overcurrent, built-in cooling fan stop, system error, ground fault*. MEHATROLINK- H to FH Mbps ms,. ms, ms, ms, ms 7 bytes or bytes MEHATROLINK- communications MEHATROLINK- commands (For motion, data setting/reference, monitor, adjustment, and other commands) points (External latch signal, homing deceleration signal, forward run prohibited signal, reverse run prohibited signal, and emergency stop signal) points (Servo alarm and holding brake) to + / 9% RH or less (no condensation) - to + 7 / 9% RH or less (no condensation) Free from corrosive gases,free from dust and iron particles,free from water droplets or machine oil m or below.9 m/s / 9. m/s Installation category (overvoltage category) :, Pollution degree :, Protection class : IPX (EN7) : 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. : The overlord characteristics are shown below. The motor torque in the graphs are shown in percentage for the rated torque. : 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. To make your system even safer, install a ground fault interrupter for overloads and shortcircuits, or install a molded-case circuit breaker combined with a ground fault interrupter for ground faults. Times (s) SJME- ( ) Example : If the motor torque is %, an overload alarm will occur in approximately two seconds Times (s) SJME- ( ) to SJME- (7 ) Motor Torque (%) Motor Torque (%)

10 Dimensions Units : mm SJDE-, (, ) () Mounting Hole Diagram () (.). -M mounting holes 9.±. (Mounting pitch) isible outline SEROPAKs Ground terminal with M screws Nameplate () (7) () ±. () (Mounting pitch) SJDE- ( ) Mounting Hole Diagram YASKAA () () (.) 9.±.. (Mounting pitch) -M mounting holes isible outline YASKAA ELETRI Ground terminal with M screws Nameplate () (7) () ±. () (Mounting pitch) SJDE- (7 ) Mounting Hole Diagram () Ground terminal with M screws 7 () () (7) YASKAA ELETRI Nameplate ooling fan () () 9.±.. (Mounting pitch) ±. () 7 (Mounting pitch) -M mounting holes isible outline

11 D E F 7 9 A B D E F OM ALM RDY D E F 7 9 A B OM ALM RDY D E F 7 9 A B OM ALM RDY SEROPAKs Part Names and Functions FIL N A/B N N PR L L NA YASKAA 7 9 A B SEROPAK SJDE - ANA OM ALM RDY U NB Ground terminal Input voltage Model No. Rotary switch for reference filter setting (FIL) onnector for MEHATROLINKcommunication (N) I/O signal connector (N) Encoder connector (N) Power supply indicator (PR) onnector for power supply / regenerative unit (NA) onnector for motor main circuit cable (NB) Rotary Switch (FIL) If the machine vibrates when starting or stopping, set a larger value. The factory setting is. Not necessary to change this value unless machine vibrates. * Setting 7 to F Pin No. 7 9 Shell Rise Time* I/O Input Input Input Input Input Input Output Output Output Positioning Settling Time* ms to ms ms to ms ms to ms ms to ms 7 ms 7 to ms ms to ms ms to ms 7 ms to ms Do not set through F. onnector (N) Symbol /EXT /DE P-OT N-OT +IN E-STP SG-OM ALM /BK Description Small filter time constant (short positioning time) Large filter time constant (little vibration with a long positioning time) : Required time to reach reference speed. : The value depends on conditions such as the amplitude of accel/decel reference, the rigidity of the machine, and the reference resolution. Signal Name External latch Zero point return Reverse run prohibited Forward run prohibited External input power supply Emergency stop Output signal ground Servo alarm Brake FG onnector (NA) Pin No. Pin No. Pin No. 7 9 Symbol L L + Symbol U Symbol PG PG A+ A B+ B / Z U Signal Name Power supply input terminals Regenerative unit connection terminals onnector (NB) Signal Name Phase U Phase Phase Not used onnector (N) Signal Name PG power supply+ PG power supply Phase A+ Phase A Phase B+ Phase B Phase / Z Phase U Phase Phase MEHATROLINK- onnections Host controller L L Ln SEROPAK SEROPAK SEROPAK YASKAA SEROPAK SJDE - ANA YASKAA SEROPAK SJDE - ANA YASKAA SEROPAK SJDE - ANA FIL FIL FIL N A/B N A/B N A/B N N N Terminator N N N PR PR PR L U L U L L NA NB NA NB L+L+ +Ln m able length between stations:. m min. L L NA U NB Notes : A repeater is required for 7 or more stations or for a communication line longer than m with or fewer stations. Terminators must be installed at both ends of the communication line. In the diagram on the left, one of the terminators is built into the host controller.

12 7 9ABDEF DEF ON MEHATROLINK- ommunications Settings The S and S switches set the MEHATROLINK- communications settings. hanged settings are valid when the power is turned OFF and then ON again. S (Factory Setting) Rotary switch for MEHATROLINKstation address setting (S) FIL N A/B N 7 9 ABDEF 79AB OM ALM RDY ON OFF S (Factory Setting) DIP switch for MEHATROLINKcommunications setting (S) onnector for personal computer (N9) Servo status indicator (RDY) Alarm indicator (ALM) Indicator for MEHATROLINKcommunications status (OM) DIP Switch (S) S Name Reserved Transmission bytes Station address Selection of filter setting method Setting OFF ON OFF ON OFF ON OFF ON Number of Stations Description Do not set Fixed 7 bytes bytes Station address=h+s Station address=h+s Sets by using the FIL rotary switch(invalid setting by PnA) Sets by PnA(invalid setting by using the FIL rotary switch) Factory Setting ON ON OFF OFF The number of stations that can be connected depends on the transmission cycle being used. The transmission cycle is automatically set by the controller. Transmission Bytes 7 bytes bytes. ms stations stations. ms stations stations Transmission ycle. ms stations stations. ms stations stations. ms stations stations If connecting 7 stations or more, use a repeater. The table indicates the maximum number of stations that can be connected by MEHATROLINK communications. The actual number of stations may differ depending on the Machine ontroller. Refer to the relevant Machine ontroller s manual. SEROPAKs MEHATROLINK- ommunications Status Indicators The OM LED(green) on the front of SEROPAK is lit when MEHATROLINK- communications with the host controller is established. :Unlit :Lit :Blinking hen Operating Normally Status LEDs SEROPAK Status hen an Error Occurs Status LEDs SEROPAK Status Alarm onfirmation OM ALM RDY OM ALM seconds after the power turns ON RDY Standby for establishment of communicaions OM OM ALM ALM RDY RDY Alarm Alarm heck the alarm via MEHATROLINKcommunications with the host controller. heck the alarm with a P running Junmain connected to the SEROPAK. OM ALM RDY MEHATROLINKcommunications busy OM ALM RDY arning heck the warning via MEHATROLINKcommunications with the host controller. OM ALM RDY Servo On status (Power is being supplied to the servomotor.)

13 onnection Diagram Power supply Single-phase to A / Hz L L Molded-case circuit breaker Surge absorber Noise filter M AR (Note) D power supply + to A Relay for holding brake Ry aristor Holding brake S S M M Surge absorber Reactor Fuse L Fuse L NA SEROPAK NB U U Servomotor AR (Note) D power supply to A + + Regenerative unit JUSP-RGD Y Y + FG Maintenance communication ports /TXD /RXD GND N9, N PG PG Host ontroller MEHATROLINKcable Shield Terminator Ω S /S NA A A Shell NB B B 7 A+ A B+ B /Z 7 Encoder M IN /EXT /DE N-OT P-OT E-STP ALM N. KΩ. KΩ. KΩ. KΩ. KΩ 9 Shell U Shield 9 Ry /BK Flywheel diode SG-OM 7 Shield AR D power supply for a holding brake S S Emergency stop switch Power on switch D power supply M Magnetic contactor AR for I/O signals Ry Relay for holding brake Note : Prepare separate D power supplies for a holding brake and I/O signals. Manufacturers of omponents Surge absorber Okaya Electric Industries o., Ltd. (Spark killer) Flywheel diode Toshiba orp. Relay for holding brake Omron orp. aristor Nippon hemi-on orp. RE- NH MY series TNR7K

14 Input Signals External Latch Signal Input This input signal is used to obtain current position data during a positioning operation. Signal Name Signal Function External Latch ON(low level) The external signal is ON. /EXT Signal Input OFF(high level) The external signal is OFF. Homing Deceleration Signal Input This input signal is a deceleration signal for home position return. Signal Name Homing Deceleration Signal Input Signal /DE onnect these signals to limit switches to forcibly stop the servomotor when the machine movable part travels beyond the allowable motion range.the servomotor will decelerate to a stop, and then the zero clamp is performed.the maximum torque during deceleration to a stop will be the servomotor maximum torque. Signal Name Signal Emergency Stop Signal Input E-STP ON(low level) OFF(high level) ON(low level) OFF(high level) Function The limit switch turns ON. The limit switch turns OFF. Forward/Reverse Run Prohibited InputsOvertravel Inputs Note : For forward/reverse run prohibited inputs, the SEROPAK processing for stopping is executed by the software.as the safety specifications of some applications may not satisfy local safety requirements, add external safety circuits as required. Signal Name Forward Run Prohibited Input Reverse Run Prohibited Input Signal P-OT N-OT ON(low level) OFF(high level) ON(low level) OFF(high level) Function <Enable/Disable Settings> Function Forward run allowed (normal status) Forward run prohibited (reverse run allowed) Reverse run allowed (normal status) Reverse run prohibited (forward run allowed) <Enable/Disable Settings> Parameter Pn.A Pn.B Pn. n. n. n. n. Descriptions Forward run permitted when P-OT signal is ON (low level). (Factory setting) P-OT signal disabled. Forward run always permitted. Reverse run permitted when N-OT signal is ON (low level). (Factory setting) N-OT signal disabled. Reverse run always permitted Emergency Stop Signal Input hen the signal turns OFF while the servomotor is rotating, the servomotor will be stopped by the dynamic brake. Parameter n. n. Released the emergency stop Emergency stop(forced servo OFF) Descriptions Emergency stop when E-STP signal is OFF (high level). (Factory setting) E-STP signal disabled. Emergency stop always disabled. Servo Alarm Output This signal is output when the SEROPAK detects an error. Signal Name Signal Function Servo Alarm Normal status when ON(close) ALM Output Alarm output when OFF(open) Note : Open colletor outputs are used for output signals. At alarm occurrence, an alarm code is output to the host controller through MEHATROLINK- transmission.take care that the SEROPAK power supply is not turned OFF when the alarm output signal turns ON. onfigure the system so that the SEROPAK power supply is turned OFF by the contact signal between and of the regenerative unit or the contact signal of the thermostat switch for the external resistor.the power supply must be turned OFF and the emergency stop input signal must be open when using the system emergency stop. Brake Interlock Output This signal turns ON when the servo is ON and turns OFF when the servo is OFF. This is used to control the holding brake. Signal Name Brake Interlock Output /BK Signal /BK Signal Timing Function Releases the brake when ON (close) Applies the brake when OFF (open) hen the servo is OFF while the servomotor is stopped. Servo OFF(S-OFF) command Holding brake(/bk) Motor power Servo ON Brake released Motor power ON Servo OFF Approx. ms Brake applied Motor power OFF hen the servo is OFF while the servomotor is running. Servo OFF(S-OFF) command Motor speed (min - ) Approx. min - Holding brake(/bk) Servo ON Brake released Servo OFF Brake applied Approx. ms /BK signal turns ON when either of the following is satisfied while the servomotor is rotating. The servomotor speed decreases to min - or less after the servo is OFF. ms elapses after the servo is OFF. onnection Diagram

15 onnection Diagram Power Loss Main ircuit SEROPAK Output urrent (Effective alue) Main ircuit Power Loss ontrol ircuit Power Loss Total Power Loss Power Supply Model apacity A SJDE-ANA. Single-phase SJDE-ANA SJDE-ANA SJDE-ANA Note : alues obtained with the servomotor rated output. Main ircuit and Signal ables able Types Symbol Name P Standard vinyl cable I vinyl cable HI Heat-resistant vinyl cable Allowable onductor Temperature 7 able 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 hard vinyl conduits or metal conduits, consider the derating of the allowable current. Use heat-resistant cables under high ambient temperatures in a panel where standard vinyl cables will rapidly deteriorate. Do not use cables under continuous regenerative state. able Size and Allowable urrent The following table provides cable sizes and allowable currents for three cables per bundle. Use cables at a current equal to or lower than the allowable current shown in the table. Power Supply Input Terminals (L, L), Motor onnection Terminals (U,, ), and Regenerative Unit onnection Terminals (+, ) - Heat-resistant inyl ables (HI) AG Size Nominal ross Section mm..7.9 onfiguration wires/mm 9/. /. 7/. onductive Resistance Ω/km 9... Allowable urrent at Ambient Temperature A apacity 7 SEROPAK Type SJDE-ANA SJDE-ANA SJDE-ANA SJDE-ANA L, L HI. mm HI. mm Terminal Symbol U,,, HI. mm iring length: m max. +, HI. mm iring length:. m max... /. 7/ : Note onnectors are used for all wiring. : Note The values in the table are only for reference. able Type ire Size HI. mm min. Terminal Screw Size M Tightening Torque. to. Nm <Signal Line able Sizes> The following table specifies the appropriate cables for the N and N connectors on the SEROPAK. onnector Name and Symbol I/O Signal onnector N Encoder Signal onnector N Item able Maximum cable length Applicable cable Finished cable dimension able Maximum cable length Applicable cable Finished cable dimension Specification Use twisted-pair cables or shielded twisted-pair cables. m AG (. mm ), AG (. mm ), AG (. mm ) mm dia. max. Use the cables specified by Yaskawa or use shielded twisted-pair cables. m AG (. mm ), AG (. mm ) Use AG for the encoder power supply and AG for signal lines. 9 mm dia. max.

16 FIL N A/B N N PR L L NA YASKAA D E F 7 9 A B OM ALM RDY U NB FIL N A/B N N PR L L NA YASKAA D E F 7 9 A B OM ALM RDY U NB FIL N A/B N N PR L L NA YASKAA D E F 7 9 A B OM ALM RDY U NB iring Precautions Make sure to securely ground the SEROPAK and servomotor. iring must be performed by experts in electrical work. Do not run the power and signal lines together in the same duct, or do not bundle them together. The distance between a power line (such as power supply lines or servomotor cables) and signal lines must be at least cm. If the servomotor is used to drive a vertical axis, take safety measures 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 caused by fallen workpieces. Main ircuit iring Precautions For SJDE SEROPAKs, use a power supply capacity of, Arms or less ( rms max.). Use UL-approved fuses or circuit breakers. iring should meet the National Electrical ode (NE) or an equivalent. Use 7 heat-resistant copper cables or an equivalent. onnection Diagram able Precautions For wiring, use the specified cables. The wiring distance should be 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. Protection of Power-supply Lines Use a molded-case circuit breaker and fuse to protect the power supply line. The SJDE SEROPAK is connected directly to a commercial power supply without a transformer, so always use a circuit breaker and fuse to protect the SEROPAK from accidents. Grounding Precautions SEROPAK SJDE - ANA SEROPAK SJDE - ANA SEROPAK SJDE - ANA To ground a SEROPAK, follow these conditions. Use as thick a cable as possible (. mm min.) for grounding. A ground resistance of Ω or less is recommended. Use a single point ground as shown in the figure. 7

17 Installation Servomotor 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. Always observe the precautions in this section when installing a servomotor. If the junction cables are connected to the motor, be sure to connect the servomotor's main circuit cable before connecting the encoder cable. If the encoder cable is connected first, the encoder may become damaged because of the voltage differences between the ground and the frame. 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 body. Otherwise the connectors and cables will be damaged. Installation onditions Item onditions Operating temperature Operating humidity Installation sites Storage conditions Altitude Anticorrosive coating to + without freezing Description to %RH with no condensation Indoors Free from corrosive or explosive gases ell-ventilated and free from dust and moisture Facilitates inspection and cleaning If the power cable is disconnected, store the motor under these conditions. Temperature : to + without freezing Humidity : %RH with no condensation m or below above sea level Note : 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. Installation Direction Flange Through shaft section This refers to the gap where the shaft protrudes from the end of the motor. Shaft 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 preventive 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. 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. Horizontal Use the mounting holes (two for - models and four for - to 7- models) on the motor installation surface to secure the motor. 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. Direction of Servomotor Rotation The forward rotation of the servomotor is counterclockwise when viewed from the load. Nut ounterclockwise ertical able trap Motor installation plate asher Mounting screw <Precautions> The motor main circuit cable, encoder cable, and junction 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 of mm or larger. If the cables need to be bent, contact your Yaskawa representative. Bending radius R= mm

18 YASKAA SJDE- APA TL PULSE AL AL AL FIL N N PR L L + - DEF DEF 7 7 NA NB U YASKAA SJDE- APA TL PULSE AL AL AL FIL N N PR L L + - DEF DEF 7 7 NA NB U YASKAA SJDE- APA TL PULSE AL AL AL FIL N N PR L L + - DEF DEF 7 7 NA NB U YASKAA SJDE- APA TL PULSE AL AL AL FIL N N PR L L + - DEF DEF 7 7 NA NB U oupling to the Machine Observe the following precautions when coupling the servomotor with the drive axis of the machine. Allowable Loads oupling Align 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 service life of the servomotor by an eccentric load. Keep the eccentric load as small as possible. A metal plate-spring coupling with high torsion rigidity 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. 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 Allowable Radial Load Allowable Thrust Load Distance from (Direction A or B) M N Flange mm SJME-A 7 SJME-A 7 SJME-A 7 SJME-A 9 7 Distance from Flange Alignment Accuracy Measure this distance at four different positions on the circumference. The difference between the maximum and minimum measurements must be. mm or less. Note:hen measuring the difference, turn the motor and the coupling together. Allowable Radial Load A B Allowable Thrust Load Installation Mechanical Tolerance TIR (Total Indicator Reading) The diagram on the right shows tolerances for the servomotor s output shaft and installation area. SEROPAK Perpendicularity between the flange face and output shaft. mm A Run-out at the end of the shaft. mm A Matching concentricity of the flange. mm dia. mm A Mounting onditions In a control panel Near a heating unit Installation Site Near a source of vibration At a site where corrosive gasses might enter the control panel At a contaminated site Precautions The ambient temperature around the SEROPAK must be or less. Design the control panel size, unit layout, and cooling method accordingly. Note : The maximum ambient temperature for long-term reliability is The ambient temperature around the SEROPAK must be or less. Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection. Install a vibration isolator beneath the SEROPAK to eliminate vibrations from the machine. Take appropriate action to avoid corrosive gases. orrosive gases do not have an immediate effect on the SEROPAK but will eventually cause the electronic components, relays, and magnetic contactors to malfunction. Take appropriate action to avoid any contaminants such as dust, iron particles, water drops, or oil mist. ontamination will cause the electronic components to immediate malfunction. Mounting Method Mount the SEROPAK vertically, so the bottom is perpendicular to the wall. The SEROPAK must be mounted in the specified direction because it contains a built-in fan for cooling. Fix the mounting plate securely with the two M screws in the mounting holes. SEROPAK mounting plate M screw Spacing To ensure effective cooling, sufficient space must be kept between the individual SEROPAK units and also between the SEROPAK units and the panel wall as shown in the figure. 9AB 9AB 9AB 9AB Airflow 9AB 9AB 9AB 9AB mm min. mm min. mm min. Airflow mm min. 9

19 able and onnector Dimensions Units : mm Servomotor Main ircuit ables with onnectors (Junction ables) Motor Type ithout brakes Model JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- able Length (L) m m m m ontact JZSP-HM- m JZSP-HM- m ith brakes JZSP-HM- JZSP-HM- JZSP-HM- JZSP-HM- m m m m JZSP-HM- (For Motors without Brakes) To SEROPAK L To servomotor M crimp terminal onnector (crimp type) Receptacle : FFSS--KY Receptacle contact : SFF-GF-P. or SFF-GF-P. (J.S.T. Mfg. o., Ltd.) <iring Specifications> onnector for SEROPAK Pin No. Signal able olor Phase U Red Phase hite Phase Blue rimp terminal FG* Green/Yellow : onnect the FG pin to the grounding terminal of the SEROPAK. * JZSP-HM- To SEROPAK (For Motors with Brakes) L onnector (crimp type) Receptacle : 7-R- Terminal : T (chained) or TL (detached) (Molex Japan o., Ltd.) onnector for Servomotor Pin No. Signal Phase U Phase Phase FG able olor Red hite Blue Green/Yellow To servomotor M crimp terminals onnector (crimp type) Receptacle : FFSS--KY Receptacle contact : SFF-GF-P. or SFF-GF-P. (J.S.T. Mfg. o., Ltd.) <iring Specifications> onnector for SEROPAK Pin No. Signal Phase U Phase Phase able olor Red hite Blue rimp terminal rimp terminal rimp terminal * FG* Holding Brake* Holding Brake* Green/Yellow Black Black : onnect the FG pin to the grounding terminal of the SEROPAK. : No polarity for holding brake. onnector (crimp type) Receptacle : 7-R- Terminal : T (chained) or TL (detached) (Molex Japan o., Ltd.) onnector for Servomotor Pin No. Signal Phase U Phase Phase FG Holding Brake Holding Brake able olor Red hite Blue Green/Yellow Black Black

20 A N A Servomotor Main ircuit able onnector Kits for Servomotor Type rimp Type (For servomotor w/wo brake) Model JZSP-HM9-77- Note : A crimping tool is ordered separately. Receptacle Part No. : 7-R- Terminal : T (chained) or TL (detached) rimping tool : 77- Qty 7 Manufacturer Molex Japan o.,ltd. Molex Japan o.,ltd. ontact Receptacle Terminals Servomotor Main ircuit able onnector Kits for SEROPAK NB Power Supply/Regenerative Unit onnector Kits for SEROPAK NA Type Main ircuit able onnector Kits for NB (For servomotor w/wo brake) Power Supply/ Regenerative Unit onnector Kits for NA Spring Type rimp Type Spring Type Note : A crimping tool is ordered separately. Model JZSP-HM9- FFSS--KY SFF-GF-P. YRF- JZSP-HG9- onnector : JFAT-SAYGF-N Tool (lever for wiring) : J-FAT-OT Receptacle Part No. : FFSS--KY Receptacle contact : SFF-GF-P. rimping tool : YRF- onnector : JFAT-SBXGF-N Tool (lever for wiring) : J-FAT-OT Qty Manufacture J.S.T.Mfg. o.,ltd. J.S.T.Mfg. o.,ltd. J.S.T.Mfg. o.,ltd. ontact Yaskawa Local Office Yaskawa Local Office Yaskawa Local Office able and onnector Dimensions NA onnector Model : JFAT-SBXGF-N NB onnector Model : JFAT-SAYGF-N. N. 9 JST A RX 9 JST A NY iring Tool (Lever for iring) Model : J-FAT-OT 7.

21 able and onnector Dimensions Units : mm Encoder ables with onnectors (Junction able) Model JZSP-HP- JZSP-HP- JZSP-HP- JZSP-HP- JZSP-HP- Length (L) m m m m m ontact To SEROPAK L To servomotor 9 Solder type (Black) Shell kit : -- Receptacle : -FD (Sumitomo M Ltd.) <iring Specifications> Pin No. 7 9 Shell Signal PG PG (GND) Phase A+ Phase A Phase B+ Phase B Phase /Z Phase U Phase Phase ire olor Red Black Blue Blue/hite Yellow Yellow/hite Purple Gray Green Orange Shield wire Shielded wire Encoder able onnector Kits Pin No Receptacle : 7-R- Terminal : T (chained) or TL (detached) (Molex Japan o., Ltd.) Signal PG PG (GND) Phase A+ Phase A Phase B+ Phase B Phase /Z Phase U Phase Phase FG ire olor Red Black Blue Blue/hite Yellow Yellow/hite Purple Gray Green Orange Shield For Servomotor Encoder Plug Type rimp Type Model JZSP-HP9-7- Receptacle Part No. : 7-R- Terminal : T (chained) or TL (detached) rimping tool : 7- Qty Manufacturer Molex Japan o., Ltd. Molex Japan o., Ltd. ontact Note : A crimping tool is ordered separately. Receptacle Terminals For SEROPAK N Type Soldered Type (black) Soldered Type (gray) Model JZSP-HP9- JZSP-HP9- Part No. Shell kit : -- Receptacle : -FD Plug and cable cover : 99-9 Plug connector : 9-9 Manufacturer Sumitomo M Ltd. Molex Japan o.,ltd. ontact 9.7

22 I/O Signal ables able Mode JZSP-HI- JZSP-HI- JZSP-HI- Length (L) m m m ontact To SEROPAK L + To upper controller (. dia.) onnector (P) : -EL Shell : -A- (Sumitomo M Ltd.) <iring Specifications> Pin No. 7 I/O ode Input /EXT Input /DE Input N-OT Input P-OT Input +IN Input E-STP Output SG-OM Signal Name External latch Homing deceleration Reverse run prohibit Forward run prohibit External input power supply Emergency stop Output signal ground Lead olor Orange Light gray hite Yellow able (black) HP-SB/7SR AG# 7P UL7 - Dot Mark Number olor Black Red Black Red Black Red Black Red Pin I/O No. 9 Output Output Shell - ode ALM /BK - Signal Name Servo alarm Brake FG Lead olor Pink Orange Light gray - Dot Mark Number olor Black Red Black Red Black Red - I/O Signal onnector Kits For SEROPAK N Type Soldered type Models JZSP-HI9- Part No. Shell kit : -A- Plug : -PE Manufacturer Sumitomo M Ltd. ontact Shell Kit Plug Nameplate (.9) (.) Pin No M able and onnector Dimensions Pin No

23 Peripheral Device Dimensions Units : mm Magnetic ontactor Model Specifications Manufacturer HI-J A Yaskawa ontrols o., Ltd. HI-J A ontact HI-J Dimensions Mounting Hole Dimensions Terminal Symbols.. a b oil terminal M. 7.. Auxiliary ontact NO A Structure A N. NO R S T R S T U U N NO A R S T A N.. Auxiliary contact terminal M. Main contact terminal M. 9 M mounting holes U HI-J Dimensions Mounting Hole Dimensions Terminal Symbols. 9. oil terminal M a b 9. R U S T Auxiliary ontact NO A Structure A N NON R S T U Auxiliary contact terminal M. Main contact terminal M 7 9 M mounting holes

24 External Fuse Fuse Model Rated urrent OKLK.T Arms OKLK.T Arms.. Rated oltage Fusing Time ithin s at % Applicable SEROPAKs SJDE- to SJDE- Manufacturer Littelfuse Inc. ontact Fuse Block Model Type LMSQ Screw terminal, poles LM opper box lug, poles Manufacturer Littelfuse Inc. ontact Regenerative Unit Model Resistance Allowable regenerative energy Regenerative voltage Regenerative current Error detection Alarm output Ω dc Adc JUSP-RGD Disconnection of regenerative resistance, failure of regenerative transistor, or overvoltage N contact (Open when an error is detected.) ontact specifications : A,. A (inductive load) Manufacturer Yaskawa Electric orporation ontact Yaskawa Local Office 9 REGENERATIE UNIT JUSP-RGD POER RE-ON AL-RE AL- +(Y) - (Y) (Y) YASKAA -dia. hole M screw for external terminal Nameplate Peripheral Device Dimensions (.) M screw for ground terminal Approx. mass :. kg

25 Peripheral Device Dimensions Units : mm Noise Filter Model Specifications Manufacturer ontact FN7-/7 Single-phase A, A FN7-/7 Single-phase A, A Shaffner EM, Inc. FN7-/7 Single-phase A, A FN7-/7, FN7-/7 Top view D Side view ±. ontact terminal P/N/E A B ±..±..±..±. + ±..9±. Model A B D FN7-/7.± ±. 9±.±. 7.± FN7-/7 ± ±..±.±. FN7-/7 Top view 7.±. Side view ontact terminal P/N/E 9±. 9±. 9.±.±. 7.±.±. ±..±. + ±. ±..±

26 Surge Absorber (For lightning surge protection) Model Specifications Manufacturer ontact RžžM-BQZ- Single-phase A Okaya Electric Industries o., Ltd.. dia. ±. ± <Internal onnection Diagram>.±..±. onnection cables ase ± + ±.±. A Reactor Model X X X X Inductance (mh).... Model A B X X 9 X X Rated urrent (A).... Dimensions mm D E F ontact Approx. Mass G H I kg H dia. Notch A B I dia. D G E F Nameplate Peripheral Device Dimensions Replacement ooling Fan Model Applicable SEROPAKs ontact JZSP-HF- SJDE- to JZSP-HF- SJDE- JZSP-HF- JZSP-HF- 7

27 Engineering Tool Personal omputer Support Software Junmain Junmain is an engineering tool used to set up MEHATROLINK- compatible JUNMA series A servo drives. It can be downloaded from Yaskawa s technology and products website, Functions of Junmain Parameter Setting Sets parameters. Alarm Display/Monitoring Monitors and displays SEROPAK status. Setup and Trial Operation Supports trial operation and initial setting before operation.

28 Selection of Servomotor Size A Servomotor Selection Program: SigmaJunmaSize+ SigmaJunmaSize+ is the software that can help you select the optimal servo drive for your system. It can be downloaded from Yaskawa s technology and products website, Features Obtain product updates. Select the optimal servomotor with the help of an interactive wizard. Refer to and reuse stored data. Servomotor Selection Screen Selection of Servomotor Size / Engineering Tool 9