SERIES SERVOMOTOR TYPE: SGMAH SGMPH SGMGH SGMSH SGMUH SERVOPACK TYPE : SGDH

Transcription

1 YSKW C SERVO DRIVES SERIES SERVOMOTOR TYPE: SGMH SGMPH SGMGH SGMSH SGMUH SERVOPCK TYPE : SGDH Certified by ISO 91 JQ-386,-422 YSKW LITERTURE NO. KE-S8-32D

2 Flexible Enough to dapt to Different Playing Conditions "He receives the ball and makes a quick, accurate pass. No. 2 fakes out his opponent. He shoots! He scores! What great team work! What a combo!!" The fans are spell-bound by such world-class plays that require quick speed, great accuracy, and good judgment. series can be the key player to increase your machine's performance and productivity. Servo drives must be more responsive, more quick, and more accurate than world class athletes. Together with our additional boards, our stars can use amazing combination plays regardless of your playing conditions. Full conformance to markings as well as dvantage 1 World top performance Your production will be increased by and bring your machine potential to its highest performance. Outstanding rapid response is achieved with 1/3 settling time due to 1/2 CPU operation time and upgraded new control algorithms. 6min 1 motor is newly available. dvantage 2 One on one set up/maintenance Easy to start up your sophisticated system in ashort time. Online auto-tuning automatically adjusts servo drives in accordance with your machine's characteristics. lso, isolated main and control circuit power supplies and alarm traceback function enable easy maintenance. dvantage 3 Flexible combination Combine one of our full lineup SERVOPCKs and an option board, it plays an important part of network and even higher system performance. Moreover, conformance to international standards assures your operation standards worldwide. CONTENTS PGE Features 4 Servomotor-SERVOPCK Combinations 6 Type Designation 8 Configurations 9 Connection Diagrams 12 Servomotor Specifications 15 SERVOPCK Specifications 22 Servomotor Dimensions 24 SERVOPCK Dimensions 26 Function Description 28 Function Setup and larms 32 2 Options 34 3

3 Features High Performance Easy Setup Shortened settling time The upgraded control algorithms have enhanced controls against vibration, such as the model followup control and the vibration suppression control. Position settling time can be reduced to a third of conventional models, even if your machine is not rigid. High speed/highly accurate drives 6min 1 is the highest speed available (Type SGMUH). Its flange is designed as IEC72. High resolution serial encoder (16, 17 bits) has improved positioning accuracy. lso, the d-q current vector control system has improved torque control accuracy (repeatability) from 5% to 2%. Smooth operation Speed observer control to reduce motor speed ripple. Operation is smooth at low speed. Online auto-tuning utomatically adjusts to machine characteristics and sets servo gains. No need for troublesome adjustment. utomatic motor discrimination function SERVOPCK automatically discriminates servomotor capacity and type, and also automatically sets motor parameters. Regenerative resistor connection terminals Regenerative resistor can be connected easily due to standardization of regenerative resistor connection terminals for external mounting. European-use connector provided (made by Interconnection) Easy Maintenance Isolated main and control circuit power supplies The power supplies for the main and control circuits are isolated from each other for easy maintenance. If an alarm occurs, only the main circuit can be shut down. Parameter setting device built in Direct parameter inputs from SERVOPCK. Reduced wiring doption of the serial encoder reduces the number of wires to half. bsolute encoder: 15 to 7 wires Incremental encoder: 9 to 5 wires Speed feedback Speed feedback Error pulse 1 pulse 6msec Setting time.5s Online auto-tuning start point Position reference Speed reference 1msec Kp=4S 1 time(s) 1. 4

4 Flexible Option boards for expansion Option board attachments respond to your expanding needs. Just attach one to the side of SERVOPCK to link it to your motion controller or to perform highly precise positioning. Option boards available : MECHTROLINK, full closed link I/F Option boards to be available: Field bus links (Sercos, Profibus, CN, DeviceNet, and others), MP94 (one-axis motion controller) Reliable SGDH SERVOPCK Option oard Function dded SERVOPCK ll-in-one design Can be used for control of torque, speed, or position by merely switching the appropriate parameters. Support for wide range of motor specifications 4V class model lineups available as well as 23V class. 4VC: Three-phase,.5 to 15kW 23VC: Single-phase,.3 to 1.5kW Three-phase,.5 to 7.5kW Including motors with brakes, reduction gears, or absolute encoders. Choose motors according to your specifications. International standards Full conformance to CE marking and UL /cul. Environmental resistance (Servomotor) Enhanced protective enclosure Complies with IP55 standard (Type SGMH) Enhanced vibration resistance Safe for accelerations up to 49m/s 2 (Types SGMH, SGMPH). High harmonic countermeasures Power supplies are designed for minimum harmonics. DC reactor connection terminal provided. 5

5 Servomotor-SERVOPCK Combination YSKW provides full lineup of servomotors and SERVOPCKs. Choose the best drives according to your needs and specifications. Servomotor Small-capacity SGMH (3min 1 ) SGMPH (3min 1 ) SGMGH (15min 1 ) Type Outlines pplications Super High Power Rate Type Large torque required at low inertia. Cube Type Short L-length. Good for narrow space installation. High Speed Feed Type High speed rotation required without load. Chip Mounters PC Drillig Machines Food Processing Machines Robots Material Handling Equipment 6 Medium-capacity SGMSH (3min 1 ) SGMUH (6min 1 ) Super High Power Rate Type Large torque required at low inertia. High Speed Type Good for large torque production due to 6min 1 speed. Chip Mounters PC Drilling Machines Machine Tool Feeds

6 .45kW.85kW 1.3kW 1.8kW 2.9kW 4.4kW 5.5kW 7.5kW 5DE 1DE 15DE 2DE 3DE 1EDE 1DE 75DE 6DE 5DE Future larger.45kw.85kw 1.3kW 1.8kW 2.9kW 15kW 11kW 7.5kW 5.5kW 4.4kW SERVOPCK Type SGDH- Voltage 23V Capacity 23V 4V Three-phase Single-phase 3W 5W 1W 2W 4W 75W 3W 65W 1W 2W 4W 75W 15W 2W 4W 75W 15W 1DE 15DE 2DE 3DE 5DE 15DE 1DE 3DE 5DE 5DE 1.kW 1.5kW 2.kW 3.kW 4.kW 5.kW 1.kW 1.5kW 2.kW 3.kW 4.kW 5.kW 1.kW 1.5kW 3.kW 4.kW Three-phase 7 Single-phase Three-phase Three-phase 23V 4V 3E 5E 1E 2E 1E 2E 4E 8E-S 15E-S 4E 8E-S 5E 1E 15E 2E 3E 5E 6E 75E 1E 15E 2E 3E 5E 5E 5DE 5DE 1DE 5DE 1DE 15DE 23V 4V 4V 23V 4V 23V 4V 4V

7 Type Designation Servomotor SGMPH S D -II Servomotor Type SGMH: Super High Power Rate Type SGMPH: Cube Type SGMGH: High-speed Feed Type SGMSH: Super High Power Rate Type SGMUH: High Speed Type Capacity (kw) SGMH Code 3 min E SGMPH 3 min Voltage : 23 V D: 4 V SGMGH SGMSH SGMUH min 1 min 1 min Design Procedure: Connector Specifications lank No option D Interconnectron Connector (SGMH,SGMPH) rake, Oil Seal Specifications 1 No rake, No Oil Seal S Oil Seal 9V rake C 24V rake D Oil Seal +9VDC rake E Oil Seal +24VDC rake Shaft End Specifications Code Shaft End Type SGMH SGMPH SGMGH SGMSH SGMUH 2 Straight, No key 4 Straight, Key 6 Straight, Key, Tapped 8 Straight, Tapped : Standard : Option Serial Encoder Specifications Code Encoder Type SGMH SGMPH SGMGH SGMSH SGMUH 1 16-bit bsolute 2 17-bit bsolute 13-bit Incremental 16-bit Incremental C 17-bit Incremental : Standard : Option SERVOPCK -II SERVOPCK SGDH Capacity 3 3 W 5 5 W 1 1 W 2 2 W 4 4 W 5 5 W 8 75 W 1 1. kw E 1.5 kw 2. kw 3. kw 5. kw 6. kw 7.5 kw 11 kw 15 kw SGDH - 4 E - S Phase Three-phase (.5 to 15kW) lank Single-phase (3 to 4W) S Single-phase (75W/1.5kW) Model E: Speed, Torque, Position Source Voltage : 23V D: 4V 8

8 Configurations Configurations Single-phase 3 to 15W (23VC) Molded-case Circuit reaker (MCC) Protects the power line by shutting the circuit OFF when overcurrent is detected. Power Supply Single-phase, 23VC Molded-case Circuit reaker Digital Operator (Type JUSP-OP2-2) 1m cable is attached. Personal Computer Cable for connecting to SERVOPCK provided. Noise Filter Used to eliminate external noise from the power line. Noise Filter Host Controller Connect the SGDH SERVOPCK to a YSKW host controller or one made by other vendors. (nalog input, pulse train input available.) Magnetic Contactor MP92 Magnetic Contactor Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Magnetic Contactor rake Power Supply rake Power Supply* Type LPSE-2H1(2V input) Used for SGM Servomotor with a brake. -2 SERVOPCK Types SGDH-3E to -15E-S * See P34 for details. Required for servomotor with a brake. -2 Servomotor (3 to 15W) 9

9 Three-phase.5 to 7.5kW (23 VC) Molded-case Circuit reaker (MCC) Protects the power line by shutting the circuit OFF when overcurrent is detected. Power Supply Three-phase, 23VC Digital Operator (Type JUSP-OP2-2) 1m cable is attached. Personal Computer Cable for connecting to SERVOPCK provided. Noise Filter Molded-case Circuit reaker Host Controller Connect the SGDH SERVOPCK to a YSKW host controller or one made by other vendors. (nalog input, pulse train input available.) Used to eliminate external noise from the power line. Noise Filter MP92 Magnetic Contactor Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Magnetic Contactor Magnetic Contactor -2 SERVOPCK Types SGDH-5E to -75E * 2 L1 rake Power Supply* 1 Type LPSE-2H1 Used for SGM Servomotor with a brake. rake Power Supply 1 2 L2 L3 L1C L2C Regenerative Resistor (option) U V W Regenerative Resistor For insufficient built-in regenerative resistor capacity, disconnect 2-3 and connect the external resistor with Servomotor (.5 to 7.5kW) 1 *1 See P34 for details. *2 The external terminals are different in accordance with SERVOPCK type.

10 Configurations Three-phase.5 to 15kW (4 VC) Molded-case Circuit reaker (MCC) Protects the power line by shutting the circuit OFF when overcurrent is detected. Power Supply Three-phase, 4VC Digital Operator (Type JUSP-OP2-2) 1m cable is attached. Personal Computer Cable for connecting to SERVOPCK provided. Noise Filter Used to eliminate external noise from the power line. Molded-case Circuit reaker Host Controller Connect the SGDH SERVOPCK to a YSKW host controller or one made by other vendors. (nalog input, pulse train input available.) Noise Filter MP92 Magnetic Contactor Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Magnetic Contactor -2 SERVOPCK Types SGDH-5DE to -1EDE* Regenerative Resistor For insufficient built-in regenerative resistor capacity, disconnect 2-3 and connect the external resistor with Power Supply 24V V Regenerative Resistor (option) -2 Servomotor (.5 to 15kW) * The external terminals are different in accordance with SERVOPCK type. 11

11 Connection Diagrams Single-phase, 23VC ( *6 ) 3 2 ( 2 12 *12 *3 *4 *5 *6 * The time constant for the primary filter is 47 µs. Connect when using an absolute encoder. Used only with an absolute encoder. Regenerative resistor can be connected between 1 and 2. For types SGDH-8E-S and SGDH-15E-S, voltage is 22 to 23 VC TI stands for Texas Instruments Inc. 1% 15%. *6 )

12 Connection Diagrams Three-phase, 23VC L1 L2 L ( *5) 3 2 ( *5 ) 2 *12 *3 *4 * *5 The time constant for the primary filter is 47 µs. Connect when using an absolute encoder. Used only with an absolute encoder. For using an external regenerative resistor, connect it between 1 and 2. (For 6/7.5kW SERVOPCK, connect a regenerative resistor unit.) TI stands for Texas Instruments Inc. 13

13 Three-phase, 4VC L1 L2 L ( *6 ) 3 2 ( 2 14 *12 *3 *4 * *56 * The time constant for the primary filter is 47 µs. Connect when using an absolute encoder. Used only with an absolute encoder. For using an external regenerative resistor, connect it between 1 and 2. (e sure to connect a regenerative resistor unit to SERVOPCK of 6/7.5/11/15kW) It is the user s responsibility to obtain 24VDC power supply. TI stands for Texas Instruments Inc. *6 )

14 Servomotor Specifications Specifications Type SGMH Type SGMH, 23/4V : Ratings and Specifications pplied Voltage Servomotor Type SGMH- Rated Output Rated Torque Instantaneous Peak Torque Rated Rotation Speed Max. Rotation Speed Moment of Inertia (JM) llowable Load Moment of Inertia (JL) Rated Power Rate pplicable Encoder asic Specifications Time Rating Insulation Class mbient Temperature mbient Humidity Vibration Class Enclosure Vibration Resistance Mounting W N m N m min 1 min 1 kg m as much as the Moment of Inertia Standard Option kw/s V times or less Incremental Encoder (13 bits: 248P/R) Incremental Encoder (16 bits: 16384P/R), bsolute Encoder (16 bits: 16384P/R) Continuous Class to 4 C 2 to 8% (non-condensing) 15µm or below Totally-enclosed, self-cooled, IP55 (excluding shaft opening) Vibration acceleration 49m/s 2 Flange-mounted 2 times or less 3D V 7D : Torque-Speed Characteristics ( : Continuous Duty Zone : Intermittent Duty Zone) SGMH-3 SGMH-5 SGMH (min 1 ) 2 3 (min 1 ) 2 3 (min 1 ) SGMH-2 SGMH-4 SGMH (min 1 ) 2 3 (min 1 ) 2 3 (min 1 ) SGMH-3D 5 SGMH-7D (min 1 ) 2 3 (min 1 )

15 Type SGMPH, 23/4V : Ratings and Specifications pplied Voltage Servomotor Type SGMPH- Rated Output Rated Torque Instantaneous Peak Torque Rated Rotation Speed Max. Rotation Speed Moment of Inertia (JM) llowable Load Moment of Inertia (JL) Rated Power Rate pplicable Encoder asic Specifications Time Rating Insulation Class mbient Temperature mbient Humidity Vibration Class Enclosure Vibration Resistance Mounting W N m N m min 1 min 1 kg m as much as the Moment of Inertia Standard Option kw/s V times 15 times 7 times 5 times or less or less or less or less Incremental Encoder (13 bits: 248P/R) Incremental Encoder (16 bits: 16384P/R), bsolute Encoder (16 bits: 16384P/R) Continuous Class to 4 C 2 to 8% (non-condensing) 15µm or below Totally-enclosed, self-cooled, IP55 (excluding shaft opening) Vibration acceleration 49m/s 2 Flange-mounted 4V 15 2D 4D 8D 15D times 7 times 5 times or less or less or less : Torque-Speed Characteristics ( : Continuous Duty Zone : Intermittent Duty Zone) SGMPH-1 SGMPH-2 SGMPH (min 1 ) 2 3 (min 1 ) 2 3 (min 1 ) SGMPH-8 5 SGMPH-15 5 SGMPH-2D (min 1 ) 2 3 (min 1 ) 2 3 (min 1 ) SGMPH-4D 5 SGMPH-8D 5 SGMPH-15D (min 1 ) 2 3 (min 1 ) 2 3 (min 1 )

16 Specifications Type SGMPH / SGMGH Type SGMGH, 23V : Ratings and Specifications Servomotor Type SGMGH- Rated Output kw Rated Torque N m Instantaneous Peak Torque N m Rated Rotation Speed min 1 Max. Rotation Speed min 1 Moment of Inertia (J) kg m llowable Load Moment of Inertia as much as the Moment of Inertia Rated Power Rate kw/s Standard pplicable Encoder Option Time Rating Insulation Class mbient Temperature mbient Humidity Vibration Class Enclosure Vibration Resistance Mounting asic Specifications 5= 9= 13= 2= 3= times or less Incremental Encoder (17 bits: 16384P/R) bsolute Encoder (17 bits: 16384P/R) Continuous Class F to 4 C 2 to 8% (non-condensing) 15µm or below Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration acceleration 24.5m/s 2 Flange-mounted 44= = = : Torque-Speed Characteristics ( : Continuous Duty Zone : Intermittent Duty Zone) 3 SGMGH-5= 3 SGMGH-9= 3 SGMGH-13= (min 1 ) (min 1 ) (min 1 ) SGMGH-2= 3 SGMGH-3= SGMGH-44= (min 1 ) (min 1 ) (min 1 ) SGMGH-55= 3 SGMGH-75= (min 1 ) (min 1 )

17 Type SGMGH, 4V : Ratings and Specifications Servomotor Type SGMGH- Rated Output kw Rated Torque N m Instantaneous Peak Torque N m Rated Rotation Speed min 1 Max. Rotation Speed min 1 Moment of Inertia (J) kg m llowable Load Moment of Inertia as much as the Moment of Inertia Rated Power Rate kw/s Standard pplicable Encoder Option Time Rating Insulation Class mbient Temperature mbient Humidity Vibration Class Enclosure Vibration Resistance Mounting asic Specifications 5D= D= D= D= D= D= times or less Incremental Encoder (17 bits: 16384P/R) bsolute Encoder (17 bits: 16384P/R) Continuous Class F to 4 C 2 to 8% (non-condensing) 15µm or below Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration acceleration 24.5m/s 2 Flange-mounted 55D= D= D= ED= : Torque-Speed Characteristics ( : Continuous Duty Zone : Intermittent Duty Zone) SGMGH-5D= 3 SGMGH-9D= 3 SGMGH-13D= (min 1 ) (min 1 ) (min 1 ) SGMGH-2D= 3 SGMGH-3D= 3 SGMGH-44D= (min 1 ) (min 1 ) (min 1 ) SGMGH-55D= 3 SGMGH-75D= 3 SGMGH-1D= 2 SGMGH-1ED= (min 1 ) 1 (min 1 ) 1 (min 1 ) 1 (min 1 )

18 Specifications Type SGMGH / SGMSH Type SGMSH, 23V : Ratings and Specifications Servomotor Type SGMSH- Rated Output kw Rated Torque N m Instantaneous Peak Torque N m Rated Rotation Speed min 1 Max. Rotation Speed min 1 Moment of Inertia (J) kg m llowable Load Moment of Inertia as much as the Moment of Inertia Rated Power Rate kw/s Standard pplicable Encoder Option Time Rating Insulation Class mbient Temperature mbient Humidity Vibration Class Enclosure Vibration Resistance Mounting asic Specifications 1= = = = times or less Incremental Encoder (17 bits: 16384P/R) bsolute Encoder (17 bits: 16384P/R) Continuous Class F to 4 C 2 to 8% (non-condensing) 15µm or below Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration acceleration 24.5m/s 2 Flange-mounted 4= = : Torque-Speed Characteristics ( : Continuous Duty Zone : Intermittent Duty Zone) SGMSH-1= SGMSH-15= SGMSH-2= (min 1 ) 2 3 (min 1 ) 2 3 (min 1 ) SGMSH-3= 5 SGMSH-4= 5 SGMSH-5= (min 1 ) 2 3 (min 1 ) 2 3 (min 1 )

19 Type SGMSH, 4V : Ratings and Specifications Servomotor Type SGMSH- Rated Output kw Rated Torque N m Instantaneous Peak Torque N m Rated Rotation Speed min 1 Max. Rotation Speed min 1 Moment of Inertia (J) kg m llowable Load Moment of Inertia as much as the Moment of Inertia Rated Power Rate kw/s Standard pplicable Encoder Option Time Rating Insulation Class mbient Temperature mbient Humidity Vibration Class Enclosure Vibration Resistance Mounting asic Specifications 1D= D= D= D= times or less Incremental Encoder (17 bits: 16384P/R) bsolute Encoder (17 bits: 16384P/R) Continuous Class F to 4 C 2 to 8% (non-condensing) 15µm or below Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration acceleration 24.5m/s 2 Flange-mounted 4D= D= : Torque-Speed Characteristics ( : Continuous Duty Zone : Intermittent Duty Zone) 5 SGMSH-1D= 5 SGMSH-15D= 5 SGMSH-2D= (min 1 ) 2 3 (min 1 ) 2 3 (min 1 ) SGMSH-3D= 5 SGMSH-4D= 5 SGMSH-5D= (min 1 ) 2 3 (min 1 ) 2 3 (min 1 )

20 Specifications Type SGMSH / SGMUH Type SGMUH, 4V : Ratings and Specifications Servomotor Type SGMUH- Rated Output kw Rated Torque N m Instantaneous Peak Torque N m Rated Rotation Speed min 1 Max. Rotation Speed min 1 Moment of Inertia (J) kg m llowable Load Moment of Inertia as much as the Moment of Inertia Rated Power Rate kw/s Standard pplicable Encoder Option Time Rating Insulation Class mbient Temperature mbient Humidity Vibration Class Enclosure Vibration Resistance Mounting asic Specifications 1D= D= times or less Incremental Encoder (17 bits: 16384P/R) Continuous Class F to 4 C 2 to 8% (non-condensing) 15µm or below Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration acceleration 24.5m/s 2 Flange-mounted 3D= D= : Torque-Speed Characteristics ( : Continuous Duty Zone : Intermittent Duty Zone) 6 5 SGMUH-1D= 6 5 SGMUH-15D= (min 1 ) 3 (min 1 ) SGMUH-3D= 6 5 SGMUH-4D= (min 1 ) 3 (min 1 )

21 SERVOPCK Specifications Characteristics :Single-phase, 23V SERVOPCK Type SGDH- pplicable SGMH- Servomotor SGMPH- Input Power Main Circuit Supply Control Circuit Control Method Feedback Usage/storage Temperature Usage/storage Humidity ltitude Vibration/Shock Resistance Configuration pprox. Mass asic Specifications Conditions kg 3E 3 5E 5 1E 1 1 2E 2 2 4E 4 4 8E-S E-S 15 For single-phase, 2 to 23VC 1 to 15% (5/6Hz) For single-phase, 2 to 23VC 1 to 15% (5/6Hz) 22 to 23VC 1 to 15% (5/6Hz) Single-phase full-wave rectification / IGT / PWM / sine-wave current drive method Serial encoder (incremental/absolute value) to 55 C/ -2 to 85 C 9%RH or less (non-condensing) 1m or less above sea level 4.9m/s 2 /19.6m/s 2 ase mounted (Rack mount is also available) :Three-phase, 23V SERVOPCK Type SGDH- 5E 1E 15E 2E 3E 5E 6E 75E pplicable Servomotor Input Power Supply SGMGH- SGMSH- Main Circuit Control Circuit 5= 9= 1= 13= 15= 2= 2= For three-phase, 2 to 23VC 1 to 15% (5/6Hz) For three-phase, 2 to 23VC 1 to 15% (5/6Hz) 3= 3= 44= 4= 5= 55= 75= asic Specifications Control Method Feedback Usage/storage Temperature Usage/storage Humidity ltitude Vibration/Shock Resistance Conditions Single-phase full-wave rectification / IGT / PWM / sine-wave current drive method Serial encoder (incremental/absolute value) to 55 C/ -2 to 85 C 9%RH or less (non-condensing) 1m or less above sea level 4.9m/s 2 /19.6m/s 2 Configuration ase mounted (Rack mount is also available) pprox. Mass kg :Three-phase, 4V SERVOPCK Type SGDH- SGMGH- pplicable Servomotor SGMSH- SGMUH- Input Power Main Circuit Supply Control Circuit Control Method Feedback Usage/storage Temperature Usage/storage Humidity ltitude Vibration/Shock Resistance Configuration pprox. Mass asic Specifications Conditions kg 5DE 1DE 15DE 2DE 3DE 5DE 6DE 75DE 1DE 1EDE 5D= 9D= 13D= 2D= 3D= 44D= 55D= 75D= 1D= 1ED= 1D= 15D= 2D= 3D= 4D= 5D= 1D= 15D= 3D= 4D= For three-phase, 38 to 48VC 1 to 15% (5/6Hz) 24VDC 15% Three-phase full-wave rectification / IGT / PWM / sine-wave current drive method Serial encoder (incremental/absolute value) to 55 C/ -2 to 85 C 9%RH or less (non-condensing) 1m or less above sea level 4.9m/s 2 /19.6m/s 2 ase mounted (Rack mount is also available)

22 Specifications SGDH SERVOPCK Specifications :Common for ll Speed/Torque Control Mode Position Control Mode I/O Signal Integrated Functions Performance Input Signal Performance Input Signal Speed Control Range Load Variance Speed Variance Voltage Variance Temperature Variance Frequency Characteristics Torque Control ccuracy (Reproducibility) Soft Start Time Setting Reference Voltage Input Impedance Circuit Time Constant Torque Reference Voltage Reference Input Impedance Input Circuit Time Constant ias Setting Feed Forward Compensation Position Completed Width Setting Input Pulse Type Command Pulse Input Pulse Form Input Pulse Frequency Control Signal Position Signal Output Sequence Input Signal Sequence Output Signal Interface 1:N Communications xis ddress Setting Functions uto Tuning Function Dynamic rake (D) Regenerative Processing Overtravel (OT) Prevention Function Encoder Divider Function Electronic Gearing Internal Speed Setting Function Protective Functions nalog Monitor Functions for Supervision Display Functions Others Speed Reference Input Communications 1:5 During to 1% load: ±.1% max. (at rated speed) Rated voltage ±1%: % (at rated speed) 25 ±25 C: ±.1% max. (at rated speed) 4Hz (at JL = JM) ±2% to 1s (cceleration, deceleration can each be set.) ±6VDC (forward motor rotation if positive reference) at rated speed: Set at delivery Variable setting range: ±2 to ±1VDC at rated speed / max. input voltage: ±12V pprox. 14kΩ ±3VDC (forward rotation torque if positive reference) at rated speed: set at delivery Variable setting range: ±1 to ±1VDC at rated torque reference pprox. 14kΩ pprox. 47µs to 45 min 1. (setting resolution: 1 min 1 ) to 1% (setting resolution: 1%) to 25 command units (Setting resolution: 1 command unit) Sign pulse train, 9 phase displacement 2-phase pulse (-phase -phase), or CCW/CW pulse train Line driver ( 5V level), open collector ( 5V or 12 level) to 5kpps (2kpps max. at open collector) Clear signal (input pulse is same as reference pulse) -phase, -phase, C-phase, (S-phase): Line driver output S-phase is for absolute encoder only. Servo ON, P control (or control mode switching, zero clamp, command pulse inhibit), forward/reverse run prohibit, alarm reset, forward/ reverse current limit (or internal speed switching) Servo alarm, alarm codes ( 3-bit output): CN1 output terminal is fixed. It is possible to output three types of signals from among: positioning complete (speed agree), motor rotation, servo ready, current limit, speed limit, brake release, warning, NER, and zero point pulse signal Digital operator (hand-held type), RS-422 port for PCs, etc. (RS-232C ports under some conditions) N may equal up to 14 when an RS-422 port is used. Set by user setting. Status display, user constant setting, monitor display, alarm traceback display, JOG run / autotuning operations, and graphing functions for speed/torque command signal, etc. Position/speed loop gain and integral time constant can be automatically set. Operates during main power OFF, servo alarm, servo OFF or overtravel Regenerative resistor externally mounted (option) D stop, deceleration stop or coast to stop during P-OT, N-OT operation Optional division possible.1</<1 3 speeds may be set internally Overcurrent, overvoltage, insufficient voltage, overload, main circuit sensor error, heatsink overheat, power phase loss, overflow, overspeed, encoder error, runaway,cpu error, parameter error, etc. Integrates analog monitor connectors for supervision of the speed and torque reference signals, etc. CHRGE, POWER, 7-segment LED 5 (Integrated digital operator function) Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal for high frequency power suppression function (except: 6 to 15kW) 23

23 Servomotor Dimensions in mm : Type SGMH (23/4V) Type SGMH - 3 = - 5 = - 1 = - 2 = - 3 D D - 8 LL LC L LZ LG L LE S LR pprox. Mass kg LC LC L 2-LZ DI. MOUNTING HOLES 4-LZ DI. MOUNTING HOLES * Made by Interconnectron SGMH-3,-5,-1 SGMH-2,-4,-8 : Type SGMPH (23/4V) Type SGMPH - 1 = - 2 = - 4 = - 8 = - 15 = pprox. LL LC L LZ LG L LE S LR Mass kg * Made by Interconnectron : Type SGMGH (23/4V).6 SGMGH-1D /1ED SHFT EXTENSION SHFT EXTENSION * Eyebolts are not mounted on SGMGH -5 D= to 44 D =. 1ED 24 Type SGMGH L LL LR L L - 5 D = - 9 D = D = - 2 D = - 3 D = - 44 D = D = D = D = ED = Flange LC LE LG LH LZ Shaft Extension Dwg. S Q pprox. Mass kg

24 Dimensions Servomotor : Type SGMSH (23/4V) SHFT EXTENSION Type SGMSH LL - 1 D = D = D = D = D = D = 276 LR Flange L L LC LE LG LZ Shaft Extension S Q pprox. Mass kg : Type SGMUH (4V) LL L LR SHFT EXTENSION LG LE Q S DI. L DI..4.4 DI. LC LH LC L LR LE KL KL1 Q LZ DI. MOUNTING HOLES Type SGMUH L LL - 1 D = D = D = D = LR 45 KL L L Flange Shaft Extension LC LE LG LZ S Q pprox. Mass kg

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26 Dimensions SERVOPCK : SGDH-6/75E (Three-phase, 23V, 6/7.5kW) SGDH-6/75DE (Three-phase, 4V, 6/7.5kW) 8 COOLING FN IR FLOW G SGDH Ver. CHRGE POWER CN8 YSKW CN3 CN5 TTERY MX CN 1 CN 2 18 MX. 23 MX. 235 IR FLOW pprox. mass: 15kg : SGDH-1DE/1EDE (Three-phase, 4V, 11/15kW) 8 COOLING FN IR FLOW SGDH Ver. YSKW G CHRGE POWER CN 8 CN3 CN 5 TTERY 32 MX. 45 CN 1 CN 2 L L 1 L V V 2 U V W 2 MX. 26 MX. 285 pprox. mass: 22kg IR FLOW 27

27 Function Description For High Performance New Model follow-up control New Vibration suppression control mechanical system is modeled to compensate for system delay and suppress vibrations when a machine has a low characteristic frequency. This function reduces the settling time of rigid machinery. The observer reduces the vibration, and high servo gain drive is achieved when a machine drive system is subject to vibrations. This function enhances the servo characteristics. New Mechanical resonance suppression filter Torque reference filter Resonance is suppressed by setting the vibration suppression filter in accordance with mechanical system resonance frequency when a high frequency resonance noise is made by the machine. New Speed observer control Use of the speed observer provides smooth motion even at low speeds, and shorter position settling time. Speed (min 1 ) Series Shorter positioning time In the event that shaft resonance causes vibration in the servo system, the torque reference filter automatically suppresses resonance. Mode switch To improve transient characteristics during motor acceleration and deceleration, the system can be switched between speed loop PI (proportional integral) and P (proportional) control, helping to prevent overshoot and undershoot. Speed With mode switch Time (t) Without mode switch Time New Feed forward compensation New ias Feed forward compensation provides reduced positioning time. Can be optimized with load conditions to shorten positioning time. Feed forward compensation ias Command Motor Speed Time (t) Shorter positioning time New Zero clamp operation When speed control is used, drift may occur even with a speed command of V. The zero clamp function uses a position loop to stop servo-lock below a preset speed command. 28

28 Functions For Easy Setup New Online auto-tuning New utomatic motor discrimination function Simple set-up: Just plug-and-play. Enhanced inertia matching precision eliminates the need for servo gain adjustment. The use of the serial encoder makes it possible for the servopack to automatically sense motor capacity and type, and set motor parameters accordingly. Online uto-tuning SGMH larm display Not match Load inertia SGMSH New Cumulative load factor monitor New Regenerative load ratio monitor llows monitoring of effective torque for torque command. llows monitoring of regenerative load ratio. Cumulative load factor monitor Regenerative load ratio monitor New Regenerative overload warning New Password It is possible to issue a warning before a regenerative overload alarm is triggered. Prevents unauthorized alteration of user constants. PC interface standard Jog operation Supports monitor waveform display for speed and torque references, easy user constant specification, and 1:n communication (n<14). The motor can be controlled through the digital operator, even without inputting speed commands... handy for trial operation. Personal computer RS-232C/ RS-422 Digital operator Easy trial operation larm traceback Even if the power is turned OFF, data for the last ten alarms is stored, simplifying troubleshooting. 29

29 For Flexible djustment New I/O signal mapping function New Origin search Functional allocation of I/O signals is more flexible than ever. Select three types from nine signals. The encoder moves to the origin pulse position and then stops: handy for positioning motor shaft and machine. Host controller Origin ll-in-one control Position, torque and speed can be controlled independently, with simple switching between control modes. Current (torque) limit The peak current input to the motor can be limited to minimize occurrence of overtorque, and reduce machinery damage. Overtorque Position control Speed control Torque control Overcurrent Current limit Load Motor Load Motor SERVOPCK bsolute encoder support Can also be used with an absolute encoder, in which case return-to-origin operation is unnecessary, and operation is possible immediately after power is restored in the event of a power loss. Encoder divider The encoder pulse can be set to any divider, and the positioning resolution for the host controller can be set freely. Encoder Continuous detection of absolute position Divider circuit Phase Phase Phase C bsolute encoder Servomotor Reverse mode Motor normal and reverse rotation directions can be defined through a simple user constant, without having to rewire motor or encoder. Forward command Reverse command Standard mode CCW CW Reverse mode CW CCW CCW CW 3

30 Functions rake interlock rake ON/OFF signals can be output for motors equipped with brakes. ecause the motor conductance state and rotation speed can be interlocked, brake hold is assured. Overtravel prevention Motor drive can be stopped when the machinery exceeds its defined motion range. Reverse rotation Forward rotation STOP! Load ssured prevention of dropping STOP! Limit switch Regenerative processing The electric power regenerated during motor deceleration is absorbed by the servopack regenerative circuit. If load inertia is great, depending on the specific operating conditions, external regenerative resistance with a larger capacity may be required. Regenerative circuit Regenerated energy Positioning complete signal Detects when the remaining pulses from the offset counter are within the positioning complete range specified as a user constant. Positining completed Host controller Dynamic brake In the event there is a power loss during machine operation, the dynamic brake absorbs generated motor energy in motor resistance and external resistance, resulting in a rapid stop which minimizes damage and accidents. Selection of internal speed presets The motor can be operated at any of the three preset user speeds. Contact input SERVOPCK Command pulses Supports all types of command pulses: Sign+pulse train, 9 phase displacement, 2-phase pulse, CCW/CW pulse train Soft start Used to set the motor acceleration and deceleration times. 31

31 Function Setup and larms User Constants Type User Name Unit Lower Upper Factory Constant No. Limit Limit Setting Pn Function Selection asic Switch* 3 Pn1 Function Selection pplication Switch 1* 1 * 3 Pn2 Function Selection pplication Switch 2* 3 Pn3 Function Selection pplication Switch 3 2 Pn1 Speed Loop Gain Hz Pn11 Speed Loop Integral Time Constant.1ms Pn12 Position Loop Gain 1/s Pn13 Inertia Ratio % 1 Pn14 2nd Speed Loop Gain Hz Pn15 2nd Speed Loop Integral Time Constant.1ms Pn16 2nd Position Loop Gain 1/s Pn17 ias min 1 45 Pn18 ias ddition and Command Unit 25 7 Pn19 Feed Forward % 1 Pn1 Feed Forward Filter Time Constant.1ms 64 Pn1 Gain-Related pplication Switch* 3 Pn1C Mode Switch (Torque Command) % 8 2 Pn1D Mode Switch (Speed Command) min 1 1 Pn1E Mode Switch (cceleration) 1min 1 /s 3 Pn1F Mode Switch (Offset Pulse) Command Unit 1 Pn11 Online utotuning-related Switch* 3 1 Pn111 Reserved Constant (Do not handle)* Pn112 Reserved Constant (Do not handle) 1 1 Pn113 Reserved Constant (Do not handle) 1 1 Pn114 Reserved Constant (Do not handle) 4 2 Pn115 Reserved Constant (Do not handle) 1 32 Pn116 Reserved Constant (Do not handle) 1 16 Pn117 Reserved Constant (Do not handle) Pn118 Reserved Constant (Do not handle) Pn2 Position Control Command Form Selection Switch *3 Pn21 PG Divider* 3 * 5 P/R Pn22 Electronic Gear Ratio (Numerator)* Pn23 Electronic Gear Ratio (Denominator)* Pn24 Position Command ccel/decel Time Constant.1ms 64 Pn25 Multi-Turn Limit Setting* 1 * 3 rev Pn3 Speed Command Input Gain.1V/Rated Speed Pn31 Internal Setting Speed 1 min Pn32 Internal Setting Speed 2 min Pn33 Internal Setting Speed 3 min Pn34 JOG Speed min Pn35 Soft Start cceleration Time ms 1 Pn36 Soft Start Deceleration Time ms 1 Pn37 Speed Command Filter Time Constant.1ms Pn38 Speed F/ Filter Time Constant.1ms Pn4 Torque Command Input Gain.1V/Rated Torque Pn41 Torque Command Filter Time Constant.1ms Pn42 Forward Torque Limit % 8 8 Pn43 Reverse Torque Limit % 8 8 Pn44 External Input Forward Torque Limit % 8 1 Pn45 External Input Reverse Torque Limit % 8 1 Pn46 Emergency Stopping Torque % 8 8 Pn47 Speed Limit During Torque Control min Pn5 Positioning Completion and Command Unit 25 7 Pn51 Zero-Clamp Level min Pn52 Rotation Detection Level min Pn53 Speed Conformance Signal Detection and min Function Selection Constants Gain- Related Constants Position- Related Constants Speed- Related Constants Torque- Related Constants Sequence- Related Constants 32

32 Functions Type User Name Unit Lower Upper Factory Constant No. Limit Limit Setting Pn54 NER Signal and Command Unit Pn55 Overflow Level 256 Command Unit Pn56 rake Command-Servo OFF Delay Time 1ms 5 Pn57 rake Command Output Speed Level min Pn58 Servo OFF-rake Command Waiting Time 1ms Pn59 Momentary Hold Time ms Pn5 Input Signal Selection 1* 3 21 Pn5 Input Signal Selection 2* Pn5C Input Signal Selection 3* Pn5D Input Signal Selection 4* Pn5E Output Signal Selection 1* Pn5F Output Signal Selection 2* 3 Pn51 Output Signal Selection 3* 3 Pn6 Regenerative Resistor Capacity* 4 1W * 4 1* 6 * 4 Pn61 Reserved Constant (Do not use) 1* 6 Sequence -Related Constants Other Constants * 1 The multi-turn limit is enabled only when Pn2.2, the absolute encoder usage method, is set to [2]. When set to anything else, numerous rotation data is processed within to Change in the multi-turn limit is necessary only in special applications. Do not arbitrarily change this data. 2 Enabled when the speed observer user constant Pn11.1 is []. * 3 When this user constant has been changed, it is necessary to shut the main and control power OFF, and then to turn them ON again (Power re-feed operation) in order to enable this function. 4 The normal setting is []. The capacity (W) of the regenerative resistor is set when an external regenerative resistor is used. * 5 When encorder dividing ratio is 13-bit encoder (248 P/R), encoder does not devide at more than 248 setting. 6 The upper limit is the maximum output capacity of applicable SERVOPCK. * larm Display Monitor Panel Display C1. 8C8. 8C9. 8C8. 8C. 8D. 8F1. larm Code Output L1 L2 L3 > > > > > > > > > > > > > > >: Low Signal, : High Signal larm Content SERVOPCK EEPROM data error (Parameter Damage) Main circuit detection error Parameter setting error Motor, SERVOPCK capacity mismatch Overcurrent or heatsink overheat Regen error (resistor cutoff, transistor short failure) Regenerative overload Overvoltage Insufficient voltage Overspeed Overload (Momentary maximum load) Overload (Continuous maximum load) D Overload Surge resistor overload Heatsink overheat (Displayed when 3W to 1W) Encoder backup alarm Encoder SUM check alarm Encoder battery alarm Encoder absolute alarm Encoder overspeed Encoder overheat Speed reference /D error Torque reference /D error Runaway Encoder clear error, Multi-turn limit setting error Encorder communication error Encoder parameter error Encoder echoback error Excessive position offset Power line lost phase 33

33 Options Regenerative Resistor Externally mount the regenerative resistance for more than 5.5kW SERVOPCK (Types SGDH-6 or Later). Choose a regenerative resistor in accordance with SERVOPCK type. SERVOPCK Type Regenerative Resistor Unit Type Dimensions in mm W H D M1 M2 pprox. Mass kg SGDH-6E JUSP-R SGDH-75E JUSP-R SGDH- 6 DE JUSP-R SGDH- 1 DE 1E JUSP-R rake Power Supply : Specifications JUSP-R 4 5 JUSP-R Type LPSE-2H1 Rated Input Power Supply Output Power Supply 2VC (18 to 23VC) 5/6Hz 9VDC Lead Connection (Color) Input Side Yellow, White Output Side Red ( ) lack ( ) Notes: 1 Insulation Resistance: 1MΩ or more at 5V Megger. 2 Withstand Voltage : 15VC for a minute or 18VC for a second. 3 Operating Voltage : 9VDC Max. 1DC. 4 mbient Temperature: Max. 6 C : Dimensions in mm : Circuit Diagram 34

34 Digital Operator (Type JUSP-OP2-2) : Dimensions in mm DI. MOUNTING HOLES CLE (PROVIDED) HLFPITCH CONNECTOR 14P pprox. mass:.2kg 35

35 SERIES IRUM USINESS CENTER 48, Kamifujisawa, Iruma, Saitama , Japan Phone Fax YSKW ELECTRIC MERIC, INC Norman Drive South, Waukegan, IL 685, U.S.. Phone Fax MOTOMN INC. HEDQURTERS 85 Liberty Lane West Carrollton, OH 45449, U.S.. Phone Fax YSKW ELETRICO DO RSIL COMERCIO LTD.. venida Fagundes Filho, 62 airro Saude-Sao Paulo-SP, razil CEP: 434- Phone Fax YSKW ELECTRIC EUROPE GmbH m Kronberger Hang 2, Schwalbach, Germany Phone Fax Motoman Robotics Europe ox 54 S38525 Torsas, Sweden Phone Fax Motoman Robotec GmbH Kammerfeldstra e 1, llershausen, Germany Phone Fax YSKW ELECTRIC UK LTD. 1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom Phone Fax YSKW ELECTRIC KORE CORPORTION Kfpa ldg #121, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 15-1, Korea Phone Fax YSKW ELECTRIC (SINGPORE) PTE. LTD. 151 Lorong Chuan, #4-1, New Tech Park Singapore , Singapore Phone Fax YSKW ELECTRIC (SHNGHI) CO., LTD. 4F No.18 ona Road, Waigaoqiao Free Trade Zone, Pudong New rea, Shanghai 2131, China Phone Fax YTEC ENGINEERING CORPORTION 4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, Taiwan Phone Fax YSKW ELECTRIC (HK) COMPNY LIMITED Rm , Hong Kong Plaza, Connaught Road West, Hong Kong Phone Fax EIJING OFFICE Room No. 31 Office uilding of eijing International Club, 21 Jianguomenwai venue, eijing 12, China Phone Fax TIPEI OFFICE 9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone Fax SHNGHI YSKW-TONGJI M & E CO., LTD. 27 Hui He Road Shanghai China 2437 Phone Fax EIJING YSKW EIKE UTOMTION ENGINEERING CO., LTD. 3 Xue Yuan Road, Haidian, eijing P.R. China Post Code: 183 Phone Fax SHOUGNG MOTOMN ROOT CO., LTD. 7, Yongchang-North Street, eijing Economic Technological Investment & Development rea, eijing 176, P.R. China Phone Fax YSKW ELECTRIC CORPORTION YSKW LITERTURE NO. KE-S8-32D Specifications are subject to change without notice Printed in Japan September W for ongoing product modifications and improvements