AC SERVo DRiVES -V SerieS EN DE ES FR it -V SerieS -V Serie -V SerieS S -V SerieS -V SerieS

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1 AC Servo Drives EN DE ES FR IT V Series

2 Contents V About YASKAWA V V Se Page 2 About YASKAWA Experience & Innovation Page 3 V New ServoDrives Series Page 4 5 Advanced Performance Outstanding Expandability Experience & Innovation For more than 90 years YASKAWA has been supplying mechatronic products and is one of the leading companies for motion control products worldwide. YASKAWA develops and manufactures Inverter Drives, Servo Drives and Motion Controllers and has introduced many groundbreaking innovations over the past decades. YASKAWA products are used in all fields of machine building and industrial automation and have a high reputation for their outstanding quality and durability. Page 6 7 Startup Page 8 9 Standard Motors Page Direct drives Page 13 Specifications Page Dimensions V New ServoDrive Series from YASKAWA: highest accuracy, easiest setup and unlimited connectivity V is a servo pack, consisting of servo motors, servo amplifiers and a powerful setup tool. V replaces the successful II series which has been available for several years now for a wide range of applications. Customers using the II products for their machines, will have sufficient time to implement the changeover to V. The new V series offers rotary, direct drive and linear motors. The rotary servo motor range will be available in several performance categories between 0.1 and 15 kw. They cover all market demands with regard to compact size, high dynamics, high efficiency, low maintenance and outstanding reliability. The most impressive feature of the V series is its positioning accuracy of up to 10 nm with standard products, while offering shortest positioning times. In addition, the well known autotuning function YASKAWA V Features Highest performance for maximum efficiency optimised servo motors high resolution serial encoders servo amplifiers with ASICs (Application Specific Integrated Circuit) new intelligent algorithms precise and fast positioning vibrationless motion smooth running at lowest speed highest quality no manual adjustment required Userfriendly software for fast and easy setup setup software SigmaWin+ no expert knowhow is necessary to achieve optimum setting results optimized autotuning function automatic filter function to suppress vibrations 2 YASKAWA

3 Series ries YASKAWA Servos was optimised for the most sophisticated applications. Example: The new autotuning algorithm allows the perfect setup of a two axes in super high performance machine in less than two hours compared to more than eight hours needed by other products in the market. In short, V offers precise positioning at highest speed, smooth, vibrationfree operation and easiest start up. For machine builders this means: Suitable for many applications The major benefits of V, such as precise and fast positioning, highest machine speed, vibrationless motion, smooth running at lowest speed, make V ideal for machines in the fields of electronics, semiconductors, packaging, printing and machine tools. The new V generation will also be a perfect match for the injection molding and metal forming industries, where high throughput and pointtopoint positioning are decisive factors. Shortest cycle time highest throughput Better product quality Less machine wear Shortest initial setup time lowest lifecycle cost automatic adjustment of the servo amplifiers to a wide range of inertia ratios free download of the servo motor selection program SigmaSize+ A Passion for Quality Since the company was founded, Yaskawa has been aiming at total quality. And while continuous improvement of the manufacturing process certainly is an important aspect of quality, the concept of total quality comprises more: The quest for quality needs to be an integral part of the construction process. Quality cannot be added on afterwards by adopting special production processes. Every day, more than 6 million servo drives worldwide are running and a proof of the high quality and reliability of Yaskawa products. Versatile communication with machine controllers embedded open fieldbus system MECHATROLINKII via several open and ethernet based fieldbus systems Compact and efficient: new design with many benefits redesigned servo motors number of parts was reduced by about 30% increased vibration resistance by 100% to 5G powerlosses down by 30% advanced winding technologies high performance magnets 3

4 V Superlative Performance V V Se Operate your machinery faster and with higher precision than ever! The V delivers the highest performance in the industry. The best amplifier response in the industry slashes settling time inhouse comparison: 1/12 th Outstanding frequency response 1,6 khz 1/12 th 0 Reference Speed Servo Adjustment Example Position Error Postioning Completed Settling Time 0 to 4 ms! ( V) Enhanced vibration suppression Existing functions to minimize vibration have been enhanced, and new ones added, improving tracking and further improving settling time. Vibration and noise during driving have also been cut, along with vibration at machine edges when stopping. Contributing to machine performance in conjunction with a mediuminertia motor Small Capacity Medium Capacity SGMJV Series Low Heating improved motor constants have reduced both losses and heating. Better Tact Time Peak torque has been boosted from 300% to 350%, contributing to shorter tact times Ease of Use Moment of inertia has been doubled in the same motor, reducing the load inertia ratio and boosting gain for faster settling SGMGV Series Compact Design Smaller package and about 20% lighter, but with the same inertia as the conventional model. A small encoder connector is applied. Improved Vibration Resistance New coupling delivers typical 5G vibration resistance Resolution 1,048,576 pulses/ revolution 4 YASKAWA

5 Series ries Outstanding Expandability Use servos that really fit into your system A rich selection of models and options to match your requirements Extensive variety of motors to match any machine Mediuminertia servo motors Improved control stability Lowinertia servo motors Highspeed acceleration and deceleration Selection of servo actuators Support for direct drive servo motors, linear servo motors and linear sliders Standard support for analog voltage/pulse train reference series or MECHATROLINK communications reference series V Serie V Serie V Serie V Serie V Serie Wide selection of option modules for various communication interfaces and feedback V Serie V Serie V Serie Option Module The first in the industry in Japan! (as of April 2007) Compliant with applicable safety standards Easy compliance with machine safety standards Motor lineup to handle a wide range of markets and applications SGMAV (20bit) (Low Inertia) SGMJV (20bit) SGMGV (20bit) SGMSV (20bit) (Medium Inertia) Resolution Semiconductors (Bonders) Semiconductors (Probes) Machine tools, MC lathes/grinders Linear (High resolution) LCD coater/ dispensers Electronic Components LCD scribers Injection molding machines Metal processing Food Packaging Textiles Robot articulated/ scalar/extraction Material Handling SGMJV (13bit ) SGMGV (20bit) SGMEV (20bit) SGMSV (20bit) (Medium Inertia) Moment of Inertia Ratio 5

6 Startup Faster setup Faster setup Faster setup Faster setup Faster setup Faster setup Faster setup Making servo adjustment Let the V series simplify your life! Unpacking Installation and Wiring Basic Parameter Setting Trial Operation Setup Wizard parameter setup with wizardaided input SigmaWin+ Wiring Check Function The SigmaWin+ wiring check function checks your wiring in a single operation Trace Function Realtime trace of adjustment state means you can check instantly. USB 1.1 Support Full of handy functions for startup and more effective operation! Servo motor capacity selection software SigmaJunmaSize+ Selection Optimal selection for your application: With consideration of moment of inertia, DB resistance, etc. Free software download at: 6 YASKAWA

7 Gain and Filter Adjustment Operation New Advanced Autotuning Window New less Function Get up and running quickly after hooking up the motor Even without servo adjustment and with load changes, oscillation and vibrationfree drive is possible up to 20 times the load moment of inertia. Settling time: 100 to 150 ms level New Advanced Autotuning Minimize settling time with less vibration The reference filter and feedback gain adjustment functions have a new automatic feed forward gain adjustment for optimal adjustment performance. The friction compensation function automatically cancels out the effect of friction on machine characteristics. Settling time: 10 ms level New Oneparameter Finetuning is a must Finetuning can tweak machine performance to the max. Settling time: 0 to 4 ms level Maintenance PC tool SigmaWin+ Faster Troubleshooting Alarm diagnostic function: Presumes possible causes of the alarm and immediately displays suggested corrective actions. Free software download at: 7

8 Standard Motors V V V Se Rotary Servomotors Rotary Servomotor Model SGMJV (Medium Inertia, Small Capacity) 6000 min 1 Capacity Rated Torque [Nm] Instantaneous Peak Torque [Nm] SGMJVA5A 50 W Rated Speed [min 1 ] Max. Speed [min 1 ] Threephase 230 VAC SGMJV01A 100 W R90A SGMJV02A 200 W R6A SGMJV04A 400 W R8A SGMJV08A 750 W R5A R70A SERVOPACKs Threephase 400 VAC SGMAV (Low Inertia, Small Capacity) 6000 min 1 SGMAVA5A 50 W R70A SGMAV01A 100 W R90A SGMAVC2A 150 W R6A SGMAV02A 200 W SGMAV04A 400 W R8A SGMAV06A 550 W SGMAV08A 750 W R5A SGMEV (Low and Medium Inertia, Small Capacity, optional IP67) 5000 min 1 SGMAV10A 1 kw A* 1 SGMEV01A 100 W R90A SGMEV02A 200 W R6A SGMEV04A 400 W R8A SGMEV08A 750 W R5A SGMEV15A 1500 W A* 1 SGMEV02D 200 W R9D SGMEV03D* W R9D SGMEV04D 400 W R9D SGMEV07D* W R5D SGMEV08D 750 W R5D SGMEV15D 1500 W R4D * 1 : Singlephase 230 VAC SERVOPACKs are also available (basemounted SERVOPACK model: SGDV120A A008000, rackmounted SERVOPACK model: SGDV120A A009000). * 2 : Different motor length for SGMEV03D and SGMEV07D. 8 YASKAWA

9 Series ries Standard Motors Rotary Servomotor Model SGMGV (Medium Inertia, Medium Capacity) 3000 min 1 Capacity Rated Torque [Nm] Instantaneous Peak Torque [Nm] SGMGV03D 300 W SGMGV05D 450 W Rated Speed [min 1 ] Max. Speed [min 1 ] Threephase 230 VAC SERVOPACKs Threephase 400 VAC SGMGV09D 850 W R5D SGMGV13D 1.3 kw R4D SGMGV20D 1.8 kw R4D SGMGV30D 2.9 kw D SGMGV44D 4.4 kw D SGMGV55D 5.5 kw D SGMGV75D 7.5 kw D SGMGV1AD 11 kw D 2000 SGMGV1ED 15 kw D 1R9D SGMSV (Low Inertia, Medium Capacity) 6000 min 1 SGMSV10D 1.0 kw R5D SGMSV15D 1.5 kw R4D SGMSV20D 2.0 kw R4D SGMSV25D 2.5 kw SGMSV30D 3.0 kw D SGMSV40D 4.0 kw SGMSV50D 5.0 kw D 9

10 Direct Drives V V V Se Linear Servomotors SGLGW (Coreless Type, With standardforce magnetic ways) Linear Servomotor Model Rated Force [N] Peak Force [N] SGLGW30A050C SGLGW30A080C SGLGW40A140C SGLGW40A253C SGLGW60A140C Peak Speed [m/s] 5.0 SERVOPACK Model SGDV Threephase 230 VAC R70A R90A 1R6A Threephase 400 VAC SGLGW40A365C SGLGW60A253C R8A SGLGW60A365C R5A SGLGW90A200C A SGLGW (Coreless Type, With highforce magnetic ways) SGLGW90A370C A SGLGW90A535C A SGLGW40A140C R6A SGLGW60A140C SGLGW40A253C R8A 4.2 SGLGW40A365C R8A SGLGW60A253C SGLGW60A365C R6A SGLFW (With Ftype Iron Core) SGLFW20A090A SGLFW20A120A R6A SGLFW35A120A SGLFW35A230A R8A SGLFW50A200B R5A SGLFW50A380B A SGLFW1ZA200B SGLFW1ZA380B A SGLFW35D120A SGLFW35D230A R9D SGLFW50D200B R5D SGLFW50D380B SGLFW1ZD200B R4D SGLFW1ZD380B SGLFW1ED380B SGLFW1ED560B ,3 120D 10 YASKAWA

11 Series ries Direct Drives SGLTW (With Ttype Iron Core) Linear Servomotor Model Rated Force [N] Peak Force [N] SGLTW20A170A SGLTW35A170A Peak Speed [m/s] 5.0 SERVOPACK Model SGDV Threephase 230 VAC 3R8A Threephase 400 VAC SGLTW35A170H R5A SGLTW50A170H SGLTW20A320A R6A SGLTW20A460A SGLTW35A320A SGLTW35A320H SGLTW50A320H A SGLTW35A460A A SGLTW40A400B SGLTW40A600B A SGLTW80A400B SGLTW80A600B A SGLTW35D170H SGLTW50D170H SGLTW35D320H SGLTW50D320H SGLTW40D400B R5D 8R4D 120D SGLTW40D600B SGLTW80D400B D SGLTW80D600B D 11

12 Direct Drives V V V Se Cylinder Type Servomotors ( Stick) Linear Servomotor Model Rated Force [N] Peak Force [N] Peak Speed [m/s] SERVOPACK Model SGDV Threephase 230 VAC SGLC SGLCD16A085A SGLCD16A115A R70A SGLCD16A145A R90A SGLCD20A100A SGLCD20A135A R6A SGLCD20A170A R8A 4.0 SGLCD25A125A R6A SGLCD25A170A SGLCD32A165A R8A SGLCD25A215A SGLCD32A225A R5A SGLCD32A285A Linear Sliders ( Trac) SGTMM ( Tracμ) Linear Slider Model Rated Force [N] Peak Force [N] SERVOPACK Model SGDV Threephase 230 VAC SGTMM R70A SGTMM R90A SGTMF ( TracMAG) SGTMF4A SGTMF4B SGTMF5A SGTMF5B R6A 5R5A Direct Drive Servomotors Direct Drive Servomotor Model SGMCS (Smallcapacity) SGMCS (Mediumcapacity) Rated Torque [Nm] Peak Torque [Nm] Rated Speed [min 1 ] Max. Speed [min 1 ] SERVOPACK Model SGDV Threephase 230 VAC SGMCS02B 5 6 SGMCS05B 7 15 SGMCS07B SGMCS04C SGMCS10C R8A SGMCS14C SGMCS08D SGMCS17D SGMCS25D SGMCS16E SGMCS35E R5A SGMCS45M R6A SGMCS80M A SGMCS80N SGMCS1AM A SGMCS1EN SGMCS2ZN A 12 YASKAWA

13 Series ries Specifications Servopack specifications Position Performance Analog Voltage/ Pulse Train Reference Type Position Control Form: Noninsulated line driver (+5 V level), open collector Specifications Speed frequency response: 1.6 khz (load condition: Load moment of inertia JL = Motor moment of inertia JM) Reference pulse type: Sign + pulse train, 90 phase difference 2phase pulse (phase A + phase B), or CCW + CW pulse train Form: Nicht galvanisch getrennte Leitungstreiber (+ 5 VPegel), offener Kollektor Speed Control +/ 6 V DC (variable setting range: +/ 2 to 10 V DC) at rated speed, max. input voltage: +/ 12 V) Torque Control +/ 3 V DC (variable setting range: +/ 1 to 10 V DC) at rated torque, max. input voltage: +/ 12 V) MECHATROLINKII Communications Reference Type Communications Feedback Performance Command Input Display and Switch Type Position control, speed control, and torque control through MECHATROLINK communications MECHATROLINK commands and MECHATROLINKII commands (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) 7segment 1digit LED (red), one rotary switch (for station address setting), and four dip switches (for communications specifications setting) RS422A communications: Handheld digital operator, RS422A port of personal computers, etc. USB communications: Compliant with USB1.1 standard, personal computers can be connected with SigmaWin+ Functions Status display, parameter settings, adjustment functions* 1, utility functions* 2 Serial encoder: 20bit (incremental/absolute encoder). Serial encoder: 13bit (incremental encoder only for SGMJV servomotors) Number of Channels Input Signals Functions Number of Channels Output Signals Functions Encoder Output Pulses Other I/O Signals 7 channels. The signal allocation and positive/negative logic can be modified. Servo On, proportional control, alarm reset, forward run prohibited, reverse run prohibited, forward torque limit, reverse torque limit, internal set speed selection, control selection, zero clamping, reference pulse inhibit, gain selection, homing deceleration switch signal, external latch signal 3 channels. The signal allocation and positive/negative logic can be modified. Positioning completion, speed coincidence detection, servomotor rotation detection, servo ready, torque limit detection, speed limit detection, brake, warning, near Phase A, phase B, phase C: line driver output. The number of dividing pulse: Any setting ratio is available. Alarm output, alarm code output (3bit, open collector output) Analog Monitor Analog monitor connector built in for monitoring speed, torque and other reference signals. Number of points: 2 Protective Functions Option Card Functions Compliant Standards Safety Functions Configuration Option Network Motion Control Overcurrent, overvoltage, low voltage, overload, regeneration error, etc. Advanced safety functions (Stop category 1, 2, Safetylimited speed), serial encoder communications input for fullyclosed loop control, various fieldbus interfaces UL standards, CE marking (EMC directive, low voltage directive), harmonics suppression, RoHS, safety function EN 954 category 3 Stop category 0, IEC SIL 2 Input: Power module base block signal. Output: Safety circuit status monitor Basemounted (Rack mounting and duct mounting available as an option for some models.) EtherCAT, CANopen, Powerlink Indexer, MP2600iec * 1 : New tuningless function, advanced autotuning or oneparameter tuning, etc. * 2 : Alarm traceback data display, JOG operation, origin search, etc. 13

14 S Ø LC S Ø LC Dimensions V V V Se Dimensional drawings (units: mm) Rotary servomotor LL LL LL LL LR LL LR LR LR S Ø LC LR S Ø LC Fig. 1 Fig. 2 Fig. 3 Fig. 4 Fig. 5 S Ø LC Input Voltage 230 VAC 230 VAC Servomotor Model Capacity Figure LC LL LR S Dia. Approx. Mass kg SGMJVA5 50 W SGMJV W SGMJV W SGMJV W SGMJV W SGMAVA5 50 W SGMAV W SGMAVC2 150 W SGMAV W SGMAV W SGMAV W SGMAV W SGMAV kw VAC SGMEV W 230 VAC, 400 VAC 400 VAC 400 VAC 400 VAC SGMEV W SGMEV W SGMEV W SGMEV kw SGMEV W SGMEV W SGMGV W SGMGV W SGMGV W SGMGV kw SGMGV kw SGMGV kw SGMGV kw SGMGV kw SGMGV kw SGMGV1A 11 kw SGMGV1E 15 kw SGMSV kw SGMSV kw SGMSV kw SGMSV25 SGMSV kw 3.0 kw 5 SGMSV kw SGMSV kw Note: External dimensions of directdrive servomotors, linear servomotors, and linear sliders are shown in specific YASKAWA Electric Europe product publications YASKAWA

15 Series ries Dimensions SERVOPACK SERVOPACK with Option Module Command Option Attachable Type H 2 97 H W D W 20 D Input Voltage Threephase 230 VAC Threephase 400 VAC SERVOPACK Model SGDV W H D Approx. Mass kg SERVOPACK Command Option Attachable Type W H D Approx. Mass kg R70A/ R90A/ R6A R8A R8A/ 5R5A/ R6A A A/ 200A A A/ A A/ A 1R9D/ 3R5D/ R4D R4D/ D D D/ D D/ D 15

16 YASKAWA Electric Europe GmbH Hauptstr Eschborn Deutschland / Germany info@yaskawa.de The is CEcertified, culuslisted and RoHSconform. Specifications are subject to change without notice for ongoing product modifications and improvements. YASKAWA Electric Europe GmbH. All rights reserved. Literature No. YEG_MuC_Sigma5_EN_v4_1109 Printed in Germany November 2009