Analog Voltage Reference SERVOPACKs Pulse Train Reference SERVOPACKs. (Analog Voltage Reference) SGDV- EP1. (Pulse Train Reference)

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1 Analog Voltage Reference SERVOPACKs Pulse Train Reference SERVOPACKs SGDV- ES (Analog Voltage Reference) SGDV- EP (Pulse Train Reference) Model Designations S G D V - 2R9 E S A vseries SGDV SERVOPACKs with DC Power Input st+2nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+2th digits 3th digit st+2nd+3rd digits Voltage Code Applicable Servomotor Max. Capacity k 24 VDC/ R VDC 2R th digit Code E 48 VDC* Current Power Supply Voltage 7th digit Design Revision Order A, B 8th+9th+0th digits Options (hardware) Code 002 Base-mounted, varbish(standard) th+2th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code 0 Standard 5th+6th digits Interface Code S P Analog Voltage Reference (For Rotary Servomotors) Pulse Train Reference (For Rotary Servomotors) *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. 34

2 リニアサーボモータ SGLG( コアレス形 ) リニア Features Compact design ith compact SERVOPACKs using less space, you can make effective use of limited space and make controller panels and systems smaller. Applications with DC power These compact, high-performance SERVOPACKs can be powered by batteries so they can improve the performance of battery-operated equipment for handling & transfer systems, such as robots used in clean rooms and automated guided vehicles (AGVs). Two different power supplies provide power for the control circuit and for the main circuit. Troubleshooting can be performed by shutting off the power to the main circuit if any alarm occurs. Either a 24-VDC or 48-VDC power supply can be used for the main circuit. Use of a 48-VDC power supply can improve the torque-motor speed characteristics (For the control circuit, only a 24-VDC power supply can be used). Degree to which the characteristics can be improved depends on which motor is used. Improved usability with state-of-the-art technology New advanced autotuning lets you adjust your system quickly for best performance. A wide variety of functions are provided: the model follow-up control function that reduces positioning time, the vibration suppression function that suppresses vibration of machines, friction compensation function that can exert its ability in applications with load fluctuations, and the new tuning-less function most suitable for systems that require a long startup time or that involve a large load fluctuation. Ratings SERVOPACK Model SGDV- R7E 2R9E Applicable Servomotor Max. Capacity k Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit* 24 VDC±5% 48 VDC±5% 24 VDC±5% 48 VDC±5% Control Circuit None 24 VDC±5% *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. hen a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved. DC SERVOPACK Overload Characteristics Detecting time (s) SGMMV-B3E, -B5E SGMMV-B9E Torque reference (percent of rated torque) (%) Detecting time (s) SGMMV-AE,-A2E, -A3E Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 00% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. Analog/Pulse Type SERVOPACKs 342

3 Items Control Method Feedback Operating Conditions Ambient Temperature Storage Temperature Ambient Humidity Storage Humidity Vibration Resistance Shock Resistance Protection Class Pollution Degree 2 PM control, sine-wave driven Serial encoder: 7-bit (incremental/absolute) 0 to +55 C 20 to +85 C 90%RH or less ith no freezing or condensation 90%RH or less 4.9 m/s2 9.6 m/s2 IP0 An environment that satisfies the following conditions. Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust Altitude Others 000 m or less Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Applicable Standards UL508C EN550/A, EN , EN6800-3, EN Mounting Base-mounted Speed Control Range :5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.) Load Fluctuation 0% to 00% load: ±0.0% max. (at rated speed) Performance Speed Voltage Fluctuation Rated voltage: ±0% : 0% (at rated speed) Regulation * Temperature Fluctuation 25±25 C : ±0.% max. (at rated speed) Torque Control Tolerance (Repeatability) ± % Soft Start Time Setting 0 to 0 s (can be set individually for acceleration and deceleration.) Phase A, phase B, phase C: line driver output Encoder Output Pulses The number of dividing pulse: Any setting ratio is available. *2 Number of 7 channels Channels Servo ON (/S-ON) Control selection(/c-sel) Proportional control (/P-CON) SEN signal (/SEN) Sequence Input Input Signals which can be Forward run prohibited (P-OT), reverse run prohibited (N-OT) Zero clamping (/ZCLAMP) allocated Functions Reference pulse inhibit (/INHIBIT) Alarm reset (/ALM-RST) Gain selection (/G-SEL) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Reference pulse input multiplication switching (/PSEL) I/O Signal Internal set speed selection (/SPD-D, /SPD-A, /SPD-B) Positive and negative logic can be changed. Fixed Output Servo alarm (ALM) Number of 3 channels Channels Sequence Output Output Signals which can be allocated Positioning completion (/COIN) Brake (/BK) Speed coincidence detection (/V-CMP) arning (/ARN) Rotation detection (/TGON) Functions Near (/NEAR) Servo ready (/S-RDY) Reference pulse input multiplication switching output (/PSELA) Torque limit detection (/CLT) Speed limit detection (/VLT) Positive and negative logic can be changed. *: Speed regulation is defined as follows: Speed regulation = No-load motor speedtotal load motor speed 00% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2: For details, refer to Setting Encoder Output Pulse in the AC Servo Drives DC Power Input Series USER S MANUAL Design and Maintenance (Cont d) 343

4 SERVOPACKs with DC Power Input SGDV- ES/EP Items Compatible with the digital operator for SERVOPACKs (Model: JUSP-OP05A- -E). Digital Operator The digital operator must be connected with the SERVOPACK via the analog Communications monitor unit (Model: JUSP-PC00-E) or the digital operator s relay cable (Model: JZSP-CFS00-A3-E). Compatible with Sigmain+. Computer (USB) Compliant with the USB. standard (2 Mbps) Display Servo alarm (ALM): red; servo ready (RDY): green Number of points: 2 Analog Monitor Output voltage: ±0 VDC (linearity effective range: ±8 V) Output through the analog monitor unit (model: JUSP-PC00-E) Dynamic Brake (DB) Not available Regenerative Processing Not available Decelerate to a stop or coast to a stop when overtraveling is detected and an Overtravelling (OT) Prevention overtravel signal (P-OT or N-OT) is input. Protective Functions Overcurrent, Overvoltage, low voltage, overload, etc. Utility Functions Gain adjustment, alarm history, JOG operation, origin search, etc. Soft Start Time Setting 0 to 0 s (can be set individually for acceleration and deceleration.) Max. input voltage: ±2 V (forward speed reference with positive reference) Reference Voltage Factory setting: 6 VDC at rated speed (Input gain setting can be changed.) Input Signals Input Impedance About 4 kω Speed Control Circuit Time Constant 30 μs Rotation Direction Selection ith P control signal Internal Set Speed ith forward/reverse external torque limit signal (speed to 3 selection). Control Speed Selection Servomotor stops or another control method is used when both are OFF. Max. input voltage: ±2 V (forward torque reference with positive reference) Reference Voltage Torque Factory setting: 3 VDC at rated torque (Input gain setting can be changed.) Input Signals Control Input Impedance About 4 kω Circuit Time Constant 6 μs Feedforward Compensation 0 to 00% Positioning Completed idth Setting 0 to reference units Select one of them: Type Sign + pulse train, C + CC pulse train, or two-phase pulse train with 90 phase differential Form For line driver, open collector Line driver Sign + pulse train, C + CC pulse train: 4 Mpps Position Reference Max. Input Pulse Two-phase pulse train with 90 phase differential: Mpps Control Input Pulse Frequency* Open Collector Signals Sign + pulse train, C + CC pulse train: 200 kpps Two-phase pulse train with 90 phase differential: 200 kpps Reference pulse input to 00 times multiplication switching Position error clear Clear Signal For line driver, open collector Analog Voltage Reference Pulse Train Reference *: If the maximum reference frequency exceeds Mpps, use a shielded cable for I/O signals and ground both ends of the shield. Connect the shield at the SERVOPACK to the connector shell. DC Analog/Pulse Type SERVOPACKs 344

5 Power Supply Capacities and Power Losses The following table shows SERVOPACK s power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity SERVOPACK Model SGDV- Main Circuit Power Supply Capacity per SERVOPACK Output Current Arms Main Circuit Power Loss Regenerative Resistor Power Loss Control Circuit Power Loss Total Power Loss 24 VDC R7E R9E VDC R7E R9E Note: These power supply capacities are net values at instantaneous maximum loads. 345

6 REF SERVO YASKAA DIGITAL OPERATOR SERVO REF ALARM SVON YASKAA READ RITE SERVO SERVO DIGITAL OPERATOR REF YASKAA SERVOPACKs with DC Power Input SGDV- ES/EP SERVO SERVO DIGITAL OPERATOR Selecting Cables Cables for CN CN3 CN5 CN7 (Analog Voltage Reference/Pulse Train Reference SERVOPACKs) CN Cable for I/O Signals Host Controller Digital Operator Digital Operator Relay Cable ALARM SVON Digital Operator CN5 Analog Monitor Unit Connection Cable READ RITE Analog Monitor Unit ALARM SVON READ RITE CN7 Connection Cable for Personal Computer Cable for Analog Monitor CN3 Power Supply Cable Insulated AC/DC Converter for Control Circuit Power Supply Insulated AC/DC Converter for Main Circuit Power Supply Name Length Order No. Details Soldered Connector Kit JZSP-CSI9-2-E () CN Cables for I/O Signals CN3 Power Supply Cables CN5 Cables for Digital Operator/Analog Monitor Unit 0.5 m SBK-U-VBA-A5 Terminal Block and Connector Terminal Connection Cable m SBK-U-VBA-0 Converter Unit 3 m SBK-U-VBA-03 (2) m JZSP-CSI02--E Cable with Loose wire 2 m JZSP-CSI02-2-E at One End 3 m JZSP-CSI02-3-E (3) m JZSP-CFG00-0-E 2 m JZSP-CFG00-02-E 3 m JZSP-CFG00-03-E 4 m JZSP-CFG00-04-E SERVOPACK End Power Supply End Cable with Loose wire 5 m JZSP-CFG00-05-E at One End 6 m JZSP-CFG00-06-E (4) 7 m JZSP-CFG00-07-E 8 m JZSP-CFG00-08-E 9 m JZSP-CFG00-09-E 0 m JZSP-CFG00-0-E ith Connection Cable ( m) Digital Operator JUSP-OP05A--E (5) Digital Operator Relay Cable SERVOPACK End Digital Operator End 0.3 m JZSP-CFS00-A3-E (6) Analog Monitor Unit JUSP-PC00-E (7) Analog Monitor Unit Connection Cable SERVOPACK End Analog Monitor Unit End 0.3 m JZSP-CFS05-A3-E (8) DC Analog/Pulse Type SERVOPACKs CN7 Connection Cables for Personal Computer Cables for Analog Monitor Analog Monitor Unit End m JZSP-CA0-E (9) Cable with Connectors at Both Ends 2.5 m JZSP-CVS06-02-E (0) 346

7 Selecting Cables () Connector Kit for CN Use the following connector and cable to assemble the cable. The CN connector kit includes one case and one connector. Connector Kit Case Connector Model Model Qty Model Qty JZSP-CSI9-2-E A0-008* set PE* (Soldered) * : Manufactured by Sumitomo 3M Ltd. External Dimensions of Case (Units: mm) Cable Size Cable Item Applicable ires Cable Finished Diameter Use twisted-pair or twisted-pair shielded wire. AG24,26,28,30 6 dia. max. 5.2 External Dimensions of Connector (Units: mm) 2.54 Pin No.25 Pin.27 No.4 Pin No.5 Pin No Pin No. Pin No.2 Pin No.2 Pin No Pin No. Pin No (2) Connector Terminal Converter Unit for CN Configurations 2 SERVOPACK CN +50 Cable Length500-0 mm B A ModelJUSP- TA26 P B20 A External Dimensions of Terminal Block (Units: mm) Terminal Block (40P) Connector Plug (40P) M3.5 Screw FCN-364P040-AU B A B20 A20 Can be fixed on DIN rail Dia External Dimensions of Cable (Units: mm) SERVOPACK End Connector (26P) EL (by Sumitomo 3M Ltd.) Shell A0-008 (by Sumitomo 3M Ltd.) Cable () AG#28, 8P SSRFPVV-SB Terminal Converter Unit-end Connector (40P) FCN-36J040-AU (by Fujitsu Ltd.) Cover FCN-360C040-B (by Fujitsu Ltd.) Model Cable Length (L) Approx. Mass JUSP-TA26P-E 0.5 m 00 g JUSP-TA26P--E m 200 g JUSP-TA26P-2-E 2 m 400 g L 47 Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers to 26 are used in the terminal block. Do not use a pin number of 27 or higher. If assembling cables, refer to Cable with Loose ires at One End for CN Connection Diagram of JZSP-CSI02- -E Cable on the next page. 347

8 SERVOPACKs with DC Power Input SGDV- ES/EP Selecting Cables 37.2 (3) Cable with Loose ires at One End for CN SERVOPACK End Connector EL (by Sumitomo 3M Ltd.) Shell A0-008 Model JZSP-CSI02--E JZSP-CSI02-2-E JZSP-CSI02-3-E Cable (Ivory) SSRFPVV-SB AG#28 3P UL20276 V-SC 4 L (6.3 Dia.) Cable Length m 2 m 3 m (4) Cable with Loose ires at One End for CN3 (Model: JZSP-CFG00- -E) 3 Dia. ire Markers Cable with Loose ires at One End for CN Connection Diagram of JZSP-CSI02- -E Cable Pin No SERVOPACK End Signal ire Analog Voltage Pulse Train Color Reference Reference V-REF SG T-REF SG /V-CMP ALM /TGON /S-RDY COM_SG /N-CL SG 24VIN /S-ON /P-CON P-OT N-OT PAO /PAO PBO /PBO PCO /PCO /ALM-RST /P-CL PULS /PULS SIGN /SIGN CLR /CLR /COIN Blue Blue Pink Pink Green Green Orange Orange Gray Gray Blue Blue Pink Green Green Pink Orange Orange Gray Gray Blue Blue Pink Pink Green Green Marking Color Dots Host Controller End Lead Marker Represents twisted-pair wires. DC SERVOPACK End Connector (6 poles): (by Molex Japan Co., Ltd.) Contact: (Chained) 9.85 (8.28) Model JZSP-CFG00-0-E JZSP-CFG00-02-E JZSP-CFG00-03-E JZSP-CFG00-04-E JZSP-CFG00-05-E JZSP-CFG00-06-E JZSP-CFG00-07-E JZSP-CFG00-08-E JZSP-CFG00-09-E JZSP-CFG00-0-E 50 Cable Length m 2 m 3 m 4 m 5 m 6 m 7 m 8 m 9 m 0 m 3C AG20 (BRG/Y) (by Hitachi Cable Ltd.) Cable: CL2-UL2464-AM L Heat-shrinkable Tube () 5. Dia. 45 Cable: CL2-UL2464-AM 3C AG20 (YG/Y) (by Hitachi Cable Ltd.) 2 35 Pin No. Cable Color Signal Green/yellow FG 2 Green/yellow FG 3 Blue L2 4 hite C2 5 Yellow C 6 L Analog/Pulse Type SERVOPACKs 348

9 REF Selecting Cables (5) Digital Operator (Model: JUSP-OP05A--E) (Units: mm) 2-M3 Screws, Depth 5 70 (6) Digital Operator Relay Cable for CN5 (Model: JZSP-CFS00-A3-E) Connector: DA3P08MB2 (by Japan Aviation Electronics Industry Ltd.) ALARM YASKAA 20 Nameplate 4.9 Dia. SVON SERVO READ RITE DIGITAL OPERATOR SERVO Connector: HDR-E4MAG+(by Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E4LPA5 (by Honda Tsushin Kogyo Co., Ltd.) Cable: CL2-UL20276-SB 7P AG30 Connector: HDR-E4FAG+ (by Hitachi Cable Ltd.) (by Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E4LPHD+ (by Honda Tsushin Kogyo Co., Ltd.) (7) Analog Monitor Unit (Model: JUSP-PC00-E) (8) Analog Monitor Unit Connection Cable for CN5 (Model: JZSP-CFS05-A3-E) Connector: DA3P08MB2 (by Japan Aviation Electronics Industry Ltd.) 300 Connector: EL (by Sumitomo 3M Ltd.) Shell: AO CN4: Connector for Analog Monitor CN3: Connector for Digital Operator 5.8 Dia Cable: HP-SB/20276SR AG28 0P (by Taiyo Cabletec Corp.) Nameplate CN: Connector for SERVOPACK Note: The cable (JZSP-CFS05-A3-E) to connect the SERVOPACK is not included. 349

10 SERVOPACKs with DC Power Input SGDV- ES/EP Selecting Cables (9) Analog Monitor Unit Cable for CN4 (Model: JZSP-CA0-E) Socket DF-4DS-2C* Contact DF-2428SCF* hite * : Manufactured by Hirose Electric Corporation. View from Cable End Pin No. Cable Color Signal Standard Settings Analog Monitor 2 Motor speed : V/000 min- 2 hite Analog Monitor 3, 4 (2 cables) GND(0V) Torque reference : V/00% rated torque Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (0) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) +00 2, to 20 JZSP-CVS06-02-E DC 00 IMPORTANT Use a cable specified by Yaskawa. hen using other cables, operation cannot be guaranteed. 55 Analog/Pulse Type SERVOPACKs 350

11 MECHATROLINK-II Communications Reference SERVOPACKs SGDV- E (For Rotary Servomotors) Model Designations S G D V - 2R9 E A v Series SGDV SERVOPACKs with DC Power Input st+2nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+2th digits 3th digit st+2nd+3rd digits Voltage Code Applicable Servomotor Max. Capacity k 24 VDC/ 48 VDC 4th digit Code E R R VDC* Current Power Supply Voltage 7th digit Design Revision Order A, B 8th+9th+0th digits Options (hardware) Code 002 Base-mounted, varbish(standard) th+2th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code 0 Standard 5th+6th digits Interface Code MECHATROLINK-II communications Reference (for rotary servomotors) *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. 35

12 SERVOPACKs with DC Power Input SGDV- E Features Real-time communications MECHATROLINK-II communications enable high-speed control for 30 stations at a maximum transmission speed of 0 Mbps in a transmission cycle from 250 μs to 4 ms (set by the host controller). Such a high transmission speed allows real-time transmission of various data required for control. Cost savings Thirty stations can be connected to a single MECHATROLINK-II transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. High-precision motion control The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-II network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings SERVOPACK Model SGDV- R7E 2R9E Applicable Servomotor Max. Capacity k Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit* 24 VDC±5% 48 VDC±5% 24 VDC±5% 48 VDC±5% Control Circuit None 24 VDC±5% *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. hen a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved. For details, refer to Torque-Motor Speed Characteristics on page 6. SERVOPACK Overload Characteristics Detecting time (s) 00 0 SGMMV-B3E, -B5E SGMMV-B9E Torque reference (percent of rated torque) (%) Detecting time (s) 00 0 SGMMV-AE,-A2E, -A3E Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 00% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. DC MECHATROLINK-II Type SERVOPACKs 352

13 Items Control Method Feedback Operating Conditions Ambient Temperature Storage Temperature Ambient Humidity Storage Humidity Vibration Resistance Shock Resistance Protection Class Pollution Degree 2 PM control, sine-wave driven Serial encoder: 7-bit (incremental/absolute) 0 to +55 C 20 to +85 C 90%RH or less ith no freezing or condensation 90%RH or less 4.9 m/s2 9.6 m/s2 IP0 An environment that satisfies the following conditions. Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust Altitude Others 000 m or less Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Applicable Standards UL508C EN550/A, EN ,EN6800-3, EN Mounting Base-mounted Speed Control Range : 5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.) Load Fluctuation 0% to 00% load: ±0.0% max. (at rated speed) Performance Speed Voltage Fluctuation Rated voltage: ±0% : 0% (at rated speed) Regulation * Temperature Fluctuation 25±25 C : ±0.% max. (at rated speed) Torque Control Tolerance (Repeatability) ± % Soft Start Time Setting *2 0 to 0 s (can be set individually for acceleration and deceleration.) Number of 3 channels Channels Sequence Input Input Signals which can be Homing deceleration switch signal (/DEC) External latch signals (/EXT ) allocated Functions Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Positive and negative logic can be changed. Fixed Output Servo alarm (ALM) Number of 3 channels I/O Signal Channels Sequence Output Output Signals which Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) can be allocated Rotation detection (/TGON) Functions arning (/ARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT) Positive and negative logic can be changed. Communications Computer (USB) Compatible with Sigmain+. Compliant with the USB. standard (2 Mbps) Display Servo alarm (ALM): red; servo ready (RDY): green; communications(com): green DIP Switches for MECHATROLINK-II Communication Settings DIP switches: S and S2 Number of poles: 4/DIP switch (two DIP switches)*3 Analog Monitor Number of points: 2 Output voltage: ±0 VDC (linearity effective range: ±8 V) Output through the analog monitor unit (model: JUSP-PC00-E) *: Speed regulation is defined as follows: Speed regulation = No-load motor speedtotal load motor speed 00% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2 : For information on soft start, refer to Velocity Control (VELCTRL: 3CH) in the AC Servo Drives v Series USER S MANUAL MECHATROLINK-II Commands *3 : For details, refer to 4.. Setting Switches S and S2 in the AC Servo Drives DC Power Input v Series USER S MANUAL Design and Maintenance (Cont d) 353

14 SERVOPACKs with DC Power Input SGDV- E Items Dynamic Brake (DB) Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions MECHATROLINK-II Communications Command Method Communications Protocol Station Address Transmission Speed Transmission Cycle Number of Transmission Bytes Performance Command Input Not available Not available Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel signal (P-OT or N-OT) is input. Overcurrent, Overvoltage, low voltage, overload, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. MECHATROLINK-II 4H to 5FH (max. number of slaves: 30) Set station addresses with combinations of S and S2 settings. 0 Mbps, 4 Mbps Set by using the S2 DIP switch. 250 μs or 0.5 ms to 4.0 ms (increments of 0.5 ms) Can be switched between 7 bytes /station and 32 bytes / station. Set by using the S2 DIP switch. Position control, speed control, and torque control through MECHATROLINK-II communications MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) DC MECHATROLINK-II Type SERVOPACKs 354

15 Power Supply Capacities and Power Losses The following table shows SERVOPACK s power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity SERVOPACK Model SGDV- Main Circuit Power Supply Capacity per SERVOPACK Output Current Arms Main Circuit Power Loss Regenerative Resistor Power Loss Control Circuit Power Loss Total Power Loss 24 VDC R7E R9E VDC R7E R9E Note: These power supply capacities are net values at instantaneous maximum loads. 355

16 SERVOPACKs with DC Power Input SGDV- E Selecting Cables Cables for CN CN3 CN5 CN6 CN7 (MECHATROLINK-II Communications Reference SERVOPACKs) CN6 MECHATROLINK-2 Communication Cable Connect to the MECHATROLINK-2 CN Cable for I/O Signals Connection Cable for Personal Computer Analog Monitor Unit Connection Cable LED Indicator for External Device Analog Monitor Unit Cable for Analog Monitor CN7 CN5 CN3 Power Supply Cable Insulated AC/DC Converter for Control Circuit Power Supply Insulated AC/DC Converter for Main Circuit Power Supply Name Length Order No. Details CN Cables for I/O Signals Cable with Loose wire at One End m JZSP-CFI02--E 2 m JZSP-CFI02-2-E 3 m JZSP-CFI02-3-E () m JZSP-CFG00-0-E 2 m JZSP-CFG00-02-E 3 m JZSP-CFG00-03-E 4 m JZSP-CFG00-04-E SERVOPACK End Power Supply End CN3 Power Supply Cables Cable with Loose wire at One End 5 m JZSP-CFG00-05-E 6 m JZSP-CFG00-06-E (2) 7 m JZSP-CFG00-07-E 8 m JZSP-CFG00-08-E 9 m JZSP-CFG00-09-E 0 m JZSP-CFG00-0-E DC CN5 Analog Monitor Unit Cable CN6A CN6B MECHATROLINK-II Communication Cable Analog Monitor Unit JUSP-PC00-E (3) Analog Monitor Unit Connection Cable Cables for Analog Monitor Cables with Connectors at Both Ends Cables with Connectors at Both Ends (with Ferrite Core) SERVOPACK End Analog Monitor Unit End 0.3 m JZSP-CFS06-A3-E (4) Analog Monitor m JZSP-CA0-E Unit End (5) 0.5 to 50 m 0.5 to 50 m JEPMC E (6) JEPMC E (7) Terminator JEPMC-6022-E (8) MECHATROLINK-II Type SERVOPACKs CN7 Connection Cables for Personal Computer Cable with Connectors at Both Ends 2.5 m JZSP-CVS06-02-E (9) 356

17 Selecting Cables () Cable with Loose ires at One End for CN (Model: JZSP-CFI02- -E) SERVOPACK End Connector (2 poles): (by Molex Japan Co., Ltd.) Contact: (Chained) (Loose wires) Shield 65 (8.85) (8.28) Model JZSP-CFI02--E JZSP-CFI02-2-E JZSP-CFI02-3-E 7.4 Dia. Cable: CMX/ /2A-SR LF AG24 5P (by Taiyo Cabletec Corp.) Cable Length m 2 m 3 m Marking sticker Cable with Loose ires at One End for CN Connection Diagram of JZSP-CFI02- -E Cable Pin No SERVOPACK End ire Marking Signal Color FG +24VIN P-OT ALM COM_SG /DEC N-OT SO3 SO2 /BK Shield Orange Orange Gray Gray hite hite Yellow Yellow Pink Color Dots Host Controller End Represents twisted-pair wires. (2) Cable with Loose ires at One End for CN3 (Model: JZSP-CFG00- -E) SERVOPACK End Connector (6 poles): (by Molex Japan Co., Ltd.) Contact: (Chained) 50 L 3C AG20 (BRG/Y) (by Hitachi Cable Ltd.) Cable: CL2-UL2464-AM 9.85 Heat-shrinkable Tube () 45 (8.28) 5. Dia. Cable: CL2-UL2464-AM 3C AG20 (YG/Y) (by Hitachi Cable Ltd.) 2 35 Model JZSP-CFG00-0-E JZSP-CFG00-02-E JZSP-CFG00-03-E JZSP-CFG00-04-E JZSP-CFG00-05-E JZSP-CFG00-06-E JZSP-CFG00-07-E JZSP-CFG00-08-E JZSP-CFG00-09-E JZSP-CFG00-0-E Cable Length m 2 m 3 m 4 m 5 m 6 m 7 m 8 m 9 m 0 m Pin No. Cable Color Signal Green/yellow FG 2 Green/yellow FG 3 Blue L2 4 hite C2 5 Yellow C 6 L 357

18 SERVOPACKs with DC Power Input SGDV- E Selecting Cables (3) Analog Monitor Unit (Model: JUSP-PC00-E) CN4: Connector for Analog Monitor CN3: Connector for Digital Operator (4) Analog Monitor Unit Connection Cable for CN5 (Model: JZSP-CFS06-A3-E) Connector: EL (by Sumitomo 3M Ltd.) Shell: AO Dia Nameplate CN: Connector for SERVOPACK Note: The cable (JZSP-CFS06-A3-E) to connect the SERVOPACK is not included. Socket: DF-6DS-2C (by Hirose Electric Corporation.) Contact: DF-2428SCF (by Hirose Electric Corporation.) Cable: CMX /2A-SB AG24 4P (by Taiyo Cabletec Corp.) 4 DC MECHATROLINK-II Type SERVOPACKs 358

19 Selecting Cables (5) Analog Monitor Unit Cable for CN4 (Model: JZSP-CA0-E) SocketDF-4DS-2C* Contact DF-2428SCF* hite * : Manufactured by Hirose Electric Corporation. View from Cable End Pin No. Cable Color Signal Standard Settings Analog Monitor 2 Motor speed : V/000 min- 2 hite Analog Monitor Torque reference : V/00% rated torque 3, 4 (2 cables) GND (0V) Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (6) Cable with Connectors at Both Ends for CN6 (Model: JEPMC E) L (7) Cable with Connectors at Both Ends (with Ferrite Core) for CN6 (Model: JEPMC E) L Model Cable Length (L) Model Cable Length (L) JEPMC-6002-A5-E 0.5 m JEPMC-6003-A5-E 0.5 m JEPMC E.0 m JEPMC E.0 m JEPMC E 3.0 m JEPMC E 3.0 m JEPMC E 5.0 m JEPMC E 5.0 m JEPMC E 0.0 m JEPMC E 0.0 m JEPMC E 20.0 m JEPMC E 20.0 m JEPMC E 30.0 m JEPMC E 30.0 m JEPMC E 40.0 m JEPMC E 40.0 m JEPMC E 50.0 m JEPMC E 50.0 m IMPORTANT Use a MECHATROLINK-II communications cable specified by Yaskawa. hen using other cables, noise resistance may be reduced, and operation cannot be guaranteed. (8) MECHATROLINK-II Terminator for CN6 (Model : JEPMC-6022-E) (8)

20 SERVOPACKs with DC Power Input SGDV- E Selecting Cables (9) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) +00 2, to 20 JZSP-CVS06-02-E (00) (55) IMPORTANT Use a cable specified by Yaskawa. hen using other cables, operation cannot be guaranteed. DC MECHATROLINK-II Type SERVOPACKs 360

21 MECHATROLINK-III Communications Reference SERVOPACKs SGDV- E2 (For Rotary Servomotors) Model Designations S G D V - 2R9 E 2 A v Series SGDV SERVOPACKs with DC Power Input st+2nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+2th digits 3th digit st+2nd+3rd digits Voltage Code Applicable Servomotor Max. Capacity k 24 VDC/ R VDC 2R th digit Code E 48 VDC* Current Power Supply Voltage 7th digit Design Revision Order A, B 8th+9th+0th digits Options (hardware) Code 002 Base-mounted, varbish(standard) th+2th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code 0 Standard 5th+6th digits Interface Code 2 MECHATROLINK-III communications Reference (for rotary servomotors) *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. 36

22 SERVOPACKs with DC Power Input SGDV- E2 Features Real-time communications MECHATROLINK-III communications enable high-speed control for 62 stations at a transmission speed of 00 Mbps in a transmission cycle from 25 μs to 4 ms (set by the host controller). Such a high transmission speed allows real-time transmission of various data required for control. Cost savings The 62 stations can be connected to a single MECHATROLINK-III transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. High-precision motion control The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-III network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings SERVOPACK Model SGDV- R7E 2R9E Applicable Servomotor Max. Capacity k Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Main Circuit* 24 VDC±5% 48 VDC±5% 24 VDC±5% 48 VDC±5% Control Circuit None 24 VDC±5% *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. hen a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved. SERVOPACK Overload Characteristics Detecting time (s) 00 0 SGMMV-B3E, -B5E SGMMV-B9E Torque reference (percent of rated torque) (%) Detecting time (s) 00 0 SGMMV-AE,-A2E, -A3E Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 00% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. DC MECHATROLINK-III Type SERVOPACKs 362

23 Items Control Method Feedback Operating Conditions PM control, sine-wave driven Serial encoder: 7-bit (incremental/absolute) Ambient Temperature 0 to +55 C Storage Temperature 20 to +85 C Ambient Humidity 90%RH or less Storage Humidity 90%RH or less ith no freezing or condensation Vibration Resistance 4.9 m/s2 Shock Resistance 9.6 m/s2 Protection Class IP0 An environment that satisfies the following conditions. Free of corrosive or flammable gases Pollution Degree 2 Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust Altitude 000 m or less Others Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Applicable Standards UL508C EN550/A, EN ,EN6800-3, EN Mounting Base-mounted Speed Control Range : 5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.) Load Fluctuation 0% to 00% load: ±0.0% max. (at rated speed) Performance Speed Voltage Fluctuation Rated voltage: ±0% : 0% (at rated speed) Regulation * Temperature Fluctuation 25±25 C : ±0.% max. (at rated speed) Torque Control Tolerance (Repeatability) ± % Soft Start Time Setting 0 to 0 s (can be set individually for acceleration and deceleration.) Number of Channels 3 channels I/O Signal Communications Sequence Input Sequence Output Computer (USB) Input Signals which can be allocated Fixed Output Output Signals which can be allocated Homing deceleration switch signal (/DEC) External latch signals (/EXT ) Functions Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Positive and negative logic can be changed. Servo alarm (ALM) Number of 3 channels Channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Rotation detection (/TGON) Functions arning (/ARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT) Positive and negative logic can be changed. Compatible with Sigmain+. Compliant with the USB. standard (2 Mbps) Display DIP Switches for MECHATROLINK-III Communication Settings Analog Monitor Servo alarm (ALM): red, servo ready (RDY): green, link (LK): green, link 2 (LK2): green, communications (COM): green S DIP switch Number of poles: 8 *2 S2 DIP switch Number of poles: 4 *2 Number of points: 2 Output voltage: ±0 VDC (linearity effective range: ±8 V) Output through the analog monitor unit (model: JUSP-PC00-E) *: Speed regulation is defined as follows: Speed regulation = No-load motor speedtotal load motor speed 00% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2: For details, refer to 4.. Setting Switches S and S2 in the AC Servo Drives DC Power Input v Series USER S MANUAL Design and Maintenance (Cont d) 363

24 SERVOPACKs with DC Power Input SGDV- E2 Items Dynamic Brake (DB) Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions MECHATROLINK-III Communications Command Method Communications Protocol Station Address Transmission Speed Transmission Cycle Number of Transmission Bytes Performance Command Input Profile Not available Not available Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel signal (P-OT or N-OT) is input. Overcurrent, Overvoltage, low voltage, overload, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. MECHATROLINK-III 03H to EFH (max. number of slaves: 62) Set by using the S DIP switch. 00 Mbps 25μs, 250μs, 500μs, 750μs, ms to 4 ms (increments of 0.5 ms) Can be switched between 6 bytes/station, 32 bytes/station, or 48 bytes/station Set by using the S2 DIP switch. Position control, speed control, and torque control through MECHATROLINK-III communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) MECHATROLINK-II compatible profile MECHATROLINK-III standard servo profile DC MECHATROLINK-III Type SERVOPACKs 364

25 Power Supply Capacities and Power Losses The following table shows SERVOPACK s power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity SERVOPACK Model SGDV- Main Circuit Power Supply Capacity per SERVOPACK Output Current Arms Main Circuit Power Loss Regenerative Resistor Power Loss Control Circuit Power Loss Total Power Loss 24 VDC R7E R9E VDC R7E R9E Note: These power supply capacities are net values at instantaneous maximum loads. 365

26 SERVOPACKs with DC Power Input SGDV- E2 Selecting Cables Cables for CN CN3 CN5 CN6 CN7 (MECHATROLINK-III Communications Reference SERVOPACKs) CN6 MECHATROLINK-3 Communication Cable Connect to the MECHATROLINK-3 CN Cable for I/O Signals LED Indicator for External Device CN7 Connection Cable for Personal Computer Analog Monitor Unit Connection Cable Analog Monitor Unit Cable for Analog Monitor CN5 CN3 Power Supply Cable Insulated AC/DC Converter for Control Circuit Power Supply Insulated AC/DC Converter for Main Circuit Power Supply Name Length Order No. Details CN Cables for I/O Signals Cable with Loose wire at One End m JZSP-CFI02--E 2 m JZSP-CFI02-2-E 3 m JZSP-CFI02-3-E () m JZSP-CFG00-0-E 2 m JZSP-CFG00-02-E CN3 Power Supply Cables Cable with Loose wire at One End 3 m JZSP-CFG00-03-E 4 m JZSP-CFG00-04-E 5 m JZSP-CFG00-05-E 6 m JZSP-CFG00-06-E 7 m JZSP-CFG00-07-E SERVOPACK End Power Supply End (2) 8 m JZSP-CFG00-08-E 9 m JZSP-CFG00-09-E 0 m JZSP-CFG00-0-E DC CN5 Analog Monitor Unit Cable CN6A CN6B MECHATROLINK-III Communication Cable CN7 Connection Cables for Personal Computer Analog Monitor Unit JUSP-PC00-E (3) Analog Monitor Unit Connection Cable Cables for Analog Monitor Cables with Connectors at Both Ends Cables with Connectors at Both Ends (with Ferrite Core) Cable with Loose wire at One End SERVOPACK End Analog Monitor Unit End 0.3 m JZSP-CFS06-A3-E (4) Analog Monitor m JZSP-CA0-E Unit End (5) 0.2 to 50 m JEPMC E (6) 0 to 50 m JEPMC E (7) 0.5 to JEPMC-604- E (8) 50 m Cable with Connectors at Both Ends 2.5 m JZSP-CVS06-02-E (9) MECHATROLINK-III Type SERVOPACKs 366

27 Selecting Cables () Cable with Loose ires at One End for CN (Model: JZSP-CFI02- -E) SERVOPACK End Connector (2 poles): (by Molex Japan Co., Ltd.) Contact: (Chained) (Loose wires) (8.85) (8.28) Model JZSP-CFI02--E JZSP-CFI02-2-E JZSP-CFI02-3-E 7.4 Dia. Cable: CMX/ /2A-SR LF AG24 5P (by Taiyo Cabletec Corp.) Cable Length m 2 m 3 m 00 5 Shield Marking sticker Cable with Loose ires at One End for CN Connection Diagram of JZSP-CFI02- -E Cable Pin No SERVOPACK End ire Marking Signal Color FG +24VIN P-OT ALM COM_SG /DEC N-OT SO3 SO2 /BK Shield Orange Orange Gray Gray hite hite Yellow Yellow Pink Color Dots Host Controller End Lead Marker Represents twisted-pair wires. (2) Cable with Loose ires at One End for CN3 (Model: JZSP-CFG00- -E) SERVOPACK End Connector (6 poles): (by Molex Japan Co., Ltd.) Contact: (Chained) 50 L 3C AG20 (BRG/Y) (by Hitachi Cable Ltd.) Cable: CL2-UL2464-AM 9.85 Heat-shrinkable Tube () 45 (8.28) 5. Dia. Cable: CL2-UL2464-AM 3C AG20 (YG/Y) (by Hitachi Cable Ltd.) 2 35 Model JZSP-CFG00-0-E JZSP-CFG00-02-E JZSP-CFG00-03-E JZSP-CFG00-04-E JZSP-CFG00-05-E JZSP-CFG00-06-E JZSP-CFG00-07-E JZSP-CFG00-08-E JZSP-CFG00-09-E JZSP-CFG00-0-E Cable Length m 2 m 3 m 4 m 5 m 6 m 7 m 8 m 9 m 0 m Pin No. Cable Color Signal Green/yellow FG 2 Green/yellow FG 3 Blue L2 4 hite C2 5 Yellow C 6 L 367

28 SERVOPACKs with DC Power Input SGDV- E2 Selecting Cables (3) Analog Monitor Unit (Model: JUSP-PC00-E) CN4: Connector for Analog Monitor CN3: Connector for Digital Operator (4) Analog Monitor Unit Connection Cable for CN5 (Model: JZSP-CFS06-A3-E) Connector: EL (by Sumitomo 3M Ltd.) Shell: AO-008 Socket: DF-6DS-2C (by Hirose Electric Corporation.) Contact: DF-2428SCF (by Hirose Electric Corporation.) Cable: CMX /2A-SB AG24 4P (by Taiyo Cabletec Corp.) DC MECHATROLINK-III Type SERVOPACKs Dia Nameplate CN: Connector for SERVOPACK Note: The cable (JZSP-CFS06-A3-E) to connect the SERVOPACK is not included

29 Selecting Cables (5) Analog Monitor Unit Cable for CN4 (Model: JZSP-CA0-E) SocketDF-4DS-2C* Contact DF-2428SCF* hite * : Manufactured by Hirose Electric Corporation. View from Cable End Pin No. Cable Color Signal Standard Settings Analog Monitor 2 Motor speed : V/000 min- 2 hite Analog Monitor Torque reference : V/00% rated torque 3, 4 (2 cables) GND (0V) Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (6) Cables with Connectors at Both Ends for CN6 (Model: JEPMC E) L (7) Cables with Connectors at Both Ends (ith Ferrite Core) for CN6 (Model: JEPMC E) L Model Cable Length (L) Model Cable Length (L) JEPMC-602-A2-E 0.2 m JEPMC E 0 m JEPMC-602-A5-E 0.5 m JEPMC E 20 m JEPMC E m JEPMC E 30 m JEPMC E 2 m JEPMC E 50 m JEPMC E 3 m JEPMC E 4 m JEPMC E 5 m JEPMC E 0 m JEPMC E 20 m JEPMC E 30 m JEPMC E 50 m (8) Cable with Loose ire at One End for CN6 (Model: JEPMC E) L Model JEPMC-604-A5-E JEPMC E JEPMC E JEPMC E JEPMC E JEPMC E JEPMC E Cable Length (L) 0.5 m m 3 m 5 m 0 m 30 m 50 m IMPORTANT Use a MECHATROLINK-III communications cable specified by Yaskawa. hen using other cables, noise resistance may be reduced, and operation cannot be guaranteed. 369

30 SERVOPACKs with DC Power Input SGDV- E2 Selecting Cables (9) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) +00 2, to 20 JZSP-CVS06-02-E (00) (55) IMPORTANT Use a cable specified by Yaskawa. hen using other cables, operation cannot be guaranteed. DC MECHATROLINK-III Type SERVOPACKs 370

31 DC SERVOPACK External Dimensions External Dimensions Units: mm Base-Mounted SERVOPACKs () Analog Voltage Reference, Model: SGDV-R7ESA, -2R9ESA Pulse Train Reference, Model: SGDV-R7EPA, -2R9EPA ±0.5 (Mounting Pitch) SERVOPACK Rear View 4 30 (75) M4 Screw Holes 30 Mounting Hole Diagram Approx. Mass: 0.3 kg (2) MECHATROLINK-II Communications Reference, Model: SGDV-R7EA, -2R9EA (75) ±0.5 (Mounting Pitch) 7 30 SERVOPACK Rear View 2-M4 Screw Holes Mounting Hole Diagram Approx. Mass: 0.3 kg (3) MECHATROLINK-III Communications Reference, Model: SGDV-R7E2A, -2R9E2A ±0.5 (Mounting Pitch) SERVOPACK Rear View 4 30 (75) M4 Screw Holes 37 Mounting Hole Diagram Approx. Mass: 0.3 kg

32 SERVOPACKs with DC Power Input External Dimensions Cover Dimensions and Connectors () Analog Voltage Reference /Pulse Train Reference Port Model Pin Manufacturer CN CN A2PL 26 Sumitomo 3M Ltd. CN2 3E KV 6 Sumitomo 3M Ltd. CN Molex Japan Co., Ltd. CN2 CN4 CN5 CN Molex Japan Co., Ltd. CN5 DA3R08HB 8 Japan Aviation Electronics Industry, Ltd. (220) CN3 CN7 CN7 UX60SC-MB-5S8(80) 5 Hirose Electric Corporation. Note: The connectors above or their equivalents are used for SERVOPACKs. (4) (38) 80 (36) (3) (2) MECHATROLINK-II Communications Reference (220) CN2 CN4 CN3 CN6A/CN6B CN CN7 CN5 Port Model Pin Manufacturer CN Molex Japan Co., Ltd. CN2 3E KV 6 Sumitomo 3M Ltd. CN Molex Japan Co., Ltd. CN Molex Japan Co., Ltd. CN5 DF-6DP-2DS(52) 6 Hirose Electric Corporation. CN6A/ CN6B Tyco Electronics Japan G.K. CN7 UX60SC-MB-5S8(80) 5 Hirose Electric Corporation. Note: The connectors above or their equivalents are used for SERVOPACKs. (4) (38) (36) 80 (3) (3) MECHATROLINK-III Communications Reference DC (4) (38) (220) CN2 CN4 CN3 CN6A CN6B CN CN7 CN5 Port Model Pin Manufacturer CN Molex Japan Co., Ltd. CN2 3E KV 6 Sumitomo 3M Ltd. CN Molex Japan Co., Ltd. CN Molex Japan Co., Ltd. CN5 DF-6DP-2DS(52) 6 Hirose Electric Corporation. CN6A/ CN6B Tyco Electronics Japan G.K. CN7 UX60SC-MB-5S8(80) 5 Hirose Electric Corporation. Note: The connectors above or their equivalents are used for SERVOPACKs. SERVOPACK External Dimensions 80 (36) (3) 372

33 iring Main Circuit and Peripheral Devices iring Main Circuit Typical Main Circuit iring Examples This section shows an example of the typical wiring for the main circuit. ARNING High voltage may still remain in the SERVOPACK after the power has been turned OFF. To avoid electric shocks, do not touch the power supply terminals. Be sure that the remaining voltage has been discharged before wiring and inspecting. IMPORTANT 3Turn ON the power supplies for the control and for the main circuit at the same time, or first turn ON the control power and then the power for the main circuit power. hen turning OFF the power, first turn OFF the power for the main circuit and then control power. 3Use separate power supplies for the main circuit AC/DC power supply and control AC/DC power supply. Use power supplies with double or reinforced insulation and that have also been certified for safety standards. 3Do not connect the following devices to the control power line: motors, solenoids, or other devices with large load fluctuations, and contactors or other devices that generate surge voltage. If connected, internal elements may deteriorate or a fuse may melt. 2SERVOPACKs with Analog Voltage Reference/Pulse Train Reference QF R T SERVOPACK SGDV- ES SGDV- EP FLT KM Insulated AC/DC converter for main circuit power supply CN3 L L2 CN4 U V M Main circuit power supply On Ry Main circuit power supply Off Ry Insulated AC/DC converter for control power supply (For servo alarm display) PL KM C C2 CN 8 ALM COM_SG ENC +24 V Ry D 0 V QF : Molded-case circuit breaker FLT : Noise filter KM : Magnetic contactor (for main circuit power supply) Ry : Relay PL : Indicator lamp SA : Surge absorber D : Flywheel diode KM SA 373

34 SERVOPACKs with DC Power Input iring Main Circuit and Peripheral Devices iring Main Circuit 2SERVOPACKs with MECHATROLINK-2 or -3 Communications Reference QF R T SERVOPACK SGDV- E SGDV- E2 FLT KM Insulated AC/DC converter for main circuit power supply CN3 L L2 CN4 U V M Main circuit power supply On Ry Main circuit power supply Off Ry Insulated AC/DC converter for control power supply (For servo alarm display) PL KM C C2 CN 4 5 ALM COM_SG Ry ENC D +24 V 0 V QF : Molded-case circuit breaker FLT : Noise filter KM : Magnetic contactor (for main circuit power supply) Ry : Relay PL : Indicator lamp SA : Surge absorber D : Flywheel diode KM SA General Precautions for iring IMPORTANT 3Use a molded-case circuit breaker (QF) or a fuse to protect the servo system. Always use a molded-case circuit breaker or a fuse to protect the servo system from accidents involving different power voltages or other accidents. 3Install a ground fault detector. The SERVOPACK does not have a built-in protective circuit for grounding. For a safer system, install a ground fault detector to protect against overloads and short circuits, or install a ground fault detector that is combined with a molded-case circuit breaker. 3Do not turn the power OFF and ON more than necessary. Do not use the SERVOPACK for applications that require the power to be frequently turned OFF and ON. Such applications will cause elements in the SERVOPACK to deteriorate. As a guideline, wait at least one hour before restarting the power after turning OFF the power during operation. To ensure safe, stable application of the servo system, observe the following precautions when wiring. Observe the following precautions when wiring the main circuit. Use shielded twisted-pair wires or shielded, multi-core, twisted-pair wires for I/O signal cables and the encoder cables. The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main circuit cables, and 0 m for control power and main circuit power cables. Observe the following precautions when grounding. Use a cable that is as thick as possible. Ground the SERVOPACK to a resistance of 00 Ω or less. Be sure to ground at only one point. Ground the servomotor directly if the servomotor is insulated from the machine. The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not impose excessive bending force or tension. DC iring Main Circuit \ Peripheral Devices 374