SGDV- 01 SGDV- 05. Analog Voltage/Pulse Train Reference Type SERVOPACKs. (For Rotary Servomotors) (For Linear Servomotors)

Transcription

1 Analog Voltage/Pulse Train Reference Type PACKs SGDV- 0 (For Rotary Servomotors) SGDV- 0 (For Linear Servomotors) Model Designations S G D V - R70 A 0 A v Series SGDV PACK st+nd+ rd digits th digit th+6th digits 7th digit 8th+9th+ 0th digits th+th digits th digit 9 st+nd+rd digits Current Voltage Code Applicable Servomotor Max. Capacity kw Singlephase 00 V Threephase 00 V Threephase 00 V R R90 0. R 0. R8 0. R R90 0. R6 0. R8 0. R8 0. R 0.7 7R R9 0. R.0 R. 8R th digit Power Supply Voltage Code F A D th+6th digits Code 0 0 Single-phase 00 VAC Three-phase 00 VAC Three-phase 00 VAC Interface Analog voltage/pulse train reference type (for rotary servomotors) Analog voltage/pulse train reference type (for linear servomotors) 7th digit Design Revision Order A, B 8th+9th+0th digits Code 000 Base-mounted (standard) 00 Rack-mounted 00 Varnished 00 Rack-mounted and Varnished 008 th+th digits Options (software) Code 00 Standard th digit Options (parameter) Code Single-phase 00 VAC input Model: SGDV-0A0A Dynamic brake (00 V PACKs only ) 0 Standard Options (hardware) : These amplifiers can be powered with single or three-phase. : Single-phase 00 VAC PACKs are also available. (Model: SGDV-0A0A008000) : PACKs of 6 kw or more are duct-ventilated. : Multiple codes can be selected, but some combinations are not possible. Note: If the option codes digits 8 to are all zeros, they are omitted.

2 SGLGW Features Unprecedented ease-of-use through cutting-edge technology New tuning-less function means no adjustment needed. Impressive load regulation with strengthened vibration suppression function. Slashed setup time Setup wizard function and wiring conformation function of engineering tool SigmaWin+ allows easy setup just by watching the monitor. High response characteristics at khz min. New advanced autotuning. uced positioning time through model following control, and smooth machine control enabled by vibration suppression function. Ratings Single-phase 00 V PACK Model SGDV- R70F R90F RF R8F Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors None or external Main Circuit Single-phase 00 to VAC+0% to -% 0/60 Hz Control Circuit Single-phase 00 to VAC+0% to -% 0/60 Hz Three-phase 00 V : The rated voltage is 0 to 0 VAC for the SGDV-0A0A PACK. PACK Model SGDV- R70A R90A R6A R8A R8A RA 7R6A 0A 80A 00A 0A 70A 0A 90A 780A Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors None or external Built-in or external External Main Circuit Three-phase 00 to 0 VAC+0% to -% 0/60 Hz Control Circuit Single-phase 00 to 0 VAC+0% to -% 0/60 Hz Three-phase 00 V PACK Model SGDV- R9D RD RD 8RD 0D 70D 0D 60D 80D 70D Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Built-in or external External Main Circuit Three-phase 80 to 80 VAC+0% to -% 0/60 Hz Control Circuit VDC ±% Note: The entire over voltage category is. PACK Overload Characteristics Detecting time (s) SGMJV Torque reference(percent of rated torque) (%) Detecting time (s) SGMAV-0, 0, 06, 08 0 SGMPS SGMAV-A, 0, C 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. : The dotted line indicates the characteristics of a combination of SGDV-00A PACKs and SGMGV-0A servomotors. Single-phase 00 V PACK Model SGDV- R70A R90A R6A R8A RA 0A Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors None or external Built-in or external Main Circuit Single-phase 00 to 0 VAC+0% to -% 0/60 Hz Control Circuit Single-phase 00 to 0 VAC+0% to -% 0/60 Hz Detecting time (s) SGMGV-A, -A, -7A 80% torque Rated Approx. (percent of torque rated torque) SGMGV-0A, -0A, -09A, -A -0A, -0A, -AA, -EA SGMGV- D SGMSV- Rated torque + Max. torque Max. torque Analog/Pulse Type PACKs 60

3 6 Items Control Method : Speed regulation is defined as follows: Speed regulation= No-load motor speed Total 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. : Perform risk assessment for the system and confirm that the safety requirements for the standards are fulfilled before using the HWBB function. Feedback Operating Conditions Applicable Standards Mounting Performance Communications Display Analog Monitor Dynamic Brake (DB) Rotary Servomotors With Linear Servomotors Ambient Temperature Storage Temperature Ambient Humidity IGBT PWM control, sine-wave driven Serial encoder: -bit (incremental encoder) : 7-bit (incremental/absolute encoder) : 0-bit (incremental/absolute encoder) Absolute linear scale (The signal resolution varies depending on the absolute linear scale.) Incremental linear scale (The signal resolution varies depending on the incremental linear scale or serial converter unit.) 0 to + C 0 to +8 C 90%RH or less Storage Humidity 90%RH or less Vibration Resistance.9 m/s Shock Resistance 9.6 m/s Protection Class Pollution Degree Altitude Others Speed Control Range Speed Regulation Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions Safety Functions Option Module Load Fluctuation Voltage Fluctuation Temperature Fluctuation IP0 000 m or less With no freezing or condensation 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 Do not use PACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL08C (E78) EN078, EN0/A group classa, EN , EN6800-, EN6800--, EN9-, IEC608- to Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated :000 (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.) 0% to 00% load: ±0.0% max. (at rated speed) Rated voltage: ±0% : 0% (at rated speed) ± 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.) Interface Digital operator (JUSP-OP0A--E), personal computer (can be connected with SigmaWin+) RS-A :N communications RS-A port: N= max. available Communications Axis address setting Set by parameters USB Interface Personal computer (can be connected with SigmaWin+.) Communications Communications Standard Compliant with USB. standard ( Mbps) CHARGE indicator Number of points: Output voltage: ±0 VDC (linearity effective range ±8 V) Resolution: 6 bit Accuracy: ±0 mv (Typ) Max. output current: ±0 ma Settling time (±%):. ms (Typ) Input Output Applicable Standards Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF. Included For more information, refer to the previous page. Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. /HWBB, /HWBB: Baseblock signal for power module EDM: Status monitor (fixed output) of built-in safety circuit EN9 category IEC608 SIL Fully-closed Module

4 Analog/Pulse Type PACKs SGDV- 0/0 Rotary Servomotors Items I/O Signal Panel Operator Torque Control Speed Control Position Control Encoder Output Pulses Sequence Input Sequence Output Input Signals Soft Start Time Setting Input Signals Internal Set Speed Control Fixed Input Input Signals which can be allocated Fixed Output Output Signals which can be allocated Display Unit Switch Reference Voltage Input Impedance Circuit Time Constant Reference Voltage Input Impedance Circuit Time Constant Rotation Direction Selection Speed Selection Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels Functions 7 channels Servo ON (/S-ON) Internal set speed selection (/SPD-D, /SPD-A, /SPD-B) Proportional control (/P-CON) Forward run prohibited (P-OT), reverse run prohibited (N-OT) Control selection (/C-SEL) Zero clamping (/ZCLAMP) Alarm reset (/ALM-RST) Reference pulse inhibit (/INHIBIT) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Gain selection (/G-SEL) Positive and negative logic can be changed. Servo alarm (ALM), alarm code (ALO, ALO, ALO) outputs Number of channels Channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Rotation detection (/TGON) Functions Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT) Positive and negative logic can be changed. Five 7-segment LEDs Four push switches Max. input voltage: ± V (forward torque reference with positive reference) Factory setting: VDC at rated torque (Input gain setting can be changed.) About kω 6 μs 0 to 0 s (can be set individually for acceleration and deceleration.) Max. input voltage: ± V (forward speed reference with positive reference) Factory setting: 6 VDC at rated speed (Input gain setting can be changed.) About kω 0 μs With P control signal With forward/reverse external torque limit signal (speed to selection). Servomotor stops or another control method is used when both are OFF. Feedforward Compensation 0 to 00% Positioning Completed Width Setting 0 to 0778 reference units Type Select one of them: Sign + pulse train, CW + CCW pulse train, or two-phase pulse train with 90 phase differential Input Signals Reference Pulse Form Max. Input Pulse Frequency For line driver, open collector Line driver Sign + pulse train, CW + CCW pulse train: Mpps Two-phase pulse train with 90 phase differential: Mpps Open Collector Sign + pulse train, CW + CCW pulse train: 00 kpps Two-phase pulse train with 90 phase differential: 00 kpps Position error clear Clear Signal For line driver, open collector : 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 PACK to the connector shell. Analog/Pulse Type PACKs 6

5 Linear Servomotors Items I/O Signal Panel Operator Force Control Speed Control Position Control Encoder Output Pulses Sequence Input Sequence Output Input Signals Soft Start Time Setting Input Signals Internal Set Speed Control Fixed Input Input Signals which can be allocated Fixed Output Output Signals which can be allocated Display Unit Switch Reference Voltage Input Impedance Circuit Time Constant Reference Voltage Input Impedance Circuit Time Constant Movement Direction Selection Speed Selection Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of 7 channels Channels Servo ON (/S-ON) Internal set speed selection (/SPD-D, /SPD-A, /SPD-B) Proportional control (/P-CON) Forward run prohibited (P-OT) Reverse run prohibited (N-OT) Control selection (/C-SEL) Zero clamping (/ZCLAMP) Functions Alarm reset (/ALM-RST) Reference pulse inhibit (/INHIBIT) Forward external force limit (/P-CL), Reverse external force limit (/N-CL) Gain selection (/G-SEL) Polarity detection (P-DET) Positive and negative logic can be changed. Servo alarm (ALM), alarm code (ALO, ALO, ALO) outputs Number of channels Channels Functions Five 7-segment LEDs Four push switches Feedforward Compensation 0 to 00% Positioning Completed Width Setting 0 to 0778 reference units Input Signals Reference Pulse Type Form Max. Input Pulse Frequency Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Servomotor movement detection (/TGON) Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Force limit detection (/CLT) Positive and negative logic can be changed. Max. input voltage: ± V (forward force reference with positive reference) Factory setting: VDC at rated force (Input gain setting can be changed.) About kω 6 μs 0 to 0 s (can be set individually for acceleration and deceleration.) Max. input voltage: ± V (forward speed reference with positive reference) Factory setting: 6 VDC at rated speed (Input gain setting can be changed.) About kω 0 μs With P control signal With forward/reverse external force limit signal (speed to selection). Servomotor stops or another control method is used when both are OFF. Select one of them: Sign + pulse train, forward + reverse pulse train, two-phase pulse train with 90 phase differential For line driver, open collector Line driver Sign + pulse train, forward + reverse pulse train: Mpps Two-phase pulse train with 90 phase differential: Mpps Open Collector Sign + pulse train, forward + reverse pulse train: 00 kpps Two-phase pulse train with 90 phase differential: 00 kpps Position error clear Clear Signal For line driver, open collector : 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 PACK to the connector shell. 6

6 Analog/Pulse Type PACKs SGDV- 0/0 Power Supply Capacities and Power Losses The following table shows PACK's power supply capacities and power losses at the rated output. Main Circuit Power Supply Signal-phase 00 V Single-phase 00 V Three-phase 00 V Three-phase 00 V Applicable Servomotor Max. Capacity kw PACK Model SGDV- Power Supply Capacity kva Output Current : For the optional JUSP-RA0-E regenerative resistor unit. : For the optional JUSP-RA0-E regenerative resistor unit. : For the optional JUSP-RA8-E regenerative resistor unit : For the optional JUSP-RA9-E regenerative resistor unit. Notes: SGDV-R70F, -R90F, -RF, -R8F, -R70A, -R90A, -R6A, and -R8A PACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). SGDV-70A, -0A, -90A, -780A, -0D, -60D, -80D, -70D PACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). For selection details, refer to page. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead or short bar that is short-circuiting the PACK main circuit terminal B and B. (SGDV-R8A, -RA, -7R6A, -0A, -80A, -00A, -0A, or 00-V class PACKs.) Install an external regenerative resistor (optional). For selection details, refer to page. Arms Main Circuit Power Loss 0.0 R70F W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss 0. R90F RF R8F R70A R90A R6A R8A RA A R70A R90A R6A R8A R8A RA R6A A A A A A (80). 7. 0A A (0) A R9D RD RD RD D D D D D D W. Analog/Pulse Type PACKs 6

7 REF YASKAWA DIGITAL OPERATOR REF ALARM SVON YASKAWA READ WRITE DIGITAL OPERATOR Selecting Cables Cables for CN CN CN CN7 CN8 (Analog Voltage/Pulse Train Reference Type PACKs) CN Cable for Analog Monitor CN Digital Operator Converter Cable Digital Operator CN7 Connection Cable for Personal Computer ALARM SVON CN Cable for I/O Signals READ WRITE Host Controller CN8 Cable for Safety Function Device Name Length Order No. Details Soldered Connector Kit JZSP-CSI9--E CN Cables for I/O Signals Connector Terminal Converter Unit 0. m JUSP-TA0PG-E m JUSP-TA0PG--E m JUSP-TA0PG--E Terminal Block and Connection Cable Cables with Loose Wires at One End m JZSP-CSI0--E m JZSP-CSI0--E m JZSP-CSI0--E Cable with Loose Wires at Peripheral Devices With Connection Cable ( m) Digital Operator JUSP-OP0A--E CN Cable with Connectors at Both Ends Digital Operator 0. m JZSP-CVS0-A-E Converter Cable JZSP-CVS0-A-E 0 CN7 Connection Cables for Personal Computer CN Cables for Analog Monitor Cable with Connectors at Both Ends. m JZSP-CVS06-0-E 6 JZSP-CVS06-0-E PACK End m JZSP-CA0-E 7 6 CN8 Cable for Safety Function Device Cables with Connector m JZSP-CVH0-0-E 8 Connector Kit Contact Tyco Electronics AMP K.K. Product name: Industrial Mini I/O D-shape Type Plug Connector Kit Model: 09- : A converter cable is required to use series digital operators (model: JUSP-OP0A) for series PACKs. : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use PACKs with the Safe Jumper Connector (model: JZSP-CVH0-E) connected. : Use the connector kit when you make cables yourself.

8 Analog/Pulse Type PACKs SGDV- 0/0 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--E 00-Z0-008 set PE (Soldered) External Dimensions of Case (Units: mm) : Manufactured by Sumitomo M Ltd...7 Cable Size. Item Cable Applicable Wires Cable Finished Diameter Use twisted-pair or twisted-pair shielded wire. AWG dia. max. External Dimensions of Connector (Units: mm)..7 Pin No.9 Pin No.6 Pin No.7 Pin No.0.. Pin No. Pin No. Pin No. Pin No () Connector Terminal Converter Unit for CN Configurations External Dimensions of Terminal Block (Units: mm) PACK CN Cable Length mm Terminal Block (0P) Connector Plug (0P) 7 M. Screw MR-0RMDG Pin No. Pin No Analog/Pulse Type PACKs 9 Model JUSP-TA0PG-E Dia.. 7. Can be fixed on DIN rail With Terminal Block Cover Open External Dimensions of Cable (Units: mm) PACK End Connector (0P) EL (Sumitomo M Ltd.) Shell 00-Z0-008 (Sumitomo M Ltd.) Cable () AWG#8, P UL076 VW-SC Terminal Converter Unit-end Connector (0P) MRP-0F0(Honda Tsushin Kogyo Co., Ltd.) Case MR-0L+ (Honda Tsushin Kogyo Co., Ltd.) Model JUSP-TA0PG-E JUSP-TA0PG--E JUSP-TA0PG--E Cable Length (L) 0. m m m L Note: The pin numbers in the PACK connector and the pin numbers in the terminal block are the same. If assembling cables, refer to Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0- -E Cable on the next page. 66

9 Selecting Cables () Cable with Loose Wires at One End for CN External Dimensions of Cable (Units: mm) PACK End Connector EL (0P) Case 00-Z0-008 Sleeve F () Model JZSP-CSl0--E JZSP-CSl0--E JZSP-CSl0--E Cable () SSRFPVV-SBAWG#8 P UL076VW SC Wire Markers L : Manufactured by Sumitomo M Ltd. Cable Length (L) m m m Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0- -E Cable Pin No PACK End Wire Marking Signal Color Color SG Orange PL Orange SG Gray SEN Gray V-REF White SG White PULS /PULS T-REF SG SIGN Orange /SIGN Orange PL Gray /CLR White CLR White Gray PL PCO /PCO BAT + Orange BAT Orange Gray Gray /V-CMP+ White /V-CMP White /TGON+ /TGON /S-RDY+ /S-RDY ALM+ ALM PAO /PAO PBO /PBO ALO ALO ALO /S-ON /P-CON P-OT N-OT /ALM-RST /P-CL /N-CL +V-IN Orange Orange Gray Gray White White Orange Orange Gray Gray White White Dots Host Controller End Lead Marker Case Shield Represents twisted-pair wires. 67

10 Analog/Pulse Type PACKs SGDV- 0/0 Selecting Cables () Digital Operator (Model: JUSP-OP0A--E) (Units: mm) 70 -M Screws, Depth REF YASKAWA ALARM 0 Nameplate SVON READ Connector: HDR-EMAG+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-ELPA(Honda Tsushin Kogyo Co., Ltd.) WRITE DIGITAL OPERATOR () Digital Operator Converter Cable for CN (Model: JZSP-CVS0-A-E) A converter cable is required to use series digital operators (model: JUSP-OP0A) for series PACKs. External Dimensions (Units: mm) (9.) (.7) (9) Connector (-pole) 0-60PL (Sumitomo M Ltd.) 0 Cover FA806 (Yasco Components Co., Ltd.) () (.8 Dia.) JZSP-CVS0-A-E Connector (-pole) HDR-EMAG + (Honda Tsushin Kogyo Co., Ltd.) (8) () Cover HDR-ELPA (Honda Tsushin Kogyo Co., Ltd.) Analog/Pulse Type PACKs (6) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-0-E) External Dimensions (Units: mm) 0 to 0, JZSP-CVS06-0-E (00) () IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. 68

11 Selecting Cables (7) Cable for Analog Monitor for CN (Model: JZSP-CA0-E) External Dimensions (Units: mm) Socket DF-DS-C Contact DF-8SCF White : Manufactured by Hirose Electric Corporation. View from Cable End Pin No. Cable Color Signal Standard Settings Analog Monitor Motor speed : V/000 min - White Analog Monitor, ( 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. (8) Cable with Connector for CN8 (Model: JZSP-CVH0-0-E) External Dimensions (Units: mm) () Pin No. Signal Lead Color Marking Color Not used (0) (8) Not used Connector Kit 09- (Tyco Electronics AMP K.K.) () /HWBB White /HWBB White /HWBB Gray 6 /HWBB Gray 7 EDM Orange 8 EDM Orange 69