SERIES PRODUCT CATALOG

Transcription

1 AC SERVO DRIVES SERIES PRODUCT CATALOG s Field-Proven Performance: A Servo that Does What You Need! Certified for ISO900 and ISO400 JQA-04 JQA-EM00

2 Series Product Catalog s s with AC Power Input Options for s with AC Power Input s with DC Power Input M-9

3 CONTENTS AC Servo Drives s s with AC Power Input Analog Voltage/Pulse Train Reference s (SGDV-0/05) 30 MECHATROLINK- Communications Reference s (SGDV-/5) 34 MECHATROLINK- Communications Reference s (SGDV-/5) 34 INDEXER Module-Mounted Description of Components DeviceNet Module-Mounted Description of Components High-performance Type and Optimized -for-application Type s (SGDVE) 334 (SGDVE5) (SGDVE6) (SDGV-EX (SDGV-FT) External Dimensions Wiring Main Circuit and Peripheral Devices 39 Options for s with AC Power Input Fully-closed Module 44 Safety Module 4 s with DC Power Input Analog Voltage Reference s Pulse Train Reference s (SGDV-ES) (SGDV-EP) 48 MECHATROLINK- Communications Reference s (SGDV-E) 438 MECHATROLINK- Communications Reference s (SGDV-E) 448 External Dimensions 458 Wiring Main Circuit and Peripheral Devices

4 s with AC Power Input Analog Voltage/Pulse Train Reference s SGDV-0 (For Rotary Servomotors) SGDV-05 (For Linear Servomotors) Model Designations Features Ratings Power Supply Capacities and Power Losses Selecting Cables MECHATROLINK- Communications Reference s SGDV- (For Rotary Servomotors) SGDV-5 (For Linear Servomotors) Model Designations Features Ratings Power Supply Capacities and Power Losses Selecting Cables MECHATROLINK- Communications Reference s SGDV- (For Rotary Servomotors) SGDV-5 (For Linear Servomotors) Model Designations Features Ratings Power Supply Capacities and Power Losses Selecting Cables INDEXER Module-Mounted SGDVE 334 Model Designations 334 Features 335 Nameplate 335 Ratings Program Table Functions 338 Power Supply Capacities and Power Losses 339 Selecting Cables 340 Description of Components 346 Command Option Attachable Type (SGDV-E/E5) 346 INDEXER Module (SGDV-OCA03A) 347 DeviceNet Module-Mounted SGDVE5 (Driven by control power supply) SGDVE6 (Driven by external power supply) High-performance Type and Optimized-forapplication Type s SDGV-EX High-performance Type Series 360 SGDV-FT Optimized-for-application Type Series 36 External Dimensions External Dimensions Units: mm (Without Option Module) External Dimensions Units: mm (With Option Module) Wiring Main Circuit and Peripheral Devices 348 Model Designations 348 Features 349 Nameplate 349 Ratings Power Supply Capacities and Power Losses 353 Selecting Cables 354 Description of Components 358 Command Option Attachable Type (SGDV-E/E5) 358 DeviceNet Module (SGDV-OCA04A/OCA05A) Wiring Main Circuit 39 Main Circuit Wire 396 Molded-case Circuit Breaker and Fuse Capacity 398 Noise Filters 399 Surge Absorber 40 Magnetic Contactors 403 AC/DC Reactors 406 Holding Brake Power Supply Unit 407 Surge Absorbers for Holding Brakes, Diodes, and Open/Close Relays 408 Regenerative Resistors

5 AC Servo Drives Options for s with AC Power Input Fully-closed Module SGDV (Model number for and module set) 44 SGDV-OFA0A (Model number for module only) Safety Module SGDV (Model number for and module set) SGDV-OSA0A (Model number for module only) 4 System Configurations 44 Applicable Standards and Functions 4 Features 45 Features 43 Model Designations 46 System Configurations 43 Nameplate 47 Model Designations 44 External Dimensions Units: mm 47 Nameplate 45 Serial Converter Units 48 External Dimensions Units: mm 45 External Encoders That Support Yaskawas Serial Interface 4 46 Selecting Cables 47 s with DC Power Input Analog Voltage Reference s Pulse Train Reference s SGDV-ES (Analog Voltage Reference) 48 SGDV-EP (Pulse Train Reference) Model Designations Features Ratings Power Supply Capacities and Power Losses Selecting Cables MECHATROLINK- Communications Reference s SGDV-E (For Rotary Servomotors) 438 Model Designations Features Ratings Power Supply Capacities and Power Losses Selecting Cables MECHATROLINK- Communications Reference s SGDV-E (For Rotary Servomotors) 448 Model Designations 448 Features 449 Ratings Power Supply Capacities and Power Losses 45 Selecting Cables 453 External Dimensions External Dimensions Units: mm 458 Cover Dimensions and Connectors 459 Wiring Main Circuit and Peripheral Devices Wiring Main Circuit 460 Main Circuit Wire 463 Molded-case Circuit Breaker and Fuse Capacity 464 Noise Filters 465 Magnetic Contactors

6 Analog Voltage/Pulse Train Reference s SGDV-0 (For Rotary Servomotors) SGDV-05 (For Linear Servomotors) Model Designations S G D V - R70 A 0 B v Series SGDV st+nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+th digits 3th digit 30 st+nd+3rd digits Current Voltage Code Applicable Servomotor Max. Capacity kw Singlephase 00 V Threephase 00 V Threephase 400 V R R90 0. R 0. R8 0.4 R R90 0. R6 0. R R R R R R5.0 5R4.5 8R th digit Power Supply Voltage Code F A D 5th+6th digits Code 0 05 Single-phase 00 VAC Three-phase 00 VAC Three-phase 400 VAC Interface Analog voltage/pulse train reference (for rotary servomotors) Analog voltage/pulse train reference (for linear servomotors) 7th digit Design Revision Order A, B Design revision order is B for the following models. SGDV-R70A B SGDV-R90A B SGDV-R6A B SGDV-R8A B 8th+9th+0th digits Code 000 Base-mounted (standard) 00 Rack-mounted 3 00 Varnished 003 Rack-mounted 3 and Varnished 008 th+th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code Single-phase 00 VAC input Model: SGDV-0A0A Dynamic brake (DB) 4 0 Standard Options (hardware) : These amplifiers can be powered with single or three-phase. : Single-phase 00 VAC s are also available. (Model: SGDV-0A0A008000) 3: s of 6 kw or more are duct-ventilated. 4: Without any dynamic brake. For 400 VAC models, an external dynamic brake can be installed. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. Contact your Yaskawa representative for information on combining options.

7 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. AC Ratings Single-phase 00 V 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 5 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 5 VAC+0% to -5% 50/60 Hz Three-phase 00 V : The rated voltage is 0 to 30 VAC for the SGDV-0A0A Model SGDV- R70A R90A R6A R8A 3R8A 5R5A 7R6A 0A 80A 00A 330A 470A 550A 590A 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 30 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to -5% 50/60 Hz Three-phase 400 V Model SGDV- R9D 3R5D 5R4D 8R4D 0D 70D 0D 60D 80D 370D Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Built-in or external External Main Circuit Three-phase 380 to 480 VAC+0% to -5% 50/60 Hz Control Circuit 4 VDC ±5% Overload Characteristics Detecting time (s) SGMJV Torque reference(percent of rated torque) (%) Detecting time (s) SGMAV-0, 04, 06, 080 SGMPS SGMAV-A5, 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 s and SGMGV-30A servomotors. 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. Note: The entire over voltage category is. Single-phase 00 V Model SGDV- R70A R90A R6A R8A 5R5A 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 30 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to -5% 50/60 Hz Detecting time (s) * SGMGV-44A, -55A, -75A 80% torque Rated Approx. (percent of torque rated torque) SGMGV-03A, -05A, -09A, -3A-0A, -30A, -AA, -EA SGMGV-D SGMSV- Rated torque + Max. torque Max. torque Analog Voltage/Pulse Train Reference s 303

8 304 Items Control Method : Speed regulation by load regulation is defined as follows: Speed regulation= No-load motor speed Total load motor speed 00% Rated motor speed : Implement risk assessment and confirm that the safety requirements of the machine have been met. 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: 3-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 +55 C 0 to +85 C 90%RH or less Storage Humidity 90%RH or less Vibration Resistance 4.9 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 s in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C (E4783) EN5078, EN550 group classa, EN , EN6800-3, EN , EN954-, IEC6508-, IEC6508-, IEC6508-4, EC/ISO3849-, ISO3849- PLd Category3 Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated :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.) 0% to 00% load: ±0.0% max. (at rated speed) Rated voltage: ±0% : 0% (at rated speed) 5±5 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-OP05A--E), personal computer (can be connected with SigmaWin+) RS-4A :N communications RS-4A port: N=5 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. IncludedFor 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 EN954 category 3IEC6508 SIL Fully-closed Module, Safety Module

9 s with AC Power Input SGDV-0/05 Rotary Servomotors AC 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, ALO3) outputs Number of 3 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: 3 VDC at rated torque (Input gain setting can be changed.) About 4 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 4 kω 30 μs With P control signal With forward/reverse external torque limit signal (speed to 3 selection). Servomotor stops or another control method is used when both are OFF. Feedforward Compensation 0 to 00% Positioning Completed Width Setting 0 to reference units Type Select one of them: Sign + pulse train, CW + CCW pulse train, or two-phase pulse train with 90phase differential Input Signals Reference Pulse Form Max. Input Pulse Frequency For line driver, open collector Line driver Sign + pulse train, CW + CCW pulse train: 4 Mpps Two-phase pulse train with 90phase differential: Mpps Open Collector Sign + pulse train, CW + CCW pulse train: 00 kpps Two-phase pulse train with 90phase 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 to the connector shell. Analog Voltage/Pulse Train Reference s 305

10 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, ALO3) outputs Number of 3 channels Channels Functions Five 7-segment LEDs Four push switches Feedforward Compensation 0 to 00% Positioning Completed Width Setting 0 to 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: 3 VDC at rated force (Input gain setting can be changed.) About 4 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 4 kω 30 μs With P control signal With forward/reverse external force limit signal (speed to 3 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 90phase differential For line driver, open collector Line driver Sign + pulse train, forward + reverse pulse train: 4 Mpps Two-phase pulse train with 90phase differential: Mpps Open Collector Sign + pulse train, forward + reverse pulse train: 00 kpps Two-phase pulse train with 90phase 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 to the connector shell. 306

11 s with AC Power Input SGDV-0/05 Power Supply Capacities and Power Losses The following table shows '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 400 V Applicable Servomotor Max. Capacity kw Model SGDV- Power Supply Capacity kva Output Current : For the optional JUSP-RA04-E regenerative resistor unit. : For the optional JUSP-RA05-E regenerative resistor unit. 3: For the optional JUSP-RA8-E regenerative resistor unit 4: For the optional JUSP-RA9-E regenerative resistor unit. Notes: SGDV-R70F, -R90F, -RF, -R8F, -R70A, -R90A, -R6A, and -R8A s do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). SGDV-470A, -550A, -590A, -780A, -0D, -60D, -80D, -370D s do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit or an external regenerative resistor. 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 main circuit terminal B and B3. (SGDV-3R8A, -5R5A, -7R6A, -0A, -80A, -00A, -330A, or 400-V class s.) Install an external regenerative resistor (optional). For selection details, refer to page 409. Arms Main Circuit Power Loss 0.05 R70F W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss 0. R90F RF R8F R70A R90A R6A R8A R5A A R70A R90A R6A R8A R8A R5A R6A A A A A A (80) A A (350) A R9D R5D R4D R4D D D D D D D W.4 AC Analog Voltage/Pulse Train Reference s 307

12 REF SERVO YASKAWA DIGITAL OPERATOR SERVO REF ALARM SVON YASKAWA READ WRITE SERVO SERVO DIGITAL OPERATOR Selecting Cables Cables for CN CN3 CN5 CN7 CN8 (Analog Voltage/Pulse Train Reference s) CN5 Cable for Analog Monitor CN3 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 0.5 m JUSP-TA50PG-E m JUSP-TA50PG--E m JUSP-TA50PG--E Terminal Block and Connection Cable Cables with Loose Wires at One End m JZSP-CSI0--E m JZSP-CSI0--E 3 m JZSP-CSI0-3-E Cable with Loose Wires at Peripheral Devices 3 With Connection Cable ( m) Digital Operator JUSP-OP05A--E 4 CN3 Cable with Connectors at Both Ends Digital Operator 0.3 m JZSP-CVS05-A3-E 5 Converter Cable JZSP-CVS05-A3-E CN7 Connection Cables for Personal Computer CN5 Cables for Analog Monitor Cable with Connectors at Both Ends.5 m JZSP-CVS06-0-E 6 JZSP-CVS06-0-E End m JZSP-CA0-E CN8 Cable for Safety Function Device Cables with m JZSP-CVH03-0-E Connector 3 m JZSP-CVH03-03-E Connector Kit 3 Contact Tyco Electronics Japan G.K. Product name: Industrial Mini I/O D-shape Type Plug Connector Kit Model: : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use s with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. 3 : Use the connector kit when you make cables yourself. 8

13 s with AC Power Input SGDV-0/05 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 Z0-008 set PE (Soldered) External Dimensions of Case (Units: mm) : Manufactured by 3M Japan Ltd Cable Size Cable Item Applicable Wires Cable Finished Diameter Use twisted-pair or twisted-pair shielded wire. AWG dia. max External Dimensions of Connector (Units: mm) Pin No.49 Pin No.6 Pin No.7 Pin No.50.3 Pin No. Pin No. Pin No.4 Pin No AC Analog Voltage/Pulse Train Reference s Pin No Pin No () Connector Terminal Converter Unit for CN Configurations External Dimensions of Terminal Block (Units: mm) CN Cable Length mm Terminal Block (50P) Connector Plug (50P) 7 M3.5 Screw MR-50RMDG ModelJUSP-TA50PG-E Dia Can be fixed on DIN rail With Terminal Block Cover Open External Dimensions of Cable (Units: mm) Model JUSP-TA50PG-E JUSP-TA50PG--E JUSP-TA50PG--E Cable Length (L) 0.5 m m m Note: The pin numbers in the 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. 309

14 Selecting Cables (3) Cable with Loose Wires at One End for CN External Dimensions (Units: mm) End Connector EL (50P)* Case Z0-008 * Model JZSP-CSl0--E JZSP-CSl0--E JZSP-CSl0-3-E Sleeve F () Cable () HP-SB/076#8 5P UL076VWSC Wire Markers L : Manufactured by 3M Japan Ltd. Cable Length (L) m m 3 m Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0--E Cable 30

15 s with AC Power Input SGDV-0/05 Selecting Cables AC (4) Digital Operator (Model: JUSP-OP05A--E) (Units: mm) REF ALARM SVON READ SERVO Connector: HDR-E4MAG+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E4LPA5(Honda Tsushin Kogyo Co., Ltd.) YASKAWA WRITE SERVO DIGITAL OPERATOR 000 (5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) M3 Screws, Depth 5 Nameplate A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. External Dimensions (Units: mm) (39) (35) 57 Analog Voltage/Pulse Train Reference s (.7) (4.8 Dia.) (8) (9.5) JZSP-CVS05-A3-E () Connector (4-pole)04-60PL (3M Japan Ltd.) Cover FA (Yasco Components Co., Ltd.) Connector (4-pole) HDR-E4MAG + (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E4LPA5 (Honda Tsushin Kogyo Co., Ltd.) (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) (55) IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. 3

16 Selecting Cables (7) Cable for Analog Monitor for CN5 (Model: JZSP-CA0-E) External Dimensions (Units: mm) Socket DF-4DS-C* ContactDF-48SCF* 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 3, 4 ( 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 External Dimensions (Units: mm) (33) (0) L (8) () Connector Kit (Tyco Electronics Japan G.K.) Pin Layout Model Cable Length (L) JZSP-CVH03-0-E m JZSP-CVH03-03-E 3 m Pin No. Signal Lead Color Marking Color Not used Not used 3 /HWBB White 4 /HWBB White 5 /HWBB Gray 6 /HWBB Gray 7 EDM Orange 8 EDM Orange 3

17 s with AC Power Input SGDV-0/05 AC Analog Voltage/Pulse Train Reference s 33

18 MECHATROLINK- Communications Reference s SGDV- (For Rotary Servomotors) SGDV-5 (For Linear Servomotors) Model Designations S G D V - R70 A B v Series SGDV st+nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+th digits 3th digit 34 st+nd+3rd digits Current Voltage Code Applicable Servomotor Max. Capacity kw Singlephase 00 V Threephase 00 V Threephase 400 V R R90 0. R 0. R8 0.4 R R90 0. R6 0. R R R R R R5.0 5R4.5 8R th digit Power Supply Voltage Code F A D 5th+6th digits 7th digit A, B Code 5 Single-phase 00 VAC Three-phase 00 VAC Three-phase 400 VAC Interface MECHATROLINK- communications Reference (for rotary servomotors) MECHATROLINK- communications Reference (for linear servomotors) Design Revision Order Design revision order is B for the following models. SGDV-R70A B SGDV-R90A B SGDV-R6A B SGDV-R8A B 8th+9th+0th digits Options (hardware) Code 000 Base-mounted (standard) 00 Rack-mounted 3 00 Varnished 003 Rack-mounted 3 and Varnished 008 th+th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code Single-phase 00 VAC input Model: SGDV-0AA Dynamic brake (DB) 4 0 Standard : These amplifiers can be powered with single or three-phase. : Single-phase 00 VAC s are also available. (Model: SGDV-0AA008000) 3: s of 6 kw or more are duct-ventilated. 4: Without any dynamic brake. For 400 VAC models, an external dynamic brake can be installed. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. Contact your Yaskawa representative for information on combining options.

19 s with AC Power Input SGDV-/5 Features Real-time communications MECHATROLINK- communications enable high-speed control for 30 stations at a maximum transmission speed of 0 Mbps in a transmission cycle from 50μs 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- 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 when connected to the host controller in the MECHATROLINK- 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. AC M- Ratings Single-phase 00 V 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 5 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 5 VAC+0% to -5% 50/60 Hz Three-phase 00 V : The rated voltage is 0 to 30 VAC for the SGDV-0AA Model SGDV- R70A R90A R6A R8A 3R8A 5R5A 7R6A 0A 80A 00A 330A 470A 550A 590A 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 30 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to -5% 50/60 Hz Three-phase 400 V Model SGDV- R9D 3R5D 5R4D 8R4D 0D 70D 0D 60D 80D 370D Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Built-in or external External Main Circuit Three-phase 380 to 480 VAC+0% to -5% 50/60 Hz Control Circuit 4 VDC ±5% Note: The entire over voltage category is. Overload Characteristics Detecting time (s) Detecting time (s) SGMAV-0, 04, 06, 080 SGMPS SGMJV SGMGV-44A, -55A, SGMAV-A5, 0, C -75A % torque Rated Rated torque + Max. torque Approx. Torque reference(percent of rated torque) Torque reference(percent of rated torque) (percent of torque (%) (%) 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 s and SGMGV-30A servomotors. Single-phase 00 V Model SGDV- R70A R90A R6A R8A 5R5A 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 30 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to -5% 50/60 Hz Detecting time (s) * SGMGV-03A, -05A, -09A, -3A-0A, -30A, -AA, -EA SGMGV-D SGMSV- Max. torque 35

20 36 Items Control Method Feedback Operating Conditions Rotary Servomotors With Linear Servomotors Ambient Temperature Storage Temperature Ambient Humidity IGBT PWM control, sine-wave driven Serial encoder: 3-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 +55 C 0 to +85 C 90%RH or less Storage Humidity 90%RH or less Vibration Resistance 4.9 m/s Shock Resistance 9.6 m/s With no freezing or condensation Protection Class IP0 An environment that satisfies the following conditions. Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Pollution Degree Free of dust, salts, or iron dust Altitude Others Applicable Standards Mounting Performance Communications Display Analog Monitor Dynamic Brake (DB) Speed Control Range Speed Regulation Load Fluctuation Voltage Fluctuation 000 m or less Do not use s in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C (E4783) EN5078, EN550 group classa, EN , EN6800-3, EN , EN954-, IEC6508-, IEC6508-, IEC6508-4, EC/ISO3849-, ISO3849- PLd Category3 Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated :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.) 0% to 00% load: ±0.0% max. (at rated speed) Rated voltage: ±0% : 0% (at rated speed) Temperature Fluctuation 5±5 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-OP05A--E), personal computer (can be connected with SigmaWin+) RS-4A :N communications RS-4A port: N=5 max. available Communications USB Communications Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions Safety Functions Axis address setting Interface Communications Standard Input Output Applicable Standards Set by parameters Personal computer (can be connected with SigmaWin+.) 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) Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF. IncludedFor 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 EN954 category 3, IEC6508 SIL Option Module Fully-closed Module, Safety Module : Speed regulation by load regulation is defined as follows: Speed regulation= No-load motor speed Total load motor speed 00% Rated motor speed : Implement risk assessment and confirm that the safety requirements of the machine have been met.

21 s with AC Power Input SGDV-/5 Rotary Servomotors Items Encoder Output Pulses Sequence Input I/O Signal Sequence Output Panel Operator MECHATROLINK Communications Command Method Linear Servomotors Items Encoder Output Pulses Sequence Input I/O Signal Sequence Output Panel Operator MECHATROLINK Communications Command Method Fixed Input Input Signals which can be allocated Fixed Output Output Signals which can be allocated Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels Function Servo alarm (ALM) Number of Channels Function 7 channels Homing deceleration switch signal (/DEC) External latch signals (/EXT to 3) 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. 3 channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Rotation detection (/TGON) Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT) Positive and negative logic can be changed. Display Unit One 7-segment LED Switch Rotary switch: 6 positions, DIP switch: 4 poles Communications Protocol MECHATROLINK- MECHATROLINK- Transmission Speed 0 Mbps 4 Mbps Transmission Cycle 50 μs, 0.5 to 4.0 ms (multiple of 0.5 ms) ms Number of Words for Can be switched between Link Transmission 7-bytes /station and 3-bytes / station. 7-bytes /station Station Address 4H to 5FH (max. number of slaves: 30) Performance Command Input Position control, speed control, and torque control through MECHATROLINK communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Fixed Input SEN signal Number of Channels 7 channels Homing deceleration switch signal (/DEC) Input Signals which can be allocated Function External latch signals (/EXT to 3) Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external force limit (/P-CL), reverse external force limit (/N-CL) Positive and negative logic can be changed. Fixed Output Servo alarm (ALM) Number of Channels 3 channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Output Signals which Servomotor movement detection (/TGON) can be allocated Function Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Force limit detection (/CLT) Positive and negative logic can be changed. Display Unit One 7-segment LED Switch Rotary switch: 6 positions, piano switch: 4 poles Communications Protocol MECHATROLINK- MECHATROLINK- Transmission Speed 0 Mbps 4 Mbps Transmission Cycle 50 μs, 0.5 to 4.0 ms (multiple of 0.5 ms) ms Number of Words for Can be switched between Link Transmission 7-bytes /station and 3-bytes / station. 7-bytes /station Station Address 4H to 5FH (max. number of slaves: 30) Performance Command Input Position control, speed control, and force control through MECHATROLINK- communications MECHATROLINK commands and MECHATROLINK- commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) 37 AC M-

22 Power Supply Capacities and Power Losses The following table shows '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 400 V Applicable Servomotor Max. Capacity kw Model SGDV- Power Supply Capacity kva Output Current : For the optional JUSP-RA04-E regenerative resistor unit. : For the optional JUSP-RA05-E regenerative resistor unit. 3: For the optional JUSP-RA8-E regenerative resistor unit. 4: For the optional JUSP-RA9-E regenerative resistor unit. Notes: SGDV-R70F, -R90F, -RF, -R8F, -R70A, -R90A, -R6A, and -R8A s do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). SGDV-470A, -550A, -590A, -780A, -0D, -60D, -80D, -370D s do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit or an external regenerative resistor. 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 main circuit terminal B and B3. (SGDV-3R8A, -5R5A, -7R6A, -0A, -80A, -00A, -330A, or 400-V class s.) Install an external regenerative resistor (optional). For selection details, refer to page 409. Arms Main Circuit Power Loss 0.05 R70F W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss 0. R90F RF R8F R70A R90A R6A R8A R5A A R70A R90A R6A R8A R8A R5A R6A A A A A A (80) A A (350) A R9D R5D R4D R4D D D D D D D W.4 38

23 s with AC Power Input SGDV-/5 REF ALARM SVON SERVO YASKAWA DIGITAL OPERATOR SERVO REF ALARM SVON YASKAWA READ WRITE SERVO SERVO DIGITAL OPERATOR Selecting Cables Cables for CN CN3 CN5 CN6 CN7 CN8 (MECHATROLINK-Communications Reference s) CN5 CN6 CN3 Cable for Analog Monitor Digital Operator Converter Cable MECHATROLINK- Communication Cable Connect to the MECHATROLINK- Digital Operator AC M- CN7 Connection Cable for Personal Computer Cable for I/O Signals READ WRITE CN LED Indicator for External Device 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 Cable with Loose wire at One End 0.5 m JUSP-TA6P-E m JUSP-TA6P--E m JUSP-TA6P--E m JZSP-CSI0--E m JZSP-CSI0--E 3 m JZSP-CSI0-3-E Terminal Block and Connection Cable 3 With Connection Cable ( m) CN3 Digital Operator JUSP-OP05A--E 4 Cable with Connectors at Both Ends Digital Operator 0.3 m JZSP-CVS05-A3-E 5 Converter Cable JZSP-CVS05-A3-E CN7 Connection Cables for Personal Computer CN6A CN6B MECHATROLINK- Communication Cable Cables with Connectors at Both Ends Cables with Connectors at Both Ends (with Ferrite Core) Cable with Connectors at Both Ends.5 m JZSP-CVS06-0-E to 50 m 0.5 to 50 m JEPMC-W600--E JEPMC-W6003--E JZSP-CVS06-0-E 7 8 Terminator JEPMC-W60-E 9 CN5 Cables for Analog Monitor CN8 Cable for Safety Function Device End m JZSP-CA0-E 6 m JZSP-CVH03-0-E Cables with Connector 3 m JZSP-CVH03-03-E Connector kit 3 Contact Tyco Electronics Japan G.K. Product name : Industrial Mini I/O D-shape Type Plug Connector Kit Model : : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use s with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. 3 : Use the connector kit when you make cables yourself. 39

24 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 Model JZSP-CSI9--E 036-5A0-008 set : Manufactured by 3M Japan Ltd. Cable Item Applicable Wires Cable Finished Diameter Case Connector Model Qty Model Qty PE (Soldered) Use twisted-pair or twisted-pair shielded wire. AWG dia. max. External Dimensions of Case (Units: mm) Cable Size External Dimensions of Connector (Units: mm).54.7 Pin No.5 Pin No.4 Pin No.5 Pin No Pin No. Pin No. Pin No. Pin No Pin No. Pin No () Connector Terminal Converter Unit for CN Configurations External Dimensions of Terminal Block (Units: mm) CN +50 Cable Length500-0 mm B A ModelJUSP- TA6 P External Dimensions of Cable (Units: mm) B0 A0 End Connector (6P) EL (3M Japan Ltd.) Shell 036-5A0-008 (3M Japan Ltd.) Cable () AWG#8, 8P SSRFPVV-SB Terminal Block (40P) M3.5 Screw B A B0 A0 Can be fixed on DIN rail Connector Plug (40P) FCN-364P040-AU Dia Terminal Converter Unit-end Connector (40P) FCN-36J040-AU (Fujitsu Ltd.) Cover FCN-360C040-B (Fujitsu Ltd.) Model Cable Length (L) Approx. Mass JUSP-TA6P-E 0.5 m 00 g JUSP-TA6P--E m 00 g JUSP-TA6P--E m 400 g L 47 Note: The pin number in the connector and the pin number in the terminal block are the same. Pin numbers to 6 are used in the terminal block. Do not use a pin number of 7 or higher. If assembling cables, refer to Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CS--E Cable on the next page.

25 s with AC Power Input SGDV-/5 Selecting Cables 37. (3) Cable with Loose Wires at One End for CN External Dimensions (Units: mm) (4) Digital Operator (Model: JUSP-OP05A--E) (Units: mm) 70 REF End Connector EL (by 3M Japan Ltd.) Shell 036-5A0-008 Model JZSP-CSI0--E JZSP-CSI0--E JZSP-CSI0-3-E Cable (Ivory) SSRFPVV-SB AWG#8 3P UL076 VW-SC 4 L (6.3 Dia.) Cable Length m m 3 m -M3 Screws, Depth 5 3 Dia. Wire Markers Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0--E Cable Pin No End Wire Marking Signal Color /BK+(/SO+) /BK (/SO ) ALM+ ALM +4VIN P-OT N-OT /DEC /EXT /EXT /EXT3 /SI0 BAT+ BAT SG PAO /PAO PBO /PBO PCO /PCO /SO+ /SO /SO3+ /SO3 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 Color Dots Host Controller End Lead Marker Represents twisted-pair wires. (5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. External Dimensions (Units: mm) AC M- ALARM SVON SERVO READ YASKAWA WRITE SERVO 0 Nameplate (.7) (9.5) (39) (35) (4.3 Dia.) JZSP-CVS05-A3-E (8) () DIGITAL OPERATOR Connector: HDR-E4MAG+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E4LPA5(Honda Tsushin Kogyo Co., Ltd.) 57 Connector (4-pole) 04-60PL (3M Japan Ltd.) Cover FA (Yasco Components Co., Ltd.) Connector (4-pole) HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E4LPA5 (Honda Tsushin Kogyo Co., Ltd.) 3

26 Selecting Cables (6) Cable for Analog Monitor for CN5 (Model: JZSP-CA0-E) External Dimensions (Units: mm) SocketDF-4DS-C* Contact DF-48SCF* 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 3, 4 ( 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. (7) Cable with Connectors at Both Ends for CN6 (Model: JEPMC-W600--E) External Dimensions (Units: mm) L (8) Cable with Connectors at Both Ends (with Ferrite Core) for CN6 (Model: JEPMC-W6003--E) External Dimensions (Units: mm) L Model JEPMC-W600-A5-E JEPMC-W600-0-E JEPMC-W E JEPMC-W E JEPMC-W600-0-E JEPMC-W600-0-E JEPMC-W E JEPMC-W E JEPMC-W E Cable Length(L) Model JEPMC-W6003-A5-E JEPMC-W E JEPMC-W E JEPMC-W E JEPMC-W E JEPMC-W E JEPMC-W E JEPMC-W E JEPMC-W E Cable Length (L) IMPORTANT Use a MECHATROLINK-communications cable specified by Yaskawa. When using other cables, noise resistance may be reduced, and operation cannot be guaranteed. (9) MECHATROLINK-Terminator for CN6 (Model : JEPMC-W60-E) External Dimensions (Units: mm) (8) 46 3

27 s with AC Power Input SGDV-/5 Selecting Cables (0) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-0-E) External Dimensions (Units: mm) AC, to 0 M- JZSP-CVS06-0-E (00) (55) IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. () Cable with Connector for CN8 External Dimensions (Units: mm) (33) (0) L (8) () Connector Kit (Tyco Electronics Japan G.K.) Pin Layout Model Cable Length (L) JZSP-CVH03-0-E m JZSP-CVH03-03-E 3 m Pin No. Signal Lead Color Marking Color Not used Not used 3 /HWBB White 4 /HWBB White 5 /HWBB Gray 6 /HWBB Gray 7 EDM Orange 8 EDM Orange 33

28 MECHATROLINK- Communications Reference s SGDV- (For Rotary Servomotors) SGDV-5 (For Linear Servomotors) Model Designations S G D V - R70 A B v Series SGDV st+nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+th digits 3th digit 34 st+nd+3rd digits Current 4th digit Power Supply Voltage Voltage Code Applicable Servomotor Max. Capacity kw Singlephase 00 V Threephase 00 V Threephase 400 V R R90 0. R 0. R8 0.4 R R90 0. R6 0. R R R R R R5.0 5R4.5 8R Code F A D 5th+6th digits Code 5 7th digit A, B Single-phase 00 VAC Three-phase 00 VAC Three-phase 400 VAC Interface MECHATROLINK- communications Reference (for rotary servomotors) MECHATROLINK- communications Reference (for linear servomotors) Design Revision Order Design revision order is B for the following models. SGDV-R70A B SGDV-R90A B SGDV-R6A B SGDV-R8A B 8th+9th+0th digits Options (hardware) Code 000 Base-mounted (standard) 00 Rack-mounted 3 00 Varnished 003 Rack-mounted 3 and Varnished 008 Single-phase 00 VAC input Model: SGDV-0AA Dynamic brake (DB) 4 th+th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code 0 Standard : These amplifiers can be powered with single or three-phase. : Single-phase 00 VAC s are also available. (Model: SGDV-0AA008000) 3: s of 6 kw or more are duct-ventilated. 4: Without any dynamic brake. For 400 VAC models, an external dynamic brake can be installed. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. Contact your Yaskawa representative for information on combining options.

29 s with AC Power Input SGDV-/5 Features Real-time communications MECHATROLINK- communications enable high-speed control for 6 stations at a transmission speed of 00 Mbps in a transmission cycle from 5 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 6 stations can be connected to a single MECHATROLINK- 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 when connected to the host controller in the MECHATROLINK- 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. AC M- Ratings Single-phase 00 V Model SGDV- R70F R90F RF R8F Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors None or external Regenerative Resistors None or external Built-in or external Main Circuit Single-phase 00 to 5 VAC+0% to -5% 50/60 Hz Main Circuit Single-phase 00 to 30 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 5 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to -5% 50/60 Hz : The rated voltage is 0 to 30 VAC for the SGDV-0AA Model SGDV- R70A R90A R6A R8A 3R8A 5R5A 7R6A 0A 80A 00A 330A 470A 550A 590A 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 30 VAC+0% to -5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to -5% 50/60 Hz Three-phase 00 V Three-phase 400 V Model SGDV- R9D 3R5D 5R4D 8R4D 0D 70D 0D 60D 80D 370D Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Built-in or external External Main Circuit Three-phase 380 to 480 VAC+0% to -5% 50/60 Hz Control Circuit 4 VDC ±5% Note: The entire over voltage category is. Overload Characteristics Detecting time (s) Detecting time (s) SGMAV-0, 04, 06, 080 SGMPS SGMJV SGMGV-44A, -55A, SGMAV-A5, 0, C -75A % torque Rated Rated torque + Max. torque Approx. Torque reference(percent of rated torque) Torque reference(percent of rated torque) (percent of torque (%) (%) 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 s and SGMGV-30A servomotors. Single-phase 00 V Model SGDV- R70A R90A R6A R8A 5R5A 0A Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Detecting time (s) * SGMGV-03A, -05A, -09A, -3A-0A, -30A, -AA, -EA SGMGV-D SGMSV- Max. torque 35

30 36 Items Control Method Feedback Operating Conditions Rotary Servomotors With Linear Servomotors Ambient Temperature Storage Temperature Ambient Humidity IGBT PWM control, sine-wave driven Serial encoder: 3-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 +55 C 0 to +85 C 90%RH or less Storage Humidity 90%RH or less Vibration Resistance 4.9 m/s Shock Resistance 9.6 m/s With no freezing or condensation Protection Class IP0 An environment that satisfies the following conditions. Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Pollution Degree Free of dust, salts, or iron dust Altitude Others Applicable Standards Mounting Performance Communications Display Analog Monitor Dynamic Brake (DB) Speed Control Range Speed Regulation Load Fluctuation Voltage Fluctuation 000 m or less Do not use s in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C (E4783) EN5078, EN550 group classa, EN , EN6800-3, EN , EN954-, IEC6508-, IEC6508-, IEC6508-4, EC/ISO3849-, ISO3849- PLd Category3 Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated :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.) 0% to 00% load: ±0.0% max. (at rated speed) Rated voltage: ±0% : 0% (at rated speed) Temperature Fluctuation 5±5 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-OP05A--E), personal computer (can be connected with SigmaWin+) RS-4A :N communications RS-4A port: N=5 max. available Communications USB Communications Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions Safety Functions Axis address setting Interface Communications Standard Input Output Applicable Standards Set by parameters Personal computer (can be connected with SigmaWin+.) 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) Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF. IncludedFor 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 EN954 category 3, IEC6508 SIL Option Module Fully-closed Module, Safety Module : Speed regulation by load regulation is defined as follows: Speed regulation= No-load motor speed Total load motor speed 00% Rated motor speed : Implement risk assessment and confirm that the safety requirements of the machine have been met.

31 s with AC Power Input SGDV-/5 Rotary Servomotors Items I/O Signal Panel Operator MECHATROLINK Communications Command Method Encoder Output Pulses Sequence Input Sequence Output Fixed Input Input Signals which can be allocated Fixed Output Output Signals which can be allocated Display Unit Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels 7 channels Homing deceleration switch signal (/DEC) External latch signals (/EXT to 3) Function 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 Channels 3 channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Rotation detection (/TGON) Function Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT) Positive and negative logic can be changed. One 7-segment LED (red) and three LED indicators for MECHATROLINK communications (green) Switch Rotary switch: 6 positions, DIP switch: 4 poles Communications Protocol MECHATROLINK- Transmission Speed 00 Mbps Transmission Cycle 5 μs, 50 μs, 500 μs,750 μs, ms to 4 ms (increments of 0.5 ms) Number of Words for Link Transmission Can be switched between 6-bytes/station, 3-bytes/station and 48-bytes/station. Station Address 03H to EFH (max. number of slaves: 6) Performance Command Input Position control, speed control, and torque control through MECHATROLINK communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) AC M- Linear Servomotors Items Encoder Output Pulses Sequence Input I/O Signal Sequence Output Panel Operator MECHATROLINK Communications Command Method Fixed Input Input Signals which can be allocated Fixed Output Output Signals which can be allocated Display Unit Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels 7 channels Homing deceleration switch signal (/DEC) External latch signals (/EXT to 3) Function Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external force limit (/P-CL), reverse external force limit (/N-CL) Positive and negative logic can be changed. Servo alarm (ALM) Number of Channels 3 channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Servomotor movement detection (/TGON) Function Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Force limit detection (/CLT) Positive and negative logic can be changed. One 7-segment LED (red) and three LED indicators for MECHATROLINK communications (green) Switch Rotary switch: 6 positions, DIP switch: 4 poles Communications Protocol MECHATROLINK- Transmission Speed 00 Mbps Transmission Cycle 5 μs, 50 μs, 500 μs,750 μs, ms to 4 ms (increments of 0.5 ms) Number of Words for Link Transmission Can be switched between 6-bytes/station, 3-bytes/station and 48-bytes/station. Station Address 03H to EFH (max. number of slaves: 6) Performance Command Input Position control, speed control, and force control through MECHATROLINK communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) 37

32 Power Supply Capacities and Power Losses The following table shows '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 400 V Applicable Servomotor Max. Capacity kw Model SGDV- Power Supply Capacity kva Output Current : For the optional JUSP-RA04-E regenerative resistor unit. : For the optional JUSP-RA05-E regenerative resistor unit. 3: For the optional JUSP-RA8-E regenerative resistor unit 4: For the optional JUSP-RA9-E regenerative resistor unit. Notes: SGDV-R70F, -R90F, -RF, -R8F, -R70A, -R90A, -R6A, and -R8A s do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). SGDV-470A, -550A, -590A, -780A, -0D, -60D, -80D, -370D s do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit or an external regenerative resistor. 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 main circuit terminal B and B3. (SGDV-3R8A, -5R5A, -7R6A, -0A, -80A, -00A, -330A, or 400-V class s.) Install an external regenerative resistor (optional). For selection details, refer to page 409. Arms Main Circuit Power Loss 0.05 R70F W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss 0. R90F RF R8F R70A R90A R6A R8A R5A A R70A R90A R6A R8A R8A R5A R6A A A A A A (80) A A (350) A R9D R5D R4D R4D D D D D D D W.4 38

33 REF ALARM SVON YASKAWA s with AC Power Input SGDV-/5 READ WRITE SERVO SERVO DIGITAL OPERATOR REF ALARM SVON YASKAWA READ WRITE SERVO SERVO DIGITAL OPERATOR Selecting Cables Cables for CN CN3 CN5 CN6 CN7 CN8 (MECHATROLINK- Communications Reference s) CN5 CN6 CN3 CN7 CN CN8 Cable for Analog Monitor Digital Operator Converter Cable Connection Cable for Personal Computer Cable for Safety Function Device MECHATROLINK- Communication Cable Cable for I/O Signals Connect to the MECHATROLINK- Digital Operator LED Indicator for External Device AC M- Name Length Order No. Details Soldered Connector Kit JZSP-CSI9--E CN Cables for I/O Signals Connector Terminal Converter Unit 0.5 m JUSP-TA6P-E m JUSP-TA6P--E m JUSP-TA6P--E Terminal Block and Connection Cable Cable with Loose wire at One End m JZSP-CSI0--E m JZSP-CSI0--E 3 m JZSP-CSI0-3-E With Connection Cable ( m) 3 Digital Operator JUSP-OP05A--E 4 CN3 Digital Operator Converter Cable 0.3 m JZSP-CVS05-A3-E Cable with Connectors at Both Ends With Lock Screws JZSP-CVS05-A3-E 5 JZSP-CVS07-A3-E JZSP-CVS07-A3-E 6 CN7 Connection Cables for Personal Computer CN6A CN6B MECHATROLINK- Communication Cable CN5 Cables for Analog Monitor CN8 Cable for Safety Function Device Cables with Connectors at Both Ends Cables with Connectors at Both Ends (With Ferrite Core) Cable with Loose Wire at One End Cable with Connectors at Both Ends.5 m JZSP-CVS06-0-E 7 0. to 50 m JEPMC to 50 m JEPMC-W603--E to 50 m JEPMC-W604--E 0 m JZSP-CA0-E End m JZSP-CVH03-0-E Cables with Connector 3 3 m JZSP-CVH03-03-E Connector kit 4 Contact Tyco Electronics Japan G.K. Product name : Industrial Mini I/O D-shape Type Plug Connector Kit Model : : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. : A converter cable with lock screws is required to securely connect the digital operator cable. 3 : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use s with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. 4 : Use the connector kit when you make cables yourself. JZSP-CVS06-0-E 39

34 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 Model JZSP-CSI9--E 036-5A0-008 set : Manufactured by 3M Japan Ltd. Cable Size Case Connector Model Qty Model Qty PE (Soldered) External Dimensions of Case (Units: mm) Item Cable Applicable Wires Cable Finished Diameter Use twisted-pair or twisted-pair shielded wire. AWG dia. max. External Dimensions of Connector (Units: mm).54.7 Pin No.5 Pin No.4 Pin No.5 Pin No Pin No. Pin No. Pin No. Pin No Pin No. () Connector Terminal Converter Unit for CN Configurations External Dimensions of Terminal Block (Units: mm) CN +50 Cable Length500-0 mm B A ModelJUSP- TA6 P External Dimensions of Cable (Units: mm) B0 A0 End Connector (6P) EL (3M Japan Ltd.) Shell 036-5A0-008 (3M Japan Ltd.) Cable () AWG#8, 8P SSRFPVV-SB Terminal Block (40P) M3.5 Screw B A B0 A0 Can be fixed on DIN rail Connector Plug (40P) FCN-364P040-AU Dia Terminal Converter Unit-end Connector (40P) FCN-36J040-AU (Fujitsu Ltd.) Cover FCN-360C040-B (Fujitsu Ltd.) Pin No Model Cable Length (L) Approx. Mass JUSP-TA6P-E 0.5 m 00 g JUSP-TA6P--E m 00 g JUSP-TA6P--E m 400 g L 47 Note: The pin number in the connector and the pin number in the terminal block are the same. Pin numbers to 6 are used in the terminal block. Do not use a pin number of 7 or higher. 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. 330

35 s with AC Power Input SGDV-/5 Selecting Cables 37. (3) Cable with Loose Wires at One End for CN External Dimensions (Units: mm) (4) Digital Operator (Model: JUSP-OP05A--E) (Units: mm) 70 REF End Connector EL (by 3M Japan Ltd.) Shell 036-5A0-008 Model JZSP-CSI0--E JZSP-CSI0--E JZSP-CSI0-3-E Cable (Ivory) SSRFPVV-SB AWG#8 3P UL076 VW-SC 4 L (6.3 Dia.) Cable Length m m 3 m -M3 Screws, Depth 5 3 Dia. Wire Markers Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0--E Cable Pin No End Marking Signal /BK+(/SO+) /BK (/SO ) ALM+ ALM +4VIN P-OT N-OT /DEC /EXT /EXT /EXT3 /SI0 BAT+ BAT SG PAO /PAO PBO /PBO PCO /PCO /SO+ /SO /SO3+ /SO3 Wire Color 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 Color Dots Host Controller End Lead Marker Represents twisted-pair wires. (5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. External Dimensions (Units: mm) AC M- (39) (35) ALARM SVON SERVO READ YASKAWA WRITE SERVO 0 Nameplate (.7) (9.5) (4.3 Dia.) JZSP-CVS05-A3-E (8) () DIGITAL OPERATOR Connector: HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E4LPA5(Honda Tsushin Kogyo Co., Ltd.) 57 Connector (4-pole) 04-60PL (3M Japan Ltd.) Cover FA (Yasco Components Co., Ltd.) (6) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS07-A3-E) A converter cable is required when connecting the digital operator cable while using MECHATROLINK Communications. External Dimensions (Units: mm) 300 Connector (4-pole) HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E4LPA5 (Honda Tsushin Kogyo Co., Ltd.) (4.8 Dia.) JZSP-CVS07-A3-E Cable: 30AWG7P-SB-U UL076 (Sanyo Co., Ltd) Connector: HDR-E4FAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E4LPHD+ (Honda Tsushin Kogyo Co., Ltd.) Connector: HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E4LPH (Honda Tsushin Kogyo Co., Ltd.) 33

36 Selecting Cables (7) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-0-E) External Dimensions (Units: mm), to 0 JZSP-CVS06-0-E (00) (55) IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. (8) Cables with Connectors at Both Ends for CN6 (Model: JEPMC-W60--E) External Dimensions (Units: mm) L (9) Cables with Connectors at Both Ends (With Ferrite Core) for CN6 (Model: JEPMC-W603--E) External Dimensions (Units: mm) L Model JEPMC-W60-A-E JEPMC-W60-A5-E JEPMC-W60-0-E JEPMC-W60-0-E JEPMC-W60-03-E JEPMC-W60-04-E JEPMC-W60-05-E JEPMC-W60-0-E JEPMC-W60-0-E JEPMC-W60-30-E JEPMC-W60-50-E Cable Length (L) 0. m 0.5 m m m 3 m 4 m 5 m 0 m 0 m 30 m 50 m Model JEPMC-W603-0-E JEPMC-W603-0-E JEPMC-W E JEPMC-W E Cable Length (L) 0 m 0 m 30 m 50 m (0) Cable with Loose Wire at One End for CN6 (Model: JEPMC-W604--E) External Dimensions (Units: mm) Model JEPMC-W604-A5-E L JEPMC-W604-0-E JEPMC-W E JEPMC-W E JEPMC-W604-0-E JEPMC-W E JEPMC-W E Cable Length (L) 0.5 m m 3 m 5 m 0 m 30 m 50 m IMPORTANT Use a MECHATROLINK-communications cable specified by Yaskawa. When using other cables, noise resistance may be reduced, and operation cannot be guaranteed. 33

37 s with AC Power Input SGDV-/5 Selecting Cables () Cable for Analog Monitor for CN5 (Model: JZSP-CA0-E) External Dimensions (Units: mm) Socket DF-4DS-C* Contact DF-48SCF* 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 3, 4 ( cables) GND(0V) Torque reference : V/00 rated torque AC M- Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. () Cable with Connector for CN8 External Dimensions (Units: mm) (33) (0) L (8) () Connector Kit (Tyco Electronics Japan G.K.) Pin Layout Model JZSP-CVH03-0-E JZSP-CVH03-03-E Cable Length (L) m 3 m Pin No. Signal Lead Color Marking Color Not used Not used 3 /HWBB White 4 /HWBB White 5 /HWBB Gray 6 /HWBB Gray 7 EDM Orange 8 EDM Orange 333

38 INDEXER Module-Mounted SGDVE : Model number for and module set Model Designations S G D V R70 A E A v Series SGDV st+nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+th digits 3th digit 4th +5th+ 6th digits 334 st+nd+3rd digits Current 4th digit Power Supply Voltage Voltage Code Applicable Servomotor Max. Capacity Code kw F Single-phase 00 VAC R A Three-phase 00 VAC Singlephase R90 0. D Three-phase 400 VAC R V R th+6th digits Interface R R90 0. Code R6 0. Command Option Attachable Type E R8 0.4 (For rotary servomotors) 3R8 0.5 Command Option Attachable Type E5 5R (For linear servomotors) Threephase 7R th digit Design Revision Order 00 V A th+9th+0th digits Code Base-mounted (standard) Rack-mounted R Varnished 3R Rack-mounted 5R4.5 and Varnished Single-phase 00 VAC input 8R Threephase 00 Dynamic brake (DB) (Model: SGDV0AEA008000) V : The model number of a with option modules is not hyphenated after SGDV. : These amplifiers can be powered with single or three-phase. 3: Single-phase 00 VAC s are also available. (Model: SGDV0AEA008000) 4: s of 6 kw or more are duct-ventilated. 5: Without any dynamic brake. For 400 VAC models, an external dynamic brake can be installed. Note: Contact your Yaskawa representative for information on combining options. Options (hardware) th+th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code 0 Standard 4th +5th +6th digits Option Modules Code 00 INDEXER Module 0 INDEXER Module + Fully-closed Module

39 Features Simple Program tables for easy programming and serial commands for easy realization of motion control. The setup support tool (SigmaWin+) for Windows enables easy start-up. Simple connection to the host controller can be established via the I/O module. Smart By using program tables, all required operations (including positioning) can be simplified. For positioning, up to 56 steps can be programmed. Various functions, including external positioning, JOG table operation, homing, and programmable signal outputs are provided. I/O points: Input 9 points, Output 6 points Speedy Reliable high-speed, high-precision positioning when combined with high-performance v series servo drives. Motion control is accomplished without using motion controllers. AC INDEXER Nameplate Nameplate for with INDEXER Module (For the set) Model: SGDVE Nameplate for Command Option Attachable Type Model: SGDV-EA Nameplate for INDEXER Module Model: SGDV-OCA03A Nameplate for the Fully-closed Module (when Fully-closed Module is attached) Model: SGDV-OFA0A 335

40 Ratings Single-phase 00 V Overload Characteristics Single-phase 00 V ModelSGDV R70F R90F RF R8F ModelSGDV R70A R90A R6A R8A 5R5A 0A Applicable Servomotor Max. Capacity kw Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Continuous Output Current Arms Max. Output Current Arms Max. Output Current Arms Regenerative Resistors None or external Regenerative Resistors None or external Built-in or external Main Circuit Single-phase 00 to 5 VAC+0% to 5% 50/60 Hz Main Circuit Single-phase 00 to 30 VAC+0% to 5% 50/60 Hz Control Circuit Single-phase 00 to 5 VAC+0% to 5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to 5% 50/60 Hz Three-phase 00 V : The SGDV0AEA rated voltage range is 0 to 30 VAC. ModeSGDV R70A R90A R6A R8A 3R8A 5R5A 7R6A 0A 80A 00A 330A 470A 550A 590A 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 30 VAC+0% to 5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to 5% 50/60 Hz Three-phase 400 V ModelSGDV R9D 3R5D 5R4D 8R4D 0D 70D 0D 60D 80D 370D Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Built-in or external External Main Circuit Three-phase 380 to 480 VAC+0% to 5% 50/60 Hz Control Circuit 4 VDC ±5% Note: The entire over voltage category is III SGMJV SGMAV-0, 04, 06, 080 SGMPS SGMAV-A5, 0, C 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 s and SGMGV-30A servomotors. Detecting time (s) * SGMGV-44A, -55A, -75A 80% torque Rated Approx. (percent of torque rated torque) SGMGV-03A, -05A, -09A, -3A-0A, -30A, -AA, -EA SGMGV-D SGMSV- Rated torque + Max. torque Max. torque Items Control Method Rotary Servomotors Feedback Linear Servomotors IGBT PWM control, sine-wave driven Serial encoder: 3-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.) (cont'd) 336

41 s with AC Power Input SGDVE (continued from previous page) Items Operating Conditions Applicable Standards Configuration Performance Ambient Temperature 0 to + 55 C Storage Temperature 0 to + 85 C Ambient Humidity 90%RH or less Storage Humidity 90%RH or less With no freezing or condensation Vibration Resistance 4.9 m/s Shock Resistance 9.6 m/s Protection Class IP0 An environment that satisfies the following conditions. Free of corrosive or flammable gases Pollution Degree Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust Altitude 000 m or less Others Do not use s in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C EN5078, EN550 group classa, EN , EN6800-3, EN , EN954-, IEC6508-, IEC6508-, IEC6508-4, EC/ISO3849- Speed Control Range Speed Regulation Load Fluctuation Voltage Fluctuation Temperature Fluctuation : Speed regulation by load regulation is defined as follows: Speed regulation= No-load motor speed Total load motor speed 00% Rated motor speed Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated :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.) 0% to 00% load: ± 0.0% max. (at rated speed) Rated voltage: ± 0% : 0% (at rated speed) 5 ± 5 C : ± 0.% max. (at rated speed) Torque Control Tolerance (Repeatability) ±% Encoder Output Pulses Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Input Signals Number of Channels 7 channels For more information on input signals used with the Sequence Input which can be Functions, refer to the specifications for the INDEXER allocated I/O Signal Module on the next page. Fixed Output Servo alarm (ALM) Output Signals Number of Channels 3 channels Sequence Output which can be For more information on output signals used with the Functions, refer to the specifications for the INDEXER allocated Module on the next page. Interface Digital operator (JUSP-OP05A--E), personal computer (can be connected with SigmaWin+) RS-4A :N communications RS-4A port: N= 5 max. available Communications Communications Axis address setting Set by parameters USB Interface Personal computer (can be connected with SigmaWin+.) Communications Communications Standard Compliant with USB. standard ( Mbps) Display One 7-segment LED, CHARGE, and POWER indicators Number of points: Output voltage: ±0 VDC (linearity effective range ±8 V) Analog Monitor Resolution: 6 bit Accuracy: ±0 mv (Typ) Max. output current: ± 0 ma Settling time (±%):. ms (Typ) Dynamic Brake (DB) Activated when the power supply for the main circuit or the servomotor power is OFF (Servo OFF), when overtravel (OT) or a servo alarm occurs, or during a hardwired base block Regenerative Processing IncludedFor more information, refer to the previous page. Overtravelling (OT) Prevention Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Utility Functions Gain adjustment, alarm history, JOG operation, origin search, etc. Safety Functions Input /HWBB, /HWBB: Baseblock signal for power module Output EDM: Status monitor (fixed output) of built-in safety circuit Option Module Fully-closed Module AC INDEXER 337

42 INDEXER Module Items Program table positioning in which steps are executed sequentially by Program Table Method commands given through contact input or serial communications Positioning in which station numbers are specified by commands given through contact input or serial communications Max. Number of Steps 56 Control Max. Number of Tables 56 Method Max. Number of Stations 56 Serial command by -channel ASCII code Serial Communications Method Communications specifications: RS-4/485 (50 m max.) Connection topology: Multi-drop connection (6 axes max.) Baud rate: 9600, 900, bps Other Functions Registration (positioning by external signal), homing Display LED Lit during parameter setting, monitoring, executing utility functions, etc. Servo ON (/S-ON) Forward run prohibited (P-OT), reverse run prohibited (N-OT) End Homing deceleration limit switch (/DEC) Alarm reset (/ALM-RST) Registration latch (/RGRT) Mode selection (/MODE0/) Input Mode 0 Mode Starts or interrupts program table operation (/START-STOP) Starts homing (/HOME) I/O Signal Output Module End End Module End Resets program table operation (/PGMRES) Program table selection 0 (/SEL0) Starts forward JOG operation (/JOGP) Starts reverse JOG operation (/JOGN) to JOG speed table selection 0 (/JOG0) Program table selection 7 (/SEL7) to JOG speed table selection 3 (/JOG3) Servo alarm (ALM) Servo ready (/S-RDY) Error/warning (/WARN) Alarm code output 0 to (ALO0 to ALO) Braking (/BK) Positioning completed (/INPOSITION) Programmable output 0 to 7 (/POUT0 to /POUT7) Program Table Functions Function Setting Range Setting Unit Description PGMSTEP Program step Program step number (0 to 55) POS Target position 99,999,999 to +99,999,99 Reference unit Specifies the target position. Absolute position (A), relative distance (I), infinite length (INFINITE), Stop (STOP), no motion command ( ) SPD Positioning speed to 99,999, reference units/min Specifies the positioning speed. External positioning Specifies registration distance. RDST 0 to 99,999,999 Reference unit distance For no registration, set. RSPD External positioning speed to 99,999, reference units/min Specifies registration speed. ACC Acceleration to 99,999,999 DEC Deceleration to 99,999,999 POUT EVENT Programmable output signals Pass condition 0 to 99,999 (Waiting time settings) 000 reference units/min/ms 000 reference units/min/ms ms Specifies acceleration for positioning or registration. To continue with the acceleration specified in the previously executed program step, set :. Specifies deceleration for positioning or registration. To continue with the deceleration specified in the previously executed program step, set :. Specifies the operation of programmable output signals /POUT0 to /POUT7. Active (A), inactive (N), ZONE signal (Z), maintain previous condition ( : ) Sets waiting time (Tn) and any one of the following in tandem: Positioning completion signal (I), position reference distribution completed signal (D), positioning near signal (N), or selection signal (SELn) LOOP Number of executions to 99,999 Specifies the number of executions from positioning start to pass condition (EVENT). Program step to be Specifies the program step (PGMSTEP) to be executed next. NEXT 0 to 55 executed next To end program table operation, set END. 338

43 s with AC Power Input SGDVE Power Supply Capacities and Power Losses Main Circuit Power Supply Applicable Servomotor Max. Capacity kw Model SGDV Power Supply Capacity kva Output Current Arms Main Circuit Power Loss W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss W Signal-phase 00 V Single-phase 00 V Three-phase 00 V Three-phase 400 V 0.05 R70F R90F RF R8F R70A R90A R6A R8A R5A A R70A R90A R6A R8A R8A R5A R6A A A A A A A A A R9D R5D R4D R4D D D D D D D : For the optional JUSP-RA04-E regenerative resistor unit. : For the optional JUSP-RA05-E regenerative resistor unit. 3: For the optional JUSP-RA8-E regenerative resistor unit. 4: For the optional JUSP-RA9-E regenerative resistor unit. Notes: SGDVR70F, R90F, RF, R8F, R70A, R90A, R6A, and R8A s do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). SGDV470A, 550A, 590A, 780A, 0D, 60D, 80D, 370D s do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit or an external regenerative resistor. 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 main circuit terminal B and B3. (SGDV3R8A, 5R5A, 7R6A, 0A, 80A, 00A, 330A, or 400-V class s.) Install an external regenerative resistor (optional). For selection details, refer to page AC INDEXER 339

44 REF ALARM SVON YASKAWA READ WRITE SERVO SERVO DIGITAL OPERATOR Selecting Cables Cables for CN CN3 CN5 CN7 CN8 CN CN INDEXER Module-Mounted CN5 CN3 Digital Operator Converter Cable Digital Operator CN7 CN CN CN CN8 Connection Cable for Personal Computer Cable for I/O Signals Cable for Serial Command Communications Cable for I/O Signals LED Indicator for External Device 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 Cable with Loose wire at One End 0.5 m JUSP-TA6P-E m JUSP-TA6P--E m JUSP-TA6P--E m JZSP-CSI0--E m JZSP-CSI0--E 3 m JZSP-CSI0-3-E Terminal Block and Connection Cable With Connection Cable ( m) 3 Digital Operator JUSP-OP05A--E 4 CN3 Cable with Connectors at Both Ends Digital Operator 0.3 m JZSP-CVS05-A3-E 5 Converter Cable JZSP-CVS05-A3-E CN7 Connection Cables for Personal Computer CN5 Cables for Analog Monitor CN8 Cable for Safety Function Device Cable with Connectors at Both Ends.5 m JZSP-CVS06-0-E 6 End m JZSP-CA0-E 7 m JZSP-CVH03-0-E Cables with Connector 3 m JZSP-CVH03-03-E Connector kit 3 Contact Tyco Electronics Japan G.K. Product name : Industrial Mini I/O D-shape Type Plug Connector Kit Model : JZSP-CVS06-0-E 8 Connector Kit DP E CN Cable for I/O Signals CN Cable for Serial Command Communications Cable with Loose wire at One End Cable with Terminal Block at One End m JZSP-CVI0--E m JZSP-CVI0--E 3 m JZSP-CVI0-3-E 0.5 m JUSP-TA36V-E m JUSP-TA36V--E m JUSP-TA36V--E 0 Connector kit 3 JZSP-CHI9- : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use s with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. 3 : Use the connector kit when you make cables yourself.

45 s with AC Power Input SGDVE 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. External Dimensions of Case (Units: mm) Connector Kit Model JZSP-CSI9--E 036-5A0-008 set : Manufactured by 3M Japan Ltd. Cable Size Cable Item Applicable Wires Cable Finished Diameter Case Connector Model Qty Model Qty PE (Soldered) Use twisted-pair or twisted-pair shielded wire. AWG dia. max External Dimensions of Connector (Units: mm).54.7 Pin No.5 Pin No.4 Pin No.5 Pin No AC INDEXER CN B A Cable Length500 Model JUSP- TA6 P B0 A End Connector (6P) EL (3M Japan Ltd.) Shell 036-5A0-008 (3M Japan Ltd.) Cable () AWG#8, 8P SSRFPVV-SB mm External Dimensions of Cable (Units: mm) Terminal Block (40P) M3.5 Screw B A B0 A Dia Terminal Converter Unit-end Connector (40P) FCN-36J040-AU (Fujitsu Ltd.) Cover FCN-360C040-B (Fujitsu Ltd.) Can be fixed on DIN rail Connector Plug (40P) FCN-364P040-AU Model Cable Length (L) Approx. Mass JUSP-TA6P-E 0.5 m 00 g JUSP-TA6P--E m 00 g JUSP-TA6P--E m 400 g Pin No. Pin No. Pin No. Pin No Pin No. Pin No.4 () Connector Terminal Converter Unit for CN Configurations External Dimensions of Terminal Block (Units: mm) 39 L 47 Note: The pin number in the connector and the pin number in the terminal block are the same. Pin numbers to 6 are used in the terminal block. Do not use a pin number of 7 or higher. 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. 34

46 Selecting Cables 37. (3) Cable with Loose Wires at One End for CN External Dimensions (Units: mm) (4) Digital Operator (Model: JUSP-OP05A--E) (Units: mm) 70 REF End Connector EL (by 3M Japan Ltd.) Shell 036-5A0-008 Model JZSP-CSI0--E JZSP-CSI0--E JZSP-CSI0-3-E Cable (Ivory) SSRFPVV-SB AWG#8 3P UL076 VW-SC 4 L (6.3 Dia.) Cable Length m m 3 m -M3 Screws, Depth 5 3 Dia. Wire Markers Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0--E Cable Pin No End Wire Signal Color /WARN+/SO+ /WARN /SO ALM+ ALM +4VIN /ALM RST P-OT N-OT /DEC /RGRT /S-ON BAT+ BAT SG PAO /PAO PBO /PBO PCO /PCO /BK+/SO+ /BK /SO Blue Blue Pink Pink Green Green Orange Orange Gray Gray Blue Blue Pink Green Green Pink Orange Orange Gray Gray Blue Blue Pink Pink /S RDY+/SO3+ Green /S RDY /SO3 Green Marking Color Dots Host Controller End Lead Marker Represents twisted-pair wires. (5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. External Dimensions (Units: mm) ALARM SVON SERVO READ YASKAWA WRITE DIGITAL OPERATOR SERVO 0 Nameplate (4.3 Dia.) JZSP-CVS05-A3-E Connector: HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E4LPA5 (Honda Tsushin Kogyo Co., Ltd.) 57 Connector (4-pole) 04-60PL (3M Japan Ltd.) Cover FA (Yasco Components Co., Ltd.) Connector (4-pole) HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E4LPA5 (Honda Tsushin Kogyo Co., Ltd.) 34

47 s with AC Power Input SGDVE Selecting Cables (6) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-0-E) External Dimensions (Units: mm), to 0 AC JZSP-CVS06-0-E 00 IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. 55 INDEXER (7) Cable for Analog Monitor for CN5 (Model: JZSP-CA0-E) External Dimensions (Units: mm) Socket DF-4DS-C* Contact DF-48SCF* 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 Torque reference : V/00 rated torque 3, 4 ( cables) GND(0V) Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (8) Cable with Connector for CN8 External Dimensions (Units: mm) (33) (0) L (8) () Connector Kit (Tyco Electronics Japan G.K.) Pin Layout Model JZSP-CVH03-0-E JZSP-CVH03-03-E Cable Length (L) m 3 m Pin No. Signal Lead Color Marking Color Not used Not used 3 /HWBB White 4 /HWBB White 5 /HWBB Gray 6 /HWBB Gray 7 EDM Orange 8 EDM Orange 343

48 Selecting Cables (9) 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 Model DP E A0-008 set : Manufactured by 3M Japan Ltd. Cable Size Cable Item Applicable Wires Cable Finished Diameter Case Connector Model Qty Model Qty PE (Soldered) Use twisted-pair or twisted-pair shielded wire. AWG dia. max. External Dimensions of Case (Units: mm) External Dimensions of Connector (Units: mm) Pin No Pin No..7 Pin No.35 Pin No.9 Pin No.36 Pin No Pin No. Pin No. Pin No.7 Pin No (0) Cable with Loose Wires at One End for CN External Dimensions (Units: mm) 4 End Connector (36P) EL (3M Japan Ltd.) Shell A0-008 Cable FA AWG85P (Taiyo Cabletec Corporation) Model JZSP-CVI0--E JZSP-CVI0--E JZSP-CVI0-3-E (8. Dia.) Cable Length m m 3 m 3 Dia. Wire Markers Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CVI0--E Cable Pin No Case End Signal Wire MODE0 MODE COM+ /MODE0/ STR-STP /HOME PGMRES /JOGP SEL0 /JOGN SEL /JOG0 SEL /JOG SEL5 SEL3 /JOG SEL6 SEL4 /JOG4 SEL7 INPOS+ INPOS POUT0+ POUT0 POUT+ POUT POUT+ POUT POUT3+ POUT3 POUT4+ POUT4 POUT5+ POUT5 POUT6+ POUT6 POUT7+ POUT7 Shield Color Orange - Gray - White - Yellow - Pink - Orange - Gray White Yellow Pink Orange Gray White White Yellow Yellow Pink Pink Orange Orange Gray Gray White White Yellow Yellow Pink Pink Orange Orange - Marking Color Dots or more 5 or more - Host Controller End Lead Marker Represents twisted-pair wires.

49 s with AC Power Input SGDVE Selecting Cables Cable with Terminal Block at One End (for CN) Configurations External Dimensions of Terminal Block (Units: mm) Terminal block 7 Nameplate converter unit CN B A Cable () AWG88P Model JUSP- TA36 V External Dimensions of Cable (Units: mm) (43.5) (39) B0 A0 Cover EL (3M Japan Ltd.) Shell A0-008 (3M Japan Ltd. Heat-shrinkable tube (black) (0) (0) L Dia. 3.5 Cover FCN-36J040-AU (Fujitsu Ltd.) ConnectorFCN-360C040-B (Fujitsu Ltd.) (47) (7.7) B A 0.5 B0 A0 Can be fixed on DIN rail Model Cable Length (L) Approx. Mass JUSP-TA36V-E 0.5 m 00 g JUSP-TA36V--E m 00 g JUSP-TA36V--E m 400 g Note: The pin number in the connector and the pin number in the terminal block are the same. Pin numbers to 36 are used in the terminal block. Do not use a pin number of 37 or higher. If assembling cables, refer to the Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CVI0- -E Cable on the previous page. AC INDEXER () 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 Model JZSP-CHI A0-008 set : Manufactured by 3M Japan Ltd. Cable Size Cable Item Applicable Wires Cable Finished Diameter Case Connector Model Qty Model Qty PE (Soldered) Use twisted-pair or twisted-pair shielded wire. AWG dia. max. External Dimensions of Connector (Units: mm).54.7 Pin No. Pin No.3 Pin No.8 Pin No.4 Pin No External Dimensions of Case (Units: mm) Pin No. Pin No. Pin No.6 Pin No Pin No

50 Description of Components Command Option Attachable Type (SGDV- E/E5) Model Designations When ordering a and a INDEXER module separately, use the following model number: S G D V - R70 A E A v Series SGDV st+nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+th digits 3th digit st+nd+3rd digits Current Voltage Code Applicable Servomotor Max. Capacity kw Singlephase 00 V Threephase 00 V Threephase 400 V R R90 0. R 0. R8 0.4 R R90 0. R6 0. R R R R R R5.0 5R4.5 8R th digit Power Supply Voltage Code F A D 5th+6th digits Code E E5 Single-phase 00 VAC Three-phase 00 VAC Three-phase 400 VAC Interface Command Option Attachable Type (For rotary servomotors) Command Option Attachable Type (For linear servomotors) 7th digit Design Revision Order A 8th+9th+0th digits Code 000 Base-mounted (standard) 00 Rack-mounted 3 00 Varnished 003 Rack-mounted 3 and Varnished 008 th+th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code Single-phase 00 VAC input (Model: SGDV-0AEA008000) 00 Dynamic brake (DB) 4 0 Standard Options (hardware) : These amplifiers can be powered with single or three-phase. : Single-phase 00 VAC s are also available. (Model: SGDV-0AEA008000) 3: s of 6 kw or more are duct-ventilated. 4: Without any dynamic brake. For 400 VAC models, an external dynamic brake can be installed. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. Contact your Yaskawa representative for information on combining options. IMPORTANT One option case kit is required for each. Option case kit model: SGDV-OZA0A 346

51 s with AC Power Input Description of Components INDEXER Module (SGDV-OCA03A) Model Designations When ordering a and an INDEXER module separately, use the following INDEXER module model number: SGDV-OCA03A External Dimensions (Units: mm) (4) AC CN CN (00) 60 Description of Components (60) (0) Approx. Mass: 0. kg Port Model Pin Manufacturer CN 036-5APL 36 3M Japan Ltd. CN 04-5APL 4 3M Japan Ltd. Note: The connectors above or their equivalents are used for s. 347

52 DeviceNet Module-Mounted SGDVE5 (Driven by control power supply) SGDVE6 (Driven by external power supply) : Model number for and module set Model Designations S G D V R70 A E A v Series SGDV st+nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+th digits 3th digit 4th +5th+ 6th digits 348 st+nd+3rd digits Current 4th digit Power Supply Voltage Voltage Code Applicable Servomotor Max. Capacity Code kw F Single-phase 00 VAC R A Three-phase 00 VAC Singlephase R90 0. D Three-phase 400 VAC R V R th+6th digits Interface R R90 0. Code R6 0. Command option attachable type E R8 0.4 (For rotary servomotors) 3R8 0.5 Command option attachable type E5 5R (For linear servomotors) Threephase 7R th digit Design Revision Order 00 V A th+9th+0th digits Code Base-mounted (standard) Rack-mounted R Varnished 3R Rack-mounted 5R4.5 and Varnished Single-phase 00 VAC input 8R Threephase 00 Dynamic brake (DB) (Model: SGDV0AEA008000) V : The model number of a with option modules is not hyphenated after SGDV. : These amplifiers can be powered with single or three-phase. 3: Single-phase 00 VAC s are also available. (Model: SGDV0AEA008000) 4: s of 6 kw or more are duct-ventilated. 5: Without any dynamic brake. For 400 VAC models, an external dynamic brake can be installed. Note: Contact your Yaskawa representative for information on combining options. Options (hardware) th+th digits Code 00 Standard 3th digit Options (parameter) Code 0 Standard Code Options (software) 4th +5th +6th digits Option Modules DeviceNet module (Driven by control power supply) DeviceNet module (Driven by control power supply) +Fully-closed module DeviceNet module (Driven by external power supply) DeviceNet module (Driven by external power supply) +Fully-colsed module

53 Features Conforms to communication specifications of DeviceNet, an open field network Motion controls can be easily realized by connecting the to the host controller with DeviceNet. Wide variety of DeviceNet tools commercially available can be used. Monitor and control data of servo drives with the host controller Status of servo drives and information on alarms can be monitored from the host controller by using the communications network. Maintenance can be easily done, because data of servo drives is controlled by the host controller. Less time is required for test runs and adjustments, and maintenance work can be done more efficiently. Improved reliability at lower costs with less wiring Much less wiring is needed, because the host controller and s are connected with the communications network. Wide variety of position control functions Each positioning command can be easily executed from the host controller (PCL or PC). Variety of position control methods can be used: Simple positioning, homing, continuous speed operation, switching to positioning, and programmed operations. AC Nameplate DeviceNet Nameplate for with DeviceNet Module (For the set) Model: SGDVE5 Model: (Driven by control power supply) Model: SGDVE6 Model: (Driven by external power supply) Nameplate for Command Option Attachable Type Model: SGDV-EA Nameplate for DeviceNet Module Model: SGDV-OCA04A Model: (Driven by control power supply) Model: SGDV-OCA05A Model: (Driven by external power supply) Nameplate for the Fully-closed Module (when Fully-closed Module is attached) Model: SGDV-OFA0A 349

54 Ratings Single-phase 00 V Overload Characteristics Single-phase 00 V ModelSGDV R70F R90F RF R8F ModelSGDV R70A R90A R6A R8A 5R5A 0A Applicable Servomotor Max. Capacity kw Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Continuous Output Current Arms Max. Output Current Arms Max. Output Current Arms Regenerative Resistors None or external Regenerative Resistors None or external Built-in or external Main Circuit Single-phase 00 to 5 VAC+0% to 5% 50/60 Hz Main Circuit Single-phase 00 to 30 VAC+0% to 5% 50/60 Hz Control Circuit Single-phase 00 to 5 VAC+0% to 5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to 5% 50/60 Hz Three-phase 00 V : The SGDV0AEA rated voltage range is 0 to 30 VAC. ModeSGDV R70A R90A R6A R8A 3R8A 5R5A 7R6A 0A 80A 00A 330A 470A 550A 590A 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 30 VAC+0% to 5% 50/60 Hz Control Circuit Single-phase 00 to 30 VAC+0% to 5% 50/60 Hz Three-phase 400 V ModelSGDV R9D 3R5D 5R4D 8R4D 0D 70D 0D 60D 80D 370D Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Built-in or external External Main Circuit Three-phase 380 to 480 VAC+0% to 5% 50/60 Hz Control Circuit 4 VDC ±5% Note: The entire over voltage category is III SGMJV SGMAV-0, 04, 06, 080 SGMPS SGMAV-A5, 0, C 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 s and SGMGV-30A servomotors. Detecting time (s) * SGMGV-44A, -55A, -75A 80% torque Rated Approx. (percent of torque rated torque) SGMGV-03A, -05A, -09A, -3A-0A, -30A, -AA, -EA SGMGV-D SGMSV- Rated torque + Max. torque Max. torque Items Control Method Rotary Servomotors Feedback Linear Servomotors IGBT PWM control, sine-wave driven Serial encoder: 3-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.) (cont'd) 350

55 s with AC Power Input SGDVE5/6 (continued from previous page) Items Operating Conditions Applicable Standards Configuration Performance Ambient Temperature 0 to + 55 C Storage Temperature 0 to + 85 C Ambient Humidity 90%RH or less Storage Humidity 90%RH or less With no freezing or condensation Vibration Resistance 4.9 m/s Shock Resistance 9.6 m/s Protection Class IP0 An environment that satisfies the following conditions. Free of corrosive or flammable gases Pollution Degree Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust Altitude 000 m or less Others Do not use s in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508CEN550 (Group/Class A) EN EC EN6800-3EN5078EN EN/ISO3849-EN954-IEC6508-IEC6508-IEC IEC606IEC IEC Speed Control Range Speed Regulation Load Fluctuation Voltage Fluctuation Temperature Fluctuation : Speed regulation by load regulation is defined as follows: Speed regulation= No-load motor speed Total load motor speed 00% Rated motor speed Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated :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.) 0% to 00% load: ± 0.0% max. (at rated speed) Rated voltage: ± 0% : 0% (at rated speed) 5 ± 5 C : ± 0.% max. (at rated speed) Torque Control Tolerance (Repeatability) ±% Encoder Output Pulses Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Input Signals Number of Channels 7 channels For more information on input signals used with the Sequence Input which can be Functions, refer to the specifications for the DeviceNet allocated I/O Signal Module on the next page. Fixed Output Servo alarm (ALM) Output Signals Number of Channels 3 channels Sequence Output which can be For more information on output signals used with the Functions, refer to the specifications for the DeviceNet allocated Module on the next page. Interface Digital operator (JUSP-OP05A--E), personal computer (can be connected with SigmaWin+) RS-4A :N communications RS-4A port: N= 5 max. available Communications Communications Axis address setting Set by parameters USB Interface Personal computer (can be connected with SigmaWin+.) Communications Communications Standard Compliant with USB. standard ( Mbps) Display One 7-segment LED, CHARGE, and POWER indicators Number of points: Output voltage: ±0 VDC (linearity effective range ±8 V) Analog Monitor Resolution: 6 bit Accuracy: ±0 mv (Typ) Max. output current: ± 0 ma Settling time (±%):. ms (Typ) Dynamic Brake (DB) Activated when the power supply for the main circuit or the servomotor power is OFF (Servo OFF), when overtravel (OT) or a servo alarm occurs, or during a hardwired base block Regenerative Processing IncludedFor more information, refer to the previous page. Overtravelling (OT) Prevention Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Utility Functions Gain adjustment, alarm history, JOG operation, origin search, etc. Safety Functions Input /HWBB, /HWBB: Baseblock signal for power module Output EDM: Status monitor (fixed output) of built-in safety circuit Option Module Fully-closed Module AC DeviceNet 35

56 DeviceNet Module Items Power Supply Method Current Consumption Command Method Position Control Functions Control Section DeviceNet Communications Section Control Section DeviceNet Communications Section Operation Reference input Acceleration/ Deceleration Method Operating Methods Fully-closed Control SGDV-OCA04A DeviceNet Module (Driven by control power supply) Supplied from the control power supply of a command option-attachable. Supplied from the DeviceNet cable. Included in the current consumption of the command option-attachable. 5 ma max. Positioning via DeviceNet communications SGDV-OCA05A DeviceNet Module (Driven by external power supply) Supplied from the DeviceNet cable. 00 ma max for 4-VDC power supply 00 ma max for -VDC power supply DeviceNet communications Commands: Movement references (positioning or speed) and homing Linear, asymmetrical, exponential, and S-curve acceleration/deceleration Simple positioning, homing, continuous speed operation, and switching to positioning Supported. Input Signals Always Assigned to CN Counterclockwise overtravel prohibition (CCW-OT), clockwise overtravel prohibition (CW-OT), home signal input (/HOME), and external stop input (EXSTOP) Output Signals Always Assigned to CN Brake (/BK), servo alarm (ALM), warning (/WARN), and servo ready (/S-RDY) Built-in Functions DeviceNet Communications Position data latching LED Indicators Position data can be latched on phase C, the home signal, or the external signal. MS: Module status NS: Network status Conforms to those used with the ODVA DeviceNet Specification Release.0. Topology Multidrop or T-branching (:N) Max. Number of Nodes 64 nodes (including the master, maximum number of slaves: 63) Connectors for Communications Baud Rate Max. Network Length : Externally connected terminating resistance is required. Micro-style connector (shielded) 5 kbps, 50 kbps, or 500 kbps 5 kbps: 500 m;50 kbps: 50 m;500 kbps: 00 m 35

57 s with AC Power Input SGDVE5/6 Power Supply Capacities and Power Losses Main Circuit Power Supply Applicable Servomotor Max. Capacity kw Model SGDV Power Supply Capacity kva Output Current Arms Main Circuit Power Loss W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss W Signal-phase 00 V Single-phase 00 V Three-phase 00 V Three-phase 400 V 0.05 R70F R90F RF R8F R70A R90A R6A R8A R5A A R70A R90A R6A R8A R8A R5A R6A A A A A A A A A R9D R5D R4D R4D D D D D D D : For the optional JUSP-RA04-E regenerative resistor unit. : For the optional JUSP-RA05-E regenerative resistor unit. 3: For the optional JUSP-RA8-E regenerative resistor unit. 4: For the optional JUSP-RA9-E regenerative resistor unit. Notes: SGDVR70F, R90F, RF, R8F, R70A, R90A, R6A, and R8A s do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). SGDV470A, 550A, 590A, 780A, 0D, 60D, 80D, 370D s do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit or an external regenerative resistor. 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 main circuit terminal B and B3. (SGDV3R8A, 5R5A, 7R6A, 0A, 80A, 00A, 330A, or 400-V class s.) Install an external regenerative resistor (optional). For selection details, refer to page AC DeviceNet 353

58 REF ALARM SVON YASKAWA READ WRITE SERVO SERVO DIGITAL OPERATOR REF ALARM SVON YASKAWA READ WRITE SERVO SERVO DIGITAL OPERATOR Selecting Cables Cables for CN CN3 CN5 CN6 CN7 CN8 DeviceNet Module-Mounted CN5 Cable for Analog Monitor CN3 Digital Operator Converter Cable Digital Operator CN6 CN7 DeviceNet Communications Cable Connection Cable for Personal Computer Host Controller (DeviceNet device) CN Cable for I/O Signals LED Indicator for External Device CN8 Cable for Safety Function Device Name Length Order No. Details Soldered Connector Kit JZSP-CSI9--E CN Cables for I/O Signals CN3 Connector Terminal Converter Unit Cable with Loose wire at One End 0.5 m JUSP-TA6P-E m JUSP-TA6P--E m JUSP-TA6P--E m JZSP-CSI0--E m JZSP-CSI0--E 3 m JZSP-CSI0-3-E Terminal Block and Connection Cable With Connection Cable ( m) Digital Operator JUSP-OP05A--E 4 Cable with Connectors at Both Ends Digital Operator 0.3 m JZSP-CVS05-A3-E 5 Converter Cable JZSP-CVS05-A3-E CN6 DeviceNet Communications Cable CN7 Connection Cables for Personal Computer CN5 Cables for Analog Monitor CN8 Cable for Safety Function Device The communications cable must be an ODVA-compliant DeviceNet cable. Yaskawa recommends using the following cable. DCA-5CN0F (Connector with cable by OMRON) or equivalent. Cable with Connectors at Both Ends.5 m JZSP-CVS06-0-E 6 End m JZSP-CA0-E 7 m JZSP-CVH03-0-E Cables with Connector 3 m JZSP-CVH03-03-E Connector Kit 3 Contact Tyco Electronics Japan G.K. Product name : Industrial Mini I/O D-shape Type Plug Connector Kit Model : : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use s with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. 3 : Use the connector kit when you make cables yourself. JZSP-CVS06-0-E 8 354

59 s with AC Power Input SGDVE5/6 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. External Dimensions of Case (Units: mm) Connector Kit Model JZSP-CSI9--E 036-5A0-008 set : Manufactured by 3M Japan Ltd. Cable Size Cable Item Applicable Wires Cable Finished Diameter Case Connector Model Qty Model Qty PE (Soldered) Use twisted-pair or twisted-pair shielded wire. AWG dia. max External Dimensions of Connector (Units: mm).54.7 Pin No.5 Pin No.4 Pin No.5 Pin No.6.3 Pin No. Pin No. Pin No. Pin No CN B A JUSP- TA6 P External Dimensions of Cable (Units: mm) B0 A0 End Connector (6P) EL (3M Japan Ltd.) Shell 036-5A0-008 (3M Japan Ltd.) Cable () AWG#8, 8P SSRFPVV-SB Terminal Block (40P) M3.5 Screw B A B0 A Dia Terminal Converter Unit-end Connector (40P) FCN-36J040-AU (Fujitsu Ltd.) Cover FCN-360C040-B (Fujitsu Ltd.) Can be fixed on DIN rail Connector Plug (40P) FCN-364P040-AU Model Cable Length (L) Approx. Mass JUSP-TA6P-E 0.5 m 00 g JUSP-TA6P--E m 00 g JUSP-TA6P--E m 400 g AC DeviceNet Pin No. Pin No.4 () Connector Terminal Converter Unit for CN Configurations External Dimensions of Terminal Block (Units: mm) 39 L 47 Note: The pin number in the connector and the pin number in the terminal block are the same. Pin numbers to 6 are used in the terminal block. Do not use a pin number of 7 or higher. 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. 355

60 Selecting Cables 37. (3) Cable with Loose Wires at One End for CN External Dimensions (Units: mm) (4) Digital Operator (Model: JUSP-OP05A--E) (Units: mm) 70 REF End Connector EL (by 3M Japan Ltd.) Shell 036-5A0-008 Model JZSP-CSI0--E JZSP-CSI0--E JZSP-CSI0-3-E Cable (Ivory) SSRFPVV-SB AWG#8 3P UL076 VW-SC 4 L (6.3 Dia.) Cable Length m m 3 m -M3 Screws, Depth 5 3 Dia. Wire Markers Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0--E Cable Pin No End Wire Signal Color /WARN+/SO+ /WARN /SO ALM+ ALM +4VIN /ALM RST P-OT N-OT /DEC HOME /RGRT /S-ON BAT+ BAT SG PAO /PAO PBO /PBO PCO /PCO /BK+/SO+ /BK /SO Blue Blue Pink Pink Green Green Orange Orange Gray Gray Blue Blue Pink Green Green Pink Orange Orange Gray Gray Blue Blue Pink Pink /S RDY+/SO3+ Green /S RDY /SO3 Green Marking Color Dots Host Controller End Lead Marker Represents twisted-pair wires. (5) Digital Operator Converter Cable for CN3 (Model: JZSP-CVS05-A3-E) A converter cable is required to use series digital operators (model: JUSP-OP05A) for series s. External Dimensions (Units: mm) ALARM SVON SERVO READ YASKAWA WRITE DIGITAL OPERATOR SERVO 0 Nameplate (4.3 Dia.) JZSP-CVS05-A3-E Connector: HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E4LPA5 (Honda Tsushin Kogyo Co., Ltd.) 57 Connector (4-pole) 04-60PL (3M Japan Ltd.) Cover FA (Yasco Components Co., Ltd.) Connector (4-pole) HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E4LPA5 (Honda Tsushin Kogyo Co., Ltd.) 356

61 s with AC Power Input SGDVE5/6 Selecting Cables (6) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-0-E) External Dimensions (Units: mm), to 0 JZSP-CVS06-0-E 00 IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. (7) Cable for Analog Monitor for CN5 (Model: JZSP-CA0-E) External Dimensions (Units: mm) Socket DF-4DS-C* Contact DF-48SCF* 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 Torque reference : V/00 rated torque 3, 4 ( cables) GND(0V) 55 AC DeviceNet Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (8) Cable with Connector for CN8 External Dimensions (Units: mm) (33) (0) L (8) () Connector Kit (Tyco Electronics Japan G.K.) Pin Layout Model JZSP-CVH03-0-E JZSP-CVH03-03-E Cable Length (L) m 3 m Pin No. Signal Lead Color Marking Color Not used Not used 3 /HWBB White 4 /HWBB White 5 /HWBB Gray 6 /HWBB Gray 7 EDM Orange 8 EDM Orange 357

62 Description of Components Command Option Attachable Type (SGDV- E/E5) Model Designations When ordering a and a DeviceNet module separately, use the following model number: S G D V - R70 A E A v Series SGDV st+nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+th digits 3th digit st+nd+3rd digits Current Voltage Code Applicable Servomotor Max. Capacity kw Singlephase 00 V Threephase 00 V Threephase 400 V R R90 0. R 0. R8 0.4 R R90 0. R6 0. R R R R R R5.0 5R4.5 8R th digit Power Supply Voltage Code F A D 5th+6th digits Code E E5 Single-phase 00 VAC Three-phase 00 VAC Three-phase 400 VAC Interface Command option attachable type (For rotary servomotors) Command option attachable type (For linear servomotors) 7th digit Design Revision Order A 8th+9th+0th digits Code 000 Base-mounted (standard) 00 Rack-mounted 3 00 Varnished 003 Rack-mounted 3 and Varnished 008 th+th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code Single-phase 00 VAC input (Model: SGDV-0AEA008000) 00 Dynamic brake (DB) 4 0 Standard Options (hardware) : These amplifiers can be powered with single or three-phase. : Single-phase 00 VAC s are also available. (Model: SGDV-0AEA008000) 3: s of 6 kw or more are duct-ventilated. 4: Without any dynamic brake. For 400 VAC models, an external dynamic brake can be installed. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. Contact your Yaskawa representative for information on combining options. Note: An option case kit is always included with an order of a single DeviceNet module or with a - DeviceNet module set. 358

63 s with AC Power Input Description of Components DeviceNet Module (SGDV-OCA04A/OCA05A) Model Designations When ordering a and an DeviceNet module separately, use the following DeviceNet module model number: SGDV-OCA04A (Driven by control power supply) SGDV-OCA05A (Driven by external power supply) External Dimensions (Units: mm) (4) (8) AC (89) (8) CN6 60 Description of Components (4) 0 (43) 97 Approx. Mass: 0.3 kg Port Model Pin Manufacturer CN6 CM0-8DR5P-CF 5 DDK Ltd. Note: The connectors above or their equivalents are used for s. 359

64 High-performance Type and Optimized-for-application Type s SDGV-EX (High-performance Type series) SDGV-FT (Optimized-for-application Type series) Model Designations S G D V - R70 A B 000 EX00 Series SGDV st+nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+th+3th +4th+5th digits 360 st+nd+3rd digits Current 4th digit Power Supply Voltage Voltage Singlephase 00 V Threephase 00 V Threephase 400 V Code Applicable Servomotor Max. Capacity kw R R R 0. R8 0.4 R R R R R R R R R5.0 5R4.5 8R Code F A D 5th+6th digits Code Single-phase 00 VAC Three-phase 00 VAC Three-phase 400 VAC Interface Interface Analog voltage/pulse train reference (for rotary servomotors) Analog voltage/pulse train reference (for linear servomotors) MECHATROLINK- communications Reference (for rotary servomotors) MECHATROLINK- communications Reference (for linear servomotors) Design Revision Order A, B 6 Applicable Model EX00 EX00, EX00 8th+9th+0th digits Hardware Code 000 Base-mounted (standard) 00 Rack-mounted 4 00 Varnished Code EX00 7 EX00 Rack-mounted 4 and Varnished Single-phase 00 VAC input 3 Model: SGDV-0A A Dynamic brake (DB) 5 th+th+3th+4th+5th digits Functions For 5 communications cycle For less deviation : These amplifiers can be powered with single or three-phase. : Single-phase 00 VAC s are also available. (Model: SGDV-0AA008) 3: Only s for rotary servomotors are available. 4: s of 6 kw or more are duct-ventilated. 5: Without any dynamic brake. For 400 VAC models, an external dynamic brake can be installed. 6: Design revision order shown in 7th digit is B. 7: Combination with Option Modules is not available.