AC Servo Drives Σ- Series SER'S ANAL Design and aintenance Rotational otor Command Option Attachable Type SGD SEROPACK SGJ/SGA/SGPS/SGG/SGS/SGCS s Outline Panel Display and Operation of Operator iring and Connection Operation Adjustments tility Functions (Fn ) onitor odes (n ) Fully-closed Loop Troubleshooting Appendix 2 3 4 5 6 7 8 9 0 ANAL NO. SIEP S800000 60C
About this anual This manual describes informations required for designing, and maintaining Σ- Series SEROPACKs. Be sure to refer to this manual and perform design and maintenance to select devices correctly. Keep this manual in a location where it can be accessed for reference whenever required. Description of Technical Terms The following table shows the meanings of terms used in this manual. Term Cursor SEROPACK Servo Servo System Servo ON Servo OFF Base block eaning A mark that indicates the input position of data displayed on the digital Σ- Series SGJ, SGA, SGPS, SGG, SGS, or SGCS (Direct Drive) servomotor Σ- Series SGD servo amplifier of command option attachable type A set including a servomotor and SEROPACK (i.e., a servo amplifier) A servo control system that includes the combination of a servo with a host controller and peripheral devices hen is being supplied to the servomotor hen is not being supplied to the servomotor Turning OFF the by shutting OFF the base current of the IGBT for the current amplifier IPORTANT Explanations The following icon is displayed for explanations requiring special attention. Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment. Notation sed in this anual Reverse Symbol Notation In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example: Example The notation for BK is /BK. Parameter Notation The following two types of notations are used for parameter digit places and settings. Example Operator Display Pn000 Digit Digit 2 Digit 3 Digit 4 Notation Example for Pn000 Digit Notation Set alue Notation Notation ethod eaning Notation ethod eaning Pn000.0 Pn000. Pn000.2 Pn000.3 Indicates digit of the parameter (Pn000). Indicates digit 2 of the parameter (Pn000). Indicates digit 3 of the parameter (Pn000). Indicates digit 4 of the parameter (Pn000). Pn000.0 = x or n. x Pn000. = x or n. x Pn000.2 = x or n. x Pn000.3 = x or n.x Indicates that digit of the parameter (Pn000) is x. Indicates that digit 2 of the parameter (Pn000) is x. Indicates that digit 3 of the parameter (Pn000) is x. Indicates that digit 4 of the parameter (Pn000) is x. iii
anuals Related to the Σ- Series Refer to the following manuals as required. Name Σ- Series ser's anual Indexer odule (SIEP C720829 02) Σ- Series ser's anual Safety odule (SIEP C720829 06) Σ- Series ser's anual Setup Rotational otor (SIEP S800000 43) Σ- Series Product Catalog (KAEP S800000 42) Σ- Series ser s anual Operation of Operator (SIEP S800000 55) Σ- Series AC SEROPACK SGD Safety Precautions (TOBP C70800 0) Σ Series Operator Safety Precautions (TOBP C730800 00) AC SEROOTOR Safety Precautions (TOBP C230200 00) Selecting odels and Peripheral Devices Ratings and Specifications Panels and iring Trial Operation Trial Operation and Servo Adjustment aintenance and Inspection iv
Outline. Σ- Series SEROPACKs.....................................-2.2 SEROPACKs.............................................-2.3 Part Names................................................-2.4 SEROPACK Ratings and Specifications.........................-3.4. Ratings............................................................ -3.4.2 Basic Specifications..................................................-4.5 SEROPACK Internal Block Diagrams...........................-6.5. Single-phase 00-, SGD-R70FEA, -R90FEA, -2RFEA odels........... -6.5.2 Single-phase 00-, SGD-2R8FEA odel............................... -6.5.3 Single-phase 200-, SGD-20AEA008000 odel......................... -7.5.4 Three-phase 200-, SGD-R70AEA, -R90AEA, -R6AEA odels........... -7.5.5 Three-phase 200-, SGD-2R8AEA odel............................... -8.5.6 Three-phase 200-, SGD-3R8AEA, -5R5AEA, -7R6AEA odels........... -8.5.7 Three-phase 200-, SGD-20AEA odel............................... -9.5.8 Three-phase 200-, SGD-80AEA, -200AEA odels..................... -9.5.9 Three-phase 200-, SGD-330AEA odel.............................. -0.5.0 Three-phase 200-, SGD-470AEA, -550AEA odels................... -0.5. Three-phase 200-, SGD-590AEA, -780AEA odels................... -.5.2 Three-phase 400-, SGD-R9DEA, -3R5DEA, -5R4DEA odels......... -.5.3 Three-phase 400-, SGD-8R4DEA, -20DEA odels................... -2.5.4 Three-phase 400-, SGD-70DEA odel............................. -2.5.5 Three-phase 400-, SGD-20DEA, -260DEA odels................... -3.5.6 Three-phase 400-, SGD-280DEA, -370DEA odels................... -3 Outline.6 Examples of Servo System Configurations.......................-4.6. Connecting to SGD- FEA SEROPACK........................... -4.6.2 Connecting to SGD- AEA SEROPACK........................... -5.6.3 Connecting to SGD- DEA SEROPACK........................... -7.7 SEROPACK odel Designation.............................. -8.8 Inspection and aintenance.................................. -9 -
Outline. Σ- Series SEROPACKs The Σ- Series SEROPACKs are designed for applications that require frequent high-speed, high-precision positioning. The SEROPACK makes the most of machine performance in the shortest time possible, thus contributing to improving productivity..2 SEROPACKs The command option attachable type SEROPACK is used with command option s. For reference methods, signals, and other operations, refer to the manual for the command option that is connected..3 Part Names This section gives the part names of the SGD SEROPACK (command option attachable type). ith front cover open monitor connector sed to monitor motor speed, torque reference, and other values through a special cable (option). Refer to 5..3 onitoring Signals. Charge indicator Lights when the main circuit is ON and stays lit as long as the internal capacitor remains charged. Therefore, do not touch the SEROPACK even after the is turned OFF if the indicator is lit. It may result in electric shock. terminals sed for main circuit input. Refer to 3. ain Circuit iring. terminals sed for control input. Refer to 3. ain Circuit iring. Regenerative resistor connecting terminals Connects external regenerative resistors. DC reactor terminals for harmonic suppression Connects DC reactor for harmonic suppression. Refer to 3.8.3 Connecting AC/DC Reactor for Harmonic Suppression. terminals Connects the main circuit cable for servomotor. Refer to 3. ain Circuit iring. Ground terminal Serial number Rotary switch (S) Refer to the separate manual for the command option. DIP switch (S2) Refer to the separate manual for the command option. Be sure to connect to protect against electrical shock. Refer to 3. ain Circuit iring. Power LED indicator (POER) Indicates that the control is being supplied. Lights when the control is ON. Communications LED indicator (CO) Not used. Normally OFF. Indicates the servo status with a seven-segment LED display. Refer to 2.. Status Display. Input Front cover SEROPACK model Refer to.7 SEROPACK odel Designation. CN3 Connector for digital Connects a digital (option, JSP-OP05A--E) or a personal (RS422). Refer to Σ- series Product Catalog (KAEP S800000 42) and Σ- series ser's anual, Operation of Operator (SIEP S800000 55). CN7 Connector for personal Communicates with a personal. se the connection cable (JZSP-CS06-02-E). signal connector sed for sequence signals. Refer to 3.2 Signal Connections. CN8 Connector for safety function devices Connects a safety function device. Note: hen not using the safety function, use the SEROPACK with the safety function jumper connector (JZSP-CH05-E, provided as an accessory) inserted. For details on how to connect, refer to 3.2.2 Safety Function Signal (CN8) Names and Functions. For details on how to use, refer to 4.6 Safety Function. Encoder connector Connects the encoder in the SEROPACK. Refer to 3.6 Encoder Connections. -2
.4 SEROPACK Ratings and Specifications.4 SEROPACK Ratings and Specifications.4. Ratings This section describes the ratings and specifications of SEROPACKs. Ratings of SEROPACKs are as shown below. () SGD Single-phase 00- Ratings SGD (Single-phase, 00 ) (2) SGD Single-phase 200- Ratings R70 R90 2R 2R8 Continuous Output [Arms] 0.66 0.9 2. 2.8 ax. Output [Arms] 2. 2.9 6.5 9.3 Regenerative Resistor None/External 0% ain Circuit Power Supply Single-phase, 00 to 5 AC, 50/60 Hz 0% Power Single-phase, 00 to 5 AC, 50/60 Hz Over Category SGD (Single-phase, 200 ) 20 * Continuous Output [Arms].6 ax. Output [Arms] 28 Regenerative Resistor Built-in/External III 0% ain Circuit Power Supply Single-phase, 220 to 230 AC, 50/60 Hz 0% Power Single-phase, 220 to 230 AC, 50/60 Hz Over Category III 5% 5% 5% 5% The official model number is SGD-20AEA008000. (3) SGD Three-phase 200- Ratings SGD (Three-phase, 200 ) R70 R90 R6 2R8 3R8 5R5 7R6 20 80 200 330 470 550 590 780 Continuous Output [Arms] 0.66 0.9.6 2.8 3.8 5.5 7.6.6 8.5 9.6 32.9 46.9 54.7 58.6 78.0 ax. Output [Arms] 2. 2.9 5.8 9.3.0 6.9 7 28 42 56 84 0 30 40 70 Regenerative Resistor None/External Built-in/External External Outline ain Circuit Power Supply 0% Three-phase, 200 to 230 AC 5%, 50/60 Hz Power 0% Single-phase, 200 to 230 AC 5%, 50/60 Hz Over Category III (4) SGD Three-phase 400- Ratings SGD (Three-phase, 400 ) R9 3R5 5R4 8R4 20 70 20 260 280 370 Continuos Output [Arms].9 3.5 5.4 8.4.9 6.5 20.8 25.7 28. 37.2 ax. Output [Arms] 5.5 8.5 4 20 28 42 55 65 70 85 Regenerative Resistor Built-in/External External ain Circuit Power Supply 0% Three-phase, 380 to 480 AC 5%, 50/60 Hz Power 24 DC ±5% Over Category III -3
Outline.4.2 Basic Specifications.4.2 Basic Specifications Basic specifications of SEROPACKs are shown below. ethod Feedback Operating Conditions Surrounding Air/Storage Temperature Ambient/Storage Humidity ibration/shock Resistance Protection Class/ Pollution Degree Altitude Others Applicable Standards IGBT-P (sine-wave n) Serial encoder: 3-bit (incremental), 7-bit, 20-bit (incremental/absolute) 0 to 55 C/ -20 to 85 C 90% RH or less (with no condensation) 4.9 m/s 2 / 9.6 m/s 2 Configuration Base-mounted * Performance Signals Speed Range :5000 Speed Regulation 2 Torque Tolerance (Repeatability) Load Fluctuation Fluctuation Temperature Fluctuation Encoder Output Pulses Sequence Input Sequence Output Input Signals which can be allocated Fixed Output Output Signals which can be allocated Protection class: IP0, Pollution degree: 2 An environment that satisfies the following conditions. Free of corrosive or explosive gases Free of exposure to water, oil or chemicals Free of dust, salts or iron dust 000 m or less Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to radioactivity L508C EN5078, EN550 group class A, EN6000-6-2, EN6800-3, EN6800-5-, EN954-, IEC6508- to 4 0 to 00% load: ±0.0% max. (at rated speed) Rated ±0%: 0% (at rated speed) 25 ± 25 C: ±0.% max. (at rated speed) ±% Phase-A, -B, -C: line r pulse: any setting ratio Number of 7 channels Channels The signal allocation and positive/negative logic can be modified. Forward run prohibited (P-OT), reverse run prohibited (N- Functions OT), forward external torque limit (/P-CL), reverse external torque limit (/N-CL), general-purpose input signal (/SI0 to / SI6) *3 Servo alarm (AL) Number of 3 channels Channels The signal allocation and positive/negative logic can be modified. Positioning completion (/COIN), speed coincidence detection Functions (/-CP), servomotor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), speed limit detection (/LT), brake (/BK), warning (/ARN), near (/ NEAR) -4
.4 SEROPACK Ratings and Specifications Communications Function LED Display RS422A Communications (CN3) SB Communications (CN7) onitor () Brake (DB) Regenerative Processing Overtravel Prevention (OT) Protection Function tility Function Safety Function Option odules Interface :N Communications Axis Address Setting Interface Communications Standard Input Output (cont d) (JSP-OP05A--E), personal (can be connected with Sigmain), etc. N = p to 5 stations possible at RS422A Set by parameter (can be connected with Sigmain.) Complies with standard SB.. (2 bps) (seven-segment, digit), and POER indicators Number of points: 2 Output : ± 0 DC (linearity effective range ± 8) Resolution: 6 bit Accuracy: ± 20 m (Typ) ax. current: ± 0 ma Settling time (± %):.2 ms (Typ) Activated when a servo alarm, overtravel, or hard wire base block occurs or when the for the main circuit or servomotor is turned OFF. Built-in or external regenerative resistor (option) brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Overcurrent, over, insufficient, overload, regeneration error, and so on. Gain adjustment, alarm history, JOG operation, origin search, and so on. /HBB, /HBB2: Baseblock signal for ED: onitoring status of internal safety circuit (fixed ) Fully-closed option and command option. Rack mounting and duct-ventilated type available as an option. 2. Speed regulation by load fluctuation is defined as follows: Speed regulation = No-load motor speed - Total load motor speed Rated motor speed 00% Outline 3. For information on functions, refer to the manual of the connected command option. -5
Outline.5. Single-phase 00-, SGD-R70FEA, -R90FEA, -2RFEA odels.5 SEROPACK Internal Block Diagrams.5. Single-phase 00-, SGD-R70FEA, -R90FEA, -2RFEA odels B/ B2 Fan L aristor 2 - Relay Gate Temperature Gate overcurrent protector LC C aristor 5 7 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option..5.2 Single-phase 00-, SGD-2R8FEA odel B/ B2 Fan L aristor 2 Relay Gate Gate overcurrent protector Temperature LC aristor C 5 7 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option. -6
.5 SEROPACK Internal Block Diagrams.5.3 Single-phase 200-, SGD-20AEA008000 odel B/ B2 B3 Fan Fan 2 L L3 aristor 2 Overheat protector, overcurrent protector Relay Gate LC aristor C 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option..5.4 Three-phase 200-, SGD-R70AEA, -R90AEA, -R6AEA odels B/ B2 B3 Fan L L3 aristor 2 Outline 2 Relay Gate Temperature Gate overcurrent protector LC C aristor 7 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option. -7
Outline.5.5 Three-phase 200-, SGD-2R8AEA odel.5.5 Three-phase 200-, SGD-2R8AEA odel B/ B2 B3 Fan L aristor 2 L3 2 Relay Gate Temperature Gate overcurrent protector LC C aristor 7 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option..5.6 Three-phase 200-, SGD-3R8AEA, -5R5AEA, -7R6AEA odels B/ B2 B3 Fan L aristor L3 2 Relay Gate Temperature Gate overcurrent protector LC aristor C 7 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option. -8
.5 SEROPACK Internal Block Diagrams.5.7 Three-phase 200-, SGD-20AEA odel B/ B2 B3 Fan L aristor L3 2 Overheat protector, overcurrent protector Relay Gate LC aristor C 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option..5.8 Three-phase 200-, SGD-80AEA, -200AEA odels B/ B2 B3 Fan Fan 2 L aristor L3 2 Overheat protector, overcurrent protector Outline Relay Gate LC aristor C 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option. -9
Outline.5.9 Three-phase 200-, SGD-330AEA odel.5.9 Three-phase 200-, SGD-330AEA odel B/ B2 B3 Fan Fan 2 L aristor L3 2 Overheat protector, overcurrent protector Thyristor Gate Temperature senser LC aristor C 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option..5.0 Three-phase 200-, SGD-470AEA, -550AEA odels B/ B2 Fan Fan 2 Fan 3 L aristor L3 Overheat protector, overcurrent protector Thyristor Gate Temperature senser LC aristor C 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option. -0
.5 SEROPACK Internal Block Diagrams.5. Three-phase 200-, SGD-590AEA, -780AEA odels B/ B2 Fan Fan 2 Fan 3 L aristor L3 Overheat protector, overcurrent protector Thyristor Gate Temperature senser LC aristor C 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option..5.2 Three-phase 400-, SGD-R9DEA, -3R5DEA, -5R4DEA odels B/ B2 B3 Fan L aristor L3 - - 2 Overheat protector, overcurrent protector Outline Relay Gate (A DC (24 DC) is not included.) 24 0 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option. -
Outline.5.3 Three-phase 400-, SGD-8R4DEA, -20DEA odels.5.3 Three-phase 400-, SGD-8R4DEA, -20DEA odels B/ B2 B3 Fan Fan 2 L aristor L3 2 Relay Overheat protector, overcurrent protector Gate (A DC (24 DC) is not included.) 24 0 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option..5.4 Three-phase 400-, SGD-70DEA odel B/ B2 B3 Fan L aristor L3 2 Relay Overheat protector, overcurrent protector Gate (A DC (24 DC) is not included.) 24 0 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option. -2
.5 SEROPACK Internal Block Diagrams.5.5 Three-phase 400-, SGD-20DEA, -260DEA odels B/ B2 Fan Fan 2 Fan 3 L aristor 24 24 24 L3 2 Relay Overheat protector, overcurrent protector Gate (A DC (24 DC) is not included.) 24 0 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option..5.6 Three-phase 400-, SGD-280DEA, -370DEA odels B/ B2 Fan Fan 2 Fan 3 L aristor 24 24 24 L3 2 Thyristor Overheat protector, overcurrent protector Gate Outline (A DC (24 DC) is not included.) 24 0 5 4 5 (P control, etc.) monitor Feedback Safety * This external input signal is used by the option. For details, refer to the manual of the connected option. -3
Outline.6. Connecting to SGD- FEA SEROPACK.6 Examples of Servo System Configurations This section describes examples of basic servo system configuration..6. Connecting to SGD- FEA SEROPACK olded-case circuit breaker (CCB) Protects the line by shutting the circuit OFF when overcurrent is detected. Power Single-phase 00 AC R T Noise filter sed to eliminate external noise from the line. agnetic contactor Turns the servo ON and OFF. Install a surge absorber. SGD- FEA SEROPACK Option Connection cable for digital Connection cable for personal signal cable 00 AC Regenerative resistor* 2 Brake * sed for a servomotor with a brake. agnetic contactor Turns the brake ON and OFF. Install a surge absorber. Battery case (when an absolute encoder is used.) External LED indicator, external device, etc. hen not using the safety function, use the SEROPACK with the safety function jumper connector (JZSP-CH05-E, provided as an accessory) inserted. hen using the safety function, insert a connection cable specifically for the safety function. Safety function devices otor main circuit cable Encoder cable SGJ/SGA/SGPS/SGCS. se a 24-DC. (not included.) 2. Before connecting an external regenerative resistor to the SEROPACK, refer to 3.7 Regenerative Resistors Connections. -4
.6 Examples of Servo System Configurations.6.2 Connecting to SGD- AEA SEROPACK () sing a Three-phase, 200- Power Supply olded-case circuit breaker (CCB) Protects the line by shutting the circuit OFF when overcurrent is detected. Power Three-phase 200 AC R S T Noise filter sed to eliminate external noise from the line. SGD- AEA SEROPACK agnetic contactor Turns the servo ON and OFF. Install a surge absorber. Option Connection cable for digital Connection cable for personal signal cable 200 AC Regenerative resistor* 2 Brake * sed for a servomotor with a brake. agnetic contactor Turns the brake ON and OFF. Install a surge absorber. Battery case (when an absolute encoder is used.) External LED indicator, external device, etc. hen not using the safety function, use the SEROPACK with the safety function jumper connector (JZSP-CH05-E, provided as an accessory) inserted. hen using the safety function, insert a connection cable specifically for the safety function. Safety function devices Outline otor main circuit cable Encoder cable SGJ/SGA/SGPS/ SGG/SGS/SGCS. se a 24-DC. (not included.) 2. Before connecting an external regenerative resistor to the SEROPACK, refer to 3.7 Regenerative Resistors Connections. -5
Outline.6.2 Connecting to SGD- AEA SEROPACK (2) sing a Single-phase, 200- Power Supply olded-case circuit breaker (CCB) Protects the line by shutting the circuit OFF when overcurrent is detected. The Σ- Series SEROPACK for a 200- input has input specifications for a three-phase, but some models can also be used with a single-phase 200-. For details, refer to 3..3 sing the SEROPACK with Single-phase, 200- Power Input. Power Single-phase 200 AC R T Noise filter sed to eliminate external noise from the line. SGD- AEA SEROPACK Option agnetic contactor Turns the servo ON and OFF. Install a surge absorber. Connection cable for digital Connection cable for personal signal cable External LED indicator, external device, etc. 200 AC Regenerative resistor* 2 Brake * sed for a servomotor with a brake. agnetic contactor Turns the brake ON and OFF. Install a surge absorber. Battery case (when an absolute encoder is used.) hen not using the safety function, use the SEROPACK with the safety function jumper connector (JZSP-CH05-E, provided as an accessory) inserted. hen using the safety function, insert a connection cable specifically for the safety function. Safety function devices otor main circuit cable Encoder cable SGJ/SGA/SGPS/SGCS. se a 24-DC. (not included.) 2. Before connecting an external regenerative resistor to the SEROPACK, refer to 3.7 Regenerative Resistors Connections. -6
.6 Examples of Servo System Configurations.6.3 Connecting to SGD- DEA SEROPACK olded-case circuit breaker (CCB) Protects the line by shutting the circuit OFF when overcurrent is detected. Power Three-phase 400 AC R S T Noise filter sed to eliminate external noise from the line. SGD- DEA SEROPACK Option agnetic contactor Turns the servo ON and OFF. Install a surge absorber. Connection cable for digital Connection cable for personal 00/200 AC DC * (24 ) signal cable External LED indicator, external device, etc. Regenerative resistor * 2 hen not using the safety function, use the SEROPACK with the safety function jumper connector (JZSP-CH05-E, provided as an accessory) inserted. Brake * 3 sed for a servomotor with a 90 brake. hen using the safety function, insert a connection cable specifically for the safety function. agnetic contactor Turns the brake ON and OFF. Install a surge absorber. Battery case (when an absolute encoder is used.) Safety function devices Outline otor main circuit cable Encoder cable SGG/SGS. se a 24-DC with double insulation or reinforced insulation. (The is not included) 2. Before connecting an external regenerative resistor to the SEROPACK, refer to 3.7 Regenerative Resistors Connections. 3. se a following for 90- brake. For details, refer to Σ- series Product Catalog (KAEP S800000 42). For 200- input : LPSE-2H0-E For 00- input : LPDE-H0-E -7
Outline.7 SEROPACK odel Designation Select the SEROPACK according to the applied servomotor. SGD st 2nd 3rd digits 4th digit 5th 6th digits 7th digit 8th 9th 0th digits th 2th digits 2R8 A E A 000 00 3th digit 0 SGD Series Σ- Series 7th digit: Design Revision Order st 2nd 3rd digits: 00 200 400 Code ax. Allowable otor Capacity (k) R70 0.05 R90 0. 2R 0.2 2R8 0.4 R70 0.05 R90 0. R6 0.2 2R8 0.4 3R8 0.5 5R5 0.75 7R6 20.5 80 2 200 3 330 5 470 6 550 7.5 590 780 5 R9 0.5 3R5 5R4.5 8R4 2 20 3 70 5 20 6 260 7.5 280 370 5 4th digit: Code F 00 A 200 D 400 5th 6th digits: Interface Specification Code Interface E for rotational servomotor 8th 9th 0th digits: Hardware Specification Code Specification 000 No option 00 Rack-mounted type * 008 Single-phase, 200- input (SGD-20AEA008000) 3th digit: Parameter Option Code Specification 0 No option th 2th digits: Software Specification Code Specification 00 No option The SGD-470A, 550A, 590A,780A, 20D, 260D, 280D, and 370D have air ducts for ventilation. Note: If the option codes for the 8th to the 3th digits are all zero, the zeroes are omitted. -8
.8 Inspection and aintenance.8 Inspection and aintenance This section describes the inspection and maintenance of SEROPACK. () SEROPACK Inspection For inspection and maintenance of the SEROPACK, follow the inspection procedures in the following table at least once every year. Other routine inspections are not required. Exterior Loose Screws Item Frequency Procedure Comments At least once a year Check for dust, dirt, and oil on the surfaces. Check for loose terminal block and connector screws. (2) SEROPACK s Parts Replacement Schedule Clean with compressed air. Tighten any loose screws. The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated. Refer to the standard replacement period in the following table, contact your Yaskawa representative. After an examination of the part in question, we will determine whether the parts should be replaced or not. The parameters of any SEROPACKs overhauled by Yaskawa are reset to the factory settings before shipping. Be sure to confirm that the parameters are properly set before starting operation. Part Standard Replacement Period Operating Conditions Cooling Fan 4 to 5 years Smoothing Capacitor Other Aluminum Electrolytic Capacitor Relays 7 to 8 years 5 years Surrounding Air Temperature: Annual average of 30 C Load Factor: 80% max. Operation Rate: 20 hours/day max. Outline Fuses 0 years -9
2 Panel Display and Operation of Operator 2. Panel Display..............................................2-2 2.. Status Display....................................................... 2-2 2..2 Alarm and arning Display............................................. 2-2 2..3 Hard ire Base Block Display.......................................... 2-2 2..4 Displays during Overtravel............................................. 2-2 2.2 tility Function ode (Fn )................................2-3 2.3 Parameter (Pn ) Operation................................2-4 2.3. Parameter Classifications.............................................. 2-4 2.3.2 Parameter Notation................................................... 2-4 2.3.3 Parameter Setting ethods............................................ 2-5 2.4 onitor ode (n ).....................................2-7 Panel Display and Operation of Operator 2-
2 Panel Display and Operation of Operator 2.. Status Display 2. Panel Display The servo status can be checked on the panel display of the SEROPACK. Also, if an alarm or warning occurs, its alarm or warning number is displayed. 2.. Status Display The display shows the following status. Display eaning Rotation Detection (/TGON) Lights if motor speed exceeds the value set in Pn502. (Factory setting: 20 min - ) Base Block Lights for base block. Reference Input Lights when a reference is being input. Command Option odule Communications Status Display Lights when communications with the command option are normal. 2..2 Alarm and arning Display If an alarm or warning occurs, the display will change in the following order. Example: Alarm A.E60 Status nlit nlit nlit nlit nlit Display 2..3 Hard ire Base Block Display If a hard wire base block (HBB) occurs, the display will change in the following order. Status Display nlit nlit nlit nlit 2..4 Displays during Overtravel The display will change as shown below during overtravel. Forward run prohibited (P-OT signal input ON): Status Display Reverse run prohibited (N-OT signal input ON): Status Display Forward/reverse run prohibited (P-OT/N-OT signal input ON): Status Display 2-2
2.2 tility Function ode (Fn ) 2.2 tility Function ode (Fn ) The setup and adjustment functions of the SEROPACK are executed in this mode. The digital displays numbers beginning with Fn. An operation example in tility Function ode is shown below for Origin Search (Fn003). Step Display after Operation Keys Description : JOG : Z Search : Program JOG : Prm Init Open the tility Function ode main menu and select Fn003. 2 Press the Key. The display changes to the execution display of Fn003. If the display does not change and NO-OP is displayed in the status display, change the following settings. If rite Prohibited is set in Fn00: Change the rite Prohibited setting. If a servo ON command has been entered: Send a servo OFF command. 3 4 Press the Key. RN is displayed in the status display, and will be applied to the servomotor. If NO-OP is displayed, one of the following statuses will be displayed: OFF Alarm Hard wire base block Pressing the Key will rotate the motor in the forward direction. Pressing the Key will rotate the motor in the reverse direction. The rotation of the servomotor changes according to the setting of Pn000.0. Pn000 Parameter key (Forward) key (Reverse) n. 0 CC C n. C CC Panel Display and Operation of Operator Note: Direction when viewed from the load of the servomotor. Press the or Key until the motor stops. If the origin search completed normally, -Complete- is displayed in the upper right corner. 5 hen the origin search is completed, press the Key. BB is displayed in the status display, and the servomotor turns OFF. The display -Complete- changes to -Z-Search- in the upper right corner. 6 : JOG : Z Search : Program JOG : Prm Init Press the Key. The display returns to the tility Function ode main menu. This completes the operation. 2-3
2 Panel Display and Operation of Operator 2.3. Parameter Classifications 2.3 Parameter (Pn ) Operation This section describes the classifications, notation, and setting methods of parameters given in this manual. 2.3. Parameter Classifications The Σ--series SEROPACKs have two types of parameters: setup parameters for the basic settings required for operation and tuning parameters for adjusting servo performance. Classification eaning Display ethod Setting ethod Setup parameters Tuning parameters Parameters required for setup Parameters for tuning of control gain and other values Normally displayed. (Pn00B.0 = 0, factory setting) Set Pn00B.0 to. Also, there are two notation methods for parameters: numeric parameters for which numeric values are set and selection parameters for which functions are selected. The following sections describe each explanation method and setting method. Set each parameter. The user is generally not required to set these parameters individually. 2.3.2 Parameter Notation () Notation for Numeric Parameters mode for which the parameter is valid. Speed : Speed control Position Torque : Position control : Torque control Pn406 The number of the parameter. Emergency Stop Torque Setting Range 0 to 800% Indicates setting range for the parameter. n.8 Speed Position Torque Setting nit Factory Setting hen Enabled % 800% Immediately Indicates minimum setting unit for the parameter. (2) Notation for Selection Parameters Indicates parameter value before shipment (factory setting). Classification Setup Parameter eaning hen Enabled Classification Input the forward run prohibited signal (P-OT) Pn50A n.2 from -42 (Factory setting). Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed). Indicates if the has to be turned OFF and ON again to validate setting changes. After restart Indicates the parameter classification. Setup The number of the parameter. n. indicates the function selection. The numbers in the boxes indicate the set values for each digit. This example indicates the 4th digit is 8. This section explains the details of the function selection. 2-4
2.3 Parameter (Pn ) Operation 2.3.3 Parameter Setting ethods () Setting ethod for Numeric Parameters The following example shows how to change the setting of parameter Pn304 (JOG speed) to 000 min -. Step Display after Operation Keys Description Press the ode. Key to select the Parameter/onitor 2 Press the or Key to move the cursor to n. 3 Press the or Key to change n to Pn. 4 5 Press the Key to move the cursor to the column on the right of Pn. Press the arrow keys to display Pn304. To move the cursor:, Key To change the settings:, Key 6 Press the Key to move the cursor to the one s place of Pn304. 7 Press the Key twice to move the cursor to the hundred s place of Pn304. Panel Display and Operation of Operator 8 Press the 000. Key five times to change the setting to 9 Press the Key to write the settings. 2-5
2 Panel Display and Operation of Operator 2.3.3 Parameter Setting ethods (2) Setting ethod for Selection Parameters The following example shows how to use application function selection switch (Pn00) to change the setting for the stopping method at servo OFF and alarm occurrence from stopping using DB (Pn00 = n.0000) to stopping without DB (Pn00 = n.0002). Step Display after Operation Keys Description Press the ode. Key to select the Parameter/onitor 2 Press the or Key to move the cursor to n. 3 Press the or Key to change n to Pn. 4 Press the Key three times to move the cursor to the left of =. 5 Press the Key to display Pn00. 6 Press the Key to move the cursor to the right edge. 7 Press the Key twice to change the setting of n.0000 to n.0002. 8 Press the Key to write the settings. 2-6
2.4 onitor ode (n ) 2.4 onitor ode (n ) The monitor mode can be used for monitoring the reference values, signal status, and SEROPACK internal status. For details, refer to 7.2 onitor Displays. The digital display numbers begin with n. The following four n numbers are displayed with the factory settings. Shows the setting of n000 (motor speed) as 0 min -. Panel Display and Operation of Operator 2-7