MECHATROLINK-III Communications Reference SERVOPACKs SGDV- E2 (For Rotary Servomotors) Designations S G D V - 2R9 E 2 A 002 00 0 v Series SGDV SERVOPACKs with DC Power Input st+2nd+ 3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+ 0th digits th+2th digits 3th digit st+2nd+3rd digits Voltage Code Applicable Servomotor Max. Capacity k 24 VDC/ R7 0.0 48 VDC 2R9 0.030 4th digit Code E 48 VDC* Current Power Supply Voltage 7th digit Design Revision Order A, B 8th+9th+0th digits Options (hardware) Code 002 Base-mounted, varnish(standard) th+2th digits Options (software) Code 00 Standard 3th digit Options (parameter) Code 0 Standard 5th+6th digits Interface Code 2 MECHATROLINK-III communications Reference (for rotary servomotors) *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 3 are all zeros, they are omitted. 36
SERVOPACKs with DC Power Input SGDV- E2 Features Real-time communications MECHATROLINK-III communications enable high-speed control for 62 stations at a transmission speed of 00 Mbps in a transmission cycle from 25 μs to 4 ms (set by the host controller). Such a high transmission speed allows real-time transmission of various data required for control. Cost savings The 62 stations can be connected to a single MECHATROLINK-III transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. High-precision motion control The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-III network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings SERVOPACK SGDV- R7E 2R9E Applicable Servomotor Max. Capacity k 0.0 0.030 Continuous Output Current Arms.7 2.9 Max. Output Current Arms 4. 8.6 Regenerative Resistors Main Circuit* 24 VDC±5% 48 VDC±5% 24 VDC±5% 48 VDC±5% Control Circuit None 24 VDC±5% *: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. hen a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved. SERVOPACK Overload Characteristics 000 000 Detecting time (s) 00 0 SGMMV-B3E, -B5E SGMMV-B9E 0. 00 50 200 250 Torque reference (percent of rated torque) (%) Detecting time (s) 00 0 SGMMV-AE,-A2E, -A3E 00 200 300 Torque reference (percent of rated torque) (%) Note: Overload characteristics shown above do not guarantee continuous duty of 00% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. DC MECHATROLINK-III Type SERVOPACKs 362
Items Control Method Feedback Operating Conditions PM control, sine-wave driven Serial encoder: 7-bit (incremental/absolute) Ambient Temperature 0 to +55 C Storage Temperature 20 to +85 C Ambient Humidity 90%RH or less Storage Humidity 90%RH or less ith no freezing or condensation Vibration Resistance 4.9 m/s2 Shock Resistance 9.6 m/s2 Protection Class IP0 An environment that satisfies the following conditions. Free of corrosive or flammable gases Pollution Degree 2 Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust Altitude 000 m or less Others Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Applicable Standards UL508C EN550/A, EN6000-6-2,EN6800-3, EN6800-5- Mounting Base-mounted Speed Control Range : 5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.) Load Fluctuation 0% to 00% load: ±0.0% max. (at rated speed) Performance Speed Voltage Fluctuation Rated voltage: ±0% : 0% (at rated speed) Regulation * Temperature Fluctuation 25±25 C : ±0.% max. (at rated speed) Torque Control Tolerance (Repeatability) ± % Soft Start Time Setting 0 to 0 s (can be set individually for acceleration and deceleration.) Number of Channels 3 channels I/O Signal Communications Sequence Input Sequence Output Computer (USB) Input Signals which can be allocated Fixed Output Output Signals which can be allocated Homing deceleration switch signal (/DEC) External latch signals (/EXT ) Functions Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Positive and negative logic can be changed. Servo alarm (ALM) Number of 3 channels Channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Rotation detection (/TGON) Functions arning (/ARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT) Positive and negative logic can be changed. Compatible with Sigmain+. Compliant with the USB. standard (2 Mbps) Display DIP Switches for MECHATROLINK-III Communication Settings Analog Monitor Servo alarm (ALM): red, servo ready (RDY): green, link (LK): green, link 2 (LK2): green, communications (COM): green S DIP switch Number of poles: 8 *2 S2 DIP switch Number of poles: 4 *2 Number of points: 2 Output voltage: ±0 VDC (linearity effective range: ±8 V) Output through the analog monitor unit (model: JUSP-PC00-E) *: Speed regulation is defined as follows: Speed regulation = No-load motor speedtotal load motor speed 00% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2: For details, refer to 4.. Setting Switches S and S2 in the AC Servo Drives DC Power Input v Series USER S MANUAL Design and Maintenance (Cont d) 363
SERVOPACKs with DC Power Input SGDV- E2 Items Dynamic Brake (DB) Regenerative Processing Overtravelling (OT) Prevention Protective Functions Utility Functions MECHATROLINK-III Communications Command Method Communications Protocol Station Address Transmission Speed Transmission Cycle Number of Transmission Bytes Performance Command Input Profile Not available Not available Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel signal (P-OT or N-OT) is input. Overcurrent, Overvoltage, low voltage, overload, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. MECHATROLINK-III 03H to EFH (max. number of slaves: 62) Set by using the S DIP switch. 00 Mbps 25μs, 250μs, 500μs, 750μs, ms to 4 ms (increments of 0.5 ms) Can be switched between 6 bytes/station, 32 bytes/station, or 48 bytes/station Set by using the S2 DIP switch. Position control, speed control, and torque control through MECHATROLINK-III communications MECHATROLINK commands (for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.) MECHATROLINK-II compatible profile MECHATROLINK-III standard servo profile DC MECHATROLINK-III Type SERVOPACKs 364
Power Supply Capacities and Power Losses The following table shows SERVOPACK s power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity SERVOPACK SGDV- Main Circuit Power Supply Capacity per SERVOPACK Output Current Arms Main Circuit Power Loss Regenerative Resistor Power Loss Control Circuit Power Loss Total Power Loss 24 VDC R7E 08.7 3.4 0.6 7.2 30 2R9E 65 2.9 6.9 4. 48 VDC R7E 69.7 3.4 0.6 7.2 30 2R9E 4 2.9 6.9 4. Note: These power supply capacities are net values at instantaneous maximum loads. 365
SERVOPACKs with DC Power Input SGDV- E2 Selecting Cables Cables for CN CN3 CN5 CN6 CN7 (MECHATROLINK-III Communications Reference SERVOPACKs) CN6 MECHATROLINK-3 Communication Cable Connect to the MECHATROLINK-3 CN Cable for I/O Signals LED Indicator for External Device CN7 Connection Cable for Personal Computer Analog Monitor Unit Connection Cable Analog Monitor Unit Cable for Analog Monitor CN5 CN3 Power Supply Cable Insulated AC/DC Converter for Control Circuit Power Supply Insulated AC/DC Converter for Main Circuit Power Supply Name Length Order No. Details CN Cables for I/O Signals Cable with Loose wire at One End m JZSP-CFI02--E 2 m JZSP-CFI02-2-E 3 m JZSP-CFI02-3-E () m JZSP-CFG00-0-E 2 m JZSP-CFG00-02-E CN3 Power Supply Cables Cable with Loose wire at One End 3 m JZSP-CFG00-03-E 4 m JZSP-CFG00-04-E 5 m JZSP-CFG00-05-E 6 m JZSP-CFG00-06-E 7 m JZSP-CFG00-07-E SERVOPACK End Power Supply End (2) 8 m JZSP-CFG00-08-E 9 m JZSP-CFG00-09-E 0 m JZSP-CFG00-0-E DC CN5 Analog Monitor Unit Cable CN6A CN6B MECHATROLINK-III Communication Cable CN7 Connection Cables for Personal Computer Analog Monitor Unit JUSP-PC00-E (3) Analog Monitor Unit Connection Cable Cables for Analog Monitor Cables with Connectors at Both Ends Cables with Connectors at Both Ends (with Ferrite Core) Cable with Loose wire at One End SERVOPACK End Analog Monitor Unit End 0.3 m JZSP-CFS06-A3-E (4) Analog Monitor m JZSP-CA0-E Unit End (5) 0.2 to JEPMC-602- -E (6) 0 to JEPMC-603- -E (7) 0.5 to JEPMC-604- E (8) Cable with Connectors at Both Ends 2.5 m JZSP-CVS06-02-E (9) MECHATROLINK-III Type SERVOPACKs 366
Selecting Cables () Cable with Loose ires at One End for CN (: JZSP-CFI02- -E) SERVOPACK End Connector (2 poles): 43025-200 (by Molex Japan Co., Ltd.) Contact: 43030-0005 (Chained) 43030-00 (Loose wires) 30 65 (8.85) 5 5 5 (8.28) JZSP-CFI02--E JZSP-CFI02-2-E JZSP-CFI02-3-E 7.4 Dia. Cable: CMX/2464-06/2A-SR LF AG24 5P (by Taiyo Cabletec Corp.) Cable Length m 2 m 3 m 00 5 Shield Marking sticker Cable with Loose ires at One End for CN Connection Diagram of JZSP-CFI02- -E Cable Pin No. 2 3 4 5 6 7 8 9 0 2 SERVOPACK End ire Marking Signal Color FG +24VIN P-OT ALM COM_SG /DEC N-OT SO3 SO2 /BK Shield Orange Orange Gray Gray hite hite Yellow Yellow Pink Color Red Red Red Red Dots Host Controller End Lead Marker 2 3 4 5 7 8 9 0 Represents twisted-pair wires. (2) Cable with Loose ires at One End for CN3 (: JZSP-CFG00- -E) SERVOPACK End Connector (6 poles): 43025-0600 (by Molex Japan Co., Ltd.) Contact: 43030-000 (Chained) 50 L 3C AG20 (BRG/Y) (by Hitachi Cable Ltd.) Cable: CL2-UL2464-AM 9.85 Heat-shrinkable Tube () 45 (8.28) 5. Dia. Cable: CL2-UL2464-AM 3C AG20 (YG/Y) (by Hitachi Cable Ltd.) 2 35 JZSP-CFG00-0-E JZSP-CFG00-02-E JZSP-CFG00-03-E JZSP-CFG00-04-E JZSP-CFG00-05-E JZSP-CFG00-06-E JZSP-CFG00-07-E JZSP-CFG00-08-E JZSP-CFG00-09-E JZSP-CFG00-0-E Cable Length m 2 m 3 m 4 m 5 m 6 m 7 m 8 m 9 m 0 m Pin No. Cable Color Signal Green/yellow FG 2 Green/yellow FG 3 Blue L2 4 hite C2 5 Yellow C 6 Red L 367
SERVOPACKs with DC Power Input SGDV- E2 Selecting Cables (3) Analog Monitor Unit (: JUSP-PC00-E) CN4: Connector for Analog Monitor CN3: Connector for Digital Operator 66.5 28 (4) Analog Monitor Unit Connection Cable for CN5 (: JZSP-CFS06-A3-E) 300 +30-0 Connector: 020-6000EL (by Sumitomo 3M Ltd.) Shell: 0320-52AO-008 Socket: DF-6DS-2C (by Hirose Electric Corporation.) Contact: DF-2428SCF (by Hirose Electric Corporation.) Cable: CMX 2464-06/2A-SB AG24 4P (by Taiyo Cabletec Corp.) DC MECHATROLINK-III Type SERVOPACKs 33.3 6.9 Dia. 66.5 Nameplate CN: Connector for SERVOPACK Note: The cable (JZSP-CFS06-A3-E) to connect the SERVOPACK is not included. 4 368
Selecting Cables (5) Analog Monitor Unit Cable for CN4 (: JZSP-CA0-E) SocketDF-4DS-2C* Contact DF-2428SCF* 3 4 2 000 +20-0 hite * : Manufactured by Hirose Electric Corporation. Red View from Cable End Pin No. Cable Color Signal Standard Settings Red Analog Monitor 2 Motor speed : V/000 min- 2 hite Analog Monitor Torque reference : V/00% rated torque 3, 4 (2 cables) GND (0V) Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. (6) Cables with Connectors at Both Ends for CN6 (: JEPMC-602- -E) L (7) Cables with Connectors at Both Ends (ith Ferrite Core) for CN6 (: JEPMC-603- -E) L Cable Length (L) Cable Length (L) JEPMC-602-A2-E 0.2 m JEPMC-603-0-E 0 m JEPMC-602-A5-E 0.5 m JEPMC-603-20-E 20 m JEPMC-602-0-E m JEPMC-603-30-E 30 m JEPMC-602-02-E 2 m JEPMC-603-50-E JEPMC-602-03-E 3 m JEPMC-602-04-E 4 m JEPMC-602-05-E 5 m JEPMC-602-0-E 0 m JEPMC-602-20-E 20 m JEPMC-602-30-E 30 m JEPMC-602-50-E (8) Cable with Loose ire at One End for CN6 (: JEPMC-604- -E) L JEPMC-604-A5-E JEPMC-604-0-E JEPMC-604-03-E JEPMC-604-05-E JEPMC-604-0-E JEPMC-604-30-E JEPMC-604-50-E Cable Length (L) 0.5 m m 3 m 5 m 0 m 30 m IMPORTANT Use a MECHATROLINK-III communications cable specified by Yaskawa. hen using other cables, noise resistance may be reduced, and operation cannot be guaranteed. 369
SERVOPACKs with DC Power Input SGDV- E2 Selecting Cables (9) Connection Cable for Personal Computer for CN7 (: JZSP-CVS06-02-E) +00 2,500 0 0 to 20 JZSP-CVS06-02-E (00) (55) IMPORTANT Use a cable specified by Yaskawa. hen using other cables, operation cannot be guaranteed. DC MECHATROLINK-III Type SERVOPACKs 370