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DRIVE
ENCODER,
M.F-S,D
FOR SPEED
SERIES
CONTROL
I1
WITH
BULLETIN
INCREMENTAL SERVOMOTOR SERVOPACK TYPES TYPES
USASEM,
USADED
YASKAWA
TSE-S800-2.1 J
Yaskawa AC Servo Drives have been developed as basic mechatronics drives for the most advanced FA and FMS, includinK robots and machine tools. The extensive servo manufacturing technology accumulated through a half century of servo drive applications has created and nurtured a new phase of AC servo drives, This man_ual covers AC servo drives M, F, S and D series for speed control, The AC Servo Drives consist primarily of AC SERVOMOTORS and their controllers, SERVOPACKS. The AC SERVOMOTOR features a high power rating for achieving quick response. Custom LSI and hybrid ICs builtin SERVOPACK reduce the unit size and simplify wiring. The additional feature of a highly accurate pluse resolution offers non-stop pulse flow.
For your mechatronics systems, the flexible combination of our AC SERVOMOTOR and SERVOPACK achieves stable control operation with high accuracy, quick response control under any environmental condition, and smooth, powerful operation even at low-speed range. Some outstanding features are as follows. "High accuracy and forspeed control -Compact design and quick high response reliability
i I
"Light weight and high power -Highly reliable protective functions -Selectable drive to meet users" requirements
General
Precautions
Some drawings in this manual are shown with the protective cover or shields removed, in order to describe the detail with more clarity. Make sure all covers and shields are replaced before operating this product. This manual may be modified when necessary because of improvement of the product, modification, or changes in specifications. Such modification is made as a revision by renewing the manual No. To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA representative listed on the last page stating the manual No. on the front cover. YASKAWA is not responsible for accidents or damages due to any modification of the product made by the user since that will void our guarantee. I
386-9
386-5
386-1
388-14
586-24
--AC
M Series AC SERVOMOTORS
Servo and
--2--
Read this manual thoroughly before installation, operation, maintenance or inspection of the AC Servo Drives. In this manual, the NOTES FOR SAFE OPERATION are classified as "WARNING" or "CAUTION".
,,WARNING
D Indicates a potentially hazardous situation which, if not avoided, could result in death or serious personal, injury.
CAUTION 1
Indicates a potentially hazardous situation which, if not avoided, may D result in minor or moderate equipment. personal injury and/or damage to the
In some instances, items described in /k CAUTION may also result in a serious accident. In either case, follow these important items.
-3-
,/K WARNING
(Wll O)
Grounding must be in accordance with the national code and consistent sound local practices. Failure to observe this warning may lead to electric shock or fire. (OPERATION) Never touch any rotating motor Failure to observe this warning (INSPECTION AND MAINTENANCE) parts during operation. may result in personal with
il
injury.
Be sure to turn OFF power before inspection or maintenance. Otherwise, electric shock may result. Never open the panel cover while power is ON, and never turn ON power when the panel cover is open. Otherwise, electric shock may result. After turning OFF power, wait at least five minutes before servicing the product. Otherwise, residual electric charges may result in electric shock.
CAUTION
(RECEIVING) Use the specified combination of SERVOMOTOR and SERVOPACK.
Failure to observe this caution may lead to fire or failure. (INSTALLATION) Never use the equipment where it may be exposed to splashes corrosive or flammable gases, or near flammable materials. Failure to observe this caution may lead to electric shock or fire.
of water,
(WIRING)
Do not connect three-phase power supply to output terminals (j_) @ and @. Failure to observe this caution may lead to personal injury or fire. Securely tighten screws on the power supply and motor output terminals. Failure to observe this caution can result in a fire.
-4-
I)
(OPERATION)
CAUTION
To avoid inadvertent accidents, run the SERVOMOTOR only in test run (without load). Failure to observe this caution may result in personal injury. Before starting operation with a load connected, set up parameters suitable for the machine. Starting operation without setting up parameters may lead to overrun failure. Before starting operation with a load connected, make sure emergency-stop procedures are in place. Failure to observe this caution may result in personal injury.
During operation, do not touch the heat sink. Failure to observe this caution may result in burns. (INSPECTION AND MAINTENANCE) Do not disassemble the SERVOMOTOR. Failure to observe this caution may result in electric Never change wiring while power is ON. Failure to observe this caution may result in electric
shock shock
or personal or personal
injury. injury.
D
WARNING
shock.
2._,_. ,_(_,_L'C,
Disconnect all power and wait 5 mJn.before serv_in_.
2CN _CN
__. -_1
Useproper grounding
techniques.
D
-5-
CONTENTS
1. RATINGS AND SPECIFICATIONS
1.1 RATINGS AND SPECIFICATIONS OF M SERIES AC SERVOMOTORS 1.2 RATINGS AND SPECIFICATIONS OF F SERIES AC SERVOMOTORS 1.3 RATINGS AND SPECIFICATIONS OF S SERIES AC SERVOMOTORS 1.4 RATINGS AND SPECIFICATIONS OF D SERIES AC SERVOMORORS 1.5 RATINGS AND SPECIFICATIONS OF SERVOPACK 17 9 11 13 15
47
2, TYPE DESIGNATIOM
19 21
8. DIMENSIONS
8.1 SERVOMOTOR:
in mm (inches)
M SERIES 50
50
JB I
4.4 SERVOMOTOR FREQUENCY 4.5 MOTOR SPEED--REFERENCE INPUT CHARACTERISTICS 25 4.6 MOTOR MECHANICAL CHARACTERISTICS 25
9.1 CHECK ITEMES BEFORE TEST RUN 9.2 TEST RUN PROCEDURES 63
10. ADJUSTMENT
10.1 SEI-IINGS
64
AT THE TIME
dB
5. CONFIGURATION
28
29
OF DELIVERY 64
5.1 CONNECTION DIAGRAM 28 5.2 INTERNAL BLOCK DIAGRAM 5.3 EXTERNAL TERMINALS 31 5.4 CONNECTOR TERMINAL (1CN) FOR INPUT/OUTPUT SIGNALS 31
10.2 CHARACTERISTICS AT THE TIME OF DELIVERY 68 10.3 READJUSTMENT 68 10.4 ADJUSTMENT PROCEDURES 10.5 SWITCH SEI-rlNG 73 68
/
74
.._
6. OPERATION
36
36 REFERENCE
11.2 SERVOPACK 75
12. TROUBLESHOOTING 76 GUIDE 76 12.1 AC SERVOMOTOR 12.2 SERVOPACK 77
6.2 SPEED REFERENCE 37 6.3 EXTERNAL CURRENT LIMIT CIRCUIT [P-CL-81-C N-CL] 38 6.4 CONFIGURATION OF INPUT/OUTPUT CIRCUIT 39
D
A
INDEX
........................................................................................................................ PROCEDURES ................................................................................................ FREQUENCY OF OPERATION ........................................................................ .,....................
Chapter
Section No.
Page 64 68 24 26 45 37 24 68 63 28 39 28 45 31 S] 34 38 50 26 78 78
Allowable Radial Load and Thrust Load ............................................................ APPLICATION ........................................................................................................................ Auxiliary C Input Circuit ............................................................................................................
4 ......... 4,6.2 ............... 6 ......... 6.9 ............... 6 ......... 6.2.4 ............... 4 ................................. 10 ......... ]0.2 ............... 9 ......... 9,] ............... 5 ................................. 6 ......... 6.4 ...............
CHARACTERISTICS CHARACTERISTICS
:...................................................... ............................................................
CHECK ITEMS BEFORE TEST RUN .................................................................................... CONFIGURATION .................................................................................................................. CONFIGURATION OF INPUT/OUTPUT CIRCUITS ................... : ...........................................
CONNECTION DIAGRAM ...................................................................................................... Connection for Reverse Motor Running ................................................................. Connector ]CN Layout and Connection of SERVOPACK CONNECTOR TERMINAL (1CN) FOR INPUT/OUTPUT D D CONNECTOR Current Limit TERMINAL when Motor (2CN) FOR OPTICAL is Locked
: ..................
5 ......... 5.] ": ............ 6 ......... 6.9,1 ............... 5 5 ......... 5.4.2 ............... ......... 5.4 ............... ............... ...............
ENCODER
DIMENSIONS in mm (inches) ........................................................................... Direction of Rotation ............................................................................................................... Examples Examples EXTERNAL EXTERNAL of Troubleshooting of Troubleshooting
: .......................
8 ................................. 4 ......... 4.6.4 ............... ]2 .-]2 ......... 12.2.2 ............... ......... 12.2.3 ...............
CURRENT LIMIT REFERENCE CIRCUIT ........................... _...; ......................... TERMINALS ...................................................................................................... of Speed Reference Input Line Terminal ...........................................................................
.................................................................................................................. .....................................................................................
Impact
Resistance ...............................
4 ......... 4.6.5 ............... 6 ......... 6.4.] ............... 11 ................................. 9 ......... 9.2.3 ............... 7 -........ 7.2 ...............
BLOCK
DIAGRAM
5 6 12 .............
......... 5.2
..............
29 43 78 21 47 43 26 25 38 25 25 43 38 63 40 39
INDICATION Indication(7-segment)
for
Troubleshooting
........................................................................
D M
LIST OF STANDARD .................................................................................... NSTALLATION AND COMBINATION WIRING ................................................................................ Load inertia (JL) ..................................................................................................................... Mechanical Specifications (M, F, S and D series) ...........................................
3 ................................. 7 ................................. 6 ......... 6.7.2 ............... 4 ......... 4.6.3 ............... 4 ......... 4.6.1 ............... 6 ......... 6.3.1 ............... 4 4 6 ......... ......... ......... 4.6 4.5 6.8.] ............... ............... ...............
'.......................... ] .......
Mechanical Strength .......................................................................................................... Method of giving External Current Limit Reference .................................................................. MOTOR MOTOR N O Noise OPERATION Operation Optical Output MECHANICAL SPEED-REFERENCE Control CHARACTERISTICS INPUT ........................................................................ CHARACTERISTICS ...................................................
............
...............
Enc()der (PG) Output Circuit ........................................................................................ Circuit ...................................................................................................... _ .................... Loads .................................................................................................................. CHARACTERISTICS ....................................................................................... ............................................................................................................ :"
6 ......... 6.7.1 ............... 43 4 ......... 4.1 ........ ....... 24 6 6 7 ......... 6.8.2 ............... ......... 6.1 .................. ......... 7.3.3 ............... 45 36 49
Line Protection
-7-
INDEX (Cont'd)
.................................................................................... .......................................................................................... ......................................................................................................... ......................................................................................................... ................................................................................................... Size ................................................................................................... .......................................................................................... OF D SERIES AC SERVOMOTORS OF F SERIES AC SERVOMOTORS OF M SERIES AC SERVOMOTORS ................................. ................................. .................................
Page 43 43 63 42 61 48 9 _5 11 9 13 17 15 ]] 9 ]3 68 47 59 52 50 55 25 75 34 60 38 64 31 34 46 37 37 24 37 73 63 63 16 ]2 ]0 ]4 76 ]9 27 27 48 49
Preparation of Operation PROTECTIVE CIRCUIT PERIPHERAL EQUIPMENT R Rated Current and AND AND AND AND AND AND Cable
] ................................. 1 ......... 1.4 ............... 1 ......... 1.2 ............... I ] I ] I I ......... ].] ......... 1.3 ......... 1.5 ......... ].4.1 ............... ............... ............... ...............
OF S SERIES AC OF SERVOPACK
Ratings of S Series AC SERVOMOTORS ................................................................................. READJUSTMENT .................................................................................................................. RECEIVING S SERVOMOTOR SERVOMOTOR SERVOMOTOR SERVOMOTOR SERVOMOTOR SERVOPACK SERVOPACK SERVOPACK Set Voltage SETTINGS Specifications Specifications ................................... DIMENSIONS: DIMENSIONS: DIMENSIONS: DIMENSIONS: FREQUENCY " ....................................................................................... D SERIES .............................................................................. F SERIES M SERIES .............................................................................. ...........................................................................
I ......... 1.3.1 ............... 10 ......... 10.3 ............... 7 8 8 8 8 4 1] ......... 7.] ............... ............... ............... ............... ............... ...............
II
......... 8.4 ......... ......... ......... ......... 8.2 8.1 8.3 4.4
........................................................................................................................... Connector DIMENSIONS (2CN) Terminal Layout and Connection ................................................................................................... ..........................................
......... 11.2..................
5 ......... 5.5.2 ............... 8 ......... 8.5 ............... 6 ]0 ......... ......... 6.3.2 ]0.1 ............... ...............
and Current Limit Values .................................................................................... AT THE TIME OF DELIVERY ........................................................................... of Applicable of Applicable Receptacles .................................................................................... Receptacles and Cables ..................................................................
5 ......... 5.4.1 ............... 5 ......... 5.5.1 ............... 6 ......... 6.9.2 ............... 6 ......... 6.2 ............... 6 ......... 6.2.1 ............... 4 ......... 4.2 ...............
Speed and Torque Measurement ................................................................................................ SPEED REFERENCE ............................................................................................................... Speed Reference Circuit STARTING AND ............................................................................................................ TIME .......................................................................................
STOPPING
Stop Reference Circuit ............................................................................................................... SWITCH SETTI NG .................................................................................................................. T TEST TEST RUN RUN .............................................................................................................................. PROCEDURES ...................................................................................................... of D Series AC SERVOMOTORS of F Series AC SERVOMOTORS of M Series AC SERVOMOTORS ................................................ ................................................ ................................................
...............
Torque-Speed Characteristics Torque-Speed Characteristics Torque-Speed Torque-Speed TROUBLESHOOTING TYPE V Characteristics Characteristics GUIDE
1 ......... ].3.2 ............... ]2 ................................. 2 ................................. 4 ......... 4.6.7 ............... 4 7 7 ......... ......... ......... 4.6.6 7.3 7.3.2 ............... ............... ...............
DESIGNATION
............................................................................................................
Vibration Vibration
WIRING Wiring
Class F
1500 VAC, 500 one VDC, minute 10M_or : for type exclusive more Resistance:
Ambient Humidity:
Vibration: Finish 15 in Munsell : ILm or
Voltage:
Excitation Mounting"
Permanent Flange
Direct
Temperature:
Table
D
1.1 Ratings
M,.,D ;-I _
and Specifications
03 ...... ;-_r-; 1 '06 L I I I I I ...... r-_r_l 0.6 (0.8) 5.68 (50) 5.88 (52) 14.1 (125) 5.8
of M Series
09Br-]2 0.9 (1.2) 8.62 (76) 8.82 (78) 19.3 (171) 7.6
AC SERVOMOTORS
12B[-]2 1.2 (1.6) 11.5 (102) 11.8 (104) 28.0 (248) 11.7 1000 20B[-]2 2.0 (2.7) 19.1 (169) 21.6 (191) 44.0 (390) 18.8 30B[]]2 3.0 (4.0) 28.4 (252) 32.3 (286) 63.7 (564) 26 44B[]2 4.._) 41.9 (372) 46.1 (408) 91.1 (807) 33 I I [ 60B[_-]2 6.0 (8.0) 57.2 (507) 62.9 (557) 106 (938) 45
Ite_A Rated Output* Rated Torque* , Continuous Max Torque* kW (HP) N-m (Ib,in) N-m (Ib,in) N.m (Ib,in) A r/rain Max Speed* r/rain N.m/A (Ib.in/A)
'
I.
2000 1.01 (8.9) 13.5 (12.0) 1.04 (9.2) 24.3 (21.5) 1.21 (10.7) 36.7 (32.5) 1.02 (9.0) 58 (51.3) 1.07 (9.5) 110 (97.2) 1.16 (10.2) 143 (126.7) 1.33 (11.8). 240 (212,6)
Constant
kW/s ms ms
Insulation
*Values ture Notes: 1. [---] tical in type designation is determined encoder as follows: A (6000 B (5000 pulses/rev) pulses/rev), D (4000 pulses/rev) by output pulses (pulses/rev) of opwhen SERVOMOTOR temperature is combined Shown with SERVOPACK are normal and the arma2, The power supply
Class F
unit for brake has two Input Input 61. types: IOOVAC, 20OVAC, Output Output 90VDC 9OVDC
winding
is 20C.
above
(TYP) values.
LPDE-1H01 LPSE-2H01
oStandard: oOptional:
-9-
TYPE USAMED-03[_-]
E 2000
- +....
"_2i ,+ .......
_,_ '=_
2 20001
T:
-+---,
,, +. , _
'-_' !
;500
'
_.soo i
_
_ ISOO
_i soo ,
8 "'
,ooo__ _ ti
0 2 4 6 I; (N-m) RMS TORQUE
__ooo 1
20 40 (Ib.in) 60 RMS TORQUE
/ Ai_
0 10 20 30 RMS TORQUE (N.m)
LI
40
'_
0 100
_,
200 300 400 RMS TORQUE (Ib.in)
TYPE USAMED-06_]
TYPE USAMED-30B
2ooo_ 12ooo ................. . ....... _1_oo ++oo+,_2oooI ++ " ............. ,+oop _ _-+,.,,-.__2ooo -..,._._ ++oo++I ,_, +00_ 2+, B 1101 +OOOl ++,ooo[ I1 210, +++I A!I +oo_l
0 3 6 9 12
RMS TORQUE (N-m)
_ 2's8_7_;_0'_5
RMS TORQUE (Ib.in)
20 ;0
60
RMS TORQUE
(N.m)
TYPE USAMED-09B
TYPE USAMED-44B
4
__ooo_
_
_1800
_ _or_---_
r _ _ 0 4 8 12 16
_ _I
_
,9,
[] i I I]
0 50 100 150 RMS TORQUE (Ib.in) _
m ,ooo
+ 1500F
",_
_l
,,11oooi"\'_'_
15001
,++.#_ _
+ +
0 20 40
_,ooo 1
0
1500_
60
80
I++l :11
200 400 600 8001000 RMS TORQUE (Ib.in) 4
i
RMS TORQUE
(N +m)
RMS TORQUE
(N .m)
TYPE USAMED-12B
TYPE USAMKD-60B
2800_ ._2ooo
_1500F _1000
"_ " +
_2000_ _
1500r \:5_
_2000 _ r
_"'_ .... A ":"/'_% ' ; + 1000P CO
._ I 2 _,+oo
_1000
_1000
2800 1
10 20 RMS TORQUE (N.m)
t:',x,+,H
50 100 150 200 250 RMS TORQUE (Ib-in)
2_ /
i 0
_2_/
l 0
-10-
AND
SPECIFICATIONS
OF
F SERIES
AC
SERVOMOTORS
Time
Rating:
-20
20% to be]ow
Voltage: Resistance:
500 VDC,
Notation:
NI.5 magnet
Permanent Flange
mounted drive
Temperature:
+40C
Method:
Direct
Table
1.2
Ratings
and Specifications 02 ...... I 03 ...... 1 r-_r-il r-lr-i 0.1 5 I 0.3 (0.2) I (0.4) 0.98 (8.7) 1.08 (10) 2.91 (26) I I I I I I 1.96 (17) 2.16 (19) 5.83 (52)
of F Series 05 ...... 1 r-lr-_ 0.45 (0.6) 2.84 (25) 2.94 (26) 8.92 (79) ' :
AC SERVOMOTORS r-i 130_-2 1.3 (1.7) 8.34 (74) 8.83 (78) 24.7 (21 9) 20C [.-]2 1.8 (2.4) 11.5 (102) 11.8 (104) 34.0 (301) 30C[-]2 2.9 (3.9) 18.6 (165) 22.6 (200) h4 1 (47_)
_ Rated Output* Rated Torque* Continuous Instantaneous Max Torque* Peak Torque* kW (HP) N-m (Ib.in) N .m (Ib.in) N. m (Ib-in)
D"
r _r-_ 09_-'_"1 0.85 (1.1) 5.39 (48) 5.88 (52) 15.2 (1 35)
I_ 44C[]2
I I t I [ I i I I i 4.4 (5.9) 28.4 (252) 37.3 (330) 76.2 (675)
A r/min r/rain
3.0
3.0
3.8
6.2
1500 2500
9.7
15
20
30
Torque Constant
Moment-of Power
'N. m/A (Ib.in/A) kg-m2X10 -" Inertia JM(= GD2/4) (ib.in.s2X10_3) kW/s
Rate*
ms ms
3.9 3.4
2.5 4.3
10.9 3.2
5.2 13.0
3.7 15.2
Insulation *Values when SERVOMOTOR combinedwith SERVOPACK the armais and ture winding temperatureis 20C. Shown above are normal (TYP)values, Notes: 1, [-__-_] type designationis determinedby output pulses (pulses/rev)of opin tical encoder as follows: -Standard: A (6000 pulses/rev) oOptionali B (5000 pulses/rev),D (4000 pulses/rev)
2. The power supply unit for brake has two types: oType LPDE-1H01B9400876-2: Input IOOVAC, Output 90VDC *Type LPSE-2H01 B9400876-1: Input 2OOVAC, Output 90VDC For details, see Par. 8.6 (3) on page61.
--11
--
,all
25oo_
......
_,
-_
(_)1000_
,--2
RMS TORQUE {N,m)
__)1ooo_
0 10 20 30
RMS TORQUE (Ib-in)
_ /!l
0 _ ;0 _5_0
RMS TORQUE (N.m}
MI /)1_,II1 "
0 5010b1_0 250 200
RMS TORQUE (Ibgn)
TYPEUSAFED-03[_]
TYPEUSAFED-20C
1500
"_
1500
_1500
"
1500l
\_%
!i
t000
A i
20 40 60 RMS TORQUE(Ib-in)
[A \\
0
l'ill
_1
B_l
10001-
A!
_1 ;_
_!1
,0 20 30 RMS TORQUE(N.m)
TYPE
USAFED-05[:]
TYPE
USAFED-30C
dl
,500
E1500
_1500
il fl
,oooL A i
0
8,ooor _ II __:,I
0 20 40 60 RMS TORQUE (N .m) 0 100 200 300 400 500 RMS TORQUE(Ib-in)
20 40 60 80 RMS TORQUE(Ib.in)
TYPEUSAFED-09r_]
TYPEUSAFED-44C
100o
2500_ 0
2500 ,- ...... _':_ " _11 0 30' 60 90 120 150 RMS TORQUE(-Ib.rl)
i2500-'"_i_ 0
2500 0
-12-
RATINGS Ratings
AND
SPECIFICATIONS
OF
S SERIES
AC SERVOMOTORS
Rating
Continuous Class Class B (Types USASEM-02A[-] - 05A!_] 2) F (Types USASEM-08A[-]2, -15At-12, -30A[-]1) 1500 VAC, 500 one VDC, minute 10Mf_or more 2,
Storage Ambient
Temperature: Humidity:
-20 20% to
Insulation"
Vibration. 15 /_m or below Finish in Munsell Notation: NI.5 Excitation: Mounting" Drive Method Permanent Flange magnet
Voltage" Resistance:
mounted drive
shaft
self-cooled opening)
Direct
0 to
+40C
Table 1.3
Ratings
AC SERVOMOTORS 05A[_]2 0.46 (0.8) 1.47 (13) 1.67 (15) 4.02 (36) 4.2 3000 4000 08A[-]1 0.77 (1.0) 2.45 (22) 3.33 (30) 7.35 (65) 5.3 15A[-]1 1.54 (2.1) 4.90 (43) 6.18 (55) 13.7 (122) 10.4 30A[[]1 3.08 (4.1) 9.81 (87) 12.2 (108) 29.0 (257) 19.9
kW (HP) N. m (lb. in) N .m (lb.in) N.m (Ib.in) A r/min Max Speed* r/min N. m/A (Ib-in/A) kg.m2X10 "4 (ib.in.s210_3)
Peak Torque"
Constant*
kW/s ms ms
21 1.9 6.2
167 0.4 26
*values when SERVOMOTOR combinedwith SERVOPACKand the armaturewinding temperatureis is 100C. Shownare normal(TYP) values above. t ValueswhenSERVOMOTOR combinedwith SERVOPACK is andthearmaturewindingtemperatureis 20C. Shownare normal(TYP) values above. Notes: 1. [_-] in type designationis determined by output pulses (pulses/rev)of optical encoder as follows: AC SERVOMOTOR Type USASEMStandard (pulses/rev) Optional D E C 1 500 2500 C E F 2500 1500 1 000 02A, 03A, 05A 08A, 1 5A, 30A
=TypeLPDE-1H01B9400876-2: Input 100VAC,Output90VDC *Type LPSE-2H01B9400876-1: Input200VAC,Output90VDC For details,see Par. 8.6 (3) on page61. --13--
1.3.2
Torque-Speed
TYPE USASEM-02A
_'t __
,ooo_
&2ooo_ , _2ooo_ H _ t_ _ _
"_
,14i,lW
0 5 10 RMS TORQUE (Ib.in)
,'I H , i/
0 20 40 60 RMS TORQUE (Ib.in)
2.0
15
2 4 6 RMS TORQUE(N-m)
80
TYPE USASEM-03A
,TYPE USASEM-15A
:_r Li / _r ,/ :t
0
_ I
_oool-_
L,J
,
_3F'_i_
[:i]
, I,t
_',_ ,
,i,
/ ,ooo I i:/-,II
,
4 0 10 20 RMS TORQUE(Ib.in) 30
,ooo
0
20
,ooo
0
;,/
TYPE USASEM05A
TYPE USASEM-30A
t/, []/
(/_ 1000 0
2oooF"_ ',I
_) 1000 i_ 0
_1
_!]
l;Ii
30
8 "_"2000_
(,_ 0
A i/ i:_
I! ]
300
. ,_.I,, _
1 2 3 4 RMS TORQUE(N.m)
. /:I , ,_I,
10 20 30 RMS TORQUE(Ib-in) 40
10 20 RMS TORQUE(N.m)
_,;i_I M, ,
L _:.:_,iI , _Ii
100 200 RMS TORQUE(Ib.m)
-14-
AND SPECIFICATIONS
OF Y D SERIES
AC SERVOMOTORS
Storage Vibration:
Temperature 15 /_m or
-20 to + 60C
Voltage: Resistance:
: 500 VDC,
Totally-enclosed,
self-cooled
mounted drive
(Equivalent to IP-65 exclusive shaft opening) Ambinent Temperature: 0 to +40 C Ambient Humidity: 20% to 80% (non-condensing)
Direct Provided
1.4
Ratings
and Specifications 05E_-,:2 0.5 (0.67) 2.35 (21) 3.43 (30) 8.24 (73) "
of D Series 10E[_-]2 1.0 (1.3) 4.81 (43) 6.37 (56) 16.9 (1 49)
AC SERVOMOTORS 15r-]2 1.5 (2.0) 7.16 (63) 8.83 (78) 25.1 (222) 2000 12.6 2500 0.64 (5.64) 62, 59t (54.9, 52.2t) 8.2 8.6t 7.1 6.8, 9.4 Class F 90 22Er-]2 2.2 (2.9) 10.5 (93) 13.7 (1 22) 36.8 (326) 37E[-_2 3.7 (5.0) 17.7 :(156) '21.6 (1 91 ) 61.8 (547)
-Motor Type USADED-I kW (HP) N. m (Ib.in) N. m (Ib-in) N. m (Ib.in) r/min A r/min N .m/A (lb. in/A) kg.m2X10 "" (Ib.in.s2X10 -3) kW/s ms ms
Instantaneous Pe_ik Torque* Rated Current* Rated Speed* Instantaneous Peak Speed* Torque Constant Mment f Inertia JM(=GD_/4) Power Rate* Inertia Time Constant D Inductive Time Constant Insulation Holding Brake
3.5 0.83 (7.38) 21,'13, (18.6, 11.5t) 2-.7 4.4t 18 " 11_ 4.4
7.9 0.69 (6.07) 32, 24t (28.3, 21.2,) 7.3 9.7* 7.8 5.9t 6.9
16.6 0.71 (6.25) 83, 80t (73.51 70.8t) 13 14t 6.2 6.0* 11
21.56 (191)
Approx. Mass
(Ib) (37.5, 35.3t) l (41.9, 39.7t1 (66.2, 59.5*) (70.6, 64*) kg 17, 16' 19,18' 30,27' 32,29' [ (86.0, 79.4t) 39,36' *Values whenSERVOMOTOR iscombined withSERVOPACK andthe arma- 2. Thepower supplyunitforbrakehastwotypes: turewinding temperature 20C. Shownabove is arenormalTYPIvalues, ( oTypeLPDE-1H01 B9400876-2:nput100VAC, I Output 0VDC 9 tValues whenholding brakeis not provided. ,,Type LPSE-2H019400876-1:nput200VAC, utput90VDC B I O Notes: Fordetails, seePar. .6(3)onpage 8 61. 1. ['__--.] intypedesignation determinedyoutputpulses is b (pulsesliev) ofoptical encoder as follows: -Standard:A (6000pulses/rev) ,Optional: B(5000pulseslrev), O(4000pulses/rev)
--15--
1.4.2
Torque-Speed
Characteristics
USADED-05E
USADED-05E
: _
oo .
2000 0
oo
2000 I! 1 2.5 5 7.5 RMSTORQUE[N "m] 10
20 40 60 RMSTORQUE [Ib-in]
80
USADED-10E
USADED-10E
2500 :_
[r/mini 1000 SPEED ii
2500%1 _
[r/mini 1000 SPEED
& I
I
0'
160
20
USADED-15E
USADED-15E
2500 _i_
[r/minl
BY_
'
20oo _'1
0
240
8 36 24 RMSTORQUE [N'm]
32
USADED-22E
2500 :_, _
USADED-22E
2500 _
2ooc
SPEED [r/mini 100C _
2000
[r/mini 1000 A _i,_ B 10 20 30 RMSTORQUE [N"m]
400
SPEED
i 40
USADED-37E
USADED-37E
_
B
,r,m, ,,000
0 A: B:
600
'r''o' 000
A: B:
20 40 60 RMSTORQUE [N-m]
80
I
-16-
1.5
RATINGS
AND
SPECIFICATIONS
OF
SERVOPACK
1.
Ratings
and
of
SERVOPACK SR2OBB 2.0 (2.7) D: 4000 SR3OBB 3.0 (4.1) pulses/rev) 44B[_-]2 4.4 (5.9)60B[_]2" 6.0 (8.O) SR44BB 4.4 (6.0) SR6OB8 6.0 (8.2)
ApplicableOptical Encoder Type USAMEDAC SERVOMOTOF Output _, _ 03 kW (HP) 0.3 (0.4) 03 rqrq 1 ...... -
A: 6000
pulses/rev
(B: 5000
pulses/rev,
SRO7BB1AM SRIOBB1AM SR15BB1AM SR20B81AM SR3OBB1AM SR44BB1AM SR60B81AM 5.8 7.6 11.7 18.8 26.0 33.0 45.0
Output "
Allowable oad L kg.m2 10-4 x Max Output Current Arms Inertia JL (Ib.in.s x 10-3) 2 ApplicableOptical Encoder Type USAFEDAC SERVOMOTOR Output (HP) kW
_ -
pulses/rev _
O0
SRO3BB1AF SRO5BB1AF 3.0 8.5 3.0 8.5 10 (9) 3.8 11.0 67.5 (60)
D _) _)
Current u_ Continuous OutpUtArms Max Output Current Arms Allowable oad L InertiaJL
LU
Applicable Optical Encoder Type USASEMAC SERVOMOTOR Output _, (HP) kW (0.2) 0.3 0.15 (0.4)
F: lO00pulses/rev)
u) Continuous
SRIOBB1CS SR15BB1CS 5.3 15.6 14.25 (12.65) 10.4 28.0 16.5 (14.4) 5000 pulses/rev, _ 10E[-]2 1.0 (1.34) 2000 -
2.1 6.0
3.0 8.5
A: 6000 pulses/rev(B: _ 05E[_]2 O.5 (0.67) _ SRO5BB1AO 3.5 10. 6 (22.75) _ 26.25 _ _ -
D: 4000 pulses/rev) 15E[_-]2 1.5 (2.0) 22E[.-]2 2.2 (2.9) 37E[-]2 3.7 (5.0) _
SR15BB1AD SR2OBB1AD SR3OSB1ADSR44BB1AD 7.9 2 5.2 (35.75) 40 12.6 40.7 (68.38) 77.5 16.6 54.0 (92.25) 103.75 23.3 76.7 (163.75) 188.75
E3 Continuous Current
-17-
,do
Table
1.5
Ratings
and
Specifications
of
SERVOPACK
(Cont'd)
am ,qu
SERVOPACK Main CACRPower*_ I Type Circuit Supply Control Feedback Ambient _ Temperature Control Circuit Method
SR03BB ] SR05BB
200 to SR15BB I+10% 50/ 6_ Hz*2 230 VAC _SR20BB 15%, 200 to 230 v_ _/^r+10% _ 15%, PWM Control
D: 4000pulses/rev, E: 1500pulses/rev,
SR60BB
50/60Hz
Transistorized
Optical enc0der (A: 6000 pulses/ ev, B 5000puses/rev,
C: 2500pulses/rev.
F: 1000 pulses/rev,)
u_ Ambient o I-lumidity
90% or less (non-condensing) 0.5/2G Base mounted 5.5 (13) I I 5.5 (13) 5.5 (13) 5.5 (13) I i 5.5 _,o_ 1 ' 3000 +0.03% +O.1% +0.5% or less at rated r/rain, or less at rated r/rain, or less at rated r/min, -+O.015% -+0.05% +0.2%or or less at 1/3000 or less at 1/3000 less at 1/3000 rated r/rain rated r/rain rated r/min 9.5 (21) 9.5 (21) 11 (24) 13 (29) I
Resistance a_ Vibration/Shock Mounting Structure Approx Mass Speed Control Load Oto kg (Ib) Range .4 Regulation 100%
.din
Speed*e Voltage Regula-o Regulation tion ---10% Temp. Regula'_ tion25+25C u_ Frequency 1 O co Response Charactenst_cs Rated Reference Speed Voltage ReferenceInputImpedance Input _,e CircuitTimeConstant
Auxiliary ReferenceVoltage ReferenceInputImpedance Inputt .__ CircuitTimeConstant cn Torque O "" Built-in Supply Limit Input Reference Power
4-2 to _-----F10VDC rated r/rain (forward run at plus reference) at Approx 5 to 7 kP, Approx +3VDC 22 #s torque
R overtravel,
overload,
MCCB trip
Overvoltage, overload, overcurrent, overspeed, overrun, open phase detection, heatsink overheat, undervoltage, AD error, regeneration trouble, CPU error Power supply, reference input, alarm, status indications
_"_"Regenerative
Up to 5 times motor Torque monitor: 30V ___10%at rated r/min Speed monitor: 4.0V 4-5% at 1000r/min(M,
due to externally (253 V). fan-cooled. If the voltSpeed Motor amplifier the lowest speed is but defined not as the stopped, to the regulation speed drift rated may due speed = by
_'eSpeed
230
V + 10%
should
exceed
a step inside
down
transformer must
housed speed
temperature
temperature
range, range,
to temperature. represents
of this speed
regulation
in which
is 1OO% load
variation,
application
range,
-18-
DESIGNATION
USAFEDT J
05DA 1
"'---T Blank: Standard B: With SPECIFICATION ADDITtONBrake (S series 03 to 30, M series44) E: With Brake (F series 02 to 44, M series 03 to 30, D series) DRIVE END SPECIFICATION Blank: Standard O: Standard (With Brake) K: With Keyway S: With ShaftSeal T: With Keyway& ShaftSeal" SHAFT TYPE 1: Taper 2: Straight DETECTOR (Table 2.3)
ORDER . Table M Series 02 03 05 06 08 09 10 12 13 15 20 22 30 37 44 60 0.3kW (0.4HP) .0.6kW (0.8H P) ,0.9kW (1.2HP) 1.2kW (1.6HP) 2.0kW (2.7HP) 3.0kW (4.0HP) 4.4kW (5.9HP) 6.0kW (8.0H P) Motor F Series 0.15kW (0.2HP) 0.3kW (0.4HP) 0.45kW (0.6HP) 0.85kW (1.2HP) 1.3kW (1.7H P) 1,8kW (2.4HP) 2.9kW (3.9HP) 4.4kW (5.9HP) Table Motor F Series 0.15kW (0.2HP) 0.3kW (0.4H P) 0.45kW (0.6HP) 0.85kW (1.2HP) 1.3kW (1.7HP) 1,8kW (2.4HP) 2.9kW(3.9H.P) 4.4kW (5.9HP) 2.2 Output S Series 0.15kW (0.2HP) 0.31kW (0.4H P) 0.46kW (0.6HP) 0.77kW (1.1HP) 1.54kW (2.0HP) 3.08kW (4.0HP) 0.5kW (0.7HP) 1.0kW (1.3HP) 1.5kW (2.0HP) 2.2kW (2.griP) 3.7kW (5.0HP) D Series 2.1 Output S Series 0.15kW (0.2HP) 0.31kW (0.4HP) 0.46kW (0.6HP) 0.77kW (1.1HP) 1.54kW (2.0HP) 3.08kW (4.0HP)' 0.5kW (0.7HP) 1.0kW (1.3H P) 1.5kW (2.0HP) 2.2kW (2.9H P) 3.7kW (5.0H P) D Series -
M Series 02 03 05 07 10 15 20 30 44 0.3kW (0.4H P) 0,6kW (0.8.H) P 0.9kW (1.2HP) 1.2kW (1.6HP) 2.0kW (2.7HP) 3.0kW (4.0HP) 4.4kW (5.9HP)
-19-
SERVOPACK EncoderResolution(P/R)
Type
,din 'qB
CACR - SRO5BC1
SERVOPACK SERIES CONTROL TYPE SR:Speed MOTOR OUTPUT (Table 2.2) APPLICATION B: M, F,SSeries __ ......
AF
___J
6000 F M
to
D DESIGN REVISION ORDER INPUT FORM 1: 200V, Analog DETECTOR (Table 2.4) APPLICABLE MOTOR SERIES M: M Series F: FSeries S: SSeries D: DSeries _ _
USAFED 4000 F
2500
1500
i000
Table Models M Series A F Series A E S Series C D Series A Standard pulses/rev 6000 6000 1500 2500 6000 B B C E B
2.4 Optional pulses/rev Remarks 4000 4000 1000 1000 4000 02A, 03A, 05A 08A, 15A, 30A
D D F F D
_1_
-20-
3. LIST OF STANDARD
Table M SERIES AC SERVOMOTOR SERVOPACK TypeCACRSRO3BBI[_]M SR07BB1E[IM SR10BBIE]M SR15BB1[-_]M SR2OBB1 [-]M 3.1
COMBINATION
Combination of SERVOPACK, AC SERVOMOTOR and Accessories
Power Current Capacity* Capacity per )er MCCB SERVOPACKor Fuse kVA A 0.65 1.5 2.1 3.1 4.1 5 8 8 10 12
Recommended
Noise Filter1
Specifications 200VAC 200VAC 200VAC 200VAC class, 5A class, 10A class, 15A class, 15A
Contactor above
30A or
:_ Good
6.0 8.0 11
18 24 32
Poor
F SERIES SRO3BB1 {-IF SR05BB1E]F USAFED4)2[][]I, -03,[_%.',1 USAFED-O5r.-F]I 0.65 1.1 5 5 LF-305 LF-305 3-phase 200 VAC class, 5 A 3-phase 200VAC class, 5A
8 10 12 18 24 _
Good _
3-phase 200 VAC class, 20 A 3-phase 200 VAC class, 30 A 3-phase 200VAC chass, 40A Contactor 35A or above
t/_ Poor
LF-330 LF-340
S SERIES
SR03BBI[_]S Y41 SR03BB1 i-iS SRO5BBI[._]S SR10BBI[-]S SR15BB1[._]S SR30BBI[_]S D SERIES SR05BBI[[]D SR15BB1[_]D SR2OBBI[[]D
5 5 5 8 10 _
_; Good
3-phase 200VAC class, 5A 3-phase 200 VAC class, 5 A 3-phase 200VAC 3-phase 200VAC 3-phase 200VAC 3-phase 200VAC class, 5A class, 15A class, 15A class, 30A Contactor35Aabove or Contactor 30Aor above
Poor 18 LF-330
5 10 12
i Good
class, 5A Contactor 30Aor class, 15A class, 20A Contactor 35Aor above
3-phase 200VAC
USADED-22E[[]2 USADED-37E,[_]2
load. Corp. unit is required, Note:
6.0 8.0
[[] in type
18 24
designation
Poor
is determined
LF-330 I LF-340
by output
resistor
-21 -
Table M SERIES
3.2
Specifications
of AC SERVOMOTORS
Detectors
and Holding
Brakes
I 'qE
AC SERVOMOTOR Receptacle Type [:]E:] MS3102A 18-10P MS3108B 18-10S MS3106B 18-10S MS3057 -10A L-type Plug Straight Plug Cable Clamp Receptacle Type
Type USAMED-03
MS3102A 22-22P
MS3108B 22-22S
MS3106B 22-22S
MS3057 -12A
MS3102A 20-29P
MS3108B 20-29S
MS3106B 20-29S
MS3057 -12A
MS3102A 32-17P
MS3108B 32-17S
MS3106B 32-17S
II
MS3102A 14S-2P
MS3108B 14S-2S
MS3106B 14S-2S
MS3057 -6A
USAFED-09[-][:] USAFED-13C[.-]
MS3102A 18-10S
MS3108B 18-10S
MS3106B 18-10S
MS3057 -10A
MS3102A 20-29P
MS3108B 20-29S
MS3106B 20-29S
MS3057 -12A
MS3108B 22-22S
MS3106B 22-22S
MS3057 -12A
USASEM-02A[[] MS3102A USASEM-O3A[-]t8-10P USASEM-05A[-] USASEM-08A[-] USASEM-15A[-] USASEM-30A[-] MS3102A 20-4P MS3108B 20-4S MS3106B 20-4S MS3057 -12A MS3108B 18-10S MS3106B 18-10S MS3057 -10A MS3102A 20-29P MS3108B 20-29S MS3106B 20-29S MS3057 -12A
MS3102A 20-15P
MS3108B 20-15S
MS3106B 20-15S
MS3057 -12A MS3102A 20-29P MS3108B 20-29S MS3106B 20-29S MS3057 -12A
MS3102A 24-t0P
MS3108B 24-10S
MS3106B 24-10S
MS3057 -16A
Note: When plugs or clamps are required,contact /our YASA_A representative. The following connections are provided: solderedtype (typeMS) and solderlesstype (type JA).
,_
11
-22-
of Holding +
U S A M E D-03[]I]] USAMED-06[][] U S A M E D-09 USAM B [iii:i:] MS3102 20-15P MS3108B 20-15S MS3106B 20-15S MS3057-12A
-F SERIES USAFED-02[iiq U SA F E D-03L..JL....i U S A F E D-05[][[], USAFED-09iiFI USA F E D :13C[] I USA FE D-20C[[i USAFED-30C[] USA F E D-44C[] MS3102A 24-10P MS3108B 24-10S MS3106B .' MS3102A 20-15P MS3108B 2045S MS3106B -MS3102A . 14S-6P VlS3108BA 14S-6S MS3106B
14S-6S
MS'3057-6A
20-15S
MS3057-12A
24-10S
MS3057-16A
S SERIES= U S A S E M -02A Eli USASEM-03A[::] I -U SAS E M-05A[[] U SAS E M -08A[::] USASEM-15A[:::::i U SAS E M -30A[:::::] MS3102A ' " 20-17P MS3108B 20-17S MS3057-12A MS3102A 18-12P MS3108B 18-12S MS3057-10A
-23-
4. CHARACTERISTICS
4.1
The
Where, NR
1
inertia
2 10 -3) of inertia
OVERLOAD CHARACTERISTICS
overload protective circuit built in SERVOPACK overloading time of motor and SERVOPACK from the allowable conduction (See Fig. 4.1.) level is set precisely temperature by the of
JM
JL Kt
(=GD_/4)
(=GD[/4) : Torque
: Motor
: Load
(kg" n{ 10- 4 = lb-in" s 2 x 10- 3) constant of motor (N'm/A=lb'in/A) current current current (A)
overload
detection
IR : Motor rated current (A) a =I_/IR : Acceleration/deceleration constant Is : Acceleration/deceleration (Acceleration/deceleration the motor rated current) : Load current constant
ambient
times
Hot
start
is the
overload
at
the
rated
: Current equivalent to load torque (Load current fl times the motor current) (A) I_%_,,:_1 l
MOTOR ARMATURE CURRENT I _ _NN t' N_: I [_| f
rated
_TIME
I_
T_
_,
MOTOR _ SPEED ]
'
FREQUENCY
I
=
TIME
1000
4. 3 ALLOWABLE
OPERATING
TIME (S) 100
OF OPERATION
The allowable frequency of operation is restricted by the SERVOMOTOR and SERVOPACK, and both the conditions must be considered for satisfactory operation.
SERVOPACK The allowable frequency of operation is restricted by the heat generated in the regenerative resistor in the SERVOPACK, frequency varies and dependingrestricted the on .Allowable of operation by motor the
,0
__ _
2100
300
values,types' currentand acceleration/deceleration If the capacity,motor JL, speed. frequency of operation exceeds 60 times/min when JL=0 before the rated 6O reached, or if it exceeds -cycles/rain
m JL = JM X m, contact your YASKAWA
speed when
is
t_
II
representative.
Fig.
4.1
Allowable of
Overload SERVOPACK
Curve -Allowable frequency SERVOMOTOR The allowable on the load operating below. TIME" When frequency conditions, conditions. See Par. 4.2, for symbols. the at motor standstill repeats (Fig. should be armature of operation restricted by the
4.
of operation varies depending motor running time and the Typical "STARTING examples AND are shown STOPPING
The starting time under a constant Viscous Starting tr=104.7 Stopping tf=104.7 Time X or friction :
torque
operation
and
Time
motor rated current : NR Kt.I_ (JM+JL) (a+fl) (ms) T_Ip_ (tr+t/) In' + I[ts (s)
II
- 24-
tf
Where cycle time IT) satisfying the formula ' ARMATURE 1 CURRENT I
MOTOR
4. 4
SERVOMOTOR
FREQUENCY
of SERVOPACK amplitude is restricted current controlled and by by
I ]
; I _
I_! I_;I _
between is shown
" (JM+JL) "
motor by the f
"
speed
amplitude below :
IN)
and
frequency
formula
MOTOR I SPEED _
N = 1.52 X
TIME
(r/min)
Motor
Ip=ala_
When the motor remains at standstill between cycles of acceleration and deceleration without continuous rated speed running chart of shown (Fig. 4.4). armature current and 4.4. The allowable be calculated as fol-
_,_ f_
'
;!_;_ !'_
L/
N . _]
--t
o
ARMATURE
as
. _;_< __ . _!_:_y _
._ /_:_;_ _t
MOTOR SPEED
NR Kt.IR ('-]M+JL)"
Chert of Speed Motor Fig. 4.6 Timing Armature Current end MOTOR SPEED-REFERENCE INPUT
_ _;_ I (
_- _
_ l [ I
,
-_
"_:_ } ;_ _!:*:_!iI _
TIME
Fig. 4.7 shows motor speed and when speed reference input terminals motor used. speed With can be auxiliary set input to the rating terminals,
curve @ are
I i MOTOR SPEED I Fig. Motor When and standstill the motor (Fig. 4.4 _
' _:,_:;_1
II
I I
TIME
voltage
Timing
Chart
Armature
Current runs
end.
decelerates
cycle
RATED
ADJUSTABLE
WITH
speed is as shown in Fig.4.5. The allowable frequency The operation timing chart of be calculated armature follows current : and of "n" can the motor as Kt'I, (g_+JL) [
SPEED (+)
--6--4 t i
/
0 2I 4 I
I t
6 t INPUT VOLTAGE
RATED SPEED(+)
-10-8-6-4-21 , ' , IV) ', /:/ _ /,[ _-----;_-
-'}
4 6 .... INPUT _ATED
-8
I ,
1'0
1
-
[?'
a
]
J
I
/
/2/
, ,.
n=286.5X
N.
[ -a
VOLTAGE(V) SPEED(-)
(times/rain)
II I___
__
RATED SPEED
' (--)
'
II MOTOR ARMATURE I I Ii i I J
II
4.8
Voltage
CURRENT
I_!_!! , a
I o I _
I_;_I _
_
I
TIME
Fig.
4.7
Speed-Input
Input /
MOTOR SPEED _
' _
_ _TIME
1CN-@
I
Fig. Motor 4.5 Timing Chert of Speed Armature Current and
4.6
4.6.1
MOTORMECHANICAL CHARACTERISTICS
Mechanical Strength
AC SERVOMOTORS can carry up to 300% of the rated -" momentary maximum torque at output shaft:
-25-
,all 4.6.2 Table Allowable 4.1 shows Radial Load and toads Thrust Load to AC 4.6.4 AC Direction of Rotation rotate counterclockwise when motor below. and (CCW) detec
allowable types,
according
II
Series Allowable and Thrust Load Radial Load* Allowable N (Ib) 490 (110) 490 (110) 686 (154) 1470 (330) 1470 (330) 1470 (330) 1764 (397) 1764 (397)'
Motor Type USAMED03 [:][:] 1 06 [:][:] 1 09B[:]2 12BE]2 20B[;]2 30B[:]2 44B[_]2 USAMKD-6OB[:] 2 Table 4.2 F Series and Motor Type USAFED02[:][:]1
Thrust Load Allowable N (Ib) 98 (22) t 98 (22) t 343 (77) 490 (110) 490 (110) 490 (110) 588 (132) 588 (132) (i) Connector SERVOMOTORS (a) Allowable Thrust Load N (Ib) 49( 11)t " M, Motor F receptacle Series Specifications for Standard Radial Load
I
B
Phase Phase Phase Frame V W U ground C A D
490 (110) 490 (110) 686 (154) 147 (331) 1470 (33) 1470 (331) 1470 (331)
98 (22) t 98 (22) t 343 (77) 49 (110) 490 ( 11)t 490 (110) 490 (110)
S Series Table 4.3 S Series Allowable and Thrust Load Allowable Radial Load* N (Ib) 78.4 (18) 245 245 392 490 686 (55) (55) (88) (110) (154) Radial Load (Type USASEM-02A)
Allowable Thrust Load N (Ib) 39.2 (9) 98 98 147 147 196 (22) (22) (33) (33) (44)
Applicable
Phase Phase Phase U V W
Table
4.4
Series
Allowable
Radial
Load
(Types _
USASEM-03A A B C D
to
30A)
and Thrust Load Allowable Radial Load* N (Ib) 686 (154) 686 (154) 1176 (265) 1176 (265) 1176 (265) of the load applying
Allowable Thrust Load N (Ib) 343 (77) 343 (77) 490 (110) 490 (110) 490 (110) (b) Detector receptacle
to the shaft
extension. _ A B Channel Channel A output _ output K L M N P R S T ground -Channel Channel U output -U output
t Do not apply the exceeding load because motor cannot be rotated. 4.6.3 (M, Mechanical F, Specifications
C D E
Channel B output Channel Channel Channel 0V +hVDC Frame -B output Z output _ output
W output W output __
Flange
Accuracy surface
(T.I.R)t _)
Reference /-__
Diagram
F G H J
* Accuracy for motor types USADED-15E, * T.I.R (Total Indicator Reading) t Accuracy for motor types USAMED-44M[_2
-26-
(2)
Brake Connector
Specifications
for
with of D
SERVOMOTOR and fan motor when cooling fan alarm Arrange the main circuit sequence to stop the occurs. (Alarm contact is ON at alarm occurrence). After alarm SERVOMOTOR occurrence, make sure and fan motor within to stop the five minutes
is provided
F GE --
five
minutes. When cooling fan signal SERVOMOTOR for turns ON since delay relay seconds). 4.6.5 Impact to the
starts running, alarm detection three seconds. protection Therefore, is set to add a self-cooling circuit for this time setting (three
13 series
*For
USAFEM-02
and-03,
mounted horizontally and exposed to impulses, the motor can" withstand up to with impact acceleration of 490m/s2(50G) NOTE
S Series (USASEM-02A) .. t Color of Lead Applicable Phase U Phase V PhaseW Color of Lead Black Black Green Brake Frame Ground Applicable
drive end of AC SERVOMOTOR. A precision detector is mounted on Care oppositethe should .. be taken to protect the shaft could damage the detector. IVERTICAL
!
from
impacts
that
(USASEM-03A,
-05A)
(USASEM-08A
to
-30A)
'
--_-
IIIIL_=,ZONTAL
t A B C
4.6.6
Vibration
Fig. L4.11 Impact Resistance I IUJ"V'" Resistance the axial) motor can withstand of 24.5m/s 2 (2.5G)
Brake terminal E t (3) F FLame ground Fan terminal connector (Type USAMKD-60BEI]2) A B C D
E
VERTICAL
. L
Fan
motor
Alarm
Alarm
POSITION CHECKING
FOR VIBRATION
Power Alarm
Supply: Contact:
F Single-phase --
200V,50/60Hz,
__ I
OFF when fan is running normally ON when fan rotation is 1800 +200 r/min or less. When cooling fan starts running, 0.3A 4.6.8 Holding
Fig.
4.13
Vibration
Checking
Contact I
Capacity: Fig.
Resistance load is ll0V max, ON for 3 seconds. 4.10. Fan Terminal Connection
Brake to Par. 6.9.3, "Application Holding Magnetic Brake" with brake is used when the
-27-
5. CONFIGURATION
5. 1 CONNECTION DIAGRAM
POWER SUPPLY +10% -15 200 TO 230V 50160 Hz
1MCCB
Prevent
f
S --
NOISE _
FILTER
line). lines
(SERVO
INDICATION) _
POWER
ON
5 Ry
MAGNETIC
CONTACTOR
--L_ 1MC
__
_ _FOR =_'_1-_1SUP
1 i
g
Be .... to fit a surge suppressing device POWER ON/OFF to both the magnetic contactor and the relay.
_
:
1Me a I
1 MC: ,t
1MC| I
/ '_s /
"_ SERVOPACK
U _
ALARM
TYPE
|
J
v_
_
[CACR-SR
cIRcuIT
I _
\7._ _M_besecurely grounded ,/_.
JTERMINALS
4
I I i
2Ch
mPim
Pt
YASKAWA DRAWING No, DP8409123 OR No, DE8400093 1CN Be sure to perform terminal trearment of shielded cable *RESISTOR UNIT
,_
1 Ry Use relays highly reliable in contact (YASKAWAestact B relays or equivalent, or arrange in twocontact parallel onnecc tion for low level). 3 Ry 4 Ry I, 5 Ry O 2 R._.yy
5mA
Connect the output relay surge absorbing diode with the correct (If connection is wrong, output transistor is damaged).
polarity ..,.]
only
type
CACR-SR60BB
(externally
(I
Fig. 5. 1 Exampleof Connection Diagramof SERVOPACK witha SERVOMOTOR and Peripherals -28-
the
TERMINALS specifications
CONNECTOR
TERMINAL
(1CN)
FOR
INPUT/OUTPUT
5.4.] Specifications
SIGNALS
of Applicable Receptacles Receptacles Signals for
5.1 External
Terminals
for
SERVOPACK Table 5.2 Specifications SERVOPACK of Applicable Input/Output Applicable Manufacturer Honda Tsushin Co., Ltd.
Name Main-circuit AC input Motor connection Control input Ground Regenerative resistor power Three-phase 50/60 Hz.
(_) (!)
Case
@ O _ Q O (_ D (_) (_
Connects terminal Q to motor terminal A, _) to B and _ to C. Single-phase 50/60Hz 200 to 230 VAC +10oz -15/,
MR-50Lt
* The connectors for input/output signals used ere type MR-50RMA made by Honda Tsushin Co. t Attached to SERVOPACK prior to shipment.
FG.
External connection grounded. required Must be securely not normally except SR60BB.
1CN
Layout
and
Connection
The terminal layout of the signal connectors (1CN) is The external connection and
D Table 1 0 V 2 0 V 3 0 V 4 PHA 5 CLT+ 6 CLT5.3 Connector 7 +24V IN Ext Power Input 8 tCN 9
are Layout 10
shown
in
Fig.
5.4
on
page
32.
Auxiliary Input
4- 1 2V Output
PCO 19
*PCO 20
PHC 21
OL 25 --
N-OT 26
SG 30
-12V 31
SG 32
PG Output IPGoutput TG ON ! P Drive Overload Reverse Servo Ready I Signal Signal(Phase Ip_aseclt Signal Output Input DetectingProhibit C) Signat Input Output 33 PAO 34 *PAO 35 PBO 36 *PBO 37 PHB 38 ALM+ 39 ALM40 OL 4Detecting
41 P-OT
42
43
44 P-CL
12 V Output
4-12 V Output
PG Output 1: Opencollector
Signals
External Sequence
Signals
Analog
Signals
--31
--
SERVOPACK TORQUE MONITOR (RATED TORQUE AT 3V) SPEED MONITOR 4V/1000 r/min (M, F, D SERIES) 2V/1000 r/min (S SERIES) TRQ-M VTG-M
IN-A SPEED REFERENCE INPUT (RATED SPEED AT 6V) AUX. SPEED REFERENCE INPUT (RATED SPEED AT 2 TO _+10V) SG-A IN-B SG-B VR6 CURRENT LIMIT AT REVERSE ._ RUNNING (- 100%/+ 3.0V # INPUT) CURRENT LIMIT AT FORWARD RUNNING (+ t 00%/-- 3.OV INPUT) _ _._ 4 = N-CL SG-NCL P-CL SG-PCL SGOV + 24VIN SERVO ON AT 1RyON PROPORTIONAL CONTROL AT 2Ry ON (PI DRIVE ATOFF) REVERSE RUNNING PROHIBIT AT N-LS OFF FORWARD RUNNING PROHIBITAT P-LS OFF 3Ry ON AT CURRENT N-LS _ N-OT I 21V 1Ry _--5 S-ON -2Ry _ P-CON 4.8k/1 | "=_ =1 .__j I '.=_ i I ._ / PROPORTIONAL = CONTROL (P DRIVE) REVERSE " RUNNING PROHIBIT FORWARD RUNNING PROHIBIT SERVO ON _._
rc_
P-OT CLT+
s
IN I -5
_'"_ LT
r ....
c,,-IP !+
TGON+ TGON-_ [_ _ _ _-6 "38 '39 I 1 I |
_ _
1 CURRENT LIMIT
4Ry ON AT
4Ry
TGON
5Ry OFF AT DETECTION SERVO ALARM 6RyONAT 6Ry S-RDY+ S-ROYALM+ 0fVl _ ALM
IP IT_-22 I
;Fi
_
/
P I
SERVO ALARM I
P 27 I
SERVO READY
MCO TR,P
8Ry OFF AT OL ALARM
MCCB OL+
42
I
I
_L. /
MCCB
,RyONAT
PG OUTPUT LINE DRIVER
I 'RYMOOR+ P'
PAO PHASE{ B C ( [ *PAO * PBO i PBO PCO *PCO i
'
I [
_ LTI
O"-L
PHB / PHC
40 m_
FG
: Twisted pair wires 1" Made by Texas Instruments Inc. Notes: 1. Each capacity of output circuit is 30VDC, 100mA or less. 2. The user must provide the 24V power supply.
+12V
SG
-12V
I Ii
--"
Fig. 5.4
Input/output
1CN
-32 -
Input
Signals of Connector
Inputting this signal makes the SERVOPACK , speedreference input (+6V) Base block and dynamic brake are cleard. drive
Proporitonal reference Reverse prohibit Forward prohibit 24V Speed command running
Proportional control command to prevent drifting when the motor is left motionless without command input, while the mamc_rcmt _skept energ i zed.
running
In the case of linear to the run direction. External 24VDC input At +6.0V, power (20mA
limit switch signal according closed contact. 41. Use an. external
4- rated
Aux. command input Current limit reference at reverse running Current limit reference at forward running Table 5.5
For +2.0to +10.0V, 4- rated speed is obtained. potentiometer _ is used. At adjustment, +3.0V +10%/100% torque +9 V max.
-3.0V
+10%/100% of
torque
-9 V max. I CN
Output
Signals
Connector
Connector I CN No. 1CN-40(25) 1CN-43(42) lCN-38(39) Overload Function detection MCCB trip Servo alarm Motor run detection Motor overload detection or heat sink overheat detection. Description Turns OFF when overload is detected. (See Par. 4.1 "OVERLOAE: CHARACTERISTICS") Turns ON when MCCB trips. Turns OFF when fault is detected. For details, refer to Table 6.2, "Fault Detecting Functions." Turns ON when motor speed exceeds fol lowing speed. M Series: Approx 20r/min D Series: Approx 25r/rain F Series: Approx 25 r/min ' S Seried: Approx 4Or/min or when output torque N-CL P-CL N-CL or P-CL. reaches the level set by used: TurnsON -N-CLorP-CLnotused: Turns ON When output torque reaches the level set by potentiometer _ . Turns ON when main power supply ON, and no servo alarm. +12V +5% max output current ' 30 mA Used with speed command or current input. (Rated torque at-+3.0V) -+10%, +gVmax, IoadlmAmax lmAmax
TGON
lCN-22(23)
D CLT S-RDY Jr-12 V 0V --12V TRQ-M VTG-M PAO PAO PBO ,I, PBO D _1, PCO PCO PHA PHB PHC ]CN-5(6) 1CN-28(27) 1CN-16, 48
1CN-17,32,49 1CN-31, 46 1CN-9 1CN-10 1CN-33 1CN-34 1CN-35 1CN-36 lCN-20 lCN-19 1CN-4(1) 1CN-37(2) 1CN-21(3)
+12V output power supply Torque monitor Speed monitor Phase Positioning Signal Output 1 A
Phade B
Pulse after
frequency
division
is output
line driver
(TI MC3487).
(TI SN75115).
Open collector output, pulseafter frequency Max operating voltage: 30VDC. Max mputcurrent: 40mA. -33-
division.
41
5.5 CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER(PG) CONNECTION
5.5.1 Specifications Cables (Table 5.6) of Applicable Receptacles and
"qm
of Applicable
Receptacles
and
Cables Connection
Manufacturer
Soldered
Type
Cable_
MR_20F _
MRP-20F01
MR-20L_
DP8409123 DE8400093
or
Tsushin applicable
Co.,
= The If shown
cables required,
listed
in Table 5.7.
5.7
are of
available standard
on length
request. as
purchase
in units
in Table
SERVOPACK
prior
to
Specifications 1. When Type I applicable Caulking Type used, allowable SERVOPACK and meters. 2. The cable available
NOTE
cables wiring motor listed in Table 5.7 are distance between is a maximum of 20
applied for 50m wiring distance is on order (YASKAWA drawing No. is 20m or longer, authorized contact ven-
your YASKAWA representative. 3. Cables must be assembled by dor with appropriate tooling.
The terminal layout for the SERVOPACK connectors (2CN) for connecting the optical encoder is shown in Table 5.8, and the connection method of (_
Blue-
2CN and the optical encoder, in Figs. 5.5 and Layout and Connection 5.5.2 SERVOPACK Connector (2CN) Terminal Table 5.8 Connector 2CN Layout of SERVOPACK
--1 I 2 I 3 I 4 I 5 I 6 I
5.6. i_
l ' 2 3
4 5 Twisted pair wires 6 7 8 . ' ,
White
WhiteRedPurpleWhite BlueBrown YellowBrown Green* Brown Twisted pair wires
PGOV
!
PGOV ! PGOV110PG5V11PG5V12PG5V1,
_ _E
DIR
20
10
Purple-
Brown YASKAWA Standard Specifications Standard length 5m, Terminal ends are not (with connectors). 10m, 20m provided
-34-
OPTICAL ENCODER
t _', i p BLUE WHITE/BLUE I YELLOW WHITE/YELLOW I GREEN WHITE/GREEN I ORANGE I WHITE/ORANGE t PURPLE I WHITE/PURPLE GREY WHITE/GREY I RED BLACK I
0.2 mm 2 PA 2-_6 PB
SERVOPACK PHASE A
PHASE B
PC "*PC PU PV _'PV PW ,e PW
PHASE C
0.5 mm 2 OV /
IREEN/YELLOW I"/ CABLE DP8409123 0.2 mm2 : Twistedpair wires. ',_--_ .., * Made by Texas Instruments Inc.
_-20
Note: Connector specifications of optical encoders are as follows. Connector--Type MS3102A20-29P (Receptacle) Accessory (not attached)Type MS3108B20-29S (Angle plug) Type MS3057-12A (Cable clamp)
Fig. 5.5
OPTICAL ENCODER
Soldered
Type Connector 2CN Connection and 1CN Output Processing (when using Connection Cable DP8409123)
_-_ 0.2 mm2 __ PA PA I P I l I i I I I P I I PC *PC PU | _ I __-1o _* " _v PV LINEDRIVER OUTPUT MC3487 t PB *PB SERVOPACK PHASE A ,_
PHASE B
PHASE C
t ._j N_
PW
__
I t t t I P
1
I
_.4 '
_-_
PGOV PG5V
I I I I P I I t i I
-2
_ OV
_-s
_ CABLE DE8400093
)'
,._,., _ : Twisted pair wires. t Made by Texas Instruments Inc. Connector--Type MS3102A20-29P (Receptacle) Accessory specifications (Angle Note: Connector (not attached)- of Type MS3108B20-29S as follows. plug) optical encoder are Type MS305712A (Cable clamp)
Fig.
5.6
Caulking
Type Connector 2CN Connection and 1CN Output (when using Connection Cable DE8400093)
Processing
-35-
dl 6. OPERATION
When the power
NOTE
is turned ON, a servo alarm signal 200 to continues 300 ms) for approximately to initialize the 1 second SERVOPACK. (normally
11
6.1
Arrange the sequence so that the power is simultaneously supplied to the main circuit (R, S, T) and the control circuit (r,t), or supplied to the control circuit first, then the main circuit (Figs. 6.1 and 6.2)
Hold
the
main-circuit
power
ON
signal
for
Since SERVOPACK is of a capacitor input in-rush current flows when the main-circuit is turned ON ON and OFF time: frequently, to turned (recharging 0.5 limit resistor may be degraded and Occur. - When the motor starts, when OFF. the turn
I[ 1Mc_'MC'-'-- T ! ,, _,
1 " _' ,
_21_MC
]2SUP
U_
the 1.0s). in-rush the current If power a malfunction may ON the stops. the "Servo speed Do refnot ,_m
;-_
I
I
II
_
(_
6_
_ "f_ q_!
SERVOPACK
__SM_
,,_
I I 2MC' ------_,
,_ _:_ #]
it OFF ON or
motor
ON"
1 MC
1MCCB
O--_1
Up
( o.6oH ,
,I
,,
_S
S .OPA
_
_----_JSM)
_
24voc_i--_% "
]SUP, 1 D: 2SUP: Flywheel
+_
.Ji!
Surge diode
!_1-38
Arrange the sequence so that ously cut (including momentary 6.1), or the power to the main the of in control the power Figs. 6.1 circuit (Fig. 6.2). ON sequence. and 6.2 are as
the power is simultanepower faiture) (Fig. circuit is cut first, then The order is the for reverse connections
Precautions follows.
Make sequence to assure that the main-circuit will be cut off by a servo alarm signal. If ing When quence the the control kind power shown circuit of is in servo supplied Fig. is turned alarm to 6.1, OFF, also the the goes power normal the LED OFF. ON/OFF signal circuit
power
indicat-
-36-
6. 2 SPEED REFERENCE
6.2.1 Speed Reference Circuit From the @: +12V, the external to 1CN-@ SERVOPACK speed value. The scribed (1) For SERVOPACK 1CN-@, @, built-in control power @, @: 0V, 1CN-@, @: (1CN-_, -lZV) or
power, the speed reference and @ or to 1CN-(_ and built-in control power is in for the range of +2%
voltage is given (_. When the used, the motor of the speed set is de-
giving
speed reference
voltage
_ Parenthesesare for auxiliary input. Note : When a carbon resistor is used, great residual resistance remains, so the speedcontrol range becomesabout 500 : ] Fig. 6.4 Method for Giving Speed Reference (for relatively Rough Speed Setting as compared with Fig. 6.3) Reference Circuit a stop, do not open the speed referVoltage
(inching)
speed
setting
Stop
commanding (1CN:(_ t
__ r_l ----'" C
ence circuit
1-12 (1-14)*
to 0V.
a
ioTYPE EQUIVALEN R 25 HP-10BTt
(+w OROVER)
I
1.8ka t_l "
._
_?_ ,_:_ SERVOPACK
._ _'12 Jc'_ (I'14)*
'
= 2
_ 1000
/
LC l_V "I"OR EQUWALENT J'- TYPE 25HP'10B
RUN
l (a) When Wire Wound
1.8k_ RUN
L
25HP-]0B type : Multiple-rotation type, wire-wound variable
_'
(a)
D
When
Wire-Wound,
Type, is used
, w OR OVER STOP (OFF) r_EC3_o o_1 12V LTYPE RV30YN 1_3 T OR EQUIVALENT_ 2 l 2k_ Y_
,
12v
_ rt132 (FOR Low sPEED) TYPE RV3OYN TYPE RV3OYN _J_ OR EQRuVv30YI OR EQUIVALENTL_ TYPEEQRU_30_IUIvA ALENNJ O--_ 13 _ ill (FOR HIGH I
SERVOPACK
/
(b)
When
....' !
Carbon Variable Resistor is used
T
l
_ it-13(1-15) * -12(1-14)*
Fig. 6.5 Method for Giving _ Parenthesesare for auxiliary input. 6.2.3 Handling of Speed Reference
Stop Input
Reed
is used,
The unused terminals, out of the speed nals ICN-@, @ and the auxiliary input (_, @ must be short-circuited. 6.2.4 Auxiliary input voltage Input circuit other procedures Circuit (+2 to
(b)
When
Carbon
Variable
Resistor
is used
Auxiliary reference
"
application
Parentheses
are
for
auxiliary
input.
Adjustment
Fig. 6.3 Method for Givrng Speed Reference Voltage (for Accurate Speed Setting)
(@ is 0V), input the voltage to speed, and adjust the potentithe rated speed is achieved. in YASKAWA POSITIONPACK
normally used as speed reference input. In this case, positioning system drive, adjusted auxiliary with input terminals are positioning loop gain is the potentiometer IIN-BI. POSITIONPACK For adjustment, instruction be manuals. sure to refer to
-37-
CURRENT N-CL]
LIMIT
REFERENCE
Current can be limited from the outside as well as within SERVOPACK. The external current limit is used for the following "cases: To protect the motor from overloading current an abnormal load lock occurs in the load. To change the current ternal sequence. limit value according when
300
/
--9
to the ex-
The current can be limited by multi-stage setting by the use of relays (Fig. 6.6). The same effect can be obtained by giving voltage signals making analog change.
CONTINUOUS _ _'1 _]_ f _ VOLTAGECONSTANTf! SUPPLY +; _ I i_ SERVOPACK _1-44 '_ (a) Current 300 Limit at Forward Side 0 [APPROX% --3 --6 SETVOLTAGE (V)
L__.J
Relay: Low levelrelay Fig. 6.6 Multi-stage Switching of Current Value at Forward Side 6.3.1 Method of Giving External Current
2o0
Limit Reference Forward current and reverse current can be controlled independently. The forward current can be controlled by giving a reverse voltage (0 to --9.0 V) between SERVOPACK terminals 1CN-@ and @; the reverse current can be controlled by a forward voltage (0 to +9.0V) between terminals 1CN-@ and @. The relation between the rated current of the motor and applicable motor. The power supply must use an internal resistance less than 2k12. The input resistance at SERVOPACKside must be greater than 5kl2. When external current is not restricted, contacts between terminals 1CN-@ and @ and between 1CN-and O and @ are opened.
100
q
9
Note : If setting value exceedsmax output current value of SERVOPACK, max outputcurrentvalue becomesaturationvalue. s Fig. 6.7 Set Voltage and Current Limit Values
Limit
Values of 0 to Fig. 6.7. +-9.0V 6.3.3 Current Limit when Motor is Locked
When locking a motor by applying a current limit, determine a current limit value less than 70% of the rated current of the motor. If the load condition requires a current limit exceeding the rated motor current, refer to Par. 6.5. (3), "Overload detection level" and make sure to unlock the motor before reaching the trip level. Note that when the speed reference voltage is less than tens or so millivolts (affected by setting of GAIN of VR4, VR6 and SW3), the motor lock current sometimes pulsates. If this is not desirable, the current pulsation can be removed by increasing the speed reference voltage.
-38-
OF INPUT/OUTPUT
NOTE When the overtravel prevention circuit is not used, connect 1CN-_ and @ to the OV terminal of the external 24V power supply. (3) Servo ON [S-ON]
For proportional drive, overtravel, servoON, servo alarm output, current limit detection output and TG ON output, each input/output circuit is a non-contact circuit insulated with optical couplers. The external circuit, therefore, must be constructed with the specified voltage and current, 6.4.1 Input Circuit
.This circuit is used to turn ON the main-circuit powerdrive circuit of the SERVOPACK. When the signal of the circuit is not input (Servo OFF status),the motor cannot be driven. If this signal is applied during motor running, the motor will coast to a stop. Never stop the motor using Servo OFF except in emergency during motor running. NOTE Before turning power ON or OFF, turn "Servo-ON" switch to avoid troubles 6.4.2 from transient Output Circuit current. There are six TG ON, Servo alarm. These transistors. Applied output alarm, signals: Current limit detection, Servo ready, MCCB trip and OL are non-contact, employing current specifications are: <30V
There are four types of protective functions to prevent continued rotation of the motor in forward, and reverse direction: Servo ON, proportional drive, and overtravel prevention (forward and reverse). Construct the input circuit using 24V power supply (Fig. 6.8). D Typical circuits are shown in Fig. 5.3.
NOTE. The user must 24VDC+lV, provide the 24V power supply: 5mA/circuit)
20mA
or more
(approx
+24V
PHOTOCOUPLER
__1 t 0v
-.m----
r-_ _
5rnA
Conduction CurrentNOTE (Ip) iOOma __ The output circuit requires a separate ply. It is recommended to use the power supply used for the input circuit Circuits
of Input/Output
OUTPUT
COUPLER
LIMIT
OUTPUT
D
RELAY _
I SERVOPACK
_ Ip TRANSISTOR
OPTICAL
1 "
CURRENT
SERvoALARM
If a position loop is not set for positioning, and after completion of positioning, has been left for quite a long time, the positioned point may have moved due to preamplifier drift. To avoid this, switch the speed amplifier from PI drive to P drive after the positioning and the loop gain in the control system drops and the drift decreases. With several percent of friction load, the motor stops completely. (2) Forward N-OT] and reverse running prohibit [P-T,
(1)
Proportional
Drive
Reference
[P-CON]
24
- -
TG ON
.SERVO
READY .MCCBTRLP .OLALARM
/ T FLY-WHEEL IODE D
IVrnax<'.
_-_-_-_
Fig.
6.9
Output
Circuit
These circuits are used to stop the forward running of the motor (counterclockwise when viewed from the drive end of the motor) and reverse running. motor. Therefore, the motor will coast to a stop. If braking is required, set the speed reference voltage to 0V or set the dynamic braking circuit from OFF to ON. D This circuit stops output current to drive the
-39-
6.4.3 Optical Encoder (PG) Output Circuit [PAO, * PAO, PBO, *PBO, PCO, * PCO] Phases tical A, B, and C (original output. The output point) signals for the op-
(3) Output
,din
1 _
]
eneoder,
PG are
PHASE B q PHASE c
r-
Use these signals as positioning signals. signal specifications are as follows : (1) Signal form pulse B) pulse (phase C) with 90 pulse difference
s PHASE c --
'
Note : Phase C (original point pulse) is synchronized with phase A. Fig. 6.11 Output Phase
A and point
(4) (2) Two output Fig.6.10 Output types circuit of output and receiver circuits circuit are provided : line driver The into the
resolution frequency of the PG (N=I to 64) or 2/N in the SERVOPACK. can be further (N=2 to 64) The phase divided by using is
and shows
(SN74LS07N). output.
relation
Jm
the same as in (3), above. Set the pulse frequency dividing ratio according to Table 6.l. The dividing ratio must be able to divide the pulses of the optical coder of 5000 encoder. pulses/rev, For example, 1/3, i/6, in an or I/7 optical cannot enbe
used. Fig. 6.12 shows the optical encoder waveform under the dividing pulse frequency.
output
PHASE
(ORIGINAL POINT) PHASE A PHASEC_ PHASE B J_J_J_J_J_J_J_ FREQUENCY DIVIDING PULSE RATIO:1/1
..NE 0R,VER
0V
PHASE A
PHASEB _ PHASE A_
(SUPPLIED
FREQUENCY
SERVOPACK
REOE,V.E.C,ROU'T BY USER)
PHASE B
RATIO: 113
Fig.
6.10
Line
Driver
Output
Circuit
-40-
6.4.3
Optical
Er_coder
(PG) Output
Circuit Table
[PAO, 6.1
_PAO,
PBO
_PBO,
PCO,
,I,PCO]
(Conrd) Ratio Output PG=1500 1500 750 500 375 300 250 150 125 100 75 60 50 " -30 25 1500 750. 1000 600 500 -300 250 200 -150 125 1O0 120 75 60 50 ' PG=looo 1000 500 -250 200 125 100 --50 40 -25 -20 -" 1000 500 -400 -250 200 --.125 100 50 2500 1250 1000 625 500 .
Setting
of PG Pulse
Frequency
Dividing
SW2 1 0 0 0 0 0 0 Oi I Oi 0 0 2 0 0 3 0 0 0 0 4 5 6 0 0 0 0 0 0 0 0 0 0 0 00. 0 0 0 7 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Spare PG Pulse Frequency Dividing Ratio (l/N) 1/1. 1/2 1/3 1/4 1/5 1/6 1/8 1/10 1/12 1/15 1/16 1/20 1/24 1/25 1/30 1/40 1/48 1/50 1/60 2/2 2/4 2/3 2/5 2/6 2/8 2/10 2/12 2/1 5 2,/16 2/20 2/24 2/30 2/25 2/40 2/48 2/50 2/60 PG=6000 6000 3000 2000 1500 1200 1000 750 600 500 400 375 300 250 240 200 150 125 120 100 6000 3000 4000 2400 2000 1500 1200 1000 800 750 600 500 400 480 300 250 240 200
Pulse Frequency Dividing (pulses/rev) PG=5000 5000 2500 -1250 1000 -625 500 ..... ..... 250 .......... 200 125 ....... 100 ....... 5000 2500 ........ 2000 ..... 1250 1000 ..... ..... "--500 --400 250 .... 200 -80 4000 2000 1600 1000 800 PG=4000 4000 2000 -1000 800 " 500 400 lpG=2500 2500 1250 -625 500 -250
0 0 0 0 0 0 0 0 "0 0 0 .0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
. ....
0 0 I 0
0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0
, .
0 0
0 0 0 0
. .
0 0
-- 80 50 40 -- .
0 0
-41 -
6.5
PROTECTIVE
SERVOPACK provides functions and motor from malfunctions. (1) Dynamic brake function SERVOPACK gency stop. Alarm
(3) Servo alarm output [ALM+, ALM-] If any trouble detection circuits in Table 6.2 functions, the power drive circuit in the SERVOPACK goes OFF, 7-segments LED indicate the operation condition and a servo alarm signal is output. circuit operation
for
emer-
(4) Protective
(fault
indicates some trouble. Check the the trouble, and restart the operation.
is opened.
Before checking the cause, turn OFF the power to the main circuit to avoid danger. Apply the sequence so that the alarm signal turns OFF only the main circuit (@, @, (2)), as shown in Figs. 6.1 and 6.2. This allows rapid reaction in the event of a malfunction. If the power to the control circuit (@, @) is simultaneously turned OFF, this also turns OFF the LED in the SERVOPACK indicating the cause of the alarm signal. CAUTION When an alarm signal cuts off only the main circuit, set the speed reference to 0V before supplying power to the main circuit to resume the operation. (5) Resetting servo To reset the servo pushbutton switch) the SERVOPACK. alarm alarm, on the I
Normally, this dynamic brake is not applied while the motor stops, but can operate by switching built-in switch (SW 4-5) from OFF to ON. Use this function only in emergency. Don't use the dynamic brake to stop the motor normally, (2) Troubledetecting functions Table 6.2 Fault Detecting Functions Trouble Detection Overcurrent flow in the main circuit (at 1.2 times min. inst max current.) Circuit protecter tripped Regenerative circuit not activated in SERVOPACK. Excessively high DC voltage main circuit (approx 420V.) Excessively input, large speed in the
Overcurrent Circuit Protector Trip Regeneration Trouble Overvoltage Overspeed Voltage Drop Overload Heat Sink Overheat A/D Error
(blue board in
reference
If [_] or [_] is ON (e.g., SERVOPACK is overloaded or the heat sink is overheated), the reset alarm is not immediate and occurs a few minutes later.
Low DC voltage in the main circuit after power ON. (1 50V or less.) Overload condition SERVOPACK. Overheat of heat sink (approx 85C min.) Element error on the printed board of SERVOPACK. Any one phase power supply. Wrong wiring signal line. open of motor circuit of motor and
in three-phase circuit or PG
-42 -
6.6
Indications Conditions
(Green)
SERVOPACK more) circuit voltage (200 VDC or main is proper, SERVOPACK control circuit voltage (+5V)is proper. Speed reference (approx more) is input. 60 mV or
The load moment of inertia JL converted to 6.7.2 allowable Inertia (JL) Load the motor shaft must be within five times the inertia of the applicable AC SERVOMOTOR. If the allowable inertia is exceeded, an overvoltage alarm may be given during deceleration. If this occurs, take the following actions : Reduce the current limit. Slow down the deceleration curve.
Decrease the maximum speed. For details, contact your YASKAWA 6.7.3 High Voltage voltage Line is 400/440V,
representative.
Table Indication
6.4 LED
Trouble
Indications Detection
(7-segment,
If the supply
the voltage
must
be
_-_
supplied and cut through the primary side of the transformer. Single-phase 100V class power supply should not be used. tion. 6. 8 Connection should be made so that the power is
Overcurrent Base current not interrupted Circuit protector tripped Regeneration Overvoltage trouble When a protection circuit in SERVOPACK power drive functions, circuit is base-blocked, This blockstatus is released by "RESET" operation,
PRECAUTIONS
OF OPERATION
uses is a power
transistor
in
the
main
Overspeeddrop Voltage Overload Heat sink overheat A/D error Open phase Overrun prevention
of _ or _ (switching noise) may sometimes circuit. When wiring or grounding switched, are method. pending on the these transistors The SERVOPACK incorporates a CPU.
[-_ [_]
quires wiring and provision to prevent noise interference. To reduce switching noise as much as possible, the recommended method of wiring and grounding is shown in Fig. 6.13. (1) Grounding method (Fig. 6.13.)
I 6, 7
PRECAUTIONS
Motor the motor is at the dv machine side and grounded frame grounding When through the frame, Cf _ current flows from the PWM power through the stress capacitance of the motor. To prevent this effect of current, motor ground terminal FG (motor frame) should be connected to terminal @ of SERVOPACK (Terminal of SERVOPACK should be directly grounded.) SERVOPACK SG 0V Noise may remain in the input signal line, so make sure to ground SG 0V. When motor wiring is contained in metal conduits, the conduits and boxes must be grounded. The above grounding uses one-point grounding.
6.7.1 Overhanging
Loads
The motor is rotated by the load; it is impossible to apply brake (regenerative brake) against this rotation and achieve continuous running. Example: Driving a motor counterweight) to lower objects (with no
Since SERVOPACK has the regenerative brake capability of short time (corresponding to the motor stopping time), for application to a overhanging load, contact your YASKAWA representative.
-43
...........
I E I 2LF
...............
...........................................
TYPE
-A
iBi
IC i
:,
It
CACR-SR W l
IP
I,.-..i
'
[
I
RELAY
1
3.5ram2 , LARGER " I
L
P
3.5mm2 OR LARGER
2mm2 LARGER OR i FRAME FRAME 3.5 ORLARGER mm2 / I LRAD 0F FRAME r_ / I i 3.5 OR mr_ LARGER 7_ \ /i ...................................................................... ...... :.............. _i ................................. _'_:Fat, _ ME-. _ .......... ]_ : Twistedpair wires _ ONEPOINT GROUNDING Notes ]. Use wires of 3.5m_]or larger for grounding to the case (preferably flat-woven copper wire). Fig. 6.13 Grounding Method 2. Connectine filtersobserving precautions shownin (2), "Noisefilter installation" l the as
_ PANEL GROUNDING
(2) Noisefilter installation When noise filters are installed to prevent noise The 6.5. filters. from recThe
line, the block type must be used. noise filters are shown in Table to peripherals also NOTE needs noise
supply
(a)
Do
not
bun-
I
_ BOX I_ ___ BOX II I_ I I i _
SERVOPACK Applicable Recommended Noise Filter 6.17. Table 6.5 Recommended Noise Filter TypeCACRNoise Filter Type Specifications Three-phase SRO3BB SR07BB _ LF-305 200VACclass, A 5 Three-phase LF-310 200VAC class, 10A LF-315 Three-phase 200 VAC class, 15 A
I
CORRECT
BOX_ LF-320 LF-330 _ LF-340 Three-phase 200 VAC class, 20 A 200 VAC class, 30 A Three-phase Three-phase 200VAC class,40A Three-phase 200 VAC class, 50 A WRONG Fig. 6.14 CORRECT _ /" SEPARATE CIRCUITS
-44 -
(b)
Do not bundle the ground put line or other signal same duct.
lead lines
6.8.2
Power
Line
Protection is operated To prevent contact through the commercial the power line accidents error, or to protect the
error,
system must
"
._ BOX WRONG Fig. (c) Connect the ground lead BOX CORRECT 6.15 singly to the box or the
rush current. Table 6.6 Power Supply Capacity MCCB or Fuse Capacity Power Capacity * per SERVOPACK 0.65 kVA 1.1kVA and
ground panel.
8A 10 A 18A 24 A 32 A
GROUND
AND SHORT
I / I //
BOX
WRONG Fig.
BOX 6.16'
CORRECT
*Equipment
6.9
the filter, ground connect to the the base 6.9.1
APPLICATION
Connection for Reverse Motor requires reverse Running that motor the normal running and
(d)
If the
control
panel
contains equipment
_C_ONTROLPANEL
circuit across 2CN-1 and 2CN-7 of connector 2CN for the normal reverse reference for forward running, short tion is not required. dividing output from For forward SERVOPACK reference, forwards frequency B-phase.
(OV OF
PG)
__
BOX *Equipment
i_ Fig. 6.17
the PC.
of motor
and PG connec-
6.18
-45 -
6.9.2 When
Speed an
and
Torque
instrument
is connected
POWER UPPLY S
POWERSUPPLy
ON
torque, make the connection using a DC ammeter which load at fullscale voltage.
shown +_ 1 mA
SERVOPACKMAIN
OFF
[ .1
ON
SERVOON OFF
HOLDINGRAKE OFF B
ON
ON 1
TO 10SEC
iilCN.11
SPEED REFERENCE
0V
_!_
soov
MOTOR RUNNI
/
.
200ms OR MORE
I\
[-to_[
Fig.
Torque
'
t0+t
Torque Speed
monitor monitor
output output
(ICN-9): (1CN-10):
+-3.0v torque
+--10%/100%
Fig.
6.20
Brake
Timing
i_
ON"
and
the
holding
brake
power
can be operated
simultaneously.
swing)
fullscale
voltage.
Use ammeter of Toyo Instrument Example : When an 1000r/min) measured (2000r/min) +-SV (both M up Series is used, to in
It takes a maximum of 180ms from when the brake power supply is ON till when mechanical contact is released. It takes a maximum of 100ms when the brake power supply is OFF. More than 200ms when when
motor (rated speed: and speeds are to be the both maximum directions, speed use
*3
must
be considered
from
the brake power supply speed reference is input. motor stopping as follows : time
is ON till and is
swing)
DO voltmeter.
.4
to shows calculated
t =0"1047 6.9.3 Application Brake with brake Follow is the held by the brake below JL(_GD_./4) operation. procedures of SERVOMOTORS with Holding J.M(=GD_/4) Magnetic AC
(mS)
moment
of
inertia
SERVOMOTORS
(kg "rrf=lb'in's210-3) : Load moment of inretia (kg" rrf=Ib'in's2 10-3) NM : Motor speed (r/min) Tp : Motor speed reduction torque (N.m) TL : Load torque (N-m) .5 Turn OFF the brake power supply when the motor stops. For normal operation, t0+t, is approximately 1 to 2 seconds. Turn OFF "servo ON" 0.2 to 1.0 second after OFF. the brake power supply is turned
when it stops for use. (1) This brake turn OFF the stops. ning may Should the contact be defective
st
brake
motor
operation
timing
of
-46 -
7. INSTALLATION
AND
WIRING
7.1 RECEIVING This motor has been put through factory prior to shipment. After check, and see the following. Its nameplate It has sustained ratings meet your
If the AC SERVOMOTOR is subject to excessive water or oil droplets, protect the motor with a cover. The motor can withstand a small amount of splashed water or oil. (3) Environmental Ambient Storage Humidity: (4) Load conditions 0(2 to +40(2 -20(2 to +60C
no damage
during
should be hand-rotated freely. with holding brake do not rotate. and screws are not loose. or lost, immediand nameplate
to 80% RH
(non-condensing)
True alignment of motor and driven machine is essential to prevent vibration, reduced bearing and coupling life, or shaft and bearing failures. Use flexible couplings for direct drives. The alignment should be made in accordance with Fig. 7.2.
7.2
INSTALLATION
SE VO OZO
can be installed either horizontally mounting out anticorrosive paint on shaft extension and surface with thinner before connecting the motor
ANTICORROSIVE PAINT (_) Measure the gap between points a straight of the edge coupling. end coupling reading halves should
to the driven
machine.
at four equidistant not exceed O.03mrn. (_)Align (_Measure points the shafts. the around gap the
Each
et
Fig.
386-5
7.2 Alignment
of Coupling
Fig. 7.1 (2) Location Use the Indoors Free from motor "
Anticorrosive
(5) Allowable
bearing
Load
under
the
following
conditions.
Avoid shock to the motor shaft when mounting gear box, coupling or pulley Don't exceed thrust and radial loads specified in Table 4.1 to 4.3.
gases
or liquids
Ambient Accessible
inspection
-47 -
7.2.2
SERVOPACK
(3) Mounting Direction Mount the unit vertically the wall using the mounton ing holes (4) on the base plate, with main terminals at
type CACR-SR is mounted on the the bottom. VERTICAL (Fig. 7.5) HORIZONTAL MOUNTING HEAT SINK MOUNTING TOP
,all
(i) Installation
The SERVOPACK
base
as standard.
(2) Location
around
SERVOPACK
at
55C
HEAT SINK-'-T'-_I_/WALL
heat
source:
1CN/ TERMINAL
L-
I1_
I II
.._
_WALL
r-" I
I HEAT .._SINK
around
SERVOPACK
below Good
Fig. 7.5 Mounting
Poor
of
Poor
SERVOPACK
Mount If
shock are
absorbing
material.
corrosive locations
7.3
7.3.1
WIRING
Rated Current and Cable Size
Avoid
where
it may cause extensive Contactors add relays Unfavorable Select water, atmospheric
Tables rent,
7.1 and 7.2 show external terminals, and cable sizes of the power
a location with minimum exposure to oil, hot air, high humidity, excessive dust particles,
EXHAUSTED AIR External y _ ,_ ' PANEL /" f " i On Line Terminal
or metallic
SERVOPACK respectively. Select the type and size of cables to meet ambient conditions and current capacity. The cable size is calculated so that a bundle of three cables can carry the rated current at an ambient temperature of 40C. Table 7.3 lists the type of cables.
Table CACRT_ R, S, T SR SR SR SR SR SR SR SR SR 038B 0EBB 07BB 10BB A (Effective Current)44BB 60BB Rated Current 15B8 20BB 3OBB 2 5 6 8 10 12 18 24 32 7.1 Rated Current
I
26.0 33.0 45
55"C OR BELOW_
U,V,W r, t 1CN
3.0
4.2
5.8
7.6
11.7 O.5A
18.8
Control I/0 Signal Off Line Control Connector PG Signal Connector Ground
100 mA DC max 9
2CN __J=L._
100mA
max (500mA
DC for power
line only)
Fig.
7.3
Typical
Layout
for
Panel
External Terminal
Cable Size mm 2 SR 10BS 20BB 30BB 1S;BB SR SR HIV 3.5 or more 3.5 or more HIV 5.5 ormore
Main Circuit Power Input On Line Motor Connection Control PowerInput Control I/0 Off 586-25 SHIELD Line Signal Connector PG Signal Connector Ground Radiation
R,S, T U,V,W
HIV1.25
or more
HIV 1.25 or more shielded cable Core must be 0.2 mm 2 or more Tin-plated soft-copper twisted cable Finished cable dimension: 16 alia or less for 1CN,
Fig.
7.4
Protection
against
Heat
-48-
Table Type of Lead Vinyl Cable (PVC) 600 V Vinyl Cable (IV)
for
Radio
Frequency with
interfere
reception,
connect
Notes: 1. For main circuits, use cablesof 600V or more. 2. Where cables are bundled or run through a duct (unplasticized polyvinyl chloride conduit or metalic conduit), select the larger cable size than listed considering the current drop rate of the cables. 3. Where the ambient (panel inside) temperature is high (40_; to 60(2), use heat-resistant cables. 7.3.2 Wiring SERVOPACK and signal D Precautions is a device level of several for speed milli-volts control of or less. 3000:1,
(5) The signal line uses cables whose core fine (0.2 to 0.3m_]). Avoid using excessive may 7.3.3 damage Power these LQSS " cables.
of SERVOPACK is shown in
Table SERVOPACK Type CACR, SR03BB SR05BB SR07BB SR10BB SR15BB as possi101_ or SR20BB
7.4 Power
Loss st Rated Output Power Loss Regenerative W Resistance 10 Control W Circuit Total W 90 110 140 20 60 40 150 160 200
The following precautions should be taken for wiring. (1) For signal lines and PG feedback lines, use twisted cables or multi-core shielded twisted-pair cables (YASKAWA Drawing No. DP8409123 or DE8400093). Cable lines length and a is a maximum maximum of of 20m 3m for for reference input lines.
PC- feedback
possible length.
(2) For ground line, cable should be as heavy ble to provide class 3 ground (ground resistance
machine less). Use central are insulated,grounding ground (3) To prevent malfunction lowing precautions: Place the noise filter,
motor the
100 80 120
take I/O
Note: The regenerative resistor causespower losswhen the motor is decelerated, but is negligible if the motor is not started and stopped frequently.
ence as near
as possible
circuit solenoid
tance to 30cm or more; do not duct the in a bundle. and signal Run or power line When the same power is used
them
in the the
same disas
holding
SERVOPACK,
for an electric welder or electrical discharge machine or when a high-frequency noise source is present in the vicinity, use filters in the power and input circuits. The SERVOPACK uses electrical noise may be Never leave ing open. the termination a switching present in of the amplifier, the signal analog input and line. wir-
-49 -
8.
DIMENSIONS
in mm (inches) : M SERIES
_(22831
1810709) _ Jl 104721 610236) M10 P1 25 6 _O236) _ I
Drawing
]4_055. _0(e_4)
L_
/_Y[tl
I/IU "VUL.._J
of
Shaft
Extension
Detail
of
Shaft
Extension
_[_
-.__
MOTOR CONNECTOR
Types-o3E]"_-]I. _-"_l
Type-09m.:i2
LG
" LC
LR
u J
(Straight
Shaft)
2-M8
SCREW
(FORHANGBOLTi
L_
D_
DIA.
Detail
of
Shaft
Extension
575
(22.6)
Flange AC U SA U SA SERVOMOTOR Type M E D-03[]..][[-]1 a E D-O6[_JE[I1 E D-O9B[I:]2 2BE]2* E D-20BE_]2 E D-3OB[:_J2 E D-44BL]2 * Dwg NO. 1 1 1 2 2 2 2 3 L 263 (,o3s4) (l=_O) 320 389 344 401 486 (19._3_) 688 (z_oa_) 775 LL 205 (a OTl> oo.sls) 262 331 265 3_2 407 (I_.OZ4) 578 (zz._s_) 605 LM 150 (s_oo (a.Lso) 207 276 211 268 353 (13 89a} 524 (zest) -_ I 110 (4zal) __ (79) (zlzo) (.) z.28358 (55) 2.1es LR LT KB1 )'27 (so) _z44) 184 253 172 229 314 (12 3e2) 476 (,a._) KB2 177 (_969) (9_Is) 234 303 237 _94 379 (14 921z 550 (=_._) 123 (4_3) __ /49 (sa_) 139 (a_z_) 200 (1 ul_) 114.(4.53 -oozs _o ) __ (4.2_i) 109 (sToa) 145 (4. 110 -8o_s 331 -_,_) IE KL1 KL2 LA LB LC
Surface LE LG LH LZ
(s.lla) 130236
(0
6)
(0472 I 12
(6496} 165
(0354 ) 9
180 (7 o8_)
3.2 (o _g6)
18 (o1o9)
230 (9 o55)
13.5 (o 531)
USAMKD-6OB["]2
AC
SERVOMOTOR Type
Shaft S See
Extension I Q I. (40)
Approx Mass kg 8.5 13 {zs_) (4s_) (63_) (_o.a) (_aa) ('_) MS3102A22 - 22 P ( I b) Receptacle MS 3102 - 10
Optical Receptacle
Connector i Straight
Drawing 22 _&_=
B 1_ MS
- 10 S
- lOS
_[$3108B22 - 22 S
MS3106B22S - 22
MS3057A - 12
-29P
110 (_.ss_)
IVIS3102A32 - 17 P
vIS3108B32 - 17 S
MS3106B32 - 17 S
MS3057 - 20 A
I
Power Supply: ContacL: Single-phase 200/200/220v, Alarm OFF when 5O/6O/60Hz fan is running normally ON when fan rotation is 1800+-200 r/Tin or less. fan starts rurmLqg, ON for When ccol_ 3seconds. ConLact Capacit.y: Resistance load is ll0V max, 0.3A
1.
[]]]
in
type
designation
is
determined
by
output
pulses
(P_R)
of
or are
v--v-
SHADING COIL _
clamp
FAN_TO_ CONNECTION
connection
USAMKD-60B[_]2).
-06iii:]i:_:]lOE Shaft)
L
(Taper
Shaft)
LR
18I, 709}
58{22831 12_04?2)
LG
LE "
'25_1
40(15751
CONNECTOR
Types USAMED-12BEII]2OE to
ENCODER
Jl. K82
KB1
[_
--
4-LZ DIAL_
Extension -06,'BDIOE
-30B{III]2OE
L
Drawing 2
I 53
LL
LM
,R
LR
L 320
LL 262
LR
LT
KBt 128
KB2 234
IE
KL1
KL2
LA
LB
LC Ftange 130
LE Surface 6
LG
LH
LZ
S Q Shaft Extension (o.z_) 22.,=., {o._ ._._ 35 "$' ([.378% _=_) (L_o=) 40 _L575_ 76 (z.ggz)
E E "
1 l 2 2 2
(Zl283)
58
(21165)
55
__
(4.449)
113
(5,709)
145
(4331
110 -:_
-- _[_)
(5 1]8)
(0 236)
(0-472)
12
(61496)
165
(0'3_)
92 (3.62z) 143 _s3o) _ 200 114.3 -_= (?._74) (4.S-_) 180 3.2 18 (7.os?) (e._z6_ (o7o9) 230 13.5 (g.oss) (o._at)
2OBE_2OE 30B[_J20 E
343 289 (t3 504) (t 1.318) 407 353 79 (16.e2_.)(taaga) (3._o) 488 434 (10_13) (_7.esT)
315 (12.402) 54 164 379 123 _z._t6) (_A57) (l_.9zt) {_.._ 460 (_Slm)
AC
Type USAMED03DDIOE" 06[_E]10 09B[-]2OE 12BF_]2OE 2OB[_]2OE 30B[ZI2OE "Not provided N ores: 1. Eli in type E "
Wattage W 18 18
kFl-m'
Magnetic Brake Inertia sm_ F_ r=._= (Ib.in.s') N-m(Ib.in) (?.SZXl0" (7.97x10") 5,88 8.83 (52.1) (78.1)
for
Mote C and
Brake
Optical Receptacle
Encoder L-typePlug
Connector StreightPlug
Types CabfeClarnp
Straight Plug CableClamp MS B20 MS B24 3106 - ISS 3106 - 10S MS 3057 - 12A MS 3057
0.8SX]0-' 0.9Xl0-'
z3
- 15S
MS A20
3102 - 29P
MS B20
3108 - 295
MS B20-
3106 295
MS
3057
- 12A
31
625x10"
(553x10"
35.3
eyebott, is determined by output 2. Vibration: 3. 4. 5. 15/Zm or below. attached for is 90 VDC. (4.4kW), receptacle contact connection. your
designation A B
Plug and clamp ere not Power supply for brake For type USAMED-44B_2OB representative. Y ASI< AWA
(3)
Shaft
Extension
of
Straight
Shaft
AC SERVOMOTOR Type USAMEOWithout Brake With Brake LR LE S Shaft Q Extension QK T U W
w_th Keyway
Both SERVOMOTORS without brake and with vrake have the same dimensions except for. shaft extension. Sjaft extensions are shown below:
LR LE... W _
03D,_2K
06[]_2K 09B_]2K 12B[__}2 K 20BD2K 30B;_]2K
03[_JL_2K _r" E
06_[_J2KE 09B[Z)2K E 58 6 (2.za3) (0Z362 (0.748
19 o -om_
__,) 22 -0%,=
-_. 5
6
3
3.5
5
6
)(oj59_)
44BE]2K
_
44B[I_2KB
F-_
110
(0"1Z6)
42 -_o,,
]10
90
(0'315)
12
Io._?z) (o._9_>
(_.3_)(as_3) (z._9_)_.3_z) (
"Only for USAMED-03(II]]C_I]2 '-i to -09BL..._2 Note: Dimensionsof the shaft extension key and keyway are based on JIS (Japanese Industrial Standard) B 1301 "Sunk Keys end Their Corresponding Keyways (Normal keys)." Shaft extension key is furnished
-51 -
F SERIES
14 37 (1.457)
Types
USAFED-02[III][III]I,
-03Ill]LIlt L
(Taper
Shaft) _{
1055u_aa3151 _ I 166102301 4
Drawing
I " L, ' L LT
__
-4-LZ DIA.
__l
(0.157_<_ 0
KB2
1 '
-03[-]i-31 Extension
Types
Drawing
__
4/ OPTICAL ENCODER I , I / Types -05C[[il, Detail of Shaft -09=J_..1 Extension Type -13CC]2 of Shaft Extension
KB2
Detail
Types
USAFED-20CEI]2 3
to -44C[II]2 L
LL LT LM
(Straight
LR
Shaft)
Drawing
LG
"_
LC
<
,
LL
"1-
_
Detail of Shaft Extension KL2 87 <3_zs) LA 100 (_.937) LB 80 -_o_ (3.150-_,,,) Flange Surface LC LE 390a ( , _s co 7) LG z_7 co _) LH 120 (_.72_) LZ 6.6 <o.=_)
KB1
KB2
IE --
KL1 76 <z.992)
CS.OZ4) C4.449) 37 199 159 (_SaS) (6.2B0) c_.*sT) 263 205 150 (lO.3s4> (aoTl) C5.9_)
(s.197) (3_403) 132 ]36 178 (S.3S4) (7._I) 127 (so) 253 172 (_._2a) 177 C_._eg)
_
2: 3 3 3
.........
389 331 344 , 265 (_3.s43)I (*o43a) 276 211 (&soT) (401,',.7_7 ...... " (12677) (IO551) (486) :1#134 407 353
_09
92 139 (5 472)
_4s
200 (7"814)
,10 _Oo,o
114.3 (4.S -oozs ) o
_30
180 (7087)
p_
3._ (o.126)
b_
_s
_o
13.5 (o53])
AC SERVOMOTOR Type USAFEO 02[:II_]E_II 03[::::][:::11 * o5[Z::IE:ZI_ 09I::::]EZiI 136[:::::]2 20C[_]2 "
Owg No. I 1 2: 2: 2: 3 33
Approx Mass k1 (Ib) (_s) <6z) 8.5 (,,,) (13) (20) (_) (29) (94o_)
Motor
Optical L-type
Encoder Plug
Receptacle L-type Plug Straight Plug ]IS 3102 A 14 S MS 3108 B 14 S MS 3106 B 14 S - 2P -2S - 2S MS -10P A 18 3102 MS 3102 A 22 -22P MS -10S B 18 3108 MS 3108 B 22 -22S MS -10S B 18 3106 MS 3106 B 22 -22S
Straight
<z_) zz
MS310ZAZ0 - 29 P
MS3108B20 - 29 S
MS3106B20 - 29 S
MS3057 - 12 A All
440[[[[]2300E]2
(76 2992
"Not provided with an eyeball. Notes: 1. [_] in type designation is determined by output Standard: A (6000 P/R) Optional: B (5000 P/R), D(4000 P/R) 2. Vibration: 15_m or below. 3. Plug and clamp ere not attached for reseptacte
pulses (P/R)
of optical
encoder
as follows:
connection.
-52-
USAFED-02ilIII]EIIilOE, 1
,
I LT
,,,o,,,
-LM
Y M6 e]_u
,o,s,,
_l
L_
m o
t
OPTICAL ENCOOEBL CONNECTOR KS2 MOTOR CONNECTOR
_ _
DIA.
"-
D
Types Drawing USAFED-05[:::I][::::]IOE, -13CE]2OE 2
L LL HOLDING BRAKE -LR 58(2.2831 28(1.102) 14IO551) 6 40236) 103 IO406) '6 (0 236] 25(0 9841 MIO P125 i _ 5 (0 1971 LR 6102361
Shaft)
, ,0236,
LT
BUILT-IN
LM ,
_ ,
LE
-_
LC
18(0.7091_i _
12(0472)_ i _ TAPER1110
__
Detail
CONNECTOR
to -44C_.....,2OE ;_
BUILT-INHOLDINGBRAKE
LE
OPnCA[ ENCOOER
CONNECTOR _ MOTOR CONNECTOR Detail of Shaft Extension
-53-
I
ACTypeSERVOMOTORusAFED. DWgNo.L LL LM LR LT KB1 I KB2 I IE O_r"Tr'],_0 E 236 199 159 178 LL..__L_ 1 (9.291) (7.8_5) (5.290) 37 40 24 7.008) 286 249 209 (L451) (1.575)(0.945)(s.9751 ;'28 03_]L]10E 1 m.290) (9.8o5)(8.228) 05l_i[-il OE * "-09DDIOE* 13CD2OE * 20C[_-,,'20E* 30C_2OE 44CFq20 E -2 2 2 3 3 3 320 (12.598) 262 207 (10.3151 (8.1501 366 308 253 58 55 (14.4091 u2.,25) (9.9611(2.2_) m65) 436 378 323 (17.165) (14.8821 (12.717) 422 343 289 a6.6_41 aa._) (u.3n) 128 234 (5.039) ! (9213) 280 -118 !(1L0241 (4.6461350 (13.780) 315 u24.2) 113 (4.445)
92
KL]
KL2
LA
LB 80 -o%_
Flange Surface LG LC LE
LH
LZ
76 87 100 90 4 7 120 6.6 See (2.992) (3.4951 (3.937) (3.150 -00.00,s) (_._3) (0.1571 (0.2761 (4.n4) (0.2501
130 6 12 165 9 See Drawing (9.n81 (0.236) (0A72) (6.496) (0.354) 22 __,,, (0.866__,)
2. 40 (L575)
486 407 353 79 54 164 379 143 (m331 (16.024)(,9.898) (3.no) (z.,z61:(64971 (149ml 123 (3._3o) 567 (19213). (17.087) 488 434 460 (4.8431 (Z9.322) (18.110
(7.087)
180
76 (9.999)
AC SERVOMOTOR Dwg Approx Manetic Brake Connector Types for Motor and Brake Optical Encoder Connector Types Mass Wattage inertia sat_Fr_0,"_0rqL_ Type USAMED- No. k,q (Ib) W k9 m' (Ib.in.s') N.m (Ib.in) Receptacle L-typePlug StraightPlug Cable Clamp Receptacle L-type Plug Straight PlugCableClamp 02[_L-]IOE 03JIll]leE 05r_]Dl O E" 09D_J] OE * 13C[-]20E* 20CQ2OE 30CD2OE 44CD2OE * 1 1 2 2 2 3 3 3
(ll.0) 5
8 12 18 18
MS
3108
MS 3102 A20-29P
MS 3108 B20-29S
MS 3106 B20-29S
MS 3057 - 12A
(8L6137 31 49 (108)
625xl0"
(55.3x10")
MS 3108 B24-10S
MS 3106 B24-10S
MS 3057 - 16 A
"Not provided with an eyebolt. Notes: 1. [i] in type designation is determined by output tical encoder as follows: Standard: A (6000 P/R) Optional: B (5000 P/R), D (4000 P/R)
pulses (P/R)
of op-
2. Vibration: 15/zm or below. 3. Plug and clamp are not attached for 4. Power supply for brake is 90 VDC.
receptacle
connection.
(3) I Both
Shaft with
Extension Keyway
of
Straight
with same
brake
dimensions
extensions
LE
"4 mm 6mm
(0.157in.) (0.236in.)
for for
USAFED-O2[-jF-_]2 USAFED-OSr_-)D2
(o9_)
(o99_)
19 -oo,3
{o.lm
(o.m)
(o.1_7)
58
(0.748 -o_,)
40
25
(0.866 _o_,)
79 (9,283}
3.2 (0.?.36)
76 {1.575)
60 (0.984)
10
- 54 -
S SERIES
(Straight
Shaft)
Types
USASEM-03A[]]2,
L
-05A[]]2
(Straight
Shaft)
39.5
95(37401
'3
6512.559)
_._
8103151 DIA
ENCODER LEAD AWG22x3 {RED,BLACK.GREEN(YELLOW)] AWG26 x 4 IOTHERS) Approx. Mass: 1.4kg. 13.091 b)
195
KB1 .
AC
SERVOMOTOR USASEM03A[]]2 05A[[]2 Notes: 1. []] in type designation is determined Standard: E (]500 P/R) Optional: C (2500 P/R), F (1000 2. Vibration: ]5/zm or below. 3. Plug and clamp are not attached for by output P/R) r_eptacle connection. pulses (P/R) of optical L 179 (7047) 201 (7913) LL 149 (5866) 171 (6.732) LM 13.0 14.331) 132 (5,197) LT 39 11535) LR 30 U.lSt) KB] 78 13.071) 1OO (3.937) KL1 138 (s.433) LA 90 (3.s,3) LB
Flang
Surface LC 80
(3'150)
and LE
Shaft LG
Type
S 14 -el I
_O0OOO4)
3 8 10"118) 10315)
encader as follows:
Type D
USASEM-08A[]]I
Types
I. . LT _i _
USASEM-15A[[]I,
L LL LM I
-30A[]]l
(Taper
Shaft)
(Taper Shaft)
i _ LR _ -L 000 6 004 A 004 DIA Le L_.J_L__L ,c _ j , 'A'A "
!
" I
,
ACTypeSERVOMOTORusASEM_ L LL LM 08AD1 15A[]]l 30AL_.Jl Notes: l. []] in type designation is determined Standard: C (2500 P/R) LT LR D Type USASEMAC SERVOMOTOR 03A [i]] 2 05A[[]2 08A[[]l I5A[]]I 30A[:[:,I
(13.2)
KB1 KB2-
Detail
of Shaft
4-LZ
Surface LEILG LH LZ LW Q QK QA
Shaft X S
Extension V P
258 (7.874)(5866) (2008) 58 (4.52_)(7.087)(4.m6) (3.4ZS)]30 200 149 51 115 180 102 87 (S.tm) 11&157} II0-_ }17.fi259.5203.5 (2883) 167 240 109 145 (4.3314,3)
t20 (O.nS)(0.394)(6.fez) 9 (4.7Z4) 3 18 28 25 12 10 130 12 I 165 (o354) (o7o9) (l.loz) (09_) (o472) (03_)
i,o1166
(12.5) ((&217)&012) 56 ( (6575) (9449) (4891) 96 (S.709) (SAt8) 6 (0.478),! (&496) (0748) (0.228-_0_) 366 296 240 (z.2o5) 70 206 276 134 (3780) 200 114 3-_._ 180 (o.236) 18 1230 13.5 20 36 32 14 12.5 22 24 M12 6.6-_ 34_) (n_) 19._8 (8.;s_ re.no) ao._o) (sz7e 17._) (4.5-_,f_l_(7.087) 1o.7o9)1 1o.531) (9.oos) (o787} o.417)126o)o350(0492)0866)o.945) 1 ( ( ( P1.25 (0.260-_) by output pulses (P/R) of optical encader as follows:
Optional: E 11500 P/R). F (1000 P/R) 2. Vibration: 15/zm or below. 3. Plug and clamp are not attached for r_eptacle connection. 4. Dimensions of the keyway are based on. JIS (Japanese Industrial Standard) B1301 "Sunk keys and Their Corresponding keyweys (close keys)." Mass kg (Ib) Receptacle L-type Plug Approx Motor Connector 2.6 (s.7_) MS 3102 A 18 MS 3108 B 18 3.3 -10P -10S (7.28) a MS 3102 A 20 -4P MS 3108 B 20 -4S MS 3106 B 20 -4S MS 305%12A
Receptacle
Straight Connector
MS 3102 A 20 -29P
MS 3108 B 20 -29S
MS 3106 B 20 -29S
]] (_.3) _4 152.9)
-55-
AC SERVOMOTOR
TYPE USASEML 228 (8.976) LL 198 (7.795) LM 137 (5,394) Type MCNB10 - 05
Magnetic Brake
Inertia kgorn'X]0 -' (Iboin,s_
Static N-m
Friction
T0rquc
:Approx
MaSS I kg (Ib) 2.2 (4.9)
02AEIIi2OB
03A[III]2OB 05A[IIIi2OB . Notes: 1. Orawout gland For 2. D in optical Standard: Optional: details, type construction method.
241 (9.488)
263 (lO,354)
211 (8.307)
233 (9.173)
150 (5.906)
172 (6.772)
MCNBI0
MCNB15
- 05
- 0l
0.98 (8,674)
1.76 (15,623)
3.5 (7.7)
4.1 (9.0)
Type connector
or are
Therfore, request
dimensions
connection. brake
is determined
pulses
5. Power
supply
encoder
F (1000
PTR)
Types
USASEM-08A[IIIIilOB, L
-15AEIII]IOB, LL LM
(Taper
305 (12.008)
247 (9,724)
146 (5.748)
377.5 319.5 197.5 (14.862) (12.579) (7.776) 432 (17.008) 362 (14.252) 24o (9.449)
0.875
is determined
by
output
pulses
(P/R)
3. Plug
and
clamp of
are keyway
not
for on
receptacle JIS
optical
(Japanese Corresponding
B 1301
"Sunk
Their
15/zm
below.
-56-
(3) Shaft Extension of Straight Shaft SERVOMOTOR proper is the same dimensions See Par. 8.3 (i). Details of shaft extension
in S series
except
for
dimension
L.
12 3(0.i_ o_
NON-ROTATION 6(0.24) _
8 (0"24)-_A-_ l
_o_
(4)
Shaft
Extension
of Straight
Shaft
with
Keyway as standard dimensions. SWEVOMOTOR See Par. 8.3 in (1). S series Details of but dimensions shaft extension L of type are shown
proper A[II]2K[II]
. o2
o_
(L) 39 2 (9.409} 1
3(0.118:
3(0.1l$
_ _"
'
_, (Without brake) (With brake)
_ _ _
0.197)
(0197)
Type USASEM-15A[-]2K Type USASEM-15A[_-]2KB (L) 65.5 3 (14.390)t (L) 305.5, (12.028)
-- *7_
113_1
6j0.236)
-57 -
(5)
Shaft
Extension
of Straight
Shaft
with
Shaft
Seal
(6)
SERVOMOTOR proper is the same dimensions dard SERVOMOTOR in S series. See Par. 8.3 Details of shaft extension are shown below:
as stan(1).
Shaft Extension of Straight Shaft with Keyway and Shaft Seal proper is the same dimensions Par. 8.3 below: as (1). stan-
'1
SERVOMOTOR
Without Types
OIL SEAL
--_ _
OIL SEAL
4o!
"_"
310118)
(7)
Shaft
Extension
of
Taper
Shaft
with
Shaft
Sea]
SERVOMOTOR proper is the same dimensions as standard SERVOMOTOR in S series. See Par. 8.3 (1). Details of shaft extension are shown below.
I
Without brake Type USASEM-30Ar-]IS 28
(0.55)
12(47):
H/NON-ROTA_.ION
(0.49) $5
SB16307(NON')
_ t _ _TAPER1/10
;02
-58-
8.4 D
SERVOMOTOR:
D SERIES
(i) Standard
MOTOR SIDE (BUILT-IN HOLDING BRAKE) _ j_ 0.04 ^1 ('USADED-_ (O.OO1 _ L05E 'IOE J 6) . 0.06 I^i('USADED"_ ['L [(O'OO24)1 _IL15E, 22E, 37EJ
LR_
LT ENCODER SIDE LM KB2 KB__I
,C
I
L: flQI (0.0016) 4 DIA"[____
_-T-, _
-_
LR
LT KB1 KB2 IE
D LA LA1
237 182 137 55 45 82 158 _ (9.33) (7.17) (5.39) (2.17)(1.77) (3.23)(6.22) 257 202 157 55 45 82 178 (1o.1) (7.95) (6.18) (2.17) (1.77) (3.23) (7.Ol) _
143 92 164 130 200 _ (0.63)(3.62) (6.46) (5.12) (7.87) 143 92 164 130 200 _ (5.63) (3.62) (6.46) (5.12) (7.87)
114.3-o.o25 180 3.2 12 230 13.5 _ (4,5-_.0_95) (7.09) (0.13) (0.47) (9.06) (0.53) 1r4.3-_.o_ 180 3.2 12 230 13.5 (4.5-oooo98) (7.o9) (oJ3) (0.47) (9.06) (o.53) _
272 217 170 55 47 100 1931142 162 92 164 130 235 250 200___ 220 4 16 270 13.5 MS (lO.71'.(8.54) (a.a9) (2.17) (1.8s) (3.94)(7.60) (5.59) (6.38) (3.62) (6.46):(5.12) (9.25) (9.84) (7 874-o.oo_)(8.66) (o.16) (o.a3) (lO.a) (0.53) (11.30:(9.13) (7.28) (2.17)(1.85) (3.94) (8.19) (539) 287 .232 185 55 47 1001208 142 282 235 65 47 100 258 142 347 (13.66 (11.1) (9.25) (2.56) (1.85)"(3.94)',10.1e(5.59) with an eyeball. by output pulses (P_R)
(6.38)(3.62) (6.46) (5.12)(9.25) (9.84)(7 874-0mm_) (8.66) (0.IS) (0.53) (10.6) (0.53) (1,102 4-0_) (1.97) 162 92 164:130 235 250 200__ 220 4 16 270 13.5 M8 28-! .... 50 162 92 164 130 235 250 200-_ 220 4 16 270 13.5 M8 [(1.2598-_) 32 _.o_6 (a.3a) 60 (6.38)(3.62) (6.46) (5.12) (9.25) (9.84)(7,874_0_]) (8.66) (0.16) (0.63) (10.6) (0.53)
Notes I. [[] in type designation is determined "of optical encoder as follows: Standard: 3 (2048 PTR) Optional: 2 (8192 P/R) Receptacle Specifications
2. Plug and clamp are not attached for receptacle connection. 3. Dimensions avove are applied for servomotor with incremental encoder, with absolute encoder or W/we holding brake as well,
_C SERVOMOTOF TypeUSAMED05E[]2[]i] }0E[]2[][15E[]2[][]] 22ED2[] ]] " MS 3102 A24 - 10P Receptacle MS 3102 A20 - 15P
Connector Types for Motor and Brake L-type Plug MS 3108 B20 - 15P MS 3108 B24 - 10S Straight lug P MS 3106 B20 - 15S MS 3106 B24 - 10S Cable Clamp MS 3057 - 12A MS 3057 - 16A MS3102 A20 - 29P Receptacle
Optical
Encoder Connector
L-type Plug
Straight lug P
MS 3057 - 12A
37E[__2[:]i_
(2)
Shaft
Extention
of
Straight
with
w 05E[_]2K'_] 10E[]2KQ 22 o,3 (0.8661_(_) (0.861_-5,) 50 45 6 3.5 3.5 (L97)a.n) (o34>(o.14) (o14> (L.97) (1.77) (ou) (0J4) (o.23o>
22 -_o,_50 45 6 3.5 6 (1.1024 _ o_,) (1.97) 0.77) (o.28) (o.[6) (o31) D _ _ TypeUSAMEDi5E[]2KD 22E[]2K[] 37ED2K[] S DIA 28_o,_ 28_o,, (1.1024 _o_,) 32 _o,_ (1.2598_o_) O .T U 50 QK 45 7 4 "W 8 50 45 7 4 8 ([._)([._7) (o00)(o._6) (00]) 60 50 8 5 1.0 (z.00) (L0_) (03]) (0.Z0) (030)
Note: (Japanese Dimensions Industrial shaft extensionB key and keyway areand Their of the based on JIS Standard)" 1301 "Sunk keys Corresponding Keyways (Normal keys)" Shaft extension key is furnished.
-59-
8.
100,. .O ES O, CT.O. T
i &- e_ :D
_o
2CN 1CN _ _
=
_"
I
e_
,_
180 MAX" (7.09) APPROX MASS: I
LJ
-.
APPROX MASS:
11 kg (25 Ib)
and -SR30BB
_.. P_
/ _ _ [ I ' f( I_
WIND DIRECTION
,
2CN
i
I i
' "-
'
I _8J
=: _
o q
"
,, _ _ _ ', _ " _ _ '_ _ _. _o _ [I 2CN EXTERNAL TERMINAL BLOCK(6P)I 1CN _ _ _ ;_ ! . i
i
', i
=
lCN o @
'
_1I_ ;,I I
_q _ _ o _,99_[ 4
_
II
L
!" _'R _ T Y3Y4_ UVW,, ,, , '_
'e
_"""
=,
N BLOCK (9P)27.5 (1.08i 180(7.09) EXTERNAL m_l_r-_ ,1_ 190MAX (7.48) TERMINAL _1_ %o . , 209(8.228) 285MAX(11.22) t J
O_1 I / ___L_ _
/I
___--_
41
APPROX MASS: 13 kg (28.7 Ib) I
- 60 -
8.6 Variable Resistor EQUIPMENT PERIPHERAL for Speed Setting (1) Type25HP-10B PANEL TYPE5HP __L 2 5_11_*-4_
_" o _ ) : _ I l _. _
Max. length: 500ram (19.69 in) each 60C Lead ambient temperature: Lead color Drilling Plan
2.5(0.10) DIAHOLE_. 7 5(0 hOLE OIA 30) x'_
Brake Side
Red
White Black
DIODE BRIDGE ] RED. .
BLUE
TSUBGE
/2k..
Aos,o 2'
WHITE _ -i ":'10 0"1309
SOFF.ESSO.
....... i
i BLACK i
10 D
200(7.874) 220(8.661) I {_
(o_-9_ _
4)_
(y.457) 37
__
For 200 VAC
PROTECTIVE
,
a
co
YELLOW
, RED
,E
AC SIDE | I
SUPPRESSOR
_,oE
(BRAKE SIDE)
OCS,DE
"
/ EXTERNAL TERMINAL(6P) WITH ACRYLIC COVER
-- -_
/' "F--_
/T)
WHITE
__
BLACK
(3) Power Supply for Brake (a) Standard Input (Type Input (Type Type
Note: TheACor DCside.Circuitcan be turned ON and OFF on either the brake power Normally,switchingonthe ACside issafer. Ifswitchedon the DCside, surge voltagemay damage the brake coil. To avoid this, place a surge suppressornear the brake coil.
100 VAC, 90 VDC, Max. 1.0 ADC B9400876-2) Type: LPDE-1H01 200 VAC, 90 VDC, Max. 1.0 ADC B9400876-1) Type: LPSE-2H01.
50(19_9) 30(1.181)
LEAD
-61
,rim (b) Conventional Type Input 100 VAC, output 90 VDC, (Type OPR109F) Input 200 VAC, output 90 VDC, (Type OPR109A)
7412.91 3)
--4011.5751
10.787)
SWITCH
SWITCH
lOOV,,_
p;?ov
.
ELEMENT
B.,,KE
Notes: 1. Donot short-circuit between output terminal Nos. 3 and 4. 2. The open/close value of the contact used for Nos. 5 and 6 is 5 to 10 times the rated current of the brake used. Direct current open/close contacts must be used. 3. Insert a fuse in the input side to protect the power unit.
11
Fuse Type: MF60 NR2 (Made by TOYO FUSE CO., LTD.) Circuit Diagram
iNPUT _BRAKE
I
-62-
9. TEST RUN
Before test deficiency. run, check the following. Correct any
When a Servo in the is ON signal input (contact and isON)I the power circuit SERVOPACK operates
the motor 9.2.2 is ready to run. Operation is possible only while Servo ON sig'nal is
BEFORE
TEST
RUN ru.n is
Before test run, check the following. If the test performed after long storage, see Par. 11, " INSPECTION AND MAINTENANCE." Connection connection to machines or devices, wiring, and grounding are correct.
Increase the speed reference voltage 0V, then the motor will rotate at tional to the reference voltage. When tates
fuse. "
the reference voltage is positive, the motor roforward (counterclockwise when viewed from shaft) (Fig. 9.1)
Bolts and nuts are not loose, For motors with damaged and oil shaft seals, the seals is properly lubricated. are not
9.1.2 SERVOPACK Setting switches are correctly set to satisfy the specifications for the applicable SERVOMOTOR optical encoder. Connection terminals The
Occurs.
and to
and wiring leads are firml'y connected or inserted into the connectors. supply is turned OFF if servo alarm
power
Voltage D
supplied
to SERVOPACK
(If a voltage voltage line other than 200V is used, the power should be dropped to 200V through a transformer.) The speed reference should be 0V ....
9.2
TEST
RUN PROCEDURES of Operation loads should If it not be applied start to with the the-
during items
should
is necessary-to
vibration noise
the driven system has been to the for emergency ready motor, at driven machine connected confirmstopthat any time. (1) Power ON After checking items powerPar. 9.1, turn ON correctpower in supply. When the on sequence is the according to Par. 6.1, the power is turned ON by pressing the POWER pushbutton for approximately 1 second. When the power is correctly [_ and _ supplied, . the .following
Excessivetemperature rise If any abnormality is found, take corrective actions according to Par. 12. At a test operation, the load and machine: may not fit well at first and result in overload.
green _
s light:
-63-
10. ADJUSTMENT
10. 1 SETTINGS
The follows (1) M SERVOPACK : series Table 10.1 Standard Adjustment and Setting Specifications SERVOPACK Rated Current* Speed Setting Adjustment PG Frequency Dividing Ratio
dl I
Applicable
SERVOMOTOR
Optical Encoder pulses/rev 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000
SRO3BBIAM SRO3BB1 BM SRO3BB 1 DM SRO7BBIAM SRO7BB 1BM SRO7BBIDM SRIOBBIAM SR10BB1BM SRIOBBIDM SR15BBIAM SR15BB1BM SR15BB1DM SR2OBB1 AM SR2OBB 1 BM SR2OBBIDM SR3OBB 1 AM SR3OBB1 BM SR3OBBIDM SR448B1 AM SR44BB1 BM SR44BBIDM SR6OBBIAM SR6OBBIBM SR6OBBIDM Effective value
USAMED-O3[:]A1 USAMED-O3r-] B 1 USAM ED-03 [-] D1 USAMED-O6r-]A 1 USAM ED-06 [-] B 1 USAMED-O6r-Q D1 USAMED-O9BA2 USAM ED-09BB2 USAMED-O9BD2 USAMED-12BA2 USAMED-12BB2 USAMED-12BD2 USAMED-2OBA2 USAMED-2OBB2 USAMED-2OBD2 USAM ED-3OBA2 USAMED-3OBB2 USAMED-3OBD2 USAMED-44BA2 USAMED-44BB2 USAMED-448D2 USAMED-6OBA2 USAMED-60BB2 USAMED-6OBD2
3.0
5.8
7.3 13.9
16.6 ,rib m
7.6
11.7
28.0 xl
speed reference
45.0
80.6
I
Field-setting Switch SW2 Pulse Resolution Setting 1 1 23456781" 1 2345678 1 2345678 oo Position SW3 Speed Condition Loop Setting SW4 Motor Characteristics, SERV0PACK Function Setting
Table SWl SERVOPACK Type CACRPG SR03BB1AM Standard to SR60BBIAM SR03BB1 BM to Motor Type, Pulse Setting 6000 1 2345678
10.2
I:
oee_.o.e 5000
1 2345678
"1
I:
_'._."
:1
"oeooeo eo
I:
.eoO..oooOo.O.
Optional
1" Spare
short-circuit
pin Table Auxiliary Input Setting VR1 10.3 Potentiometer Field-set Zero Drift Setting Positions Max Current Setting Loop Gain Setting
SERVOPACK Type SR03BB1 SR07BB1 SR10BBI"_]M SR15BBI[_]M SR20BBI[-]M SR30BBIE_]M SR44BB1 [*.]M SR60BB1 [ _j M CACR[-]M [._]M
IT_
va4
5/10
4/10
to 6/10
5/10
IB
Notes: 1. In the Table above, r_:]/[r] shows approximate scale of potentiometer For example, _ v-_ indicates 7/10 scale. --
2. The potentiorneters other than listed in the Table above are provided for the SERVOPACK. Do not tamper with these potentiometers except for a special case as they have been preset at the factory.
64 -
(2)
series
10.4
Standard
Adjustment
and
Setting
Applicable
Optical Encoder pulses/rev 6000 5000 4000 6000 5000 4000 6000 5000 4000. 6000 5000 4000 6000 5000 4000 6000 5000 4000 " 6000 5000 4000
SR03BB1AF SRO3BB1BF SRO3BB1DF SR078B1AF SRO7BB1BF SR07BB1DF SR IOBB 1AF SRIOBB1BF SR 10BB1DF SR15BB1AF SR 15BB 1BF SR158B1DF SR20BB 1AF SR2OBB1BF SR20BB1 DF SR30BB1AF SR308B 1BF SR308B1DF SR44BB1AF SR446B 1BF SR44BB1 DF =_ Effective value
02[]81 03_:381 02r:]D1 03r]D1 05E]A1 05[_]B1 05[_']D1 09[_]A 1 09[_761 09[_]D1 13CA2 13C82 13CD2 20CA2 20C82 20CD2 30CA2 30CB2 30CD2 44CA2 44CB2 44CD2
3.0
8.5
6.2
1 7.0
speed
9.7 reference 2 7.6 .
x1
15.0
42.0
20.O-
5 6.5
30.0
77.0
Table SWl SERVOPACK Type CACRPG SR03BB1AF Standard to . SR44BBIAF SR03BB1 BF to Optional SR44BB1BF SR03BB1 " to SR44BB1DF t Spare sh0rt-circuit pin Table Auxiliary Input Setting VR1 SR03BB1 SR05BB1 SR10BB1 _:] F [.!F [_! F 10V at rated speed _-_ DF "
10.5
Field-setting
Switch SW2
Position SW3 . Speed Condition Loop Setting SW4 Motor characteristic SERVOPACK Function Setting
Pulse
Resolution Setting x 1
oo.o..o1
4000
I:::
1 23456781 o @O
:::1
I:oo
I:
12345678 oo oo gO0 O0
o :1
1 2345678. ooo o o _ o o o o
1 234-5678 o o o ==o o o
10.6
Potentiometer
1 0/1 0 5/10 _ " 4/10 to 6/10 (For setting by the user.) 5/-10
" "
Notes: 1. In the Table above, [:]/E] shows approximate scale of potentiometer For example, indicates 7/10 scale.
2. The potentiometers other than listed in the Table above are provided for the SERVOPACK. Do not tamper with these potentiometers except for a special case as they have been preset at the factory.
65
Applicabre SERVOMOTOR SERVOPACK Type CACRSR03BB1 CS--Y41 SR03BB1 S--Y41 E SR03BB1 FS--Y41 SR03BB1CS SR03BB1 ES SR03BB1 FS SR05BB1CS SRO5BB1ES SR05BB1FS SR10BB1CS SR10BB1ES SR10BB1 FS SR15BB1CS SR15BB1ES SR15BB1FS SR30BB1CS SR30BB1 ES SR30BB1 FS Effective value Type USASEM-02AC2 02AE2 02AF2 03AC2 03AE2 03AF2 05AC2 05AE2 05AF2 08AC1 08AE1 08AF1 15AC1 15AE1 15AF1 30AC1 30AE1 30AF1 Optical Encoder pulses/rev 2500 1500 1000 2500 1500 1000 2500 1500 1000 2500 1500 10O0 2500 1500 1000 2500 1500 1000
2.1
6.0
3.0
8.5
4.2
3000
r/min at
11.0 x 1 15.6
10.4
28.0
19.9
56.5
10.8
Field-setting
Switch SW2
Standard
I: o ,o:1
_ _
I:
00000
:1
I o oo1 I: o :1
SR03BB, SR05BB SR30BB
12345678
SR03BB1ES
to
1500
1 2345678
SR05BBIES
SR03BB1FS Optional to
I_ _ o _ o oool
1000 12345678
Ioo,ooooi o o o o oo
f Spare short-qircuit
5/t0
4/10 to 6/10
10/10
5/10
Notes: 1. In the Table above, E3/;_;;shows approximate scale of potentiometer For example, _ indicates 7/10 scale.
2. The potentiometers other than listed in the Table above are provided for the SERVOPACK. Do not tamper with these potentiometers except for a special case as they have been preset at the factory.
I
-66-
(4)
D series Table SERVOPACK Type CACRSR05BB1AD SR05BB1 BD SR05BB1DD SR15BB1AD SR1 5BB1 BD SR15BB1 DD SR20BB1AD SR20BB1 + BD SR20BB1 DD SR30.BB1 AD SR30BB1 BD SR30BB1DD SR44BB1AD SR44BB1 BD SR44BB1DD
* Effective v'alue
10.10
Standard
Adjustment
and Setting
Applicable SERVOMOTOR Type USADED05EA2 05EB2 05ED2 IOEA2 lOEB2 IOED2 15EA2 15EB2 15ED2 22EA2 22EB2 22ED2 37EA2 37EB2 37ED2 Optical Encoder pulses/rev 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 Rated Current* A 3.5 Speed " Setting
25.2
12.6
40.7
x 1
16.6
54.0
23.3
77.0
ooo....o
ooeooo . 5000
12345678
J" " :1
coo oo
io o o 1
ooo oo oo oo
eo oo I" o '1 oo
SR44BBIBD SROSBB1DD
Optional to
Iooooe:j 4000
1 2 3 4 5 6 7 8
SR44BBIDD
1"Spare short-circuit pin
ooo oo .o o
Table .SERVOPACK Type CACRSR05BB1E]D SR15BB1[_]D SR20BB1 [_]D SR3OBB1 [_]D SR44BB1 [_]D
Notes: 1. In the Table above,
10.12
Potentiometer
5/10
4/10 to 6/10
5/10
[.I_/E] shows
approximate
scale
of potentiometer
2. The potentiometers other than listed in the Table above are provided for the SERVOPACK. Do not tamper with these potentiometers except for a special case as they have been preset at the factory.
For example,
I[:_a'._l indicates
7/10 scale.
-67 -
Am
AT THE TIME
Type CACRSR03BB
zJNov/NR.X 100
z_Nuo/NRX 100
SR10BB
--6V ;
s_o+p
0j_ /I
SR15BB SR20BB
, +6V SPEED INPUT - (ACROSS 1ca-@ and@)
5 % max
5 % max
___ RATED
Fig. 10.1
r SPEED (--)
.all
Speed Reference InputSpeed Ratio 10.2) z3n: 10.3 READJUSTMENT has been adjusted at the factory to
"ql
SERVOMOTOR (2) Speed Regulation Speed regulation z3N NR zfln NR (Fig. zlN
The SERVOPACK
ing on the use, readjust the SERVOPACK referring Table 10.14. (Do not temper with potentiometers.)
,din
10.4
SPEED(r/rain)
NR: RATED N
Fig.
shows the specifications of the check pin (CH); and Table 10.15 lists check terminals and functions. Adjust the potentiometers, observing the specified check locations. (Potentiometers should not be tampered and terminals for checking waveforms; Table 10.11 with.) Fig. 10.5 shows waveforms at the respective check terminals for step responses at no load. I
__'-_--+3_1 MOTOR
,[--_. RATED f
MOTOR CURRENT
SPEED
characteristics
Ip: Start current set value in Tables 10.1, 10.4, 10.7, 10.10. The overshoot (z_Nov) and undershoot (_z_NuD) when JL=JM, are as shown in Table 10.13 (adjustment level preset at the factory).
INPUT
ACROSS
1CN-@,
6 VDC TIME
--_%_ _j,,_
-- __]'_'-_ TIME I
Fig.
10.3 Start-Stop
Characteristics
-68-
'
Ff_q
_
il
RESET PUSHBUTTON (7-SEGMENT) LED INDICATION TROUBLE
i_
1
val0,'l$ O VR12\I_"
VR13k_] _"
v_o, 8
VR2"t$
'
2CN
ICN
D
i_
.I
E_] [_ (7-SEGMENT) RESET PUSHBUTTON TROUBLE LED INDICATION
'
VR9 VR10 _
VR.\ MR12 _
[]
VR_3_ (_)
VR_ ] VR4
D
_1
_
I SERVOPACK Type CACR-SRCAr_-_REV. B (b) Printed Circuit Board for
8 TO117__ I
2ON J_" '_1
VRe
1CN
_ _ o _
il_ VR9
_-_ O
vinoS. _
i_
8 To , I
I L_ ] _
Board for
for
[_C4]
to
I_.
Fig.
_1
-70-
10.14
Potentiometer
Adjustment
I
Auxiliary adjustment
VR4
input fine Zero
VR3 F_-ES]
drift adjustment Starting
VR5 [-CO&]
current adjustment
adjustment
How to Adjust
To be adjusted only when the rated reference voltage (4-2 to +10V) is other than _-+6V. Turn VR1 only to get the rated speed and do not operate other VRs.
To adjust so that the motor does not turn at the speed reference voltage 0 V. Turning VR3 CW allows the motor to be finely adjusted in forward rotation, and CCW in reverse rotation. MOTOR SPEED ROTATION)
(FORWARD
Turning VR5 CCW decreases the starting current. This has been adjusted to full scale CCW at the factory.
Adjustable
in units of ,_
--6V
]INPUT
o,lsetto w
(--) /;/ p'#t/j/"
/P'/
L12 "
js / (+) REFERENCE ' INPUT (REVERSE ROTATION) --
Characteristics
j_/a0 -- RATING CLOCKWISE 6V
.... _--_
_CW)
-/
COUNTERCLOCKWISE (CCW)
.... _-_
CW CCW
Adjustment Potentiometer Functions How to Adjust VR6 Speed loop adjustment To increase VR6 CW.
Turning feedback
_/V circuit
adjustment,
voltage balance adjustment If f/V balance adjustment is not correct, motor does not run at the samespeed in both directions under the same absolute reference voltage. x --_
O VR7 Torque reference adjustment Adjust to rated at 3V. current Max current
x VR8 adjustment
x ----
How to Adjust
Set max current depending on types and motor output. (Turn VR5 CW to full scale.) Turning CW max current. increases
Characteristics
--
--
How to Adjust
With only control power turned on, adjust until phase U current amplifier output voltage becomes minimum, Incorrect adjustment
With only control power turned on, adjust until phase V current amplifier output voltage becomes minimum, torque ripple.
With only control power turned on, adjust until phase W current amplifier output voltage becomes minimum.
Characteristics
increases
Turning CW increases voltage. If wiring to PG is long. causing voltage drop, increase voltage. x
Mark A : x : Potentiometer Do not adjust. shouid not be adjusted except in special
Adjustmet
Adjustment Mark O : Directions Potentiometer cations and should application. be
._,
cases.
adjusted
in accordance
with
specifi-
Mark
-71 -
Table Equipment Symbol 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 r_ 5 6 7 8 1 2 Signal Name PA ,I,PA PB *PB PC W, PC -PG5V PU w,PU PV w=PV PW w, W P DIR PGOV IN-A IN-B V TG T-Mon T-Ref U-sin Unused PG supply voltage PG
input
10.15
List of Check
Terminals Description
PA and PB are two-phase pulse with 90" phase difference. PC occurs once for each motor rotation, in synchronization with PA. Waveform at motor forward rotation
pA__.] I [____'_
input.
PB
'
' ,
signals
Reverse pulse of phase B isinput. Phase C pulse is input. Reverse pulse C is input. of phase
PC ,
ir _, ; '
Reverse pulseof phaseU is input, Phase V pulse is input from _olesensor. Reversepulse of phase V is input. Phase W pulse 3ole sensor. is input from
m , , _ '* ',
'
' , i I
_ i
i i
Ii .I-,
, PV I
PW
, I '
, I ! ! I i , ; , , ,,
_ i
, ',
_ I
, ', ,
, ',
Reverse pulse of phase W is input. Monitors the setting of direction of motor rotation.
0V of the PG power supply (PG :common terminal to signals from the pole sensor) Monitors the speed reference input (connector 1CN (_)--(_). Monitors the speed reference auxiliary input (connector 1CN (_)--(_)). (M, F, D Series), -+-2.0VDC/ 1000 r/min (S Series).
,q
Monitors the motor speed _+4.0 VDC/_+ 1000 r/rain. Monitors the motor torque _+3.0VDC/100 %. Torque reference +__2.0 _+3.0VDC/100 %. to Monitors phase U sin wavefom.
VOLTAGErx _
, 0v
Monitorsphase V sin V-sin waveform. SG IU IV Signal 0V (for printed Phase U current circuit board
Frequency varies depending on speed. Amplitude varies depending on torque. circuit 07 board 10 of REV. C or later) 15 120 0.08 30 144 160 0.04
of REV. D), (Not used for printed Type CACR-SR Monitor Voltage (V/A) 03 0.4 05 0.24
monitor.
Phase V current monitor. Blank(for printed circuit board of REV. B), (Printed circuit board of REV. C is for power supply ON/OFF confirmation)
0.20 0.16
3 4 AU
Phase
U current
output monitor. Phase V current amplification 5 6 7 8 AM AW OSC2 SG output monitor. Phase W current output monitor. Carrier frequency (triangle pulse) Signal 0V (for printed circuit board
/Av/_7-
-L
-7.0TO -8.0V
+7.OTO8.0V
circuit
board
of REV. C or later) i 1
I OV I Signal 0V for each signal measurement of ITM31 and ITM41. (for printed circuit board of REV. C or later) Notes: 3. During measurement, do not short the adjacent two check terminals, 1. The check terminals allow oscilloscope connection for measurement, as the connected elementsmay be destroyed by this. 2. Measure waveforms of r=_--_ andr_'M"_with [_]-8 or _-8 (signal 4. _ check terminal is for use only by the manufacturer. Do not make 0V) taken asthe reference, any measurementwith it. rT--_]-8 (PG power 0V) are impedance-connectedto rt--M-_-8and -8 (signal 0V).
-72-
I INPUT(TM3-t)
+6V ---J OV
I _
OV
-6V
0V
_-L.J
APPROX --4.5 V
O"ASEV,TM'-2) 0V--'/V
MOTOR SPEEO
Fig. 10.5 Waveforms at the Respective Check Terminals for Step Responses (No Load)
(TM3-3) _
Jr/
+4VxNr/rnin./lO00 (M,F. Dseries)
+2VXNr/rnin/1000 (Sseries)
/ --4VxNr/min/lO00
(M, F, D series) -- 2V x N r/min /1000 (S series)
SETTING [SW-_ , [-_-W--_ [-S--_, , functions: Table 10.16 Switch Setting and Function Remarks
switches( following
Switch Name
User Adjustme.nt
Possible Possible
as it
and setting,
this
The optimized motor torque characteristics and SERVOPACK functions have already been at the factory. SW4-5 Selects a dynamic brake function. See Par. 6.5 (1), "Dynamic brake function".
(_
-1 to -6)
-7)
_-_o-----[_
It--(_) (_) (J2) _-_ I I'-----
6.6M_
0.033,uF
O.O_#F
/_
(J1)
II-_k _[ %c,-
0.01_,F
_S--W-_-8
3. Mode Shorted switch setting (_]-8)
Open
-73--
brushes), shows
inspection schedule
is sufficient.
necessary,
YASKAWA
representative.
Table Inspection Vibration Noise Exterior Insulation Resistance Shaft Seal Annually Every Every 5,000 hours and Cleaning Daily As required Item Frequency
11.1
Inspection
Schedule
for
representative.
it is more disconnecting
by measuring from
with
a 500V
dl
I
If grease If worn
lubrication, replace
replace after
disconnecting
Overhaul
or 5 years
Parts The
mechanically
1
Table 11.2 Parts Replacement Schedule Remarks Disassemble the with new one. Replace with motor to replace "
Part Name
new one.
_nl
- 74-
11.2 SERVOPACK SERVOPACK does not require any daily maintenance. However, it is advisable to perform the following maintenance at least once a year.
Table 11.3 Inspection Cleaning of SERVOPACK Loose screws Every Deterioration of SERVOPACK and/or parts on board 1 year Item and board Frequency
Inspection
Operation Visually check for dust or oil on parts. Check for loose screws of teminals connectors of 1 CN and 2CN of SERVOPACK. and Retighten.
Visually check for discoloration, breakage or disconnection resulting from heat, bumping, etc.
Contact
your
YASKAWA
representative
The following parts should since they may become deteriorared with age.
Table 11.4
Replace with new one. Remarks Replace with new one. (Decided after inspection) Upon inspection, decided whether they should be replaced. Replacewith new one. Replace with new board. Decided after inspection)
protector
electrolytic
operating
capacitor
environment
on PC board
is as follows:
5 years
Ambient temperature : 30 C on average Load factor : 80 _ or less Operating rate : 20 hours or less per day
-75-
12.
12.1
TROUBLESHOOTING
AC SERVOMOTOR
GUIDE
WARNING
Remedies after turning in _ OFF should the power. be practiced
Table
Trouble
12.1
Troubleshooting
Cause
Voltage
below
rated
connection
Tighten
connection.
Wrong wiring
Correct
wiring.
Overload
load or use a larger motor. Measure voltage across motor terminals U, V, and with a tester. When correct, replace motor. Inspect and correct wprung across V, and W, and PG. _.... Reduce ambient temperature motor _ terminals _ W
Motor
defective
Unstable operation
U, _] _
below 40C.
Motor overheats.
Overload
Tighten
foundation
bolts.
Motor misaligned
Realign.
Unusual
noise
Coupling
out of balance
Balance
Noisy
bearing
Vibration
of driven
machine
-76-
12.2 12.2.1
(7-segment)
for
Troubleshooting
12.2
LED
Indication
Condition
Goes ON when power is supplied to the control circuit. Goes ON when power is supplied to the main circuit and servo power is turned ON. MCCB does not trip. [_] Overcurrent Goes circuit and power is suppliedturned main ON when servo power is to the ON. MCCB does not trip. Goes ON when power is supplied to the main circuit, Goes ON when the motor accelerates or decelerates. Goes ON when power control circuit. is supplied to the
circuit
Defective current feedback circuit. Defective main circuit transistor module. Motor grounding Defective motor circuit transistor Defective main grounding module.
Defective module.
to the
* Defective diode module. circuit thyristormain MCCBtrips. '. Defective main circuit of SERVOPACK (Do not turn ON again.)
Replace
the SERVOPACK.
control circuit. Goes ON when power is supplied to the Goes ON to 1 after powerapproximate is supplied 0.5 to thesecond main circuit.
(1 PWB). Defective control circuit board. Defective regenerative transistor. Regenerative resistor disconnection. No regenerative resistor connection (SR60BB)
Replace the SERVOPACK. Replace the SERVOPACK. Check and replace the regenerative resistor. (Replace the SERVOPACK. Check the inertia of the machine with the value converted to the motor haft. S Replace the SERVOPACK. Correct the motor connection.
Overr__ voltage
accelerates
Load
inertia
Defective
regenerative error.
circuit.
the reference
Motor . Optical
connection encoder
"
error.
The reference large, [_ drop Voltage main circuit. Goes ON when power is" supplied Goes ON when power control circuit. Goes ON during Overload is supplied to the to the Defectivemodule. diode main Defective control (1 PWB). Operation with
is too
Check pulses in phases A, B, C, U, VandWon2CN, nd a correct wiring. Decrease the reference input voltage. Replace Replace the SERVOPACK. the SERVOPACK. and correct the load
thyristorboard to 130% or
operation.
Check
When powerand the controlagain, the to then ON circuit is turned OFF operation starts. Goes ON during operation. When power to the control circuit is turned OFF and then ON again,
(may be overload).
Check the fan. (SR20, 30, 44, 60) Decrease the temperature below 55C (The heat sink may be overheated.)
_] and [] goes ON again. When reset later, the operation starts, available. When power to the control The motor rotates, but the torque again, circuit is turned OFF and then ON is unthe operation starts, but the torque is still unavailable.
such as U--*V, V_W, W-.U or Motor circuit error connection, single-phase connection.
Correct
the connection. .
-77-
12.2.1
LED
Indication
(7-segment)
for Troubleshooting
(Cont'd)
"_2.2
LED
Indication
for Troubleshooting
Lighting Condition
Probable Cause
A/D
error
circuit
board
_1
CPU error
Faulty internal elements. Defective internal elements. Defective control (1 PWB). Poor connection power supply, Defective control (1 PWB). circuit board
Resume after reset operation. Replace the SERVOPACK. Replace the SERVOPACK. Check and correct connection. the
Open phase
control circuit. power is supplied to the Goes ON when main circuit, Goes ON when power is supplied to the control circuit.
-_
Overrun prevention
Correct the motor connection. Check and correct pulses in phases A, B, C, U, V and W with 2CN.
,all
12.2.2
Examples
of Troubleshooting
for
Defective
Wiring
or
Parts
12.3
Example
of Troubleshooting
for
Defective
Wiring
or
Parts Whatto do
CheckItems after Power Main circuit wiring (such as the ground of motor) Voltage LED [] Trouble across , , and O. and _ ON LED OFF voltage S-ON signal Correct
the wiring.
Check the AC power supply circuit. o If LEDs are ON, check the cause. Adjust the speed setting potentiometer (supplied by the user).
P-OT,
12.2.3
Examples
of Troubleshooting
for
Incomplete
Adjustment
12.4
Examples
of Troubleshooting Cause
for
Incomplete
Adjustment Whatto do
refer-
Incomplete ment.
ZERO
potentiometer
adjust-
Adjust
VR3
correctly.
frequency
is
Speed
loop
gain
is too high
Turn
VR6 _
CCW to decrease
the
too high, approx 200 to 300 Hz. (When vibration frequency equals commercial frequency.)
Excessively long lead of SERVOPACK input circuit. Noise interference due to bundling signal line and power line. of
speed loop gain. * Decrease length of lead. Separate input circuit line from power line or connect input circuit to low impedance less than several 100 ohms.
is too large at
the
-78-
{ NOTES 1
-79-
AC SERVO
DRIVE
MoFoS-D
SERIES
BULLETIN
TOKYO OFFICE New Pier Takesiba Soulh Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105 Japan Phone 81-3-5402-4511 Fax 81-3-5402-4580 YASKAWA ELECTRIC AMERICA, INC. Chicago-Corporate Headquarters 2942 MacArthur Blvd. Northbrook, IL 60062-2028, U.SA. Phone 1-847-291-2340 Fax 1-847-498-2430 Chicago-Technical Center 3160 MacArthur Blvd. Northbrook, IL 60062 1917, U.S.A Phone 1-847-291-0411 Fax 1-847-291-1018 MOTOMAN INC. 805 Liberty Lane West Carrollton, OH 45449, U.S.A. Phone 1-513-847-6200 Fax 1-513-847-6277 YASKAWA EL_:TRICO DO BRASlL COMI_RClO LTDA. Avenida Brigadeiro Faria Lima 1664-5"CJ 504/511, S&o Paulo, Brazil Phone 55-11-815-77.23 Fax 55-11-870-3849 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2, 65824 Schwalbach, Germany Phone 49-6196-569-300 Fax 49-6196-888-301 Motoman Robotics AB Box 504 $38525 Tots&s, Sweden Phone 46-486-10575 Fax 46-486-41410 Motoman Robotec GmbH Kammerfeldstra,Ge l, 85391 Allershausen, Germany Phone 49-8166-900 Fax 49-8166-903_) YASKAWA ELECTRIC UK LTD. 3 Drum Mains Park Orchardton Woods Cumbernauld, Scotland, G68 9LD U.K. Phone 44 1236-735000 Fax 44-1236-458182 YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu Seoul, Korea Phone 82-2-776-7844 Fax 82-2-753-2639 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Loron 9 Chuan, #04-01, New Tech Park Singapore 556741, Singapore Phone 65-282-3003 Fax 65-289-3003 YATEC ENGINEERING CORPORATION Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan Phone 886 2-563-0010 Fax 886-2-567-4677 BEIJING OFFICE Room No. 301 Office Building of Beijing International Club, 21 Jianguomenwai Avenue, Beijing 100020, China Phone 86-10-532-1850 Fax 86-10-532-1851 SHANGHAI OFFICE Room No. 8B Wan Zhong Building 1303 Yan An Road (West), Shanghai 200050, China Phone 86 21-6212-1015 Fax 86-21-6212-1326 YASKAWA JASON (HK) COMPANY LIMITED Rm.2916, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong Phone 852-2858-3220 Fax 852-2547-5773 TAIPEI OFFICE Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan Phone 886 2-563-0010 Fax 886-2-567-4677
TSE-S800-2.1J Duetoongo#_g product odification/improvement, m datasubjecto change t without otice. n Printed in Japan 586-23, 86-3 3 June 1996 85-1 2WA <_