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Profissional Documentos
Cultura Documentos
Re-engineered AC SERVOPACK
USER'S MANUAL
CACR-SRBF SERVOPACK
YASKAWA
SERVOPACKs,
Servomotors,
and Peripheral
Devices
Chapter 1
Outline
Chapter 2
Specifications and
Dimensional
Drawings
Chapter 3
Wiring
Chapter 4
Settings and Display
Chapter 5
Maintenance,
Inspection, and
Alarm/Warning
Display
Ratings and
Characteristics
Panel
Configuration
and Wiring
Trial Operation
Maintenance
and Inspection
9
9
9
Related Manuals
Refer to the following manuals as required.
Manual Name
-III Series
SGMS/SGDS
Digital Operator
Operation Manual
-III Series
SGMS/SGDS
Users Manual
Manual Number
Contents
TOBPS80000001
SIEPS80000000
iii
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.
WARNING
CAUTION
Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have series consequences if not
heeded.
PROHIBITED
Indicates prohibited actions that must not be performed. For example, this symbol
would be used to indicate that fire is prohibited as follows:
MANDATORY
Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory:
The warning symbols for ISO and JIS standards are different, as shown below.
ISO
JIS
iv
WARNING
Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
Failure to observe this warning may result in injury.
Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
Follow the procedures and instructions for trial operation precisely as noted in this Manual.
Follow the procedures and instructions for the trial operation as noted in the applicable manual for that product.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
Provide an appropriate stopping device on the machine side to ensure safety. A holding
brake for a servomotor with brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
Do not come close to the machine immediately after resetting momentary power loss to
avoid an unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
Connect the ground terminal to electrical codes (ground resistance: 100 or less).
Improper grounding may result in electric shock or fire.
Checking on Delivery
CAUTION
Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution so may result in fire or malfunction.
CAUTION
Do not store or install the product in the following places.
Locations subject to direct sunlight.
Locations subject to temperatures outside the range specified in the storage/installation temperature conditions.
Locations subject to humidity outside the range specified in the storage/installation humidity conditions.
Locations subject to condensation as the result of extreme changes in temperature.
Locations subject to corrosive or flammable gases.
Locations subject to dust, salts, or iron dust.
Locations subject to exposure to water, oil, or chemicals.
Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
Installation
CAUTION
Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
Provide the specified clearances between the SERVOPACK and the control panel or with other
devices.
Failure to observe this caution may result in fire or malfunction.
Do not apply any strong impact.
Failure to observe this caution may result in malfunction.
vi
Wiring
CAUTION
Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
Securely connect the power supply terminal screws and motor output terminal screws.
Failure to observe this caution may result in fire.
Do not bundle or run power and signal lines together in the same duct. Keep power and signal
lines separated by at least 30 cm (11.81 in).
Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder
(PG) feedback lines.
The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback
lines.
Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may
still remain in the SERVOPACK.
Make sure the charge indicator is out first before starting an inspection.
Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per
minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds
when power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors
and fuses to deteriorate, resulting in unexpected problems.
Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
Always use the specified power supply voltage.
An incorrect voltage may result in burning.
Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
Failure to observe this caution may result in damage to the product.
Locations subject to static electricity or other forms of noise.
Locations subject to strong electromagnetic fields and magnetic fields.
Locations subject to possible exposure to radioactivity.
Locations close to power supplies.
Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery or cause it to explode.
vii
Operation
CAUTION
Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to
avoid any unexpected accidents.
Failure to observe this caution may result in injury.
Before starting operation with a machine connected, change the settings to match the parameters
of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during
JOG mode operation using parameter Fn002 and zero point search mode using parameter Fn003.
When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to
fall off due to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero
clamp state at occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
When not using the normal autotuning, set to the correct moment of inertia ratio.
Setting to an incorrect moment of inertia ratio may cause vibration.
Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON
or soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in injury.
Do not use the servo brake of the servomotor for ordinary braking.
Failure to observe this caution may result in malfunction.
CAUTION
When replacing the SERVOPACK, resume operation only after resetting the potentiometers, pins,
and parameters to their original settings.
Failure to observe this caution may result in damage to the product.
Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
Do not disassemble the SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
viii
Disposal
CAUTION
When disposing of the products, treat them as ordinary industrial waste.
General Precautions
The following describes general precautions. Note the following to ensure safe application.
The drawings presented in this manual are sometimes shown without covers or protective guards. Always
replace the cover or protective guard as specified first, and then operate the products in accordance with
the manual.
The drawings presented in this manual are typical examples and may not match the product you received.
This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published
as a next edition. The edition number appears on the front and back covers.
If the manual must be ordered due to loss or damage, inform your nearest Yaskawa Electric Engineering
representative or one of the offices listed on the back of this manual.
Yaskawa Electric Engineering will not take responsibility for the results of unauthorized modifications of
this product. Yaskawa Electric Engineering shall not be liable for any damages or troubles resulting from
unauthorized modification.
ix
CONTENTS
About this manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
SAFETY INFORMATION- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv
Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
1 Outline
1.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2.1 Compatible with SERVOPACK Operating Environments Prior to -Series - - - - - - - - - - - - - - -1-2
1.2.2 Updated with the Latest Technologies- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.2.3 Wide Range of Applicable Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
3 Wiring
3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SRBF1 - - - - - - - 3-2
3.1.1 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2
3.1.2 Names and Description of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2
3.1.3 Connector Receptacle Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3
3.1.4 CN1 I/O Signal Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3
3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-5
xi
1
1
Outline
1-1
1 Outline
1.2.1 Compatible with SERVOPACK Operating Environments Prior to -Series
1.1 Outline
The re-engineered AC SERVOPACK model CACR-SRBF has been developed to be used for replacement of
the conventional SERVOPACK models that had been introduced before -series, using the latest technologies in
its circuit configuration.
The re-engineered AC SERVOPACK supports all the types of encoders for AC servodrives: serial encoders and
encoders older than serial encoders
The re-engineered AC SERVOPACK provides the operating environment of the following conventional
SERVOPACK models.
CACR-SRBA
(Speed control/analog control, incremental encoder applicable, base-mounted type)
CACR-SRBB
(Speed control/analog control, incremental encoder applicable, base-mounted type)
CACR-SRBZ
(Speed control/analog control, absolute encoder applicable, base-mounted type)
CACR-SRBE
(Speed control/digital control, incremental encoder applicable, base-mounted type)
CACR-SRBY
(Speed control/digital control, absolute encoder applicable, base-mounted type)
1.2 Features
1.2.1 Compatible with SERVOPACK Operating Environments Prior to -Series
Operating Environments:
External dimensions/installation
(Some models require attachments.)
Main circuit terminals
Control connector and signal layout
Recognizes the encoder type prior to series by the switch setting
(An encoder signal converter is built in.)
Important adjustments such as speed gain adjustment can be made
using the potentiometers VR.
(In the same way as of the conventional models CACR-SRBB and BZ)
1-2
M Series
USAMED-03
USAMED-06
USAMED-09
USAMED-12
USAMED-20
USAMED-30
USAMED-44
USAMED-60
F Series
USAFED-02
USAFED-03
USAFED-05
USAFED-09
USAFED-13
USAFED-20
USAFED-30
USAFED-44
G Series
D Series
S Series
USAGED-02A
USAGED-03A
USAGED-05A
USAGED-09A
USAGED-13A
USAGED-20A
USAGED-30A
USAGED-44A
USADED-05E
USADED-10E
USADED-15E
USADED-22E
USADED-37E
USAGED-44A
USASEM-02A
USASEM-03A
USASEM-05A
USASEM-08A
USASEM-15A
USASEM-30A
Applicable Encoders
Conventional Incremental Encoders
Multiplexed Incremental Encoders
Absolute Encoders
1000 p/r, 1500 p/r, 2500 p/r, 4000 p/r, 5000 p/r, 6000 p/r
2048 p/r, 8192 p/r
1024 p/r, 8192 p/r
1-3
1 Outline
1-4
2
Specifications and Dimensional Drawings
2-1
2-2
0.5
0.7
1.0
1.5
2.0
3.0
4.4
6.0
26.0
56.6
33.0
70.0
45.0
80.6
4.2
11.0
5.8
13.9
7.6
17.0
11.7
28.0
19.0
42.0
Basic Specifications
Ambient/
Storage
Humidity
Vibration/
Shock
Resistance
0.3
Configuration
Approx. Mass
Base-mounted
10 kg
1:3000
0 to 100 % load: 0.01 % max. (at rated speed)
Performance
Operating
Conditions
0%
2525 C: 0.1% max. (at rated speed)
100 Hz
2 %
0 to 10 s
(contd)
Built-in Functions
I/O Signals
Speed/Torque
References
Input Impedance
Circuit Time
Constant
Rated Reference Voltage
Auxiliary Inputs Input Impedance
Circuit Time
Constant
Built-in Reference Power Supply
Form
Position Output
Frequency
(PG pulses)
Dividing
Ratio
Sequence Input
Sequence Output
Speed control
mode
Torque control
mode
About 30 k
About 70 s
2 V to 10 VDC (forward rotation with positive reference) at rated speed.
About 30 k
About 70 s
12 VDC5 %, 30 mA
Line-driver or open-collector (phase A, phase B, phase C)
Any setting ratio
LED Display
Servo ON, P control, forward run prohibited, reverse run prohibited, and alarm reset
Servo alarm, servo ready, TG ON, current limit, and alarm code (3-bit output)
0 V to 9 VDC, forward rotation: -3 VDC/rated current, reverse rotation: 3 VDC/rated
current
Operated at main power OFF, servo alarm, servo OFF.
Built-in
5 times of rotor moment of inertia
Operated at P-OT and N-OT
Overcurrent, regeneration error, overvoltage, input overvoltage, overspeed, insufficient
voltage, overload, zero-point pulse error, A/D error, overrun detection, open-phase, and
CPU error
7-segment LED (status and alarm display)
Monitor
2-3
CACR-SRBF1-Y
SERVOPACK prior to the series
SERVOPACK for speed control
Capacity.1
Base-mounted re-engineered AC SERVOPACK
Input voltage: 200 V
Applicable encoder 3
Applicable servomotor 2
Conventional SERVOPACK model 4
Y-specification code (Customer-specified code)
0.3
0.6
0.9
1.2
2.0
3.0
4.4
6.0
0.15
0.3
0.45
0.85
1.3
1.8
2.9
4.4
0.15
0.3
0.45
0.85
1.3
1.8
2.9
4.4
0.15
0.31
0.46
0.77
1.54
3.08
0.5
1.0
1.5
2.2
3.7
0.25
0.5
1.2
1.8
2.9
4.4
6.0
Conventional
incremental
Pulse
1000
1440
1500
2000
2500
4000
5000
6000
Code
F
H
E
K
C
D
B
A
Type
Multiplexed
incremental
2-4
Code
B
Z
E
Y
A
Pulse
2048
8192
2500
Code
3
2
4
Type
Absolute
Pulse
1024
8192
Code
W
S
USAMED-03
USAMED-06
USAMED-09
USAMED-12
USAMED-20
USAMED-30
USAMED-44
USAMED-60
USAFED-02
USAFED-03
USAFED-05
USAFED-09
USAFED-13
USAFED-20
USAFED-30
USAFED-44
USAGED-02A
USAGED-03A
USAGED-05A
USAGED-09A
USAGED-13A
USAGED-20A
USAGED-30A
USAGED-44A
USADED-05E
USADED-10E
USADED-15E
USADED-22E
USADED-37E
USASEM-02A
USASEM-03A
USASEM-05A
USASEM-08A
USASEM-15A
USASEM-30A
CACR-SR05BB1D
CACR-SR10BB1D
CACR-SR20BB1D
CACR-SR30BB1D
CACR-SR44BB1D
CACR-SR02BB1S
CACR-SR03BB1S
CACR-SR05BB1S
CACR-SR10BB1S
CACR-SR15BB1S
CACR-SR30BB1S
CACR-SR05BF1DB
CACR-SR10BF1DB
CACR-SR20BF1DB
CACR-SR30BF1DB
CACR-SR44BF1DB
CACR-SR02BF1SB
CACR-SR03BF1SB
CACR-SR05BF1SB
CACR-SR10BF1SB
CACR-SR15BF1SB
CACR-SR30BF1SB
CACR-SR05BZ1D
CACR-SR10BZ1D
CACR-SR20BZ1D
CACR-SR30BZ1D
CACR-SR44BZ1D
CACR-SR02BZ1S
CACR-SR03BZ1S
CACR-SR05BZ1S
CACR-SR10BZ1S
CACR-SR15BZ1S
CACR-SR30BZ1S
CACR-SR05BF1DZ
CACR-SR10BF1DZ
CACR-SR20BF1DZ
CACR-SR30BF1DZ
CACR-SR44BF1DZ
CACR-SR02BF1SZ
CACR-SR03BF1SZ
CACR-SR05BF1SZ
CACR-SR10BF1SZ
CACR-SR15BF1SZ
CACR-SR30BF1SZ
2-5
Applicable
Servomotors
2-6
USAMED-03
USAMED-06
USAMED-09
USAMED-12
USAMED-20
USAMED-30
USAMED-44
USAMED-60
USAFED-02
USAFED-03
USAFED-05
USAFED-09
USAFED-13
USAFED-20
USAFED-30
USAFED-44
USAGED-02A
USAGED-03A
USAGED-05A
USAGED-09A
USAGED-13A
USAGED-20A
USAGED-30A
USAGED-44A
USADED-05E
USADED-10E
USADED-15E
USADED-22E
USADED-37E
USASEM-02A
USASEM-03A
USASEM-05A
USASEM-08A
USASEM-15A
USASEM-30A
CACR-SR03BE1M
CACR-SR07BE1M
CACR-SR10BE1M
CACR-SR15BE1M
CACR-SR20BE1M
CACR-SR30BE1M
CACR-SR44BE1M
CACR-SR60BE1M
CACR-SR03BE1F
CACR-SR03BE1F
CACR-SR05BE1F
CACR-SR10BE1F
CACR-SR15BE1F
CACR-SR20BE1F
CACR-SR30BE1F
CACR-SR44BE1F
CACR-SR02BE1G
CACR-SR03BE1G
CACR-SR05BE1G
CACR-SR10BE1G
CACR-SR15BE1G
CACR-SR20BE1G
CACR-SR30BE1G
CACR-SR44BE1G
CACR-SR05BE1D
CACR-SR10BE1D
CACR-SR20BE1D
CACR-SR30BE1D
CACR-SR44BE1D
CACR-SR02BE1S
CACR-SR03BE1S
CACR-SR05BE1S
CACR-SR10BE1S
CACR-SR15BE1S
CACR-SR30BE1S
Re-engineered Model
SRBF
CACR-SR03BF1ME
CACR-SR07BF1ME
CACR-SR10BF1ME
CACR-SR15BF1ME
CACR-SR20BF1ME
CACR-SR30BF1ME
CACR-SR44BF1ME
CACR-SR60BF1ME
CACR-SR03BF1FE
CACR-SR03BF1FE
CACR-SR05BF1FE
CACR-SR10BF1FE
CACR-SR15BF1FE
CACR-SR20BF1FE
CACR-SR30BF1FE
CACR-SR44BF1FE
CACR-SR02BF1GE
CACR-SR03BF1GE
CACR-SR05BF1GE
CACR-SR10BF1GE
CACR-SR15BF1GE
CACR-SR20BF1GE
CACR-SR30BF1GE
CACR-SR44BF1GE
CACR-SR05BF1DE
CACR-SR10BF1DE
CACR-SR20BF1DE
CACR-SR30BF1DE
CACR-SR44BF1DE
CACR-SR02BF1SE
CACR-SR03BF1SE
CACR-SR05BF1SE
CACR-SR10BF1SE
CACR-SR15BF1SE
CACR-SR30BF1SE
CACR-SR05BF1D
CACR-SR10BF1D
CACR-SR02BF1S
CACR-SR03BF1S
CACR-SR05BF1S
CACR-SR10BF1S
CACR-SR15BF1S
CACR-SR30BF1S
CACR-SR30BF1S
2-7
For Conventional
S-series
For Conventional
G-series
CACR-SR02BF1S
CACR-SR03BF1S
CACR-SR05BF1S
CACR-SR10BF1S
CACR-SR15BF1S
CACR-SR30BF1S
CACR-SR02BF1G
CACR-SR03BF1G
CACR-SR05BF1G
CACR-SR10BF1G
CACR-SR15BF1G
CACR-SR20BF1G
CACR-SR30BF1G
CACR-SR44BF1G
Attachment
product code:
F352086-A
2 7 dia. holes
Dimensions in mm
4 SERVOPACK mounting
screws M6 16 (included)
Mounting base
(included)
F352086-A includes:
y Attachment
y SERVOPACK mounting bolts
2-8
Attachment
product code:
F352086-A
Attachment
product code:
F352087-A
2 7 dia. holes
Dimensions in mm
4 SERVOPACK mounting
screws M6 16 (included)
F352087-A includes:
y Attachment
y SERVOPACK mounting bolts
Attachment
product code:
F352087-A
2-9
3
Wiring
3
3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SRBF1 - - - 3-2
3.1.1 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.1.2 Names and Description of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - 3.1.3 Connector Receptacle Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.1.4 CN1 I/O Signal Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - -
3-2
3-2
3-3
3-3
3-5
3-1
3 Wiring
3.1.1 Connection Diagram
Y3
R
S
T
Y4
U
V
W
AC Servomotor
A
B
C
r
t
Encoder signal
conversion function
built-in
I/O signals
y Speed reference
y PG signal
y Operation signal
PG
CN2
Encoder
CN1
Digital operator
JUSP-OP05A
CN3
(Y3) (Y4)
3-2
Name
Main circuit input
terminals
Servomotor
connection terminals
Control circuit input
terminals
Description
Three-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz
Connect (U) to the terminal A, (V) to the terminal B, (W) to the terminal C of
Servomotor.
Single-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz
Ground terminal
Connect to the power supply ground terminal and the Servomotor D terminal.
Regenerative resistor
terminals
Soldered Type
Caulking Type
Case
Manufacturer
MR-50RMA
MR-50F
MRP-50F01
MR-50L
Honda
Communication
Industries Co., Ltd.
Soldered Type
Caulking Type
Case
Manufacturer
MR-20RMA
MR-20F
MRP-20F01
MR-20L
Honda
Communication
Industries Co., Ltd.
Half-pitch Connector
Plug
Shell
10114-3000VE
10314-52A0-008
Manufacturer
SUMITOMO 3M
Limited
CACR-SRBF1
Model No. ended
with B (Model for
SRBB)
SG
SG
SG
PHA
/V-CMP+
/V-CMP+24V-IN
/S-ON
TMON
VTG
SG
IN-A
SG
IN-B
SG
+12V
SG
FG
PCO
/PCO
PHC
/TGON+
/TGON-
SG
SG
SG
SEN
/V-CMP+
/V-CMP+24V-IN
/S-ON
TMON
VTG
SG
IN-A
SG
IN-B
SG
+12V
SG
FG
PCO
/PCO
BAT+
/TGON+
/TGON-
SG
SG
SG
PHA
/V-CMP+
/V-CMP+24V-IN
/S-ON
TMON
VTG
SG
V-REF
SG
T-REF
SG
+12V
SG
FG
PCO
/PCO
PHC
/TGON+
/TGON-
SG
SG
SG
SEN
/V-CMP+
/V-CMP+24V-IN
/S-ON
TMON
VTG
SG
V-REF
SG
T-REF
SG
+12V
SG
FG
PCO
/PCO
BAT+
/TGON+
/TGON-
3-3
3 Wiring
3.1.4 CN1 I/O Signal Connector Terminal Layout
(contd)
Re-engineered AC
SERVOPACK
Model
CACR-SRBF1
Model No. ended
with B (Model for
SRBB)
24
/P-CON
/P-CON
/P-CON
/P-CON
25
OL-
OL-
AL01
26
27
28
29
30
31
32
33
34
35
36
37
38
39
N-OT
/S-RDY/S-RDY+
N-CL
SG
-12V
SG
PAO
/PAO
PBO
/PBO
PHB
ALM+
ALM-
N-OT
/S-RDY/S-RDY+
N-CL
SG
-12V
SG
PAO
/PAO
PBO
/PBO
BATALM+
ALM-
N-OT
/S-RDY/S-RDY+
N-CL
SG
-12V
SG
PAO
/PAO
PBO
/PBO
PHB
ALM+
ALM-
empty *2
N-OT
/S-RDY/S-RDY+
N-CL
SG
-12V
SG
PAO
/PAO
PBO
/PBO
BATALM+
ALM-
40
OL+
OL+
AL02
41
P-OT
Pin No.
empty
*1
AL03
empty
empty
*1
/ALM-RST
/ALM-RST
P-CL
SG
-12V
SG
+12V
SG
FG
P-CL
SG
-12V
SG
+12V
SG
FG
P-OT
empty
*1
43
empty
*1
44
45
46
47
48
49
50
P-CL
SG
-12V
SG
+12V
SG
FG
42
P-OT
empty *2
P-OT
P-CL
SG
-12V
SG
+12V
SG
FG
* 1. The MCB trip signal output function is not provided for SRBB and SRBZ.
* 2. The PG signal output phase S is not provided for SRBY.
3-4
1
2
3
4
5
6
7
For Conventional
Incremental
Encoder
0V
0V
0V
PG5 V
PG5 V
PG5 V
DIR
For Multiplexed
Type Incremental
Encoder
0V
0V
0V
PG5 V
PG5 V
PG5 V
DIR
0V
0V
0V
PG5 V
PG5 V
PG5 V
DIR
PU
/PU
10
11
12
13
14
15
16
17
18
19
20
PV
/PV
PW
/PW
PC
/PC
PA
/PA
PB
/PB
FG
Absolute RST
BAT
BAT0
PC
/PC
PA
/PA
PB
/PB
FG
Absolute RST
BAT
BAT0
PC
/PC
PA
/PA
PB
/PB
FG
Pin No.
For Absolute
Encoder
* The phase S rotation amount serial data of 12-bit absolute PG is not processed.
3-5
3 Wiring
3.2.1 Re-engineered SERVOPACKs for CACR-SRBE (for Multiplexed Incremental Encoder)
Torque monitor
F-series: 3.0 V10 %/100 %
CN1
16-bit
D/A
1-9
1-10
Speed monitor
F-series: 2.0 V10 %/1000 min-1
Speed reference input
6V/rated speed
1-12
LPF
1-13
1-14
1-29
1-44
1-45
+24Vin
1Ry
1-7
S-ON
1-8
CPU
LPF
LPF
1-30
16-bit
D/A
1-15
Servo ON
when 1RY is ON
CACR-SR20BF12FE
2Ry
P-CON
16-bit
D/A
LPF
SG
5 mA
5 mA
1-24
N-LS
N-OT
1-26
P-LS P-OT
Alarm reset
when 9Ry is ON
9Ry
5 mA
5 mA
1-41
ALM-RST
5 mA
1-43
3Ry
CLT+
1-5
CLT4Ry
TGON+
1-6
TGON-
1-22
Output
Max. voltage 30 VDC
Max. current 30 mA
1-23
5Ry
ALM+
ALMS-RDY+
1-38
6Ry
S-RDY-
1-28
1-39
1-27
Phase A
PAO
/PAO
1-33
1-34
1-35
PBO
Phase B
/PBO
1-36
PCO
Phase C
/PCO
1-19
1-20
+12 V
PHA
1-4
PG signal
open collector output
1-48
PHB
PHC
1-37
SG
1-21
Output open
collector
LS07
ALO1
1-25
ALO2
ALO3
1-40
-12 V
1-3
1-2
1-1
1-50
1-18
3-6
1-17
1-32
1-47
1-49
1-42
0V
0V
0V
1-16
1-11
1-31
1-46
SG
SERVOPACK
Optical encoder
CN2
A
P
2-16
2-17
C
P
2-18
/PA
PB
PC
2-14
2-15
PA
/PB
2-19
PG
CACR-SR20BF12FE
/PC
Z
/Z
3
H
G
PG5 V
2-4
PG0 V
2-1
2-5
2-2
2-6
2-3
2-7
DIR
J
1-50
2-20
3-7
3 Wiring
3.2.2 Re-engineered SERVOPACKs for CACR-SRBB (for Conventional Incremental Encoder)
CACR-SR20BF1AMB
CN1
1-12
1-14
Current
limit
1-9
1-10
Speed monitor
M-series: 4.0 V10 %/1000 min-1
1-13
1-15
1-29
1-30
1-44
1-45
SG
+24Vin
Servo ON
when 1Ry is ON
24V
1Ry
1-7
S-ON
1-8
2Ry
N-LS
P-CON
5 mA
1-24
N-OT
1-26
5 mA
P-LS P-OT
5 mA
5 mA
1-41
3Ry
CLT+
1-5
CLT4Ry
TGON+
1-6
TGON-
1-22
Output
Max. voltage: 30 VDC
Max. current: 30 mA
1-23
5Ry
ALM+
ALMS-RDY+
1-38
6Ry
S-RDY-
1-28
1-39
1-27
8Ry
OL
1-40
OL-
1-25
Phase A
PAO
/PAO
1-33
1-34
1-35
PBO
Phase B
/PBO
/PCO
+12 V
1-36
PCO
Phase C
1-48
1-19
SG
1-20
PHA
Output open
collector
LS07
1-4
PG signal
open collector output
PHB
PHC
1-37
1-3
1-2
1-1
1-50
1-18
Note: MCB trip (CN1-43 and -42) outputs are not provided.
3-8
1-17
1-32
1-47
1-49
1-21
0V
0V
0V
1-16
1-11
-12 V
1-31
1-46
SG
Optical Encoder
SERVOPACK
CN2
A
B
2-18
K
L
H
G
2-10
2-11
P
R
2-8
2-9
/PA
PB
PC
2-14
2-15
PG
PA
/PB
2-19
E
F
2-16
2-17
C
D
CACR-SR20BF1AMB
/PC
PU
/PU
PV
/PV
PW
2-12
2-13
/PW
PG5V
2-4
PG0V
2-1
2-5
2-2
2-6
2-3
2-7
DIR
J
1-50
2-20
3-9
3 Wiring
3.2.3 Re-engineered SERVOPACKs for CACR-SRBY (for Absolute Encoder)
CN1
Speed monitor
F-series: 2.0 V10 %/1000 min-1
1-9
1-12
1-14
1-29
1-30
1Ry
1-45
SG
1-8
N-LS
LPF
LPF
1-7
S-ON
2Ry
CPU
LPF
1-44
+24Vin
16-bit
D/A
1-15
LPF
1-13
Servo ON
when 1Ry is ON
16-bit
D/A
1-10
CACR-SR20BF1SFY
P-CON
16-bit
D/A
5 mA
5 mA
1-24
N-OT
1-26
P-LS P-OT
Alarm reset
when 9Ry is ON
9Ry
5 mA
5 mA
1-41
ALM-RST
3Ry
5 mA
1-43
CLT+
1-5
CLT4Ry
1-6
TGON+
1-22
TGON5Ry
1-38
ALM6Ry
S-RDY+
1-39
S-RDY-
1-28
1-27
PAO
Phase A
/PAO
/PBO
/PCO
1-35
1-36
PCO
Phase C
1-33
1-34
PBO
Phase B
Output
Max. voltage: 30 VDC
Max. current: 30 mA
1-23
ALM+
1-19
1-16
1-48
1-20
SG
1-17
1-32
SEN
0SEN
1-4
0V
0V
1-2
1-47
1-3
1-49
1-1
-12 V
BAT
+
Battery
2.8 to 4.5 V
BAT0
1-21
3-10
1-31
1-46
1-37
1-50
1-18
1-11
FG
Optical encoder
15-bit absolute encoder
SERVOPACK
CN2
A
P
2-16
2-17
C
D
2-18
2-14
2-19
E
F
2-15
CACR-SR20BF1SFY
PA
/PA
PB
/PB
PC
/PC
PG
H
PG5 V
2-4
G
PG0 V
2-1
2-5
2-2
2-6
2-3
2-10
T
P
1-21
2-12
1-37
2-13
BAT
BAT0
1-50
2-20
Optical encoder
12-bit absolute encoder
SERVOPACK
CN2
A
P
2-17
C
D
2-18
2-14
2-19
E
F
PG
K
L
2-16
2-15
PS
/PS
CACR-SR20BF1WFY
PA
/PA
PB
/PB
PC
/PC
Note
H
2-4
2-1
PG5 V
PG0 V
2-5
2-2
2-6
2-3
R
2-10
T
S
2-12
1-21
1-37
2-13
BAT
BAT0
J
1-50
2-20
Note: Cut the rotation amount data signal line on the Servomotor encoder cable side.
3-11
3 Wiring
3.2.4 Re-engineered SERVOPACKs for CACR-SRBZ (for Absolute Encoder)
CACR-SR20BF1SMZ
CN1
1-9
Speed monitor
M-series: 4.0 V10 %/1000 min-1
Speed reference input
6 V/rated speed
Current
limit
1-10
1-12
1-13
1-14
1-15
1-29
1-30
1-44
1-45
SG
+24Vin
Servo ON
when 1Ry is ON
24 V
1Ry
1-7
S-ON
5 mA
1-8
2Ry
N-LS
P-CON
5 mA
1-24
N-OT
5 mA
1-26
P-LS P-OT
5mA
1-41
3Ry
CLT+
1-5
CLT4Ry
1-6
TGON+
1-22
TGON5Ry
1-38
ALM6Ry
Output
Max. voltage: 30 VDC
Max. current: 30 mA
1-23
ALM+
S-RDY+
1-39
S-RDY-
1-28
1-27
8Ry
OL
1-40
OL-
1-25
PAO
Phase A
/PAO
Phase B
/PBO
/PCO
+12 V
1-35
1-36
PCO
Phase C
1-33
1-34
PBO
1-48
1-19
SG
1-20
1-17
1-32
SEN
0SEN
1-4
0V
0V
1-2
1-49
1-1
1-11
+ BAT
Battery
2.8 to 4.5 V
BAT0
1-47
1-3
SG
1-21
1-37
1-50
1-18
Note: MCB trip (CN1-43 and -42) outputs are not provided.
3-12
1-16
-12 V
1-31
1-46
Optical encoder
15-bit absolute encoder
SERVOPACK
CN2
A
B
2-18
PA
/PA
PB
/PB
2-19
E
F
2-16
2-17
C
D
CACR-SR20BF1SMZ
PC
2-14
2-15
/PC
PG
H
2-4
G
2-1
PG5 V
PG0 V
2-5
2-2
2-6
2-3
R
2-10
T
S
1-21
2-12
1-37
2-13
BAT
BAT0
J
1-50
2-20
3-13
4
Settings and Display
4-3
4-3
4-3
4-4
4-4
4-4
4-4
4-1
CN17
CN503
SL5
TMON
SW2
LED lamp (2
CN24
3
LED lamp (3
RUN ALARM
1
CN14
1
1
CN13
DS1
3 3
LOOP
SL7
CN23 CN21
1
1 3
1 3
CN4
1
1
CN16
3
3
3
3
CN20
1 3
CN18
CN7
CN5
CN6
CN11 CN10
3
3 3
CN2
4-2
IN-B
SW3
CN12
CN26
CN19
3
3
CN15
ZERO
CN22
DSW1 DSW5
LED lamp
(1
(CHARGE)
CN3
S2
VTG
GND
CN1
1
1
1
1
FINE
CN8
CN9
Name
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
CN20
CN21
CN22
CN23
CN24
CN26
S2
SL5
SW3-7
CN503
Remarks
Not mounted
Not mounted
Name
Torque filter switching
Frequency dividing ratio setting
Setting for CACR-SRBB/BZ
Encoder setting
Encoder setting
Remarks
IN-B
LOOP
ZERO
FINE
CUR
PG5V
4-3
7-Segment LED
Main circuit CHARGE LED
Encoder conversion function
Encoder conversion alarm
4-4
Cable connector
Switch
No.
Setting
CN4
CN5
CN6
CN7
CN8
CN9
CN10
CN11
CN13
CN14
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
CN15
Short-circuited Pins
CN16
CN18
CN20
CN21
CN22
CN23
CN24
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
CN26
Short-circuited Pins
S2
6-digit ON/OFF
SL5
Short-circuited Pins
SL7
SW2
SW3
DSW1
DSW5
Short-circuited Pins
8-digit ON/OFF
8-digit ON/OFF
Hexadecimal switching
Hexadecimal switching
Remarks
Not mounted
1-2
2-3
1-2
2-3
1-2
2-3
1-2
2-3
1-2
1-2
1-2
1-2
1-2
1-2
1-2
1-2
Set to the defaults at factory depending on re-engineered
AC SERVOPACK model
1-2
2-3
1-2
open
1-2
1-2
1-2
1-2
1-2
2-3
1-2
2-3
1-2
1-2
2-3
2-3
1-2
1-2
2-3
2-3
1-2
1-2
2-3
2-3
1-2
2-3
1-2
1-2
Set to the defaults at factory depending on re-engineered
AC SERVOPACK model
Set to the defaults at factory depending on re-engineered
AC SERVOPACK model
Set to the defaults at factory depending on re-engineered
AC SERVOPACK model
Table 4.1
Model CACRSR03BF
SR05BF
SR07BF to 10BF
SR15BF
SR20BF
SR30BF
SR44BF
SR60BF
S2-1
OFF
OFF
OFF
OFF
OFF
S2-2
ON
ON
ON
ON
ON
S2-3
ON
ON
ON
ON
ON
S2-4
ON
ON
ON
OFF
OFF
S2-5
ON
ON
OFF
ON
OFF
S2-6
ON
OFF
ON
ON
OFF
CN15
OPEN
2-3
1-2
1-2
1-2
CN26
OPEN
2-3
1-2
1-2
1-2
OFF
OFF
OFF
ON
ON
ON
OFF
OFF
OFF
ON
ON
OFF
ON
OFF
ON
OFF
ON
ON
1-2
1-2
1-2
1-2
1-2
1-2
4-5
Table 4.2
Servomotor Encoder Specifications
Encoder Type
Conventional
incremental
Multiplexed incremental
Absolute
Model
Code
F
H
E
K
C
D
B
A
M
3
2
W
S
No. of
Pulses
1000 P/R
1440 P/R
1500 P/R
2000 P/R
2500 P/R
4000 P/R
5000 P/R
6000 P/R
30000 P/R
2048 P/R
8192 P/R
1024 P/R
8192 P/R
SW2
Status
Setting
DSW1 DSW5
0
1
2
3
4
5
6
7
9
0
1
0
1
1
2
ON
ON
OFF
OFF
ON
ON
ON
OFF
ON
ON
OFF
OFF
OFF
ON
ON
OFF
ON
ON
OFF
ON
ON
ON
OFF
OFF
ON
OFF
ON
ON
ON
OFF
ON
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
Set according to
the number of
encoder pulses.
The settings shown in Tables 4.3, 4.4 and 4.5 are valid on the re-engineered AC SERVOPACKs for CACRSRBB and -SRBZ, but invalid for the re-engineered AC SERVOPACK for CACR-SRBE and SRBY.
Table 4.3 Motor Rated Speed
(Valid for CACR-SRBB and -SRBZ)
Servomotor Rated Speed
SL5
SW3-7
-1
1-2
ON
-1
1500 r/min
2-3
ON
2000 r/min-1
2-3
OFF
-1
2-3
ON
1000 r/min
3000 r/min
Table 4.4 Speed Amplifier Gain (Valid for CACR-SRBB and -SRBZ)
SW3 Specifications
4-6
Pin No.
Functions
OFF
ON
1
2
3
4
5
6
7
8
Valid
Valid
Valid
Invalid
Invalid
Invalid
Invalid
Invalid
Invalid
Valid
Valid
Valid
Valid
Invalid
M-series
F-series
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
Factory Settings
S-series
S-series
0.5 kW or
1 kW and
less, and
1.5 kW
3.0 kW
OFF
OFF
ON
ON
OFF
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
ON
OFF
OFF
D-series
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
Factory Setting
Factory setting
1000 pF
The PG pulse outputs from the SERVOPACK can be set using SW2 pins 1 through 8.
Caution: The maximum number of output pulses that can be set is the number of encoder pulses.
Table 4.6 SW2: No. of Dividing Output Pulses
Settings for Re-engineered AC SERVOPACKs CACR-SRBF
1
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
No. of Dividing
Output Pulses
8192
8000
6000
5000
4096
4000
3000
2500
2400
2048
2000
1600
1500
1250
1024
1000
800
750
625
600
512
500
480
400
375
300
256
250
240
200
160
150
128
125
120
100
80
64
60
4-7
4-8
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
No. of Dividing
Output Pulses
50
40
32
30
25
20
16
1200
1440
360
720
2880
6000
6000
6000
6000
6000
6000
6000
10000
12500
15000
20000
25000
30000
Pn212
Settings for Conventional SERVOPACK SRBB with Incremental Encoder for Reference
Check the number of dividing output pulses on the SRBB in the following table.
1
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
Dividing
Ratio
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
2/3
2/4
2/5
2/6
2/8
2/10
2/12
2/15
2/16
2/20
2/24
2/25
2/30
2/40
2/48
2/50
2/60
(A)
6000
6000
3000
2000
1500
1200
1000
750
600
500
400
375
300
250
240
200
150
125
120
100
6000
4000
3000
2400
2000
1500
1200
1000
800
750
600
500
480
400
300
250
240
200
(B)
5000
5000
2500
1250
1000
625
500
250
200
125
100
5000
2500
2000
1250
1000
500
400
250
200
(D)
4000
4000
2000
1000
800
500
400
250
200
160
100
80
4000
2000
1600
1000
800
500
400
320
200
160
(C)
2500
2500
1250
625
500
250
125
100
50
2500
1250
1000
625
500
250
200
125
100
(E)
(F)
1500 1000
1500 1000
750
500
500
375
250
300
200
250
125
150
100
125
100
75
50
60
40
50
25
30
20
25
1500 1000
1000
750
500
600
400
500
250
300
200
250
200
125
150
100
125
120
80
100
75
50
60
40
50
Note: The pin SW2-8 is reserved. The pins marked with { are short-circuited.
4-9
Settings for Conventional SERVOPACK SRBZ with Absolute Encoder for Reference
Check the number of dividing output pulses on the SRBZ in the following table.
1
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
(s)
8192
6000
5000
4000
3000
2500
2400
2000
1600
1500
1250
1200
1000
800
750
625
600
500
480
400
375
320
300
250
240
200
160
150
125
120
100
80
75
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
Note: The pins SW2-7 and -8 are reserved. The pins marked with { are short-circuited.
4-10
(s)
8192
60
50
40
30
25
20
8192
4096
2048
1024
512
256
128
64
3600
2160
1800
1440
1080
720
360
180
90
45
(15)
(12)
(9)
(8)
(5)
(4)
(3)
(2)
Parameter
No.
Pn000
Name
Pn100
Pn101
Pn102
Pn001
Pn002
Unit
Factory
Setting
Setting
Validation
After restart
Conventional
Model
SRBE/BY
Constant No.
After restart
After restart
1.0 to 2000.0 Hz
0.15 to 512.00 ms
0.1 Hz
0.01 ms
40.0 Hz
20.00 ms
Immediately
Immediately
Cn-04
Cn-05
1.0 to 2000.0/s
0.1/s
40.0/s
Immediately
Immediately
0
7 reference
Immediately
units
0%
Immediately
Setting Range
min-1
Pn107
Bias
Pn108
0 to 450
min-1
Pn109
0 to 100 %
1
Reference
unit
1%
Pn10B
Pn10C
0 to 800 %
1%
Pn10D
Pn10E
Pn10F
0 to 10000 min-1
0 to 30000 r/min/s
0 to 10000 reference
units
1 min-1
1 r/min/s
Reference
unit
Pn200
Pn209
Pn20E
min-1
Immediately
Immediately
Cn-0C
Immediately
0 min-1
0 r/min/s Immediately
0 reference
Immediately
unit
Cn-0D
0
200%
Cn-0E
After restart
0 to 65535 reference
units/s
1
reference
unit/s
Immediately
1 to 1073741824 (230)
After restart
Pn210
1 to 1073741824 (230)
After restart
Pn212
16 to 1073741824 (230)
P/Rev
1 P/Rev
Pn300
Pn304
JOG Speed
Pn305
Pn306
0 to 10000 min-1
0 to 10000 ms
0 to 10000 ms
Pn30A
1.50 to 10.00 V/
rated speed
Pn400
Pn401
Pn402
Pn403
Pn406
Pn407
Pn408
Pn415
1.0 to 10.0 V/
rated torque
0.01 V/
6.00 V/
Immediately
rated speed rated speed
1 min-1
500 min-1
1 ms
0 ms
1 ms
0 ms
0.01 V/
10.00 V/
rated speed rated speed
Cn-0A
Immediately
Cn-10
Immediately
Immediately
Cn-07
Cn-23
Immediately
Cn-03
Cn-13
0.00 to 655.35 ms
0.01 ms
1.00 ms
Immediately
Cn-17
0 to 800 %
0 to 800 %
0 to 800 %
1%
1%
1%
800 %
800 %
800 %
Immediately
Immediately
Immediately
Cn-08
Cn-09
Cn-06
0 to 10000 min-1
1 min-1
Cn-14
1.0 to 10.0V/
rated torque
0
After restart
0.1V/ rated 3.0V/ rated
Immediately
torque
torque
Note: The parameters in shaded area have been set according to the SERVOPACK model before shipment.
Contact Yaskawa service division when changing the settings of these parameters.
4-11
(contd)
Setting Range
Unit
0 to 10000 min-1
1 min-1
10 min-1
Immediately
Cn-0F
-1
-1
1 min
-1
20 min
Immediately
Cn-0B
0 to 100 min-1
1 min-1
10 min-1
Immediately
(0 to 50) 10 ms
10 ms
0 ms
Immediately
Cn-12
0 to 10000 min-1
1 min-1
100 min-1
Immediately
Cn-15
(10 to 100) 10 ms
10 ms
500 ms
Immediately
Cn-16
20 to 1000 ms
1 ms
20 ms
Immediately
2100
6543
After restart
After restart
After restart
After restart
After restart
After restart
After restart
After restart
Pn520
1 to 1073741824 (230)
reference units
1 reference
unit
8888
8888
3211
0
0
0
262144
reference
units
Immediately
Pn522
0 to 1073741824 (230)
reference units
1 reference
unit
7 reference
Immediately
units
Pn501
Pn502
Pn503
Pn506
Pn507
Pn508
Pn509
Pn50A
Pn50B
Pn50C
Pn50D
Pn50E
Pn50F
Pn510
Pn512
Name
1 to 10000 min
Setting
Validation
Note: The parameters in shaded area have been set according to the SERVOPACK model before shipment.
Contact Yaskawa service division when changing the settings of these parameters.
4-12
Conventional
Model
SRBE/BY
Constant No.
Factory
Setting
Parameter
No.
5
Maintenance, Inspection and Alarm/Warning
Display
5-1
d
c
When no alarm occurs, the bits are lit as shown in the table below.
Bit Data Indication
Item
Bit Data
Indication
Control Power ON
Baseblock
Rotation Detection
(/TGON)
When an alarm occurs, the corresponding alarm code is displayed and blinks digit by digit for 250 msec.
5-2
A.020
A.021
A.022
A.023
A.030
A.031
A.040
A.041
A.042
A.050
A.051
A.0b0
A.100
A.300
A.320
A.330
A.400
A.410
Alarm Name
Parameter Checksum
Error
Parameter Format Error
Meaning
Servomotor Stop
Method
Alarm
Reset
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
Available
Zero speed
stop
Available
DB stop
Available
DB stop
Available
Zero speed
stop
Available
ALO2
ALO3
Servo
Alarm
(ALM)
Output
5
H
5-3
A.510
Overspeed
A.511
A.520
Vibration Alarm
A.521
Autotuning Alarm
A.710
A.720
A.730
A.740
A.7A0
Overload of Surge
Current Limit Resistor
Heat Sink Overheated
A.810
A.820
A.830
A.840
A.850
DB stop
Available
DB stop
Available
DB stop
Available
DB stop
Available
Zero speed
stop
Available
DB stop
Available
DB stop
Available
DB stop
Available
Zero speed
stop
Available
DB stop
N/A
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
N/A
DB stop
N/A
Zero speed
stop
Available
Zero speed
stop
Available
Zero speed
stop
Available
DB stop
N/A
A.860
Encoder Overheated
A.b10
DB stop
N/A
DB stop
N/A
A.b20
A.b31
A.b32
A.b33
Encoder Overspeed
Meaning
Alarm
Reset
A.b11
5-4
Alarm Name
Servomotor Stop
Method
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
A.bF0
A.bF1
A.bF2
A.bF3
A.bF4
A.C10
A.C80
A.C90
A.C91
A.C92
A.CA0
A.Cb0
Alarm Name
System Alarm 0
(Internal program
processing error)
System Alarm 1
(Internal program error)
System Alarm 2
(Current control
processing program error)
System Alarm 3
(Encoder interface
processing error)
System Alarm 4
(CPU watchdog timer
error)
Servo Overrun Detected
Absolute Encoder Clear
Error and Multi-turn
Limit Setting Error
Encoder Communications Error
Encoder Communications Position Data Error
Encoder Communications Timer Error
Encoder Parameter Error
Encoder Echoback Error
Servomotor Stop
Method
Alarm
Reset
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
N/A
DB stop
N/A
Meaning
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
Available
DB stop
Available
Zero speed
stop
Available
Zero speed
stop
Available
DB stop
N/A
N/A
N/A
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
Not decided
H
5-5
A.910
Overload
A.911
Vibration
A.920
Regenerative Overload
A.930
A.941
5-6
Warning Name
Meaning
This warning occurs before the overload alarms (A.710 or
A.720) occur. If the warning is ignored and operation continues, an overload alarm may occur.
Abnormal vibration at the motor speed was detected. The
detection level is the same as A.520. Set whether to output
an alarm or warning by Vibration Detection Switch of
Pn310.
This warning occurs before the regenerative overload
alarm (A.320) occurs. If the warning is ignored and operation continues, a regenerative overload alarm may occur.
This warning occurs when the absolute encoder battery
voltage is lowered.
The change of the parameters can be validated only after
turning the power ON from OFF.
IMPORTANT
Item
Vibration and Noise
Frequency
Daily
According to degree of
contamination
Exterior
Insulation Resistance
Measurement
Procedure
Touch and listen.
Comments
Levels higher than normal?
* Measure across the servomotors FG and the phase-U, phase-V, or phase-W power line.
Frequency
Procedure
Check for dust, dirt, and oil on the surfaces.
Check for discoloration, damage, and disconnected wires on the surfaces.
Check for loose terminal block and connector screws.
Comments
Clean with compressed air.
Contact the Yaskawa service
division.
Tighten any loose screws.
Part
Standard
Replacement
Period
Recommendations
Cooling Fan
4 to 5 years
Smoothing Capacitor
7 to 8 years
Relays
Fuses
10 years
Aluminum Electrolytic
Capacitor on Circuit Board
5 years
Operating Conditions
5-7
<Japan>
<Asia>
<Europe>
YASKAWA ENGINEERING EUROPE GmbH
Am kronberger Hang 2, 65824 Schwalbach, Germany
Phone +49-6196-569-520 Fax +49-6196-888-598
http://www.yaskawa.de
YASKAWA
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
for ongoing product modifications and improvements.
2004 YASKAWA ELECTRIC CORPORATION. All rights reserved.