YASKAWA SGDB manuals

Yaskawa SGDB User Manual (585 pages)

Brand: Yaskawa | Category: Equipment | Size: 7.86 MB |

AC Servomotors and Driver

SGDB Servopack

NOTES FOR SAFE OPERATION

Manual Contents

Manual Structure

Basic Terms

Visual Aids

CONTENTS

FOR FIRST-TIME USERS OF AC

1.1 Servo Mechanisms

3) Servo control system

1.2 Servo Configuration

1.3 Features of

-Series Servos

BASIC USES OF Σ-SERIES

PRODUCTS

2.1 Precautions

2.2 Installation

SGM S − 10 A 6 A

SGM G − 05 A 2 A S A R

SGDB − 10 A D S −

Motor Capacity (kW)

Anticorrosive paint is

Shaft end

Ventilation

2.3 Connection and Wiring

resistor

Power supply

Speed/Torque

Yaskawa SERVOPACK SGDB-VVADV

Position

2.4 Conducting a Test Run

Automatic Adjustment

Reference

SGDB-jjADj

APPLICATIONS OF Σ-SERIES

Before Reading this Chapter

→ Input P-OT 1CN-42

→ Input N-OT 1CN-43

Overtravel

Stop mode After stop

3.1.3 Restricting Torque

Output → /CLT 1CN-*1

→ Input /P-CL 1CN-45

→ Input /N-CL 1CN-46

→ Input PULS 1CN-7

→ Input /PULS 1CN-8

→ Input SIGN 1CN-11

→ Input /SIGN 1CN-12

→ Input CLR 1CN-15

→ Input /CLR 1CN-14

3.2.3 Using Encoder Outputs

Output Phase Form

Preset value: 16

1 revolution

→ Input +24VIN 1CN-47

3.2.5 Using Electronic Gear

Ball Screw

Disc Table

Belt & Pulley

Setting: 0

For Speed/Torque Control

3.2.7 Using Torque Control

100

Motor speed

101

Speed limit range

101

→ Input T-REF 1CN-9

102

→ Input SG 1CN-10

102

→ Input SG 1CN-6

103

→ Input V-REF 1CN-5

103

→ Input /P-CON 1CN-41

104

Output → TRQ-M 1CN-16

111

Output → VTG-M 1CN-17

111

3.3.1 Setting Parameters

112

3.3.2 Setting the Jog Speed

113

3.3.4 Setting the Motor Type

115

3.4.1 Adjusting Offset

117

3.4.2 Using Dynamic Brake

118

3.4.3 Using Zero-Clamp

119

3.4.4 Using Holding Brake

120

Output → /BK

122

3.4 Setting Stop Mode

123

3.5.3 Adjusting Gain

126

3.5.4 Adjusting Offset

127

3.6.2 Setting Servo Gain

129

the motor

132

3.6.6 Using Mode Switch

133

Increase speed loop gain

135

Suppress the occurrence

135

Bit D Bit C

137

3.6.6 Using Mode Switch cont

138

Bit D Bit C Bit B

138

Output → ALM+ 1CN-31

139

Output → ALM− 1CN-32

139

Output → ALO1 1CN-37

140

Output → ALO2 1CN-38

140

Output → ALO3 1CN-39

140

Output → SG 1CN-1

140

→ Input /ALMRST 1CN-44

142

→ Input /S-ON 1CN-40

142

SGDB SERVOPACK

143

I/O power supply

143

Output → /COIN 1CN-25

144

Output → /V-CMP 1CN-25

146

Output → /TGON

148

Output → /OLWRN

150

Output → OL

150

Cn-2D=j5j

151

Output → /S-RDY

152

3.7.8 Handling of Power Loss

153

3.8 Special Wiring

154

Noise filter

155

Note Wire the SERVOPACK

161

Three-phase

163

200-230 VAC

163

SERVOPACK

163

Regenerative resistor unit

163

Error detection

172

Only the absolute

176

At rated load

177

J SERVOPACK Connectors

178

[SGM and SGMP series]

179

[SGMG, SGMD and SGMS series]

181

17JE-23090-02

187

(manufactured by Daiichi

187

Denshi Kogyo K.K.)

187

USING THE DIGITAL OPERATOR

188

4.1 Basic Operations

189

Hand-held Digital Operator

190

4.1.3 Resetting Servo Alarms

191

automatic

192

For Position Control

194

For Torque Control

196

JUSP-OP02A-1

198

JUSP-OP03A

201

J Monitor Mode Displays

203

4.2 Using the Functions

205

MODE/SET

206

J Alarm Display Contents

207

4 . 2 Using the Functions

208

Digital Operator

208

4.2.3 Autotuning

212

Automatic Adjustment cont

219

Automatic Adjustment Mode

219

For JUSP-OP02A-1

219

The motor rotation stops

219

automatic ad

219

automatic adjust

220

is dis

222

manual adjust

224

(2)(1) (3) (4)

226

Software Version Display

227

Software

227

manual adjustment

230

SERVO SELECTION AND

231

DATA SHEETS

231

5.1.1 Selecting a Servomotor

233

90 2A BA S

234

*2 Encoder specification

237

SGMP- 15 A 3 1 2

238

SGDB- 03 A D

243

5.2 SGM Servomotor

247

Servomotor SGMG

248

5.2SGM Servomotor

249

A: Continuous Duty Zone

250

B: Intermittent Duty Zone

250

Configuration

254

(lb·in/%)

257

Characteristics

271

A: Continuous Duty

276

Vertical

280

Horizontal shaft

280

5.2.3 Option Specifications

282

A : Straight without Key

283

SGMj − jjjjjjj

285

J Lead Specifications

286

• Servomotor end

288

• Encoder end

288

¡ Encoder plug

291

5.3.1 Combined Specifications

292

Feedback

295

5.3.5 Load Inertia

300

5.3.6 Overhanging Loads

301

MTG Holes

308

(0.0008)

308

(0.0016)

308

(ø0.0016)

308

• 5.5 to 15kW

311

/Z (C) channel output

317

• 0.5 to 4.4kW

318

• Flange-mounted type

328

Detailed View

333

), without brake

355

• Foot-mounted type

355

(inches)

358

• Frange-mounted Type

360

Shaft center

383

143 MAX. (5.63 MAX)

396

Nameplate

400

• IP67-based Connectors

406

Approx. Mass: 4 kg (8.82 lb)

411

Dimensions in mm (inches)

411

Approx. Mass: 8 kg (17.63 lb)

413

RST r t PNBUVW

413

WARNING!

414

SGDB-44AD

419

Detailed View of Installation

420

SGDB-1AAD

421

-P, -1EAD

421

• JUSP-OP03A (Mount Type)

422

What is motor

425

Motor capacity is

425

5.5.2 Order List

434

(Purchase Separately)

436

5.5.2 Order List cont

440

Connector 1CN only x 1

443

MCCB or fuse

454

5.6.2 Motor Cables

456

5.6.3 Connector

457

5.6.3 Connector cont

458

Straight Plug MS3106A

458

Straight Plug MS3106B

458

L-shaped Plug MS3108B

458

Standard Environment

460

MS3106B Straight Plug Shell

461

Dimensions are mm (inches)

461

MS3108B L-Plug Shell

461

MS3106A Straight Plug Shell

462

• When using Motor with Brake

463

3/16-18U

468

7/16-18U

468

Positioning Key

469

End Bell

470

End BellPlug

470

F (Clamped Range)

471

• Motor With Brake

473

J For SGMP-15A Type Only

473

• Motor Without Brake

473

Connector Type A B C

474

5.6.4 Brake

476

Power Supply

476

AC Input

477

100V 200V

477

5.6.5 Encoder Cables

479

J For the SGM and SGMP Types

485

• Lithium Battery: ER 6 V C3

490

• Nominal Voltage: 3.6 V

490

• Standard Capacity: 2000 mAh

490

5.6.7 1CN Connector

491

5.6.7 1CN Connector cont

492

For 10350-52A0

492

39.0 (1.54)

492

Connector

494

Terminal

494

5.6.10 Circuit Breaker

496

5.6.11 Noise Filter

496

5.6.12 Magnetic Contactor

498

29 (1.14)

499

5.6.13 Surge Suppressor

500

Type W H D M1 M2 Approx

501

J Specifications

503

• Connection

507

INSPECTION, MAINTENANCE

508

AND TROUBLESHOOTING

508

6.1.1 Servomotor

509

6.1.2 SERVOPACK

510

SGMj servomotor

511

12 bit absolute encoder

511

Shielded wire

511

6.2 Troubleshooting

512

At power ON

514

Display and Outputs

515

OFF: Output transistor is OFF

515

ON: Output transistor is ON

515

Status When Alarm Occurred

515

A, B, C, D

518

J A.71, A.72

520

applied

539

Examples

540

• 2.0kW to 3.0kW

541

• 4.4kW to 5.0kW

542

• 6.0kW to 15.0 kW

543

(continued to next page)

544

(from previous page)

545

PG output line driver

545

Incremental encoder

546

Appendix

547

Convert

548

A.2.2 Manual Adjustment

551

Ti ≥ 2.3 ×

552

A.3.2 Manual Adjustment

555

A.3.2 Manual Adjustment cont

558

A.4 Gain Setting References

559

LIST OF I/O SIGNALS

565

For speed control

565

For torque control

565

*3 Analog monitor signals

566

LIST OF USER CONSTANTS

568

• Factory settings

574

LIST OF ALARM DISPLAYS

578

manual adjustment mode, 217

579

manual adjustment mode, 210

583

YASKAWA ELECTRIC CORPORATION

585

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YASKAWA SGDB manuals

Yaskawa SGDB User Manual (585 pages)

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