YASKAWA SERVO Manual de usuario

MANUAL NO. SIEP S800000 43C1234112345Overview of SetupInstallation Wiring and ConnectionSafety Function Trial Operation (Checking Servomotor Operatio

x Storage and Transportation (cont’d) Installation CAUTION• If disinfectants or insecticides must be used to treat packing materials such as woo

5.4 JOG Operation Using a Digital Operator5-75Trial Operation (Checking Servomotor Operation)5.4 JOG Operation Using a Digital OperatorThis section d

5 Trial Operation (Checking Servomotor Operation) 5-83Press the Key.The display changes to the execution display of Fn002.4Press the Key. "R

5.4 JOG Operation Using a Digital Operator5-95Trial Operation (Checking Servomotor Operation) Alarm DisplayAn alarm is automatically displayed if a

5 Trial Operation (Checking Servomotor Operation) 5-105.5 JOG Operation Using SigmaWin+This section describes the procedure for executing a JOG oper

5.5 JOG Operation Using SigmaWin+5-115Trial Operation (Checking Servomotor Operation)2(cont’d)(5) Once SigmaWin+ is started, the connec-tion window i

5 Trial Operation (Checking Servomotor Operation) 5-123• Run test operation.(1) Select Test Run first, and then select Jog (J) from the menu on the

5.5 JOG Operation Using SigmaWin+5-135Trial Operation (Checking Servomotor Operation)4• Set the JOG speedThe motor speed is set to 500 [min-1]. Click

5 Trial Operation (Checking Servomotor Operation) 5-14Refer to the online manual for SigmaWin+ for details. Follow the steps below to view the onlin

Revision HistoryThe revision dates and numbers of the revised manuals are given at the bottom of the back cover.Published in JapanNovember 2008 07- 4

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5696 Fax 81-4-2962-6138 YASKAWA ELECTRIC A

xi Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.• Do no

xii Wiring (cont’d) Operation CAUTION• Do not reverse the polarity of the battery when connecting it.Failure to observe this caution may result

xiii Operation (cont’d) CAUTION• When using JOG operations (Fn002) origin search operations (Fn003), or EasyFFT operations (Fn206), the dynamic brake

xiv Maintenance and Inspection Disposal General Precautions CAUTION• Do not disassemble the SERVOPACK.Failure to observe this caution may resul

xvWarranty(1) Details of Warranty Period of WarrantyThe period of warranty for a product that was purchased (hereafter “delivered prod-uct”) is one y

xvi(3) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the

xviiApplicable Standards North American Safety Standards (UL)∗ Underwriters Laboratories Inc. European StandardsNote: Because SERVOPACKs and servomo

xviiiCONTENTSAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiSafety Precau

xix4 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14.1 Outline . . . . . . . . . . . .

Copyright © 2007 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1-11Overview of Setup1Overview of SetupThis chapter describes how to set up the Σ-V series of servo drives.

1 Overview of Setup 1-2This chapter describes the flow of the setup procedure from installation until a JOG operation. A panel operator, a digital o

2-12Installation2InstallationThis chapter describes how to install the servomotor and the SERVOPACK.2.1 Installation Environment and Applicable Stand

2 Installation2.1.1 Servomotor Installation Environment2-22.1 Installation Environment and Applicable StandardsThe installation environment and the

2.1 Installation Environment and Applicable Standards2-32Installation2.1.2 SERVOPACK Installation Environment Surrounding air temperature: 0 to 55°C

2 Installation2.1.3 Installation Conditions for Applicable Standards2-42.1.3 Installation Conditions for Applicable StandardsApplicable StandardsUL5

2.2 Servomotor Installation2-52Installation2.2 Servomotor Installation2.2.1 OrientationServomotors can be installed either horizontally or vertically

2 Installation2.2.3 Connecting Servomotor to Machine2-62.2.3 Connecting Servomotor to MachineThe end of the motor shaft is coated with anticorrosive

2.2 Servomotor Installation2-72Installation2.2.4 Protective StructureThe servomotor protective structure* is described below.∗ Except through shaft s

2 Installation2.2.5 Other Precautions2-82.2.5 Other Precautions Handling Oil and WaterIf the servomotor is used in a location that is subject to wa

iiiAbout this ManualThis manual describes procedures required for installation, wiring, and connecting Σ-V Series servo drives, including a JOG operat

2.3 SERVOPACK Installation2-92Installation2.3 SERVOPACK Installation2.3.1 OrientationThe SERVOPACK is available in models that are base-mounted, mode

2 Installation2.3.2 Installation Standards2-10• Duct-ventilated2.3.2 Installation StandardsObserve the standards for mounting SERVOPACKs in control

2.3 SERVOPACK Installation2-112Installation• Mounting SERVOPACKs Side by Side in a Control PanelLeave sufficient space on each side and at the top an

2 Installation2.4.1 SGDV-01A (Analog Pulse Model)2-122.4 EMC Installation ConditionsThis section describes the recommended installation conditio

2.4 EMC Installation Conditions2-132Installation Three-phase 200 V•SGDV-A01A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6)Symbol Cable Name Specifica

2 Installation2.4.1 SGDV-01A (Analog Pulse Model)2-14 Three-phase 200 V •SGDV-A01A ( = 120)Symbol Cable Name Specificationc I/O signal ca

2.4 EMC Installation Conditions2-152Installation Three-phase 200 V •SGDV-A01A ( = 180, 200, 330)Symbol Cable Name Specificationc I/O signal ca

2 Installation2.4.1 SGDV-01A (Analog Pulse Model)2-16 Three-phase 200 V •SGDV-A01A ( = 470, 550, 590, 780)Symbol Cable Name Specification

2.4 EMC Installation Conditions2-172Installation Three-phase 400 V•SGDV-D01A ( = 1R9, 3R5, 5R4, 8R4, 120, 170)∗1. Products that have received

2 Installation2.4.1 SGDV-01A (Analog Pulse Model)2-18 Three-phase 400 V•SGDV-D01A ( = 210, 260, 280, 370)∗1. Products that have received

iv Manuals Related to the Σ-V SeriesRefer to the following manuals as required.NameSelecting Models and Peripheral DevicesRatings and Specifi-cat

2.4 EMC Installation Conditions2-192Installation2.4.2 SGDV-11A (M-II Model) Single-phase 100 V•SGDV-F11A ( = R70, R90, 2R1, 2R8)Symbol Cab

2 Installation2.4.2 SGDV-11A (M-II Model)2-20 Three-phase 200 V •SGDV-A11A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6)Symbol Cable Name Specif

2.4 EMC Installation Conditions2-212Installation Three-phase 200 V•SGDV-A11A ( = 120)Symbol Cable Name Specificationc I/O signal cable Shield

2 Installation2.4.2 SGDV-11A (M-II Model)2-22 Three-phase 200 V•SGDV-A11A ( = 180, 200, 330)Symbol Cable Name Specificationc I/O signal c

2.4 EMC Installation Conditions2-232Installation Three-phase 200 V•SGDV-A11A ( = 470, 550, 590, 780)Symbol Cable Name Specificationc I/O signa

2 Installation2.4.2 SGDV-11A (M-II Model)2-24 Three-phase 400 V •SGDV-D11A ( = 1R9, 3R5, 5R4, 8R4, 120, 170)∗1. Products that have receiv

2.4 EMC Installation Conditions2-252Installation Three-phase 400 V•SGDV-D11A ( = 210, 260, 280, 370)∗1. Products that have received CE marking

2 Installation2.4.3 SGDV-21A (M-III Model)2-262.4.3 SGDV-21A (M-III Model) Single-phase 100 V•SGDV-F21A ( = R70, R90, 2R1, 2R8)Symbol

2.4 EMC Installation Conditions2-272Installation Three-phase 200 V •SGDV-A21A ( =R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6)Symbol Cable Name Specifica

2 Installation2.4.3 SGDV-21A (M-III Model)2-28 Three-phase 200 V•SGDV-A21A ( = 120)Symbol Cable Name Specificationc I/O signal cable Shie

vΣ-V SeriesUser’s ManualMECHATROLINK-IIICommand(SIEP S800000 63)(Will be available soon.)999Σ-V Series User's Manual Design and Maintenance Rotat

2.4 EMC Installation Conditions2-292Installation Three-phase 200 V•SGDV-A21A ( = 180, 200, 330)Symbol Cable Name Specificationc I/O signal cab

2 Installation2.4.3 SGDV-21A (M-III Model)2-30 Three-phase 200 V•SGDV-A21A ( = 470, 550, 590, 780)Symbol Cable Name Specificationc I/O si

2.4 EMC Installation Conditions2-312Installation Three-phase 400 V •SGDV-D21A ( = 1R9, 3R5, 5R4, 8R4, 120, 170)∗1. Products that have received

2 Installation2.4.3 SGDV-21A (M-III Model)2-32 Three-phase 400 V•SGDV-D21A ( = 210, 260, 280, 370)∗1. Products that have received CE mark

2.4 EMC Installation Conditions2-332Installation2.4.4 SGDV-E1A (Command Option Attachable Type)For SERVOPACKs of command option attachable type,

3-13Wiring and Connection3Wiring and ConnectionThis chapter describes how to set up the wiring and connections required for trial operation.For more i

3 Wiring and Connection 3-23.1 Precautions for Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in

3.2 System Configuration Diagram3-33Wiring and Connection3.2 System Configuration Diagram3.2.1 Connecting to SGDV-01A SERVOPACK (Analog Pulse Mod

3 Wiring and Connection3.2.1 Connecting to SGDV-01A SERVOPACK (Analog Pulse Model)3-4 SGDV-A01A• Using a Three-phase, 200-V Power Supply∗1.

3.2 System Configuration Diagram3-53Wiring and Connection• Using a Single-phase, 200-V Power SupplyThe Σ-V Series SERVOPACK for a 200-V power supply

viΣ-V SeriesIndexer ModuleInstallation Guide(TOBP C720829 02)99 9Σ-V SeriesFeedback Option ModuleInstallation Guide(TOBP C720829 03)99 9Σ SeriesD

3 Wiring and Connection3.2.1 Connecting to SGDV-01A SERVOPACK (Analog Pulse Model)3-6 SGDV-D01A∗1. Use a 24 VDC power supply with double ins

3.2 System Configuration Diagram3-73Wiring and Connection3.2.2 Connecting to SGDV-11A SERVOPACK (M-II Model) SGDV-F11A∗1. Use a 24 VDC power

3 Wiring and Connection3.2.2 Connecting to SGDV-11A SERVOPACK (M-II Model)3-8 SGDV-A11A• Using a Three-phase, 200-V Power Supply∗1. Use a 24

3.2 System Configuration Diagram3-93Wiring and Connection• Using a Single-phase, 200-V Power SupplyThe Σ-V Series SERVOPACK for a 200-V power supply

3 Wiring and Connection3.2.2 Connecting to SGDV-11A SERVOPACK (M-II Model)3-10 SGDV-D11A∗1. Use a 24 VDC power supply with double insulation

3.2 System Configuration Diagram3-113Wiring and Connection3.2.3 Connecting to SGDV-21A SERVOPACK (M-III Model) SGDV-F21A∗1. Use a 24 VDC powe

3 Wiring and Connection3.2.3 Connecting to SGDV-21A SERVOPACK (M-III Model)3-12 SGDV-A21A• Using a Three-phase, 200-V Power Supply∗1. Use a

3.2 System Configuration Diagram3-133Wiring and Connection• Using a Single-phase, 200-V Power SupplyThe Σ-V Series SERVOPACK for a 200-V power supply

3 Wiring and Connection3.2.3 Connecting to SGDV-21A SERVOPACK (M-III Model)3-14 SGDV-D21A∗1. Use a 24 VDC power supply with double insulatio

3.2 System Configuration Diagram3-153Wiring and Connection3.2.4 Connecting to SGDV-E1A SERVOPACK (Command Option Attachable Type) SGDV-FE1A∗1

vii Safety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual

3 Wiring and Connection3.2.4 Connecting to SGDV-E1A SERVOPACK (Command Option Attachable Type)3-16 SGDV-AE1A• Using a Three-phase, 200-V Pow

3.2 System Configuration Diagram3-173Wiring and Connection• Using a Single-phase, 200-V Power SupplyThe Σ-V Series SERVOPACK for a 200-V power supply

3 Wiring and Connection3.2.4 Connecting to SGDV-E1A SERVOPACK (Command Option Attachable Type)3-18 SGDV-DE1A∗1. Use a 24-VDC power supply wi

3.3 Main Circuit Wiring3-193Wiring and Connection3.3 Main Circuit WiringThe names, specifications, and functions of the main circuit terminals requir

3 Wiring and Connection3.3.2 SERVOPACK Main Circuit Wire Size3-203.3.2 SERVOPACK Main Circuit Wire SizeThis section describes the SERVOPACK Main Cir

3.3 Main Circuit Wiring3-213Wiring and Connection Wire TypesUse the following type of wire for main circuit.The following table shows the wire sizes

3 Wiring and Connection3.3.2 SERVOPACK Main Circuit Wire Size3-22 Single-phase, 100 VThree-phase, 200 VExternal Terminal NameTerminal SymbolsSERVO

3.3 Main Circuit Wiring3-233Wiring and Connection Three-phase, 400 VExternal Terminal NameTerminal SymbolsSERVOPACK Model SGDV-1R9 3R5 5R4 8R4 120 1

3 Wiring and Connection3.3.3 Typical Main Circuit Wiring Examples3-243.3.3 Typical Main Circuit Wiring ExamplesThe following wiring examples show th

3.3 Main Circuit Wiring3-253Wiring and Connection Three-phase 200 V, SGDV-A• SGDV-R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330

viiiSafety PrecautionsThese safety precautions are very important. Read them before performing any pro-cedures such as checking products on delive

3 Wiring and Connection3.3.3 Typical Main Circuit Wiring Examples3-26 Three-phase 400 V, SGDV-D• SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D• SGDV-2

3.3 Main Circuit Wiring3-273Wiring and Connection Precautions When Using More Than One SERVOPACKThis section shows an example of the wiring when mor

3 Wiring and Connection3.3.4 Wiring the Main Circuit Terminal Connector (Spring Type)3-28• PrecautionsWhen using more than one SERVOPACK with a DC p

3.3 Main Circuit Wiring3-293Wiring and Connection Wiring Procedure1. Remove the main circuit terminal connector from the SERVOPACK.2. Strip the end

3 Wiring and Connection3.3.4 Wiring the Main Circuit Terminal Connector (Spring Type)3-30 Using a screwdriverUse a commercially available flat-blad

3.4 Connecting Regenerative Resistors3-313Wiring and Connection3.4 Connecting Regenerative ResistorsThis section describes how to connect regenerativ

3 Wiring and Connection3.4.1 Connecting Regenerative Resistor3-32 SERVOPACKs: Model SGDV-3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A, 1R9D, 3R5D, 5R4D

3.4 Connecting Regenerative Resistors3-333Wiring and Connection SERVOPACKs: Model SGDV-470A, 550A, 590A, 780A, 210D, 260D, 280D, 370DNo built-in reg

4-14Safety Function4Safety FunctionThis chapter describes the safety functions.4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Safety Function 4-24.1 OutlineThe safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by protecting wo

ix Storage and Transportation• Provide an appropriate braking device on the machine side to ensure safety. The holding brake on a servomotor with a b

4.2 Hard Wire Base Block (HWBB) Function4-34Safety Function4.2 Hard Wire Base Block (HWBB) FunctionThe Hard Wire Base Block function (hereinafter ref

4 Safety Function 4-44.3 Safety Function Signal (CN8) Names and FunctionsThe following table shows the terminal layout of safety function signals (C

4.5 When Using the Safety Function4-54Safety Function4.5 When Using the Safety FunctionConnect a safety device using the following procedure.1. <W

4 Safety Function 4-63. Connect a safety device to CN8.Note: When not using the safety function, use the SERVOPACK with the safety function jumper c

5-15Trial Operation (Checking Servomotor Operation)5Trial Operation (Checking Servomotor Operation)This chapter describes how to perform trial operati

5 Trial Operation (Checking Servomotor Operation) 5-25.1 OutlineThe trial operation described here is a JOG operation for servomotors not connected

5.2 Inspection and Checking before Trial Operation5-35Trial Operation (Checking Servomotor Operation) SERVOPACKsInspect and check the following item

5 Trial Operation (Checking Servomotor Operation) 5-4 Installing the Servomotor and SERVOPACKInstall the servomotor and SERVOPACK according to the

5.3 JOG Operation Using a Panel Operator5-55Trial Operation (Checking Servomotor Operation)5.3 JOG Operation Using a Panel OperatorThis section descr

5 Trial Operation (Checking Servomotor Operation) 5-66Press the Up Cursor Key to rotate the ser-vomotor in the forward direction and press the Down