Transcript
Analog Voltage Reference SERVOPACKs Pulse Train Reference SERVOPACKs
SGDV-¡¡¡ES1 (Analog Voltage Reference)
SGDV-¡¡¡EP1 (Pulse Train Reference)
Model Designations
S G D V - 2R9 E v Series
1st+2nd+ 3rd digits
SGDV SERVOPACKs with DC Power Input 1st+2nd+3rd digits
4th digit
Voltage
Code
Applicable Servomotor Max. Capacity kW
1R7
0.011
2R9
0.030
4th digit Power Supply Voltage E
5th+6th digits
A 002 00 7th digit
8th+9th+ 10th digits
0
11th+12th digits
7th digit Design Revision Order
Current
24 VDC/ 48 VDC
Code
S1
Specifications
11th+12th digits
A, B…
00
8th+9th+10th digits Code
Specifications
002
Base-mounted, varnish(standard)
13th digit Options (parameter)
Specifications Analog Voltage Reference (For Rotary Servomotors)
P1
Pulse Train Reference (For Rotary Servomotors)
*: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 13 are all zeros, they are omitted.
341
Specifications Standard
Options (hardware)
48 VDC*
S1
Options (software)
Code
5th+6th digits Interface Code
13th digit
Code 0
Specifications Standard
リニアサーボモータ
SGLGW（コアレス形）
リニア
Features 1Compact design
With compact SERVOPACKs using less space, you can make effective use of limited space and make controller panels and systems smaller.
1Applications with DC power
These compact, high-performance SERVOPACKs can be powered by batteries so they can improve the performance of battery-operated equipment for handling & transfer systems, such as robots used in clean rooms and automated guided vehicles (AGVs). Two different power supplies provide power f or the control circuit and for the main circuit. Troubleshooting can be perf ormed by shutting off the power to the main circuit if any alarm occurs. Either a 24-VDC or 48-VDC power supply can be used for the main circuit. Use of a 48-VDC power supply can improve the torque-mo tor speed characteristics (For the control circuit, only a 24-VDC power supply can be used). Degree to which the characteristics can be improved depends on which motor is used.
1Improved usability with state-of-the-art technology
New advanced autotuning lets you adjust your system quickly for best performance. A wide variety of functions are provided: the model follow-up control function that reduces positioning time, the vibration suppression function that suppresses vibration of machines, frict ion compensation function that can exert its ability in applications with load fluctuations, and the new tuning-less function most suitable for systems that require a long startup time or that involve a large load fluctuation.
Ratings SERVOPACK Model SGDV-¡¡¡¡
1R7E
2R9E
Applicable Servomotor Max. Capacity
0.011
0.030
kW
Continuous Output Current
Arms
1.7
2.9
Max. Output Current
Arms
4.1
8.6
Regenerative Resistors
None 24 VDC±15％
Main Circuit*
48 VDC±15％
24 VDC±15％
48 VDC±15％
24 VDC±15％
*: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. When a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved.
1SERVOPACK Overload Characteristics 1000
100 SGMMV-B9E
10
1
Detecting time (s)
Detecting time (s)
1000
100
SGMMV-A1E,-A2E, -A3E
10
SGMMV-B3E, -B5E
0.1 100 150 200 250 Torque reference (percent of rated torque) (%)
1 100 200 300 Torque reference (percent of rated torque) (%)
DC
Analog/Pulse Type SERVOPACKs
Control Circuit
Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics.
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Specifications Items
Specifications
Control Method
PWM control, sine-wave driven
Feedback
Operating Conditions
Serial encoder: 17-bit (incremental/absolute) Ambient Temperature
0 to +55˚C
Storage Temperature
− 20 to +85˚C
Ambient Humidity
90%RH or less
Storage Humidity
90%RH or less
Vibration Resistance
4.9 m/s2
Shock Resistance
19.6 m/s2
Protection Class
IP10
Pollution Degree
2
Altitude
1000 m or less
Others
Do not use SERVOPACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity
With no freezing or condensation
An environment that satisfies the following conditions. • Free of corrosive or flammable gases • Free of exposure to water, oil, or chemicals • Free of dust, salts, or iron dust
Applicable Standards
UL508C EN55011/A1, EN61000-6-2, EN61800-3, EN61800-5-1
Mounting
Base-mounted 1:5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.)
Speed Control Range
Performance
Speed Regulation*1
Load Fluctuation
0% to 100% load: ±0.01% max. (at rated speed)
Voltage Fluctuation
Rated voltage: ±10% : 0% (at rated speed)
Temperature Fluctuation
25±25˚C : ±0.1% max. (at rated speed)
Torque Control Tolerance (Repeatability)
± 1%
Soft Start Time Setting
0 to 10 s (can be set individually for acceleration and deceleration.) Phase A, phase B, phase C: line driver output
Encoder Output Pulses
The number of dividing pulse: Any setting ratio is available.*2 Number of Channels
Input Signals Sequence Input
which can be allocated
Functions
I/O Signal Fixed Output
Channels
Output Signals which can be allocated
• Servo ON (/S-ON) • Control selection(/C-SEL) • Proportional control (/P-CON) • SEN signal (/SEN) •F orward run prohibited (P-OT), reverse run prohibited (N-OT) • Zero clamping (/ZCLAMP) • Reference pulse inhibit (/INHIBIT) • Alarm reset (/ALM-RST) • Gain selection (/G-SEL) • F orward external torque limit (/P-CL), reverse external torque limit (/N-CL) • Reference pulse input multiplication switching (/PSEL) • Internal set speed selection (/SPD-D, /SPD-A, /SPD-B) • Positive and negative logic can be changed.
Servo alarm (ALM) Number of
Sequence Output
7 channels
Functions
3 channels • Positioning completion (/COIN) • Brake (/BK) • Speed coincidence detection (/V-CMP) • Warning (/WARN) • Rotation detection (/TGON) • Near (/NEAR) • Servo ready (/S-RDY) •R eference pulse input multiplication switching output (/PSELA) • Torque limit detection (/CLT) • Speed limit detection (/VLT) • Positive and negative logic can be changed.
*1: Speed regulation is defined as follows: No-load motor speed−Total load motor speed Speed regulation = × 100% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *2: For details, refer to 5.3.7 Setting Encoder Output Pulse in the AC Servo Drives DC Power Input Series USER’S MANUAL Design and Maintenance
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(Cont’d)
SERVOPACKs with DC Power Input
SGDV-¡¡¡ES1/EP1 Specifications Items
Specifications
Digital Operator
SERVOPACKs (Model: JUSP-OP05ACompatible with the digital operator for 1-E). The digital operator must be connected with the SERVOPACK via the analog monitor unit (Model: JUSP-PC001-E) or the digital operator’s relay cable (Model: JZSP-CF1S00-A3-E).
Computer (USB)
Compatible with SigmaWin+. Compliant with the USB1.1 standard (12 Mbps)
Communications
Display
Servo alarm (ALM): red; servo ready (RDY): green
Analog Monitor
Number of points: 2 Output voltage: ±10 VDC (linearity effective range: ±8 V) Output through the analog monitor unit (model: JUSP-PC001-E)
Dynamic Brake (DB)
Not available
Regenerative Processing
Not available
Overtravelling (OT) Prevention
Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel signal (P-OT or N-OT) is input.
Protective Functions
Overcurrent, Overvoltage, low voltage, overload, etc.
Utility Functions
Gain adjustment, alarm history, JOG operation, origin search, etc. 0 to 10 s (can be set individually for acceleration and deceleration.)
Analog Voltage Reference
Reference Voltage Input Signals Speed Control Internal Set Speed
Torque Control
About 14 kΩ
Circuit Time Constant
30 μ s
Rotation Direction Selection
With P control signal
Reference Voltage Input Signals
With forward/reverse external torque limit signal (speed 1 to 3 selection). Servomotor stops or another control method is used when both are OFF. Max. input voltage: ±12 V (forward torque reference with positive reference) Factory setting: 3 VDC at rated torque (Input gain setting can be changed.)
Input Impedance
About 14 kΩ
Circuit Time Constant
16 μ s
Feedforward Compensation
0 to 100%
Positioning Completed Width Setting
0 to 1073741824 reference units
Type Pulse Train Reference
Factory setting: 6 VDC at rated speed (Input gain setting can be changed.)
Input Impedance
Speed Selection
Control
Max. input voltage: ±12 V (forward speed reference with positive reference)
Form
Sign + pulse train, CW + CCW pulse train, or two-phase pulse train with 90°phase differential For line driver, open collector Line driver
Position Control
Reference Input
Pulse
Signals
Sign + pulse train, CW + CCW pulse train: 4 Mpps Max. Input Pulse Frequency*
Two-phase pulse train with 90°phase differential:1 Mpps Open Collector Sign + pulse train, CW + CCW pulse train: 200 kpps Two-phase pulse train with 90°phase differential: 200 kpps
Reference pulse input multiplication switching Clear Signal
DC
Select one of them:
1 to 100 times Position error clear For line driver, open collector
*: If the maximum reference frequency exceeds 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield. Connect the shield at the SERVOPACK to the connector shell.
Analog/Pulse Type SERVOPACKs
Soft Start Time Setting
344
Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses at the rated output. Main Circuit Power Supply
Applicable Servomotor Max. Capacity
SERVOPACK Model SGDV-
W 11
1R7E
Main Circuit Power Supply Capacity per SERVOPACK
Output Current
Main Circuit Power Loss
W
Arms
W
108
1.7
3.4
24 VDC 30
2R9E
165
2.9
6.9
11
1R7E
169
1.7
3.4
48 VDC
Control Circuit Power Loss
Total Power Loss
W
W
W
–
7.2
Resistor Power Loss
10.6 14.1 10.6 –
30
2R9E
411
Note: These power supply capacities are net values at instantaneous maximum loads.
345
Regenerative
2.9
6.9
7.2 14.1
SERVOPACKs with DC Power Input
SGDV-¡¡¡ES1/EP1 Selecting Cables 1Cables for CN1
CN3
CN5
CN7 (Analog Voltage Reference/Pulse Train Reference SERVOPACKs)
Cable for I/O Signals
Host Controller
CN1
Digital Operator ＳＶＯＮ
ＣＯＩＮ ＶＣＭＰ
ＴＧＯＮ
ＣＨＡＲＧＥ
REF
YASKAWA
Digital Operator Relay Cable
ALARM
ＲＥＳＥＴ
ＳＣＲＯＬＬ
ＪＯＧ
SVON
READ
Digital Operator
ＭＯＤＥ／ＳＥＴ
ＤＡＴＡ
ＳＶＯＮ
ＣＯＩＮ ＶＣＭＰ
ＴＧＯＮ
REF
ＣＨＡＲＧＥ
WRITE
SERVO
SERVO
DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ
CN5
YASKAWA
Analog Monitor Unit Connection Cable
Analog Monitor Unit
ALARM
ＲＥＳＥＴ
ＳＣＲＯＬＬ
ＪＯＧ
SVON
READ
ＭＯＤＥ／ＳＥＴ
ＤＡＴＡ
WRITE
SERVO
SERVO
DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ
CN7
Connection Cable for Personal Computer
CN3
Cable for Analog Monitor
Insulated AC/DC Converter for Control Circuit Power Supply
Power Supply Cable ＦＧ Ｌ２ Ｃ２
ＦＧ
Insulated AC/DC Converter for Main Circuit Power Supply
Ｌ１ Ｃ１
Name
Length
Order No.
Specifications
Details
Soldered
CN1 Cables for I/O Signals
Connector Terminal Converter Unit Cable with Loose wire at One End
CN3 Power Supply Cables
Cable with Loose wire at One End
JZSP-CSI9-2-E 0.5 m 1m 3m 1m 2m 3m 1m 2m 3m 4m 5m 6m 7m 8m 9m 10 m
Digital Operator
SBK-U-VBA-A5 SBK-U-VBA-01 SBK-U-VBA-03 JZSP-CSI02-1-E JZSP-CSI02-2-E JZSP-CSI02-3-E JZSP-CF1G00-01-E JZSP-CF1G00-02-E JZSP-CF1G00-03-E JZSP-CF1G00-04-E JZSP-CF1G00-05-E JZSP-CF1G00-06-E JZSP-CF1G00-07-E JZSP-CF1G00-08-E JZSP-CF1G00-09-E JZSP-CF1G00-10-E JUSP-OP05A-1-E
(1) Terminal Block and Connection Cable
(2)
DC (3)
Power Supply End
SERVOPACK End
ＦＧ Ｌ２ Ｃ２
(4)
ＦＧ Ｌ１ Ｃ１
With Connection Cable (1 m)
ＳＶＯＮ
ＣＯＩＮ ＶＣＭＰ
ＴＧＯＮ
REF
ＣＨＡＲＧＥ
YASKAWA
ALARM
ＲＥＳＥＴ
ＳＣＲＯＬＬ
ＪＯＧ
SVON
READ
(5)
ＭＯＤＥ／ＳＥＴ
ＤＡＴＡ
WRITE
SERVO
SERVO
DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ
Digital Operator Relay Cable CN5 Cables for Digital Operator/Analog Monitor Unit
Analog Monitor Unit
Analog Monitor Unit Connection Cable Cables for Analog Monitor
SERVOPACK End
0.3 m
CN7 Connection Cables for Personal Computer
0.3 m
Digital Operator End
JZSP-CF1S00-A3-E
(6)
JUSP-PC001-E
(7)
JZSP-CF1S05-A3-E
SERVOPACK End
Analog Monitor Unit End
Analog/Pulse Type SERVOPACKs
Connector Kit
(8)
Analog Monitor Unit End
1m
JZSP-CA01-E
(9) Cable with Connectors at Both Ends
2.5 m
JZSP-CVS06-02-E
(10)
346
Selecting Cables (1) Connector Kit for CN1 Use the following connector and cable to assemble the cable. The CN1 connector kit includes one case and one connector. Model
JZSP-CSI9-2-E
10326-52A0-008*
Connector Qty
Model
Qty
1 set
10126-3000PE* (Soldered)
1
31.3
（5.2）
• Cable Size Specifications
16 dia. max.
2.3
AWG24,26,28,30
Cable Finished Diameter
Pin No.25 Pin No.14 Pin No.26 Pin No.15
2.54 1.27
5.1
Applicable Wires
12.7
37.2
External Dimensions of Connector (Units: mm)
Use twisted-pair or twisted-pair shielded wire.
Cable
14.0
25.8
* : Manufactured by Sumitomo 3M Ltd.
Item
10.0
Case
Model
12.0
39.0 23.8
Connector Kit
External Dimensions of Case (Units: mm)
19.5
（6.8）
（2.9）
12.7
３Ｍ
Pin No.1 Pin No.2 Pin No.12 Pin No.13
25.8
9.1 7.5
Pin No.1
Pin No.14
15°
1.27 15.24 21.5
(2) Connector Terminal Converter Unit for CN1 • Configurations
• External Dimensions of Terminal Block (Units: mm) Connector Plug (40P) FCN-364P040-AU
SERVOPACK
7
7 29.5
Model：JUSP- TA26 P
B20 A20
B1 A1
1
39
2
40
2-3.5 Dia. 3.5
45
Cable Length：500 +-50 0 mm
3.5
202.5
40
2
39
2
43
B20 A20
B1 A1
1
Can be fixed on DIN rail
20.5
CN1
15.5
Terminal Block (40P) M3.5 Screw
• External Dimensions of Cable (Units: mm) Terminal Converter Unit-end Connector (40P) FCN-361J040-AU (by Fujitsu Ltd.) Cover FCN-360C040-B (by Fujitsu Ltd.)
Model
Cable Length (L)
Approx. Mass
0.5 m
100 g
JUSP-TA26P-1-E
1m
200 g
JUSP-TA26P-2-E
2m
400 g
JUSP-TA26P-E
73
37.2
SERVOPACK End Connector (26P) 10126-6000EL (by Sumitomo 3M Ltd.) Shell 10326-52A0-008 (by Sumitomo 3M Ltd.) Cable (Black) AWG#28, 18P SSRFPVV-SB
39
L
47
Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers 1 to 26 are used in the terminal block. Do not use a pin number of 27 or higher. If assembling cables, refer to 1 Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02-¡ -E Cable on the next page.
347
SERVOPACKs with DC Power Input
SGDV-¡¡¡ES1/EP1 Selecting Cables (3) Cable with Loose Wires at One End for CN1 • External Dimensions (Units: mm)
Cable with Loose Wires at One End for CN1 1 Connection Diagram of JZSP-CSI02-¡-E Cable
SERVOPACK End Connector 10126-6000EL (by Sumitomo 3M Ltd.) 10326-52A0-008 Shell Cable (Ivory) SSRFPVV-SB AWG#28 × 13P UL20276 VW-1SC
L
100 +-10 0
Model
Cable Length
JZSP-CSI02-1-E
1m
JZSP-CSI02-2-E
2m
JZSP-CSI02-3-E
3m
Signal Pin No. Analog Voltage Pulse Train Reference Reference PULS V-REF 1 /PULS SG 2 SIGN T-REF 3 /SIGN SG 4 CLR − 5 /CLR − 6 /COIN /V-CMP 7 ALM 8 /TGON 9 /S-RDY 10 COM_SG 11 /N-CL 12 SG 13 ＋24VIN 14 /S-ON 15 /P-CON 16 P-OT 17 N-OT 18 PAO 19 /PAO 20 PBO 21 /PBO 22 PCO 23 /PCO 24 /ALM-RST 25 /P-CL 26
Marking
Wire Color
Color
Dots
Blue Blue Pink Pink Green Green Orange Orange Gray Gray Blue Blue Pink Green Green Pink Orange Orange Gray Gray Blue Blue Pink Pink Green Green
Red Black Red Black Red Black Red Black Red Black Red Black Red Red Black Black Red Black Red Black Red Black Red Black Red Black
1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3
(4) Cable with Loose Wires at One End for CN3 (Model: JZSP-CF1G00-¡¡-E)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 ：Represents twisted-pair wires.
DC
• External Dimensions (Units: mm) SERVOPACK End Connector (6 poles): 43025-0600 (by Molex Japan Co., Ltd.) Contact: 43030-0001 (Chained)
Lead Marker
50
L
45
3C × AWG20 (BRG/Y) (by Hitachi Cable Ltd.) Cable: CL2-UL2464-AWM
9.85
ＦＧ Ｌ２
Ｌ1
Heat-shrinkable Tube (Black)
４ ５ ６ １ ２ ３
(8.28)
ＦＧ
5.1 Dia.
Ｃ2 Ｃ１
35
Cable: CL2-UL2464-AWM 3C × AWG20 (WYG/Y) (by Hitachi Cable Ltd.)
•
Specifications
Model
Cable Length
Pin No.
Cable Color
Signal
JZSP-CF1G00-01-E
1m
1
Green/yellow
FG
JZSP-CF1G00-02-E
2m
2
Green/yellow
FG
JZSP-CF1G00-03-E
3m
3
Blue
L2
JZSP-CF1G00-04-E
4m
4
White
C2
JZSP-CF1G00-05-E
5m
5
Yellow
C1
JZSP-CF1G00-06-E
6m
6
Red
L1
JZSP-CF1G00-07-E
7m
JZSP-CF1G00-08-E
8m
JZSP-CF1G00-09-E
9m
JZSP-CF1G00-10-E
10 m
Analog/Pulse Type SERVOPACKs
14
(6.3 Dia.)
37.2
3 Dia. Wire Markers
Host Controller End
SERVOPACK End
348
Selecting Cables (5) Digital Operator (Model: JUSP-OP05A-1-E)
(6) Digital Operator Relay Cable for CN5 (Model: JZSP-CF1S00-A3-E) • External Dimensions (Units: mm)
(Units: mm)
2-M3 Screws, Depth 5
70 ＳＶＯＮ
ＣＯＩＮ ＶＣＭＰ
ＴＧＯＮ
Connector: DA3P018MB2 (by Japan Aviation Electronics Industry Ltd.)
ＣＨＡＲＧＥ
REF
SVON
READ
ＭＯＤＥ／ＳＥＴ
Nameplate
111
ＳＣＲＯＬＬ
ＪＯＧ
120
YASKAWA
ALARM
ＲＥＳＥＴ
（4.9 Dia.）
300 +-030
ＤＡＴＡ
WRITE
SERVO
SERVO
Cable: CL2-UL20276-SB 7P × AWG30 Connector: HDR-E14FAG1+ (by Hitachi Cable Ltd.) (by Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E14LPHD+ (by Honda Tsushin Kogyo Co., Ltd.)
DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ
17.8
57
1000 +030 Connector: HDR-E14MAG1+(by Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E14LPA5 (by Honda Tsushin Kogyo Co., Ltd.)
(7) Analog Monitor Unit (Model: JUSP-PC001-E) • External Dimensions (Units: mm)
(8) Analog Monitor Unit Connection Cable for CN5 (Model: JZSP-CF1S05-A3-E) • External Dimensions (Units: mm) Connector: DA3P018MB2 (by Japan Aviation Electronics Industry Ltd.)
Connector: 10120-6000EL (by Sumitomo 3M Ltd.) Shell: 10320-52AO-008
CN3: Connector for Digital Operator
28
66.5
66.5
Nameplate
CN1: Connector for SERVOPACK Note: The cable (JZSP-CF1S05-A3-E) to connect the SERVOPACK is not included.
349
Cable: HP-SB/20276SR AWG28 × 10P (by Taiyo Cabletec Corp.)
33.3
CN4: Connector for Analog Monitor
（5.8 Dia.）
+30 300 -0
14
SERVOPACKs with DC Power Input
SGDV-¡¡¡ES1/EP1 Selecting Cables (9) Analog Monitor Unit Cable for CN4 (Model: JZSP-CA01-E) • External Dimensions (Units: mm) Socket ： DF11-4DS-2C* Contact： DF11-2428SCF*
Black Black
3 1
+20
1000 -0
4 2 White Red
* : Manufactured by Hirose Electric Corporation.
View from Cable End
Specifications Pin No.
Cable Color
Signal
1
Red
Analog Monitor 2
Motor speed : 1V/1000 min-1
Standard Settings
2
White
Analog Monitor 1
Torque reference : 1V/100％ rated torque
3, 4
Black (2 cables)
GND(0V)
−
Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007.
(10) Connection Cable for Personal Computer for CN7 (Model: JZSP-CVS06-02-E) • External Dimensions (Units: mm) 2,500 +−100 0
10 to 20
（100）
se a cable specified by Yaskawa. IMPORTANT U When using other cables, operation cannot be guaranteed.
（55）
Analog/Pulse Type SERVOPACKs
DC
JZSP-CVS06-02-E
350
