YASKAWA SGMJ Series - User Manual

To Next Page

YASKAWA

DC Power Input Σ-II Series SGM□J/SGDJ

USER'S MANUAL

YA S K A WA

MANUAL NO. SIE-S800-38C

AC Servodrives

SGMMJ/SGMAJ Servomotor

SGDJ SERVOPACK

Main Page

Table of Contents12
Outline20
Checking Products21
Check Items21
Servomotors21
Servopacks22
Product Part Names23
Servomotors Without Gears and Brakes23
Servopacks24
Examples of Servo System Configurations25
Applicable Standards26
North American Safety Standards (UL, CSA)26
CE Marking26
Selections27
Servomotor Model Designations28
Model SGMMJ28
Model SGMAJ30
SERVOPACK Model Designations32
SGDJ Servopacks and Applicable Servomotors33
Selecting Cables34
Selecting Peripheral Devices38
Special Options38
Molded-Case Circuit Breaker and Fuse Capacity39
AC/DC Power Supply and Power Supply Input Capacitor40
Noise Filters, Surge Suppressors, Magnetic Conductors, and Brake Power Supply41
Specifications and Dimensional Drawings42
Ratings and Specifications of SGMMJ42
SGMMJ Servomotors Without Gears43
SGMMJ Servomotors with Standard Backlash Gears45
Ratings and Specifications of SGMAJ46
SGMAJ Servomotors Without Gears46
SGMAJ Servomotors with Standard Backlash Gears49
SGMAJ Servomotors with Low-Backlash Gears51
Mechanical Specifications of SGMMJ and SGMAJ Servomotors53
Precautions on Servomotor Installation53
Mechanical Characteristics of SGMMJ Servomotors55
Mechanical Characteristics of SGMAJ Servomotors56
Terms and Data for Servomotors with Gears58
Dimensional Drawings of SGMMJ Servomotors60
Standard and Without Brakes60
Standard and with Brakes61
SGMMJ Servomotor62
With Gears and Without Brakes62
SGMMJ Servomotors64
With Gears and Brakes64
Dimensional Drawings of SGMAJ Servomotors66
SGMAJ Servomotors66
Without Gears66
SGMAJ Servomotors69
Without Gears and with Brakes69
SGMAJ Servomotors71
With Standard Backlash Gears and Without Brakes71
With Standard Backlash Gears and Brakes76
With Low-Backlash Gears and Without Brakes81
Dimensional Drawing of Output Shafts with Oil Seals84
SERVOPACK Specifications and Dimensional Drawings85
SERVOPACK Ratings and Specifications86
SERVOPACK Ratings and Specifications 186
SERVOPACK Ratings and Specifications 287
SERVOPACK Installation89
SERVOPACK Internal Block Diagrams91
Speed and Torque Control91
Position Control92
Servopack's Power Supply Capacities and Power Losses93
SERVOPACK Overload Characteristics and Allowable Load94
Moment of Inertia94
Overload Characteristics94
Starting and Stopping Time95
Load Moment of Inertia95
Dimensional Drawings97
VDC: 10/50 W (A1C /A5C )97
VDC: 50 W to 200 W (A5E to 02E )97
VDC: 80 W (A8C )97
VDC: 300 W (03E )97
Specifications and Dimensional Drawings of Cables and Peripheral Devices98
Specifications and Dimensional Drawings of Servomotor Main Circuit Cable99
Cables for SGMMJ and SGMAJ Servomotors Without Brakes99
Cables for SGMMJ and SGMAJ Servomotors with Brakes100
Servomotor and SERVOPACK Main Circuit Wire Size and Connectors101
Wire Size101
SGMMJ Servomotor Connectors for Standard Environments102
SGMAJ Servomotor Connectors for Standard Environments103
Encoder Cables for CN4 Connector107
Encoder Cable with Connectors107
Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads107
Connectors and Cables for Encoder Signals108
Connectors and Cables108
Connectors and Cables109
I/O Signal Cables for CN1 Connector110
Standard Cables110
Connector Type and Cable Size110
Connection Diagram112
Peripheral Devices113
Cables for Connecting Personal Computers113
Digital Operator114
Cables for Analog Monitor115
Connector Terminal Block Converter Unit116
Noise Filter118
Surge Suppressor118
Variable Resistor for Speed and Torque Setting118
Encoder Signal Converter Unit119
Wiring120
Wiring Main Circuit121
Names and Functions of Main Circuit Terminals121
Wiring Main Circuit Power Supply Connector122
Typical Main Circuit Wiring Examples123
Wiring Encoders124
Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)124
Encoder Connector (CN2) Terminal Layout125
Examples of I/O Signal Connections126
SGDJ- S for Speed Control Mode126
SGDJ- P for Position Control Mode127
SGDJ- S for Torque Control Mode128
I/O Signal Connector (CN1) Terminal Layout129
I/O Signal (CN1) Names and Functions131
Interface Circuit133
Others136
Wiring Precautions136
Wiring for Noise Control137
Wiring for Noise Control139
Installation Conditions of EMC Directives140
Using more than One SERVOPACK142
Extending Encoder Cables143
Digital Operator146
Functions on Digital Operator146
Connecting the Digital Operator146
Key Names and Functions147
Basic Mode Selection and Operation148
Status Display149
Operation in Utility Function Mode (Fn )151
List of Utility Function Modes151
Operation in Utility Function Mode151
Alarm Traceback Data Display (Fn000)152
Zero-Point Search Mode (Fn003)153
Parameter Settings Initialization (Fn005)154
Alarm Traceback Data Clear (Fn006)155
Automatic Offset-Adjustment of Motor Current Detection Signal (Fn00E)156
Manual Offset-Adjustment of Motor Current Detection Signal (Fn00F)157
Password Setting (Protects Parameters from Being Changed) (Fn010)158
Motor Models Display (Fn011)159
Software Version Display (Fn012)160
Operation in Parameter Setting Mode (Pn )161
Setting Parameters161
Input Circuit Signal Allocation165
Output Circuit Signal Allocation168
Operation in Monitor Mode (un )170
List of Monitor Modes170
Operation177
Trial Operation177
Trial Operation for Servomotor Without Load179
Trial Operation for Servomotor Without Load from Host Reference183
Trial Operation for Servomotor Without Load from Host Reference185
Trial Operation with the Servomotor Connected to the Machine188
Servomotor with Brakes189
Position Control by Host Controller189
Control Mode Selection190
Setting Common Basic Functions191
Setting the Servo on Signal191
Switching the Servomotor Rotation Direction192
Setting the Overtravel Limit Function193
Setting for Holding Brakes195
Selecting the Stopping Method after Servo off198
Instantaneous Power Loss Settings199
Absolute Encoders200
Interface Circuits201
Selecting an Absolute Encoder202
Handling Batteries202
Replacing Batteries202
Absolute Encoder Setup (Fn008)203
Absolute Encoder Reception Sequence204
Multiturn Limit Setting208
Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred209
Operating Using Speed Control with Analog Reference210
Setting Parameters210
Setting Input Signals211
Adjusting Offset212
Soft Start215
Speed Reference Filter215
Using the Zero Clamp Function215
Encoder Signal Output217
Speed Coincidence Output219
Operating Using Position Control220
Setting Parameters220
Setting Parameters221
Setting the Electronic Gear222
Position Reference225
Smoothing229
Positioning Completed Output Signal230
Positioning Near Signal231
Reference Pulse Inhibit Function (INHIBIT)232
Operating Using Torque Control233
Setting Parameters233
Torque Reference Input233
Adjusting the Reference Offset234
Limiting Servomotor Speed During Torque Control236
Speed237
Setting Parameters238
Operating Using Speed Control with an Internally Set Speed238
Input Signal Settings239
Operating Using an Internally Set Speed239
Limiting Torque241
Internal Torque Limit (Limiting Maximum Output Torque)241
External Torque Limit (Output Torque Limiting by Input Signals)242
Torque Limiting Using an Analog Voltage Reference244
Torque Limiting Using an External Torque Limit and Analog Voltage Reference245
Checking Output Torque Limiting During Operation246
Control Mode Selection247
Setting Parameters247
Switching the Control Mode247
Other Output Signals249
Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)249
Warning Output (/WARN)250
Running Output Signal (/TGON)250
Servo Ready (/S-RDY) Output251
Adjustments252
Autotuning253
Servo Gain Adjustment Methods253
List of Servo Adjustment Functions254
Online Autotuning256
Online Autotuning Procedure257
Selecting the Online Autotuning Execution Method258
Machine Rigidity Setting for Online Autotuning259
Method for Changing the Machine Rigidity Setting260
Saving the Results of Online Autotuning261
Procedure for Saving the Results of Online Autotuning261
Manual Tuning262
Explanation of Servo Gain262
Servo Gain Manual Tuning263
Position Loop Gain263
Speed Loop Gain264
Speed Loop Integral Time Constant264
Servo Gain Adjustment Functions265
Feed-Forward Reference265
Torque Feed-Forward266
Proportional Control Operation (Proportional Operation Reference)267
Using the Mode Switch (P/PI Switching)268
Setting the Speed Bias271
Speed Feedback Filter271
Speed Feedback Compensation272
Switching Gain Settings274
Torque Reference Filter275
Analog Monitor277
Related Parameters278
Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)279
Inspection, Maintenance, and Troubleshooting282
Alarm Display Table283
Troubleshooting283
Warning Display285
Troubleshooting of Alarm and Warning286
Troubleshooting for Malfunction Without Alarm Display294
Inspection and Maintenance299
Servomotor Inspection299
SERVOPACK Inspection299
Servopack's Parts Replacement Schedule300
Connection to Host Controller301
Example of Connection to MP920 4-Axes Analog Module SVA-01301
Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)302
Example of Connection to MEMOCON GL120/130 Series Motion Module MC20303
Module MC20303
Example of Connection to Omron's Motion Control Unit305
Example of Connection to Omron's Position Control Unit306
Example of Connection to Omron's Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)307
Example of Connection to Omron's Position Control Unit307
Example of Connection to Mitsubishi's AD72 Positioning Unit (SERVOPACK in Speed Control Mode)309
Example of Connection to Mitsubishi's AD75 Positioning Unit (SERVOPACK in Position Control Mode)310
List of Parameters311
Utility Functions List311
List of Parameters312
Monitor Modes328

Need help?

Do you have a question about the YASKAWA SGMJ Series and is the answer not in the manual?

YASKAWA SGMJ Series Specifications

General

Brand	YASKAWA
Model	SGMJ Series
Category	Power Supply
Language	English

YASKAWA SGMJ Series - User Manual

Table of Contents

YASKAWA SGMJ Series Specifications