INSTRUCTIONS Model:SJDE- APA-OY

Transcription

1 A SERVOPAK JUNMA Series INSTRUTIONS Model:SJDE- APA-OY To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. A 伺 服 单 元 JUNMA 系 列 使 用 说 明 书 型 号 :SJDE- APA-OY 为 了 安 全 使 用 本 产 品, 请 务 必 阅 读 该 使 用 说 明 书 另 外, 请 妥 善 保 管 该 使 用 说 明 书, 并 将 其 交 至 最 终 用 户 手 中 A JUNMA SJDE- APA-OY REF 汉 语 MANUAL NO. TOMP A

2 A SERVOPAK JUNMA SERIES INSTRUTIONS ONTENTS Introduction E-4 Notation Used in this Manual E-4 Related Manuals E-4 Safety Information E-5 Notes for Safe Operation E-5 Before Use E-. Warning Label E-. hecking Products E-.3 Model Designation E-.4 SERVOPAKs and Applicable Servomotors E-.5 Part Names and Functions E-3 Reference Pulse Setting (PULSE) E-3 Reference Filter Setting Rotary Switch (FIL) E-4 Reference Display (REF) E-4 Alarm Display (AL, AL, and AL3) E-5 Installation E-6. Installation onditions E-6. Installation Method E-7 Installation Method and Direction E-7 Space between SERVOPAK Units E-7 3 Wiring E-8 3. Precautions on Wiring E-8 Protection for Power Supply Line E-8 aution for Grounding E-8 aution for able E-8 Other Precautions E-9 Power Loss E-9 Molded-ase ircuit Breaker (MB) or Fuse apacity Relation to Power-Supply apacity E-0 Noise Prevention E- E-

3 3. System onfiguration E Standard onnection E Installation and Wiring onditions on E Marking E-6 Attaching the Ferrite ore E-7 Fixing the able E-7 Shield Box E SERVOPAKs and Applicable Peripheral Devices E Main ircuit Wiring E SERVOPAK Main ircuit Wire Size E-8 able Types E-8 able Size and Allowable urrent E-9 Power Supply Input Terminals (L, L), Motor onnection Terminals (U, V, W), and Regenerative Unit onnection Terminals (+, -) E-9 Ground Terminal ( ) E-9 Encoder Signal onnector E-9 I/O Signal onnector E Wiring the Power Supply/Regenerative Unit onnector (NA) E-30 Wire Size E-30 onnector for Power Supply/Regenerative Unit (NA) E Wiring the Servomotor Main ircuit able onnector (NB) E-3 Servomotors without Brakes E-3 Servomotors with Brakes E Wiring the Encoder onnector (N) E-35 onnection Diagram for Standard Encoder able E Wiring I/O onnectors E-36 onnection Diagram for Standard I/O able E onnection Examples of Input Signal E-37 Line Driver Output E-37 Open-collector Output E onnection Example of Output Signal E EMG Sequence E Explanation of I/O Signals E-40 4 Trial Operation E-4 5 Additional Functions When Digital Operator or JunmaWin is Used E Requirements E List of Available Functions and Applicable SERVOPAKs E Servomotor Rotation Direction E-45 Related Parameter E Electronic Gear E-47 Electronic Gear Ratio E-48 Encoder Resolution E-48 Electronic Gear Ratio Setting Examples E-49 Related Parameter E-50 E-

4 5.5 Positioning ompleted Signal E-50 Related Parameter E Internal Torque Limit E-5 Related Parameters E Filter Setting using Parameter E-53 Filter Setting Procedure E-53 Related Parameter E Utility Functions E-55 Utility Function List E-55 Alarm History Display (Fn000) E-55 JOG Operation (Fn00) E-57 Origin Search (Fn003) E-60 learing Alarm History (Fn006) E-6 Software Version Display (Fn0) E Alarm Display E-64 Alarm List E-64 Warning List E Monitor E-66 Monitor List E-66 Analog Output Signals that can be Monitored E Parameter List E-68 Related Parameter E-68 Related Parameter E ommunication Unit E-7 Wiring E-7 Operation E-73 Dimensions E-73 Specifications of onnector for P (N9) E-73 6 Troubleshooting E Alarm Indicator Lights E Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit E-79 7 Inspections E Regular Inspections E Part's Life Expectancy E Replacement of ooling Fan E-84 SJDE-0APA-OY to 04APA-OY SERVOPAKs E-84 SJDE-08APA-OY SERVOPAKs E-86 8 Specifications E Specifications E Torque-Motor Speed haracteristics E Overload Protection haracteristics E-9 Revision History E-3

5 Introduction This instruction manual describes the JUNMA series A SERVOPAKs. To properly use the JUNMA series A SERVOPAK, read these instructions thoroughly and retain for easy reference for inspections, maintenance, and so on. Make sure that the end user receives this manual. Notation Used in this Manual Notation for Parameters (Display Example for Pn70) Digit Notation Setting Notation Notation Meaning Notation Meaning Pn70.0 Pn70. Pn70. Pn70.3 Indicates the value for the st digit of parameter Pn70. Indicates the value for the nd digit of parameter Pn70. Indicates the value for the 3rd digit of parameter Pn70. Indicates the value for the 4th digit of parameter Pn70. Pn70.0 = x or n. x Pn70. = x or n. x Pn70. = x or n. x Pn70.3 = x or n.x Indicates that the value for the st digit of parameter Pn70 is x. Indicates that the value for the nd digit of parameter Pn70 is x. Indicates that the value for the 3rd digit of parameter Pn70 is x. Indicates that the value for the 4th digit of parameter Pn70 is x. Related Manuals Refer to the following manuals as required. Manual Name A SERVO DRIVES JUNMA SERIES JUNMA series A SERVOMOTOR INSTRUTIONS Σ SERIES DIGITAL OPERATOR SAFETY PREAUTIONS Manual Number KAEPS TOBP30600 TOBP E-4

6 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed these precautions can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. WARNING AUTION PROHIBITED MANDATORY 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 serious consequences if not heeded. Indicates prohibited actions that must not be performed. For example, this symbol would be used as follows to indicate that fire is prohibited:. Indicates compulsory actions that must be performed. For example, this symbol would be used as follows to indicate that grounding is compulsory:. Notes for Safe Operation Read these instructions thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the A SERVOPAK. WARNING Be sure to correctly connect the SERVOPAK connectors, NA and NB. Incorrect wiring may result in electric shock, injury, or damage to the equipment. For the wiring method, refer to 3.8 Wiring the Power Supply/Regenerative Unit onnector (NA) and 3.9 Wiring the Servomotor Main ircuit able onnector (NB). Make sure that the emergency-stop circuit turns OFF the Servo ON signal and the power supply of the main circuit when the EMG (emergency stop) signal turns ON. Because of residual voltage, the servomotor rotates for a few seconds after the power supply has turned OFF. This may result in injury or damage to the equipment. Make sure that the EMG means the stop of the motor rotation. 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. Also, design the circuit's power supply to be automatically cut off if /S-ON signal is OFF, and an emergency stop occurs at the same time. Failure to observe this warning may result in injury. Never touch the inside of the SERVOPAKs. 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. E-5

7 Follow the procedures and instructions for trial operation precisely as described in this manual. 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 cables, connectors, or optional items while the power is ON. Failure to observe this warning may result in electric shock. Installation, wiring, advice on inspection and malfunction must be performed only by authorized personnel. Failure to observe this warning may result in fire, electric shock, or injury. Do not damage, press, exert excessive force or place heavy objects on the cables or the cables between other objects where they might be pinched. 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 braking 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. Be sure to correctly ground the SERVOPAK and the servomotor. onnect the SERVOPAK s ground terminal to electrical codes (ground resistance: 00 Ω or less). Improper grounding may result in electric shock or fire. hecking on Delivery WARNING AUTION Always use the servomotor and SERVOPAK in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. E-6

8 Storage and Transportation Installation AUTION Do not store or install the product in the following places. Failure to observe this caution may result in damage to the product. Locations subject to direct sunlight. Locations subject to temperatures outside the range specified in the storage or installation temperature conditions. Locations subject to humidity outside the range specified in the storage or 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. 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. If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56 for 30 minutes or more. If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors. AUTION Make sure to follow the conditions on. Installation onditions. Failure to observe this caution may result in electric shock, fire, or SERVOPAK s malfunction. 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 parts and prevent any foreign objects, such as metallic fragment, or combustibles 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. E-7

9 Wiring AUTION Provide the specified clearances between the SERVOPAK and the control panel or with other devices. Failure to observe this caution may result in fire or malfunction. SERVOPAK is precision equipment. Do not apply any strong impact. Failure to observe this caution may result in malfunction. 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 terminals, regenerative unit connection terminal, and motor main circuit cable terminals. Failure to observe this caution may result in fire. AUTION 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 (.8 in). Failure to observe this caution may result in malfunction. Use twisted-pair shielded wires or multi-core twisted pair shielded wires for I/O signal cable and encoder cable. The maximum length is 3 m (8. in) for reference input lines and is 0 m ( in) for PG feedback lines. Do not touch the power terminals for five minutes after turning the power supply LED (PWR) are OFF because high voltage may still remain in the SERVOPAK. Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute. Since the SERVOPAK has a capacitor in the power supply, a high charging current flows for 0. seconds when power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses to deteriorate, resulting in unexpected problems. Observe the following precautions when wiring connectors for power supply/regenerative unit and for motor main circuit cable. Remove the connectors from the SERVOPAK prior to wiring. Insert only one wire per terminal on the connectors. Make sure that the core wire is not electrically shorted to adjacent core wires. 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. Failure to observe this caution may result in damage to the SERVOPAK. For details on the power supply voltage, refer to 8. Specifications. E-8

10 Operation AUTION 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 including power supply lines. Do not reverse the polarity of the battery when wiring with regenerative unit. Failure to observe this caution may result in damage to the product. AUTION onduct 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 using a servomotor with a holding brake, run a trial operation to confirm that the holding brake activates correctly. Also, take appropriate measures to ensure safety against an error such as signal line disconnection. Before starting any operation with a machine connected, change the settings of the SERVO- PAK s reference pulse with the PULSE rotary switch to match those of the machine. Starting operation without matching the proper settings may cause the machine to run out of control or malfunction. When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling off because of alarms. Workpiece s falling off may result in injury or malfunction. Do not touch the SERVOPAK heatsinks, regenerative unit, 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. When an alarm occurs, remove the cause, turn OFF the power and ON again after confirming safety, and then resume operation. Failure to observe this caution may result in injury. Do not use the holding brake of the servomotor for ordinary braking. Failure to observe this caution may result in malfunction. E-9

11 Maintenance and Inspection Disposal Do not open the SERVOPAK case for 5 minutes after the power supply lamp (PWR LED) goes out. High voltage may remain in the SERVOPAK after the power supply has been turned OFF. After turning OFF the power supply, wait 5 minutes before replacing the cooling fan. Failure to observe this caution may result in burns because the cooling fan is hot. Mount the cooling fan in the correct way explained in 6.3 Replacement of ooling Fan. Mounting the cooling fan in the incorrect direction may result in the breakdown of the SERVO- PAK. Do not attempt to change wiring while the power is ON. Failure to observe this caution may result in electric shock or injury. When disposing of the products, treat them as general industrial waste. General Precautions AUTION AUTION 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. If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual. Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification. E-0

12 DEF DEF DEF DEF INSTRUTIONS Model:SJDE- APA-OY To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. SJDE- APA-OY SJDE- APA-OY MANUAL NO. TOMP A REF. Warning Label Before Use. Warning Label A warning label is located on the side of the SERVOPAK. SERVOPAK's Warning Label 89AB REF 89AB. hecking Products onfirm that the following items have been delivered together with the SERVOPAK. Verify that the ordered product as received by the model number marked on the nameplate on the SERVOPAK. If you find any irregularities such as incorrect SERVOPAK model, damages, and missing parts or items, contact your Yaskawa representative or the dealer from whom you purchased the products. SJDE SERVOPAK 89AB 89AB REF Applicable power supply Order number Serial number PH 00-30V 50/60Hz PH 00-5V 50/60Hz.5A Nameplate SERVOPAK model Applicable motor capacity SERVOPAK version One screwdriver for selecting the pulse and setting the filter 3One copy of this Instruction Manual A SERVOPAK JUNMA Series A JUNMA 4onnector for power supply/ regenerative unit (model: JZSP-HG9-) A JUNMA E-

13 .3 Model Designation.3 Model Designation JUNMA series SERVOPAK SJDE SJDE 0 A P A OY Applicable servomotor capacity ode Output (W) Power supply voltage A: 00 VA Interface specification P: Pulse train reference Design revision order A.4 SERVOPAKs and Applicable Servomotors Rated Output 00W 00W 400W 750W Without Brakes SJME-0AM 4 SJME-0AM 4-OY SJME-0AM 4 SJME-0AM 4-OY SJME-04AM 4 SJME-04AM 4-OY SJME-08AM 4 SJME-08AM 4-OY Servomotor With Brakes SJME-0AM 4 SJME-0AM 4-OY SJME-0AM 4 SJME-0AM 4-OY SJME-04AM 4 SJME-04AM 4-OY SJME-08AM 4 SJME-08AM 4-OY SERVOPAK SJDE-0APA-OY SJDE-0APA-OY SJDE-04APA-OY SJDE-08APA-OY E-

14 F F.5 Part Names and Functions.5 Part Names and Functions Rotary switch for reference pulse setting (PULSE) Rotary switch for reference filter setting (FIL) Type I/O signal connector (N) YASKAWA 00V SJDE- 04 APA-OY PULSE FIL N A 4567 A 4567 B B D 3 D 3 E E 0 0 REF AL AL AL3 Input voltage Reference indicator (REF) Alarm indicators (AL to AL3) onnector for communication unit (N5) Power supply indicator (PWR) N PWR Encoder connector (N) Ground terminal L L + - U V W onnector for motor main circuit cable (NB) NA NB onnector for power supply / regenerative unit (NA) Reference Pulse Setting (PULSE) Set Value Input Frequency Reference Pulse Resolution (P/REV) Reference Pulse onnection Method Reference Pulse Type PULSE 89AB DEF A B D E F to 87.5 kpps 87.5 to 750 kpps to 87.5 kpps 87.5 to 750 kpps to 87.5 kpps 87.5 to 750 kpps to 87.5 kpps 87.5 to 750 kpps Open collector or line driver Line driver Open collector or line driver Line driver Open collector or line driver Line driver Open collector or line driver Line driver W + W Positive logic W W W + W Negative logic W W Mark + pulse sequence, Positive logic PULS SIGN Mark + pulse sequence, Negative logic PULS SIGN Note:. Make settings after turning OFF the power.. The factory setting is 0. E-3

15 .5 Part Names and Functions Reference Filter Setting Rotary Switch (FIL) When the digital operator or JunmaWin is used, set Pn70.0 to 0 to enable the setting of FIL switch. FIL 89AB DEF Filter Setting Value* 0* to F Acceleration/ Deceleration Time for Step Reference *4 45 ms 50 ms 60 ms 65 ms 70 ms 80 ms 85 ms 70 ms Do not set 8 through F. *. The factory setting is 0. If the machine vibrates, this value must be changed. *. If the machine vibrates when starting or stopping the machine, set a larger value. * 3. The value depends on conditions such as the level of command acceleration and deceleration, the machine rigidity and the motor resolution (PULSE switch). * 4. Select the correct servomotor capacity with these values if using a step reference that has no acceleration or deceleration time. Reference Display (REF) Indicators* Motor Reference Power Pulses Lit orange. OFF Blinks orange. OFF Input Lit green. ON Blinks green. ON Input * Lit yellow for s when the clear signal is input. Approx. Time between ompleting Reference and ompleting Positioning (Settling Time)* 3 00 to 00 ms 0 to 0 ms 30 to 60 ms 50 to 300 ms 70 to 340 ms 00 to 400 ms 50 to 500 ms 500 to 000 ms Description Small filter time constant (short positioning time) Large filter time constant (little vibration with a long positioning time) E-4

16 .5 Part Names and Functions Alarm Display (AL, AL, and AL3) : Lit : OFF Indicators Meaning of Alarm Indicators Meaning of Alarm AL AL AL3 Normal AL AL AL3 Overcurrent AL AL AL3 Speed error AL AL AL3 SERVOPAK s built-in fan stop AL AL AL3 AL AL AL3 Overload Encoder error AL AL AL3 AL AL AL3 Blinks at regular intervals. System error Rotary switch for reference pulse setting (PULSE) changed. The settings were changed for parameters that require the power to be restarted. AL AL AL3 Voltage error E-5

17 . Installation onditions Installation The following shows the installation location and method of the SERVOPAK.. Installation onditions Item Specifications Operating temperature 0 to +55 Operating humidity 90% RH or less (with no condensation) Storage temperature -0 to +70 Storage humidity 90% RH or less (with no condensation) Installation site Free of corrosive gases Free of dust and iron powder lean and dry Altitude 000 m or below Vibration resistance 4.9 m/s Shock resistance 9.6 m/s Operating conditions Installation Site Installation in a control panel Installation near a heating unit Installation near a source of vibration Installation at a site exposed to corrosive gas Installation category (overvoltage category): II Pollution degree: Protection class: IP0 (EN5078) Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPAK does not exceed 55. Note: For long-term reliability the internal temperature of the control panel must be 45 or lower. Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPAK does not exceed 55. Install a vibration isolator beneath the SERVOPAK to avoid subjecting it to vibration. orrosive gas does not have an immediate effect on the SERVOPAK but will eventually cause the electronic components and contactorrelated devices to malfunction. Take appropriate action to avoid corrosive gas. E-6

18 N YASKAWA TL AL AL AL3 DEF DEF N PWR L U L V + W - NA NB N YASKAWA DEF DEF TL AL AL AL3 N PWR L U L V + W - NA NB N YASKAWA TL AL AL AL3 DEF DEF N PWR L U L V + W - NA NB N YASKAWA TL AL AL AL DEF DEF N PWR L U L V + W - NA NB. Installation Method. Installation Method Installation Method and Direction Install the SERVOPAK perpendicular to the wall. The SERVOPAK contains a built-in fan for cooling and must be mounted in the specified direction. onnect the mounting holes securely to the mounting surface with M4 screws (two mounting holes). SERVOPAK installation plate M4 screw Space between SERVOPAK Units Be sure to keep a space between adjacent SERVOPAK units if they are mounted inside the control panel so that the units can be cooled. Do not cover the inlet or outlet parts and prevent any foreign objects, such as metallic fragment, or combustibles from entering the product. Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire. 50 mm min. Air outlet direction 00V SJDE- 04 APA-OY 00V SJDE- 04 APA-OY 00V SJDE- 04 APA-OY 00V SJDE- 04 APA-OY PULSE FIL 89AB 89AB PULSE FIL 89AB 89AB PULSE FIL 89AB 89AB PULSE FIL 89AB 89AB 30 mm min. 0 mm min. 50 mm min. Air inlet direction E-7

19 YASKAWA D TL A A E E 5 5 B B F AL AL D AL F PWR L U L V + W - NA NB YASKAWA D TL AL AL D AL3 A A B E E 5 5 B F F PWR L U L V + W - NA NB YASKAWA D TL A A E E 5 5 B B F AL AL D AL F PWR L U L V + W - NA NB 3. Precautions on Wiring 3 Wiring 3. Precautions on Wiring WARNING Be sure to correctly ground the SERVOPAK and the servomotor. Wiring must be performed by an authorized person qualified in electrical work. Protection for Power Supply Line Use a molded-case circuit breaker and fuse to protect the power supply line from high voltage. The SJDE SER- VOPAK connects directly to a commercial power supply without a transformer, so always use a circuit breaker and fuse to protect the SERVOPAK from accidental high voltage. aution for Grounding onsider the following conditions when grounding the SERVOPAK. For a ground wire, use as thick a cable as possible (.0 mm or thicker). A ground resistance of 00 (Ω) or less is recommended. Ground to one point only. 00V SJDE- 04 APA-OY PULSE FIL V SJDE- 04 APA-OY PULSE FIL V SJDE- 04 APA-OY PULSE FIL 0 0 N N N N N N aution for able For wiring, use the specified cables. Use cables that are as short as possible. Do not bend or apply tension to cables. The conductor of a signal cable is very thin (0.08 to 0. mm ), so handle the cables carefully. E-8

20 3. Precautions on Wiring Other Precautions Make sure that the emergency-stop circuit turns OFF the /S-ON signal as well as the power supply of the main circuit. Refer to 3.4 EMG Sequence. An overtravel function is not provided for the SERVOPAK. For system safety, include a sequence so that the /S-ON signal will turn OFF when the limit switch is activated. If the servomotor is used to drive a vertical axis, install a safety device with an alarm function to prevent the workpiece from falling down. Failure to observe this precaution may result in injury or damage to the equipment from fallen workpieces. Install an interlock system in the circuit to avoid any accident when opening or closing the machine s protective cover. Whether the electricity is served or not to the motor, do not use the motor being rotated from the outside. When restarting the power supply soon after turning OFF, alarm may occur to the SERVOPAK. Refer to the power supply holding time in the following table to restart the power supply correctly. SERVOPAK Min. Waiting Time Model apacity before Restarting (s) SJDE-0APA-OY 00W SJDE-0APA-OY 00W 0 SJDE-04APA-OY 400W SJDE-08APA-OY 750W 30 Power Loss Power Loss with SERVOPAK Rated Output Main ircuit Power Supply Max. Applicable Servomotor apacity kw SERVOPAK Model No. Output urrent (Effective Value) A Main ircuit Power Loss W Diode Power Loss W IPM Power Loss W ontrol ircuit Power Loss W Total Power Loss W 0. SJDE-0APA-OY Singlephase 00 V 0. SJDE-0APA-OY SJDE-04APA-OY SJDE-08APA-OY Note: Valued obtained with the servomotor with the rated output. E-9

21 3. Precautions on Wiring Molded-ase ircuit Breaker (MB) or Fuse apacity Relation to Power-Supply apacity Main ircuit Power Supply Model No.: SJDE- Singlephase 00 V apacity kw SERVOPAK MB or Fuse apacity Relation to Power-Supply apacity 0. 0APA-OY 0. 0APA-OY APA-OY 0AM 4 0AM 4-OY 0AM 4 0AM 4-OY 04AM 4 04AM 4-OY Applicable Servomotor Model: SJME- Power- Supply apacity kva MB urrent apacity Arms 4. 8 External Fuse Model No. [Power-Supply apacity Arms] 0KLK 05.T [5] Inrush urrent A APA-OY 08AM 4 08AM 4-OY. 6 0KLK 030.T [30] 60 *. Valued obtained with the servomotor with the rated output. *. Fuse manufactured by Littelfuse Inc. NOTE Ground Fault The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions. A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor. The power supply is turned ON during a ground fault. To configure a safer system, install an earth leakage breaker for protection against overloads and short-circuiting, or install an earth leakage breaker combined with a wiring circuit breaker for ground protection. E-0

22 3. Precautions on Wiring Noise Prevention Example of Wiring for Noise Prevention Noise filter 00 VA * 00 VA LF Min. wire size : 3.5 mm asing * SERVOPAK SJDE L U V L W N N Servomotor M (FG) PG Operation relay sequence User signal generating circuit Min. wire size : 3.5 mm P *3 AVR P LF P (Ground Min. wire size -ing) : 3.5 mm mm or larger asing asing asing Min. wire size: 3.5 mm * Min. wire size: 3.5 mm * asing Grounding plate Groudning: Ground to one point only. Min. grounding resistance: 00 Ω *. A 00 VA power supply can be used with a SERVOPAK version or firmware version 0004 or later. *. For the wires connected to the casings for installation purposes, use wires with a diameter of 3.5 mm or larger. Flat braided copper wires are recommended. * 3. Use twisted pair wires for section P. orrect Grounding Servomotor frame grounding: Be sure to connect the FG grounding terminal on the frame of the servomotor to the grounding terminal on the SERVOPAK. Be sure to ground the grounding terminal of the SERVOPAK. If the wires of the servomotor s main circuit are laid in a metal conduit, ground the conduit and the grounding box. One-point grounding must be used. E-

23 3. Precautions on Wiring Noise Filters Use noise filters to prevent any noise interference from the power-supply line. The following table lists the recommended noise filters. Recommended Noise Filters Power-Supply Voltage SERVOPAK Model Recommended Noise Filters Model Specifications Manufacturer Singlephase 00 V SJDE-0APA-OY to 0APA-OY FN070-6/07 Single-phase 50 VA, 6A SJDE-04APA-OY FN070-0/07 Single-phase 50 VA,0A SJDE-08APA-OY FN070L-6/07 Single-phase 50 VA, 6A Schaffner EM, Inc. E-

24 VMP SVON OIN TGON REF HARGE YASKAWA ALARM SROLL MODE/SET RESET JOG DATA SVON READ WRITE SERVO SERVO DIGITAL OPERATOR JUSP-OP05A--E 3. System onfiguration 3. System onfiguration Power supply Single-phase 00 VA* Single-phase 00 VA L L Molded-case circuit breaker To protect the equipment and wiring, always connect a molded-case circuit breaker. When using a digital operator, or JunmaWin* P running JunmaWin Surge absorber (for lightning surge) Noise filter Used to eliminate suppress noise from power lines for E marking requirements. Magnetic contactor Used to turn OFF the servo power supply when using a regenerative unit or in case of emergency. Used for a servomotor with a brake. 4-VD power supply*3 SJDE SERVOPAK 89AB 89AB DEF DEF APA-OY REF ommunication unit When not using a digital operator or JunmaWin, never open the protective cover for the connector. If the connector is used, a SERVOPAK failure may result. I/O signal cable AUTION Digital operator Host controller A reactor Used for a power supply harmonic suppression. Fuse To protect the equipment, always install fuses. WARNING orrectly connect the connectors NA and NB. Incorrect wiring may result in electric shock, injury, or damage to the equipment. After wiring, install the connectors as explained in 3.8 Wiring the Power Supply/Regenerative Unit onnector (NA) and 3.9 Wiring the Servomotor Main ircuit able onnector (NB). Used for a regenerative unit. Regenerative unit Used if regenerative energy is high. Varistor Brake relay onnectors for motor main circuit cable (NB) onnectors for power supply/regenerative unit (NA) Motor main circuit cable (for relay) SJME Servomotors Encoder cable (for relay) To the control circuits of magnetic contactor *. A 00 VA power supply can be used with a SERVOPAK version or firmware version 0004 or later. *. A digital operator or JunmaWin can be used with a SERVOPAK version or firmware version 0003 or later. * 3. Prepare a 4-VD power supply for the brake separately from the sequence power supply. E-3

25 3.3 Standard onnection 3.3 Standard onnection Power supply Single-phase 00 V to 30 VA, Single-phase 00 V to 5 VA * 50/60Hz L L Molded-case circuit breaker Surge absorber (for lightning surge) Noise filter 00 V to AVR 30 VA 4 V power 00 V to supply 5 VA * +4V 0V SW SW M M M Surge absorber *3 + Regenerative unit JUSP- Y4 RG08E-E Y5 Reactor Fuse L Fuse L + AVR * 4 V power supply 00 V to +4V 30 VA, 00 V to 50 VA * 0V SERVOPAK NA NB 3 4 Ry 3 Varistor U V W 5 Brake 6 U V Servomotor 3 W FG 4 ontroller W,PULS N 75Ω N PG5V /W,/PULS 75Ω PG0V W,SIGN 3 75Ω 3 A+ 3 /W,/SIGN 4 75Ω 4 A 4.kΩ LR 8 75Ω 5 B+ 5 /LR PO 9 75Ω B /Z 6 7 Encoder SG-PO 8 U 8 M Ry +4VIN /S-ON ALM /BK kΩ Shell V W Shield 9 0 Flywheel diode Shield /OIN SG-OM 4 7 Shell * Prepare a 4-VD power supply for the brake separate from the sequence power supply. *. A 00 VA power supply can be used with a SERVOPAK version or firmware version 0004 or later. *. Prepare a 4 VD power supply for sequence separately from the 4 VD power supply for brake. * 3. For switching surge E-4

26 3.3 Standard onnection Note:. AVR: 4 VD power supply for brake AVR: 4 VD power supply for sequence SW: Power OFF switch SW: Power ON switch M: Magnetic contactor Ry: Brake relay Parts example Surge absorber Okaya Electric Industries o., Ltd. RE (Sold as: Spark Quencher) Flywheel diode Toshiba orporation NH4 Brake relay OMRON orporation MY series Varistor Nippon hemi-on orporation TNR7VK. The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions. A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor. The power supply is turned ON during a ground fault. To configure a safer system, install an earth leakage breaker for protection against overloads and short-circuiting, or install an earth leakage breaker combined with a wiring circuit breaker for ground protection. NOTE onfigure the holding brake circuit that is to be activated upon occurrence of emergency stop. Relay ircuit Example SERVOPAK 5 VD to 4 VD Emergency Stop 0 V E-5

27 3.4 Installation and Wiring onditions on E Marking 3.4 Installation and Wiring onditions on E Marking To adapt a combination of a SJME servomotor and a SJDE SERVOPAK to EM Directives (EN550, group, class A and EN ), the following conditions must be satisfied. After installing the SERVOPAK, do a test run to make sure that the machine operates correctly. NOTE The actual EM level may differ depending on the actual system's configuration, wiring, and other conditions. Ground Plate Brake power supply able joint Power Supply Single-phase 00 VA, 00 VA* PE 4 lamp Surge absorber (for lightning surge) Noise filter Regenerative unit SERVOPAK U, V, W L, L N +, N Ferrite core Ferrite core lamp 3 Ferrite core Ferrite core Ferrite core Brake Servomotor Encoder Host controller able joint Symbol able Name Specifications I/O Signals cable Shield cable Servomotor Main ircuit cable Shield cable Encoder cable Shield cable A Line cable Shield cable * A 00 VA power supply can be used with a SERVOPAK version or firmware version 0004 or later. E-6

28 3.4 Installation and Wiring onditions on E Marking Attaching the Ferrite ore oil the motor main circuit cable (as a connection) around the ferrite core with two turns, then attach them by the SERVOPAK. Refer to the diagram in the previous page. able (two turns) Ferrite core Note: Recommended Ferrite-core Model: ESD-SR-5 (Tokin. orp.) Fixing the able Fix and ground the cable shield using a piece of conductive metal. Example of able lamp Host controller side Ground plate able able clamp Shield (cable sheath stripped) Fix and ground the cable shield using a piece of conductive metal. Remove paint on mounting surface. Shield Box A shield box, which is a closed metallic enclosure, should be used for shielding magnetic interference. The structure of the box should allow the main body, door, and cooling unit to be attached to the ground. The box opening should be as small as possible. E-7

29 3.5 SERVOPAKs and Applicable Peripheral Devices 3.5 SERVOPAKs and Applicable Peripheral Devices SERVOPAK Type apacity Power Supply apacity per SERVOPAK kva urrent apacity of Molded-case ircuit Breaker * * Arms urrent apacity and Model of External Fuse *. Nominal value at the rated load. The specified derating is required to select the appropriate molded-case circuit breaker. *. ut-off characteristics (5 ): 00 % two seconds min. and 700 % 0.0 seconds min. Note:. The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions. A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor. The power supply is turned ON during a ground fault. To configure a safer system, install an earth leakage breaker for protection against overloads and short-circuiting, or install an earth leakage breaker combined with a wiring circuit breaker for ground protection.. It is recommended to use a general-purpose circuit breaker of the rated current 00 ma or more, or a circuit breaker for inverters (for high-frequency). 3.6 Main ircuit Wiring SJDE SERVOPAKs are suitable where the power supply is less than 5000 Arms (30 V max.). SERVOPAKs must be used with UL-listed fuses or circuit breakers, in accordance with the National Electrical ode (NE). Use 75 heat-resistant copper wires or an equivalent. 3.7 SERVOPAK Main ircuit Wire Size Inrush urrent A0-p Magnetic ontactor *3 Noise Filter Surge Absorber A Reactor SJDE- 0APA-OY 00 W 0.40 X505 FN KLK SJDE- -6/07 00 W T 30 HI-J X5053 0APA-OY (5 Arms) R M- SJDE- 60BQZ-4 04APA-OY 400 W. 8 FN070 X5054-0/07 0KLK SJDE- 08APA-OY 750 W T (30 Arms) Manufacturer Littelfuse Inc. 60 HI-5J FN070-6/07 X5056 able Types Symbol Name Allowable onductor Temperature PV Normal vinyl cable IV 600 V vinyl cable 60 HIV Temperature-resistant vinyl cable 75 Wire sizes are selected for three cables per bundle at 40 ambient temperature with the rated current. Use cables with a minimum withstand voltage of 600 V for main circuits. If cables are bundled in PV or metal ducts, consider the reduction ratio of the allowable current. Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables will rapidly deteriorate. Do not use cables under continuous regenerative state. Yaskawa ontrols o., Ltd. Schaffner Electronic Okaya Electric Industries o., Ltd. (Sold as: Surge Protector) Yaskawa ontrols o., Ltd. E-8

30 3.7 SERVOPAK Main ircuit Wire Size able Size and Allowable urrent The following table shows the wire size and allowable current for three cables. Use a cable whose specifications meet or are less than allowable current in the table. 600 V Heat-resistant Vinyl ables (HIV) Nominal ross onfiguration onductive Allowable urrent at Ambient Temperature AWG Section Diameter Number of Resistance A Size mm wires/mm Ω/mm / / / / / Note: The values in the table are only for reference. Power Supply Input Terminals (L, L), Motor onnection Terminals (U, V, W), and Regenerative Unit onnection Terminals (+, -) apacity Terminal Symbol SERVOPAK Type W L, L U, V, W +, - 00 SJDE-0APA-OY HIV.5 mm 00 SJDE-0APA-OY HIV.5mm HIV.5mm Wiring length: Wiring length: 400 SJDE-04APA-OY HIV.0 mm 0 m max. 0.5 m max. 750 SJDE-08APA-OY Note: onnectors are used for all wiring. Ground Terminal ( ) Wire Size Terminal Screw Size Tightening Torque HIV.0 mm min. M4. to.4 N m Encoder Signal onnector Item Specifications able Use Yaskawa specified wires, or shielded twisted-pair wires. Maximum cable length 0 m Applicable wires AWG (0.33 mm ) and AWG6 (0. mm ) Used AWG for the encoder power supply and AWG6 for signal lines. Finished cable outer φ9 mm max. diameter I/O Signal onnector Item Specifications able Use twisted-pair wires or shielded twisted-pair wires. Maximum cable length 3 m Applicable wires AWG4 (0. mm ), AWG6 (0. mm ), AWG8 (0.08 mm ) Finished cable outer φ8 mm max. diameter E-9