AC SERVO

DRIVE
ENCODER,

M.F-S,D
FOR SPEED

SERIES
CONTROL

I1

WITH

BULLETIN
INCREMENTAL SERVOMOTOR SERVOPACK TYPES TYPES

USAME-_D, USAFED, CACR-SRE-_BB1 ,r-__

USASEM,

USADED

YASKAWA

TSE-S800-2.1 J

Yaskawa AC Servo Drives have been developed as basic mechatronics drives for the most advanced FA and FMS, includinK robots and machine tools. The extensive servo manufacturing technology accumulated through a half century of servo drive applications has created and nurtured a new phase of AC servo drives, This man_ual covers AC servo drives M, F, S and D series for speed control, The AC Servo Drives consist primarily of AC SERVOMOTORS and their controllers, SERVOPACKS. The AC SERVOMOTOR features a high power rating for achieving quick response. Custom LSI and hybrid ICs builtin SERVOPACK reduce the unit size and simplify wiring. The additional feature of a highly accurate pluse resolution offers non-stop pulse flow.

For your mechatronics systems, the flexible combination of our AC SERVOMOTOR and SERVOPACK achieves stable control operation with high accuracy, quick response control under any environmental condition, and smooth, powerful operation even at low-speed range. Some outstanding features are as follows. "High accuracy and forspeed control -Compact design and quick high response reliability

i I

"Light weight and high power -Highly reliable protective functions -Selectable drive to meet users" requirements

General

Precautions

Some drawings in this manual are shown with the protective cover or shields removed, in order to describe the detail with more clarity. Make sure all covers and shields are replaced before operating this product. This manual may be modified when necessary because of improvement of the product, modification, or changes in specifications. Such modification is made as a revision by renewing the manual No. To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA representative listed on the last page stating the manual No. on the front cover. YASKAWA is not responsible for accidents or damages due to any modification of the product made by the user since that will void our guarantee. I

386-9

386-5

386-1

388-14

586-24

--AC

M Series AC SERVOMOTORS

Servo and
--2--

Drives for Speed Control Their Controllers SERVOPACKS

NOTES FOR SAFE OPERATION

Read this manual thoroughly before installation, operation, maintenance or inspection of the AC Servo Drives. In this manual, the NOTES FOR SAFE OPERATION are classified as "WARNING" or "CAUTION".

,,WARNING
D Indicates a potentially hazardous situation which, if not avoided, could result in death or serious personal, injury.

CAUTION 1
Indicates a potentially hazardous situation which, if not avoided, may D result in minor or moderate equipment. personal injury and/or damage to the

In some instances, items described in /k CAUTION may also result in a serious accident. In either case, follow these important items.

-3-

,/K WARNING
(Wll O)
Grounding must be in accordance with the national code and consistent sound local practices. Failure to observe this warning may lead to electric shock or fire. (OPERATION) Never touch any rotating motor Failure to observe this warning (INSPECTION AND MAINTENANCE) parts during operation. may result in personal with

il

injury.

Be sure to turn OFF power before inspection or maintenance. Otherwise, electric shock may result. Never open the panel cover while power is ON, and never turn ON power when the panel cover is open. Otherwise, electric shock may result. After turning OFF power, wait at least five minutes before servicing the product. Otherwise, residual electric charges may result in electric shock.

CAUTION
(RECEIVING) Use the specified combination of SERVOMOTOR and SERVOPACK.

Failure to observe this caution may lead to fire or failure. (INSTALLATION) Never use the equipment where it may be exposed to splashes corrosive or flammable gases, or near flammable materials. Failure to observe this caution may lead to electric shock or fire.

of water,

(WIRING)
Do not connect three-phase power supply to output terminals (j_) @ and @. Failure to observe this caution may lead to personal injury or fire. Securely tighten screws on the power supply and motor output terminals. Failure to observe this caution can result in a fire.

-4-

I)
(OPERATION)

CAUTION
To avoid inadvertent accidents, run the SERVOMOTOR only in test run (without load). Failure to observe this caution may result in personal injury. Before starting operation with a load connected, set up parameters suitable for the machine. Starting operation without setting up parameters may lead to overrun failure. Before starting operation with a load connected, make sure emergency-stop procedures are in place. Failure to observe this caution may result in personal injury.

During operation, do not touch the heat sink. Failure to observe this caution may result in burns. (INSPECTION AND MAINTENANCE) Do not disassemble the SERVOMOTOR. Failure to observe this caution may result in electric Never change wiring while power is ON. Failure to observe this caution may result in electric

shock shock

or personal or personal

injury. injury.

D
WARNING

May cause electric

shock.

Don't touch the SERV0PACK during power ON.

2._,_. ,_(_,_L'C,
Disconnect all power and wait 5 mJn.before serv_in_.

2CN _CN
__. -_1

Useproper grounding
techniques.

Warning. Label and Grounding Mark on SERVOPACK

D
-5-

CONTENTS
1. RATINGS AND SPECIFICATIONS
1.1 RATINGS AND SPECIFICATIONS OF M SERIES AC SERVOMOTORS 1.2 RATINGS AND SPECIFICATIONS OF F SERIES AC SERVOMOTORS 1.3 RATINGS AND SPECIFICATIONS OF S SERIES AC SERVOMOTORS 1.4 RATINGS AND SPECIFICATIONS OF D SERIES AC SERVOMORORS 1.5 RATINGS AND SPECIFICATIONS OF SERVOPACK 17 9 11 13 15

6.5 PROTECTIVE CIRCUIT 42

6.6 LED INDICATION 43 6.7 PRECAUTIONS FOR APPLECATION 6.8 PRECAUTIONS 6.9 APPLICATION 7. INSTALLATION FOR OPERATION 45 AND WIRING 43 43

47

7.1 RECEIVING 47 7.2 INSTALLATION 47 7.3 WIRING 48

2, TYPE DESIGNATIOM

19 21

8. DIMENSIONS
8.1 SERVOMOTOR:

in mm (inches)
M SERIES 50

50
JB I

3. LIST OF STANDARD COMBINATION

4. 4.1 4.2 4.3 OF CHARACTERISTICS 24 24 24

8.2 SERVOMOTOR: F SERIES 52

8.3 SERVOMOTOR: 8.4 SERVOMOTOR: 8.5 SERVOPACK 8.6 PERIPHERAL 9. TEST RUN S SERIES D SERIES 60 EQUIPMENT 63 63 55 59 61

OVERLOAD CHARACTERISTICS STARTING AND STOPPING TIME ALLOWABLE FREQUENCY OPERATION 24 25

4.4 SERVOMOTOR FREQUENCY 4.5 MOTOR SPEED--REFERENCE INPUT CHARACTERISTICS 25 4.6 MOTOR MECHANICAL CHARACTERISTICS 25

9.1 CHECK ITEMES BEFORE TEST RUN 9.2 TEST RUN PROCEDURES 63

10. ADJUSTMENT
10.1 SEI-IINGS

64

AT THE TIME

dB

5. CONFIGURATION

28
29

OF DELIVERY 64

5.1 CONNECTION DIAGRAM 28 5.2 INTERNAL BLOCK DIAGRAM 5.3 EXTERNAL TERMINALS 31 5.4 CONNECTOR TERMINAL (1CN) FOR INPUT/OUTPUT SIGNALS 31

10.2 CHARACTERISTICS AT THE TIME OF DELIVERY 68 10.3 READJUSTMENT 68 10.4 ADJUSTMENT PROCEDURES 10.5 SWITCH SEI-rlNG 73 68
/

5.5 CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER (PG) CONNECTION

11. INSPECTION AND MAINTENANCE

34 11.1 AC SERVOMOTOR 74

74

.._

6. OPERATION

36
36 REFERENCE

11.2 SERVOPACK 75
12. TROUBLESHOOTING 76 GUIDE 76 12.1 AC SERVOMOTOR 12.2 SERVOPACK 77

6.1 POWER ON AND OFF

6.2 SPEED REFERENCE 37 6.3 EXTERNAL CURRENT LIMIT CIRCUIT [P-CL-81-C N-CL] 38 6.4 CONFIGURATION OF INPUT/OUTPUT CIRCUIT 39

D
A

Subject ADJUSTMENT ADJUSTMENT ALLOWABLE

INDEX
........................................................................................................................ PROCEDURES ................................................................................................ FREQUENCY OF OPERATION ........................................................................ .,....................

Chapter

Section No.

Page 64 68 24 26 45 37 24 68 63 28 39 28 45 31 S] 34 38 50 26 78 78

]0 ................................. ]0 ......... ]0.4 4 ......... 4.3 ............... ...............

Allowable Radial Load and Thrust Load ............................................................ APPLICATION ........................................................................................................................ Auxiliary C Input Circuit ............................................................................................................

4 ......... 4,6.2 ............... 6 ......... 6.9 ............... 6 ......... 6.2.4 ............... 4 ................................. 10 ......... ]0.2 ............... 9 ......... 9,] ............... 5 ................................. 6 ......... 6.4 ...............

CHARACTERISTICS CHARACTERISTICS

........................................................ AT THE TIME OF DELIVERY

:...................................................... ............................................................

CHECK ITEMS BEFORE TEST RUN .................................................................................... CONFIGURATION .................................................................................................................. CONFIGURATION OF INPUT/OUTPUT CIRCUITS ................... : ...........................................

CONNECTION DIAGRAM ...................................................................................................... Connection for Reverse Motor Running ................................................................. Connector ]CN Layout and Connection of SERVOPACK CONNECTOR TERMINAL (1CN) FOR INPUT/OUTPUT D D CONNECTOR Current Limit TERMINAL when Motor (2CN) FOR OPTICAL is Locked

: ..................

5 ......... 5.] ": ............ 6 ......... 6.9,1 ............... 5 5 ......... 5.4.2 ............... ......... 5.4 ............... ............... ...............

......................................................... SIGNALS ....................... : ............... (PG) CONNECTION ...............

ENCODER

5 ......... 5.5 6 ..... _"'6.3.3

DIMENSIONS in mm (inches) ........................................................................... Direction of Rotation ............................................................................................................... Examples Examples EXTERNAL EXTERNAL of Troubleshooting of Troubleshooting

: .......................

8 ................................. 4 ......... 4.6.4 ............... ]2 .-]2 ......... 12.2.2 ............... ......... 12.2.3 ...............

for Defective Wiring or Parts for Incomplete Adjustment .......................................................

CURRENT LIMIT REFERENCE CIRCUIT ........................... _...; ......................... TERMINALS ...................................................................................................... of Speed Reference Input Line Terminal ...........................................................................

6 ......... 6.3 5 ......... 5.3

..,...... _...... 38 ............... 3] 37 43 27 39 74 63 47

Handling High Voltage

6 ......... 6.2.3 ............... 6 ......... 6.7.3 ...............

.................................................................................................................. .....................................................................................

Impact

Resistance ...............................

4 ......... 4.6.5 ............... 6 ......... 6.4.] ............... 11 ................................. 9 ......... 9.2.3 ............... 7 -........ 7.2 ...............

Input Circuit INSPECTION

................... : ....................................................................................................... AND MAINTENANCE ....................................................................................... Test Run ...................................................................................................... .....................................................................................................................

Inspection during NSTALLATION

NTERNAL L LED LED

BLOCK

DIAGRAM

5 6 12 .............

......... 5.2

..............

29 43 78 21 47 43 26 25 38 25 25 43 38 63 40 39

INDICATION Indication(7-segment)

for

Troubleshooting

........................................................................

......... 6.6 ,. .............. ......... 12,2.1 ...............

D M

LIST OF STANDARD .................................................................................... NSTALLATION AND COMBINATION WIRING ................................................................................ Load inertia (JL) ..................................................................................................................... Mechanical Specifications (M, F, S and D series) ...........................................

3 ................................. 7 ................................. 6 ......... 6.7.2 ............... 4 ......... 4.6.3 ............... 4 ......... 4.6.1 ............... 6 ......... 6.3.1 ............... 4 4 6 ......... ......... ......... 4.6 4.5 6.8.] ............... ............... ...............

'.......................... ] .......

Mechanical Strength .......................................................................................................... Method of giving External Current Limit Reference .................................................................. MOTOR MOTOR N O Noise OPERATION Operation Optical Output MECHANICAL SPEED-REFERENCE Control CHARACTERISTICS INPUT ........................................................................ CHARACTERISTICS ...................................................

........................................................................................................................... ........................................................................................................................... .....................................................................................................................

............

6 ................................. 9 ......... 9.2.2

...............

Enc()der (PG) Output Circuit ........................................................................................ Circuit ...................................................................................................... _ .................... Loads .................................................................................................................. CHARACTERISTICS ....................................................................................... ............................................................................................................ :"

6 ......... 6.4.3 ............... 6 ......... 6.4.2 ...............

Overhanging OVERLOAD P Power

6 ......... 6.7.1 ............... 43 4 ......... 4.1 ........ ....... 24 6 6 7 ......... 6.8.2 ............... ......... 6.1 .................. ......... 7.3.3 ............... 45 36 49

Line Protection

POWER ON AND OFF ............................................................................................................ Power Loss ..............................................................................................................................

-7-

Subject P PRECAUTIONS PRECAUTIONS FOR OF APPLICATION OPERATION

INDEX (Cont'd)
.................................................................................... .......................................................................................... ......................................................................................................... ......................................................................................................... ................................................................................................... Size ................................................................................................... .......................................................................................... OF D SERIES AC SERVOMOTORS OF F SERIES AC SERVOMOTORS OF M SERIES AC SERVOMOTORS ................................. ................................. .................................

Chapter 6 6 ......... .........

Section No. 6.7 6.8 ............... ...............

Page 43 43 63 42 61 48 9 _5 11 9 13 17 15 ]] 9 ]3 68 47 59 52 50 55 25 75 34 60 38 64 31 34 46 37 37 24 37 73 63 63 16 ]2 ]0 ]4 76 ]9 27 27 48 49

Preparation of Operation PROTECTIVE CIRCUIT PERIPHERAL EQUIPMENT R Rated Current and AND AND AND AND AND AND Cable

9 ......... 9.2.] 6 ......... 6,5 8 ......... 8.6 7 ......... 7.3.]

............... ............... ............... ...............

RATINGS RATINGS RATINGS RATINGS RATINGS RATINGS Ratings Ratings Ratings

SPECIFICATIONS SPECIFICATIONS SPECIFICATIONS SPECIFICATIONS SPECIFICATIONS SPECIFICATIONS

] ................................. 1 ......... 1.4 ............... 1 ......... 1.2 ............... I ] I ] I I ......... ].] ......... 1.3 ......... 1.5 ......... ].4.1 ............... ............... ............... ...............

OF S SERIES AC OF SERVOPACK

SERVOMOTORS ................................. ............................................................

of D Series AC SERVOMOTORS of F Series AC SERVOMOTORS of M Series AC SERVOMOTORS

................................................................................. ................................................................................. .................................................................................

......... 1.2.1 ............... ......... 1.1.1 ...............

Ratings of S Series AC SERVOMOTORS ................................................................................. READJUSTMENT .................................................................................................................. RECEIVING S SERVOMOTOR SERVOMOTOR SERVOMOTOR SERVOMOTOR SERVOMOTOR SERVOPACK SERVOPACK SERVOPACK Set Voltage SETTINGS Specifications Specifications ................................... DIMENSIONS: DIMENSIONS: DIMENSIONS: DIMENSIONS: FREQUENCY " ....................................................................................... D SERIES .............................................................................. F SERIES M SERIES .............................................................................. ...........................................................................

I ......... 1.3.1 ............... 10 ......... 10.3 ............... 7 8 8 8 8 4 1] ......... 7.] ............... ............... ............... ............... ............... ...............

II

......... 8.4 ......... ......... ......... ......... 8.2 8.1 8.3 4.4

S SERIES .............................................................................. ................................................................................................

........................................................................................................................... Connector DIMENSIONS (2CN) Terminal Layout and Connection ................................................................................................... ..........................................

......... 11.2..................

5 ......... 5.5.2 ............... 8 ......... 8.5 ............... 6 ]0 ......... ......... 6.3.2 ]0.1 ............... ...............

and Current Limit Values .................................................................................... AT THE TIME OF DELIVERY ........................................................................... of Applicable of Applicable Receptacles .................................................................................... Receptacles and Cables ..................................................................

5 ......... 5.4.1 ............... 5 ......... 5.5.1 ............... 6 ......... 6.9.2 ............... 6 ......... 6.2 ............... 6 ......... 6.2.1 ............... 4 ......... 4.2 ...............

Speed and Torque Measurement ................................................................................................ SPEED REFERENCE ............................................................................................................... Speed Reference Circuit STARTING AND ............................................................................................................ TIME .......................................................................................

STOPPING

Stop Reference Circuit ............................................................................................................... SWITCH SETTI NG .................................................................................................................. T TEST TEST RUN RUN .............................................................................................................................. PROCEDURES ...................................................................................................... of D Series AC SERVOMOTORS of F Series AC SERVOMOTORS of M Series AC SERVOMOTORS ................................................ ................................................ ................................................

6 ......... 6.2.2 ............... 10 ......... 10.5 ............... 9 ................................. 9 ......... 9.2 ] ] ]

...............

Torque-Speed Characteristics Torque-Speed Characteristics Torque-Speed Torque-Speed TROUBLESHOOTING TYPE V Characteristics Characteristics GUIDE

......... ].4.2 ............... ......... ].2.2 ............... ......... 1.1.2 ...............

of S Series AC SERVOMOTORS ................................................... ................................................................................................

1 ......... ].3.2 ............... ]2 ................................. 2 ................................. 4 ......... 4.6.7 ............... 4 7 7 ......... ......... ......... 4.6.6 7.3 7.3.2 ............... ............... ...............

DESIGNATION

............................................................................................................

Vibration Vibration

Class ........................................................................................................................ Resistance ...............................................................................................................

WIRING Wiring

................................................................................................................................. Precautions ..................................................................................................................

1. RATINGS AND SPECIFICATIONS

1.1 1.1.1 RATINGS Ratings Continuous Storage Temperature: -20 to +60C AND SPECIFICATIONS OF M SERIES AC SERVOMOTORS

Time Rating: Insulation:

Isolation Insulation Enclosure:

Class F
1500 VAC, 500 one VDC, minute 10M_or : for type exclusive more Resistance:

Ambient Humidity:
Vibration: Finish 15 in Munsell : ILm or

20% to 80% (non-condensing)

below N].5 magnet mounted drive Notation:

Voltage:

Totally-enclosed, externally (Equivalent

self-cooled fan-cooled to IP-65

Excitation Mounting"

Permanent Flange

totally-enclosed, USAMKD-60MA2 shaft opening) Ambient

Drive Method: 0 to +40C

Direct

Temperature:

Table
D

1.1 Ratings
M,.,D ;-I _

and Specifications
03 ...... ;-_r-; 1 '06 L I I I I I ...... r-_r_l 0.6 (0.8) 5.68 (50) 5.88 (52) 14.1 (125) 5.8

of M Series
09Br-]2 0.9 (1.2) 8.62 (76) 8.82 (78) 19.3 (171) 7.6

AC SERVOMOTORS
12B[-]2 1.2 (1.6) 11.5 (102) 11.8 (104) 28.0 (248) 11.7 1000 20B[-]2 2.0 (2.7) 19.1 (169) 21.6 (191) 44.0 (390) 18.8 30B[]]2 3.0 (4.0) 28.4 (252) 32.3 (286) 63.7 (564) 26 44B[]2 4.._) 41.9 (372) 46.1 (408) 91.1 (807) 33 I I [ 60B[_-]2 6.0 (8.0) 57.2 (507) 62.9 (557) 106 (938) 45

Ite_A Rated Output* Rated Torque* , Continuous Max Torque* kW (HP) N-m (Ib,in) N-m (Ib,in) N.m (Ib,in) A r/rain Max Speed* r/rain N.m/A (Ib.in/A)

0.3 (0.4) 2.84 (25) 2.94 (26) 7.17 (63) 3.0

'

Instantaneous Peak Torque* Rated Current* Rated Speed* Instantaneous Torque

I.

2000 1.01 (8.9) 13.5 (12.0) 1.04 (9.2) 24.3 (21.5) 1.21 (10.7) 36.7 (32.5) 1.02 (9.0) 58 (51.3) 1.07 (9.5) 110 (97.2) 1.16 (10.2) 143 (126.7) 1.33 (11.8). 240 (212,6)

1500 1.33 (11.8) 240 (212.6)

Constant

Moment of Inertia JM('---GD2/4) kg'm2XlO'" (Ib.in.s2 10-3 )

Power Rate* Inertia Time Constant Inductive Time Constant

kW/s ms ms

6.0 12.8 2.7

13.3 6.3 5.1

20.3 4.4 6.5

22.7 6.0 10.4

33.2 5.2 12.9

57.0 3.5 15.3

74.0 3.6 16.2

138 3.6 16.2

Insulation
*Values ture Notes: 1. [---] tical in type designation is determined encoder as follows: A (6000 B (5000 pulses/rev) pulses/rev), D (4000 pulses/rev) by output pulses (pulses/rev) of opwhen SERVOMOTOR temperature is combined Shown with SERVOPACK are normal and the arma2, The power supply

Class F
unit for brake has two Input Input 61. types: IOOVAC, 20OVAC, Output Output 90VDC 9OVDC

winding

is 20C.

above

(TYP) values.

,Type ,,Type For details,

LPDE-1H01 LPSE-2H01

B9400876-2: B9400876-1: (3) on page

see Par. 8.6

oStandard: oOptional:

-9-

,,,ll 1.1.2 Torque-Speed Characteristics TYPE USAMED-20B g

TYPE USAMED-03[_-]

E 2000

- +....

"_2i ,+ .......

"E 20001 _,_ _ ---:_2

_,_ '=_

2 20001

T:

-+---,

,, +. , _

'-_' !
;500

'

_.soo i
_

_ ISOO

_i soo ,
8 "'

,ooo__ _ ti
0 2 4 6 I; (N-m) RMS TORQUE

__ooo 1
20 40 (Ib.in) 60 RMS TORQUE

/ Ai_
0 10 20 30 RMS TORQUE (N.m)

LI
40

'_
0 100

_,
200 300 400 RMS TORQUE (Ib.in)

TYPE USAMED-06_]

TYPE USAMED-30B

2ooo_ 12ooo ................. . ....... _1_oo ++oo+,_2oooI ++ " ............. ,+oop _ _-+,.,,-.__2ooo -..,._._ ++oo++I ,_, +00_ 2+, B 1101 +OOOl ++,ooo[ I1 210, +++I A!I +oo_l
0 3 6 9 12
RMS TORQUE (N-m)

_ 2's8_7_;_0'_5
RMS TORQUE (Ib.in)

20 ;0

60

200 _00 600

RMS TORQUE

(N.m)

RMS TORQUE (Ib.in)

TYPE USAMED-09B

TYPE USAMED-44B

4
__ooo_
_

_1800

_ _or_---_
r _ _ 0 4 8 12 16

_ _I
_

,9,

[] i I I]
0 50 100 150 RMS TORQUE (Ib.in) _

m ,ooo

+ 1500F

",_

_l

,,11oooi"\'_'_

15001

,++.#_ _

+ +
0 20 40

_,ooo 1
0

1500_

60

80

I++l :11
200 400 600 8001000 RMS TORQUE (Ib.in) 4
i

RMS TORQUE

(N +m)

RMS TORQUE

(N .m)

TYPE USAMED-12B

TYPE USAMKD-60B

2800_ ._2ooo
_1500F _1000

"_ " +

_2000_ _
1500r \:5_

_2000 _ r
_"'_ .... A ":"/'_% ' ; + 1000P CO

._ I 2 _,+oo
_1000

_1000

2800 1
10 20 RMS TORQUE (N.m)

t:',x,+,H
50 100 150 200 250 RMS TORQUE (Ib-in)

2_ /
i 0

\+ 2_5 80 75 100 RMS TORQUE (N.m)

_2_/
l 0

,A,.,I,B_ 200 400 600 8001000 RMS TORQUE (Ib-in)

A: CONTINUOUS B: INTERMITTENT POWER SUPPLY:

DUTY ZONE DUTY ZONE 200V

-10-

1.2 RATINGS 1.2.1 Ratings

AND

SPECIFICATIONS

OF

F SERIES

AC

SERVOMOTORS

Time

Rating:

Continuous Class F 1500 VAC, one minute 10M_or more

Storage Ambient Vibration: Finish

Temperature Humidity: 15 in Munsell : ,_m or

-20

to + 60C 80% (non-con.densing)

Insulation: Isolation Insulation Enclosure: (Equivalent Ambient

20% to be]ow

Voltage: Resistance:

500 VDC,

Notation:

NI.5 magnet

Totally-enclosed, to IP-65 exclusive 0 to

self-cooled shaft opening)

Excitation Mounting: Drive

Permanent Flange

mounted drive

Temperature:

+40C

Method:

Direct

Table

1.2

Ratings

and Specifications 02 ...... I 03 ...... 1 r-_r-il r-lr-i 0.1 5 I 0.3 (0.2) I (0.4) 0.98 (8.7) 1.08 (10) 2.91 (26) I I I I I I 1.96 (17) 2.16 (19) 5.83 (52)

of F Series 05 ...... 1 r-lr-_ 0.45 (0.6) 2.84 (25) 2.94 (26) 8.92 (79) ' :

AC SERVOMOTORS r-i 130_-2 1.3 (1.7) 8.34 (74) 8.83 (78) 24.7 (21 9) 20C [.-]2 1.8 (2.4) 11.5 (102) 11.8 (104) 34.0 (301) 30C[-]2 2.9 (3.9) 18.6 (165) 22.6 (200) h4 1 (47_)

_ Rated Output* Rated Torque* Continuous Instantaneous Max Torque* Peak Torque* kW (HP) N-m (Ib.in) N .m (Ib.in) N. m (Ib-in)

D"

r _r-_ 09_-'_"1 0.85 (1.1) 5.39 (48) 5.88 (52) 15.2 (1 35)

I_ 44C[]2
I I t I [ I i I I i 4.4 (5.9) 28.4 (252) 37.3 (330) 76.2 (675)

Rated Current* Rated Speed* Instantaneous Max Speed*

A r/min r/rain

3.0

3.0

3.8

6.2

1500 2500

9.7

15

20

30

Torque Constant

Moment-of Power

'N. m/A (Ib.in/A) kg-m2X10 -" Inertia JM(= GD2/4) (ib.in.s2X10_3) kW/s

0.36 (3.2) 1.30 (1.2) 7.4

0.72 (6.3) 2.06 (1.8) 18.3

0.80 (7.1) 13.5 (1 2.0) 6.0

0.92 (8.2) 24.3 (21.5) 12

0.92 (8.2) 36.7 (32.5) 18.9 4.4

0.82 (7.3) 66.8 (59.2) 22.7 5.9

0.98 (8.7) 110 (97.2) 31.5

1.02 (9.0) 143 (126.7) 57.0

Rate*

Inertia Time Constant Inductive Time Constant

ms ms

3.9 3.4

2.5 4.3

10.9 3.2

6.0 5.2 6.1 Class F 10.4

5.2 13.0

3.7 15.2

Insulation *Values when SERVOMOTOR combinedwith SERVOPACK the armais and ture winding temperatureis 20C. Shown above are normal (TYP)values, Notes: 1, [-__-_] type designationis determinedby output pulses (pulses/rev)of opin tical encoder as follows: -Standard: A (6000 pulses/rev) oOptionali B (5000 pulses/rev),D (4000 pulses/rev)

2. The power supply unit for brake has two types: oType LPDE-1H01B9400876-2: Input IOOVAC, Output 90VDC *Type LPSE-2H01 B9400876-1: Input 2OOVAC, Output 90VDC For details, see Par. 8.6 (3) on page61.

--11

--

,all

1.2.2 Torque-Speed Characteristics TYPEUSAFED-02[_] TYPEUSAFED-13C

25oo_

......

_,

-_

(_)1000_

,--2
RMS TORQUE {N,m)

__)1ooo_
0 10 20 30
RMS TORQUE (Ib-in)

_ /!l

0 _ ;0 _5_0
RMS TORQUE (N.m}

MI /)1_,II1 "
0 5010b1_0 250 200
RMS TORQUE (Ibgn)

TYPEUSAFED-03[_]

TYPEUSAFED-20C

1500

"_

1500

_1500

"

1500l

\_%

_iooo _!t_ ........ 2500 ,iil ..... I'l 2500,

,,a, rA!)t B _t _

!i

t000

A i

2 4 RMS TORQUE (N.m)

20 40 60 RMS TORQUE(Ib-in)

_ ,_--_\ _/"2500....,. 'Ill _ 25I, _l o, /_!1 _, I

"u_' 1000_ O

[A \\
0

l'ill

_1

B_l

10001-

A!

_1 ;_

_!1

,0 20 30 RMS TORQUE(N.m)

100 200 300 RMS TORQUE(Ib'in)

TYPE

USAFED-05[:]

TYPE

USAFED-30C

dl
,500

E1500

_1500

il fl
,oooL A i
0

8,ooor _ II __:,I
0 20 40 60 RMS TORQUE (N .m) 0 100 200 300 400 500 RMS TORQUE(Ib-in)

2 4 6 8 RMS TORQUE (N.m)

20 40 60 80 RMS TORQUE(Ib.in)

TYPEUSAFED-09r_]

TYPEUSAFED-44C

_. ,1.o ""[ ..... l'iC ,, i Ooi

1500 "_ 1500

" "' "

if) _i"

,ooog B I:I , l:I

........... _ J 5 10 15 RMS TORQUE (N-m)

100o

2500_ 0

2500 ,- ...... _':_ " _11 0 30' 60 90 120 150 RMS TORQUE(-Ib.rl)

i2500-'"_i_ 0

I 20 40 60 80 RMS TORQUE (N .m)

2500 0

_ 200 400 600 RMS TORQUE(Ib.in)

A: CONTINUOUS DUTY ZONE B: INTERMITTENT DUTY ZONE POWER SUPPLY: 200V

-12-

1.3 1.3.1 Time

RATINGS Ratings

AND

SPECIFICATIONS

OF

S SERIES

AC SERVOMOTORS

Rating

Continuous Class Class B (Types USASEM-02A[-] - 05A!_] 2) F (Types USASEM-08A[-]2, -15At-12, -30A[-]1) 1500 VAC, 500 one VDC, minute 10Mf_or more 2,

Storage Ambient

Temperature: Humidity:

-20 20% to

to +60C 80% (nt)n-condensing)

Insulation"

Vibration. 15 /_m or below Finish in Munsell Notation: NI.5 Excitation: Mounting" Drive Method Permanent Flange magnet

Isolation Insulation Enclosure: (Equivalent Ambient

Voltage" Resistance:

mounted drive

Totally-enclosed, to IP-44 exclusive Temperature"

shaft

self-cooled opening)

Direct

0 to

+40C

D _EM Rated Output* Rated Torque*

Table 1.3

Ratings

and Specifications 02A[-_]2

of S Series 03A[-]2 0.31 (0.4) 0.98 (8.7) I .I 8 (I 0) 2.94 (26) 3.0

AC SERVOMOTORS 05A[_]2 0.46 (0.8) 1.47 (13) 1.67 (15) 4.02 (36) 4.2 3000 4000 08A[-]1 0.77 (1.0) 2.45 (22) 3.33 (30) 7.35 (65) 5.3 15A[-]1 1.54 (2.1) 4.90 (43) 6.18 (55) 13.7 (122) 10.4 30A[[]1 3.08 (4.1) 9.81 (87) 12.2 (108) 29.0 (257) 19.9

kW (HP) N. m (lb. in) N .m (lb.in) N.m (Ib.in) A r/min Max Speed* r/min N. m/A (Ib-in/A) kg.m2X10 "4 (ib.in.s210_3)

0.15 (0.2) 0.49 (4.3) 0.57 (5.0) 1.47 (13) 2.1

Continuous Max Torque*

Instantaneous D Rated Current* Rated Speed* Instantaneous Torque

Peak Torque"

Constant*

0.25 (2.19) 0.13 (0.11 )

0.35 (3.10) 0.51 (0.45)

0.37 (3.28) 0.75 (0.67)

0.51 (4.49) 2.85 (2.53)

0.50 (4.43) 3.25 (2.88)

0.53 (4.64) 5.74 (5.09)

" Moment of Inertia t JM(=GD2/4)

Power Rate* Inertia Time Constant t Inductive Time Constant _ Insulation

kW/s ms ms

18.5 1.8 1.5

18.9 2.2 2.7 Class B

28.9 1.8 3.1

21 1.9 6.2

74 0.7 " 13 Class F

167 0.4 26

*values when SERVOMOTOR combinedwith SERVOPACKand the armaturewinding temperatureis is 100C. Shownare normal(TYP) values above. t ValueswhenSERVOMOTOR combinedwith SERVOPACK is andthearmaturewindingtemperatureis 20C. Shownare normal(TYP) values above. Notes: 1. [_-] in type designationis determined by output pulses (pulses/rev)of optical encoder as follows: AC SERVOMOTOR Type USASEMStandard (pulses/rev) Optional D E C 1 500 2500 C E F 2500 1500 1 000 02A, 03A, 05A 08A, 1 5A, 30A

(pulses/rev) F 1 000 2. The powersupptyunit for brake has two types:

=TypeLPDE-1H01B9400876-2: Input 100VAC,Output90VDC *Type LPSE-2H01B9400876-1: Input200VAC,Output90VDC For details,see Par. 8.6 (3) on page61. --13--

1.3.2

Torque-Speed

Characteristics TYPE USASEM-08A

TYPE USASEM-02A

,ooo ,....... .....

_'t __

,ooo_

,oooai. _t _,_ .....

&2ooo_ , _2ooo_ H _ t_ _ _

"_

,14i,lW
0 5 10 RMS TORQUE (Ib.in)

i=r _ III _:=r ,_\ *ik _JJi

,'I H , i/
0 20 40 60 RMS TORQUE (Ib.in)

0.5 1.0 1.5 RMS TORQUE(N-m)

2.0

15

2 4 6 RMS TORQUE(N-m)

80

TYPE USASEM-03A

,TYPE USASEM-15A

:_r Li / _r ,/ :t
0

_ I

_oool-_

L,J
,

_3F'_i_

[:i]
, I,t

1 2 3 RMS TORQUE (N.m)

_',_ ,

,i,

/ ,ooo I i:/-,II
,
4 0 10 20 RMS TORQUE(Ib.in) 30

,ooo
0

5 10 15 RMS TORQUE (N .m)

20

,ooo
0

50 100 150 RMS TORQUE(Ib-in)

;,/

TYPE USASEM05A

TYPE USASEM-30A

t/, []/
(/_ 1000 0

2oooF"_ ',I
_) 1000 i_ 0

_1

_ 2000r A ""/_, / _" 3000I

(,O1000 0

_!]

l;Ii
30

8 "_"2000_
(,_ 0

A i/ i:_

I! ]

300

. ,_.I,, _
1 2 3 4 RMS TORQUE(N.m)

. /:I , ,_I,
10 20 30 RMS TORQUE(Ib-in) 40

10 20 RMS TORQUE(N.m)

_,;i_I M, ,

L _:.:_,iI , _Ii
100 200 RMS TORQUE(Ib.m)

A: CONTINUOUS B: INTERMITTENT POWER SUPPLY:

DUTY ZONE DUTY ZONE,_ 200V

-14-

1.4 1.4.1 Time

RATINGS Ratings Rating:

AND SPECIFICATIONS

OF Y D SERIES

AC SERVOMOTORS

Continuous Class F. 1500 VAC, one minute 10Mflor more

Storage Vibration:

Temperature 15 /_m or

-20 to + 60C

Insulation: Isolation Insulation Enclosure:

below N1.5 magnet

Voltage: Resistance:

Finish in MunsellNotation: Excitation: Mounting: Permanent Flange'

: 500 VDC,

Totally-enclosed,

self-cooled

mounted drive

(Equivalent to IP-65 exclusive shaft opening) Ambinent Temperature: 0 to +40 C Ambient Humidity: 20% to 80% (non-condensing)

Drive Method: Holding Brake

Direct Provided

Table I Item Rated Output* RatedTorque* Continuous Max Torque*

1.4

Ratings

and Specifications 05E_-,:2 0.5 (0.67) 2.35 (21) 3.43 (30) 8.24 (73) "

of D Series 10E[_-]2 1.0 (1.3) 4.81 (43) 6.37 (56) 16.9 (1 49)

AC SERVOMOTORS 15r-]2 1.5 (2.0) 7.16 (63) 8.83 (78) 25.1 (222) 2000 12.6 2500 0.64 (5.64) 62, 59t (54.9, 52.2t) 8.2 8.6t 7.1 6.8, 9.4 Class F 90 22Er-]2 2.2 (2.9) 10.5 (93) 13.7 (1 22) 36.8 (326) 37E[-_2 3.7 (5.0) 17.7 :(156) '21.6 (1 91 ) 61.8 (547)

-Motor Type USADED-I kW (HP) N. m (Ib.in) N. m (Ib-in) N. m (Ib.in) r/min A r/min N .m/A (lb. in/A) kg.m2X10 "" (Ib.in.s2X10 -3) kW/s ms ms

Instantaneous Pe_ik Torque* Rated Current* Rated Speed* Instantaneous Peak Speed* Torque Constant Mment f Inertia JM(=GD_/4) Power Rate* Inertia Time Constant D Inductive Time Constant Insulation Holding Brake

3.5 0.83 (7.38) 21,'13, (18.6, 11.5t) 2-.7 4.4t 18 " 11_ 4.4

7.9 0.69 (6.07) 32, 24t (28.3, 21.2,) 7.3 9.7* 7.8 5.9t 6.9

16.6 0.71 (6.25) 83, 80t (73.51 70.8t) 13 14t 6.2 6.0* 11

23.3 : 0.82 (7.29) 148,145' (131, 128.3 t) 21 22 t 4.3 4.2_ 15

Power Supply VDC Static Friction Torque N. m(Ib-in) 8.82 (78)

21.56 (191)

Approx. Mass

(Ib) (37.5, 35.3t) l (41.9, 39.7t1 (66.2, 59.5*) (70.6, 64*) kg 17, 16' 19,18' 30,27' 32,29' [ (86.0, 79.4t) 39,36' *Values whenSERVOMOTOR iscombined withSERVOPACK andthe arma- 2. Thepower supplyunitforbrakehastwotypes: turewinding temperature 20C. Shownabove is arenormalTYPIvalues, ( oTypeLPDE-1H01 B9400876-2:nput100VAC, I Output 0VDC 9 tValues whenholding brakeis not provided. ,,Type LPSE-2H019400876-1:nput200VAC, utput90VDC B I O Notes: Fordetails, seePar. .6(3)onpage 8 61. 1. ['__--.] intypedesignation determinedyoutputpulses is b (pulsesliev) ofoptical encoder as follows: -Standard:A (6000pulses/rev) ,Optional: B(5000pulseslrev), O(4000pulses/rev)

--15--

1.4.2

Torque-Speed

Characteristics

USADED-05E

USADED-05E
: _

SPEED [r/mini 1000

oo .
2000 0

SPEED [r/min} 1000

oo
2000 I! 1 2.5 5 7.5 RMSTORQUE[N "m] 10

20 40 60 RMSTORQUE [Ib-in]

80

USADED-10E

USADED-10E

2500 :_
[r/mini 1000 SPEED ii

2500%1 _
[r/mini 1000 SPEED

& I
I

0'

40 80 120 RMS TORQUE [Ib'in]

160

5 10 15 RMS TORQUE IN'm]

20

USADED-15E

USADED-15E

2500 _i_
[r/minl

251 i_ii SPEEDA'_

1000

BY_
'

2000 SPEED _il

[r/rain] 1000 _] 0

20oo _'1
0

60 120 180 RMSTORQUE [Ib'in]

240

8 36 24 RMSTORQUE [N'm]

32

USADED-22E
2500 :_, _

USADED-22E
2500 _

2ooc
SPEED [r/mini 100C _

2000
[r/mini 1000 A _i,_ B 10 20 30 RMSTORQUE [N"m]

B 100 200 300 RMSTORQUE [Ib'in]

400

SPEED

i 40

USADED-37E

USADED-37E

2500 2000 _ '_!i_

SPEED A

_
B

2500 _:,_ 2000

SPEED A B

,r,m, ,,000
0 A: B:

150 300 450 RMSTORQUE [Ib'in]

600

'r''o' 000
A: B:

20 40 60 RMSTORQUE [N-m]

80

Continuous Duty Zone Intermittent Duty Zone

Continuous Duty Zone Intermittent Duty Zone

I
-16-

1.5

RATINGS

AND

SPECIFICATIONS

OF

SERVOPACK

Table SERVOPACKTypeCACRMax Motor Output kW (HP)

1.

Ratings

and

Specifications SRIOBB 1.0 (1.34)

of

SERVOPACK SR2OBB 2.0 (2.7) D: 4000 SR3OBB 3.0 (4.1) pulses/rev) 44B[_-]2 4.4 (5.9)60B[_]2" 6.0 (8.O) SR44BB 4.4 (6.0) SR6OB8 6.0 (8.2)

SRO3BB 0.3 (0.4)

SRO5BB 0.5 (0.67)

SRO7BB 0.7 (0.94)

SR15BB 1.5 (2.01)

ApplicableOptical Encoder Type USAMEDAC SERVOMOTOF Output _, _ 03 kW (HP) 0.3 (0.4) 03 rqrq 1 ...... -

A: 6000

pulses/rev

(B: 5000

pulses/rev,

06[_][-]1 0.6 (0.8)

09B[_-]2 0.9 (1.2)

12B[-]2 1.2 (1.6) 1000

20B[-]2 2.0 (2.7)

30B[.-]2 3.0 (4.O)

RatedSpeedr/rain SERVOPACK Continuous Current Type CACRArms SRO3B81AM 3.0 -

SRO7BB1AM SRIOBB1AM SR15BB1AM SR20B81AM SR3OBB1AM SR44BB1AM SR60B81AM 5.8 7.6 11.7 18.8 26.0 33.0 45.0

Output "

Allowable oad L kg.m2 10-4 x Max Output Current Arms Inertia JL (Ib.in.s x 10-3) 2 ApplicableOptical Encoder Type USAFEDAC SERVOMOTOR Output (HP) kW

67.5 7.3 (60)

_ -

121.5 13.9 (107.5) A: 6000

183.5 16.6 (162.5) (B: 5000

334 28.0 (296) pulses/rev,

550 42.0 (486) D 4000

715 56.5 (633.5) pulses/rev) 30C it]2 (3.9) 2.9

1200 70.0 (1063)

1200 80.6 (1063)

pulses/rev _

32[][-,"1 03[]L_1 05 t-;r-; 1 ...... 10.15 0.3 (0.2)(0.4) (0.6) 0.45

09 E][_-] 1 (1.1) 0.85

13C [-]2 (1.7) 1.3

20C[-]2 (2.4) 1.8

44C [_-]2 (5.9) 4.4

O0

RatedSpeedr/rain SERVOPACKType CACR-

SRO3BB1AF SRO5BB1AF 3.0 8.5 3.0 8.5 10 (9) 3.8 11.0 67.5 (60)

1500 SRIOBBIAF 'SR158BlAF SR2OgB1AFSR3OBB1AF SR44BBlAF

D _) _)

Current u_ Continuous OutpUtArms Max Output Current Arms Allowable oad L InertiaJL

6.2 17.0 121.5 (107.5)

9.7 27.6 183.5 (162.5) 1500pulses/rev, 15A[_]1 (2.1) 1.54 3000

15.0 42.0 334 (296) _

20.0 56.5 -550 (486) 30A[r]l (4.1) 3.08

" 30.0 77.0 715 (633.5) _

kg'rn2 10 x -4 6.5 (Ib,in,s2xlO-3) (5.75)

LU

Applicable Optical Encoder Type USASEMAC SERVOMOTOR Output _, (HP) kW (0.2) 0.3 0.15 (0.4)

C: 2500pulses/rev(E: 02A[3203A[-J2 05A[-]2 (0.6) 0.46 _ 08AE]I (1.0) 0.77

F: lO00pulses/rev)

RatedSpeed r/rain SERVOPACKTypeCACRCurrent OutputArms

i ES.Y4i sR38BsRo38B1E.'SRO5BB1ES -

u) Continuous

SRIOBB1CS SR15BB1CS 5.3 15.6 14.25 (12.65) 10.4 28.0 16.5 (14.4) 5000 pulses/rev, _ 10E[-]2 1.0 (1.34) 2000 -

SR3OSB1CS 19.9 56.5 28.7 (25.45)

2.1 6.0

3.0 8.5

4.2 11.0 3.75 (3.35)

MaxOutputCurrent Arms Allowable Load InertiaJL

kg,m2xlO-4 0.65 2.55 (Ib,in,s2xlO-3) 0.55)(2.25)

ApplicableOptical Encoder Type USADEDAC Output kW SERVOMOTOR (HP) ._

(./3

A: 6000 pulses/rev(B: _ 05E[_]2 O.5 (0.67) _ SRO5BB1AO 3.5 10. 6 (22.75) _ 26.25 _ _ -

D: 4000 pulses/rev) 15E[_-]2 1.5 (2.0) 22E[.-]2 2.2 (2.9) 37E[-]2 3.7 (5.0) _

RatedSpeed r/min SERVOPACK Type CACROutputArms

SR15BB1AD SR2OBB1AD SR3OSB1ADSR44BB1AD 7.9 2 5.2 (35.75) 40 12.6 40.7 (68.38) 77.5 16.6 54.0 (92.25) 103.75 23.3 76.7 (163.75) 188.75

E3 Continuous Current

MaxOutputCurrent Arms Inertia& Allowable Load (Ib.in.s2 10-3) x kg'm2x 10-4

-17-

,do

Table

1.5

Ratings

and

Specifications

of

SERVOPACK

(Cont'd)

am ,qu

SERVOPACK Main CACRPower*_ I Type Circuit Supply Control Feedback Ambient _ Temperature Control Circuit Method

SR03BB ] SR05BB

I SR07BB _ Three-phase Single-phase

200 to SR15BB I+10% 50/ 6_ Hz*2 230 VAC _SR20BB 15%, 200 to 230 v_ _/^r+10% _ 15%, PWM Control
D: 4000pulses/rev, E: 1500pulses/rev,

SR60BB

50/60Hz

Transistorized
Optical enc0der (A: 6000 pulses/ ev, B 5000puses/rev,

C: 2500pulses/rev.

F: 1000 pulses/rev,)

O to $5C .3 -20C to +85C

Storage Temperature and Storage

u_ Ambient o I-lumidity

90% or less (non-condensing) 0.5/2G Base mounted 5.5 (13) I I 5.5 (13) 5.5 (13) 5.5 (13) I i 5.5 _,o_ 1 ' 3000 +0.03% +O.1% +0.5% or less at rated r/rain, or less at rated r/rain, or less at rated r/min, -+O.015% -+0.05% +0.2%or or less at 1/3000 or less at 1/3000 less at 1/3000 rated r/rain rated r/rain rated r/min 9.5 (21) 9.5 (21) 11 (24) 13 (29) I

Resistance a_ Vibration/Shock Mounting Structure Approx Mass Speed Control Load Oto kg (Ib) Range .4 Regulation 100%

.din

Speed*e Voltage Regula-o Regulation tion ---10% Temp. Regula'_ tion25+25C u_ Frequency 1 O co Response Charactenst_cs Rated Reference Speed Voltage ReferenceInputImpedance Input _,e CircuitTimeConstant

1 Hz(atJL O0 =JM) +6VDC

--

at rated r/rain (forward run at plus reference)

Approx 12k Q Approx 75#s

Auxiliary ReferenceVoltage ReferenceInputImpedance Inputt .__ CircuitTimeConstant cn Torque O "" Built-in Supply Limit Input Reference Power

4-2 to _-----F10VDC rated r/rain (forward run at plus reference) at Approx 5 to 7 kP, Approx +3VDC 22 #s torque

+ 10% at --4- 00% 1 -+5%,

-+ 12 VDC Servo ON, P drive, F overtravel,

3OmA external current limit

Input Signal Output Signal

R overtravel,

Servo ready, TG ON, current 1/N

limit, servo alarm,

overload,

MCCB trip

PositioningSignalOutput Protective Function o Indication Dynamic Brake Resistor

time (N = 1 to 64) of PG pulses or 2/N

time (N = 2 to 64) MCCB trip,

Overvoltage, overload, overcurrent, overspeed, overrun, open phase detection, heatsink overheat, undervoltage, AD error, regeneration trouble, CPU error Power supply, reference input, alarm, status indications

Built-in (non-contact dynamic brake)

Built-in

_"_"Regenerative

I _nstalledSeparately inertia series)

"_ Applicable Load Inertia .7 05 Monitor Output

_'_ AC SERVOMOTOR 2 Supply age _,3 When ambient ,I,4 In the condition voltage type should USAMKD-6OMA not exceed

Up to 5 times motor Torque monitor: 30V ___10%at rated r/min Speed monitor: 4.0V 4-5% at 1000r/min(M,
due to externally (253 V). fan-cooled. If the voltSpeed Motor amplifier the lowest speed is but defined not as the stopped, to the regulation speed drift rated may due speed = by

F, Dsenes), 2.0V 4-5% at 1000r/min(S

regulation is generally defined as follows: --Rated speed voltage The ratio speed

_'eSpeed

230

V + 10%

No load speed Rated changed by the

speed X 100 (%) variation or operational change due to voltage

should

exceed

this value, the

a step inside

down

transformer must

is required. not exceed

housed speed

in a panel, control there

temperature

temperature

range, range,

to temperature. represents

of this speed

regulation

in which

is 1OO% load

variation,

or temperature e Used for

change. at rated reference voltage applicable other than 6V. be sure to

application

TWhen load inertia JL (load GD 2) exceeds refer to 6.7.2, "Load Inertia."

range,

-18-

DESIGNATION

USAFEDT J

05DA 1
"'---T Blank: Standard B: With SPECIFICATION ADDITtONBrake (S series 03 to 30, M series44) E: With Brake (F series 02 to 44, M series 03 to 30, D series) DRIVE END SPECIFICATION Blank: Standard O: Standard (With Brake) K: With Keyway S: With ShaftSeal T: With Keyway& ShaftSeal" SHAFT TYPE 1: Taper 2: Straight DETECTOR (Table 2.3)

, " Type Externally Type

ORDER . Table M Series 02 03 05 06 08 09 10 12 13 15 20 22 30 37 44 60 0.3kW (0.4HP) .0.6kW (0.8H P) ,0.9kW (1.2HP) 1.2kW (1.6HP) 2.0kW (2.7HP) 3.0kW (4.0HP) 4.4kW (5.9HP) 6.0kW (8.0H P) Motor F Series 0.15kW (0.2HP) 0.3kW (0.4HP) 0.45kW (0.6HP) 0.85kW (1.2HP) 1.3kW (1.7H P) 1,8kW (2.4HP) 2.9kW (3.9HP) 4.4kW (5.9HP) Table Motor F Series 0.15kW (0.2HP) 0.3kW (0.4H P) 0.45kW (0.6HP) 0.85kW (1.2HP) 1.3kW (1.7HP) 1,8kW (2.4HP) 2.9kW(3.9H.P) 4.4kW (5.9HP) 2.2 Output S Series 0.15kW (0.2HP) 0.31kW (0.4H P) 0.46kW (0.6HP) 0.77kW (1.1HP) 1.54kW (2.0HP) 3.08kW (4.0HP) 0.5kW (0.7HP) 1.0kW (1.3HP) 1.5kW (2.0HP) 2.2kW (2.griP) 3.7kW (5.0HP) D Series 2.1 Output S Series 0.15kW (0.2HP) 0.31kW (0.4HP) 0.46kW (0.6HP) 0.77kW (1.1HP) 1.54kW (2.0HP) 3.08kW (4.0HP)' 0.5kW (0.7HP) 1.0kW (1.3H P) 1.5kW (2.0HP) 2.2kW (2.9H P) 3.7kW (5.0H P) D Series -

M Series 02 03 05 07 10 15 20 30 44 0.3kW (0.4H P) 0,6kW (0.8.H) P 0.9kW (1.2HP) 1.2kW (1.6HP) 2.0kW (2.7HP) 3.0kW (4.0HP) 4.4kW (5.9HP)

-19-

SERVOPACK EncoderResolution(P/R)

Table 2.3 Series

Type

,din 'qB

CACR - SRO5BC1
SERVOPACK SERIES CONTROL TYPE SR:Speed MOTOR OUTPUT (Table 2.2) APPLICATION B: M, F,SSeries __ ......

AF

USAMEO -03CA_ 06CA

- 44BA USAFSD - 02DA to - 09DA -09BA - 13CA to - 44CA USADSD05EA to - 37EA USAMED - 03CB -06CB - 09BB to -44BB USAFED - 02DB 5000 F to - 09DB - 13CB to -440B USADED - 05EB to USAMED M - 03CD --06CD 37EB - 09BD to - 44BD - 02DD to - 09DD - 13CD to - 44CD USADED - 05ED to - 37ED USASEM - 02AC to - 30AC USASEM - 02AE to - 30AE USASEM - 02AF to - 30AF

___J
6000 F M

to

D DESIGN REVISION ORDER INPUT FORM 1: 200V, Analog DETECTOR (Table 2.4) APPLICABLE MOTOR SERIES M: M Series F: FSeries S: SSeries D: DSeries _ _

USAFED 4000 F

2500

1500

i000

Table Models M Series A F Series A E S Series C D Series A Standard pulses/rev 6000 6000 1500 2500 6000 B B C E B

2.4 Optional pulses/rev Remarks 4000 4000 1000 1000 4000 02A, 03A, 05A 08A, 15A, 30A

5000 5000 2500 1500 5000

D D F F D

_1_

-20-

3. LIST OF STANDARD
Table M SERIES AC SERVOMOTOR SERVOPACK TypeCACRSRO3BBI[_]M SR07BB1E[IM SR10BBIE]M SR15BB1[-_]M SR2OBB1 [-]M 3.1

COMBINATION
Combination of SERVOPACK, AC SERVOMOTOR and Accessories

Type USAMED_O3r-]r-]I USAMED-O6r-]r-]I USAMED-O9Br[]2 USAMED-12Br-]2 USAMED-2OBr-]2

Power Current Capacity* Capacity per )er MCCB SERVOPACKor Fuse kVA A 0.65 1.5 2.1 3.1 4.1 5 8 8 10 12

Applicable Noise Filter

Recommended

Noise Filter1

Type LF-305 LF-310 3-phase 3-phase 3-phasc 3-phase 3-phase

Specifications 200VAC 200VAC 200VAC 200VAC class, 5A class, 10A class, 15A class, 15A

Power ON/OFF Switch

Contactor above

30A or

:_ Good

LF-315 LF-315 LF-320

200 VAC class, 20 A Contactor 35A or

SR3OBBIE]M SR44BB1[-_3M SR6OBBI[-]M _

USAMED-3OBr--]2 USAMED-44Br[]2 USAMKD_6OBr-]2

6.0 8.0 11

18 24 32

Poor

LF-330 LE-340 LF-350

3-phase 200VAC 3-phase 200VAC 3-phase 200VAC

class, 30A class, 40A class, 50A

above Contactor above 50A or

F SERIES SRO3BB1 {-IF SR05BB1E]F USAFED4)2[][]I, -03,[_%.',1 USAFED-O5r.-F]I 0.65 1.1 5 5 LF-305 LF-305 3-phase 200 VAC class, 5 A 3-phase 200VAC class, 5A

Contactor or 30A above

SRIOBBI[-]F SR15BBl[_]F SR20BBI[[]F SR3OBB1 [[IF SR44BBf[[]F

USAFED.O9r-]r-]I USAFED-13cr[]2 USAFED-2OCr_]2 USAFED-3OC.r-]2 USAFED-44C[-]2

2.1 3.1 4.1 6.0 8.0

8 10 12 18 24 _

Good _

LF-315 LF-315 LF-320

3-phase 200VAC 3-phase 200VAC

class, 15A class, 15A

3-phase 200 VAC class, 20 A 3-phase 200 VAC class, 30 A 3-phase 200VAC chass, 40A Contactor 35A or above

t/_ Poor

LF-330 LF-340

S SERIES

SR03BBI[_]S Y41 SR03BB1 i-iS SRO5BBI[._]S SR10BBI[-]S SR15BB1[._]S SR30BBI[_]S D SERIES SR05BBI[[]D SR15BB1[_]D SR2OBBI[[]D

USASEM-02A['_]2 USASEM-03A[_]2 USASEM-O5A[[]2 USASEM-O8AE]I USASEM-15A[[]1 USASEM-30A[-]I I

0.65 0.65 1.1 2.1 3.1 6.0

5 5 5 8 10 _

_; Good

LF-305 LF-305 LF-305 LF-315 LF-315

3-phase 200VAC class, 5A 3-phase 200 VAC class, 5 A 3-phase 200VAC 3-phase 200VAC 3-phase 200VAC 3-phase 200VAC class, 5A class, 15A class, 15A class, 30A Contactor35Aabove or Contactor 30Aor above

Poor 18 LF-330

USADED-O5E[[]2 USADED-10E[-_]2 USADED-15E[-]2

1.1 3.1 4.1

5 10 12

i Good

LF-305 LF-315 LF-320

3-phase 200VAC 3-phase 200VAC

class, 5A Contactor 30Aor class, 15A class, 20A Contactor 35Aor above

3-phase 200VAC

SR3OBB1 [-]D SR44BBl[-]D

* Values at rated t Made by Tokin t Regenerative

USADED-22E[[]2 USADED-37E,[_]2
load. Corp. unit is required, Note:

6.0 8.0
[[] in type

18 24
designation

Poor
is determined

LF-330 I LF-340
by output

3-phase 200 VAC class, 30 A above 3-phase 200VAC class,.40A I

pulses (pulses/rev) of optical encoder.

resistor

-21 -

Table M SERIES

3.2

Specifications

of AC SERVOMOTORS

Detectors

and Holding

Brakes

I 'qE

AC SERVOMOTOR Receptacle Type [:]E:] MS3102A 18-10P MS3108B 18-10S MS3106B 18-10S MS3057 -10A L-type Plug Straight Plug Cable Clamp Receptacle Type

Detector L-type Plug Straight Plug Cable Clamp

Type USAMED-03

USAM ED-06 [_-][_] USAMED-O9B[-] USAMED-12B[-] USAMED2OBr-] USAMED-3OB[[] USAMED-44B[-] USAMKD-6OB[-]

MS3102A 22-22P

MS3108B 22-22S

MS3106B 22-22S

MS3057 -12A

MS3102A 20-29P

MS3108B 20-29S

MS3106B 20-29S

MS3057 -12A

MS3102A 32-17P

MS3108B 32-17S

MS3106B 32-17S

MS3057 -20A .,_

II

USAFED-02[-][.-] USAFED-03[-][-] USAFED-05 [-][[]

MS3102A 14S-2P

MS3108B 14S-2S

MS3106B 14S-2S

MS3057 -6A

USAFED-09[-][:] USAFED-13C[.-]

MS3102A 18-10S

MS3108B 18-10S

MS3106B 18-10S

MS3057 -10A

MS3102A 20-29P

MS3108B 20-29S

MS3106B 20-29S

MS3057 -12A

USAFED-20C [:] MS3102A USAFE D-30C[:] 22-22P USAFED-44C[-]

MS3108B 22-22S

MS3106B 22-22S

MS3057 -12A

USASEM-02A[[] MS3102A USASEM-O3A[-]t8-10P USASEM-05A[-] USASEM-08A[-] USASEM-15A[-] USASEM-30A[-] MS3102A 20-4P MS3108B 20-4S MS3106B 20-4S MS3057 -12A MS3108B 18-10S MS3106B 18-10S MS3057 -10A MS3102A 20-29P MS3108B 20-29S MS3106B 20-29S MS3057 -12A

USADED-05E[-] USADED-10E[-] USADED-15 E[_] USADED-22EE] USADED-37E[-_]

MS3102A 20-15P

MS3108B 20-15S

MS3106B 20-15S

MS3057 -12A MS3102A 20-29P MS3108B 20-29S MS3106B 20-29S MS3057 -12A

MS3102A 24-t0P

MS3108B 24-10S

MS3106B 24-10S

MS3057 -16A

Note: When plugs or clamps are required,contact /our YASA_A representative. The following connections are provided: solderedtype (typeMS) and solderlesstype (type JA).

,_

11
-22-

M SERIES AC SERVOMOTOR Type

Table 3.3 Specifications

of Holding +

Brake Holding Straight Plug Brake : Cable Clamp '

AC SERVOMOTOR Receptacle Type L-type Plug

U S A M E D-03[]I]] USAMED-06[][] U S A M E D-09 USAM B [iii:i:] MS3102 20-15P MS3108B 20-15S MS3106B 20-15S MS3057-12A

E D-12B[] MS3102A 24-10P MS3108B 24-10S MS3106B 24-10S MS3057-16A

USAMED-20B[[] U SA M E D-30 B{_-.] USAMED-44B[] USAM E D-60Bi[]

MS3102A 32-17P MS3108B.32-17S* MS3102A14S-7P * MS3108B14S-7S 4.4kW+ (FAN) MS3102A14S-6F MS3i08B14S-6S

MS3106B 32-17S* MS3106B14S-7S t M $3106B14S-6S *

MS3057-20A* MS3057- 6A t M $3057-6A Brake side Motorside

-F SERIES USAFED-02[iiq U SA F E D-03L..JL....i U S A F E D-05[][[], USAFED-09iiFI USA F E D :13C[] I USA FE D-20C[[i USAFED-30C[] USA F E D-44C[] MS3102A 24-10P MS3108B 24-10S MS3106B .' MS3102A 20-15P MS3108B 2045S MS3106B -MS3102A . 14S-6P VlS3108BA 14S-6S MS3106B

14S-6S

MS'3057-6A

20-15S

MS3057-12A

24-10S

MS3057-16A

S SERIES= U S A S E M -02A Eli USASEM-03A[::] I -U SAS E M-05A[[] U SAS E M -08A[::] USASEM-15A[:::::i U SAS E M -30A[:::::] MS3102A ' " 20-17P MS3108B 20-17S MS3057-12A MS3102A 18-12P MS3108B 18-12S MS3057-10A

-23-

4. CHARACTERISTICS
4.1
The

Where, NR

: Rated motor speed (r/rain)

1
inertia
2 10 -3) of inertia

OVERLOAD CHARACTERISTICS
overload protective circuit built in SERVOPACK overloading time of motor and SERVOPACK from the allowable conduction (See Fig. 4.1.) level is set precisely temperature by the of

JM
JL Kt

(=GD_/4)
(=GD[/4) : Torque

: Motor
: Load

moment of (kg.rr_X10-' =lb'in's moment

prevents the and restricts SERVOPACK. The

(kg" n{ 10- 4 = lb-in" s 2 x 10- 3) constant of motor (N'm/A=lb'in/A) current current current (A)

overload

detection

IR : Motor rated current (A) a =I_/IR : Acceleration/deceleration constant Is : Acceleration/deceleration (Acceleration/deceleration the motor rated current) : Load current constant

hot start 55C and

conditions at an cannot be changed. NOTE

ambient

times

fl =IL/IR characteristics when load and the IL

Hot

start

is the

overload

SERVOPACK is running thermal ly saturated.

at

the

rated

: Current equivalent to load torque (Load current fl times the motor current) (A) I_%_,,:_1 l
MOTOR ARMATURE CURRENT I _ _NN t' N_: I [_| f

rated

_TIME

I_

T_

_,

MOTOR _ SPEED ]

'
FREQUENCY

I
=

TIME

1000

Fig. 4.2 Timing Chart of Motor Armature Current and Speed

4. 3 ALLOWABLE
OPERATING
TIME (S) 100

OF OPERATION

The allowable frequency of operation is restricted by the SERVOMOTOR and SERVOPACK, and both the conditions must be considered for satisfactory operation.

SERVOPACK The allowable frequency of operation is restricted by the heat generated in the regenerative resistor in the SERVOPACK, frequency varies and dependingrestricted the on .Allowable of operation by motor the

,0

__ _

2100

200 MOTOR RATED CURRENT (%)

300

values,types' currentand acceleration/deceleration If the capacity,motor JL, speed. frequency of operation exceeds 60 times/min when JL=0 before the rated 6O reached, or if it exceeds -cycles/rain
m JL = JM X m, contact your YASKAWA

speed when

is

t_

II

representative.

Fig.

4.1

Allowable of

Overload SERVOPACK

Curve -Allowable frequency SERVOMOTOR The allowable on the load operating below. TIME" When frequency conditions, conditions. See Par. 4.2, for symbols. the at motor standstill repeats (Fig. should be armature of operation restricted by the

4.

STARTING AND STOPPING TIME

and load stopping time of SERVOMOTOR is shown by the formula below. of the motor is disregarded.

of operation varies depending motor running time and the Typical "STARTING examples AND are shown STOPPING

The starting time under a constant Viscous Starting tr=104.7 Stopping tf=104.7 Time X or friction :

torque

rated-speed 4.3). determined current is

operation

and

Time

being NR (JM+JL) Kt'IR (a-fl) (ms) Cycle value

time (T) of motor

so that RMS lower than the

motor rated current : NR Kt.I_ (JM+JL) (a+fl) (ms) T_Ip_ (tr+t/) In' + I[ts (s)

II

- 24-

tf

Where cycle time IT) satisfying the formula ' ARMATURE 1 CURRENT I
MOTOR

is determined, above, should

values Ip, tr, be specified.

4. 4

SERVOMOTOR

FREQUENCY
of SERVOPACK amplitude is restricted current controlled and by by

In the serve SERVOMOTOR, the maximum SERVPACK. The relation If)

drive consisting motor speed armature

_ = T_ME l ,, I" t_--_ I " Itml 1-_I ; T I'J_l Trl _

I

I ]

; I _

I_! I_;I _

between is shown
" (JM+JL) "

motor by the f
"

speed

amplitude below :

IN)

and

frequency

formula

MOTOR I SPEED _

I"_' ;_ g!}:k ; _ I _;_';.'_ l ...._'_'_':_"_ I/;Y(_:_:,::,;:_:,_._'lll I

N = 1.52 X
TIME

(r/min)

Motor

Fig. 4.3 Timing Chart of Armature Current and Speed

Ip=ala_

When the motor remains at standstill between cycles of acceleration and deceleration without continuous rated speed running chart of shown (Fig. 4.4). armature current and 4.4. The allowable be calculated as fol-

_,_ f_
'

;!_;_ !'_

L/
N . _]

--t
o

ARMATURE

The timing speed is

as

the motor in Fig. "n" can X

. _;_< __ . _!_:_y _

._ /_:_;_ _t

MOTOR SPEED

of lows:frequency operation n=286"5X

NR Kt.IR ('-]M+JL)"

[1 a _)21. _-_ (times/min) 4.5

Chert of Speed Motor Fig. 4.6 Timing Armature Current end MOTOR SPEED-REFERENCE INPUT

MOTOR ARMATURE CURRENT

_ _;_ I (

_- _

_ l [ I
,

-_

"_:_ } ;_ _!:*:_!iI _

_; i:_!_ _:_ N_:

I

TIME

Fig. 4.7 shows motor speed and when speed reference input terminals motor used. speed With can be auxiliary set input to the rating terminals,

input voltage 1CN-@ and

curve @ are

I i MOTOR SPEED I Fig. Motor When and standstill the motor (Fig. 4.4 _

' _:,_:;_1

II

I I

by1CN-@ adjusting]iN-B] _ andr= is within +2V

TIME

potentiometerSee as long as input to +10V. Fig.4.8. The forward clockwise (CCW)

voltage

Timing

Chart

of and at Speed constant without speed, being at

motor rotation (4-) rotation-when viewed

means counterfrom the drive

Armature

Current runs

end.

accelerates, in a continuing 4.5).

decelerates

cycle

RATED

ADJUSTABLE

WITH

speed is as shown in Fig.4.5. The allowable frequency The operation timing chart of be calculated armature follows current : and of "n" can the motor as Kt'I, (g_+JL) [

SPEED (+)
--6--4 t i

/
0 2I 4 I

I t
6 t INPUT VOLTAGE

RATED SPEED(+)
-10-8-6-4-21 , ' , IV) ', /:/ _ /,[ _-----;_-

-'}
4 6 .... INPUT _ATED

-8

I ,
1'0

1
-

[?'
a

]
J

I
/

/2/

, ,.

n=286.5X

N.

[ -a

VOLTAGE(V) SPEED(-)

(times/rain)

II I___

__

RATED SPEED

' (--)

'

II MOTOR ARMATURE I I Ii i I J

II

Fig. _ _l_'_il _ _i-,i._l

4.8
Voltage

CURRENT

I_!_!! , a
I o I _

I_;_I _
_
I

TIME

Speed-lnput Voltage Characteristics

Fig.

4.7

Characteristics when Auxiliary . Terminals

Speed-Input

Input /

MOTOR SPEED _

' _

_ _TIME

1CN-@

and(_)are. sed. " u

I
Fig. Motor 4.5 Timing Chert of Speed Armature Current and

4.6
4.6.1

MOTORMECHANICAL CHARACTERISTICS
Mechanical Strength

AC SERVOMOTORS can carry up to 300% of the rated -" momentary maximum torque at output shaft:

-25-

,all 4.6.2 Table Allowable 4.1 shows Radial Load and toads Thrust Load to AC 4.6.4 AC Direction of Rotation rotate counterclockwise when motor below. and (CCW) detec

allowable types,

according

SERVOMOTORS from the connected

II

SERVOMOTOR Table 4.1

when viewed tor leads are Radial Load

drive end as shown

Series Allowable and Thrust Load Radial Load* Allowable N (Ib) 490 (110) 490 (110) 686 (154) 1470 (330) 1470 (330) 1470 (330) 1764 (397) 1764 (397)'

Motor Type USAMED03 [:][:] 1 06 [:][:] 1 09B[:]2 12BE]2 20B[;]2 30B[:]2 44B[_]2 USAMKD-6OB[:] 2 Table 4.2 F Series and Motor Type USAFED02[:][:]1

Thrust Load Allowable N (Ib) 98 (22) t 98 (22) t 343 (77) 490 (110) 490 (110) 490 (110) 588 (132) 588 (132) (i) Connector SERVOMOTORS (a) Allowable Thrust Load N (Ib) 49( 11)t " M, Motor F receptacle Series Specifications for Standard Radial Load

386-5 Fig. 4.9 AC SERVOMOTOR

Allowable Thrust Load

Allowable Radial Load* N (Ib) 147(33)

I
B
Phase Phase Phase Frame V W U ground C A D

05 [:][_]1 09 [:][:] 1 13C[:]2 03,:_],,'_]1 20CE]2 30C[:]2 44cE]2

490 (110) 490 (110) 686 (154) 147 (331) 1470 (33) 1470 (331) 1470 (331)

98 (22) t 98 (22) t 343 (77) 49 (110) 490 ( 11)t 490 (110) 490 (110)

S Series Table 4.3 S Series Allowable and Thrust Load Allowable Radial Load* N (Ib) 78.4 (18) 245 245 392 490 686 (55) (55) (88) (110) (154) Radial Load (Type USASEM-02A)

Motor Type USASEMO2AE]2 03A[:]2 05A[_] 2 08A[:] 1 15AE]I 30A[:]1

Allowable Thrust Load N (Ib) 39.2 (9) 98 98 147 147 196 (22) (22) (33) (33) (44)

Color of Lead Red

White Blue

Applicable
Phase Phase Phase U V W

Table

4.4

Series

Allowable

Radial

Load

(Types _

USASEM-03A A B C D

to

30A)

Motor Type USADEDO5E[-]2 10E[:]2 15EE]2 22E[:]2 37E[:]2 * Maximum values

and Thrust Load Allowable Radial Load* N (Ib) 686 (154) 686 (154) 1176 (265) 1176 (265) 1176 (265) of the load applying

Phase U Phase Phase Frame V W ground

Allowable Thrust Load N (Ib) 343 (77) 343 (77) 490 (110) 490 (110) 490 (110) (b) Detector receptacle

to the shaft

extension. _ A B Channel Channel A output _ output K L M N P R S T ground -Channel Channel U output -U output

t Do not apply the exceeding load because motor cannot be rotated. 4.6.3 (M, Mechanical F, Specifications

S and D Series) Table 4.5 Mechanical Specifications in mm

C D E

Channel B output Channel Channel Channel 0V +hVDC Frame -B output Z output _ output

Channel V output Channel Channel Channel ? output

W output W output __

Flange

Accuracy surface

(T.I.R)t _)

0.04 (0.06) * 0.04 0.02 (0.04)

Reference /-__

Diagram

F G H J

perpendicular to shaft Flange diameter concentric to shaft Shaft run out

_ i -22E, and -37E. and USAMKD-60M[_-J2.

* Accuracy for motor types USADED-15E, * T.I.R (Total Indicator Reading) t Accuracy for motor types USAMED-44M[_2

-26-

(2)

Brake Connector

Specifications

for

SERVOMOTOR to all types

with of D

SERVOMOTOR and fan motor when cooling fan alarm Arrange the main circuit sequence to stop the occurs. (Alarm contact is ON at alarm occurrence). After alarm SERVOMOTOR occurrence, make sure and fan motor within to stop the five minutes

M, F*, D Series (Brake series as standard.) B C A D

Types E and

is provided

Phase V Phase U Phase W Frame Ground

without F. brake of

F GE --

Brake terminal do not use

five

minutes. When cooling fan signal SERVOMOTOR for turns ON since delay relay seconds). 4.6.5 Impact to the

starts running, alarm detection three seconds. protection Therefore, is set to add a self-cooling circuit for this time setting (three

13 series

Resistance. vertical two im(Fig.

*For

see connector on the right.

USAFEM-02

and-03,

When shock pacts 4.11).

mounted horizontally and exposed to impulses, the motor can" withstand up to with impact acceleration of 490m/s2(50G) NOTE

S Series (USASEM-02A) .. t Color of Lead Applicable Phase U Phase V PhaseW Color of Lead Black Black Green Brake Frame Ground Applicable

drive end of AC SERVOMOTOR. A precision detector is mounted on Care oppositethe should .. be taken to protect the shaft could damage the detector. IVERTICAL
!

Red White Blue

from

impacts

that

(USASEM-03A,

-05A)

(USASEM-08A

to

-30A)

'

--_-

IIIIL_=,ZONTAL

t A B C

O Phase U Phase V Phase W A B C

O Phase U Phase V Phase W

4.6.6

Vibration

Fig. L4.11 Impact Resistance I IUJ"V'" Resistance the axial) motor can withstand of 24.5m/s 2 (2.5G)

When mounted horizontally, vibration (vertical, lateral, (Fig. 4.12).

Brake terminal E t (3) F FLame ground Fan terminal connector (Type USAMKD-60BEI]2) A B C D
E

Brake terminal E F specifications Frame ground LAT

VERTICAL

. L

[L_ HORIZONTAL Fig. 4.12 Vibration Resistance

Fan

motor

CONNECTION 4.6.7 Vibration Vibration or below

SHADING COIL

Fan motor terminal

terrain,31

Class running at rated speed is 15/_m

Alarm
Alarm

of the motor (Fig. 4.13).

POSITION CHECKING

FOR VIBRATION

Power Alarm

Supply: Contact:

F Single-phase --

200V,50/60Hz,

__ I

OFF when fan is running normally ON when fan rotation is 1800 +200 r/min or less. When cooling fan starts running, 0.3A 4.6.8 Holding

Fig.

4.13

Vibration

Checking

Contact I

Capacity: Fig.

Resistance load is ll0V max, ON for 3 seconds. 4.10. Fan Terminal Connection

Brake to Par. 6.9.3, "Application Holding Magnetic Brake" with brake is used when the

Turn ON/OFF according of SERVOMOTORS with since AC SERVOMOTORS operation is held.

-27-

5. CONFIGURATION
5. 1 CONNECTION DIAGRAM
POWER SUPPLY +10% -15 200 TO 230V 50160 Hz

1MCCB

Prevent
f

external noise with a noise filter.

S --

NOISE _

FILTER

(excluding the grounding Bold lines indicate power 5 Ry POWER

line). lines

(SERVO

TROUBLE EXAMPLES OF INDICATION

INDICATION) _

POWER

ON

5 Ry

MAGNETIC

CONTACTOR

---.C) I ____-_O OFF

--L_ 1MC

__

_ _FOR =_'_1-_1SUP

1 i
g

Be .... to fit a surge suppressing device POWER ON/OFF to both the magnetic contactor and the relay.

_
:

1Me a I

1 MC: ,t
1MC| I

/ '_s /

"_ SERVOPACK

U _

ALARM

TYPE

|
J

v_
_

[CACR-SR

SPEED REFERENCE LEAD LENGTH OR LESS 3 METERS

cIRcuIT

I _
\7._ _M_besecurely grounded ,/_.

JTERMINALS

4
I I i

2Ch

mPim
Pt

(_ LEAD LENGTH: 20 METERS OR LESS ( CONNECTING CABLE:

YASKAWA DRAWING No, DP8409123 OR No, DE8400093 1CN Be sure to perform terminal trearment of shielded cable *RESISTOR UNIT

,_

1 Ry Use relays highly reliable in contact (YASKAWAestact B relays or equivalent, or arrange in twocontact parallel onnecc tion for low level). 3 Ry 4 Ry I, 5 Ry O 2 R._.yy

5mA

TYPEJUSP-RA03 .5mA Y3 5mA 5_mA Y4

+ 24V _ 1V (SUPPLIED BY USER) *Added

Connect the output relay surge absorbing diode with the correct (If connection is wrong, output transistor is damaged).

polarity ..,.]

only

for SERVOPACK fan-cooled type).

type

CACR-SR60BB

(externally

(I

Fig. 5. 1 Exampleof Connection Diagramof SERVOPACK witha SERVOMOTOR and Peripherals -28-

5. 3 EXTERNAL Table 5.1 shows for SERVOPACK.

the

TERMINALS specifications

5.4 of external terminals

CONNECTOR

TERMINAL

(1CN)

FOR

INPUT/OUTPUT
5.4.] Specifications

SIGNALS
of Applicable Receptacles Receptacles Signals for

Table Terminal Symbol

5.1 External

Terminals

for

SERVOPACK Table 5.2 Specifications SERVOPACK of Applicable Input/Output Applicable Manufacturer Honda Tsushin Co., Ltd.

Name Main-circuit AC input Motor connection Control input Ground Regenerative resistor power Three-phase 50/60 Hz.

Description +10o 200 to 230 VAC,_15 _,

Connector Type* used in SERVOPACK MR-50RMA (Right angle 50 P)

(_) (!)

Receptacle Type Soldering Caulking Type Type MR-50F t MRP50F01

Case

@ O _ Q O (_ D (_) (_

Connects terminal Q to motor terminal A, _) to B and _ to C. Single-phase 50/60Hz 200 to 230 VAC +10oz -15/,

MR-50Lt

* The connectors for input/output signals used ere type MR-50RMA made by Honda Tsushin Co. t Attached to SERVOPACK prior to shipment.

Connects to motor terminal

FG.

External connection grounded. required Must be securely not normally except SR60BB.

5.4.2 Connector of SERVOPACK

1CN

Layout

and

Connection

The terminal layout of the signal connectors (1CN) is The external connection and

SERVOPACK inputJoutput shown in Table 5.3. external signal processing

D Table 1 0 V 2 0 V 3 0 V 4 PHA 5 CLT+ 6 CLT5.3 Connector 7 +24V IN Ext Power Input 8 tCN 9

are Layout 10

shown

in

Fig.

5.4

on

page

32.

of SERVOPACK 11 SG 12 IN-A 13 SG.A 14 IN-B 15 SG.B 16 +12V 17 SG 18 FG j Frame Ground

S-ON TRQ-M VTG-M Servo ON Power

0 V for PG Output Signal

SignaIPG Current Limit Output 3hasp Detection Output A)t

Speed Monitor SpeedReference Torque monitor In )ut

Auxiliary Input

4- 1 2V Output

PCO 19

*PCO 20

PHC 21

TGON TGON P-CON 22 23 24 4--

OL 25 --

N-OT 26

S-RDY S-RDY N-CL 27 28 29 -4-

SG 30

-12V 31

SG 32

PG Output IPGoutput TG ON ! P Drive Overload Reverse Servo Ready I Signal Signal(Phase Ip_aseclt Signal Output Input DetectingProhibit C) Signat Input Output 33 PAO 34 *PAO 35 PBO 36 *PBO 37 PHB 38 ALM+ 39 ALM40 OL 4Detecting

Reverse Current Out )ut 45 SG 46 -12V

-- 2 V Out 3ut 47 SG 48 +12V 49 SG 50 FG Frame Ground

41 P-OT

42

43

44 P-CL

MCCBMCCF -+ MCCB Trip Signal Oufput

PGOutput Signal (Phase A) tOpen collector

PGOutput PGOutpu_Servo Alarm Signal Signal(Phase B) (Phase B)t Output

Overload Prohibit Fwd. Sighal Input

Fwd. Current Limit Input

4=

12 V Output

4-12 V Output

PG Output 1: Opencollector

Signals

External Sequence

Signals

Analog

Signals

--31

--

SERVOPACK TORQUE MONITOR (RATED TORQUE AT 3V) SPEED MONITOR 4V/1000 r/min (M, F, D SERIES) 2V/1000 r/min (S SERIES) TRQ-M VTG-M

IN-A SPEED REFERENCE INPUT (RATED SPEED AT 6V) AUX. SPEED REFERENCE INPUT (RATED SPEED AT 2 TO _+10V) SG-A IN-B SG-B VR6 CURRENT LIMIT AT REVERSE ._ RUNNING (- 100%/+ 3.0V # INPUT) CURRENT LIMIT AT FORWARD RUNNING (+ t 00%/-- 3.OV INPUT) _ _._ 4 = N-CL SG-NCL P-CL SG-PCL SGOV + 24VIN SERVO ON AT 1RyON PROPORTIONAL CONTROL AT 2Ry ON (PI DRIVE ATOFF) REVERSE RUNNING PROHIBIT AT N-LS OFF FORWARD RUNNING PROHIBITAT P-LS OFF 3Ry ON AT CURRENT N-LS _ N-OT I 21V 1Ry _--5 S-ON -2Ry _ P-CON 4.8k/1 | "=_ =1 .__j I '.=_ i I ._ / PROPORTIONAL = CONTROL (P DRIVE) REVERSE " RUNNING PROHIBIT FORWARD RUNNING PROHIBIT SERVO ON _._

rc_

P-LS +24V 3Ry f---'-_?.-_

P-OT CLT+

s
IN I -5

"I i '._ [ L_ _ _ .J 4.8k_ r- - - - 7 APPROX I _i =_^ ,_ _ _ __.J

_'"_ LT
r ....

c,,-IP !+
TGON+ TGON-_ [_ _ _ _-6 "38 '39 I 1 I |

_ _

1 CURRENT LIMIT

4Ry ON AT

4Ry

TGON
5Ry OFF AT DETECTION SERVO ALARM 6RyONAT 6Ry S-RDY+ S-ROYALM+ 0fVl _ ALM

IP IT_-22 I

;Fi

_
/

(AT ON OR MORE TG 1% OF MAX SPEED,

P I

SERVO ALARM I

P 27 I

SERVO READY

MCO TR,P
8Ry OFF AT OL ALARM

MCCB OL+

42

I
I

_L. /

MCCB

,RyONAT
PG OUTPUT LINE DRIVER

I 'RYMOOR+ P'
PAO PHASE{ B C ( [ *PAO * PBO i PBO PCO *PCO i

'

I [
_ LTI

O"-L

LINE DRIVER MC3487

PG OUTPUT OPEN COLLECTOR

PHB / PHC

MAX OPERATING VOLTAGE: 30 VDC MAX INPUT CURRENT:

40 m_

FG

: Twisted pair wires 1" Made by Texas Instruments Inc. Notes: 1. Each capacity of output circuit is 30VDC, 100mA or less. 2. The user must provide the 24V power supply.

+12V

SG

-12V

I Ii

--"

Fig. 5.4

Input/output

Signals and Connector

1CN

-32 -

D Signal Name SV-ON Connector ] CN No. 1 CN-8

Table 5.4 Function Servo ON

Input

Signals of Connector

1 CN Description ready to receive

Inputting this signal makes the SERVOPACK , speedreference input (+6V) Base block and dynamic brake are cleard. drive

P-CON N-OT P-OT 24V IN-A D IN-B N-CL P-CL

] CN-24 1CN-26 ] CN-41 1 CN:7 1 CN-12(13) ] CN-14(15) 1CN-29(30) ] CN-44(45)

Proporitonal reference Reverse prohibit Forward prohibit 24V Speed command running

Proportional control command to prevent drifting when the motor is left motionless without command input, while the mamc_rcmt _skept energ i zed.

running

In the case of linear to the run direction. External 24VDC input At +6.0V, power (20mA

drive, etc connect This is a. normally

limit switch signal according closed contact. 41. Use an. external

supply to 1 CN-8, 24, 26and min.) power supply. speed is obtained.

4- rated

Aux. command input Current limit reference at reverse running Current limit reference at forward running Table 5.5

For +2.0to +10.0V, 4- rated speed is obtained. potentiometer _ is used. At adjustment, +3.0V +10%/100% torque +9 V max.

-3.0V

+10%/100% of

torque

-9 V max. I CN

Output

Signals

Connector

Signal D Name OL MCB ALM

Connector I CN No. 1CN-40(25) 1CN-43(42) lCN-38(39) Overload Function detection MCCB trip Servo alarm Motor run detection Motor overload detection or heat sink overheat detection. Description Turns OFF when overload is detected. (See Par. 4.1 "OVERLOAE: CHARACTERISTICS") Turns ON when MCCB trips. Turns OFF when fault is detected. For details, refer to Table 6.2, "Fault Detecting Functions." Turns ON when motor speed exceeds fol lowing speed. M Series: Approx 20r/min D Series: Approx 25r/rain F Series: Approx 25 r/min ' S Seried: Approx 4Or/min or when output torque N-CL P-CL N-CL or P-CL. reaches the level set by used: TurnsON -N-CLorP-CLnotused: Turns ON When output torque reaches the level set by potentiometer _ . Turns ON when main power supply ON, and no servo alarm. +12V +5% max output current ' 30 mA Used with speed command or current input. (Rated torque at-+3.0V) -+10%, +gVmax, IoadlmAmax lmAmax

TGON

lCN-22(23)

D CLT S-RDY Jr-12 V 0V --12V TRQ-M VTG-M PAO PAO PBO ,I, PBO D _1, PCO PCO PHA PHB PHC ]CN-5(6) 1CN-28(27) 1CN-16, 48

Current limit detection Servo ready

1CN-17,32,49 1CN-31, 46 1CN-9 1CN-10 1CN-33 1CN-34 1CN-35 1CN-36 lCN-20 lCN-19 1CN-4(1) 1CN-37(2) 1CN-21(3)

+12V output power supply Torque monitor Speed monitor Phase Positioning Signal Output 1 A

M, F, DSeries (-+4.0V/1000r/min) -+5%. SSeries (-+2.0V/1000r/min) -+5%. Load:

Phade B

Pulse after

frequency

division

is output

line driver

(TI MC3487).

To be received by line receiver Phase C

(TI SN75115).

Positioning Signal Output2

Phase A Phase B Phase C

Open collector output, pulseafter frequency Max operating voltage: 30VDC. Max mputcurrent: 40mA. -33-

division.

41
5.5 CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER(PG) CONNECTION
5.5.1 Specifications Cables (Table 5.6) of Applicable Receptacles and

"qm

Table ConnectorType* used in SERVOPACK

5.6 Specifications Applicable

of Applicable

Receptacles

and

Cables Connection

Receptacle Type Caulking Type Case t

Manufacturer

Soldered

Type

Cable_

MR-20RMA, right angle 20P

" Made t Attached caulking : Attached by

Honda Tsushin Co., Ltd.

MR_20F _

MRP-20F01

MR-20L_

DP8409123 DE8400093

or

Honda to to each types),

Tsushin applicable

Co.,

Ltd. receptacle (soldered shipment. and

= The If shown

cables required,

listed

in Table 5.7.

5.7

are of

available standard

on length

request. as

purchase

in units

in Table

SERVOPACK

prior

to

Table Connection YASKAWA Drawing No. Manufacturer

5.7 Cable Soldered

Specifications 1. When Type I applicable Caulking Type used, allowable SERVOPACK and meters. 2. The cable available

NOTE
cables wiring motor listed in Table 5.7 are distance between is a maximum of 20

DP 8409123 Fujikura Double, KQVV-SW

DE 8400093 Cable Co.

applied for 50m wiring distance is on order (YASKAWA drawing No. is 20m or longer, authorized contact ven-

Approx Specifications Finishing Dimensions

AWG 22X3C AWG 26X6P _8.0mm(@0.31in.) For Soldered Type

KQVV-SB AWG 26X10P

DP8409179). If wiring distance

your YASKAWA representative. 3. Cables must be assembled by dor with appropriate tooling.

_10.0mm(_0.39in.) For Caulking Type

The terminal layout for the SERVOPACK connectors (2CN) for connecting the optical encoder is shown in Table 5.8, and the connection method of (_
Blue-

2CN and the optical encoder, in Figs. 5.5 and Layout and Connection 5.5.2 SERVOPACK Connector (2CN) Terminal Table 5.8 Connector 2CN Layout of SERVOPACK
--1 I 2 I 3 I 4 I 5 I 6 I

5.6. i_

AtlRed Internal Composition and

Lead Color

l ' 2 3
4 5 Twisted pair wires 6 7 8 . ' ,

White YellowWhite Green-

A21 Black A 31Green-yello_

B White/blueBlUeYellow*

White
WhiteRedPurpleWhite BlueBrown YellowBrown Green* Brown Twisted pair wires

PGOV
!

PGOV ! PGOV110PG5V11PG5V12PG5V1,
_ _E

DIR

B 2 .White/yellw GreenB a White/green OrangeB 4 .White/range Purple* B 5 White/purple

20

10

Purple-

Brown YASKAWA Standard Specifications Standard length 5m, Terminal ends are not (with connectors). 10m, 20m provided

-34-

OPTICAL ENCODER

t _', i p BLUE WHITE/BLUE I YELLOW WHITE/YELLOW I GREEN WHITE/GREEN I ORANGE I WHITE/ORANGE t PURPLE I WHITE/PURPLE GREY WHITE/GREY I RED BLACK I

0.2 mm 2 PA 2-_6 PB

SERVOPACK PHASE A

PHASE B

PC "*PC PU PV _'PV PW ,e PW

PHASE C

OUTPUT LINE DRIVER MC3487 t

LINE RECEIVER SN75175 t

0.5 mm 2 OV /

IREEN/YELLOW I"/ CABLE DP8409123 0.2 mm2 : Twistedpair wires. ',_--_ .., * Made by Texas Instruments Inc.

_-20

Note: Connector specifications of optical encoders are as follows. Connector--Type MS3102A20-29P (Receptacle) Accessory (not attached)Type MS3108B20-29S (Angle plug) Type MS3057-12A (Cable clamp)

Fig. 5.5
OPTICAL ENCODER

Soldered

Type Connector 2CN Connection and 1CN Output Processing (when using Connection Cable DP8409123)
_-_ 0.2 mm2 __ PA PA I P I l I i I I I P I I PC *PC PU | _ I __-1o _* " _v PV LINEDRIVER OUTPUT MC3487 t PB *PB SERVOPACK PHASE A ,_

PHASE B

PHASE C

t ._j N_

LINE RECEIVER SN75175 t

PW

__

I t t t I P

1
I

_.4 '
_-_

PGOV PG5V

I I I I P I I t i I

-2
_ OV

_-s

_ CABLE DE8400093

)'

,._,., _ : Twisted pair wires. t Made by Texas Instruments Inc. Connector--Type MS3102A20-29P (Receptacle) Accessory specifications (Angle Note: Connector (not attached)- of Type MS3108B20-29S as follows. plug) optical encoder are Type MS305712A (Cable clamp)

Fig.

5.6

Caulking

Type Connector 2CN Connection and 1CN Output (when using Connection Cable DE8400093)

Processing

-35-

dl 6. OPERATION
When the power

NOTE
is turned ON, a servo alarm signal 200 to continues 300 ms) for approximately to initialize the 1 second SERVOPACK. (normally

11

6.1

POWER ON AND OFF

Arrange the sequence so that the power is simultaneously supplied to the main circuit (R, S, T) and the control circuit (r,t), or supplied to the control circuit first, then the main circuit (Figs. 6.1 and 6.2)

Hold

the

main-circuit

power

ON

signal

for

approxiin the is al-

mutely 1 second. sequence in Fig. ways turned ON.

However, this is unnecessary 6.2, because the control power

POWERFFPOW__ O ERON5Ry 1MC __.o-_ _lSUP 1MCCB

THREE-PHASE (50/60 Hz) _ _

Since SERVOPACK is of a capacitor input in-rush current flows when the main-circuit is turned ON ON and OFF time: frequently, to turned (recharging 0.5 limit resistor may be degraded and Occur. - When the motor starts, when OFF. the turn

type, large power is

I[ 1Mc_'MC'-'-- T ! ,, _,
1 " _' ,

_21_MC

]2SUP
U_

the 1.0s). in-rush the current If power a malfunction may ON the stops. the "Servo speed Do refnot ,_m

200 TO 230 VAC_r__

;-_

I
I

II
_

(_

6_
_ "f_ q_!

SERVOPACK

__SM_
,,_

I I 2MC' ------_,

,_ _:_ #]

erence and turn turn the power " Before switch

it OFF ON or

motor

5RY_v_____.38 _1 +I'_[ :_: ]'_Y_t -o,-, (SERVO ALARM}j 24VDC_. _ I_.___ _,

power ON or OFF, to avoid transient

turn OFF troubles

ON"

Fig. 6.1 Connection Simultaneous Control

Example for Power ON/OFF

POWER OFF POWER ON 5Ry

1 MC

1MCCB

1MC 1MC ---_D.____O

O--_1

Up

200 TO230 VAC----_o--'L'-

( o.6oH ,

,I

,,

_S

S .OPA
_

_----_JSM)
_

24voc_i--_% "
]SUP, 1 D: 2SUP: Flywheel

+_

.Ji!
Surge diode

!_1-38

suppressor (to prevent 5Ry spike)

Fig. 6.2 ConnectionExamplefor Main-circuit Power ON/OFF

Arrange the sequence so that ously cut (including momentary 6.1), or the power to the main the of in control the power Figs. 6.1 circuit (Fig. 6.2). ON sequence. and 6.2 are as

the power is simultanepower faiture) (Fig. circuit is cut first, then The order is the for reverse connections

Precautions follows.

Make sequence to assure that the main-circuit will be cut off by a servo alarm signal. If ing When quence the the control kind power shown circuit of is in servo supplied Fig. is turned alarm to 6.1, OFF, also the the goes power normal the LED OFF. ON/OFF signal circuit

power

indicat-

seis after set a

(5Ry is turned ON) in the control maximumdelay of 1 second

-36-

6. 2 SPEED REFERENCE
6.2.1 Speed Reference Circuit From the @: +12V, the external to 1CN-@ SERVOPACK speed value. The scribed (1) For SERVOPACK 1CN-@, @, built-in control power @, @: 0V, 1CN-@, @: (1CN-_, -lZV) or

(2) For relatively

rough speed setting

_ SERVOPACK (1-14)* !_1N'-12
|_

1.8kZ(_W OR OVER) ,,,._.v_u_Y. ,o1^ A.oR EQUIVALENTS,2 12VT U : : / 2k_ _1 / 1 500:1

power, the speed reference and @ or to 1CN-(_ and built-in control power is in for the range of +2%

voltage is given (_. When the used, the motor of the speed set is de-

_ 1-13(1-15)* _ ..... _ ..............................

fluctuates method below, accurate

giving

speed reference

voltage

_ Parenthesesare for auxiliary input. Note : When a carbon resistor is used, great residual resistance remains, so the speedcontrol range becomesabout 500 : ] Fig. 6.4 Method for Giving Speed Reference (for relatively Rough Speed Setting as compared with Fig. 6.3) Reference Circuit a stop, do not open the speed referVoltage

(inching)

speed

setting

6.2.2 SERVOPACK D 12V r---1 OROVER) t8kO (-}W When

Stop

commanding (1CN:(_ t
__ r_l ----'" C

ence circuit
1-12 (1-14)*

or 1CN-(_)), but set

to 0V.

a
ioTYPE EQUIVALEN R 25 HP-10BTt

(+w OROVER)
I
1.8ka t_l "

._
_?_ ,_:_ SERVOPACK
._ _'12 Jc'_ (I'14)*

'

= 2
_ 1000

/
LC l_V "I"OR EQUWALENT J'- TYPE 25HP'10B

RUN
l (a) When Wire Wound
1.8k_ RUN

L
25HP-]0B type : Multiple-rotation type, wire-wound variable

_'

._'t3"1-1_* Type, is used

resistor (with dial MD]0-30B4) made by Sakae Tsushin Inco.

Multiple-rotation Variable Resistor

(ON) _ "

(a)
D

When

Wire-Wound,

Multiple-rotation Variable Resistor

Type, is used

, w OR OVER STOP (OFF) r_EC3_o o_1 12V LTYPE RV30YN 1_3 T OR EQUIVALENT_ 2 l 2k_ Y_

[_ _ SERVOPACK l_ 1 . i_, "12(1-14)

,
12v

_ rt132 (FOR Low sPEED) TYPE RV3OYN TYPE RV3OYN _J_ OR EQRuVv30YI OR EQUIVALENTL_ TYPEEQRU_30_IUIvA ALENNJ O--_ 13 _ ill (FOR HIGH I

(+w OVER)1, "(W OR OR OVER) Ollk II SPEEd) ].

" 1 , _ 500:1 -

SERVOPACK

/
(b)
When

....' !
Carbon Variable Resistor is used

T
l

l_1 L 2k_I-L_- 2 RV30YN

_ it-13(1-15) * -12(1-14)*

Fig. 6.5 Method for Giving _ Parenthesesare for auxiliary input. 6.2.3 Handling of Speed Reference

Stop Input

Reference Terminal reference terminals termi1CN-

type : Carbon-film variable resistor made by Tokyo

Cosmos Electric. Low-and high-speed relays :

Note : When a carbon resistor

Reed

relays great residual resistance

is used,

The unused terminals, out of the speed nals ICN-@, @ and the auxiliary input (_, @ must be short-circuited. 6.2.4 Auxiliary input voltage Input circuit other procedures Circuit (+2 to

remains, so the speed control range becomesapproximately

500:1 _+10V) at rated

(b)

When

Carbon

Variable

Resistor

is used

Auxiliary reference
"

is used for than --+6V.

application

Parentheses

are

for

auxiliary

input.

Adjustment

Fig. 6.3 Method for Givrng Speed Reference Voltage (for Accurate Speed Setting)

Between be used ometer When

1CN-@ and @ to set the rated _B] so that with combined

(@ is 0V), input the voltage to speed, and adjust the potentithe rated speed is achieved. in YASKAWA POSITIONPACK

normally used as speed reference input. In this case, positioning system drive, adjusted auxiliary with input terminals are positioning loop gain is the potentiometer IIN-BI. POSITIONPACK For adjustment, instruction be manuals. sure to refer to

-37-

6. 3 EXTERNAL CIRCUIT [P-CL,

CURRENT N-CL]

LIMIT

REFERENCE

Current can be limited from the outside as well as within SERVOPACK. The external current limit is used for the following "cases: To protect the motor from overloading current an abnormal load lock occurs in the load. To change the current ternal sequence. limit value according when

300

2oo CU R R E N T RATIO (%) 100

/
--9

to the ex-

The current can be limited by multi-stage setting by the use of relays (Fig. 6.6). The same effect can be obtained by giving voltage signals making analog change.

CONTINUOUS _ _'1 _]_ f _ VOLTAGECONSTANTf! SUPPLY +; _ I i_ SERVOPACK _1-44 '_ (a) Current 300 Limit at Forward Side 0 [APPROX% --3 --6 SETVOLTAGE (V)

L__.J

Relay: Low levelrelay Fig. 6.6 Multi-stage Switching of Current Value at Forward Side 6.3.1 Method of Giving External Current

CONTINUOUS CURRENT RATIO (%)

2o0

Limit Reference Forward current and reverse current can be controlled independently. The forward current can be controlled by giving a reverse voltage (0 to --9.0 V) between SERVOPACK terminals 1CN-@ and @; the reverse current can be controlled by a forward voltage (0 to +9.0V) between terminals 1CN-@ and @. The relation between the rated current of the motor and applicable motor. The power supply must use an internal resistance less than 2k12. The input resistance at SERVOPACKside must be greater than 5kl2. When external current is not restricted, contacts between terminals 1CN-@ and @ and between 1CN-and O and @ are opened.

100

q
9

0 (APPROX_3 6 \ 0.6V) SETVOLTAGE (V) (b) Current Limit at Reverse Side

Note : If setting value exceedsmax output current value of SERVOPACK, max outputcurrentvalue becomesaturationvalue. s Fig. 6.7 Set Voltage and Current Limit Values

6.3.2 Set Voltage The relationship and current limit

and Current between values

Limit

Values of 0 to Fig. 6.7. +-9.0V 6.3.3 Current Limit when Motor is Locked

set voltages are shown in

When locking a motor by applying a current limit, determine a current limit value less than 70% of the rated current of the motor. If the load condition requires a current limit exceeding the rated motor current, refer to Par. 6.5. (3), "Overload detection level" and make sure to unlock the motor before reaching the trip level. Note that when the speed reference voltage is less than tens or so millivolts (affected by setting of GAIN of VR4, VR6 and SW3), the motor lock current sometimes pulsates. If this is not desirable, the current pulsation can be removed by increasing the speed reference voltage.

-38-

6.4 CONFIGURATION CIRCUITS

OF INPUT/OUTPUT

NOTE When the overtravel prevention circuit is not used, connect 1CN-_ and @ to the OV terminal of the external 24V power supply. (3) Servo ON [S-ON]

For proportional drive, overtravel, servoON, servo alarm output, current limit detection output and TG ON output, each input/output circuit is a non-contact circuit insulated with optical couplers. The external circuit, therefore, must be constructed with the specified voltage and current, 6.4.1 Input Circuit

.This circuit is used to turn ON the main-circuit powerdrive circuit of the SERVOPACK. When the signal of the circuit is not input (Servo OFF status),the motor cannot be driven. If this signal is applied during motor running, the motor will coast to a stop. Never stop the motor using Servo OFF except in emergency during motor running. NOTE Before turning power ON or OFF, turn "Servo-ON" switch to avoid troubles 6.4.2 from transient Output Circuit current. There are six TG ON, Servo alarm. These transistors. Applied output alarm, signals: Current limit detection, Servo ready, MCCB trip and OL are non-contact, employing current specifications are: <30V

There are four types of protective functions to prevent continued rotation of the motor in forward, and reverse direction: Servo ON, proportional drive, and overtravel prevention (forward and reverse). Construct the input circuit using 24V power supply (Fig. 6.8). D Typical circuits are shown in Fig. 5.3.

OFF the resulting

NOTE. The user must 24VDC+lV, provide the 24V power supply: 5mA/circuit)

20mA

or more

(approx

output circuits Voltage and Voltage (Vmax)

+24V

PHOTOCOUPLER

__1 t 0v

-.m----

r-_ _

5rnA

Conduction CurrentNOTE (Ip) iOOma __ The output circuit requires a separate ply. It is recommended to use the power supply used for the input circuit Circuits

power supsame 24V (Fig. 6.9).

Fig. 6.8 Configuration

of Input/Output

OUTPUT

COUPLER

LIMIT

OUTPUT

D
RELAY _

I SERVOPACK
_ Ip TRANSISTOR

OPTICAL
1 "

CURRENT
SERvoALARM

If a position loop is not set for positioning, and after completion of positioning, has been left for quite a long time, the positioned point may have moved due to preamplifier drift. To avoid this, switch the speed amplifier from PI drive to P drive after the positioning and the loop gain in the control system drops and the drift decreases. With several percent of friction load, the motor stops completely. (2) Forward N-OT] and reverse running prohibit [P-T,

(1)

Proportional

Drive

Reference

[P-CON]

24

- -

TG ON

.SERVO
READY .MCCBTRLP .OLALARM

/ T FLY-WHEEL IODE D

IVrnax<'.

_-_-_-_

Fig.

6.9

Output

Circuit

These circuits are used to stop the forward running of the motor (counterclockwise when viewed from the drive end of the motor) and reverse running. motor. Therefore, the motor will coast to a stop. If braking is required, set the speed reference voltage to 0V or set the dynamic braking circuit from OFF to ON. D This circuit stops output current to drive the

-39-

6.4.3 Optical Encoder (PG) Output Circuit [PAO, * PAO, PBO, *PBO, PCO, * PCO] Phases tical A, B, and C (original output. The output point) signals for the op-

(3) Output

phase REVERSERUNNING PHASE__

,din

FORWARD RUNNING PHASE

L__F-q F}-_490" [_ [mE

1 _
]

eneoder,

PG are

PHASE B q PHASE c

l-_ 90" PHASE_[--_ _

r-

Use these signals as positioning signals. signal specifications are as follows : (1) Signal form pulse B) pulse (phase C) with 90 pulse difference

s PHASE c --

'

Note : Phase C (original point pulse) is synchronized with phase A. Fig. 6.11 Output Phase

Two-phase (phases Original

A and point

(4) (2) Two output Fig.6.10 Output types circuit of output and receiver circuits circuit are provided : line driver The into the

Pulse pulse 1/N divider

resolution frequency of the PG (N=I to 64) or 2/N in the SERVOPACK. can be further (N=2 to 64) The phase divided by using is

and shows

open collector an example of

output line driver

(SN74LS07N). output.

relation

Jm

the same as in (3), above. Set the pulse frequency dividing ratio according to Table 6.l. The dividing ratio must be able to divide the pulses of the optical coder of 5000 encoder. pulses/rev, For example, 1/3, i/6, in an or I/7 optical cannot enbe

PHASE :C "+5V --+5V PHASE OUTPUT TIMC3487 C

A LINE RECEIVER (11C,21C)SN75115

used. Fig. 6.12 shows the optical encoder waveform under the dividing pulse frequency.

output

PHASE

PHASE B 100 1000 F TO P FILTERONDENSER (C) PHASE C C

(ORIGINAL POINT) PHASE A PHASEC_ PHASE B J_J_J_J_J_J_J_ FREQUENCY DIVIDING PULSE RATIO:1/1

..NE 0R,VER
0V

PHASE A

PHASEB _ PHASE A_
(SUPPLIED

I----I I DIVIDING I-----1 [--q I'-- PULSE RAT.O:,.2

!
_

FREQUENCY

SERVOPACK

REOE,V.E.C,ROU'T BY USER)

PULSE F---- "_ FREQUE.C DIVIDING

I--"1"1[I of

PHASE B

RATIO: 113

P_: Twisted wires. pair

Fig. 6.12 Output Waveform Optical Encoder

Fig.

6.10

Line

Driver

Output

Circuit

-40-

6.4.3

Optical

Er_coder

(PG) Output

Circuit Table

[PAO, 6.1

_PAO,

PBO

_PBO,

PCO,

,I,PCO]

(Conrd) Ratio Output PG=1500 1500 750 500 375 300 250 150 125 100 75 60 50 " -30 25 1500 750. 1000 600 500 -300 250 200 -150 125 1O0 120 75 60 50 ' PG=looo 1000 500 -250 200 125 100 --50 40 -25 -20 -" 1000 500 -400 -250 200 --.125 100 50 2500 1250 1000 625 500 .

Setting

of PG Pulse

Frequency

Dividing

SW2 1 0 0 0 0 0 0 Oi I Oi 0 0 2 0 0 3 0 0 0 0 4 5 6 0 0 0 0 0 0 0 0 0 0 0 00. 0 0 0 7 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Spare PG Pulse Frequency Dividing Ratio (l/N) 1/1. 1/2 1/3 1/4 1/5 1/6 1/8 1/10 1/12 1/15 1/16 1/20 1/24 1/25 1/30 1/40 1/48 1/50 1/60 2/2 2/4 2/3 2/5 2/6 2/8 2/10 2/12 2/1 5 2,/16 2/20 2/24 2/30 2/25 2/40 2/48 2/50 2/60 PG=6000 6000 3000 2000 1500 1200 1000 750 600 500 400 375 300 250 240 200 150 125 120 100 6000 3000 4000 2400 2000 1500 1200 1000 800 750 600 500 400 480 300 250 240 200

Pulse Frequency Dividing (pulses/rev) PG=5000 5000 2500 -1250 1000 -625 500 ..... ..... 250 .......... 200 125 ....... 100 ....... 5000 2500 ........ 2000 ..... 1250 1000 ..... ..... "--500 --400 250 .... 200 -80 4000 2000 1600 1000 800 PG=4000 4000 2000 -1000 800 " 500 400 lpG=2500 2500 1250 -625 500 -250

0 0 0 0 0 0 0 0 "0 0 0 .0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

. ....

250 200 160 ' 100

...... 125 100 .....

0 0 I 0

0 0 0 0 0

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

0 0

, .

0 0

0 0 0 0

. .

500 400 --320 200 160 --

-250 --200 125 100 --

0 0

-- 80 50 40 -- .

0 0

-41 -

6.5

PROTECTIVE

CIRCUIT to protect the body

SERVOPACK provides functions and motor from malfunctions. (1) Dynamic brake function SERVOPACK gency stop. Alarm

(3) Servo alarm output [ALM+, ALM-] If any trouble detection circuits in Table 6.2 functions, the power drive circuit in the SERVOPACK goes OFF, 7-segments LED indicate the operation condition and a servo alarm signal is output. circuit operation

incorporates a dynamic brake This brake operates when: detection) occurs,

for

emer-

(4) Protective

(fault

An alarm signal cause and correct

indicates some trouble. Check the the trouble, and restart the operation.

Servo ON command Main power

is opened.

supply is tuned OFF.

Before checking the cause, turn OFF the power to the main circuit to avoid danger. Apply the sequence so that the alarm signal turns OFF only the main circuit (@, @, (2)), as shown in Figs. 6.1 and 6.2. This allows rapid reaction in the event of a malfunction. If the power to the control circuit (@, @) is simultaneously turned OFF, this also turns OFF the LED in the SERVOPACK indicating the cause of the alarm signal. CAUTION When an alarm signal cuts off only the main circuit, set the speed reference to 0V before supplying power to the main circuit to resume the operation. (5) Resetting servo To reset the servo pushbutton switch) the SERVOPACK. alarm alarm, on the I

Normally, this dynamic brake is not applied while the motor stops, but can operate by switching built-in switch (SW 4-5) from OFF to ON. Use this function only in emergency. Don't use the dynamic brake to stop the motor normally, (2) Troubledetecting functions Table 6.2 Fault Detecting Functions Trouble Detection Overcurrent flow in the main circuit (at 1.2 times min. inst max current.) Circuit protecter tripped Regenerative circuit not activated in SERVOPACK. Excessively high DC voltage main circuit (approx 420V.) Excessively input, large speed in the

Overcurrent Circuit Protector Trip Regeneration Trouble Overvoltage Overspeed Voltage Drop Overload Heat Sink Overheat A/D Error

press the _ printed circuit

(blue board in

reference

If [_] or [_] is ON (e.g., SERVOPACK is overloaded or the heat sink is overheated), the reset alarm is not immediate and occurs a few minutes later.

Low DC voltage in the main circuit after power ON. (1 50V or less.) Overload condition SERVOPACK. Overheat of heat sink (approx 85C min.) Element error on the printed board of SERVOPACK. Any one phase power supply. Wrong wiring signal line. open of motor circuit of motor and

Open Phase Overrun Prevention CPU Error

in three-phase circuit or PG

Any error of CPU

-42 -

6.6

LED INDICATION Table 6.3 LED Status LED Name r_ _-_

Indications Conditions

(Green)

SERVOPACK more) circuit voltage (200 VDC or main is proper, SERVOPACK control circuit voltage (+5V)is proper. Speed reference (approx more) is input. 60 mV or

The load moment of inertia JL converted to 6.7.2 allowable Inertia (JL) Load the motor shaft must be within five times the inertia of the applicable AC SERVOMOTOR. If the allowable inertia is exceeded, an overvoltage alarm may be given during deceleration. If this occurs, take the following actions : Reduce the current limit. Slow down the deceleration curve.

Decrease the maximum speed. For details, contact your YASKAWA 6.7.3 High Voltage voltage Line is 400/440V,

representative.

Table Indication

6.4 LED

Trouble

Indications Detection

(7-segment,

Red) Output Signals

If the supply

the voltage

must

be

dropped three-phase, transformer. Table

400/440V to 200V using a power 6.6 shows the transformer selec-

_-_

(normal operation), Base current is interrupted in SERVOPACK power circuit.

supplied and cut through the primary side of the transformer. Single-phase 100V class power supply should not be used. tion. 6. 8 Connection should be made so that the power is

[-_ r-_ _] [-_

Overcurrent Base current not interrupted Circuit protector tripped Regeneration Overvoltage trouble When a protection circuit in SERVOPACK power drive functions, circuit is base-blocked, This blockstatus is released by "RESET" operation,

PRECAUTIONS

OF OPERATION

6.8.1 Noise Control SERVOPACK

di dv

uses is a power

transistor

in

the

main

r_ r-_ [-_ r-_

Overspeeddrop Voltage Overload Heat sink overheat A/D error Open phase Overrun prevention

Servo alarm output

of _ or _ (switching noise) may sometimes circuit. When wiring or grounding switched, are method. pending on the these transistors The SERVOPACK incorporates a CPU.

occur dethe effect This re-

[-_ [_]

quires wiring and provision to prevent noise interference. To reduce switching noise as much as possible, the recommended method of wiring and grounding is shown in Fig. 6.13. (1) Grounding method (Fig. 6.13.)

I 6, 7

CPUerror FOR APPLICATION

PRECAUTIONS

Motor the motor is at the dv machine side and grounded frame grounding When through the frame, Cf _ current flows from the PWM power through the stress capacitance of the motor. To prevent this effect of current, motor ground terminal FG (motor frame) should be connected to terminal @ of SERVOPACK (Terminal of SERVOPACK should be directly grounded.) SERVOPACK SG 0V Noise may remain in the input signal line, so make sure to ground SG 0V. When motor wiring is contained in metal conduits, the conduits and boxes must be grounded. The above grounding uses one-point grounding.

6.7.1 Overhanging

Loads

The motor is rotated by the load; it is impossible to apply brake (regenerative brake) against this rotation and achieve continuous running. Example: Driving a motor counterweight) to lower objects (with no

Since SERVOPACK has the regenerative brake capability of short time (corresponding to the motor stopping time), for application to a overhanging load, contact your YASKAWA representative.

-43

...........
I E I 2LF

...............

...........................................
TYPE

-A
iBi
IC i

:,

It

CACR-SR W l

IP

I,.-..i

'

[
I

OPERATING SEQUENCE USER SIGNAL GENERATING CIRCUIT

RELAY

1
3.5ram2 , LARGER " I

L
P

3.5mm2 OR LARGER

2mm2 LARGER OR i FRAME FRAME 3.5 ORLARGER mm2 / I LRAD 0F FRAME r_ / I i 3.5 OR mr_ LARGER 7_ \ /i ...................................................................... ...... :.............. _i ................................. _'_:Fat, _ ME-. _ .......... ]_ : Twistedpair wires _ ONEPOINT GROUNDING Notes ]. Use wires of 3.5m_]or larger for grounding to the case (preferably flat-woven copper wire). Fig. 6.13 Grounding Method 2. Connectine filtersobserving precautions shownin (2), "Noisefilter installation" l the as
_ PANEL GROUNDING

(2) Noisefilter installation When noise filters are installed to prevent noise The 6.5. filters. from recThe

the power ommended power

line, the block type must be used. noise filters are shown in Table to peripherals also NOTE needs noise

supply

If the noise filter decreases greatly. carefully

connection is wrong, the effect Observing the precautions,

(a)

Separate the input and dle or run them in the

output leads. same duct.

Do

not

bun-

connect them as shown in Figs. 6.14 to

I
_ BOX I_ ___ BOX II I_ I I i _

SERVOPACK Applicable Recommended Noise Filter 6.17. Table 6.5 Recommended Noise Filter TypeCACRNoise Filter Type Specifications Three-phase SRO3BB SR07BB _ LF-305 200VACclass, A 5 Three-phase LF-310 200VAC class, 10A LF-315 Three-phase 200 VAC class, 15 A

I
CORRECT

SRIOBB SR1 EBB SRO5BB_ SR20BB SR30BB SR44BB SR6OBB

BOX_ LF-320 LF-330 _ LF-340 Three-phase 200 VAC class, 20 A 200 VAC class, 30 A Three-phase Three-phase 200VAC class,40A Three-phase 200 VAC class, 50 A WRONG Fig. 6.14 CORRECT _ /" SEPARATE CIRCUITS

LF-350 WRONG Note: Noise filter made by Tokin Corp.

-44 -

(b)

Do not bundle the ground put line or other signal same duct.

lead lines

with the filter outor run them in the

6.8.2

Power

Line

Protection is operated To prevent contact through the commercial the power line accidents error, or to protect the

The SERVOP/_CK power line (200V). due _F't-TERF'] I [ to grounding

error,

system must

from installed a fire, be

circuit breakersto according

(MCCB)number fuses or the of because of the in-

"

SERVOPACKS used (Table 6.6). A fast blow fuse cannot be used,

._ BOX WRONG Fig. (c) Connect the ground lead BOX CORRECT 6.15 singly to the box or the

rush current. Table 6.6 Power Supply Capacity MCCB or Fuse Capacity Power Capacity * per SERVOPACK 0.65 kVA 1.1kVA and

SERVOPACK Type CACRSR03BB SR05BB

Current Capacity per MCCB or Fuse 5A 5A

ground panel.

SR10BB I:_ , SR1 5BB SR30BB SR44BB

THICK/ SHIELDED SR60BB

2.1 kVA 3.1 kVA 6.0kVA 8.0 kVA 11 kVA

8A 10 A 18A 24 A 32 A

GROUND

AND SHORT

I / I //

*Values at rated load.

BOX

WRONG Fig.

BOX 6.16'

CORRECT

*Equipment

6.9
the filter, ground connect to the the base 6.9.1

APPLICATION
Connection for Reverse Motor requires reverse Running that motor the normal running and

(d)

If the

control

panel

contains equipment

filter ground and the of the control unit.

If the machine construction forward reference is used for

_C_ONTROLPANEL

circuit across 2CN-1 and 2CN-7 of connector 2CN for the normal reverse reference for forward running, short tion is not required. dividing output from For forward SERVOPACK reference, forwards frequency B-phase.

_12CN-1 SHORTED " _

(OV OF

PG)

__
BOX *Equipment

i_ Fig. 6.17

the PC.

In this case, change Fig.

of motor

and PG connec-

6.18

-45 -

6.9.2 When

Speed an

and

Torque

Measurement to as is measure speed and

SERVOPACK CONTROL _ OFF

instrument

is connected

POWER UPPLY S
POWERSUPPLy

ON

torque, make the connection using a DC ammeter which load at fullscale voltage.

shown +_ 1 mA

in Fig. 6.19, (both swing)

SERVOPACKMAIN

OFF

[ .1

ON

SERVOON OFF
HOLDINGRAKE OFF B

ON
ON 1

_,_._ii _ICN-IO r-n MONITOR (LINING) *2 --

BRAKE RELEASE *2 -*6 --200ms

TO 10SEC

iilCN.11

SPEED REFERENCE

0V

_!_

soov
MOTOR RUNNI

/
.
200ms OR MORE

I\
[-to_[

Fig.

6.19 Speed and Measurement

Torque

'

t0+t

Torque Speed

monitor monitor

output output

(ICN-9): (1CN-10):

+-3.0v torque

+--10%/100%

Fig.

6.20

Brake

Timing

i_

M, F, D series--+-4.0V __5%/1000r/min S series---I-2.0V +5%/1000r/min Instrument : DC ammeter load at which is + 1 mA(both

Timming *1 "Servo supply *2 by

ON"

and

the

holding

brake

power

can be operated

simultaneously.

swing)

fullscale

voltage.

Use ammeter of Toyo Instrument Example : When an 1000r/min) measured (2000r/min) +-SV (both M up Series is used, to in

DCF-6 or DCF-12N or equivalent,

It takes a maximum of 180ms from when the brake power supply is ON till when mechanical contact is released. It takes a maximum of 100ms when the brake power supply is OFF. More than 200ms when when

motor (rated speed: and speeds are to be the both maximum directions, speed use

*3

must

be considered

from

the brake power supply speed reference is input. motor stopping as follows : time

is ON till and is

swing)

DO voltmeter.

.4

to shows calculated

t =0"1047 6.9.3 Application Brake with brake Follow is the held by the brake below JL(_GD_./4) operation. procedures of SERVOMOTORS with Holding J.M(=GD_/4) Magnetic AC

(JM+JL) NM (Tp+TL) : Motor

(mS)

moment

of

inertia

SERVOMOTORS

(kg "rrf=lb'in's210-3) : Load moment of inretia (kg" rrf=Ib'in's2 10-3) NM : Motor speed (r/min) Tp : Motor speed reduction torque (N.m) TL : Load torque (N-m) .5 Turn OFF the brake power supply when the motor stops. For normal operation, t0+t, is approximately 1 to 2 seconds. Turn OFF "servo ON" 0.2 to 1.0 second after OFF. the brake power supply is turned

when it stops for use. (1) This brake turn OFF the stops. ning may Should the contact be defective

locks brake the

st

non-magnetization. power supply when work while the and

Therefore, the motor is the runbrake *6

brake

motor

causes excessive abrasion in shorter period, For

(2) The ON/OFF,

brake has delay time. see Fig. 6.20.

operation

timing

of

-46 -

7. INSTALLATION

AND

WIRING

7.1 RECEIVING This motor has been put through factory prior to shipment. After check, and see the following. Its nameplate It has sustained ratings meet your

severe tests at the unpacking, however requirements. transportation.

If the AC SERVOMOTOR is subject to excessive water or oil droplets, protect the motor with a cover. The motor can withstand a small amount of splashed water or oil. (3) Environmental Ambient Storage Humidity: (4) Load conditions 0(2 to +40(2 -20(2 to +60C

Temperature: Temperature: 20% coupling

no damage

during

The output shaft However, motors Fastening bolts

should be hand-rotated freely. with holding brake do not rotate. and screws are not loose. or lost, immediand nameplate

to 80% RH

(non-condensing)

If any part of the motor ately notify us giving data.

is damaged full details

True alignment of motor and driven machine is essential to prevent vibration, reduced bearing and coupling life, or shaft and bearing failures. Use flexible couplings for direct drives. The alignment should be made in accordance with Fig. 7.2.

7.2

INSTALLATION

AC SERVOMOTOR or vertically. (1) Before Wash flange

SE VO OZO
can be installed either horizontally mounting out anticorrosive paint on shaft extension and surface with thinner before connecting the motor
ANTICORROSIVE PAINT (_) Measure the gap between points a straight of the edge coupling. end coupling reading halves should

to the driven

machine.

See Fig. 7.1.

at four equidistant not exceed O.03mrn. (_)Align (_Measure points the shafts. the around gap the

Each

between coupling between

the rim any

coupling with two

faces e thickness readings

et

four gage. should

equidistant The not maxiexceed

mum variation 0.03mm.

Fig.
386-5

7.2 Alignment

of Coupling

Fig. 7.1 (2) Location Use the Indoors Free from motor "

Anticorrosive

Paint to.be Removed

(5) Allowable

bearing

Load

under

the

following

conditions.

Avoid shock to the motor shaft when mounting gear box, coupling or pulley Don't exceed thrust and radial loads specified in Table 4.1 to 4.3.

corrosive temperature: for

and/or -10 to and

explosive +40 cleaning

gases

or liquids

Ambient Accessible

inspection

-47 -

7.2.2

SERVOPACK

(3) Mounting Direction Mount the unit vertically the wall using the mounton ing holes (4) on the base plate, with main terminals at
type CACR-SR is mounted on the the bottom. VERTICAL (Fig. 7.5) HORIZONTAL MOUNTING HEAT SINK MOUNTING TOP

,all

(i) Installation
The SERVOPACK

base

as standard.

(2) Location

Keep the temperature or below. (Fig. 7.3)

When installed near a

around

SERVOPACK

at

55C

HEAT SINK-'-T'-_I_/WALL

heat

source:

1CN/ TERMINAL

j2LLr. _ TERM 'L F, _ .....

BOTTOM

L-

I1_

I II

.._

_WALL

r-" I

I HEAT .._SINK

Keep the temperature 55C. (Fig. 7.4)

' If subjected the to unit gases vibration: on

around

SERVOPACK

below Good
Fig. 7.5 Mounting

Poor
of

Poor
SERVOPACK

Mount If

shock are

absorbing

material.

corrosive locations

present: corrosive gases exist as

7.3
7.3.1

WIRING
Rated Current and Cable Size

rated unit curand

Avoid

where

it may cause extensive Contactors add relays Unfavorable Select water, atmospheric

damage over long use. are especially vulnerable. conditions:

Tables rent,

7.1 and 7.2 show external terminals, and cable sizes of the power

a location with minimum exposure to oil, hot air, high humidity, excessive dust particles,
EXHAUSTED AIR External y _ ,_ ' PANEL /" f " i On Line Terminal

or metallic

SERVOPACK respectively. Select the type and size of cables to meet ambient conditions and current capacity. The cable size is calculated so that a bundle of three cables can carry the rated current at an ambient temperature of 40C. Table 7.3 lists the type of cables.
Table CACRT_ R, S, T SR SR SR SR SR SR SR SR SR 038B 0EBB 07BB 10BB A (Effective Current)44BB 60BB Rated Current 15B8 20BB 3OBB 2 5 6 8 10 12 18 24 32 7.1 Rated Current

I
26.0 33.0 45

55"C OR BELOW_

Main Circuit Power Input Motor Connection Power Input

U,V,W r, t 1CN

3.0

4.2

5.8

7.6

11.7 O.5A

18.8

COOLING AIR" .__ SERVOPACK

Control I/0 Signal Off Line Control Connector PG Signal Connector Ground

100 mA DC max 9

2CN __J=L._

100mA

max (500mA

DC for power

line only)

Fig.

7.3

Typical

Layout

for

Panel

Mounting Table 7.2 Recommended Cable Size of SERVOPACK

SERVOPACK HEAT SOURCE /

External Terminal

T_R_T_R" SR s_l'_ 03B8 SR SR 0EBB 07BB

Cable Size mm 2 SR 10BS 20BB 30BB 1S;BB SR SR HIV 3.5 or more 3.5 or more HIV 5.5 ormore

448B SR HIV 5.5 ormore

60B8 SR HIV 8 ormore

Main Circuit Power Input On Line Motor Connection Control PowerInput Control I/0 Off 586-25 SHIELD Line Signal Connector PG Signal Connector Ground Radiation

R,S, T U,V,W

HIV 1.25 or more

HIV 2.0 or more HIV 2.0or more HIV

HIV1.25
or more

r, t Two-core 1CN 2CN _ twisted

HIV 1.25 or more shielded cable Core must be 0.2 mm 2 or more Tin-plated soft-copper twisted cable Finished cable dimension: 16 alia or less for 1CN,

11 dia or lessfor 2CN HIV 2.0 or more

Fig.

7.4

Protection

against

Heat

-48-

Table Type of Lead Vinyl Cable (PVC) 600 V Vinyl Cable (IV)

7.3 Cable Allowable Conductor Temperature -60 75

(4) Remedy (R.F.I) SERVOPACK controller noise filter

for

Radio

Frequency with

Interference radio reception. If the a

may interferes to power

interfere

with radio supply.

reception,

connect

Special Heat-ResistantCable (HIV)

Notes: 1. For main circuits, use cablesof 600V or more. 2. Where cables are bundled or run through a duct (unplasticized polyvinyl chloride conduit or metalic conduit), select the larger cable size than listed considering the current drop rate of the cables. 3. Where the ambient (panel inside) temperature is high (40_; to 60(2), use heat-resistant cables. 7.3.2 Wiring SERVOPACK and signal D Precautions is a device level of several for speed milli-volts control of or less. 3000:1,

(5) The signal line uses cables whose core fine (0.2 to 0.3m_]). Avoid using excessive may 7.3.3 damage Power these LQSS " cables.

is extremely force which

The power.loss Table 7.4.

of SERVOPACK is shown in

Table SERVOPACK Type CACR, SR03BB SR05BB SR07BB SR10BB SR15BB as possi101_ or SR20BB

7.4 Power

Loss st Rated Output Power Loss Regenerative W Resistance 10 Control W Circuit Total W 90 110 140 20 60 40 150 160 200

Output Current A 3.0 4.2 5.8 7.6 11.7 18.8

Main W Circuit 20 4O 60 70 80 100

The following precautions should be taken for wiring. (1) For signal lines and PG feedback lines, use twisted cables or multi-core shielded twisted-pair cables (YASKAWA Drawing No. DP8409123 or DE8400093). Cable lines length and a is a maximum maximum of of 20m 3m for for reference input lines.

PC- feedback

Use the shortest

possible length.

(2) For ground line, cable should be as heavy ble to provide class 3 ground (ground resistance

machine less). Use central are insulated,grounding ground (3) To prevent malfunction lowing precautions: Place the noise filter,

point. motor. the the If due to noise, and

motor the

and folreferinto coils.

SR44BB SR30BB SR60BB

33.0 26.0 45.0

210 160 300

100 80 120

370 300 480

take I/O

SERVOPACK to each other,

Note: The regenerative resistor causespower losswhen the motor is decelerated, but is negligible if the motor is not started and stopped frequently.

ence as near

as possible

Make sure to mount the relay, electromagnetic

a surge absorbing contact, and

circuit solenoid

tance to 30cm or more; do not duct the in a bundle. and signal Run or power line When the same power is used

run line, for

them

in the the

same disas

holding

SERVOPACK,

for an electric welder or electrical discharge machine or when a high-frequency noise source is present in the vicinity, use filters in the power and input circuits. The SERVOPACK uses electrical noise may be Never leave ing open. the termination a switching present in of the amplifier, the signal analog input and line. wir-

-49 -

8.

DIMENSIONS

in mm (inches) : M SERIES

8.1 SERVOMOTOR (i) Standard Types USAMED-03[]][]]I, Type USAMED-09B[]]2

-06[i]][]]1 (Taper Shaft) (Straight Shaft)

6102361 LL L

_(22831
1810709) _ Jl 104721 610236) M10 P1 25 6 _O236) _ I

Drawing

]4_055. _0(e_4)

L_

/_Y[tl

I/IU "VUL.._J

Detail 4-LZ / OPTICAL ENCODER CONNECTOR DIA. qJ KBI KB2

of

Shaft

Extension

Detail

of

Shaft

Extension

_[_

-.__
MOTOR CONNECTOR

Types-o3E]"_-]I. _-"_l

Type-09m.:i2

Types USAMED-12B[]]2 -44B[]]2(Straight Shaft) Drawing 2 L to

LL LM

LG

" LC

LR

u J

4-LZ OPTICAL ENCODER I_ KB2KB1 Detail of Shaft Extension

MOTOR CONNECTOR CONNECTOR

Type USAMKD-60B[[]2 Drawin 3

(Straight

Shaft)

2-M8

SCREW

(FORHANGBOLTi

L_

D_

4-LZ RECEPTACLE OR F C(]OUNG FAN/

DIA.

Detail

of

Shaft

Extension

575

(22.6)

Flange AC U SA U SA SERVOMOTOR Type M E D-03[]..][[-]1 a E D-O6[_JE[I1 E D-O9B[I:]2 2BE]2* E D-20BE_]2 E D-3OB[:_J2 E D-44BL]2 * Dwg NO. 1 1 1 2 2 2 2 3 L 263 (,o3s4) (l=_O) 320 389 344 401 486 (19._3_) 688 (z_oa_) 775 LL 205 (a OTl> oo.sls) 262 331 265 3_2 407 (I_.OZ4) 578 (zz._s_) 605 LM 150 (s_oo (a.Lso) 207 276 211 268 353 (13 89a} 524 (zest) -_ I 110 (4zal) __ (79) (zlzo) (.) z.28358 (55) 2.1es LR LT KB1 )'27 (so) _z44) 184 253 172 229 314 (12 3e2) 476 (,a._) KB2 177 (_969) (9_Is) 234 303 237 _94 379 (14 921z 550 (=_._) 123 (4_3) __ /49 (sa_) 139 (a_z_) 200 (1 ul_) 114.(4.53 -oozs _o ) __ (4.2_i) 109 (sToa) 145 (4. 110 -8o_s 331 -_,_) IE KL1 KL2 LA LB LC

Surface LE LG LH LZ

(s.lla) 130236

(0

6)

(0472 I 12

(6496} 165

(0354 ) 9

USAM USAMED-I USAM U SAM USAM

180 (7 o8_)

3.2 (o _g6)

18 (o1o9)

230 (9 o55)

13.5 (o 531)

USAMKD-6OB["]2

AC

SERVOMOTOR Type

Dwg No. * ,_ _-_. " 1 1 1 2 2 2 2 3

Shaft S See

Extension I Q I. (40)

Approx Mass kg 8.5 13 {zs_) (4s_) (63_) (_o.a) (_aa) ('_) MS3102A22 - 22 P ( I b) Receptacle MS 3102 - 10

Motor L-type A 18 MS P 3108

Connector Plug Straight 3106

Types Plug B 181 I Cable MS Clamp 3057 I

Optical Receptacle

Encoder L-type Plug

Connector i Straight

Types Plug I Cable Clam

USAMED-03[:E][[]] USAMED-06E-][_]I USAMED-O USAMED-12B[:]]2* USAM USAM E D-2OBE]]]2 E D-30B[]]2

Drawing 22 _&_=

B 1_ MS

- 10 S

- lOS

- 10 A MS3102A20 MS3108B20 -295 MS3106B20 -295 MS3057 -12A

22 (1.378 35*8_ *P) (76) z_oz 29 41 66 75

_[$3108B22 - 22 S

MS3106B22S - 22

MS3057A - 12

-29P

USAMED-44BE_]2 USAM KD-60BE]2

42-_o_ (1.654 -R,_)

110 (_.ss_)

IVIS3102A32 - 17 P

vIS3108B32 - 17 S

MS3106B32 - 17 S

MS3057 - 20 A

I
Power Supply: ContacL: Single-phase 200/200/220v, Alarm OFF when 5O/6O/60Hz fan is running normally ON when fan rotation is 1800+-200 r/Tin or less. fan starts rurmLqg, ON for When ccol_ 3seconds. ConLact Capacit.y: Resistance load is ll0V max, 0.3A

1.

[]]]

in

type

designation

is

determined

by

output

pulses

(P_R)

of

opB Fan motor

tical ancoder as follows:

Standard: Optional 2. Vibration: a 3. otasl Plug 4. Fan and terminal : A B (6000 (5000 15Fro P/R) P/R), below. not D (4000 P/R) --50-attached (for only for type receptacle connection. @ ;

or are

Alarm terminat Alarm terminal I FaR m010r

v--v-

SHADING COIL _

clamp

FAN_TO_ CONNECTION

connection

USAMKD-60B[_]2).

(2) With Brake Types USAMED-03[II]i:::]IOE, Type Drawing USAMED-09B[:::]2OE(Straight 1

-06iii:]i:_:]lOE Shaft)
L

(Taper

Shaft)

LR

18I, 709}

58{22831 12_04?2)

LG

LE "

'25_1

40(15751

MOTOR CONNECTOR OPTICAL

CONNECTOR
Types USAMED-12BEII]2OE to

ENCODER

Jl. K82

KB1

[_

--

4-LZ DIAL_

Detail of Shaft Types -03'_D1OE,

Extension -06,'BDIOE

Detail Type Shaft Extension of -09B_20E

-30B{III]2OE
L

Drawing 2
I 53

LL
LM

,R
LR

4-L 0PTICAL ENCODER CONNECTOR CONNEC10R KB_ {Detailof Shaft Extension

AC SERVOMOTORDwg Type USAMEDNo.

L 320

LL 262

LM 207 253 (91961 ) 323 (I2717)

LR

LT

KBt 128

KB2 234

IE

KL1

KL2

LA

LB

LC Ftange 130

LE Surface 6

LG

LH

LZ

S Q Shaft Extension (o.z_) 22.,=., {o._ ._._ 35 "$' ([.378% _=_) (L_o=) 40 _L575_ 76 (z.ggz)

06[:][E]10 0gB(I_]20 12B[_I2OE

E E "

1 l 2 2 2

366 308 (12l[26} 436 378 {17.]65) ti4._2)

([4+409)

(Zl283)

58

(21165)

55

280 _8 (1| 024) (4646) 350 (13.7_))

__

(4.449)

113

(5,709)

145

(4331

110 -:_

-- _[_)

(5 1]8)

(0 236)

(0-472)

12

(61496)

165

(0'3_)

92 (3.62z) 143 _s3o) _ 200 114.3 -_= (?._74) (4.S-_) 180 3.2 18 (7.os?) (e._z6_ (o7o9) 230 13.5 (g.oss) (o._at)

2OBE_2OE 30B[_J20 E

422 (16614) 486 (tP.t34) ! (_Z323) 567

343 289 (t3 504) (t 1.318) 407 353 79 (16.e2_.)(taaga) (3._o) 488 434 (10_13) (_7.esT)

315 (12.402) 54 164 379 123 _z._t6) (_A57) (l_.9zt) {_.._ 460 (_Slm)

AC

SERV0MOTOF Owg No. 1 1 1 2 2 2

Type USAMED03DDIOE" 06[_E]10 09B[-]2OE 12BF_]2OE 2OB[_]2OE 30B[ZI2OE "Not provided N ores: 1. Eli in type E "

Approx Mass kg (Ib) _L5 (zs.(} (_a 5)

(507)

Wattage W 18 18

kFl-m'

Magnetic Brake Inertia sm_ F_ r=._= (Ib.in.s') N-m(Ib.in) (?.SZXl0" (7.97x10") 5,88 8.83 (52.1) (78.1)

Connector Receptacle MS A20 MS 3102 - ISP 3102 - 10P

Types L-typePlug MS 3108 B20

for

Mote C and

Brake

Optical Receptacle

Encoder L-typePlug

Connector StreightPlug

Types CabfeClarnp

Straight Plug CableClamp MS B20 MS B24 3106 - ISS 3106 - 10S MS 3057 - 12A MS 3057

0.8SX]0-' 0.9Xl0-'

z3

- 15S

MS A20

3102 - 29P

MS B20

3108 - 295

MS B20-

3106 295

MS

3057

30 (e_,) 37 (Sl._) 49 (,_I with an

MS 3108 B24 - 10S

- 12A

31

625x10"

(553x10"

35.3

(312.5) A24 - 16A

eyebott, is determined by output 2. Vibration: 3. 4. 5. 15/Zm or below. attached for is 90 VDC. (4.4kW), receptacle contact connection. your

designation A B

pulses (P/R) Standard: Optional:

of optical encoder (6000 P/R) (5000 P/R), D

as follows: (4000 P/R)

Plug and clamp ere not Power supply for brake For type USAMED-44B_2OB representative. Y ASI< AWA

(3)

Shaft

Extension

of

Straight

Shaft
AC SERVOMOTOR Type USAMEOWithout Brake With Brake LR LE S Shaft Q Extension QK T U W

w_th Keyway
Both SERVOMOTORS without brake and with vrake have the same dimensions except for. shaft extension. Sjaft extensions are shown below:
LR LE... W _

03D,_2K
06[]_2K 09B_]2K 12B[__}2 K 20BD2K 30B;_]2K

03[_JL_2K _r" E
06_[_J2KE 09B[Z)2K E 58 6 (2.za3) (0Z362 (0.748

19 o -om_
__,) 22 -0%,=

-_. 5
6

3
3.5

5
6

40 25 (LST5) (0984) (o.,97) (o.,_s) (o.,_v)

12BZ_-_I2K E 20BE-I2KE 30B[_]2K E 79 3,2 (0.866_0_,) 35 +_o, 76 60 (o,z3_)o.,_) (o._3_) ( l0 8

.

)(oj59_)

44BE]2K
_

44B[I_2KB

F-_

(_,3_) ' (_,,[o)

110

(0"1Z6)

42 -_o,,

]10

90

(0'315)

12
Io._?z) (o._9_>

(1.654 _._3) (1.378+o _.__',)

(_.3_)(as_3) (z._9_)_.3_z) (

"Only for USAMED-03(II]]C_I]2 '-i to -09BL..._2 Note: Dimensionsof the shaft extension key and keyway are based on JIS (Japanese Industrial Standard) B 1301 "Sunk Keys end Their Corresponding Keyways (Normal keys)." Shaft extension key is furnished

-51 -

8.2 SERVOMOTOR: (I) Standard

F SERIES
14 37 (1.457)

Types

USAFED-02[III][III]I,

-03Ill]LIlt L

(Taper

Shaft) _{

1055u_aa3151 _ I 166102301 4

Drawing

I " L, ' L LT

LM1LG.71)_ _LR " I -LE

__

-4-LZ DIA.

__l

(0.157_<_ 0

OPTICAL ENCOOER'._ CONNECTOR //" MOTOR CONNECTOR

KB2

1 '

Type -02LqE]I, Detail of Shaft

-03[-]i-31 Extension

Types

USAFED-05[II]EII]I, -0911111[][1111111 Shaft) (Taper -I3CEI]2 (Straight Shaft) 2

LT ' LL L LM 18{0 7091 103 (0 406} 56_l.2S31 12(0472} 2811 t021 ;4 ( 6 (02361 6 [02361 " 25(0 9841 LR 0102361 6(02361 2361 _361010 _ j I

Drawing

__

4/ OPTICAL ENCODER I , I / Types -05C[[il, Detail of Shaft -09=J_..1 Extension Type -13CC]2 of Shaft Extension

KB2

Detail

CONNECTOR OTOR M CONNECTOR

Types

USAFED-20CEI]2 3

to -44C[II]2 L
LL LT LM

(Straight
LR

Shaft)

Drawing

LG

"_

LC

<

/ OPTICAL ENCOOER CONNECTOR

,
LL

4-LZ DIA. KBI KB2 _

"1-

_
Detail of Shaft Extension KL2 87 <3_zs) LA 100 (_.937) LB 80 -_o_ (3.150-_,,,) Flange Surface LC LE 390a ( , _s co 7) LG z_7 co _) LH 120 (_.72_) LZ 6.6 <o.=_)

MOTOR CONNECTOR L LM LR LT 40 (*.sTs,

AC SERVOMOTOR Dwg TypeUSAFED- No. 02E][[[[] 1 03E][[[[]1 05 [[]]]IZI 1 1 1 2:

KB1

KB2

IE --

KL1 76 <z.992)

CS.OZ4) C4.449) 37 199 159 (_SaS) (6.2B0) c_.*sT) 263 205 150 (lO.3s4> (aoTl) C5.9_)

(74_) ......... 236 (9291)

(s.197) (3_403) 132 ]36 178 (S.3S4) (7._I) 127 (so) 253 172 (_._2a) 177 C_._eg)

o_i:::::_i:::::,1 30E]2 200[[[[]2 3OOE::]2 44CE]2 * "

_
2: 3 3 3

.........
389 331 344 , 265 (_3.s43)I (*o43a) 276 211 (&soT) (401,',.7_7 ...... " (12677) (IO551) (486) :1#134 407 353

_2_ _L_o ......

303 237 _.33n <US?S) 123 379 (4._3) Connector 79212654 (3.11) ( ...... <9016, 314

_09
92 139 (5 472)

_4s
200 (7"814)

,10 _Oo,o
114.3 (4.S -oozs ) o

_30
180 (7087)

p_
3._ (o.126)

b_

_s

_o
13.5 (o53])

.7og18 c9.o5s) 230 (o. )

AC SERVOMOTOR Type USAFEO 02[:II_]E_II 03[::::][:::11 * o5[Z::IE:ZI_ 09I::::]EZiI 136[:::::]2 20C[_]2 "

Owg No. I 1 2: 2: 2: 3 33

Shaft S I l.S (o,s_

Extension Q 15 (o_n 28 (,.,o=)

Approx Mass k1 (Ib) (_s) <6z) 8.5 (,,,) (13) (20) (_) (29) (94o_)

Motor

Types Cable Clamp MS 3057 - 6 A MS 3057 -10A MS 3057 -IZA Receptacle

Optical L-type

Encoder Plug

Types Plug Cable Clamp

Receptacle L-type Plug Straight Plug ]IS 3102 A 14 S MS 3108 B 14 S MS 3106 B 14 S - 2P -2S - 2S MS -10P A 18 3102 MS 3102 A 22 -22P MS -10S B 18 3108 MS 3108 B 22 -22S MS -10S B 18 3106 MS 3106 B 22 -22S

Straight

<z_) zz

MS310ZAZ0 - 29 P

MS3108B20 - 29 S

MS3106B20 - 29 S

MS3057 - 12 A All

440[[[[]2300E]2

35+_ _' (1.378 +_')

(76 2992

"Not provided with an eyeball. Notes: 1. [_] in type designation is determined by output Standard: A (6000 P/R) Optional: B (5000 P/R), D(4000 P/R) 2. Vibration: 15_m or below. 3. Plug and clamp ere not attached for reseptacte

pulses (P/R)

of optical

encoder

as follows:

connection.

-52-

(2) With Types Drawing

Brake -03[IIII]E]IOE (Taper Shaft)

USAFED-02ilIII]EIIilOE, 1

,
I LT

,,,o,,,
-LM

Y M6 e]_u

,o,s,,

_l
L_

" "_4 5.5__9" ,0_,5 4-LZ

m o

t
OPTICAL ENCOOEBL CONNECTOR KS2 MOTOR CONNECTOR

_ _
DIA.

"-

D
Types Drawing USAFED-05[:::I][::::]IOE, -13CE]2OE 2
L LL HOLDING BRAKE -LR 58(2.2831 28(1.102) 14IO551) 6 40236) 103 IO406) '6 (0 236] 25(0 9841 MIO P125 i _ 5 (0 1971 LR 6102361

-09E:::][::::]IOE (Taper (Straight Shaft)

Shaft)

, ,0236,

D _]_ OPIICAL ENCODER CONNECTOR

LT

BUILT-IN

LM ,

_ ,

LE

-_

LC

18(0.7091_i _

12(0472)_ i _ TAPER1110

__

Types -05.[__L_l DE. -09L_D1 DE Detail of Shaft Extension MOTOR

Detail

Type -1 3CFq2OE of Shaft Extension

CONNECTOR

Types USAFED-20CQ2OE (Straight Shaft) Drawing 3

to -44C_.....,2OE ;_

L LL LT LM LR _ 2-MB SCREW (FOR HANG BOLT) _C/

BUILT-INHOLDINGBRAKE

LE

OPnCA[ ENCOOER
CONNECTOR _ MOTOR CONNECTOR Detail of Shaft Extension

-53-

I
ACTypeSERVOMOTORusAFED. DWgNo.L LL LM LR LT KB1 I KB2 I IE O_r"Tr'],_0 E 236 199 159 178 LL..__L_ 1 (9.291) (7.8_5) (5.290) 37 40 24 7.008) 286 249 209 (L451) (1.575)(0.945)(s.9751 ;'28 03_]L]10E 1 m.290) (9.8o5)(8.228) 05l_i[-il OE * "-09DDIOE* 13CD2OE * 20C[_-,,'20E* 30C_2OE 44CFq20 E -2 2 2 3 3 3 320 (12.598) 262 207 (10.3151 (8.1501 366 308 253 58 55 (14.4091 u2.,25) (9.9611(2.2_) m65) 436 378 323 (17.165) (14.8821 (12.717) 422 343 289 a6.6_41 aa._) (u.3n) 128 234 (5.039) ! (9213) 280 -118 !(1L0241 (4.6461350 (13.780) 315 u24.2) 113 (4.445)
92

KL]

KL2

LA

LB 80 -o%_

Flange Surface LG LC LE

LH

LZ

ShaftS Extension I Q Drawing 1.

76 87 100 90 4 7 120 6.6 See (2.992) (3.4951 (3.937) (3.150 -00.00,s) (_._3) (0.1571 (0.2761 (4.n4) (0.2501

145 110-o=5 (S.7O9) (4.331_o00_) (3.5221 200 114.3 -_ (7.874) ( 4.5-0o00g_)

130 6 12 165 9 See Drawing (9.n81 (0.236) (0A72) (6.496) (0.354) 22 __,,, (0.866__,)

2. 40 (L575)

486 407 353 79 54 164 379 143 (m331 (16.024)(,9.898) (3.no) (z.,z61:(64971 (149ml 123 (3._3o) 567 (19213). (17.087) 488 434 460 (4.8431 (Z9.322) (18.110

(7.087)

180

3.2 18 230 13.5 35 +oo, (0.1261(0.709) (9055) (0.531) (1.378+00_)

76 (9.999)

AC SERVOMOTOR Dwg Approx Manetic Brake Connector Types for Motor and Brake Optical Encoder Connector Types Mass Wattage inertia sat_Fr_0,"_0rqL_ Type USAMED- No. k,q (Ib) W k9 m' (Ib.in.s') N.m (Ib.in) Receptacle L-typePlug StraightPlug Cable Clamp Receptacle L-type Plug Straight PlugCableClamp 02[_L-]IOE 03JIll]leE 05r_]Dl O E" 09D_J] OE * 13C[-]20E* 20CQ2OE 30CD2OE 44CD2OE * 1 1 2 2 2 3 3 3
(ll.0) 5

8 12 18 18

0.O75Xl0-' (0.66x]00.1]3Xl0-' (l.O0Xl0-

0.98 (8.67) 1.96 (17.3)

MS 3102 A14S-6P MS 3102 A20-15P

MS

3108

MS 3106 B14S-6S MS 3106 B20-15S

MS 3057 -6A MS 3057 -12A

7 11.5 (254) (15.41 i5 (33._) 23 (50.7) 30 {66.11

B14S-6S MS 3108 B20-15S

0.8510-' (7.52x10-') 5.88 (52.1) o.9xlo-' (7.97x10") 8.83 (78.1)

MS 3102 A20-29P

MS 3108 B20-29S

MS 3106 B20-29S

MS 3057 - 12A

(8L6137 31 49 (108)

625xl0"

(55.3x10")

MS 3102 35.3(312.5) A24-10P

MS 3108 B24-10S

MS 3106 B24-10S

MS 3057 - 16 A

"Not provided with an eyebolt. Notes: 1. [i] in type designation is determined by output tical encoder as follows: Standard: A (6000 P/R) Optional: B (5000 P/R), D (4000 P/R)

pulses (P/R)

of op-

2. Vibration: 15/zm or below. 3. Plug and clamp are not attached for 4. Power supply for brake is 90 VDC.

receptacle

connection.

(3) I Both

Shaft with

Extension Keyway

of

Straight

Shaft AC SERVOMOTOR Type USAFEDWithout Brake With Brake

SERVOMOTORS brake for shaft have the

with same

brake

and 02DD2K 03DWi2K 02DD2KE 03DF__2KE 05D[]2KE 09D[]2KE I3C_2KE

without except Shaft

dimensions

extension. are shown LR -. below:

extensions

057_iD2K 09___D2K 13CD2K

LE

30CD2K 44CD2K 20C[:[]2K

30C.I)2K E 44C.:)2KE 20C[]2KE

"4 mm 6mm

(0.157in.) (0.236in.)

for for

USAFED-O2[-jF-_]2 USAFED-OSr_-)D2

end 03_)2 tO 13C[_-i2

{)'1 {Zm O{ I2_ (}) '_3 ]((0 )S {O .[

LR LE S Shaft Q 25 Extension OK T 15 U W 37 4 14-oo,, (L49n m5n (0.551-g_)
o

(o9_)

(o99_)

19 -oo,3

{o.lm

(o.m)

(o.1_7)

58

(0.748 -o_,)

40

25

(0.866 _o_,)

{0.2361 {0.138) (0236) 6 3.5 6

79 (9,283}

3.2 (0.?.36)

35 +o ' 22 (1.378 _oo_a ) +)m_

76 {1.575)

60 (0.984)

10

- 54 -

8.3 SERVOMOTOR: (1) Standard Type USASEM-02A[]]2

164 5 (64761

S SERIES

(Straight

Shaft)

Types

USASEM-03A[]]2,
L

-05A[]]2

(Straight

Shaft)

39.5

95(37401

'3

6512.559)

_._

8103151 DIA

4-510 MOTOR LEAD AWG20 3

ENCODER LEAD AWG22x3 {RED,BLACK.GREEN(YELLOW)] AWG26 x 4 IOTHERS) Approx. Mass: 1.4kg. 13.091 b)

195

KB1 .

AC

SERVOMOTOR USASEM03A[]]2 05A[[]2 Notes: 1. []] in type designation is determined Standard: E (]500 P/R) Optional: C (2500 P/R), F (1000 2. Vibration: ]5/zm or below. 3. Plug and clamp are not attached for by output P/R) r_eptacle connection. pulses (P/R) of optical L 179 (7047) 201 (7913) LL 149 (5866) 171 (6.732) LM 13.0 14.331) 132 (5,197) LT 39 11535) LR 30 U.lSt) KB] 78 13.071) 1OO (3.937) KL1 138 (s.433) LA 90 (3.s,3) LB

Flang

Surface LC 80
(3'150)

and LE

Shaft LG

Extension LH lOS (4"134) LZ 6

(0'236) 10.551

Type

S 14 -el I
_O0OOO4)

70 --0030 (2.756 --Oo01z)

3 8 10"118) 10315)

Approx Mass kg (Ib) 2.6 (5.73)

3.3 (7.28)

encader as follows:

Type D

USASEM-08A[]]I

Types
I. . LT _i _

USASEM-15A[[]I,
L LL LM I

-30A[]]l

(Taper

Shaft)

(Taper Shaft)
i _ LR _ -L 000 6 004 A 004 DIA Le L_.J_L__L ,c _ j , 'A'A "

!
" I

,
ACTypeSERVOMOTORusASEM_ L LL LM 08AD1 15A[]]l 30AL_.Jl Notes: l. []] in type designation is determined Standard: C (2500 P/R) LT LR D Type USASEMAC SERVOMOTOR 03A [i]] 2 05A[[]2 08A[[]l I5A[]]I 30A[:[:,I
(13.2)

OPTICAL / ENCODER CONNECTOR MOTOR CONNECTOR

KB1 KB2-

Detail

of Shaft

4-LZ

Extension U W 5 la,_) T 5 (o.L97) 6 6 102_) (0.8_0 Clamp MS 3057-12A

Flang KBI KB2KL] KL2 LA LB LC

Surface LEILG LH LZ LW Q QK QA

Shaft X S

Extension V P

258 (7.874)(5866) (2008) 58 (4.52_)(7.087)(4.m6) (3.4ZS)]30 200 149 51 115 180 102 87 (S.tm) 11&157} II0-_ }17.fi259.5203.5 (2883) 167 240 109 145 (4.3314,3)

t20 (O.nS)(0.394)(6.fez) 9 (4.7Z4) 3 18 28 25 12 10 130 12 I 165 (o354) (o7o9) (l.loz) (09_) (o472) (03_)

i,o1166

16 (063) 21 MI0 19 (08z7) PI.2[

4.3 _, (0.169-_) 5.84,

(12.5) ((&217)&012) 56 ( (6575) (9449) (4891) 96 (S.709) (SAt8) 6 (0.478),! (&496) (0748) (0.228-_0_) 366 296 240 (z.2o5) 70 206 276 134 (3780) 200 114 3-_._ 180 (o.236) 18 1230 13.5 20 36 32 14 12.5 22 24 M12 6.6-_ 34_) (n_) 19._8 (8.;s_ re.no) ao._o) (sz7e 17._) (4.5-_,f_l_(7.087) 1o.7o9)1 1o.531) (9.oos) (o787} o.417)126o)o350(0492)0866)o.945) 1 ( ( ( P1.25 (0.260-_) by output pulses (P/R) of optical encader as follows:

Optional: E 11500 P/R). F (1000 P/R) 2. Vibration: 15/zm or below. 3. Plug and clamp are not attached for r_eptacle connection. 4. Dimensions of the keyway are based on. JIS (Japanese Industrial Standard) B1301 "Sunk keys and Their Corresponding keyweys (close keys)." Mass kg (Ib) Receptacle L-type Plug Approx Motor Connector 2.6 (s.7_) MS 3102 A 18 MS 3108 B 18 3.3 -10P -10S (7.28) a MS 3102 A 20 -4P MS 3108 B 20 -4S MS 3106 B 20 -4S MS 305%12A

Straight Plug Cable Clamp Types Receptacle MS 3106 B 18 -10S MS 3057-10A

Receptacle

L-type Plug Optical Encoder

Straight Connector

Plug Cable Types

MS 3102 A 20 -29P

MS 3108 B 20 -29S

MS 3106 B 20 -29S

]] (_.3) _4 152.9)

-55-

(2) WithBrake Types USASEM-02AEIII]2OB, -05A[IIIIi2OB (Straight Shaft) 03A[IIII]2OB,

AC SERVOMOTOR
TYPE USASEML 228 (8.976) LL 198 (7.795) LM 137 (5,394) Type MCNB10 - 05

Magnetic Brake
Inertia kgorn'X]0 -' (Iboin,s_

Static N-m

Friction

T0rquc

:Approx
MaSS I kg (Ib) 2.2 (4.9)

(Iboin) 0.98 (8.674)

02AEIIi2OB

0.0825 (0.0735 x I0-*)

03A[III]2OB 05A[IIIi2OB . Notes: 1. Orawout gland For 2. D in optical Standard: Optional: details, type construction method.

241 (9.488)
263 (lO,354)

211 (8.307)
233 (9.173)

150 (5.906)
172 (6.772)

MCNBI0
MCNB15

- 05
- 0l

0.0825 (0.0735 x 10-) )

0.0825 (o.o735 x 1o-_)

0.98 (8,674)
1.76 (15,623)

3.5 (7.7)
4.1 (9.0)

of another follows: P JR) P JR),

Type connector

USASEM-02AE20B part by differs to output from YASKAWA

is waterproof figure (PTR) above. of representaive,

3. Vibration: 4. Plug for and receptacle

15]zm clamp for

or are

below. not attached is 90 VDC.

Therfore, request

dimensions

connection. brake

designation as (1500 (2500 E C

is determined

pulses

5. Power

supply

encoder

F (1000

PTR)

Types

USASEM-08A[IIIIilOB, L

-15AEIII]IOB, LL LM

-30A[IIII]IOB Approx Mass kg (Ib)

(Taper

Shaft) Magnetic Brake Inertia StaticFrictionTorque Voltage VDC 90 90 90

AC SERVOMOTOR Type USASEM-

Type SCFB/90-30 RNB0.6K-12 SCFB/90-120

kg.m'X10_(Ib.in,s_ 0.5365 (0.4744X 10-_)

(0.7744X 10-=)

N.m (Ib-in) 2.94 (86) 5.88 (52) 11.76 (104)

08A[iiiiil OB 15A[IIIIilOB 30A[IIII]lOB

Notes: 1. [..ii] in of type designation encoder C E (2500 (1500 P JR) PTR), or

305 (12.008)

247 (9,724)

146 (5.748)

7 (15.4) 12.5 (87.6) 25.5 (562)

377.5 319.5 197.5 (14.862) (12.579) (7.776) 432 (17.008) 362 (14.252) 24o (9.449)

0.875

0.672 -_) (0.5948x 1O

is determined

by

output

pulses

(P/R)

3. Plug

and

clamp of

are keyway

not

attached are based and keys

for on

receptacle JIS

connection. Industrial keyways

optical

as follows: F (lOO0 PTR)

4. Dimensions Standard) (Close keys)"

(Japanese Corresponding

Standard: Optional: 2. Vibration:

B 1301

"Sunk

Their

15/zm

below.

-56-

(3) Shaft Extension of Straight Shaft SERVOMOTOR proper is the same dimensions See Par. 8.3 (i). Details of shaft extension

as standard SERVOMOTOR are shown below:

in S series

except

for

dimension

L.

With brake Type USASEM-O8Ar_-]2OB (L)287 _"

With brake Type USASEM-15Ar--]2OB (L)365.5 (14.390).

With brake Type USASEM-30Ar_-]2OB (L)418

12 3(0.i_ o_

NON-ROTATION 6(0.24) _

8 (0"24)-_A-_ l

_o_

(4)

Shaft

Extension

of Straight

Shaft

with

Keyway as standard dimensions. SWEVOMOTOR See Par. 8.3 in (1). S series Details of but dimensions shaft extension L of type are shown

SERVOMOTOR USASEM-08 below.

proper A[II]2K[II]

is the same dimensions or higher is the different

Without brake Types D USASEM-O3A[-]2K,

-OSA[-_2K

Without brake Types USASEM-O3Ar_-]2KB,

-OSA_-]2KB

Without brake Type USASEM-08A[_]2K

With brake Type USASEM-O8Ar_-]2KB

. o2

o_

(L) 39 2 (9.409} 1

(L) (11.299) 287 --_

3(0.118:

3(0.1l$

_ _"

'
_, (Without brake) (With brake)

_ _ _

0.197)

(0197)

Type USASEM-15A[-]2K Type USASEM-15A[_-]2KB (L) 65.5 3 (14.390)t (L) 305.5, (12.028)

(Without brake) (With brake)

Type USASEM-30A[-i2K Type USASEM-30A[-]2KB (L) 18 4 (16.457)t _ (L) 352* (13.858)

-- *7_

113_1

6j0.236)

-57 -

(5)

Shaft

Extension

of Straight

Shaft

with

Shaft

Seal

(6)

SERVOMOTOR proper is the same dimensions dard SERVOMOTOR in S series. See Par. 8.3 Details of shaft extension are shown below:

as stan(1).

Shaft Extension of Straight Shaft with Keyway and Shaft Seal proper is the same dimensions Par. 8.3 below: as (1). stan-

'1

SERVOMOTOR

dard SERVOMOTOR in S series. See Details of shaft extension are shown

Without brake Types USASEM-03A r--]2s, -05A[_]2S

With brake Types USASEM-03A 2SB, .05Ar-]2SB

Without Types

Brake USASEM-03Ar--]2T, -05A':-]2T

With brake Types USASEM-03A[_-]2TB, -05A[_]2TB

OIL SEAL

--_ _

OIL SEAL

4o!
"_"

310118)

(7)

Shaft

Extension

of

Taper

Shaft

with

Shaft

Sea]

SERVOMOTOR proper is the same dimensions as standard SERVOMOTOR in S series. See Par. 8.3 (1). Details of shaft extension are shown below.

I
Without brake Type USASEM-30Ar-]IS 28

Without brake Type USASEM-08A[-]IS

Without brake Type USASEM-15A[_-]1S

18 (0.71) 28 ( .1)11_2 I (0.47) 3 (0.118_ 10.3 (0.41) 11(0.43_ -:j< =: _

18 (0.71) _(0.47) 6(0.236_'- o.'_ (0.394)

36 20 (0.79) _4 _ _2.5 6(0.23_ _

(0.55)

12(47):

H/NON-ROTA_.ION

(0.49) $5

SB16307(NON')

_ t _ _TAPER1/10

: _: ,_ \TAPERI"_0 :_m i (0.197) _ 15 5(0.197)':_/_ 5 8(0228_"r -

OIL SEAL SB22388

I \ i_,) _ _: _ _ -. c_l TAPER1/10 _' _ I

;02

5(0.197)_ r --5(0.197) 4.3(0.1691_ ' )

6(0.236)_ '_: 6 0236) _-' 6 6 (0 260: _-

-58-

8.4 D

SERVOMOTOR:

D SERIES

(i) Standard
MOTOR SIDE (BUILT-IN HOLDING BRAKE) _ j_ 0.04 ^1 ('USADED-_ (O.OO1 _ L05E 'IOE J 6) . 0.06 I^i('USADED"_ ['L [(O'OO24)1 _IL15E, 22E, 37EJ

LR_
LT ENCODER SIDE LM KB2 KB__I

,C

I
L: flQI (0.0016) 4 DIA"[____

_-T-, _

-_

ACSERVOMOTOR L LL LM Type USADEO05EF-i2OE* 10E[-]2OE* ]5EC-2OE*

LR

LT KB1 KB2 IE

KL1 KL2 KL3

D LA LA1

Flange Surface and Shaft Extension LB LC LE LG LH LZ LZl S Q

Approx Mass kg (Ib) 17 (37.5) 14 (41.9) 30 (56.1) (70.5) 32 39 ma.0)

237 182 137 55 45 82 158 _ (9.33) (7.17) (5.39) (2.17)(1.77) (3.23)(6.22) 257 202 157 55 45 82 178 (1o.1) (7.95) (6.18) (2.17) (1.77) (3.23) (7.Ol) _

143 92 164 130 200 _ (0.63)(3.62) (6.46) (5.12) (7.87) 143 92 164 130 200 _ (5.63) (3.62) (6.46) (5.12) (7.87)

114.3-o.o25 180 3.2 12 230 13.5 _ (4,5-_.0_95) (7.09) (0.13) (0.47) (9.06) (0.53) 1r4.3-_.o_ 180 3.2 12 230 13.5 (4.5-oooo98) (7.o9) (oJ3) (0.47) (9.06) (o.53) _

22-_o_3 50 (0.8661-_._[) (1.97) 22-_.m 50 (0.8661-_o_,) (1.97) 2 o 8-_.oJ_ 50 1.1024-__,) (1.97)

272 217 170 55 47 100 1931142 162 92 164 130 235 250 200___ 220 4 16 270 13.5 MS (lO.71'.(8.54) (a.a9) (2.17) (1.8s) (3.94)(7.60) (5.59) (6.38) (3.62) (6.46):(5.12) (9.25) (9.84) (7 874-o.oo_)(8.66) (o.16) (o.a3) (lO.a) (0.53) (11.30:(9.13) (7.28) (2.17)(1.85) (3.94) (8.19) (539) 287 .232 185 55 47 1001208 142 282 235 65 47 100 258 142 347 (13.66 (11.1) (9.25) (2.56) (1.85)"(3.94)',10.1e(5.59) with an eyeball. by output pulses (P_R)

22E[]20E" E_.._ , 37 L..j2OE *Not provided

(6.38)(3.62) (6.46) (5.12)(9.25) (9.84)(7 874-0mm_) (8.66) (0.IS) (0.53) (10.6) (0.53) (1,102 4-0_) (1.97) 162 92 164:130 235 250 200__ 220 4 16 270 13.5 M8 28-! .... 50 162 92 164 130 235 250 200-_ 220 4 16 270 13.5 M8 [(1.2598-_) 32 _.o_6 (a.3a) 60 (6.38)(3.62) (6.46) (5.12) (9.25) (9.84)(7,874_0_]) (8.66) (0.16) (0.63) (10.6) (0.53)

Notes I. [[] in type designation is determined "of optical encoder as follows: Standard: 3 (2048 PTR) Optional: 2 (8192 P/R) Receptacle Specifications

2. Plug and clamp are not attached for receptacle connection. 3. Dimensions avove are applied for servomotor with incremental encoder, with absolute encoder or W/we holding brake as well,

_C SERVOMOTOF TypeUSAMED05E[]2[]i] }0E[]2[][15E[]2[][]] 22ED2[] ]] " MS 3102 A24 - 10P Receptacle MS 3102 A20 - 15P

Connector Types for Motor and Brake L-type Plug MS 3108 B20 - 15P MS 3108 B24 - 10S Straight lug P MS 3106 B20 - 15S MS 3106 B24 - 10S Cable Clamp MS 3057 - 12A MS 3057 - 16A MS3102 A20 - 29P Receptacle

Optical

Encoder Connector

Types Cable Clamp

L-type Plug

Straight lug P

MS 3108 B20 - 29S

MS 3106 B20 - 29S

MS 3057 - 12A

37E[__2[:]i_

(2)

Shaft

Extention

of

Straight

with

Keyway AC SERVOMOTOR Shaft Extension

w 05E[_]2K'_] 10E[]2KQ 22 o,3 (0.8661_(_) (0.861_-5,) 50 45 6 3.5 3.5 (L97)a.n) (o34>(o.14) (o14> (L.97) (1.77) (ou) (0J4) (o.23o>

22 -_o,_50 45 6 3.5 6 (1.1024 _ o_,) (1.97) 0.77) (o.28) (o.[6) (o31) D _ _ TypeUSAMEDi5E[]2KD 22E[]2K[] 37ED2K[] S DIA 28_o,_ 28_o,, (1.1024 _o_,) 32 _o,_ (1.2598_o_) O .T U 50 QK 45 7 4 "W 8 50 45 7 4 8 ([._)([._7) (o00)(o._6) (00]) 60 50 8 5 1.0 (z.00) (L0_) (03]) (0.Z0) (030)

Note: (Japanese Dimensions Industrial shaft extensionB key and keyway areand Their of the based on JIS Standard)" 1301 "Sunk keys Corresponding Keyways (Normal keys)" Shaft extension key is furnished.

-59-

8.

dl 5 SERVOPACK to-SRI5BB 3) Type CACR-SR44BB

2-7 (0.28) DIA WAN WIND

(i) Types CACR-SR03BB

100,. .O ES O, CT.O. T
i &- e_ :D

_o
2CN 1CN _ _

=
_"

I
e_

_-, :_'___1-_ _I_

150(5.91) '(0mr

,_
180 MAX" (7.09) APPROX MASS: I

2CN ,CN 't

RST r tY3Y4UVW I_

LJ
-.

160 MAX (6.3)

eee 25 100(3._25[_ _Te'_ _ _ i 20 4.73) :260 MAX (10.24) _ 9

5.5 kg (13 Ib)

,09_' 150 (5.91_ '99)11-4 (6.3)

APPROX MASS:

11 kg (25 Ib)

(2) Types CACR-SR20BB

2-7 (0.28) DIA , 100 (3.94) , = ITG HOLES _ _ I[

and -SR30BB

(4) Type CACR-SR60BB

__-7(0.28)DIA VlTG HOLES

_.. P_

WIND DIRECTION ' e_ _

[o125(4.921)_I 1 _I TYPENP I I// {

/ _ _ [ I ' f( I_

WIND DIRECTION

,
2CN

i
I i

' "-

'

I _8J

=: _
o q

"
,, _ _ _ ', _ " _ _ '_ _ _. _o _ [I 2CN EXTERNAL TERMINAL BLOCK(6P)I 1CN _ _ _ ;_ ! . i

i
', i

=
lCN o @

'

..... ,' -_ ,,,',,,'i,

_1I_ ;,I I
_q _ _ o _,99_[ 4

_
II

L
!" _'R _ T Y3Y4_ UVW,, ,, , '_
'e

_"""

=,

N BLOCK (9P)27.5 (1.08i 180(7.09) EXTERNAL m_l_r-_ ,1_ 190MAX (7.48) TERMINAL _1_ %o . , 209(8.228) 285MAX(11.22) t J

25 i oss_' 150(5.91) 160MAX (6.3)

O_1 I / ___L_ _

/I

I 120 (4.73) ___-LI I 1_ (7.09) APPROX MASS:

___--_

41
APPROX MASS: 13 kg (28.7 Ib) I

9.5 kg (21 Ib)

- 60 -

8.6 Variable Resistor EQUIPMENT PERIPHERAL for Speed Setting (1) Type25HP-10B PANEL TYPE5HP __L 2 5_11_*-4_
_" o _ ) : _ I l _. _

Max. length: 500ram (19.69 in) each 60C Lead ambient temperature: Lead color Drilling Plan
2.5(0.10) DIAHOLE_. 7 5(0 hOLE OIA 30) x'_

AC InputSide 100V 200V

Blue White Yellow

Brake Side
Red

White Black
DIODE BRIDGE ] RED. .

_,__I,2,3 'IMULTI-DIALMD ,Ii_- --4--- ,o4oi m 37.5+_, _) )-2_;. TYPE

( 1.48 _+0.04 ) 4.5 (O18) (0.95 t 0.04)

For i00 VAC

BLUE

TSUBGE

/2k..

(2) Registor Unit Type JUSP-RA03

Aos,o 2'
WHITE _ -i ":'10 0"1309

SOFF.ESSO.

....... i

i BLACK i

10 D

200(7.874) 220(8.661) I {_

(o_-9_ _

4)_

(y.457) 37

__
For 200 VAC

PROTECTIVE

,
a

' D _l .... I., IN,, .

I_L_- _-- --__1

co

YELLOW

, RED

,E

AC SIDE | I

SUPPRESSOR

_,oE

(BRAKE SIDE)

OCS,DE

"
/ EXTERNAL TERMINAL(6P) WITH ACRYLIC COVER

-- -_

/' "F--_

/T)

WHITE

__

BLACK

_ CEMENT RESISTOR _ PP0W x 3Q'TY (259) 7(0,28)DIA MTG HOLES

(3) Power Supply for Brake (a) Standard Input (Type Input (Type Type

Note: TheACor DCside.Circuitcan be turned ON and OFF on either the brake power Normally,switchingonthe ACside issafer. Ifswitchedon the DCside, surge voltagemay damage the brake coil. To avoid this, place a surge suppressornear the brake coil.

100 VAC, 90 VDC, Max. 1.0 ADC B9400876-2) Type: LPDE-1H01 200 VAC, 90 VDC, Max. 1.0 ADC B9400876-1) Type: LPSE-2H01.
50(19_9) 30(1.181)

2"55(0217PDIAACING F 410I571 DEEP

LEAD

-61

,rim (b) Conventional Type Input 100 VAC, output 90 VDC, (Type OPR109F) Input 200 VAC, output 90 VDC, (Type OPR109A)
7412.91 3)

Max. Max. 1.0 ADC 1.0 ADC

--4011.5751

10.787)

Type OPR109F Circuit Diagram

Type OPR109A Circuit Diagram

SWITCH

SWITCH

lOOV,,_

'""U Y"'c""""l\ "'" 11

PROTECTIVE ELEMENT

p;?ov

.
ELEMENT

B.,,KE

Notes: 1. Donot short-circuit between output terminal Nos. 3 and 4. 2. The open/close value of the contact used for Nos. 5 and 6 is 5 to 10 times the rated current of the brake used. Direct current open/close contacts must be used. 3. Insert a fuse in the input side to protect the power unit.

11

Fuse Type: MF60 NR2 (Made by TOYO FUSE CO., LTD.) Circuit Diagram

iNPUT _BRAKE

I
-62-

9. TEST RUN
Before test deficiency. run, check the following. Correct any

When a Servo in the is ON signal input (contact and isON)I the power circuit SERVOPACK operates
the motor 9.2.2 is ready to run. Operation is possible only while Servo ON sig'nal is

9. 1 CHECK ITEMS 9.1.1 SERVOMOTOR

BEFORE

TEST

RUN ru.n is

The operation ON'.

Before test run, check the following. If the test performed after long storage, see Par. 11, " INSPECTION AND MAINTENANCE." Connection connection to machines or devices, wiring, and grounding are correct.

Increase the speed reference voltage 0V, then the motor will rotate at tional to the reference voltage. When tates

gradually from a speed propor-

fuse. "

the reference voltage is positive, the motor roforward (counterclockwise when viewed from shaft) (Fig. 9.1)

Bolts and nuts are not loose, For motors with damaged and oil shaft seals, the seals is properly lubricated. are not

the drive end-output

9.1.2 SERVOPACK Setting switches are correctly set to satisfy the specifications for the applicable SERVOMOTOR optical encoder. Connection terminals The
Occurs.

and to

and wiring leads are firml'y connected or inserted into the connectors. supply is turned OFF if servo alarm

power

Voltage D

supplied

to SERVOPACK

is 200 to 230V_% % 386-5 Fig. 9.1 Motor Forward Running

(If a voltage voltage line other than 200V is used, the power should be dropped to 200V through a transformer.) The speed reference should be 0V ....

9.2

TEST

RUN PROCEDURES of Operation loads should If it not be applied start to with the the-

9.2.3 Inspection The following run. -Unusual Abnormal

during items

Test Run be checked during the test

9.2.1 Preparation During test run, SERVOMOTOR. D

should

is necessary-to

vibration noise

the driven system has been to the for emergency ready motor, at driven machine connected confirmstopthat any time. (1) Power ON After checking items powerPar. 9.1, turn ON correctpower in supply. When the on sequence is the according to Par. 6.1, the power is turned ON by pressing the POWER pushbutton for approximately 1 second. When the power is correctly [_ and _ supplied, . the .following

Excessivetemperature rise If any abnormality is found, take corrective actions according to Par. 12. At a test operation, the load and machine: may not fit well at first and result in overload.

green _

s light:

-63-

10. ADJUSTMENT
10. 1 SETTINGS
The follows (1) M SERVOPACK : series Table 10.1 Standard Adjustment and Setting Specifications SERVOPACK Rated Current* Speed Setting Adjustment PG Frequency Dividing Ratio

AT THE TIME OF DELIVERY

has been factory-adjusted as

dl I

SERVOPACK Type CACRType

Applicable

SERVOMOTOR

Optical Encoder pulses/rev 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000

Starting Current Setting* A

SRO3BBIAM SRO3BB1 BM SRO3BB 1 DM SRO7BBIAM SRO7BB 1BM SRO7BBIDM SRIOBBIAM SR10BB1BM SRIOBBIDM SR15BBIAM SR15BB1BM SR15BB1DM SR2OBB1 AM SR2OBB 1 BM SR2OBBIDM SR3OBB 1 AM SR3OBB1 BM SR3OBBIDM SR448B1 AM SR44BB1 BM SR44BBIDM SR6OBBIAM SR6OBBIBM SR6OBBIDM Effective value

USAMED-O3[:]A1 USAMED-O3r-] B 1 USAM ED-03 [-] D1 USAMED-O6r-]A 1 USAM ED-06 [-] B 1 USAMED-O6r-Q D1 USAMED-O9BA2 USAM ED-09BB2 USAMED-O9BD2 USAMED-12BA2 USAMED-12BB2 USAMED-12BD2 USAMED-2OBA2 USAMED-2OBB2 USAMED-2OBD2 USAM ED-3OBA2 USAMED-3OBB2 USAMED-3OBD2 USAMED-44BA2 USAMED-44BB2 USAMED-448D2 USAMED-6OBA2 USAMED-60BB2 USAMED-6OBD2

3.0
5.8

7.3 13.9
16.6 ,rib m

7.6

11.7

1000 r/rain at rated

28.0 xl

18.8 26.0 33.0

speed reference

42.0 56.5 70.0

45.0

80.6

I
Field-setting Switch SW2 Pulse Resolution Setting 1 1 23456781" 1 2345678 1 2345678 oo Position SW3 Speed Condition Loop Setting SW4 Motor Characteristics, SERV0PACK Function Setting

Table SWl SERVOPACK Type CACRPG SR03BB1AM Standard to SR60BBIAM SR03BB1 BM to Motor Type, Pulse Setting 6000 1 2345678

10.2

I:

oee_.o.e 5000

1 2345678

"1

I:

_'._."

:1

"oeooeo eo

I:

.eoO..oooOo.O.

Optional

sR6oB81BM I:oo o "1 o o

SR03BB1 to SR60BBIDM DM 4000 1 2345678 O000QO00 o o o o

1" Spare

short-circuit

pin Table Auxiliary Input Setting VR1 10.3 Potentiometer Field-set Zero Drift Setting Positions Max Current Setting Loop Gain Setting

SERVOPACK Type SR03BB1 SR07BB1 SR10BBI"_]M SR15BBI[_]M SR20BBI[-]M SR30BBIE_]M SR44BB1 [*.]M SR60BB1 [ _j M CACR[-]M [._]M

Auxiliary Input Fine Setting

IT_

va4

vaaIZEROt VR5 ICURI VR6 ILOOPI

10V at rated speed (For setting by the user.)

5/10

4/10

to 6/10

(For 10/10 setting by the user.)

5/10

IB

Notes: 1. In the Table above, r_:]/[r] shows approximate scale of potentiometer For example, _ v-_ indicates 7/10 scale. --

2. The potentiorneters other than listed in the Table above are provided for the SERVOPACK. Do not tamper with these potentiometers except for a special case as they have been preset at the factory.

64 -

(2)

series

Table SERVOPACK Type CACRType USAFED02[_-]A1 03[_-]81

10.4

Standard

Adjustment

and

Setting

Specifications SERVOPACK Adjustment PG Frequency Dividing Ratio

Applicable

SERVOMOTOR Rated Current* Speed Setting

Optical Encoder pulses/rev 6000 5000 4000 6000 5000 4000 6000 5000 4000. 6000 5000 4000 6000 5000 4000 6000 5000 4000 " 6000 5000 4000

Starting Current Setting* A

SR03BB1AF SRO3BB1BF SRO3BB1DF SR078B1AF SRO7BB1BF SR07BB1DF SR IOBB 1AF SRIOBB1BF SR 10BB1DF SR15BB1AF SR 15BB 1BF SR158B1DF SR20BB 1AF SR2OBB1BF SR20BB1 DF SR30BB1AF SR308B 1BF SR308B1DF SR44BB1AF SR446B 1BF SR44BB1 DF =_ Effective value

02[]81 03_:381 02r:]D1 03r]D1 05E]A1 05[_]B1 05[_']D1 09[_]A 1 09[_761 09[_]D1 13CA2 13C82 13CD2 20CA2 20C82 20CD2 30CA2 30CB2 30CD2 44CA2 44CB2 44CD2

3.0

8.5

' 3.8 1 1.0

6.2

1 500 r/rain at rated

1 7.0

speed
9.7 reference 2 7.6 .

x1

15.0

42.0

20.O-

5 6.5

30.0

77.0

Table SWl SERVOPACK Type CACRPG SR03BB1AF Standard to . SR44BBIAF SR03BB1 BF to Optional SR44BB1BF SR03BB1 " to SR44BB1DF t Spare sh0rt-circuit pin Table Auxiliary Input Setting VR1 SR03BB1 SR05BB1 SR10BB1 _:] F [.!F [_! F 10V at rated speed _-_ DF "

10.5

Field-setting

Switch SW2

Position SW3 . Speed Condition Loop Setting SW4 Motor characteristic SERVOPACK Function Setting

Motor Type, Pulse Setting 6000

Pulse

Resolution Setting x 1

1 2345678 o ooo 5000

oo.o..o1
4000

I:::

1 23456781 o @O

:::1

I:oo

1 2345678 oooo O000

I:

12345678 oo oo gO0 O0

o :1

1 2345678. ooo o o _ o o o o

1 234-5678 o o o ==o o o

10.6

Potentiometer

Field-set Zero Drift Setting VR3 _

Positions Max Current Setting VR5 _ Loop Gain Setting VR6

SERVOPACK Type CACR-

Auxiliary Input Fine Setting VR4

1 0/1 0 5/10 _ " 4/10 to 6/10 (For setting by the user.) 5/-10

" "

SR15BB1 [_-!F SR20BB1 _.]F SR30BB1 F [_-_ SR44BB1 [-! F

(For setting by the, user.) .

Notes: 1. In the Table above, [:]/E] shows approximate scale of potentiometer For example, indicates 7/10 scale.

2. The potentiometers other than listed in the Table above are provided for the SERVOPACK. Do not tamper with these potentiometers except for a special case as they have been preset at the factory.

65

I (3) series S Table 10.7 Standard Adjustment and Setting Specifications

SERVOPACK Adjustment Rated Current* A Speed Setting Starting Current Setting* A PG Frequency Dividing Ratio

Applicabre SERVOMOTOR SERVOPACK Type CACRSR03BB1 CS--Y41 SR03BB1 S--Y41 E SR03BB1 FS--Y41 SR03BB1CS SR03BB1 ES SR03BB1 FS SR05BB1CS SRO5BB1ES SR05BB1FS SR10BB1CS SR10BB1ES SR10BB1 FS SR15BB1CS SR15BB1ES SR15BB1FS SR30BB1CS SR30BB1 ES SR30BB1 FS Effective value Type USASEM-02AC2 02AE2 02AF2 03AC2 03AE2 03AF2 05AC2 05AE2 05AF2 08AC1 08AE1 08AF1 15AC1 15AE1 15AF1 30AC1 30AE1 30AF1 Optical Encoder pulses/rev 2500 1500 1000 2500 1500 1000 2500 1500 1000 2500 1500 10O0 2500 1500 1000 2500 1500 1000

2.1

6.0

3.0

8.5

4.2

3000

r/min at

11.0 x 1 15.6

ratedspeed reference 5.3

10.4

28.0

19.9

56.5

Table SWl SERVOPACK Type CACRSR10BB1CS

to SR30BB1CS

10.8

Field-setting

Switch SW2

Position SW3 Speed Loop Condition Setting SR101BB, SR15BB

1 2345678 o 00 o O

SW4 MotorCharacteristics, SERVOPACKFunctionSetting

1 2345678 00 ooo 000

Motor Type, PG Pulse Setting 2500

1 2345678

Pulse Resolution Setting xl

1 23456781"

Standard

I: o ,o:1
_ _

I:

00000

:1

I o oo1 I: o :1
SR03BB, SR05BB SR30BB
12345678

SR03BB1ES
to

1500
1 2345678

SR05BBIES
SR03BB1FS Optional to

I_ _ o _ o oool
1000 12345678

Ioo,ooooi o o o o oo

f Spare short-qircuit

sR30BB_ .." '":I FS : o: pin

Table 10.9 Potentiometer Field-set Positions Max Current Setting VR5 _ Loop Gain Setting VR6 Auxiliary Input Setting VR1 _ 10V at rated speed (For setting by the user.) Auxiliary Input Fine Setting VR4 Zero Drift Setting VR3 _

SERVOPACK TypeCACRSR03BB[_S SR05BB[_S SR10BB[_S SR15BB[_S SR30BB[-_S

5/t0

4/10 to 6/10

10/10

5/10

Notes: 1. In the Table above, E3/;_;;shows approximate scale of potentiometer For example, _ indicates 7/10 scale.

2. The potentiometers other than listed in the Table above are provided for the SERVOPACK. Do not tamper with these potentiometers except for a special case as they have been preset at the factory.

I
-66-

(4)

D series Table SERVOPACK Type CACRSR05BB1AD SR05BB1 BD SR05BB1DD SR15BB1AD SR1 5BB1 BD SR15BB1 DD SR20BB1AD SR20BB1 + BD SR20BB1 DD SR30.BB1 AD SR30BB1 BD SR30BB1DD SR44BB1AD SR44BB1 BD SR44BB1DD
* Effective v'alue

10.10

Standard

Adjustment

and Setting

Specifications SERVOPACK Adjustment

Applicable SERVOMOTOR Type USADED05EA2 05EB2 05ED2 IOEA2 lOEB2 IOED2 15EA2 15EB2 15ED2 22EA2 22EB2 22ED2 37EA2 37EB2 37ED2 Optical Encoder pulses/rev 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 6000 5000 4000 Rated Current* A 3.5 Speed " Setting

Starting Current Setting* A 10.6

PG Frequency Dividing Ratio

7.9 2000 r/rain at ratedspeed reference

25.2

12.6

40.7

x 1

16.6

54.0

23.3

77.0

Table 10.11 SWl SERVOPACKType CACRSR05BB1AD

to

Field-setting Switch Position SW2 Pulse Resolution Setting x1

1 2345678 t I 2345678 1 2345678

SW3 Speed Loop Condition Setting

SW4 MotorCharacteristics, SERVOPACK Function Settinc

Motor Type, PG Pulse Setting 6000

1 2345678

SR44BB1AD Standard SR05BB1 BD

to

ooo....o
ooeooo . 5000
12345678

J" " :1
coo oo

io o o 1
ooo oo oo oo

eo oo I" o '1 oo

SR44BBIBD SROSBB1DD
Optional to

Iooooe:j 4000
1 2 3 4 5 6 7 8

SR44BBIDD
1"Spare short-circuit pin

ooo oo .o o

Table .SERVOPACK Type CACRSR05BB1E]D SR15BB1[_]D SR20BB1 [_]D SR3OBB1 [_]D SR44BB1 [_]D
Notes: 1. In the Table above,

10.12

Potentiometer

Field-set Zero Drift Setting VR3 _

Positions Max Current Setting VR5 _ Loop Gain Setting VR6

Auxiliary Input Setting VR1 _

Auxiliary Input Fine Setting VR4

10V at rated speed (For setting by the user.)

5/10

4/10 to 6/10

10/10 (For setting by the user.)

5/10

[.I_/E] shows

approximate

scale

of potentiometer

2. The potentiometers other than listed in the Table above are provided for the SERVOPACK. Do not tamper with these potentiometers except for a special case as they have been preset at the factory.

For example,

I[:_a'._l indicates

7/10 scale.

-67 -

Am

10.2 CHARACTERISTICS OF DELIVERY The SERVOPACK follows : has

AT THE TIME

Table 10.3 Overshoot and Undershoot at Stop Response as speed SR05BB

SR07BB

been factory-adjusted SERVOMOTOR

Type CACRSR03BB

zJNov/NR.X 100

z_Nuo/NRX 100

(1) Speed reference input ratio (no load) (Fig. 10.1)

SPEED (r/min) RATED __.........

SR10BB

--6V ;

s_o+p
0j_ /I

SR15BB SR20BB
, +6V SPEED INPUT - (ACROSS 1ca-@ and@)

5 % max

5 % max

SR30BB SR44BB SR60BB

___ RATED
Fig. 10.1

r SPEED (--)

.all

Speed Reference InputSpeed Ratio 10.2) z3n: 10.3 READJUSTMENT has been adjusted at the factory to

"ql

SERVOMOTOR (2) Speed Regulation Speed regulation z3N NR zfln NR (Fig. zlN

The SERVOPACK

obtain optimum characteristics normally unnecessary. If adjustment

and readjustment is is required dependto

x 100 % < 0.03 % X 100%___0.015%

ing on the use, readjust the SERVOPACK referring Table 10.14. (Do not temper with potentiometers.)

,din

10.4
SPEED(r/rain)

ADJUSTMENT 10.4 shows the

PROCEDURES arrangement of potentiometers,

NR: RATED N

Fig.

shows the specifications of the check pin (CH); and Table 10.15 lists check terminals and functions. Adjust the potentiometers, observing the specified check locations. (Potentiometers should not be tampered and terminals for checking waveforms; Table 10.11 with.) Fig. 10.5 shows waveforms at the respective check terminals for step responses at no load. I

__'-_--+3_1 MOTOR

,[--_. RATED f

MOTOR CURRENT

SPEED

CURRENT Fig. (3) Start-stop 10.2 Speed egulation R (Fig. 10.3)

characteristics

Ip: Start current set value in Tables 10.1, 10.4, 10.7, 10.10. The overshoot (z_Nov) and undershoot (_z_NuD) when JL=JM, are as shown in Table 10.13 (adjustment level preset at the factory).

INPUT

ACROSS

1CN-@,

TIME INPUT ov RATED SPEED

_/_ SPEED z_Nu_

6 VDC TIME

CURRENT (PHASE U) MOTOR

--_%_ _j,,_

-- __]'_'-_ TIME I

Fig.

10.3 Start-Stop

Characteristics

-68-

'
Ff_q
_

il
RESET PUSHBUTTON (7-SEGMENT) LED INDICATION TROUBLE

i_
1

val0,'l$ O VR12\I_"
VR13k_] _"

v_o, 8
VR2"t$
'

VRT/, $ VR8 VR4_/-- ] F-_ _l_ _ _ (a) PrintedOircuitBoardfor SERVOPACKType CACR-SRCA[-_REV. A

2CN

ICN

D
i_

.I
E_] [_ (7-SEGMENT) RESET PUSHBUTTON TROUBLE LED INDICATION

'

VR9 VR10 _

VR.\ MR12 _

[]

VR_3_ (_)

VR_ ] VR4
D
_1

_
I SERVOPACK Type CACR-SRCAr_-_REV. B (b) Printed Circuit Board for

8 TO117__ I
2ON J_" '_1

VRe
1CN

Fig. 10.4 Arrangement Check Terminals

of Potentiometers (VR), and Switches (SW) -69-

_ _ o _

il_ VR9

_-_ O

(7-SEGMENT) RESET PUSHBUTTON TROUBLE LED INDICATION

vinoS. _
i_

VR,,\-- [] VR2"' O VR12"] _ Vc-_N

8 To , I

I L_ ] _

(C) Printed Circuit

Board for

20. _r _)_ ,ON _-J

Note: Do not adjust

SERVOPACK Type CACR-SRCA[-_]REV. D SERVOPACK Type CACR-SRCAE]REV. C

for

[_C4]

to

I_.

Fig.

10.4 Arrangement of Potentiometers (VR), CheckTerminalsand Switches(SW)

_1

-70-

Table Potentiometer Functions Auxiliary VR1-I,N-B input

10.14

Potentiometer

Adjustment

I
Auxiliary adjustment

VR4
input fine Zero

VR3 F_-ES]
drift adjustment Starting

VR5 [-CO&]
current adjustment

adjustment

How to Adjust

To be adjusted only when the rated reference voltage (4-2 to +10V) is other than _-+6V. Turn VR1 only to get the rated speed and do not operate other VRs.

To fine adjust the adjusted value of VR1.

To adjust so that the motor does not turn at the speed reference voltage 0 V. Turning VR3 CW allows the motor to be finely adjusted in forward rotation, and CCW in reverse rotation. MOTOR SPEED ROTATION)
(FORWARD

Turning VR5 CCW decreases the starting current. This has been adjusted to full scale CCW at the factory.

SPEED +RATING MOTOR

Adjustable

in units of ,_

--6V

]INPUT

o,lsetto w
(--) /;/ p'#t/j/"

/P'/

L12 "
js / (+) REFERENCE ' INPUT (REVERSE ROTATION) --

Characteristics
j_/a0 -- RATING CLOCKWISE 6V

.... _--_

_CW)

-/

COUNTERCLOCKWISE (CCW)

.... _-_

CW CCW

Adjustment Potentiometer Functions How to Adjust VR6 Speed loop adjustment To increase VR6 CW.

O _ gain f/V gain, turn

O VR2 gain adjustment CW increases voltage, f/V f/V

O VR9 " zero adjustment circu{t offset f/V balance

O VR10 adjustment +output

Turning feedback

_/V circuit

adjustment,

voltage balance adjustment If f/V balance adjustment is not correct, motor does not run at the samespeed in both directions under the same absolute reference voltage. x --_

Turn VR6 CCW to prevent hunting, Characteristics

Turning CW decreases motor speed, _

Adjustment Potentiometer Functions

O VR7 Torque reference adjustment Adjust to rated at 3V. current Max current

x VR8 adjustment

x ----

How to Adjust

Set max current depending on types and motor output. (Turn VR5 CW to full scale.) Turning CW max current. increases

Characteristics

--

--

Adjustment Potentiometer Function

x VR11 Phase U current adjustment, offset

x VR12 Phase V current adjustment offset

-VR1 3 Phase W current adjustment offset

-VR21 PG 5V voltage adjustment

How to Adjust

With only control power turned on, adjust until phase U current amplifier output voltage becomes minimum, Incorrect adjustment

With only control power turned on, adjust until phase V current amplifier output voltage becomes minimum, torque ripple.

With only control power turned on, adjust until phase W current amplifier output voltage becomes minimum.

PG power voltage adjustment. It is set to 5.35V at the factory.

Characteristics

increases

Turning CW increases voltage. If wiring to PG is long. causing voltage drop, increase voltage. x
Mark A : x : Potentiometer Do not adjust. shouid not be adjusted except in special

Adjustmet
Adjustment Mark O : Directions Potentiometer cations and should application. be

._,
cases.

adjusted

in accordance

with

specifi-

Mark

-71 -

Table Equipment Symbol 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 r_ 5 6 7 8 1 2 Signal Name PA ,I,PA PB *PB PC W, PC -PG5V PU w,PU PV w=PV PW w, W P DIR PGOV IN-A IN-B V TG T-Mon T-Ref U-sin Unused PG supply voltage PG
input

10.15

List of Check

Terminals Description

Phase A pulse is input, Reverse pulse of phase A is input,

Phase B pulse is

PA and PB are two-phase pulse with 90" phase difference. PC occurs once for each motor rotation, in synchronization with PA. Waveform at motor forward rotation
pA__.] I [____'_

input.
PB

'

' ' L 'L r--1

,, ,

' ,

signals

Reverse pulse of phase B isinput. Phase C pulse is input. Reverse pulse C is input. of phase

PC ,

ir _, ; '

+5V from Waveform motor at forward rotation

PU

Phase U pulse is input pole sensor.

Reverse pulseof phaseU is input, Phase V pulse is input from _olesensor. Reversepulse of phase V is input. Phase W pulse 3ole sensor. is input from

m , , _ '* ',
'

' , i I
_ i
i i

Ii .I-,

, PV I
PW

, I '

, I ! ! I i , ; , , ,,

_ i

, ',

_ I

, ', ,

, ',

Reverse pulse of phase W is input. Monitors the setting of direction of motor rotation.

0V of the PG power supply (PG :common terminal to signals from the pole sensor) Monitors the speed reference input (connector 1CN (_)--(_). Monitors the speed reference auxiliary input (connector 1CN (_)--(_)). (M, F, D Series), -+-2.0VDC/ 1000 r/min (S Series).

,q

Monitors the motor speed _+4.0 VDC/_+ 1000 r/rain. Monitors the motor torque _+3.0VDC/100 %. Torque reference +__2.0 _+3.0VDC/100 %. to Monitors phase U sin wavefom.

VOLTAGErx _

, 0v

Monitorsphase V sin V-sin waveform. SG IU IV Signal 0V (for printed Phase U current circuit board

Frequency varies depending on speed. Amplitude varies depending on torque. circuit 07 board 10 of REV. C or later) 15 120 0.08 30 144 160 0.04

of REV. D), (Not used for printed Type CACR-SR Monitor Voltage (V/A) 03 0.4 05 0.24

monitor.

Phase V current monitor. Blank(for printed circuit board of REV. B), (Printed circuit board of REV. C is for power supply ON/OFF confirmation)

0.20 0.16

3 4 AU

Phase

U current

amplification 330 TO 350,us I_ LI

PULSE

output monitor. Phase V current amplification 5 6 7 8 AM AW OSC2 SG output monitor. Phase W current output monitor. Carrier frequency (triangle pulse) Signal 0V (for printed circuit board

TRIANGLE VV ' /A_ amplification

/Av/_7-

-L

-7.0TO -8.0V

+7.OTO8.0V

of REV. D), (Not used for printed

circuit

board

of REV. C or later) i 1

I OV I Signal 0V for each signal measurement of ITM31 and ITM41. (for printed circuit board of REV. C or later) Notes: 3. During measurement, do not short the adjacent two check terminals, 1. The check terminals allow oscilloscope connection for measurement, as the connected elementsmay be destroyed by this. 2. Measure waveforms of r=_--_ andr_'M"_with [_]-8 or _-8 (signal 4. _ check terminal is for use only by the manufacturer. Do not make 0V) taken asthe reference, any measurementwith it. rT--_]-8 (PG power 0V) are impedance-connectedto rt--M-_-8and -8 (signal 0V).

-72-

I INPUT(TM3-t)

+6V ---J OV

I _

OV

-6V

0V

TORQUEREFERENCE 0v (TM3-4) MOTOR CURRENT U

_-L.J

APPROX --4.5 V

O"ASEV,TM'-2) 0V--'/V
MOTOR SPEEO
Fig. 10.5 Waveforms at the Respective Check Terminals for Step Responses (No Load)
(TM3-3) _

Jr/
+4VxNr/rnin./lO00 (M,F. Dseries)
+2VXNr/rnin/1000 (Sseries)

/ --4VxNr/min/lO00
(M, F, D series) -- 2V x N r/min /1000 (S series)

10.5 The have

SWITCH four the

SETTING [SW-_ , [-_-W--_ [-S--_, , functions: Table 10.16 Switch Setting and Function Remarks

switches( following

Switch Name

Function Motor type setting. Motor PG setting. PG frequency setting. dividing

User Adjustme.nt

Possible Possible

See Tables 10.2, 10.5, 10.8, 10.1 1. See Table 6.1. .

t S__ setting.Speed condition loop Possible

See thefigure below. ASwasapresetnOrmalatrUle,the setting factory.leave the

as it

Motor characteristics SERVQPACK function

and setting,

Never change setting.

this

The optimized motor torque characteristics and SERVOPACK functions have already been at the factory. SW4-5 Selects a dynamic brake function. See Par. 6.5 (1), "Dynamic brake function".

Notes: Function of 1. PI time constant setting

(_

-1 to -6)

2. f/V filter setting ( _

-7)

_-_o-----[_
It--(_) (_) (J2) _-_ I I'-----

6.6M_
0.033,uF

_SW-3_7 Shorted Open

Time Constant 1.2 ms 0.1 ms

O.O_#F

/_

(J1)

II-_k _[ %c,-

0.01_,F

_S--W-_-8
3. Mode Shorted switch setting (_]-8)

Mode Switch Not provided Provided

_1--.- 0.22,uF II-- 0.022,uF

Open

-73--

11. INSPECTION AND MAINTENANCE

11.1 The 11.1 AC AC SERVOMOTOR has no wearimg for the parts motor. (e. g. Table Do not disassemble contact your the motor, if disassembly is SERVOMOTOR so simple the daily inspection

brushes), shows

inspection schedule

is sufficient.

necessary,

YASKAWA

representative.

Table Inspection Vibration Noise Exterior Insulation Resistance Shaft Seal Annually Every Every 5,000 hours and Cleaning Daily As required Item Frequency

11.1

Inspection

Schedule

for

Motors Inspection Operation or noise is found, con-

Feel manually. Aurally Clean Make megger with dry

If abnormal tact your cloth or

vibration YASKAWA air.

representative.

compressed than the 10MQ motor

sure that after

it is more disconnecting

by measuring from

with

a 500V

the controller: every 3000 hours. the motor

dl
I

If grease If worn

is used for or damaged,

lubrication, replace

replace after

disconnecting

Overhaul

20, 000 hours

or 5 years

from the driven machine. Contact your YASKAWA representative.

Parts The

Replacement following parts

Schedule should worn be replaced periodically or deterio.din

since they may become rated with age.

mechanically

1
Table 11.2 Parts Replacement Schedule Remarks Disassemble the with new one. Replace with motor to replace "

Part Name

Interval Every 20,000 hours Every 5, 000 hours

Bearing Shaft Seal

new one.

_nl

- 74-

11.2 SERVOPACK SERVOPACK does not require any daily maintenance. However, it is advisable to perform the following maintenance at least once a year.

Table 11.3 Inspection Cleaning of SERVOPACK Loose screws Every Deterioration of SERVOPACK and/or parts on board 1 year Item and board Frequency

Inspection

Schedule for SERVOPACK Corrective Action

Operation Visually check for dust or oil on parts. Check for loose screws of teminals connectors of 1 CN and 2CN of SERVOPACK. and Retighten.

Clean with dry cloth or compressed air.

Visually check for discoloration, breakage or disconnection resulting from heat, bumping, etc.

Contact

your

YASKAWA

representative

Cooling fan Parts Replacement Schedule

Check if the fan rotates normally.

The following parts should since they may become deteriorared with age.

be replaced periodically worn mechanically or

Table 11.4

Parts Replacement Schedule

Cooling fan Smoothing Circuit Fuse Aluminum

Note: Optimum

Part Name capacitor or relays

2 to 3 years Interval 7 to 8 years -10years

Replace with new one. Remarks Replace with new one. (Decided after inspection) Upon inspection, decided whether they should be replaced. Replacewith new one. Replace with new board. Decided after inspection)

protector

electrolytic
operating

capacitor
environment

on PC board
is as follows:

5 years

Ambient temperature : 30 C on average Load factor : 80 _ or less Operating rate : 20 hours or less per day

-75-

12.
12.1

TROUBLESHOOTING
AC SERVOMOTOR

GUIDE

WARNING
Remedies after turning in _ OFF should the power. be practiced

Table
Trouble

12.1

Troubleshooting
Cause

Guide for AC SERVOMOTOR

Whatto do Measure voltage across motor terminals with a tester and correct to rated value. U, V, and W

Voltage

below

rated

Loose Motor start. does not

connection

Tighten

connection.

Wrong wiring

Correct

wiring.

Overload

load or use a larger motor. Measure voltage across motor terminals U, V, and with a tester. When correct, replace motor. Inspect and correct wprung across V, and W, and PG. _.... Reduce ambient temperature motor _ terminals _ W

Motor

defective

Unstable operation

Wrong wiring Excessive temperature. ambient

U, _] _

below 40C.

Motor overheats.

Motor surface is dirty

Clean motor surface.

Overload

Reduce load or use a larger motor.

Motor loosely mounted

Tighten

foundation

bolts.

Motor misaligned

Realign.

Unusual

noise

Coupling

out of balance

Balance

coupling. noise of bearing, representative. manufacturer. lubrication and contact

Noisy

bearing

Check alignment, your YASKAWA machine Contact the

Vibration

of driven

machine

-76-

12.2 12.2.1

SERVOPACK LED Indication

(7-segment)

for

Troubleshooting

Table LED Detection Lighting

12.2

LED

Indication

for Troubleshooting Probable Cause Corrective board Action

Condition

Goes ON when power is supplied to the control circuit. Goes ON when power is supplied to the main circuit and servo power is turned ON. MCCB does not trip. [_] Overcurrent Goes circuit and power is suppliedturned main ON when servo power is to the ON. MCCB does not trip. Goes ON when power is supplied to the main circuit, Goes ON when the motor accelerates or decelerates. Goes ON when power control circuit. is supplied to the

Defective control (1 PWB).

circuit

Replace the SERVOPACK. Replace the SERVOPACK. Correct grounding.

Defective current feedback circuit. Defective main circuit transistor module. Motor grounding Defective motor circuit transistor Defective main grounding module.

Replace the motor. Replace the SERVOPACK.

Defective module.

main circuit transistor

Replace the SERVOPACK. Replace the SERVOPACK. Replace the SERVOPACK.

,'Incomplete (1 PWB) VR8 adjustment. Defective control (1 PWB). circuit board

Circuit -_ protector tripped

main circuit, Goes ON when power is supplied

to the

Goes ON during operation.

* Defective diode module. circuit thyristormain MCCBtrips. '. Defective main circuit of SERVOPACK (Do not turn ON again.)

Replace

the SERVOPACK.

RegenerD _] ative trouble . ..

control circuit. Goes ON when power is supplied to the Goes ON to 1 after powerapproximate is supplied 0.5 to thesecond main circuit.

(1 PWB). Defective control circuit board. Defective regenerative transistor. Regenerative resistor disconnection. No regenerative resistor connection (SR60BB)

Replace the SERVOPACK. Replace the SERVOPACK. Check and replace the regenerative resistor. (Replace the SERVOPACK. Check the inertia of the machine with the value converted to the motor haft. S Replace the SERVOPACK. Correct the motor connection.

Overr__ voltage

Goes ON when the motor or decelerates,

accelerates

Load

inertia

JL (GD 2) is too large.

Defective

regenerative error.

circuit.

When Over-_ speed

the reference

is input, the motor goes ON.

Motor . Optical

connection encoder

runs fast and []

connectior_ input voltage

"

error.

The reference large, [_ drop Voltage main circuit. Goes ON when power is" supplied Goes ON when power control circuit. Goes ON during Overload is supplied to the to the Defectivemodule. diode main Defective control (1 PWB). Operation with

is too

Check pulses in phases A, B, C, U, VandWon2CN, nd a correct wiring. Decrease the reference input voltage. Replace Replace the SERVOPACK. the SERVOPACK. and correct the load

circuit circuit 105%

thyristorboard to 130% or

operation.

Check

When powerand the controlagain, the to then ON circuit is turned OFF operation starts. Goes ON during operation. When power to the control circuit is turned OFF and then ON again,

more of the rated load.

(may be overload).

Fan has stopped.

Check the fan. (SR20, 30, 44, 60) Decrease the temperature below 55C (The heat sink may be overheated.)

I Heat [_] D " sink overheat

_] and [] goes ON again. When reset later, the operation starts, available. When power to the control The motor rotates, but the torque again, circuit is turned OFF and then ON is unthe operation starts, but the torque is still unavailable.

Temperature around the SERVOPACK exceeds 551C.

such as U--*V, V_W, W-.U or Motor circuit error connection, single-phase connection.

Correct

the connection. .

-77-

12.2.1

LED

Indication

(7-segment)

for Troubleshooting

(Cont'd)

Table LED Detection

"_2.2

LED

Indication

for Troubleshooting

(Cont'd) Corrective Action

Lighting Condition

Probable Cause

A/D

error

control circuit. Goes ON when power is supplied to the

Defective control (1PWB).

circuit

board

Replace the SERVOPACK.

_1

CPU error

Goes ON during operation. Goes ON when power is supplied to the

Faulty internal elements. Defective internal elements. Defective control (1 PWB). Poor connection power supply, Defective control (1 PWB). circuit board

Resume after reset operation. Replace the SERVOPACK. Replace the SERVOPACK. Check and correct connection. the

Open phase

control circuit. power is supplied to the Goes ON when main circuit, Goes ON when power is supplied to the control circuit.

to 3-phase circuit board

Replace the SERVOPACK.

-_

Overrun prevention

The motor starts momentarily, then [] goes ON.

Motor connection error. Optical encoder connection error,

Correct the motor connection. Check and correct pulses in phases A, B, C, U, V and W with 2CN.

,all

12.2.2

Examples

of Troubleshooting

for

Defective

Wiring

or

Parts

Table Trouble MCCB trips immediately ON and Servo ON.

12.3

Example

of Troubleshooting

for

Defective

Wiring

or

Parts Whatto do

CheckItems after Power Main circuit wiring (such as the ground of motor) Voltage LED [] Trouble across , , and O. and _ ON LED OFF voltage S-ON signal Correct

the wiring.

The reference is input, but the motor does not run.

Check the AC power supply circuit. o If LEDs are ON, check the cause. Adjust the speed setting potentiometer (supplied by the user).

Speed reference LED _ P-CON, ON N-OT,

P-OT,

12.2.3

Examples

of Troubleshooting

for

Incomplete

Adjustment

Table Trouble Motor rotates even is 0 V. or vibration if the speed

12.4

Examples

of Troubleshooting Cause

for

Incomplete

Adjustment Whatto do

refer-

Incomplete ment.

ZERO

potentiometer

adjust-

Adjust

VR3

correctly.

ence voltage Motor vibrates

frequency

is

Speed

loop

gain

is too high

Turn

VR6 _

CCW to decrease

the

too high, approx 200 to 300 Hz. (When vibration frequency equals commercial frequency.)

Excessively long lead of SERVOPACK input circuit. Noise interference due to bundling signal line and power line. of

speed loop gain. * Decrease length of lead. Separate input circuit line from power line or connect input circuit to low impedance less than several 100 ohms.

Motor speed overshoot starting or stopping,

is too large at

Speed loop gain is too high

Turn _ CCW to decrease speed loop gain.

the

-78-

{ NOTES 1

-79-

AC SERVO

DRIVE

MoFoS-D

SERIES

BULLETIN
TOKYO OFFICE New Pier Takesiba Soulh Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105 Japan Phone 81-3-5402-4511 Fax 81-3-5402-4580 YASKAWA ELECTRIC AMERICA, INC. Chicago-Corporate Headquarters 2942 MacArthur Blvd. Northbrook, IL 60062-2028, U.SA. Phone 1-847-291-2340 Fax 1-847-498-2430 Chicago-Technical Center 3160 MacArthur Blvd. Northbrook, IL 60062 1917, U.S.A Phone 1-847-291-0411 Fax 1-847-291-1018 MOTOMAN INC. 805 Liberty Lane West Carrollton, OH 45449, U.S.A. Phone 1-513-847-6200 Fax 1-513-847-6277 YASKAWA EL_:TRICO DO BRASlL COMI_RClO LTDA. Avenida Brigadeiro Faria Lima 1664-5"CJ 504/511, S&o Paulo, Brazil Phone 55-11-815-77.23 Fax 55-11-870-3849 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2, 65824 Schwalbach, Germany Phone 49-6196-569-300 Fax 49-6196-888-301 Motoman Robotics AB Box 504 $38525 Tots&s, Sweden Phone 46-486-10575 Fax 46-486-41410 Motoman Robotec GmbH Kammerfeldstra,Ge l, 85391 Allershausen, Germany Phone 49-8166-900 Fax 49-8166-903_) YASKAWA ELECTRIC UK LTD. 3 Drum Mains Park Orchardton Woods Cumbernauld, Scotland, G68 9LD U.K. Phone 44 1236-735000 Fax 44-1236-458182 YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu Seoul, Korea Phone 82-2-776-7844 Fax 82-2-753-2639 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Loron 9 Chuan, #04-01, New Tech Park Singapore 556741, Singapore Phone 65-282-3003 Fax 65-289-3003 YATEC ENGINEERING CORPORATION Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan Phone 886 2-563-0010 Fax 886-2-567-4677 BEIJING OFFICE Room No. 301 Office Building of Beijing International Club, 21 Jianguomenwai Avenue, Beijing 100020, China Phone 86-10-532-1850 Fax 86-10-532-1851 SHANGHAI OFFICE Room No. 8B Wan Zhong Building 1303 Yan An Road (West), Shanghai 200050, China Phone 86 21-6212-1015 Fax 86-21-6212-1326 YASKAWA JASON (HK) COMPANY LIMITED Rm.2916, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong Phone 852-2858-3220 Fax 852-2547-5773 TAIPEI OFFICE Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan Phone 886 2-563-0010 Fax 886-2-567-4677

YASKAWA ELECTRIC CORPORATION YASKAWA

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