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All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
About this Manual
Intended Audience
This manual is intended for the following users.
• Those selecting Σ-II Series servodrives or peripheral devices for Σ-II Series servodrives.
• Those wanting to know about the ratings and characteristics of Σ-II Series servodrives.
• Those designing Σ-II Series servodrive systems.
• Those installing or wiring Σ-II Series servodrives.
• Those performing trial operation or adjustments of Σ-II Series servodrives.
• Those maintaining or inspecting Σ-II Series servodrives.
iii
Quick access to your required information
Read the chapters marked with 9 to get the information required for your purpose.
SERVOPACK
Trial
s, Linear Panel Inspection
Ratings and System Operation
Chapter Servomotors, Configuration and
Characteristics Design and Servo
and Peripheral and Wiring Maintenance
Adjustment
Devices
Chapter 1
9
Outline
Chapter 2
9
Selections
Chapter 3
Linear Servomotor
9 9 9 9
Specifications and
Dimensional Drawings
Chapter 4
SERVOPACK Specifications 9 9 9 9
and Dimensional Drawings
Chapter 5
Serial Converter Unit 9 9 9 9
Specifications and Drawings
Chapter 6
Specifications and Drawings
9 9 9 9
of Cables and Peripheral
Devices
Chapter 7
9 9 9
Installation and Wiring
Chapter 8
9 9
Panel Operator
Chapter 9
9
Operation
Chapter 10
9
Adjustment
Chapter 11
Inspection, Maintenance, and 9
Troubleshooting
Chapter 12
9 9 9 9
Appendix
■ Visual Aids
The following aids are used to indicate certain types of information for easier reference.
IMPORTANT • Indicates important information that should be memorized, including precautions such as alarm dis-
plays to avoid damaging the devices.
TERMS • Indicates definitions of difficult terms or terms that have not been previously explained in this man-
ual.
iv
Related Manuals
v
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.
WARNING Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious consequences if not heeded.
PROHIBITED Indicates prohibited actions that must not be performed. For example, this symbol
MANDATORY Indicates compulsory actions that must be performed. For example, this symbol would
The warning symbols for ISO and JIS standards are different, as shown below.
ISO JIS
vi
Notes for Safe Operation
Read this manual thoroughly before checking products on delivery, storage and transportation, installation,
wiring, operation and inspection, and disposal of the AC servodrive.
WARNING
• If you have a pacemaker or any other electronic medical device, do not go near the magnetic
way of the linear servomotor.
Failure to observe this warning may result in the malfunction of the medical device.
• Be sure to use nonmagnetic tools when installing or working close to the linear servomotor.
(Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)
• If starting an operation with the linear servomotor in a machine, set the linear servomotor to
always allow emergency stops.
Failure to observe this warning may result in injury.
• Never touch the linear servomotor or machinery during operation.
Failure to observe this warning may result in injury.
• Before wiring, install the SERVOPACK and the linear servomotor.
Failure to observe this warning may result in electric shock.
• Do not operate switches with wet hands.
Failure to observe this warning may result in electric shock.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Make sure that the main circuit power cable, the control power cable, and the linear
servomotor main circuit cable are wired correctly.
Failure to observe this warning may result in damage to the SERVOPACK.
• Follow the procedures and instructions for trial operation precisely as described in this man-
ual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• The SGDH SERVOPACK supports both AC and DC power. If DC power is supplied to the
SERVOPACK without setting Pn001=n.1 (DC power input), the internal components
of the SERVOPACK will burn and may result in fire or serious damage.
Before using a DC power supply, be sure to check the parameter Pn001 setting.
• Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
vii
WARNING
• Provide an appropriate stopping device on the machine side to ensure safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting momentary power loss to avoid an
unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
Checking on Delivery
CAUTION
• Always use the linear servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
CAUTION
• Be sure to store the magnetic way of the linear servomotor in the same way as it was originally packaged.
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Do not carry the linear servomotor by its cables.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
viii
Installation
CAUTION
• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near
the stator because they may be affected by the magnetic attraction of the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way's magnets.
• Do not use the magnetic way near metal or other magnetized objects.
Failure to observe this caution may result in injury.
• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic way.
Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.
• Securely mount the linear servomotor on to the machine.
If the linear servomotor is not mounted securely, it may loosen during operation.
• Do not carry the magnetic way by its magnet protection cover.
Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become dis-
torted.
Cover
Magnetic way
• When removing the dummy plate for reducing magnetic force used for the SGLFM magnetic way, pay
attention to the magnetic attraction of the magnetic way. Do not place the removed plate close to the
magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way’s magnets or the magnet protection
cover.
• Install SERVOPACKs, linear servomotors, and regenerative resistors on nonflammable objects.
Mounting directly onto or near flammable objects may result in fire.
• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
Failure to observe this caution may result in malfunction.
ix
Wiring
CAUTION
• Securely tighten the cable connector screws and securing mechanism.
If the connector screws and securing mechanism are not secure, they may loosen during operation.
• Use power lines and cables with a radius, heat resistance, and flexibility suitable for the system.
• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply of the SERVOPACK.
The continuous flow of a large current may cause fire.
• Use a noise filter to minimize the effects of electromagnetic damage.
Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SERVO-
PACK.
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminals and motor output terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm (11.81 in).
Failure to observe this caution may result in malfunction.
• Use shielded twisted-pair wire or shielded multi-core twisted-pair wire for the signal lines and feedback lines
of the serial converter unit (SC).
The maximum wiring length is 3 m for the reference input line and 20 m for the SC feedback line.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses
to deteriorate, resulting in unexpected problems.
• Observe the following precautions when wiring main circuit terminal blocks.
• Remove the terminal block from the SERVOPACK prior to wiring.
• Insert only one wire per terminal on the terminal block.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
x
CAUTION
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies including power supply lines.
Failure to observe this caution may result in damage to the product.
Operation
CAUTION
• Do not stand within the machine's range of motion during operation.
Failure to observe this caution may result in injury.
• Before operation, install a limit switch or stopper on the end of the slider to prevent unexpected movement.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters of the
machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point
search mode using parameter Fn003.
• If using the linear servomotor on a vertical axis, install a safety device such as a counterbalance so that the
workpiece does not fall if an alarm or overtravel occurs. Set the linear servomotor so that it will stop in the
zero clamp state at occurrence of overtravel.
The workpiece may fall during overtraveling.
• When not using the online autotuning, set to the correct mass ratio.
Setting to an incorrect moment of inertia ratio may cause vibration.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in injury.
xi
Maintenance and Inspection
CAUTION
• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new
SERVOPACK before resuming operation.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble the linear servomotor.
Failure to observe this caution may result in electric shock or injury.
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
General Precautions
Note the following to ensure safe application.
• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace
the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as a next
edition.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall
not be liable for any damages or troubles resulting from unauthorized modification.
xii
CONTENTS
About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.1.4 Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
Selections
2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Coil Assembly - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Magnetic Way - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
xiii
2.6.4 Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
2.6.5 Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
xiv
4.3.4 Three-phase 200 V, 7.5 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.5 Three-phase 400 V, 500 W to 3.0 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.6 Three-phase 400 V, 5.0 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.3.7 Three-phase 400 V, 7.5 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
xv
6.5 Flexible Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.6 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.6.1 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.6.2 Single-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.6.3 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.6.4 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
Wiring
7.1 Linear Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)- - - - - - - - - - - - - - - - - - - - - - - - -7-4
7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core) - - - - - - - - - - - - - - - - - - - - - - -7-7
7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core) - - - - - - - - - - - - - - - - - - - - - 7-11
xvi
7.4.2 Position Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
7.4.3 Force Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25
7.4.4 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26
7.4.5 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
7.4.6 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
xvii
8.4.2 Sequence I/O Signal Monitor Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter - - - - - - - - - - - - - 8-33
8.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later)
8-34
8.4.6 Hall Sensor Signal Monitor (For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - 8-35
Operation
9.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.2 Trial Operation Using SERVOPACK Internal References - - - - - - - - - - - - - - - - - 9-6
9.2.1 SERVOPACK Setup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6
9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors - - - - - - - - - - - - - - - - - - - - - - -9-6
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors - - - - - - - - - - - - - - - - - - - - 9-12
9.3 Trial Operation for Linear Servomotor without Load from Host
Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
9.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) - - - - - - - - - - - - - - - - - - - - 9-24
9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1) - - - - - - - - - - - - - - - - - - 9-26
9.4 Trial Operation with the Linear Servomotor Connected to the Machine - - - - - - 9-28
9.5 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29
9.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
9.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
9.6.2 Switching the Linear Servomotor Movement Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31
9.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-32
9.6.4 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-34
9.6.5 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35
9.6.6 Motor Maximum Speed (For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - - 9-35
xviii
9.8.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-55
9.8.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-57
9.8.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-58
9.8.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-59
9.10 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - 9-65
9.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-65
9.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-66
9.10.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-66
10
Adjustments
10.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
xix
10.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
10.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
10.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13
10.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13
10.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14
10.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14
11
12
Appendix
12.1 Linear Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - 12-2
12.2 Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - 12-4
12.2.1 Simple Calculation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.2.2 Calculating the Regenerative Energy - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-7
xx
12.3 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-16
12.3.1 Example of Connection to MP2200/MP2300 2-axes Motion Module SVA-01 - - - - - - - - - - 12-16
12.3.2 Example of Connection to OMRON’s Motion Control Unit - - - - - - - - - - - - - - - - - - - - - - - 12-17
12.3.3 Example of Connection to OMRON’s Position Control Unit - - - - - - - - - - - - - - - - - - - - - - 12-18
12.3.4 Example of Connection to OMRON’s Position Control Unit C500-NC221 (SERVOPACK in Speed
Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-19
12.3.5 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Posi-
tion Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20
12.3.6 Example of Connection to Mitsubishi’s AD72 Positioning Unit
(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21
12.3.7 Example of Connection to Mitsubishi’s AD75 Positioning Unit
(SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22
INDEX
Revision History
xxi
xxii
1
1
Outline
1-1
1 Outline
1.1.1 Check Items
If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.
1-2
1.1 Checking Products
(2) SGLFW and SGLFM Linear Servomotors with F-type Iron Core and
SGLTW and SGLTM Linear Servomotors with T-type Iron Core
y SGLFW and SGLFM y Coil assembly
Nameplate
Note: The location of the nameplate varies depending on the model and capacity of the linear servomotor.
1.1.3 SERVOPACKs
y SGDH for 50 W to 5.0 kW y SGDH for 7.5 kW
SERVOPACK
SERVOPACK MODEL SGDH-30AE
model AC-INPUT AC-OUTPUT
VOLTS 200-230 VOLTS 0-230 Applicable
Hz 50/60 PHASE 3 motor
Applicable PHASE 3 AMPS 24.8
power supply capacity
AMPS 18.6 KU (MP) 3.0 (4.0)
Serial S/N 412808-15-1
number
YASKAWA ELECTRIC
MADE IN JAPAN
1-3
1 Outline
1.1.4 Serial Converter Units
1-4
1.2 Product Part Names
1
Coil assembly
Hall sensor
unit
Magnetic way
Spacer for
installation
1-5
1 Outline
1.2.2 SERVOPACKs
1.2.2 SERVOPACKs
(1) SGDH for 50 W to 5.0 kW
With the front cover open
MODE/SET DATA/
CHARGE POWER
Panel display
YASKAWA SERVOPACK Front cover
5-digit, 7-segment LED used to display
SERVOPACK status, alarm status, and other YASKAWA SGDH- SERVOPACK model
Refer to 2.3 SERVOPACK Model
values when parameters are input.
Designations.
Refer to 8.1.2 Key Names and Functions.
Panel keys
Panel operator Used to set parameters.
Charge indicator Refer to 8.1.2 Key Names and Functions.
MODE/SET DATA/
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit power CHARGE POWER Power ON indicator
supply capacitor remains charged. Therefore, Lights when the control power supply is ON.
do not touch the SERVOPACK even after the power
supply is turned OFF if the indicator is lit.
CN3 Connector for personal computer monitoring
Main circuit power and digital operator
supply terminals Used to communicate with a personal computer
Used for main circuit power supply input. or to connect a digital operator.
Refer to 7.2 Wiring Main Circuit. Refer to 6.8.1 Cables for Connecting Personal
Computer and 6.8.2 Digital Operator.
1-6
1.2 Product Part Names
Panel switch
Charge indicator
CHARGE
! WARNING
Control circuit
terminal∗
L1C L2C CN1 CN2
Regenerative resistor
connecting terminals: B1, B2 ∗
* Control circuit terminal and regenerative resistor connecting terminals differ the position of the termi-
nal block by the SERVOPACK model.
Refer to Chapter 4 SERVOPACK Specifications and Dimensional Drawings for details.
SERVOPACK model SGDH-75AE: Refer to 4.7.7 Three-phase 200 V: 7.5 kW (75AE).
SERVOPACK model SGDH-75DE: Refer to 4.7.8 Three-phase 400 V: 7.5 kW (75DE).
1-7
1 Outline
1.3.1 Single-phase, 200 V Main Circuit
L1 C
N
L2 3
Connection cable
+1
for personal computer
+2 (Refer to 2.6.1.)
-
C
Host controller
L1C N I/O signal cable
L2C 1 (Refer to 2.6.1.)
B1
B2
Regenerative U
resistor
Connect an external V
regenerative resistor C
to terminals B1 and B2 W N
if the regenerative
capacity is insufficient.
(Refer to 2.6.4.) Connection cable
for serial converter unit
(Refer to 2.5.)
Linear scale
(To be provided by
users.)
(Refer to 2.6.5.)
1-8
1.3 Examples of Servo System Configurations
1
detected.
(Refer to 2.6.2.)
*3: To connect a DC reactor, refer to 7.5.5 DC Reactor for Harmonic
Suppression.
Noise filter
Eliminates external noise
from the power line.
(Refer to 2.6.3.)
1 Host controller
*1 2 I/O signal cable
C
*3 N
1
L1C
L2C
B1
B2
B3
Regenerative *2 U
C
N
(Refer to 2.6.1.)
resistor V
2
Connect an external W
regenerative resistor
to terminals B1 and B2 Connection cable for
if the regenerative
capacity is insufficient. serial converter unit
(Refer to 2.6.4.) (Refer to 2.5.)
Linear scale
(To be provided by
users)
(Refer to 2.6.5.)
1-9
1 Outline
1.3.3 Three-phase, 400 V Main Circuit
Noise filter
Eliminates external
noise from the power
line.
(Refer to 2.6.3.)
Digital
operator
Magnetic SGDH-DE (Refer to 2.6.1.)
contactor SERVOPACK
Turns the servo
ON and OFF.
Install a surge Connection cable
suppressor.
YASKAWA 200V for digital operator
Refer to SERVOPACK Personal computer
2.6.3.) SGDH-
Connection cable
for personal computer
MODE/SET DATA/
CHARGE POWER
L1 C
(Refer to 2.6.1.)
N
L2 3
L3
Host controller
1
2 I/O signal cable
C
*3 N
1
24V
0V
B1
B2
*1 B3
*2 C
(Refer to 2.6.1.)
+ − U N
2
DC power V
supply W
(24 VDC)
Connection cable for
serial convertr unit
(Refer to 2.5.)
Regenerative
resistor
Connect an external
regenerative resistor
to terminals B1 and B2 Main circuit cable for
if the rgenerative capacity linear servomotor Encoder
is insufficient. Connection cable
(Refer to 2.5.) cable
(Refer to 2.6.4.) (Refer to 2.5.)
for hall sensor
(Refer to 2.5.)
Linear scale
(To be provided by
users.)
(Refer to 2.6.5.)
Linear servomotor
wirh core
1-10
1.4 Applicable Standards
C UL
R US
R
C US 1
LISTED
Model UL∗1 Standards (UL File No.) CSA∗2 Standards Certifications
CSA C22.2
SERVOPACK • SGDH UL508C(E147823) UL
No.14
* 1. Underwriters Laboratories Inc.
* 2. Canadian Standards Association.
1.4.2 CE Marking
1-11
1 Outline
1.4.2 CE Marking
1-12
2
Selections
2
2-1
2 Selections
2.1.1 Coil Assembly
SGL G W 㧙 40 A 140 A P
Linear Σ Series
Linear servomotor
Servomotor Model
Code Specifications
G Coreless
F F-type iron core
T T-type iron core
W : Coil assembly
Hall Sensor/Cooling
Code Specifications Applicable models
Magnet height
P With hall sensor (standard) All motor models
Voltage C Forced cooling
SGLGW-40A, -60A, -90A
A㧦200 VAC H With hall sensor and forced cooling
D㧦400 VAC
− Without hall sensor All motor models
2-2
2.2 SERVOPACK Model Designation
SGDH - 10 A E
Σ-II Series SGDH
SERVOPACK
Model (Fixed)
Power Supply Voltage
Code Remarks
Code Voltage
Single/Three-phase, 200V For force, speed, and position control
A
E
Three-phase, 400V Applicable for various application modules
D
2-3
2 Selections
2-4
2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors
2-5
2 Selections
Note: When using a 400-V winding linear servomotor with a 200-V SERVOPACK, the parameters in the
serial converter should be changed. Contact your Yaskawa representatives.
2-6
2.5 Selecting Cables
MODE/SET DATA/
CHARGE POWER
L1 C
N
L2 3
L3
1
2
C
N
1
L1C
L2
B1
B2
3
B3
C
U N
2
V
W
CN2
Serial converter
2
unit
Linear scale
(To be provided
by users.)
Hall sensor
unit
Linear servomotor
Applicable
Cable Refer-
Name Connection Linear Servo- Cable Type Specifications
Length ence
motor Model
1m JZSP-CLN11-01
SGLGW-30,-40
3 m JZSP-CLN11-03
Linear servomotor
SERVOPACK
and -60 5m JZSP-CLN11-05 end end
SGLFW-20 10 m JZSP-CLN11-10
SGLFW-35
15 m JZSP-CLN11-15
20 m JZSP-CLN11-20
1m JZSP-CLN21-01
SGLGW-90 3m JZSP-CLN21-03
c Between SERVO- SGLFW-50 and SERVOPACK Linear servomotor
Linear Servo- 5m JZSP-CLN21-05 end end
PACK and linear -1Z 6.1
motor Main
servomotor SGLTW-20,-35 10 m JZSP-CLN21-10
Circuit Cables
and -50 15 m JZSP-CLN21-15
20 m JZSP-CLN21-20
1m JZSP-CLN39-01
3m JZSP-CLN39-03 SERVOPACK Linear servomotor
5m JZSP-CLN39-05 end end
SGLTW-40 and
-80 10 m JZSP-CLN39-10
15 m JZSP-CLN39-15
20 m JZSP-CLN39-20
1m JZSP-CLL00-01
3m JZSP-CLL00-03 Serial converter unit Linear scale
d end end
Between serial convert-
Encoder All models 5m JZSP-CLL00-05 6.3
er unit and linear scale
Cables 10 m JZSP-CLL00-10
15 m JZSP-CLL00-15
2-7
2 Selections
Applicable
Cable Refer-
Name Connection Linear Servo- Cable Type Specifications
Length ence
motor Model
1m JZSP-CLP70-01
e 3m JZSP-CLP70-03 SERVOPACK Serial converter unit
Between SERVO- end
Connection 5m JZSP-CLP70-05 end
PACK connector CN2
cables for seri- All models 6.2
and 10 m JZSP-CLP70-10
al converter
serial converter unit
unit 15 m JZSP-CLP70-15
20 m JZSP-CLP70-20
1m JZSP-CLL10-01
f 3m JZSP-CLL10-03 Serial converter unit Hall sensor unit
Between serial convert- end end
Connection 6.4
er unit and hall sensor All models 5m JZSP-CLL10-05
cables for hall
unit 10 m JZSP-CLL10-10
sensor
15 m JZSP-CLL10-15
Note: A connector is not provided on the linear servomotor end of the main circuit cable, type JZSP-
CLN39-. The user must provide the connector on the linear servomotor end. For details on the
required connector, refer to 6.1 Linear Servomotor Main Circuit Cables.
2-8
2.6 Selecting Peripheral Devices
d Digital operator
e Connection cable
for digital operator Personal
computer
YASKAWA 200V
f Connection cable 2
SERVOPACK
SGDH-
L1
L2
C
N CN3
3
L3
Host controller
1
2
C
N
c I/O signal cable
L1C
1
CN1
L2
B1
B2
B3
C
U N
2
V
CN8
CN10 h
NS500 NS600
NS100 NS115 NS300
CN7
7
8
S S
6
9 X
0 1
5
10
W W
4
CN11 CN11
3
2
1 1
7
8
6
9 X
YASKAWA 200V
0 1
5
4 1
SERVOPACK A A
3
2
7
8
6
SGDH- 9 D
Connector
R R
0 1
R
5
4
3
CN6A CN6A
2
S S C
N
W W 11
2 2 6
C C S
CN4
MODE/SET DATA/ N N N
S
CN6 CN6
POWER
CHARGE
6 6
L1 C A A
N
CN6B CN6B
L2 3
L3
1
C C
2 N N
C 6 6
N B B
L1C
L2
1
2-9
2 Selections
2.6.1 Special Options
Refer-
Name Length Type Specifications
ence
Terminal block and 0.5 m connection
cable
Connector terminal block
JUSP-TA50P 6.8.4
converter unit
c CN1
I/O Signal
Cables 1m JZSP-CKI01-1 Loose wires at host controller end
Cable with
loose wires at 2m JZSP-CKI01-2 6.7.1
one end 3m JZSP-CKI01-3
3m JZSP–CKI0D–03
With connection cable (1 m)
6.8.2
Only required when using Σ series
Digital Operator JUSP-OP02A-1.
e CN3
Connection Cable 1m JZSP-CMS00-1 SERVOPACK Operator
end end
for Digital Operator
g CN5
1m
JZSP-CA01 SERVOPACK end Monitor end
6.8.3
Analog Monitor Cable (or DE9404559)
Refer-
Name Type
ence
MECHATROLINK-I Application Module
JUSP-NS100 6.8.10
(NS100)
MECHATROLINK-II Application Module
JUSP-NS115 6.8.10
hApplication Module ∗ (NS115)
DeviceNet Application Module (NS300) JUSP-NS300 6.8.11
PROFIBUS-DP Application Module (NS500) JUSP-NS500 6.8.12
INDEXER Application Module (NS600) JUSP-NS600 6.8.13
* For details, refer to the manuals of each application module.
**The 50-pin female D-sub output connector mates to a customer-supplied 3rd party terminal block. (e.g.,
Wago #289-449, Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many oth-
ers)
2-10
2.6 Selecting Peripheral Devices
* 1. Nominal value at the rated load. The specified derating is required to select an appropriate
fuse capacity.
* 2. Cutoff characteristics (25°C): 300% five seconds min. and inrush current of 20ms.
* 3. A preventive circuit for inrush current is not built in the 24 VDC control power supply. The
protective circuit must be designed by the customer.
* 4. Make sure the current capacity is accurate. For the SERVOPACK with the cooling fan built-
in, an inrush current flows; 200 % of the current capacity in the table above for two seconds,
when turning ON the control circuit power supply to start the fan working.
Note: Do not use a fast-acting fuse. Because the SERVOPACK’s power supply is a capacitor
input type, a fast-acting fuse may blow when the power is turned ON.
IMPORTANT The SGDH SERVOPACK does not include a protective grounding circuit. Install a ground-fault protector
to protect the system against overload and short-circuit or protective grounding combined with the molded-
case circuit breaker.
2-11
2 Selections
2.6.3 Noise Filters and DC Reactors
Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors accord-
ing to the total capacity.
2. The following table shows the manufacturers of each device.
2-12
2.6 Selecting Peripheral Devices
Note: 1. If the SERVOPACK cannot process the regenerative power, an external regenerative resistor is
required. Refer to 6.8.5 External Regenerative Resistor, 6.8.6 Regenerative Resistor, and 7.6
Connecting Regenerative Resistors.
2. The following table shows the manufacturers of each device.
2-13
2 Selections
2.6.5 Linear Scales
2-14
3
Specifications and Dimensional Drawings
3
3.1 Ratings and Specifications of SGLGW/SGLGM - - - - - - - - - - - - - - - - - - - - 3-2
3.2 Ratings and Specifications of SGLFW/SGLFM - - - - - - - - - - - - - - - - - - - - 3-6
3.3 Ratings and Specifications of SGLTW/SGLTM - - - - - - - - - - - - - - - - - - - - - 3-9
3.4 Mechanical Specifications of Linear Servomotors - - - - - - - - - - - - - - - - - 3-15
3.5 Quick Guide to Linear Servomotor Dimensional Drawings - - - - - - - - - - - 3-16
3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors - - - - - - - 3-17
3.6.1 SGLG-30 Linear Servomotors -------------------------------------- 3-17
3.6.2 SGLG-40 Linear Servomotors -------------------------------------- 3-19
3.6.3 SGLG-60 Linear Servomotors -------------------------------------- 3-22
3.6.4 SGLG-90 Linear Servomotors -------------------------------------- 3-25
3-1
3 Specifications and Dimensional Drawings
3-2
3.1 Ratings and Specifications of SGLGW/SGLGM
2. The above specifications show the values under the cooling condition when a heat sink (aluminium board)
listed in the following table is mounted on the coil assembly.
The values of peak speed in the table indicate the maximum speed that can be controlled from SERVOPACK. Refer to
Force and Speed Characteristics for the actual motor peak speed. 3
(b) With High-force Magnetic Ways
The following table shows the ratings and specifications when the high-force magnetic ways are used.
Linear Servomotor 40A 60A
Model SGLGM-C-M
+ 140C 253C 365C 140C 253C 365C
SGLGW-
Rated Speed m/s 1.5 1.5 1.5 1.5 1.5 1.5
Peak Speed m/s 5 5 5 5 5 5
Rated Force∗ N 57 114 171 85 170 255
Rated Current∗ Arms 0.8 1.6 2.4 1.2 2.2 3.3
Instantaneous Peak
N 230 460 690 360 720 1080
Force∗
Instantaneous Peak
Arms 3.2 6.5 9.7 5.0 10.0 14.9
Current∗
Coil Assembly Mass kg 0.34 0.60 0.87 0.42 0.76 1.10
Force Constant N / Arms 76.0 76.0 76.0 77.4 77.4 77.4
BEMF Constant V /(m / s) 25.3 25.3 25.3 25.8 25.8 25.8
Motor Constant N/ w 9.6 13.6 16.7 12.9 18.2 22.3
Electrical Time
ms 0.4 0.4 0.4 0.5 0.5 0.5
Constant
Mechanical Time
ms 3.69 3.24 3.12 2.52 2.29 2.21
Constant
Thermal Resistance
K/W 1.67 0.87 0.58 1.56 0.77 0.51
With Heat Sink
Thermal Resistance
K/W 3.02 1.80 1.23 2.59 1.48 1.15
Without Heat Sink
Magnetic Attraction N 0 0 0 0 0 0
3-3
3 Specifications and Dimensional Drawings
5.0 5.0
Motor 4.0 Motor 4.0
speed speed
m/s 3.0 m/s 3.0
A B A B
2.0 2.0
1.0 1.0
0 0
0 10 20 30 40 50 0 20 40 60 80 100
Force (N) Force (N)
0 0 0
0 100 200 300 0 200 400 600 0 300 600 900
Force (N) Force (N) Force (N)
0 0 0
0 300 600 900 1200 1500 0 500 1000 1500 2000 2500 0 700 1400 2100 2800 3500
Force (N) Force (N) Force (N)
3-4
3.1 Ratings and Specifications of SGLGW/SGLGM
4 4 4
1 1 1
0 0 0
0 50 100 150 200 250 0 100 200 300 400 500 0 150 300 450 600 750
Force N Force N Force N
4 4 4
Motor Motor Motor
speed 3 speed 3 speed 3
m/s m/s m/s
2 2 2
A B A B A B
1 1 1
0 0 0
0 80 160 240 320 400 0 160 320 480 640 800 0 240 480 720 960 1200
Force (N) Force (N) Force (N)
3-5
3 Specifications and Dimensional Drawings
Note: 1. The items marked with an * and “Force and Speed Characteristics” are the values at a motor winding tem-
perature of 100 °C (212°F) during operation in combination with a SERVOPACK. The others are at 20 °C
(68°F).
2. The above specifications show the values under the cooling condition when a heat sink (aluminium board)
listed in the following table is mounted on the coil assembly.
Linear Servomotor Heat Sink Size
Model SGLFW- in mm (in)
20A090A 125 × 125 × 13
20A120A (4.92 × 4.92 × 0.51)
35120A 254 × 254 × 25
35230A (10.0 × 10.0 × 0.98)
50200B
400 × 500 × 40
50380B
(15.75 × 19.69 × 1.57)
1Z200B
609 × 762 × 50
1Z380B
(23.98 × 30.00 × 1.97)
3. The values of peak speed in the table indicate the maximum speed that can be controlled from
SERVOPACK. Refer to Force and Speed Characteristics for the actual motor peak speed.
3-6
3.2 Ratings and Specifications of SGLFW/SGLFM
5 5
Motor 4 Motor 4
speed speed
m/s 3 m/s 3
A B A B
2 2
1 1
0 0
0 20 40 60 80 100 0 40 80 120 140
Force (N) Force (N)
3
SGLFW-35A120A SGLFW-35A230A
6 6
5 5
Motor 4 Motor 4
speed speed
m/s 3 m/s 3
A B A B
2 2
1 1
0 0
0 50 100 150 200 250 0 100 200 300 400 500
Force (N) Force (N)
SGLFW-50A200B SGLFW-50A380B
6 6
5 5
Motor 4 Motor 4
speed speed
m/s 3 m/s 3
A B A B
2 2
1 1
0 0
0 200 400 600 800 0 500 1000 1500
Force (N) Force (N)
SGLFW-1ZA200B SGLFW-1ZA380B
6 6
5 5
Motor 4 Motor 4
speed speed
m/s 3 m/s 3
A B A B
2 2
1 1
0 0
0 500 1000 1500 0 1000 2000 3000
Force (N) Force (N)
3-7
3 Specifications and Dimensional Drawings
5 5
Motor 4 Motor 4
speed speed
m/s 3 m/s 3
A B A B
2 2
1 1
0 0
0 50 100 150 200 250 0 100 200 300 400 500
Force (N) Force (N)
SGLFW-50D200B SGLFW-50D380B
6 6
5 5
Motor 4 Motor 4
speed speed
m/s 3 m/s 3
A B A B
2 2
1 1
0 0
0 200 400 600 800 0 500 1000 1500
Force (N) Force (N)
SGLFW-1ZD200B SGLFW-1ZD380B
6 6
5 5
Motor 4 Motor 4
speed speed
m/s 3 m/s 3 A
A B B
2 2
1 1
0 0
0 500 1000 1500 0 1000 2000 3000
Force (N) Force (N)
Note: The dotted line indicates characteristics when the linear servomotor for 400 VAC is used with an input power
supply for 200 VAC. In this case, the serial converter should be changed. Contact your Yaskawa representa-
tives.
3-8
3.3 Ratings and Specifications of SGLTW/SGLTM
Ratings and Specifications of SGLTW Linear Servomotors with T-type Iron Core
Voltage 200V
Linear Servomotor 20A 35A 40A 80A
Model SGLTW- 170A 320A 460A 170A 320A 460A 400B 600B 400B 600B
Rates Speed m/s 3 3 3 2.5 2.5 2.5 1.5 1.5 1.5 1.5
Peak Speed m/s 5 5 5 5 5 5 5 5 5 5
Rated Force∗ N 130 250 380 220 440 670 670 1000 1300 2000
3
Rated Current∗ Arms 2.3 4.4 6.7 3.5 7 10.7 7.3 10.9 11.1 17.1
Instantaneous Peak
N 380 760 1140 660 1320 2000 2600 4000 5000 7500
Force∗
Instantaneous Peak
Arms 7.7 15.4 23.2 12.1 24.2 36.7 39.4 60.6 57.9 86.9
Current∗
Coil Assembly Mass kg 2.5 4.6 6.7 3.7 6.8 10.0 15 23 24 35
Force Constant N / Arms 61.0 61.0 61.0 67.5 67.5 67.5 99.1 99.1 126 126
BEMF Constant V /(m / s) 20.3 20.3 20.3 22.5 22.5 22.5 33 33 42 42
Motor Constant N/ w 18.7 26.5 32.3 26.7 37.5 46.4 61.4 75.2 94.7 116
Electrical Time
ms 5.9 5.9 5.9 6.9 6.8 7.0 15.2 15.2 17 17
Constant
Mechanical Time
ms 7.5 6.5 6.4 5.2 4.8 4.6 4 4 3 3
Constant
Thermal Resistance
K/W 1.01 0.49 0.38 0.76 0.44 0.32 0.24 0.2 0.22 0.18
With Heat Sink
Thermal Resistance
K/W 1.82 1.11 0.74 1.26 0.95 0.61 0.57 0.4 0.47 0.33
Without Heat Sink
Magnetic
N 0 0 0 0 0 0 0 0 0 0
Attraction∗1
Magnetic
N 802 1591 2380 1403 2784 4165 3950 5890 7650 11400
Attraction∗2
3-9
3 Specifications and Dimensional Drawings
3-10
3.3 Ratings and Specifications of SGLTW/SGLTM
Note: 1. The items marked with an * and “Force and Speed Characteristics” are the values at a motor winding tem-
perature of 100 °C (212°F) during operation in combination with a SERVOPACK. The others are at 20 °C
(68°F).
2. The above specifications show the values under the cooling condition when a heat sink (aluminium board)
listed in the following table is mounted on the coil assembly.
3-11
3 Specifications and Dimensional Drawings
5 5 5
1 1 1
0 0 0
0 100 200 300 400 0 200 400 600 800 0 200 400 600 800 1000 1200
Force (N) Force (N) Force (N)
5 5 5
1 1 1
0 0 0
0 200 400 600 700 0 400 800 1200 1400 0 500 1000 1500 2000 2500
Force (N) Force (N) Force (N)
SGLTW-35A170H SGLTW-35A320H
5 6
4 5
Motor Motor 4
speed 3 speed
m/s A B m/s 3
2 A B
2
1 1
0 0
0 200 400 600 0 400 800 1200
Force (N) Force (N)
SGLTW-50A170H SGLTW-50A320H
5 5
4 4
Motor Motor
speed 3 speed 3
m/s m/s
2 2
A B A B
1 1
0 0
0 300 600 900 0 600 1200 1800
Force (N) Force (N)
3-12
3.3 Ratings and Specifications of SGLTW/SGLTM
3 3
Motor Motor
speed speed
m/s 2 m/s 2
A B
1 1
A B
0 0
0 1000 2000 3000 0 2000 4000
Force (N) Force (N)
SGLTW-80A400B SGLTW-80A600B
4 4 3
3 3
Motor Motor
speed speed
m/s 2 m/s 2
1 1
A B A B
0 0
0 2000 4000 6000 0 2000 4000 6000 8000
Force (N) Force (N)
3-13
3 Specifications and Dimensional Drawings
4 5
Motor A B Motor 4
speed 3 speed A B
m/s m/s 3
2
2
1 1
0 0
0 200 400 600 0 400 800 1200
Force (N) Force (N)
SGLTW-50D170H SGLTW-50D320H
5 5
4 4
Motor Motor
speed 3 speed 3
m/s m/s
A B A B
2 2
1 1
0 0
0 300 600 900 0 600 1200 1800
Force (N) Force (N)
SGLTW-40D400B SGLTW-40D600B
4 4
3 3
Motor Motor
speed A speed A
m/s 2 m/s 2
B B
1 1
0 0
0 1000 2000 3000 0 2000 4000
Force (N) Force (N)
SGLTW-80D400B SGLTW-80D600B
4 4
3 3
Motor Motor
speed A speed A
m/s 2 m/s 2
B B
1 1
0 0
0 2000 4000 6000 0 2000 4000 6000 8000
Force (N) Force (N)
Note: The dotted line indicates characteristics when the linear servomotor for 400 VAC is used with an input power
supply for 200 VAC. In this case, the serial converter should be changed. Contact your Yaskawa representa-
tives.
3-14
3.4 Mechanical Specifications of Linear Servomotors
3-15
3 Specifications and Dimensional Drawings
3-16
3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors
17 (0.67)
4×M4 mounting screw,
depth 5 (0.20)
2×screw
#4-40 UNC
(19.69±1.97)
L5 L4
500±50
Cable The coil assembly moves in the direction indicated by the arrow
UL20276,AWG26 Cable
when current flows in the order of phase U, V, and W.
UL2517,AWG25
3
500±50 (19.69±1.97)
Nameplate 2×2-M4
L1 Mounting screw depth: 5 (0.20) on both sides
φ5.3
12 (0.47)
(φ0.21)* 15 (0.59) L3
(0.12)
22 (0.87)
φ5 (0.20)*
48.5 (1.91)
57 (2.24)*
44 (1.73)
L2
1 (0.04)
W A
N Ins. May cause injury.
Keep magnetic materials
away.
* Reference length
Units: mm (in)
G (Gap) G (Gap)
24 (0.94)
Hall Sensor Linear Servomotor Hall Sensor Output Signals
Connector Specifications Connector Specifications
6 Pin No. Name When the coil assembly moves in the
9 Lead
Pin No. Name Color direction indicated by the arrow in the
1 5V (Power supply)
figure, the relationship between the hall
1 Phase U Red
5 2 Phase U sensor output signals Su, Sv, Sw and
1 Phase V White
Plug type: 350779-1 2 the inverse power of each motor phase
3 Phase V Vu, Vv, Vw becomes as shown in the
Pin type: 350924-1 or 3 Phase W Blue
Pin connector type: following figure.
4 Phase W 770672-1
17JE-23090-02 (D8C) 4 FG Green
made by Tyco
made by DDK Ltd. 5 0V (Power supply)
Electronics AMP K.K.
The mating connector 6 Not used
Vu Su
Socket connector type: 7 Not used The mating connector
17JE-13090-02 (D8C) Cap type: 350780-1
8 Not used Socket type: 350925-1 or
Stud type:17L-002C or Inverse
17L-002C1 9 Not used 770673-1 power Vv Sv
(V)
Vw Sw
Approx.
Coil Assembly G
Model SGLGW-
L1 L2 L3 L4 L5
(Gap) Mass∗
kg (lb)
50 48 30 20 20 0.85 0.14
30A050C
(1.97) (1.89) (1.18) (0.79) (0.79) (0.03) (0.31)
80 72 50 30 25 0.95 0.19
30A080C
(3.15) (2.83) (1.97) (1.18) (0.98) (0.04) (0.42)
* The value indicates the mass of coil assembly with a hall sensor unit.
3-17
3 Specifications and Dimensional Drawings
3.6.1 SGLG-30 Linear Servomotors
44 (1.73)
May cause injury.
Keep magnetic materials
WARNING away.
N×4.5 holes
4.5 (0.18)
18 24 (0.94)
8×counter boring 5 (0.20) L
36 (1.42) Pitch 54 (2.13) (0.71)*
L2
0.1
L1 0.3 1 unit)
* Reference length
N×M4 Mounting holes, depth 6 (0.24) Units: mm (in)
Pitch 54 (2.13)
27 (1.06) L2 27 (1.06)*
Approx.
Magnetic Way L1 L2
N Mass
Model SGLGM- mm mm
kg (lb)
108 54 2 0.6
30108A
(4.25) (2.13) (0.08) (1.32)
216 162 4 1.1
30216A
(8.50) (6.38) (0.16) (2.43)
432 378 8 2.3
30432A
(17.01) (14.88) (0.31) (5.07)
3-18
3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors
L5 L6
2×screw 45 (1.77) Mounting holes Nameplate
#4-40 UNC N2×M4 tapped, depth 6 (0.24)
17
N Ins.
500±50 (19.69±1.97)
YASKAWA ELECTRIC CORPORATION JAPAN
25.4 (1.0) φ5.3 The coil assembly moves in the direction indicated by the arrow in the order of phase U, V, and W.
16 L1
(19.69±1.97)
15 (0.59)
(0.63)
500±50
(0.16)
45 (1.77) Mounting holes on both sides
(0.55) (0.02)
0.5
4
N1×M4 tapped, depth 6 (0.24)
(0.79)
14
7 (0.28) 1 (0.04) 15
3
30
(1.18)
(2.48)
63
78 (3.07)
7.5
(0.30)*
Approx.
Coil Assembly
Model SGLGW-
L1 L2 L3 L4 L5 L6 N1 N2 Mass∗
kg (lb)
140 125 90 30 52.5 45 3 4 0.40
40A140C
(5.51) (4.92) (3.54) (1.18) (2.07) (1.77) (0.12) (0.16) (0.88)
252.5 237.5 180 37.5 60 135 5 8 0.66
40A253C
(9.94) (9.35) (7.09) (1.48) (2.36) (5.31) (0.20) (0.31) (1.46)
365 350 315 30 52.5 270 8 14 0.93
40A365C
(14.37) (13.76) (12.40) (1.18) (2.07) (10.53) (0.31) (0.55) (2.05)
* The value indicates the mass of coil assembly with a hall sensor unit.
3-19
3 Specifications and Dimensional Drawings
3.6.2 SGLG-40 Linear Servomotors
62 (2.44)
62 (2.44)
Nameplate Warning label
X
7 (0.28)
X Pitch 45 (1.77)
12.7
22.5 L2 22.5 (0.50)
(0.89) N×φ5.5 (φ0.22) mounting hole (per unit) (0.89)*
φ5.5 (φ0.22)
φ5.5 (φ0.22)
φ10 (φ0.39)
φ10 (φ0.39)
13 (0.51)*
22.5 L2 22.5
(0.89) Pitch 45 (1.77) (0.89)*
X
* Reference length
Units: mm (in)
Approx.
Standard-force Magnetic Way
L1 L2 N Mass
Model SGLGM-
kg (lb)
90 45 2 0.8
40090C or 40090CT
(3.54) (1.77) (0.08) (1.76)
225 180 5 2.0
40225C or 40225CT
(8.86) (7.09) (0.20) (4.41)
Standard 360 315 8 3.1
40360C or 40360CT
Force (14.17) (12.40) (0.31) (6.83)
405 360 9 3.5
40405C or 40405CT
(15.94) (14.17) (0.35) (7.72)
450 405 10 3.9
40450C or 40450CT
(17.72) (15.94) (0.39) (8.60)
3-20
3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors
62 (2.44)
62 (2.44)
S/N
WARNING away.
YASKAWA ELECTRIC CORPORATION JAPAN
X
7 (0.28)
X Pitch 45 15.9
22.5 (1.77) L2 22.5 (0.63)
(0.89) (0.89)*
φ5.5 (φ0.22)
φ5.5 (φ0.22)
N×φ5.5 (φ0.22) mounting holes (per unit)
φ10 (φ0.39)
φ10 (φ0.39)
22.5 (0.89) L2 22.5
3
Pitch 45 (1.77) (0.89)*
X
13 (0.51)*
5.4 5.4
(0.21) (0.21)
Approx.
High-force Magnetic Way
L1 L2 N Mass
Model SGLGM-
kg (lb)
90 45 2 1.0
40090C-M or 40090CT-M
(3.54) (1.77) (0.08) (2.20)
225 180 5 2.6
40225C-M or 40225CT-M
(8.86) (7.09) (0.20) (5.73)
360 315 8 4.1
High Force 40360C-M or 40360CT-M
(14.17) (12.40) (0.31) (9.04)
405 360 9 4.6
40405C-M or 40405CT-M
(15.94) (14.17) (0.35) (10.14)
450 405 10 5.1
40450C-M or 40450CT-M
(17.72) (15.94) (0.39) (11.24)
3-21
3 Specifications and Dimensional Drawings
3.6.3 SGLG-60 Linear Servomotors
L5 L6
2×screw 45 (1.77) Mounting holes Nameplate
4-40 UNC N2×M4 tapped, depth 6 (0.24)
(0.67)
W A
17
N Ins.
(19.69±1.97)
500±50
25.4 (1.0) The coil assembly moves in the direction indicated by the arrow when current flows in the
φ5.3 order of phase U, V, and W.
L1
(19.69±1.97)
15 (0.59)
(0.63)
500±50
1 (0.04) 15 (0.59)
4
(1.18)
30
(3.27)
83
98 (3.86)
L2 7.5
(0.30)*
7 (0.28)
Vw Sw
Approx.
Coil Assembly
Model SGLGW-
L1 L2 L3 L4 L5 L6 N1 N2 Mass∗
kg (lb)
140 125 90 30 52.5 45 3 4 0.48
60A140C
(5.51) (4.92) (3.54) (1.18) (2.07) (1.77) (0.12) (0.16) (1.06)
252.5 237.5 180 37.5 60 135 5 8 0.82
60A253C
(9.94) (9.35) (7.09) (1.48) (2.36) (5.31) (0.20) (0.31) (1.81)
365 350 315 30 52.5 270 8 14 1.16
60A365C
(14.37) (13.76) (12.40) (1.18) (2.07) (10.53) (0.31) (0.55) (2.56)
* The value indicates the mass of coil assembly with a hall sensor unit.
3-22
3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors
82 (3.23)
82 (3.23)
Nameplate Warning label
X
7 (0.28)
X Pitch 45
12.7
22.5 (1.77) L2 22.5 (0.50)
(0.89) N×φ5.5 (φ0.22) mounting holes (per unit)
(0.89)*
φ5.5 (φ0.22)
φ5.5 (φ0.22)
φ10 (φ0.39)
φ10 (φ0.39)
13 (0.51)*
22.5 (0.89) L2 22.5
Pitch 45 (1.77) (0.89)*
X
3
N×M5 mounting screws, depth 13 (0.51) (per unit)
X 5.4 5.4
(dOnly for SGLGM- CT.) (0.21)
(0.21)
X-X X-X
* Reference length
Units: mm (in)
Approx.
Standard-force Magnetic Way
L1 L2 N Mass
Model SGLGM-
kg (lb)
90 45 2 1.1
60090C or 60090CT
(3.54) (1.77) (0.08) (2.43)
225 180 5 2.6
60225C or 60225CT
(8.86) (7.09) (0.20) (5.73)
Standard 360 315 8 4.1
60360C or 60360CT
Force (14.17) (12.40) (0.31) (9.04)
405 360 9 4.6
60405C or 60405CT
(15.94) (14.17) (0.35) (10.14)
450 405 10 5.1
60450C or 60450CT
(17.72) (15.94) (0.39) (11.24)
3-23
3 Specifications and Dimensional Drawings
3.6.3 SGLG-60 Linear Servomotors
-0.1
L1 -0.3 (1 unit) 7.4±0.2 31.8 7.4±0.2 31.8
(0.29±0.01) (1.25) 12.2±0.2 (0.29±0.01) (1.25) 12.2±0.2
Nameplate Warning label 4-C1 (0.48±0.01) 4-C1 (0.48±0.01)
82 (3.23)
82 (3.23)
S/N
WARNING away.
YASKAWA ELECTRIC CORPORATION JAPAN
X
7 (0.28)
X Pitch 45 15.9
22.5 (1.77) L2 22.5 (0.63)
(0.89) N×φ5.5 (φ0.22) mounting holes (per unit) (0.89)*
φ5.5 (φ0.22)
φ5.5 (φ0.22)
φ10 (φ0.39)
φ10 (φ0.39)
22.5 (0.89) L2 22.5
Pitch 45 (1.77) (0.89)*
X
13 (0.51)*
5.4 5.4
N×M5 mounting screws, depth 13 (0.51) (per unit) (0.21) (0.21)
X
(dOnly for SGLGM- CT-M.) X-X X-X
* Reference length
Units: mm (in)
Approx.
High-force Magnetic Way
L1 L2 N Mass
Model SGLGM-
kg (lb)
90 45 2 1.3
60090C-M or 60090CT-M
(3.54) (1.77) (0.08) (2.87)
225 180 5 3.3
60225C-M or 60225CT-M
(8.86) (7.09) (0.20) (7.28)
360 315 8 5.2
High Force 60360C-M or 60360CT-M
(14.17) (12.40) (0.31) (11.46)
405 360 9 5.9
60405C-M or 60405CT-M
(15.94) (14.17) (0.35) (13.01)
450 405 10 6.6
60450C-M or 60450CT-M
(17.72) (15.94) (0.39) (14.55)
3-24
3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors
(1.26)
32
2×screws
#4-40 UNC
(19.69±1.97)
2×N1-M6 Mounting screws, depth 9 (0.35)
500±50
Cable
UL20276,AWG26 (on both sides)
Nameplate
L1
(19.69±1.97)
500±50
8 (0.31)
L4 L3
49 (1.93) 65 (2.56) (See note.)
26 (1.02)
φ5.3 (φ0.21)*
(0.08)
2
φ10.5 (φ0.41)*
121 (4.76)
Cable
138 (5.43)
UL2517,AWG15
110 (4.33)
L2 3
Gap1 (0.04)
Gap1 (0.04) Note: The coil assembly moves in the direction
indicated by the arrow when current * Reference length
11.8 (0.46)
flows in the order of phase U, V, and W. Units: mm (in)
50.8 (2.0)
Vw
Sw
Approx.
Coil Assembly
Model SGLGW-
L1 L2 L3 L4 L5 L6 N1 N2 Mass∗
kg (lb)
199 189 130 40 60 95 3 4 2.2
90A200C
(7.83) (7.44) (5.12) (1.57) (2.36) (3.74) (0.12) (0.16) (4.85)
367 357 260 40 55 285 5 8 3.7
90A370C
(14.45) (14.06) (10.24) (1.57) (2.17) (11.22) (0.20) (0.31) (8.16)
535 525 455 40 60 380 8 10 5.0
90A535C
(21.06) (20.67) (17.91) (1.57) (2.36) (14.96) (3.15) (0.39) (11.02)
* The value indicates the mass of coil assembly with a hall sensor unit.
3-25
3 Specifications and Dimensional Drawings
3.6.4 SGLG-90 Linear Servomotors
W A
N Ins. May cause injury.
Keep magnetic materials
WARNING away.
95.5 (3.76)
110 (4.33)
YASKAWA ELECTRIC CORPORATION JAPAN
8.5 (0.33)
X Pitch 63 (2.48)
50.8 (2.0)
31.5 L2 31.5
φ6.6 (φ0.26)
φ12 (φ0.47)
(1.24) N-mounting holes (per unit) (1.24)*
19 (0.75) L2 44 (1.73)*
Pitch 63 (2.48)
6.5 (0.26)
X-X
N-M6 mounting screws, depth 14.5 (0.57)
* Reference length
Units: mm (in)
Approx.
Magnetic Way
L1 L2 N Mass
Model SGLGM-
kg (lb)
252 189 4 7.3
90252A
(9.92) (7.44) (0.16) (16.09)
504 441 8 14.7
90504A
(19.84) (17.36) (0.31) (32.41)
3-26
3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors
17.5 (0.69)
5.5 (0.22)
Hall sensor (1.18) (1.18) 36 (1.42) (0.98)*
(0.30)*
32 2 Magnetic way
(0.47)*
20 (0.79) 7.5
(1.26)* (0.08)
12
44 (1.73)*
(0.87)* (0.87)*
22 22
(0.87)
(1.57)
(0.79)
20
22
40
A A
(0.39)*
(0.49)
(0.49)*
(0.89)
0.5 22.5 7)
12.5
.9 (See note.)
12.5
(0.02) ±1
10
6 (0.24)* .69
(4.2 (0.17): With magnet (19
34 protection cover) 2×screws 0±
50 See the figures
(10.2 (0.40)㧦With magnet (1.34) (4 (0.16): Without magnet #4-40 UNC 50 and below.
protection cover) protection cover) 7)
1.9
(10 (0.39)㧦Without magnet .6 9± L3 7 (0.28)
(Gap 0.8 (0.03): With magnet
(19
(0.31)
30 min.
(0.98)
protection cover)
φ4 .17)*
protection cover)
2.5
50 12 (0.47)
8
0±
(φ0
.2
(Gap 1 (0.04): Without magnet
φ6 .24)
45±0.1 50
(φ0
3
protection cover)
.1
(1.77±0.004)
5.5
(0.22)
*
Nameplate A㧙A
Note: The coil assembly moves in the direction indicated by the arrow,
when current flows in the order of phase U, V, and W.
SGLFW-20A090A SGLFW-20A120A
2×M4 tapped holes, depth 5.5 (0.22) 3×M4 tapped holes, depth 5.5 (0.22)
20 (0.79)
(0.79)
20
(0.89)
(0.89)
22.5
22.5
(0.49)
12.5 (0.49)
* Reference length
12.5
30 36 30 36 (1.42)
(1.18) (1.42) (1.18) Units: mm (in)
72 (2.83)
Approx.
Coil Assembly
L1 L2 L3 N Mass
Model SGLFW-
kg (lb)
91 36 72 2 0.7
20A090A
(3.58) (1.42) (2.88) (0.08) (1.54)
127 72 108 3 0.9
20A120A
(5.0) (2.83) (4.25) (0.12) (1.98)
3-27
3 Specifications and Dimensional Drawings
3.7.1 SGLF-20 Linear Servomotors
mounting holes
17.5
44 (1.73)
(0.87) (0.87)*
22 22
(1.57)*
N S N S N S N S
40
O/N
YASKAWA S/N YASKAWA O/N
S/N
TYPE: MADE IN JAPAN TYPE: MADE
22.5 (0.89)*
(0.18)
6 (0.24) 4 (0.16) 4.5
54 Reference mark
Reference marks Nameplate Reference mark
10 (0.39) 34 (1.34)* (Two φ4 (φ0.16) marks are engraved.) 54 (2.13) (2.13)*
0
30.8 -0.2 L2 30.8 (1.21)*
(Gap1 (0.04)) 0
(1.21-0.01 ) -0.1
45±0.1 L1 -0.3
(1.77±0.004)
* Reference length
Units: mm (in)
The height of screw head: 4.2 (0.17) max.
Mounting Screw
Note: 1. Multiple SGLFM-20A magnetic ways can be connected. Connect magnetic ways so that the refer-
ence marks match one on the other in the same direction as shown in the figure.
2. The magnet way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 L3* N Mass
Model SGLFM-
kg (lb)
324 270 (10.63) 331.6 6 0.9
20324A
(12.80) (54 (2.13) × 5 (0.20)) (13.06) (0.24) (1.98)
540 486 (19.13) 547.6 10 1.4
20540A
(21.26) (54 (2.13) × 9 (0.35)) (21.56) (0.39) (3.09)
756 702 (27.64) 763.6 14 2
20756A
(29.76) (54 (2.13) × 13 (0.51)) (30.06) (0.55) (4.41)
* Reference length
3-28
3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors
(0.41)*
32 2 (0.08) Hall sensor
(0.30)*
Magnetic way
10.5
(1.26)* (1.42)
7.5
(1.18)* (1.18)*
60 (2.36)*
(1.18) (0.98)
35 (1.38)*
30
55 (2.17)
30 25
18 (0.71)
35 (1.38)
A A
30
(0.33)*
(0.49)
(0.49)*
0.5
12.5
7)
8.5
12.5
(0.02) 1.9
6 (0.24)* 9±
(4.2 (0.17): With magnet 2×screws .6 See the figures and below.
34 protection cover) 0 (1 9
#4-40 UNC ±5 L3 7 (0.28)
(1.34) (4 (0.16): Without magnet 0
(10.2 (0.40): With magnet protection cover) 50 7)
(0.31)
protection cover) 1.9 30 min. 12
(0.98)
9±
3
(10 (0.39): Without magnet (Gap 0.8 (0.03): With magnet .6 (0.47)
2.5
protection cover) protection cover) φ4 .17 (19 The coil assembly moves in the
8
50
(φ0
(Gap1 (0.04): Without magnet .2 )* ± direction indicated by the arrow
45±0.1 protection cover) 00
φ6 .24)
5 when current flows in the order
(0.22)
(φ0
.1
(1.77±0.004)
of phase U, V, and W.
5.5
A㧙A
*
Nameplate
SGLFW-35120A ޓSGLFW-35230A
6×M4 tapped holes, depth 5.5 (0.22) 12×M4 tapped holes, depth 5.5 (0.22)
35 (1.38)
35 (1.38)
18 (0.71)
18 (0.71)
(1.18)
(1.18)
30
30
8.5 (0.33)
8.5 (0.33)
12.5 (0.49)
12.5 (0.49)
* Reference length
Units: mm (in)
Hall Sensor Linear Servomotor Hall Sensor Output Signals
Connector Specifications Connector Specifications When the coil assembly moves in the di-
9 6 Pin No. Name
Name Lead rection indicated by the arrow in the fig-
Pin No. Color
1 +5V (Power supply) ure, the relationship between the hall
1 Phase U Red sensor output signals Su, Sv, Sw and the
5 1 2 Phase U
2 Phase V White inverse power of each motor phase Vu,
3 Phase V Plug type: 350779-1 Vv, Vw becomes as shown in the figure
Pin connector type: Pin type: 350218-3 or 3 Phase W Black
4 Phase W below.
7JE-23090-02(D8C) ޓޓޓ350547-3 (No.1 to 3) FG Green
ޓޓޓ350654-1 4
made by DDK Ltd. 5 0V (Power supply)
ޓޓޓ350669-1 (No.4)
The mating connector 6 Not used made by Tycon Electronics AMP K.K. Vu Su
Socket connector type: 7 Not used The mating connector
17JE-13090-02(D8C) Cap type: 350780-1 Inverse
8 Not used
Stud type: 17L-002C or Socket type: 350536-3 or power Vv Sv
ޓޓޓޓޓ17L-002C1 9 Not used (V)
ޓޓޓޓޓ350550-3
Vw Sw
Approx.
Coil Assembly
L1 L2 L3 N Mass
Model SGLFW-
kg (lb)
127 72 108 6 1.3
35120A
(5.0) (2.83) (4.25) (0.24) (2.87)
235 180 216 12 2.3
35230A
(9.25) (7.09) (8.50) (0.47) (5.07)
3-29
3 Specifications and Dimensional Drawings
3.7.2 SGLF-35 Linear Servomotors
4.5 (0.18)*
9.9°
2×N-φ4.8 (φ0.19) mounting holes
Coil assembly
(1.18) (1.18)*
(1.18)* (0.98)*
30
60 (2.36)
51 (2.01)
25
55 (2.17)*
30 N S N S N S N S
30
YASKAWA O/N
S/N
YASKAWA O/N
S/N
TYPE: MADE IN JAPAN DATE TYPE: MADE
(0.18)*
4.5
* Reference length
Units: mm (in)
The height of screw head must be 4.2 (0.17) max.
Assembly Dimensions
Note: 1. Multiple SGLFM-35
A magnetic ways can be connected. Connect magnetic ways so that the refer-
ence marks match one on the other in the same direction as shown in the figure.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 (L3) N Mass
Model SGLFM-
kg (lb)
324 270 (10.63) 334.4 6 1.2
35324A
(12.80) (54 (2.13) × 5 (0.20)) (13.17) (0.24) (2.65)
540 486 (19.13) 550.4 10 2
35540A
(21.26) (54 (2.13) × 9 (0.35)) (21.67) (0.39) (4.41)
756 702 (27.64) 766.4 14 2.9
35756A
(29.76) (54 (2.13) × 13 (0.51)) (30.17) (0.55) (6.39)
3-30
3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors
(0.59)*
Magnetic way
(0.12)
15
(1.48)*
(1.49) (1.33)
37.75 33.75
37.5
50.5 (1.99)
71.5 (2.81)
75 (2.95)*
48 (1.89)*
(1.89)
(0.93)
23.5
A A
48
7)
(1.48)*
1.9
37.5
.6 9±
(19
50
12 (0.47)*
0.5 ±
(0.02) 2 × screws 5 00
The coil assembly moves in the direction
9 (0.35)* #4-40 UNC See the figures indicated by the arrow when current flows in
(5.2 (0.20): With magnet
protection cover) and below. the order of phase U, V, and W.
43 50 min. 25 10
(5 (0.20): Without magnet L3 (0.39)
φ4 .17
(1.69) (0.98)
protection cover)
(φ0
.2 )
3
)
58±0.1 .97
±1
(2.28±0.004) 9 .69
(Gap 0.8 (0.03): With magnet (1
φ7 .29
50
0±
(φ0
protection cover)
.4 )
50
(Gap 1 (0.04): Without magnet
protection cover)
Nameplate
(14.2 (0.56): With magnet protection cover)
(14 (0.55): Without magnet protection cover)
SGLFW-50200B ޓSGLFW-50380B
6 × M5 tapped holes, depth 9.5 (0.37) 12 × M5 tapped holes, depth 9.5 (0.37)
23.5 (0.93)
23.5 (0.93)
48 (1.89)
48 (1.89)
12 (0.47)
12 (0.47)
30 60 (2.36)
14 (0.55)
14 (0.55)
Vw
Sw
Approx.
Coil Assembly
L1 L2 L3 N Mass
Model SGLFW-
kg (lb)
215 120 180 6 3.5
50200B
(8.46) (4.72) (7.09) (0.24) (7.72)
395 300 360 12 6.9
50380B
(15.55) (11.81) (14.17) (0.47) (15.21)
3-31
3 Specifications and Dimensional Drawings
3.7.3 SGLF-50 Linear Servomotors
(L3)
8.6°
5 (0.20)*
2×N-φ5.8 (φ0.23) mounting holed
Coil assembly
(1.49)* (1.33)*
(1.48) (1.48)*
37.75 33.75
71.5 (2.81)*
37.5 37.5
75 (2.95)
65 (2.56)
N S N S N S N S
YASKAWA O/N
S/N
YASKAWA
TYPE: MADE IN JAPAN DATE TYPE:
(0.20)
5
9 5 (0.20)
(0.35) 14 Reference marks Nameplate Reference
43 (1.69)* 67.5 (2.66) Reference mark 67.5 (2.66)* mark
(Two φ4 (φ0.16) marks are engraved.)
(0.55) 0
39.4 -0.2 L2 39.4 (1.55)*
(Gap1 (0.04))
0 -0.1
58±0.1 (1.55 -0.01) L1 -0.3
(2.28±0.004)
* Reference length
Units: mm (in)
The height of screw head must be 5.2 (0.20) max.
Assembly Dimensions
Note: 1. Multiple SGLFM-50
A magnetic ways can be connected. Connect magnetic ways so that the refer-
ence marks match one on the other in the same direction as shown in the figure.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 L3* N Mass
Model SGLFM-
kg (lb)
405 337.5 (13.29) 416.3 6 2.8
50405A
(15.94) (67.5 (2.66) × 5 (0.20)) (16.39) (0.24) (6.17)
675 607.5 (23.92) 686.3 10 4.6
50675A
(26.57) (67.5 (2.66) × 9 (0.35)) (27.03) (0.39) (10.14)
945 877.5 (34.55) 956.3 14 6.5
50945A
(37.20) (67.5 (2.66) × 13 (0.51)) (37.65) (0.55) (14.33)
* Reference length
3-32
3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors
40 (1.57)* 3 30 55 (2.17) L2 40
Magnetic way
(0.59)*
(0.12) Hall sensor (1.18) 60 (2.36) (1.57)
15
62.5 (2.46)* 62.5 (2.46)*
A A
(1.40) (1.40)
125 (4.92)*
35.5 35.5
119 (4.69)
96 (3.78)*
112 (4.41)*
96 (3.78)
.97)
±1
.69
19
5 0(
0±
50
2screws
12 (0.47)*
0.5 #4-40 UNC The coil assembly moves in the direction
(0.02) See the figures indicated by the arrow when current
9 (0.35)*
(5.2 (0.20): With magnet and below. flows in the order of phase U, V, and W.
φ4 .17
protection cover) 10
3
(φ0
43 50 min. 25 L3
.2 )
(2.28±0.004) 50
0±
50
(14.2 (0.56): With magnet protection cover) Nameplate
(14 (0.55): Without magnet protection cover)
SGLFW-1Zغ200Bغ SGLFW-1Zغ380Bغ
9×M5 tapped holes, depth 9.5 (0.37) 18×M5 tapped holes, depth 9.5 (0.37)
(1.40)
35.5 35.5
(1.40)
35.5 35.5
96 (3.78)
96 (3.78)
(1.40)
(1.40)
12 (0.47)
12 (0.47)
14 (0.55)
14 (0.55)
Vw
Sw
Approx.
Coil Assembly
L1 L2 L3 N Mass
Model SGLFW-
kg (lb)
215 120 180 9 6.4
1Z200B
(8.46) (4.72) (7.09) (0.35) (14.11)
395 300 360 18 11.5
1Z380B
(15.55) (11.81) (14.17) (0.71) (25.35)
3-33
3 Specifications and Dimensional Drawings
3.7.4 SGLF-1Z Linear Servomotors
6.5 (0.26)*
8.6° 2×N-φ7 (φ0.28) mounting holes
Coil assembly φ11.5 (φ0.45) counter boring,
depth 1.5 (0.06)
61.5 (2.42)* 57.5 (2.26)*
N S N S N S N S
O/N
YASKAWA S/N
YASKAWA
TYPE: MADE IN JAPAN DATE TYPE:
6.5 (0.26)
* Reference length
Units: mm (in)
(φ0.45)
φ11.5
Note: 1. Multiple SGFLM-1Z
A magnetic ways can be connected. Connect magnetic ways so that the refer-
ence marks match one on the other in the same direction.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 L3* N Mass
Model SGLFM-
kg (lb)
405 337.5 (13.29) 423.9 6 5
1Z405A
(15.94) (67.5 (2.66) × 5 (0.20)) (16.69) (0.24) (11.02)
675 607.5 (23.92) 693.9 10 8.3
1Z675A
(26.57) (67.5 (2.66) × 9 (0.35)) (27.32) (0.39) (18.30)
945 877.5 (34.55) 963.9 14 12
1Z945A
(37.20) (67.5 (2.66) × 13 (0.51)) (37.95) (0.55) (26.46)
* Reference length
3-34
3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
100 (3.94)
(0.79) (1.10)
60 (2.36)
80 (3.15)
60 (2.36)
20 28
2×screws
4-40 UNC
protection cover)
(19.2 (0.76): With magnet protection cover)
(19 (0.75): Without magnet protection cover)
Nameplate
φ7.4
(φ0.29)*
63 min. 3
500±50 (19.69±1.97)
90 min.
* Reference length
Units: mm (in)
Vw
Sw
Approx.
Coil Assembly
L1 L2 L3* N Mass
Model SGLTW-
kg (lb)
170 144 (5.67) 16 8 2.5
20A170A
(6.69) (48 (1.89) × 3 (0.12)) (0.63) (0.31) (5.51)
315 288 (11.34) 17 14 4.6
20A320A
(12.40) (48 (1.89) × 6 (0.24)) (0.67) (0.55) (10.14)
460 432 (17.01) 18 20 6.7
20A460A
(18.11) (48 (1.89) × 9 (0.35)) (0.71) (0.79) (14.77)
* Reference length
3-35
3 Specifications and Dimensional Drawings
3.8.1 SGLT-20 Linear Servomotors
27 (1.06)
9.
9°
71.5±1 ( 2.81±0.04) (preshipment)
40 (1.57) Coil 0
(1.25 -0.01 ) 54 (2.13) 54 (2.13)*
assembly
103 ( 4.06) max (preshipment)
( 2.76±0.001)
(0.04)
87 (3.43)
100 (3.94)
70±0.3
2.4±0.3
6 Nameplate
( 0.09±0.01) R
C
1
O/N
YASKAWA S/N DATE
TYPE: MADE IN JAPAN
(0.04±0.01)
19 (0.75)
1
15 (0.59)
2×N-φ7 (φ0.28) mounting holes (See the sectional view for the depth.)
Gap1±0.3
32 8 29.3 (1.15)*
C
x. 9.9
27 (1.06)
.5
ma ma 2.4±0.3
x R1 ( 0.09±0.01)
54 (2.13)
+0.6 Mount the magnetic
Mount the magnetic 62 0 0
40.3 -0.2 L2 54
way so that its +0.02 way so that its 0
corner surfaces are (2.44 0 ) corner surfaces are (1.59 -0.01 ) L1-0.1
-0.3 (2.13)*
flush with the inner flush with the inner
step. 70±0.3 step. 9.4 * Reference length
( 2.76±0.01) (0.37)*
Units: mm (in)
Assembly Dimensions
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an ♣ are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 N Mass
Model SGLTM-
kg (lb)
324 270 (10.63) 6 3.4
20324A
(12.76) (54 (2.13) × 5 (0.20)) (0.24) (7.50)
540 486 (19.13) 10 5.7
20540A
(21.26) (54 (2.13) × 9 (0.35)) (0.39) (12.57)
756 702 (27.64) 14 7.9
20756A
(29.76) (54 (2.13) × 13 (0.51)) (0.55) (17.42)
3-36
3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
70 (2.76)*
27 (1.06)
15 (0.59) 55 (2.17)*
9.
9㩩
15 (0.59)
Base 40 (1.57)
100 (3.94)*
0.8 (0.03)*
116 (4.57)
(2.76±0.01)
87 (3.43)
132 (5.20)
60 (2.36)
70±0.3
1 2.4±0.3
(0.04) (0.09±0.01)
O/N
YASKAWA S/N
TYPE: MADE IN JAPAN DATE
(0.03±0.01)
15 (0.59)
19.2(0.76)
0.8±0.3
L5 74 (2.91) 14 (0.55)*
Coil assembly
74 (2.91) L4 162 (6.38)*
2 × N2 - φ10 (φ0.39)mounting holes
2 × N1 - M6 screws, depth 8 (0.31)
(See the sectional view for the depth.)
Gap
9.9㩩
(0.59) (1.06)
27
54 (2.13)
20 (0.79) L2 54 (2.13)*
2.3 (0.09) L3 11.7 (0.46)*
-0.1
2 × N1 - M6 bolts, depth 16 (0.63) L1 -0.3
* Reference length
Units: mm (in)
Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
2. Two magnetic ways in a set can be connected to each other.
3. The magnetic way with base has the same characteristics as those of the magnetic way without base.
(SGLTM-20A)
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 L3 L4 L5 N1 N2 Mass
Model SGLTM-
kg (lb)
324 270 310 162 162 6 2 5.1
20324AY
(12.76) (10.63) (12.20) (6.38) (6.38) (0.24) (0.08) (11.24)
540 486 526 378 189 10 3 8.5
20540AY
(21.26) (19.13) (20.71) (14.88) (7.44) (0.39) (0.12) (18.74)
756 702 742 594 198 14 4 12
20756AY
(29.76) (27.64) (29.21) (23.39) (7.80) (0.55) (0.16) (26.46)
3-37
3 Specifications and Dimensional Drawings
3.8.2 SGLT-35A Linear Servomotors
66 (2.60) 50 (1.97) L1
55 (2.17) 10 L2 (L3)
Magnetic way (0.39) 48 (1.89)
12
(0.47)
1 (0.04) 100 (3.94)
70 (2.76)*
80 (3.15)
60 (2.36)
(0.79) (1.10)
60 (2.36)
20 28
2-screws
#4×40 UNC
(19.2 (0.76): With magnet protection cover)
(19 (0.75): Without magnet protection cover)
protection cover)
protection cover)
Hall sensor
500±50
(19.69±1.97) in the order of phase U, V, and W.
φ4.2 (φ0.17)
φ8.4 * Reference length
63 min. Units: mm (in)
Nameplate (φ0.33)
500±50 (19.69±1.97)
100 min.
Approx.
Coil Assembly
L1 L2 L3* N Mass
Model SGLTW-
kg (lb)
170 144 (5.67) 16 8 3.7
35170A
(6.69) (48 (1.89) × 3 (0.12)) (0.63) (0.31) (8.16)
315 288 (11.34) 17 14 6.8
35320A
(12.40) (48 (1.89) × 6 (0.24)) (0.67) (0.55) (14.99)
460 432 (17.01) 18 20 10
35460A
(18.11) (48 (1.89) × 9 (0.35)) (0.71) (0.79) (22.05)
* Reference length
3-38
3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
34.5 (1.36)
9.
9
15 (0.59)
0
70 (2.76)* 0
33 -0.2 (1.30 -0.01) L2 30.6 (1.20)*
71.5±1 ( 2.81±0.04) (preshipment)
( 2.76±0.001)
100 (3.94)*
(0.04)*
87 (3.43)
70±0.3
2.4±0.3 6
R Nameplate
( 0.09±0.01)
C
1
YASKAWA O/N
S/N
TYPE: MADE IN JAPAN DATE
(0.04±0.01)
Gap1±0.3
2×N-φ7 (φ0.28) mounting holes (See the sectional view for the depth)
19 (0.75)
15 (0.59)
47 8 30.6
C
4
R0
.5
9.9
3
34.5 (1.36)
3 (0.12)
ma a x. 2.4±0.3
x.
R 1m ( 0.09±0.01)
54 (2.13)
0
Mount the magnetic way +0.6 Mount the magnetic way 39 -0.2 L2 54
so that its corner surfaces 62 0
so that its corner surfaces 0 (2.13)*
are flush with the inner (2.44 +0.02
0 ) are flush with the inner 12 (1.54 -0.01) L1 -0.1
-0.3
step. step. (0.47)*
70±0.3 * Reference length
( 2.76±0.01)
Units: mm (in)
Assembly Dimensions
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an ♣ are the dimensions at preshipment
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws..
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 N Mass
Model SGLTM-
kg (lb)
324 270 (10.63) 6 4.8
35324A
(12.76) (54 (2.13) × 5 (0.20)) (0.24) (10.56)
540 486 (19.13) 10 8
35540A
(21.26) (54 (2.13) × 9 (0.35)) (0.39) (17.64)
756 702 (27.64) 14 11
35756A
(29.76) (54 (2.13) × 13 (0.51)) (0.55) (24.25)
3-39
3 Specifications and Dimensional Drawings
3.8.2 SGLT-35A Linear Servomotors
34.5 (1.36)
85 (3.35)* 9.
9㩩
15 (0.59) 70 (2.76)*
15 (0.59)
Base 55 (2.17)
116 (4.57)
0.8 (0.03)*
132 (5.20)
87 (3.43)
100 (3.94)*
60 (2.36)
(2.76±0.01)
70±0.3
1 2.4±0.3
(0.04) (0.09±0.01)
YASKAWA O/N
S/N
TYPE: MADE IN JAPAN DATE
(0.03±0.01)
15 (0.59)
19.2(0.76)
0.8±0.3
L5 74 (2.91) 14 (0.55)*
Coil assembly
74 (2.91) L4 162 (6.38)*
9.9
2.4±0.3
(0.09±0.01)*
15
54 (2.13)
20 (0.79) L2 54 (2.13)
1 (0.04) L3 13 (0.51)*
-0.1
2 × N1 - M6 bolts, depth 16 (0.63) L1 -0.3
* Reference length
Units: mm (in)
Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
2. Two magnetic ways in a set can be connected to each other.
3. The magnetic way with base has the same characteristics as those of the magnetic way without base.
(SGLTM-35A)
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 L3 L4 L5 N1 N2 Mass
Model SGLTM-
kg (lb)
324 270 310 162 162 6 2 6.4
35324AY
(12.76) (10.63) (12.20) (6.38) (6.38) (0.24) (0.08) (14.11)
540 486 526 378 189 10 3 11
35540AY
(21.26) (19.13) (20.71) (14.88) (7.44) (0.39) (0.12) (24.25)
756 702 742 594 198 14 4 15
35756AY
(29.76) (27.64) (29.21) (23.39) (7.80) (0.55) (0.16) (33.07)
3-40
3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
P L1
15 (0.59)*
66 (2.60)
X 10 (0.39) L2 (L3)
62.5 (2.46) Magnetic way
20±0.1
12 20 48±0.15
(0.47) (0.79) (1.89±0.01)
120±0.1 (4.72±0.004)
1
(3.15±0.002)
90 (3.54)*
(0.04)
(3.94±0.01)
(1.18) (1.10)
60 (2.36)
28
80±0.05
100±0.15
Linear SERVO MOTOR
TYPE
S/N
O/N
YASKAWA ELECTRIC
W
A
N
V
(1.18)
MADE IN JAPAN
DATE
30
ins.
30
m/s
(19.2 (0.76): With magnet protection cover)
(19 (0.75): Without magnet protection cover)
protection cover)
protection cover)
15 (0.59)*
(φ0.17)
2×screws
(19.69±1.97)
in the order of phase U, V, and W.
φ4.2
500±50
(19.69±1.97)
Cable
UL20276AWG28
35 (1.38)
* Reference length
43 (1.69) Units: mm (in)
63 min.
Hall Sensor Output Signals
Wiring specifications Lead specifications of coil assembly When the coil assembly moves in the di-
of hall sensor cable If this cable is bent repetitively, the cable will rection indicated by the arrow in the fig-
Pin No. Name
9 6 disconnect. ure, the relationship between the hall
1 +5VDC sensor output signals Su, Sv, Sw and the
2 Phase U inverse power of each motor phase Vu,
5 1 Phase V Phase U
Vv, Vw becomes as shown in the figure
3 Phase V below
Pin connector: 4 Phase W
17JE-23090-02(D8C) Phase W Ground
made by DDK Ltd. 5 0V Vu Su
The mating connector 6 Not used
View from top of coil assembly
Socket connector type: 7 Not used Inverse
Name Color Code Wire size
17JE-13090-02(D8C) 8 Not used power Vv Sv
Stud type: 17L-002C or Phase U U (V)
9 Not used
ޓޓޓޓޓ17L-002C1 Phase V Black V 2mm2
Phase W W Vw
Sw
Ground Green - 2mm2
0 180 360 540
Electrical angle(° )
Approx.
Coil Assembly
L1 L2 L3* N Mass
Model SGLTW-
kg (lb)
170 144 (5.67) 16 8 4.7
35170H
(6.69) (48 (1.89) × 3 (0.12)) (0.63) (0.31) (10.36)
315 288 (11.34) 17 14 8.8
35320H
(12.40) (48 (1.89) × 6 (0.24)) (0.67) (0.55) (19.40)
* Reference length
3-41
3 Specifications and Dimensional Drawings
3.8.3 SGLT-35H Linear Servomotors
34.5 (1.36)
9.
90±0.3 ( 3.54±0.01) 15±0.1 (0.59±0.004)
9°
0.8 (0.03)*
91.5±1 ( 3.60±0.04) (preshipment)
70 (2.76)* 0 0
(1.30 -0.01 ) 30.6 (1.20)*
33-0.2 L2
P Y 55 (2.17) Coil Assembly 54
54 (2.13)
123 ( 4.84) max. (preshipment)
S/N
TYPE:
(0.03±0.01)
C1
15±0.1 (0.59±0.004)
0.8±0.3
4.2±0.1
30.6 2×N-φ7 (0.28) mounting holes (See the sectional view for the depth.)
P X 47 8 (0.31)* (1.20)*
(0.16)*
(1.85) Spacer: Do not remove them until the coil
2×N-M6 tapped holes, depth 8 (0.31) assemb is mounted on the machine.
Gap
4
Includes a 0.2 (0.01) thick magnet protection cover.
9.
9°
34.5 (1.36)
2.4±0.3
R0 ( 0.09±0.01)
.5
3 (0.12)
.
ax
ma
54 (2.13)
m
x.
R1
0
39 -0.2 L2 54
12 0
(1.54 -0.01 ) -0.1 (2.13)*
(0.47)* L1 -0.3
82 +0.6
0
Mount the magnetic way Mount the magnetic way
so that its corner surfaces (3.23 +0.02
0 ) so that its corner surfaces * Reference length
are flush with the inner are flush with the inner
step. 90±0.3 ( 3.54±0.01) step. Units: mm (in)
Assembly Dimensions
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an ♣ are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Approx.
Coil Assembly
L1 -0.1
-0.3 L2 N Mass
Model SGLTM-
kg (lb)
324 270 (10.63) 6 4.8
35324H
(12.76) (54 (2.13) × 5 (0.20)) (0.24) (10.56)
540 486 (19.13) 10 8
35540H
(21.26) (54 (2.13) × 9 (0.35)) (0.39) (17.64)
756 702 (27.64) 14 11
35756H
(29.76) (54 (2.13) × 13 (0.51)) (0.55) (24.25)
3-42
3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
78 (3.07) 63 (2.48) L1
75 (2.95) Receptacle
20 (0.79) L2 (L3)
16 Magnetic way 40 60 (2.36)
(0.63) (1.57)
1 (0.04)
111.8 (4.40)*
124 (4.88)
150 (5.91)
(1.18) (1.50)
97 (3.82)
98 (3.86)
30 38
(25.3 (1.0): With magnet protection cover)
(25.1 (0.99): Without magnet protection cover)
protection cover)
protection cover)
(φ0.17)
19.1 (0.75)*
2×screws
The coil assembly moves in the direction indicated by the arrow when
φ4.2
(Gap 1.2 (0.05): With magnet
#4-40 UNC
current flows in the order of phase U, V, and W.
64 min.
500±50
(19.69±1.97)
TYPE
O/N
W
A
YASKAWA ELECTRIC
N
V
MADE IN JAPAN
3
ins.
DATE
m/s
* Reference length
Nameplate Units: mm (in)
Hall Sensor Linear Servomotor Hall Sensor Output Signals
Connector Specifications Connector Specifications When the coil assembly moves in the di-
9 6 Pin No. Name Pin No. Name rection indicated by the arrow in the fig-
A Phase U ure, the relationship between the hall
1 㧗5V (Power supply)
sensor output signals Su, Sv, Sw, and
5 2 Phase U B Phase V
1 the inverse power of each motor phase
3 Phase V C Phase W Vu, Vv, Vw becomes as shown in the fig-
Pin connector type: D Ground ure below.
17JE-23090-02(D8C) 4 Phase W
Receptacle type: MS3102A-22-22P
made by DDK Ltd. 5 0V (Power supply) made by DDK Ltd.
Vu
The mating connector 6 Not used Su
The mating connector
Socket connector type: 7 Not used
L-shaped plug type: MS3108B22-22S
17JE-13090-02(D8C) Inverse
8 Not used Straight plug type: MS3106B22-22S power Vv
Stud type: 17L-002C or Sv
9 Not used Cable clamp type: MS3057-12A (V)
ޓޓޓޓޓ17L-002C1
Vw
Sw
Approx.
Coil Assembly
L1 L2 L3* N Mass
Model SGLTW-
kg (lb)
395 360 (14.17) 15 14 20
40400B
(15.55) (60 (2.36) × 6 (0.24)) (0.59) (0.55) (44.09)
585 540 (21.26) 25 20 30
40600B
(23.03) (60 (2.36) × 9 (0.35)) (0.98) (0.79) (66.14)
* Reference length
3-43
3 Specifications and Dimensional Drawings
3.8.4 SGLT-40 Linear Servomotors
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an ♣ are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 N Mass
Model SGLTM-
kg (lb)
405 337.5 (13.29) 6 9
40405A
(15.94) (67.5 (2.66) × 5 (0.20)) (0.24) (19.34)
675 607.5 (23.92) 10 15
40675A
(26.57) (67.5 (2.66) × 9 (0.35)) (0.39) (33.07)
945 877.5 (34.55) 14 21
40945A
(37.20) (67.5 (2.66) × 13 (0.51)) (0.55) (46.30)
3-44
3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
39 (1.54)
103 (4.06)* 5.
20 (0.79) 6㩩
83 (3.27)*
19.1 (0.75)
63 (2.48)
Base
1.2 (0.05)*
150 (5.91)*
131 (5.16)
170 (6.69)
190 (7.48)
90 (3.54)
1 1.4±0.3
(0.04) (0.06±0.01)
O/N
YASKAWA S/N
TYPE: MADE IN JAPAN DATE
1.2±0.3
(0.05±0.01)
19.1 (0.75)
25.3 (1.00)
67.5 (2.66)
2 × N1 - M8 bolts, depth 25 (0.98) 25 (0.98) L2 67.5 (2.66)*
5 (0.20) L3 12.5 (0.49)*
-0.1
L1 -0.3 * Reference value
Units: mm (in)
Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
2. Two magnetic ways in a set can be connected to each other.
3. The magnetic way with base has the same characteristics as those of the magnetic way without base.
(SGLTM-40A)
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 L3 L4 L5 N1 N2 Mass
Model SGLTM-
kg (lb)
405 337.5 387.5 202.5 202.5 6 2 13
40405AY
(15.94) (13.29) (15.26) (7.97) (7.97) (0.24) (0.08) (28.67)
675 607.5 657.5 472.5 236.25 10 3 21
40675AY
(26.57) (23.92) (25.89) (18.60) (9.31) (0.39) (0.12) (46.30)
945 877.5 927.5 742.5 247.5 14 4 30
40945AY
(37.20) (34.55) (36.52) (29.23) (9.74) (0.55) (0.16) (66.14)
3-45
3 Specifications and Dimensional Drawings
3.8.5 SGLT-50 Linear Servomotors
(0.01) 85 (3.35)*
P 30 (1.18) L1
81 (3.19)
(0.79±0.004)
10 (0.39) L2 (L3)
20±0.1
(0.16)*
62.5 (2.46) X Magnetic way
20 (0.79) 48±0.15 (1.89±0.01)
4.1
12 (0.47)
120±0.1 (4.72±0.004)
(3.94±0.01)
(3.15±0.002)
1
60 (2.36)
(1.18) (1.10)
90 (3.54)*
100±0.15
(0.04)
28
80±0.05
W
A
N
V
MADE IN JAPAN
DATE
30
ins.
m/s
19.1 (0.75)*
(19.69±1.97)
#4×40 UNC
500±50
Hall sensor (19.69±1.97)
end connector
Cable
UL20276AWG28
35 (1.38) * Reference length
43 (1.69) Units: mm (in)
63 min.
Wiring specifications
Lead specifications of coil assembly Hall Sensor Output Signals
of hall sensor cable If this cable is bent repetitively, the cable will
Pin No. Name When the coil assembly moves in the di-
9 6 disconnect. rection indicated by the arrow in the fig-
1 +5VDC ure, the relationship between the hall
2 Phase U sensor output signals Su, Sv, Sw and the
5 1
Phase V Phase U inverse power of each motor phase Vu,
3 Phase V Vv, Vw becomes as shown in the figure
Pin connector: below
4 Phase W
17JE-23090-02(D8C)
made by DDK Ltd. 5 0V Phase W Ground
The mating connector 6 Not used Vu Su
Socket connector type: 7 Not used View from top of coil assembly
17JE-13090-02(D8C) Name Color Code Wire size
8 Not used Inverse
Stud type: 17L-002C or Vv
ޓޓޓޓޓ17L-002C1 9 Not used Phase U U power Sv
Phase V Black V 2mm2 (V)
Phase W W
Vw
Ground Green − 2mm2 Sw
Approx.
Coil Assembly
L1 L2 L3* N Mass
Model SGLTW-
kg (lb)
170 144 (5.67) 16 8 6
50170H
(6.69) (48 (1.89) × 3 (0.12)) (0.63) (0.31) (13.23)
315 288 (11.34) 17 14 11
50320H
(12.40) (48 (1.89) × 6 (0.24)) (0.67) (0.55) (24.25)
* Reference length
3-46
3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
42 (1.65)
90±0.3 ( 3.54±0.01) 19.1±0.1 (0.75±0.004)
4.1 (0.16)*
0.8 (0.03)*
91.5±1 ( 3.60±0.04) (preshipment)
85 (3.35)* 0 27 (1.06)
27 -0.2 L2
P Y 70 0
(1.06 -0.01) 54 (2.13) 54 (2.13)*
(2.76)
131 ( 5.16) max. (preshipment)
112 (4.41)
120 (4.72)*
0.2 Y
(0.01) 7)
0 .4
0.2 X (φ Nameplate
C1 2
(0.01) φ1
YASKAWA O/N
S/N
TYPE:
(0.17±0.004)
C1
0.8±0.3
4.2±0.1
19.1±0.1 (0.75±0.004)
Coil assembly 2×N-φ7 (φ0.28) mounting holes (See the sectional view for the depth.)
3
P X 62 8 (0.31)*
Spacer: Do not remove them until the coil
(0.16)
(2.44)
Gap assemb is mounted on the machine.
4
Includes a 0.2 (0.01) thickness magnet protection cover.
42 (1.65)
R0
3 (0.12)
.5
.
ax
ma
m
x.
R1
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an ♣ are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 N Mass
Model SGLTM-
kg (lb)
324 270 (10.63) 6 8
50324H
(12.76) (54 (2.13) × 5 (0.20)) (0.24) (17.64)
540 486 (19.13) 10 13
50540H
(21.26) (54 (2.13) × 9 (0.35)) (0.39) (28.66)
756 702 (27.64) 14 18
50756H
(29.76) (54 (2.13) × 13 (0.51)) (0.55) (39.68)
3-47
3 Specifications and Dimensional Drawings
3.8.6 SGLT-80 Linear Servomotors
1 (0.04)
111.8 (4.40)*
150 (5.91)
(1.18) (1.50)
97 (3.82)
98 (3.86)
124 (4.88)
30 38
(25.3 (1.0): With magnet protection cover)
(25.1 (0.99): Without magnet protection cover)
(φ0.17)
19.1 (0.75)*
The coil assembly moves in the direction indicated by the arrow when
φ4.2
500±50
TYPE MADE IN JAPAN
O/N
W
A
(19.69±1.97)
YASKAWA ELECTRIC
2×screws
V ins.
#4-40 UNC
DATE
m/s
* Reference length
Nameplate
Units: mm (in)
Approx.
Coil Assembly
L1 L2 L3* N Mass
Model SGLTW-
kg (lb)
395 360 (14.17) 15 14 30
80400B
(15.55) (60 (2.36) × 6 (0.24)) (0.59) (0.55) (66.14)
585 540 (21.26) 25 20 43
80600B
(23.03) (60 (2.36) × 9 (0.35)) (0.98) (0.79) (94.80)
* Reference length
3-48
3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an ♣ are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 L3 N1 N2 Mass
Model SGLTM-
kg (lb)
405 337.5 (13.29) 337.5 (13.29) 6 11 14
80405A
(15.94) (67.5 (2.66) × 5 (0.20)) (33.75 (1.33) × 10 (0.39)) (0.24) (0.43) (30.86)
675 607.5 (23.92) 607.5 (23.92) 10 19 24
80675A
(26.57) (67.5 (2.66) × 9 (0.35)) (33.75 (1.33) × 18 (0.71)) (0.39) (0.75) (52.91)
945 877.5 (34.55) 877.5 (34.55) 14 27 34
80945A
(37.20) (67.5 (2.66) × 13 (0.51)) (33.75 (1.33) × 26 (1.02)) (0.55) (1.06) (74.96)
3-49
3 Specifications and Dimensional Drawings
3.8.6 SGLT-80 Linear Servomotors
57 (2.24)
140 (5.51)* 5.6
㩩
20 (0.79) 120 (4.72)*
19.1 (0.75)
190 (7.48)
150 (5.91)*
170 (6.69)
90 (3.54)
131 (5.16)
(4.40±0.01)
111.8±0.3
1 1.5±0.3
(0.04) (0.06±0.01)
O/N
YASKAWA S/N
TYPE: MADE IN JAPAN DATE
(0.05±0.01)
25.3 (1.00)
19.1 (0.75)
1.2±0.3
5.
6㩩
(0.79) 57 (2.24)
Gap
Including magnet protection cover of plate 1.5±0.3
(0.06±0.01)*
thickness 0.2 (0.01)
20
33.75 (1.33)
67.5 (2.66)
2 × N3 - M8 bolts, depth 25 (0.98) 25 (0.98) L2 67.5 (2.66)*
3.1 (0.12) L3 14.4 (0.57)*
-0.1
L1 -0.3 * Reference value
Units: mm (in)
Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
2. Two magnetic ways in a set can be connected to each other.
3. The magnetic way with base has the same characteristics as those of the magnetic way without base.
(SGLTM-80A)
Approx.
Magnetic Way
L1 -0.1
-0.3 L2 L3 L4 L5 N1 N2 N3 Mass
Model SGLTM-
kg (lb)
405 337.5 387.5 202.5 202.5 6 2 11 18
80405AY
(15.94) (13.29) (15.26) (7.97) (7.97) (0.24) (0.08) (0.43) (39.68)
675 607.5 657.5 472.5 236.25 10 3 19 31
80675AY
(26.57) (23.92) (25.89) (18.60) (9.31) (0.39) (0.12) (0.75) (68.34)
945 877.5 927.5 742.5 247.5 14 4 27 43
80945AY
(37.20) (34.55) (36.52) (29.23) (9.74) (0.55) (0.16) (1.06) 94.80)
3-50
4
SERVOPACK Specifications and Dimensional
Drawings
4-1
4 SERVOPACK Specifications and Dimensional Drawings
4.1.1 Single-phase/Three-phase 200 V
CAUTION
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
range.
An incorrect input power supply may result in damage to the SERVOPACK. If the voltage exceeds these values, use
a step-down transformer so that the voltage will be within the specified range.
4-2
4.1 SERVOPACK Ratings and Specifications
4-3
4 SERVOPACK Specifications and Dimensional Drawings
4.1.3 SERVOPACK Ratings and Specifications
(cont’d)
I/O Position Output Form Phase-A, -B, -C line driver
Signals Frequency Dividing Any
Ratio
Sequence Input Signal allocation can Servo ON, P control (or Control mode switching, forward/reverse motor
be modified. movement by internal speed setting, zero clamping, reference pulse pro-
hibited), forward run prohibited (P-OT), reverse run prohibited (N-OT),
alarm reset, forward current limit, and reverse current limit (or internal
speed selection)
Sequence Output Fixed Output Servo alarm, 3-bit alarm codes
Signal allocation can Positioning completed (speed coincidence), during servomotor move-
be modified. ment, servo ready, during current limiting, during speed limiting, brake
released, warning, selecting three of the NEAR signals.
Internal Dynamic Brake Operated at main power OFF, servo alarm, servo OFF or overtravel.
Func- Overtravel Stop Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or coast to a
tions stop
Electronic Gear 0.01 ≤ B/A ≤ 100
Protection Overcurrent, overvoltage, low voltage, overload, regeneration error, main
circuit detection section error, heat sink overheated, no power supply,
overflow, overspeed, encoder error, overrun, CPU error, parameter error.
LED Display Charge, Power, five 7-segment LEDs (built-in Digital Operator func-
tions)
CN5 Analog Monitoring Analog monitor connector built in for monitoring speed, force and other
reference signals.
Speed: 1 V/1000 mm/s
Force: 1 V/100% of rated force
Position error pulses: 0.05 V/1 reference units or 0.05 V/100 reference
units
Communications Connected Devices Digital Operator (hand-held model), RS-422A port such as for a personal
computer (RS-232C ports under certain conditions)
1:N Communications Up to N = 14 for RS-422A ports
Axis Address Setting Set with parameters.
Functions Status display, parameter setting, monitor display, alarm trace-back dis-
play, JOG and autotuning operations, speed, force reference signal and
other drawing functions.
Others Reverse movement connection, zero-point search, automatic servomotor
ID, DC reactor connection terminal for harmonic suppressions. ∗5
* 1. Use the SERVOPACK within the ambient temperature range. When enclosed in a control panel,
internal temperatures must not exceed the ambient temperature range.
* 2. Speed regulation is defined as follows:
No-load motor speed – Total load motor speed
Speed reguration = × 100%
Rated motor speed
The motor speed may change due to voltage variations or amplifier drift and changes in processing
resistance due to temperature variation. The ratio of speed changes to the rated speed represent speed
regulation due to voltage and temperature variations.
* 3. The forward direction indicates the direction in which the linear scale counts up (Phase-A advance).
* 4. The built-in open collector power supply is not electrically insulated from the control circuit in the
SERVOPACK.
* 5. The DC reactor connection terminals for power supplies designed for minimum harmonics are not
included in SERVOPACKs with capacities of 7.5 kW.
4-4
4.2 SERVOPACK Installation
WARNING
• After voltage resistance test, wait at least five minutes before servicing the product. (Refer to “Voltage Resis-
tance Test” on the following page.)
Failure to observe this warning may result in electric shock.
• Connect the main circuit wires, control wires, and main circuit cables of the motor correctly.
Incorrect wiring will result in failure of the SERVOPACK.
Storage Store the SERVOPACK within the following temperature range if it is stored with the power cable discon-
nected.
Temperature: -20 to 85 °C (-4 to 185 °F)
Humidity: 90%RH or less (with no condensation)
Operating Con- • Installation category (Overvoltage category) ∗ : ΙΙΙ
ditions
• Pollution degree ∗ : 2
• Protection class ∗ : 1X
• Altitude : Maximum 1000 m
4
Installation Site Installation in a Control Panel
Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPACK
does not exceed 55 °C (131 °F).
Installation Near a Heating Unit
Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convec-
tion so the temperature around the SERVOPACK does not exceed 55 °C (131 °F).
Installation Near a Source of Vibration
Install a vibration isolator on the SERVOPACK to avoid subjecting it to vibration.
Installation at a Site Exposed to Corrosive Gas
Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the elec-
tronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive
gas.
Other Situations
Do not install the SERVOPACK in hot, humid locations or locations subject to excessive dust or iron powder
in the air.
* Conforming to the following standards.
• UL508C
• CSA C22.2 No.14
• EN50178
• EN55011 group 1 class A
• EN61000-6-2
4-5
4 SERVOPACK Specifications and Dimensional Drawings
Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK must be oriented
this way because it is designed to be cooled by natural convection or a cooling fan.
Secure the SERVOPACK using two to four mounting holes. The number of holes depends on the capacity.
Wall
Ventilation
Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.
Cooling fan Cooling fan
50 mm (1.97 in) min.
SERVOPACK Orientation
Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward.
Cooling
As shown in the figure above, allow sufficient space around each SERVOPACK for cooling by cooling fans
or natural convection.
Side-by-side Installation
When installing SERVOPACKs side by side as shown in the figure above, allow at least 10 mm (0.39 in)
between and at least 50 mm (1.97 in) above and below each SERVOPACK. Install cooling fans above the
SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control
panel.
Environmental Conditions in the Control Panel
Ambient Temperature:0 to 55°C (32 to 131° F)
Humidity: 90% RH or less
Vibration: 4.9 m/s2
Condensation and Freezing: None
Ambient Temperature for Long-term Reliability: 45 °C (113 °F) or less
Voltage Conduct voltage resistance tests under the following conditions.
Resistance Test • Voltage: 1500 Vrms AC for one minute
• Braking current: 30 mA or more
• Frequency: 50 or 60 Hz
• Voltage applied points
For SGDH-AE SERVOPACKs : Between the ground terminals and the point where the terminals L1,
L2, (L3), L1C, L2C, U, V, W are connected.
For SGDH-DE SERVOPACKs : Between the neutral terminals and the point where the terminals L1,
L2, L3, U, V, W are connected.
4-6
4.3 SERVOPACK Internal Block Diagrams
Single-phase
+10%
200 to 230V -15%
(50/60 Hz)
B1 B2 THS1
1 RY1
2
PM1-1 PM1-2
D2 D3 D4
Noise P2
filter Linear servomotor
R7
FU1
CHARGE D1 U
U
R +
L1 C1 V
1KM XX1 V
-
R8 W M
T TR1 W
L2
N1 N2
Hall
Gate drive over- PG
Voltage sensor
Relay drive Gate drive current protector
sensor
CN2
Voltage Serial
sensor Interface converter
unit
Current
L1C + ±5 V sensor
~ +
+15 V
4
- DC/DC ASIC
L2C ~ converter
- (PWM control, etc.)
+5 V CN1
±12 V PG output
Power Power +5 V
supply supply Reference pulse input
OFF ON Open during
servo alarm (1RY) Speed and Force
A/D
1KM 1RY 0V CPU reference input
POWER
Panel operator (Position/Speed calculation, etc.)
1KM Surge
suppressor Analog voltage I/O Sequence I/O
converter
4-7
4 SERVOPACK Specifications and Dimensional Drawings
4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models
Current
L1C + ±5 V sensor
~ +
+15 V
- DC/DC ASIC
L2C ~ - converter
(PWM control, etc.)
+5 V
CN1
±12 V
PG output
Power Power +5 V
supply supply Open during Reference pulse input
OFF ON servo alarm (1RY)
1KM A/D Speed and force
reference input
1KM 0V CPU
POWER
Panel operator (Position/Speed calculation, etc.)
1KM Surge
suppressor Analog voltage I/O Sequence I/O
converter
Current
L1C + ±5 V sensor
~ +
+15 V
DC/DC
L2C ~ - ASIC
- converter
(PWM control, etc.)
+5 V
CN1
±12 V PG output
Power +5 V
Power Open during
supply supply Reference pulse input
OFF ON servo alarm (1RY)
1KM A/D Speed and force
1KM 0V CPU reference input
1RY
POWER (Position/Speed calculation, etc.)
Surge Panel operator
1KM
suppressor
Analog voltage I/O Sequence I/O
converter
4-8
4.3 SERVOPACK Internal Block Diagrams
DB1 PM1/PM2/PM3
FU1 R3
P
Noise D1 *
filter ±12 V Linear servomotor
CT1 U
1KM BA1 BA3
L1 + U
R CHARGE
C10 CT2
C1 V
L2 㧙 V
S M
L3 W
T TR1 W
BA2 C7 C6 C5 SCR1
N 㨪㨪㨪
Hall
㧙 + PG sensor
C9
Base drive overcurrent R2
Voltage sen- protector isolator
Voltage sen- Relay drive sor isolator
sor isolator
̆ Gate drive
isolator
CN2
Current
sensor Serial
L1C +
㨪 + ±5 V converter
unit
L2C
㧙
DC/DC ±12 V
㨪 㧙 converter ASIC
PG5 V (PWM control, etc.)
CN1
PG output
4
0V reference input
1KM 1RY CPU
POWER
Panel operator (Position/Speed calculation, etc.)
1KM ࠨࠫ
ࠨࡊ࠶ࠨ
Analog voltage I/O Sequence I/O
converter
1 B1 B2 B3
FAN1
2
FU1
Noise P
P Linear servomotor
filter ±12 V
1KM C1
CHARGE U
L1 XX1 XX3 U
R
L2
V
S V
L3 C2 W M
T W
N
N
Gate drive over- Hall
current protector PG sensor
D1 D2 D3
RY1
R2
Relay drive Voltage Gate drive
sensor
Voltage CN2 Serial
sensor Interface converter
(not provided) unit
Control power
+24 VDC
4-9
4 SERVOPACK Specifications and Dimensional Drawings
4.3.6 Three-phase 400 V, 5.0 kW Model
1 B1 B2 B3
FAN1
2
FU1
P
Noise P Linear servomotor
filter ±12 V
1KM L1 XX1 XX3 CHARGE U
C1 U
R
L2 V
S V
L3 C2 W M
T W
XX2
N
N
Gate drive over- Hall
current protector PG sensor
- +
DB
RY1
RLY2
+7.5 V Current
L1C FU2 sensor
+15 V
DC/DC
L2C converter
ASIC
+5 V
(PWM control, etc.)
±12 V CN1
PG output
+5 V Reference pulse input
AC power supply
Power Power Open during (100 V/200 V)
supply supply servo alarm A/D Speed and force
OFF ON (1RY)
0V reference input
2RY CPU
POWER
1KM
Panel operator (Position/Speed calculation, etc.)
FAN1
2
FU1
Noise P
P Linear servomotor
filter ±12 V
CT1 U
1KM XX1 XX3 C1 CHARGE
L1 U
R CT2 V
L2 V
S
L3 C2 W M
T W
XX2
N
N
Gate drive over- Hall
current protector
PG sensor
- +
DB
RY1
RLY2
+7.5 V Current
L1C FU2 sensor
+15 V
DC/DC
converter
+5 V
ASIC
±12 V (PWM control, etc.)
CN1
PG output
+5 V Reference pulse input
AC power supply
Power Power Open during (100 V/200 V)
supply supply servo alarm A/D Speed and force
OFF ON (1RY) 0V reference input
2RY CPU
POWER
1KM
Panel operator (Position/Speed calculation, etc.)
2R Y High speed 1KM Analog voltage I/O Sequence I/O
converter
diode
Surge CN10 CN5 CN3
suppressor
Connector for Analog monitor Digital operator or
application output for personal computer
module supervision
4-10
4.4 SERVOPACK’s Power Supply Capacities and Power Losses
* 1. SERVOPACKs with a capacity of 50 to 400W do not have built-in regenerative resistors. If the
regenerative energy exceeds the specified value, connect an external regenerative resistor. Refer to
11.1.3 Alarm Display Table when the Application Module is Used.
* 2. Regenerative resistor power losses are allowable losses. Take the following action if this value is
exceeded.
• Remove the lead from the internal regenerative resistor in the SERVOPACK.
• Install an external regenerative resistor (optional).
* 3. An external regenerative resistor must be connected to SERVOPACKs with a capacity of 7.5 kW.
The following regenerative resistor units are provided for this purpose.
For the SGDH-75DE: JUSP-RA18 (allowable loss: 180W)
For the SGDH-75AE: JUSP-RA05 (allowable loss: 350W)
Note: Refer to 7.6 Connecting Regenerative Resistors, 6.8.5 External Regenerative Resistor and 6.8.6
Regenerative Resistor for details.
4-11
4 SERVOPACK Specifications and Dimensional Drawings
1,000
10
5
1
Rated force + Maximum force
Rated force Approx. Maximum force
2
Motor force
1
TERMS Hot Start
A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally
saturated.
4-12
4.5 SERVOPACK Overload Characteristics and Allowable Load Mass
M x VM M x VM
Starting time tr = [s] Stopping time tf = [s]
FPM − FL FPM + FL
Calculate the motor force from the motor current: Motor force = Motor force constant × Motor effective current
The following figure shows the motor force and motor speed timing chart.
FPM
Motor force
FL
4
VM
4-13
4 SERVOPACK Specifications and Dimensional Drawings
4.5.2 Starting Time and Stopping Time
4-14
4.7 Dimensional Drawings of Base-mounted SERVOPACK Model
5.5 (0.22)
2×M4 screw holes
YASKAWA SERVOPACK
SGDH-
CN10
YASKAWA
(1.54)
149.5±0.5 (5.89±0.02)
39
Terminal
(Mounting pitch)
MODE/SET DATA/
CN3
CHARGE POWER
block
160 (6.30)
160 (6.30)
106 (4.17)
CN1
6 (0.24)
CN2
5 (0.20)*
Nameplate
Ground terminal 10 (0.39) 5 (0.20)
6
2×M4 screws (0.24)
55 (2.17) 8 (0.31) 75 (2.95) 130 (5.12) 55 (2.17)
* Reference length
Units: mm (in)
Approx. mass: 0.8 kg (1.76 lb)
17 (0.67)
SERVOPACK Connector
Main circuit Control power Connector SERVOPACK
power supply supply Manufacturer
Symbol Connector Model
L1 L2 L1C L2C
CN1 10250-52A2JL Sumitomo 3M Co., Ltd.
CN2 53460-0611 Molex Japan Co., Ltd.
Single-phase Single-phase
CN3 10214-52A2JL Sumitomo 3M Co., Ltd.
200 VAC 200 VAC
50/60 Hz 50/60 Hz
4-15
4 SERVOPACK Specifications and Dimensional Drawings
4.7.2 Single-phase 200 V: 400 W (04AE)
5.5 (0.22)
2×φ5 (φ0.20) holes 2×M4 screw holes
YASKAWA SERVOPACK
SGDH-
CN10
YASKAWA
(1.54)
149.5±0.5 (5.89±0.02)
39
Terminal
(Mounting pitch)
MODE/SET DATA/
CN3
160 (6.30)
160 (6.30)
CN2
5 (0.20)*
5 (0.20)*
6 (0.24)
* Reference length
Units: mm (in)
Approx. mass: 1.1 kg (2.43 lb)
17 (0.67)
SERVOPACK Connector
Main circuit Control power Connector SERVOPACK
power supply supply Manufacturer
Symbol Connector Model
L1 L2 L1C L2C
CN1 10250-52A2JL Sumitomo 3M Co., Ltd.
CN2 53460-0611 Molex Japan Co., Ltd.
Single-phase Single-phase CN3 10214-52A2JL Sumitomo 3M Co., Ltd.
200 VAC 200 VAC
50/60 Hz 50/60 Hz
4-16
4.7 Dimensional Drawings of Base-mounted SERVOPACK Model
YASKAWA SERVOPACK200V
SGDH-
CN10
94.4 (3.72)
Terminal
YASKAWA
(1.54)
39
block
MODE/SET DATA/
CN3
CHARGE POWER
160 (6.30)
106 (4.17)
CN1
5 (0.20)
CN2
90 (3.54) 8 (0.31)
holes
160 (6.30)
4
17 (0.67)
27 (1.06)
90 (3.54) * Reference length
Units: mm (in)
Approx. mass: 1.7 kg (3.75 lb)
SERVOPACK Connector
Main circuit Control power Connector SERVOPACK
Manufacturer
power supply supply Symbol Connector Model
L1 L2 L3 L1C L2C CN1 10250-52A2JL Sumitomo 3M Co., Ltd.
CN2 53460-0611 Molex Japan Co., Ltd.
Three-phase Single-phase CN3 10214-52A2JL Sumitomo 3M Co., Ltd.
200 VAC 200 VAC
50/60 Hz 50/60 Hz
4-17
4 SERVOPACK Specifications and Dimensional Drawings
4.7.4 Three-phase 200 V: 1.5 kW (15AE) Three-phase 400 V: 500 W/750 W/1.0 kW/1.5 kW (05DE/08DE/10DE/15DE)
(0.22)
4×M4 screw holes
5.5
YASKAWA
YASKAWA SERVOPACK
SGDH-
CN10
149.5±0.5 (5.89±0.02)
(1.54)
39
(Mounting pitch)
MODE/SET DATA/
CHARGE POWER
CN3
160 (6.30)
160 (6.30)
106 (4.17)
CN1
-
CN2
Terminal
5 (0.20)*
Ground block
Nameplate 100±0.5
terminal
2×M4 screws 5 (3.94±0.02) 5
5 (0.20) 4 (0.20)* (Mounting pitch) (0.20)*
110 (4.33) 8 (0.31) 75 (2.95)* 180 (7.09) (0.16) 110 (4.33)
* Reference length
Units: mm (in)
Approx. mass: 2.8 kg (6.17 lb)
Cooling fan
Three-phase 24 VDC
400 VAC
50/60 Hz
4-18
4.7 Dimensional Drawings of Base-mounted SERVOPACK Model
6 (0.24)
Heat sink
(0.24)
4×M5 tap
6
YASKAWA SERVOPACK
CN10
(1.54)
YASKAWA
SGDH-
39
MODE/SET DATA/
238.5±0.5 (9.39±0.02)
CHARGE POWER
CN3
CN3
250 (9.84)
CN1
238.5 (9.39)
(Mounting pitch)
250 (9.84)
CN1
CN2
CN2
5.5 (0.22)*
100±0.5
5.5
6 Nameplate 5 (3.94±0.02) 5
Ground terminal (0.24) 5 (0.20)* (Mounting pitch) (0.20)*
5 (0.20)* 75 (2.95)* 4
2×M4 screws 100 (3.94) 180 (7.09) 110 (4.33)
(0.20)* 110 (4.33) 8 (0.31) (0.16)
7 (0.28) 141.5 (5.57)
Nameplate
4
* Reference length
(100°) Units: mm (in)
Approx. mass: 3.8 kg (8.38 lb)
40
(1.57)*
Cooling fan
External Terminal Connector
xThree-phase 200 V
Main circuit Control power
power supply supply SERVOPACK Connector
L1 L2 L3 L1C L2C
Connector SERVOPACK
Manufacturer
Symbol Connector Model
Three-phase Single-phase CN1 10250-52A2JL Sumitomo 3M Co., Ltd.
200 VAC 200 VAC
50/60 Hz 50/60 Hz CN2 53460-0611 Molex Japan Co., Ltd.
CN3 10214-52A2JL Sumitomo 3M Co., Ltd.
xThree-phase 400 V
Main circuit Control power
power supply supply
L1 L2 L3 24 V 0 V
Three-phase 24 VDC
400 VAC
50/60 Hz
4-19
4 SERVOPACK Specifications and Dimensional Drawings
4.7.6 Three-phase 200 V: 5.0 kW (50AE) Three-phase 400 V: 5.0 kW (50DE)
(0.24)
M5 screw 8 (0.31) 4×M5 screw taps
6
YASKAWA SERVOPACK
4-pin terminal
SGDH-50AE M4 screw
CN10
Ver.
L1
L2
MODE/SET DATA/
CN3
238.5±0.5 (9.39±0.02)
CHARGE POWER
L3
+1 CN1
(Mounting pitch)
238.5 (9.39)
+2
250 (9.84)
250 (9.84)
CN2
L1C
L2C
B1
B2
B3
5.7
5.5 (0.22)*
125±0.5
(0.22)
Nameplate
(0.22) 125 (4.92) 5 1.6 (0.06)
5.5
5 5 (4.92±0.02) 5
(0.20)* 135 (5.31) (0.20)* 75 (2.95)* 230 (9.06) (0.20)* (Mounting pitch) (0.20)*
3-pin terminal
Ground terminal
M5 screw
M5 screw 7 (0.28) 191.5 (7.54)
* Reference length
(100°)
Units: mm (in)
Approx. mass: 2.8 kg (12.13 lb)
83 (3.27)*
Three-phase 24 VDC
400 VAC
50/60 Hz
4-20
4.7 Dimensional Drawings of Base-mounted SERVOPACK Model
(0.30)
(0.30)
Cooling fan
7.5
7.5
10 (0.39)
SERVOPARK 200V
SGDH-
Ver.
CN8 8
YASKAWA POWER
(0.31) CN10
CN3 MODE/SET DATA/
BATTERY
(1.54)
39
335 (13.19)
Control circuit
terminal 335 (13.19) 21 (0.83)
Nameplate
282.6 (11.13)
M4
CHARGE
! Control
WARNING
circuit
terminal
211.1 (8.31)
CN1 CN2
(3.96)
25 (0.98) 100.5
125 (4.92)
51 66 (2.60) 46
(2.01) 12.5 (0.49) (1.81) Main circuit
terminal
9 L1 L2 L3 + - B1 B2 U V W
(0.35)
(0.30)
7.5 (0.30)*
123.5 (4.86) 41 (1.61) 65.6
7.5
19 (0.75)
30.5 (1.20) 171 (6.73) (2.58)* 28.3 (1.11)* 27 87.5 (3.44) 107 (4.21)
25 180 (7.09) 25 (1.06) Max. 235 (9.25) 25 180 (7.09) 25
(0.98) Max. 230 (9.06)
Main circuit Ground terminal
(0.98)* Ground
terminal
(0.98) (0.98)*
4
terminal M6 M8
View A
145 (5.71)
* Reference length
90 (3.54)
Units: mm (in)
Approx. mass: 14.3 kg (31.53 lb)
SERVOPACK Connector
External Connector SERVOPACK
Main circuit Control power regenerative Manufacturer
power supply supply resistor Symbol Connector Model
L1 L2 L3 L1C L2C B1 B2 CN1 10250-52A2JL Sumitomo 3M Co., Ltd.
CN2 53460-0611 Molex Japan Co., Ltd.
CN3 10214-52A2JL Sumitomo 3M Co., Ltd.
Three-phase Single-phase
200 VAC 200 VAC
50/60 Hz 50/60 Hz
4-21
4 SERVOPACK Specifications and Dimensional Drawings
4.7.8 Three-phase 400 V: 7.5 kW (75DE)
(0.30)
(0.30)
Cooling fan
7.5
7.5
10 (0.39)
Ver.
(1.54)
39
110 (4.33)
335 (13.19)
350 (13.78)
335 (13.19)
283 (11.14)
(8.31)
211.1
Main circuit/
CN1 CN2 Control circuit
terminal Nameplate
Main circuit
130 (5.12) 46 terminal M5
32 (1.26)
(1.81)
L1 L2 L3 +1 +2 - 24V 0V B1 B2 U V W
(0.30)
7.5 (0.30)*
(0.28)
7 (0.28)
7.5
158 (6.22)
25 (0.98) 180 (7.09) 25 (0.98)* Ground 25 180 (7.09) 25
230 (9.06) terminal (0.98) (0.98)*
Main circuit Control circuit Ground
terminal M5 terminal M4 terminal M5
A
View A
222 (8.74)
133 (5.24)
104 (4.09)
* Reference length
Units: mm (in)
Approx. mass: 13.5 kg (29.76 lb)
SERVOPACK Connector
External Connector SERVOPACK
Main circuit Control power regenerative Manufacturer
power supply supply Symbol Connector Model
resistor
L1 L2 L3 24 V 0 V B1 B2 CN1 10250-52A2JL Sumitomo 3M Co., Ltd.
CN2 53460-0611 Molex Japan Co., Ltd.
CN3 10214-52A2JL Sumitomo 3M Co., Ltd.
Three-phase 24 VDC
400 VAC
50/60 Hz
4-22
5
Specifications and Dimensional
Drawings of Serial Converter Unit
5-1
5 Specifications and Dimensional Drawings of Serial Converter Unit
Items Specifications
Electrical Power Supply Voltage +5.0V±5%, ripple content 5% max.
Characteristics
Current Consumption∗1 120 mA Typ. 350 mA Max.
Signal Resolution Input 2-phase sine wave: 1/256 pitch
Max. Response 250 kHz
Frequency
Analog Input Signals ∗2 Differential input amplitude: 0.4 V to 1.2V
(cos, sin, Ref) Input signal level: 1.5 V to 3.5V
Hall Sensor Input CMOS level
Signal
Output Signals∗3 Position data, hall sensor information, and alarms
Output Method Serial data transmission
(HDLC (High-level Data Link Control) protocol format
with Manchester codes)
Transmission Cycle 62.5 μs
Output Circuit Balanced transceiver (SN75LBC176 or the equivalent)
Internal terminal resistance: 120 Ω
Mechanical Approx. mass 150 g
Characteristics Vibration Resistance 98 m/s2 max. (1 to 2500 Hz) in three directions
Shock Resistance 980 m/s2, (11 ms) two times in three directions
Environmental Operating temperature 0 °C to 55 °C (32 to 131 °F)
Conditions Storage temperature -20 °C to +80 °C (-4 to +176 °F)
Humidity 20 % to 90 %RH (without condensation)
* 1. The current consumption of the linear scale and hall sensor is not included in this value.
The current consumption of linear scale and hall sensor must be taken into consideration for the cur-
rent capacity of host controller that supplies the power. The current consumption of hall sensor:
Approx. 40 mA.
* 2. Input a value within the specified range. Otherwise, incorrect position information is output, and the
device may be damaged.
* 3. The transmission is enabled 100 to 300 ms after the power turns ON.
5-2
5.2 Analog Signal Input Timing
100%
0.2VQ0.6 V
cos
㧔A+㧕
45q
/cos
㧔A-㧕
cos/cossin/sin
Input voltage range:
1.5 V to 3.5V
sin
㧔B+㧕
5
/sin
㧔B-㧕
0.2 V min.
0.2 V min.
Ref/Ref /Ref
Input voltage range:㧔R-㧕
1.5 V to 3.5V Ref
㧔R+㧕
5 to 75% 5 to 75%
Zero Point
Count up direction
* If the analog signal amplitude declines to about 0.35 V because of differential amplitude, the serial con-
verter outputs an alarm.
IMPORTANT Precautions
1. Never perform insulation resistance and withstand voltage tests.
2. When analog signals are input to the serial converter unit, noise influence on the analog signals affects
the unit’s ability to output correct position information. The analog cable must be as short as possible
and shielded.
3. Use the device in an environment free from hydrogen sulfide (H2S) and other hazardous gases.
4. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged.
5. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.
5-3
5 Specifications and Dimensional Drawings of Serial Converter Unit
5.3.1 Linear Scale with Cable for Hall Sensor by Heidenhain
JZSP-CLP70-
CN2
D-sub 15-pin connector Hall sensor
60 (2.36)
24.99±0.4
10 (0.39)
300±30
65±0.3 (2.56±0.01) (11.81±1.18)
1.5 (0.06)
72 (2.83)
3 (0.12)
82±0.3 (3.22±0.01) Linear scale end Analog
14.35±0.4 (0.56±0.02) 90 (3.54) signal input connector (CN2)
22.5 (0.89)
Units: mm (in)
5-4
5.3 Dimensional Drawings of Serial Converter Unit
6 1 5 9
8 15
5-5
5 Specifications and Dimensional Drawings of Serial Converter Unit
5.3.2 Linear Scale with Cable for Hall Sensor by Renishaw
JZSP-CLP70-
CN2
D-sub 15-pin connector Hall sensor
60 (2.36)
24.99±0.4
10 (0.39)
300±30
1.5 (0.06) 65±0.3 (2.56±0.01) (11.81±1.18)
72 (2.83)
3 (0.12)
82±0.3 (3.22±0.01) Linear scale end Analog
14.35±0.4 (0.56±0.02) 90 (3.54) signal input connector (CN2)
22.5 (0.89)
Units: mm (in)
5-6
5.3 Dimensional Drawings of Serial Converter Unit
6 1 5 9
8 15
5-7
5 Specifications and Dimensional Drawings of Serial Converter Unit
5.3.2 Linear Scale with Cable for Hall Sensor by Renishaw
5-8
6
Specifications and Dimensional
Drawings of Cables and
Peripheral Devices
6.1 Linear Servomotor Main Circuit Cables - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Cables for Connecting Serial Converter Units - - - - - - - - - - - - - - - - - - - - - 6-7
6.3 Cables for Connecting Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.4 Cables for Connecting Hall Sensors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.5 Flexible Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.6 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.6.1 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.6.2 Single-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6.6.3 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6-13
6-13
6
6.6.4 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
6-1
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
27.7 (1.09)
U φ6.8 (φ0.27)
V
W
M4 crimped 1
G Cable (UL2464) 7.6 (0.30)
terminal AWG18/4C
Wire markers 14.7
(0.58)
Cap: 350780-1 (4-pole)
Socket: 350536-3 (Chained)
made by Tyco Electronics AMP. K.K. Units: mm (in)
6-2
6.1 Linear Servomotor Main Circuit Cables
27.7 (1.09)
U
V
W
M4 crimpted 1
terminal G Cable (UL2570) 7.6 (0.30)
AWG14/4C
Wire markers 14.7
(0.58)
Cap: 350780-1 (4-pin)
Socket: 350537-3 (Chained)
made by Tyco Electronics AMP. K.K. Units: mm (in)
6-3
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
Units: mm (in)
6-4
6.1 Linear Servomotor Main Circuit Cables
L -0.38 V W
Q
6-5
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
C
φJ (Bushing inner diameter)
1.6 (0.06)
V φE
(Cable clamp inner diameter)
φQ
6-6
6.2 Cables for Connecting Serial Converter Units
Cable (UL20276)
Connector type: 55100-0600 (AWG16×2C+AWG26×2P)
(6-pin, soldered) Connector type:17JE-23090-02(D8C)
made by Molex Japan Co., Ltd. (9-pin, soldered)
made by DDK Ltd.
Units: mm (in)
(3) Specifications
SERVOPACK end
Cable
Serial converter unit end
Cable
6
Pin No. Signal Color Pin No. Signal Color
6-7
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
9 1 1 9
Finished diameter φ9.5 (φ0.37)
15 8 8 15
Cable
(AWG22×3+AWG25×12)
Connector type: 17JE-23150-02 Connector type: 17JE-13150-02(D8C)
(D8C) (15-pin, soldered) (With stad) (15-pin, soldered)
made by DDK Ltd. made by DDK Ltd.
Units: mm (in)
(3) Specifications
Serial converter unit end Linear scale end
Pin No. Signal Pin No. Signal
1 /Cos(V1-) 1 /Cos(V1-)
2 /Sin(V2-) 2 /Sin(V2-)
3 Ref(V0+) 3 Ref(V0+)
4 +5V 4 +5V
5 5Vs 5 5Vs
6 BID 6 BID
7 Vx 7 Vx
8 Vq 8 Vq
9 Cos(V1+) 9 Cos(V1+)
10 Sin(V2+) 10 Sin(V2+)
11 /Ref(V0+) 11 /Ref(V0-)
12 0V 12 0V
13 0Vs 13 0Vs
14 DIR 14 DIR
15 Inner 15 Inner
Case Shield Case Shield
6-8
6.4 Cables for Connecting Hall Sensors
6 1 1 6
Finished diameter φ6.8 (φ0.27)
9 5 5 9
Cable
(AWG22×2+AWG24×4)
Connector type:17JE-23090-02 Connector type: 17JE-13090-02(D8C)
(D8C) (9-pin, soldered) (With stad) (9-pin, soldered)
made by DDK Ltd. made by DDK Ltd.
Units: mm (in)
(3) Specifications
Serial converter unit end Hall sensor end
Pin No. Signal Pin No. Signal
1
2
+5V
Phase U input
1
2
+5V
Phase U input
6
3 Phase V input 3 Phase V input
4 Phase W input 4 Phase W input
5 0V 5 0V
6 − 6 −
7 − 7 −
8 − 8 −
9 − 9 −
Case Shield Case Shield
6-9
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
• Conditions
1. Repeat moving one end of the cable forward and backward for 320 mm (12.60 in) with using the test
equipment shown in the following.
2. Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is
disconnected. Note that one reciprocating is counted as one test.
Shifting distance 320 (12.60 in)
Shifting end
Bending
radius Fixed end
R
Note: 1. The life of flexible cable differs largely depending on the amount of mechanical shocks,
mounting to the cable, and fixing methods. The life of flexible cable is limited under the
specified conditions.
2. The life of flexible cable indicates the number of bending times in which lead wires are
electrically conducted and by which no cracks and damages that affects the performance
of cable sheathing are caused. Disconnecting the shield wire is not taken into account.
6-10
6.5 Flexible Cables
6-11
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.6.1 Cable Types
IMPORTANT 1. Wire sizes were selected for three cables per bundle at 40 °C (104 °F) ambient temperature with the rated
current.
2. Use cable with a minimum withstand voltage of 600 V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables will rap-
idly deteriorate.
5. Use cables within the allowable mass.
6. Do not use cables under continuous regenerative state.
6-12
6.6 SERVOPACK Main Circuit Wire Size
SERVOPACK
Terminal Model SGDH-
External Terminal Name
Symbol
50AE 75AE
Main circuit power supply input terminals L1, L2, L3 HIV5.5 HIV14
Servomotor connection terminals U, V, W HIV8 HIV14
HIV1.25
6
Control power supply input terminals L1C, L2C
External regenerative resistor connection
B1, B2 HIV5.5 HIV8.0
terminals
Ground terminal HIV2.0 or more
6-13
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.6.4 Three-phase 400 V
SERVOPACK
Terminal Model SGDH-
External Terminal Name
Symbol
50DE 75DE
L1, L2, L3
Main circuit power supply input terminals HIV3.5 HIV5.5
(Three-phase)
Servomotor connection terminals U, V, W HIV3.5 HIV5.5
Control power supply input terminals 24V, 0V HIV1.25
External regenerative resistor connection
B1, B2 HIV2.0 HIV3.5
terminals
Ground terminal HIV2.0 or more
6-14
6.7 I/O Signal Cables for CN1 Connector
L 100 +100
(3.94 +0.39
0 )
Units: mm (in)
* Manufactured by Sumitomo 3M Ltd.
17.0 (0.67)
6-15
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.7.2 Connector Type and Cable Size
2.3 (0.09)
1.27 (0.05)
(0.20)
5.1
19.3 (0.76)
6.6 (0.26)*
2.9 (0.11)*
12.7 (0.50)
3M
41.1 (1.62)
Pin No. 1
9.1 (0.36)
7.5 (0.30)
6-16
6.7 I/O Signal Cables for CN1 Connector
6-17
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.1 Cables for Connecting Personal Computers
SERVOPACK end
Personal computer end Half-pitch connector
D-sub connector (9-pin) Plug: 10114-3000VE Personal computer end SERVOPACK end
17JE 13090 02 D8A Shell: 10314-52A0-008 Signal Pin No. Pin No. Signal
(Daiichi Denshi Kogyo Co., Ltd.) (Sumitomo 3M Ltd.)
RXD 2 2 /TXD
38 (1.50) 2000±50 (78.74±1.97) 39 (1.54)
TXD 3 4 /RXD
0V 5 14 0V
29.5 (1.16)
32 (0.13)
6 1 8 1 RTS 7 − −
Cable type: 14 7 CTS 8 − −
9 5
AWG26 × 3C UL2464 FG Case Case FG
Shield wire
2 × M2.6 screws 2 × M2.6 screws
Units: mm (in)
SERVOPACK CN3
Digital Operator
Connect
to CN3
63 (19.20)
18.5 (5.64)
2 × φ4.5 (φ1.37) mounting holes 50 (15.24)
7 (2.13)
125 (38.10)
135 (41.15)
YASKAWA
26 (7.92)
(2.44)*
8
39 (11.89)
* Reference length
29.5 (8.99) Units: mm (in)
6-18
6.8 Peripheral Devices
2 1 8 1
(8.99)
29.5
10 9 11 7
(6.16)
20.2
CN5
MODE/SET DATA/
CHARGE POWER
(3) Specifications
6-19
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.4 Connector Terminal Block Converter Unit
SERVOPACK
+50 +1.97
CN1 Attached cable length: 500 -0 mm (19.69 -0 in)
2 50
15.5 (0.61)
Terminal
block 50P Connector plug 50P
29.5 (1.16)
(0.25)
45 (1.77)
45 (1.77)
1 16
1 19 32
33 50
1 49
2×φ3.5 2 50
(φ0.14)
2×M3 tapped holes
3.5 247.5 (9.74) 3.5 (0.14) 3.5 247.5 (9.74) 3.5 (0.14)
(0.14) (0.14)
62 (2.44)
43.5 (1.71)
With terminal
block cover
2 (0.08)
removed
20.5 (0.81)
* Reference length
Units: mm (in)
Can be fixed on DIN rail
+50
500 0 (19.69 +1.97
0 )
Units: mm (in)
6-20
6.8 Peripheral Devices
* 1. The values in parentheses are for the optional JUSP-RA05 regenerative resistor.
* 2. The values in parentheses are for the optional JUSP-RA18 regenerative resistor.
The external regenerative resistor must be purchased by customers. Refer to the table below for selecting an
external regenerative resistor. Refer to 7.6 Connecting Regenerative Resistors for the connection.
6-21
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.6 Regenerative Resistor
M1 D
W
Ground terminal (M4 screw)
External terminals (M5 screws)
Cement resistor
30 (1.18)
Units: mm (in)
Units: mm (in)
Model W H D M1 M2 Approx. Mass
kg (lb)
300 350 95 250 335 7
JUSP-RA05
(11.81) (13.78) (3.74) (9.84) (13.19) (15.43)
220 350 92 180 335 4
JUSP-RA18
(8.66) (13.78) (3.74) (7.09) (13.19) (8.82)
6-22
6.8 Peripheral Devices
6-23
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.8 Noise Filter
Side view S
C
K
L
J
P
Top view M
Dimensional N
D
F
Drawings
A
Contact Terminal
P/N/E
-0 )
(5.51+0.20
140 +5
-0
Units: mm (in)
Symbol Dimensions
A 113.5 ± 1 (4.47±0.039) 156 ± 1 (6.14±0.039)
B 57.5 ± 1 (2.26±0.039)
C 45.4 ± 1.2 (1.79±0.047)
D 94 ± 1 (3.70±0.039) 130.5 ± 1 (5.14±0.039)
F 103 ± 0.3 (4.06±0.012) 143 ± 0.3 (5.63±0.012)
External J 25 ± 0.2 (0.98±0.0079)
Dimensions K 8.4 ± 0.5 (0.33±0.020)
in mm (in) L 32.4 ± 0.5 (1.28±0.020)
M 4.4 ± 0.1 (0.17±0.004) 5.3 ± 0.1 (0.21±0.004)
N 6 ± 0.1 (0.24±0.004)
P 0.9 ± 0.1 (0.035±0.004)
Q −
R −
S 38 ± 0.5 (1.50±0.020)
Specifications 250 VAC,6 A 250 VAC, 10 A
Applicable Single- A5AE
SERVOPACK phase 01AE 04AE
SGDH- 200 V 02AE
Manufacturer Schaffner Electronic
6-24
6.8 Peripheral Devices
B
G
E O
A
J
Symbol Dimensions
A 255 ± 1 (10.04 ± 0.039) 305 ± 1 (12.01 ± 0.039) 335 ± 1 (13.19 ± 0.039)
B 126 ± 0.8 (4.96 ± 0.031) 142 ± 0.8 (5.59 ± 0.031) 150 ± 1 (5.91 ± 0.039)
C 50 ± 0.6 (1.97 ± 0.024) 55 ± 0.6 (2.17 ± 0.024) 60 ± 0.6 (2.36 ± 0.024)
D 225 ± 0.8 (8.86 ± 0.031) 275 ± 0.8 (10.83 ± 0.031) 305 ± 1 (12.01 ± 0.039)
External E 240 ± 0.5 (9.45 ± 0.020) 290 ± 0.5 (11.42 ± 0.020) 320 ± 0.5 (12.60 ± 0.020)
Dimensions F 25 ± 0.3 (0.98 ± 0.012) 30 ± 0.3 (1.18 ± 0.012) 35 ± 0.3 (1.38 ± 0.012)
in mm (in) G 6.5 ± 0.2 (0.26 ± 0.0079)
H 300 ± 10 (11.81 ± 0.39) 400 ± 10 (15.75 ± 0.39)
J 1 ± 0.1 (0.039 ± 0.0039)
L 9 ± 1 (0.35 ± 0.039)
O M5
P AWG16 AWG14 AWG10 6
Specifications 480 VAC, 7 A 480 VAC, 16 A 480 VAC, 30 A
08AE
Three-
10AE
phase 05AE 30AE
Applicable 15AE
200 V
SERVOPACK 20AE
SGDH- Three- 05DE
20DE
phase 10DE −
30DE
400 V 15DE
Manufacturer Schaffner Electronic
6-25
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.8 Noise Filter
A H
B (J)
LOAD
LINE
Dimensional Drawings
C
I
(K)
G (L)
E
F
Symbol Dimensions
A 251 (9.88) 308 (12.13)
B 201 (7.91) 231 (9.09)
C 151 (5.94) 151 (5.94)
6-26
6.8 Peripheral Devices
(c) FS Series
Model FS5559-35-33
A
B
H
I
C
Dimensional Drawings D
J
SCHAFFNER
G
F
E
G
L
K
Symbol Dimensions
A 330 (12.99)
B 85 (3.35)
C 370 (14.57)
D 348 (13.70)
External E 110 (4.33)
Dimensions F 80 (3.15)
in mm (in) G 30 (1.18)
H 25 (0.98)
I 1.5 (0.06) 6
J 6.5 (0.26)
K 25 (0.98)
L M6
Specifications 480 V, 35 A
Applicable Three-
50DE
SERVOPACK phase
75DE
SGDH- 400 V
Manufacturer Schaffner Electronic
6-27
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.9 DC Reactor for Harmonic Suppression
6-28
6.8 Peripheral Devices
1 2
D
C
E
4×φH A
F
Notch
6-29
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.10 MECHATROLINK application module
(3.94)
Connector
(100)
to SERVOPACK
NS100
S
W
1
A
R
CN6A
S
W
142 (5.59)
Nameplate
N
6
A
CN6B
C
N
6
B
CN4
C
N
4
20 128 (5.04)
(0.79)
6-30
6.8 Peripheral Devices
Item Details
Applicable SERVOPACK All SGDH-E models
Installation Method Mounted on the SGDH SERVOPACK side: CN10.
Basic Power Supply Method Supplied from the SERVOPACK control power supply.
Specifications Power Consumption 1.3 W
DeviceNet Baud Rate Setting Select from 125 kbps, 250 kbps, or 500 kbps using a rotary switch.
Communications Node Address Setting Select the address from 0 to 63 using the rotary switches.
Operation Specifications Positioning using DeviceNet communications.
DeviceNet communications
Command Format
Reference Input Commands: Motion commands (position, speed), and Parameter
read/write
Acceleration/
Position Control Linear first/second-step, asymmetric, exponential, S-curve
Deceleration Method
Functions
Fully-closed Control Impossible
Fixed Allocation to SER- Forward/reverse run prohibited, Zero point signal, Emergency stop
Input Signals
VOPACK CN1 Connector signal
Position Data Latch Position data latching is possible using phase C, zero point signals,
Function and external signals.
Parameters damage, Parameter setting errors, Communications error,
Internal Functions Protection
etc.
MS: Module Status
LED Indicators
NS: Network Status
Connector
to SERVOPACK
CN11 NS300
7
8
6
9 X
0 1
5
4
3 10
2
7
8
6
9 X
0 1
5
4
3 1
2
7
8
6
9 D
0 1
R
5
4
2
C
N
11
CN6 M
S
N
S
Nameplate
(5.59)
142
CN4
20 133 (5.24)
(0.79)
6-31
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.12 PROFIBUS-DP application module
Item Details
Applicable SERVOPACK All SGDH-E models
Installation Method Mounted on the SGDH SERVOPACK side: CN10.
Basic Power Supply Method Supplied from the SERVOPACK control power supply.
Specifications Power Consumption 1.3 W
The baud rate is automatically set by the Master between 9.6 kbps
PROFIBUS-DP Baud Rate Setting
and 12 Mbps.
Communications
Station Address Setting Select the address from 0 to 7D (0 to 125) using the rotary switches.
Operation Specifications Positioning using PROFIBUS-DP communications
PROFIBUS-DP communications
Command Format
Reference Input Commands: Motion commands (position, speed), Parameter read/
write
Acceleration/
Position Control Linear first/second-step, asymmetric, exponential, S-curve
Deceleration Method
Functions
Fully-closed Control Impossible
Fixed Allocation to SER-
Forward/reverse run prohibited, Zero point return deceleration LS,
VOPACK CN1
Input Signals Zero point signal, External positioning signal
Connector
NS500 Unit Emergency stop signal
SERVOPACK CN1
Servo alarm, Brake interlock, Servo ready, Positioning completion
Output Signals Connector∗
NS500 Unit Notch 1, notch 2
Position Data Latch Position data latching is possible using phase C, zero point signals,
Function and external signals.
Parameters damage, Parameter setting errors, Communications
Internal Functions Protection
errors, etc.
ERR: Module Error
LED Indicators
COMM: Communications Status
* The allocation of the output signals for brake interlock, servo ready, or positioning completion
can be changed using parameter settings.
6-32
6.8 Peripheral Devices
(3.94)
(100)
Connector
to SERVOPACK
CN11 NS500
7
8
6
9 X
0 1
5
4
3 10
2
7
8
6
9 X
0 1
5
4
3 1
2
D
R
C
N
11
CN6
Nameplate
(5.59)
142
CN4
20 133 (5.24)
(0.79)
6-33
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.13 INDEXER application module
Item Details
Applicable SERVOPACK All SGDH-E SERVOPACKs
Installation Method Mounted on the SGDH SERVOPACK side: CN10.
Power Supply Method Supplied from the SERVOPACK control power supply
Basic Specifications
Power Consumption 2.6 W
Program table positioning by designating the starting step by the contact input
Program Table
(Maximum 128 steps)
Serial commands in ASCII codes
Communications specifications: RS422 / RS485 (Maximum 50 m)
Control Specifica- Serial Communications RS232C (Maximum 3 m)
tions Connection: Multi-drop method (Maximum 16 axes)
Baud rate: 9600, 19200, 38400bps
Positioning by designating the command table by the contact input
Command Table
(Maximum 128 points)
Zero-Point Return 3 types
External positioning, JOG speed table operation (Maximum
Other Functions
16 speeds)
• S-ON (Servo ON)
• P-OT (Forward Run Prohibited), N-OT (Reverse Run Prohibited)
SERVOPACK
• DEC (Zero-Point Return Deceleration LS)
• RTRG (External Positioning Signal)
• MODE0/1 (Mode signal)
Input
• START/HOME (Start Signal / Zero-point Return Execution)
INDEXER • PGMRES/JOGP (Program Reset / Motor Forward Rotation)
Application Module • SEL0/JOGN (Program Starting Step Designation / Motor Reverse Rotation)
I/O Signals • SEL1 to SEL4 / JOG0 to JOG3
Program Starting Step Designation / JOG Speed Table Selection)
• ALM (Servo Alarm)
• WARN (Warning)
SERVOPACK • BK (Brake Interlock)
Out-
• S-RDY (Servo Ready)
put
• ALO1, ALO2, ALO3 (Alarm Codes)
INDEXER • INPOSITION (Positioning Completed)
Application Module • POUT0 to POUT4 (Programmable Outputs)
6-34
6.8 Peripheral Devices
(100) (3.94)
M4
(2) (0.08)
Connector
To SERVOPACK
NS600
CN7
142 (5.59)
CN4 Nameplate
CN6
128 (5.04)
20 (0.79)
6-35
6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
6.8.13 INDEXER application module
6-36
7
Wiring
7-1
7 Wiring
7.1.1 Introduction
WARNING
• If you have a pacemaker or any other electronic medical devices, do not approach the magnetic way of the
linear servomotor.
Failure to observe this warning may malfunction of the medical device.
7-2
7.1 Linear Servomotor Installation
CAUTION
• When unpacking and installing magnetic way, check that no metal fragments or other magnetic objects are
present considering the magnetic attraction of the magent track.
Failure to observe this caution may result in injury or damage to the magnetic way's magnets.
• Do not use the magnetic way near metal or other magnetic objects.
Failure to observe this caution may result in injury.
• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic way.
Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.
• Do not carry the magnetic way by its magnet protection cover.
Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become distorted.
Cover
Magnetic way
• When removing the dummy plate for reducing magnetic force used for the SGLFM magnetic way, pay
attention to the magnetic attraction of the magnetic way. Do not place the removed plate close to the
magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way’s magnets or the magnet protection
cover.
• Keep fingers away from the gap between magnetic ways when connecting multiple magnetic ways together.
Otherwise fingers may become jammed due to the magnetic attraction between magnetic ways, resulting in injury.
When joining magnetic ways together, place the second magnetic way temporarily in line and at least 30 mm apart
from the first magnetic way. 7
Next, after aligning the angles of the bolt sockets on the magnetic way's connecting surfaces, rotate the second mag-
netic way to join the first magnetic way. Connect the second and first magnetic ways together. And after confirming the
mounting position, secure the second magnetic way using bolts. Make sure that fingers do not get jammed due to the
magnetic attraction between magnetic ways.
7-3
7 Wiring
7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)
CAUTION
• When using linear servomotors with hall sensors, make sure that the hall sensor does not protrude from the
servomotor's magnetic way.
Otherwise, the linear servomotor may not operate properly. The hall sensor is built into the coil assembly in SGLGW-
30 and SGLGW-90 linear servomotor. The hall sensor is mounted on the end for other models.
Magnets
Nameplate
Mounting reference
surface
2. Press the magnetic way down closely onto the reference surface of the machine and secure it with bolts.
Magnetic Way Model Tightening torque
Bolt size
SGLGM- (N•cm)
30 M4 360 to 500
40
M5 720 to 1010
60
90 M6 1220 to 1710
Note: Use hexagonal socket head bolts (tensile strength Class 10.9).
7-4
7.1 Linear Servomotor Installation
3. When joining magnetic ways together, place the second magnetic way temporarily in line and at least 30
mm apart from the first magnetic way.
Next, after aligning the angles of the bolt sockets on the magnetic way's connecting surfaces, rotate the
second magnetic way to join the first magnetic way. Connect the second and first magnetic ways together.
And after confirming the mounting position, secure the second magnetic way using bolts. Make sure that
fingers do not get jammed due to the magnetic attraction between magnetic ways.
Magnetic way
Coil assembly
7-5
7 Wiring
7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)
The relationship between the dimensions and positioning between the coil assembly's coil winding section
and magnetic way's magnets is shown here.
Maintain the following air gaps when installing. Make sure that the coil assembly and magnetic way do
not interfere during the stroke.
Coil Assembly Dimensions in mm (in)
Model Air gap Air gap
Air gap
Coil assembly
G2
SGLGW- G1 G2
0.85 ± 0.3 1 ± 0.3
30A050
(0.03 ± 0.01) (0.04 ± 0.01)
0.95 ± 0.3 1 ± 0.3
30A080 Air gap
(0.03 ± 0.01) (0.04 ± 0.01)
G1
0.8 ± 0.3 1 ± 0.3
40A Air gap
(0.03 ± 0.01) (0.04 ± 0.01) G1
0.8 ± 0.3 1 ± 0.3
60A
(0.03 ± 0.01) (0.04 ± 0.01)
1.1 ± 0.3 2 ± 0.3 Magnetic way
90A
(0.04 ± 0.01) (0.08 ± 0.01)
2. Move the coil assembly back and forth several times over the magnetic way from end to end, making sure
that the coil assembly and magnetic way are not touching each other and that no foreign objects such as
magnetic particles are present.
7-6
7.1 Linear Servomotor Installation
Cardboard sheet
Magnet
Magnetic way yoke
Standard mark
Standard surface
Standard marks
7
3. While pressing the magnetic way down closely onto the machine's standard surface, secure with bolts.
Magnetic Way Model Tightening torque
Bolt size
SGLFM- (N•cm)
20
M4 360 to 500
35
50 M5 720 to 1010
1Z M6 1220 to 1710
Note: Use hexagonal socket head bolts (tensile strength Class 10.9)
7-7
7 Wiring
7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core)
INFO The magnetic way's magnets exert strong magnetic attraction. Make sure that any steel bolts or wrenches being used are
kept away from the magnets. Always use bolts with a head height according to the dimensions shown in the following
table.
Magnet
K
Head height K Magnetic
Magnetic Way Model
Bolt size is mm Reference way yoke
SGLFM-
(in)
20 Fig. 1
M4 4.2 (0.17) max.
35 Fig. 1 Magnet
K
50 M5 5.2 (0.20) max.
1Z M6 6.7 (0.26) max. Fig. 2 Magnetic
way yoke
Fig. 2
4. When joining magnetic ways together, place the second magnetic way temporarily in line with and at least
30 mm apart from the first magnetic way. Next, match the direction of the magnetic ways (standard mark:
Approx. 4-mm dia. indentation). (Refer to the diagrams in step 2.) Next, while holding the magnetic ways
down so that they are not raised, push the second magnetic way against the first magnetic way and secure
with bolts. Keep fingers clear to prevent them being jammed between the magnetic way due to the mag-
netic attraction pulling the magnetic ways together.
Magnetic attraction
INFO Before installing additional magnetic ways, install the coil assembly. For details, refer to (2) Coil Assembly Installation.
7-8
7.1 Linear Servomotor Installation
Maintain the following air gaps when installing. Make sure that the coil assembly and magnetic way do
not interfere during the stroke.
Installation tap P Cable
Coil Assembly Dimensions is mm (in)
Model
SGLFW- H P Air gap G
Air gap G
22 ± 0.2 Coil
20 assembly
H
45 ± 0.1 (0.87 ± 0.004)
Standard
(1.77 ± 0.004) 21 ± 0.2 mark
35 1 ± 0.3
(0.83 ± 0.004)
(0.04 ± 0.01)
25.8 ± 0.2 Magnetic way
50 (0.8 (0.03)) ∗
58 ± 0.1 (1.02 ± 0.004) 7
(2.28 ± 0.004) 27 ± 0.2 Linear servomotor side
1Z
(1.06 ± 0.004) (Diagram viewed from the side where the
cable extends from the coil assembly.)
* The value in parentheses is the dimension when the magnet protection
cover is used.
7-9
7 Wiring
7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core)
IMPORTANT When two or more magnetic ways are used, first secure one of the magnetic ways only, and then install the
coil assembly in the available space. If using one magnetic way only with insufficient space to extend the
linear guide up to the position of the coil assembly, temporarily mount a dummy linear guide in line with the
magnetic way's.
• Simplified diagram showing installation of dummy linear guide.
Movable table
Block
2. Insert a thin nonmagnetic (preferably resin) sheet (approximately 0.5-mm thick) in the air gap between the
coil assembly and magnetic way, and move the coil assembly toward the magnetic way.
Nonmagnetic sheet
IMPORTANT Make sure that hands or tools are not jammed due to the magnetic attraction from the magnetic way when
the coil assembly approaches the end of the magnetic way. When the air gap between the coil assembly and
the magnetic way is fixed, the nonmagnetic sheet is not required. (Refer to the table of dimensions in step
1.)
3. Move the coil assembly back and forth several times over the magnetic way from end to end, making sure
that the coil assembly is not touching the magnetic way and that no foreign objects (such as magnetic par-
ticles) are present. Use a nonmagnetic (brass or stainless steel) gap gauge to check that the air gap
between the coil assembly and the magnetic way is even.
7-10
7.1 Linear Servomotor Installation
Air gap G
20A120A 600 Magnetic
attraction
35120A 1100 F
35230A 2100
0.7 (0.03)
50200B 2700
50380B 5200
1Z200B 5300
1Z380B 10400
* 1. Indicates an air gap value of -0.3 mm (-0.012 in) relative to the design value.
* 2. Indicates the magnetic attraction for the maximum force.
7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)
(1) Magnetic Way Installation
The SGLTM magnetic way is packaged with two magnetic way yokes secured with aluminum mounting spacers.
IMPORTANT Do not remove the installation spacers until the magnetic way is temporarily fixed to the device.
Mounting spacer
7-11
7 Wiring
7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)
Dimensions in mm (in)
Magnetic Way Spacer for transport
Model W1 W2
SGLTM- (Dimensions (Recommended
at shipment) machine base value)
20 71.5 ± 1 70 ± 0.15
Magnet
35 (2.81 ± 0.04) (2.76 ± 0.01)
40 113 ± 1 111.8 ± 0.15
Positioning steps
80 (4.45 ± 0.04) (4.40 ± 0.01)
35H 91.5 ± 1 90 ± 0.15
50H (3.60 ± 0.04) (3.54 ± 0.01)
W2
W1
2. Insert the mounting bolts into one side of the magnetic way yoke and tighten lightly by hand. Next, while
firmly holding down the magnetic way yoke onto the positioning step, tighten the bolts firmly.
Hold down
the magnetic Positioning step
way yoke.
Follow the same procedure as in steps 1 to 4 to install the second and subsequent magnetic ways.
7-12
7.1 Linear Servomotor Installation
Magnetic attraction
INFO For safety, install the coil assembly before installing the second or subsequent magnetic way. Refer to (2) Coil Assembly
Installation for details.
Magnetic way
7
Coil assembly
The relationship between the dimensions and positioning between the coil assembly and magnetic way is
shown here.
Maintain the following air gaps when installing. Make sure that the coil assembly and magnetic way do
not intervene during the stroke.
7-13
7 Wiring
7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)
A
Coil Assem- Dimensions in mm (in)
bly Model Air gaps Coil assembly Magnetic
H A Magnetic
SGLTW- way
G1,G2 way
55 ± 0.3
H
20AA 1 ± 0.3 Air gap
(2.17 ± 0.01) 15 ± 0.1 Air gap
(0.04 ± 0.01) G1 G2
70 ± 0.3 (0.59 ± 0.004)
35A (0.8 (0.03)) ∗
(2.76 ± 0.01)
40A 1.4 ± 0.3
83 ± 0.3 19.1 ± 0.1
(0.06 ± 0.01) Linear servomotor side view
80A (3.27 ± 0.01) (0.75 ± 0.004)
(1.2 (0.05)) ∗ (Diagram viewed from the side where the
cable extends from the coil assembly.)
70 ± 0.3 15 ± 0.1
35H 1 ± 0.3
(2.76 ± 0.01) (0.59 ± 0.004)
(0.04 ± 0.01)
85 ± 0.3 19.1 ± 0.1
50H (0.8 (0.03)) ∗
(3.35 ± 0.01) (0.75 ± 0.004)
* The value in parentheses is the dimension when the magnet protection cover is used.
IMPORTANT When two or more magnetic way are used, first secure one of the magnetic way only, and then install the
coil assembly in the available space. If using one magnetic way only with insufficient space to extend the
linear guide up to the position of the coil assembly, temporarily mount a dummy linear guide in line with the
magnetic way's.
• Simplified diagram showing installation of dummy linear guide.
Standard linear guide Dummy linear guide
Block
2. Insert a thin nonmagnetic (preferably resin) sheet (approximately 0.5-mm thick) in the air gap between the
coil assembly and magnetic way, and move the coil assembly slowly toward the magnetic way.
Nonmagnetic sheet
Movable table
7-14
7.1 Linear Servomotor Installation
INFO Make sure that hands or tools are not jammed or caught due to the attraction of the magnetic way when the coil assembly
approaches the end of the magnetic way. When the air gap between the coil assembly and the magnetic way is fixed, the
nonmagnetic sheet is not required. (Refer to the table of dimensions in step 1.)
3. Move the coil assembly back and forth several times over the magnetic way from end to end, making sure
that the coil assembly is not touching the magnetic way and that no foreign objects (such as magnetic par-
ticles) are present. Use a nonmagnetic (brass or stainless steel) gap gauge to check that the air gap
between the coil assembly and the magnetic way is even (estimated gap: ±0.3 mm (0.012 in)).
Magnetic way
Magnetic way
attraction
20A170A 760 1030 270 F2
1.3 0.7
20A320A 1510 2040 530 Magnetic
(0.05) (0.03)
20A460A 2260 3050 790 attraction
F1
35A170A
1330 1800 470
35170H
1.3 0.7
35A320A
(0.05) (0.03) 2650 3570 920 Air gap
35320H Air gap
G1 G2
35460A 4000 5400 1400
40400B 1.7 1.1 4700 5900 1200
40600B (0.07) (0.04) 7000 8700 1700 7
50170H 1.3 0.7 1990 2600 700
50320H (0.05) (0.03) 3750 5100 1350
80400B 1.7 1.1 9200 11400 2200
80600B (0.07) (0.04) 13600 16900 3300
* 1. Indicates an air gap value when one side is +0.3 mm (0.012 in) and the other side is −0.3 mm (−0.012
in) relative to the design values.
* 2. Indicates the magnetic attraction at maximum force.
7-15
7 Wiring
7.2.1 Names and Functions of Main Circuit Terminals
CAUTION
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa-
rated by at least 300 mm (11.81 in).
Failure to observe this caution may result in malfunction.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG) feed-
back lines.
The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF. Do not turn the power ON or OFF more than once per minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when the
power is turned ON. Frequently turning the power ON and OFF causes main power devices such as capacitors and
fuses to deteriorate, resulting in unexpected problems.
7-16
7.2 Wiring Main Circuit
(cont’d)
Terminal Symbol Name Main Maximum Functions
Circuit Applicable
Voltage Servomotor
(V) Capacity
(kW)
DC reactor for 200 0.05 to 5.0 Normally short 1 and 2.
harmonic 400 0.5 to 7.5 If a countermeasure against power supply harmonic
suppression
1, 2 waves is needed, connect a DC reactor between 1
terminal
and 2.
200 7.5 These terminals do not exist.
Main circuit plus ter- 200 7.5 Normally not connected.
minal Note: This terminal is on the SERVOPACK with a
capacity of 7.5 kW only.
Main circuit minus Normally not connected.
− −
terminal
7-17
7 Wiring
7.2.2 Wiring Main Circuit Power Supply Connector (Spring Type)
CAUTION
• Observe the following precautions when wiring main circuit connector.
• Remove the connector from the SERVOPACK prior to wiring.
• Insert only one wire per terminal on the connector.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
SERVOPACKs with a capacity below 1.5 kW have a removable connector for the main circuit power supply
or the control power supply terminal. Use the following procedure when connecting the SERVOPACK to the
connector.
8 to 9 mm
(0.31 to 0.35 inches)
2. Open the wire terminal on the power supply connector housing (plug) with the tool using the procedure
shown in Fig. A or B.
• Insert the connection hook end of the provided tool into the slot as shown in Fig. A.
• Use a standard flat-blade screwdriver (blade width of 3.0 to 3.5 mm (0.12 to 0.14 in)) or type 54932-
0000 manufactured by Molex Japan Co., Ltd. Put the blade into the slot, as shown in Fig. B, and press
down firmly to open the wire terminal.
Either the procedure shown in Fig. A or B can be used to open the wire insert opening.
Fig. A Fig. B
3. Insert the wire core into the opening and then close the opening by releasing the lever connection or
removing the screwdriver.
The terminal block for SERVOPACK SGDH-DE for 400 V 500 W to 1.5 kW, has an indication “300 V, 15 A”. This is a
INFO rating recognition of UL authorization, which means that the terminal blocks are authorized for “limited rating for indus-
trial use” and applicable up to 600 V. Accordingly, these terminal blocks are applicable for 400 V SERVOPACK.
7-18
7.2 Wiring Main Circuit
L2C Serial
converter PG
1KM unit
L1
L2
7
Properly treat the end of shielded wire.
L3
(For servo +24V
1Ry alarm display) B2 CN1 1Ry
B3 ALM+ 31
Main circuit Main circuit 1PL +1
power supply power supply
OFF ON +2 1D 024V
1Ry 1KM ALM− 32
7-19
7 Wiring
7.2.3 Typical Main Circuit Wiring Examples
power supply U
− + V M
FIL W
7-20
7.2 Wiring Main Circuit
WARNING
• SGDH SERVOPACK is applicable for both AC and DC power supply input excluding 7.5-kW control power
supply input.
However, if the DC power supply input supplies a voltage without setting ‘1’ (for DC power supply input) in
the parameter Pn001.2, the SERVOPACK’s internal elements will burn and may cause fire or malfunction.
When using the SERVOPACK with DC power supply input, confirm the following setting of parameters.
When using the main circuit power supply input of the SGDH SERVOPACK with DC power supply, use the fol-
lowing power supply and set the parameter Pn001.2 to 1. Also, read carefully to the following ‘Important’ sec-
tion.
IMPORTANT 1. Servomotor returns the regenerative energy to the power supply when regenerating. SERVOPACK does
not regenerate with DC power supply input specifications, so regenerate the energy on the power supply
side.
2. Take appropriate measures to ensure that a high charging current stays inside the SERVOPACK when
power is OFF.
7-21
7 Wiring
7.3.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK
7-22
7.4 Examples of I/O Signal Connections
7-23
7 Wiring
7.4.2 Position Control Mode
PULS
CW /PULS 8
Phase A 150Ω 37 ALO1
SIGN 11
Alarm code output
SIGN 38 ALO2 Max. operating voltage:
CCW
Phase B /SIGN 12 30 VDC
39 ALO3 Max. output current:
150Ω 20 mA DC
CLR 15
CLR
Position
reference /CLR 14
+12 V 33 PAO
1kΩ 34 /PAO
PL1 3
Open-collector PG dividing ratio output
PL2 13 35 PBO
reference Applicable line receiver:
power supply PL3 18 36 /PBO
SN75175 manufactured
by Texas Instruments or
19 the equivalent
PCO corresponding to
∗2. 20 /PCO MS3486
3.3kΩ
+24V +24VIN 47
1 SG
7-24
7.4 Examples of I/O Signal Connections
∗3 . ∗1. ∗2.
External speed limit V-REF 5
LPF
(±2 to ±10 V
/rated motor speed) SG 6 37 ALO1
A/D Alarm code output
∗2. Max. operating voltage:
38 ALO2 30 VDC
Force reference T-REF 9
LPF Max. operating current:
(±1 to ±10 V 39 ALO3 20 mA DC
/rated force) SG 10
33 PAO
34 /PAO
PG dividing ratio output
35 PBO Applicable line receiver
36 /PBO SN75175 manufactured
by Texas Instruments or
the equivalent corresponding
19 PCO to MC3486
20 /PCO
∗5.
+24 V 3.3 kΩ
+24VIN 47
1 SG
Servo ON /S-ON 40 (SI0)
(Servo ON when ON) (SO1) 25 /VLT+
Speed limit output
P control /P-CON 41 (SI1) 26 /VLT- (ON when the motor’s
(P control when ON) running speed is limited.)∗4.
7-25
7 Wiring
7.4.4 I/O Signal Connector (CN1) Terminal Layout
7-26
7.4 Examples of I/O Signal Connections
7-27
7 Wiring
7.4.5 I/O Signal (CN1) Names and Functions
7-28
7.4 Examples of I/O Signal Connections
0V 0V
1.0 kΩ +12 V
VF
150 Ω
Tr1
About
9 mA
VF = 1.5 to 1.8 V
Use the examples below to set pull-up resistor R1 so the input
current, i, falls between 7 mA and 15 mA.
1.5 V max.
Application Examples 0V
when ON
R1 = 2.2 kΩ with a R1 = 1 kΩ with a R1 = 180 Ω with a
Vcc of 24 V ±5% Vcc of 12 V ±5% Vcc of 5 V ±5%
7-29
7 Wiring
7.4.6 Interface Circuit
24 V 24 V
I/O power I/O power
supply supply
+ − SERVOPACK input
+ − SERVOPACK input
7-30
7.4 Examples of I/O Signal Connections
0V 0V
0V
0V 0V
Note: The maximum allowable voltage and current capacities for open-collector output circuits
are as follows:
• Voltage: 30 VDC
• Current: 20 mA DC
0V
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits
are as follows:
• Voltage: 30 VDC
• Current: 50 mA DC
7-31
7 Wiring
7.5.1 Wiring Precautions
7.5 Others
7.5.1 Wiring Precautions
To ensure safe and stable operation, always observe the following wiring precautions.
IMPORTANT 1. For wiring for reference inputs and encoders, use the specified cables. Refer to 6 Specifications and
Dimensional Drawings of Cables and Peripheral Devices for details.
Use cables as short as possible.
2. For a ground wire, use as thick a cable as possible (2.0 mm2 or thicker).
• At least class-3 ground (100 Ω max.) is recommended.
• Ground to one point only.
• If the servomotor is insulated from the machine, ground the servomotor directly.
3. Do not bend or apply tension to cables.
The conductor of a signal cable is very thin (0.2 to 0.3 mm (0.0047 to 0.012 in)), so handle the cables care-
fully.
4. Use a noise filter to prevent noise interference.
(For details, refer to 7.5.2 Wiring for Noise Control.)
• If the equipment is to be used near private houses or may receive noise interference, install a noise filter on
the input side of the power supply line.
• Because the SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise
interference.
5. To prevent malfunction due to noise, take the following actions:
• The wiring distance between the linear scale and serial converter unit must be as short as possible.
• Always install a surge suppressor in the relay, solenoid and magnetic contactor coils.
• The distance between a power line (such as a power supply line or servomotor cable) and a signal line must
be at least 300 mm. Do not put the power and signal lines in the same duct or bundle them together.
• Do not share the power supply with an electric welder or electrical discharge machine. When the SERVO-
PACK is placed near a high-frequency generator, install a noise filter on the input side of the power supply
line.
6. Use a molded-case circuit breaker (QF) or fuse to protect the power supply line from high voltage.
• The SERVOPACK connects directly to a commercial power supply without a transformer, so always use a
QF or fuse to protect the SERVOPACK from accidental high voltage.
7. The SERVOPACKs do not have built-in ground protection circuits. To configure a safer system, install
an earth leakage breaker for protection against overloads and short-circuiting, or install an earth leakage
breaker combined with a wiring circuit breaker for ground protection.
7-32
7.5 Others
2.0 mm 2
min.
Operation relay sequence
∗3 ∗2
AVR
1LF 3.5mm 2
(Grounding)
min.
2 mm 2
(Casing) (Casing) (Casing) 3.5mm2 min. ∗1
∗1
Wires of 3.5mm2 min.
(Casing)
(Ground plate)
∗1 For grounding wires connected to the casing, use a thick wire with a thickness of at least 3.5mm2
(equivalent to a copper braided flat conductor) 7
∗2 : represents twisted-pari wires.
∗3 When using a noise filter, follow the precautions in (3) Using Noise Filters.
7-33
7 Wiring
7.5.2 Wiring for Noise Control
Incorrect Correct
Noise Noise
filter filter
Box Box
Noise Noise
filter filter
Box Box
7-34
7.5 Others
2. Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines, and other signal lines in the same duct or
bundle them together.
Incorrect Correct
Noise Noise
filter filter
Box Box
3. Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.
Incorrect Correct
Noise Noise
filter filter
SERVOPACK SERVOPACK SERVOPACK SERVOPACK
Box Box 7
4. When grounding a noise filter inside a unit:
If a noise filter is located inside a unit, connect the noise filter ground wire and the ground wires from other
devices inside the unit to the ground plate for the unit first, then ground these wires.
Unit
SERVOPACK
Noise
filter
SERVOPACK
Ground
Box
7-35
7 Wiring
7.5.3 Using More Than One SERVOPACK
Power supply
R S T
Power
QF Power ON
OFF
1RY 1KM
1KM
Noise
filter SUP
1KM
L1
L2 Linear servomotor
L3
SERVOPACK
L1C M
L2C
+24V
CN1
1RY
31 ALM+
32 ALM -
L1
L2 Linear servomotor
L3
SERVOPACK
L1C M
L2C
CN1
31 ALM+
32 ALM -
L1
L2 Linear servomotor
L3
SERVOPACK
L1C M
L2C
CN1
31 ALM+
32 ALM -
0V
Note: Wire the system so that the phase-S power supply will be the ground phase.
7-36
7.5 Others
CAUTION
• Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer.
Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary,
damaging the SERVOPACK.
There are three types of SGDH SERVOPACKs, for the power supply voltages: Single-phase 200 VAC, three-
phase 200 VAC, and three-phase 400 VAC. When using the SERVOPACK for 200 V with the three-phase 400-
VAC class (380 to 480 V), prepare the following voltage conversion transformers (single-phase or three-phase)
Primary Voltage Secondary Voltage
380 to 480 VAC → 200 VAC
When selecting a voltage conversion transformer, refer to the capacities shown in the following table.
Voltage SERVOPACK Model Voltage Capacity per Current Capacity of Circuit
SGDH- SERVOPACK * (kVA) Breaker or Fuse (Arms)
Single-phase A5AE 0.25 4
200 V 01AE 0.40
02AE 0.75
04AE 1.2 8
Three-phase 05AE 1.4 4
200 V 08AE 1.9 7
10AE 2.3
15AE 3.2 10
20AE 4.3 13
30AE 5.9 17
50AE 7.5 28
75AE 15.5 41
7
* This is the net value at the rated load.
Voltage conversion SERVOPACK
transformer
Single-phase 1KM
200 VAC
R
L1
L2
S
1KM
T
Magnetic contactor for
power supply ON and OFF
7-37
7 Wiring
7.5.5 DC Reactor for Harmonic Suppression
DC reactor SERVOPACK
Note: 1. The SERVOPACK 1 and 2 terminals for the DC reactor are short-circuited before ship-
ment. Remove the lead wire between these two terminals and connect the DC reactor with SER-
VOPACK.
2. DC reactor is an option (Provided by customer).
7-38
7.6 Connecting Regenerative Resistors
7-39
7 Wiring
7.6.2 Connecting External Regenerative Resistors
* 1. The average regenerative power that can be handled is 20% of the rated capacity of the
regenerative resistor built into the SERVOPACK.
* 2. The values in parentheses are for the optional JUSP-RA05 Regenerative Resistor.
* 3. The values in parentheses are for the optional JUSP-RA18 Regenerative Resistor.
7-40
7.6 Connecting Regenerative Resistors
The set value differs depending on the cooling method of external regenerative resistor:
• For natural air cooling method: Set the value maximum 20% of the actually installed regenerative resistor capacity (W).
• For forced air cooling method: Set the value maximum 50 % of the actually installed regenerative resistor capacity (W).
For example, set 20 W (100 W × 20% ) for the 100 W external regenerative resistor with natural cooling method: Pn600 = 2
(units: 10 W)
IMPORTANT 1. When resistors for power are used at the rated load ratio, the resistor temperature increases to between
200 °C (392 °F ) and 300 °C (572 °F ) . The resistors must be used at or below the rated values. Check
with the manufacturer for the resistor’s load characteristics. Use the regenerative resistors at no more
than 20% of the rated load ratio with natural convection cooling, and no more than 50% of the rated load 7
ratio with forced air cooling.
2. For safety’s sake, use the resistors with thermoswitches.
7-41
7 Wiring
7.6.2 Connecting External Regenerative Resistors
IMPORTANT Do not touch the regenerative resistors because they reach high temperatures. Use heat-resistant, non-flam-
mable wiring and make sure that the wiring does not touch the resistors. Refer to 6.6 SERVOPACK Main
Circuit Wire Size for connecting wire size when connecting an external regenerative resistor.
SGDH-
L2C
B1 MODE/SET
CHARGE
DATA/
POWER
CHARGE
DATA/
POWER
7-42
7.6 Connecting Regenerative Resistors
YASKAWA POWER
CHARGE
WARNING
L1 L2 L3 + B1 B2 U V W
Note: Connect a regenerative resistor between B1 and B2 terminals. The regenerative resistor is
provided by the customer.
7-43
7 Wiring
7.6.2 Connecting External Regenerative Resistors
7-44
8
Digital Operator/Panel Operator
8-1
8 Digital Operator/Panel Operator
8.1.1 Connecting the Digital Operator
Digital Operator
JUSP-OP02A-2 Panel Operator
YASKAWA 200V
V
SERVOPACK
SGDH-
. . . . .
DIGITAL
SERVOPACK OPERATOR MODE/SET DATA/
JUSP-OP02A
ALARM DSPL
RESET SET
JOG DATA
SVON ENTER
YASKAWA
CN3
IMPORTANT If the digital operator is connected to the SERVOPACK, the panel operator does not display anything.
8-2
8.1 Functions on Digital Operator/Panel Operator
DATA
To display parameter setting and set value.
ENTER
YASKAWA
(DATA/ENTER Key) DATA/
(DATA/SHIFT Key)
− Press the RIGHT Key to shift to the next digit on the right.
(RIGHT Key)
JOG
Press the SVON or MODE/SET Key to perform servo ON/OFF
SVON in the JOG operation with the operator.
(SVON Key) MODE/SET
(MODE/SET Key)
When an alarm occurs, remove the cause, and then reset the alarm. Refer to 11.1 Troubleshooting.
IMPORTANT
8
8-3
8 Digital Operator/Panel Operator
8.1.3 Basic Mode Selection and Operation
DSPL
Press SET
.
DATA
Press ENTER . Fn: Utility Function Mode
(Refer to 8.2)
DSPL
Repeat Press SET
.
DATA
Press ENTER . Pn: Parameter Setting Mode
(Refer to 8.3)
DSPL
Press SET
.
Press DATA
ENTER . Pn: Monitor Mode
(Refer to 8.4)
DSPL
Press SET
.
Press DSPL/SET Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/ENTER Key to display the contents of selected parameter number
in the selected mode. (Refer to each operation instruction described later.)
8-4
8.1 Functions on Digital Operator/Panel Operator
Press .
MODE/SET
Press for more than one second. Fn: Utility Function Mode (Refer to 8.2)
DATA/
(DATA/SHIFT)
Repeat Press .
MODE/SET
Press for more than one second. Pn: Parameter Setting Mode (Refer to 8.3)
DATA/
(DATA/SHIFT Key)
Press .
MODE/SET
Press for more than one second. Un: Monitor Mode (Refer to 8.4)
DATA/
(DATA/SHIFT Key)
Press .
MODE/SET
Press MODE/SET Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/SHIFT Key for more than one second to display the contents of selected
parameter number in the selected mode. (Refer to each operation instruction described later.)
8-5
8 Digital Operator/Panel Operator
8.1.4 Status Display
c f
g h i
e Speed Lit when the difference between the motor Positioning Lit if error between position reference and
Coincidence speed and reference speed is the same as or Completion actual motor position is below preset value.
(/V-CMP) less than the value set in Pn582. (Factory (/COIN) Not lit if error between position reference
setting is 10 mm/s.) and actual motor position exceeds preset
∗ Always lit in force control mode. value.
Preset value: Set in Pn500 (Factory setting
is 7 pulses.)
f Movement Lit if motor speed exceeds preset value. Movement Lit if motor speed exceeds preset value.
Detection Not lit if motor speed is below preset value. Detection Not lit if motor speed is below preset value.
(/TGON) Preset value: Set in Pn581 (Factory setting (/TGON) Preset value: Set in Pn581 (Factory setting
is 20 mm/s.) is 20 mm/s.)
g Speed Lit if input speed reference exceeds preset Reference Lit if reference pulse is input.
Reference value. Pulse Input Not lit if no reference pulse is input.
Input Not lit if input speed reference is below pre-
set value.
Preset value: Set in Pn581 (Factory setting
is 20 mm/s.)
h Force Lit if input force reference exceeds preset Error Counter Lit when error counter clear signal is input.
Reference value. Clear Signal Not lit when error counter clear signal is not
Input Not lit if input force reference is below pre- Input input.
set value.
Preset value: 10% of rated force
i Power Ready Lit when main circuit power supply is ON Power Ready Lit when main circuit power supply is ON
and normal. and normal.
Not lit when main circuit power supply Not lit when main circuit power supply
power is OFF. power is OFF.
8-6
8.1 Functions on Digital Operator/Panel Operator
Code Meaning
Baseblock
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
CN1-42 (P-OT) is OFF.
Reverse Run Prohibited
CN1-43 (N-OT) is OFF.
Alarm Status
Displays the alarm number.
8-7
8 Digital Operator/Panel Operator
8.2.1 List of Utility Function Modes
Note: When the parameters marked with “{” in remarks column or in Pn are set for Password Set-
ting (Fn010), the indication shown below appears and such parameters cannot be changed.
Blinks for
one second
8-8
8.2 Operation in Utility Function Mode (Fn)
The following alarm are operator-related alarms which are not recorded in the traceback data.
Display Description
Digital operator transmission error 1
INFO 1. Alarm traceback data will not be updated when the same alarm occurs repetitively.
2. The display “A.--” means no alarm occurs.
Follow the procedure below to confirm alarms which have been generated.
Display after
Step Digital Operator Panel Operator Description
Operation
1 Press the DSPL/SET or MODE/SET Key to select “Alarm
DSPL
Traceback Data Display (Fn000).” If a number other than
SET
Fn000 is displayed, press UP Key or DOWN Key to set
MODE/SET
8
(DSPL/SET Key) Fn000.
(MODE/SET Key)
Note: The enabled digit blinks.
2 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key
ENTER for more than one second.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) The latest alarm data is displayed.
(Press at least 1 s.)
5 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key
ENTER for more than one second. The display will return to
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Fn000.
(Press at least 1 s.)
8-9
8 Digital Operator/Panel Operator
8.2.3 JOG Mode Operation (Fn002)
CAUTION
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during JOG mode
operation.
The JOG mode operation is designed to move a linear servomotor without connecting to the host controller when
performing the trial operation. The JOG mode operation is used to confirm the movement direction and motor
speed setting.
(1) Precautions
Observe the following precautions when performing JOG mode operation.
• The SERVOPACK must be in servo ready state. The JOG mode operation cannot be performed while the
SERVOPACK is in servo ON state.
• The servo ON (/S-ON) input signal must be OFF.
• If the parameter Pn50A.1 (/S-ON Signal Mapping) is set to “7 (Sets signal ON),” change the setting to “8
(Sets signal OFF).”
3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key at
ENTER
DATA
least one second, and the display will be as shown on the
(DATA/ENTER Key) (DATA/SHIFT Key) left. The operator enters JOG operation mode.
(Press at least 1 s.)
8-10
8.2 Operation in Utility Function Mode (Fn)
INFO The linear servomotor movement direction differs depending on the setting of parameter Pn000.0 “Direction
Selection.” The above example shows the case of factory setting.
CAUTION
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point
search mode operations using Fn003.
The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the
linear scale that outputs the zero-point signal and to clamp at the position.
This mode is used to confirm that the linear scale outputs the zero-point signal correctly.
When the maximum speed is set to 5 m/s, the movement speed for executing the zero-point search is 60 mm/s.
The following conditions must be met to perform the zero-point search operation.
• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
• Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the servo has been set to
always be ON.
Follow the procedure below to execute the zero-point search.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select
SET the utility function mode.
MODE/SET
(DSPL/SET Key)
(MODE/SET Key)
2 Press the UP or DOWN Key to select the Fn003.
Note: The enabled digit blinks.
8-11
8 Digital Operator/Panel Operator
8.2.5 Parameter Settings Initialization (Fn005)
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
8-12
8.2 Operation in Utility Function Mode (Fn)
3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left.
(Press at least 1 s.)
4 DSPL
Press the DSPL/SET or MODE/SET Key to clear the
SET
alarm traceback data.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
The display shown on the left blinks for about one sec-
ond when the data is cleared.
5 After about one second The display changes from “donE” to the display
shown on the left.
6 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn006.
(Press at least 1 s.)
8-13
8 Digital Operator/Panel Operator
8.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)
IMPORTANT Execute the automatic offset adjustment if the force ripple is too big when compared with that of other SER-
VOPACKs.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left.
(Press at least 1 s.)
4 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
The offset will be automatically adjusted.
(DSPL/SET Key) MODE/SET
(MODE/SET Key) When the adjustment completes, the display shown on
the left blinks for about one second.
5 After about one second The display changes from “donE” to the display shown
on the left.
6 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn00E.
(Press at least 1 s.)
8-14
8.2 Operation in Utility Function Mode (Fn)
IMPORTANT If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
When performing manual adjustments, run the motor at a speed of approximately 100 mm/s, and adjust the
operator until the force monitor ripple is minimized. (Refer to 10.5 Analog Monitor.) Adjust the phase-U
and phase-V offsets alternately several times until these offsets are well balanced.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left (phase U).
(Press at least 1 s.)
7 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
The display shown on the left appears (phase V).
(DSPL/SET Key) MODE/SET
8
(MODE/SET Key)
11 DATA
When the offset adjustment completes, press the
ENTER
DATA/ENTER Key once, or DATA/SHIFT Key for
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) more than one second.
(Press at least 1 s.)
The display returns to the utility function mode dis-
play Fn00F.
8-15
8 Digital Operator/Panel Operator
8.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010)
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left.
(Press at least 1 s.)
5 DSPL
Press the DSPL/SET or MODE/SET Key to register
SET
the value.
(DSPL/SET Key) MODE/SET
(MODE/SET Key) When the value is registered, the display shown on the
left blinks for about one second.
Note: If a value other than “0000” and “0001” is
set, “Error” blinks for about one second,
and the previous setting is displayed.
6 After about one second The display changes from “donE” to “P.000.”
7 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn010.
(Press at least 1 s.)
8-16
8.2 Operation in Utility Function Mode (Fn)
DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.)
Linear Servomotor Voltage Linear Servomotor Type
Data Model Data Type
01 200 VAC or 280 VDC 40 Linear servomotor
02 400 VAC or 560 VDC
DSPL
SET
8-17
8 Digital Operator/Panel Operator
8.2.11 Software Version Display (Fn012)
4 DSPL
Press the DSPL/SET or MODE/SET Key to display the
SET encoder software version number.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
8-18
8.2 Operation in Utility Function Mode (Fn)
IMPORTANT Because the parameter is set for the SERVOPACK with an application module, change the setting or initial-
ize the parameter value (Fn005 of utility function mode) as required.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select
SET
the utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
8-19
8 Digital Operator/Panel Operator
8.3.1 Setting Parameters
With value setting, a parameter is set to a value within the specified range of the parameter. With function selec-
tion, the functions allocated to each digit of the seven-segment LED panel indicator (five digits) can be selected.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
parameter setting mode. If a parameter other than
(DSPL/SET Key) Pn100 is displayed, press the UP or DOWN Key to
MODE/SET
(MODE/SET Key) select Pn100.
Note: The enabled digit blinks.
2 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second. The current data of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn100 is displayed.
(Press at least 1 s.)
8-20
8.3 Operation in Parameter Setting Mode (Pn)
This section shows the This section shows the This section shows the This section shows if
range of the parameter minimum setting unit SERVOPACK’s parameter the setting is validated
settings. The maximum (the setting value). with factory setting. "immediately" or "after
value can be set even if restart" when changing
the parameter is combined the parameter.
with the other sepecified
motor.
8-21
8 Digital Operator/Panel Operator
8.3.1 Setting Parameters
IMPORTANT If the parameters with “After restart” in “Setting Validation” column in the table are changed, turn OFF the
main circuit and control power supply and ON again to validate new setting.
• Pn10B.1 and Pn110.0 require the power to be reset as mentioned above.
• Pn10B.0, Pn110.1, and Pn110.2 are enabled with the off-line, so the power does not have to be reset.
8-22
8.3 Operation in Parameter Setting Mode (Pn)
1st digit
8
2nd digit
3rd digit
4th digit
For the hexadecimal display only
• Pn000.0 or n.xxx: Indicates the value for the 1st digit of parameter Pn000.
• Pn000.1 or n.xxx: Indicates the value for the 2nd digit of parameter Pn000.
• Pn000.2 or n.xxx: Indicates the value for the 3rd digit of parameter Pn000.
• Pn000.3 or n.xxx: Indicates the value for the 4th digit of parameter Pn000.
8-23
8 Digital Operator/Panel Operator
8.3.2 Input Circuit Signal Allocation
For details on each digit of the parameter, see 12.4.2 List of Parameters.
Parameter Meaning
Pn50A n.2
Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting).
n.8
Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed).
Pn50A:
Pn50B:
8-24
8.3 Operation in Parameter Setting Mode (Pn)
8-25
8 Digital Operator/Panel Operator
8.3.2 Input Circuit Signal Allocation
IMPORTANT 1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting
“Polarity Reversal,” the machine may not move to the specified safe direction at occurrence of failure
such as signal line disconnection. If such setting is absolutely necessary, confirm the operation and
observe safety precautions.
2. When two or more signals are allocated to the same input circuit, the input signal level will be applied to
all the allocated signal.
8-26
8.3 Operation in Parameter Setting Mode (Pn)
8
(UP Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
8
DATA Key for more than one second to display the current data
ENTER
DATA
(DATA/SHIFT Key) of Pn50B.
(DATA/ENTER Key) (Press at least 1 s.)
(/P-CL is allocated to CN1-45.)
9 Press the LEFT or RIGHT Key or DATA/SHIFT Key to
select the third digit from the right. Press the DOWN
DATA/
(DATA/SHIFT Key)
Key to set to “0.”
(Changes the allocation of /P-CL from CN1-45 to CN1-
40.)
10 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second. The value blinks and is
DATA
(DATA/SHIFT Key) saved.
(DATA/ENTER Key)
(Press at least 1 s.)
8-27
8 Digital Operator/Panel Operator
8.3.3 Output Circuit Signal Allocation
8-28
8.3 Operation in Parameter Setting Mode (Pn)
IMPORTANT 1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic.
2. The signals not detected are considered as “Invalid.” For example, Positioning Completion (/COIN) Sig-
nal in speed control mode is “Invalid.”
Pn50F:
5 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key
ENTER
DATA for more than one second to return to the display Pn50E.
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.)
10 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key
ENTER
DATA for more than one second to return to the display Pn50F. /
(DATA/ENTER Key) (DATA/SHIFT Key) TGON is set as “Invalid” and /BK is allocated to CN1-27
(Press at least 1 s.)
(28).
11 Turn OFF the power and ON again to enable the changes of output signal selection (Pn50E and Pn50F).
8-29
8 Digital Operator/Panel Operator
8.4.1 List of Monitor Modes
8-30
8.4 Operation in Monitor Mode (Un)
Refer to 8.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals.
Display LED
Input Terminal Name Factory Setting
Number
1 CN1-40 /S-ON
2 CN1-41 /P-CON
3 CN1-42 P-OT
4 CN1-43 N-OT
5 CN1-44 /ALM-RST
6 CN1-45 /P-CL
7 CN1-46 /N-CL
8-31
8 Digital Operator/Panel Operator
8.4.3 Operation in Monitor Mode
Refer to 8.3.3 Output Circuit Signal Allocation for the relation between output terminals and signals.
8-32
8.4 Operation in Monitor Mode (Un)
8.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter
The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal.
Display after Digital Panel
Step Description
Operation Operator Operator
1 DSPL
Press the DSPL/SET or MODE/SET Key to select
SET
the monitor mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
When the control power supply is turned ON, reference pulse and feedback pulse will be “0.” The pulse
numbers will increase when the servomotor moves in the counting-up direction of the linear scale (phase-A
progression) and decrease when the servomotor moves in the counting-down direction of the linear scale
(phase-B progression).
Displays the pulse number from 0 to FFFFFFFF (4294967295) in sequence. If one pulse is decreased from 0,
the digital operator and the panel operator display FFFFFFFF (4294967295) and then decrease from this
pulse number. Also, if one pulse in increased from FFFFFFFF (4294967295), the digital operator and the
panel operator display 0 and increase from this pulse number. 8
When using the 8-bit serial converter unit, the feedback pulse will be 256 pulses/scale pitch.
8-33
8 Digital Operator/Panel Operator
8.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later)
8.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software
version 32 or later)
This section describes the monitor display for determining the maximum speed (Pn384) for the PG Divider
(Pn281). Adjust the setting of Pn080.3 to select the location to be monitored. This function is available for Ser-
vopack Software version 32 or later.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the mon-
SET
itor mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select “Un010.”
4 DSPL
Press the DSPL/SET or MODE/SET Key to display the
SET
maximum dividing ratio that can be set.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
5 DATA
Press the DATA/ENTER Key once or DATA/SHIFT Key
ENTER
for more than one second to return to the display of monitor
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) number.
(Press at least 1 s.)
8-34
8.4 Operation in Monitor Mode (Un)
8.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)
This section describes the monitor display for the signal patterns of the hall sensor.
This function is available for Servopack Software version 32 or later.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the mon-
SET itor mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select “Un011.”
8-35
8 Digital Operator/Panel Operator
8.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)
8-36
9
Operation
9.3 Trial Operation for Linear Servomotor without Load from Host Reference 9-22
9.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.oo0o) - - - - - - - - - - - - - - - - 9-24
9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.oo1o) - - - - - - - - - - - - - - - 9-26
9.4 Trial Operation with the Linear Servomotor Connected to the Machine - - 9-28
9.5 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29
9.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
9.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
9.6.2 Switching the Linear Servomotor Movement Direction - - - - - - - - - - - - - - - - - - - - - - 9-31
9.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-32
9.6.4 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-34
9.6.5 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35
9.6.6 Motor Maximum Speed (For the software version 32 or later) - - - - - - - - - - - - - - - - - 9-35
9
9.7 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - 9-36
9.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-36
9.7.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-37
9.7.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-38
9.7.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-41
9.7.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-41
9.7.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-41
9.7.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-43
9.7.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-46
9-1
9 Operation
9.10 Operating Using Speed Control with an Internally Set Speed - - - - - - - - 9-65
9.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-65
9.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-66
9.10.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-66
9-2
9
9-3
9 Operation
L1 C
To power supply
N
L2 3
+2
-
C
L1C N
W
C
N
2
• Linear scale wiring
• Hall sensor wiring
• Scale pitch setting
• Scale signal count direction and count quantity
• Motor movement direction and movement speed
• Force limit parameter setting
• Polarity detection operation (only if polarity detection is
used.)
CHARGE POWER
L1 C
To power supply
N
L2 3
+1
+2
-
• Linear servomotor movement direction, movement speed,
and movement distance
C
L1C N
L2C 1
B1
B2 To host controller
• Operation of brake, overtravel, and other protective func-
U
V
C
W N
tions
2
9-4
9.1 Trial Operation
Wiring and Wire and connect the power supply circuit (L1, L2, or L1, L2, L3), linear servomotor
connections (U, V, W), input signal (CN1), and serial converter unit (CN2). Disconnect the CN1
2 −
connector during trial operation using SERVOPACK internal references (Refer to
9.2 Trial Operation Using SERVOPACK Internal References).
Turn ON the Turn ON the power. Check the panel operator to make sure that the SERVOPACK is
3 −
power. running normally. The alarm A.08 does not indicate an error.
Linear scale Set the linear scale pitch (Pn280). After setting validation, check the linear scale sta-
4 −
check tus using the panel operator.
6 Jog operation After setting the mass ratio (Pn103), perform jog operation. Jog operation
Connect input Connect I/O signals (CN1) necessary for the trial operation to the SERVOPACK.
7 −
signals.
Check input Check the input signals using the internal monitor function.
8 signals. Turn ON the power, and check that the emergency stop, brake, overtravel, and other −
protective functions are operating correctly.
Input servo ON Input the servo ON signal, and turn ON the linear servomotor. Host
9
signal. reference 9
Input reference Input the reference for the control mode being used, and check that the linear servo- Host
10
motor is operating normally. reference
Set necessary Run the linear servomotor from the host controller in the same way as in step 10, and Host
11 parameters. set the required parameters so that the machine movement direction, movement dis- reference
tance, and movement speed are the same as the references.
Operation The linear servomotor can now be run. Adjust the servo gain if necessary. Refer to
Host
12 10.1 Autotuning. If an error occurs, refer to Section 11 Inspection, Maintenance, and
reference
Troubleshooting.
9-5
9 Operation
9.2.1 SERVOPACK Setup Procedure
IMPORTANT If the motor forward direction and linear scale count up direction do not match and the linear servomotor is
run in this state, the linear servomotor may not operate or overrun may occur.
When using linear Σ-series servomotors, the motor forward direction (coil assembly’s movement direction when
current flows through phases U, V, and W, in that order) is toward the side from which the motor cable is
extended.
The analog 1-V p-p voltage input from the linear scale to the serial converter unit is counted during phase A (cos
signal) progression.
)
to W
oV Coil assembly cable
(U t
rection
ar d di
or forw
Mot
+
Phase A progression
− (pulse increase)
Phase B progression
(pulse decrease)
9-6
9.2 Trial Operation Using SERVOPACK Internal References
INFO Motor Forward Direction and Linear Scale Count Direction Do Not Match
If the motor forward direction and linear scale count direction are opposite due to wiring or other factors, set the parameter
Pn080.1=1 (B-phase progression, U, V, W-phase in order : Available only for the software version 32 or later).
Linear Scale Count Direction
The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to the side attached the signal
cable. However, the direction in which the signal cable is extended is different, so the count direction is different. (Viewed
from above).
• Heidenhain linear scale
Reverse direction Forward direction
When installed as shown in the diagram on the left, operation is
performed in the forward direction when the sensor head is
LIDA 48
moved to the right.
HEIDENHAIN
9
MODE/SET DATA/
CHARGE POWER
L1 C
To power supply
N
L2 3
+1
+2
-
C
L1C N
L2C 1
B1
B2
V
C
W N
2
Encoder cable
9-7
9 Operation
9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors
If an alarm other than A.08 is displayed, as shown in the following diagram, the power supply circuit, linear ser-
vomotor main circuit cable or encoder cable wiring is the probable cause. Shut down the power supply, specify
the location causing the alarm, and take corrective measures so that the display returns to the above normal sta-
tus. For details on alarms, refer to 11.1 Troubleshooting.
Example of alarm display
9-8
9.2 Trial Operation Using SERVOPACK Internal References
IMPORTANT 1. Before checking the feedback signals, be sure to set Pn000.0 to 0 (counting-up direction of the linear
scale (phase-A progression) as forward direction). If Pn000.0 is set to a value other than zero, the linear
servomotor may not run.
2. Be sure to check the feedback signals before operating the linear servomotor. If the linear servomotor is
operated without checking the feedback signals, the linear servomotor may not run, or overrun may
occur.
Note: The actual monitor display will deviate by the error in movement distance only, so a value that is
close to the above value is acceptable.
9-9
9 Operation
9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors
(b) Checking the Concurrence between the Linear Scale Count Direction and the Linear Ser-
vomotor Forward Direction
Next, move the coil assembly by hand in the direction of the side with the cable, and check that the Un00D
monitor is counting up.
IMPORTANT When turning ON the servo for the first time after installation and wiring, stand away from the motor mov-
ing part as overrun may occur.
1. To perform a trial operation with a load attached, set mass ratio (Pn103) before running.
When the calculated mass ratio exceeds 20000%, set 20000 in the parameter and adjust loop gains.
Pn103 Mass Ratio Speed Position Force
Setting Range Setting Unit Factory Setting Setting Validation
∗ 1% 0% Immediately
0 to 20000 %
Use the following formula to obtain the mass ratio.
Load mass (including mass of coil assembly)
Mass ratio (Pn103) = −1 × 100 [%]
Coil assembly mass
* This setting range is applicable for software version 32 or later. The range for software earlier than ver-
sion 32 is 0% to 10,000%.
2. Turn ON the control power supply and main circuit power supply.
3. Operate the panel operator or digital operator and move the linear servomotor using jog operation. For
details on jog operation, refer to 8.2.3 JOG Mode Operation (Fn002).
4. Check that the linear servomotor moves normally from end to end of the stroke.
9-10
9.2 Trial Operation Using SERVOPACK Internal References
9-11
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
(2) Installation and Wiring the Linear Servomotor and Linear Scale
Install the coil assembly and linear scale so that the motor forward direction and linear scale count direction are
the same.
IMPORTANT If the motor forward direction and linear scale count directions do not match and the linear servomotor is
run in this state, the linear servomotor may not operate or overrun may occur.
When using linear Σ-series servomotors, the motor forward direction (coil assembly’s direction of progression
when current flows in phase order U, V, and W) is toward the side from which the cable is extended. The analog
1-V p-p voltage input from the linear scale to the serial converter unit is counted up during phase A (cos signal)
progression.
)
to W Coil assembly cable
Ut oV
ction (
or dire
Mot
+
Phase A progression
− (pulse increase)
Phase B progression
(pulse decrease)
9-12
9.2 Trial Operation Using SERVOPACK Internal References
INFO When Motor Forward Direction and Linear Scale Count Direction Do Not Match
When the motor forward direction and linear scale count direction are reversed due to wiring or other factors, set so that
parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in order).
Linear Scale Count Direction
The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to the side attached the signal
cable. However, the direction in which the signal cable is extended is different, so the count direction is different. (Viewed
from above).
• Heidenhain linear scale
Reverse direction Forward direction
When installed as shown in the diagram on the left, operation is
performed in the forward direction when the sensor head is
LIDA 48
moved to the right.
HEIDENHAIN
9
MODE/SET DATA/
CHARGE POWER
L1 C
To power supply
N
L2 3
+1
+2
-
C
L1C N
L2C 1
B1
B2
V
C
W N
2
Encoder cable
9-13
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
If an alarm other than A.08 is displayed, as shown in the following diagram, the power supply circuit, linear ser-
vomotor main circuit cable or encoder cable wiring is the probable cause. Shut down the power supply, specify
the location causing the alarm, and take corrective measures so that the display returns to the above normal sta-
tus. For details on alarms, refer to 11.1 Troubleshooting.
Example of alarm display
9-14
9.2 Trial Operation Using SERVOPACK Internal References
IMPORTANT 1. Before checking the feedback signals, be sure to set Pn000.0 to 0 (counting-up direction of the linear
scale (phase-A progression) as forward direction). If Pn000.0 is set to a value other than zero, the linear
servomotor may not run.
2. Be sure to check the feedback signals before operating the linear servomotor. If the linear servomotor is
operated without checking the feedback signals, the linear servomotor may not run, or overrun may
occur.
Note: The actual monitor display will deviate by the error in movement distance only, so a value that is
close to the above value is acceptable.
9-15
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
(b) Checking the Concurrence between the Linear Scale Count Direction and the Linear Ser-
vomotor Forward Direction
Next, move the coil assembly by hand in the direction of the side with the cable, and check that the Un00D
monitor is counting up.
9-16
9.2 Trial Operation Using SERVOPACK Internal References
INFO If the force limit is set too high, polarity detection may not operate normally.
IMPORTANT 1. The linear servomotor is turned ON during polarity detection, so take measures to avoid electric shock.
The linear servomotor will make large movements during detection, so do not stand near the coil assem-
bly.
2. Polarity detection depends on many factors, such as mass ratio, friction, and cable tension. If any error
occurs because of one of these factors, the setting may be incorrect.
9-17
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
/S-RDY output
INFO The following table shows the position intervals used to perform polarity detection when the following linear servomotor
models are used.
Linear Servomotor Model Position Interval
SGLGW-30
1.2 mm
SGLFW-20
(0.047 in)
SGLTW-20
SGLGW-90 2.8 mm
(0.11 in)
9-18
9.2 Trial Operation Using SERVOPACK Internal References
• Detection Error
The detection result is an error if the speed feedback for speed reference for the last detection waveform
(unspecified number of detections) is not traced.
Enlarged
Speed Speed
feedback (mm/s) feedback (mm/s)
9-19
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
9-20
9.2 Trial Operation Using SERVOPACK Internal References
IMPORTANT When turning ON the servo for the first time after installation and wiring, stand away from the linear servo-
motor as overrun may occur.
3. Check that the linear servomotor is moving normally from end to end of the stroke.
9-21
9 Operation
9.3.1 Servo ON Command from the Host
9.3 Trial Operation for Linear Servomotor without Load from Host
Reference
Check that the linear servomotor move reference or I/O signals are correctly set from the host controller to the
SERVOPACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the
SERVOPACK operation settings are correct. This is final check before connecting the linear servomotor to the
machine.
CN1 CN1
47 47
+24V +24V
/S-ON /S-ON 40
40
P-OT 42 P-OT 42
N-OT 43 N-OT 43
V-REF 5 PULS 7
SIGN 11
0V
0V
9-22
9.3 Trial Operation for Linear Servomotor without Load from Host Reference
To omit the external wiring, the input terminal function can be set
MODE/SET
CHARGE
L1
DATA/
POWER
C
to “Always ON” or “Always OFF” using the input signal allocation
function of parameter. Refer to 8.3.2 Input Circuit Signal Alloca-
N
L2 3
+1
+2
tion.
-
C
L1C N
1
CN1
L2C
B1
B2
V
C
W N
2
2 Turn ON the power and make sure that the panel operator The input signal setting is not correct if the display is not the same
display is as shown below. as on the left. Check the input signal using the Un005 (input signal
monitor) from the panel operator.
Check input signal wiring in monitor mode using the digital opera-
tor or panel operator. Refer to 8.4.1 List of Monitor Modes.
Turn ON and OFF each signal line to see if the LED monitor bit
display on the digital operator changes as shown below.
Input signal LED display
P-OT /P-CON
N-OT /S-ON
Top lights when input
signal is OFF (high level).
Un005 =
Bottom lights when input
signal is ON (low level).
/ALM-RST
/P-CL
/N-CL
SEN
3 Input the /S-ON signal, then make sure that the display of If an alarm display appears, correct it according to 11.1 Trouble-
the panel operator is as shown below. shooting. If there is noise in the reference voltage during speed
control, the horizontal line (−) at the far left edge of the panel oper-
ator display may blink. Also the linear servomotor may run very
slowly. Refer to 7.6 Connecting Regenerative Resistors and take a
preventive measure. 9
9-23
9 Operation
9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0)
P-OT 42
N-OT 43
+ V-REF
0V 5
VE
− 6
9-24
9.3 Trial Operation for Linear Servomotor without Load from Host Reference
Host SERVOPACK M
When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the oper-
ations below, following the operations in 9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.oo0o) on the pre-
vious page.
9-25
9 Operation
9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1)
Pn202 Pn280 1
Un007 (Input reference pulse speed) = Input reference pulse [pulse/s]× × ×
Pn203 103(1000) 28(256)
Reference input pps Electronic Encoder pulse
gear ratio
* The encoder pulse differs depending on the model of the servomotor used.
9-26
9.3 Trial Operation for Linear Servomotor without Load from Host Reference
(cont’d)
Step Description Check Method and Remarks
11 Check the motor speed using the Un000 (motor Refer to 8.1.3 Basic Mode Selection and Operation for
speed) [mm/s]. how it is displayed.
Un000 (motor speed) [mm/s]
12 Check that the Un007 and Un000 values in steps 9 −
and 10 are equal.
13 Check the motor movement direction. To change the motor movement direction without
changing input reference pulse form, refer to 9.6.2
Switching the Linear Servomotor Movement Direction.
Perform the operation from step 9 again after the
motor movement direction is changed.
14 When the pulse reference input is stopped and servo −
OFF status enters, the trial operation for servomotor
without load and using position control with the host
controller is completed.
9-27
9 Operation
WARNING
• Follow the procedure below for trial operation precisely as given.
Malfunctions that occur after the linear servomotor is connected to the machine not only damage the machine, but may
also cause an accident resulting death or injury.
Follow the procedures below to perform the trial operation.
1. Set the necessary parameters according to the machine configuration.
2. Match the direction of movement and speed to equipment specifications.
YASKAWA 200V
SERVOPACK
SGDH-
MODE/SET DATA/
CHARGE POWER
L1 C
To power L2
+1
N
3
CN1
supply +2
-
L1C
L2C
To host controller
B1
B2
9-28
9.5 Control Mode Selection
9-29
9 Operation
9.6.1 Setting the Servo ON Signal
9-30
9.6 Setting Common Basic Functions
9-31
9 Operation
9.6.3 Setting the Overtravel Limit Function
Movement in the opposite direction is possible during overtravel. For example, SERVOPACK
reverse run is possible during forward overtravel
Limit Limit CN1
P-OT
switch switch 42
N-OT
43
IMPORTANT
When the linear servomotor stops due to overtravel during position control, the position error pulses are held. A clear sig-
nal
(CLR) input is required to clear the error pulses.
9-32
9.6 Setting Common Basic Functions
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting by a circuit of SERVOPACK).
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
• Decelerate to stop: Stops by using deceleration (braking) force.
• Zero Clamp Mode: A mode forms a position loop by using the position reference zero.
* For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 9.6.4 Selecting the Stopping
Method After Servo OFF.
9-33
9 Operation
9.6.4 Selecting the Stopping Method After Servo OFF
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting by a circuit of SERVOPACK).
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
IMPORTANT
The linear servomotor is forced to stop by dynamic braking, regardless of the settings of this parameter, when the main
circuit power supply (L1, L2, L3) or control power supply (L1C, L2C) turns OFF.
• SGDH-A5AE to -15AE (50 W to 1.5 kW for 200 V)
• SGDH-10DE to -75DE (1.0 kw to 7.5 kW for 400 V)
If the linear servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply
(L1, L2, L3) or the control power supply (L1C, L2C) turns OFF, arrange the sequence externally so the linear servomotor
wiring (U, V, W) will be interrupted.
9-34
9.6 Setting Common Basic Functions
IMPORTANT
The maximum setting for the hold time during a power
loss is 1,000 ms, but the hold time for the SERVOPACK Pn509 < t Servo ON Servo OFF
control power supply is about 100 ms. The hold time for
the main circuit power supply depends on the SERVO-
PACK output.
To continue SERVOPACK operation for a power loss that is longer than this, provide an uninterruptible power supply.
9-35
9 Operation
9.7.1 Setting Parameters
9-36
9.7 Operating Using Speed Control with Analog Reference
9-37
9 Operation
9.7.3 Adjusting Offset
Reference Reference
voltage voltage Offset automatically
adjusted in SERVOPACK.
Offset
Speed Speed
reference reference
Automatic
offset
adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the speed reference offset manual adjustment mode (Fn00A).
9-38
9.7 Operating Using Speed Control with Analog Reference
The speed reference offset must be automatically adjusted with the servo OFF.
IMPORTANT
2 DSPL
Press the DSPL/SET or MODE/SET Key to select the utility
SET function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
5 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
The reference offset will be automatically adjusted.
(DSPL/SET Key) MODE/SET
(MODE/SET Key) When completed, “donE” will blink for about one second.
6 After “donE” is displayed, “rEF_o” will be displayed again.
About one second later
9-39
9 Operation
9.7.3 Adjusting Offset
Offset adjustment
range Offset Adjustment Range: ±15000
(Speed Reference: ±750 mV)
7 Press the LEFT or RIGHT Key or MODE/SET Key for less than
one second. The display will appear momentarily as shown at the
MODE/SET left, and “donE” will blink and the offset will be set. After the
(MODE/SET Key)
(Less than 1 s.) setting is completed, the display will return to the display as
shown at the left.
8 Press the DATA/ENTER Key once, or DATA/SHIFT Key for
DATA
ENTER more than one second to return to the Fn00A display of the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode.
(Press at least 1 s.)
9-40
9.7 Operating Using Speed Control with Analog Reference
Pn305 Pn306
YASKAWA SGDH-
Speed reference
Host V-REF
MODE/SET
CHARGE
DATA/
POWER
controller
Stops
Zero clamp precisely!
/P-CON
(/ZCLAMP)
9-41
9 Operation
9.7.6 Using the Zero Clamp Function
9-42
9.7 Operating Using Speed Control with Analog Reference
* Even in reverse movement mode (Pn000.0 = 1), the dividing output phase form is the same as that for the standard setting
(Pn000.0 = 0).
Output Phase Form
Forward movement (phase B leads by 90°) Reverse movement (phase A leads by 90°)
90° 90°
Phase A Phase A
Phase B Phase B
Phase C Phase C
t t
• When returning the machine to its home position by using the zero-point signal of linear scale, the home
IMPORTANT
return speed should be 50 mm/s or less. If the speed is higher than 50 mm/s, the phase C pulse may not be
output correctly.
• When using a linear scale with more than one zero-point signal, the phase C pulse width of 2nd and onward
zero-point signal will be half of the phase A pulse width. 9
Dividing
TERMS The dividing means that the divider converts data into the pulse density set in the parameter Pn281, on the base of the scale
pitch of linear scale installed on the linear servomotor, and outputs it. The setting unit is the number of edges/scale pitch.
9-43
9 Operation
9.7.7 Encoder Signal Output
Relation between Linear Scale by Renishaw and Encoder Output Signals from the SERVO-
IMPORTANT
PACK
For some models of the Renishaw linear scales, the position at which the zero-point signal (Ref) is output
varies in accordance with the direction of movement.
If combining the SERVOPACK with one of those models, phase C pulses are output from the SERVOPACK
in two places.
For more details of the linear scale zero-point signals, refer to the instruction manual for the linear scale
being used.
• When passing the first zero-point signal (Ref) forward after the power supply is turned ON
Machine position (Forward)
Power ON Time
Zero-point
signal (Ref)
Phase C
Power ON Time
Zero-point
signal (Ref)
Phase C
9-44
9.7 Operating Using Speed Control with Analog Reference
Linear scale
pitch Pn280
9
9-45
9 Operation
9.7.8 Speed Coincidence Output
The /V-CMP signal turns ON at 1900 to 2100 mm/s if the Pn582 is set
to 100 and the reference speed is 2000 mm/s.
Reference speed
/V-CMP is output in
this range.
/V-CMP is a speed control output signal. When the factory setting is used and the output terminal allocation is not per-
formed with the Pn50E, this signal is automatically used as the positioning completed signal /COIN for position control,
and it is always OFF (high level) for torque control.
9-46
9.8 Operating Using Position Control
9-47
9 Operation
9.8.1 Setting Parameters
When the clear signal (CLR) is not wired: Because position error pulses will be cleared when Pn200 is set to n.2, the
linear servo motor does not run even if a pulse-train command is entered.
9-48
9.8 Operating Using Position Control
9-49
9 Operation
9.8.2 Setting the Electronic Gear
* If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range. Be careful not to change the electronic gear ratio (B/A).
IMPORTANT
Electronic gear ratio setting range: 0.01 ≤ Electronic gear ratio (B/A) ≤ 100
If the electronic gear ratio is outside this range, the SERVOPACK will not operate properly. In this case, modify the load
configuration or reference unit.
9-50
9.8 Operating Using Position Control
L B ) L
× ( = 256 ×
Δ A Ps
9-51
9 Operation
9.8.3 Position Reference
Parameter Description
Pn200 n.1 Reference input filter for open-collector signal
H
L
PAO
H t4, t5, t6 ≤ 2 ms
Encoder pulses L t7 ≥ 20 μs
PBO
t5
/COIN t4 t6
ON ON
CLR
t7
Note: 1. The interval from the time the servo ON signal is turned ON until a reference pulse is input must
be at least 40 ms, otherwise the reference pulse may not be received by the SERVOPACK.
2. The error counter clear signal must be ON for at least 20 μs.
9-52
9.8 Operating Using Position Control
CW Forward t3 Reverse
reference reference
9-53
9 Operation
9.8.3 Position Reference
150Ω
/PULS 8
SIGN 11
150Ω
/SIGN 12
CLR 15
150Ω
/CLR 14
9-54
9.8 Operating Using Position Control
When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVO-
PACK internal power supply is used, the circuit will not be isolated.
PL3 18
15
CLR
/CLR 14
When the open-collector output is used, input signal noise margin lowers. Set the parameter Pn200.3 to 1.
IMPORTANT
Pn10A
Pn109 Pn202
Feed- Pn180
Feed- B forward
Differ- forward
ential A filter time Bias
gain constant Pn108
Pn203
Bias width
Pn200.0 addition
Reference Pn204 Pn202
pulse ×1 B + Pn102
+ +
Linear servomotor
×2 Smoothing
A Error + Speed Current
×4 Kp M
Pn203 - counter loop loop
9.8.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
(1) Selecting a Position Reference Filter
Parameter Description
Pn207 n.0 Acceleration/deceleration filter
n.1 Average movement filter
* After resetting the parameter, turn OFF the power once and turn it ON again.
9-55
9 Operation
9.8.4 Smoothing
This function provides smooth motor operating in the following cases. The function does not affect the travel distance (i.e., the
number of pulses).
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10× or more).
The difference between the position reference acceleration/deceleration time constant (Pn204) and the position reference
movement averaging time (Pn208) is shown below.
Acceleration/Deceleration Filter Average Movement Time Filter
Pn207=n.0 Pn207=n.1
Before filter applied
After filter applied
100%
t
Response waveform for ramp reference input
9-56
9.8 Operating Using Position Control
9-57
9 Operation
9.8.6 Positioning Near Signal
/COIN
9-58
9.8 Operating Using Position Control
SERVOPACK
Pn000.1
Pn000=n.1
Reference pulse OFF +
Pn000=n.B Error
ON - counter
Reference pulse
t1 t2
t1, t2 ≤ 0.5 ms
Input reference pulses
are not counted
during this period.
9-59
9 Operation
9.9.1 Setting Parameters
9-60
9.9 Operating Using Force Control
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the manual adjustment of force reference offset (Fn00B).
(1) Automatic Adjustment of the Force Reference Offset
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller. Use the force reference offset manual adjustment (Fn00B).
IMPORTANT The analog reference offset must be automatically adjusted with the servo OFF.
9-61
9 Operation
9.9.3 Adjusting the Force Reference Offset
Use the following procedure for automatic adjustment of the force reference offset.
Step Display after Digital Panel Description
Operation Operator Operator
1 SERVOPACK Linear servomotor
Turn OFF the SERVOPACK, and input the 0-V reference volt-
age from the host controller or external circuit.
0-V force
Host
reference
controller
Servo OFF
Slow movement
(Servo ON)
2 DSPL
Press the DSPL/SET or MODE/SET Key to select the utility
SET function mode.
MODE/SET
(DSPL/SET Key)
(MODE/SET Key)
5 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
The reference offset will be automatically adjusted.
MODE/SET
(DSPL/SET Key)
(MODE/SET Key) When completed, “donE” will blink for about one second.
6 After “donE” is displayed, “rEF_o” will be displayed again.
About one second later
Offset Adjustment
Range
Offset Adjustment Range: -128 to +127
(Force reference: -1881.6 mV to +1866.9 mV)
Offset Setting Unit Analog
Offset Setting Unit
Input
Voltage Force reference: 1 = 14.7 mV
9-62
9.9 Operating Using Force Control
Use the following procedure to manually adjust the force reference offset.
Step Display after Digital Panel Description
Operation Operator Operator
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the utility
SET function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key
to select parameter Fn00B.
*The digit that can be set will blink.
3 Press the DATA/ENTER Key once, or DATA/SHIFT Key for
DATA
ENTER more than one second. The display will be as shown at the left.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) The manual adjustment mode for the force reference offset will be
(Press at least 1 s.)
entered.
4 Turn ON the servo ON (/S-ON) signal. The display will be as
Servo ON shown at the left.
5 Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
DATA/
one second to display the force reference offset amount.
(DATA/SHIFT Key)
(Less than 1 s.)
7 Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
DATA/
one second to return to the display shown on the left.
(DATA/SHIFT Key)
(Less than 1 s.)
9-63
9 Operation
9.9.4 Limiting Linear Servomotor Speed during Force Control
9-64
9.10 Operating Using Speed Control with an Internally Set Speed
SERVOPACK
Internally set speed
CN1 parameters Linear
/P-CON (/SPD-D) 41 Servomotor
SPEED1 Pn380 Speed
(/SPD-A) 45 reference
Contact inputs /P-CL SPEED2 Pn381 M
SPEED3 Pn382
/N-CL (/SPD-B) 46
Note: The maximum speed of linear servomotor is used whenever a speed settings for the Pn380 to
Pn382 exceed the maximum speed.
9-65
9 Operation
9.10.2 Input Signal Settings
9-66
9.10 Operating Using Speed Control with an Internally Set Speed
3rd speed
+SPEED3
Acceleration/deceleration are
2nd speed done for the soft start times set in
+SPEED2
Pn305 and Pn306.
1st speed
+SPEED1
Stop Stop
0
Stop
- SPEED2
2nd speed
- SPEED3
3rd speed
/P-CL (/SPD-A)
OFF OFF ON ON OFF OFF ON ON OFF
/N-CL (/SPD-B)
OFF ON ON OFF OFF ON ON OFF OFF
IMPORTANT When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start function will operate only
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output of the pulse reference from the host controller after the
positioning completed (/COIN) signal is output from the SERVOPACK.
Example: Operation with an Internally Set Speed and Soft Start ⇔ Position Control (Pulse Train Reference)
Signal Timing in Position Control
Motor speed
0 mm/s
/COIN
9
Pulse reference
t1 t1
/P-CL (/SPD-A) OFF ON ON OFF OFF
/N-CL (/SPD-B) ON ON OFF OFF ON
Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed
t1 2 ms
9-67
9 Operation
9.11.1 Internal Force Limit (Limiting Maximum Output Force)
Pn484
t
Pn483
Speed Speed
Maximum force Limiting force
Too small a force limit setting will result in insufficient force during acceleration and deceleration.
IMPORTANT For safe operation at setup of linear servomotor, the factory setting of Pn483 and Pn484 are 30%, which are
relatively low. After having set up the linear servomotor, increase the settings of Pn483 and Pn484 to the
desired level. (Set to 800% if there is no restriction.)
9-68
9.11 Limiting Force
9-69
9 Operation
9.11.2 External Force Limit (Output Force Limiting by Input Signals)
0 0
Pn404
/N-CL Speed Speed
(Reverse Pn483 Pn483
External
Force Limit Low Pn484 Pn484
Input) level
Force Force
Pn405 Pn405
0 0
Pn404
Speed Speed
Pn483 Pn483
Note: In this example, the linear servomotor movement direction is Pn000 = n.0 (standard setting,
CCW = forward).
9-70
9.11 Limiting Force
Speed loop
V-REF Pn300 + gain +
Speed (Pn100) Force
- + reference
reference
Speed loop
integral
time
constant Reverse force
(Pn101) limit value (Pn484)
Speed feedback
There is no polarity in the input voltage of the analog voltage reference for force limiting. The absolute values of both +
INFO and - voltages are input, and a force limit value corresponding to that absolute value is applied in the forward or reverse
direction.
9-71
9 Operation
9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
This function can be used to combine force limiting by an external input signal and by analog voltage reference.
Because the force limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be
used during force control. Use /P-CL (CN1-45) or /N-CL (CN1-46) for force limiting by external input signal.
When /P-CL (or /N-CL) is ON, either the force limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the force limit, whichever is smaller.
SERVOPACK
/P-CL
/N-CL
Speed feedback
9-72
9.11 Limiting Force
9-73
9 Operation
9.12.1 Setting Parameters
9-74
9.12 Control Mode Selection
9-75
9 Operation
9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
(1) Servo Alarm Output (ALM)
This signal is output when an error is detected in the SERVOPACK.
Type Signal Connector Setting Meaning
Name Pin Number
Output ALM CN1-31, 32 ON (low level) Normal SERVOPACK condition
(Factory setting) OFF (high level) SERVOPACK alarm condition
IMPORTANT
Always form an external circuit so this alarm output turns OFF the main circuit power supply to the SERVOPACK.
IMPORTANT 1. Some encoder-related alarms cannot be reset with the /ALM-RST signal input. To reset these alarms,
turn OFF the control power supply.
2. When an alarm occurs, always eliminate the cause before resetting the alarm. The methods for trouble-
shooting alarms are described in 11.1.5 Troubleshooting of Alarm and Warning.
9-76
9.13 Other Output Signals
• Related Parameters
The following parameter is used to select the alarm code output.
Parameter Description
Pn001 n.0 Outputs alarm codes alone for alarm codes ALO1, ALO2, and ALO3.
n.1 Outputs both alarm and warning codes for alarm codes ALO1, ALO2, and ALO3, and out-
puts an alarm code when an alarm occurs.
• Refer to 9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) for alarm code descriptions.
• Refer to 11.1.2 Warning Display for the ON/OFF combinations of ALO1, ALO2, and ALO3 when a warning code is out-
put.
• Related Parameter
Pn581 Zero-Speed Level Speed Position Force
9-77
9 Operation
9.13.4 Servo Ready (/S-RDY) Output
9-78
10
Adjustments
10-1
10 Adjustments
10.1.1 Servo Gain Adjustment Methods
10.1 Autotuning
10.1.1 Servo Gain Adjustment Methods
The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in
the parameters. The parameters are designated for each function as shown in 10.1.2 List of Servo Adjustment
Functions.
The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actual
machine conditions. The following flowchart shows an overview procedure for adjusting the servo gains to
reduce the positioning time for position control. Follow this flowchart to effectively adjust the servo gains. For
functions in bold lines in the flowchart, select the adjustment method according to the client’s intent using 10.1.2
List of Servo Adjustment Functions.
Results OK.
Results OK?
Results insufficient.
Results OK.
Results OK?
Results insufficient.
Vibration resulted
Results OK?
Results insufficient.
Results OK.
If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods,
consider the following possible causes.
• Autotuning does not suit the operating conditions.
Adjust the servo gains manually. Refer to 10.3 Manual Tuning.
• The selection of settings for the positioning time reduction functions or vibration reduction functions are
not appropriate.
Each function may not be effective for all machines due to machine characteristics or operating condi-
tions.
Use other positioning time reduction function or vibration reduction function.
10-2
10.1 Autotuning
10-3
10 Adjustments
10.1.2 List of Servo Adjustment Functions
10-4
10.2 Online Autotuning
10
10-5
10 Adjustments
10.2.2 Online Autotuning Procedure
WARNING
• Do not perform extreme adjustment or setting changes causing unstable servo operation.
Failure to observe this warning may result in injury and damages to the machine.
• Adjust the gains slowly while confirming motor operation.
Start
Yes
Operation OK?
No
No
Load mass varies?
Yes
Continuous online autotuning.
(Set Pn110.0 = 1.)
Yes
Operation OK?
No
No
Adjust the friction compensation.
(Set Pn110.2.)
Yes
Operation OK?
No
Do not perform online autotuning. Write the result of autotuning
(Set Pn110.0 = 2.) in the parameter.
The result will be used as the
default vaue for next autotuning.
(Utility function Fn007)
End
10-6
10.2 Online Autotuning
10
10-7
10 Adjustments
10.2.4 Machine Rigidity Setting for Online Autotuning
If the machine rigidity setting is greater, the servo gain will increase and positioning time will decrease. If the
setting is too large, however, vibration may result depending on the machine configuration. Set the machine
rigidity starting at a low value and increasing it within the range where vibration does not occur.
10-8
10.2 Online Autotuning
UP DOWN
5 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
MODE/SET The rigidity setting will be changed and “donE” will blink on
(DSPL/SET Key) (MODE/SET Key) the display for about one second.
6 About one second later After “donE” is displayed, the setting will be displayed again.
This completes changing the machine rigidity setting for online autotuning.
10
10-9
10 Adjustments
10.2.6 Saving the Results of Online Autotuning
CAUTION
• Always set the correct mass ratio when online autotuning is not used.
If the mass ratio is set incorrectly, vibration may occur.
For online autotuning, the most recent load mass is calculated and the control parameters are adjusted to achieve
response suitable for the machine rigidity setting. When online autotuning is performed, the Position Loop Gain
(Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) are saved. When the power
supply to the SERVOPACK is turned OFF, however, the calculated load mass is lost and the factory setting is
used as the default value to start autotuning the next time the power supply is turned ON.
To use the calculated load mass as the default value the next time the power supply is turned ON, the utility
function mode parameter Fn007 (Writing to EEPROM mass ratio data obtained from online autotuning) can be
used to save the most recent value in parameter Pn103 (Mass Ratio). The mass ratio is given as the mass ratio (%)
of the coil assembly mass of the linear servomotor.
Pn103 Mass Ratio Speed Position Force
The factory setting for the mass ratio is 0% (no-load operation of linear servomotor without connecting a machine).
* The setting range for the software version 32 or later.
10-10
10.2 Online Autotuning
4 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
MODE/SET The mass ratio will be saved.
(DSPL/SET Key) (MODE/SET Key)
When completed, “donE” will blink for about one second.
5 About one second later After “donE” is displayed, the mass ratio will be displayed
again.
This completes saving the default value for the mass ratio for online autotuning. The next time the power supply
is turned ON, the value that was saved for the Mass Ratio (Pn103) will be used to start online autotuning.
10
10-11
10 Adjustments
10.3.1 Explanation of Servo Gain
Time
gain Kp section Ti section converting
SERVOPACK
Host controller Kp Position Loop Gain (Pn102
(provided by user) Kv Speed Loop Gain Pn100
Ti Speed Loop Integral Time
Constant (Pn101)
Tf Force Reference Filter Time
Constant (Pn401)
To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and
adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust
the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to
monitor the output waveform from the analog monitor.
The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermost
loop must have the highest response and the middle loop must have higher response than the outermost. If this
principle is not followed, it will result in vibration or responsiveness decreases.
The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to
adjust only position loop gain and speed loop gain.
10-12
10.3 Manual Tuning
If the position loop gain (Pn102) cannot be set high in the mechanical system, an overflow alarm may occur during high
INFO
speed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.
10-13
10 Adjustments
10.3.4 Speed Loop Gain
The factory setting is Pn103=0. Before adjusting the servo, determine the mass ratio with the equation above and set param-
eter Pn103.
* The setting range for the software version 32 or later
Selecting the Speed Loop Control Method (PI Control or I-P Control)
INFO
Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. The
position loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can be
achieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch or
other method.
10-14
10.4 Servo Gain Adjustment Functions
10
10-15
10 Adjustments
10.4.2 Force Feed-forward
Parameter Meaning
Pn002 n.0 Disabled
n.2 Uses T-REF terminal for force feed-forward input.
T-REF (CN1-9)
Differ- KFF Pn400 Linear
ential V-REF (CN1-5) + servomotor
+ + +
+
Kp Pn300 Pn100 Current loop M
Position - + +
reference
- Integration
(Pn101)
Speed PG
calculation
Linear
Divider scale
10-16
10.4 Servo Gain Adjustment Functions
Parameter Meaning
Pn207 n.0 Disabled
n.1 Uses V-REF terminal for speed feed-forward input.
10
10-17
10 Adjustments
10.4.4 Proportional Control Operation (Proportional Operation Reference)
• When sending references from the host controller to the SERVOPACK, P control mode can be selected from the host
controller for particular operating conditions. This mode switching method can be used to suppress overshooting and
shorten the settling time. Refer to 10.4.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /P-
CON signal and switching the control mode for particular operating conditions.
• If PI control mode is being used and the speed reference has a reference offset, the linear servomotor may move very
slowly and fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the linear ser-
vomotor.
10-18
10.4 Servo Gain Adjustment Functions
Speed Overshoot
Time
Undershoot
Settling time
The mode switch function automatically switches the speed control mode from PI control mode to P control1
mode based on a comparison between the servo’s internal value and a user-set detection level.
IMPORTANT 1. The mode switch function is used in very high-speed positioning when it is necessary to use the servo-
drive near the limits of its capabilities. The speed response waveform must be observed to adjust the
mode switch.
2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/
position control. Even if overshooting or undershooting occur, they can be suppressed by setting the host
controller’s acceleration/deceleration time constant, the SERVOPACK’s Soft Start Acceleration/Deceler-
ation Time (Pn305, Pn306), or Position Reference Acceleration/Deceleration Time Constant (Pn204).
1
From PI control to P control
TERMS
PI control means proportional/integral control and P control means proportional control. In short, switching “from PI
control to P control” reduces effective servo gain, making the SERVOPACK more stable.
10-19
10 Adjustments
10.4.5 Using the Mode Switch (P/PI Switching)
PI P PI control P PI control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to force saturation during acceleration or deceleration. The mode switch function
suppresses force saturation and eliminates the overshooting or undershooting of the motor speed.
Pn181 Time
PI P control PI control
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Overshoot
Motor Motor
speed speed
Undershoot
10-20
10.4 Servo Gain Adjustment Functions
PI P PI control P PI control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to force saturation during acceleration or deceleration. The mode switch function
suppresses force saturation and eliminates the overshooting or undershooting of the motor speed.
Overshoot
Motor Motor
speed speed
Undershoot
10-21
10 Adjustments
10.4.6 Setting the Speed Bias
10-22
10.4 Servo Gain Adjustment Functions
Parameter Function
Pn110 n.0 Speed feedback compensation is used.
n.1 Speed feedback compensation is not used. (Standard speed feedback)
IMPORTANT When this function is used, it is assumed that the mass ratio set in Pn103 is correct. Verify that the mass
ratio has been set correctly.
Speed
Error counter
reference Speed loop Force reference Force reference
output Position loop gain
(Pn102) + PI control filter time constant
- (Pn100,Pn101) (Pn401)
Speed feedback
Speed feedback
compensation
(Pn111)
Speed feedback
compensation selection
(Pn110.1)
10
10-23
10 Adjustments
10.4.8 Speed Feedback Compensation
IMPORTANT The speed feedback compensation usually makes it possible to increase the speed loop gain and position
loop gain. Once the speed loop gain and position loop gain have been increased, the machine may vibrate
significantly and may even be damaged if the compensation value is changed significantly or Pn110.1 is set
to “1” (i.e., speed feedback compensation disabled).
10-24
10.4 Servo Gain Adjustment Functions
10-25
10 Adjustments
10.4.10 Force Reference Filter
Force related
function switch
Pn408
Second First
Force reference Force stage stage Force reference
befor filtering reference notch notch after filtering
filter filter filter
Pn401 Pn40B Pn409
Pn40C Pn40A
IMPORTANT Software version earlier than 32 does not have the parameters for the First Stage Notch Filter Q Value
(Pn40A) and the Second Stage Notch Filter (Pn40B and Pn40C).
10-26
10.4 Servo Gain Adjustment Functions
0 0
Gain Gain
-100 -100
db db
-200 -200
-300 -300 2 3 4
10
2
10 3 10 4 10 10 10
Frequency Hz Frequency Hz
Notch filter Notch filter
0 0
-100 -100
Phase -200 Phase -200
deg deg
-300 -300
-400 -400 2
10
2
10 3 10 4 10 10
3
10
4
Frequency Hz Frequency Hz
Parameter Meaning
Pn408 n.0 Disables the first stage notch filter.
n.1 Enables the first stage notch filter.
n.0 Disables the second stage notch filter.*
n.1 Enables the second stage notch filter.*
Enables the notch filter to be used. (The setting is validated immediately.)
Set the machine’s vibration frequency in the parameter of a notch filter to be used.
Pn409 First Stage Notch Filter Frequency Speed Position Force
10-27
10 Adjustments
10.4.10 Force Reference Filter
When the vibration is suppressed but overshooting occurs, increase the Q value and check whether the
overshooting is corrected.
Pn40A First Stage Notch Filter Q Value * Speed Position
IMPORTANT 1. Sufficient precautions must be taken when setting the notch frequencies. Do not set the notch frequen-
cies (Pn409 or Pn40B) that is close to the speed loop’s response frequency. Set the frequencies at least
four times higher than the speed loop’s response frequency. Setting the notch frequency too close to the
response frequency may cause vibration and damage the machine. The speed loop response frequency is
the value of the Speed Loop Gain (Pn100) when the Mass Ratio (Pn103) is set to the correct value.
2. Change the Notch Filter Frequency (Pn409 or Pn40B) only when the linear servomotor is stopped.
Vibration may occur if the notch filter frequency is changed when the linear servomotor is moving.
10-28
10.5 Analog Monitor
SERVOPARK 200V
CN5 SGDH-
Ver.
YASKAWA POWER
CN5
Cable Type:
JZSP-CA01
Black
Black
For 50W to 5.0 kW SERVOPACK White For 7.5 kW SERVOPACK
Red
Pin Number Line Color Signal Name Monitoring Item with Factory Setting
1 Red Analog monitor 2 Motor speed: 1 V/1000 mm/s
2 White Analog monitor 1 Force reference: 1 V/100% rated force
3, 4 Black (2 lines) GND (0 V) −
10
10-29
10 Adjustments
• Related Parameters
The following signals can be monitored.
Parameter Function
Monitor 1 Monitor 2 Monitor Signal Observation Gain Remarks
Pn003 n.0 n.0 Motor speed 1 V / 1000 mm/s Factory setting for Monitor 2
n.1 n.1 Speed reference 1 V / 1000 mm/s −
n.2 n.2 Internal force reference 1 V / 100% rated force Factory setting for Monitor 1
n.3 n.3 Position error ∗ 0.05 V / 1 reference unit −
n.4 n.4 Position error ∗ 0.05 V / 100 reference units −
n.5 n.5 Position reference speed 1 V / 1000 mm/s −
(converted to motor speed)
n.6 n.6 Motor speed 1 V / 250 mm/s −
n.7 n.7 Motor speed 1 V / 125 mm/s −
n.8 n.8 −
n.9 n.9 −
n.A n.A −
n.B n.B −
Reserved. Do not set. −
n.C n.C −
n.D n.D −
n.E n.E −
n.F n.F −
* When using speed control or force control, the position error monitor signal is not specified.
The analog monitor output voltage is ±8 V (maximum). The output will be limited to ±8 V even if this value is exceeded
INFO in the above calculations.
10-30
11
Inspection, Maintenance, and
Troubleshooting
11
11-1
11 Inspection, Maintenance, and Troubleshooting
11.1.1 Alarm Display Table
11.1 Troubleshooting
11.1.1 Alarm Display Table
The relation between alarm displays and alarm code outputs is shown in Table 11.1.
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
• DB STOP: Stops the servomotor immediately using the dynamic brake.
• Coasting to a stop: Stops the servomotor naturally with friction when the motor is running and not brak-
ing.
Table 11.1 Alarm Displays and Outputs
Alarm Alarm Code Output Servo
Alarm Reset Alarm
Alarm Name Meaning
Display ALO1 ALO2 ALO3 (ALM)
Output
A.02 Parameter Breakdown EEPROM data of SERVOPACK is N/A
abnormal.
A.03 Main Circuit Encoder Error Detection data for power circuit is Available
(Not detected for the SERVOPACKs abnormal.
with the capacity of 7.5 kW or more.)
A.04 Parameter Setting Error • The parameter setting is outside the N/A
allowable setting range.
• Pn080.0=1 was set though a hall
sensor was connected.
A.05 Combination Error • SERVOPACK and servomotor Available
capacities do not match each other.
• The linear servomotor and SERVO-
PACK voltage specifications do not H H H H
correspond to each other.
A.08 Linear Scale Pitch Setting Error The initial value (0 μm) is set for the N/A
linear scale pitch (Pn280).
A.09 • A value higher than the motor peak N/A
Dividing Ratio Setting Error *1
speed that can be obtained from the
dividing ratio was set for Pn384.
• When connecting the linear servo-
motor, a value higher than the maxi-
mum dividing ratio that can be
obtained from the linear servomotor
peak speed was set for Pn281.
A.0A The mounted serial encoder is not sup- N/A
Encoder Type Mismatching *1
ported by Σ-II series.
A.10 Overcurrent or Heat Sink Overheated An overcurrent flowed through the N/A
IGBT.
L H H H
Heat sink of SERVOPACK was over-
heated.
A.30 Regeneration Error Detected Regenerative transistor or regenerative Available
resistor is faulty.
A.32 Regenerative Overload Regenerative energy exceeds regener- Available
ative resistor capacity. L L H H
A.33 Main Circuit Power The power supply to the main circuit Available
Supply Wiring Error does not match the parameter Pn001
setting.
A.40 Overvoltage *2 Main circuit DC voltage is excessively Available
high.
H H L H
A.41 Undervoltage *2 Main circuit DC voltage is excessively Available
low.
11-2
11.1 Troubleshooting
A.b1 Reference Speed Input Read Error The A/D converter for reference speed Available
input is faulty.
A.b2 Reference Force Input Read Error The A/D converter for reference force Available
H H H H
input is faulty.
A.b3 Current sensor error was detected or Available
Current Detection Error *1
linear servomotor line was discon-
nected.
A.bF System Alarm A system error occurred in the SER- N/A
VOPACK.
A.C1 Servo Overrun Detected The servomotor ran out of control. Available
A.C2 Phase Faulty Detection Alarm • The electrical angle at the hall sen- N/A
sor phase-U edge deviated for ±40
degrees or more.
• Hall sensor signal error was
detected.
A.C5 Linear Servomotor Pole Detection The polarity of linear servomotor can Available L H L H
Error not be detected.
A.C9 Encoder Communications Error Communications between SERVO- N/A
PACK and encoder is not possible.
A.CA Encoder Parameter Error Encoder parameters are faulty. N/A
N/A
11
A.Cb Encoder Echoback Error Contents of communications with
encoder is incorrect.
A.d0 Position Error Pulse Overflow Position error pulse exceeded parame- Available
ter (Pn505). L L H H
A.d3 Exceeded Position Data Position data is 32-bit or more. N/A
11-3
11 Inspection, Maintenance, and Troubleshooting
11.1.2 Warning Display
CPF01 Transmission Error fails to communicate with SERVO- N/A Not decided
PACK (e.g., CPU error).
A.− − Not an error Normal operation status − H H H L
* 1. These alarm occur only for the software version 32 or later.
* 2. For the SERVOPACK with a capacity of 7.5 kW:
A.40: Alarm detecting excessively high/low voltage in the main circuit
A.41: Not used
11-4
11.1 Troubleshooting
11-5
11 Inspection, Maintenance, and Troubleshooting
11.1.4 Warning Display Table when the Application Module is Used
11-6
11.1 Troubleshooting
11-7
11 Inspection, Maintenance, and Troubleshooting
11.1.5 Troubleshooting of Alarm and Warning
11-8
11.1 Troubleshooting
11
11-9
11 Inspection, Maintenance, and Troubleshooting
11.1.5 Troubleshooting of Alarm and Warning
11-10
11.1 Troubleshooting
11-11
11 Inspection, Maintenance, and Troubleshooting
11.1.5 Troubleshooting of Alarm and Warning
11-12
11.1 Troubleshooting
11
11-13
11 Inspection, Maintenance, and Troubleshooting
11.1.5 Troubleshooting of Alarm and Warning
11-14
11.1 Troubleshooting
* 1. This alarm occurs when the communications is still disabled five seconds after digital opera-
tor power supply is ON, or when digital operator communications disabled status stays while
an application module is connected.
* 2. This alarm occurs when digital operator received data error occurs consecutively five times,
or when the state that digital operator receives no data from SERVOPACK for one second or
more occurs consecutively three times.
11
11-15
11 Inspection, Maintenance, and Troubleshooting
11.1.5 Troubleshooting of Alarm and Warning
11-16
11.1 Troubleshooting
11-17
11 Inspection, Maintenance, and Troubleshooting
11.1.6 Troubleshooting for Malfunction without Alarm Display
11-18
11.1 Troubleshooting
11
11-19
11 Inspection, Maintenance, and Troubleshooting
11.1.6 Troubleshooting for Malfunction without Alarm Display
11-20
11.1 Troubleshooting
11
11-21
11 Inspection, Maintenance, and Troubleshooting
11.2.1 Linear Servomotor Inspection
CAUTION
• Do not disassemble the linear servomotor.
Failure to observe this caution may result in electric shock or injury.
Simple, daily inspection is sufficient. The inspection and maintenance frequencies in Table 11.8 are only guide-
lines. Increase or decrease the frequency to suit the operating conditions and environment.
If disassembly of the linear servomotor is required because of the linear servomotor failure, contact your
Yaskawa representative.
* Measure across the servomotor FG and the phase-U, phase-V, or phase-W power line.
11-22
11.2 Inspection and Maintenance
The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship-
ping. Be sure to confirm that the parameters are properly set before starting operation.
Table 11.10 Periodical Part Replacement
Standard
Part Replacement Replacement Method Operating Conditions
Period
Cooling Fan 4 to 5 years Replace with new part. • Ambient Temperature: Annual
Smoothing Capacitor 7 to 8 years Test. Replace with new part if nec- average of 30°C
essary. • Load Factor: 80% max.
Relays − Test. Replace if necessary. • Operation Rate: 20 hours/day
Fuses 10 years Replace with new part. max.
Aluminum 5 years Test. Replace with new circuit
Electrolytic board if necessary.
Capacitor on Circuit
Board
11
11-23
11 Inspection, Maintenance, and Troubleshooting
11.2.3 Parts Replacement Schedule
11-24
12
Appendix
12
12-1
12 Appendix
15
υL
60 60
t = n = 120 =0.5 (s)
Speed
(m/min)
ta tc td Time (s) where ta = td
0.4 tc = 0.4 − (0.02 × 2) = 0.36 (s)
t
FP = (WM + WT) x
υL + FL = (1+2) × 120 + 5.88 = 305.88 (N)
60 x ta 60 × 0.02
12-2
12.1 Linear Servomotor Capacity Selection Examples
• Effective force
(6) Result
The provisionally selected linear servomotor and SERVOPACK are confirmed to be applicable.
The force diagram is shown below.
(N) Force
Speed
389.5
7.5
0
-374.53
0.02 0.36 0.02
0.5
12
12-3
12 Appendix
12.2.1 Simple Calculation
Calculate the kinetic energy ES) in the linear servomotor from the following equation.
ES = MVM 2 / 2
M Load mass kg
VM Speed used by linear servomotor m/s
Load Condition
Allowable Frequencies in
Linear Servomotor Model (Including Coil
Regenerative Mode (times/min.)
Assembly)
SGLGW- 40A365C (-M) 4
60A253C (-M) 4
60A365C 3
15 times of coil
60A365C (-M) 3
assembly mass
90A200C 1
90A370C 1
90A535C 6
SGLFW- 35A230A 8
50A200B 6
Twice of coil
50A380B 2
assembly mass
1ZA200B 2
1ZA380B 2
12-4
12.2 Calculating the Required Capacity of Regenerative Resistors
Load Condition
Allowable Frequencies in
Linear Servomotor Model (Including Coil
Regenerative Mode (times/min.)
Assembly)
SGLTW- 20A170A 8
20A320A 4
20A460A 2
35A170A 6
35A320A 2
Twice of coil
35A460A 2
assembly mass
35A170H 3
35A320H 1
50A170H 4
50A320H 1
40A400B 1
Note: The model with (-M) is the combination model with a standard-type coil assembly and a
high-force-type magnetic way.
Speed reference 0 t
Maximum speed
Servomotor speed 0 t
Regene-
ration
mode Maximum force
Servomotor-generated force 0 t
Maximum force
T
(Operating cycle)
Allowable frequency = 1/T (times/min)
12
12-5
12 Appendix
12.2.1 Simple Calculation
12-6
12.2 Calculating the Required Capacity of Regenerative Resistors
Motor speed
0
tD
FL: Load force
Motor force
Regenerative
force
T
12
12-7
12 Appendix
12.2.2 Calculating the Regenerative Energy
If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in
resistor is not exceeded, then an external regenerative resistor is not required.
If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an
external regenerative resistor for the capacity obtained from the above calculation.
If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using EL = 0.
When the operation period in regeneration mode is continuous, add the following items to the above calcula-
tion procedure in order to find the required capacity (W) for the regenerative resistor.
• Energy for continuous regeneration mode operation period: EG (joules)
Here, EG = VMGTGtG
• VMG: Linear servomotor speed (m/s) for same operation period as above
• TG: Linear servomotor’s generated force (N) in continuous regenerative mode operation period
• tG: Same operation periods as above
• Energy consumed by a regenerative resistor: EK = ES - (EL + EM + EC) + EG
• Required capacity of regenerative resistor: WK = EK / (0.2 × T)
12-8
12.2 Calculating the Required Capacity of Regenerative Resistors
Model : SGLGW-
100
80
30A050C
30A080C
60
Loss
(W)
40
20
0
0% 100% 200% 300%
Force (%)
Model : SGLGW-
400
40A365C
40A253C
300
40A140C
Loss
200
(W)
100
0
0% 100% 200% 300%
Force (%)
12
12-9
12 Appendix
12.2.2 Calculating the Regenerative Energy
Model : SGLGW-
500
400
60A365C
60A253C
60A140C
300
Loss
(W)
200
100
0
0% 100% 200% 300%
Force (%)
Model : SGLGW-
1800
1600
90A535C
1400 90A370C
90A200C
1200
Loss 1000
(W)
800
600
400
200
0
0% 100% 200% 300% 400%
Force (%)
12-10
12.2 Calculating the Required Capacity of Regenerative Resistors
Model : SGLGW-
700
600
40A365C
40A253C
500 40A140C
400
Loss
(W)
300
200
100
0
0% 100% 200% 300% 400%
Force (%)
Model : SGLGW-
800
60A365C
60A253C
600 60A140C
Loss
400
(W)
200
0
0% 100% 200% 300% 400%
Force (%)
12
12-11
12 Appendix
12.2.2 Calculating the Regenerative Energy
1000 35A230A
35A120A
20A120A
800 20A090A
Loss
(W) 600
400
200
0
0% 100% 200% 300%
Force (%)
Model SGLFW-
1800
1ZA380B
1600
50A380B
1400 1ZA200B
50A200B
1200
Loss 1000
(W)
800
600
400
200
0
0% 50% 100% 150% 200% 250%
Force (%)
Model SGLFW-
1800
1ZD380B
1600
50D380B
1400 1ZD200B
50D200B
1200
Loss 1000
(W)
800
600
400
200
0
0% 50% 100% 150% 200% 250%
Force (%)
12-12
12.2 Calculating the Required Capacity of Regenerative Resistors
3500 35A460A
35A320A
35A170A
3000 20A460A
20A320A
2500 20A170A
Loss
(W) 2000
1500
1000
500
0
0% 100% 200% 300%
Force (%)
Model SGLTW-
1200
50A320H
1000
35A320H
50A170H
800 35A170H
Loss
(W)
600
400
200
0
0% 50% 100% 150% 200% 240%
Force (%)
Model SGLTW-
12000
80A600B
10000 80A400B
40A600B
8000 40A400B
Loss
6000
(W)
4000
2000
540%
560%
0
0% 100% 200% 300% 400% 500% 600%
Force (%)
12
12-13
12 Appendix
12.2.2 Calculating the Regenerative Energy
Model SGLTW-
1200
50D320H
35D320H
1000
50D170H
35D170H
800
Loss
(W)
600
400
200
0
0% 50% 100% 150% 200% 240%
Force (%)
Model SGLTW-
14000
80D600B
12000
80D400B
40D600B
10000
40D400B
Loss 8000
(W)
6000
4000
2000
540%
560%
0
0% 100% 200% 300% 400% 500% 600%
Force (%)
12-14
12.2 Calculating the Required Capacity of Regenerative Resistors
100 600
30AE
20 100
0 0
180 200 220 240 260 180 200 220 240 260
AC Input Power Supply Voltage (Vrms) AC Input Power Supply Voltage (Vrms)
10DE,15DE
100
05DE
80
60
40
20
Model SGDH-
400
350
Absorbable Enerby (J)
300
250 75DE
50DE
200
150
100
50
0
320 360 400 440 480 520
AC Input Power Supply Vrms
12
12-15
12 Appendix
12.3.1 Example of Connection to MP2200/MP2300 2-axes Motion Module SVA-01
+24V 34
DI_1 (SRDY) 35 29 /S-RDY+ Properly treat the end of
DI_5 (EXT/DEC) 36 shielded wires.
FG FG
EXT/DEC input
ZERO/HOME LS input
P-OT input Brake interlock output (+)
N-OT input Brake interlock output (-)
Note: Connection cables (model: JEPMC-W2040-) to connect the SERVOPACK to the MP2200/
MP2300 are provided by Yaskawa. For details, refer to Machine Controller MP2200/MP2300
Motion Module Uesr’s Manual (manual no. SIEPC88070016).
12-16
12.3 Connection to Host Controller
∗
X-axis feedback ground 10 SG 1 Linear servomotor
X-axis phase-A input 11 PAO 33
X-axis phase-/A input 12 /PAO 34 U
X-axis phase-B input 13 PBO 35 V M
X-axis phase-/B input 14 /PBO 36 W
X-axis phase-Z input 15 PCO 19
X-axis phase-/Z input 16 /PCO 20
X-axis speed reference 17 V-REF 5 Linear scale
Axis speed reference ground 18 SG 6 Serial
CN2 converter PG
FG Shell unit
24V output 19 +24V-IN 47
24V output ground 20 ALM- 32 Properly treat the ends of shielded wired.
I/O connector
24VDC
24V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6
X-axis origin proximity input 10
24V input ground 14
Note: 1. Only signals applicable to OMRON’s MC unit and Yaskawa’s SGDH SERVOPACK are shown
in the diagram.
2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
The power supply and wiring must be in accordance with the power supply specifications of the
SERVOPACK to be used.
3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
4. Open the signal lines not to be used.
5. The above connection diagram shows only X-axis connection. When using another axes, make
connection to the SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connec-
tor section must be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.
12
12-17
12 Appendix
12.3.3 Example of Connection to OMRON’s Position Control Unit
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consid-
eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Connect the shield wire to the connector shell.
Note: Only signals applicable to OMRON’s MC unit (positioning unit) and Yaskawa’s SGDS SERVO-
PACK are shown in the diagram.
12-18
12.3 Connection to Host Controller
M/D
11 +24VIN 47 Properly treat the ends of shielded wires.
12 +24V
3(19) OUT-1X /S-ON 40
9(25) X-OUT V-REF(T-REF) 5(9)
8(24) X-AG SG 6(10) 42 P-OT
7(23) X-A ∗3 PAO 33
X-/A 3Ry
6(22) /PAO 34
X-B 43 N-OT 024V
5(21) PBO 35
4(20) X-/B /PBO 36 4Ry
16(14) X-C PCO 19
15(13) X-/C /PCO 20
1(17) 0V SG 1
Connector ∗2
shell
* 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this
into consideration when designing the power ON sequence. The ALM signal actuates the alarm
detection relay 1Ry to stop main circuit power supply to the SERVOPACK.
* 2. Connect the I/O cable’s shield wire to the connector shell.
Note: Only signals applicable to OMRON’s C500-NC221 position control unit and Yaskawa’s SGDH
SERVOPACK are shown in the diagram.
12
12-19
12 Appendix
12.3.5 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)
L1C
L2C
L1
Position control L2
I/O power supply
unit C500-NC112 L3
manufactured by +12V +-
012V Linear servomotor
OMRON
1A U
+12V 1B V M
2A 4Ry Encoder signal W
CW LIMIT
2B 3Ry conversion unit
CCW LIMIT ∗3
3A LRX-01/A2 Linear scale
EMERGENCY STOP
EXTERNAL 3B 6 10 PCO 19 Serial
INTERRUPT CN2 converter PG
4A 9 /PCO 20 unit
ORIGIN 12V 0V
4B
ORIGIN PROXIMITY 8 7 1Ry Properly treat the ends of shielded wired.
5A ALM+ 31
LOCAL
1Ry +24V ALM - 32
5B
READY
8A +5 V 47 +24VIN
+5V 8B External
9A PULSE 7 40 /S-ON power supply
+24V
PULSE OUTPUT 9B /PULSE 8 42 P-OT 3Ry +24V
10A SIGN 11 43 N-OT 4Ry
10B /SIGN 12
CLR 15 012V
/CLR 14
* 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this
into consideration when designing the power ON sequence. The ALM signal actuates the alarm
detection relay 1Ry to stop main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Manufactured by Yaskawa Controls Co., Ltd.
Note: Only signals applicable to OMRON’s C500-NC112 position control unit and Yaskawa’s SGDH
SERVOPACK are shown in the diagram.
12-20
12.3 Connection to Host Controller
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consid-
eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Pin numbers are the same both for X-axis and Y-axis.
* 3. Connect the connector wire to the connector shell.
Note: Only signals applicable to Mitsubishi’s AD72 Positioning Unit and Yaskawa’s SGDH SERVO-
PACK are shown in the diagram.
12
12-21
12 Appendix
12.3.7 Example of Connection to Mitsubishi’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)
1Ry ∗ CN2
Serial
ALM+ 31 converter PG
unit
ALM - 32
Properly treat the ends of shielded wires.
3 PULS 7
21 PULSE /PULS 8 CN1
47 +24V
4 SIGN 11
22 SIGN /SIGN 12 40 /S-ON
2.2KΩ CLR 15 42 P-OT
5 /CLR 14 43 N-OT 0 24V
23 CLEAR
* The ALM signal is output for about two seconds when the power is turned ON. Take this into consider-
ation when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry
to stop the main circuit power supply to the SERVOPACK.
Note: Only signals applicable to Mitsubishi’s AD75 Positioning Unit and Yaskawa’s SGDH SERVO-
PACK are shown in the diagram.
12-22
12.4 List of Parameters
Note: When the parameters marked with “{” in remarks column are set for Password Setting
(Fn010), the indication shown below appears and such parameters cannot be changed.
Blinks for
one second
12
12-23
12 Appendix
12.4.2 List of Parameters
Axis Address
0 to F Sets SERVOPACK axis address.
12-24
12.4 List of Parameters
12
12-25
12 Appendix
12.4.2 List of Parameters
Calculation of Motor Max. Speed and Encoder Output Resolution Max. Value Selection∗2
Calculates the encoder output resolution max. value by fixing the motor max.
0 speed and the monitor displays Un010.
1 Calculates the motor max. speed by fixing the encoder output resolution max.
value and the monitor displays Un010.
* 1. If the linear servomotor with a hall sensor is used, software version 32 or later can be used.
If software version earlier than 32 is used, set to zero.
* 2. Available only for the software version 32 or later.
12-26
12.4 List of Parameters
12-28
12.4 List of Parameters
Clear Operation
0 Clear error counter at the baseblock.
1 Does not clear error counter. (Possible to clear error counter only with CLR signal.)
2 Clear error counter when an alarm occurs.
Filter Selection
0 Reference input filter for line driver signals
1 Reference input filter for open collector signals
12
12-29
12 Appendix
12.4.2 List of Parameters
12-30
12.4 List of Parameters
12-31
12 Appendix
12.4.2 List of Parameters
12-32
12.4 List of Parameters
12
12-33
12 Appendix
12.4.2 List of Parameters
12-34
12.4 List of Parameters
12
12-35
12 Appendix
12.4.2 List of Parameters
12-36
12.4 List of Parameters
12
12-37
12 Appendix
12.4.2 List of Parameters
12-38
12.4 List of Parameters
12
12-39
12 Appendix
12.4.3 Monitor Modes
12-40
12.5 Parameter Recording Table
Factory Setting
Parame-
ter
Name Valida-
Setting tion
Pn003 0002
Function Selection Application Switches 3 Imme-
diately
Function Selection Application Switches After
Pn080 0000 restart
80
Speed Loop Gain Imme-
Pn100 40 Hz
diately
Speed Loop Integral Time Constant Imme-
Pn101 20.00 ms
diately
Position Loop Gain Imme-
Pn102 40/s
diately
Mass Ratio Imme-
Pn103 0%
diately
2nd Speed Loop Gain Imme-
Pn104 40 Hz
diately
2nd Speed Loop Integral Time Constant Imme-
Pn105 20.00 ms
diately
2nd Position Loop Gain Imme-
Pn106 40/s
diately
7 reference Bias Width Addition Imme-
Pn108 units diately
Feed-forward Imme-
Pn109 0%
diately
Feed-forward Filter Time Constant Imme-
Pn10A 0.00 ms
diately
Gain-related Application Switches After
Pn10B 0000
restart
Mode Switch Force Reference Imme-
Pn10C 200 %
diately
0 reference Mode Switch Error Pulse Imme-
Pn10F unit diately
Online Autotuning Switches After
Pn110 0010
restart
Speed Feedback Compensation Imme-
Pn111 100 %
diately
Automatic Gain Change Timer Imme-
Pn124 100 ms
diately
Automatic Gain Change Width Imme-
Pn125 7
diately
Bias Imme-
Pn180 0 mm/s
diately
Mode Switch Speed Reference Imme-
Pn181 0 mm/s
diately
Mode Switch Acceleration Imme-
Pn182 0 mm/s2
diately
Position Control References Form After
Pn200 0000 restart
Selection Switches
12
12-41
12 Appendix
Factory Setting
Parame-
ter
Name Valida-
Setting tion
12-42
12.5 Parameter Recording Table
Factory Setting
Parame-
ter
Name Valida-
Setting tion
12
12-43
Index
Index-1
Index
Index-2
Index
Index-3
Index
W
WARN .................................................................................................28
warning code output..............................................................................4
warning display .....................................................................................4
warning display and troubleshooting ..................................................16
warning display table when the application module is used .................6
warning output (/WARN)....................................................................77
wiring
400-V power supply voltage - - - - - - - - - - - - - - - - - - - - - - - -37
DC power supply input- - - - - - - - - - - - - - - - - - - - - - - - - - - -21
wiring encoders ...................................................................................22
wiring example....................................................................................33
wiring for noise control.......................................................................33
wiring main circuit power supply connector.......................................18
wiring precautions...............................................................................32
Z
zero clamp function.............................................................................41
Index-4
YASKAWA ELECTRIC AMERICA, INC.
Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.yaskawa.com
MOTOMAN INC.
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: (937) 847-6200 Fax: (937) 847-6277 Internet: http://www.motoman.com
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan
Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 Internet: http://www.yaskawa.co.jp
YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.
Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 Internet: http://www.yaskawa.com.br
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: 49-6196-569-300 Fax: 49-6196-888-301 Internet: http://www.yaskawa.de
MOTOMAN ROBOTICS AB
Box 504 S38525, Torsas, Sweden
Phone: 46-486-48800 Fax: 46-486-41410 Internet: http://www.motoman.se
MOTOMAN ROBOTEC GmbH
Kammerfeldstraβe 1, 85391 Allershausen, Germany
Phone: 49-8166-900 Fax: 49-8166-9039 Internet: http://www.motoman.de
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, Scotland, United Kingdom
Phone: 44-12-3673-5000 Fax: 44-12-3645-8182 Internet: http://www.yaskawa.co.uk
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.
Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SINGAPORE
Phone: 65-282-3003 Fax: 65-289-3003
TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)
10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: 886-2-2563-0010 Fax: 886-2-2567-4677
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone: 852-2803-2385 Fax: 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club,
21 Jianguomanwai Avenue, Beijing 100020, China
Phone: 86-10-6532-1850 Fax: 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6553-6600 Fax: 86-21-6531-4242
SHANGHAI YASKAWA-TONJI M & E CO., LTD.
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6533-2828 Fax: 86-21-6553-6677 Internet: http://www.yaskawa-tongji.com
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
30 Xue Yuan Road, Haidian, Beijing 100083 China
Phone: 86-10-6232-9943 Fax: 86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic & Technological Development Area,
Beijing 100076 China
Phone: 86-10-6788-0551 Fax: 86-10-6788-2878
YEA, TAICHUNG OFFICE IN TAIWAIN
B1, 6F, No.51, Section 2, Kung-Yi Road, Taichung City, Taiwan, R.O.C.
Phone: 886-4-2320-2227 Fax:886-4-2320-2239