Yaskawa Sigma-5 Series User Manual:: For Use with Large-Ca Manuale Utente

12345Overview of SetupInstallation Wiring and ConnectionSafety FunctionTrial Operation (Checking Servomotor Operation)SGDV SERVOPACKSGMVV ServomotorRo

x Storage and Transportation CAUTION• Do not store or install the product in the following locations.Failure to observe this caution may result i

5.2 Inspection and Checking before Trial Operation5-3Trial Operation (Checking Servomotor Operation)5.2 Inspection and Checking before Trial Operatio

5 Trial Operation (Checking Servomotor Operation) 5-4 SERVOPACKs and ConvertersInspect and check the following items, and take appropriate measures

5.2 Inspection and Checking before Trial Operation5-5Trial Operation (Checking Servomotor Operation) Checking the Main Circuit Power Supply, Servomo

5 Trial Operation (Checking Servomotor Operation) 5-65.3 JOG Operation Using a Panel OperatorThis section describes the procedure for executing a JO

5.3 JOG Operation Using a Panel Operator5-7Trial Operation (Checking Servomotor Operation)6The servomotor will rotate at the speed set in Pn304 while

5 Trial Operation (Checking Servomotor Operation) 5-85.4 JOG Operation Using a Digital OperatorThis section describes the procedure for executing a

5.4 JOG Operation Using a Digital Operator5-9Trial Operation (Checking Servomotor Operation)3Press the Key.The display changes to the execution dis

5 Trial Operation (Checking Servomotor Operation) 5-10 Alarm DisplayAn alarm is automatically displayed if a problem occurs for some reason. Check

5.5 JOG Operation Using SigmaWin+5-11Trial Operation (Checking Servomotor Operation)5.5 JOG Operation Using SigmaWin+This section describes the proce

5 Trial Operation (Checking Servomotor Operation) 5-122(cont’d)(5) Once SigmaWin+ is started, the connec-tion window is displayed.Note: is used fo

xi Installation Wiring CAUTION• Never use the product in an environment subject to water, corrosive gases, inflammable gases, or combustibles.Failur

5.5 JOG Operation Using SigmaWin+5-13Trial Operation (Checking Servomotor Operation)3• Trial operation.(1) Select Test Run ( R) first, and then selec

5 Trial Operation (Checking Servomotor Operation) 5-144• Set the JOG speedThe motor speed is set to 500 [min-1]. Click if you need to change it. 5•S

5.5 JOG Operation Using SigmaWin+5-15Trial Operation (Checking Servomotor Operation)Refer to the online manual for SigmaWin+ for details. Follow the

Revision HistoryThe revision dates and numbers of the revised manuals are given at the bottom of the back cover.Date of PublicationRev. No.Section Rev

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xii Wiring (cont’d) CAUTION• Be sure to observe the following precautions when wiring the main circuit’s terminals and connectors on a SERVOPACK

xiii Operation CAUTION• Always use the servomotor, the SERVOPACK, and the converter in one of the specified combinations.Failure to observe this caut

xiv Maintenance and Inspection Disposal General Precautions CAUTION• Do not disassemble the SERVOPACK and the converter.Failure to observe this

xvWarranty(1) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called "delivered product&quo

xvi(3) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the

xviiHarmonized Standards North American Safety Standards (UL) European DirectivesName (Model)UL Standards(UL File No.)MarkSERVOPACK (SGDV-H, -

xviii Safety Standards Safe PerformanceName (Model)Safety StandardsStandardsSERVOPACK (SGDV-H, -J),Converter (SGDV-COA)Safety of Machinery

xixContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiSafety Precautions

Copyright © 2012 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xx3.5 Selecting and Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . 3-383.5.1 Selecting a Regenerative Resi

1-1Overview of Setup1Overview of SetupThis chapter describes how to set up the servo drives.

1 Overview of Setup 1-2This chapter describes the flow of the setup procedure from installation until a JOG operation. A panel operator, a digital o

2-1Installation2InstallationThis chapter describes how to install the servomotor, the SERVOPACK, and the converter.2.1 Installation Environment and A

2 Installation2.1.1 Servomotor Installation Environment2-22.1 Installation Environment and Applicable StandardsThe installation environment and the

2.1 Installation Environment and Applicable Standards2-3Installation Installation site: An environment that satisfies the following conditions• Indo

2 Installation2.1.3 Installation Conditions for Applicable Standards2-4• Other LocationsDo not mount the SERVOPACK and the converter in locations su

2.2 Servomotor Installation2-5Installation2.2 Servomotor Installation2.2.1 OrientationThe mounting orientation depends on the method that is used to

2 Installation2.2.3 Connecting Servomotor to Machine2-62.2.3 Connecting Servomotor to MachineThe end of the motor shaft is coated with anticorrosive

2.2 Servomotor Installation2-7Installation2.2.5 Other Precautions Handling Oil and WaterIf the servomotor is used in a location that is subject to w

iiiAbout this ManualThis manual describes procedures required for installation, wiring, and connecting Σ-V Series servo drives, including a JOG operat

2 Installation2.2.5 Other Precautions2-8 Wiring the Motor Terminal Box• Connect the servomotor power lines (U, V, and W) to the servomotor terminal

2.2 Servomotor Installation2-9Installation Protecting the Servomotor WARNING• Be sure to connect the servomotor’s built-in thermostat to the host co

2 Installation2.2.5 Other Precautions2-10 Wiring the Servomotor FanWire the servomotor fan leads U(A), V(B), and W(C) so that the direction of air

2.3 SERVOPACK and Converter Installation2-11Installation2.3 SERVOPACK and Converter Installation2.3.1 OrientationThe SERVOPACK and the converter are

2 Installation2.3.2 Installation Standards2-122.3.2 Installation StandardsObserve the standards for mounting SERVOPACKs and converters in control pa

2.4 EMC Installation Conditions2-13Installation2.4 EMC Installation ConditionsThis section describes the recommended installation conditions that sat

2 Installation2.4.1 SGDV-01A (Analog Pulse Model)2-14∗1. Surge absorber model: LT-C32G801WS (manufactured by Soshin Electric Co., Ltd.)∗2. The n

2.4 EMC Installation Conditions2-15Installation Three-phase 400 V• SERVOPACK: SGDV-J01A ( = 750, 101, 131)• Converter: SGDV-COADA ( = 3Z,

2 Installation2.4.1 SGDV-01A (Analog Pulse Model)2-16∗1. Surge absorber model: LT-C35G102WS (manufactured by Soshin Electric Co., Ltd.)∗2. The n

2.4 EMC Installation Conditions2-17Installation2.4.2 SGDV-11A (M-II Model) Three-phase 200 V• SERVOPACK: SGDV-H11A ( = 121, 161, 201)• Con

iv IMPORTANT ExplanationsThe following icon is displayed for explanations requiring special attention. Notation Used in this ManualIn this manua

2 Installation2.4.2 SGDV-11A (M-II Model)2-18∗1. Surge absorber model: LT-C32G801WS (manufactured by Soshin Electric Co., Ltd.)∗2. The noise fil

2.4 EMC Installation Conditions2-19Installation Three-phase 400 V• SERVOPACK: SGDV-J11A ( = 750, 101, 131)• Converter: SGDV-COADA ( = 3Z,

2 Installation2.4.2 SGDV-11A (M-II Model)2-20∗1. Surge absorber model: LT-C35G102WS (manufactured by Soshin Electric Co., Ltd.)∗2. The noise fil

2.4 EMC Installation Conditions2-21Installation2.4.3 SGDV-21A (M-III Model) Three-phase 200 V • SERVOPACK: SGDV-H21A ( = 121, 161, 201)• C

2 Installation2.4.3 SGDV-21A (M-III Model)2-22∗1. Surge absorber model: LT-C32G801WS (manufactured by Soshin Electric Co., Ltd.)∗2. The noise fi

2.4 EMC Installation Conditions2-23Installation Three-phase 400 V • SERVOPACK: SGDV-J21A ( = 750, 101, 131)• Converter: SGDV-COADA ( = 3Z,

2 Installation2.4.3 SGDV-21A (M-III Model)2-24∗1. Surge absorber model: LT-C35G102WS (manufactured by Soshin Electric Co., Ltd.)∗2. The noise fi

2.4 EMC Installation Conditions2-25Installation2.4.4 SGDV-E1A (Command Option Attachable Type)For SERVOPACKs and converters of command option att

2 Installation2.4.5 Other Precautions2-26 Fixing the CableFix and ground the cable shield using a piece of conductive metal.• Example of Cable Clam

3-1Wiring and Connection3Wiring and ConnectionThis chapter describes how to set up the wiring and connections required for trial operation.For details

vΣ-V Series/DC Power Input Σ-V Series/Σ-V Series for Large Capacity ModelsUser’s ManualMECHATROLINK-IICommand(SIEP S800000 54)999Σ-V Series User'

3 Wiring and Connection 3-23.1 Precautions for Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in

3.1 Precautions for Wiring3-3Wiring and Connection• Take appropriate and sufficient countermeasures for each form of potential inter-ference when ins

3 Wiring and Connection 3-43.2 Discharging Time of the Main Circuit’s CapacitorThe following table shows the discharging time of the main circuit’s

3.3 System Configuration Diagram3-5Wiring and Connection3.3 System Configuration Diagram3.3.1 SGDV-01A SERVOPACK (Analog Pulse Model) Three-phas

3 Wiring and Connection3.3.1 SGDV-01A SERVOPACK (Analog Pulse Model)3-6 Three-phase, 400 V• SERVOPACK : SGDV-J01A ( = 750, 101, 131)• Con

3.3 System Configuration Diagram3-7Wiring and Connection3.3.2 SGDV-11A SERVOPACK (M-II Model) Three-phase, 200 V• SERVOPACK: SGDV-H11A ( =

3 Wiring and Connection3.3.2 SGDV-11A SERVOPACK (M-II Model)3-8 Three-phase, 400 V• SERVOPACK : SGDV-J11A ( = 750, 101, 131)• Converter :

3.3 System Configuration Diagram3-9Wiring and Connection3.3.3 SGDV-21A SERVOPACK (M-III Model) Three-phase, 200 V• SERVOPACK : SGDV-H21A (

3 Wiring and Connection3.3.3 SGDV-21A SERVOPACK (M-III Model)3-10 Three-phase, 400 V• SERVOPACK : SGDV-J21A ( = 750, 101, 131) • Converte

3.3 System Configuration Diagram3-11Wiring and Connection3.3.4 SGDV-E1A SERVOPACK (Command Option Attachable Type) Three-phase, 200 V• SERVOPACK

viΣ-V Series User's Manual For DeviceNet Module (SIEP C720829 07)999 99 *AC ServomotorSafety Precautions(TOBP C230200 00)99AC SERVOPACK and C

3 Wiring and Connection3.3.4 SGDV-E1A SERVOPACK (Command Option Attachable Type)3-12∗4. For details on the dynamic brake unit, refer to 3.6 Sele

3.3 System Configuration Diagram3-13Wiring and Connection Three-phase, 400 V• SERVOPACK : SGDV-JE1A ( = 750, 101, 131)• Converter : SGDV-COA

3 Wiring and Connection3.3.4 SGDV-E1A SERVOPACK (Command Option Attachable Type)3-14∗6. For connection to the option module, refer to the user’s

3.4 Main Circuit Wiring3-15Wiring and Connection3.4 Main Circuit WiringThe names, specifications, and functions of the main circuit terminals require

3 Wiring and Connection3.4.1 Names and Functions of Main Circuit Terminals3-16 ConverterThe following figure shows the appearance of the converter.

3.4 Main Circuit Wiring3-17Wiring and ConnectionCN101CN103, CN104SGDV-COA3GAA or -COA5EDA ConverterP, NL1, L2, L3B1, B21, ޓ2Terminals Name Specifica

3 Wiring and Connection3.4.2 Connecting the Connectors3-183.4.2 Connecting the ConnectorsConnect CN901 and CN103 on the SERVOPACK and converter as s

3.4 Main Circuit Wiring3-19Wiring and Connection3.4.3 Interconnecting TerminalsUse the bus bars that are provided with the converter to connect the P

3 Wiring and Connection3.4.3 Interconnecting Terminals3-20(2) SGDV-COA3GAA or -COA5EDA ConverterThe bus bars can be connected in any direction.

3.4 Main Circuit Wiring3-21Wiring and Connection3.4.4 Main Circuit WiresThis section describes details about the main circuit wire for the SERVOPACK

vii Safety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual

3 Wiring and Connection3.4.4 Main Circuit Wires3-22Note: These are reference values for 600-V-grade, heat-resistant, PVC-insulated wire.(2) Wire Siz

3.4 Main Circuit Wiring3-23Wiring and Connection∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use the crimp terminals that are

3 Wiring and Connection3.4.4 Main Circuit Wires3-24 For Three-phase, 400VCombination of SERVOPACK and Converter*1Terminal SymbolsScrew Size for Ter

3.4 Main Circuit Wiring3-25Wiring and Connection∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use the crimp terminals that are

3 Wiring and Connection3.4.4 Main Circuit Wires3-26 Tools for Crimp TerminalsModelTools (by J.S.T. Mfg Co., Ltd.)Body Head Dies3.5-6YHT-2210 – –R5.

3.4 Main Circuit Wiring3-27Wiring and Connection(3) Wire Size (UL Standard)To comply with the UL standard, use the recommended wires.The following ta

3 Wiring and Connection3.4.4 Main Circuit Wires3-28∗ Use SERVOPACKs and converters in the specified combinations.SGDV-201HSGDV-COA3GAASERVOPACKP, N

3.4 Main Circuit Wiring3-29Wiring and Connection For Three-phase, 400VCombination of SERVOPACK and Converter*Terminal SymbolsScrew Size for Terminal

3 Wiring and Connection3.4.4 Main Circuit Wires3-30∗ Use SERVOPACKs and converters in the specified combinations.SGDV-131JSGDV-COA5EDASERVOPACKP, N

3.4 Main Circuit Wiring3-31Wiring and Connection Crimp Terminal, Sleeve, Terminal Kit• For Three-phase, 200 V∗1. Use SERVOPACKs and converters in th

viiiSafety PrecautionsThese safety precautions are very important. Read them before performing any pro-cedures such as checking products on delive

3 Wiring and Connection3.4.4 Main Circuit Wires3-32• For Three-phase, 400 V∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use s

3.4 Main Circuit Wiring3-33Wiring and Connection Tools for Crimp TerminalsModelTools by J.S.T. Mfg Co., Ltd.Body Head DiesR5.5-6 YHT-2210 – –R8-8YHT

3 Wiring and Connection3.4.5 Typical Main Circuit Wiring Examples3-343.4.5 Typical Main Circuit Wiring Examples CAUTION• Be sure to observe the foll

3.4 Main Circuit Wiring3-35Wiring and ConnectionThe following diagrams show wiring examples of the SERVOPACK and converter.(1) Single-axis Applicatio

3 Wiring and Connection3.4.5 Typical Main Circuit Wiring Examples3-36 Three-phase 400 V121FLT3SAMENC+24 V0 VALM+ALM-CN131321D1Ry1Ry1RyUVWDB24DBONPP

3.4 Main Circuit Wiring3-37Wiring and Connection(2) Multi-axis ApplicationConnect the alarm output (ALM) terminals for the three SERVOPACKs in series

3 Wiring and Connection3.5.1 Selecting a Regenerative Resistor Unit3-383.5 Selecting and Connecting a Regenerative Resistor UnitThe SERVOPACKs and c

3.5 Selecting and Connecting a Regenerative Resistor Unit3-39Wiring and Connection3.5.2 Connecting a Regenerative Resistor UnitConnect the B1 termina

3 Wiring and Connection3.5.3 Setting Regenerative Resistor Capacity3-403.5.3 Setting Regenerative Resistor CapacitySet the regenerative resistor cap

3.6 Selecting and Connecting a Dynamic Brake Unit3-41Wiring and Connection3.6 Selecting and Connecting a Dynamic Brake UnitTo use the dynamic brake (

ix• Do not modify the product.Failure to observe this warning may result in injury, fire, or damage to the product.• Provide an appropriate braking de

3 Wiring and Connection3.6.2 Connections3-42(2) Using a Dynamic Brake Unit from Another Company• Using NO Contacts for the Dynamic Brake Contactor∗

3.6 Selecting and Connecting a Dynamic Brake Unit3-43Wiring and Connection• Using NC Contacts for the Dynamic Brake Contactor∗ The above figure is fo

3 Wiring and Connection3.6.3 Installation Standards3-44• If the coil current of NC dynamic brake contactors is 300 mA or higher, obtain an NO relay

4-1Safety Function4Safety FunctionThis chapter describes the safety functions.4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Safety Function 4-24.1 OutlineThe safety function is incorporated in the SERVOPACK and the converter to reduce the risk associated with the machin

4.2 Hard Wire Base Block (HWBB) Function4-3Safety Function4.2 Hard Wire Base Block (HWBB) FunctionThe Hard Wire Base Block function (hereinafter refe

4 Safety Function 4-44.3 Safety Function Signal (CN8) Names and FunctionsThe following table shows the terminal layout of safety function signals (C

4.4 Precautions When Not Using the Safety Function4-5Safety Function4.4 Precautions When Not Using the Safety FunctionWhen not using the safety funct

5-1Trial Operation (Checking Servomotor Operation)5Trial Operation (Checking Servomotor Operation)This chapter describes how to perform trial operatio

5 Trial Operation (Checking Servomotor Operation) 5-25.1 OutlineThe trial operation described here is a JOG operation for servomotors not connected