usamed-09gb2s silnik servo yaskawa manual

DATASHEET
YASKAWA
USAMED-09GB2S
OTHER SYMBOLS:
USAMED09GB2S, USAMED 09GB2S, USAMED-09GB2S
RGB ELEKTRONIKA AGACIAK CIACIEK
SPÓŁKA JAWNA
Jana Dlugosza 2-6 Street
51-162 Wrocław
Poland
www.rgbelektronika.pl
[email protected]
+48 71 325 15 05
www.rgbautomatyka.pl
www.rgbautomatyka.pl
www.rgbelektronika.pl
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D
BULLETIN
AC SERVO
M, F, S SERIES
FOR POSITIONING
DRIVES
CONTROL
SERVOMOTOR TYPES • USAMED, USAFED, USASEM
(With Incremental
Encoder)
SERVOPACK
TYPE • CACR-PR[IIIIJBC
(Rack-mounted
Type)
YASKAWA
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D
D
as
basic AC
mechatronics
for developed
the most
Yaskawa
Servo Seriesdrive
has been
advanced FA and FMS. The extensive DC
servo manufacturing
technology
accumulated
through a half century of servo drive applications created and nurtured a new phase of AC
servo drives,
The AC servo drives consist of a flexible
combination
of our AC SERVOMOTOR
and
its controller,
SERVOPACK.
The AC
SERVOMOTOR
features a high-power
rate
for achieving
quick response.
The AC
SERVOPACK
type
CACR-PR{IIIIiBC,_ is
designed
for integrated
construction
of
Positionpack
for digital
control
(type CPCC-PP100)
and positioning
AC SERVOPACK
for speedcontrol (type CACR-SRIIIIIIBB).
servoFordrives
stable systems,
control operation
your achieves
mechatronics
our AC
with high accuracy, quick response control
even under adverse environmental
conditions.
Furthermore,
these have succeeded in providing reliable, durable and easy maintenance by
various display and protective functions.
Some outstanding
features are as follows :
• High accuracy
and quick response for
speed control
• Rack-mounted
type to conserve
mounting space
° Easy maintenance
by a wide range of
display functions
•• Highly
Selectablereliable
driveprotective
to suit thefunctions
requirement
• Applicable to multiaxis applications
_7 158
i87-I
56
Type CACR-PR10BC
Type CACR-PR30BC
D
386-5
Type USAMED-03MA1
Type USAMED-09MA2
Type USAMED-06MA1
386-1
Type USAMED-44MA2
Type USAMED-20MA2
M Series AC Servo Drives for Speed Contol
-- AC SERVOMOTORS
and Their Controllers SERVOPACKS
--
CONTENTS
1. RATINGS
AND SPECIFICATIONS
1
(
6.7 SETTING OF INTERNAL SWITCHES
36
42
1.1 M SERIES AC SERVOMOTORS
1.2 F SERIES AC SERVOMOTORS
1.3 S SERIES AC SERVOMOTORS
1
3
5
6.8 ADJUSTMENT
39
6.9 CHECK TERMINAL
41
6.10 PRECAUTIONS FOR APPLICATION
1.4 RATINGS AND
SPECIFICATIONS OF SERVOPACK
7
6.11
6.12
2. TYPE DESIGNATION
8
4.1
4.2
4.3
OF
OVERLOAD CHARACTERISTICS
STARTING AND STOPPING TIME
ALLOWABLE FREQUENCY
OPERATION
12
12
12
16
23
6. 1 POWER ON AND OFF
6.2 CONFIGURATION
I/O CIRCUIT
23
23
OF
6.3 PROTECTIVE CIRCUIT
31
6.4 CONFIGURATION OF POSITIONING
LOOP
CONTROL
33
6 5 RESOLUTION OF POSITIONING
FEEDBACK PULSE
6.6 DISPLAY
35
35
45
45
in mm (inches)
SERVOMOTOR:
M SERIES
SERVOMOTOR:
F SERIES
SERVOMOTOR: SSERIES
SERVOPACK
57
PERIPHERAL EQUIPMENT
48
48
50
53
AI
I
58
59
9.1 CHECK ITEMS BEFORE TEST RUN
9.2 TEST RUN PROCEDURES
59
17
5.4 CONNECTOR TERMINAL(1CN)
FOR I/O SIGNAL
18
6. OPERATION
8. DIMENSIONS
9. TEST SUN
5.5 CONNECTOR TERMINAL(2CN)FOR
OPTICAL ENCODER(PG)CONNECTION
42
7 1 RECEIVING 45
8.1
8.2
8.3
8.4
8.5
4.4 MOTOR MECHANICAL
CHARACTERISTICS
14
5.1 CONNECTION DIAGRAM
16
5.2 INTERNAL BLOCK DIAGRAM
5.3 EXTERNAL TERMINALS
18
9
7 2 INSTALLATION
7.3 WIRING
46
12
5. CONFIGURATION
FOR OPERATION
44
7. INSTALLATIONAND WIRING
3. LIST OF STANDARDCOMBINATION
4. CHARACTERISTICS
PRECAUTIONS
APPLICATION
10.
21
ADJUSTMENT
59
60
10.1 SETTING AT THE TIME
OF DELIVERY
60
10.2 LIST OF CHECK TERMINALS AND
POTENTIONMETER
10. 3 ADJUSTMENT
11.
INSPECTION
65
PROCEDURES
66
AND MAINTENACE
11.1 ACSERVOMOTOR
11.2 SERVOPACK
67
67
12. TROUBLESHOOTING GUIDE
12.1 ACSERVOMOTOR
12.2 SERVOPACK
69
67
68
68
INDEX
D
Subject
A
C
D
Chapter Section No.
AC SERVOMOTOR (INSPECTION AND MAINTENANCE)
............................
AC SERVOMOTOR (TROUBLESHOOTING
GUIDE) ..................................
ADJUSTMENT
....................................................................
ADJUSTMENT
(POTENTIOMETER)
................................................
ADJUSTMENT
PROCEDURES
......................................................
...... 11,1
......
...... 12.1
......
..................
......
6.8
........
......
10.3
......
Page
67
68
60
39
66
ALLOWABLE
FREQUENCY
OF OPERATION
........................................
Allowable
Radial Load and Thrust
Load ..............................................
APPLICATION
......................................................................
4 ......
4 ......
6 ......
CHARACTERISTICS
................................................................
CHECK
ITEMS BEFORE
TEST RUN
................................................
CHECK
TERMINAL
................................................................
CONFIGURATION
..................................................................
CONFIGURATION OF I/O CIRCUIT
................................................
4
9
6
5
6
CONFIGURATION
6 ......
6.4
......
65 ......
5 ......
5.1 ........
6.12.1
......
5.4.2
......
16
44
18
5 ......
5 ......
5.4
5.5
18
21
OF POSITIONING
CONTROL
LOOP
..............................
CONNECTION
Connection
for DIAGRAM
Reverse
Motor..........................................................
Running
..............................................
Connector 1CN Layout and Connection of SERVOPACK ..............................
CONNECTOR
CONNECTOR
D)
11
12
10
6
10
TERMINAL
TERMINAL
(1CN) FOR I/O SIGNAL
..................................
(2CN) FOR OPTICAL
ENCODER
(PG) CONNECTION
D
DIMENSIONS in mm Cinches) ......................................................
Direction of Rotation ................................................................
DISPLAY
..........................................................................
E
Examples of Troubleshooting
for Defective Wiring or Parts
..........................
Examples
of Troubleshooting
for Incomplete
Adjustment
............................
EXTERNAL
TERMINALS
............................................................
F
Frequency
Frequency
H
High Voltage Line ..................................................................
Holding Brake .......................................................................
I
impact
Resistance
...................................................................
Input Circuit
......................................................................
I/O Signal of Connector 1CN ........................................................
INSPECTION
AND MAINTENANCE
................................................
Inspection
during
Test Run ..........................................................
INSTALLATION
....................................................................
INSTALLATION
AND WIRING
......................................................
INTERNAL
BLOCK
DIAGRAM
......................................................
Internal
Switch
Arrangements
......................................................
L
LED Indicatior (7-segment) for Troubleshooting
......................................
LIST OF CHECK TERMINALS AND POTENTIOMETER
..............................
List of Switch
Setting
..............................................................
LIST OF STANDARD
COMBINATION
................................................
Load Inertia (GD 2) ..................................................................
M
MOTOR MECHANICAL CHARACTERISTICS
........................................
Mechanical Spesifications (M, F and S series) ......................................
Mechanical
Strength
................................................................
Minus Load
........................................................................
Multiplier
Setting
(M)
..............................................................
N
Noise Control
O
OPERATION
........................................................................
Operation ..........................................................................
Optical Encoder (PG) Output Circuit
................................................
Output
Circuit
......................................................................
Dividing (1) Setting (I/D1)
Dividing (2) Setting (I/D2)
................................................
................................................
..................................................................
-- ij-
......
4.3
........
4.4.2
......
6.12
......
12
14
44
..................
......
9.1
........
......
6.9
........
..................
...... 6.2 ........
12
59
41
16
23
........
........
........
8 ..................
4 ...... 4.4.4 ......
6 ......
6.6
........
12 ......
12 ......
5 ......
33
48
14
35
12.2.2 ......
12.2.3
......
5.3
........
70
70
18
6 ......
6 ......
6.4.1
6.4.3
......
......
33
33
6 ......
4 ......
6.10.3 ......
4.4.8 ........
42
15
4
6
5
11
9
7
7
5
6
......
4.4.5
......
...... 6.2.1
......
...... 5.4.3 ......
..................
......
9.2.3
......
......
7.2 ........
..................
......
5.2 ........
......
6.7.2
......
15
23
20
67
59
45
45
17
38
12
10
10
3
6
...... 12.2.1 ......
...... 10.2 ........
......
10.1.1
......
..................
......
6.10.2
......
69
65
61
9
42
......
......
......
......
......
4.4 ........
4.4.3
......
4.4.1
......
6.10.1
......
6.4.2
......
14
14
14
42
33
6 ......
6.11.1 ......
42
4
.'• 4
4
6
6
6
9
6
6
..................
...... 9.2.2
...... 6.2.3
......
6.2.2
......
• .....
......
23
59
29
28
INDEX (Cont'd)
Subject
OVERLOAD CHARACTERISTICS
P
R
T
....................................................
PERIPHERAL EQUIPMENT
........................................................
Potentiometer Setting ...............................................................
Power Line Protection ..............................................................
Power Loss ........................................................................
POWER ON AND OFF ..............................................................
4 ......
4.1
........
Page
12
8
10
6
7
6
......
......
......
......
......
8.5 ........
10.1.2 ......
6.11.2 ......
7.3.3
......
6.1 ........
58
64
43
47
23
PRECAUTIONS FOR APPLICATION
................................................
PRECAUTIONS OF OPERATION ....................................................
Preparation for Operation ...........................................................
PROTECTIVE CIRCUIT
............................................................
6
6
9
6
......
......
......
......
6.10 ........
6.11 ........
9.2.1 ......
6.3 ........
42
42
59
31
Rated Current and Cable Size ......................................................
RATINGS AND SPECIFICATIONS
..................................................
RATING SPECIFICATIONS (F SERIES AC SERVOMOTORS)
.........................
RATING SPECIFICATIONS (M SERIES AC SERVOMOTORS) .........................
RATING
SPECIFICATIONS
(S SERIES AC SERVOMOTORS)
.........................
7
1
1
1
1
...... 7.3.1
......
..................
...... 1.2 ........
...... 1.1 ........
......
1.3 ........
46
1
3
1
5
RATINGS AND SPECIFICATIONS OF
Ratings (F Series AC SERVOMOTORS)
Ratings (M Series AC SERVOMOTORS)
Ratings (S Series AC SERVOMOTORS)
1
1
1
1
......
......
......
......
RECEIVING
RESOLUTION
S
(I
ChapterSection
No.
SERVOPACK ..................................
...............................................
...............................................
...............................................
........................................................................
OF POSITIONING
FEEDBACK
1.4 ........
1.2.1
......
1.1.1 ......
1.3.1 ......
7.1
6.5
9
8
8
8
7
......
......
......
......
......
9.1.1 ......
8.2 ........
8.1
........
8.3
........
7.2.1
......
59
50
48
53
45
SERVOPACK(Check
Items before Test Run)
........................................
SERVOPACKConnector
(2CN) Terminal
Layout and Connection
.......................
SERVOPACK(DIMENSIONS)
........................................................
SERVOPACK(INSPECTION
AND MAINTENANCE)
..................................
SE RVOPACK
(I nstallation)
..........................................................
9
5
8
11
7
......
......
......
......
......
9.1.2
......
5.5.2
......
8.4 ........
11.2
......
7.2.2
......
59
21
57
67
46
SERVOPACK
(TROU BLESHOOTING
GUIDE)
........................................
SETTINGS
AT THE TIME OF DELIVERY
............................................
SETTING
OF INTERNAL
SWITCHES
................................................
Specifications of Applicable Receptacles
............................................
Specifications of Applicable Receptacles and Cables ..................................
STARTING
AND STOPPING
TIME
..................................................
Switch
Functions
..................................................................
Switch
Setting
Procedure
............................................................
12
10
6
5
5
4
6
6
......
......
......
......
......
......
......
......
12.2
......
10.1
......
6.7
........
5.4.1 ......
5.5.1 ......
4.2
........
6.7.1
......
6.7.3
......
69
60
36
18
21
12
36
39
..................
...... 9.2 ........
......
6.2.4
......
...... 1.2.2 ......
......
1.1.2
......
59
59
31
4
2
................................
Servomotor (Check Items before Test Run) ...........................................
SERVOMOTOR:
F SERIES (DIMENSIONS)
........................................
SERVOMOTOR:
M SERIES (DIMENSIONS)
........................................
SERVOMOTOR:
S SERIES (DIMENSIONS)
..........................................
SERVOMOTOR
(Installation)
...........................................................
TEST RUN ..........................................................................
TEST RUN PROCEDURES ..........................................................
Torque
Reference
Monitor
and Speed Monitor
[TRO-M,
VTG-M]
......................
Torque-Speed Characteristics iF Series AC Servomotors)
............................
Torque-Speed
Characteristics
(M Series AC Servomotors)
..........................
Torque-Speed
Characteristics
iS Series AC Servomotors)
TROUBLESHOOTING
GUIDE
......................................................
TYPE DESIGNATION
................................................................
............................
9
9
6
1
1
1 ......
1.3.2
12 ..................
2 ..................
........
........
7
3
1
5
7 ......
6 ......
PULSE
......
45
35
6
68
8
U
Use of SERVOMOTOR with Holding Magnetic Brake ....................................
6 ......
6.12.2 ......
44
V
Vibration
Vibration
4 ......
4 ......
4.4.7
4.4.6
......
......
15
15
W
WIRING
............................................................................
Wiring Precautions ...........................
7 ......
7 ......
7.3
........
7.3.2 ......
46
47
Class
....................................................................
Resistance
................................................................
.......................................
--iii-
•
•
I
•
t
1. RATINGS
1.1
1.1.1
AND
M SERIES
AC SERVOMOTORS
Ratings
Time Rating:
Insulation:
Continuous
Class
F
t
Ambient
Temperature:
Ambient
Humidity:
0 to +40°C
20% to 80% (non-condensing)
Isolation Voltage:
1500 VAC, one minute
Insulation Resistance:
500 VDC, 10MD, or more
Vibration:
15 _um or below
Finish in Munsell Notation:
N1.5
Enclosure:
Excitation:
Permanent
Mounting:
Flange mounted
Totally-enclosed,
self-cooled
(Equivalent to IP-55 exclusive shaft opening)
Drive Method:
I
I
SPECIFICATIONS
Table
1.1
Ratings
Rated Torque*
Continuous Max Torque*
Max Torque*
drive
of M Series AC SERVOMOTORS
D- 03M[_]1106M[:]1
0.310.6
(0.4) I (0.8)
2.8 I 5.7
(25) I (50)
2.9 I 5.9
(26) I (52)
kW
(HP)
N.m
(Ib.in)
N.m
(Ib.in)
Rated Output"
Instantaneous
and Specifications
Direct
magnet
09M[:]2
0.9
(1.2)
8.6
(76)
8.8
(78)
12M[:]2
1.2
(1.6)
11.5
(102)
11.8
(104)
20M[]]2
2.0
(2.7)
19.1
(169)
21.6
(191)
30M[:]2144M[:]2
3.014.4
(4.1) I (6.0)
28.4 I 41.9
(252) I (372)
32.3 I 46.1
(286) I (408)
(171)
19.3
(248)
28.0
(390)
44.0
(564)
I (807)
63.7
91.1
11.7
18.8
(Ib.in)
N.m
(63)
7.2
I (125)
14.1
Rated Current*
A
3.0
I
Rated Speed*
r/min
Instantaneous Max Speed*
r/min
Torque Constant
N.
m/A
(lb.in/A)
1.01
(8.9)
1.04
(9.2)
1.21
(10.7)
1.02
(9.0)
kg.m2x10 -4
Moment of lnertia JM(=GD2/4) (ib.in.s2xl0_3)
13.5
(12.0)
24.3
(21.5)
36.7
(32.5)
66.8
(59.2)
110
(97.2)
143
(126.7)
240
(212.6)
5.8
7.6
26
I
33
1000
2000
1500
1.07
(9.5)
1.1 5
(10.2)
13.6
(11.8)
Inertia
Power Time
Rate* Constant
ms
kW/s
8.3
6.1
5.9
13.3
4.6
20.3
6.9
19.7
5.2
33.2
4.1
57.0
4.0
74.0
Inductive Time Constant
ms
4.2
5.4
6.5 _
10.4
12.9
15.3
16.2
'Values
when
winding
SERVOMOTOR
temperature
is combined
is 20"C.
Shown
with
SERVOPACK
are normal
GYP)
and the armature
values
above.
Notes:
1. j]_-}in type
designation
(pulsesJrev)
of
Standard:
A
Optional:
B (5000
2. There
(6000
are two
• Input
100MAC,
• Input
200MAC,
For
details,
is determined
optical
by output
pulses
as follows;
pulsesTrev)
pulses/rev),
types
refer
encoder
of
D (4000
power
supply
pulsesJrev)
units
for
output
90VDC
(OPR
tO9F)
output
90MDC
(OPR
109A)
to
Par.
8.5,
"PERIPHERAL
brake.
EQUIPMENT."
--
1 --
1.1.2
Torque-Speed
Characteristics
dl
• TYPEUSAMED-03M
_1ooot
_i_ .1t
• TYPEUSAMED-20M
_,oo4
° A_
_
.
HI
=1ooo_'_
........
_
_1ooo
_,ooC_-__o
_1
_oo_
/ Aili
._iii_
_,_OOlo
_,
_,oooi
_:_ ,-I,I
L?._.II,
/;it
0
2
4
6
8
RMS TORQUE (N-m)
0
20
40
60
RMS TORQUE (Ib.in)
0
• TYPE USAMED-06M
3
6
9
12
RMS TORQUE (N.m)
0
2'5 50 75 100 125
RMS TORQUE(Ib.in)
0
12
16
0
RMS TORQUE (N.m)
50
O
__'°"
20 40 60
RMS TORQUE (lb.}n)
0
c_
200
400
600
RMS TORQUE(Ib-in)
................
_oo
80
0
RMS TORQUE (N-m)
l
200 400 600 8001000
RMS TORQUE (Ib.in)
• TYPE USAMKD-60M
_c 2500_
10
20
RMS TORQUE (N .m)
20
40
60
RMS TORQUE (N'm)
2_oo
100 150
• TYPE USAMED-12M
= 2500_
¢
_,_oo_
_\ -_
• TYPEUSAMED-44M
2_oo_ _°°_
8
100 200 300 400
RMS TORQUE(Ib.in)
_
_
2_oo
_1ooo
t _ -_
_"
4
0
_°°°_
• TYPE USAMED-09M
0
10
20
30 40
RMS TORQUE (N .m)
• TYPEUSAMED-30M
_2_oo_ __oo
........
I
_1_°°I
_,_ _1 _1_°°i L
0
q
c 250C
50 100 150 200 250
RMS TORQUE (Ib-in)
0
]
25 50 75 100
RMS TORQUE (N .m)
/
_J
II
_c 2500
200 400 600 8001000
RMS TORQUE {Ib.in)
A: CONTINUOUS
B: INTERMITTENT
POWER SUPPLY:
DUTY ZONE
DUTY ZONE
200V
¢
--
2 --
D
D
1.2
F SERIES
AC SERVOMOTORS
Time
1.2.1 Rating:
Ratings Continuous
Ambient
Temperature"
Insulation:
Ambient
Humidity:
Class
F
0 to +40°C
20-_ to 80% (non-condensing)
isolation Voltage:
1500 VAC, one minute
Insulation Resistance:
500 VDC, 10MQ, or more
Vibration:
15 ,urn or below
Finish in Munsell Notation: Nl.5
Enclosure:
Excitation:
Permanent
Mounting:
Flange
Totally-enclosed',
(Equivalent
to IP-55
self-cooled
exclusive
shaft
opening)
Drive Method:
Table
Item
1.2
Ratings
and Specifications
----... 02F[-}1
........ 03F[-]1
Motor TypeUSAFEDkW
0.15
0.3
(HP)
(0.2)
(0.4)
Rated Output*
magnet
mounted
Direct
drive
of F Series AC SERVOMOTORS
05F[-]1
0.45
(0.6)
113F[-]2
I 1.3
I (1.8)
120F[-}2
I
1.8
I (2.4)
I 30F[-]2
' 2.9
I (3.9)
I
]
I
I
1.0
(8.7)
2.0
(17)
(25) 1(48)1(74)1(102)1(165)
28.4
(252)
N.m
(Ib.in)
N.rn
(Ib.in)
1.1
(10)
2.9
(26)
2.2
(19)
5,7
(51)
2.9
(26)
8.9
(79)
I 11.8 J 22.5
I (104) I (200)
I 34.0
I 54.1
I (301) I (479)
37.2
(330)
76.2
(675)
Rated
Current*
A
3.0
3.0
3.816.219.7
I 15 I 20
30
Rated Speed*
r/rain
Instantaneous Max Speed*
r/min
Torque Constant
N.m/A
(Ib-in/A)
Torque*
Continuous
Max Torque*
Instantaneous Max Torque*
5.4
I 5.9
I (52)
I 15.2
I (135)
8.3
I 8.8
I (78)
I 24.7
I (219)
11.5
18.6
44F[-]2
4.4
(6.0)
N,m
(Ib.in)
Rated
2.8
109F[-]1
I 0.85
I (1.2)
I
1500
2500
kg. m2xl0 -4
'
Momentof InertiaJM(=GD2/4) (Ib-in .s2x 10 -3)
0.36
(3.2)
0.71
(6.3)
0.81
(7.1)
0.92
(8.2)
0.92
(8.2)
0.82
(7.3)
0.98
(8,7)
1.01
(9.0)
1.3
(1.1)
2.0
(1.8)
13.5
(12.0)
24.3
(21.5)
36.7
(32.5)
66.8
(59.2)
110
(97.2)
143
(1 26.7)
Power Rate*
kW/s
7.4
18.3
6.0
12
18.9
19.7
31.5
57.0
Inertia Time Constant
ms
4.5
2.5
8.3
5.7
4.7
6.8
5.1
4.1
Inductive Time Constant
ms
3.4
4.3
4.2
5.5
6,4
10.4
13.0
15.2
'Values
when
winding
SERVOMOTOR
temperature
is combined
is 20°C.
Shown
with
SERVOPACK
are normal(TYP)
and the
armature
values above.
Notes:
l. ii
n type designation
is determined
by output
(pulsesTrev)
of optical encoder as follows;
Standard:
Optional:
A
(6000
B (5000
pulsesJrev)
pulses fray),
D
(4000
pulsesTrev)
2. There are two types of power supply units for
• Input 100MAC,
output
90VDC
(OPR 109F)
• Input 200MAC.
For details, refer
pulses
output
to Par.
brake.
90VDC
(OPR 109 A)
8.5. "PERIPHERAL
EQUIPMENT."
-- 3--
1.2.2
Torque-Speed
Characteristics
•
• TYPE USAFED-02F
_ 1000__
0
_
2
RMS TORQUE(N-m)
• TYPE USAFED-13F
,02oooo 12o
_sJ1000_
0
_0 20
0
2
4
RMS TORQUE (N .m)
Air:
B
o_t_J_a
10001
0 _ 0 _620
RMS TORQUE (Ib-in)
• TYPE USAFED-03F
_iooo_
_n_1000[
so
All
B
_1
1
0 _0_01_020'0250
RMS TORQUE (N.m)
RMS TORQUE(Ib.in)
• TYPEUSAFED-20F
I oooi-
___
_ioooi_!_I
_ll
0
I II
_ I ooo
_
_ i_ii_,_ ,LII
'''°_
20
40
60
RMS TORQUE (Ib.in)
• TYPEUSAFED-O5F
_il
0
_
10
20
30
RMS TORQUE (N-m)
100
200 300
RMS TORQUE (Ib-in)
• TYPEUSAFED-30F
c 2500
....
/
0
2
4
6
8
RMS TORQUE(N,m)
0
20 40 60 80
RMS TORQUE(Ib.in)
• TYPEUSAFED-09F
I0
°
_
10
15
RMS TORQUE (N'm)
0
20
40
60
RMS TORQUE (N.m)
0
100200300 400500
RMS TORQUE(Ib.in)
• TYPEUSAFED-44F
0
3_0 6_0 9_0 12(3 150
RMS TORQUE(qb.in)
0
20
40
60
80
RMS TORQUE (N-m)
|
i
o,oool,.....
Ii
0
200 400
600
RMS TORQUE(Ib.in)
A: CONTINUOUS
DUTY ZONE
B: INTERMITTENT DUTY ZONE
POWER SUPPLY:
200V
i
-- 4 --
D
1.3
S SERIES
1.3.1
AC SERVOMOTORS
Ratings
Time Rating:
Insulation:
Isolation
Finish in Munsell
Coass
-05A[-]2)
F (Types
USASEM-08A[_]I,
-15AE]I, -30A[-]I)
Excitation:
Permanent
1500 VAC,
Mounting:
Flange
Enclosure:
Ambient
D
D
I
minute
500 VDC,
Totally-enc]osed,
Temperature:
10M_ or more
Drive
15 /_m or
Method:
below
Notation:
N1,5
magnet
mounted
Direct
drive
self-cooled
0 to
D
D
one
Vibration:
20% to 80% (non-condensing)
B (Types
Resistance:
USASEM-03A[-]2,
Humidity:
Class
Voltage:
Insulation
Ambient
Continuous
+40°C
Table
1.3
Ratings
and Specifications
Ite_
SASEM'_
of S Series AC SERVOMOTORS
02A[-]2
..... 03A[-]2
05A[]2
08A[-]1
15A[-il
30A[-]1
RatedOutput*
W
(HP)
154
(0.2)
308
(0.4)
462
(0.6)
771
(1.1)
1540
(2.1)
3080
(4.2)
Rated Torque*
Nm
(Ib.in)
0.49
(4.3)
0,98
(8.7)
1.47
(13)
2.45
(22)
4.90
(43)
9.80
(87)
Continuous
N-m
(Ib-in)
0.57
(5.0)
1.18
(10)
1.67
(15)
3.33
(30)
6.17
(55)
12.2
(108)
Instantaneous
Rated Current* Max Torque*
(Ib •in)
N.
A m
(13)
1.47
2.1
(26)
2.94
3.0
(36)
4.02
4.2
(65)
7.35
5.3
(122)
13.7
10.4
(257)
29.0
19.9
Rated Speed*
r/min
3000
r/min
4000
Max Torque*
Instantaneous
Max Speed*
Torque Constant t
N-m/A
(lb. in. A)
.kg.m2xlO -4
Moment of InertiaJM(=GD2/4) (ib.in.s2x 10_3)
0.247
(2.19)
0.13
(0.11 )
0.35
(3.10)
0,51
(0,45)
0.37
(3.25)
0.75
(0.67)
0.51
(4.49)
2.85
(2.53)
0.50
(4.43)
3.3
(2.88)
0.524
(4.64)
5.74
(5.09)
Power Rate*
kW/s
18.5
18.9
28.9
21
74
167
Inertia Time
Constantf
Inductive
Time
Constant t
ms
1.8
1.5
2.2
2.7
1.8
3.1
1.9
6.2
0.7
13
0.4
26
•
Values
when
]00%:.
Values
_" Values
20*(3.
when
Values
SERVOMOTOR is combined
shown
are normal
with
(TYP)
SERVOMOTOR is combined
shown
are normal
SERVOPACK and
the armature
winding
temperature
is
the armature
winding
temperature
is
values.
with
(TYP)
SERVOPACK and
values.
Notes:
1, Ei in type
designation
is determined
by
output
AC Servomotor
Type
USASEM-
2. There
pulses
(pulses/ray)
of optical
02A, 03A, 05A
encoder
as follows;
08A, 15A, 30A
Standard
(pulses/rev)
E
1500
C
2500
Optional
(pulses/rev)
C
F
2500
1000
E
F
1500
1000
are two
types
of power
supply
units
for
• Input
]00V/kC,
output
90VDC
tOP
840]002-2)
• Input
200VAC,
output
90VDC
tOP
840]002-
For details,
refer
to
Par.
8.5,
"PERIPHERAL
brake.
])
EQUIPMENT"
--
5
--
1.3.2 Torque-Speed
Characteristics
•
• TYPE USASEM-02A
• TYPE USASEM-08A
0....
3ooo_
_i_
_oo_
_3ooc
_3_ A_!
,ooc
_ooo
_oooL
_i_
_
_,ooc
I
0.5
1.0
1.5
RMS TORQUE (N-m)
2.0
0
5
10
RMS TORQUE (Ib.in)
15
_°°°ri_
II
I
I
11
2
4
6
RMS TORQUE(N.m)
I4oo
_ 200(_
• __,
oo
,ooc
8
0
20
40
60
RMS TORQUE(Ib-in)
80
I
0
10
20
RMS TORQUE (Ib.in)
_°°°r_
I;tI
_io0o_ _,ooo_
30
• TYPE USASEM-O5A
I ,ooo
_°°°r_!_/I/]
__ooo
RMS TORQUE(N .m)
0
5
10
15
RMS TORQUE (N .m)
20
0
50
100
150
RMS TORQUE(Ib.in)
• TYPE USASEM-30A
I J
J
oo,00o
0
_:ift
,ooo_i---
I1I
_,_,,_
_ _
B
0
,
_3oo_
• TYPE USASEM-15A
_oool
_1
A _;I
/
--
,ooo,:_:,_._:
_'_;
.....
....
,ooo_
_2000_-
I!
_
/A _\ _ I!
" '°°°k i_i
I/
• TYPE USASEM-03A
_ooo
I BA_
i!_i
I/
_'2000I
_,
!_"1
II
J
°° ,oo0
1
2
3
4
RMS TORQUE (N.m)
5
0
_ooo_
10
20
30
RMS TORQUE(Ib.in)
I
40
a
II
'i!k _ II
_=000_
0
:_;_
I_I ,
10
20
RMS TORQUE(N.m)
i
HI
III
30
ooo
Ill
0
100
200 ;
RMS TORQUE(Ib.in)
A: CONTINUOUS
B: INTERMITTENT
POWER SUPPLY:
300
DUTY ZONE
DUTY ZONE
200V
t
--6
--
1.4
RATINGS AND SPECIFICATIONS
D
D
D
OF SERVOPACK
Table 1.4
SERVOPACK Type CACR-
Max Motor
Output
Applicable
Optical
PR038C
PR05BC
PR078C
PR10BC
Pal 5BC
PR20BC
PR30BC
kW
0.3
0.5
0.7
1.0
1.5
2.0
3.0
4.4
(HP)
(0.4)
(0.67)
(1 34)
(2.01)
(2.7)
(4.1)
(6.0)
A:
AC
03MA
kW
Output
0,3
(HP)
Rated
(B:
5000 putses/rev.
D:
4000 pulses/rev)
06MA
09MA
12MA
20MA
30MA
0.6
0.9
12
3.0
3.0
44MA
4.4
(1.2)
(27)
(4.1)
(6.0)
(0.4)
-
(0.8)
(1.2)
Speed
PRO3BC3AM
--
PRO76C3AM
PRIOBC3AM
PR15BC3AM
PR2OBC3AM
PR3OBC3AM
PR44BC3AM
Arms
3.0
-
5,8
7.6
11.7
188
26.0
33.0
Arms
73
-
13,9
16.6
28.0
42.0
56,5
70.0
121.5
183.5
334
550
715
1200
(107.5)
(162.5)
(296)
(486)
(633.5)
(1063)
44FA
r/min
1000
Type CACR-
Continuous
Output
Max Output
Current
Current
Allowable
kg. m 2X 10-4
JL (=GD_/4)
67.5
(lb. in. S2X 1 0 -3 )
Applicable
Optical
(60)
-
Encoder
A:
Type USAFED-
02FA
03FA
05FA
6000 pulses/rev
(B:
5000 pulses/rev.
--
2,0FA
30FA
0,65
13
18
2.9
4.4
(1.8)
(2.4)
(3.9)
(6.0)
0 15
0.3
0.45
SERVOMOTOR Output
(HP)
(0,2)
(0.4)
(0.6)
-
(1.2)
PRO5BC3AF
.--
PRIOI3C3AF
Continuous
r/min
Max Output
PRO3BC3AF
Current
Current
Allowable
PR15BC3AF
PR2OBC3AF
PR3OBC3AF
PR44BC3AF
Arms
3.0
3.0
3.8
-
6.2
9.7
15.0
20.0
30.0
Arms
85
6.5
11.0
-
17,0
275
42.0
56.5
77.0
6.5
10.3
67.5
121.5
183.5
334
550
715
(5.75)
(9)
{60)
(107.6)
(162.5)
(296)
(486)
{633.6)
02AE
03AE
05AE
-
kg'm2XlO
JL (=GD_/4)
0b'in"
Applicable
1500
Type CACROutput
Opticat
-4
S2X 10 -_)
-
Encoder
C:
Type USASEMAC
kW
O.16
SERVOMOTOR Output
(HP)
(O.2)
SERVOPACK
Rated
Type Speed
CACR-
r/min
0.3
2.1
3.0
Max Output
Arms
6.0
Allowable
kg-m 2 X 10 TM
JL (:GD_/4)
(Ib.in.
s2 XIO -_ )
1500 pulses/rev.
-
(0.6)
10OO pulses/rev)
15AC
30AC
0.77
1.54
3.08
(1.1)
(21)
-
PR158C3CS
-
3000
PR1OBC3CS
-
F:
08AC
-
,ROGBCSES.Y4'
PRO3BC3ES PRO5BC3ES
Arms
2500 pulses (E :
0.46
(0.4)
ContinuousOutput Current
Current
4000 pulses/rev)
13FA
kW
SERVOPACK
D:
09FA
AC
Rated Speed
.-_)
03
6000 pulses/rev
-
PR448C
SERVOMOTOR
SERVOPACK
u.
(0.94)
Encoder
Type USAMED-
.c.
Ratings and Specifications of SERVOPACK
(4.2)
-
PR308C3CS
-
4.3
-
5;3
10.4
-
19.9
-
8.5
11.0
-
15.6
28.0
-
56.5
-
0.65
2.55
3.75
14,25
16.5
(0.55)
(2.25)
(3.35)
(14.4)
28.7
-
(12.65)
Power
Main Circuit*
Three-phase
200 to 230 VAC +
- lo
15 % 50/60
Hz
Supply
Control Circuit
Single-phase
200 to 230 VAC _
+ _5_
lo % 50/60
Hz
Control Method
Transistorized
-
(25.45)
-
PWM Control
._o
_o
Feedback
•_
Ambient
Optical encoder (A: 6000 pulses/rev, B:
¢_
o
Storage Temperature
"_
0D
Ambient
5000 pulses/rev. C:
Temperature_
and Storage
Rack mounted
Reference
Pulse
Reference
Pulse Frequency
co
Control
Signal
Output
Signal
7.0
(I6)
7.0
(16)
Sign 4- pulse
Servo
7.0
(16)
4- 12 V/4-
ON.
error
counter
clear,
reference
pulse
Power supply,
c
.-r
Regenerative
=-
Applicable
ambient
5 V level selection
block
positioning
reference
input,
housed
(reference
pulse
in
input
selection).
error counter
detection.
in (non-contact
Up to 5 times
Torque
monitor:
Speed monitor:
temperature
pulse
train inpul
12.5
(28)
available)
P drive,
overflow,
alarm
reset,
forward/reverse
servo ready, servo alarm.
MCCB trip, heatsink
overheat,
dynamic
undervoltage,
brake)
not
this exceed
value,
230stepV
a
4- 1 0 %transformer
down
(253 V).
Ifis the
re-
a panel,
the
inside
temperature
must
net
motor inertia
3.OV:t: 5%
10%at at1OOOr/min.
rated r/rain (M, F series},
4.Ok/±
t' When
Par. 6. load
10.
exceed
range.
--
7 --
inertia
2.
"Load(GDInertial'
2) exceeds
2.Or±
applicable
5% at 1OOO_/min(S
range,
be
sure
series}
to refer
run stop.
MCC8 trip.
Built-in
Load Inertia T
should
exceed
(CW/CCW
12.5
(28)
0 to 100 kpps max
completion,
Built
Resistor
Output
voltage
should
available
12.5
(28)
alarm, status, lag pulse, encode¢ (A. B and C phase) pulse indications.
Brake
quired.
tWhen
7.0
(16)
Overvoltage, overload, ovefcurrent,
overrun, open phase
error, regeneration
Irouble, CPU error, overflow.
,=
* voltage
Supply
train input.
Encoder (A, B and C phase) pulse,
overload. TG ON.
Indication
Monitor
7.0
(16)
fin:
Protection
Dynamic
1000 pulses/rev)
90 % or less (non-condensing)
kg
(Ib)
"_
m
o
1500 3ulses/rev. F:
-- 20"C to + 85°C
Humidity
ApproxMass
.=
4000 pulses/rev. E:
0 to -F 55°C
Mounting Structure
o
2500 pulses/rev. D:
to
A/O
2 TYPE
DESIGNATION
• AC SERVOMOTOR
•
USAFED-
05FA
1 ;-:;-;
L_J
L_J
oPPOSiTE
ORIVE
E.D
gg RVOMOTO
SPETIFICATION
• Blank: Standard
(Without Holding
• E: With Holding Brake
M Series--03to 30M
F Series--05 to 44F
• B: With Holding Brake
M Series--44M
S Series--03to 30S
SERIES
• AM: M Series
• AF : F Series
• AS : S Series
ENCLOSURE
• E:
Totally-enclosed,
Self-cooled Type
_
• D:
Ferrite
DRIVE END SPECIFICATION
• Blank: Standard
• O: Standard (With Brake)
• K: With Keyway
• S; With Shaft Seal
• M:
Rare Earth
• T:
MAGNET TYPE
•
MOTOR OUTPUT
(Table 2. 1 )
DESIGN REVISION ORDER
(A, B, C....
)
Brake)
With Keyway & Shaft Seal
•
SHAFT TYPE
•
• 1:
• 2:
Tapered
Straight
DETECTOR
Table
(Table
2.3)
2.1
Motor Output
• SERVOPACK
M
B
CACR- PR05BC3A
AC SERVOPACK
CONTROL
PR:
Control
MOTOR OUTPUT
(Table 2.2)
APPLICATION
B:
-
05
J
TYPE
Positioning
02
03
JI ........
M, F, S Series
Series
F
-0.3 kW (0.4 HP)
--
06
08
0.6 kW --(0.8 HP)
09
0.9 kW (1.2HP)
12
13
1.2kW(I.6HP)
--
3:
Series
0.45kW(0.6HP)
0.46kW(0.6HP,
0.85 kW(1.2HP)
--
-1.3kW(1.8HP)
---
--
I
II
-0.77kW(1.1
HP)
15
--
20
2.0 kW (2.7 HP)
1.8 kW (2.4 HP)
--
30
44
3.0kW (4.1HP)
4.4 kW (6.0 HP)
2.9kW(3.9HP)
4.4 kW(6.0 HP)
3.0kW(4.2HP)
1.5kW(2.1 HP)
II
Table 2.2
•
M
Series
F Series
Motor
Output
0.15kW(0.2HP)
200V, Input Power Supply, Pulse
Train Input.
DETECTOR
(Table2.3)
APPLICABLE
MOTOR
SERIES
S
0.i5kW(0.2HP)
0.3kW(0.4HP)
---
DESIGN REVISION
ORDER(A,
B,C'-')
INPUT FORM
Series
0.15kW(0.2HP)
0.3 kW(0.4 HP)
03
0.3 kW(0.4 HP)
05
07
10
-0.6kW(0,8HP)
0.9kW(1.2HP)
0.3 kW(0.4 HP)
S
Series
0;i5kW(0.2HP)
0.3kW(0.4HP)
•
0.45kW(0,EHP) 0.46kW(0.EHP)
--0.85kW(1.2HP) 0.77kW(1.1HP)
• M:
M Series
15
1.2kW(1.EHP)
1.3kW(1.8HP)
•F:
• S:
F Series
SSeries
20
2.0kW(2,7HP)
1.8kW(2.4HP)
30
3.0 kW(4,1 HP)
2.9 kW(3.9 HP)
44
4.4 kW(6,0HP)
4.4 kW(6.0HP)
Table
Models
M Series
Standard
pulses/rev
A
6000
F Series
A
6000
•
S Series
E
C
--8
--
1.5kW(2.1HP)
-3'.0 kW(4.2H P)
2.3
B
Optional
pulses/rev
5000
D
Remarks
4000
B
5000
D
4000
1500
C
2500
F
1000
02A,
2500
E
1500
F
1000
08A, 15A, 30A
I
03A, 05A
3. LIST OF STANDARD
t
I
t
t
t
Table 3. 1
COMBINATION
Combination of SERVOPACK, AC SERVOMOTORS and Assocated Units
• M SERIES
AC SERVOMOTOR
Optical
SERVOPACK
Type CACR--
Type
Power
Capacity*
per
SERVOPACK
kVA
Current
Capacity
per MCCB
or Fuse
A
0+65
5
PR03BC3AM
PR03BC3BM
PR03BC3DM
USAMED--03MA1
USAMED--03MB1
USAMED--03MD1
Encoder
pulses/rev
6000
5000
4000
PR07BC3AM
PR07BC3BM
PR07BC3DM
USAMED--06MA1
USAMED--06MB1
USAMED--O6MD1
6000
5000
4000
PR10BC3AM
PRIOBC3BM
PR10BC3DM
PR15BC3AM
PR15BC3BM
PR15BC3DM
USAMED--09MA2
USAMED--O9MB2
USAMED--09MD2
USAMED--12MA2
USAMED--12MB2
USAMED--12MD2
6000
5000
4000
6000
5000
4000
PR20BC3AM
PR2OBC3BM
USAMED--20MA2
USAMED--2OMB2
6000
5000
4.1
12
PR30BC3AM
PR20BC3DM
PR30BC3BM
PR30BC3DM
USAMED--30MA2
USAMED--20MD2
USAMED--30MB2
USAMED--30MD2
6000
4000
5000
4000
6.0
18
PR44BC3AM
PR44BC3BM
PR44BC3DM
USAMED--44MA2
USAMED--44MB2
USAMED--44MD2
6000
5000
4000
8.0
24
PR03BC3AF
PR03BC3BF
PR03BC3DF
USAFED--02FA1
USAFED--02FB1
USAFED--O2FD1
6000
5000
4000
PR03BC3BF
PR03BC3DF
PR038C3AF
PR05BC3AF
PR05BC3BF
PR05BC3DF
PR10BC3AF
PR10BC3BF
PR10BC3DF
USAFED--03FB1
USAFED--O3FD1
USAFED--O3FA1
USAFED--05FA1
USAFED--O5FB1
USAFED--05FD1
USAFED--09FA1
USAFED--09FB1 . _
USAFED--09FD1
5000
4000
6000
6000
5000
4000
6000
5000
4000
PR15BC3AF
PR15BC3BF
PR15BC3DF
USAFED--13FA2
USAFED--13FB2
USAFED-- 13FD2
6000,
5000
4000
PR20BC3AF
PR2OBC3BF
USAFED--2OFA2
USAFED--2OFB2
6000
5000
PR30BC3AF
PR20BC3DF
PR30BC3BF
PR30BC3DF
PR44BC3AF
PR44BC3BF
PR44BC3DF
USAFED--30FA2
USAFED--20FD2
USAFED--30FB2
USAFED--30FD2
USAFED--44FA2
USAFED--44FB2
USAFED--44FD2
6000
4000
5000
4000
6000
5000
4000
PR03BC3CS-y41
PR03BC3ES-Y41
USASEM--O2AC2
USASEM--02AE2
2500
1500
PR03BC3FS-Y41
PR03BC3CS
PR03BC3ES
PR03BC3FS
PR05BC3CS
PR05BC3ES
PR05BC3FS
USASEM--02AF2
USASEM--03AC2
USASEM--03AE2
USASEM--03AF2
USASEM--O5AC2
USASEM--05AE2
USASEM--05AF2
1000
2500
1500
1000
2500
1500
1000
PR10BC3CS
PR10BC3ES
PR10BC3FS
USASEM--O8AC1
USASEM--08AE1
USASEM--08AF1
2500
1500
1000
PR15BC3CS
USASEM-- 15AC1
2500
PR15BC3FS
PR15BC3FS
PR30BC3CS
PR30BC3ES
PR30BC3FS
USASEM-- 15AF1
USASEM--15AE1
USASEM--30AC1
USASEM'3OAE1
USASEM--30AF1
1000
1500
2500
1500 '
1000
1.5
Recommended Noise Filter t
Applicable
Noise
Filter
8
2.1
6
_
3.1
10
Good
_
_
Poor
•
Type
Specifications
Power
ON/OFF
Switch
LF--
3--phase
305
200 VAC class. 5 A
L_'-r
3--phase
Yaskawa
310
200 VAC class. 10 A
type
HI--15E2
LF-315
3--phase
200 VAC class. 15 A
rated 30 A or
equfvatent
LF--
3--phase
315
200 VAC class.15 A
LF--
3--phase
320
LF-330
200 VAC class,20 A
3--phase
200 VAC class. 30 A
LF--
3--phase
340
200 VAC class. 40 A
305
LF--
200 VAC class. 5 A
3--phase
Yaskawa type
HI--18E rated 35 A
or equivalent
• F SERIES
1.1
5
_
Yaskawa
HI--15E= rated
30 A or equivalent
_r
2.1
8
3.1
Good
LF-315
3--phase
200 VAC class.15 A
10
LF-315
3--phase
200 VAC class.15 A
4.1
12
LF-320
3--phase
200 VAC class. 20 A
6.0
18
LF-330
3--phase
200 VAC class. 30 A
8.0
24
LF-340
3--phase
200 VAC class, 40 A
LF-305
3--phase
200 VAC class.5 A
LF--
3--phase
305
200 VAC class, 5 A
LF-315
3--phase
200 VAC class. 15 A
o_
Poor
Yaskawa type
, HI-- 18E rated 35 A
or equivalent
• S SERIES
0.65
5
1.1
5
_
Good
2.1
8
_
3.1
10
6,0
18
• Values at rated load.
tIMade by Tokin Corp.
-- 9 --
LF--
Poor
315
LF-330
•
Yaskawa type
HI--15E= rated 30 A
or equivalent
3--phase
200 VAC class, 15 A
3--phase
200 VAC class. 30 A
Yaskawa type
HI--18E rated 35 A
or equivalent
Table
3.2
Specifications
of AC SERVOMOTORS
and Detectors
• MSERIES
•
ACSERVOMOTOR
SERVOPACK
Type CACR-PR03BC3&M
PRO3BC38M
PR03BC3DM
PR078C3AM
PR07BC3BM
PR07BC3DM
PR10BC3AM
PR10BC3BM
PR10BC3DM
PR15BC3AM
PR15BC3BM
PR15BC3DM
PR20BC3AM
PR20BC3BM
PR20BC3DM
Type
USAMED--03MA1
USAMED--03MB1
USAMED--03MD1
USAMED--06MA1
USAMED--O6MB1
USAMED--O6MD1
USAMED--09MA2
USAMED--09MB2
USAMED--09MD2
USAMED--12MA2
USAMED-12M82
USAMED--12MD2
USAMED--2OMA2
USAMED--20MB2
USAMED--20MD2
Optical
Encoder
pulses/rev
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
PR.30BC3AM
USAMED--30MA2
6000
PR30BC3BM
USAMED--30MB2
5000
PR3OBC3DM
USAMED--3OMD24000
PR44BC3AM
USAMED--44MA2
6000
PR44BC3BM
USAMED--44MB2
5000
PR44BC3DM
USAMED--44MD2
4000
11
Detector
Receptacle
Type
L--type
Plug
Straight
Plug
Cable
Clamp
MS
3102A18
--10P
MS
3108B18
--10S
MS
3106B18
--10S
MS
3057
--IOA
MS
3102A22
--22P
MS
3108B22
--22S
MS
3106B22
--22S
MS
3057
--12A
MS
3102A32
--17P
MS
3108B32
I --17S
MS
3106B32
--17S
MS
3057
--20A
MS
3102A14S
2P
MS
3108B14S
--2S
MS
3106814S
--2S
MS
3057
--6A
MS
3102A18
--lOP
MS
3108B18
--10S
MS
3106818
--10S
MS
3057
--10A
MS
3102A22
--22P
MS
3108B22
--22S
MS
3106B22
--22S
MS
3057
-1 2A
MS
3102A18
--tOP
MS
3108B18
--10S
--
Receptacle
Type
MS
3102A20
--29P
L--type
Plug
MS
3108B20
--29S
Straight
Plug
Cable
Clamp
MS
3106B20
--29S
MS
3057
--12A
m
I
• F SERIES
PR03BC3AF
PR03BC38F
USAFED--O2FA1
USAFED--02FB1
6000
5000
PR03BC3DF
PR03BC3AF
PR03BC3BF
PR03BC3DF
PR05BC3AF
USAFED--O2FD1
USAFED--O3FA1
USAFED--03FB1
USAFED--03FD1
USAFED--O5FA1
4000
6000
5000
4000
6000
PR05BC3BFUSAFED--05FB1
PR05BC3DF
USAFED--05FD1
PR10BC3AF
USAFED--09FA1
PR10BC3BF
USAFED--O9FB1
PR10BC3DF
USAFED--09FD1
5000
4000
6000
5000
4000
PR15BC3AF
USAFED-13FA2
PR15BC3BF
USAFED-- 1 3FB2
PR15BC3DF
USAFED-- t 3FD2
PR20BC3AF
USAFED--20FA2
PR20BC3BF
USAFED--20FB2
PR20BC3DFUSAFED--20FD2
PR30BC3AF
USAFED--30FA2
PR3OBC3BF
USAFED--30FB2
PR30BC3DF
USAFED--30FD2
PR44BC3AF
USAFED--44FA2
PR44BC3BF
USAFED--44FB2
PR44BC3DF
USAFED--44FD2
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
I
MS
3102A20
--29P
MS
3108820
--29S
MS
3106820
--29S
MS
3057
--12A
|
°
• S SERIES
PR03BC3CS-Y41
PR03BC3ES-Y41
P£038C3FS-Y41
PR03BC3CS
PR03BC3ES
PR03BC3FS
PR05BC3CS
USASEM--O2AC2
USASEM--O2AE2
USASEM--02AF2
USASEM--03AC2
USASEM--03AE2
USASEM--03AF2
USASEM--05AC2
2500
1500
1000
2500
1500
1000
2500
PR05BC3ES
PR05BC3FS
PR10BC3CS
PR10BC3ES
PR10BC3FS
PR15BC3CS
PR158C3ES
PR15BC3FS
PR30BC3CS
PR30BC3ES
USASEM--05AE2
USASEM--O5AF2
USASEM--08AC1
USASEM--08AE1
USASEM--08AF1
USASEM--15AC1
USASEM--15AE1
USASEM--15AF1
USASEM--30AC1
USASEM--30AE1
1500
1000
2500
1500
1000
2500
1500
1000
2500
1500
MS
3057
--t0A
MS
3102A20
--29P
MS
3102A20
--4P
MS
3108B20
--4S
--
PR30BC3FS USASEM--3OAF1 1000
MS
3108820
--29S
--
MS
3057
--12A
MS
3057
--12A
i_
Note: When plugs or clamps are required, contact your YASKAWA
representative.
The following connections are provided:
soldered type (type MS) and solderless type (type JA).
--10--
D
D
' .
!
i
D
!
i
Table
• M SERIES
3.3
Specifications
of Holding
Brake
AC SERVOMOTOR
Holdinc Brake
SERVOPACK
Type CACR--
Type
Optical Encoder
pulses/rev
PR03BC3AM
PR03BC3BM
PR03BC3BM
PR07BC3AM
PR07BC3BM
PR07BC3DM
PR10BC3AM
PR10BC3BM
PR10BC3DM
PR15BC3AM
PR15BC3BM
PR15BC3DM
PR20BC3AM
USAMED--03MA1
USAMED--O3MB1
USAMED--03MD1
USAMED--06MA1
USAMED--06MB1
USAMED--06MD1
USAMED--09MA2
USAMED--09MB2
USAMED--O9MD2
USAMED--12MA2
USAMED-- 12MB2
USAMED--12MD2
USAMED--20MA2
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
PR20BC3DM
PR30BC3AM
PR30BC3BM
PR30BC3DM
PR44BC3AM
PR20BC3BM
PR44BC3BM
PR44BC3DM
USAMED--20MD2
USAMED--30MA2
USAMED--30MB2
USAMED--30MD2
USAMED--44MA2
USAMED-- 20MB2
USAMED--44MB2
USAMED--44MD2
4000
6000
5000
4000
6000
5000
4000
USAFED--02FA1
USAFED--02FB1
USAFED--O2FD1
USAFED--O3FA1
USAFED--O3FB1
USAFED--03FD1
USAFED--O5FA1
USAFED--O5FB1
USAFED--05FD1
USAFED--09FA1
USAFED--09FB1
USAFEO--09FD1
USAFED--13FA2
USAFED--13FB2
USAFED--13FD2
USAFED--20FA2
USAFED--20FB2
USAFEB--20FB2
USAFEB--30FA2
USAFEO--3OFB2
USAFED--30FD2
USAFED--44FA2
USAFED--44FB2
USAFED--44FD2
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
6000
5000
4000
PR03BC3CS-Y41
PR03BC3ES-Y41
PR03BC3FS-Y41
PR03BC3CS
PR03BC3ES
PRO3BC3FS
PR05BC3CS
PR05BC3ES
PR05BC3FS
PR10BC3CS
PR10BC3ES
PR10BC3FS
USASEM--02AC2
USASEM--02AE2
USASEM--02AF2
USASEM--03AC2
USASEM--03AE2
USASEM--O3AF2
USASEM--05AC2
USASEM--05AE2
USASEM--O5AF2
USASEM--O8AC1
USASEM--08AE1
USASEM--08AF1
2500
1500
1000
2500
1500
1000
2500
1500
1000
2500
1500
1000
PR15BC3CS
PR15BC3ES
PRI5BC3FS
PR3OBC3CS
USASEM--15AC1
USASEM-- 15AE1
USASEM--15AF1
USASEM--30AC1
2500
1500
1000
2500
PR3OBC3FS
PR3OBC3ES
USASEM--3OAF1
USASEM--3OAE1
1000
1500
. Receptacle
Type
L--type
Plu9
Straight
Plu9
Cable
Clamp
MS3102A20
--15P
MS3108B20
--15S
MS3106B20
--15S
MS3057
--12A
MS3102A24
MS3108B24
MS3106B24
MS3057
-- 10P....
-- 10S
- 10S
- 16A
MS3102A14S
--6P
MS3108B14S
--6S
MS3106B14S
--6S
MC3057
--6A
MS3102A20
--15P
MS3108B20
--15S
MS3106B20
--15S
MS3057
--12A
MS3102A24
--10P
MS3108B24
--10S
MS3106B24
--10S
MS3057
--16A
• F SERIES
PR03BC3AF
PR03BC3BF
PR03BC3DF
PR03BC3AF
PRO3BC3BF
PR03BC3DF
PR05BC3AF
PRO6BC3BF
PRO5BC3DF
PR10BC3AF
PR10BC3BF
PR10BC3DF
PR15BC3AF
PR15BC3BF
PR15BC3BF
PR20BC3AF
PR20BC3BF
PR2OBC3DF
PR30BC3AF
PR30BC3BF
PR30BC3DF
PR44BC3AF
PR44BC3BF
PR44BC3DF
• S SERIES
MS3102A18
--12P
MS3108B18
--12S
MS3057
--10A
MS3102A20
MS3108B20
MS3057
--17P
--17S
--12A
--11
--
4. CHARACTERISTICS
Where,
N_ :
4. 1 OVERLOADCHARACTERISTICS
The overload
protective
circuit
built in SERVOPACK
prevents
the motor and SERVOPACK
from overloading
and restricts
the
allowable
conduction
time of SERVOPACK.
(See Fig.
4.1.)
The overload
detection
by the hot start
conditions
rature
of 55°C and cannot
is the overload
characteristics
the SERVOPACK
is running
and thermally saturated.
at the
rated
Torque
rated
current
Accel/decel
Accel/decel
(Accel/decel
the motor
/3 = IL /IR :
IL:
(A)
current
Load
current
Current
equivalent
to 'load
(Load current
/3 times the
current)
(A)
1000
t
X_I_
by the SERVOMOTOR
,0
conditions
operation.
200
must
Current
4.2 STARTINGAND STOPPINGTIME
N_ (JM + JL ) (ms)
Kt'IR'(a-fl)
"/Formula)
4-1
Time:
N,(JM + JL)
Kt.l_.(a%8)
(ms)
the
and varies depending
60
m+ F cycles/min
whendL=
I
JM×m,
by the
The allowable
frequency
of operation
varies
depending on the load conditions,
motor running
time
and
the operating
conditions.
Typical
examples are shown below. See Par. 4.2, "Starting
Starting Time:
x
and
for satisfactory
contact
your
YASKAWA
representative.
• Allowable frequency of operation restricted
Servomotor
The starting
time and stopping
time of SERVOMOTOR
under
a constant
load is shown
by the formula
below.
Viscous
or friction
torque
of the motor
is
disregarded,
If= 104.7
SERVOPACK,
considered
on the motor types,
Capacity,
JL , acceleration/
deceleration
current
values,
and
motor
speed.
If the frequency
of operation
exceeds
60 times/
min when
JL = 0 before
the rated
speed
is reached,
or if it exceeds
Stopping
and
be
sistor in the SERVOPACK,
300
Allowable Conduction
of Servopack.
5<
t
SERVOPACK
The the
allowable
frequency in
of the
operation
is restricted
by
heat generated
regenerative
re-
MOTOR
RATED
CURRENT
(%)
= 104. 7
=T,ME
•The
Allowable
frequency of operation
restricted is
byrestricted
the
allowablefrequency
of operation
_;_:_
_
tr
_ _I
t
rated
4. 3 ALLOWABLEFREQUENCYOF OPERATION
:
Fig. 4.1
torque
motor
Fig. 4. 2 Timing Chart of
Motor Armature
Current and Speed (Constant
Load)
1
= TIME
_
2100
constant
constant
OTO.
, ',
T'MEIS_
= lb. in/A)
current
current
a times
rated,
current)
(A)
..MATU.E
CU..ENT
I
OPERATING
•
: Moment of load inertia
(kg'cmZ=lb'in'sZxl0-3)
constant
of motor
(N'm/A
Ip :
load
(r/min)
JL (= GD_/4)
I,:
Motor
a = lp/IR :
when
speed
" Moment of motor inertia
(kg.cm z =lb.in.szxl0
-3)
NOTE
Hot start
motor
JM (-GDZ/4)
Kt :
le.vel is set precisely
at an ambient
tempebe changed.
Rated
and Stopping
Time" for symbols.
• When the motor repeats rated-speed
being at standstill (Fig. 4.3).
\/Formula)
4-2
operation
Cycle value
time(T)of motor
should armature
be determined
RMS
current
than the motor
rated
current:
T> IP2 (tr+tf)+l_ts (s)
--]2--
and
that
isso lower
I
I
I
I
I
t
Where
cycle
time(T)
is determined,
Ip,
tr, tf satisfying the formula above,
be specified,
I_1
ARMATURE
MOTOR
_1_!
_
values
(Reference)
should
The
formulas (4-1 to
4-5)the
are
changed to the
calculatingmethod
using
internationalsystem
of units.
For reference
only,
the traditional
formulas are shown
_TIME
I=,..t, ,'
t_ =_I_ _t
I
'
; '
CURRENT
_S4_k'
I Zd#:;_\,
MOTOR}
SPEED
I
=
_
I
_
'
¢I
|
zl
Formula
,
_
TIME
4-1
4-2
Fig. 4.3 Timing Chart of
Motor Armature Current and Speed
.(Restricted by SERVOMOTOR)
The timing
and speed
frequency
follows :
chart
of the motor
armature
current
is as shown in Fig. q.q. The allowable
of operation
"n" can be calculated
as
n= 286.5
x
NR K
-_t_
t • +I. J L )
(_
- -_
/y2)
t
I
_._"
_.,_ _ _I
_':'_;:_
- -I--[
CURRENT
/
' I_,_!I --4
i
,, I_1 " "
,Formula,
(' 4- 3
_
_,_1
--3
_!
t
_
TIME
.
'
,
J
-
TIME
Fig_ 4.4 Timing Chart of
Motor Armature Current and Speed
The
motor
remainsat
standstill
etweencyclesof accel/deceP_
)
without
continuous
rated
speed brunning.
When
•
the motor accelerates, runs at constant speed,
and decelerates
in a continuing
cycle without
being at
standstill
(Fig. 4.5).
The timing
and speed
frequency
as follows.
chart
of the motor
armature
current
is as shown
in Fig.q.5.
The allowable
of operation
"n" can be calculated
n= 286.5
x
N, Kt
(-JM• +I. J-_
" ) (
a1
;P_)
\/Formula,_
4-4
"
(times/min)
MOTOR
ARMATURE
CURRENT
I
_<_
I
, ,
i
SPEED
MOTOR
I
"
,
I
_,_,_,
..J
--
TIME
_
T_ME
i
I
I
Fig. 4.5
Timing Chart of
Motor Armature Current and Speed
The motor accelerates, runs at constant speed, and'_
decelerates
in a continuing
cycle without being at |
standstill.
)
Starting time : tr = 26.8x 10_x
Stopping time : tf= 26.8x10_x
N,(GD_+GD_)Kt.I,(ot_fl)
[ms]
NR(GD_+GDZ)[ms]
Kt.b(_+#)
/P: Accel/decel
(Accel/decel current
current _times the motor rated
current) (A)
# = Idl, : Load current constant
(times/min)
ARMATURES'---MOTOR
Table 4.1
Traditional Formula
N, : Rated motor speed (r/min)
GD_: Moment of motor inertia (kg-cm2= Ib.in.s2×10-3)
GD#: Moment of load inertia (kg.cm2= Ib-in.s2x103)
K,: Torque constant of motor (kg-cm/A = Ib.in/A)
b: Motor ratedcurrent(A)
a = I#b : Accel/decel current constant
• When the motor remains at standstill between cycles
of acceleration
and deceleration
without continuous
rated speed running (Fig. 4.4).
SPEED
in Table 4.I.
l
--
| 3 --
4-3
IL:Currentequivatenttoloadtorque
(Load current # times the motor rated current) (A)
Kt.b
n =1.12X106XN_(GD_+GD_)X(1/_-/_2/a3 ) [times/min]
Kt.IR
4-4
n=1.12x106XNR(GDE+GD_)X(ll_-f121a)[timeslmin
]
4.4
MOTOR
4.4.1
MECHANICAL
Mechanical
can
maximum
Tables
show
4.1 to 4.3
SERVOMOTOR
Table 4.1
4.4.2
Allowable
4.4.4
Strength
AC
SERVOMOTORS
rated
momentary
to AC
CHARACTERISTICS
carry up
torque
allowable
to 300% of the
at output
shaft.
loads
AC SERVOMOTORS
rotate counterclockwise
(CCW_ I
when
viewed
from the drive end when
motor
and
detector
leads are connected
as shown
below.
according
M Series Allowable Radial Load
]nd Thrust
Load
Radial
Load and Thrust
Load
386-5
ii__
Allowable
Load =
N (Ib)
Allowable
Thrust Load
N ([b)
03MA1
490(110)
98( 22)t
06MA1
09MA2
12MA2
490(110)
686 (154)
1470(330)
98( 22) t
343(77)
490(110)
(1)
20MA2
30MA2
44MA2
1470(330)
1470(330)
1764(397)
490(110)
490 (110)
588(132)
(a)
Radial
I
Fig. 4.6
Allowable
andThrust
Radial
Load*
Load
N (Ib)
147(33)
147(33)
490(11 0)
490(110)
686(1 54)
1470(331 )
1470(331 )
1470(331 )
USAFED02F[-]
03F[_-]
05Ft.!
09F[-]
13F[_-]
20F [__
30F [_-!
44F [-]
Table 4.3
Motor
• M,F
Allowable
Thrust
Load
N (Ib)
49( 11)t
49( 11)t
98(22)
_
98(22)
_
343(77)
490(110)
490(110)
490(110)
S Series Allowable
Connector
02At-!
03A[_-]
78.4(18)
245 (55)
05A[_-]
08A[_-]
245 (55)
392 (88)
Series
Phase U
_
C
B
D
PhaseW
Phase
V
Frame ground
Color of Lead
Red
Allowable
Thrust
Load
N (Ib)
39.2(9)
98 (22)
(Types
•
1
Applicable
Phase U
White
Phase V
Blue
PhaseW
Green
Frame ground
USASEM-03A
to
30A)
•
98 (22)
147 (33)
_
A
PhaseU
C
B
O
Phase W
Phase V
Frame ground
Specifications
(M, F and S series)
Table
4.4
Mechanical
Accuracy
•
S Series
(Type
USASEM-02A)
30At_]
686 (154)
196 (44)
•Maximumvaluesof the loadapplyingto the shaft extension.
15A[_-]
490 (110)
147 (33)
tDo not apply the exceedingload becausemotor cannotbe rotated.
Mechanical
receptacle
A
Radial Load
Allowable
Radial
Load*
N (Ib)
USASEM-
Specifications for Standard
_
and Thrust Load
Motor Type
AC SERVOMOTOR
SERVOMOTORS
F Series Allowable Radial Load
Motor Type
4.4.3
of Rotation
types.
Motor Type
USAMED-
Table 4.2
Direction
(b)
Specifications
(T.I.R.)t
perpendicular
Flange surface to shaft _)
concentric to shaft ®
Flange diameter
Shaft run out (_
I
....
n nA
Reference
i_1
0.04
0.02
(0.04)'_
Detector
receptacle
in mm
Diagram
F-'_r_,
_:J-_L
_
A
Channel A output
K
Channel U output
_
B
Channel A output
L
Channel -U output
D
C
E
Channel B- output
Channel B output
Channel Z output
N
M
P
Channel V output
Channel V output
Channel W output
tT.I.R. (Total Indicator Reading)
F
Channel Z output
R
Channel W output
_Accuray
formotortypeUSAMED-44MA2.
G
H
0V
+ 5VDC
S
T
-
J
Frame ground
--
-
--14--
AI
II
D
(2)
Brake
Connector
for
SERVOMOTOR with
to -44)
4.4.5
Impact Resistance
When mounted
horizontally
and exposed
shock
impulses,
the motor can withstand
impacts
with impact
acceleration
of 50G
to vertical
up to two
(Fig.
4.7).
Brake terminal
B
• F Series
(Types
Phase
V
c
Q
A
Phase
U
D
Ground
USAFED-02
D
and
F
VERTICAL
oE
--
Color of Lead
J
-
-
-03)
Fig. 4.7
Jill
Lr
HORIZONTAL
Impact
Phase W
A precision
D
A
E
B
F
Frame
ground
PhaseU
Brake terminal
Phase
V
Brake terminal
drive and of AC SERVOMOTOR.
taken to protect the shaft from
that could damage the NOTE
detector.
4.4.6
Applicable
Color of Lead
Red
PhaseU
Black
White
Phase
V
Black
Applicable
detector
is mounted on the opposite-
@
Phase W
Green
when mounted
horizontally,
vibration
( vertical,
lateral,
[ VERTICAL
\
Frame Ground
AXIAL
]
['
Phase _/
C
A
Phase W
PhaseU
4.4.7
D
E
Brake terminal
Vibration
of the motor running
15 /zm or below (Fig.4.9)
F
Frame ground
Vibration
Class
Fig. 4.8
USASEM-08A
•
JA_
g
B
O
the motor can withstand
axial) of 2.5G (Fig. 4.8).
Brake
POSITION
Types
Care should be
directly impacts
Vibration Resistance
LATERAL
Blue
Resistance
C
• S Series
USASEM-02A)
(Type
D
D
Specifications
• M, F Series
(Types
USAFED-05
VibrationResistance
at rated
speed
is
FOR
CHECKING
VIBRATION
to 30A)
Phase
V
C
Phase W
A
U
D Phase
E
Brake terminal
F
Frame ground
-_
]__
]]
Fig. 4. 9 Vibration
4.4.8
Holding
Checking
Brake
SERVOMOTORS with Holding
Magnetic
Brake"
since
AC SERVOMOTORS
with
brake
is used
when
the
• operation
is held.
Turn
-- 15--
0n/off
according
to Par.
6.12.2,
"Use
of
5. CONFIGURATION
5. 1 CONNECTION
DIAGRAM
POWER
SUPPLY
+10
200 TO 230V_15
50/60Hz
%
F+
.O,SEF,LTER
It/
6_
,
__O
6Ry
--L.
OFF_-____-O
1MC
C
I_(_1SERVO
1 MC _
_
TROUBLE INDICATION I
MAGNETIC CONTACTOR
FOR POWER ON/OFF
(See Tables 3.1 to 3.3)
Be sure to fit a surge suppressing
device to both the magnetic
contactor
and relay.
_
SUP
SERVOPACK
TYPE CACR-PR[Z] [_]BC
SUPPLIED
BYUSER.
SIGN SIGNAL
-1
,
L
_
Must be securely
grouoded.
SIGN1
-_llP
REFERENCE
_c:zFOOV
l
PULSE SIGNAL
..._v -[
SERVO ON
AT IRy ON
Ip
0V
S-ON
_
2_o--_ 1_ '
Use relays highly reliabl ei__n 3 E
N-OT
!ip
relays or equivalent, or arrange
c°ntact(Yaskawa
Bestact
_
in two contact parallel connec-
I
tion for low level).
PG-A PHASE PULSE
(DIVIDING OUTPUT)
:'"
PULSI
OV 'L
o 1" Ip
IBY
i--o
2
ov
po T
_v
-
"
LEAD LENGTH:
_6
20 METERSOR LESS
_417
YASKAWA
CONNECTINGDRAWING
CABLE:
NO. DE8400093
_2
PAD
w_PAD
0V
PBO
wcPBO
0V
PCO
_=PCO
0V
PG-B PHASE PULSE
(DIVIDING OUTPUT)
PG-C PHASE PULSE
OVI
(SUPPLIED BY USER.) _F_I--I>
COIN -
OVER-
YZ-
NO. DP8409123 OR
Be sure to perform terminal treatment
Y4
of shielded cable.
i
_$0
1"-d
i_.......
_
J',
y+i .......o
•
ALM--
}_._9
GROUNDING
i_ 8
!
_-
:
' .......
u
_+
Connect the output relay surge absorbing diode, with the correct polarity.
(If connection is wrong, output transistor is damaged).
Fig. 5. 1 Example of ConnectionDiagramof SERVOPACKwith a SERVOMOTORand Peripherals
-- 16--
I
i
--17--
5. 3
EXTERNAL TERMINALS
Table
5.1
termin6.ls
shows
the
specifications
for
'SERVOPACK.
Table
5.1 • External
Terminal
Symbol
5.4 CONNECTOR TERMINAL (1CN) FOR
I/0 SIGNAL
of
external
5.4.1
Terminals
for SERVOPACK
Table
Description
Three-phase
® _) (_)
AC input
50/60
(_) (_) @)
Motor
connection
Connects terminal O to motor
terminal A, (_ to B and _ to C.
Control
input
Single-phase
50/60 Hz
(_)
(_)
5.2
of Applicable
Specifications
power
200 to 230 VAC
Connector Type '_
usedin
SERVOPACK
+ 10 %
-15
'
Hz.
MR-50RMA
(Right angle
50 P)
200 to 230 VAC +10 o/
-
Ground
Connects
to motor terminal
Must be sec'urely grounded.
Regenerative
resistor
External connection
required.
Receptacles
of Applicable
SERVOPACK
Name
Main-circuit
(_) O
Specifications
I/O
Receptacles
for
Signal
Applicable Receptacle
Type
Soldered
Caulking
Type
Type
Manufacturer
Honda
Tsushin
Co., Ltd.
MR-50F t
MRP50F01
Case
MR-50Lt
*Use connector•type MR-50RMA made by Honda Tsushin Co•
15/o,
tAttached
to SERVOPACK
when
shipping•
D.
not normally
,ds
q
5.4.2
Conhector
of SERVOPACK
1CN
Layout
and Connection
The terminal
layout
of the
SERVOPACK
input/output
signal
connectors
(1CN)
is shown
in Table
5.3.
The
external
connection
essing
are shown
in Fi 9.
Table
5.3
Connector
1 CN Layout
of
and
5.3
proc-
15
18
2
3
4
5
6
7
8
9
10
11
OV
OV
OV
OV
0V
OV
--
S-OI_
0V
OL4-
OL--
OV
for
PULS
0V
for
PULS
OV
CL.
for
INH
_
Servo
ON
Input
0V
for
S-ON
19
20
21
22
23
24
25
26
27
PCO
*PCO
CL
P-CON
0V
N-OT
0V
PULS2 OVER+ OVER- rGON+ TGON-
P Drive
0V
Rvs.
0V
Second
Ref.
Overflow
for
N-OT
Pulse
Input
Output
43
44
PULS1 SIGN1
PGOutput
First
Ref.
First
Ref.
Clear
(Phase
Signal C)
Pulse
Input
Input
Sign
Input
Input
37
38
39
40
33
34
35
36
PAO
*PAO
PBO
*PBO
PG Signal
PG signal
Output
(Phase A)
Output
(Phase B)
*PULSI: ALM+ _,LM¢
Driver
Line
Input of
PULS1
Servo
Alarm
Output
Overload
Output
for
Inhb.
P---"--_ONInput
41
42
12
13
14
ALRES INH
OV
Alarm
Reset
Input
28
16
17•
TRG-M VTG-M OV
FG
Pulse
Ref. Speed
for Ground
Ref.
0V
Torque
0V
Frame
Block -- for
Monitol Monitor TRQ-M (InterInput ALRE_ Outpu! Output VTG-M ruption
29
45
30
31
32
TGON
Signal
Out)ut
46
47
48
49
50
MCB-
FG
*SIGN1 P-OT
0V
SIGN2 COIN+ COIN- S-RDY+ S-RDY- MCB+
Driver
Line
Fwd.
0V
Second
Ref.
Positioning
Servo
MCCB Trip
Frame
Ground
for
P-OT
Sign
Input
Completion
Output
Ready
Output
Signal
Output
(Interruption)
Input of
SIGN 1
Inhb.
Input
--18--
8
I
SERVOPACK
1
OV for PG Output
Signal
/
external
signal
on page-18.
i
t
l
2O0TO 230V -15
POWER
SUPPL
L O_
II
50/6OHz
I
_'°.SM
MOTOR
_,
OPTICAl.
ENCODEI
SIGN SIGNAL
H: FORWARD
(STANDARD)
REF.PULSE
1-
(MAIN)
(MAIN)
_
-I_j !__
(AUX.)
REF.PULSE
SIGNAL
"_
-I_
CLEARSIGNAL
(AUX.)
_
_]
_
_
PULS2
_
SIGNAL
PULS1
_'=
_
10_
REVERSE
OPENCOLLECTOR
+12V
INH
0V
CL
"
H" FOR3NARD RESETAT ON
SERVOALARM
_
_
!_
SERVO ON AT ON
P DRIVE
[--o c,-- _ _
P-CO-'_N-_4
_ -- SPEEDAMPL. CONTROLAT ON
REVERSE
RUNNING
Ir _
_i_
N-OT
_
FORWARD
RUNNINGINHIBIT
--
_
_'_
P-OT
_'PAO
0:
PHASEC
--<_
POSITION 1
COMPLI-
_--J_4
T,ON t _;_
OVERFLOW
SERVO READY
•
_,-___
_.._._r_
_
_
_I_*PAO
,
-_
PRO
_=
MCCBTRIP
TG ON
,_
TORQUE
MONITOR
--
FOWARDRUNNINGINHIBITAT OFF
--
_5
_P_ *PRO
PG OUTPUT
LINE DRIVER
6
_ Pl*PCO
PCO_9o
_
COIN44OV
COIN-- _5
_
r 7',I
L__
AT
POSITION
COMPLETION
ON
OVER+
_;O _;
I] :
AT ERRORCOUNTER
ON
S-RDY4-
,r
"-_
OVERFLOW
L_'C=
NORMAL)
I
ATABNORMAL(13TYPE)
OFF
ATNORMAL
ON
I lOOmA
30VDC, (Max.)
OVERS-RDY--
ALMALM4MCB4MCBOk+
OL--
OVERLOAD
REVERSERUNNINGINHIBIT AT OFF
_
_
, r_
o
ALARM
_N
-
S-ON
PHASEB
._)
REF. PULSE INHIBIT OR INPUT
SWITCHING AT L(AT L SIGN 2.AND
PULS 2 INPUT ARE EFFECTIVE.)
I
;
[--0(_ _ _
PHASEA--<_[_
'
_v)
SIGNs_SIGNAL
I/O
HING_--I.-o_0__
t_'_ ALRES
SIGN2
ALARM
SET
,NH,BIT
'
AT SERVO
(MAIN
POWER
READY
ON.
_
.
TGON-ITGON-
I
ON
L_IG
_.
',1
,,,
AT MAIN CIRCUIT
PROTECTER
TRIP
ON
"I_11
_
II
LY
AT Servopack
OVERLOAD
OFF
_
.._
,i,
AT 1% OR MORE
OF MOTOR
MAX.
ON
SPEED
TRQ-M
VTG-M
t
Fig.
5.3
I/O
of Signals
--19--
TORQUE
MONITOR
±3.0V/RATEDTORQUE± 10%
SPEED
MONITOR
_
: Twisted cable.
.--L_
±2.OV/1000r/min
SERIES
i4.0V/1000r/min ±5%:FOR
±5%:FOR S
M,FSERIES
Note:
and
Connector
1CN
the
V power
The 24
user
must
s.op.Iv
provide
5.4.3
I/O Signals of Connect.or
1CN
Table 5.4
Signal
Name
Connector
1 CN No.
dl
Input Signals of Connector
Function
1CN
1
Description
Upon inputting
this signal, base block of main circuit transistor
is
released, and motor is servo locked. SERVOPACKis made ready to
receive reference
pulse input,
Upon inputting this signal, control mode of speed amplifier is
switched from PI (proportional-integral) drive to P(proportional)
drive.
S--ON
1CN--8
Servo ON
P--CON
1CN--24
Speed
amplitierpr0portionaldrivereference
N--OT
1CN--26
P--OT
1CN--41
Reverse running
prohibit
Forward running
prohibit
ALRES
1CN--12
SIGN 1
1CN-22
PULS 1
1CN--21
SIGN 2
1CN-43
(aux.)
PULS 2
1CN--28
(aux.)
This signal resets the alarm status. Check the alarm contents before
this signal is turned ON.
These signals are reference
pulse inputs.
The following input forms are available.
• Sign +pulse
train input.
• CW/CCW pulse train input etc.
These signals are auxiliary reference pulse inputs.
The following input forms are available.
• Sign + pulse train input,
• CW/CCW pulse train input etc.
Clear
Reference pulse input
switching
This signal is error counter clear input.
This signal makes the auxiliary reference pulse input effective by
blocking of the main reference pulse input signal.
Alarm
reset
Reference
(main)
Reference
{main)
sign
Reference
sign
INH
1CN--23
1CN--33
input
pulse
Reference
C--L
In the case of linear drive, etc., connect limit switch signal according to
the run direction.
These signals are "closed" during normal run. When
limit switch is tripped, it becomes "open."
input
input,
pulse
input
Table 5.5
Signal
Name
Connector
1CN No.
Output Signals of Connector 1CN
Function
COIN
1CN-45(45)
Position
OVER
1CN-29(30)
Overflow
ALM
1CN-38(39)
Servo alarm
S--RDY
1CN-46(47)
Servo ready
MCB
lCN-48(49)
MCCB trip
OL
lCN-10(11)
Overload
TGON
Motor run
1CN-31(32) detection
PAO
* PAO
PBO
* PBO
PCO
PCO
1CN-33
1CN-34
1CN-35
CN-36
CN-19
1CN-20
TRQ--M
1CN-15
Torque monitor
VTG--M
1CN-16
Speed monitor
PG-phase
completion
detection
Description
Turns ON when number of lag pulses in error counter reaches the
setting value or less.
Turns ON when lag pulses become double the number of lag pulses
of the error counter
setting bits.
Turns OFF when falut is detected.
For details, refer to Table 6. 11. "Fault Detection Function."
Turns ON when main power supply ON. and these are no servo
alarm conditions.
I
Turns ON when MCCB trips.
Turns OFF when overload
is detected.
Refer to Fig. 6.2 "Overload
characteristics."
Turns ON when motor speed exceeds
• M Series 2Or/min 4-10%
• FSeries 25r/min 4-10%
• S Series 40r/min 4-10%
the following
speeds
A
PG-phase B
PG-phase
19
Pulse after frequency division is output line driver(TI MC 3487).
To be received by line receiver {TI 76175}.
C
(-I-3.OV/rated torque) 4- 10%.
output voltage -I-gv max,
outputcurrent
1mAmax
M. F Series (+4.OV/1OOOr/m n) 4-5%.
S Series (4-2.OV/10OOr/min)+5%.
output current 1 mA max
-- 20 --
1
5. 5
D
D
CONNECTOR
TERMINAL
(2CN)
FOR
OPTICAL ENCODER(PG)
CONNECTION
5.5.1
Specifications
of Applicable
Receptacles
Cables (Table 5.6)
Table
ConnectorType*
used in
SERVOPACK
MR-20RMA,
right angle
20P
*Made
caulking
• {Attached
Specifications
Applicable
Manufacturer
Soldered
Honda i-sushin
Co.,Ltd.
by Honda
tAttached
5.6
Tsushin
to each
and
of Applicable
MRP-20F01
_'The
types),
to SERVOPACK
(soldered
and
cables
If required,
shown
when
Cables
Connection
Caulking Type
MR_20F _
receptacle
and
Receptacle Type
Type
Co., Ltd.
applicable
Receptacles
.Case t
Cable_
MR-20L_
listed
in Table
purchase
in Table
5.7
in units
DP8409123
or
DE8400093
and available
of standard
on
request.
length
as
5.7.
shipping.
I
Table
5.7
Details
of Specifications
Connection
Yaskawa
Drawing
Soldered
of Applicable
Type
Caulking
DP 8409123
Cables
NOTE
1. When applicable
cables listed in Table 5.7 are
used, allowable
wiring
distance
between
SERVOPACKand motor is a maximum of 20 meters.
Type
DE 8400093
No.
2. The cable applied
Manufacturer
Approx
Specifications
Fujikura
Cable Co.
Double,
KQVV-SW
AWG 22
x 3 C
AWG 26 x 6 P
For Soldered
able on order
KQVV-SB
Type
,, For Caulkin,
is avail-
Yaskawa
representative.
If wiring distance
is 20 m or more, contact your
Type
_
SERVOPACK Connector (2CN)
5.5.2
Layoutand
Internal
A 1 Red
1
Blue-
Composition
and
Lead Color
A2 Black
2 I
Yellow- ,
Aa Green
yellow"
3I
_vrhe,e2-.,I
Yellowa, White/blue
]
d
65
1
White-
......
P
6o
V
PurpleWhite
Blue-White
Brown
PU
encoder
is shown
method
of 2CN
5.q
arid
5.5.
Layout
Table
Connection
5.8 of
Connector
SERVOPACK2 CN
2
3
PGOV
8
CableTWisted
Terminal
•
PGOV
I
9
10
PU
PV
4
PG5V
I
5
PG5V
11
t PV
I
12
=
PW
6
7
PG5V
DIR
13
_ PW
B4
orangeWhite/orange
7 [
YellowBrown
14
20
.B5
PurpleWhite/purple
8 '
GreenBrown
PC
FG
9
RedBrown
10
PurpleBrown
GreyB s White/grey
Yaskawa
Standard
Specifications
distance
No. DP8409179).
(2CN)
for connecting
the optical
in Table
5. 8, and
the
connection
and
the
optical
encoder,
in Figs.
-
B 2 Green-White/yell°w
B 3 White/green
drawing
AWG 26 x 10 P
i
D
for 50 m wiring
(Yaskawa
Standard lengths:
5m, 10m, 20m
Terminal
ends are not provided
(with
connectors).
-- 21--
5.5.2
SERVOPACKConnector
(2CN) Terminal
)PTICAL ENCODER
S_"
t
!:"_s
_
i_G_
B
Layout
0.2 mm 2
and Connection
SERVOPACK
BLUE
PA
=PB
PB PHASEB
GREEN
WHITE/GREEN
PC
_'PC
WHITE/BLUE
ORANGE I
WHITE/ORANGE
* PA
PU
PHASE C
OUTPUT
LINE DRIVER
MC 3487t
PV
GREY
WHITE/GREY
I
RED
PW
I
I
I
I
I
':_
I
I
!_-S
BLACK
I
_
LiNE
RECEIVER
SN75115
t
PV
WHITE/PURPLE
0.5mm 2
t
,.--,
_P_HASE A.
WHITE/YELLOW
YELLOW
PURPLE
(Cont'd)
PGBV
,_
_
mm2
GREEN/YELLOW
I
0.5ram =CABLE
/-
,_._, : Twisted shielded cable.
DPB409123
• _Made
by Texas Instruments
Inc.
Note: Connector specifications of optical encoders are as follows.
Connector_Type
MS3102A20-29P
(Receptacle)
Accessory (not attached)Type MS3108B20-29S
(Angle plug)
Type MS3057-12A (Cable clamp)
Fig. 5.4
Soldered
Type Connector
2CN Connection
and 1CN Output
(when using Connection
Cable DP8401923)
OPTICAL ENCODER
, _ -,,0.2 ram2
SERVOPACK
PA
,kPA
I P
I i I
I I I
t P r
PHASE
Processing
-
A
PHASE
,,
PB
=PB
PC
_,PC
PHASE C
OUTPUT
LINE DRIVER
MC 34871| I
I I
P I
LINE
RECEIVER
SN75115
t
PV
PV.
PW
PW
I P
P
I |
0V
, _}
I
Twisted shielded cable.
CABLE
DE8400093
//
Fig. 5.5
+Made
.;
--
by Texas
Instruments
Inc.
Note: Connector specifications
are as follows.
,-v, of: optical encoder
Connector--Type
MS3102A20-29P
(Receptacle)
Accessory (not attached) -- Type MS3108B20-29S
(Angle plug)
Type MS3057-12A (Cable clamp)
Caulking Type Connector 2CN Connection and 1CN Output Processing
(when using Connection Cabl e DE8400093)
-22-
,_1
q
D
D
•
6. OPERATION
6. 1
POWER
ON AND
Arrange
the sequence
so that
the power
is simultaneously
supplied
to the main circuit
(R.S.T)
and the control
circuit
(r,t),
or supplied
to the
control
circuit
first,
then
the main circuit
{Figs.
6.1 and 6.2).
POWER oFFPOW, ER ON 6Ry
If the control
indicating
the
OFF.
circuit
is turned
OFF,
the
kind of servo
alarm
also
1MC
1MCCB
When • the power
is turned
ON, a servo
alarm
signal
continues
for approximately
1 second
(normally 200 to 300ms)
to initialize the
SERVOPACK.
2SUP
THREE-PHASE
-_o
200 TO 230 VAC "_o
(50/60Hz)
Hold the main-circuit
approximately
1 second.
24VDC+6Ry
POWEROFFPOW_ERON6Ry
1MC
power
ON
However,
signal
for
this is un-
the
control
power
is always
turned
ON. because
necessaryin
the sequencein
Fig.6.2,
• Since SERVOPACK
is of a capacitor
input
type,
large
recharging
current
flows •when the main
circuit
power
is turned
ON (recharging
time:
0.hs).
If the power
is turned
ON and OFF frequently,
the recharging-current
limit resistor
may be degraded
and a malfunction
may occur.
Fig. 6.1 Connection Example for
Simultaneous Control Power ON/OFF
REEP.ASE
}
Do not
i
turn
the
power
ON or OFF
frequently.
0,oro
ower
o. or turn
_
I
•
l suP. 2suP:
_S
_._.
Surge
LED
goes
• When power
is supplied
to the power
ON/OFF
sequence
shown in Fig.
6.1, the normal
signal
is set (6Ry is turned
ON) in the control
circuit
after
a maximum
delay of 1 second.
1SUP
D2TH0 To230VAC----o
1MCCB
o--,:._
D
Make PRECAUTIONS
sequence to assure
that the main-circuit power
FORCONNECTIONS
will be cut OFF by servo alarm signal,
OFF
Sorvo
o.
switch to avoid transient troubles.
,__
SERVOPACKRVOPACK
_
6. 2 CONFIGURATION OF I/0 CIRCUIT
:_._,j
_]
N
absorber CRh0500BA
or equivalent
(made
6.2.1
Input Circuit
(1) Servo ON [S-ON]
This
drive
circuit
circuit
is used
of the
to turn • ON the main
SERVOPACK.
When
power
the sig-
by Okaya
ElectriclndustriesCo.,Ltd.)
1D: Flywheeldiode (topreventspikeof 6Ry)
Fig. 6.2 Connection Example for
Main-cir(_uit Power ON/OFF
nal
the
of the
circuit
motor
cannot
applied
during
coast
to a stop.
is not
input(Servo
be driven.
If this
motor
running,
the
OFF),
signal
is
motor
will
NOTE
Arrange
the sequence
so that
the
power
is
simultaneously
cut (including
momentary
power
failure)
(Fig.
6.1),
or the power
to the main
circuit
is cut first,
then
the control
circuit
(Fig.
6.2).
The order
is the reverse
of the
power ON sequence.
Precautions
for connections
in Figs.
6.1 and 6.2 are as follows.
Before
turning
the
"Servo-ON"
resulting
from
(2)
Proportional
power
ON or OFF,
switch
to avoid
transient
current.
drive reference
This
circuit
switches
PI drive
to P drive.
the
circuit
speed
turn
OFF
troubles
[P-CON]
amplifier
from
Normally,
motor
repeats
vibration
by onepulse
response
with Servo
locked
(motor
stop)
status.
However,
this
vibration
can
be
decreased
by P drive
reference
ON.
For
attaching
load
at Servo
locked,
this
decreases
under
P drive.
circuit cannot be used because
-- 23 --
Servo
rigidity
6.2.1
Input Circuit (Cont'd)
(3) Forward
These
'running
viewed
reverse
current
tor
and reverse
(a)
running
prohibit
[P-oT,
N-OT]
circuits
are used
to stop
the
forward
of the motor
(counterclockwise
when
from
the
drive
end
of the
motor)
and
running.
These
circuits
prohibit
output
to drive
the motor.
Therefore,
the too-
will
be
free
running
at
prohibit
input
Main
input
SIGN' 1(*SIGN
(i)
Reference
open.
'
Sign
+ pulse
(4)
1CN-
(_)
Alarm
reset
This
signal
signal
cleared.
and (_)
turned
After
checking
alarm
reset
signal
is
and
(ii)
.
The
are
mode
(_
can
and
be
(_)
selected
. Refer
by
to
train
pulse
pulse
Voltage
pulse
with
90" phase
difference
train
level
and
timing
of
voltage
levels
of available
+12V and +5V levels.
Set
the
alarm
status.
error
ON,
While
counter
also
this
Table 6.1
is
+12V
more,
ON) under
Servo
OFF status.
If this signal is turned ON at no alarm status,
clear
operation,
is
executed
for error
counter.
+5V
6.3
shows
input
circuit
(1)
to
Reference
reference
reference
by switch
Pulse Voltage
Voltage Level
alarm
contents,
turn
ON the
by snapping
action
(10 /_s or
Fig.
mode
pulses
SL20.
[ALRES]
resets
is
" CW/CCW
prevention
circuit
1CN- (_) and (_
1),
q
The following
input
setting
of SW 20-(_),
Table
6.2.
NOTE
overtravel
connect
1 (*PULS
i)]
pulse
• Two-phase
When
the
not used.
[PULS
(4)
For
details,
(iii)
Input
Level Setting
SL 20 Setting
1o
1
_
refer
to
Table
2
3
2
3
o
•
1
6.4.
above.
,+12V
+12V
I
, ,'
Lf
r-_-
22kfl
-_'_
L
T
_'
are
available.
For
driving
the
line
driver,
connect the reversal output to *SIGN 1 and
*PULS
1, respectively.
Set the voltage
level to
_
0V _12v0V
SERVOPACK
Fig. 6.3
+ 5 V.
SIDE
9
input Circuit (1)
Drive
by relay
contact
or transistor
(collector
open
or with
+12V pull-up
resistor).
For relay
contact,
use high reliable
contact
relay
for low
level
(12V,
5mA).
(5)
Input Reference
There
are
input:
• Main
•
two
input
Auxiliary
Pulse
types
of
modes
for
.-
(SIGN
1,
PULS
1)
2,
PULS
input(SIGN
circuit
Fig.
6.4 shows
the configuration
of input
circuit.
For
output
type
of drive
side,
open
collector,
with
pull-up
resistor
or line
driver
reference
pulse
2)
--
24 --
t
I
t
Reference Pulse
Mode
Input
Pin No.
Sign + Pulses
Forward
Reverse Running
Table
6. 2Running
Reference Pulse Mode
Reference of Motor
Reference of Motor
1CN-@)
1CN-(_
_
I
"H"
[
90"
90"
Phase
Difference
2-phase
Pulses*
(1,2 or 4 Times)
1CN-(_)
1CN-(_
CW Pulses+
1CN-(_
CCW Pulses
1CN-_
* The multiplier
input,
[--L.J'--L_J_
"L"
90"
_
_'t--t
__
F
--1
r-q
I 1
F_L
"L"
--
O
O
X 1
O
O
q
2-phase pulse
"L"
_ Circles in SW20 show the positions for installing the setting plugs
on the pins.
1"Defines the method of counting the input pulse waves in Servopack.
difference 2-phase pulses when phase A = phase B = f(pps).
Table 6.3 shows the forward running reference for 90" phase
Table 6.3
Multiplier
Counting Method of Reference
Content of Pulse Counting
Counts only the leading
(1CN-(_)).
edge
of phase-A
PHASE
A,,-_,--I-----1l--q
SERVOPACK FI
X 1
PHASE B(1"22)
COUNTING
I
I'll
PULSES
Counts the leading
input (1CN-(_).
and trailing
PHASE
A,,-_,,_[_'I
X2
PHASEB(1o22)
D
r-l
edges
_
i
[--I
Pulse
of SERVOPACK
pulse
1--1
I-I
i--L
rl
of phase
tlppsl
[Nr/min*]
A pulse
l---q
_
Reference Pulse
Frequency of SERVOPACK
input
_
_
r-_
2 × t lppsl
[2 x Nr/min]
SERVOPACK
n n I-I I1 13FI I-L
COUNTING
PULSES --J
_
_
Counts the leading and trailing edges of phase A pulse
input (1CN-@)) and phase B pulse input (1CN-@)I
X 4
PHASEAll-21)J
PHASEe,1-22)
|
|
F----'t
r_
F'_
_
COUNTING
SERVOPACK
PULSES
* Motor speed
-- 25 --
_
_
O
×2
© o
×4 o
o
---
_
can be set for 90" phase difference,
Input
SW20_.
Multiplier1. O
(_
(_)
4 X f(pps)
[4 x Nr/rnin]
O
6.2.1
Input
Circuit
(Cont'd)
Table 6.4
Applicable
Voltage Level and Timing
Item
Voltage
Electrical Specifications
Level
of Signal
Sign
1
4- Pulse
+ 12V
H Level
Level
L
4- 5 V
H Level
Level
L
4- 10.8V
Level
4- 4.2 V to 4- 5 V
Level
0Vto
PULSE
t3
t4_-,_J
(SIGN Jr- PULSE Signal)
• 100
Max kpps
Reference
to 4- 12V
0 V to 4- 1.2 V
SON
Input
Frequency:
I
,---.,4
h, t2_; 0.1 ,us
t3, t7 _ 0.1 ,uS
t4. t5, tE> 5 ps
tl
tL_ _
PHASE _
Signal
Mode
(Phase A + Phase B)
• Max Reference Frequency:
SIGN:
H-- ® REFERENCE
REFERENCE
L
-- (_) REFERENCE
r _ 5,us
r
_--x 100 _ 50%
t2
PHASE
A_
90 ° Phase Difference
2-phase
Pulse
4- 5 V level or 4- 12 V level
is set by internal
switch
SW20.
+0.8V
[ ® REFERENCE J l_
Reference
Pulse
Remarks
/__,_-__E
,_J___..
/_._
I _ I
PHA_ e
L
_
Multiplier
Mode is set by
the internal
switch
SW20.
_
• Max rerence
frequency:
x 1 : 100kpps
100 kpps
OREFERENCE
_OREFERENCE
PHASE B : 90 °
AHEAD OF PHASE A
r
tl, t2<0.1,us
"_"× 100=50%
PHASE B-_90 °
BEHIND
PHASE A
X 2:
50kpps
X 4 :
25 kpps
,_
q
t_
CCW_
CCW Pulses
CW Pulses
4-
cw
• 100
Max kpps
Reference
_
_
/
0 REFERENCE
Frequency:
F_
t
t_.t2_0.1,us
t_> 5,us
Note:
Maximum
reference
frequency
is 200
k.._J
r'_
k_/
/-_
k_
_) REFERENCE
t3
--
r__ 5,uS
r
_-x 100 < 50%
kpps.
SL20
+5V
1
'+ 12V/;
2
3
r ..... "1
L____°'J
-'-
+12V
5V
['in
LTJ
f
t'.
--"
_.>.....
Servopock SIDE
Fig.
6.4
Input
Circuit
-- 26 --
(2)
I
D
D
|
D
(iV}
Other
functions
(6) Clear Signal (CL)
The effective
logic of reference
pulse
mode is
H lavel
in Table
6.2.
The effective
logic
can
be changed
to L level by SW 40-(_)
and
(_).
Short
pin
Logic
• Short
OFF on SW 40-(_
and
in Table
6.2 is effective.
pin ON on SW 40-(_)
and
Logic
in
Where
Table
the
is reversed
indivividually.
follows •
6•2
effective
logic
CN
forward
Voltage
running
Auxiliary
input
[PuLs
(i)
Reference
pulse
mode
Reference
Reference Pulse
Mode
Sign + Pulses
90" Phase Difference
2-phase
level
+I2V/+5V
Table
of
reference
can
6 6
be
Voltage
switched
at SL 10.
Level Setting
Voltage Level
pulse
pins
as
SL10.
I
+ 12 V
2
3
2
3
o
o
I
_
+5V
(b)
pulses
when
2,
Logic
reversion
+
Effective
logic-(_)is
can turned
be reversed
pin
of SW40
OFF.
1 CN
SIGN
- _
2]
(e)
in Table
6.5.
by setting
of
Derivative
Multiplier
-x 1
× 2
CW/CCW Pulse Train
signal
executed
turning
when
ON,
setting
• Setting
pin of SW40 -(_
ON • Differential
action
OFF:
General
action
(always
SW 20
@
O
(_)
O
_)
O
O
O
O
O
setting
action
clear
can be
•counter
are always
-(_is
turned
ON. zero.
However,
Pulse Mode Setting
Input
when
Setting pin of SW40-(_
ON:
Clear
at L
OFF:
Clear
at H
input
During
action
(_) and(_)
as shown
modes
can ' be selected
Table 6.5
level
- _input
(b)
SW20 - _),
The three
Voltage
(_):
set the setting
pins
correspond
(Example)
mode"
Reference
SW40 -(_)" pulse
setting
pin Sign
OFF
SW40 - @) : setting
pin ON
is
(a)
1 CN -_input
• SW40-(_)_1
Motor
is L.
(_:
is reversed.
individually,
The
short
• SW40-(_)_
Normally,
set the
clear
signal
to 'H.'
If 'L i is
set,
the contents
of error
counter
become
zero
and positioning
loop will be ineffective.
signal
turning
C_SIGNAL
o o
differential
pin of SW40
contents
clear
of
during
error
clear
ON)
I
n
O
H
ERROR COUNTER
CLEAR
(ii) Voltage
level
and timing
of
The voltage level is +12V(fixed).
the same as Table 6.4.
(iii)
Input
Fig. 6.5
reference
pulse
The timing is
circuit
The configuration
of input
circuit
is the same
as Fig.
6.3.
However,
input
filter
constant
differs
from it.
Driving
by line
driver
cannot
be accomplished.
Reverse
function
of effective
logic is not available,
(d)
Note for
• When the
Defferential Action of Clear Signal
clear
clear
signal
signal
usage
is turned
on when ap-
plying
the reference
pulse,
'the
contents
of
error
counter
become
zero.
However,
when
applying
the feed foward
compensation,
speed
command
voltage
by feedfoward
compensation•
is Output•
• When the
lag pulses
feedback
motor
shaft
is rotated
at serve
OFF,
are given
to the error
center
by
pulse.
In this case,
be sure
to turn
clear
signal.
ON the
Servo ON signal
afterturningon the
-- 27 --
I
6.2.1
Input
Circuit
• When
the
ON signal,
For
clear
and
reverse
(Cont'd)
6.2.2
Output
There
quence:
alarm,
tion,
circuits
clear
signal
is used
with
the
Servo
connect
as shown
in Fig.
6.6.
signal,
set
the voltage
level
to +12V,
the
logic
and
clear
by
H.
seven
output
circuits
for
each
seposition
completion,
overflow,
servo
servo
ready,
MCCB
trip,
overload
detecand
motor
run
detection.
•These
output
are
non-contact
output•
Voltage
and
current
In
this
way,
ON or clear
Servo
error
state
counter
at Servo
is
utilized
OFF.
Circuit
are
specifications
• Applied
The
--o
CN-23
in
CN-8
power
power.
r---
!
_
voltage
6.7.
of
Output
supply•
It
is set
+12V
is
settings
common.
of
CL
Therefore
to +12V level,
level
and
vice
pulse
input
INH
versa•
switching
Normally,
set
the
Main
reference
auxiliary
reference
reference
pulse
pulse
L setting
signal•
of
Voltage
Refer
to
(b)
Logic
Effective
pin
of
• Setting
6N:
OFF:
is
a
recommended
shown
separate
to
use
+24V
Servopack
_•
,.w-"TFIANSISTOR
PHOTO-COUPLER
r_
_
signal
if
signal
and
CL
is
Fig.
pulse
input
input
signal
[I--N-R]
input
to
is
closed
is effective
6.7
Output
Circuit
also
Position
"L."
and
by
completion
completion
contents
of
error
signal
signal
-(_,
(_),(_
and(_.
[COIN]
is
counter
turned
are
setting
values.
As internal
to +7 pulses
or ±63
pulses
Signal
is used
to
advance
The
position
completion
level
Table
_
FLY-WHEELDIODE
_'_
(BE SURETO CONNECT |_
CORRECTPOLARITY)
position
(a)
circuit
needs
V M
ON and Clear Signals
level
are
in
Reference
output
mA
Sequential Operation of
(1)
(7)
VDC
circuit
OUTPUT._RELAY
24V
signal
at the
100
CN-9
6.6
Servo
voltage
signal
<
(Ip)
construction
Fig.
;ervopack SIDE
• The
INH
follows:
(Vmax)<30
current
'
Fig.
as
by
• Operational
SERVOON
are
I
when
internal
setting
values,
ll
can
be set.
This
the
sequence•
width
is set
at
SW10
(See
Table
this
setting
must
correspond
to
error
counter
bits
(bit
numbers
verter).
(See
Table
6•8.)
6.6•
ON
within
6.7.)
the
of
I
However,
number
of
D/A
con-
reversion
logic
can
SW 40 - (_
pin
Input
Input
of
is
be
reversed
turned
SW40
switching
switching
when
Table
setting
ON.
6.7
Position
Completion
Width
Position Completion Width Setting
-(_
(Pulses)
at H
at L
Setting
i_
1
SW 10
.
(_
-+ I
+ 2
--+3
O
---+4
0
-+5
(_)
(_
O
O
O
O
(_
0
0
-+6
0
_--t--7
0
_+ 63
Table
Bit Numbers of
D/A Converter
--
6.8
Position
Completion
(Pulses)
9
--+2
10
11
-+3
--+4
12
-+5
Width
9
28 -J
Bit
numbers
of D/A
converter
are
set at
SW10
- (_ and
are
determined
(_).
(See according
Table 6.9) to These
conditionbit numbers
of applied
motor
or machine
or applied
condition
of
reference
pulse.
The
smaller
the
setting
bit
numbers,
the higher
the position
loop gain becomes.
Table 6.9 ' Setting of Bit Numbers of D/A
9
Signal
Circuit
form
• Two-phase
pulse
with
(Phases A and B)
90" pulse
O
©
(2) Output
11
(_)
Output
circuit
line driver
Original
pointis pulse
(Phase output.
C)
nection,
see Fig.
6.8.
detecting signal [OVERI
circuit and receiver
difference
10
12
(2) Overflow
Optical Encoder (PG)Output
[PAD, $ PAD, PBO, $ PBO, PCO, $ PCO]
Phases
A, B and C (original
point)
signals
for
the optical
encoder,
PG are output.
The output
signal
specifications
are as follows=
(1)
Converter
SWl0
Bit Numbers of D/A Converter
6.2.3
circuit
For con-
PHASE
A
LINE
This signal
is turned
ON when
lag
pulses
of
error
counter
reach
two times or more the setting bit number
of D/A converter.
If overflow is detected,
SERVOPACK
becomes
Serve
OFF mode abruptly
and coasts
to a stop.
:c
PHASE
(3) Serve alarm [ALM]
PHASE
+EV
RECEIVER
(11C,21C)SN75115
S
FILTER
"+EV
--
CONDENSER
(C)
100 TO 1000PF
PHASEC
OUTPUT
any
occurs,
the
inIf
This trouble
signalmonitors
alarmpower
state drive
of 13 circuit
types.
the SERVOPACK
goes OFF. For detailsof alarm
contents,
see Par. 6.3(2).
MC3487
LINEDRIVER
--0V
(4)
Serve
ready
0V
[S-RDY]
SERVOPACK
After
control
turned
ON,
alarm.
(5)
power
and main circuit
this signal
is turned
MCCB trip [MCB]
Overload
• Fig. 6. 8
turned
protector
detection
on
when
trips.
the
(3) Output
off when
overload
of
For details,
see Par.
When motor speed average
lowing
speed,
after
1 or
turned
on.
• F series
S series
motor=
motor;
+20r/min
+25r/rain
+40r/rain
I
s -1
(7) Motor run detection [TGON] "
motor=
phase
FORWARD
A
PHASE
"
M series
Output Circuit and Receiver Circuit
[OVER]
is turned
is detected.
6.3.(3).
•
CIRCUIT
SERVOPACK
PHASE
This
signal
SERVOPACK
RECEIVER
(SUPPLIED
BY CUSTOMER)
power
are
ON with no
P-T
: Twisted
cable
This
signal
is
built-in
circuit
(6)
+5v
PHASE
+10% or
;1:10%or
+10% or
I---I
PHASE
J
A -_
F---L_
r_
c
for 5ms exceeds
fol'
2 ms,
this
signal
is
RUNNING
F---1
y--_90"
Note:
Phase
point
Fig. 6.9
more
more
more
D
-- 29 --
RUNNING
_
Y"_90"
I
PHASE.J--_[I
B
t
C (original
REVERSE
PHASE
c
pulse)
is synchronized
Output Phase
I
V
r_
with
t
phase
A.
6.2.3
Encoder
(PG) PCO,
Output* PCO]
Circuit (Cont'd)
[PAD, *Optical
PAD, PBO,
* PBO,
(ORIGINAL
PHASEC POINT)
(4) Pulse resolution
PHASE A
The
pulse
frequency
of the
PG can be further
divided
into
1/N (N=I to 60) or 2/N(N=2
to 64)
by using the divider in the SERVOPACK.
The
PHASE
phase
relation
is the
Set the pulse
frequency
ing to Table
6.10.
same
as in (3),
dividing
ratio
above.
accord-
Table 6.10
2
3
4
5
O
O O O O
0 0 0 0
0
0 0 0
0 0 0
0 0
0 0
0
0 0
0 0
0 0
0
0
0
0
0
0
0 0
O
O O O
0
O O
O
O O ©
0
0
0
0 I,0O
0
O
O
O O
O
O
0
0
O
0
0
0
O
10
O
0
O
O
O
O
O
O
0
O O
O
O O
O
O O
O
O O O
O
6
7
O
0
0
0
0
0
0
0
0
0
0
0
0
O
O
O
0
0
0
0
0
0
0
0
0
0
©
O
O
O
O
O!
O
O
0
O
0
0
O
0
O
O
O
O
O
O
O
O
8
B
_
_
q
Fig. 6.10
I_!
"7
_
I
_1
F
_
_L
Output Waveform
I
DIVIDING
FREQUENCY
PULSE
J DIVIDING
RATIO:l/2
PULSE
I DIVIDINGFREQUEN
RATIO:
1/3
_
of Optical Encoder
AI
1
Setting of PG Pulse Frequency
SW2
1
J
_
PHASE A
PHASE
FREQUENCY
"7 PULSE
RATIO: 1/1
_
B_fL_fU_f_
PHASES
PHASEA
be able
divide
the The
pulses dividing
of the ratio
optical must
encoder.
For toexample,
in an optical
encoder
of 5000 pulses/rev,
1/3,
116, or 1/7 cannot
be used.
The dividing
output is Lnput to positioning
control
circuit
as a
positioning
feedback
pulse.
For
details,
see
Par.
6.4.
Fig.
6.10
shows
the optical
encoder
output
waveform
under
the dividing
pulse
frequency,
The
C-phase
(original
point)
pulse
has
the
same
pulse
width
of dividing
ratio
1/1 as
PG dividing.
•
I_
Dividing Ratio
Pulse Frequency Dividing Output
(pulses/rev)
PG PulseFrequency
DividingRatio (l/N) PG=6000
PG=5000
PG=4000
PG=2500
PG=1500
1/1
1/2
1/3
1/4
1/5
1/6
1/8
1/10
1/12
1/15
1/16
1/20
1/24
1/25
1/30
1/40
1/48
1/50
1/60
6000
3000
2000
1500
1200
1000
750
600
500
400
375
300
250
240
200
150
125
120
1O0
5000
2500
-1250
1000
-625
500
---250
.......
200
.....
125
........
100
.....
4000
2000
-1000
800
-500
400
--250
200
2500
1250
-625
500
-....
250
--.....
125
1500
750
500
375
300
250
160
100
60
50
2/2
2/3
2/4
2/5
2/6
2/8
2/10
2/12
2/15
2/16
2/20
2/24
2/25
2/30
2/40
2/48
2/50
2/60
6000
4000
3000
2400
2000
1500
1200
1000
800
750
600
500
480
400
300
250
240
200
5000
.....
2500
2000
.....
1250
1000
.....
......
-500
......
400
......
250
.......
200
4000
2500
2000
1600
1250
1000
1000
800
625
500
......
-- 30 --
100
150
125
100
1000
500
-250
200
-125
100
---
75
50
40
•
--
.....
80
500
400
PG=1000
•
•
1
25
50
30
25
1500
1000
750
600
500
-300
250
200
20
•
•
•
•
•
....
250
320
200
200
125
160
100
150
125
120
1O0
75
60
50
-
-1000
-500
400
-250
200
--125
100
-80
-50
40
--
•
6.2.4
Torque Reference
[TRO-M, VTG-M]
and Speed
Monitor
6.3
(i) Dynamic
• Speed monitor output (ICN-16):
M,F series--±4.0V
+5%/1000r/min
S series--±2.0V
+5%/1000r/min
TORQUE
brake
function
• Servo ON command
is opened,
• Main power
is tuned off.
supply
or
Normally, this dynamic brake is not applied
while the motor stops, but can be made operational by switching built-in switch (SW 4-5)
from OFF to ON.
Full scale ±imA
(both
swing)
ammeter. Use ammeter of DCF-6
or DCF-12F
or equivalent made
by Toyo Instrument
1CN-1t
CIRCUIT
SERVOPACK
incorporates a dynamic
brake for
emergency stop. This brake operateswhen:
• Alarm
(fault detection)
occurs, .or
• Torque
monitor output
(ICN-15):
±3.0V ±10%]rated torque
Instrument:
PROTECTIVE
SERVOPACK
provides functions to protect the
body and motor from malfunctions•
Motor
output
is used
for monitoring
torque
and speed at motor running.
When an instrument
is connected
to measure
torque and
speed,
make the connection as shown in Fig. 6.11,
using a DC
ammeter
of full scale +ImA
(both
swing)•
D
D
Monitor
Table 6.11
Trouble Detecting Functions
(2) Trouble detecting functions
Trouble
Detection
CO., Ltd.
METER
REFERENCE
MONITOR
47_
IVR
1R
METER
Overcu rrent
Overcurrent flow in the main circuit
(at 1.2 times min. inst max current.)
Circuit
Circuit
SPEED
MONITOR --
47£_
2VR
3R
Trip
_,
0v
Protector
protecter tripped
Regeneration
Trouble
Regenerative circuit not activated in
SERVOPACK.
Overvoltage
Excessively
high DC voltage
main circuit (approx 420V.)
Overspeed
Excessively large speed reference
input.
SERVOPACK
SIDE
1CNNotes:
1. Torque reference monitor increases output error
in range of motor rated speed or more.
2. 1R to 4R, IVR, 2VR are selected by full-scale
setting.
(Select IR=2R, 3R=4R. IVR and 2VR is
for fine adjustment.)
Fig. 6.11
Connection
Voltage Drop
with Monitor
Output
D
Overload
condition
SERVOPACK.
Overheat
HeatSink
(Overheat
approx 85°C
min.)
of heatsink
A/D
Element
error on the printed
board of SERVOPACK.
of motor
Open Phase
Any one phase
power supply.
Overrun
Prevention
Wrong wiring
signal line.
CPU Error
Any error of CPU
Over
--
LOW DC voltage
in the main circuit
after power ON. (150V or less.)
Overload
Error
31 --
Flow
in the
open
of motor
and
circuit
in three-phase
circuit
or PG
Lag pulses of error counter i'each
two times or more the setting bit
number of D/A converter.
6. 3 PROTECTIVE
i3)
Overload
Fig.
level
CIRCUlT(Cont'd)
(OL)detection
(5)
level
6.12 shows
the setting
of overload
at 100% rated
motor current.
Protective
circuit
operation
An alarm
signal
indicates
some trouble•
Check
the
cause
and correct
the trouble,
and restart
the operation.
Before
checking
the cause,
turn
OFF the power
to the main circuit
to avoid danger•
Apply the sequence
so that the alarm signal turns
OFF only
the
main circuit
((_,
(_) ,(._
), as
shown
in Figs.
6.1 and
6.2.
This
allows
rapid
reaction
in the event
of a malfunction.
detection
aE
•"qB
If the power to the control
circuit
(Q, (_))
is simultaneously
turned
OFF,
this also turns
OFF
the LED in the SERVOPACK
indicating
the cause
of the alarm signal.
,000
CAUTION
When an alarm signal cuts off only the main circuit,
set the speed reference to OFF before supplying power
to the main circuit
to resume
the operation.
OPERATING
TIME
(S)
10o
.
To reset
the servo alarm,
depress
the
(blue pushbutton
switch)
alarm release
[ALRES]
signal
of input
signals
on the printed
circuit
board
in the SERVOPACK.
See Par.
6• 2.1. (4).
(6) Resetting
servo
alarm
If [_or
[]
is on (e.g•,
SERVOPACK
is over
loaded
or the heat sink is overheated),
the reset
alarm
is not immediate
and occurs
a few minutes
later.
o
2100
20O
RATED CURRENT
MOTOR
Fig. 6.12
3OO
q
(7) LED
(%)
Overload Characteristics
trouble
Table 614
indications
LED Trouble Indications (7-segment, Red)
Indication
(4)
Servo
If any
activate,
goes
off,
condition
alarm
output
[ALM+,
trouble
detection
the power drive
circuits
in
circuit
in the
7-segment
and a servo LEDs
alarm indicate
signal
Detection
Output
Signals
ALM-]
Table 6.11
SERVOPACK
operation
istheoutput.
[--_
Base current not interrupted
(normal operation).
[_
Base currentpower
is interrupted
Servopack
circuit.
in
--
I
,qg
Overcurrent
Circuit protecter tripped
NOTE
. Regeneration
trouble
and overflow
among
LED trouble
indications
are displayed
in
common.
But these troubles
are
distinguished
by
other
LED
indications.
(See Par. 6.6.)
• If overflow
is detected,
SERVOPACK
abruptly
becomes Servo OFF mode and the
motor coasts to a stop.
Batched
servo
alarm output
and LED trouble
indications
are executed
after
waiting
approximately
0.5 second after
alarm occurs.
If main
circuit
power is cut off within
0.5 second
after
overflow
occurs,
servo alarm outputs
and
LED trouble
indications
are ineffective.
-- 32 --
I-_
Regeneration
trouble,overflowWhen a pro-
i_
Overvoltage
r_
Overspeed
_
Voltage
_
Overload
_
[-_
Heat sink overheat
A/D error
_
Open phase
i_1
Overrun prevention
i---1
CPU error
drop
tection circuit
in SERVOPACK
functions,
power drive
Servo
circuit is
base-blocked,
This blockstatus
released is by
"RESET"
operation.
alarm
output
I_
1
6. 4 CONFIGURATION
OF POSITIONING
=
N•.P
N
_
x _--<=
100 kHz
Note:
1/D
:
M :
fPG(1):
Ratio
of frequency
Multiplier
(M=I ...
i
PULSE
FORM
SETTING
dividing
(1)
ofterfrequencydividing
fPG(1)
_ 100 kHz
M=2
M=4
fPG(1)
fPG(1)
(1)
<= 50 kHz
<= 25 kHz
ACServo
MOTOR
POWER
AMPLIFIER
REFERENCE
D
D
_.'PG(2)
CONTROL
LOOP
Fig•
6.13 shows
basic
block
diagram
of •positioning
control
loop.
The reference
pulse
frequency
is i00 kpps
(max).
Therefore,
feedback
pulse
frequency
of error
counter
input
should
be 100 kpps
or below.
Where
encoder
resolution
is P (pulse/rev)
and revolution
range
is N (r/min),
set the frequency
dividing
(1)
and
multiplier
mode
so
that
the following
formula
is formed.
RESOLUTION
OF
FEEDBACK
PULSE
M'P
OR
D, "D=
Frequency
Frequency
referring
6.4.2
PG
P pulse/rev
Dividing (1) Setting (I/D,)
dividing
(i)
is
set
1
'II
PGOUTPUTPULSE: -_,
P pulse/rev
Basic Block Diagram of Positioning Control Loop
Fig. 6.13
6.4.1
i
FREQUENCY
FREQUENCY
DIVIDING(2) MULT1PUER DIVIDING(1
)
at
6.4.3
SW2-(_)to(_,
(I)
to
Table
6.10.
"
Multiplier Setting (M)
Frequency
Where
the
Dividing (2) Setting (I/D=)
frequency
dividing
ratio
=
1:
If the
frequency
dividing
(2) function
not used,
turn
off SW40 - (_) (noinstallation
of setting
plug).
is
Where
the
be made:
to
Multiplier
mode
can be set at i, 2 or 4 multiplier.
(See Table
6.13.)
According
to multiplier
modes,
output
frequency
of frequency
(2)
dividing
below•
Frequency
dividing
ratio
k (o<k<l)
is obtained
by the
formula
below,
when the following
data
Multiplier
x 1
x 2
× 4
(1)
should
mode
be
Output
dividing
.....
.....
.....
the
following
values
frequency
of
(I)
[fPG(1)]
100 kHz
50 kHz
25 kHz
or
frequency
are
given
• Load
max.
max.
max.
frequency
from
the
displacement
• Displacement
/_ mm/pulse
Multiplier
Mode Setting
Multiplier
Mode
(_)
Q)
(_)
Xl
0
0
0
x2
x4
0
0
0
0
k ::Multiplicr
--
33 --
motor
pulse
is
i'evolution=/_Lmm
(lowest
pulses
Z_L/_
O<k-- -n x /_
SW30
setting
specifications:
per
per
• Number
of output
revolution=
n pulses
Table 6.13
dividing
of
<I
(.1,
2,
4-)
setting
PG
per
unit)=
motor
Frequency
Dividing
(2) Setting
(I/D2)
(Conrd)
(3)
decimal
ON
switch
Calculate
point.
-(_)(install
SW40
setting
data
the setting
of frequency
example:
Where frequency
k = 0.95768726,
NOTE
positioning
accuracy
is
influenced
value
of the frequency
dividing
k. Calculate
it to at least 8 digits
the
Setting
dividing
(a)
_ (FFSW. n)
.-1
=8388608x0.95768726=8033663.011
(b)
Round out decimals
larger
than
wise disregard
them and convert
dividing ratio data is set by
1 to 6.
rotary
k =__5_2=1°-$' 2_3
of
[8388608
ion.
[_ _.-t- ]
FFSW-2
FFSW-5
+163X9 ...... FFSW.4( ¢=_
_
•
+164xA ...... FFSW-5|
,4
,
+16"x7 ......FFSW.6.J
[_ ['_-t- ]
FFSW-3
FFSW-6
+16_x5
......FFSW-3L
x k]
into
binary
•
D _'o-I"
) FFSW-I
=1 xF ......... FFSW-1"1
+16X7 ....... FFSW-2|
(FFSW,n)
value
0.5 or otherthe result
dividing
g
the
I
into hexadecimal
form.
(c) 8033663 = (7A957F) HEX
_
frequency
FFSW
ratio
v
[8388608xk]=I×(.FFSW-I
Data)+16
X(FFSW-2
Data)+162(256)
X(FFSW-3
Data)+163 (4896)
X(FFSW-4
Data)+164 (65536)
X(FFSW-5
Data)+165
X(FFSW-6
Data)
_
D t_
,o_. I FFSW4
(1048576)
each
scale
of FFSW-1
to 6 according
to
datum
(0 to 15) shown in Table 6.14.
6.14
Frequency
FFSW-1 to 6
Dividing Setting
List
Note: Operation of frequency dividing (2) is 100kHz
maximum. Where the frequency dividing (2) function
is used, set Dz as the formula below.
P
N
D--'Fxy_
< 50 kHz
The multipiied
formula
below.
data M (1.2
or 4) should
M.P
D, x
<100 k_z
be meet the
I
Scale of FFSW
0
0
2
3
2
3
4
4
5
6
5
6
1
•
1
7
7
8
9
8
9"
30
11
A
B
12
13
C
D
14
E
15
F
t
-- 34 --
. 6.5
RESOLUTION
OF POSITIONING
FEEDBACK
PULSE
Table 6.15
shows
resolution
of positioning
encoder for AC SERVOMOTOR
and combined
encoder at maximum
speed.
The standard
encoder
is set to maximum
speed.
If operating
resolution
is reduced,
resolution
of positioning
encoder
can be increased
according
to the set frequency
dividing (See Par. 6.4.)
Table 6.15
AC SERVOMOTOR
Rated
Max
Series
Speed
Speed
r/min
r/min
Resolution
Combined
Encoder
pulse/rev
D
D
D
D
M
1000
F
6.6
2000
1500
"S
DISPLAY
2500
3000
4000
of Positioning
Encoder Output Frequency
kHz
Control
panel o
[-M-_ : Main
At Rated
Speed
At Max
Speed
(1)
(2)
6000
5000
100
83.3
200
166.7
1/ 6
1/5
--
2
2
4000
66.7
133.3
1/4
-
2
6000
150
250
1/6
-
2
5000
125
208.3
1/5
-
2
4000
1O0
166.7
1/4
-
2
2500
125
166.7
1/5
-
2
1000
50
66.7
1/2
-
2
1500
75
1/3
-
2
100
*The
voltage
(200VDC
or
[]_]_] to_
_--G_:
0
_
I
CLMP
: Lag pulse of error counter
(See Table 6.17.)
Positioning completion
2000
2000
1000
and
I
[]
"-,
REVERSE !!
""--..
I
........
J
Setting
bit numbers
of D/A
converter (See Table 6.16.)
*: Overflow of error counter
of Positioning
Encoder
pu'lse/rev
D/A
more)
*: D/A converter output is clamped
(saturation).
Resolution
FORWARD
in Servopack is normal.
normal.
[A][]_C-]
: PG-phase A, phase B [frequency
dividing
(2)output] and phase
C
(origin pulse)
[DAIltDA2[:
relation of _
power (+5v) in SERVOPACK is
circuit
Frequency
Dividing
Multiplier
Mode
There are the following LED indications other
than
the 7-segment
LED
indications
on the
E_]:
Encoder (Standard)
=e
l
OVER
Fig.6.14
• [-C-L--M-_lights when
lag pulses
reach setting bit numbers
of
D /A converter.
• _lights
reach two
bit numbers
when lag pulses
times the setting
of D/A
converter.
and
the time,
motor anwill alarm
coast occurs
to a
At this
stop at Servo
OFF mode.
The
error
counter
will be cleared..
-- 35 --
6. 6 DISPLAY(Cont'd)
Table 6.16
Setting
Setting
Table 6.17
Bit Numbers
Setting Bit Numbers
of D/A Converter
of D/A Converter
LED Display
Bit Numbers
9
10
11
•
12
Note: The mark•shows
6.7
SETTING
6.7.1
Lag Pulse
Numbers
9
D (E)/2
11
2 X D(_)
12
4 x D(e)
AI
1
Note: Calculate the lag )ulse number using
table 6.17. Because the relationship of lag
pulse numbers(_) and total values D at
error display LED lighting differ according
to setting bit numbers of DIA converter.
•
that LED lights,
OF INTERNAL
Lag Pulse Numbers of Error Counter
SWITCHES
Switch Functions
The
switches
board.
3P switch:
below
SLI,
(See
Setting
pin:
Rotary
switch:
SL2,
Table
are
on
the
SLI0 to
6.18.)
SL1
I
to SW40
FFSW6
6.4.3.)
Table
3P
Switch
circuit
SL40
SWI to SW4, SW10
(See Table
6.19.)
FFSWI
to
(See par.
control
6.18
3P Switch
Functions
Function
Variable range of positioning
adjustable
volume.
SL2
I
List
!
UserSetting
loop gain
Not possible
-
Notpossible
SL10
Voltage level switching
C-'-L
inputs.
SL20
Voltage level switching of PULS l and
SIGN 1 inputs.
5V OI O23-12V
SL30
Feedfoward circuit filter time constand
Not possible
SL40
of INH and
4- 5V/4-12V
-
switching possible :
Notpossible
,
--
36 -I
D
Table 6.19
Setting
Pin.
Function
1 Selection of
2 AC SERVOMOTOR
" - Type
3
User Setting
Setting Pin Functions List
Setting
Function
Pin•
1 Bit numbers setting
2 of D/A converter
See Table 6.20
4 Settingandpositioning
completion
lag i3ulse
SWIO5 width
SWl 5
6 Selection
of
-(_ombined
encoder
7 (PG)
Gain compensation
of
7 D/A converter output
8
8
1
1
D
.
SW2
3 Settingof
. PG frequency
4 dividing ratio
r Frequency I
5
Ldividing (1)J
6
See Table 6.7.
6
See Table 6.21
2
.
See Table 6.9.
3
4
"
User Setting
see Table 6.10
For setting method,
see Par. 6.4
Switching of speed amJifierautomaticP/PIcontrol
2 of reference
pulse
Input
formsetting
3 (maininput)
ON: Not possible
OFF: Possible
ON: Not possible
OFF: Possible
SeeTable6.2
4
SW20
7
Input from setting
reference pulse
• 5 of
(auxiliaryinput)
6
See Table 6.5.
7
8 Spare
--
--
Not possible
--
Notpossible
8
2
2
See Fig. 6.15
3 PI constant
• 4 setting
of
speed amplifier
SW3 "
5
["Normally, retain _
I the position preset I
_at the factory.
,/
SW30
6
3
4 Parameter setting for
speed amlifier
5 automaticP/PI control
Not possible
6
f/V filter of
7 speed feedback
Settingof
7 multiplier mode
ON: 1.2ms OFF: 0.1ms
See Table 6.13.
8
D
D
8 Mode switch
1
ON: Without OFF: With
1
2
3
SW4
4
2 Setting
effective
Settingof
motorcharacteristics and
SERVOPACK
function
3 logic
Do not adjust.
ON H level effective
OFF: L level effective
input
signal
ON: L level effective
OFF H leveleffective
PULS
t
inputsignal
SING1
ON' L active
OFF H active
ON: L active
4
5
input signal
Clear form setting of
5 error counter
6
6
7
7
8 Spare
-
SW40
INH input
signal
BIAS compensation
function
Note: SWIO0 is sparefor settin, pin storage.
-- 37 --
ON: Possible
OFF: Not possible
-
Frequenay dividing
8 function
OFF H active
ON :Differential
action
OFF: General active
Notpossible
(2)
ON : Possible
OFF: Notpossible
6.7.1 SwitchFunctions(Cont'.d)
®
--olo
Table 6.20
Selection of AC SERVOMOTOR Type
SW1
(_
(_)
(J_2)
r'--I
6.6 M£2
.-_o
I1-_ 0.033,uF
_
II--
I
0.033,uF
0.22_F
M
Series
O
F Series
O
S Series
Note:
This
setting
may
Table
differ
6.21
from
other
j
(_
0
0
4000
0
25oo
500
0
0
0
1000
0
0
Fig. 6.15
/
0
0
0
0
0
0
i
PGFREOUENcYFI_
_ , JSJECT'ONI
D,V,O,NG(,>
I /
I21OOI--CL
|LOGIC
L°l
iTr_-____
7 EFFECTIVE
r_-i !
SL20
_---aASFE__8
SELEC3]ON
__ISELECTION
SW2
RATIO L _
SW40
PULSE INPUT
M
CFV
SeriSr_ _
i_[]_1_]
SW3
SL40
pINEXACT
GAIN
161oo1
TERM'NALS
PI Constant
®
IN-B
CHECK
B-'_
i_4
PC 5V(__:7_
"_
--
Speed Amplifier
t
5V 12V 5V 12V
IV
[_
F_VR
CAPACffOR I _ I VB 13
f/V TIME
INTEGRALPamI°I3
_
V RII
CNI3_] t
CONSTANT
MODE
SWI4C_vRI0
[_]-]
MOTOR
_]
;GLEcTION_
SWlO ] D/A
I_l
M
[_
12
__
2}_
CN 14
L -v_ [% ]
_JAUX
l[_
1
I_r SWl00
v u I'IP-'
CONTROL
m--co
....
MULTIPLIER
_[]_]]
S_.]Z_D/A
SPARE
_-1
SL30
BIT NUMBERsSW4
COINWIDTH
GAIN
SW.30
E
118
MODE
.
s.....
'L_J3
(FOR SETTING
PIN STORAGE)
qml
NVR2.
_ [-g]VB__k__J
vB_
--
1
0.022,uF
Arrangements
CNil,,
BIAS
0.01/_F
IF--
0
Switch
SL10
IF--
(SW3- (_) to (_)
(_
VR
_
l_/
SW 1
0
--1
-----1
LOOP
_
of Encoder (PG)
_)
1
O
(J1)
motors.
6000
5ooo
Internal
__3
O
standard
Selection
EncoderResolution
pulses/rev
6.7.2
O
O
1
C
8
8
TMI TM2
Fig. 6.16
["_
VR18
NVB"
] (]_ [VR14
Internal Switch Arrangements SERVOPACK
Type CACR-PR [-][-_]BC3 r-]r-n
--
38 --
I
D
6.7.3
Switch
setting
Ifprocedures
Setting Procedure
required,
alteration
below.
is
using
reset
•Select reference pulse input from,
effective logic and voltage level.
Select effective logic of control signal
(C-L.I-N-H)and voltage level.
SW20-O
to®
SW 40 - (_) and (_)
SL20
SW40-@and@
SL10
Determine of input reference pulse
frequency and operating speed range.
Calculate
output frequency
of
encoder (PG).
D
1
SW2"(!)
Set frequency drividing(1 ) and (2),
and multiplier made.
to O
sw30-(_ to®
FFSW1toFFSW6
SW40-_)
•Set bitnumbers
D
of D/A converter,
sw 1O-C)and_)
width•
Set positioning completion lag pulse
SW
10-_)to_)
Select AC SERVOMOTOR type.
SWl -C) to (_)
Completion of internal
switch settings.
• Fig. 6.17
6.8
Procedure for Switch Settings
ADJUSTMENT
There
are
seven
potentiometers
on
the
SERVOPACK
panel:
IN-B,
CFV,
BIAS , LOOP,
ZERO,
CUR
and
PG5V.
Normally,
where
adjustment
is required
depending
on the use,
readjust
the
IN-B
and
LOOP.
The
adjustment
of CFV and
BIAS
is used
to compensate
for
high
speed
positioning.
Table
6.22
shows
potentiometer
adjustment.
D
-- 39 --
6. 8
ADJUSTMENT
(Cont'd)
a
,qm
Table
Potentiometer
6.22
VR1(IN-B)
Functions
Adjustment
VR3 (ZERO)
Position
Loop Gain
Adjustment
To increase gain,
CW.
Potentiometer
turn
How to Adjust
Speed Amplifier
Adjustment
VR5 (CUR)
Zero
Compensate
the following
condition with zero
adjustment.
• Where
the positioning
completion
signal is
Starting
Current
Adjustment
Turning
_
CCW decreases
the peak value of
starting current.
_
has been preset fully CWat the factory.
output unbalanced.
• Where
the vibration
of
one pluse response
is
large at servo lock.
VTG
1
Characteristics
0
OUTPUT
,_,,'SPEED
X
°X-'NP°T
GAIN
2 OPTIMUM
3 SMALLGAIN
Potentiometer
Maximum
outputvoltageof
speed amplifiervaries,
VR6 (LOOP)
Functions
VR15 (BIAS)
Speed Loop Gain
Adjustment
To increase gain. turn.
CW.
How to Adjust
Speed Reference
Compensation
VR16 (CFV)
Bias
VR21 (PG5V)
Voltage
Adjustment
PG 4- 5 V Power
To increase bias
compensation voltage,
turn _
CW.
Adds feed forward
compensation
to increase
the apparent Kpvalue
If compensation
is
excessive, the motor
and to improve the response. 5.25V at the factory
Turning _
CW
will
hunt.
To prevent hunting,
CCW.
Speed Reference
Feed
Forward Compensation
i
of
Voltage adjustment for
PG power.
_
has been preset at
increases the compensation.
turn
If compensation
is
excessive, the motor will
hunt.
Characteristics
BIASVOLTAGE
-- 40 --
Turning _
CW
increases the voltage.
If the influence of voltage
drop occurs due to long
voltage.
Do not PG,
set increase
_
to
wiring
the 6V
or above.
•
1
D
6.9
CHECK
The
check
functions
Do
not
irrelevant
TERMINAL
terminal
are shown
saturate
arrangement
the
panel
in Table 6.23.
the
check
terminal
with
or extraneous
on
CIRCUITBOARD
substance.
PULS
SIGN
COIN
PA
CFV
C-AJ
PB
PC
B-AJ
is
shown
in
Fig.
6.18.
The
check
GND
I_
teminal
Fig. 6.18
IN-B
O_
VTG
o
o JPV
T-M
O
o ] PW
IU
IV
o
o
o ] PG5V
o JGND
Check
PU
Terminal
Arrangement
D
D
D
Table
6.23
Check
Terminal
Symbol
Functios
Functions
PULS
Reference pulse
PULS1 (or CW pulse train, two-phase
SIGN
(main input) signal
SIGN1 (or CCW pulse train, two-phase
pulse)
CFV
Reference pulse f/V converter
C-AJ
B-AJ
Speed reference feed forward compensation
voltage.
Speed reference BIAS compensation
voltage.
IN-B
Speed reference(D/A
pulse)
output.
converter output
voltage):
Notes:
1.
Optical encoder(PG)
input signal
• Waveform at motor forward running.
approx. 4- 6V/full
bit.
PA* __
;
PB *
VTG
Speed feedback signal
• M, F series
4- 4V/1000
T-M
Torque reference
signal:
IU
(Phase-U)
Motor
current
Type
03
05
07
10
IV
(Phase-V)
Motor
current
[V/A]
0.4
0.24
0.20
0.16
COIN
Positioning
completion
PA
PB
monitor
° S series
r/min
4- 2V/1000
r/min
signal;
COIN
*Two-phase pulse with 90" phase
difference.
15
20
0.08
Phase-B
pulse
44
0.04
t Synchronizing
One generationwith
per PA.
motor turning.
• Waveform
at motor
forwardrunning.
2. Pole
sensor input
signal.
PV i
input.
Phase-C pulse input.
PU
Phase-U pulse input,
Pole sensor input
signal.
30
at L.
PhaseApulseinput.
Opticalencoder(PG)
input signal.
I _
'
'
[i,,:
Pw
', I
Phase-V pulse input,
Phase-W
;
'
'
i
'
,
;
;
t-t-mi :,,', r
pulse input.
CURRENT
__,_,.
0
PG5V
Opticalencoder(PG)
GND
Signal
power
supply
voltage:
;I
3. The motorgenerating_torque
conversion
by torque reference
monitor signal is
largeat high-speedrange. Compute
the precise data by motor current
measurement.
MOTOR
PW
', '
PC+
4- 3.0V/100%
PC
PV
I
4-5V.
MOTOR
OV.
GENERATING
Ip
/--f-
--
41
--
TORQUE
X TORQUE CONSTANT
6• 10
PRECAUTIONS
6. I0.1
Minus
FOR APPLICATION
made so that the power is supplied
and cut through
the primary
or secondary
side of the transformer•
Single-phase
100V class
power
supply
should
not
Load
The motor is rotated
by the load;
it is impossible
to apply
brake(regenerative
brake)
against
this
rotation
and achieve
continuous
running.
be
Example:
6.11.1
Driving
a motor
to lower
objects
no counterweight)
Since SERVOPACK
has short
time regenerative
brake
capability
(corresponding
to the motor stopping time)
for application
to a minus load, contact
•
your YASKAWA representative,
6. I0.2
Load Inertia
PRECAUTIONS
Noise
noise)may
somewiring
or grounding
incorporates
CPU.
This
noise
as much
of the applicable
AC SERVOMOTOR•
If the allowable inertia
is exceeded,
an overvoltage
alarm may
as possible,
and grounding
wiring
be given
during
deceleration.
take the followingactions:
• Slow down the deceleration
(I)
For
tative,
6. I0.3
the
details,
maximum
contact
High Voltage
If
the
this
to the
inertia
SERVOPACK
in the main
switched,
requires
wiring
and provision
to prevent
interference.
To reduce
switching
noise
• Decrease
JL converted
five times
Control
the effect oz--_-or-_-t
r di
d....tswltchmg
times occur
depending
on the
method.
The
The
allowable
load inertia
motor shaft
must be within
OF OPERATION
SERVOPACK uses is a power
transistor
circuit.
When these
transistors
are
(JL)
occurs,
curve•
your
YASKAWA
the
Grounding
. Motor
speed.
recommended
method
is shown
in Fig. 6.19.
(Fig.6
method
frame
of
19)
•I
grounding
When the
motor
is at the machinedvside
and
grounded
through
the
frame,
Cf _ current
flows from the PWM power
through
the floating
capacity of the motor• To prevent this effect
of current,
motor
ground
terminal
(_ (motor
frame)
should
be connected
to terminal
_ of SREVOPACK.
(Terminal
_ of SERVOPACK
should
be directly
grounded.)
represen-
Line
If the supply
voltage
is 400/440
V,
the voltage
must be dropped three-phase, 400/440V to 200 V
by using a power transformer. Table 6.26 shows
the transformer
selection.
Connection
should
be
q
used•
6. 11
(with
.,m
q
i
i
TYPE
CACR-PR
W
_}.5 mm
i OR
2CN
_ORECASE
tCN
• OPERATING
SEQUENCE
I
(_
RELAY
3.5 mm2
• USER SIGNAL
GENERATING
MORE
CIRCUIT
I
I.
P___
OR
MORE
P
--
3.5 mm2
ORE
LEAD OF
3.5 mm2 OR MORE
CASE
PANEL
=
Notes:: Twisted
GROUNDING
ONE POINT GROUNDING
cable
1. Use wires of 3.5ram 2 or more for grounding
copper
wire).
2. Connect
line filters observing
the precautions
to the case (preferably
flat-woven
Win 6. 1 9
asshown
in (2) ,"Noise
-- 42 --
filter
installation"
--'_"
r4 nllndlnn
_rv_.._..._
Method
D
When
(2) Noise
noise filter
filters installation
are installed
to prevent
noise
from the power line, the block type must be used.
The recommended
noise
filters
are
shown
in
Table 6.25. The power supply to peripherals also
needs
output
line or other
signal
(b) in
Do the
not same
bundleductthe ground
_
noise filters.
_
-L------_]
I
NOTE
If the noise filter connection is wrong, the effect decreases greatly. Observing the i_recautions, carefully
connect them as shown in Figs. 6.20
lines or run them
lead with the filter
I
_
!
:_
_=_
_.
to 6.23.
"_
BOX
BOX
POOR
.Table
6.25
SERVOPACK
Type CACR-
Recommended
Applicable
Noise Filter
PR05BC
_
PR07BC
_
PR15BC
200 VAC class, 5 A
Three-phase
LF-310
Three-phase
200VAC class, 10A
LF-315
200 VAC class, 15 A
LF-320
PR30BC
PR10BC
_CORRECT
LF-330
Note:
Noise
filter
made
by Tokin
(c)
LF-305
_
WRONG
Filter
RecommendedNoise Filter
Type
Specifications
PR20BC
PR44BC.. :
D
Noise
LF-340
D
Separate
bundle
or
Connect
the
or the ground
Three-phase
200 VAC class, 20 A
Three-phase
200VAC
class, 30A
Three-phase
_
lead
SHIELDED
THICK,,. _
AND
GROUND
SHORT
singly
to the
box
"_
.__
200 VAC class,40 A
Three-phase
*Equipment
BOX POOR
Corp.
the input
and output
leads.
run them in the same duct.
ground
panel.
E:_
(d)
(a)
GOOD
Fig. 6. 21
Do not
BOX
Fig. 6.22
GOOD:
' "
If the
control
panel
contains
the filter,
connect the filter ground and the equipment
ground
to the base of the control
unit.
z
*Equipment
i
L
so×i SASE
Fig. 6. 23
SEPARATE
POOR
GOOD
:Fig. 6.20
/
CIRCUITS
6.11.2
Power
Line Protection
The SERVOPACK
is operated through the commercialpower line (200V). To prevent
power
line
accidents
due to groundipg
error,
contact
error,
or to protect
the system
from a fire,
circuit
breakers(MCCB)
or fuses
must be installed
according
to the number
of SERVOPACKS
used { Table
6.26).
'
A quick-melting
fuse cannot
be used,
because
the SERVOPACK
uses
a capacitor-input
power
supply
and the charging
current
might
inadvertently
melt such a fuse.
-- 43 --
6.11.2
Power
Line
Table
Protection
(Cont'd)
6.12.2
Magnetic
6.26
Power Supply Capacity
MCCB
or Fuse Capacity
SERVOPACK
Type CACRPR03BC
Power Capacity*
per SERVOPACK
0.65 kVA
Use of Servomotor
Brake
with
A1
Holding
and
Current Capacity per
MCCB or Fuse
5A
I
When SERVOMOTOR
is used,
use
the
OFF
signals.
The
released
by
current
with holding magnetic
brake
following
timing
for ON
and
holding
magnetic
brake
is
condition.
PR05BC
1.1kVA
5A
ON
PR07BC
1.5 kVA
8A
HOLDINGMAGNETIC
PR10BC
2.1kVA
8A
BRAKE
_..s MIN
*1
PR15BC
PR20BC
3.1 kVA
4.1kVA
10 A
12A
PR30BC
6.0kVA
18A
REFERENCE
PULSE
APPLIED
i
I
t
I
I
OFF
I
BRAKERELEASE
OFF
REFERENCE
PULSE
INPUT
ON
PR44BC
8.0 kVA
24 A
"Values at rated load.
Note: For ground fault interruptor, specify the high-speed
type. The time delay type is not adopted
6. 12
6.12.1
If the
normal
SERVOON
machine
forward
_
I _
It
I
MOTORROTAT,ON
/
\i
APPLICATION
Connection
I
OFF_---:
t,*3
-_
for Reverse
construction
reference
is
Motor
requires
used
for
that
the
reverse
"1 release
Input speed
reference
0.1s input.
or more after
reference
has been
"2 (Do
Applynotbrake
use
case,
change
of
required.
For
dividing
output
B-phase.
Note: Turn
Servo
lock
approximately
PG connection
is not
reference,
frequency
SERVOPACK
forwards
Fig.
SHORTED I_
(0V OF
6.25
the
brake
the
after brake
the motor
to decelerate
has stopped
the motor.)
completely.
•3 "t" shows a delay time greater
time(10ms}
of one relay.
and
_CN2-1
9
,2
Running
motor
running
and
the
normal
reverse
reference
for forward
running,
short
circuit
across
CN2-1
and
CN2-7
of connector
2CN for
the PG.
In this
motor
forward
from
OFF=
than
the operating
on SW4- (_) (installation
of setting
status
after
Servo OFF is held
200 ms.
Holding
Magnetic
Brake
ON-OFF
plug).
during
I
Timing
PG)
_
Fig.
6.24
1
-- 44 --
D
D
D
7.
INSTALLATION
7.1
RECEIVING
AND
This motor has been put through
at the factory before shipment•
however,
check
stringent
tests
After unpacking,
for the following.
• The output shaft can be hand-rotated
freely.
However,
the brake-mounted
motor does not
rotate since it is shipped
with the shaft locked•
• Fastening
bolts and
screws
are not loose•
If any part of the motor is damaged
or lost,
immediately contact your YASKAWA
representative
giving full details and nameplate data.
7.2
Before
Storage Temperature:
Humidity:
20%
(4) Load
to 80%
0°to +40°C
-20°to +80°C
RH(non-condensing)
coupling
True alignment of motor and driven machine is
essential to prevent vibration, reduced bearing
and coupling
life, or shaft and bearing
failures.
Use
flexible coupling
Alignment should be made
Fi9. 7•2.
with direct drive•
in accordance
with
®
be installed
either
hori®
mounting
Wipe anticorrosive
paint
on shaft
flange
surface
with a cloth before
m°t°r
conditions
Temperature:
INSTALLATION
AC SERVOMOTOR
can
zontally
or vertically.
(1)
(3) Environmental
Ambient
• Its nameplate ratings meet your requirements•
• It has sustained
no damage
while in transit•
t° the
driven
machine"
See
extension
connecting
and
the.
Fig"
ANTICORROSIVE
7" I "
PAINT
(_) Measure
the gap between a straightedge
and coupling
halves
at four equidistant points of the coupling. The each reading should
not exceed 0.03 mm.
®
Align
the shafts.
® Measure the gap between the coupling faces at four equidistant
points around the coupling rim with a thickness gage. The maximum
variation between any two readings should not exceed 0,03 ram.
D
i
sive water
or oil droplets,
protect
the motor with
if the AC SERVOMOTOR
is subject
to excesa cover. The motor can withstand a small amount
of splashed
water or oil.
WIRING
Fig. 7.2
386-5
Fig. 7. 1 Anticorrosive
Paint to be Removed
(5)
the
motor
under
the
following
conditions.
• Indoors
• Free from
liquids
• Ambient
• Clean
corrosive
temperature:
and
• Accessible
cleaning
and/or
explosive
gases
or
-I0 to +40°C
dry
for inspection
maintenance
bearing
Avoid
both
thrust
and
shaft.
If unavoidable,
in Tables
4.1 to 4.3.
(2) Location
Use
Allowable
Alignment
and
-45
--
of Coupling
load
radial
never
loads
to the motor
exceed the values
7.2.2
(i)
SERVOPACK
7• 3
Iz_stallation
The
(2)
7.3.1
SERVOPACK
mounted
type
type
CACR-PR[:][:]BC
is a rack-
as standard.
a panel:
•
Keep the ambienttemperature
at 55°C or below.
• When
installed
in
installed
near
around
are
absorbing
Select
water,
hot
or metallic
air,
high
particles•
exist
long
opera-
conditions:
with
minimum
exposure
humidity,
to oil,
excessive
dust
(3) MountingDirection
Mount
the SERVOPACK
unit vertically
on the wall
with
main terminals
being
at the bottom
to take
ad'vantage
of natural
air
convection.
( See Fig,
.7.3(a).)
Instal]
it with
setscrews
tightened
at
four
mounting
holes
in
the
unit
bace.
To
change
to
base-mounted
type,
change
the
support
Mounting
position
screws
ofas baseshown
supportin
Fig.
are
I
I
_
7.2
UPPORT
'_
l
VENTILATION
of SERVOPACK
Mounting
Connector
Ground
--
10
5.8
7.6
12
18
24
•
11.7 18.8 26.0 33.0
0.5
1OOmA DC max
46 --
Cable Size of SERVOPACK
Cable Size mm2
PR
PR IPR IPR PR 20BC30BC44BC
PR PR PR
03BC05BC07BC10BC15BC
j_
MainCircuit R. S. ] HIV 2.0 or more
HIV 3.5 HIV HIV
PowerInput
or more 5.5 5.5
On Motor
U, V. W HIV2.0 or more HIV3.5 or more
more°rOrmore
Une Control
Connection
Signal
Connector
ControlI/O
Line PGSignal
Fig. 7.3
3.8
Recommended
_T_
External
Terminal
Off
(b) Base-mountedType
8
2CN 100mADCmax(50OmADCfor powerlineonly)
_u_
=
PowerInput
(a) Rack-mountedType
6
Line PGSignal
Connector
Ground
f ]
t
VENTILATION.
5
1CN
7.3(b).
attached
,.-I
Rated Current
ControlI/O
Signal
Off Connector
Table
WALL
_
• l
bear
the
of 40 °C•
I
to the SERVOPACK.
WALL
cables
Can
temperature
cables.
_T_.
Rated Current A (Effective Current)
_
PR PR PR PR PR PR PR PR
s_,_ \93BC 958C 97BC I08C 15BC 20BC 30BC 44BC
MainCircuit
PowerInput R,S,T 2
On Motor
Une Connection U.V.W 3.0
Control
Power Input_ r. t
present:
atmospheric
a location
External
Terminal
material.
Avoid
locations
where
corrosive
gases
since it may cause
extensive
damage
over
use.
Especially
vulnerable
are switching
tions of contactors
and relays.
• Unfavorable
q
SERVOPACK
Table 7.1
• If subjected
to vibration:
Mount
the unit on shock
gases
and Cable Size
source:
Keep the ambienttemperature
below 55°C.
• If corrosive
Rated Current
so that
a bundle
of three
rated
current
at an ambient
Table
7.3 lists
the type
of
aroundSERVOPACK
a heat
,din
Tables
and cable
7.2 show
current, 7. Iand
sizes external
of the term'inals,
Dower• unit rated
and
SERVOPACK,
respectively.
Select
the type
and
size of cables
to meet
ambient
conditions
and
current
capacity/.
The cable
size is calculated
Location
• When
WIRING
r. t
HIV 1.25 or more
1CN
• Core must be 0.2 mm2 or more
° Tin-plated soft-copper twisted cable
* Two-core
twistedshiledcable
2CN * Finished
cabledimension:16diaor lessfor1CN.
--L-_
HIV 2.0 or 11diaor
more lessfor2CN
Table7.3 Cable
D
D
D
D
Type of Lead
(R .F .I)
(4) Remedy for Radio Frequency Interference
SERVOPACK
is not provided
with protection
from
radio
frequency
interference.
If the controller
is adversely affected by radio waves,
connect
a noise filter
to the power
Supply.
Allowable Conductor
Temperature
Vinyl Cable (PVC)
600 V Vinyl Cable (IV)
60
SpecialHeat-Resistant
Cable(HIV)
Notes:
75
(5) The
extremely
excessive
1 For main circuits, use cables of 600 V or more.
2. Where cables are bundled or run through a duct (unplasticized
polyvinyl chloride conduit or metalic conduit), select the larger
cable size than listed considering the current drop rate of the cables.
3. Where the ambient (panel inside) temperature is high (40"C to
7. 3. 3
6O•C).useheat-resistant
cables.
7.3.2
Wiring
SERVOPACK
1, and signal
is a device for speed control of 3000:
level of several
milli-volts
or less.
ground
resistance
one
point.
ground
the
Table 7.4
solenoid
is shown
in
line,
cable
should
100 fl or less).
Make sure
If the motor and machine
a surge
Power Loss
A
Current
Circuit
W
Main
PR03BC
PR05BC
3.0
3.8
20
40
PR07BC
5.8
60
PR10BC
PR15BC
7.6
11.7
70
80
20
heavy
PR20BC
18.8
100
40
200
to ground
at
are insulated,
PR44BC
33.0
100
370
be
as
3due
ground
(groundtake
to noise,
suppressing
.210
Resistance Circuit
W
W
W
Regenerative
Control
Total
90
110
10
140
60
150
160
Note:
The regenerative resistor causes power loss when the motor is
decelerated, but is negligible if the motor is not started and stopped
motor.
to mount
Power Loss at Rated Output
CACRType
PR30BC
frequently. 26.0
• Place
noise
filters,
SERVOPACK
and
I/O
reference
as near as possible
to each other.
sure
of SERVOPACK
3ERVOPACK Output
is a maximum
of 3 m for referand a maximum
of 20 m for PG
Use the shortest
possible
length.
as possible
to provide
Class
(3)
To prevent
malfunction
the following
precautions:
• Make
loss
Precautions
Cable
length
ence input
lines
feedback
lines.
For
Power Loss
The power
Table 7.4.
wiring•
The following
precautions
should
be taken
when
(1) For signal
lines and PG feedback
lines,
use
twisted
cables
or multi-core
shielded
twisted-pair
cables(Yaskawa
Drawing
No. DP8409123
or
DE8400093).
(2)
signal
line uses
cables
whose cores
are
fine (0.2 to 0.3 mm )•
Avoid
using
force which may damage
these
cables.
circuit
coils.
• Run the power line and signal line, keeping
the
distance to 30 cm or more; do not run them in
the same duct or in a bundle.
into the relay, electromagnetic contact, and
• When the same power is used for SERVOPACK,
as for an electric welder or electrical discharge
machine or when a high-frequency noise source
is present
in the vicinity,
use filters in the
power
and input circuits.
-- 47 --
160
80
300
8. DIMENSIONS
in mm
(inches)
8. 1 SERVOMOTOR:
M SERIES
(1)
Standard
[ Taper
Shaft
", T
L
LL
LM
=_' :
KB2
MOTOR
CONNECTOR
]
OPTICALENCODER\
Drawing 1
_
I
LI_ ]
LC
_
_
..,,=
61
i
J
4-_LZ
[Straight
Shaft]
L
LL
LM
MOTOR
CONNECTOR -LT
_;
LE
__i
OPTICALENCOO_R_
' TAPER1/10
I.-I_[
'
co_c..
Drawing 2"
-
Detail of Shaft Extension
_
,
_____
__
KB1
_
L_
4-¢LZ
* For USAMED-44MA2,
0.04 (0.001 6).
tOnly for USAMED-09MA2.
Detail of Shaft Extension
1
AC SERVOMOTOR
Type
Dwg
No.
USAMED-03MAI*
1
USAMED-06MAI*
1
USAMED-09MA2*
USAMED-
12MA2*
L
LL
LM
318
260
214
58
(10.236
(8.425)
2
406
(15.°_4)
348
(13._01
(ll.302
SV.@)
2
(13. 78)
350
(10.669
271
USAMED-30MA2
USAMED-44MA2
2
(19.409)
493
(I_,299)
414
(14.016)
356
2
725
(2_543)
615
(24.213
557
(21.929)
1
USAMED-09MA2*
USAMED-12MA2*
2
2
USAMED-20MA2
USAMED-30MA2
2
2
USAMED-44MA2
2
S
181
110
] (4.331)
} Q
See Drawing 1.
Approx
Mass
kg (lb)
8.5 (_9)
13 (m)'
IE
Flange
_KL1 KL2KL3KL4
LA
LB
176
(69.
29)
(9.173)
250
(9.843)
322
(12.677)
171
(9,134)
Surface
LC
LE
LG
LH
LZ
O
233
(7,126)
(6,732)
79 I_)
58
i3.m
Shaft Extension
Type
No.
USAMED-03MAI* 1
46
(1.811)
213
408 m._)oo.669)
329 271
(16._1
USAMED-06MAI*
(2.Z83]
(8, 386)
2
KB1 KB2
124
(4.882)
(12,52)
Dwg
LT
261
203
157 )
(10.
276) (7.
992) (6.181
USAMED-20MA2
AC SERVOMOTOR
LR
(4,409)
112
(3.661)
93
(6.614)
168
158
(6. 22)
(5.709)
145
(4.
110 -o.o_
331-o.oo,a,)
0
137
110
202
175
200
114.3-o.o_
(7.9s3)
(a89)
(7.874)
(4.5-00.000984)
130
(5.118)
6
(0. ?.36)
12
(0.472)
165
9
(6,496)
(0, 354)
232
o
229 (..un
290
¢9.o_6)
(12.362)
314
(14.764)
375
124
(5.394)'
(4.331)
482
(18.976)
587
(23.11)
(4.8¢_)
150
(5.906}
lO0
{3.937)
-(9.252)
235
3.2
18
230
13.5
(0.126)
(o.7o9)
(9.055)
(0.53l}
q
165
(6.496)
Motor Connector Types
Receptacle
180
(7.o87)
Optical Encoder Connector Types
L-typePlug StraightPlug] CableClamp Receptacle L-type Plug Straight Plug CableClaml
MS 3102A 18 MS 3108B 18 MS 3106B 18
-10P
-10S
-10S
MS 3057
-10A
z2_to.
(o.__:._,,)
40
..
STS>20• (44)
22 (4s)
as_o,
(1.378"o°
"_)
76
(z._)
29
(64) MS 3162A 22 MS31_ B 22 MS 31C6B 22
-22P
-22 S
-22 S
41 (90)
MS 3057
-12 A
422o,6 110
(] _-_oo_) (4._n
66
MS 3C57
-16 h
(14s) MS 3102A 32 MS 3108B 32 MS 3106B 32
-17 P
-17 S
-17 S
MS3102A2£MS3108B20MS3106B20
-29P
-29 S
-29 S
MS3057
-12A
• Not providedwith an eyebolt.
Notes :
1. Opticalencoder(6000 pulses/ray) is usedas a detector.
2. Vibration: 15/tin or below.
3.- Plug and clamp are not attachedfor receptacleconnection.
II
--
48 --
(2)
With
Brake
D
D
:
]Taper
Shaft
]
Drawing
LT
1
_ _
i
I_
%
iiii
"
DETECTOR
SIDE
Shaft ]_ -
Straight
'
MOTOR
S_DE
(BUILT-IN HOLDING
pDetail of--,TA.ER..O
Shaft Extension
o 4-_LZ
BRAKE)
LLL
,..K%
Drawing
2
'I_'[_F
'_
03MAIOE*
1
LL
LM
LR
LT
u
_
MOTOR SIDE
KB2 KB3
L
KB1
*Only
for
USAMED-O9MA2OE
4-_LZ
KL1
IE
316 258
214
(12.441)_
10.157) (8.425)
LR
I
\.--
\
DETECTOR
ACSERVOMOTOR
Dwg
Type USAMED- No.
LC_.
KL2 KL3
LA
Flange Surface
LC LE LGiLH
LB
Shaft Extension
S
Q
LZ
233
(9.173)
362 304 260
21
28
06MA1OE*
1
09MA2OE*
2
44 116 279 158 (BUILT-IN113
93 BRAKE)
147 145 110-°¢o_130 6
12 Detail
165 of 9Shaft (_'n
SIDE
HOLDING
Extension a._o2)
14.2_,_.(11.969)(10.236) (z.283) (I.TJ_) (4.567) (10.9_4) (6.220) -(4.449) (3.o9|) (_78"/) (5.70s) (4.331_°oom) (5.|ta) (0.236) ((0.47z) (6.4o9) (0.354)
22-_.m
40
452 _15312}
394 ([3.780)
350
369
(0.866.._°_.)
0.575)
(17.795)
(14.528)
12MA2OE
2
426
347
292
(16,772)
,(13,O91)
(II.4o9)
I
490
411
58
311
12.244)
356
79
55
165
375
220
124
143
110
171
20MA2OE
2
419291) (16.18D1(14.016)(3.110) (2.165) (6,496) (14.764) (8.661) (4.8_) (5.630) (4.331) (6:r_)
30MA2OE
2
571
492
437
(22.480)-,(19370)
(17._
ACSERVOMOTOR
Dwg
Approx
Mass
200
114.3-_
(7.8?4) (4.5
180
3.2
18
230
13.5
35%0°'
_°ooo_) (;'.os'/) (0.126) (0.7o9) (9.o95) (0.531) (1.378+_°°¢_)
76
(z.o92)
456
(17.953)
Brake
Torque
Connector Types for Motor and Brake
Optical Encoder Connector Types
Receptacle
L-type Plug Straight Plug Cable Clamp Receptacle
L-type Plug Straisht Plug I CableClamp
11.5
03MAIOE*
1
(zb)
IS
kg(aa)
(Ib)
23
(51)
30
(66)
37
(el)
49
(1o8)
06MAIOE*
1
Type
USAMED- No.
09MA20E*
2
12MA20E
2
20MA20E
30MA20E
2
2
* Not provided
Notes :
1. Optical
2. Vibration:
with
encoder
(6000
MS3108B20
-15S
MS 3057
-12A
-29
P
35.28 MS3102A24
(3,zs)
-I0P
MS31(_B24 MS3106B24
-I0S
-I0S
3.
4.
pulses/rev)
is used as a detector.
Plug and clamp are not attached for
Power supply for brake is 90 VDC.
5. For type
-29
S
-29
S
-12
A
MS 3057
-16A
USAMED-44MA20E.
contact
receptacle
your
connection.
YASKAWA
representative.
15 ,urn or below.
Shaft
with
Extension
Keyway
Both
and
SERVOMOTORS
with
brake
have
except
for
extensions
of
Straight
without
the same
Shaft
brake
dimen-
shaft
extension.
are. shown
below
•
ACSERVOMOTOR
TypeUSAMED-
_
With Brake
03MA2K
03MA2KE
06MA2K
06MA2KE
09MA2K
09MA2KE
12MA2K
i2MA2KE
20MA2K
20MA2KE
30MA2K
44MA2K
30MA2KE
44MA2KE
(4._11
11o
:
.
D
w[___
_
*Only
for USAMED-03MA2[:]
to-09MA2[:]
Shaft
LR
Without Brake
LR
LE
MS3106B20
-15S
MS3102A20MS3108B20MS3106B20 MS 3057
an eyebolt.
(3)
sions
Shaft
5.88
MS310_A20
(_.,i
-15P
N'm(lb'in)
--
49
--
LE
S
Q
Extension
QK
19--_*Ol3
o
58
6
(0. 748 -o._,,)
(2.283)
(0,236)
(1.378+_
_)
(1.654-_)
42 -:o,.
5
3
6
(O. 805
35%
-_t.)
"°'
(o.
lze)
3.
2
U
40
25
(o.=971 (o.m)
(1.57S)
(0.9_4)
22 Ao,,
(3.n)
79
T
3. 5
W
5
(o.l_)
6
(o.z36) 10.138) (o.236)
(z_e)
76 (z.3_)
6o (o.31s)
8 (o.1971
5 (o.3_)
I0
I4.3311
11o : (a._31
90
I
(0.4_)
12
8.2. SERVOMOTOR:
F SERIES
(1) Standard
I Taper Shaft
Drawing 1
I
L
MOTOR
i
LL
CONNECTOR
OPTICAL
ENCODER XjI'LT
LR i
LM
KB2
i
CONNECTOR
\N"
'
_
TypesUSAFED-02FA1,
TypesUSAFED-05FA1,
and -03FA1
and-09FA1
LC
I ¢4
LR
,5
8/
.............
"
'- i-' iy
[Straight
YMOP'OIj"
)AP R
4-_LZ
Detail
of Shaft
,
r8
LR ,
f.-,
o.?,N
h_
TAPER
t,tO
Extension
Shaft]
Drawing 2
MOTOR
L
LL
=
CONNECTOR
-LT
OPTICAL ENCODER _ _ . "
CONNECTOR
_
=
KBt
l
-
LR
LM
KB2
;-
I
:
LC
•
_,_L_
=_ I
j
I
L
-
_,
_E (8o_.'(15)
* Only for USAFED-13FA2
,
[
Detail
of Shaft
Extension
4-_LZ
ACSERVOMOTOR Dwg
Type USAFEDNo.
02FA1
1
03FAI
1
05FAI*
1
09FAI*
I
13FA2"
2
20FA2*
2
30FA2
2
44FA2
2
AC SERVOMOTOR Dwg
L
LL
LM
LR
LT
KB1
KB2
IE
KL1
KL2
KL3
KL4
LA
Flange Surface
LC
LE
LB
LG
LH
LZ
190
153
113
89.5
132
(7_o)
(_a)
(4._9)
37
40
(3._4) (5"1_)
236
199
159
(].45-/) (].5-/5) 135.5
178
(9.Z_Sl)
(-/.s3s)
(6.260)
(5.335) ('/.IX)l)
261
203
157
124
124
(10,276)(7.992)
(6.181)
(4-882)
(6.929)
76
89
126
139
100
80 _o°.o_
(2.992) (3503) (4.g61) (5.472) (3.93-/) (3.150 -o_x)l°
18)
°K)
4
7
120
6.6
(3.543) (0.15-/) (0.276) (4.724) (0.260)
318
260
214
58
(lZ_Z) (lO.Z_) (_.42s) (_)
406
348 (11.8_)
302
(15,984)(13.7Ol)
350
271
213
03.78)
(10.669)(a386)
46
181
233
(1_11) (-/.1z6) (s.13-/) -250
322
(9.843)(12.677)
112
93
(4.409) (_1)
168
158
145
(_e14) (5"zz) (5"xm
110 _o._
0
(4.331 -_01_)
130
6
12
(5"118)(o.236) (0_)
408
329
271
79
(1_)
(_z_) 00._)
(3.m
(19,409)05,299)(14.016)
58
(z_)
137
(_)
202
(-/._)
114.3 _o°_
0
( 4.5
-o.ooco_)
180
3.2
18
230
13.5
(7.(_7)
(0.126)
(0.709)
(9X)55)
(0,531)
493
414
Shaft
356
Extension
Type USAFED-;
No.
S
Q
02FAI
1
11.5
15
03FA1
1
05FAI*
09FAI*
1
1
13FA2"
2
20FA2*
2
30FA2
44FA2
2
2
171
232
(6.732)
(9.134)
229
29o
(9_10 (11,4_n 124
(12.326)(14,-/64)
314
375
110
(4._)
175
(_}
200
(-/_4)
¢o_91) (49)
-2 S
8.5
21
28
(_9)
(o_)
(1.1_)
13
MS 3102A 18
(29)
-10 P
-_,
40
2o
(0.8622 __.,)(,.sn)
(,4)
22
(_s)
35 +_
76
29
MS 3102A 22
(1.378 +_)
(z_z)
(64)
-22 P
41
(_o)
165
9
(6.4_) (0-._._)
(4_sz)
i
Approx
Motor Connector Types
Mass
kg (lb) Receptacle
L-type Plug IStraight Plug Cable Clamp
3.5
(0)
MS 3102 A 14 S VIS31($ B 14 S MS 3106 B 14 S
MS 3057
(0.4sa)
q
-2 S
-2 S
-6 A
MS 31_ B 18
-I0 S
MS 3106B 18
-I0 S
MS 3057
-10 A
MS 31_ B 22
-22 S
MS 3106B 22
-22 S
MS 3_57
-12 A
Optical
Receptacle
MS 3102A 20
-29 P
L-type
Encoder
Plug
MS 3108B 20
-29 S
Types
Straight Plug Cable Clamp
MS 3106B 20
-29 S
MS 3057
-12 A
• Not provided
with an eyebolt.
Notes :
1. Optical encoder (6000 pulses/rev) is used as a detector.
2. Vibration: 15/_m or below.
3. Plug and clamp are not attached
for receptacle
connection.
t
-- 50 --
(2)
With
[Taper
Brake
Shaft
]
L
L,
_
LLT,
Drawing
1
LM
_I
I
_
_-_
DETECTOR MOTOR/
SIDE
SIDE
HOLDING_
BRAKE
(90VDC)
LE-
_5_;256)
o%._
i
I:
"_
4-_,LZ
TAPER
1/10
Detail of Shaft Extension
D
I Straight
ShaftJ
L
LL
I_T
Ill
Drawing
LM
,_
V
2
._ ._
.L_.I
KB3
LC
KB_
_!
L_0315)-
.-I
_o_.7,
--
I I P'_I'-'ZI_ ='--_" _
4-_LZ
Detail of Shaft Extension
I
LT
_
_, _
--
.KB2KB3
_-
3
I
_I._I._F
i
L
LL
LM
r
Drawing
.
C)
ilt
DETECTOR MOTORSIDE
SIDE
(BUILT-INHOLDINGBRAKE)
Shaft
LR
2s I.__'°_°_ '
t :i
I
I Straight
,
.
.
KB1
LC =
(0.315)
LR
Q
"x
__l_C.__
__
DETECTOR MOTOR SIDE
SIDE
(BUILT-IN HOLDING BRAKE)
D
-- 51 --
_
L___
* Only
_
for USAFED-13FA20E
4-_LZ
Detail of Shaft Extension
8. 2 SERVOMOTOR:
F SERIES
(Cont'd)
Dwg
AC SERVOMOTOR
Type USAFED02FA10E
No.
1
03FA10E
1
05FA10E*
1•
Flange
L
LL
236
199
(9.291)(7_)
LM
LR
159
(_z6o)
37
LT
40
2861249
209 0.45_) il5_)
(n_o) (9_) (6`zzs)
316 (Ia157}
258 {6`125)
214
(12-441)
KB1 KB2 KB3
178
24 !(7_o8)
IE
1
2
362 304
260
58
44
116 279
158
(14_) (n._gl (1o._5 cz.zs3)(1.7_) (4._) ClO._) (6`z_)
452 (15.512)
394 (13.780
350
369
(17.780)
[14.5_)
20FA20E
2
426 1347
(16.772)
(13.561)
292
(llAg65
30FA20E
2
490 i 411
356
44FA20E
2
AC SERVOMOTOR Dwg
Type USAFED-
No.
LA
76
89
154
100
--
LB
80
(_z_) (x_75 (3.150
113
93
147
145
110
(4._9) (a._l) (5.7_) (_Tm) (4.331
Sur|ace
LC
',[_, 90
Sha[t
LE
LG
LH
LZ
4
7
120
6.6
-_,,,)
(xu_) I¢1575 (_v65 (4.7z45(a_o5
-_
-_)
130
6
12
165
(6.XlS)(o.z_) (o.4_) (6._)
Extension
S
See
Drawing
9
(o_)
_
(0.8
[ Q
-
_
t2)
1.
14o
(1.575)
311
(12244)
79
(3.110)
55
(5165)
165
(6.496)
571 492 (17.205)
437
(22.485(1937)
Approx
Mass
lug (lb)
KL3
(2.scz) (_5
13FA20E*
(16.1815 (14_)16)
KL2
(o.sa5)i228
(6`976)
233
(9.173)
09FAIOE*
(19291)
KLI
375
(14.7645
220
124
{6.661)
143
(4_8_)
(6.630)
110
(4.331)
171
200
(6.732)
(7.8745
(
114.3
4.5
-_
-_)
180
(7_)
3.2
(al_)
18
230
(a7m) (o._)
13.5
35 *_
(o.sal) (1.378 +_==')
76
(_gqz)
455
(17.953)
Brake
Torque
N'm(lb.in)
Connector
Receptacle
Types
L-type
for Motor
Plug
and Brake
Straight Plug
Optical
Cable Clamp
Receptacle
Encoder
L-type
Plug
Connector
Types
Straight Plug
Cable Clamp
4.4
02FA10E
1
03FA10E
1
05FA10E*
1
09FA10E*
1
13FA20E*
2
20FA20E
30FA20E
2
2
44FA20E
2
(m)
5
Or5
(2s)
15
11.5
(za5
23
(515
30
(_5
37
(s15
49
0o_)
0.98
(s.7)
MS 3102 A 14 S MS 3108 B 14 S MS 3106 B 14 S
-6 P
-6 S
-6 S
MS 3057
- 6 A
5.88
(S_l)
MS 3102 A 20
-15 P
MS 3108 B 20 MS 3106 B 20
-15 S
-15 S
MS 3057
-12 A
5.88
OlZS)
MS 3102 A 24
-10 P
MS 3108 B 24 MS 3106 B 24
-10 S
-10 S
MS 3057
-16 A
* Not provided with an eyebolt.
Notes :
1. Optical encoder (6000 pulses/rev) is used as a detector.
2. Vibration: 15 ,urn or below.
MS 3102 A 20 MS 3108 B 20 MS 31(36 B 20
-29 P
-29 S
-29 S
MS 3057
-12 A
3. Plug and clamp are not attached for receptacle connection.
4. Power supply for brake is 90 VDC.
t
(3) Shaft
with
Extension
of Straight
Shaft
Keyway
ACSERVOMOTORTypeUSAMEDWithout
Brake
With
Both
SERVOMOTORS
and without
brake havewith thebrakesame
dimensions
except
for shaft
ex-
02FA2K
02FA2KE
03FA2K
03FA2KE
tension.
05FA2K
05FA2KE
09FA2K
09FA2KE
13FA2K
13FA2KE
20FA2K
20FA2KE
50FA2K
30FA2K E
44FA2K
44FA2KE
shown
Shaft
below
LE
extensions
are
:
*
[
LR
37
(1.4s7)
and 03FA2[_]
to 13FA2[_]
-- 52 --
4
S
Q
QK
14 2,,
25
15
(_1s7) (0.551
-_,=)
(o._)
(o.s91)
19 -h,_
58
(2-283)
6
(0.236)
(0.748 -_=)
40
(1575)
79
3.2
T
5
U
3
' W
5
(0.197)
(0.I18)
(0.197)
_5
_o.1_5
(o_._5
25
(0.984)
(0.8226 __,,)
(_n)
*5.5mm
(0.217
in.)
for USAFED-02FA2[:]
8mm (0.315
in.)
for USAFED-05FA2_:]
Shaft Extension
LE
Brake
35
+_'
76
60
(oJzO (1.378
+_)
(2._5
(z._)
8
5
10
(o.31_) (o.197) (o_)
t
8.3
D
(1)
SERVOMOTOR:
S SERIES
-
[Straight
ShaftI
•
Types
"
LI_
LM
/.J: _
LL
Standard
39 (1.535)
USASEM-02AEZ(Note
1),
_"
_[_]_;
!+'_--=
'
I@l ,
AC Servomotor
L
LL
164.5 134.5
(6.4"16)
(5.295)
LM
95.5
(3*760)
178.5 148.5 109.5
03AE2
OSAE2
D
I--t tl°_,l
.
Surface
Shaft
Flange
Type USASEM02AE2
(_.ozT)
(5.846)
200.5
170.5 131.5
(7.893)
(6.712)
(4.311)
(5.177)
LR
30
KBI
72.5
KL1
LA
80
(1.181)
(Z854)
--
(3.15_}
30
79
145
90
(i.18i)
(3,11)
(0,7(_}
(3,543)
30
101
145
90
(l.lSl)
(3,976)
,_"
LG"
_
-03AE2,-05AE2
(Note
1)
(5.708)
LB
50 __,=_
(1.969
LC
65
-_o=o)
(3.543)
(2.756
-_Joi2)
70 -g0=,
(2.756
_o°=,,)
Extension
LE
3
LG
6
LH
90
(0"118)
(0.Z36)
(3543)
(0"197)
80
3
8
105
6
(3,15)
(0.118)
(0.315)
(4.134)
80
3
8
105
(.?*659)
70-_
_
4-_LZ
(3.15)
(0.118)
(0,3|5)
LZ
5
S
8
(O.315
-_,,,
-_)
(3.3)
14 -_o.
(0"0,36}
6
(4.134)
Approx
Mass
k_ (Ib)
1.5
(0236)
(0.5512
2.7
__
(5.08)
14 _o
(O.5512
3.3
-_.¢_)
(7.Z_)
Notes
:
.
1.
Drawout
construction of Type USASEM-O2AE2 is waterproof
gland
method. Therefore, connector part differs from figure above. For
details, request another dimensions to YASKAWA representative.
2. Optical encoder (1500 pulses/rev) is used as a detector.
3. Vibration: 15,urn or below.
4. Plug and clamp are not attached
for receptacle
connection.
_'.
I Taper
Shaft
I
• Types
USASEM-08AC1,
LT
=15AC1,
LM
LL
KB2 KB1
•
-30AC1
.
jLR._
OPTICAL ENCODER
_
r
LL
LM
08AC1
257-'199
15AC1
317.5259.5203.
LT
_148J 50.5
(10,118 (7.835) "(5.84;
56
(12.5) (10,217', (0.013)'[Z_5)
30AC1
366 296 240
(14.41) (11._
(9.45)
LR KBI KLI
KL2 LA
58
150
(1588) (Z_3)
56
(Z_6)
58
115
170
'
j
LBFlange LC Surface
LE LG
130
110-?,.......
120
3
10
LW
Q
QK QA
18
28
25
(6.1)
165
{6.55E
(6.969) (0`413) (7.71)
70
206
205 165 200
(8.11) i(&071)
(6.4_6) (7.874
(4.330_-_,_H.,[:,)
114.32:,....
( 4.5
12
(0`118) (0.236) (0,472) (6.4_)
180
-',L,.v*)
6
(7.09}
6
(0,23_
18
Detailof Shaft Extension
9
130
ll0-'J .....
18
(0,354) (0.70_ (1,102)
230 13.5
(0.70_8) (_0_)
28
20
(0`531) (0,7_)
25
Shaft
X
S Extension
V
P
12
(0`354) (0.709) (1. i02) (0`_4)
9
USASEM-15AC1
LR
TAPER1/IO
LZ
(4.724) (0.118) (0`394)
145
I
155
166.5 177
163
r
Type
LH
(4.527) (6.683) (5.906) (S.118) (4.33_-',',.,.,,:,)
[Z283)
(2.756)
and -30AC1
Types USASEM-O8AC1,
LR
.
4-_ LZ
D
_,CSERVOMOTOR
TypeUSASEM- L
LC
_]
10.3
(0.472) (0.406)
12
36
32
21
(0.63)
10.3
(0`984) (0'472) {0`_6)
(1.417)
16
19
MI0
(0._)
P1.25
21
Mt0
(0,748) (0.8L_7) P1.25[
14 12.!
22
24
M12
1.259) (0,551} (0.492) (0,866) (0.945) Pl._5;
U
W
T
4.3-',',,
5
5
(0.1693-',',.,*_)
5.8-_.,
(0._83-'J.,._)
6.6-=[,
(0._So___,x=.)
(0.197) (0.1_)
5
5
(0.1W)
(0'19"/)
6
6
(0.236) (0,236)
Notes :
1. Optical encoder (2500 pulses/rev) is used as a detector.
2. Vibration: 15 ,_m or below.
3. Hexagon
socket head bolts should be used to mount the motor.
4. Plug and clamp are not attached for receptacle connection.
5. Dimensions of the keyway are based on JIS (Japanese Industrial Standard)
B1301 "Sunk keys and Their Corresponding keyways (close keys)."
AC SERVOMOTOR! Approx
Mass
Type USASEMk(f (lb)
03AE2
2.7
(,08)
Motor
Receptacle
MS 3102A18
L-type
Connector
Plug
MS 3108B
Types
Straight
18
Optical
Plug
MS 3106B
Cable Clamp
Receptacle
Encoder
L=type Plug
Connector
Straight
Types
Plug
Cable Clamp
18
(7.28)
D
05AE2
0SAC1
15AC1
30AC1
3,3
5.8
(lzs)
11
(u._)
24
(s_.9)
-10 P
-10 S
MS 3102 A 20
-4 P
MS 3108 B 20
-4 S
-10 S
MS 3057-10
MS 3106 B 20
-4 S
A
MS 3102 A 20
-29
MS 3057-12
Note: When plugs or clamps are required, contact your YASKAWA representative.
connections are provided: soldered type MS and solderless type JA.
-- 53 --
A
The following
P
MS 3108 B 20
-29
S
MS 3106 B 20: MS 3057-12A
-29 S
8.(2)3 SERVOMOTOR:
With Brake
• Types
S SERIES
USASEML02AE2OB(No
-03AE2OB,
[Straight
(Conrd)
te
-4:
_
I
,;.,¢
I),
___._.2._
-05AE2OB
_
Shaft}
' "¢_
i[ _oz!
'*'1
_
_:: :-
°'3'' _1_1_
I
--
(Note.t,
L_TI lI
.l
_
OPTIC
ENCODER
MAGNET(C BRAKE(NON'EXCITATION
OPERATION TYPE),
POWER SUPPLY 90VOC
4"#6
(4"_K) 2361
_
AC SERVOMOTOR
LL
LM
KL
02AE20B
228
(8.976)
198
(7.7_6)
137
(5,394)
72.5
(2*854)
MSB/
90-10
0.016
(0.0144
× 10"=)
03AE2OB
(9.488)
241
(8307)
211
(5.906)
150
(3,110)
79
MSB
/ 90-10
(0.0144
0.016
x lO-')
(8.680)
0.98
3.5
(7.7)
05AE2OB
263
(ltk3S4)
233
(9.173)
172
(6.772)
101
(3,976)
MSB / 90-20
0.016
(0.0144
x l0 -=)
1.764
(15.623)
4.1
(9.0)
Type USASEM-
Notes:
1. Drawout
I
I Taper
Shaft
I
Type
construction
of
Type
is waterproof
0.98
(8.680)
2.2
(4.9)
I
3. Vibration: 15,urn or below.
4. Plug and clamp are not attached
for receptacle connection.
5. Power supply for brake is 90VDC.
- 30AC IOB
L
Types USASEM-08ACIOB,
and -3OACl
OB
i
LL
LR.I
2o
USASEM-O2AE20B
gland method. Thei'efbre, connector part differs from figure above.
For details, request another dimensions to YASKAWA representative,
2. Optical encoder (1500 pulses/rev) is used as a detector.
I
USASEM
iOB, - 15AC lOB,
• Types
-08AC
Magnetic Brake
Approx
Inertia
Static Fricti_ Torque Mass
kg.m2Xl0 -4 (Ib.in.s2'
N-m (]b.in)
kg (Ib)
L
'
"
Type
USASEM-1
LR
I±I:°_'=IAI
eta7
LW
I
_
I
_
'
5AC10B
LC
l _
, Q'-_"
0_
'
OA
I
I
O
w
View a-a
ENCODER.
MAGNETIC BRAKE(NON'EXCITATION
OPERATION TYPE1, POWER SUPPLY
90VDC
_C SERVOMOTOR
Type USASEM-
08AC1OB
L
LL
305
{12. C_8)
15ACIOB
377.5
30AC1OB
247
(9.724)
TAPER1/10
Detail
LM
LR
146
58
KB1
115
KL1
170
(5.748)
(2.253)
(4.527)
(6,693)
150
(5.906)
Flange Surface
LA
LB
130
LC
110-o°_
(5.118)
120
(4.3308-o°.c01a)
155
(6,1)
28
(0.709)
25
(1.102)
12
(0.984)
10. 3
(0.472)
(5.71)
(4,3308-o0.cma)
(5.118)
(0.236)
(0.472)
(6.496)
(0.354)
(0,709)
(1.102)
(0.984)
(0.472)
(0,406)
165
(0.496)
200
(7.874)
( 114.3-o°._o
4.5
-o°.om_s)
180
(7.(_7)
6
(0.236)
18
(0.709)
230
(9.055)
13. 5
(0.531)
20
(0.788)
36
(1.417)
32
(1.259)
14
(0.551)
12. 5
(0.492)
21
(0.827)
M10
P1.25
19
21
lO
(0.748)
(0.827)
PM1.25
30ACIOB
22
(0.866)
24
(0.945)
M12
P1.25
W
T
4.3-o°.,
(0.1693_°o._)
5
(0.197)
5
(0.197)
7
(15,5)
SCFB/90-30
0.54
(0.4751x10
5. 8-g.,
(0.2283_0°._)
5
5
(0.197)
(0.197)
12.
5
(27.6)
SCFB
[ 90-60
0.67
(0.5949x10-')
6.6 -o°.,
(0.2598_o°.eoag)
6
(0.236)
25.5
(56.2)
SCFB
/ 90-12C
0.67
(0.5949x10-')
Notes:
1. Optical encoder (2500 pulses/rev) is used as a detector.
2. Vibration: 15 ,um or below.
AC SERVOMOTOR
USASEM-
03AE20B,
05AE20B
08ACIOB,
15ACIOB,
Connector
Receptacle
30ACIOB
6
(0.236)
25
(0.406)
(6.413)
U
28
X
205
(8.071)
Approx
Mass
kg (Ib)
18
1
QA
(6.969)
16
(0.63)
9
18
QK
206
tall)
15AC1OB
165
Q
166.5
(6.555)
08ACIOB
12
9
(0.354)
LW
70
(2.756)
P
6
10
(0.394)
LZ
58
Extension
130
LH
(2.283)
V
11O-g.o_
3
(0.118)
Shaft Extension
LG
362
(14.252)
S
145
(4.724)
LE
319. 5 197.5
(7.776)
Shaft
163
Extension
(12.578)
240
(9.449)
177
KL2
of Shaft
432
(17.008)
USASEM-
Type
TAPER1/_o
4"_LZ
(14.862)
AC SERVOMOTOR
Type
^_[
[-PI,_,=_I
12
Magnetic
Brake
Specifications
Inertia
StaticFdctionTorque
_g.mz X10-4 (lb'in's z)
N .re (Ib'in)
Type
-= )
10.3
Voltage
VDC
2.94
-(26)
90
5.88
(52)
90
11.76
(104)
90
3. Plug and clamp are not attached for receptacle connection.
4. Dimensions of the keyway are based on JIS (Japanese Industrial Standard)
B1301 "Sunk keys and Their Corresponding keyways (Close keys)."
Types
L-type
for
Motor
Plug
-4- Brake
Cable
Clamp
'Detector
Connector
.Receptacle
L-type
Plug
Types
'Cable
Clamp
MS 3102
-12 PA 18
MS 3108
-12 SB 18
MS-103057
A
MS 3102 A 20
MS 3108 B 20
MS 3057
MS -17P
3102 A 20
MS 3108
-17SB 20
MS-12A
3057
-29 P
-29 S
-12 A
-- 54
q
(3)
Shaft
Extension
SERVOMOTOR
dimension
L.
of Straight
Shaft
proper
is the same dimensions
as standard
SERVOMOTOR
See Par. 8.3 (i).
Details of shaft extension
are shown
• With brake
Type USASEM-08AC2OB
• With brake
Type USASEM-1
in
below:
S
series
(L)418
(16.457)
(11299)
._
I
,o2 lro_o_
(4)
Shaft
SERVOMOTOR
for
• With brake
Type USASEM-3OAC2OB
5AC2OB
(L)365.5
(14.390).
(L)287
except
Extension
of
proper
_lo_og
_1 _/__
Straight
is the
L of type USASEM-08AC2KE_-]
shaft extension
are shown
• Types USASEM-O3AE2K,
Types USASEM-O3AE2KB,
D
Shaft
same
or
below.
with
Keyway
dimensions
higher
o°
is the
as stanard
SERVOMOTOR
different
dimensions.
-05AE2K*
-05AE2KBt
in S series,
See
Par.
• Type USASEM-08AC2K*
Type USASEM-O8AC2KBt
_
(L)245.5
(9.665) _ "_
.30(1.181o,_
_._
.
3(01181
5(0.197)
(0197)
• Type USASEM-1 5AC2K*
Type USASEM-15AC2KBt
• Type USASEM-3OAC2K °
Type USASEM-3OAC2KBT
(L)305.5
(12.928)
_
(L)352
(13.858)_
:
610.236)_6_6_6_6_6_6_6_6_
45 _
5612.205)1
i[(1_757
_o,_
46(1.8111 _
12(0.4_
.
6__(0236)
• Without
brake
t With brake
-- 55 --
8.3
but
(i).
dimensions
Details
of
8. 3 SERVOMOTOR:
S SERIES
(5) Shaft Extension
Seal
(Cont'd)
•
of Straight Shaft with Shaft
(6) Shaft Extension of Straight Shaft
withKeyway and ShaftSeal
SERVOMOTOR
proper is the same dimensions as
standard SERVOMOTOR
in S series. See Par.
8.3 (I). Details of shaft extension
are shown
below
:
• Without brake
Types USASEM-03AE2S
_18)
SERVOMOTOR
proper is the same dimensions as
standard SERVOMOTOR
in S series. See Par.
8.3 (I). Details of shaft extension
are shown
below
:
• Without brake
Types USASEM-03AE2T,-05AE2T
-05AE2S
1 OIL SEAL
_.,_11
SB14287(NOK)
_I F1
(0.551)
SSB14287(NOK)
_
OIL SEAt:
4°!.
5(0.197)
-
(7) Shaft
Extension
of Taper
Shaft
with
Shaft
Seal
SERVOMOTOR
proper
is the same dimensions
as
standard
SERVOMOTOR
in S series.
See
Par.
8.3 (1).
Details
of shaft
extension
are
shown
below •
• Without brake
Type USASEM-08AC1S
28
9
* Without brake
Type USASEM-15AC1S
18(0.7n-q)l
rt;182)
11">(0.472)
18(0.7091
(1'1q_
(0"472)
O,L
SEA,
_
mlSl
TAPE.II,O
- .5
(0.19:
_ (n _a'p)
TAPER 1/10
5(0.197)_:_
_
"
20(0.788__(0.551)36
°'2s_'_("o'"
S
Ir'__l_'_
cB163oT(.oK,
4.3(0.169)_
• Without brake
" Type USASEM-30AC1S
5(0.197,
5(0"197)_z::
_
5.8(0.228) I
--
O,L
SEA, I\_'-_-"
s.22388
_I_,TAPERI/IO
6(0.236 )-e,!
_ _' 6(0236).
"T
6.6(0.260)
56 --
J
8.4
SERVOPACK
(1) Types CAM-PFtO3BC
to 15BC
1CN
CONNECTOR
EXTERNAL
TERMINAL
11 P.
CONNECTION
SCREW M4
50P*
DLwqckCACR-PR;_[78CL:I
/
2CN
CONNECTOR
(2) Types CACR-PR20BC
MASS:
7.0 kg (16
lb)
to 44BC
1CN
CONNECTOR
EXTiRNAL
’
TERMINAL 12P
CONNECTION
SCREW M4
APPROX
2OP*
2CN’
CONNECTOR
5OP*
2OP*
APPROX
‘.tiade by Honda Tsushin Co.
+Including mounting flange thickness.
-
57 -
MASS:
12.5
kg (26 lb)
8.5
PERIPHERAL
Power
Supply
for Brake
According
to the
or S series.
(a)
supply
motor,
unit
select
for
either
M/F
M and
F series
* Input
100 VAC,
output
90 VDC
(OPR109
* Input
200 VAC,
output
90 VDC
(OPR109A)
Circuit
l
Power
EQUIPMENT
series
(b)
Power
supply
unit
for
S series
. Input
100 VAC,
90 VDC
(DP8401002-2)
* Input
200 VAC,
90 VDC
(DP8401002-1)
F)
Note: Although
opening
and closing
the brake
power
supply
circuit
is possible from either the AC side or DC side, it is usually
safer to open and close from the AC side.
Since
the brake
coil may be damaged
due to surge
voltage
when
opened
or closed
from
AC side, always
insert
a surge
suppressor
near the brake coil.
Diagram
Type OPRlO9F
SWITCH
Circuit
Diagram
BRAKE
0
PROTECTIVE
ELEMENT
l
SWITCH
__.
DIODE
Ll
n
DIODE
Type OPRl09A
1--
-
-_
PROTECTIVE
ELEMENT
Notes :
1. Do not short between
output terminals
3 and 4.
2. Switch
(between
terminals
5 and 6) conditions
are as follows:
* Contact
capacity
five to ten times as large as rated current.
l Contact
for direct current.
3. Use the fuse on input or output
side to protect
the power
unit.
-
58 -
1
T
9. TEST RUN
Before
test
any
deficient
run,
y .
check
the
following.
* When
a Servo
ON
the
power
circuit
and
the
motor
is
Correct
9.2.2
9.1
CHECK
9.1.1
ITEMS BEFORE TEST RUN
Before
test
run,
check
the
following.
run
is performed
after
long
storage,
“INSPECTION
AND
MAINTENANCE”.
* Connection
connection,
. Bolts
to machines
and
grounding
and
nuts
. For
motors
damaged
B
9.1.2
with
and
are
* Setting
switches
are
specifications
for
the
and
optical
encoder.
. Voltage
seals,
properly
the
correctly
applicable
wiring
leads
or inserted
supply
supplied
* The
erence
9.2
is
to
set
are
into
turned
are
is ON),
operates
Operation
operation
is on.
is
possible
only
* Increase
the
speed
reference
from
0 V,
then
the
motor
speed
proportional
to the
fuse
* When
motor
from
the
rotates
drive
reference
forward
end -output
while
Servo
ON
voltage
gradually
will
rotate
at a
reference
voltage.
voltage
is
(counterclockwise
shaft)
positive,
the
viewed
(Fig.
9.1).
not
to satisfy
SERVOMOTOR
if
is
servo
200 to 230V
200V
is used,
to 200V
through
speed
reference
should
circuit
is short-circuited.
the
firmly
connectthe
connectors.
OFF
SERVOPACK
be
OV
)
alarm
T:t%.
Fig. 9. 1 Motor
1
Preparation
Power
(speed
ref-
9. 2. 3
The
the
for Operation
should
not
be applied
to
it is necessary
to
start
connected
to the
motor,
system
is
ready
for
time.
ON
the
power
green
is
ms
correctly
light:
supplied,
and
q
m
Inspection
following
test
run.
during
items
* Unusual
vibration
. Abnormal
noise
* Excessive
temperature
If any
abnormality
actions
according
to
the
load
and
machine
result
in overload.
* After
checking
items
in Par.
9.1,
turn
ON the
When
the
power
ON sequence
is
power
supply.
correct,
according
to Par.
6.1,
the
power
is
turned
ON by depressing
the POWER
pushbutton
for
approximately
1 second.
* When
following
Forward
Running
the
a
TEST RUN PROCEDURES
During
test
run,
loads
the
SERVOMOTOR.
If
with
the
driven
machine
confirm
that
the
driven
emergency
stop
at any
(1)
seals
lubricated.
input
(contact
SERVOPACK
to run.
test
11,
devices,
wiring,
are
correct.
If a voltage
line
other
than
voltage
should
be dropped
power
transformer.
9.2.
the
Par.
is
SERVOPACK
* The
power
outputs.
B
or
If
see
tightened.
shaft
motor
is
. Connection
and
ed to terminals
D
The
signal
SERVOMOTOR
signal
in the
ready
the
.
I
-
59 -
Test Run
should
be
checked
for
during
rise
is found,
Par.
12.
At
may
not
fit
take
corrective
a test
operation,
well
at first
and
10. ADJUSTMENT
10.1
SETTINGS
AT THE TIME OF DELIVERY
Table
10.
1
Standard
Setting
Specifications
Standard
Item
Input
Reference
Specifications
Sign
Form
+
pulse
+
12v
train
Pulse
Voltage
Level
Effective
Active
Logic
at L level
CL
Voltage
Control
Signal
+
Level
Effective
12v
Active
Logic
at L level
im
Voltage
Frequency
Dividing
Frequency
Dividing
(1)’
Frequency
Dividing
(2)
Converter
Positioning
12v
l/2
to
I/6
l/l
A
Multiplier
D/A
+
Level
Bit
x2
Mode
11 and
Number*
Completion
i
(COIN)
*These data differs from motor series.
Note: Operating
speed range is made frequency
dividing setting for maximum speed.
If the resolution for positioning
encoder is required to heighten, change the setting of
frequency
dividing (1). (2) and multiplier mode.
Table
10.
2
3P
Switch
Standard
Switch
sL40*
‘No
setting
Setting
pin
-
60 -
Setting
12
7 pulses
bits
10.1.1
List of Switch
The
SERVOPACK
(1)
M Series
Setting
has
been
factory-adjusted
Table
10. 3
as follows:
Standard
Applicable
Adjustment
and Setting
SERVOMOTOR
SE1WOPACK Adjustmc tnt
Max Output
Resolution
Speed
Current
for
Positioning
Setting
A
Encoder
L
SERVOPACK
Type CACRPRO3
PRO7
PRl 0
PR15 BC3AM
PR20
PR30
PR44
03MAl
06MAl
09MA2
12MA2
20MA2
30MA2
44MA2
PRO3
PRO7
PRl 0
PR15 BCSBM
PR20
PR30
PR44
03MBl
06M81
09MB2
12MB2
20MB2
30MB2
44MB2
PRO3
PRO7
PRl 0
PR15 BC3DM
PR20
PR30
PR44
03MD2
06MD2
09MD2
12MD2
20MD2
30MD2
44MD2
Table
10.4
Specifications
6000
3.0
5.8
7.6
11.7
18.8
26.0
33.0
7.3
13.9
16.6
28.0
42.0
56.5
70.0
5000
3.0
5.8
7.6
11.7
18.8
26.0
33.0
7.3
13.9
16.6
28.0
42.0
56.5
70.0
3.0
5.8
7.6
11.7
18.8
26.0
33.0
7.3
13.9
16.6
28.0
42.0
56.5
70.0
Standard
Factory-adjusted
Switch
2000 r/min
at 66.7 kpps
reference
pulses
2000
pulses/rev
Positions
12345679
SERVOPACK Type
CACRPR03BC3GM
to
PR44BC3L:IM
SW1 0
Optical
Encoder
pulses/rev
6000
SW30
Reference Pulse
Input From Setting
12345678
SW40
Multiplier.’
Mode Settingt
12345678
Effective Logic Setting
of Control Signal t
12345678
12345678
5000
4000
I
*Spare plug
t For other functions,
SW20
Number of D/A Bit,
COIN Settingt
-
see Table
I
1
Notes
: 1.
is spare for setting
- SW100
.._
6.19.
2. iii
-61
-
is A, B or D
I
pin storage.
10.1.1
(2)
List
of
Switch
Setting
(Cont’d)
F series
Table
10.
5
Standard
Adjustment
and
Setting
Specifications
Al
SERVOPACK
Type CACRPRO3
PRO5
PRlO
PR15
PR20
PR30
PR44
Type
USAFED02FAl
BC3AF
02FBl.
03FBl
05FBl
09FBl
13FB2
2OFB2
3OFB2
44FB2
PRO3
PRO5
PRlO
PR15
PR20
PR30
PR44
02FDl.
03FDl
05FDl
09FDl
13FD2
2OFD2
3OFD2
44FD2
BC3DF
I
Optical
Encoder
pulses/rev
Type
PROBBCBAF
to
PR44BC3AF
-
PROBBCBBF
to
PR44BC3BF
-
SERVOPACK
CACR-
5000
1
-
4000
Optical
Encoder
pulses/rev
Type
PR 03 BC3I:i
to
PR44BC3:::F
3.0
3.8
6.2
9.7
15.0
20.0
30.0
6000
5000
8.5
1 1 .o
17.0
27.6
42.0
56.5
77.0
4000
3.0
3.8
6.2
9.7
15.0
20.0
30.0
8.5
11.0
17.0
27.6
42.0
56.5
77.0
1
Table
10.
6
Standard
I
Factory-adjusted
SW2
SW1
Motor
Combined
Type,
PG Setting
Number
of D/A
COIN
for
12345678*
I
1
2500 r/mln
at 83.3 kpps
reference
oulses
Positions
Speed
Condition
SW4
LOOP
Setting
Motor
Characteristics,
jervopack
Function
Setting
12345678
c 00d000Q
bo6;
oooc2
SW 30
SW 20
Bit,
Reference
Input
Form
Setting+
Pulse
Setting+
I
_.- _ ~.~
2000
pulses/rev
12345678*
I
see Table 6.19.~--
Resolution
Positioning
Encoder
t
SW 40
Effective
Multiplier
Mode
Setting’
Notes :
_ _
_ ~_
-
62 -
1 SW100 is
L:I is_ A, B
2.
I
spare for setting
or D.
I
pin
Logic
of Control
F
_ _~ m*.Swre plug
t For &eiftiniztions,
?nt
SW3
Frequency
Dividingt
I) Setting
SW10
_
Switch
Adjustmf
Speed
Setting
8.5
1 1 .o
17.0
27.6
42.0
56.5
77.0
t
3.0
3.8
6.2
9.7
15.0
20.0
30.0
12345678
6000
PR03BC3DF
to
PR44BC3DF
-.
03FAl
05FAl
09FAl
13FAl
20FAl
30FA2
44FA2
PRO3
PRO5
PRl 0
PA1 5 BC3BF
PR20
PR30
PR44
SERVOPACK
CACR-
SEI WOPACK
Max Output
Current
A
Storage.
Setting
Signal
+
(3)
S series
Table
10. 7
APP
SERVOPACK
Type CACW
TYPO
USASEM-
PR03BC3CSY41
PRO3
PRO5
PRlO
BC3CS
PR15
PR30
b2AC2
03AC2
05AC2
08AC 1
Standard
:able’SERVOM
Optical
Encoder
pulses/rev
Adjustment
and Setting
5i-OR
Specifications
SERVqPACKAdjustment
Max Output
Speed
Current
Setting
A
Rated
Current
A
2500
15ACl
30AC 1
2.1
3.0
4.2
5.3
10.4
19.9
6.0
8.5
1 1 .o
15.6
28.0
56.5
PR03BC3ESY41
PRO3
PRO5
PRlO
BC3ES
PR15
PR30
02AE2
03AE2
05AE2
08AEl
15AEl
30AEl
1500
2.1
3.0
4.2
5.3
10.4
19.9
6.0
8.5
1 1 .o.
15.6
28.0
56.5
PR03BC3FSY41
PRO3
PRO5
PRlO
BCSFS
PR15
PR30
02AF2
03AF2
05AF2
08AFl
15AFl
30AFl
1000
2.1
3.0
4.2
5.3
10.4
19.9
6.0
8.5
1 1 .o
15.6
28.0
56.5
Table
10. 8
Standard
Factory-adjusted
SW1
Optical
Encoder (PG)
Motor Type,
pulses/rev
Combined PG Setting
SERVOPACK Type
CPCR-
Switch
4000 r/ml”
at 66.7 kpps
reference
pulses
SW3
Frequency
Dividing( I) Setting
Speed Loop
Condition Setting
PROBBC
PROSBC
to
Resolution
Positioning
Encoder
1 oop
pulses/rev
Positions
SW2
PROBBC3CS
for
SW4
Motor Characteristics,
Satvopack Function Setting
PRlOBC
PR30BC3CS
PROBBCBES
to
PR3OBCSES
12345678*
PROBBCBFS
to
PR30BC3FS
I
SERVOPACKType
CPCRPR03BC3ZS
Optical
Encoder (F3p_\
-I
pulses/rev
2500
SW10
SW20
,,,(
UCJmber of D/A Bit,
Reference Pulse
COIN Setting1
1 Input Form Setting
12345678
1
12345678
Multiplier
Mode Setting 1
12345678
PR30BC3ZS
1000
*Spare plug
functions,
Notes : 1. SW
see Table 6.19.
100 is spare
2. [I1 is C, E or F.
-
63 -
for setting
1
Effective Logic Setting
of Control Signal 1
12345678
1500
to
7 For other
SW 40
SW30
pin storage.
1.0.1.2
Potentiometer
Setting
The factory-adiusted
potentiometer
on the panel is shown
in Table
ootentiometer
adjustment
method,
positions
10.9.
For
see Table
i0.23.
Table
Serie:
SERVOPACk
Tvpe
CACR-
L
10.
9
Standard
Factory-adjusted
Position
Loop Gain
Adjustment
Speed
Amplifier
Zero
Adjustment
Starting
Current
Adjustment
m
~
m
VRI
M
PR03BC3
to
PR44BC3
Potemtiometer
Speed
Loop Gain
Adjustment
(Loop1
VR5
VR3
VR6
Positions
Speed
Reference
Bias
C ompensation
Speed
Reference
F eed Foward
C :ompensation
m
(CFVI
VR15
VR16
Voltage
Adjustment
Df PG+5V
Power
(PGSV]
VR21
::3 Ibl
7 Iz!
2 to 5/10
F
PR05BC3
to
PR44BC3:::
‘::3 F
PR03BC3
to
PR30BC3
::: Z;
.
::3: ;
5/10
0 to 5/10
lO/lO
O/l 0
O/l
0
+
5.25V
F
A
S
---T
0 to 4/10
f
Notes :
1. In the Table
For example.
above,
i
L:l/L:lshows
indicates
approximate
7/l
scale
I
2. The potentiometers
other than list, ed in the Table above are provided for the SERVOPACK.
Do not 1;smper with these potentiometers
except for a special case as they have been preset at the factory.
of potentiometer.
0 scale.
-
64 -
10.2
LIST OF CHECK TERMINALS
POTENTIOMETER
AND
Table
tions .
panel.
and
funcSERVOPACK
10.10
lists
For check
check
terminals
terminals
on the
Table
Equipment
Symbol
I .
I
Signal
Name
^.
Table
10.11 lists potentiometer
inside
SERVOPACK.
These potentiometers
have been adjusted
at the
factory.
(Potentiometers
should
not be tampered
with. 1
10.10
List
of Cheak
Terminals
Description
1 Phase A oulse
is
1 PA and PB are two-ohase with 90’ ohase difference.
each motor rotation: in synchronization
with PA
PC occurs
once for
Waveform at motor
forward rotation
PG
Input
signals
forward
2
-
3
VT0
Monitors
the motor
4
T-Mon
Monitors
the reference
Unused
m
Torque
7
a
V-sin
I
2
IV
3
AKIN
4
AU
5
‘AV
6
AW
7
osc2
a
m
-
SG
rotation
reference
speed
+4.0VDC/lOOOr/min.
(M. F Series),
f3.OVDC/lC0%
to +B.OVDC/ 100%
k2.0
Series).
VOLTA,GE/,
Monitors phase
waveform.
+2.0VDC/lOOOr/min(S
toque
T
V sin
* Frequency varies depending on speed.
.Am plitude varies depending on torque.
A
\’
ov
I unus&
Phase V current
monitor.
(V/A)
Main power ON
Phase U current
output monitor.
Phase V current
output monitor.
Phase W current
output monitor.
Carrier frequency
(trrangle pulse)
signal.
amplification
0.4
0.24
0.20
0.16
0.08
0.04
339 TO 350~
amplification
;tp;G”
vA~,/~
;;.;
g
;;:I;
amplification
Sianal OV
1
1
D/A
1 Error
2
1
BIAS
1 Soeed
counter
D/A converter
reference
3
PH-A
4
PH-B
5
T4
6
T24
Clock
Srgnal
1 Servo-ON
Frequency
dividing(I)
1
7
1
S-ON
1
6
1
SG
1 Signal OV
1
OV
1 Signal OV
output
output
bias comoensation
PG-A phase
pulse
PG-B phase
pulse
LSI for error
counter
LSI for frequency
sianal
(analog
(Servo
ON at L)
signal
level OV)
Notes :
1. For check terminals on SERVOPACK panel. see Table 6. 24.
P.The check terminals allow oscilloscope connection for measurement.
Frequency
dividing(Z)
PULSE signal
output
SIGN signal
dividing(Z)
3. During measurement, do not short the adjacent two check terminals. as the connected
elements may be destroyed by this.
4.m
check terminal is for we only by the manufacturer.
merit wim it.
-
65 -
Do not make any measure
10.3
ADJUSTivlEbJT PROCEDURES
Fig.
10.1
shows
waveforms
check
teminals.
Table
10.12
ment method
of SERVOPACK.
at the respective
shows
gain adjust-
PULSl
REFERENCE
PULSES
SIGN1
Fig. IO. 1
Table
10.
12
Check Terminal
Servo
Gain
Item
Overshoot
@Turn
m
the position
9 Turn
gain.
Follow-up
To short
response
the
is
positioning
bad.
time
furthe
Apply
using
l
l
*Monitor
by inverting
+
Applv
(at
Adjust
l
panel)
the
CW to increase
gain.
the
compensation
the
If m
too high,
l
gain
compensation
FOLLOW-I
TIME4AG
the polarity.
-
66 -
using
gradually.
or lLoopl
gain
motor
vibrates.
IS
If the variable
range of m
IS small, change
the D/A converter
bit. For example,
where
the D/A
converter
bit is changed
from
10 bits to 9 bits, gain becomes
two times.
l
If m
l
and
ing effectively,
If the follow-up
time-lag of m
IS
too large. feed forward compensation
IS meffectwe.
bias
the
Remarks
to increase
the feedfoward
m
the
on
to Adiust
CW
loop
at Normal
Potentiometer
CCW to decrease
loop gain.
m
Turn
m
position
l
Note:
-i-L-
Adjustment
How
occurs.
Waveform
l
l
Set the
to ON.
settmg
Turn (IN-B]
gain, and set
w/lo@
to
Readjust
the
m
IS not
perfdrm
function-
as fdllbwing:
pin of SWIO-,@I
CCW to decrease
the
the setting
pin of
OFF.
gain using
m
D
11.
11.1
INSPECTION
AND MAINTENANCE
AC SERVOMOTOR
The AC SERVOMOTOR
has no
movable
wearing
parts (e.g. :brushes),
so simple daily inspection
is
Sufficient.
The
inspection
schedule
for the motor
is shown
in Table
1 1.1.
Table
Inspection
Item
Inspection
Schedule
Frequency
Inspection
Operation
Daily
Touch by hand.
Noise
Exterior
Daily
Aurally
As required
Clean with dry cloth or compressed
Insulation
Resistance
Annually
Make sure that it is more than 10MI'I by measuring with a 500V megger after disconnecting
the motor
from the controller.
Shaft Seal
Every
5000 hours
If worn or damaged,
ing the motor
from
Total
Inspection
Every
20,000
Contact
and
hours
SERVOPACK
The
SERVOPACK
that
dust
no special maintenance
is required.
and
tighten
screws
periodically.
is of contactless
construction
so
Remove
|
I
for Motors
Vibration
Cleaning
11.2
11.1
Do not disassemble
the motor.
should
become
necessary,
contact
representative.
-- 67 --
your
air.
replace
after disconnectthe driven
machine.
YASKAWA
representative.
If disassembly
your YASKAWA
12. TROUBLESHOOTING GUIDE
12.1
d
AC SERVOMOTOR
WARNING
Corrective actions in
_
should be
performed after turning OFF the power.
Table
12.1
Trouble
Troubleshooting
Guide
for
AC
SERVOMOTOR
Cause
Voltage
Corrective Actions
Measure voltage across motor terminals U, V, and W
with a tester and correct to rated value.
below rated
d
Motor
does
Loose connection
Tighten
connection.
I
Wrong wiring
Correct wiring.
Overload
Reduce load or use a larger motor.
not
start.
/
Motor
Unstable
operation
Motor overheats.
Unusual
noise
Measure
voltageWhen
across
motor replace
terminals
U, V, and
with
a tester.
correct,
motor.
defective
___
W
/
I
___,_._
Excessive iambient
temperature.
Reduce below 40 °C.
Motor dirty
Clean motor surface.
Overload
Reduce load or use a larger motor.
Motor
loosely mounted
Tighten
foundation
bolts,
Motor
misaligned
Realign
with driven
machine.
Balance
coupling.'
Coupling
Noisy
out of balance
Check
bearings.
alignment,
loading
contact your YASKAWA
Vibration
of driven machine
-- 68 --
Contact
the machine
J
q
of bearing,
rePresentative.
manufacturer.
lubrication
and
.[
i
I
12.2
12.2.1
SERVOPACK
LED
Indication
(7osegment)
for
Table
LED
_]
Detection
Overcurrent
Troubleshooting
12.2
LED
Lighting Condition
[_
protector
tripped
for Troubleshooting
Probable Cause
Corrective
Actions
Goes ON when power is supplied
to the control circuit.
• Defective control circuit board
(1 PWB).
• Replace
Goes ON when power is supplied
to the main circuit and servo power
is turned ON.
• MCCB does not trip.
• Defective
circuit.
• Defective
module.
current
• Replace the SERVOPACK.
Goes
supplied
to the ON
mainwhen
circuitpower
and is
servo
power
is turned ON.
• MCCB
trips.
•• Defective
Defective
module.
motor
grounding
main circuit
transistor
the main circuit,
Circuit
Indication
feedback
main circuit
the SERVOPACK.
transistor
o
• Replace
Replace the
the motor.
SERVOPACK.
module.
Goes ON when the motor starts or
slows
down.
Goes ON
when power is supplied to
• Incomplete (1 PWB) VR8
• adj.ustment.
Defective main circuit transistor
Goes ON when power is supplied to
the control circuit.
• Defective control
(1 PWB).
the
Goesmain
ON circuit,
when power is supplied to
module.
• diode
Defective
main circuit
• Replace
the -SERVOPACK.
board
• Replace
the SERVOPACK.
thyristor-
• Replace
the SERVOPACK.
circuit
in the SERVOPACK.
_]
Goes ON when power is supplied to
the control circuit.
• Defective control
(1 PWB).
Regener-
• GoesON approximate
• Defective
ative
trouble,
Overflow
ond after
power is supplied to the
main
circuit.
• Goes ON when reference pulse is
input.
trips.
•• MCCB
Regenerativeresistordisconnection.
• Motor vibrates at lock status,
• Overload
• Servo gain is too low.
•• Check
the
wiring leads
and joints
Check and
replacethe
regenerativeresistor. (Replacethe SERVOPACK)
• Ajust the Servo gain.
• Check the wiring.
• Slowing up or down.
Goes ON when the motor starts or
slows down.
• Load inertia JL(GD2)too large.
• Check the inertia of the machine
with the value converted to the
Over-
0.5 to 1 sec-
circuit
regenerative
board.
• Replace the SERVOPACK.
transistor.
• Replace
voltage
• Defective
-_
Over-
When the reference is inpu L the
• Motor
connection
motor
• Optical
encoder
runs fast and
[]
goes ON.
speed
Voltage
drop
_1
Overload
• The reference
large,
Goes main
the
ON when
circuit, power
is supplied
to
° Defective control
(1 PWB).
Goes ON during
° Operation
operation.
• When
is turned
power
OFF toand
the then
control
turned
circuit
ON
again, the operation
starts.
again,
Heat
[_
sink
overheat
[]
or []
goes ON again.
starts.
'
When reset later, the operation
The motor rotates, but the torque is
unavailabe.
When power to the
control
circuit
is turned
OFF and
then turned ON again, the Operation
starts, but the torque
is still uhavailable.
error.
• Correct
input voltage
• diode
Defectivemodule.
main
motorshaft.
• Replace the SERVOPACK.
circuit.
connection
Goes ON when power is supplied to
the control circuit.
Goes ON during operation.
• When power to the control circuit
is turned OFF and then turned ON
D
regenerative
circuit
A, B,C, and
U, Vand
2CN.
• Check
correct Wwith
pulses in
phase
too
• Decrease the reference input
frequency.
• Correct
the setting
of PG frequency dividing.
board
with 105% to 130%
more of the rated load.
• Fan has stopped.
• Temperature
around
or
• Replace
the SERVOPACK.
• Replace
the SERVOPACK.
• Check
and correct
the load
(may be overload).
• Check the fan.
(SR20, 30, 44, 60)
the
Servopack exceeds 55oC.
• Motor circuit error connection,
such as U--,V, V-,W,
W--,U or
single-phase
connection.
-- 69 --
the motor connection.
error.
thyristor-
circuit
the SERVOPACK.
• Decrease
the temperature
below
overheated.)
55°C (The heat sink may be
• Correct the connection.
12.2.1
LED Indication (7-segment) for Troubleshooting
Table
LED
Detection
-_
A/D error
[_
12.2
LED
Indication
Open
phase
[_
Overrun
prevention
12.2.2
Examples
Probable Cause
Corrective Actions
• (1PWB).
Defective control circuit board
• Replace the SERVOPACK.
Goes ON during operation.
• Faulty internal elements.
• Resume after reset operation.
• Defective internal elements.
• Replace the SERVOPACK.
Goes ON when power is supplied
° Defective control circuit board
• Replace the SERVOPACK.
to theON
control
Goes
when circuit.
power is supplied
to the main circuit,
(1 PWB).
• Poor
connection
power supply,
• Check and correct
connection.
Goes ON when power is supplied
to the control circuit.
• Defective control circuit board
(1 PWB).
° Replace the SERVOPACK.
The motor starts momentarily, then
[]
goes ON.
• Motor connection error.
• Optical encoder connection
error,
° Correct the motor connection.
• Check and correct pulses in
phases A, B, C, U, V and W
with 2CN.
of Troubleshooting
12.3
for Defective
Example
Wiring
to 3-phase
for Defective
Wiring
The reference is input, but the motor
does not run.
of Troubleshooting
Table
12.4
Trouble
CorrectiveActions
• Main circuit wiring
(such as motor grounding)
° Correct the wiring.
• Voltage across ®, (_, and (_.
° LED [_ and_
ON
• Check the AC power supply circuit.
• Trouble LED OFF
• If LEDs are on, check the cause.
• Reference pulse
• Clear signal, alarm
for Incomplete
Examples
release
signal
input,
Adjustment
of Troubleshooting
for Incomplete
Adjustment
Cause
CorrectiveActions
• Speed loop gain or position loop
gain is too high.
• Turn _
or _
to decrease the gain.
• Overshoot is too large at motor
• Starting or stopping current
• Turn _
is saturating
• Position loop gain is too
high.
• Apply the reference pulse slowed
up or down.
• Position loop gain is too low.
• Load is large.
• Turn _
CW.
• Apply the reference pulse slowed
up or down.
• Alarm by overflow occurs.
1
• (_heek the wiring of reference
input.
• Motor vibrates when the power
supply is turned on or when the
motor is running.
starting and stopping,
q
or Parts
CheckItems
after Power
the
or Parts
of Troubleshooting
Trouble
MCCB trips immediately
On and Servo On.
Examples
1
(Cont'd)
to
the ON
control
Goes
whencircuit.
power is supplied
Table
12.2.3
i
for Troubleshooting
Lighting Condition
CPU error
r_
(Cont'd)
-- 70 --
CCW
CCW.
l
D
i.o_}
-- 71 --
AC SERVO DRIVES
M, F, S SERIES
FOR POSITIONING
CONTROL..
SERVOMOTOR
TYPES " USAMED,
USAFED,
USASEM
•
(With Incremental
Encoder)
SERVOPACK
TYPE " CACR-PR[::::iB'C (Rack-mounted
Type)
t
TOKYO OFFICE
Ohtemachi
Bldg, 1-6-10htemachi,
Chiyoda-ku,
Tokyo, 100 Japan
Phone (03) 3284-9111
Telex YASKAWA J33530
Fax (03) 3284-9034
SEOUL OFFICE
Seoul Center Bldg, 91-1, So Kong-Oong,
Chung-ku,
Seoul, Korea
Phone (02) 776-7844
Fax (02) 753-2639
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building
10F 146 Sung Chiang Road, Taipei, Taiwan
Phone (02) 563-0010, -7732
Fax (02) 567-4677
YASKAWA
ELECTRIC AMERICA, INC. : SUBSIDIARY
Chicago-Corporate Headquarters 2942 MacArthur Blvd. Northbrook, Illinois 60062-2028, USA.
Phone (708) 291-2340
Fax (708) 498-2430
Chicago-Technical Center 3160 MacArthur Blvd. Northbrook, Illinois 60062-1917, U.S.A.
Phone (708) 291-0411
Fax (708)291-1028
Los Angeles Office 5626 Corporate Avenue Cypress, CA 90630 U.S.A.
Phone (714) 828-9692 Telex (230) 678396 YASKAWAUS TSTN Fax (714) 828-1165
New Jersey Office Riverdale One, 44 Route 23 North, Suite 5 Riverdale, NJ 07457-1619
Phone (201) 835-9512
Fax (201) 835-9511
YASKAWA
ELECTRIC EUROPE GmbH. :'SUBSIDIARY
Niederh6chst&dter Stra/_e 73, 61476 Kronberg-Oberh_chstadt, Germany
Phone (06173) 938-0 Telex 415.660 YASE D Fax (06_173)68421
YASKAWA
ELEI'RICO DO 8RASIL COMERCIO
LTDA. : SUBSIDIARY
Rua Conde Do Pinhal 8-5°, Andar Sala 51 CEP 01501=S_o Paulo-SP, Brasil
Phone (011) 35-1911
Fax (011) 37-7375
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
CPF Bldg, 79 Robinson
Road No. 13-05, Singapore
0106
Phone 2217530
Telex (87) 24890 YASKAWA RS Fax (65) 224-5854
,din
I
YASKAWAELECTRICCORPORATION
YASKAWA
I
TSE-S800-2.4E
Ouetoongoingproductmodificationimprovement,
datasubjecttochangewithoutnotice.
(_ Printed in Japan July 1993 87-11 1Wl
587-158