Professional Documents
Culture Documents
iii
Chapter
SERVOPACK
s, Linear
Servomotors,
and Peripheral
Devices
Ratings and
Characteristics
System
Design
Panel
Configuration
and Wiring
Chapter 1
Outline
Chapter 2
Selections
Chapter 3
Linear Servomotor
Specifications and
Dimensional Drawings
Chapter 4
SERVOPACK Specifications
and Dimensional Drawings
Chapter 5
Serial Converter Unit
Specifications and Drawings
Chapter 6
Specifications and Drawings
of Cables and Peripheral
Devices
Chapter 7
Installation and Wiring
Chapter 8
Panel Operator
Trial
Operation
and Servo
Adjustment
Chapter 9
Operation
Inspection
and
Maintenance
9
9
9
Chapter 10
Adjustment
Chapter 11
Inspection, Maintenance, and
Troubleshooting
Chapter 12
Appendix
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
IMPORTANT
Indicates important information that should be memorized, including precautions such as alarm displays to avoid damaging the devices.
INFO
EXAMPLE
TERMS
iv
Related Manuals
Refer to the following manuals as required.
Manual Name
Manual Number
Contents
-II Series
AC SERVOPACK SGDH/SGDM
SAFETY PRECAUTIONS
TOBPS80000004
TOE-S800-34
SIE-C718-4
SIEPC71080001
SIE-C718-6
SIE-C718-8
SIE-C718-9
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.
WARNING
Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
CAUTION
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious consequences if not heeded.
PROHIBITED
Indicates prohibited actions that must not be performed. For example, this symbol
would be used as follows to indicate that fire is prohibited:
MANDATORY
Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory:
The warning symbols for ISO and JIS standards are different, as shown below.
ISO
JIS
vi
WARNING
If you have a pacemaker or any other electronic medical device, do not go near the magnetic
way of the linear servomotor.
Failure to observe this warning may result in the malfunction of the medical device.
Be sure to use nonmagnetic tools when installing or working close to the linear servomotor.
(Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)
If starting an operation with the linear servomotor in a machine, set the linear servomotor to
always allow emergency stops.
Failure to observe this warning may result in injury.
Never touch the linear servomotor or machinery during operation.
Failure to observe this warning may result in injury.
Before wiring, install the SERVOPACK and the linear servomotor.
Failure to observe this warning may result in electric shock.
Do not operate switches with wet hands.
Failure to observe this warning may result in electric shock.
Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
Make sure that the main circuit power cable, the control power cable, and the linear
servomotor main circuit cable are wired correctly.
Failure to observe this warning may result in damage to the SERVOPACK.
Follow the procedures and instructions for trial operation precisely as described in this manual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
The SGDH SERVOPACK supports both AC and DC power. If DC power is supplied to the
SERVOPACK without setting Pn001=n.1 (DC power input), the internal components
of the SERVOPACK will burn and may result in fire or serious damage.
Before using a DC power supply, be sure to check the parameter Pn001 setting.
Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
vii
WARNING
Provide an appropriate stopping device on the machine side to ensure safety.
Failure to observe this warning may result in injury.
Do not come close to the machine immediately after resetting momentary power loss to avoid an
unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
Connect the ground terminal to electrical codes (ground resistance: 100 or less).
Improper grounding may result in electric shock or fire.
Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
Checking on Delivery
CAUTION
Always use the linear servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
CAUTION
Be sure to store the magnetic way of the linear servomotor in the same way as it was originally packaged.
Do not store or install the product in the following places.
Locations subject to direct sunlight.
Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.
Locations subject to humidity outside the range specified in the storage or installation humidity conditions.
Locations subject to condensation as the result of extreme changes in temperature.
Locations subject to corrosive or flammable gases.
Locations subject to dust, salts, or iron dust.
Locations subject to exposure to water, oil, or chemicals.
Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
Do not carry the linear servomotor by its cables.
Failure to observe this caution may result in injury or malfunction.
Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
viii
Installation
CAUTION
When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near
the stator because they may be affected by the magnetic attraction of the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way's magnets.
Do not use the magnetic way near metal or other magnetized objects.
Failure to observe this caution may result in injury.
Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic way.
Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.
Securely mount the linear servomotor on to the machine.
If the linear servomotor is not mounted securely, it may loosen during operation.
Do not carry the magnetic way by its magnet protection cover.
Failure to observe this caution may result in injury by the covers edge or the shape of the cover may become distorted.
Cover
Magnetic way
When removing the dummy plate for reducing magnetic force used for the SGLFM magnetic way, pay
attention to the magnetic attraction of the magnetic way. Do not place the removed plate close to the
magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic ways magnets or the magnet protection
cover.
Install SERVOPACKs, linear servomotors, and regenerative resistors on nonflammable objects.
Mounting directly onto or near flammable objects may result in fire.
Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
Provide the specified clearances between the SERVOPACK and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
Do not apply any strong impact.
Failure to observe this caution may result in malfunction.
ix
Wiring
CAUTION
Securely tighten the cable connector screws and securing mechanism.
If the connector screws and securing mechanism are not secure, they may loosen during operation.
Use power lines and cables with a radius, heat resistance, and flexibility suitable for the system.
If the SERVOPACK malfunctions, turn OFF the main circuits power supply of the SERVOPACK.
The continuous flow of a large current may cause fire.
Use a noise filter to minimize the effects of electromagnetic damage.
Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SERVOPACK.
Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
Securely connect the power supply terminals and motor output terminals.
Failure to observe this caution may result in fire.
Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm (11.81 in).
Failure to observe this caution may result in malfunction.
Use shielded twisted-pair wire or shielded multi-core twisted-pair wire for the signal lines and feedback lines
of the serial converter unit (SC).
The maximum wiring length is 3 m for the reference input line and 20 m for the SC feedback line.
Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses
to deteriorate, resulting in unexpected problems.
Observe the following precautions when wiring main circuit terminal blocks.
Remove the terminal block from the SERVOPACK prior to wiring.
Insert only one wire per terminal on the terminal block.
Make sure that the core wire is not electrically shorted to adjacent core wires.
Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
Always use the specified power supply voltage.
An incorrect voltage may result in burning.
Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
CAUTION
Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
Locations subject to static electricity or other forms of noise.
Locations subject to strong electromagnetic fields and magnetic fields.
Locations subject to possible exposure to radioactivity.
Locations close to power supplies including power supply lines.
Failure to observe this caution may result in damage to the product.
Operation
CAUTION
Do not stand within the machine's range of motion during operation.
Failure to observe this caution may result in injury.
Before operation, install a limit switch or stopper on the end of the slider to prevent unexpected movement.
Failure to observe this caution may result in injury.
Before starting operation with a machine connected, change the settings to match the parameters of the
machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point
search mode using parameter Fn003.
If using the linear servomotor on a vertical axis, install a safety device such as a counterbalance so that the
workpiece does not fall if an alarm or overtravel occurs. Set the linear servomotor so that it will stop in the
zero clamp state at occurrence of overtravel.
The workpiece may fall during overtraveling.
When not using the online autotuning, set to the correct mass ratio.
Setting to an incorrect moment of inertia ratio may cause vibration.
Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in injury.
xi
CAUTION
When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new
SERVOPACK before resuming operation.
Failure to observe this caution may result in damage to the product.
Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
Do not disassemble the linear servomotor.
Failure to observe this caution may result in electric shock or injury.
Disposal
CAUTION
When disposing of the products, treat them as ordinary industrial waste.
General Precautions
xii
CONTENTS
About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
iii
v
vi
vii
1
Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.1.4 Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
2
Selections
2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Coil Assembly - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Magnetic Way - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
xiii
3
Specifications and Dimensional Drawings
3.1 Ratings and Specifications of SGLGW/SGLGM - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.2 Ratings and Specifications of SGLFW/SGLFM - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.3 Ratings and Specifications of SGLTW/SGLTM- - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.4 Mechanical Specifications of Linear Servomotors - - - - - - - - - - - - - - - - - - - - - 3-15
3.5 Quick Guide to Linear Servomotor Dimensional Drawings - - - - - - - - - - - - - - - 3-16
3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors - - - - - - - - - - - 3-17
3.6.1 SGLG-30 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
3.6.2 SGLG-40 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19
3.6.3 SGLG-60 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
3.6.4 SGLG-90 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25
4
SERVOPACK Specifications and Dimensional Drawings
4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Single-phase/Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.2 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3
xiv
5
Specifications and Dimensional
Drawings of Serial Converter Unit
5.1 Serial Converter Unit Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.2 Analog Signal Input Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.3 Dimensional Drawings of Serial Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.3.1 Linear Scale with Cable for Hall Sensor by Heidenhain - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.3.2 Linear Scale with Cable for Hall Sensor by Renishaw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
6
Specifications and Dimensional
Drawings of Cables and
Peripheral Devices
6.1 Linear Servomotor Main Circuit Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Cables for Connecting Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
6.3 Cables for Connecting Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.4 Cables for Connecting Hall Sensors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
xv
7
Wiring
7.1 Linear Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)- - - - - - - - - - - - - - - - - - - - - - - - -7-4
7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core) - - - - - - - - - - - - - - - - - - - - - - -7-7
7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core) - - - - - - - - - - - - - - - - - - - - - 7-11
xvi
8
Digital Operator/Panel Operator
8.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.1 Connecting the Digital Operator
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
xvii
9
Operation
9.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.2 Trial Operation Using SERVOPACK Internal References - - - - - - - - - - - - - - - - - 9-6
9.2.1 SERVOPACK Setup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6
9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors - - - - - - - - - - - - - - - - - - - - - - -9-6
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors - - - - - - - - - - - - - - - - - - - - 9-12
9.3 Trial Operation for Linear Servomotor without Load from Host
Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
9.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) - - - - - - - - - - - - - - - - - - - - 9-24
9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1) - - - - - - - - - - - - - - - - - - 9-26
9.4 Trial Operation with the Linear Servomotor Connected to the Machine - - - - - - 9-28
9.5 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29
9.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
9.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
9.6.2 Switching the Linear Servomotor Movement Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31
9.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-32
9.6.4 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-34
9.6.5 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35
9.6.6 Motor Maximum Speed (For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - - 9-35
xviii
9.10 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - 9-65
9.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-65
9.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-66
9.10.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-66
10
Adjustments
10.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
xix
11
Inspection, Maintenance, and
Troubleshooting
11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Alarm Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
11.1.3 Alarm Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - - - 11-5
11.1.4 Warning Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - 11-6
11.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
11.1.6 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - 11-17
12
Appendix
12.1 Linear Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - 12-2
12.2 Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - 12-4
12.2.1 Simple Calculation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.2.2 Calculating the Regenerative Energy - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-7
xx
INDEX
Revision History
xxi
xxii
1
1
Outline
1-2
1-2
1-3
1-4
1-1
1 Outline
1.1.1 Check Items
Comments
Check the model numbers marked on the nameplates on the linear
servomotor and SERVOPACK. (Refer to the descriptions of model
numbers in the following section.)
Check the overall appearance, and check for damage or scratches that
may have occurred during shipping.
If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.
Servomotor
model
Ratings
Order No.
Serial No.
W
N
SGLGW-40A140B
A
94
0.8
Ins.
47
B
O/N
S/N
YASKAWA ELECTRIC CORPORATION JAPAN
1-2
(2) SGLFW and SGLFM Linear Servomotors with F-type Iron Core and
SGLTW and SGLTM Linear Servomotors with T-type Iron Core
y SGLFW and SGLFM
y Coil assembly
Nameplate
TYPE
SGLFW-35A120A
200 W
1.3 A
O/N
S/N
80
N
200 V
2.5
m/s
ins.B
DATE
y Magnetic way
Nameplate
YASKAWA
Servomotor
model
TYPE:
Order No.
Serial No.
O/N
SGLFM-20756A
S/N
MADE IN JAPAN
DATE
Note: The location of the nameplate varies depending on the model and capacity of the linear servomotor.
1.1.3 SERVOPACKs
y SGDH for 50 W to 5.0 kW
SERVOPACK
model
Applicable
power supply
Serial
number
SERVOPACK
MODEL
SGDH-30AE
AC-INPUT
AC-OUTPUT
VOLTS 200-230 VOLTS 0-230
Hz
50/60
PHASE 3
PHASE 3
AMPS
24.8
AMPS
18.6
KU (MP) 3.0 (4.0)
S/N
Applicable
motor
capacity
412808-15-1
YASKAWA ELECTRIC
MADE IN
JAPAN
1-3
1 Outline
1.1.4 Serial Converter Units
SERIAL CONVERTER
Order No.
O/N
Serial No.
S/N
MODEL JZDP-D006-156
For : -
1-4
1
Coil assembly
Hall sensor cable
Hall sensor unit
Magnetic way
1-5
1 Outline
1.2.2 SERVOPACKs
1.2.2 SERVOPACKs
(1) SGDH for 50 W to 5.0 kW
With the front cover open
CN5 Analog monitor connector
Used to monitor motor speed, force
reference, and other values through
a special cable.
Refer to 6.8.3 Cables for Analog Monitor or
10.5 Analog Monitor.
MODE/SET
DATA/
CHARGE
POWER
YASKAWA SERVOPACK
Panel display
5-digit, 7-segment LED used to display
SERVOPACK status, alarm status, and other
values when parameters are input.
Refer to 8.1.2 Key Names and Functions.
Panel operator
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit power
supply capacitor remains charged. Therefore,
do not touch the SERVOPACK even after the power
supply is turned OFF if the indicator is lit.
YASKAWA
SGDH-
Front cover
SERVOPACK model
Refer to 2.3 SERVOPACK Model
Designations.
Panel keys
MODE/SET
Regenerative
resistor connecting terminals
Used to connect external regenerative resistors.
Refer to 7.6 Connecting Regenerative Resistors.
DATA/
CHARGE
POWER
Power ON indicator
Lights when the control power supply is ON.
Servomotor terminals
Connects to the servomotor power line.
Refer to 7.2 Wiring Main Circuit.
Ground terminal
Be sure to connect to protect against electrical shock.
Refer to 7.2 Wiring Main Circuit.
INFO
1-6
Panel display
SERVOPACK 200V
SERVOPACK model
CN3 Connector for
personal computer
monitoring and
digital operator
SGDHVer.
POWER
YASKAWA
CN3
CN8
MODE/SET
DATA/
CN5
BATTERY
CN5 Analog
monitor connector
Panel switch
Charge indicator
CHARGE
! WARNING
Control circuit
terminal
CN1
L1C L2C
CN2
CN2 Encoder connector
L1
L2
L3
B1
B2
Servomotor terminals: U, V, W
Ground terminal
Regenerative resistor
connecting terminals: B1, B2
* Control circuit terminal and regenerative resistor connecting terminals differ the position of the terminal block by the SERVOPACK model.
Refer to Chapter 4 SERVOPACK Specifications and Dimensional Drawings for details.
SERVOPACK model SGDH-75AE: Refer to 4.7.7 Three-phase 200 V: 7.5 kW (75AE).
SERVOPACK model SGDH-75DE: Refer to 4.7.8 Three-phase 400 V: 7.5 kW (75DE).
1-7
1 Outline
1.3.1 Single-phase, 200 V Main Circuit
Power supply
Single-phase 200 VAC
R T
(Refer to 2.6.2)
Noise filter
Eliminates external
noise from the power
line.
(Refer to 2.6.3)
SGDH-AE
SERVOPACK
Magnetic
contactor
Turns the servo ON
and OFF.
Install a surge
suppressor.
Refer to
2.6.3)
YASKAWA
SERVOPACK
200V
Digital
operator
SGDH-
(Refer to 2.6.1.)
DATA/
MODE/SET
CHARGE
L1
L2
POWER
C
N
3
Connection cable
for digital operator
Personal computer
Connection cable
for personal computer
+1
(Refer to 2.6.1.)
+2
L1C
L2C
B1
B2
Regenerative
resistor
Connect an external
regenerative resistor
to terminals B1 and B2
if the regenerative
capacity is insufficient.
C
N
1
Host controller
(Refer to 2.6.1.)
V
C
N
Connection cable
for serial converter unit
(Refer to 2.6.4.)
(Refer to 2.5.)
Connection cable
for hall sensor
Encoder
cable
(Refer to 2.5.)
(Refer to 2.5.)
Linear scale
(To be provided by
users.)
(Refer to 2.6.5.)
1-8
Molded-case
circuit breaker
(MCCB)
(Refer to 2.6.2.)
Noise filter
Eliminates external noise
from the power line.
(Refer to 2.6.3.)
Digital
operator
SGDH-AE
SERVOPACK
Magnetic
contactor
Turns the servo
ON and OFF.
Install a surge
suppressor.
(Refer to
2.6.3.)
YASKAWA
200V
SERVOPACK
(Refer to 2.6.1.)
SGDH-
MODE/SET
DATA/
POWER
CHARGE
L1
C
N
3
L2
Personal computer
(Refer to 2.6.1.)
L3
1
*1
*3
L1C
Host controller
2
C
N
1
L2C
B1
B2
Regenerative
resistor
Connect an external
regenerative resistor
to terminals B1 and B2
if the regenerative
capacity is insufficient.
*2
B3
U
V
C
N
2
(Refer to 2.6.1.)
(Refer to 2.6.4.)
Connection cable
for hall sensor
(Refer to 2.5.)
Linear scale
(To be provided by
users)
(Refer to 2.6.5.)
1-9
1 Outline
1.3.3 Three-phase, 400 V Main Circuit
Molded-case
circuit breaker
(MCCB)
(Refer to 2.6.2.)
Noise filter
Eliminates external
noise from the power
line.
(Refer to 2.6.3.)
Digital
operator
SGDH-DE
SERVOPACK
Magnetic
contactor
Turns the servo
ON and OFF.
Install a surge
suppressor.
(Refer to 2.6.1.)
Connection cable
for digital operator
YASKAWA
200V
SERVOPACK
Refer to
2.6.3.)
Personal computer
SGDH-
MODE/SET
L1
Connection cable
for personal computer
DATA/
POWER
CHARGE
(Refer to 2.6.1.)
C
N
3
L2
L3
Host controller
*3
24V
C
N
1
0V
B1
B2
*1
+
DC power
supply
(24 VDC)
*2
B3
U
V
C
N
2
(Refer to 2.6.1.)
Regenerative
resistor
Connect an external
regenerative resistor
to terminals B1 and B2
if the rgenerative capacity
is insufficient.
(Refer to 2.6.4.)
Connection cable
for hall sensor
(Refer to 2.5.)
Linear scale
(To be provided by
users.)
(Refer to 2.6.5.)
Linear servomotor
wirh core
1-10
UL
R
US
LISTED
Model
SERVOPACK
SGDH
UL508C(E147823)
US
CSA2 Standards
CSA C22.2
No.14
1
Certifications
UL
1.4.2 CE Marking
SERVOPACK
Model
Low Voltage
Directive
SGDH
EN50178
EMC Directive
EMI
EMS
EN50082-2
EN55011
or
class A group 1
EN61000-6-2
Certifications
TV PS
1-11
1 Outline
1.4.2 CE Marking
1-12
2
Selections
2-1
2 Selections
2.1.1 Coil Assembly
SGL G W 40 A 140 A P
Linear Series
Linear servomotor
Servomotor Model
Code Specifications
G
Coreless
F F-type iron core
T T-type iron core
W : Coil assembly
Hall Sensor/Cooling
Code
Magnet height
Voltage
A200 VAC
D400 VAC
Specifications
Applicable models
Forced cooling
SGL G M 40 225 A C
Options
Linear Series
Linear servomotor
Code
Model
Code Specifications
G
Coreless
F F-type iron core
T T-type iron core
Specifications
Standard
With magnet
protection cover
-M
M : Magnetic way
Magnet height
2-2
Applicable Model
SGDH - 10
Rated Output
Code
Rated Output
A5
0.05
10
1.0
01
0.10
15
1.5
02
0.20
20
2.0
04
0.40
30
3.0
05
0.45
50
5.0
08
0.75
75
7.5
Model (Fixed)
Voltage
Single/Three-phase, 200V
Three-phase, 400V
Code
Remarks
For force, speed, and position control
2-3
2 Selections
SGLGW
(Coreless)
17 models
SGLFW
(With F-type iron core)
14 models
2-4
When a
Standardforce
Magnetic
Way is used.
When a
High-force
Magnetic
Way is used.
30A050C
30A080C
40A140C
40A253C
40A365C
60A140C
60A253C
60A365C
90A200C
90A370C
90A535C
40A140C
40A253C
40A365C
60A140C
60A253C
60A365C
20A090A
20A120A
35A120A
35A230A
50A200B
50A380B
1ZA200B
1ZA380B
35D120A
35D230A
50D200B
50D380B
1ZD200B
1ZD380B
01AE
01AE
02AE
04AE
02AE
04AE
08AE
15AE
20AE
30AE
02AE
04AE
05AE
02AE
05AE
10AE
02AE
02AE
02AE
05AE
08AE
15AE
15AE
30AE
05DE
05DE
10DE
15DE
15DE
30DE
SGLTW
(With T-type iron core)
22 models
20A170A
20A320A
20A460A
35A170A
35A320A
35A460A
35A170H
35A320H
50A170H
50A320H
40A400B
40A600B
80A400B
80A600B
35D170H
35D320H
50D170H
50D320H
40D400B
40D600B
80D400B
80D600B
05AE
10AE
15AE
08AE
15AE
20AE
08AE
15AE
08AE
15AE
20AE
50AE
50AE
75AE
10DE
20DE
10DE
20DE
30DE
50DE
50DE
75DE
Note: The model combinations shown in this table are used when the maximum rated force of the applicable linear servomotor is required. To suppress rises in temperature, larger linear servomotors are
used in some cases. If so, the SERVOPACK capacity can be lowered if using a motor at a lower
force than the rated force. Calculate the required current and select a model with a margin of
approximately 20%. An allowance can be made for up to 1/3 of the combined capacity of the linear
servomotor and SERVOPACK in the table.
2-5
2 Selections
D006
D008
Appearance
Applicable
Linear Scale
Made by
Heidenhain
Made by
Renishaw
Servomotor Model
Hall Sensor
30A080C
Symbol
Servomotor Model
250
011
251
20A320A
012
252
20A460A
013
40A253C
253
35A170A
014
SGLGW(Coreless)
40A365C
254
35A320A
015
60A140C
258
35A460A
016
When a
standardforce
magnetic
way is used.
60A253C
259
35A170H
105
60A365C
260
35A320H
106
90A200C
264
50A170H
108
90A370C
265
50A320H
109
90A535C
266
40A400B
185
40A140C
255
40A600B
186
40A253C
256
80A400B
187
40A365C
257
80A600B
188
60A140C
261
35D170H
193
60A253C
262
35D320H
194
60A365C
263
50D170H
195
20A090A
017
50D320H
196
20A120A
018
40D400B
197
35A120A
019
40D600B
198
SGLGW+
SGLGM-M
(Coreless)
When a
high-force
magnetic
way is used.
SGLFW(Iron core,
F-type)
SGLTW(Iron core,
T-type)
35A230A
020
80D400B
199
50A200B
181
80D600B
200
50A380B
182
1ZA200B
183
1ZA380B
184
35D120A
211
35D230A
212
50D200B
189
50D380B
190
1ZD200B
191
1ZD380B
192
Note: When using a 400-V winding linear servomotor with a 200-V SERVOPACK, the parameters in the
serial converter should be changed. Contact your Yaskawa representatives.
2-6
Symbol
20A170A
40A140C
Yes
Yes
30A050C
SERVOPACK
SGDH-
MODE/SET
CHARGE
L1
DATA/
POWER
C
N
3
L2
L3
1
2
L1C
C
N
1
L2
B1
B2
3
B3
U
V
W
C
N
2
CN2
Serial converter
unit
Linear scale
(To be provided
by users.)
Hall sensor
unit
Linear servomotor
Name
c
Linear Servomotor Main
Circuit Cables
d
Encoder
Cables
Applicable
Cable
Linear ServoLength
motor Model
1m
3
m
SGLGW-30,-40
5m
and -60
SGLFW-20
10 m
SGLFW-35
15 m
20 m
1m
SGLGW-90
3m
SGLFW-50 and
Between SERVO5m
-1Z
PACK and linear
10 m
servomotor
SGLTW-20,-35
15 m
and -50
20 m
1m
3m
5m
SGLTW-40 and
-80
10 m
15 m
20 m
1m
3m
Between serial convertAll models
5m
er unit and linear scale
10 m
15 m
Connection
Cable Type
Reference
Specifications
JZSP-CLN11-01
JZSP-CLN11-03
JZSP-CLN11-05
SERVOPACK
end
Linear servomotor
end
JZSP-CLN11-10
JZSP-CLN11-15
JZSP-CLN11-20
JZSP-CLN21-01
JZSP-CLN21-03
JZSP-CLN21-05
SERVOPACK
end
Linear servomotor
end
SERVOPACK
end
Linear servomotor
end
JZSP-CLN21-10
6.1
JZSP-CLN21-15
JZSP-CLN21-20
JZSP-CLN39-01
JZSP-CLN39-03
JZSP-CLN39-05
JZSP-CLN39-10
JZSP-CLN39-15
JZSP-CLN39-20
JZSP-CLL00-01
JZSP-CLL00-03
JZSP-CLL00-05
Linear scale
end
6.3
JZSP-CLL00-10
JZSP-CLL00-15
2-7
2 Selections
Applicable
Cable
Linear ServoLength
motor Model
1m
e
3m
Between SERVOConnection
5m
PACK connector CN2
All models
cables for seriand
10 m
al converter
serial converter unit
15 m
unit
20 m
1m
f
3m
Between serial convertConnection
er unit and hall sensor
All models
5m
cables for hall
unit
10 m
sensor
15 m
Name
Connection
Cable Type
Reference
Specifications
JZSP-CLP70-01
JZSP-CLP70-03
JZSP-CLP70-05
SERVOPACK
end
6.2
JZSP-CLP70-10
JZSP-CLP70-15
JZSP-CLP70-20
JZSP-CLL10-01
JZSP-CLL10-03 Serial converter unit
JZSP-CLL10-05
end
JZSP-CLL10-10
JZSP-CLL10-15
Note: A connector is not provided on the linear servomotor end of the main circuit cable, type JZSPCLN39-. The user must provide the connector on the linear servomotor end. For details on the
required connector, refer to 6.1 Linear Servomotor Main Circuit Cables.
2-8
6.4
e Connection cable
Personal
computer
YASKAWA
200V
SERVOPACK
f Connection cable
SGDH-
MODE/SET
CHARGE
L1
DATA/
POWER
C
N
3
L2
CN3
L3
1
C
N
1
L2
Host controller
L1C
CN1
B1
B2
B3
U
V
C
N
2
CN10
7
6
5
5
6
7
5
4
CN6A
X
10
X
1
D
R
C
N
11
N
S
CN6B
CN7
CN11
CN11
M
S
C
N
6
A
CN6B
L3
S
W
2
CN6A
C
N
6
A
C
N
3
L2
S
W
2
NS600
NS500
NS300
0 1
2
L1
Connector
DATA/
POWER
A
R
0 1
2
MODE/SET
CHARGE
S
W
1
A
R
0 1
2
SGDH-
NS115
S
W
1
NS100
YASKAWA
200V
SERVOPACK
CN6
CN6
CN4
CN4
CN4
CN6
1
2
L1C
C
N
1
C
N
6
B
C
N
6
B
CN4
CN4
L2
B1
B2
B3
U
V
C
N
2
C
N
4
C
N
4
MECHATROLINK-I MECHATROLINK-II
I/F Unit
I/F Unit
(NS100)
(NS115)
DeviceNet
I/F Unit
(NS300)
PROFIBUS-DP INDEXER
I/F Unit
Module
(NS500)
(NS600)
2-9
2 Selections
2.6.1 Special Options
Name
CN1
I/O Signal
Cables
Length
Cable with
loose wires at
one end
Type
Specifications
Reference
JUSP-TA50P
1m
2m
JZSP-CKI01-1
JZSP-CKI01-2
3m
JZSP-CKI01-3
0.5m
JZSPCKI0DD50
1m
JZSPCKI0D01
2m
JZSPCKI0D02
3m
JZSPCKI0D03
d Digital Operator
CN3
Connection Cable
for Digital Operator
JZSP-CMS00-1
SERVOPACK
end
CN5
2m
YS-12
1m
JZSP-CA01
(or DE9404559)
SERVOPACK
end
Operator
end
hApplication Module
Personal
computer end
SERVOPACK end
Name
MECHATROLINK-I Application Module
(NS100)
MECHATROLINK-II Application Module
(NS115)
DeviceNet Application Module (NS300)
PROFIBUS-DP Application Module (NS500)
INDEXER Application Module (NS600)
Monitor end
6.8.1
6.8.3
Type
Reference
JUSP-NS100
6.8.10
JUSP-NS115
6.8.10
JUSP-NS300
JUSP-NS500
JUSP-NS600
6.8.11
6.8.12
6.8.13
2-10
6.8.2
JUSP-OP02A-2
Singlephase
200 V
Threephase
200 V
Threephase
400 V
SERVOPACK
Model
Capacity
(kW)
SGDH-
0.05
0.10
0.20
0.40
0.45
0.75
1.0
1.5
2.0
3.0
5.0
A5AE
01AE
02AE
04AE
05AE
08AE
10AE
15AE
20AE
30AE
50AE
Power Supply
Capacity per
SERVOPACK
(kVA)
0.25
0.40
0.75
1.2
1.4
1.9
2.3
3.2
4.3
5.9
7.5
Inrush Current
Main Circuit
Power Supply
0.13
63A
60A
8
4
118A
10
13
17
28
0.154
0.274
60A
63A
67A
7.5
75AE
15.5
41
0.45
1.0
1.5
2.0
3.0
5.0
05DE
10DE
15DE
20DE
30DE
50DE
1.1
2.3
3.2
4.9
6.7
10.3
1.6
3.4
4.6
7.1
9.7
14.9
0.74
7.5
75DE
15.4
22.3
1.24
40A
10A
20A
(24 VDC)3
78A
20A
* 1. Nominal value at the rated load. The specified derating is required to select an appropriate
fuse capacity.
* 2. Cutoff characteristics (25C): 300% five seconds min. and inrush current of 20ms.
* 3. A preventive circuit for inrush current is not built in the 24 VDC control power supply. The
protective circuit must be designed by the customer.
* 4. Make sure the current capacity is accurate. For the SERVOPACK with the cooling fan builtin, an inrush current flows; 200 % of the current capacity in the table above for two seconds,
when turning ON the control circuit power supply to start the fan working.
Note: Do not use a fast-acting fuse. Because the SERVOPACKs power supply is a capacitor
input type, a fast-acting fuse may blow when the power is turned ON.
IMPORTANT
The SGDH SERVOPACK does not include a protective grounding circuit. Install a ground-fault protector
to protect the system against overload and short-circuit or protective grounding combined with the moldedcase circuit breaker.
2-11
2 Selections
2.6.3 Noise Filters and DC Reactors
Single-phase
200 V
Three-phase
200 V
Three-phase
400 V
SERVOPACK Model
Capacity
(kW)
0.05
0.10
0.20
SGDH-
Type
Specifications
A5AE
01AE
02AE
FN2070-6/07
Single-phase
250 VAC, 6 A
0.40
04AE
FN2070-10/07
0.45
05AE
FN258L-7/07
0.75
1.0
1.5
2.0
08AE
10AE
15AE
20AE
FN258L-16/07
3.0
30AE
FN258L-30/07
5.0
50AE
FMAC-0934-5010
7.5
75AE
FMAC-0953-6410
0.45
1.0
1.5
2.0
3.0
5.0
7.5
05DE
10DE
15DE
20DE
30DE
50DE
75DE
Single-phase
250 VAC, 10 A
Three-phase
480 VAC, 7 A
Three-phase
480 VAC, 16 A
Three-phase
480 VAC, 30 A
Three-phase
440 VAC, 50 A
Three-phase
440 VAC, 64 A
FN258L-7/07
Three-phase
480 VAC, 7 A
FN258L-16/07
Three-phase
480 VAC, 16 A
FS5559-35-33
Three-phase
480 VAC, 35 A
DC
Reactor
(Refer to
6.8.9.)
X5071
X5070
X5069
X5061
X5060
X5059
X5068
X5074
X5075
X5076
X5077
Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors according to the total capacity.
2. The following table shows the manufacturers of each device.
Peripheral Device
Noise Filter
DC Reactor
2-12
Manufacturer
FN, FS type: Schaffner Electronic
FMAC type: SCHURTER (formely TIMONTA)
Yaskawa Controls Co., Ltd.
Single-phase
200 V
Three-phase
200 V
Three-phase
400 V
Capacity
(kW)
SGDH-
0.05
0.10
0.20
0.40
0.45
0.75
1.0
1.5
2.0
3.0
5.0
A5AE
01AE
02AE
04AE
05AE
08AE
10AE
15AE
20AE
30AE
50AE
7.5
75AE
0.45
1.0
1.5
2.0
3.0
5.0
05DE
10DE
15DE
20DE
30DE
50DE
7.5
75DE
Regenerative Resistor
(Refer to 6.8.5, 6.8.6, and 7.6.)
Built-in
Externally
Resistance
Capacity
connected
()
(W)
50
60
30
25
12.5
8
70
140
140
280
(3.13)1
(1760)1
JUSP-RA05
108
70
45
140
32
180
(18)2
(880)2
JUSP-RA18
Manufacturer
Iwaki Wireless Research Institute
Yaskawa Electric Corporation
2-13
2 Selections
2.6.5 Linear Scales
Renishaw Inc.
Heidenhain
Corp.
Type
Output Signal
Resolution
(m/pulse)
Scale Pitch
(m)
RGH22B
0.078
20
LIDA187
0.156
40
0.078
20
0.016
LIDA487
LIDA489
LIF181
1Vpp
Analog voltage
Max. Value
of Encoder
Output
Resolution
(Pn281)
31
63
127
255
63
127
255
31
63
127
255
31
63
127
255
Max. Speed of
Applicable Linear
Servomotor
(m/s)
Note: 1. The linear scale signal is multiplied by eight bits (256 segmentation) inside the serial converter
unit.
2. Using the zero-point signal with a linear scale made by Renishaw Inc. may cause a deviation in
the home position. If so, adjust the setting so that the zero-point is output only in one direction
by using BID/DIR signal.
3. This list does not cover all the applicable types of linear scales. And, the linear scales listed in
the table may not be applicable or available if their specifications have been modified or their
production has been stopped.
Check the most recent catalog of the linear scale manufacturer to select a linear scale that meets
the specifications described in 5.1 Serial Converter Unit Specifications.
4. Select a linear scale so that the current consumption of the linear scale is 190 mA max.
5. At parameter (Pn280), set the scale pitch of the linear scale so that it satisfies the following condition. Otherwise, satisfactory control cannot be obtained.
64000
Pn280(Scale pitch (m))
Examples
Correct: 1,2,4,8,10,16,20,40
Incorrect: 3,12,18
2-14
5
4
2
1
5
4
2
5
4
2
1
1.0
0.8
0.4
0.2
3
Specifications and Dimensional Drawings
3
3.1 Ratings and Specifications of SGLGW/SGLGM - - - - - - - - - - - - - - - - - - - - 3-2
3.2 Ratings and Specifications of SGLFW/SGLFM - - - - - - - - - - - - - - - - - - - - 3-6
3.3 Ratings and Specifications of SGLTW/SGLTM - - - - - - - - - - - - - - - - - - - - - 3-9
3.4 Mechanical Specifications of Linear Servomotors - - - - - - - - - - - - - - - - - 3-15
3.5 Quick Guide to Linear Servomotor Dimensional Drawings - - - - - - - - - - - 3-16
3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors - - - - - - - 3-17
3.6.1 SGLG-30 Linear Servomotors
3.6.2 SGLG-40 Linear Servomotors
3.6.3 SGLG-60 Linear Servomotors
3.6.4 SGLG-90 Linear Servomotors
-----------------------------------------------------------------------------------------------------------------------------------------------------
3-17
3-19
3-22
3-25
-----------------------------------------------------------------------------------------------------------------------------------------------------
3-27
3-29
3-31
3-33
3-35
3-38
3-41
3-43
3-46
3-48
3-1
Rated Speed
Peak Speed
m/s
m/s
30A
40A
60A
90A
050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
5
5
5
5
5
5
5
5
5
5
5
Rated Force
12.5
25
47
93
140
70
140
210
325
550
750
Rated Current
Instantaneous Peak
Force
Instantaneous Peak
Current
Coil Assembly Mass
Force Constant
BEMF Constant
Arms
0.51
0.79
0.8
1.6
2.4
1.2
2.2
3.3
4.4
7.5
10.2
40
80
140
280
420
220
440
660
1300
2200
3000
Arms
1.62
2.53
2.4
4.9
7.3
3.5
7.0
10.5
17.6
30.0
40.8
kg
N / Arms
V /(m / s)
0.10
26.4
8.8
0.15
33.9
11.3
0.34
61.5
20.5
0.60
61.5
20.5
0.87
61.5
20.5
0.42
66.6
22.2
0.76
66.6
22.2
1.10
66.6
22.2
2.15
78
26.0
3.6
78
26.0
4.9
78
26.0
Motor Constant
N/ w
3.7
5.6
7.8
11.0
13.5
11.1
15.7
19.2
26.0
36.8
45.0
ms
0.2
0.4
0.4
0.4
0.4
0.5
0.5
0.5
1.4
1.4
1.4
ms
7.30
4.78
5.59
4.96
4.77
3.41
3.08
2.98
3.18
2.66
2.42
K/W
5.19
3.11
1.67
0.87
0.58
1.56
0.77
0.51
0.39
0.26
0.22
K/W
3.02
1.80
1.23
2.59
1.48
1.15
Linear Servomotor
Model SGLGW-
Electrical Time
Constant
Mechanical Time
Constant
Thermal Resistance
With Heat Sink
Thermal Resistance
Without Heat Sink
Magnetic Attraction
Note: 1. The items marked with an * and Force and Speed Characteristics are the values at a motor winding temperature of 100 C (212F) during operation in combination with a SERVOPACK. The others are at 20 C
(68F).
3-2
2. The above specifications show the values under the cooling condition when a heat sink (aluminium board)
listed in the following table is mounted on the coil assembly.
Heat Sink Size
in mm (in)
Linear Servomotor
Model SGLGW30A050C
30A080C
40A140C
60A140C
40A253C
60A253C
40A365C
60A365C
90A200C
90A370C
90A535C
200 300 12
(7.87 11.81 0.47)
300 400 12
(11.81 15.75 0.47)
400 500 12
(15.75 19.69 0.47)
800 900 12
(31.50 35.43 0.47)
The values of peak speed in the table indicate the maximum speed that can be controlled from SERVOPACK. Refer to
Force and Speed Characteristics for the actual motor peak speed.
Rated
Instantaneous Peak
Force
Instantaneous Peak
Current
Coil Assembly Mass
40A
60A
1.5
5
1.5
5
1.5
5
1.5
5
1.5
5
57
114
171
85
170
255
Arms
0.8
1.6
2.4
1.2
2.2
3.3
230
460
690
360
720
1080
Arms
3.2
6.5
9.7
5.0
10.0
14.9
kg
Force Constant
BEMF Constant
N / Arms
V /(m / s)
0.34
76.0
25.3
0.60
76.0
25.3
0.87
76.0
25.3
0.42
77.4
25.8
0.76
77.4
25.8
1.10
77.4
25.8
Motor Constant
N/ w
9.6
13.6
16.7
12.9
18.2
22.3
ms
0.4
0.4
0.4
0.5
0.5
0.5
ms
3.69
3.24
3.12
2.52
2.29
2.21
K/W
1.67
0.87
0.58
1.56
0.77
0.51
K/W
3.02
1.80
1.23
2.59
1.48
1.15
Electrical Time
Constant
Mechanical Time
Constant
Thermal Resistance
With Heat Sink
Thermal Resistance
Without Heat Sink
Magnetic Attraction
3-3
SGLGW-30A080C
6.0
6.0
5.0
5.0
Motor 4.0
speed
m/s 3.0
Motor 4.0
speed
m/s 3.0
2.0
1.0
0
2.0
1.0
10
20
30
40
50
20
40
Force (N)
SGLGW-40A140C
80
100
SGLGW-40A365C
SGLGW-40A253C
6.0
6.0
6.0
5.0
5.0
5.0
Motor 4.0
speed
m/s 3.0
Motor 4.0
speed
m/s 3.0
2.0
Motor 4.0
speed
m/s 3.0
1.0
B
0
30
60
90
120
150
100
Force (N)
200
300
400
5.0
Motor 4.0
speed
m/s 3.0
Motor 4.0
speed
m/s 3.0
2.0
100
B
1.0
1.0
300
200
Force (N)
400
600
SGLGW-90A200C
5.0
5.0
5.0
Motor 4.0
speed
m/s 3.0
2.0
Motor 4.0
speed
m/s 3.0
300
600
900
Force (N)
1200 1500
B
1.0
1.0
0
900
2.0
2.0
B
600
SGLGW-90A535C
SGLGW-90A370C
6.0
300
Force (N)
6.0
1.0
Force (N)
6.0
Motor 4.0
speed
m/s 3.0
200
600
2.0
2.0
B
450
6.0
5.0
A
300
SGLGW-60A365C
SGLGW-60A253C
5.0
150
Force (N)
6.0
Force (N)
SGLGW-60A140C
1.0
1.0
6.0
Motor 4.0
speed
m/s 3.0
2.0
2.0
1.0
3-4
60
Force (N)
500
Force (N)
700
Force (N)
Motor
speed
m/s
Motor
speed
m/s
3
2
Motor
speed
m/s
3
2
50
100
150
Force
200
250
SGLGW-60A140C
100
200
300
Force
400
500
4
3
B
3
2
80
160
240
Force (N)
320
400
450
Force
600
750
3
2
0
0
300
Motor
speed
m/s
150
Motor
speed
m/s
SGLGW-60A365C
SGLGW-60A253C
Motor
speed
m/s
SGLGW-40A365C
SGLGW-40A253C
0
0
160
320
480
Force (N)
640
800
240
480
720
960 1200
Force (N)
3-5
Ratings and Specifications of SGLFW Linear Servomotors with F-type Iron Core
Voltage
Linear Servomotor
Model SGLFWRated Speed
Peak Speed
200V
m/s
m/s
Rated Force
25
Arms
0.7
86
Arms
20A
Current
Rated
Instantaneous Peak
Force
Instantaneous Peak
Current
Coil Assembly Mass
Force Constant
BEMF Constant
Motor Constant
50A
1ZA
35D
400V
50D
1ZD
090A
120A
120A
230A
200B
380B
200B
380B
120A
230A
200B
380B
200B
380B
5
5
3.5
5
2.5
5
3
5
1.5
5
1.5
5
1.5
5
1.5
5
1.5
5
1.5
5
1.5
5
1.5
5
1.5
5
1.5
5
40
80
160
280
560
560
1120
80
160
280
560
560
1120
0.8
1.4
2.8
5.0
10.0
8.7
17.5
0.7
1.4
2.3
4.5
4.9
9.8
125
220
440
600
1200
1200
2400
220
440
600
1200
1200
2400
3.0
2.9
4.4
8.8
12.4
25.0
21.6
43.6
2.3
4.6
5.6
11.0
12.3
24.6
0.7
kg
N / Arms 36.0
V /(m / s) 12.0
0.9
54.0
18.0
1.3
62.4
20.8
2.3
62.4
20.8
3.5
60.2
20.1
6.9
60.2
20.1
6.4
69.0
23.0
11.5
69.0
23.0
1.3
2.3
3.5
6.9
6.4
11.5
120.2 120.2 134.7 134.7 122.6 122.6
40.1 40.1 44.9 44.9 40.9 40.9
7.9
9.8
14.4
20.4
34.3
48.5
52.4
74.0
13.8
19.5
33.4
47.2
51.0
72.1
ms
3.2
3.3
3.6
3.6
15.9
15.8
18.3
18.3
3.5
3.5
15.0
15.0
17.4
17.2
ms
11.0
9.3
6.2
5.5
3.0
2.9
2.3
2.1
5.5
5.5
3.2
3.2
2.5
2.2
K/W
4.35
3.19
1.57
0.96
0.56
0.38
0.47
0.2
1.57
0.96
0.56
0.38
0.47
0.2
K/W
7.69
5.02
4.10
1.94
1.65
0.95
1.3
0.73
4.1
1.94
1.65
0.95
1.3
0.73
314
462
809
1586
1650
3260
3300
6520
810
1590
1650
3260
3300
6520
N/ w
Electrical Time
Constant
Mechanical Time
Constant
Thermal Resistance
With Heat Sink
Thermal Resistance
Without Heat Sink
Magnetic Attraction
35A
Note: 1. The items marked with an * and Force and Speed Characteristics are the values at a motor winding temperature of 100 C (212F) during operation in combination with a SERVOPACK. The others are at 20 C
(68F).
2. The above specifications show the values under the cooling condition when a heat sink (aluminium board)
listed in the following table is mounted on the coil assembly.
Linear Servomotor
Model SGLFW20A090A
20A120A
35120A
35230A
50200B
50380B
1Z200B
1Z380B
3. The values of peak speed in the table indicate the maximum speed that can be controlled from
SERVOPACK. Refer to Force and Speed Characteristics for the actual motor peak speed.
3-6
SGLFW-20A120A
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
A
1
0
1
0
20
40
60
80
100
40
SGLFW-35A120A
SGLFW-35A230A
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
A
0
0
50
100
150
200
250
100 200
Force (N)
300
400
500
Force (N)
SGLFW-50A200B
SGLFW-50A380B
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
A
1
0
200
400
600
800
500
Force (N)
6
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
A
1500
SGLFW-1ZA380B
SGLFW-1ZA200B
1000
Force (N)
1
0
120 140
Force (N)
80
Force (N)
0
0
500
1000
Force (N)
1500
1000
2000
3000
Force (N)
3-7
SGLFW-35D230A
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
0
0
50
100
150
200
250
100
200
Force (N)
SGLFW-50D200B
5
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
1
0
200
400
500
600
800
500
Force (N)
1000
1500
Force (N)
SGLFW-1ZD380B
SGLFW-1ZD200B
6
6
5
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
400
SGLFW-50D380B
6
300
Force (N)
0
0
500
1000
Force (N)
1500
1000
2000
3000
Force (N)
Note: The dotted line indicates characteristics when the linear servomotor for 400 VAC is used with an input power
supply for 200 VAC. In this case, the serial converter should be changed. Contact your Yaskawa representatives.
3-8
Ratings and Specifications of SGLTW Linear Servomotors with T-type Iron Core
Voltage
Linear Servomotor
Model SGLTW-
200V
20A
35A
40A
80A
170A 320A 460A 170A 320A 460A 400B 600B 400B 600B
3
3
3
2.5
2.5
2.5
1.5
1.5
1.5
1.5
5
5
5
5
5
5
5
5
5
5
Rates Speed
Peak Speed
m/s
m/s
Rated Force
130
250
380
220
440
670
670
1000
1300
2000
Rated Current
Instantaneous Peak
Force
Instantaneous Peak
Current
Arms
2.3
4.4
6.7
3.5
10.7
7.3
10.9
11.1
17.1
380
760
1140
660
1320
2000
2600
4000
5000
7500
Arms
7.7
15.4
23.2
12.1
24.2
36.7
39.4
60.6
57.9
86.9
kg
N / Arms
BEMF Constant
V /(m / s)
2.5
61.0
20.3
4.6
61.0
20.3
6.7
61.0
20.3
3.7
67.5
22.5
6.8
67.5
22.5
10.0
67.5
22.5
15
99.1
33
23
99.1
33
24
126
42
35
126
42
18.7
26.5
32.3
26.7
37.5
46.4
61.4
75.2
94.7
116
ms
5.9
5.9
5.9
6.9
6.8
7.0
15.2
15.2
17
17
ms
7.5
6.5
6.4
5.2
4.8
4.6
K/W
1.01
0.49
0.38
0.76
0.44
0.32
0.24
0.2
0.22
0.18
K/W
1.82
1.11
0.74
1.26
0.95
0.61
0.57
0.4
0.47
0.33
Motor Constant
Electrical Time
Constant
Mechanical Time
Constant
Thermal Resistance
With Heat Sink
Thermal Resistance
Without Heat Sink
N/ w
Magnetic
Attraction1
Magnetic
Attraction2
802
1591
2380
1403
2784
4165
3950
5890
7650
11400
3-9
Voltage
Linear Servomotor
Model SGLTWRated Speed
Peak Speed
m/s
m/s
Rated Force
Rated Current
Instantaneous Peak
Force
Instantaneous Peak
Current
Coil Assembly Mass
Force Constant
BEMF Constant
Motor Constant
Electrical Time
Constant
Mechanical Time
Constant
Thermal Resistance
With Heat Sink
Thermal Resistance
Without Heat Sink
Magnetic
Attraction1
Magnetic
Attraction2
200V
400V
35A
50A
35D
50D
40D
80D
170H 320H 170H 320H 170H 320H 170H 320H 400B 600B 400B 600B
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
5
5
5
5
5
5
5
5
5
5
5
5
300
600
450
900
300
600
450
900
670
1000
1300
2000
Arms
5.1
10.1
4.9
9.8
3.2
6.5
3.2
6.3
3.7
5.5
7.2
11.1
600
1200
900
1800
600
1200
900
1800
2600
4000
5000
7500
Arms
11.9
23.9
11.5
22.9
7.5
15.1
7.3
14.6
20.7
30.6
37.6
56.4
kg
N / Arms
V /(m / s)
4.9
64
21.3
8.8
64
21.3
6
98.5
32.8
11
98.5
32.8
4.7
99.6
33.2
8.8
99.6
33.2
6
153.3
51.1
11
153.3
51.1
15
196.1
65.4
23
196.1
65.4
25
194.4
64.8
36
194.4
64.8
37.4
52.9
50.3
71.1
36.3
51.4
48.9
69.1
59.6
73
85.9
105.2
ms
15.1
15.1
16.5
16.5
14.3
14.3
15.6
15.6
14.4
14.4
15.4
15.4
ms
3.3
3.3
2.8
2.8
3.5
3.5
2.5
2.5
4.2
4.2
3.2
3.2
K/W
0.76
0.4
0.61
0.3
0.76
0.4
0.61
0.3
0.24
0.2
0.22
0.18
K/W
1.26
0.83
0.97
0.8
1.26
0.83
0.97
0.8
0.57
0.4
0.47
0.33
1400
2780
2000
3980
1400
2780
2000
3980
3950
5890
7650
11400
N/ w
* 1. Magnetic attraction will occurr on the coil assembly if the magnetic gaps between the magnet and coil assembly
are unequal.
* 2. The value indicates the magnetic attraction generated on one side of the magnetic way.
3-10
Note: 1. The items marked with an * and Force and Speed Characteristics are the values at a motor winding temperature of 100 C (212F) during operation in combination with a SERVOPACK. The others are at 20 C
(68F).
2. The above specifications show the values under the cooling condition when a heat sink (aluminium board)
listed in the following table is mounted on the coil assembly.
Linear Servomotor
Model SGLTW20A170A
35A170A
20A320A
20A460A
35170H
35A320A
35320H
35A460A
50170H
40400B
40600B
50320H
80400B
80600B
400 500 40
(15.75 19.69 1.57)
3
609 762 50
(23.98 30.0 1.97)
3. The values of peak speed in the table indicate the maximum speed that can be controlled from
SERVOPACK. Refer to Force and Speed Characteristics for the actual motor peak speed.
3-11
SGLTW-20A460A
SGLTW-20A320A
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
2
1
0
1
0
100
200
300
400
0
0
200
400
600
800
SGLTW-35A170A
Force (N)
SGLTW-35A460A
SGLTW-35A320A
6
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
Motor 4
speed
m/s 3
2
1
0
1
0
200
400
600 700
400
800
SGLTW-35A320H
6
Motor 4
speed
m/s 3
0
0
200
400
600
0
0
400
Force (N)
800
1200
Force (N)
SGLTW-50A170H
5
SGLTW-50A320H
5
Motor
speed 3
m/s
Motor
speed 3
m/s
0
0
300
600
Force (N)
900
600
1200
Force (N)
Force (N)
SGLTW-35A170H
Motor
speed 3
m/s
3-12
1200 1400
Force (N)
2
1
Force (N)
Force (N)
Force (N)
1800
SGLTW-40A600B
4
4
3
Motor
speed
m/s 2
Motor
speed
m/s 2
0
0
1000
2000
3000
2000
Force (N)
4000
Force (N)
SGLTW-80A400B
SGLTW-80A600B
Motor
speed
m/s 2
Motor
speed
m/s 2
0
0
2000
4000
Force (N)
6000
0
0
2000
4000
6000
8000
Force (N)
3-13
SGLTW-35D320H
Motor
speed 3
m/s
Motor 4
speed
m/s 3
0
0
200
400
600
400
800
1200
Force (N)
Force (N)
SGLTW-50D170H
SGLTW-50D320H
5
5
4
Motor
speed 3
m/s
Motor
speed 3
m/s
0
0
300
600
900
600
Force (N)
1200
1800
Force (N)
SGLTW-40D400B
SGLTW-40D600B
4
Motor
speed
m/s 2
Motor
speed
m/s 2
A
B
A
B
1
0
0
0
1000
2000
3000
2000
4000
Force (N)
Force (N)
SGLTW-80D400B
SGLTW-80D600B
Motor
speed
m/s 2
Motor
speed
m/s 2
A
B
2000
4000
Force (N)
0
0
6000
0
0
2000
4000
Force (N)
6000
8000
Note: The dotted line indicates characteristics when the linear servomotor for 400 VAC is used with an input power
supply for 200 VAC. In this case, the serial converter should be changed. Contact your Yaskawa representatives.
3-14
3-15
3-16
Reference
3.6.1
3.6.2
3.6.3
3.6.4
3.7.1
3.7.2
3.7.3
3.7.4
3.8.1
3.8.2, 3.8.3
3.8.4
3.8.5
3.8.6
17 (0.67)
The following table and figures show the specifications when a main circuits cable connector made by Tyco
Electronics is used for the coil assembly.
2screw
50050
(19.691.97)
#4-40 UNC
Cable
50050 (19.691.97)
57 (2.24)*
44 (1.73)
1 (0.04)
UL2517,AWG25
22-M4
Mounting screw depth: 5 (0.20) on both sides
Nameplate
L1
15 (0.59) L3
5.3
(0.21)*
3
(0.12)
22 (0.87)
Cable
5 (0.20)*
W
N
L2
A
Ins.
G (Gap)
L4
48.5 (1.91)
12 (0.47)
UL20276,AWG26
L5
* Reference length
Units: mm (in)
G (Gap)
24 (0.94)
Hall Sensor
Connector Specifications
9
Name
5V (Power supply)
Phase U
Phase V
Phase W
0V (Power supply)
Not used
Not used
Not used
Not used
Linear Servomotor
Connector Specifications
Pin No.
Pin No.
Name
Lead
Color
Phase U
Red
Phase V White
Phase W
Blue
FG
Green
Vu
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLGW30A050C
30A080C
L1
L2
L3
L4
L5
G
(Gap)
50
(1.97)
80
(3.15)
48
(1.89)
72
(2.83)
30
(1.18)
50
(1.97)
20
(0.79)
30
(1.18)
20
(0.79)
25
(0.98)
0.85
(0.03)
0.95
(0.04)
180
360
540
Electrical angle ( )
Approx.
Mass
kg (lb)
0.14
(0.31)
0.19
(0.42)
* The value indicates the mass of coil assembly with a hall sensor unit.
3-17
7.6 (0.23)
44 (1.73)
Warning label
4.5 (0.18)
36 (1.42)
Pitch 54 (2.13)
N4.5 holes
8counter boring 5 (0.20) L
L2
L1
0.1
0.3
18
(0.71)*
1 unit)
* Reference length
Units: mm (in)
Pitch 54 (2.13)
27 (1.06)
Magnetic Way
Model SGLGM30108A
30216A
30432A
3-18
27 (1.06)*
L2
L1
mm
L2
mm
108
54
(4.25) (2.13)
216
162
(8.50) (6.38)
432
378
(17.01) (14.88)
24 (0.94)
N
2
(0.08)
4
(0.16)
8
(0.31)
Approx.
Mass
kg (lb)
0.6
(1.32)
1.1
(2.43)
2.3
(5.07)
L6
45 (1.77)
Nameplate
Mounting holes
N2M4 tapped, depth 6 (0.24)
50050 (19.691.97)
17
Ins.
The coil assembly moves in the direction indicated by the arrow in the order of phase U, V, and W.
L1
L3
45 (1.77)
63
(2.48)
30
4
(0.16)
L4
15 (0.59)
16
(0.63)
(1.18)
5.3
(0.21)*
7 (0.28)*
7 (0.28) 1 (0.04) 15
(0.79)
78 (3.07)
0.5
14
(0.55) (0.02)
25.4 (1.0)
7.2
6.5 (0.26)
(0.28)
4.8 (0.19)
50050
(19.691.97)
2screw
#4-40 UNC
7.5
(0.30)*
Hall Sensor
Connector Specifications
9
* Reference length
Units: mm (in)
Pin No.
Name
5V (Power supply)
Phase U
Phase V
Phase W
Linear Servomotor
Connector Specifications
0V (Power supply)
Not used
Not used
Not used
Not used
Pin No.
Name
Lead
Color
Phase U
Red
2
Plug type: 350779-1
3
Pin type: 350561-3 or
350690-3(No.1 to 3)
4
350654-1
350669-1(No.4)
made by Tyco Electronics AMP K.K.
Phase V White
Phase W
Blue
FG
Green
When the coil assembly moves in the direction indicated by the arrow in the figure, the
relationship between the hall sensor output
signals Su, Sv, Sw and the inverse power of
each motor phase Vu, Vv, Vw becomes as
shown in the figure below.
Vu
Inverse
power
(V)
Su
Vv
Sv
Vw
Sw
0
Coil Assembly
Model SGLGW40A140C
40A253C
40A365C
L1
L2
L3
L4
L5
L6
N1
N2
140
(5.51)
252.5
(9.94)
125
(4.92)
237.5
(9.35)
90
(3.54)
180
(7.09)
30
(1.18)
37.5
(1.48)
52.5
(2.07)
60
(2.36)
45
(1.77)
135
(5.31)
3
(0.12)
5
(0.20)
4
(0.16)
8
(0.31)
365
350
315
(14.37) (13.76) (12.40)
30
(1.18)
52.5
(2.07)
270
(10.53)
8
(0.31)
14
(0.55)
180
360
Electrical angle
540
Approx.
Mass
kg (lb)
0.40
(0.88)
0.66
(1.46)
0.93
(2.05)
* The value indicates the mass of coil assembly with a hall sensor unit.
3-19
62 (2.44)
L2
12.7
(0.50)
22.5
(0.89)*
L2
22.5
(0.89)*
Pitch 45 (1.77)
5.4
(0.21)
X-X
5.5 (0.22)
10 (0.39)
22.5
(0.89)
X
Pitch 45 (1.77)
13 (0.51)*
X
22.5
(0.89)
5.5 (0.22)
10 (0.39)
7 (0.28)
Warning label
62 (2.44)
90.2
25.4 (0.350.01)
25.4
7.40.2
(1.0) 90.2
(0.290.01) (1.0)
7.40.2
(0.350.01)
(0.290.01)
4-C1
4-C1
-0.1
L1 -0.3 (1 unit)
Nameplate
d SGLGM40CT
5.4
(0.21)
X-X
* Reference length
Units: mm (in)
40360C or 40360CT
40405C or 40405CT
40450C or 40450CT
3-20
L1
L2
90
45
(3.54) (1.77)
225
180
(8.86) (7.09)
360
315
(14.17) (12.40)
405
360
(15.94) (14.17)
450
405
(17.72) (15.94)
N
2
(0.08)
5
(0.20)
8
(0.31)
9
(0.35)
10
(0.39)
Approx.
Mass
kg (lb)
0.8
(1.76)
2.0
(4.41)
3.1
(6.83)
3.5
(7.72)
3.9
(8.60)
L1
Nameplate
-0.1
-0.3
(1 unit)
d SGLGM40CT-M
31.8
7.40.2
7.40.2
(0.290.01) (1.25) 12.20.2 (0.290.01)
(0.480.01)
4-C1
4-C1
Warning label
31.8
(1.25)
12.20.2
(0.480.01)
A
Ins.
62 (2.44)
22.5 (0.89)
Pitch 45 (1.77)
X
15.9
(0.63)
22.5
(0.89)*
22.5
(0.89)*
L2
5.4
(0.21)
X
X-X
5.5 (0.22)
10 (0.39)
Pitch 45
(1.77)
L2
N5.5 (0.22) mounting holes (per unit)
13 (0.51)*
X
22.5
(0.89)
5.5 (0.22)
10 (0.39)
7 (0.28)
62 (2.44)
W
N
O/N -
S/N
5.4
(0.21)
X-X
* Reference length
Units: mm (in)
40360C-M or 40360CT-M
40405C-M or 40405CT-M
40450C-M or 40450CT-M
L1
L2
90
45
(3.54) (1.77)
225
180
(8.86) (7.09)
360
315
(14.17) (12.40)
405
360
(15.94) (14.17)
450
405
(17.72) (15.94)
N
2
(0.08)
5
(0.20)
8
(0.31)
9
(0.35)
10
(0.39)
Approx.
Mass
kg (lb)
1.0
(2.20)
2.6
(5.73)
4.1
(9.04)
4.6
(10.14)
5.1
(11.24)
3-21
17
(0.67)
The coil assembly moves in the direction indicated by the arrow when current flows in the
order of phase U, V, and W.
16
(0.63)
L1
L3
L4
45 (1.77)
7.5
(0.30)*
L2
* Reference length
Units: mm (in)
Hall Sensor
Connector Specifications
6
Pin No.
Name
Phase U
Linear Servomotor
Connector Specifications
Pin No.
Name
Lead
Color
Phase U
Red
Phase V White
0V (Powr supply)
Not used
Not used
Not used
Not used
Phase V
Phase W
Phase W
Blue
FG
Green
When the coil assembly moves in the direction indicated by the arrow in the figure, the relationship between the hall
sensor output signals Su, Sv, Sw and the
inverse power of each motor phase Vu,
Vv, Vw becomes as shown in the figure
below.
Vu
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLGW60A140C
60A253C
60A365C
L1
L2
L3
140
125
90
(5.51) (4.92) (3.54)
252.5
237.5
180
(9.94) (9.35) (7.09)
365
350
315
(14.37) (13.76) (12.40)
L4
L5
L6
N1
N2
30
(1.18)
37.5
(1.48)
30
(1.18)
52.5
(2.07)
60
(2.36)
52.5
(2.07)
45
(1.77)
135
(5.31)
270
(10.53)
3
(0.12)
5
(0.20)
8
(0.31)
4
(0.16)
8
(0.31)
14
(0.55)
* The value indicates the mass of coil assembly with a hall sensor unit.
3-22
A
Ins.
15 (0.59)
7 (0.28)*
Nameplate
Mounting holes
N2M4 tapped, depth 6 (0.24)
83
(3.27)
14 0.5
(0.55) (0.02)
4.8 (0.19)
5.3
(0.21)*
4
(0.16)
7.2
(0.28)
L6
45 (1.77)
30
(1.18)
7 (0.28)
1 (0.04) 15 (0.59)
98 (3.86)
50050
(19.691.97)
25.4 (1.0)
6.5 (0.26)
50050
(19.691.97)
2screw
4-40 UNC
180
360
Electrical angle
Approx.
Mass
kg (lb)
0.48
(1.06)
0.82
(1.81)
1.16
(2.56)
540
7.40.2
25.4
(0.290.01) (1.0) 90.2
(0.350.01)
4-C1
-0.1
(1 unit)
L1 -0.3
d SGLGM60CT
7.40.2
25.4
(0.290.01) (1.0) 90.2
(0.350.01)
4-C1
82 (3.23)
Warning label
L2
22.5
(0.89)*
Pitch 45 (1.77)
5.4
(0.21)
X-X
5.5 (0.22)
10 (0.39)
22.5 (0.89)
12.7
(0.50)
22.5
(0.89)*
L2
13 (0.51)*
Pitch 45
(1.77)
X
22.5
(0.89)
5.5 (0.22)
10 (0.39)
7 (0.28)
Nameplate
82 (3.23)
WARNING away.
5.4
(0.21)
X-X
* Reference length
Units: mm (in)
60360C or 60360CT
60405C or 60405CT
60450C or 60450CT
L1
L2
90
45
(3.54) (1.77)
225
180
(8.86) (7.09)
360
315
(14.17) (12.40)
405
360
(15.94) (14.17)
450
405
(17.72) (15.94)
N
2
(0.08)
5
(0.20)
8
(0.31)
9
(0.35)
10
(0.39)
Approx.
Mass
kg (lb)
1.1
(2.43)
2.6
(5.73)
4.1
(9.04)
4.6
(10.14)
5.1
(11.24)
3-23
L1
Nameplate
-0.1
-0.3
(1 unit)
7.40.2
(0.290.01)
4-C1
Warning label
31.8
(1.25)
d SGLGM60CT-M
31.8
(1.25)
7.40.2
12.20.2 (0.290.01)
(0.480.01) 4-C1
12.20.2
(0.480.01)
A
Ins.
82 (3.23)
82 (3.23)
W
N
O/N -
S/N
22.5 (0.89)
Pitch 45 (1.77)
X
15.9
(0.63)
22.5
(0.89)*
L2
22.5
(0.89)*
L2
5.4
(0.21)
X-X
5.5 (0.22)
10 (0.39)
Pitch 45
(1.77)
13 (0.51)*
X
22.5
(0.89)
5.5 (0.22)
10 (0.39)
7 (0.28)
5.4
(0.21)
X-X
* Reference length
Units: mm (in)
3-24
L1
L2
90
45
(3.54) (1.77)
225
180
(8.86) (7.09)
360
315
(14.17) (12.40)
405
360
(15.94) (14.17)
450
405
(17.72) (15.94)
N
2
(0.08)
5
(0.20)
8
(0.31)
9
(0.35)
10
(0.39)
Approx.
Mass
kg (lb)
1.3
(2.87)
3.3
(7.28)
5.2
(11.46)
5.9
(13.01)
6.6
(14.55)
L6
N2M6 mounting screws, depth 9 (0.35)
Gap1 (0.04)
Nameplate
L1
L3
(See note.)
65 (2.56)
Cable
UL2517,AWG15
121 (4.76)
L4
8 (0.31)
50050
(19.691.97)
5.3 (0.21)*
138 (5.43)
110 (4.33)
49 (1.93)
26 (1.02)
2
(0.08)
Cable
UL20276,AWG26
10.5 (0.41)*
2screws
#4-40 UNC
50050
(19.691.97)
32
(1.26)
95 (3.74)
L2
Gap1 (0.04)
11.8 (0.46)
* Reference length
Units: mm (in)
50.8 (2.0)
Hall Sensor
Connector Specifications
6
9
5
Linear Servomotor
Connector Specifications
Pin No.
1
Name
5V (Power supply)
Phase U
Phase V
Phase W
0V (Power supply)
Not used
Not used
Not used
Not used
Lead
Color
Phase U
Red
Phase V White
Phase W
Blue
FG
Green
When the coil assembly moves in the direction indicated by the arrow in the figure, the relationship between the hall
sensor output signals Su, Sv, Sw and the
inverse power of each motor phase Vu,
Vv, Vw becomes as shown in the figure
below.
Vu
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
Coil Assembly
Model SGLGW90A200C
90A370C
90A535C
L1
L2
L3
199
189
130
(7.83) (7.44) (5.12)
367
357
260
(14.45) (14.06) (10.24)
535
525
455
(21.06) (20.67) (17.91)
L4
L5
L6
N1
N2
40
(1.57)
40
(1.57)
40
(1.57)
60
(2.36)
55
(2.17)
60
(2.36)
95
(3.74)
285
(11.22)
380
(14.96)
3
(0.12)
5
(0.20)
8
(3.15)
4
(0.16)
8
(0.31)
10
(0.39)
180
360
Electrical angle
540
Approx.
Mass
kg (lb)
2.2
(4.85)
3.7
(8.16)
5.0
(11.02)
* The value indicates the mass of coil assembly with a hall sensor unit.
3-25
0.1
0.3
(1 unit)
13.8 (0.54)
18.5 (0.73)
Warning label
Nameplate
CORELESS LINEAR SERVO MOTOR
110 (4.33)
95.5 (3.76)
A
Ins.
W
N
X
X
Pitch 63 (2.48)
31.5
(1.24)
L2
31.5
(1.24)*
L2
44 (1.73)*
19 (0.75)
Pitch 63 (2.48)
50.8 (2.0)
12 (0.47)
6.6 (0.26)
8.5 (0.33)
6.5 (0.26)
X-X
N-M6 mounting screws, depth 14.5 (0.57)
* Reference length
Units: mm (in)
Magnetic Way
Model SGLGM90252A
90504A
3-26
L1
L2
252
189
(9.92) (7.44)
504
441
(19.84) (17.36)
N
4
(0.16)
8
(0.31)
Approx.
Mass
kg (lb)
7.3
(16.09)
14.7
(32.41)
20 (0.79) 7.5
12.5
(0.49)*
(0.30)*
12
(0.47)*
40
(1.57)
.6
1.9
9
(See note.)
7)
L3
30 min.
12 (0.47)
7 (0.28)
8
(0.31)
(19
7)
2.5
(0.98)
50
50
0
.9
1
*
.1
6 .24)
(0
.2
4 .17)*
(0
.69
25
(0.98)*
5.5
(0.22)
50
2screws
0
#4-40 UNC 50
(19
10
(0.39)*
5.5 (0.22)
17.5 (0.69)
20
(0.79)
12.5
(0.49)
22 22
(0.87)* (0.87)*
44 (1.73)*
Magnetic way
0.5
(0.02)
(4.2 (0.17): With magnet
34
protection cover)
(1.34) (4 (0.16): Without magnet
protection cover)
6 (0.24)*
(10.2 (0.40)With magnet
protection cover)
(10 (0.39)Without magnet
protection cover)
22
L1
L2
30
30
(1.18) (1.18) 36 (1.42)
Hall sensor
22.5
(0.89)
32
(1.26)* (0.08)
(0.87)
50 min.
AA
Nameplate
Note: The coil assembly moves in the direction indicated by the arrow,
when current flows in the order of phase U, V, and W.
SGLFW-20A090A
SGLFW-20A120A
22.5
(0.89)
20 (0.79)
22.5
(0.89)
30
36
(1.18) (1.42)
Hall Sensor
Connector Specifications
6
12.5 (0.49)
12.5
(0.49)
20
(0.79)
Linear Servomotor
Connector Specifications
Pin No.
Name
Phase U
Phase V
Phase W
0V (Power supply)
Not used
Not used
Not used
Not used
* Reference length
Units: mm (in)
30 36 (1.42)
(1.18)
72 (2.83)
Pin No.
Name
Lead
Color
Phase U
Red
Phase V White
Phase W Black
FG
Green
Vu
Su
Inverse Vv
power
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLFW20A090A
20A120A
L1
L2
L3
91
(3.58)
127
(5.0)
36
(1.42)
72
(2.83)
72
(2.88)
108
(4.25)
2
(0.08)
3
(0.12)
180
360
540
Electrical angle( )
Approx.
Mass
kg (lb)
0.7
(1.54)
0.9
(1.98)
3-27
44 (1.73)
17.5
(0.69)*
40
(1.57)*
4 (0.16)
34 (1.34)*
22.5 (0.89)*
6 (0.24)
10 (0.39)
(L3)
Coil assembly
N S N S
N S N S
O/N
S/N
MADE IN JAPAN
YASKAWA
TYPE:
Reference marks
(Two 4 (0.16) marks are engraved.)
54 (2.13)
Nameplate
450.1
(1.770.004)
Reference mark
L2
30.8 -0.2
0
(1.21-0.01 )
(Gap1 (0.04))
YASKAWA
TYPE:
54
(2.13)*
Reference mark
30.8 (1.21)*
-0.1
L1 -0.3
* Reference length
Units: mm (in)
Note: 1. Multiple SGLFM-20A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure.
2. The magnet way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Magnetic Way
Model SGLFM20324A
20540A
20756A
* Reference length
3-28
L1 -0.1
-0.3
L2
L3*
324
(12.80)
540
(21.26)
756
(29.76)
270 (10.63)
(54 (2.13) 5 (0.20))
486 (19.13)
(54 (2.13) 9 (0.35))
702 (27.64)
(54 (2.13) 13 (0.51))
331.6
(13.06)
547.6
(21.56)
763.6
(30.06)
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
0.9
(1.98)
1.4
(3.09)
2
(4.41)
O/N
S/N
MADE
50
(19
7.5
12.5
(0.49)*
35 (1.38)
(0.30)*
10.5
(0.41)*
7 (0.28)
L3
7)
00
1.9
9
.6
(0.47)
*
.1
6 .24)
(0
450.1
(1.770.004)
7)
1.9
25 (0.98)
8.5
(0.33)*
18 (0.71)
0
5
.2 )*
4 .17
(0
0
50
.6
(1 9
8
(0.31)
2screws
#4-40 UNC
2.5
(0.98)
36
(1.42)
5.5
(0.22)
0.5
(0.02)
6 (0.24)*
(1.18) (1.18)
Hall sensor
Magnetic way
30
55 (2.17)
35 (1.38)*
30
(1.18)* (1.18)*
30
60 (2.36)*
(1.26)*
30 25
(1.18) (0.98)
2 (0.08)
30
12.5
(0.49)
32
50 min.
AA
Nameplate
SGLFW-35120A
SGLFW-35230A
Name
Phase U
8.5 (0.33)
30
(1.18)
35 (1.38)
30 36 (1.42)
(1.18)
180 (7.09)
(36 (1.42) 5 (0.20))
* Reference length
Units: mm (in)
Linear Servomotor
Connector Specifications
Pin No.
18 (0.71)
8.5 (0.33)
6
12.5 (0.49)
18 (0.71)
12.5 (0.49)
30 36 (1.42)
(1.18)
72 (2.83)
Hall Sensor
Connector Specifications
9
30
(1.18)
35 (1.38)
Name
Lead
Color
Phase U
Red
Phase V White
Phase V
Phase W
0V (Power supply)
Not used
Not used
Not used
Not used
Phase W Black
FG
When the coil assembly moves in the direction indicated by the arrow in the figure, the relationship between the hall
sensor output signals Su, Sv, Sw and the
inverse power of each motor phase Vu,
Vv, Vw becomes as shown in the figure
below.
Green
Vu
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLFW35120A
35230A
L1
L2
L3
127
(5.0)
235
(9.25)
72
(2.83)
180
(7.09)
108
(4.25)
216
(8.50)
6
(0.24)
12
(0.47)
180
360
540
Electrical angle( )
Approx.
Mass
kg (lb)
1.3
(2.87)
2.3
(5.07)
3-29
34
10
(0.39) (1.34)*
N S N S
YASKAWA
N S N S
O/N
S/N
MADE IN JAPAN
YASKAWA
TYPE:
DATE
4.5
(0.18)*
TYPE:
4 (0.16)
6
(0.24)
30
30
(1.18) (1.18)*
60 (2.36)
55 (2.17)*
30
25
(1.18)* (0.98)*
Coil assembly
51 (2.01)
4.5 (0.18)*
(L3)
9.9
Reference marks
(Two 4 (0.16) marks are engraved.)
(Gap1)
54 (2.13)
Reference mark
54 (2.13)*
0
32.2 -0.2
L2
(1.27 -0.01)
-0.1
L1 -0.3
450.1
(1.770.004)
Reference mark
Nameplate
32.2 (1.27)*
* Reference length
Units: mm (in)
The height of screw head must be 4.2 (0.17) max.
Assembly Dimensions
Note: 1. Multiple SGLFM-35A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Magnetic Way
Model SGLFM35324A
35540A
35756A
3-30
L1 -0.1
-0.3
L2
(L3)
324
(12.80)
540
(21.26)
756
(29.76)
270 (10.63)
(54 (2.13) 5 (0.20))
486 (19.13)
(54 (2.13) 9 (0.35))
702 (27.64)
(54 (2.13) 13 (0.51))
334.4
(13.17)
550.4
(21.67)
766.4
(30.17)
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
1.2
(2.65)
2
(4.41)
2.9
(6.39)
O/N
S/N
MADE
50
00
0.5
(0.02)
(19
.6
15
(0.59)*
7)
2 screws 5
#4-40 UNC
(5.2 (0.20): With magnet
protection cover)
43
(5 (0.20): Without magnet
(1.69)
protection cover)
)
.97
580.1
1
(2.280.004)
.69
9
(1
(Gap 0.8 (0.03): With magnet
50
protection cover)
0
50
(Gap 1 (0.04): Without magnet
protection cover)
Nameplate
(14.2 (0.56): With magnet protection cover)
(14 (0.55): Without magnet protection cover)
9 (0.35)*
.2 )
4 .17
(0
50 min. 25
(0.98)
40
(1.57)
48
(1.89)
1.9
9
L2
60 (2.36)
23.5
(0.93)
71.5 (2.81)
37.75 33.75
(1.49) (1.33)
48 (1.89)*
50.5 (1.99)
37.5
(1.48)*
(1.48)*
10
(0.39)
.4 )
7 .29
(0
SGLFW-50200B
SGLFW-50380B
Hall Sensor
Connector Specifications
9
120 (4.72)
48 (1.89)
60 (2.36)
23.5 (0.93)
12 (0.47)
30
(1.18)
12 (0.47)
48 (1.89)
23.5 (0.93)
14 (0.55)
14 (0.55)
75 (2.95)*
(0.12)
37.5
Hall sensor
Magnetic way
12 (0.47)*
40 (1.57)* 3
L1
30 55 (2.17)
(1.18)
30 60 (2.36)
(1.18)
300 (11.81)
(60 (2.36) 5 (0.20))
* Reference length
Units: mm (in)
Linear Servomotor
Connector Specifications
Pin No.
Name
Phase U
Phase V
Phase W
0V (Power supply)
Not used
Not used
Not used
Not used
Name
Lead
Color
Phase U
Red
Phase V White
Phase W Black
FG
When the coil assembly moves in the direction indicated by the arrow in the figure, the relationship between the hall
sensor output signals Su, Sv, Sw and the
inverse power of each phase Vu, Vv, Vw
becomes as shown in the figure below.
Green
Vu
Su
Inverse
powr Vv
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLFW50200B
50380B
L1
L2
L3
215
120
180
(8.46) (4.72) (7.09)
395
300
360
(15.55) (11.81) (14.17)
N
6
(0.24)
12
(0.47)
180
360
540
Electrical angle ( )
Approx.
Mass
kg (lb)
3.5
(7.72)
6.9
(15.21)
3-31
37.5 37.5
(1.48) (1.48)*
75 (2.95)
65 (2.56)
71.5 (2.81)*
Coil assembly
37.75 33.75
(1.49)* (1.33)*
8.6
N S N S
YASKAWA
5 (0.20)
9
(0.35) 14
43 (1.69)*
5
(0.20)
TYPE:
Reference marks
(Two 4 (0.16) marks are engraved.)
67.5 (2.66)
N S N S
(Gap1 (0.04))
580.1
(2.280.004)
TYPE:
Nameplate
0
39.4 -0.2
0
-0.01
(1.55
)
(0.55)
YASKAWA
O/N
S/N
MADE IN JAPAN DATE
Reference mark
67.5 (2.66)*
Reference
mark
39.4 (1.55)*
L2
-0.1
L1 -0.3
* Reference length
Units: mm (in)
Assembly Dimensions
Note: 1. Multiple SGLFM-50A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Magnetic Way
Model SGLFM50405A
50675A
50945A
* Reference length
3-32
L1 -0.1
-0.3
L2
L3*
405
(15.94)
675
(26.57)
945
(37.20)
337.5 (13.29)
(67.5 (2.66) 5 (0.20))
607.5 (23.92)
(67.5 (2.66) 9 (0.35))
877.5 (34.55)
(67.5 (2.66) 13 (0.51))
416.3
(16.39)
686.3
(27.03)
956.3
(37.65)
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
2.8
(6.17)
4.6
(10.14)
6.5
(14.33)
50
.2 )
4 .17
(0
.9
1
(1
Nameplate
SGLFW-1Z380B
(1.40)
(1.40)
96 (3.78)
35.5 35.5
55 60 (2.36)
(2.17)
Pin No.
Name
5V (Power supply)
Phase U
Phase V
Phase W
0V (Power supply)
Not used
Not used
Not used
Not used
* Reference length
Units: mm (in)
300 (11.81)
(60 (2.36) 5 (0.20))
Linear Servomotor
Connector Specifications
Hall Sensor
Connector Specifications
6
12 (0.47)
120 (4.72)
14 (0.55)
12 (0.47)
(1.40)
96 (3.78)
35.5 35.5
14 (0.55)
60 (2.36)
10
(0.39)
L3
(0.59)*
50 min. 25
(0.98)
SGLFW-1Z200B
55
(2.17)
.4 )
8 . 3 3
(0
50
7)
9
9.6
50
40
(1.57)
96 (3.78)
.69
2screws
#4-40 UNC
15
35.5 35.5
(1.40) (1.40)
19
0(
12 (0.47)*
119 (4.69)
96 (3.78)*
112 (4.41)*
60 (2.36)
.9
1
580.1
(2.280.004)
L1
L2
7)
0.5
(0.02)
9 (0.35)*
50 min.
30 55 (2.17)
(1.18)
Hall sensor
(1.40)
125 (4.92)*
(0.12)
Magnetic way
61.5 (2.42) 57.5 (2.26)
40 (1.57)* 3
7 (0.28)
The following table and figures show the specifications when a main circuits cable connector made by Tyco
Electronics is used for the coil assembly.
Phase U
Lead
Color
Red
Phase V White
Phase W
Blue
FG
Green
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
Coil Assembly
Model SGLFW1Z200B
1Z380B
L1
L2
L3
215
120
180
(8.46) (4.72) (7.09)
395
300
360
(15.55) (11.81) (14.17)
N
9
(0.35)
18
(0.71)
180
360
540
Electrical angle ( )
Approx.
Mass
kg (lb)
6.4
(14.11)
11.5
(25.35)
3-33
125 (4.92)
119 (4.69)*
Coil assembly
(L3)
8.6
N S N S
N S N S
O/N
S/N
MADE IN JAPAN
YASKAWA
9 (0.35)
6.5 (0.26)
TYPE:
5 (0.20)
YASKAWA
TYPE:
DATE
Nameplate
14 43 (1.69)*
0
(0.55)
43.2 -0.2
(Gap1 (0.04))
0
Reference marks
(1.70 -0.01)
580.1
(Tow 4 (0.16) marks are engraved.)
(2.280.004)
1.5 (0.06)
67.5 (2.66)
Reference mark
L2
67.5 (2.66)*
Reference mark
43.2 (1.70)*
L1 -0.1
-0.3
11.5
(0.45)
* Reference length
Units: mm (in)
The height of screw head must be 6.7 (0.26) max.
Assembly Dimensions
Note: 1. Multiple SGFLM-1ZA magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Magnetic Way
Model SGLFM1Z405A
1Z675A
1Z945A
* Reference length
3-34
L1 -0.1
-0.3
L2
L3*
405
(15.94)
675
(26.57)
945
(37.20)
337.5 (13.29)
(67.5 (2.66) 5 (0.20))
607.5 (23.92)
(67.5 (2.66) 9 (0.35))
877.5 (34.55)
(67.5 (2.66) 13 (0.51))
423.9
(16.69)
693.9
(27.32)
963.9
(37.95)
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
5
(11.02)
8.3
(18.30)
12
(26.46)
15 (0.59)*
55 (2.17)*
51 (2.01)
47.5 (1.87)
50 (1.97)
10
Magnetic way
(0.39)
12
(0.47)
L1
L2
(L3)
48 (1.89)
Hall sensor
50050
(19.691.97)
7.4
(0.29)*
Nameplate
50050 (19.691.97)
4.2 (0.17)*
63 min.
90 min.
* Reference length
Units: mm (in)
Hall Sensor
Connector Specifications
9
80 (3.15)
60 (2.36)
100 (3.94)
28
20
(0.79) (1.10)
2screws
4-40 UNC
15 (0.59)*
70 (2.76)*
60 (2.36)
1 (0.04)
Linear Servomotor
Connector Specifications
Pin No.
Name
+5VDC
Phase U
Phase V
Phase W
0V
Not used
Not used
Not used
Not used
Pin No.
Name
Lead
Color
Phase U
Red
2
Plug type: 350779-1
Pin type: 350218-3 or
3
350547-3 (No.1 to 3)
4
350654-1
350669-1(No.4)
made by Tycon Electronics AMP K.K.
The mating connector
Cap type: 350780-1
Socket type: 350536-3 or
350550-3
Phase V White
Phase W Black
Ground Green
Vu
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLTW20A170A
20A320A
20A460A
L1
L2
170
144 (5.67)
(6.69) (48 (1.89) 3 (0.12))
315
288 (11.34)
(12.40) (48 (1.89) 6 (0.24))
460
432 (17.01)
(18.11) (48 (1.89) 9 (0.35))
L3*
16
(0.63)
17
(0.67)
18
(0.71)
8
(0.31)
14
(0.55)
20
(0.79)
180
360
540
Electrical angle( )
Approx.
Mass
kg (lb)
2.5
(5.51)
4.6
(10.14)
6.7
(14.77)
* Reference length
3-35
L1 -0.3
0
13.7 -0.2
27 (1.06)
100 (3.94)
1
(0.04)
87 (3.43)
15 (0.59)
700.3
( 2.760.001)
31.7 -0.2
0
(1.25 -0.01 )
2.40.3
( 0.090.01)
54 (2.13)*
Nameplate
R1
ma
+0.6
62 0
+0.02
(2.44 0 )
700.3
( 2.760.01)
O/N
S/N
DATE
MADE IN JAPAN
2N-7 (0.28) mounting holes (See the sectional view for the depth.)
Spacers: Do not remove until the coil
assembly is mounted on a machine.
2N-M6 screws, depth 8 (0.31)
8 (0.31)
8
(0.31)*
29.3 (1.15)*
27 (1.06)
x.
ma
3 (0.12)
.5
Gap10.3
(0.040.01)
C
1
19 (0.75)
R0
32
(1.26)
29.3 (1.15)*
L2
54 (2.13)
YASKAWA
TYPE:
15 (0.59)
9
0
Coil
assembly
54
(2.13)*
54 (2.13)
9.
55 (2.17)*
40 (1.57)
0
(0.54-0.01
)
L2
9.9
2.40.3
( 0.090.01)
54 (2.13)
Mount the magnetic
way so that its
corner surfaces are
flush with the inner
step.
0
40.3 -0.2
0
(1.59 -0.01
)
9.4
(0.37)*
L2
L1-0.1
-0.3
54
(2.13)*
* Reference length
Units: mm (in)
Assembly Dimensions
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Magnetic Way
Model SGLTM20324A
20540A
20756A
3-36
L1 -0.1
-0.3
L2
324
(12.76)
540
(21.26)
756
(29.76)
270 (10.63)
(54 (2.13) 5 (0.20))
486 (19.13)
(54 (2.13) 9 (0.35))
702 (27.64)
(54 (2.13) 13 (0.51))
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
3.4
(7.50)
5.7
(12.57)
7.9
(17.42)
MADE IN JAPAN
TYPE:
27 (1.06)
15 (0.59)
70 (2.76)*
55 (2.17)*
40 (1.57)
DATE
S/N
YASKAWA
132 (5.20)
116 (4.57)
87 (3.43)
(0.04)
100 (3.94)*
700.3
(2.760.01)
0.8 (0.03)*
60 (2.36)
O/N
2.40.3
(0.090.01)
YASKAWA
S/N
MADE IN JAPAN
DATE
14 (0.55)*
74 (2.91)
L4
162 (6.38)*
2 N2 - 10 (0.39)mounting holes
2 N1 - M6 screws, depth 8 (0.31)
(See the sectional view for the depth.)
74 (2.91)
9.9
Gap
O/N
L5
Coil assembly
27
15
(0.59) (1.06)
0.80.3
(0.030.01)
15 (0.59)
19.2(0.76)
TYPE:
54 (2.13)*
L2
9
9.
15 (0.59)
Base
20 (0.79)
54 (2.13)
(2.40.3)
54 (2.13)
20 (0.79)
2.3 (0.09)
3
54 (2.13)*
L2
L3
-0.1
L1 -0.3
11.7 (0.46)*
* Reference length
Units: mm (in)
Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
2. Two magnetic ways in a set can be connected to each other.
3. The magnetic way with base has the same characteristics as those of the magnetic way without base.
(SGLTM-20A)
Magnetic Way
Model SGLTM20324AY
20540AY
20756AY
L1 -0.1
-0.3
L2
L3
L4
L5
N1
N2
324
(12.76)
540
(21.26)
756
(29.76)
270
(10.63)
486
(19.13)
702
(27.64)
310
(12.20)
526
(20.71)
742
(29.21)
162
(6.38)
378
(14.88)
594
(23.39)
162
(6.38)
189
(7.44)
198
(7.80)
6
(0.24)
10
(0.39)
14
(0.55)
2
(0.08)
3
(0.12)
4
(0.16)
Approx.
Mass
kg (lb)
5.1
(11.24)
8.5
(18.74)
12
(26.46)
3-37
70 (2.76)*
66 (2.60)
55 (2.17)
50 (1.97)
10
Magnetic way
(0.39)
12
(0.47)
(L3)
80 (3.15)
60 (2.36)
100 (3.94)
28
20
(0.79) (1.10)
60 (2.36)
(19.2 (0.76): With magnet protection cover)
(19 (0.75): Without magnet protection cover)
(Gap 0.8 (0.03): With magnet
protection cover)
(Gap 1 (0.04): Without magnet
protection cover)
15 (0.59)*
70 (2.76)*
1 (0.04)
2-screws
#440 UNC
4.2 (0.17)
63 min.
8.4
Nameplate (0.33)
* Reference length
Units: mm (in)
50050 (19.691.97)
100 min.
Hall Sensor
Connector Specifications
9
Hall sensor
50050
(19.691.97)
Linear Servomotor
Connector Specifications
Pin No.
Name
+5VDC
Phase U
Phase V
Phase W
0V
Not used
Not used
Not used
Not used
Pin No.
Name
Lead
Color
Phase U
Red
2
Plug type: 350779-1
Pin type: 350218-3 or
3
350547-3 (No.1 to 3)
4
350654-1
350669-1 (No.4)
made by Tyco Electronics AMP K.K.
Phase V White
Phase W Black
Ground Green
Vu
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLTW35170A
35320A
35460A
* Reference length
3-38
L1
L2
170
144 (5.67)
(6.69) (48 (1.89) 3 (0.12))
315
288 (11.34)
(12.40) (48 (1.89) 6 (0.24))
460
432 (17.01)
(18.11) (48 (1.89) 9 (0.35))
L3*
16
(0.63)
17
(0.67)
18
(0.71)
8
(0.31)
14
(0.55)
20
(0.79)
Approx.
Mass
kg (lb)
3.7
(8.16)
6.8
(14.99)
10
(22.05)
180
360
540
Electrical angle( )
L1 -0.3
0
100 (3.94)*
1
(0.04)*
87 (3.43)
15 (0.59)
700.3
( 2.760.001)
1
Gap10.3
(0.040.01)
C
1
2.40.3
( 0.090.01)
54 (2.13)*
Nameplate
x.
ma
a
1m
x.
62
(2.44
+0.6
0
+0.02
0 )
700.3
( 2.760.01)
34.5 (1.36)
.5
O/N
S/N
MADE IN JAPAN DATE
2N-7 (0.28) mounting holes (See the sectional view for the depth)
Spacers: Do not remove them until the
coil assembly is mounted on the machine.
2NM6 screws, depth 8 (0.31)
30.6
(1.20)*
8
(0.31)*
3 (0.12)
19 (0.75)
R0
47
(1.85)
30.6 (1.20)*
L2
54 (2.13)
YASKAWA
TYPE:
15 (0.59)
54 (2.13)
70 (2.76)*
55 (2.17)
54
(2.13)*
L2
9.
34.5 (1.36)
15 -0.2
0
(0.59 -0.01)
9.9
2.40.3
( 0.090.01)
54 (2.13)
0
39 -0.2
0
(1.54 -0.01)
L2
L1 -0.1
-0.3
54
(2.13)*
* Reference length
Units: mm (in)
Assembly Dimensions
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an are the dimensions at preshipment
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws..
Magnetic Way
Model SGLTM35324A
35540A
35756A
L1 -0.1
-0.3
L2
324
(12.76)
540
(21.26)
756
(29.76)
270 (10.63)
(54 (2.13) 5 (0.20))
486 (19.13)
(54 (2.13) 9 (0.35))
702 (27.64)
(54 (2.13) 13 (0.51))
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
4.8
(10.56)
8
(17.64)
11
(24.25)
3-39
20 (0.79)
54 (2.13)*
L2
15 (0.59)
9.
MADE IN JAPAN
Base
70 (2.76)*
55 (2.17)
DATE
S/N
87 (3.43)
116 (4.57)
(0.04)
132 (5.20)
100 (3.94)*
0.8 (0.03)*
60 (2.36)
700.3
(2.760.01)
O/N
2.40.3
(0.090.01)
YASKAWA
O/N
S/N
MADE IN JAPAN
DATE
14 (0.55)*
74 (2.91)
162 (6.38)*
L5
Coil assembly
74 (2.91)
2 N1 - M6 screws, depth 8 (0.31)
2 N2 - 10 (0.39)mounting holes
(See the sectional view for the depth.)
2.40.3
L4
9.9
15
(0.59) 34.5 (1.36)
15 (0.59)
19.2(0.76)
0.80.3
(0.030.01)
TYPE:
Gap
Including magnet protection cover of plate
YASKAWA
85 (3.35)*
15 (0.59)
TYPE:
34.5 (1.36)
54 (2.13)
(0.090.01)*
54 (2.13)
20 (0.79)
54 (2.13)
L2
L3
-0.1
L1 -0.3
1 (0.04)
13 (0.51)*
* Reference length
Units: mm (in)
Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
2. Two magnetic ways in a set can be connected to each other.
3. The magnetic way with base has the same characteristics as those of the magnetic way without base.
(SGLTM-35A)
Magnetic Way
Model SGLTM35324AY
35540AY
35756AY
3-40
L1 -0.1
-0.3
L2
L3
L4
L5
N1
N2
324
(12.76)
540
(21.26)
756
(29.76)
270
(10.63)
486
(19.13)
702
(27.64)
310
(12.20)
526
(20.71)
742
(29.21)
162
(6.38)
378
(14.88)
594
(23.39)
162
(6.38)
189
(7.44)
198
(7.80)
6
(0.24)
10
(0.39)
14
(0.55)
2
(0.08)
3
(0.12)
4
(0.16)
Approx.
Mass
kg (lb)
6.4
(14.11)
11
(24.25)
15
(33.07)
Hall sensor
50050
(19.691.97)
Cable
UL20276AWG28
35 (1.38)
43 (1.69)
Name
+5VDC
Phase U
Phase V
Pin connector:
17JE-23090-02(D8C)
made by DDK Ltd.
Phase W
0V
Not used
Not used
Not used
Not used
* Reference length
Units: mm (in)
63 min.
Wiring specifications
of hall sensor cable
9
50050
(19.691.97)
2screws
#440 UNC
Protective tube
4.2
(0.17)
Nameplate
(L3)
(3.940.01)
1000.15
60 (2.36)
1200.1 (4.720.004)
28
30
m/s
(1.18) (1.10)
ins.
DATE
MADE IN JAPAN
30
(1.18)
YASKAWA ELECTRIC
S/N
O/N
800.05
(3.150.002)
1
(0.04)
L1
L2
10 (0.39)
20 480.15
(0.79) (1.890.01)
Magnetic way
12
(0.47)
TYPE
15 (0.59)*
30 (1.18)
90 (3.54)*
15 (0.59)*
200.1
(0.790.004)
70 (2.76)*
66 (2.60)
62.5 (2.46)
Phase U
Phase W
Ground
Vu
Su
Phase U
Inverse
power Vv
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLTW35170H
35320H
L1
L2
170
144 (5.67)
(6.69) (48 (1.89) 3 (0.12))
315
288 (11.34)
(12.40) (48 (1.89) 6 (0.24))
L3*
16
(0.63)
17
(0.67)
8
(0.31)
14
(0.55)
180
360
540
Electrical angle( )
Approx.
Mass
kg (lb)
4.7
(10.36)
8.8
(19.40)
* Reference length
3-41
L1 -0.3
L2
15 -0.2
0
34.5 (1.36)
0.8 (0.03)*
0
0
(1.30 -0.01
)
33-0.2
54 (2.13)
Coil Assembly
30.6 (1.20)*
54
L2
(2.13)*
DATE
MADE IN JAPAN
S/N
2.40.3
( 0.090.01)
YASKAWA
TYPE:
C1
47
(1.85)
34.5 (1.36)
3 (0.12)
R1
ax
x.
MADE IN JAPAN
DATE
(1.20)*
ma
S/N
2N-7 (0.28) mounting holes (See the sectional view for the depth.)
30.6
8 (0.31)*
O/N
Gap
.5
Nameplate
R6
4
(0.16)*
4.20.1
(0.170.004)
0.80.3
(0.030.01)
C1
2.40.3
( 0.090.01)
0
12
(0.47)*
82 +0.6
0
(3.23 +0.02
0 )
900.3 ( 3.540.01)
150.1 (0.590.004)
0.2 X
107 (4.21)
120 (4.72)*
O/N
0.2 Y
YASKAWA
TYPE:
70 (2.76)*
55 (2.17)
9.
R0
54
(2.13)*
54 (2.13)
9.
(0.59 -0.01 )
54 (2.13)
39 -0.2
L2
0
(1.54 -0.01
)
-0.1
L1 -0.3
54
(2.13)*
* Reference length
Units: mm (in)
Assembly Dimensions
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Coil Assembly
Model SGLTM35324H
35540H
35756H
3-42
L1 -0.1
-0.3
L2
324
(12.76)
540
(21.26)
756
(29.76)
270 (10.63)
(54 (2.13) 5 (0.20))
486 (19.13)
(54 (2.13) 9 (0.35))
702 (27.64)
(54 (2.13) 13 (0.51))
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
4.8
(10.56)
8
(17.64)
11
(24.25)
78 (3.07)
75 (2.95)
Receptacle
Magnetic way
16
(0.63)
L1
L2
(L3)
60 (2.36)
40
(1.57)
124 (4.88)
4.2
(0.17)
30
38
(1.18) (1.50)
150 (5.91)
50050
(19.691.97)
V
ins.
DATE
YASKAWA ELECTRIC
The coil assembly moves in the direction indicated by the arrow when
current flows in the order of phase U, V, and W.
64 min.
A
S/N
O/N
Hall Sensor
Connector Specifications
6
9
2screws
#4-40 UNC
97 (3.82)
98 (3.86)
1 (0.04)
19.1 (0.75)*
111.8 (4.40)*
19.1 (0.75)*
83 (3.27)*
* Reference length
Units: mm (in)
Nameplate
Linear Servomotor
Connector Specifications
Pin No. Name
Pin No.
Name
5V (Power supply)
Phase U
Phase V
Phase V
Phase W
Ground
Phase W
0V (Power supply)
Not used
Not used
Not used
Not used
Phase U
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
Coil Assembly
Model SGLTW40400B
40600B
L1
L2
395
360 (14.17)
(15.55) (60 (2.36) 6 (0.24))
585
540 (21.26)
(23.03) (60 (2.36) 9 (0.35))
L3*
15
(0.59)
25
(0.98)
14
(0.55)
20
(0.79)
180
360
540
Electrical angle( )
Approx.
Mass
kg (lb)
20
(44.09)
30
(66.14)
* Reference length
3-43
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Magnetic Way
Model SGLTM40405A
40675A
40945A
3-44
L1 -0.1
-0.3
L2
405
(15.94)
675
(26.57)
945
(37.20)
337.5 (13.29)
(67.5 (2.66) 5 (0.20))
607.5 (23.92)
(67.5 (2.66) 9 (0.35))
877.5 (34.55)
(67.5 (2.66) 13 (0.51))
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
9
(19.34)
15
(33.07)
21
(46.30)
MADE IN JAPAN
19.1 (0.75)
5.
DATE
S/N
(0.04)
190 (7.48)
170 (6.69)
131 (5.16)
150 (5.91)*
1.2 (0.05)*
90 (3.54)
111.80.3 (4.400.01)
O/N
1.40.3
(0.060.01)
YASKAWA
1.20.3
(0.050.01)
19.1 (0.75)
25.3 (1.00)
TYPE:
S/N
MADE IN JAPAN
DATE
92.5 (3.64)
92.5 (3.64)
17.5 (0.69)*
202.5 (7.97)*
L4
5.6
20
(0.79) 39 (1.54)
Gap
O/N
L5
Coil assembly
YASKAWA
Base
103 (4.06)*
83 (3.27)*
63 (2.48)
67.5 (2.66)*
L2
TYPE:
20 (0.79)
39 (1.54)
1.40.3
(0.060.01)*
67.5 (2.66)
25 (0.98)
5 (0.20)
67.5 (2.66)*
12.5 (0.49)*
L2
L3
-0.1
L1 -0.3
* Reference value
Units: mm (in)
Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
2. Two magnetic ways in a set can be connected to each other.
3. The magnetic way with base has the same characteristics as those of the magnetic way without base.
(SGLTM-40A)
Magnetic Way
Model SGLTM40405AY
40675AY
40945AY
L1 -0.1
-0.3
L2
L3
L4
L5
N1
N2
405
(15.94)
675
(26.57)
945
(37.20)
337.5
(13.29)
607.5
(23.92)
877.5
(34.55)
387.5
(15.26)
657.5
(25.89)
927.5
(36.52)
202.5
(7.97)
472.5
(18.60)
742.5
(29.23)
202.5
(7.97)
236.25
(9.31)
247.5
(9.74)
6
(0.24)
10
(0.39)
14
(0.55)
2
(0.08)
3
(0.12)
4
(0.16)
Approx.
Mass
kg (lb)
13
(28.67)
21
(46.30)
30
(66.14)
3-45
(L3)
1000.15
(3.940.01)
4.1
(0.16)*
Hall sensor
4.2
(0.17)*
Protective tube
50050
(19.691.97)
60 (2.36)
28
(1.18) (1.10)
30
(Gap 0.8 (0.03): With magnet protection cover)
L1
L2
2-screws
#440 UNC
Hall sensor
end connector
30 (1.18)
10 (0.39)
1200.1 (4.720.004)
(0.790.004)
(23.1 (0.91): Without magnet protection cover)
m/s
Magnetic way
Nameplate
50050
(19.691.97)
Cable
UL20276AWG28
35 (1.38)
43 (1.69)
* Reference length
Units: mm (in)
63 min.
Wiring specifications
of hall sensor cable
9
1
(0.04)
ins.
MADE IN JAPAN
DATE
200.1
YASKAWA ELECTRIC
19.1 (0.75)*
S/N
O/N
800.05
(3.150.002)
P
X
12 (0.47)
TYPE
90 (3.54)*
85 (3.35)*
81 (3.19)
62.5 (2.46)
19.1 (0.75)*
0.2
X
(0.01)
Pin connector:
17JE-23090-02(D8C)
made by DDK Ltd.
Name
+5VDC
Phase U
Phase V
Phase W
Phase V
Phase W
Phase U
0V
Not used
Not used
Not used
Not used
Ground
Vu
Name
Phase U
Su
Inverse
Vv
power
(V)
Sv
Vw
Sw
0
Coil Assembly
Model SGLTW50170H
50320H
* Reference length
3-46
L1
L2
170
144 (5.67)
(6.69) (48 (1.89) 3 (0.12))
315
288 (11.34)
(12.40) (48 (1.89) 6 (0.24))
L3*
16
(0.63)
17
(0.67)
8
(0.31)
14
(0.55)
Approx.
Mass
kg (lb)
6
(13.23)
11
(24.25)
180
360
540
Electrical angle( )
L1 -0.3
L2
9 -0.2
42 (1.65)
4.1 (0.16)*
0.8 (0.03)*
27 -0.2
0
(1.06 -0.01)
27 (1.06)
L2
54 (2.13)
54 (2.13)*
DATE
S/N
C1
0
(
.4
7)
Nameplate
Gap
Coil assembly
8 (0.31)*
62
(2.44)
O/N
S/N
MADE IN JAPAN
DATE
2N-7 (0.28) mounting holes (See the sectional view for the depth.)
4
(0.16)
(0.030.01)
YASKAWA
TYPE:
C1
0.80.3
(0.170.004)
0.2 X
(0.01)
112 (4.41)
120 (4.72)*
0.2 Y
(0.01)
4.20.1
ma
R1
x.
82 +0.6
0
(3.23 +0.02
0 )
900.3
( 3.540.01)
42 (1.65)
ax
.5
R0
3 (0.12)
19.10.1 (0.750.004)
70
(2.76)
O/N
85 (3.35)*
MADE IN JAPAN
YASKAWA
TYPE:
54
(2.13)*
54 (2.13)
0
(0.35 -0.01
)
54 (2.13)
0
45 -0.2
0
(1.77 -0.01
)
L2
-0.1
L1 -0.3
54
(2.13)*
* Reference length
Units: mm (in)
Assembly Dimensions
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Magnetic Way
Model SGLTM50324H
50540H
50756H
L1 -0.1
-0.3
L2
324
(12.76)
540
(21.26)
756
(29.76)
270 (10.63)
(54 (2.13) 5 (0.20))
486 (19.13)
(54 (2.13) 9 (0.35))
702 (27.64)
(54 (2.13) 13 (0.51))
6
(0.24)
10
(0.39)
14
(0.55)
Approx.
Mass
kg (lb)
8
(17.64)
13
(28.66)
18
(39.68)
3-47
Hall sensor
19.1 (0.75)*
120 (4.72) *
115 (4.53)
75 (2.95)
L1
L2
20 (0.79)
40
(1.57)
(L3)
60 (2.36)
124 (4.88)
4.2
(0.17)
38
30
(1.18) (1.50)
98 (3.86)
150 (5.91)
111.8 (4.40)*
97 (3.82)
1 (0.04)
50050
(19.691.97)
2screws
#4-40 UNC
The coil assembly moves in the direction indicated by the arrow when
current flows in the order of phase U, V, and W.
64 min.
19.1 (0.75)*
Receptacle
Coil assembly
16
(0.63)
Hall Sensor
Connector Specifications
6
9
5
63 (2.48)
* Reference length
Units: mm (in)
Nameplate
Linear Servomotor
Connector Specifications
Pin No.
Name
Pin No.
Name
5VDC
Phase U
Phase U
Phase V
Phase V
Phase W
Phase W
Ground
0V
Not used
Not used
Not used
Not used
Su
Inverse
power Vv
(V)
Sv
Vw
Sw
Coil Assembly
Model SGLTW80400B
80600B
* Reference length
3-48
L1
L2
L3*
395
(15.55)
585
(23.03)
360 (14.17)
(60 (2.36) 6 (0.24))
15
(0.59)
25
(0.98)
14
(0.55)
20
(0.79)
540 (21.26)
(60 (2.36) 9 (0.35))
Approx.
Mass
kg (lb)
30
(66.14)
43
(94.80)
180
360
Electrical angle( )
540
Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways
for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a
machine.
2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
3. Two magnetic ways in a set can be connected to each other.
4. The dimensions marked with an are the dimensions between the magnetic ways. Be sure to follow
exactly the dimensions specified in the figure above. Mount magnetic ways as shown in Assembly
Dimensions. The values with an are the dimensions at preshipment.
5. Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use
stainless steel screws.
Magnetic Way
Model SGLTM-
L1 -0.1
-0.3
L2
L3
N1
N2
80405A
405
(15.94)
337.5 (13.29)
(67.5 (2.66) 5 (0.20))
337.5 (13.29)
(33.75 (1.33) 10 (0.39))
6
(0.24)
80675A
675
(26.57)
607.5 (23.92)
(67.5 (2.66) 9 (0.35))
607.5 (23.92)
(33.75 (1.33) 18 (0.71))
10
(0.39)
80945A
945
(37.20)
877.5 (34.55)
877.5 (34.55)
(67.5 (2.66) 13 (0.51)) (33.75 (1.33) 26 (1.02))
14
(0.55)
11
(0.43)
19
(0.75)
27
(1.06)
Approx.
Mass
kg (lb)
14
(30.86)
24
(52.91)
34
(74.96)
3-49
19.1 (0.75)
20 (0.79)
140 (5.51)*
120 (4.72)*
100 (3.94)
57 (2.24)
67.5 (2.66)*
L2
5.6
Coil assembly
Base
MADE IN JAPAN
DATE
S/N
131 (5.16)
190 (7.48)
170 (6.69)
150 (5.91)*
1.2 (0.05)*
90 (3.54)
111.80.3
(4.400.01)
O/N
1.50.3
(0.060.01)
YASKAWA
20
(0.79) 57 (2.24)
1.20.3
(0.050.01)
19.1 (0.75)
25.3 (1.00)
TYPE:
Gap
YASKAWA
(0.04)
TYPE:
2 N2 - 12 (0.47)mounting holes
(See the sectional view for the depth.)
O/N
S/N
MADE IN JAPAN
DATE
17.5 (0.69)*
92.5 (3.64)
202.5 (7.97)*
L5
92.5 (3.64)
L4
5.
6
1.50.3
(0.060.01)*
33.75 (1.33)
67.5 (2.66)
25 (0.98)
67.5 (2.66)*
14.4 (0.57)*
* Reference value
Units: mm (in)
L2
L3
-0.1
L1 -0.3
Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the
magnetic way.
2. Two magnetic ways in a set can be connected to each other.
3. The magnetic way with base has the same characteristics as those of the magnetic way without base.
(SGLTM-80A)
Magnetic Way
Model SGLTM80405AY
80675AY
80945AY
3-50
L1 -0.1
-0.3
L2
L3
L4
L5
N1
N2
N3
405
(15.94)
675
(26.57)
945
(37.20)
337.5
(13.29)
607.5
(23.92)
877.5
(34.55)
387.5
(15.26)
657.5
(25.89)
927.5
(36.52)
202.5
(7.97)
472.5
(18.60)
742.5
(29.23)
202.5
(7.97)
236.25
(9.31)
247.5
(9.74)
6
(0.24)
10
(0.39)
14
(0.55)
2
(0.08)
3
(0.12)
4
(0.16)
11
(0.43)
19
(0.75)
27
(1.06)
Approx.
Mass
kg (lb)
18
(39.68)
31
(68.34)
43
94.80)
4
SERVOPACK Specifications and Dimensional
Drawings
4-15
4-16
4-17
4-19
4-20
4-21
4-21
4-22
4-1
CAUTION
Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
range.
An incorrect input power supply may result in damage to the SERVOPACK. If the voltage exceeds these values, use
a step-down transformer so that the voltage will be within the specified range.
A5A 01A
02A
04A
75A
0.05
0.1
0.2
0.4
0.45 0.75
1.0
1.5
2.0
5.0
7.5
0.64
0.91
2.1
2.8
3.8
5.7
7.6
11.6
54.7
2.0
2.8
6.5
8.5
11.0
13.9
17
28
Regenerative
Processing
External regenerative
resistor
42
3.0
56
84
130
Built-in
4-2
05D
0.45
10D
1.0
15D
1.5
20D
2.0
30D
3.0
50D
5.0
75D
7.5
1.9
3.5
5.4
8.4
11.9
16.5
25.4
5.5
8.5
14
20
28
40.5
65
Control Method
Feedback
Conditions
Speed
and
Force
Control
Modes
Performance
Ambient/Storage Temperature 1
Ambient/Storage Humidity
Vibration/Shock Resistance
Speed Control Range
Speed
Regulation 2
Load Regulation
Voltage Regulation
Temperature Regulation
Frequency Characteristics
Performance
Bias Setting
Feed Forward Compensation
Positioning Completed Width
Setting
Input
Reference Type
Signals Pulse
Form
Frequency
Control Signal
Built-in Open Collector Power
Supply 4
4-3
(contd)
I/O
Signals
Position Output
Sequence Input
Sequence Output
Internal
Functions
Form
Frequency Dividing
Ratio
Signal allocation can
be modified.
Fixed Output
Signal allocation can
be modified.
Dynamic Brake
Overtravel Stop
Electronic Gear
Protection
LED Display
CN5 Analog Monitoring
Communications
Connected Devices
1:N Communications
Axis Address Setting
Functions
Others
* 1. Use the SERVOPACK within the ambient temperature range. When enclosed in a control panel,
internal temperatures must not exceed the ambient temperature range.
* 2. Speed regulation is defined as follows:
Speed reguration =
The motor speed may change due to voltage variations or amplifier drift and changes in processing
resistance due to temperature variation. The ratio of speed changes to the rated speed represent speed
regulation due to voltage and temperature variations.
* 3. The forward direction indicates the direction in which the linear scale counts up (Phase-A advance).
* 4. The built-in open collector power supply is not electrically insulated from the control circuit in the
SERVOPACK.
* 5. The DC reactor connection terminals for power supplies designed for minimum harmonics are not
included in SERVOPACKs with capacities of 7.5 kW.
4-4
WARNING
After voltage resistance test, wait at least five minutes before servicing the product. (Refer to Voltage Resistance Test on the following page.)
Failure to observe this warning may result in electric shock.
Connect the main circuit wires, control wires, and main circuit cables of the motor correctly.
Incorrect wiring will result in failure of the SERVOPACK.
Storage
Store the SERVOPACK within the following temperature range if it is stored with the power cable disconnected.
Temperature: -20 to 85 C (-4 to 185 F)
Humidity: 90%RH or less (with no condensation)
Operating Conditions
Installation Site
4-5
Orientation
Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK must be oriented
this way because it is designed to be cooled by natural convection or a cooling fan.
Secure the SERVOPACK using two to four mounting holes. The number of holes depends on the capacity.
Wall
Ventilation
Installation
Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.
Cooling fan
Cooling fan
50 mm (1.97 in) min.
30 mm
(1.18 in) min.
10 mm
(0.39 in) min.
SERVOPACK Orientation
Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward.
Cooling
As shown in the figure above, allow sufficient space around each SERVOPACK for cooling by cooling fans
or natural convection.
Side-by-side Installation
When installing SERVOPACKs side by side as shown in the figure above, allow at least 10 mm (0.39 in)
between and at least 50 mm (1.97 in) above and below each SERVOPACK. Install cooling fans above the
SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control
panel.
Environmental Conditions in the Control Panel
Ambient Temperature:0 to 55C (32 to 131 F)
Humidity: 90% RH or less
Voltage
Resistance Test
4-6
B1
RY1
THS1
B2
PM1-1
Noise
filter
FU1
1KM
L1
C1
XX1
TR1
Voltage
sensor
1KM
1KM
PG
CN2
Interface
+
-
DC/DC
converter
PG output
Reference pulse input
0V
Panel operator
POWER
Connector for
application
module
CN5
Analog monitor
output for
supervision
A/D
I/O
Sequence I/O
CPU
(Position/Speed calculation, etc.)
Analog voltage
converter
CN10
CN1
+5 V
Surge
suppressor
Serial
converter
unit
ASIC
(PWM control, etc.)
Open during
servo alarm (1RY)
1RY
Hall
sensor
Current
sensor
5 V
+15 V
+5 V
12 V
Power Power
supply supply
ON
OFF
Gate drive
Voltage
sensor
L2C
R8
N2
Relay drive
N1
L1C
L2
Linear servomotor
R7
D1
CHARGE
D2 D3 D4
PM1-2
P2
CN3
Digital operator or
personal computer
4-7
1
2
FAN1
R2
RY1
12V
FU1
D2 D3 D4
Noise
filter
1KM
Linear servomotor
CHARGE
L1
XX1
L2
L3
XX3
XX2
C1
U
V
N
Relay drive
Voltage
sensor
THS1
Gate drive
Interface
For 0.5 kW to1.0 kW
L1C
~
~
L2C
DC/DC
converter
+15 V
ASIC
(PWM control, etc.)
+5 V
12 V
CN1
PG output
+5 V
Open during
servo alarm (1RY)
1KM
0V
1KM
Panel operator
Surge
suppressor
1KM
POWER
Analog monitor
output for
supervision
I/O
Sequence I/O
CN3
CN5
Connector for
application
module
A/D
CPU
(Position/Speed calculation, etc.)
Analog voltage
converter
CN10
Serial
converter
unit
Current
sensor
5 V
Hall
sensor
PG
CN2
Voltage
sensor
Power Power
supply supply
OFF
ON
Digital operator or
personal computer
+10%
-15%
B1 B2 B3
FAN1
FU1
P
Noise
filter
1KM
L1
XX1
L2
L3
12 V
CHARGE
XX3
C1
S
XX2
N
Relay drive
Voltage
sensor
Gate drive
DB
Interface
~
~
L2C
~~~
PG
+
-
+
-
DC/DC
converter
Gate drive
ASIC
(PWM control, etc.)
CN1
12 V
Power
supply
ON
1KM
1KM
PG output
+5 V
Open during
servo alarm (1RY)
1KM
0V
1RY
Panel operator
Surge
suppressor
POWER
Analog voltage
converter
CN10
Connector for
application
module
4-8
Serial
converter
unit
Current
sensor
5 V
+15 V
+5 V
Power
supply
OFF
Hall
sensor
+
CN2
Voltage
sensor
RY1
N
L1C
Linear servomotor
CN5
Analog monitor
output for
supervision
CN3
Digital operator or
personal computer
A/D
I/O
Sequence I/O
CPU
(Position/Speed calculation, etc.)
B1
THS1
B2
FAN1
RY1
DB1
P
FU1
PM1/PM2/PM3
R3
Noise
filter
D1
1KM
BA1 BA3
L1
L2
C1
C10
CHARGE
T
BA2
Linear servomotor
CT2
U
V
L3
12 V
CT1
TR1
C7 C6 C5
SCR1
C9
Relay drive
Hall
sensor
PG
R2
Gate drive
isolator
CN2
L1C
L2C
Current
sensor
5 V
DC/DC
converter
12 V
Serial
converter
unit
ASIC
(PWM control, etc.)
PG5 V
CN1
PG output
Power Power
supply supply
OFF ON
+5 V
Open during
servo alarm (1RY)
1KM
1KM
I/O
Sequence I/O
0V
1RY
1KM
POWER
Panel operator
Analog voltage
converter
CN3
CN5
CN10
Analog monitor
output for
supervision
Connector for
application
module
CPU
(Position/Speed calculation, etc.)
Digital operator or
personal computer
+10%
-15%
B1 B2 B3
FAN1
2
FU1
Noise
filter
1KM
L1
XX1 XX3
L2
L3
C2
Linear servomotor
12 V
CHARGE
C1
W
N
PG
D1 D2 D3
Hall
sensor
RY1
R2
Relay drive
Voltage
sensor
Gate drive
Voltage
sensor
(not provided)
CN2
Interface
Serial
converter
unit
Control power
+24 VDC
24V
+7.5 V
FU2
0V
Current
sensor
+15 V
DC/DC
converter
ASIC
(PWM control, etc.)
+5 V
12 V
Power
supply
OFF
CN1
AC power supply
Power Open during
supply servo alarm (100 V/200 V)
ON (1RY)
2RY
Panel operator
1KM
2RY
High speed
diode
Surge
suppressor
CN10
CN5
Connector for
application
module
Analog monitor
output for
supervision
A/D
I/O
Sequence I/O
CPU
(Position/Speed calculation, etc.)
Power
Analog voltage
converter
1KM
PG output
Reference pulse input
+5 V
CN3
Digital operator or
personal computer
4-9
+10%
-15%
B1 B2 B3
FAN1
FU1
Noise
filter
1KM
L1 XX1 XX3
P
C1
L2
12 V
CHARGE
C2
XX2
L3
Linear servomotor
W
N
Hall
sensor
PG
+
DB
RY1
RLY2
Relay drive
Voltage
sensor
Gate drive
Voltage
sensor
(not provided)
Serial
converter
unit
CN2
Relay
drive
Interface
Control power
+24 VDC
+7.5 V
L1C FU2
Current
sensor
+15 V
DC/DC
converter
L2C
ASIC
(PWM control, etc.)
+5 V
12 V
CN1
PG output
AC power supply
Power Open during (100 V/200 V)
Power
supply supply servo alarm
ON (1RY)
OFF
2RY
0V
POWER
Panel operator
1KM
1KM
+5 V
Analog voltage
converter
diode
Surge
suppressor
CN10
I/O
Sequence I/O
CN3
CN5
Connector for
application
module
A/D
CPU
(Position/Speed calculation, etc.)
Analog monitor
output for
supervision
Digital operator or
personal computer
+10%
-15%
FAN1
2
FU1
Noise
filter
1KM
L1
XX1 XX3
L2
P
C1
XX2
CT2
C2
Linear servomotor
U
V
L3
12 V
CT1
CHARGE
W
N
PG
Hall
sensor
DB
RY1
RLY2
Relay drive
Voltage
sensor
Gate drive
Voltage
sensor
(not provided)
Interface
Serial
converter
unit
CN2
Relay
drive
Control power
+24 VDC
+7.5 V
L1C FU2
Current
sensor
+15 V
DC/DC
converter
ASIC
(PWM control, etc.)
+5 V
12 V
CN1
PG output
+5 V
AC power supply
0V
Analog voltage
converter
diode
Surge
suppressor
CN10
Connector for
application
module
4-10
CN5
Analog monitor
output for
supervision
I/O
Sequence I/O
CPU
(Position/Speed calculation, etc.)
POWER
Panel operator
1KM
A/D
CN3
Digital operator or
personal computer
Single-phase 200 V
Three-phase 200 V
Three-phase 400 V
Maximum
Applicable
Linear Servomotor
Capacity
kW
0.05
0.10
0.20
0.40
0.45
0.75
1.0
1.5
SERVOPACK
Model
SGDH-
Output
Current
(Effective
Value)
A
Main Circuit
Power Loss
W
A5AE
01AE
02AE
04AE
05AE
08AE
10AE
15AE
0.64
0.91
2.1
2.8
3.8
5.7
7.6
11.6
4.6
6.7
13.3
20
27
41
55
92
2.0
3.0
5.0
20AE
30AE
50AE
18.5
24.8
32.9
120
155
240
28 2
7.5
75AE
54.7
330
27
357
0.45
1.0
1.5
2.0
3.0
5.0
7.5
05DE
10DE
15DE
20DE
30DE
50DE
75DE
1.9
3.5
5.4
8.4
11.9
16.5
25.4
19
35
53
83
118
192
264
14 2
15
48
64
82
126
161
243
279
Regenerative
Resistor
Power Loss
W
Control
Circuit
Power
Loss
W
13
12 2
15
14 2
36
3
17.6
19.7
26.3
33
54
68
82
121
163
198
311
56 2
28 2
Total
Power
Loss
W
* 1. SERVOPACKs with a capacity of 50 to 400W do not have built-in regenerative resistors. If the
regenerative energy exceeds the specified value, connect an external regenerative resistor. Refer to
11.1.3 Alarm Display Table when the Application Module is Used.
* 2. Regenerative resistor power losses are allowable losses. Take the following action if this value is
exceeded.
Remove the lead from the internal regenerative resistor in the SERVOPACK.
Install an external regenerative resistor (optional).
* 3. An external regenerative resistor must be connected to SERVOPACKs with a capacity of 7.5 kW.
The following regenerative resistor units are provided for this purpose.
For the SGDH-75DE: JUSP-RA18 (allowable loss: 180W)
For the SGDH-75AE: JUSP-RA05 (allowable loss: 350W)
Note: Refer to 7.6 Connecting Regenerative Resistors, 6.8.5 External Regenerative Resistor and 6.8.6
Regenerative Resistor for details.
4-11
1,000
10
5
1
TERMS
Maximum force
Hot Start
A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally
saturated.
4-12
M x VM
[s]
FPM FL
Stopping time tf =
M x VM
[s]
FPM + FL
VM
M
FPM
FL
Calculate the motor force from the motor current: Motor force = Motor force constant Motor effective current
tr
tf
FPM
Time
FPM
Motor force
(Current amplitude)
FL
The following figure shows the motor force and motor speed timing chart.
VM
4
Motor movement
speed
Time
4-13
200 V
200 V
200 V
200 V
400 V
200 V
400 V
200 V
SERVOPACK
Capacity
Model SGDH-E
50 W, 100 W, 200 W
A5A, 01A, 02A
400 W
04A
500 W, 750 W, 1.0 kW
05A, 08A, 10A
1.5 kW
15A
500 W, 750 W, 1.0 kW, 1.5 kW
05D, 08D, 10D, 15D
2.0 kW, 3.0 kW
20A, 30A
2.0 kW, 3.0 kW
20D, 30D
5.0 kW
50A
400 V
200 V
400 V
5.0 kW
7.5 kW
7.5 kW
Supply Voltage
Single-phase
Three-phase
Three-phase
4-14
50D
75A
75D
Reference
4.7.1
4.7.2
4.7.3
4.7.4
4.7.5
4.7.6
4.7.7
4.7.8
CN10
Ground terminal
6
2M4 screws (0.24)
CN3
106 (4.17)
POWER
160 (6.30)
149.50.5 (5.890.02)
(Mounting pitch)
DATA/
CHARGE
39
(1.54)
MODE/SET
6 (0.24)
160 (6.30)
Terminal
block
SGDH-
CN1
CN2
Nameplate
10 (0.39)
55 (2.17)
8 (0.31)
130 (5.12)
75 (2.95)
7 (0.28)
17 (0.67)
5 (0.20)*
YASKAWA SERVOPACK
YASKAWA
5 (0.20)
55 (2.17)
91.5 (3.60)
* Reference length
Units: mm (in)
Approx. mass: 0.8 kg (1.76 lb)
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-15
25 (0.20) holes
POWER
160 (6.30)
149.50.5 (5.890.02)
DATA/
CHARGE
39
(1.54)
MODE/SET
CN3
106 (4.17)
160 (6.30)
149.5 (5.89)
Terminal
block
SGDH-
CN1
Ground terminal
2M4 screws
6 (0.24)
12
(0.47)
5 (0.20)
6 (0.24)
5 (0.20)*
CN2
63 (2.48)*
75 (2.95)
8 (0.31)
10 (0.39)
Nameplate
75 (2.95)*
130 (5.12)
7 (0.28)
17 (0.67)
(Mounting pitch)
CN10
YASKAWA SERVOPACK
YASKAWA
5 (0.20)*
5.5 (0.22)
4-16
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
Single-phase
200 VAC
50/60 Hz
75 (2.95)
91.5 (3.60)
* Reference length
Units: mm (in)
Approx. mass: 1.1 kg (2.43 lb)
Main circuit
power supply
L1 L2
12 (0.47)
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
96.2 (3.79)
CN10
160 (6.30)
5 (0.20)* 149.50.5 (5.890.02) 5.5
(0.22)
(Mounting pitch)
DATA/
CN3
POWER
106 (4.17)
160 (6.30)
CHARGE
39
(1.54)
SGDH-
MODE/SET
Cooling fan
YASKAWA
5 (0.20)
94.4 (3.72)
YASKAWA SERVOPACK200V
Terminal
block
15 (0.59)
CN1
CN2
Ground terminal
2M4 screws
10 (0.39)
35
(1.38) 55 (2.17)
90 (3.54)
Nameplate
75 (2.95)*
180 (7.09)
8 (0.31)
7 (0.28)
2M4 screw
holes
141.5 (5.57)
4
17 (0.67)
27 (1.06)
90 (3.54)
* Reference length
Units: mm (in)
Approx. mass: 1.7 kg (3.75 lb)
Main circuit
power supply
L1 L2 L3
Control power
supply
L1C L2C
Three-phase
200 VAC
50/60 Hz
Single-phase
200 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-17
25 (0.20) holes
5.5
(0.22)
Heat sink
DATA/
POWER
CN3
106 (4.17)
160 (6.30)
CHARGE
5 (0.20)
Ground
terminal
2M4 screws
110 (4.33)
CN1
CN2
Terminal
block
8 (0.31)
Nameplate
75 (2.95)*
7 (0.28)
180 (7.09)
5 (0.20)*
MODE/SET
39
(1.54)
SGDH-
160 (6.30)
149.50.5 (5.890.02)
(Mounting pitch)
CN10
YASKAWA SERVOPACK
YASKAWA
1000.5
5
(3.940.02)
5
4
(0.20)* (Mounting pitch) (0.20)*
(0.16)
110 (4.33)
141.5 (5.57)
* Reference length
Units: mm (in)
Approx. mass: 2.8 kg (6.17 lb)
Cooling fan
4-18
Main circuit
power supply
L1 L2 L3
Control power
supply
L1C L2C
Three-phase
200 VAC
50/60 Hz
Single-phase
200 VAC
50/60 Hz
Main circuit
power supply
L1 L2 L3
Control power
supply
24 V 0 V
Three-phase
400 VAC
50/60 Hz
24 VDC
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
26 (0.24) holes
Heat sink
6
(0.24)
YASKAWA SERVOPACK
POWER
250 (9.84)
238.5 (9.39)
CN1
CN1
CN2
196 (7.72)
CN2
14-pin terminal
M4 mounting
screw
5.5
(0.22)*
1000.5
(3.940.02)
5
5
(0.20)* (Mounting pitch) (0.20)*
110 (4.33)
CN3
CN3
Ground terminal
5
2M4 screws
(0.20)*
(Mounting pitch)
DATA/
CHARGE
250 (9.84)
MODE/SET
CN10
238.50.5 (9.390.02)
SGDH-
39
(1.54)
YASKAWA
Nameplate
6
(0.24)
100 (3.94)
110 (4.33)
4M5 tap
5.5 (0.22)*
6 (0.24)
5
(0.20)* 75 (2.95)*
8 (0.31)
180 (7.09)
7 (0.28)
Nameplate
4
(0.16)
141.5 (5.57)
4
* Reference length
Units: mm (in)
Approx. mass: 3.8 kg (8.38 lb)
(100)
40
(1.57)*
Cooling fan
Single-phase
200 VAC
50/60 Hz
xThree-phase 400 V
Main circuit
Control power
power supply
supply
L1 L2 L3
24 V 0 V
Three-phase
400 VAC
50/60 Hz
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
24 VDC
4-19
YASKAWA SERVOPACK
SGDH-50AE
Ver.
L1
L2
MODE/SET
DATA/
CHARGE
6
(0.24)
6-pin terminal
M5 screw 8 (0.31)
4-pin terminal
M4 screw
CN10
CN3
POWER
L3
CN1
250 (9.84)
238.5 (9.39)
+1
250 (9.84)
+2
CN2
L1C
L2C
B1
B2
B3
U
(Mounting pitch)
Heat sink
238.50.5 (9.390.02)
6 (0.24)
5.7
5
(0.22) 125 (4.92)
135 (5.31)
(0.20)*
Ground terminal
M5 screw
5
(0.20)* 75 (2.95)*
3-pin terminal
M5 screw
7 (0.28)
Nameplate
230 (9.06)
1.6 (0.06)
5.5 (0.22)*
5.5
(0.22)
5
(0.20)*
1250.5
(4.920.02)
(Mounting pitch)
191.5 (7.54)
* Reference length
Units: mm (in)
Approx. mass: 2.8 kg (12.13 lb)
(100)
83 (3.27)*
L3
L1C L2C
Three-phase
200 VAC
50/60 Hz
Single-phase
200 VAC
50/60 Hz
Main circuit
power supply
Control power
supply
L3
24 V 0 V
Three-phase
400 VAC
50/60 Hz
24 VDC
L1
4-20
L2
Control power
supply
L2
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
5
(0.20)*
Cooling fan
10 (0.39)
CN8
CN3
110 (4.33)
CN5
Control circuit
terminal
M4
!
25
(0.98)
B1
B2
180 (7.09)
Max. 230 (9.06)
Main circuit
terminal M6
39
(1.54)
335 (13.19)
19 (0.75)
21 (0.83)
Control
circuit
terminal
Main circuit
terminal
28.3 (1.11)*
25
(0.98)*
Ground terminal
M8
Ground
terminal
25
(0.98)
180 (7.09)
25
(0.98)*
145 (5.71)
View A
90 (3.54)
30.5 (1.20)
L3
Nameplate
7.5 (0.30)*
(3.96)
66 (2.60)
51
46
(2.01) 12.5 (0.49) (1.81)
L2
CN10
211.1 (8.31)
WARNING
CN1 CN2
L1
BATTERY
DATA/
CHARGE
25 (0.98) 100.5
282.6 (11.13)
MODE/SET
9
(0.35)
8
(0.31)
POWER
335 (13.19)
Max. 350 (13.78)
Ver.
YASKAWA
125 (4.92)
SGDH-
7.5
(0.30)
SERVOPARK 200V
7.5
(0.30)
7.5
(0.30)
* Reference length
Units: mm (in)
Approx. mass: 14.3 kg (31.53 lb)
Main circuit
power supply
L1
L2
L3
Three-phase
200 VAC
50/60 Hz
Control power
supply
L1C L2C
Single-phase
200 VAC
50/60 Hz
External
regenerative
resistor
B1 B2
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
4-21
Cooling fan
7.5
(0.30)
7.5
(0.30)
10 (0.39)
CN3
SERVOPACK 200V
SGDH- 1AAE
CN8
POWER
CHARGE
BATTERY
CN5
335 (13.19)
350 (13.78)
130 (5.12)
L2
L3
+1
+2
24V
0V
B1
B2
7 (0.28)
20 (0.79)
158 (6.22)
25 (0.98)
25 (0.98)*
180 (7.09)
230 (9.06)
Main circuit Control circuit Ground
terminal M5 terminal M4
terminal M5
7
Nameplate
7.5
(0.30)
L1
Main circuit/
Control circuit
terminal
Main circuit
terminal M5
46
(1.81)
(0.28)
32 (1.26)
CN1 CN2
24 121 (4.76)
90 (3.54)
(0.94)
235 (9.25)
Ground
terminal
7.5 (0.30)*
283 (11.14)
110 (4.33)
CN10
8
(0.31)
335 (13.19)
DATA/
MODE/SET
39
(1.54)
YASKAWA
211.1
(8.31)
Ver.
25
(0.98)
180 (7.09)
104 (4.09)
133 (5.24)
222 (8.74)
View A
* Reference length
Units: mm (in)
Approx. mass: 13.5 kg (29.76 lb)
Main circuit
power supply
L1
L2
L3
Three-phase
400 VAC
50/60 Hz
4-22
External
Control power regenerative
supply
resistor
B1 B2
24 V 0 V
24 VDC
SERVOPACK Connector
Connector
SERVOPACK
Manufacturer
Symbol Connector Model
CN1
10250-52A2JL
Sumitomo 3M Co., Ltd.
CN2
53460-0611
Molex Japan Co., Ltd.
CN3
10214-52A2JL
Sumitomo 3M Co., Ltd.
25
(0.98)*
5
Specifications and Dimensional
Drawings of Serial Converter Unit
5.3.1 Linear Scale with Cable for Hall Sensor by Heidenhain - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.3.2 Linear Scale with Cable for Hall Sensor by Renishaw - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5-1
Items
Power Supply Voltage
Specifications
+5.0V5%, ripple content 5% max.
Current Consumption1
Signal Resolution
Max. Response
Frequency
Output Signals3
Output Method
Transmission Cycle
Output Circuit
Mechanical
Characteristics
Approx. mass
Vibration Resistance
Shock Resistance
Environmental
Conditions
Operating temperature
Storage temperature
Humidity
CMOS level
* 1. The current consumption of the linear scale and hall sensor is not included in this value.
The current consumption of linear scale and hall sensor must be taken into consideration for the current capacity of host controller that supplies the power. The current consumption of hall sensor:
Approx. 40 mA.
* 2. Input a value within the specified range. Otherwise, incorrect position information is output, and the
device may be damaged.
* 3. The transmission is enabled 100 to 300 ms after the power turns ON.
5-2
0.2VQ0.6 V
100%
cos
A+
45q
/cos
A-
cos/cossin/sin
Input voltage range:
1.5 V to 3.5V
sin
B+
0.2 V min.
/sin
B-
0.2 V min.
/Ref
Ref/Ref
Input voltage range:R-
Ref
1.5 V to 3.5V
R+
5 to 75%
5 to 75%
Zero Point
Count up direction
* If the analog signal amplitude declines to about 0.35 V because of differential amplitude, the serial converter outputs an alarm.
IMPORTANT
Precautions
1. Never perform insulation resistance and withstand voltage tests.
2. When analog signals are input to the serial converter unit, noise influence on the analog signals affects
the units ability to output correct position information. The analog cable must be as short as possible
and shielded.
3. Use the device in an environment free from hydrogen sulfide (H2S) and other hazardous gases.
4. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged.
5. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.
5-3
SERVOPACK
CN3
Linear scale
by Heidenhain Corp.
SGDH-E
CN2
CN1
JZSP-CLP70-
CN2
Hall sensor
1.5 (0.06)
3 (0.12)
14.350.4 (0.560.02)
650.3 (2.560.01)
72 (2.83)
820.3 (3.220.01)
90 (3.54)
30030
(11.811.18)
Linear scale end Analog
signal input connector (CN2)
22.5 (0.89)
24.990.4
(0.980.02)
2 4.2
(0.17) holes
60 (2.36)
520.3 (2.050.01)
10 (0.39)
Units: mm (in)
5-4
CN1
SERVOPACK end
serial data output
CN2
Linear scale end
Analog signal input
1
Signal
+5V
S-phase output
Empty
Empty
0V
/S-phase output
Empty
Empty
Empty
Shield
15
Signal
cos input (A+)
0V
sin input (B+)
+5V
Empty
Empty
/Ref input (R-)
Empty
/cos input (A-)
0V sensor
/sin input (B-)
5V sensor
Empty
Ref input (R+)
Empty
Shield
CN3
Linear scale end
Hall sensor signal input
1
Signal
+5V
U-phase input
V-phase input
W-phase input
0V
Empty
Empty
Empty
Empty
Shield
5-5
SERVOPACK
CN3
Linear scale
by Renishaw Inc.
SGDH-E
CN2
CN1
JZSP-CLP70-
CN2
Hall sensor
1.5 (0.06)
3 (0.12)
14.350.4 (0.560.02)
650.3 (2.560.01)
72 (2.83)
820.3 (3.220.01)
90 (3.54)
30030
(11.811.18)
Linear scale end Analog
signal input connector (CN2)
22.5 (0.89)
24.990.4
(0.980.02)
2 4.2
(0.17) holes
60 (2.36)
520.3 (2.050.01)
10 (0.39)
Units: mm (in)
5-6
CN1
SERVOPACK end
serial data output
CN2
Linear scale end
Analog signal input
1
Signal
+5V
S-phase output
Empty
Empty
0V
/S-phase output
Empty
Empty
Empty
Shield
15
Signal
/cos input (V1-)
/sin input (V2-)
Ref input (V0+)
+5V
5Vs
Empty
Empty
Empty
cos input (V1+)
sin input (V2+)
/Ref input (V0-)
0V
0Vs
Empty
Inner
Shield
CN3
Linear scale end
Hall sensor signal input
1
Signal
+5V
U-phase input
V-phase input
W-phase input
0V
Empty
Empty
Empty
Empty
Shield
5-7
5-8
6
Specifications and Dimensional
Drawings of Cables and
Peripheral Devices
6.1 Linear Servomotor Main Circuit Cables - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Cables for Connecting Serial Converter Units - - - - - - - - - - - - - - - - - - - - - 6-7
6.3 Cables for Connecting Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.4 Cables for Connecting Hall Sensors - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.5 Flexible Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.6 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.6.1 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.6.2 Single-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.6.3 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.6.4 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6-12
6-13
6-13
6-14
6-18
6-18
6-19
6-20
6-21
6-22
6-23
6-24
6-28
6-30
6-31
6-32
6-34
6-1
50 (1.97)
L
Heat-shrinkable
tube
Finished outer dia.
6.8 (0.27)
U
V
W
G
M4 crimped
terminal
35 (1.38)
Cable (UL2464)
AWG18/4C
Cap: 350780-1 (4-pole)
Socket: 350536-3 (Chained)
made by Tyco Electronics AMP. K.K.
Cable Type
JZSP-CLN11-01
JZSP-CLN11-03
JZSP-CLN11-05
JZSP-CLN11-10
JZSP-CLN11-15
JZSP-CLN11-20
Cable Length
(L)
1 m (3.28 ft)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
20 m (65.62 ft)
6-2
7.6 (0.30)
Wire markers
27.7 (1.09)
SERVOPACK end
8.5 (0.33)
Pin No.
Red
Phase U
Phase U
White
Phase V
Blue
Phase V
Phase W
Phase W
Green/Yellow
FG
FG
3
4
14.7
(0.58)
Units: mm (in)
U
V
W
G
M4 crimpted
terminal
Wire markers
L
Hear-shrinkable
tube
Finished outer dia.
11.9 (0.47)
35 (1.38)
Cable (UL2570)
AWG14/4C
27.7 (1.09)
8.5 (0.33)
7.6 (0.30)
14.7
(0.58)
Units: mm (in)
SGLGW-90
SGLFW-50 and -1Z
SGLTW-20 and -35
Cable Type
JZSP-CLN21-01
JZSP-CLN21-03
JZSP-CLN21-05
JZSP-CLN21-10
JZSP-CLN21-15
JZSP-CLN21-20
Cable Length
(L)
1 m (3.28 ft)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
20 m (65.62 ft)
Wire Color
Signal
Signal
Pin No.
Red
Phase U
Phase U
White
Phase V
Blue
Phase V
Phase W
Phase W
Green/Yellow
FG
FG
3
4
6-3
50 (1.97)
2 (0.08)
35 (1.38)
8.5 (0.33)
Heat-shrinkable tube
Finished out dia.
15.8 (0.62)
U
V
W
M4 crimpted
terminal
Cable (UL2570)
AWG11/4C
Wire markers
Units: mm (in)
Cable Type
JZSP-CLN39-01
JZSP-CLN39-03
JZSP-CLN39-05
JZSP-CLN39-10
JZSP-CLN39-15
JZSP-CLN39-20
Cable Length
(L)
1 m (3.28 ft)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
20 m (65.62 ft)
6-4
Wire Color
Signal
Signal
Pin No.
Red
Phase U
Phase U
White
Phase V
Blue
Phase V
Phase W
Phase W
Green/Yellow
FG
FG
3
4
Applicable Linear
Servomotor Models
Plus
Attached
Connector
Straight
L-shaped
MS3102A22-22P MS3106B22-22S MS3108B22-22S
Cable Clamp
MS3057-12A
Shell
Size
L
W
Joint Screw
A
Joint
Length
J0.12
A
22
1 3/8 -18UNEF
18.26
(0.72)
Max.
Overall
Length
L
Outer
Diameter
of Nut
55.57
(2.19)
40.48
(1.59)
Q+0
-0.38
Cable Clamp
Mounting
Screw
V
1 3/16-18UNEF
Min.
Effective
Screw
Length
W
9.53
(0.38)
Max.
Width
Y
50
(1.97)
Joint
Length
J0.12
W
U
Joint
Screw
A
22
1 3/8 18UNEF
18.26
(0.72)
Max.
Overall
Length
L
Outer
Diameter
of Nut
76.98
(3.03)
40.48
(1.59)
R
0.5
U
0.5
Cable
Clamp
Mounting
Screw
V
Min.
Effective
Screw
Length
W
24.1
(0.95)
33.3
(1.31)
1 3/16 18UNEF
9.53
(0.38)
Q+0
-0.38
L
W
Joint Screw
A
Joint
Length
J0.12
10SL
5/8 -24UNEF
13.49
(0.53)
Max.
Overall
Length
L
34.9
(1.37)
Outer
Diameter
of Nut
+0
Q-0.38
22.22
(0.87)
Outer
Diameter
N0.5
19.12
(0.75)
Cable Clamp
Mounting
Screw
V
5/8-24UNEF
Min.
Effective
Screw
Length
W
9.53
(0.38)
6-5
1.6 (0.06)
E
(Cable clamp inner diameter)
G
Units: mm (in)
Applicable shell
size
20, 22
6-6
Overall
Length
A0.7
Effective
Screw
Length
C
Mounting Screw
E
G0.7
23.8
(0.94)
10.3
(0.40)
19.0
(0.75)
37.3
(1.47)
4.0
(0.16)
15.9
(0.63)
1 3/16-18UNEF
Outer
Diamet
er
Q0.7
35.0
(1.38)
Rubber
Bushing Type
AN3420-12
Length (L)
1 m (3.28 ft)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
20 m (65.62 ft)
Cable (UL20276)
(AWG162C+AWG262P)
Connector type:17JE-23090-02(D8C)
(9-pin, soldered)
made by DDK Ltd.
Units: mm (in)
(3) Specifications
SERVOPACK end
Signal
PG5V
Red
+5V
Red
PG0V
Black
0V
Black
PS
/PS
Light
blue
Light blue/
white
Shield
1
2
3
4
5
6
Shell
Cable
Color
Pin No.
Signal
Cable
Color
Pin No.
3
4
2
6
Case
7
8
9
Phase S
output
Phase /S
output
Light blue/
white
Shield
Light blue
6-7
Length (L)
1 m (3.28 ft)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
15
Cable
(AWG223+AWG2512)
(3) Specifications
Serial converter unit end
Signal
Pin No.
Signal
/Cos(V1-)
/Sin(V2-)
/Cos(V1-)
/Sin(V2-)
Ref(V0+)
3
4
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Case
6-8
Pin No.
+5V
5Vs
BID
Vx
Vq
Cos(V1+)
Sin(V2+)
/Ref(V0+)
0V
0Vs
DIR
Inner
Shield
5
6
7
8
9
10
11
12
13
14
15
Case
Ref(V0+)
+5V
5Vs
BID
Vx
Vq
Cos(V1+)
Sin(V2+)
/Ref(V0-)
0V
0Vs
DIR
Inner
Shield
Length (L)
1 m (3.28 ft)
3 m (9.84 ft)
5 m (16.40 ft)
10 m (32.81 ft)
15 m (49.21 ft)
Connector type:17JE-23090-02
(D8C) (9-pin, soldered)
made by DDK Ltd.
Cable
(AWG222+AWG244)
(3) Specifications
Serial converter unit end
Pin No.
Signal
Pin No.
+5V
+5V
Phase U input
Phase U input
3
4
Phase V input
Phase W input
3
4
Phase W input
5
6
7
8
0V
5
6
7
8
Signal
Phase V input
0V
Case
Shield
Case
Shield
6-9
JZSP-CLN11-
JZSP-CLN21-
JZSP-CLN39-
JZSP-CLN14-
JZSP-CLN15-
JZSP-CLL00-
JZSP-CLL10-
Recommended
bend radius in
mm (in)
35 (1.38)
35 (1.38)
50 (1.97)
35 (1.38)
35 (1.38)
60 (2.36)
60 (2.36)
JZSP-CLP70-
46 (1.81)
Model
Conditions
1. Repeat moving one end of the cable forward and backward for 320 mm (12.60 in) with using the test
equipment shown in the following.
2. Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is
disconnected. Note that one reciprocating is counted as one test.
Shifting distance 320 (12.60 in)
Shifting end
Bending
radius
R
Fixed end
Note: 1. The life of flexible cable differs largely depending on the amount of mechanical shocks,
mounting to the cable, and fixing methods. The life of flexible cable is limited under the
specified conditions.
2. The life of flexible cable indicates the number of bending times in which lead wires are
electrically conducted and by which no cracks and damages that affects the performance
of cable sheathing are caused. Disconnecting the shield wire is not taken into account.
6-10
6-11
1. Wire sizes were selected for three cables per bundle at 40 C (104 F) ambient temperature with the rated
current.
2. Use cable with a minimum withstand voltage of 600 V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables will rapidly deteriorate.
5. Use cables within the allowable mass.
6. Do not use cables under continuous regenerative state.
Name
Normal vinyl cable
600-V vinyl cable
Temperature-resistant
vinyl cable
HIV
Allowable
Conductor
Temperature
C (F)
60 (140)
75 (167)
The following table shows the wire size and allowable current for three cables. Use a cable whose specifications
meet or are less than the values in the table.
AWG Size
20
18
16
14
12
10
8
6
4
Nominal
Cross
Section
Diameter
mm2
0.5
0.75
0.9
1.25
2.0
3.5
5.5
8.0
14.0
22.0
Configuration
Number of
wires/mm2
Conductive
Resistance
/km
19/0.18
30/0.18
37/0.18
50/0.18
7/0.6
7/0.8
7/1.0
7/1.2
7/1.6
7/2.0
39.5
26.0
24.4
15.6
9.53
5.41
3.47
2.41
1.35
0.85
6-12
40C
(104F)
50C
(122F)
6.6
8.8
9.0
12.0
23
33
43
55
79
91
5.6
7.0
7.7
11.0
20
29
38
49
70
81
4.5
5.5
6.0
8.5
16
24
31
40
57
66
Terminal
Symbol
L1, L2
U, V, W
L1C, L2C
B1, B2
HIV2.0 or more
Ground terminal
Terminal
Symbol
L1, L2, L3
U, V, W
L1C, L2C
B1, B2
05AE
Ground terminal
HIV2.0 HIV3.5
L1, L2, L3
U, V, W
L1C, L2C
SERVOPACK
Model SGDH50AE 75AE
HIV5.5 HIV14
HIV8 HIV14
HIV1.25
B1, B2
HIV5.5 HIV8.0
Terminal
Symbol
HIV2.0 or more
6-13
Terminal
Symbol
L1, L2, L3
(Three-phase)
U, V, W
24V, 0V
6-14
HIV2.0
HIV1.25
HIV2.0
HIV1.25
HIV1.25
B1, B2
HIV2.0 or more
Ground terminal
05DE
Terminal
Symbol
L1, L2, L3
(Three-phase)
U, V, W
SERVOPACK
Model SGDH50DE 75DE
HIV3.5 HIV5.5
24V, 0V
HIV3.5 HIV5.5
HIV1.25
B1, B2
HIV2.0 HIV3.5
HIV2.0 or more
Connector: 10150-6000EL(50P)
Shell: 10350-52A0-008
Sleeve F2 (black)
Cable (black)
SSRFPVV-SB AWG#28 25P
UL20276 VW-1SC
2.8 (0.11) wire markers
100 +100
(3.94 +0.39
)
0
Units: mm (in)
Case
Type
JZSP-CKI9
10350-52A0-008
Connector
Qty
Type
Qty
1 set
10150-3000VE*
17.0 (0.67)
41.1 (1.62)
14.0 (4.27)
18.0 (5.49)
39.0 (1.54)
5.7 (1.74)* 23.8 (0.94)
46.5 (1.83)
52.4 (2.06)
12.7 (0.50)
* Reference length
Units: mm (in)
6-15
19.3 (0.76)
2.9 (0.11)*
6.6 (0.26)*
3M
12.7 (0.50)
2.3 (0.09)
5.1
(0.20)
2.54 (0.10)
1.27 (0.05)
41.1 (1.62)
7.5 (0.30)
9.1 (0.36)
Pin No. 1
1.27 (0.05)
30.48 (1.20)
36.7 (1.44)
Pin No. 26
15
* Reference length
Units: mm (in)
Specifications
Cable
Use twisted-pair or twisted-pair shielded wire.
Applicable wires
AWG24, 26, 28, 30
Cable Finished Diameter 16 (0.63 in) mm max.
6-16
SERVOPACK end
Marking
Color
Dots
Lead
Marker No.
Orange
Red
Orange
Black
Gray
Red
SEN
Gray
Black
V-REF
White
Red
SG
White
Black
PULS
Yellow
Red
/PULS
Yellow
Black
T-REF
Pink
Red
10
SG
Pink
Black
10
11
SIGN
Orange
Red
11
12
/SIGN
Orange
Black
12
13
Gray
Red
13
14
/CLR
Gray
Black
14
15
CLR
White
Red
15
16
White
Black
16
17
Yellow
Red
17
18
Yellow
Black
18
19
PCO
Pink
Red
19
20
/PCO
Pink
Black
20
21
Orange
Red
21
22
Orange
Black
22
23
Gray
Red
23
24
Gray
Black
24
25
/V-CMP+
White
Red
25
26
/V-CMP-
White
Black
26
27
/TGON+
Yellow
Red
27
28
/TGON-
Yellow
Black
28
29
/S-RDY+
Pink
Red
29
Black
30
31
/S-RDYALM+
Pink
Orange
Red
31
32
ALM-
Orange
Black
32
33
PAO
Gray
Red
33
34
/PAO
Gray
Black
34
35
PBO
White
Red
35
36
/PBO
White
Black
36
37
ALO1
Yellow
Red
37
38
ALO2
Yellow
Black
38
39
ALO3
Pink
Red
39
40
/S-ON
Pink
Black
40
41
/P-CON
Orange
Red
41
42
P-OT
Orange
Black
42
43
N-OT
Gray
Red
43
44
/ALM-RST
Gray
Black
44
45
/P-CL
White
Red
45
46
/N-CL
White
Black
46
47
+24V-IN
Yellow
Red
47
Yellow
Black
48
Pink
Red
49
Pink
Black
50
Signal
Lead
Color
SG
SG
Pin No.
30
48
49
50
Case
Shield
6-17
29.5 (1.16)
32 (0.13)
Cable type:
AWG26 3C UL2464
2 M2.6 screws
14
Pin No.
RXD
TXD
0V
RTS
CTS
FG
2
3
5
7
8
Case
2 M2.6 screws
Units: mm (in)
SERVOPACK
CN3
Digital Operator
Connect
to CN3
18.5 (5.64)
135 (41.15)
7 (2.13)
125 (38.10)
26 (7.92)
8
(2.44)*
YASKAWA
39 (11.89)
29.5 (8.99)
6-18
* Reference length
Units: mm (in)
SERVOPACK end
Shield wire
Case
FG
Units: mm (in)
SERVOPACK end
39 (11.89)
29.5
(8.99)
11
JZSP-CMS00-1
20.2
(6.16)
2
10
17.3 (5.27)
Cable Length
(L)
1 m (3.28 ft)
MODE/SET
DATA/
CHARGE
POWER
(39.37 +0.79
-0
Black
Black
3
1
in)
4
2
White
Red
(3) Specifications
Pin No.
1
2
3 and 4
Cable Color
Signal
Red
Analog Monitor 2
White
Analog Monitor 1
Black (2 cables) GND (0 V)
Monitoring Item
Motor speed: 1V/1000 mm/s
Force reference: 1V/100% rated force
Note: The above monitoring items are the factory settings. The monitoring items can be changed by setting the parameter Pn003. Refer to 10.5 Analog Monitor.
6-19
SERVOPACK
Attached cable length: 500
CN1
+50
-0
+1.97
mm (19.69 -0
in)
16
32
50
49
50
50
15.5 (0.61)
15.5 (0.61)
3.5 (0.14)
3.5
(0.14)
3.5 (0.14)
247.5 (9.74)
With terminal
block cover
removed
* Reference length
Units: mm (in)
500
6-20
45 (1.77)
49
29.5 (1.16)
16
32
50
1
19
33
2 (0.08)
3.5
(0.14)
7
(0.25)
62 (2.44)
23.5
(0.14)
45 (1.77)
Terminal
block 50P
7 (0.28) M3.5 screw
20.5 (0.81)
43.5 (1.71)
29.5 (1.16)
+50
0
(19.69 +1.97
)
0
Units: mm (in)
Single-phase 200 V
Three-phase 200 V
Three-phase 400 V
SGDH-A5AE
SGDH-01AE
SGDH-02AE
SGDH-04AE
SGDH-05AE
SGDH-08AE
SGDH-10AE
SGDH-15AE
SGDH-20AE
SGDH-30AE
SGDH-50AE
SGDH-75AE
SGDH-05DE
SGDH-10DE
SGDH-15DE
SGDH-20DE
SGDH-30DE
SGDH-50DE
SGDH-75DE
Min. Allowable
Resistance
()
40
50
60
40
30
25
12.5
8
70
140
140
280
20
12
12
8
(3.13)1
(1760) 1
2.9
108
70
73
45
140
44
32
180
(18)2
(880)
28
2
14.2
* 1. The values in parentheses are for the optional JUSP-RA05 regenerative resistor.
* 2. The values in parentheses are for the optional JUSP-RA18 regenerative resistor.
The external regenerative resistor must be purchased by customers. Refer to the table below for selecting an
external regenerative resistor. Refer to 7.6 Connecting Regenerative Resistors for the connection.
6-21
Regenerative Resistor
Model
JUSP-RA05
JUSP-RA18
SGDH-75AE
SGDH-75DE
Specifications
3.13 , 1760 W
18 , 880 W
Allowable
Power Loss
350 W
180 W
M2
M1
W
Ground terminal (M4 screw)
External terminals (M5 screws)
30 (1.18)
Cement resistor
Model
JUSP-RA05
JUSP-RA18
6-22
Units: mm (in)
M1
M2
300
(11.81)
220
(8.66)
350
(13.78)
350
(13.78)
95
(3.74)
92
(3.74)
250
(9.84)
180
(7.09)
335
(13.19)
335
(13.19)
Units: mm (in)
Approx. Mass
kg (lb)
7
(15.43)
4
(8.82)
IMPORTANT
Circuit Breakers
Select a breaker for inverters.
High-frequency current leaks from the servomotor armature because of switching operations inside the SERVOPACK.
6-23
FN2070-6/07
FN2070-10/07
Side view
C
K
J
Top view
A
F
D
Dimensional
Drawings
140 +5
-0
(5.51+0.20
-0 )
Contact Terminal
P/N/E
Units: mm (in)
Symbol
A
B
C
D
F
J
External
Dimensions
K
in mm (in)
L
M
N
P
Q
R
S
Specifications
Applicable
SingleSERVOPACK phase
SGDH200 V
Manufacturer
6-24
Dimensions
113.5 1 (4.470.039)
156 1 (6.140.039)
57.5 1 (2.260.039)
45.4 1.2 (1.790.047)
94 1 (3.700.039)
130.5 1 (5.140.039)
103 0.3 (4.060.012)
143 0.3 (5.630.012)
25 0.2 (0.980.0079)
8.4 0.5 (0.330.020)
32.4 0.5 (1.280.020)
4.4 0.1 (0.170.004)
5.3 0.1 (0.210.004)
6 0.1 (0.240.004)
0.9 0.1 (0.0350.004)
38 0.5 (1.500.020)
250 VAC,6 A
250 VAC, 10 A
A5AE
01AE
02AE
04AE
Schaffner Electronic
(a) FN Series
Model
FN258L-7/07
FN258L-16/07
Side view
C
L
B
O
J
E
A
Dimensional Drawings
FN258L-30/07
Symbol
A
B
C
D
E
External
Dimensions
F
in mm (in)
G
H
J
L
O
P
Specifications
Threephase
200 V
Applicable
SERVOPACK
SGDHThreephase
400 V
Manufacturer
Dimensions
255 1 (10.04 0.039)
305 1 (12.01 0.039)
126 0.8 (4.96 0.031)
142 0.8 (5.59 0.031)
50 0.6 (1.97 0.024)
55 0.6 (2.17 0.024)
225 0.8 (8.86 0.031)
275 0.8 (10.83 0.031)
240 0.5 (9.45 0.020)
290 0.5 (11.42 0.020)
25 0.3 (0.98 0.012)
30 0.3 (1.18 0.012)
6.5 0.2 (0.26 0.0079)
300 10 (11.81 0.39)
1 0.1 (0.039 0.0039)
9 1 (0.35 0.039)
M5
AWG16
AWG14
480 VAC, 7 A
480 VAC, 16 A
08AE
10AE
05AE
15AE
20AE
05DE
20DE
10DE
30DE
15DE
AWG10
480 VAC, 30 A
30AE
Schaffner Electronic
6-25
FMAC-0934-5010
FMAC-0953-6410
H
(K)
(J)
LOAD
LINE
Dimensional Drawings
A
B
(L)
E
F
Symbol
A
B
C
D
External
Dimensions
in mm (in)
E
F
G
H
I
J
K
L
Specifications
Applicable
ThreeSERVOPACK
phase
SGDH200 V
Manufacturer
6-26
Dimensions
251 (9.88)
201 (7.91)
151 (5.94)
+
+
135 0 5.31 0
0.04
308 (12.13)
231 (9.09)
151 (5.94)
+
+
135 0 5.31 0
1
0.04
6.50.3 (0.260.01)
1150.3 (4.530.01)
M6
66 (2.60)
121 (4.76)
(10) (0.39)
(41) (1.61)
(17) (0.67)
440 VAC, 50 A
6.50.3 (0.260.01)
1150.3 (4.530.01)
M6
66 (2.60)
121 (4.76)
(13) (0.51)
(45) (1.77)
(34) (1.34)
440 VAC, 64 A
50AE
75AE
(c) FS Series
Model
FS5559-35-33
C
D
Symbol
A
B
C
D
E
External
Dimensions
F
in mm (in)
G
H
I
J
K
L
Specifications
Applicable
ThreeSERVOPACK
phase
SGDH400 V
Manufacturer
SCHAFFNER
Dimensional Drawings
Dimensions
330 (12.99)
85 (3.35)
370 (14.57)
348 (13.70)
110 (4.33)
80 (3.15)
30 (1.18)
25 (0.98)
1.5 (0.06)
6.5 (0.26)
25 (0.98)
M6
480 V, 35 A
50DE
75DE
Schaffner Electronic
6-27
Single-phase
200 V
Three-phase
200 V
Three-phase
400 V
6-28
A5AE
01AE
02AE
04AE
05AE
08AE
10AE
15AE
20AE
30AE
50AE
05DE
10DE
15DE
20DE
30DE
50DE
DC Reactor
Model
X5071
X5070
X5069
DC Reactor Specifications
Inductance
Rated
(mH)
Current
(A)
40.0
0.85
20.0
1.65
10.0
3.3
X5061
2.0
4.8
X5060
1.5
8.8
X5059
X5068
X5074
1.0
0.47
4.7
14.0
26.8
1.5
X5075
3.3
4.5
X5076
2.2
8.6
X5077
1.5
14.1
C
D
1 2
4H
Notch
DC Reactor
Model
X5059
X5060
X5061
X5068
X5069
X5070
X5071
X5074
X5075
X5076
X5077
E
F
50
(1.97)
40
(1.57)
35
(1.38)
50
(1.97)
40
(1.57)
40
(1.57)
35
(1.38)
30
(1.18)
40
(1.57)
50
(1.97)
50
(1.97)
74
(2.91)
59
(2.32)
52
(2.05)
74
(2.91)
59
(2.32)
59
(2.32)
52
(2.05)
47
(1.85)
59
(2.32)
74
(2.91)
74
(2.91)
125
(4.92)
105
(4.13)
80
(3.15)
125
(4.92)
105
(4.13)
100
(3.94)
80
(3.15)
70
(2.76)
100
(3.94)
125
(4.92)
125
(4.92)
Dimensions in mm (in)
D
E
F
140
(5.51)
125
(4.92)
95
(3.74)
155
(6.1)
125
(4.92)
120
(4.72)
95
(3.74)
85
(3.35)
120
(4.72)
140
(5.51)
155
(6.1)
35
(1.38)
45
(1.77)
35
(1.38)
53
(2.09)
45
(1.77)
35
(1.38)
30
(1.18)
28
(1.10)
40
(1.57)
35
(1.38)
53
(2.09)
45
(1.77)
60
(2.36)
45
(1.77)
66
(2.6)
60
(2.36)
45
(1.77)
40
(1.57)
38
(1.50)
50
(1.97)
45
(1.77)
66
(2.6)
60
(2.36)
65
(2.56)
50
(1.97)
75
(2.95)
65
(2.56)
50
(1.97)
45
(1.77)
45
(1.77)
55
(2.17)
60
(2.36)
75
(2.95)
5
(0.20)
4
(0.16)
4
(0.16)
5
(0.20)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
4
(0.16)
5
(0.20)
5
(0.20)
5.3
(0.21)
4.3
(0.17)
4.3
(0.17)
6.4
(0.25)
4.3
(0.17)
4.3
(0.17)
4.3
(0.17)
4.3
(0.17)
4.3
(0.17)
4.3
(0.17)
5.3
(0.21)
Approx.
Mass
in kg (lb)
1.1
(2.43)
1.0
(2.20)
0.5
(1.10)
1.9
(4.19)
1.0
(2.20)
0.8
(1.76)
0.5
(1.10)
0.3
(0.66)
0.9
(1.98)
1.1
(2.43)
1.9
(4.19)
6-29
Item
JUSP-NS100
JUSP-NS115
SGDH-E models
All SGDH-E models
(software version; 33 or later)
Mounted on the SGDH SERVOPACK side: CN10.
Supplied from the SERVOPACK control power supply.
2W
Applicable SERVOPACK
Installation Method
Basic
Specifications
MECHATROLINK Communications
Baud Rate/
Transmission Cycle
4 Mbps / 2 ms
Positioning using MECHATROLINK-I communications.
MECHATROLINK-I communications
Commands: Motion commands (position, speed), Interpolation commands,
Parameter read/write,
Monitor output
Operation Specification
Command Format
Reference Input
Position Control
Functions
Acceleration/
Deceleration Method
Fully-closed Control
Input Signals
Impossible
Forward/reverse run prohibited, Zero point return deceleration LS
External latch signals 1, 2, 3
Forward/reverse force control
LED Indicators
(2) (0.08)
Connector
to SERVOPACK
(100)
(3.94)
(24) (0.94)
FG terminal
M4
NS100
S
W
1
S
W
2
C
N
6
A
CN6B
142 (5.59)
A
R
CN6A
Nameplate
C
N
6
B
CN4
C
N
4
20
(0.79)
6-30
MECHATROLINK-I/II communications
Commands: Motion commands (position, speed), Interpolation
commands, Parameter
read/write, Monitor output
Protection
Units: mm (in)
128 (5.04)
Position Control
Functions
Input Signals
Details
All SGDH-E models
Mounted on the SGDH SERVOPACK side: CN10.
Supplied from the SERVOPACK control power supply.
1.3 W
Select from 125 kbps, 250 kbps, or 500 kbps using a rotary switch.
Select the address from 0 to 63 using the rotary switches.
Positioning using DeviceNet communications.
DeviceNet communications
Commands: Motion commands (position, speed), and Parameter
read/write
Reference Input
Acceleration/
Deceleration Method
Fully-closed Control
Fixed Allocation to SERVOPACK CN1 Connector
Position Data Latch
Function
(100)
(3.94)
FG terminal
M4
Connector
to SERVOPACK
NS300
4
6
7
0 1
2
0 1
2
CN11
0 1
2
X
10
X
1
D
R
C
N
11
CN6
M
S
N
S
142
(5.59)
Nameplate
CN4
20
(0.79)
133 (5.24)
6-31
Command Format
Position Control
Functions
Input Signals
Output Signals
Details
All SGDH-E models
Mounted on the SGDH SERVOPACK side: CN10.
Supplied from the SERVOPACK control power supply.
1.3 W
The baud rate is automatically set by the Master between 9.6 kbps
and 12 Mbps.
Select the address from 0 to 7D (0 to 125) using the rotary switches.
Positioning using PROFIBUS-DP communications
PROFIBUS-DP communications
Commands: Motion commands (position, speed), Parameter read/
write
Linear first/second-step, asymmetric, exponential, S-curve
Impossible
Forward/reverse run prohibited, Zero point return deceleration LS,
Zero point signal, External positioning signal
Emergency stop signal
Servo alarm, Brake interlock, Servo ready, Positioning completion
Notch 1, notch 2
Position data latching is possible using phase C, zero point signals,
and external signals.
Parameters damage, Parameter setting errors, Communications
errors, etc.
ERR: Module Error
COMM: Communications Status
* The allocation of the output signals for brake interlock, servo ready, or positioning completion
can be changed using parameter settings.
6-32
(100)
(3.94)
FG terminal
M4
Connector
to SERVOPACK
NS500
4
0 1
2
0 1
2
CN11
X
10
X
1
D
R
C
N
11
142
(5.59)
CN6
Nameplate
CN4
20
(0.79)
133 (5.24)
6-33
Control Specifications
Serial Communications
Command Table
Zero-Point Return
Other Functions
SERVOPACK
Input
INDEXER
Application Module
I/O Signals
Output
SERVOPACK
INDEXER
Application Module
6-34
Details
All SGDH-E SERVOPACKs
Mounted on the SGDH SERVOPACK side: CN10.
Supplied from the SERVOPACK control power supply
2.6 W
Program table positioning by designating the starting step by the contact input
(Maximum 128 steps)
Serial commands in ASCII codes
Communications specifications: RS422 / RS485 (Maximum 50 m)
RS232C (Maximum 3 m)
Connection: Multi-drop method (Maximum 16 axes)
Baud rate: 9600, 19200, 38400bps
Positioning by designating the command table by the contact input
(Maximum 128 points)
3 types
External positioning, JOG speed table operation (Maximum
16 speeds)
S-ON (Servo ON)
P-OT (Forward Run Prohibited), N-OT (Reverse Run Prohibited)
DEC (Zero-Point Return Deceleration LS)
RTRG (External Positioning Signal)
MODE0/1 (Mode signal)
START/HOME (Start Signal / Zero-point Return Execution)
PGMRES/JOGP (Program Reset / Motor Forward Rotation)
SEL0/JOGN (Program Starting Step Designation / Motor Reverse Rotation)
SEL1 to SEL4 / JOG0 to JOG3
Program Starting Step Designation / JOG Speed Table Selection)
ALM (Servo Alarm)
WARN (Warning)
BK (Brake Interlock)
S-RDY (Servo Ready)
ALO1, ALO2, ALO3 (Alarm Codes)
INPOSITION (Positioning Completed)
POUT0 to POUT4 (Programmable Outputs)
CN7
(100) (3.94)
NS600
142 (5.59)
FG terminal
M4
Connector
To SERVOPACK
Units: mm (in)
CN4
Nameplate
CN6
128 (5.04)
20 (0.79)
6-35
6-36
7
Wiring
7-23
7-24
7-25
7-26
7-27
7-29
7-32
7-33
7-36
7-37
7-38
7-1
7 Wiring
7.1.1 Introduction
WARNING
If you have a pacemaker or any other electronic medical devices, do not approach the magnetic way of the
linear servomotor.
Failure to observe this warning may malfunction of the medical device.
7-2
CAUTION
When unpacking and installing magnetic way, check that no metal fragments or other magnetic objects are
present considering the magnetic attraction of the magent track.
Failure to observe this caution may result in injury or damage to the magnetic way's magnets.
Do not use the magnetic way near metal or other magnetic objects.
Failure to observe this caution may result in injury.
Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic way.
Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.
Do not carry the magnetic way by its magnet protection cover.
Failure to observe this caution may result in injury by the covers edge or the shape of the cover may become distorted.
Cover
Magnetic way
When removing the dummy plate for reducing magnetic force used for the SGLFM magnetic way, pay
attention to the magnetic attraction of the magnetic way. Do not place the removed plate close to the
magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic ways magnets or the magnet protection
cover.
Keep fingers away from the gap between magnetic ways when connecting multiple magnetic ways together.
Otherwise fingers may become jammed due to the magnetic attraction between magnetic ways, resulting in injury.
When joining magnetic ways together, place the second magnetic way temporarily in line and at least 30 mm apart
from the first magnetic way.
Next, after aligning the angles of the bolt sockets on the magnetic way's connecting surfaces, rotate the second magnetic way to join the first magnetic way. Connect the second and first magnetic ways together. And after confirming the
mounting position, secure the second magnetic way using bolts. Make sure that fingers do not get jammed due to the
magnetic attraction between magnetic ways.
7-3
7 Wiring
7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)
CAUTION
When using linear servomotors with hall sensors, make sure that the hall sensor does not protrude from the
servomotor's magnetic way.
Otherwise, the linear servomotor may not operate properly. The hall sensor is built into the coil assembly in SGLGW30 and SGLGW-90 linear servomotor. The hall sensor is mounted on the end for other models.
Magnets
2. Press the magnetic way down closely onto the reference surface of the machine and secure it with bolts.
Magnetic Way Model
SGLGM30
40
60
90
M4
Tightening torque
(Ncm)
360 to 500
M5
720 to 1010
M6
1220 to 1710
Bolt size
Note: Use hexagonal socket head bolts (tensile strength Class 10.9).
7-4
3. When joining magnetic ways together, place the second magnetic way temporarily in line and at least 30
mm apart from the first magnetic way.
Next, after aligning the angles of the bolt sockets on the magnetic way's connecting surfaces, rotate the
second magnetic way to join the first magnetic way. Connect the second and first magnetic ways together.
And after confirming the mounting position, secure the second magnetic way using bolts. Make sure that
fingers do not get jammed due to the magnetic attraction between magnetic ways.
First magnetic way
Align the angles.
Second magnetic way
Magnetic way
Coil assembly
7-5
7 Wiring
7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)
Coil Assembly
Model
SGLGW30A050
30A080
40A
60A
90A
Dimensions in mm (in)
Air gap
Air gap
G1
G2
0.85 0.3
1 0.3
(0.03 0.01)
(0.04 0.01)
0.95 0.3
1 0.3
(0.03 0.01)
(0.04 0.01)
0.8 0.3
1 0.3
(0.03 0.01)
(0.04 0.01)
0.8 0.3
1 0.3
(0.03 0.01)
(0.04 0.01)
1.1 0.3
2 0.3
(0.04 0.01)
(0.08 0.01)
Coil assembly
Air gap
G2
The relationship between the dimensions and positioning between the coil assembly's coil winding section
and magnetic way's magnets is shown here.
Maintain the following air gaps when installing. Make sure that the coil assembly and magnetic way do
not interfere during the stroke.
Air gap
G1
Air gap
G1
Magnetic way
2. Move the coil assembly back and forth several times over the magnetic way from end to end, making sure
that the coil assembly and magnetic way are not touching each other and that no foreign objects such as
magnetic particles are present.
7-6
Cardboard sheet
Magnet
Standard surface
Standard mark
Standard marks
3. While pressing the magnetic way down closely onto the machine's standard surface, secure with bolts.
Magnetic Way Model
SGLFM20
35
50
1Z
Bolt size
Tightening torque
(Ncm)
M4
360 to 500
M5
M6
720 to 1010
1220 to 1710
Note: Use hexagonal socket head bolts (tensile strength Class 10.9)
7-7
7 Wiring
7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core)
INFO
The magnetic way's magnets exert strong magnetic attraction. Make sure that any steel bolts or wrenches being used are
kept away from the magnets. Always use bolts with a head height according to the dimensions shown in the following
table.
20
35
50
1Z
Bolt size
M4
M5
M6
Reference
Magnetic
way yoke
Fig. 1
Fig. 1
Fig. 2
Magnet
Magnet
Head height K
is mm
(in)
Magnetic
way yoke
Fig. 2
4. When joining magnetic ways together, place the second magnetic way temporarily in line with and at least
30 mm apart from the first magnetic way. Next, match the direction of the magnetic ways (standard mark:
Approx. 4-mm dia. indentation). (Refer to the diagrams in step 2.) Next, while holding the magnetic ways
down so that they are not raised, push the second magnetic way against the first magnetic way and secure
with bolts. Keep fingers clear to prevent them being jammed between the magnetic way due to the magnetic attraction pulling the magnetic ways together.
First magnetic way
Magnetic attraction
INFO
7-8
Before installing additional magnetic ways, install the coil assembly. For details, refer to (2) Coil Assembly Installation.
Magnetic way
Coil assembly
Maintain the following air gaps when installing. Make sure that the coil assembly and magnetic way do
not interfere during the stroke.
22 0.2
(0.87 0.004)
45 0.1
(1.77 0.004)
21 0.2
35
(0.83 0.004)
25.8 0.2
50
(1.02 0.004)
58 0.1
(2.28 0.004)
27 0.2
1Z
(1.06 0.004)
Air gap G
20
Air gap G
Dimensions is mm (in)
Coil
assembly
Standard
mark
1 0.3
(0.04 0.01)
(0.8 (0.03))
Cable
Installation tap
Coil Assembly
Model
SGLFW-
Magnetic way
7-9
7 Wiring
7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core)
IMPORTANT
When two or more magnetic ways are used, first secure one of the magnetic ways only, and then install the
coil assembly in the available space. If using one magnetic way only with insufficient space to extend the
linear guide up to the position of the coil assembly, temporarily mount a dummy linear guide in line with the
magnetic way's.
Simplified diagram showing installation of dummy linear guide.
Standard linear guide
Magnetic way
Coil assembly
Movable table
Block
2. Insert a thin nonmagnetic (preferably resin) sheet (approximately 0.5-mm thick) in the air gap between the
coil assembly and magnetic way, and move the coil assembly toward the magnetic way.
IMPORTANT
Make sure that hands or tools are not jammed due to the magnetic attraction from the magnetic way when
the coil assembly approaches the end of the magnetic way. When the air gap between the coil assembly and
the magnetic way is fixed, the nonmagnetic sheet is not required. (Refer to the table of dimensions in step
1.)
3. Move the coil assembly back and forth several times over the magnetic way from end to end, making sure
that the coil assembly is not touching the magnetic way and that no foreign objects (such as magnetic particles) are present. Use a nonmagnetic (brass or stainless steel) gap gauge to check that the air gap
between the coil assembly and the magnetic way is even.
7-10
20A120A
35120A
35230A
50200B
50380B
1Z200B
Air gap G1
is mm (in)
0.7 (0.03)
Magnetic attraction F2
(N)
410
600
1100
2100
2700
5200
5300
Magnetic
attraction
F
Air gap G
Coil Assembly
Model
SGLFW20A090A
10400
1Z380B
* 1. Indicates an air gap value of -0.3 mm (-0.012 in) relative to the design value.
* 2. Indicates the magnetic attraction for the maximum force.
7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)
(1) Magnetic Way Installation
The SGLTM magnetic way is packaged with two magnetic way yokes secured with aluminum mounting spacers.
IMPORTANT
Do not remove the installation spacers until the magnetic way is temporarily fixed to the device.
7-11
7 Wiring
7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)
Magnetic Way
Model
SGLTM20
35
40
80
35H
50H
Dimensions in mm (in)
W1
W2
(Dimensions
(Recommended
at shipment)
machine base value)
71.5 1
70 0.15
(2.81 0.04)
(2.76 0.01)
113 1
(4.45 0.04)
111.8 0.15
(4.40 0.01)
91.5 1
(3.60 0.04)
90 0.15
(3.54 0.01)
Magnet
Positioning steps
W2
W1
2. Insert the mounting bolts into one side of the magnetic way yoke and tighten lightly by hand. Next, while
firmly holding down the magnetic way yoke onto the positioning step, tighten the bolts firmly.
Hold down
the magnetic
way yoke.
Positioning step
Bolt size
Tightening torque
(Ncm)
M6
1220 to 1710
M8
2970 to 4150
M6
1220 to 1710
7-12
Magnetic attraction
INFO
For safety, install the coil assembly before installing the second or subsequent magnetic way. Refer to (2) Coil Assembly
Installation for details.
Magnetic way
7
Coil assembly
The relationship between the dimensions and positioning between the coil assembly and magnetic way is
shown here.
Maintain the following air gaps when installing. Make sure that the coil assembly and magnetic way do
not intervene during the stroke.
7-13
7 Wiring
7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)
20AA
35A
40A
80A
35H
50H
Dimensions in mm (in)
Air gaps
H
A
G1,G2
55 0.3
1 0.3
(2.17 0.01)
15 0.1
(0.04 0.01)
(0.59 0.004)
70 0.3
(0.8 (0.03))
(2.76 0.01)
1.4 0.3
83 0.3
19.1 0.1
(0.06 0.01)
(3.27 0.01) (0.75 0.004)
(1.2 (0.05))
70 0.3
15 0.1
1 0.3
(2.76 0.01) (0.59 0.004)
(0.04 0.01)
85 0.3
19.1 0.1
(0.8 (0.03))
(3.35 0.01) (0.75 0.004)
A
Magnetic
way
Coil assembly
Magnetic
way
Air gap
G1
Air gap
G2
* The value in parentheses is the dimension when the magnet protection cover is used.
IMPORTANT
When two or more magnetic way are used, first secure one of the magnetic way only, and then install the
coil assembly in the available space. If using one magnetic way only with insufficient space to extend the
linear guide up to the position of the coil assembly, temporarily mount a dummy linear guide in line with the
magnetic way's.
Simplified diagram showing installation of dummy linear guide.
Standard linear guide
Magnetic way
Coil
assembly
Magnetic way
Movable table
Block
2. Insert a thin nonmagnetic (preferably resin) sheet (approximately 0.5-mm thick) in the air gap between the
coil assembly and magnetic way, and move the coil assembly slowly toward the magnetic way.
Nonmagnetic sheet
7-14
INFO
Make sure that hands or tools are not jammed or caught due to the attraction of the magnetic way when the coil assembly
approaches the end of the magnetic way. When the air gap between the coil assembly and the magnetic way is fixed, the
nonmagnetic sheet is not required. (Refer to the table of dimensions in step 1.)
3. Move the coil assembly back and forth several times over the magnetic way from end to end, making sure
that the coil assembly is not touching the magnetic way and that no foreign objects (such as magnetic particles) are present. Use a nonmagnetic (brass or stainless steel) gap gauge to check that the air gap
between the coil assembly and the magnetic way is even (estimated gap: 0.3 mm (0.012 in)).
35A170A
35170H
35A320A
35320H
35460A
40400B
40600B
50170H
50320H
80400B
80600B
Air gap
G21
in mm
(in)
1.3
(0.05)
0.7
(0.03)
1.3
(0.05)
0.7
(0.03)
1.7
(0.07)
1.1
(0.04)
1.3
(0.05)
0.7
(0.03)
1.7
(0.07)
1.1
(0.04)
Magnetic
attraction
F12
(N)
760
1510
2260
Magnetic
attraction
F22
(N)
1030
2040
3050
Attraction
difference
F
(N)
270
530
790
1330
1800
470
2650
3570
920
4000
4700
7000
1990
3750
9200
13600
5400
5900
8700
2600
5100
11400
16900
1400
1200
1700
700
1350
2200
3300
Coil assembly
Magnetic
attraction
F2
Magnetic way
20A170A
20A320A
20A460A
Air gap
G11
in mm
(in)
Magnetic way
Coil Assembly
Model
SGLTW-
Magnetic
attraction
F1
Air gap
G1
Air gap
G2
* 1. Indicates an air gap value when one side is +0.3 mm (0.012 in) and the other side is 0.3 mm (0.012
in) relative to the design values.
* 2. Indicates the magnetic attraction at maximum force.
7-15
7 Wiring
7.2.1 Names and Functions of Main Circuit Terminals
CAUTION
Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 300 mm (11.81 in).
Failure to observe this caution may result in malfunction.
Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG) feedback lines.
The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.
Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
Avoid frequently turning power ON and OFF. Do not turn the power ON or OFF more than once per minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when the
power is turned ON. Frequently turning the power ON and OFF causes main power devices such as capacitors and
fuses to deteriorate, resulting in unexpected problems.
L1, L2
Name
Main
Circuit
Voltage
(V)
200
L1, L2, L3
U, V, W
L1C, L2C
24V, C0V
Servomotor
connection terminals
Control circuit power
supply input terminal
Ground terminals
B1, B2
External
regenerative
resistor connection
terminal
200
Maximum
Functions
Applicable
Servomotor
Capacity
(kW)
0.05 to 0.4 Single-phase 200 to 230 VAC+10%,-15% (50/60 Hz)
0.5 to 7.5
Three-phase 200 to 230 VAC+10%, -15% (50/60 H)
400
0.5 to 7.5
200
0.05 to 7.5
400
0.5 to 7.5
200
0.05 to 0.4
200
400
0.5 to 5.0
0.5 to 5.0
200
400
7.5
7.5
B1, B2, B3
B1, B2
* If using the main circuit power supply and the control power supply with DC power supply input, refer
to 7.2.3 Typical Main Circuit Wiring Examples (4) DC Power Supply Input for more information on
wiring.
7-16
Terminal Symbol
1,
Name
Main
Circuit
Voltage
(V)
DC reactor for
harmonic
suppression
terminal
200
400
200
200
(contd)
Maximum
Functions
Applicable
Servomotor
Capacity
(kW)
0.05 to 5.0 Normally short
1 and
2.
0.5 to 7.5
If a countermeasure against power supply harmonic
waves is needed, connect a DC reactor between
1
and
2.
7.5
These terminals do not exist.
7.5
Normally not connected.
Note: This terminal is on the SERVOPACK with a
capacity of 7.5 kW only.
Normally not connected.
7-17
7 Wiring
7.2.2 Wiring Main Circuit Power Supply Connector (Spring Type)
CAUTION
Observe the following precautions when wiring main circuit connector.
Remove the connector from the SERVOPACK prior to wiring.
Insert only one wire per terminal on the connector.
Make sure that the core wire is not electrically shorted to adjacent core wires.
SERVOPACKs with a capacity below 1.5 kW have a removable connector for the main circuit power supply
or the control power supply terminal. Use the following procedure when connecting the SERVOPACK to the
connector.
8 to 9 mm
(0.31 to 0.35 inches)
2. Open the wire terminal on the power supply connector housing (plug) with the tool using the procedure
shown in Fig. A or B.
Insert the connection hook end of the provided tool into the slot as shown in Fig. A.
Use a standard flat-blade screwdriver (blade width of 3.0 to 3.5 mm (0.12 to 0.14 in)) or type 549320000 manufactured by Molex Japan Co., Ltd. Put the blade into the slot, as shown in Fig. B, and press
down firmly to open the wire terminal.
Either the procedure shown in Fig. A or B can be used to open the wire insert opening.
Fig. A
Fig. B
3. Insert the wire core into the opening and then close the opening by releasing the lever connection or
removing the screwdriver.
INFO
7-18
The terminal block for SERVOPACK SGDH-DE for 400 V 500 W to 1.5 kW, has an indication 300 V, 15 A. This is a
rating recognition of UL authorization, which means that the terminal blocks are authorized for limited rating for industrial use and applicable up to 600 V. Accordingly, these terminal blocks are applicable for 400 V SERVOPACK.
SERVOPACK
SGDH-AE
1QF
Linear servomotor
U
V
W
FIL
L1C
L2C
1KM
Linear scale
Serial
converter
unit
L1
PG
1Ry
Main circuit
Main circuit
power supply power supply
OFF
1QF
FIL
1KM
ON
L2
CN1
B1
B2 ALM+ 31
+1
+2
ALM 32
(For servo
alarm display)
1PL
1Ry 1KM
1KM
1SUP
: Molded-case circuit breaker
: Noise filter
: Magnetic contactor
1Ry
1PL
1SUP
1D
1Ry
+24V
1D
024V
: Relay
: Indicator lamp
: Surge suppressor
: Flyweel diode
SERVOPACK
SGDH-AE
1QF
Linear servomotor
U
V
W
FIL
L1C
L2C
1KM
(For servo
1Ry alarm display)
Main circuit
Main circuit
power supply power supply
OFF
ON
1Ry
1PL
1KM
1KM
1SUP
1QF : Molded-case circuit breaker
FIL : Noise filter
1KM : Magnetic contactor
L1
L2
L3
B2
B3
+1
+2
Linear scale
Serial
converter
unit
PG
CN1
ALM+ 31
1Ry
ALM
1D
1Ry
1PL
1SUP
1D
32
+24V
024V
: Relay
: Indicator lamp
: Surge suppressor
: Flyweel diode
7-19
7 Wiring
7.2.3 Typical Main Circuit Wiring Examples
1QF
SERVOPACK
SGDH-DE
24-VDC
power supply
FIL
Linear servomotor
U
V
W
24V
0V
1KM
(For servo
1Ry alarm display)
Main circuit
Main circuit
power supply power supply
OFF
ON
1Ry
1PL
1KM
1KM
1SUP
1QF : Molded-case circuit breaker
FIL : Noise filter
1KM : Magnetic contactor
IMPORTANT
L1
L2
L3
B2
B3
+1
+2
Linear scale
Serial
converter
unit
PG
ALM+
CN1
31
1Ry
ALM
32
1D
1Ry
1PL
1SUP
1D
+24V
024V
: Relay
: Indicator lamp
: Surge suppressor
: Flyweel diode
2.0 s max.
Select the power supply specifications for the parts in accordance with the input power supply.
Harmonic Suppression
If another device requires for harmonic suppression, connect the DC reactor to the DC main circuit side on
the SERVOPACK. For connecting examples, refer to 7.5.5 DC Reactor for Harmonic Suppression.
7-20
WARNING
SGDH SERVOPACK is applicable for both AC and DC power supply input excluding 7.5-kW control power
supply input.
However, if the DC power supply input supplies a voltage without setting 1 (for DC power supply input) in
the parameter Pn001.2, the SERVOPACKs internal elements will burn and may cause fire or malfunction.
When using the SERVOPACK with DC power supply input, confirm the following setting of parameters.
When using the main circuit power supply input of the SGDH SERVOPACK with DC power supply, use the following power supply and set the parameter Pn001.2 to 1. Also, read carefully to the following Important section.
1. Servomotor returns the regenerative energy to the power supply when regenerating. SERVOPACK does
not regenerate with DC power supply input specifications, so regenerate the energy on the power supply
side.
IMPORTANT
2. Take appropriate measures to ensure that a high charging current stays inside the SERVOPACK when
power is OFF.
Name
Main circuit plus terminal
1 or
L1C, L2C
Functions
270 to 310 VDC
200 VAC
(SGDH-AE)
400 VAC
(SGDH-DE)
Common to all models
200 VAC
(SGDH-AE)
400 VAC
(SGDH-DE)
24 VDC (15%)
24V, 0V
Parameter
n.0
n.1
Meaning
Not applicable for main circuit DC power supply input: Input the AC power supply for the terminal L1, L2 or L3.
Applicable for main circuit DC power supply input: Input the DC power supply
between the terminal
1, or the terminal
nal .
When changing the parameters, turn the power ON again for the necessity of the effective setting.
7-21
7 Wiring
7.3.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK
1
9
3
11
COS
CN2
1
/COS
SIN
/SIN
SERVOPACK
CN1
2
PS
CN2
5 Phase A
/PS
PAO
/PAO
35
36
PBO
/PBO
19
20
PCO
/PCO
Phase B
Phase C
11
14
REF
14
/REF
5V
PG5V
Output line-driver
SN75ALS194 manufactured by Texas
Instrument or the
1 equivalent
0V
PG0V
Connector
shell
Connector
shell
Connector
shell
Shielded wire
CN1
33
34
Line receiver
3
2
Phase
1
A
6
5
Phase
7
B
10
11
Phase
9
C
8
16
0V C +5V
Choke
coil
PG5V
PG0V
SG
0V 1
Connector
shell
+
-
CN1
Smoothing
capacitor
Connector
shell
Shielded wire
COS
CN2
9
/COS
10
SIN
CN1
2
SERVOPACK
PS
CN2
5 Phase A
/PS
/SIN
REF
11
/REF
11
5V
PG5V
12
0V
12
PG0V
Connector
shell
Shielded wire
PAO
/PAO
Phase B
35
36
PBO
/PBO
Phase C
19
20
PCO
/PCO
10
Connector
shell
Connector
shell
CN1
33
34
Output line-driver
SN75ALS194 manufactured by Texas
Instruments or the
equivalent.
Line receiver
3
2
Phase
1
A
6
5
Phase
7
B
10
11
Phase
9
C
8
16
0V C +5V
Choke
coil
PG5V
+5V
PG0V
+
-
CN1
0V 1
Connector
shell
SG
Smoothing
capacitor
Connector
shell
Shielded wire
R (Terminator)220 to 470
C (Decoupling Capacitor)0.1F
PG5V
5
PS
SHELL Shield
7-22
PG power supply
+5 V
0V
PG 0 V
4
6
/PS
PG power supply
0V
Speed reference
(2 to 10V
/rated motor
speed)
External force 3.
limit/Force feed
forward
(1 to 10 V
/rated force)
4.
+24 V
V-REF
SG
T-REF
SG
10
+24VIN
Servo ON
(Servo ON when ON)
/S-ON
P control
(P control when ON)
/P-CON
P-OT
47
2.
LPF
A/D
2.
LPF
37
39
33
34
PAO
/PAO
35
36
PBO
/PBO
19
20
PCO
/PCO
SG
38
3.3 k
40 (SI0)
(SO1) 25
/V-CMP+
41 (SI1)
26
/V-CMP-
42 (SI2)
(SO2) 27
/TGON+
28
43 (SI3)
Running output
(ON when the motor speed
/TGON- exceeds the settings.)
N-OT
Alarm reset
(Reset when ON)
/ALM-RST
44 (SI4)
30
/S-RDY-
/P-CL
45 (SI5)
31
ALM+
32
ALM-
* 1.
(SO3) 29
/N-CL
46 (SI6)
/S-RDY+
Photocoupler output
Max. operating voltage:
Connector
30 VDC
shell
Max. operating current:
FG Connect shield to 50 mA DC
connector shell.
7-23
7 Wiring
7.4.2 Position Control Mode
PULS
/PULS
SIGN
11
/SIGN
12
CLR
15
/CLR
14
150
150
150
+12 V
Open-collector
reference
power supply
2.
+24V
1k
ALO2
39
ALO3
33
PAO
34
/PAO
PL2
13
35
PL3
18
36
PBO
/PBO
19
20
PCO
/PCO
SG
25
/COIN+
+24VIN
47
3.3k
/P-CON
41 SI1
P-OT
42 SI2
SO1
N-OT
40 SI0
P control
(P control when ON)
Alarm reset
(Reset when ON)
38
/S-ON
ALO1
PL1
Servo ON
(Servo ON when ON)
37
SO2
26
Positioning completed
/COIN- (ON when positioning
completes)
27
/TGON+
28
Movement speed
/TGON- detection output
(ON above the setting)
29
/S-RDY+
43 SI3
SO3
/ALM-RST
44 SI4
30
/S-RDY-
/P-CL
45 SI5
31
ALM+
32
ALM-
/N-CL
46 SI6
Connector
shell
FG
Photocoupler output
Max. operating voltage:
30 VDC
Max. output current:
50 mA DC
* 1.
7-24
1.
V-REF
SG
Force reference
(1 to 10 V
/rated force)
5.
+24 V
5
6
T-REF
SG
10
+24VIN
2.
LPF
47
A/D
2.
LPF
37
ALO1
38
ALO2
39
ALO3
33
34
PAO
/PAO
35
36
PBO
/PBO
19
20
PCO
/PCO
SG
3.3 k
Servo ON
(Servo ON when ON)
/S-ON
P control
(P control when ON)
/P-CON
41 (SI1)
26
P-OT
42 (SI2)
(SO2) 27
N-OT
43 (SI3)
Alarm reset
(Reset when ON)
/ALM-RST
44 (SI4)
30
/P-CL
45 (SI5)
31
ALM+
32
ALM-
/N-CL
40 (SI0)
(SO1) 25
28
(SO3) 29
/VLT+
46 (SI6)
Connector
shell
FG Connect shield to
connector shell.
* 1.
/VLT-
Photocoupler output
Max. operating voltage:
30 VDC
Max. operating current:
50 mA DC
7-25
7 Wiring
7.4.4 I/O Signal Connector (CN1) Terminal Layout
Signal
Name
SG
Function
27
SG
10
/PULS
SG
Reference
pulse input
14
/SIGN
/CLR
Reference
sign input
13
20
22
PL3
/PCO
PL2
CLR
Open-collector reference
19
power supply
PG dividing
pulse output
Phase C
29
31
33
35
37
39
21
PG dividing
pulse output
Phase C
45
47
49
25
/V-CMP+
(/COIN+)
ALM+
PAO
PBO
ALO1
ALO3
/P-CON
N-OT
/P-CL
/S-RDY+
43
PCO
/TGON+
Clear input
41
23
24
SIGN
Open-collector reference
power supply
17
18
T-REF
Clear input
15
16
PULS
GND
11
12
V-REF
GND
7
PL1
GND
GND
3
SG
26
/V-CMP(/COIN-)
28
/TGON-
Moving
signal output
30
/S-RDY-
Servo ready
output
32
ALM-
Servo alarm
output
34
/PAO
PG dividing
pulse output
Phase A
36
/PBO
PG dividing
pulse output
Phase B
38
ALO2
Alarm code
output
40
/S-ON
Servo ON
input
42
P-OT
Forward run
prohibit input
44
/ALMRST
Alarm reset
input
/N-CL
Reverse
external force
limit input
48
50
Forward
external force
46
limit input
+24V
IN
External input
power supply
7-26
Pin No.
/S-ON
40
/P-CON
41
Function
Servo ON: Turns ON the linear servomotor when the gate block in the inverter is
released.
Function selected by parameter.
Proportional control
Switches the speed control loop from PI (proportional/
reference
integral) to P (proportional) control when ON.
Direction reference
Control mode
switching
9.7.2
10.4.4
9.10.2
9.12
Position speed
Position force
Reference
9.6.1
Force speed
Zero-clamp reference
Reference pulse block
Common
9.7.6
Overtravel prohibited: Stops linear servomotor when movable part travels beyond the allowable range of motion.
9.6.3
P-OT
N-OT
42
43
Forward run
prohibited
Reverse run
prohibited
/P-CL
/N-CL
45
46
/ALM-RST
+24VIN
44
47
Speed
V-REF
5 (6)
Speed reference speed input: 2 to 10 V/rated motor speed (Input gain can be
modified using a parameter.)
Force
T-REF
9 (10)
Force reference input: 1 to 10 V/rated motor force (Input gain can be modified using
a parameter.)
7
8
11
12
Position
PULS
/PULS
SIGN
/SIGN
CLR
/CLR
15
14
Positional error pulse clear input: Clears the positional error pulse during position control.
9.8.7
9.11.2
9.11.4
9.10
9.13.1
7.4.6
9.7.2
9.9.4
9.9.2
9.11.3
9.11.4
9.8.1
9.8.1
7-27
7 Wiring
7.4.5 I/O Signal (CN1) Names and Functions
Pin No.
31
32
27
28
29
30
Function
Servo alarm: Turns OFF when an error is detected.
Reference
9.13.1
Detection during linear servomotor movement: Detects when the linear servomotor is
moving at a speed higher than the motor speed setting. Detection speed can be set by
using the parameters.
9.13.3
Servo ready: ON if there is no servo alarm when the control/main circuit power
supply is turned ON. If without hall sensor is set, the magnetic polarity detection
must be completed.
9.13.4
7.3
7.4.1
9.7.7
PAO
Common /PAO
PBO
/PBO
33 (1)
34
Phase-A signal
35
36
Phase-B signal
PCO
/PCO
ALO1
ALO2
ALO3
19
20
37
38
39 (1)
Phase-C signal
FG
Shell
Connected to frame ground if the shield wire of the I/O signal cable is connected
to the connector shell.
9.13.1
Speed
/V-CMP+
/V-CMP-
25
26
Speed coincidence (output in Speed Control Mode): Detects whether the motor
speed is within the setting range and if it matches the reference speed value.
9.7.8
Position
/COIN+
/COIN-
25
26
9.8.5
/CLT
/VLT
/BK
/WARN
/NEAR
Reserved terminals
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by
using the parameters. /CLT, /VLT, /BK, /WARN, and /NEAR signals can also be
changed.
3
4
13
16
17
18
21
22
23
24
48
49
50
9.11.5
9.9.4
9.13.2
9.8.6
Reserved
7-28
12 V
25HP-10B
2 k 1
V-REF or
T-REF
About 14 k
SG
SERVOPACK
V-REF or
T-REF
SG About 14 k
D/A
0V
0V
SERVOPACK
150
4.7 k
SERVOPACK
Vcc
R1
Host controller
i
150
SERVOPACK
PL1, PL2, PL3 terminals
4.7 k
1.0 k
VF
+12 V
150
Tr1
About
9 mA
VF = 1.5 to 1.8 V
Use the examples below to set pull-up resistor R1 so the input
current, i, falls between 7 mA and 15 mA.
Application Examples
R1 = 2.2 k with a
Vcc of 24 V 5%
R1 = 1 k with a
Vcc of 12 V 5%
1.5 V max.
when ON
0V
R1 = 180 with a
Vcc of 5 V 5%
7-29
7 Wiring
7.4.6 Interface Circuit
SERVOPACK
24 VDC
SERVOPACK
24 VDC
+24VIN 3.3 k
+24VIN 3.3 k
/S-ON, etc.
/S-ON, etc.
SERVOPACK input
Source Circuit
24 V
I/O power
supply
SERVOPACK input
7-30
0V
5 to 12 VDC
SERVOPACK
5 to 24 VDC
Photocoupler
0V
Relay
0V
5 to 12 VDC
0V
0V
Note: The maximum allowable voltage and current capacities for open-collector output circuits
are as follows:
Voltage: 30 VDC
Current: 20 mA DC
SERVOPACK
5 to 24 VDC
0V
SERVOPACK
Relay
5 to 12 VDC
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits
are as follows:
Voltage: 30 VDC
Current: 50 mA DC
7-31
7 Wiring
7.5.1 Wiring Precautions
7.5 Others
7.5.1 Wiring Precautions
To ensure safe and stable operation, always observe the following wiring precautions.
IMPORTANT
1. For wiring for reference inputs and encoders, use the specified cables. Refer to 6 Specifications and
Dimensional Drawings of Cables and Peripheral Devices for details.
Use cables as short as possible.
2. For a ground wire, use as thick a cable as possible (2.0 mm2 or thicker).
At least class-3 ground (100 max.) is recommended.
Ground to one point only.
If the servomotor is insulated from the machine, ground the servomotor directly.
3. Do not bend or apply tension to cables.
The conductor of a signal cable is very thin (0.2 to 0.3 mm (0.0047 to 0.012 in)), so handle the cables carefully.
4. Use a noise filter to prevent noise interference.
(For details, refer to 7.5.2 Wiring for Noise Control.)
If the equipment is to be used near private houses or may receive noise interference, install a noise filter on
the input side of the power supply line.
Because the SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise
interference.
5. To prevent malfunction due to noise, take the following actions:
The wiring distance between the linear scale and serial converter unit must be as short as possible.
Always install a surge suppressor in the relay, solenoid and magnetic contactor coils.
The distance between a power line (such as a power supply line or servomotor cable) and a signal line must
be at least 300 mm. Do not put the power and signal lines in the same duct or bundle them together.
Do not share the power supply with an electric welder or electrical discharge machine. When the SERVOPACK is placed near a high-frequency generator, install a noise filter on the input side of the power supply
line.
6. Use a molded-case circuit breaker (QF) or fuse to protect the power supply line from high voltage.
The SERVOPACK connects directly to a commercial power supply without a transformer, so always use a
QF or fuse to protect the SERVOPACK from accidental high voltage.
7. The SERVOPACKs do not have built-in ground protection circuits. To configure a safer system, install
an earth leakage breaker for protection against overloads and short-circuiting, or install an earth leakage
breaker combined with a wiring circuit breaker for ground protection.
7-32
7.5 Others
SERVOPACK
Noise filter 3
Serial
converter
unit
CN2
PG
L1
200 VAC
L2
L3
3.5mm 2
min. 1
L1C
L2C CN1
(Magnetic way)
Coil
assembly
(FG)
U
V
W
Linear servomotor
2.0 mm 2
min.
1LF
(Casing)
(Casing)
1
Wires of 3.5mm2 min.
AVR
3.5mm 2
min.
(Grounding)
2 mm 2
(Casing) 3.5mm2 min. 1
(Casing)
(Ground plate)
Ground: Exclusive grounding with
grounding resistance 100W max.
1 For grounding wires connected to the casing, use a thick wire with a thickness of at least 3.5mm2
(equivalent to a copper braided flat conductor)
2
: represents twisted-pari wires.
3 When using a noise filter, follow the precautions in (3) Using Noise Filters.
Ground both coil assembly and magnetic way of the linear servomotor.
If the linear servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK power unit through the linear servomotor stray capacitance. The above grounding is required to prevent the adverse effects of switching noise.
7-33
7 Wiring
7.5.2 Wiring for Noise Control
SERVOPACK Model
Single-phase
200 V
Three-phase
200 V
Three-phase
400 V
IMPORTANT
SGDH-A5AE to -02AE
SGDH-04AE
SGDH-05AE
SGDH-08AE to -20AE
SGDH-30AE
SGDH-50AE
SGDH-75AE
Model
FN2070-6/07
FN2070-10/07
FN258L-7/07
FN258L-16/07
FN258L-30/07
FMAC-0934-5010
FMAC-0953-6410
SGDH-05DE to -15DE
SGDH-20DE, -30DE
SGDH-50DE, -75DE
FN258L-7/07
FN258L-16/07
FS5559-35-33
SCHURTER
(formely
TIMONTA)
SCHAFFNER
Correct
Noise
filter
Noise
filter
Box
Box
Noise
filter
Box
Noise
filter
Box
7-34
Manufacturer
SCHAFFNER
7.5 Others
2. Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines, and other signal lines in the same duct or
bundle them together.
Incorrect
Correct
Noise
filter
Noise
filter
The ground wire
can be close to
input lines.
Box
Box
3. Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.
Incorrect
Correct
Noise
filter
SERVOPACK
Noise
filter
SERVOPACK
Shielded
ground wire
SERVOPACK
SERVOPACK
Thick and
short
Box
Box
Unit
SERVOPACK
Noise
filter
SERVOPACK
Ground
Box
7-35
7 Wiring
7.5.3 Using More Than One SERVOPACK
QF
Power
ON
Power
OFF
1RY
1KM
1KM
Noise
filter
SUP
1KM
L1
L2
L3
Linear servomotor
SERVOPACK
M
L1C
L2C
+24V
1RY
CN1
31 ALM+
32 ALM -
L1
L2
L3
Linear servomotor
SERVOPACK
L1C
L2C
CN1
31 ALM+
32 ALM -
L1
L2
L3
Linear servomotor
SERVOPACK
L1C
L2C
CN1
31 ALM+
32 ALM 0V
Note: Wire the system so that the phase-S power supply will be the ground phase.
7-36
7.5 Others
CAUTION
Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer.
Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary,
damaging the SERVOPACK.
There are three types of SGDH SERVOPACKs, for the power supply voltages: Single-phase 200 VAC, threephase 200 VAC, and three-phase 400 VAC. When using the SERVOPACK for 200 V with the three-phase 400VAC class (380 to 480 V), prepare the following voltage conversion transformers (single-phase or three-phase)
Primary Voltage
380 to 480 VAC
Secondary Voltage
200 VAC
When selecting a voltage conversion transformer, refer to the capacities shown in the following table.
Voltage
SERVOPACK Model
SGDH-
Single-phase
200 V
Three-phase
200 V
A5AE
01AE
02AE
04AE
05AE
08AE
10AE
15AE
20AE
30AE
50AE
75AE
8
4
7
10
13
17
28
41
1KM
SERVOPACK
200 VAC
L1
L2
S
1KM
T
Magnetic contactor for
power supply ON and OFF
7-37
7 Wiring
7.5.5 DC Reactor for Harmonic Suppression
DC Reactor
Model
Reactor Specifications
Inductance (mH)
Rated Current (A)
X5071
X5070
X5069
X5061
40.0
20.0
10.0
2.0
0.85
1.65
3.3
4.8
X5060
1.5
8.8
X5059
X5068
X5074
X5075
1.0
0.47
4.7
3.3
14.0
26.8
1.5
4.5
X5076
2.2
8.6
X5077
1.5
14.1
Note: Select a proper DC reactor for the input current to the SERVOPACK.
Refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity for input current to each
SERVOPACK. For the kind of reactor, refer to 7.5.5 DC Reactor for Harmonic Suppression.
SERVOPACK
1
2
7-38
500 W to 5.0 kW
7.5 kW
Necessity of
External Regenerative Resistors
Not Required
Not Required
Required
Description
No built-in regenerative resistor is provided, however, normally an external
regenerative resistor is not required.
Install external regenerative resistors when the smoothing capacitor in SERVOPACK cannot process all the regenerative power.
A built-in regenerative resistor is provided as standard. Install external regenerative resistors when the built-in regenerative resistor cannot process all the
regenerative power.
No built-in regenerative resistor is provided, so the external regenerative
resistor is required. If the external regenerative resistor is not connected with
the SERVOPACK, the alarm A.30 is detected as a regeneration error alarm.
7-39
7 Wiring
7.6.2 Connecting External Regenerative Resistors
Three-phase
400 V
A5AE, -04AE
05AE to -10AE
15AE
20AE
30AE
50AE
75AE
05DE to -15DE
20DE, -30DE
50DE
75DE
Specifications
of Build-in Resistor
Resistance
()
Capacity
(W)
Regenerative Power
Processed by Built-in
Resistor 1
(W)
50
30
25
12.5
8
60
70
140
140
280
12
14
28
28
56
(3.13) 2
108
45
32
(1760) 2
70
140
180
(350) 2
14
28
36
(18) 3
(880) 3
(180) 3
* 1. The average regenerative power that can be handled is 20% of the rated capacity of the
regenerative resistor built into the SERVOPACK.
* 2. The values in parentheses are for the optional JUSP-RA05 Regenerative Resistor.
* 3. The values in parentheses are for the optional JUSP-RA18 Regenerative Resistor.
7-40
Minimum
Allowable
Resistance
()
40
20
12
12
8
2.9
40
73
44
28
18
Speed
Position
Force
Setting Range
Unit
Factory Setting
Setting Validation
0 to SERVOPACK
10 W
0
Immediately
capacity
Be sure to set this parameter when installing an external regenerative resistor with the SERVOPACK.
With the factory setting of 0, the SERVOPACKs built-in resistor is used.
Set the regenerative resistor capacity within tolerance value. When the set value is improper, alarm A.32 is not detected correctly. Also, do not set other than 0 without connecting the regenerative resistor because alarm A.30 or A.33 may be detected.
The set value differs depending on the cooling method of external regenerative resistor:
For natural air cooling method: Set the value maximum 20% of the actually installed regenerative resistor capacity (W).
For forced air cooling method: Set the value maximum 50 % of the actually installed regenerative resistor capacity (W).
For example, set 20 W (100 W 20% ) for the 100 W external regenerative resistor with natural cooling method: Pn600 = 2
(units: 10 W)
IMPORTANT
1. When resistors for power are used at the rated load ratio, the resistor temperature increases to between
200 C (392 F ) and 300 C (572 F ) . The resistors must be used at or below the rated values. Check
with the manufacturer for the resistors load characteristics. Use the regenerative resistors at no more
than 20% of the rated load ratio with natural convection cooling, and no more than 50% of the rated load
ratio with forced air cooling.
2. For safetys sake, use the resistors with thermoswitches.
7-41
7 Wiring
7.6.2 Connecting External Regenerative Resistors
Do not touch the regenerative resistors because they reach high temperatures. Use heat-resistant, non-flammable wiring and make sure that the wiring does not touch the resistors. Refer to 6.6 SERVOPACK Main
Circuit Wire Size for connecting wire size when connecting an external regenerative resistor.
L1C
YASKAWA SERVOPACK
SGDH-
L2C
B1
MODE/SET
DATA/
CHARGE
POWER
B2
U
V
W
L1C
YASKAWA SERVOPACK200V
L2C
B1
B2
B3
7-42
U
V
YASKAWA
SGDH-
MODE/SET
DATA/
CHARGE
POWER
Applicable
SERVOPACK
Model SGDH75AE
Applicable
Regenerative
Resistor
JUSP-RA05
75DE
JUSP-RA18
Resistance
()
3.13
Specifications
18
The following diagram shows the connection method between the SERVOPACK and the regenerative resistor.
Regenerative Resistor
JUSP-RA
SERVOPACK
SERVOPARK 200V
SGDHVer.
YASKAWA
POWER
BATTERY
DATA/
MODE/SET
CHARGE
WARNING
L1
L2
L3
B1
B2
Note: Connect a regenerative resistor between B1 and B2 terminals. The regenerative resistor is
provided by the customer.
7-43
7 Wiring
7.6.2 Connecting External Regenerative Resistors
7-44
8
Digital Operator/Panel Operator
8-2
8-3
8-4
8-6
8-30
8-31
8-32
8-33
8-34
8-35
8-1
Panel Operator
YASKAWA
SERVOPACK
200V
V
SGDH-
SERVOPACK
ALARM
RESET
JOG
SVON
. .
DIGITAL
OPERATOR
JUSP-OP02A
MODE/SET
DATA/
DSPL
SET
DATA
ENTER
YASKAWA
CN3
A dedicated cable
(JZSP-CMS00-1) is used to
connect the digital operator
to the SERVOPACK.
IMPORTANT
8-2
SERVOPACK
If the digital operator is connected to the SERVOPACK, the panel operator does not display anything.
Panel Operator
+
Digital Operator
ALARM
RESET
(RESET Key)
SERVOPACK
ALARM
RESET
JOG
SVON
DIGITAL
OPERATOR
JUSP-OP02A
DSPL
SET
Press simultaneously
DSPL
SET
(DSPL/SET Key)
DATA
ENTER
MODE/SET
(MODE/SET Key)
(DATA/ENTER Key)
(UP Key)
DATA/
(DATA/SHIFT Key)
SERVOPACK
(DOWN Key)
DATA
ENTER
YASKAWA
Function
(DOWN Key)
Press the RIGHT Key to shift to the next digit on the right.
(RIGHT Key)
Panel Operator
(LEFT Key)
DATA/
(DATA/SHIFT Key)
JOG
SVON
(SVON Key)
IMPORTANT
MODE/SET
(MODE/SET Key)
When an alarm occurs, remove the cause, and then reset the alarm. Refer to 11.1 Troubleshooting.
8-3
DSPL
SET
.
Press
Repeat
Press
DSPL
SET
DSPL
SET
DSPL
SET
DATA
ENTER
DATA
ENTER
.
Press
Press
.
Press
Press
DATA
ENTER
Press DSPL/SET Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/ENTER Key to display the contents of selected parameter number
in the selected mode. (Refer to each operation instruction described later.)
8-4
.
MODE/SET
Press
Repeat
Press
DATA/
(DATA/SHIFT)
MODE/SET
Press
Press
DATA/
(DATA/SHIFT Key)
MODE/SET
Press
DATA/
(DATA/SHIFT Key)
Press
.
MODE/SET
Press MODE/SET Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/SHIFT Key for more than one second to display the contents of selected
parameter number in the selected mode. (Refer to each operation instruction described later.)
8-5
Code
e
d
c
g
f
i
h
c
d
e
Bit Data
Control
Power ON
Baseblock
Bit Data
Control
Power ON
Baseblock
Speed
Coincidence
(/V-CMP)
Positioning
Completion
(/COIN)
Movement
Detection
(/TGON)
Movement
Detection
(/TGON)
Speed
Reference
Input
Force
Reference
Input
Power Ready
8-6
Reference
Pulse Input
Error Counter
Clear Signal
Input
Power Ready
Meaning
Baseblock
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
CN1-42 (P-OT) is OFF.
Reverse Run Prohibited
CN1-43 (N-OT) is OFF.
Alarm Status
Displays the alarm number.
8-7
Function
Fn000
Fn001
Fn002
Fn003
Fn005
Fn006
Fn007
Fn008
Fixed parameter
Fn009
Fn00A
Fn00B
Fn00C
Fn00D
Fn00E
Fn00F
Fn010
Fn011
Fn012
Fn013
Fn014
Remarks
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
Note: When the parameters marked with { in remarks column or in Pn are set for Password Setting (Fn010), the indication shown below appears and such parameters cannot be changed.
Blinks for
one second
8-8
Reference
Section
8.2.2
10.2.5
8.2.3
8.2.4
8.2.5
8.2.6
10.2.7
9.7.3
9.9.3
9.7.3
9.9.3
8.2.7
8.2.8
8.2.9
8.2.10
8.2.11
8.2.12
The following alarm are operator-related alarms which are not recorded in the traceback data.
Display
Description
Digital operator transmission error 1
1. Alarm traceback data will not be updated when the same alarm occurs repetitively.
2. The display A.-- means no alarm occurs.
Follow the procedure below to confirm alarms which have been generated.
Step
Display after
Operation
Digital Operator
Panel Operator
1
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
3
(UP Key)
(UP Key)
4
(UP Key)
(UP Key)
DATA
ENTER
(DATA/ENTER Key)
Description
DATA
(DATA/SHIFT Key)
8-9
CAUTION
Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during JOG mode
operation.
The JOG mode operation is designed to move a linear servomotor without connecting to the host controller when
performing the trial operation. The JOG mode operation is used to confirm the movement direction and motor
speed setting.
(1) Precautions
Observe the following precautions when performing JOG mode operation.
The SERVOPACK must be in servo ready state. The JOG mode operation cannot be performed while the
SERVOPACK is in servo ON state.
The servo ON (/S-ON) input signal must be OFF.
If the parameter Pn50A.1 (/S-ON Signal Mapping) is set to 7 (Sets signal ON), change the setting to 8
(Sets signal OFF).
JOG Speed
Speed
Position
Setting Range
Setting Unit
Factory Setting
0 to 10000 mm/s
1 mm/s
50 mm/s
Sets the motor speed reference value of the utility function Fn002 JOG Mode Operation.
Force
Setting Validation
Immediately
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Press the DSPL/SET or MODE/SET Key to select the utility function mode.
Press the UP or DOWN Key to select the Fn002.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
Description
MODE/SET
(MODE/SET Key)
Forward direction
Reverse direction
MODE/SET
(MODE/SET Key)
DATA
(DATA/SHIFT Key)
DSPL
SET
(DSPL/SET Key)
DATA
ENTER
(DATA/ENTER Key)
8-10
INFO
The linear servomotor movement direction differs depending on the setting of parameter Pn000.0 Direction
Selection. The above example shows the case of factory setting.
CAUTION
Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point
search mode operations using Fn003.
The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the
linear scale that outputs the zero-point signal and to clamp at the position.
This mode is used to confirm that the linear scale outputs the zero-point signal correctly.
When the maximum speed is set to 5 m/s, the movement speed for executing the zero-point search is 60 mm/s.
The following conditions must be met to perform the zero-point search operation.
If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the servo has been set to
always be ON.
Follow the procedure below to execute the zero-point search.
Step
1
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
JOG
SVON
(SVON Key)
MODE/SET
(MODE/SET Key)
6
Display blinks.
7
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
8-11
IMPORTANT
Step
1
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
3
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
End of initialization
7
DATA
ENTER
(DATA/ENTER Key)
8-12
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
Press the UP or DOWN Key to select Fn006.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
8-13
IMPORTANT
Step
1
Execute the automatic offset adjustment if the force ripple is too big when compared with that of other SERVOPACKs.
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
8-14
IMPORTANT
Step
1
If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
When performing manual adjustments, run the motor at a speed of approximately 100 mm/s, and adjust the
operator until the force monitor ripple is minimized. (Refer to 10.5 Analog Monitor.) Adjust the phase-U
and phase-V offsets alternately several times until these offsets are well balanced.
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
Press the UP or DOWN Key to select Fn00F.
Note: The enabled digit blinks.
DATA
(DATA/SHIFT Key)
DATA
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
Press the UP or DOWN Key to adjust the offset. Carefully adjust the offset while monitoring the force reference monitor signal.
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
8
DATA
(DATA/SHIFT Key)
Press the UP or DOWN Key to adjust the offset. Carefully adjust the offset while monitoring the force reference monitor signal.
10
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
11
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
8-15
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
Press the UP or DOWN Key to select Fn010.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
8-16
Display after
Operation
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Data
8
Resolution
8-bit
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
7
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
8-17
Display after
Operation
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DSPL
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
5
DATA
ENTER
(DATA/ENTER Key)
SET
8-18
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
IMPORTANT
Step
Because the parameter is set for the SERVOPACK with an application module, change the setting or initialize the parameter value (Fn005 of utility function mode) as required.
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select
the utility function mode.
Press the UP or DOWN Key to select the Fn014.
Note: The enabled digit blinks.
3
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
5
After about one second
6
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
8-19
EXAMPLE
Step
1
The example below shows how to change parameter Pn100 (speed loop gain) from 40 to 100.
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DATA/
(DATA/SHIFT Key)
5
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(DATA/ENTER Key)
8-20
6
DATA
ENTER
DATA
ENTER
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Pn406
: Force control
Speed
Setting Range
Setting Unit
Factory Setting
0 to 800
1%
800
Position
Force
Setting Validation
Immediately
8-21
IMPORTANT
If the parameters with After restart in Setting Validation column in the table are changed, turn OFF the
main circuit and control power supply and ON again to validate new setting.
Pn10B.1 and Pn110.0 require the power to be reset as mentioned above.
Pn10B.0, Pn110.1, and Pn110.2 are enabled with the off-line, so the power does not have to be reset.
Pn000
Pn001
Pn002
Pn003
Pn080
Pn10B
Pn110
0010
Pn200
Pn207
Pn218
0000
0000
0000
Pn408
0000
Immediately
Pn50A
Pn50B
Pn50C
Pn50D
Pn513
2100
6543
8888
8888
0088
After restart
After restart
After restart
After restart
After restart
Pn50E
Pn50F
Pn510
Pn512
3211
0000
0000
0000
After restart
After restart
After restart
After restart
Function Selection
Parameter
Sequence Related
Parameter
(Output Signal Selection)
8-22
Parameter
No.
Setting
Validation
After restart
After restart
After restart
Immediately
After restart
After restart/
Immediately
After restart/
Immediately
After restart
After restart
After restart
Category
Name
Factory
Setting
0000
0000
0000
0002
0000
0000
Display after
Operation
Digital
Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DATA/
(DATA/SHIFT Key)
5
DATA
(DATA/SHIFT Key)
(DATA/ENTER Key)
6
DATA
ENTER
(UP Key)
(DATA/ENTER Key)
DATA
ENTER
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
To enable the change in the setting of function selection basic switches (Pn000), turn OFF the power and ON again.
1st digit
2nd digit
3rd digit
4th digit
For the hexadecimal display only
Pn000.0 or n.xxx:
Pn000.1 or n.xxx:
Pn000.2 or n.xxx:
Pn000.3 or n.xxx:
8-23
For details on each digit of the parameter, see 12.4.2 List of Parameters.
Parameter
Pn50A
Meaning
n.2 Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting).
n.8 Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed).
This blank shows the setting
value of the function selection,
as well as the state condition
on the panel operator and the
digital operator (JUSP-OP02A-2).
Pn50A:
Pn50B:
8-24
Validity
Level
Input
Signal
40
41
42
43
44
45
46
L
H
L
/S-ON
S-ON
/P-CON
0
9
0
1
A
1
2
B
2
3
C
3
4
D
4
5
E
5
6
F
6
P-CON
P-OT
/P-OT
N-OT
/N-OT
L
H
L
/ARM-RST
ARM-RST
/P-CL
0
9
0
1
A
1
2
B
2
3
C
3
4
D
4
5
E
5
6
F
6
P-CL
/N-CL
N-CL
/SPD-D
SPD-D
/SPD-A
SPD-A
/SPD-B
SPD-B
/C-SEL
C-SEL
L
H
L
H
L
H
L
H
L
/ZCLAMP
ZCLAMP
/INHIBIT
INHIBIT
/G-SEL
G-SEL
/P-DET
P-DET
/P-SEL
0
9
0
9
0
9
0
9
0
1
A
1
A
1
A
1
A
1
2
B
2
B
2
B
2
B
2
3
C
3
C
3
C
3
C
3
4
D
4
D
4
D
4
D
4
5
E
5
E
5
E
5
E
5
6
F
6
F
6
F
6
F
6
P-SEL
Connection Not
Required
(SERVOPACK judges
the connection)
Always
Always
ON
OFF
7
8-25
IMPORTANT
1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting
Polarity Reversal, the machine may not move to the specified safe direction at occurrence of failure
such as signal line disconnection. If such setting is absolutely necessary, confirm the operation and
observe safety precautions.
2. When two or more signals are allocated to the same input circuit, the input signal level will be applied to
all the allocated signal.
8-26
EXAMPLE
Before
After
Display after
Operation
Digital
Operator
Pn50A:
Pn50B:
Step
1
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
3
(UP Key)
DATA/
(DATA/SHIFT Key)
4
DATA/
(DATA/SHIFT Key)
5
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
6
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(DATA/ENTER Key)
(UP Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
9
DATA/
(DATA/SHIFT Key)
10
DATA
ENTER
(DATA/ENTER Key)
11
8
DATA
ENTER
7
(UP Key)
Description
DATA
(DATA/SHIFT Key)
12
8-27
25/(26)
Pn512=n.xxx
Parameter Setting
Allocation
Positioning
Completion
(/COIN)
Pn50E.0 = n.xxx
Speed Coincidence Detection
(/V-CMP)
Pn50E.1 = n.xxx
Movement Detection
(/TGON)
Pn50E.2 = n.xxx
Servo Ready
(/S-RDY)
Pn50E.3 = n.xxx
Force Limit
Detection
(/CLT)
Pn50F.0 = n.xxx
Speed Limit
Detection
(/VLT)
Pn50F.1 = n.xxx
Brake
(/BK)
Pn50F.2 = n.xxx
Warning
(/WARN)
Pn50F.3 = n.xxx
Near
(/NEAR)
Pn510.0 = n.xxx
Reference Pulse
Input Multiplication
(/PSELA)*
Pn510.2 = n.xxx
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
Invalid
L
27/(28)
Pn512=n.xxx
0
H
H
H
H
H
L
Invalid
L
L
Invalid
L
L
Invalid
L
Pn512:
L
Invalid
L
Pn50F:
Pn510:
L
Invalid
L
H
L
Invalid
L
Factory Setting
Pn50E:
H
L
Invalid
L
L:
Valid output signal: Low level
H:
Valid output signal: High level
Invalid:
Do not use the output signal.
H
L
8-28
H
L
Remark
H
L
Invalid
L
H
L
Invalid
L
29/(30)
Pn512=n.xxx
Note:
The output signals for Positioning
Completion Signal and Speed Coincidence Detection Signal differ depending on the control method.
IMPORTANT
1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic.
2. The signals not detected are considered as Invalid. For example, Positioning Completion (/COIN) Signal in speed control mode is Invalid.
The procedure to replace Movement Detection (/TGON) signal allocated to CN1-27 (28) with factory setting to Invalid and allocate Brake Interlock (/BK) signal to CN1-27 (28) is shown below.
Before
After
Pn50E:
Pn50F:
Step
1
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
3
DATA/
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA/
(DATA/SHIFT Key)
DATA
ENTER
(DATA/ENTER Key)
11
(UP Key)
10
(UP Key)
Description
DATA
(DATA/SHIFT Key)
8-29
Un004
Un005
Un006 *1
Un007
Un008
Un009
Un00A
Un00B
Un00C *2
Un00D *2
Un010
Un011
Content of Display
mm/s
mm/s
%
Number of pulses
from the phase-U
(0)
deg
8-30
Unit
mm/s
reference unit
%
%
%
Number
Refer to 8.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals.
Display LED
Number
1
2
3
4
5
6
7
EXAMPLE
Factory Setting
CN1-40
CN1-41
CN1-42
CN1-43
CN1-44
CN1-45
CN1-46
/S-ON
/P-CON
P-OT
N-OT
/ALM-RST
/P-CL
/N-CL
87 6 5 4 3 2 1
87 6 5 4 3 2 1
87 6 5 4 3 2 1
8-31
Refer to 8.3.3 Output Circuit Signal Allocation for the relation between output terminals and signals.
Display LED
Number
1
2
3
4
5
6
7
Output Terminal
Name
Factory Setting
CN1-31, -32
CN1-25, -26
ALM
CN1-27, -28
/TGON
CN1-29, -30
CN1-37
CN1-38
CN1-39
/S-RDY
AL01
AL02
AL03
/COIN or /V-CMP
Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indicate various output signals.
These segments ON for L level and OFF for H level.
EXAMPLE
765 4 321
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
3
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DATA
(DATA/SHIFT Key)
4
DATA
ENTER
(DATA/ENTER Key)
8-32
Description
8.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter
The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal.
Step
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select
the monitor mode.
Press the UP or DOWN Key to select Un00C or
Un00D.
3
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
5
+
(Press simultaneouly)
Press simultaneously
6
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
When the control power supply is turned ON, reference pulse and feedback pulse will be 0. The pulse
numbers will increase when the servomotor moves in the counting-up direction of the linear scale (phase-A
progression) and decrease when the servomotor moves in the counting-down direction of the linear scale
(phase-B progression).
Displays the pulse number from 0 to FFFFFFFF (4294967295) in sequence. If one pulse is decreased from 0,
the digital operator and the panel operator display FFFFFFFF (4294967295) and then decrease from this
pulse number. Also, if one pulse in increased from FFFFFFFF (4294967295), the digital operator and the
panel operator display 0 and increase from this pulse number.
When using the 8-bit serial converter unit, the feedback pulse will be 256 pulses/scale pitch.
8-33
8.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software
version 32 or later)
This section describes the monitor display for determining the maximum speed (Pn384) for the PG Divider
(Pn281). Adjust the setting of Pn080.3 to select the location to be monitored. This function is available for Servopack Software version 32 or later.
Step
1
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DSPL
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
8-34
SET
Description
8.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)
This section describes the monitor display for the signal patterns of the hall sensor.
This function is available for Servopack Software version 32 or later.
Step
1
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Description
Press the DSPL/SET or MODE/SET Key to select the monitor mode.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
4
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Signal Monitor
Phase-U Phase-V Phase-W
L
L
L
L
H
H
H
H
L
L
H
H
L
L
H
H
L
H
L
H
L
H
L
H
8-35
8-36
9
Operation
9.3 Trial Operation for Linear Servomotor without Load from Host Reference 9-22
9.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.oo0o) - - - - - - - - - - - - - - - - 9-24
9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.oo1o) - - - - - - - - - - - - - - - 9-26
9.4 Trial Operation with the Linear Servomotor Connected to the Machine - - 9-28
9.5 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29
9.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
9.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.6.2 Switching the Linear Servomotor Movement Direction - - - - - - - - - - - - - - - - - - - - - 9.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.6.4 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - 9.6.5 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.6.6 Motor Maximum Speed (For the software version 32 or later) - - - - - - - - - - - - - - - - -
9-30
9-31
9-32
9-34
9-35
9-35
9-36
9-37
9-38
9-41
9-41
9-41
9-43
9-46
9-1
9 Operation
9.10 Operating Using Speed Control with an Internally Set Speed - - - - - - - - 9-65
9.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-65
9.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-66
9.10.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-66
9-2
9-3
9 Operation
Purpose
Run the linear servomotor without host reference input.
Check that the following wiring and settings are correct.
Power supply circuit wiring
Linear servomotor wiring
Serial converter unit wiring
Linear scale wiring
Hall sensor wiring
Scale pitch setting
Scale signal count direction and count quantity
Motor movement direction and movement speed
Force limit parameter setting
Polarity detection operation (only if polarity detection is
used.)
200V
SGDH-
DATA/
MODE/SET
CHARGE
POWER
L1
To power supply
C
N
3
L2
+1
+2
L1C
L2C
B1
B2
C
N
1
U
V
C
N
2
200V
SGDH-
DATA/
MODE/SET
CHARGE
L1
To power supply
L2
POWER
C
N
3
+1
+2
L1C
L2C
B1
B2
C
N
1
To host controller
U
V
W
9-4
C
N
2
Purpose
Run the linear servomotor with host reference input.
Check that the following wiring and settings are correct.
I/O signal wiring with the host controller
Linear servomotor movement direction, movement speed,
and movement distance
Operation of brake, overtravel, and other protective functions
Required parameter settings
Step
Item
Installation and
mounting
Description
Install the linear servomotor and SERVOPACK according to the installation conditions.
Wiring and
connections
Wire and connect the power supply circuit (L1, L2, or L1, L2, L3), linear servomotor
(U, V, W), input signal (CN1), and serial converter unit (CN2). Disconnect the CN1
connector during trial operation using SERVOPACK internal references (Refer to
9.2 Trial Operation Using SERVOPACK Internal References).
Turn ON the
power.
Turn ON the power. Check the panel operator to make sure that the SERVOPACK is
running normally. The alarm A.08 does not indicate an error.
Linear scale
check
Set the linear scale pitch (Pn280). After setting validation, check the linear scale status using the panel operator.
Polarity
detection
operation check
(only for
detection)
Jog operation
Connect input
signals.
Connect I/O signals (CN1) necessary for the trial operation to the SERVOPACK.
Check input
signals.
Input servo ON
signal.
Host
reference
Input reference
Input the reference for the control mode being used, and check that the linear servomotor is operating normally.
Host
reference
Set necessary
parameters.
Run the linear servomotor from the host controller in the same way as in step 10, and
set the required parameters so that the machine movement direction, movement distance, and movement speed are the same as the references.
Host
reference
Operation
The linear servomotor can now be run. Adjust the servo gain if necessary. Refer to
10.1 Autotuning. If an error occurs, refer to Section 11 Inspection, Maintenance, and
Troubleshooting.
10
11
12
Reference
Jog operation
Host
reference
9-5
9 Operation
9.2.1 SERVOPACK Setup Procedure
1.
2.
3.
4.
5.
6.
7.
(1) Installation and Wiring of the Linear Servomotor and Linear Scale
Install the coil assembly and linear scale so that the motor forward direction and linear scale count up direction
are the same.
IMPORTANT
If the motor forward direction and linear scale count up direction do not match and the linear servomotor is
run in this state, the linear servomotor may not operate or overrun may occur.
When using linear -series servomotors, the motor forward direction (coil assemblys movement direction when
current flows through phases U, V, and W, in that order) is toward the side from which the motor cable is
extended.
The analog 1-V p-p voltage input from the linear scale to the serial converter unit is counted during phase A (cos
signal) progression.
or
Mot
ar
forw
tion
rec
d di
oV
(U t
to W
Phase B progression
(pulse decrease)
9-6
+
Phase A progression
(pulse increase)
INFO
Motor Forward Direction and Linear Scale Count Direction Do Not Match
If the motor forward direction and linear scale count direction are opposite due to wiring or other factors, set the parameter
Pn080.1=1 (B-phase progression, U, V, W-phase in order : Available only for the software version 32 or later).
Linear Scale Count Direction
The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to the side attached the signal
cable. However, the direction in which the signal cable is extended is different, so the count direction is different. (Viewed
from above).
Heidenhain linear scale
Reverse direction
Forward direction
LIDA 48
HEIDENHAIN
Sensor head
Signal cable
Reverse direction
RENISHAW
RGH22
Sensor head
Signal cable
200V
SGDH-
DATA/
MODE/SET
CHARGE
L1
To power supply
L2
POWER
C
N
3
+1
+2
L1C
L2C
B1
B2
C
N
1
U
V
W
C
N
2
Encoder cable
9-7
9 Operation
9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors
If an alarm other than A.08 is displayed, as shown in the following diagram, the power supply circuit, linear servomotor main circuit cable or encoder cable wiring is the probable cause. Shut down the power supply, specify
the location causing the alarm, and take corrective measures so that the display returns to the above normal status. For details on alarms, refer to 11.1 Troubleshooting.
Example of alarm display
Pn280
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65535
1 m
0 m
After restart
If the linear scale pitch (Pn280) is not set correctly, the linear servomotor cannot be controlled. Make sure that the correct
value is set before operating the linear servomotor.
When using a SERVOPACK right after factory shipment, the alarm A.08 (Linear Scale Pitch Setting Error) will be displayed but does not indicate an error. This alarm is generated to remind the user to set Pn280. After setting the correct value
and setting validation, the alarm A.08 is cleared.
Control is performed the SERVOPACK using 1/256 the distance of the scale pitch as a minimum feedback pulse. The count
is performed in the serial converter unit using 1/256 of the linear scale pitch.
Make sure that the scale pitch satisfies the following conditions.
Value of
64000
= Integer
Scale pitch (m)
Examples
Corrent: 1, 2, 4, 8, 10 ,16, 40
Incorrect: 3, 12, 18
9-8
IMPORTANT
1. Before checking the feedback signals, be sure to set Pn000.0 to 0 (counting-up direction of the linear
scale (phase-A progression) as forward direction). If Pn000.0 is set to a value other than zero, the linear
servomotor may not run.
2. Be sure to check the feedback signals before operating the linear servomotor. If the linear servomotor is
operated without checking the feedback signals, the linear servomotor may not run, or overrun may
occur.
EXAMPLE
Using a linear scale with a scale pitch of 20 m, if the linear servomotor is moved only 1 cm by hand in the
linear scales count direction, the number of feedback pulses will be as follows:
1 cm/ (20 m/256) = 128,000 pulses
Note: The actual monitor display will deviate by the error in movement distance only, so a value that is
close to the above value is acceptable.
INFO
9-9
9 Operation
9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors
(b) Checking the Concurrence between the Linear Scale Count Direction and the Linear Servomotor Forward Direction
Next, move the coil assembly by hand in the direction of the side with the cable, and check that the Un00D
monitor is counting up.
INFO
Parameter
n.0
Description
Phase-A progression, phase-U, V, W order (factory setting)
n.1
When turning ON the servo for the first time after installation and wiring, stand away from the motor moving part as overrun may occur.
1. To perform a trial operation with a load attached, set mass ratio (Pn103) before running.
When the calculated mass ratio exceeds 20000%, set 20000 in the parameter and adjust loop gains.
Pn103
Mass Ratio
Speed
Setting Range
Setting Unit
1%
0 to 20000 %
Use the following formula to obtain the mass ratio.
Factory Setting
0%
Position
Force
Setting Validation
Immediately
100 [%]
* This setting range is applicable for software version 32 or later. The range for software earlier than version 32 is 0% to 10,000%.
INFO
2. Turn ON the control power supply and main circuit power supply.
3. Operate the panel operator or digital operator and move the linear servomotor using jog operation. For
details on jog operation, refer to 8.2.3 JOG Mode Operation (Fn002).
4. Check that the linear servomotor moves normally from end to end of the stroke.
9-10
INFO
Pn484
Setting Range
0 to 800 %
Reverse Force Limit
Setting Range
0 to 800 %
Speed
Setting Unit
1%
Factory Setting
30 %
Speed
Setting Unit
1%
Factory Setting
30 %
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
9-11
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
(2) Installation and Wiring the Linear Servomotor and Linear Scale
Install the coil assembly and linear scale so that the motor forward direction and linear scale count direction are
the same.
If the motor forward direction and linear scale count directions do not match and the linear servomotor is
run in this state, the linear servomotor may not operate or overrun may occur.
IMPORTANT
When using linear -series servomotors, the motor forward direction (coil assemblys direction of progression
when current flows in phase order U, V, and W) is toward the side from which the cable is extended. The analog
1-V p-p voltage input from the linear scale to the serial converter unit is counted up during phase A (cos signal)
progression.
or
Mot
cti
dire
oV
Ut
on (
to W
Phase B progression
(pulse decrease)
9-12
+
Phase A progression
(pulse increase)
INFO
When Motor Forward Direction and Linear Scale Count Direction Do Not Match
When the motor forward direction and linear scale count direction are reversed due to wiring or other factors, set so that
parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in order).
Linear Scale Count Direction
The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to the side attached the signal
cable. However, the direction in which the signal cable is extended is different, so the count direction is different. (Viewed
from above).
Heidenhain linear scale
Reverse direction
Forward direction
LIDA 48
HEIDENHAIN
Sensor head
Signal cable
Reverse direction
RENISHAW
RGH22
Sensor head
Signal cable
200V
SGDH-
DATA/
MODE/SET
CHARGE
L1
To power supply
L2
POWER
C
N
3
+1
+2
L1C
L2C
B1
B2
C
N
1
U
V
W
C
N
2
Encoder cable
9-13
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
If an alarm other than A.08 is displayed, as shown in the following diagram, the power supply circuit, linear servomotor main circuit cable or encoder cable wiring is the probable cause. Shut down the power supply, specify
the location causing the alarm, and take corrective measures so that the display returns to the above normal status. For details on alarms, refer to 11.1 Troubleshooting.
Example of alarm display
Pn280
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65535
1 m
0 m
After restart
If the linear scale pitch (Pn280) is not set correctly, the linear servomotor cannot be controlled. Make sure that the correct
value is set before operating the linear servomotor.
When using a SERVOPACK right after factory shipment, the alarm A.08 (Linear Scale Pitch Setting Error) will be displayed but does not indicate an error. This alarm is generated to remind the user to set Pn280. After setting the correct value
and setting validation, the alarm A.08 is cleared.
Control is performed the SERVOPACK using 1/256 the distance of the scale pitch as a minimum feedback pulse. The count
is performed in the serial converter unit using 1/256 of the linear scale pitch.
Make sure that the scale pitch satisfies the following conditions.
Value of
64000
= Integer
Scale pitch (m)
Examples
Corrent: 1, 2, 4, 8, 10 ,16, 40
Incorrect: 3, 12, 18
Parameter
n.0
Description
n.1
No hall sensor
When Pn080.0 = 0 is set without connecting a hall sensor, the alarm A.C2 (phase error detection) alarm will occur when the
power is turned ON.
9-14
IMPORTANT
1. Before checking the feedback signals, be sure to set Pn000.0 to 0 (counting-up direction of the linear
scale (phase-A progression) as forward direction). If Pn000.0 is set to a value other than zero, the linear
servomotor may not run.
2. Be sure to check the feedback signals before operating the linear servomotor. If the linear servomotor is
operated without checking the feedback signals, the linear servomotor may not run, or overrun may
occur.
EXAMPLE
Using a linear scale with a scale pitch of 20 m, if the linear servomotor is moved only 1 cm by hand in the
linear scales count direction, the number of feedback pulses will be as follows:
1 cm/ (20 m/256) = 128,000 pulses
Note: The actual monitor display will deviate by the error in movement distance only, so a value that is
close to the above value is acceptable.
INFO
9-15
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
(b) Checking the Concurrence between the Linear Scale Count Direction and the Linear Servomotor Forward Direction
Next, move the coil assembly by hand in the direction of the side with the cable, and check that the Un00D
monitor is counting up.
INFO
Parameter
n.0
Description
Phase-A progression, phase-U, V, W order (factory setting)
n.1
Name
Input
/S-ON
Connector Pin
Number
CN1-40
Setting
ON (low level)
OFF (high level)
/P-DET
ON (low level)
OFF (high level)
This input signal is used to start polarity detection.
Either the /S-ON or /P-DET signal can be used to start polarity detection.
When the /P-DET signal is used, input signal must be allocated. For details on assignment methods, refer to 8.3.2 Input Circuit Signal Allocation.
9-16
Must be allocated
Meaning
Mass Ratio
Setting Range
Speed
Setting Unit
1%
0 to 20000 %
Use the following formula to obtain the mass ratio.
Factory Setting
0%
Position
Force
Setting Validation
Immediately
100 [%]
* This setting range is applicable for software version 32 or later. The range for software earlier than version 32 is 0% to 10,000%.
Pn484
Setting Range
0 to 800 %
Reverse Force Limit
Setting Range
0 to 800 %
INFO
Speed
Setting Unit
1%
Factory Setting
30 %
Speed
Setting Unit
1%
Factory Setting
30 %
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
If the force limit is set too high, polarity detection may not operate normally.
IMPORTANT
1. The linear servomotor is turned ON during polarity detection, so take measures to avoid electric shock.
The linear servomotor will make large movements during detection, so do not stand near the coil assembly.
2. Polarity detection depends on many factors, such as mass ratio, friction, and cable tension. If any error
occurs because of one of these factors, the setting may be incorrect.
9-17
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
/S-RDY output
Polarity detection
Status display: P-dt
Detailed Confirmation
Based on the user-set position, measure the electrical angles using monitor mode parameter Un004 (electrical
angle 2: Phase U, angle from 0) when polarity detection is performed at 30 points each 1.5 mm apart. If the
electrical angles are in the relationship 12 10, the measurement results indicate the normal polarity detection.
INFO
The following table shows the position intervals used to perform polarity detection when the following linear servomotor
models are used.
Linear Servomotor Model
SGLGW-30
SGLFW-20
SGLTW-20
SGLGW-90
9-18
Position Interval
1.2 mm
(0.047 in)
2.8 mm
(0.11 in)
Normal Detection
The detection result is normal if the speed feedback for the speed reference for the last detection waveform
(unspecified number of detections) is traced. The following criteria are used to determine whether a trace is
being performed.
The feedback polarity is not inverse to the reference (speed is in same direction).
The feedback speed range is 2 mm/s up to the maximum reference speed.
Speed reference
(mm/s)
Speed reference
(mm/s)
Enlarged
Speed feedback
(mm/s)
Speed feedback
(mm/s)
Time (ms)
Time (ms)
Detection Error
The detection result is an error if the speed feedback for speed reference for the last detection waveform
(unspecified number of detections) is not traced.
Speed reference
(mm/s)
Speed reference
(mm/s)
Enlarged
Speed
feedback (mm/s)
Speed
feedback (mm/s)
Time (ms)
INFO
Time (ms)
The detection waveform is not always the same, so the waveform may be different from those shown above even though
the detection has completed normally.
9-19
9 Operation
9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
Refer to the following table for troubleshooting if polarity detection is not completed normally.
No.
Problem
The linear
servomotor
does not move
during polarity
detection
(speed
feedback is 0).
Cause
Polarity
detection is not
being
performed.
A force limit is
activated.
The mechanical
friction is large.
1
Polarity
detection error
alarm (A.C5)
has occurred.
Overtravel
signal is
detected during
polarity
detection.
Parameter
settings are
incorrect.
Noise is present
in the scale
signal.
The coil
assembly is
being subjected
to an external
force.
The linear scale
precision is
rough.
Linear
servomotor
traceability for
the polarity
detection
reference is
poor.
The travel
distance during
polarity
detection has
exceeded 10
mm.
9-20
Countermeasure
Check whether the status display is P-dt when the /S-ON (/P-DET) signal is input.
If P-dt is not displayed, check whether the parameters for input signal selection Pn50A
and Pn50D are set correctly, and check whether signal input is being performed correctly.
To prevent danger during setup, the SGDH SERVOPACKs factory settings for the
force limit parameters are 30%.
Check the set values for Pn483 and Pn484, and change to a user-set value if the setting
is initial value. Increase the value to the maximum value if no particular restrictions are
required.
When the mechanical friction is relatively larger than the linear servomotors rated
force (10% or more), the linear servomotor may stop operating during polarity detection if factory settings are used.
First, check whether the mass ratio (Pn103) is set correctly.
If Pn103 is set correctly, increase the value set for polarity detection speed loop gain
(Pn481).
If the load is heavy and the mechanical friction is very large, a large gain will cause an
alarm. The gain cannot be increased under this condition, so reduce the mechanical
friction.
If the mechanical friction cannot be reduced without difficulty and the situation does
not improve even if the gain is reduced, consider using the hall sensor for polarity
detection.
If the OT signal is detected during polarity detection, polarity detection will be ended
and the status will be returned to previous status.
Before performing polarity detection, move the linear servomotor to a position where
the OT signal is not detected.
The settings for scale pitch (Pn280) and motor phase selection (Pn080.1) may not be
appropriate for the device. Check the linear scale specifications and feedback signal
conditions.
When the detection reference is repeatedly output several times in the same direction,
noise may occur in the scale signal, resulting in malfunction. Check that the FG of the
serial converter unit and linear servomotor is connected to FG of the SERVOPACK,
and that FG of the SERVOPACK is connected to the power supply FG.
Also check that the encoder cable is securely sealed.
If the coil assembly is subjected to an external force such as cable tension, and the
speed feedback is not 0 regardless of a 0 detection reference, polarity detection will be
poor. Reduce the external force and make the speed feedback 0.
When the linear scale pitch is 100 m min, the SERVOPACK cannot detect correct
speed feedback.
Use a linear scale with good scale pitch precision (within 40 m is recommended).
When the size of the speed feedback for the polarity detection reference is 2 mm/s max,
detection may be poor.
First, check that the mass ratio (Pn103) is set correctly.
If Pn103 is set correctly, increase the value of polarity detection speed loop gain
(Pn481).
When the load is heavy, a large gain will cause an alarm. The gain cannot be increased
under this condition, so reduce the mechanical friction.
If the mechanical friction cannot be reduced without difficulty, consider using the hall
sensor for polarity detection.
An alarm will occur if the linear servomotor movement distance exceeds 10 mm during
polarity detection. The linear servomotor may have moved during detection for some
reason, so check other causes and take appropriate countermeasures.
Pn482
Parameters
Polarity Detection Speed Loop Gain
Setting Range
Setting Unit
1 to 2000
1 Hz
Polarity Detection Speed Loop Time Constant
Setting Range
15 to 51200
(0.15 to 512.00 ms)
Setting Unit
0.01 ms
Description
Speed
Position
Factory Setting
40 Hz
Speed
Force
Setting Validation
Immediately
Position
Factory Setting
3000
(30.00 ms)
Force
Setting Validation
Immediately
IMPORTANT
When turning ON the servo for the first time after installation and wiring, stand away from the linear servomotor as overrun may occur.
3. Check that the linear servomotor is moving normally from end to end of the stroke.
INFO
9-21
9 Operation
9.3.1 Servo ON Command from the Host
9.3 Trial Operation for Linear Servomotor without Load from Host
Reference
Check that the linear servomotor move reference or I/O signals are correctly set from the host controller to the
SERVOPACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the
SERVOPACK operation settings are correct. This is final check before connecting the linear servomotor to the
machine.
+24V
/S-ON
CN1
47
40
Position Control
[Pn000=n.1]
+24V
/S-ON
40
P-OT
42
P-OT
42
N-OT
43
N-OT
43
V-REF
PULS
SIGN
11
0V
0V
9-22
CN1
47
9.3 Trial Operation for Linear Servomotor without Load from Host Reference
Step
1
Description
Configure an input signal circuit necessary for servo ON.
Connect the I/O signal connectors (CN1) in the circuit on
the previous page or equivalent to input the signal necessary for servo ON. Then turn OFF the power and connect
the CN1 to the SERVOPACK.
YASKAWA
SERVOPACK
200V
SGDH-
DATA/
MODE/SET
CHARGE
L1
L2
POWER
C
N
3
+1
+2
-
CN1
L1C
L2C
B1
B2
C
N
1
U
V
W
C
N
2
Turn ON the power and make sure that the panel operator
display is as shown below.
The input signal setting is not correct if the display is not the same
as on the left. Check the input signal using the Un005 (input signal
monitor) from the panel operator.
Check input signal wiring in monitor mode using the digital operator or panel operator. Refer to 8.4.1 List of Monitor Modes.
Turn ON and OFF each signal line to see if the LED monitor bit
display on the digital operator changes as shown below.
Input signal LED display
P-OT
N-OT
Un005 =
Input the /S-ON signal, then make sure that the display of
the panel operator is as shown below.
/P-CON
/S-ON
Top lights when input
signal is OFF (high level).
Bottom lights when input
signal is ON (low level).
/ALM-RST
/P-CL
/N-CL
SEN
If an alarm display appears, correct it according to 11.1 Troubleshooting. If there is noise in the reference voltage during speed
control, the horizontal line () at the far left edge of the panel operator display may blink. Also the linear servomotor may run very
slowly. Refer to 7.6 Connecting Regenerative Resistors and take a
preventive measure.
9-23
9 Operation
9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0)
+24V
/S-ON
40
P-OT
42
N-OT
43
V-REF
+
VE
0V
VE
5
6
Step
1
9-24
CN1
47
Description
Check the power and input signal circuits again, and
check that the speed reference input (voltage
between the V-REF and SG) is 0 V.
Turn ON the servo ON (/S-ON) input signal.
If the linear servomotor moves with the speed reference input 0V, refer to 9.7.3 Adjusting Offset, and use
the reference voltage offset to keep the linear servomotor from moving.
The factory setting is 6 V/rated speed.
9.3 Trial Operation for Linear Servomotor without Load from Host Reference
INFO
SERVOPACK
Position control
Speed control
When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the operations below, following the operations in 9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.oo0o) on the previous page.
Step
9
10
11
12
13
Description
Check the input signal circuit again, and check that
the speed reference input (voltage between the VREF and SG) is 0 V.
Turn ON the servo ON (/S-ON) input signal.
9-25
9 Operation
9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1)
Reference pulse
according to
parameter
Pn200.0 setting
Step
1
2
3
4
10
Pulse reference
+24V
/S-ON
40
P-OT
42
N-OT
CLR
43
PULS
/PULS
SIGN
11
/SIGN
12
15
Description
Match the reference pulse form with the pulse output form from the host controller.
Set the reference unit and electronic gear ration so
that it coincides with the host controller setting.
Turn ON the power and the servo ON (/S-ON) input
signal.
Send the pulse reference for the motor movement
amount easy to check (for example, 1 cm) and with
slow speed from the host controller in advance.
Check the number of reference pulses input to the
SERVOPACK by the changed amount before and
after the Un00C (input reference pulse counter)
[pulse] was executed.
Check the actual motor movement amount [pulse]
by the change in Un00D (feedback pulse counter)
[pulse] before and after executing the sent pulse reference.
Check that steps 5 and 6 satisfy the following equation:
Un00D=Un00C (Pn202/Pn203)
Check that the motor movement direction is the
same as the reference.
Set the motor speed of several 10 mm/s for the reference pulse speed because such speed is safe.
Set the motor speed of several 10 mm/s for the reference pulse speed because such speed is safe.
Refer to 8.1.3 Basic Mode Selection and Operationeration for how it is displayed.
Un00C (input reference pulse counter) [pulse]
Refer to 8.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un00D (feedback pulse counter) [pulse]
Pn202
Pn203
Electronic
gear ratio
* The encoder pulse differs depending on the model of the servomotor used.
9-26
Pn280
103(1000)
1
28(256)
Encoder pulse
9.3 Trial Operation for Linear Servomotor without Load from Host Reference
Step
11
12
13
14
Description
Check the motor speed using the Un000 (motor
speed) [mm/s].
Check that the Un007 and Un000 values in steps 9
and 10 are equal.
Check the motor movement direction.
(contd)
Check Method and Remarks
Refer to 8.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un000 (motor speed) [mm/s]
9-27
9 Operation
WARNING
Follow the procedure below for trial operation precisely as given.
Malfunctions that occur after the linear servomotor is connected to the machine not only damage the machine, but may
also cause an accident resulting death or injury.
200V
SGDH-
DATA/
MODE/SET
CHARGE
To power
supply
L1
L2
+1
POWER
C
N
3
CN1
+2
L1C
L2C
B1
B2
U
To host controller
V
W
Step
1
9-28
Description
Turn ON the power and make the settings for
mechanical configuration related to protective function such as overtravel and brake.
Set the necessary parameters for control mode used.
Adjust the servo gain and improve the linear servomotor response characteristics, if necessary.
Refer to 9.7 Operating Using Speed Control with Analog Reference, 9.8 Operating Using Position Control,
and 9.9 Operating Using Force Control for control
mode used.
Refer to 9.6 Setting Common Basic Functions.
For steps 3 to 8, take advance measures for emergency
stop so that the servomotor can stop safely when an
error occurs during operation.
Refer to 10.1 Autotuning.
The servomotor will not be broken in completely during the trial operation. Therefore, let the system run
for a sufficient amount of additional time to ensure that
it is properly broken in.
The servodrive supporting tool Sigma Win+ serves
for the file management of parameters.
n.0
(Factory
setting)
n.1
n.2
n.3
n.4
x
x
x
n.B
Control Mode
Speed Control (Analog voltage speed reference)
Controls servomotor speed by means of an analog voltage speed reference. Use
in the following instances.
To control speed
For position control using the encoder feedback division output from the
SERVOPACK to form a position loop in the host controller.
Position Control (Pulse train position reference)
Controls the position of the machine by means of a pulse train position reference.
Controls the position with the number of input pulses, and controls the speed
with the input pulse frequency. Use when positioning is required.
Force Control (Analog voltage speed reference)
Controls the linear servomotors output force by means of an analog voltage
force reference. Use to output the required amount of force for operations such
as pressing.
Speed Control (Contact input speed control)
Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL (/
SPD-B) to control the speed as set in advance in the SERVOPACK. Three operating speeds can be set in the SERVOPACK. (In this case, an analog reference is
not necessary.)
These are switching modes for using the four control methods described above
in combination. Select the control method switching mode that best suits the
application.
Reference
Section
9.7
9.8
9.9
9.10
9.12
9-29
9 Operation
9.6.1 Setting the Servo ON Signal
Name
Input
/S-ON
Connector Pin
Number
CN1-40
(Factory setting)
Setting
Meaning
ON (low level)
OFF (high
level)
IMPORTANT
Always input the servo ON signal before inputting the input reference to start or stop the linear servomotor. Do not input the
input reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal elements and lead to malfunction.
Note: A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to
8.3.2 Input Circuit Signal Allocation.
Meaning
Inputs the /S-ON signal from the input terminal CN1-40. (Factory setting)
Constantly enables the /S-ON signal.
After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
When the parameter is set to constantly enable the signal, resetting an alarm can only be done by turning the power
OFF and ON. (Alarm reset is disabled.)
9-30
Name
Reference
Forward Reference
Pn000
n.0
Standard setting
(CCW = Forward)
(Factory setting)
Moves
in forward
direction
(CCW)
PBO
Moves
in reverse
direction
(CW)
PAO
PAO
Reverse
Direction Mode
(CW = Reverse)
Analog monitor
Analog monitor
Force reference
n.1
Reverse Reference
Phase B progression
Phase A progression
PBO
Analog monitor
Analog monitor
Move in
forward
direction
(CCW)
Moves in
reverse
direction
(CW)
PAO
PAO
PBO
Phase B progression
Phase A progression
PBO
The direction of P-OT and N-OT change. For Pn000 = n.0 (standard setting), counterclockwise is P-OT. For Pn000
= n.1 (Reverse Direction Mode), clockwise is P-OT.
9-31
9 Operation
9.6.3 Setting the Overtravel Limit Function
Name
Input
P-OT
Connector Pin
Number
CN1-42
(Factory setting)
Setting
Meaning
ON (low level)
Forward run allowed. Normal operation status.
OFF (high level)
Forward run prohibited. Forward overtravel.
Input N-OT
CN1-43
ON (low level)
Reverse run allowed. Normal operation status.
(Factory setting)
OFF (high level)
Reverse run prohibited. Reverse overtravel.
Connect limit switches as shown below to prevent damage to the devices durLinear servomotor
ing linear motion.
Forward
Movement in the opposite direction is possible during overtravel. For example,
SERVOPACK
reverse run is possible during forward overtravel
Limit
switch
Limit
switch
P-OT
N-OT
CN1
42
43
IMPORTANT
When the linear servomotor stops due to overtravel during position control, the position error pulses are held. A clear signal
(CLR) input is required to clear the error pulses.
Meaning
Inputs the Forward Run Prohibited (P-OT) signal from CN1-42. (Factory setting)
Disables the Forward Run Prohibited (P-OT) signal. (Allows constant forward run.)
n.3
Inputs the Reverse Run Prohibited (N-OT) signal from CN1-43. (Factory setting)
n.8
Disables the Reverse Run Prohibited (N-OT) signal. (Allows constant reverse run.)
Applicable control methods: Speed control, position control, and force control
After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
* A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 8.3.2 Input Circuit Signal Allocation.
9-32
n.00
Stop Mode
Stop by dynamic
brake
Mode After
Stopping
Dynamic Brake
Meaning
TERMS
Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting by a circuit of SERVOPACK).
Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
Decelerate to stop: Stops by using deceleration (braking) force.
Zero Clamp Mode: A mode forms a position loop by using the position reference zero.
* For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 9.6.4 Selecting the Stopping
Method After Servo OFF.
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
1%
800
Immediately
This sets the stop force for when the overtravel signal (P-OT, N-OT) is input.
The setting unit is a percentage of the rated force (i.e., the rated force is 100%).
The value large enough to be the motor maximum force, 800% is set as the factory setting for emergency stop force.
However, the actual output emergency stop force is determined by motor ratings.
9-33
9 Operation
9.6.4 Selecting the Stopping Method After Servo OFF
n.0
Stop Mode
Stop by dynamic
brake
n.1
n.2
Mode After
Stopping
Dynamic Brake
Coast
Coast to a stop
Coast
Meaning
Stops the linear servomotor by dynamic braking
(DB), then holds it in Dynamic Brake Mode. (Factory setting)
Stops the servomotor by dynamic braking (DB),
then places it into Coast (power OFF) Mode.
Stops the servomotor by coasting, then places it
into Coast (power OFF) Mode.
IMPORTANT
TERMS
9-34
SERVOPACK
Servomotor
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
20 to 1000
ms
20
Immediately
In power loss detection, the status of the main circuit power supply is detected and OFF status is ignored so servomotor
operation will continue if the servomotor turns back ON within the time set in parameter Pn509.
In the following instances, however, the parameter setting
will be invalid.
If an insufficient voltage alarm (A.41) occurs during a
power loss with a large servomotor load.
When control is lost (equivalent to normal power OFF
operation) with loss of the control power supply.
Pn509 > t
OFF time t
Operation
continued
Servo ON
IMPORTANT
The maximum setting for the hold time during a power
loss is 1,000 ms, but the hold time for the SERVOPACK
Servo ON
Servo OFF
Pn509 < t
control power supply is about 100 ms. The hold time for
the main circuit power supply depends on the SERVOPACK output.
To continue SERVOPACK operation for a power loss that is longer than this, provide an uninterruptible power supply.
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 100
0.1 m/s
50
After Restart
(0.1 to 10.0 m/s)
(5.0 m/s)
If a value lower than the rated speed is set for Pn384, the rated speed becomes the same value as the setting of Pn384.
The detection level for the overspeed alarm A.51 is the set value of Pn384 1.1.
9-35
9 Operation
9.7.1 Setting Parameters
Pn300
Parameter
n.0
Description
Control mode selection: Speed control (analog reference) (factory setting)
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
1.50 to 30.00 V/Rated
0.01 V/Rated
6.00 V/Rated speed
Immediately
speed)
speed
Sets the analog voltage level for the speed reference (V-REF) necessary to operate the
Reference
linear servomotor at the rated speed.
Speed
(mm/s)
EXAMPLE
Pn300=600: 6-V input is equivalent to the rated speed of the servomotor
(factory setting).
Pn300=1000: 10-V input is equivalent to the rated speed of the servomotor.
Pn300=200: 2-V input is equivalent to the rated speed of the servomotor.
9-36
Set this
slope.
Reference
Voltage (V)
Signal
Connector Pin
Name
Name
Number
Input V-REF CN1-5
Speed Reference Input
SG
CN1-6
Signal Ground for Speed Reference Input
The above inputs are used for speed control (analog voltage reference). (Pn000.1 = 0, 4, 7, 9, or A)
Pn300 is used to set the speed reference input gain. Refer to 9.7.1 Setting Parameters.
Input Specifications
Input range: 2 VDC to 10 VDC/rated speed
Maximum allowable input voltage: 12 VDC
Setting Example
Pn300 = 600: Rated speed at 6 V
Rated motor speed
Actual examples are shown below.
Factory setting
-12
-8
Speed Reference
Input
-4
4
12
+6 V
Movement
Motor Speed
Direction
Forward
Rated motor speed
SGLGW Linear
Servomotor
1500 mm/s
+1 V
Forward
250 mm/s
-3 V
Reverse
750 mm/s
2 k
SERVOPACK
Host controller
Speed reference
output terminals
SERVOPACK
+12 V
V-REF
CN1
5
SG
PAO
/PAO
PBO
/PBO
33
34
35
36
CN1
V-REF 5
SG
Feedback
pulse input
terminals
Signal
Name
/P-CON
Connector
Pin Number
CN1-41
Setting
9
Description
ON (low level)
Operates the SERVOPACK with proportional control.
OFF (high level) Operates the SERVOPACK with proportional integral
control.
/P-CON signal selects either the PI (proportional integral) or P (proportional) Speed Control Mode.
Switching to P control reduces linear servomotor movement and minute vibrations due to speed reference input drift.
Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops
when the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 8.3.2 Input Circuit
Signal Allocation.
9-37
9 Operation
9.7.3 Adjusting Offset
Reference
voltage
Offset
Speed
reference
Offset automatically
adjusted in SERVOPACK.
Speed
reference
Automatic
offset
adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the speed reference offset manual adjustment mode (Fn00A).
9-38
IMPORTANT
The speed reference offset must be automatically adjusted with the servo OFF.
Display after
Operation
Digital
Operator
SERVOPACK
0-V force
Host
reference
controller
Servo OFF
Panel
Operator
Linear servomotor
Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
Slow movement
(Servo ON)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
4
DATA
ENTER
(DATA/ENTER Key)
Description
DATA
(DATA/SHIFT Key)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
9-39
9 Operation
9.7.3 Adjusting Offset
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key
Description
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the UP or DOWN Key to select parameter Fn00A.
*The digit that can be set will blink.
3
DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.)
4
Servo ON
5
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
Press the LEFT or RIGHT Key or MODE/SET Key for less than
one second. The display will appear momentarily as shown at the
left, and donE will blink and the offset will be set. After the
setting is completed, the display will return to the display as
shown at the left.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn00A display of the utility
function mode.
MODE/SET
(MODE/SET Key)
(Less than 1 s.)
8
DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.)
9-40
Pn306
Setting Range
0 to 10000
Soft Start Deceleration Time
Speed
Setting Unit
ms
Factory Setting
0
Setting Validation
Immediately
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 10000
ms
0
Immediately
The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally
set speeds. Set both Pn305 and Pn306 to 0 for normal speed control.
Set these parameters as follows:
Pn305: The time interval from the time the motor starts until the motor maximum speed is reached.
Pn306: The time interval from the time the motor is operating at the motor maximum speed until it stops.
Maximum speed of Servomotor
After soft start
Pn305
Pn306
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65535
0.01 ms
40
Immediately
(0.00 to 655.35 ms)
(0.40 ms)
This smoothens the speed reference by applying a 1st-order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will slow down response.
Host
controller
SGDH-
Speed reference
V-REF
Zero clamp
MODE/SET
DATA/
CHARGE
POWER
Stops
precisely!
/P-CON
(/ZCLAMP)
9-41
9 Operation
9.7.6 Using the Zero Clamp Function
Parameter
n.A
Meaning
Control mode selection: Speed control (analog voltage reference) Zero clamp
Speed reference
Zero clamp
V-REF
/P-CON
(/ZCLAMP)
CN1
5
41
Speed
Preset value
for zero clamping
Pn580
Time
/P-CON (/ZCLAMP) input
Zero clamp is performed.
Pn580
Closed (ON)
Open (OFF)
ON
OFF
ON
OFF
ON
Speed
Setting Unit
Factory Setting
Setting Validation
0 to 10000
1 mm/s
10
Immediately
Sets the motor speed at which the zero clamp is performed if zero clamp speed control (Pn000 = n.A) is selected.
Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used.
Signal Name
/P-CON
Connector Pin
Number
CN1-41
/ZCLAMP
Must be allocated
Setting
ON (low level)
OFF (high level)
ON (low level)
OFF (high level)
Meaning
Zero clamp function ON (enabled)
Zero clamp function OFF (disabled)
Zero clamp function ON (enabled)
Zero clamp function OFF (disabled)
9-42
Signal
Name
PAO
/PAO
PBO
/PBO
PCO
/PCO
Connector
Pin Number
CN1-33
CN1-34
CN1-35
CN1-36
CN1-19
CN1-20
Name
Encoder output phase A
Encoder output phase /A
Encoder output phase B
Encoder output phase /B
Encoder output phase C (zero-point pulse)
Encoder output phase /C (zero-point pulse)
Outputs are explained here.
SERVOPACK
Linear
scale
PG
Analog signal
CN2
Serial
DATA
converter
unit
CN1
Frequency
dividing
circuit
Host controller
Phase A (PAO)
Phase B (PBO)
Phase C (PCO)
* Even in reverse movement mode (Pn000.0 = 1), the dividing output phase form is the same as that for the standard setting
(Pn000.0 = 0).
Output Phase Form
Forward movement (phase B leads by 90)
90
90
Phase A
Phase A
Phase B
Phase B
Phase C
IMPORTANT
Phase C
When returning the machine to its home position by using the zero-point signal of linear scale, the home
return speed should be 50 mm/s or less. If the speed is higher than 50 mm/s, the phase C pulse may not be
output correctly.
When using a linear scale with more than one zero-point signal, the phase C pulse width of 2nd and onward
zero-point signal will be half of the phase A pulse width.
Dividing
TERMS
The dividing means that the divider converts data into the pulse density set in the parameter Pn281, on the base of the scale
pitch of linear scale installed on the linear servomotor, and outputs it. The setting unit is the number of edges/scale pitch.
9-43
9 Operation
9.7.7 Encoder Signal Output
IMPORTANT
Relation between Linear Scale by Renishaw and Encoder Output Signals from the SERVO-
PACK
For some models of the Renishaw linear scales, the position at which the zero-point signal (Ref) is output
varies in accordance with the direction of movement.
If combining the SERVOPACK with one of those models, phase C pulses are output from the SERVOPACK
in two places.
For more details of the linear scale zero-point signals, refer to the instruction manual for the linear scale
being used.
When passing the first zero-point signal (Ref) forward after the power supply is turned ON
Machine position (Forward)
Power ON
Time
Zero-point
signal (Ref)
Phase C
The linear scale does not output a zero-point signal (Ref).
When moving forward this position, however, is where phase C
is output from the SERVOPACK. Phase C is output even when
moving in reverse.
When passing the first zero-point signal (Ref) in reverse after the power supply is turned ON
Machine position (Forward)
Power ON
Time
Zero-point
signal (Ref)
Phase C
The linear scale does not output a zero-point signal (Ref).
When moving in reverse this position, however, is where phase C
is output from the SERVOPACK. Phase C is output even when
moving forward.
9-44
Speed
Setting Range
Setting Unit
Factory Setting
1 to 255P/{Pn280)4}
1P/{(Pn280)4}
20P/{(Pn280)4}
Position
Force
Setting Validation
After restart
Set the output pulse resolution for PG output signals (PAO, /PAO, PBO, /PBO) externally from the SERVOPACK.
Feedback pulses per linear scale pitch (Pn280) are divided inside the SERVOPACK by the value set in Pn281 before being
output. (Set according to the system specifications of the machine or host controller.)
The setting range varies with the linear servomotor maximum speed (Pn384) and linear scale pitch (Pn280). Refer to the
table below for details.
Scale Pitch
(Pn280) (m
40
20
Encoder Output
Resolution (Pn281)
50
40
20
50
40
20
10
10
8
4
2
1 to 63
1 to 127
1 to 255
1 to 31
1 to 63
1 to 127
1 to 255
1 to 31
1 to 63
1 to 127
1 to 255
Note: 1. When the scale pitch is 4 m, the motor maximum speed is limited to 1 m/s because of the
maximum response frequency of serial converter unit.
2. The SERVOPACK with the software version 32 or higher outputs the alarm Dividing Pulse
Output Setting Error (A.09) if the set value does not satisfy the above setting range or the setting conditions.
The SERVOPACK with the software version before 32 cannot output correctly the divided
pulses if the set value does not satisfy the above setting range or the setting condition.
3. The upper limit of encoder output resolution is limited by the frequency dividing specification
of serial converter unit.
Setting Example
When the linear scale pitch = 20 m (Pn280=20) and the motor maximum speed = 5 m/s (Pn384=50),
Pn281 = 31 is accepted, but Pn281 = 32 is not accepted and A.09 is output.
Output Example
When Pn281 = 20 (20-edge output (5-pulse output) per linear scale pitch),
Preset value
20
PAO
PBO
Linear scale
pitch Pn280
9-45
9 Operation
9.7.8 Speed Coincidence Output
Signal
Name
/V-CMP
Connector
Pin Number
CN1-25, 26
(Factory setting)
Setting
Meaning
ON (low level)
Speed coincides.
OFF (high level) Speed does not coincide.
This output signal can be allocated to another output terminal with parameter Pn50E.
Refer to 8.3.3 Output Circuit Signal Allocation for details.
Pn582
Setting Range
Setting Unit
0 to 100
1 mm/s
The /V-CMP signal is output when the difference between the speed
reference and actual motor speed is the same as the pn582 setting or
less.
EXAMPLE
The /V-CMP signal turns ON at 1900 to 2100 mm/s if the Pn582 is set
to 100 and the reference speed is 2000 mm/s.
Speed
Factory Setting
10
Setting Validation
Immediately
Motor speed
Pn503
Reference speed
/V-CMP is output in
this range.
/V-CMP is a speed control output signal. When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is automatically used as the positioning completed signal /COIN for position control,
and it is always OFF (high level) for torque control.
9-46
Parameter
n.1
Meaning
Control mode selection: Position control (pulse train reference)
Signal
Name
PULS
/PULS
SIGN
/SIGN
Connector
Pin Number
CN1-7
CN1-8
CN1-11
CN1-12
Name
Reference Pulse Input
Reference Pulse Input
Reference Code Input
Reference Code Input
Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.
Parameter
Pn200
n.0
n.1
n.2
n.3
n.4
n.5
n.6
n.7
n.8
n.9
Reference Pulse
Form
Sign + pulse train
(Positive logic)
(Factory setting)
Input
Pulse
Multiplier
CW pulse + CCW
pulse
(Positive logic)
Two-phase pulse
train with 90 phase
differential
(Positive logic)
1
2
4
Two-phase pulse
train with 90 phase
differential
(Negative logic)
1
2
4
Reverse Movement
Reference
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-11)
PULS
(CN1-7)
SIGN
(CN1-11)
CW pulse + CCW
pulse
(Negative logic)
Forward Movement
Reference
SIGN
(CN1-11)
PULS
(CN1-7)
SIGN
(CN1-11)
L
90
90
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-11)
SIGN
(CN1-11)
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-11)
SIGN
(CN1-11)
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-11)
SIGN
(CN1-11)
PULS
(CN1-7)
SIGN
(CN1-11)
SIGN
(CN1-11)
Forward direction
90
90
PULS
(CN1-7)
Reverse direction
PULS
(CN1-7)
SIGN
(CN1-11)
1
Internal
processing
Motor movement
reference pulses
9-47
9 Operation
9.8.1 Setting Parameters
Signal
Name
CLR
/CLR
Connector
Pin Number
CN1-15
CN1-14
Name
Clear Input
Clear Input
The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter
Pn200.1. Select according to the specifications of the machine or host controller.
Parameter
Pn200
n.0
n.1
Description
Clears at high level.
Position error pulses do not accumulate while the
signal is at high level.
(Factory setting)
Clears at the rising edge.
Timing
CLR
(CN1-15)
Clears at
high level
CLR
(CN1-15)
High
n.2
n.3
CLR
(CN1-15)
CLR
(CN1-15)
Low
9-48
n.1
Description
Clear the error pulse during the baseblock. (Factory setting)
During the baseblock means when the SVON signal or the main circuit power supply is
OFF, or an alarm occurs.
Do not clear the error pulse. Clear only with the CLR signal.
n.2
Pulse Resolution
0.156 m
0.078 m
0.016 m
Linear scale
To move a workpiece 10 mm (0.39 in.)
The scale pitch is 20 m. Therefore,
10100020256=128000 pulses
128000 pulses are input as reference
pulses.
The equation must be calculated at
the host controller.
Linear scale
Reference unit1m
To move a workpiece 10 mm using reference units
1 reference unit is 1 m.
To move a workpiece 10 mm (10000 m),
1 pulse = 1 m,
10000/1=10000 pulses.
Input 10000 pulses as reference input.
9-49
9 Operation
9.8.2 Setting the Electronic Gear
Pn203
Position
Setting Unit
Factory Setting
Setting Validation
After restart
1 to 65535
Setting Range
Setting Unit
Factory Setting
1 to 65535
1
The electronic gear ratio to be set can be calculated by the following equation:
Electronic gear ratio:
Position
Setting Validation
After restart
* If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range. Be careful not to change the electronic gear ratio (B/A).
IMPORTANT
Electronic gear ratio setting range: 0.01 Electronic gear ratio (B/A) 100
If the electronic gear ratio is outside this range, the SERVOPACK will not operate properly. In this case, modify the load
configuration or reference unit.
9-50
Step
1
2
Operation
Check the scale pitch.
Determine the reference unit used.
3
4
Description
Check the scale pitch of linear scale used.
Determine the reference unit from the host controller, considering the
machine specifications and positioning accuracy.
Use the electronic gear ratio equation to calculate the ratio (B/A).
Set parameters using the calculated values.
Load Configuration
0.02 mm (20 m)
1 reference unit: 0.001 mm (1 m)
1(m)
B
256
=
A
20(m)
Set parameters.
Pn202
Pn203
256
20
mm/P
mm/P
L mm
Ps mm
B
A
Position
loop
Reference unit
Movement distance
Scale pitch
Speed
loop
256
Linear servomotor
Movement distance L
mm
L
mm/scale pitch
Ps
L
B )
= 256
(
Ps
A
( B ) = 256 L
A
Ps L
256
Ps
Pn203
Pn202
9-51
9 Operation
9.8.3 Position Reference
IMPORTANT
Line-driver Output
+24V Open-collector output
+12V Open-collector output
+5V Open-collector output
Precautions for Open-collector Output
When the open-collector output is used, input signal noise margin lowers. Change the parameter as follows:
Parameter
Pn200
n.1
Description
Reference input filter for open-collector signal
ON
Release
t1
Baseblock
t1 30 ms
t2 6 ms
(When parameter Pn506 is set to 0.)
t3 40 ms
t2
H
CN1-11
t3
CN1-7
H
L
PAO
Encoder pulses
PBO
/COIN
CLR
t4, t5, t6 2 ms
t7 20 s
H
L
t4
t5
ON
t7
t6
ON
Note: 1. The interval from the time the servo ON signal is turned ON until a reference pulse is input must
be at least 40 ms, otherwise the reference pulse may not be received by the SERVOPACK.
2. The error counter clear signal must be ON for at least 20 s.
9-52
Electrical Specifications
SIGN
PULS
t1 t2
t7
t3
t4
T
Forward
reference
t6
Reverse
reference
t1t2 0.1 s
t1
CCW
1.0 s
(/T) 100 50%
t2
Forward
reference
t1
t3
Reverse
reference
t1t2 0.1 s
1.0 s
(/T) 100 = 50%
t2
Phase A
Phase B
t3 3 s
CW
t5
Remarks
Sign
(SIGN)
t1t2 0.1 ms
H = Forward
t3t7 0.1 ms
reference
t4t5t6 3 s
L = Reverse
1.0 s
reference
(/T) 100 50%
T
Forward reference
Phase B leads
phase A by 90
Reverse reference
Phase B lags
phase A by 90
Switching of
the input pulse
multiplier
mode is done
with parameter
Pn200.0 setting.
9-53
9 Operation
9.8.3 Position Reference
SERVOPACK
CN1
PULS
/PULS
SIGN
11
/SIGN
12
CLR
15
/CLR
14
Photocoupler
150
150
150
SERVOPACK
Vcc
R1
Example
CN1
i
PULS
/PULS
SIGN
11
/SIGN
12
CLR
15
/CLR
14
Photocoupler
150
R1
R1
9-54
150
150
When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVOPACK internal power supply is used, the circuit will not be isolated.
Host controller
SERVOPACK
CN1
PL1
PULS
Tr1
150
8
PL2
13
PL3
Photocoupler
/PULS
SIGN
/SIGN
1.5 V max. at ON
+12V
3 1k
11
12
18
15
CLR
/CLR
14
1
IMPORTANT
Differential
Pn202
Pn109
Feedforward
gain
B
A
Pn203
Reference
pulse
Pn200.0
1
2
4
Pn204
Pn202
Smoothing
B
A
PG signal
output
Pn203
Pn10A
Feedforward
filter time
constant
Error
- counter
Pn281
Pn180
Bias
Pn108
Bias width
addition
Pn102
Kp
+ +
Linear servomotor
Speed
loop
Current
loop
Serial
converter unit
256
PG
Linear scale
Dividing
9.8.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
Parameter
n.0
n.1
Description
Acceleration/deceleration filter
Average movement filter
* After resetting the parameter, turn OFF the power once and turn it ON again.
9-55
9 Operation
9.8.4 Smoothing
Pn208
Setting Unit
Position
Factory Setting
Setting Validation
Immediately
0 to 6400
0.01 ms
(0.00 to 64.00 ms)
Average Movement Time of Position Reference
Setting Range
0 to 6400
(0.00 to 64.00 ms)
Position
Setting Unit
0.01 ms
Factory Setting
0
Setting Validation
Immediately
IMPORTANT
When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulse input
and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulse from the
host controller and input the clear signal (/CLR), or turn the servo OFF to clear the error.
This function provides smooth motor operating in the following cases. The function does not affect the travel distance (i.e., the
number of pulses).
When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
When the reference pulse frequency is too low.
When the reference electronic gear ratio is too high (i.e., 10 or more).
The difference between the position reference acceleration/deceleration time constant (Pn204) and the position reference
movement averaging time (Pn208) is shown below.
Acceleration/Deceleration Filter
Average Movement Time Filter
Pn207=n.0
Pn207=n.1
Before filter applied
After filter applied
100%
100%
t
Pn208
63.2%
36.8%
t
Pn204
Pn204
Pn208
t
Response waveform for ramp reference input
9-56
Signal
Name
/COIN
Connector
Pin Number
CN1-25, 26
(Factory setting)
Setting
Meaning
ON (low level)
Positioning has been completed.
OFF (high level) Positioning is not completed.
This output signal can be allocated to an output terminal with parameter Pn50E. The factory setting is allocated to CN1-25,
26.
Pn500
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 250
Reference units
7
Immediately
The positioning completed (/COIN) signal is output when the difference
Reference
(position error pulse) between the number of reference pulses output by
Motor speed
Speed
the host controller and the travel distance of the servomotor is less than
the value set in this parameter.
Set the number of error pulses in reference units (the number of input
Pn500
Error pulse
pulses defined using the electronic gear.)
(Un008)
Too large a value at this parameter may output only a small error during
low-speed operation that will cause the /COIN signal to be output con/COIN
tinuously.
(CN1-25)
If a servo gain is set that keeps the position error small even when the
positioning completed width is large, use Pn207 = n.1 to enable correct output timing for the COIN signal.
The positioning completed width setting has no effect on final positioning accuracy.
/COIN is a position control signal.
When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is used for
the speed coincidence output /V-CMP for speed control, and it is always OFF (high level) for force control.
9-57
9 Operation
9.8.6 Positioning Near Signal
Signal
Name
/NEAR
Connector
Pin Number
Must be allocated
Setting
Meaning
ON (low level)
Setting Range
Setting Unit
1 to 250
Reference units
The positioning near (/NEAR) signal is output when the difference (error) between the number of reference pulses output by
the host controller and the travel distance of the servomotor is
less than the value set in Pn504.
Set the number of error pulses in reference units (the number of
input pulses defined using the electronic gear.)
Normally, the setting should be larger than that for the positioning completed width (Pn500).
Position
Factory Setting
7
Reference
Motor speed
Speed
Pn504
Error pulse
0
/NEAR
/COIN
9-58
Setting Validation
Immediately
Pn500
/P-CON
(/INHIBIT)
Pn000=n.B
OFF
ON
Error
counter
/P-CON (/INHIBIT)
Feedback pulse
Meaning
Control mode selection: Position control (pulse train reference) Inhibit
/INHIBIT signal
(/P-CON)
ON
OFF
ON
Reference pulse
t1
t2
t1, t2 0.5 ms
Signal Name
/P-CON
Connector Pin
Number
CN1-41
(Factory setting)
Setting
ON (low level)
(/INHIBIT)
Must be allocated
CN1-
ON (low level)
Meaning
Turns the INHIBIT function ON.
(Inhibits the SERVOPACK from counting reference pulses.)
Turns the INHIBIT function OFF.
(Counts reference pulses.)
Turns the INHIBIT function ON.
(Inhibits the SERVOPACK from counting reference pulses.)
Turns the INHIBIT function OFF.
(Counts reference pulses.)
9-59
9 Operation
9.9.1 Setting Parameters
Meaning
Control mode selection: Force control (analog voltage reference)
Pn000
n.2
Pn400
Position
Speed
Setting Range
Setting Unit
Factory Setting
10 to 100
0.1V/rated force
30
(1.0 to 10.0 V/Rated force)
(3.0 V/Rated force)
This sets the analog voltage level for the force reference (T-REF) that is
Reference force
necessary to operate the linear servomotor at the rated force.
Force
Setting Validation
Immediately
Rated force
EXAMPLE
Pn400 = 30: The linear servomotor operates at the rated force with 3-V
input (factory setting).
Pn400 = 100: The linear servomotor operates at the rated force with 10-V
input.
Pn400 = 20: The linear servomotor operates at the rated force with 2-V input.
Signal
Connector
Name
Name
Pin Number
Input
T-REF
CN1-9
Force Reference Input
SG
CN1-10
Signal Ground for Force Reference Input
Used during force control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The force reference gain is set in Pn400. For setting details, refer to 9.9.1 Setting Parameters.
Input Specifications
Input range: 1 to 10 VDC/rated force
Reference force (%)
Max. allowable input voltage: 12 VDC
Factory setting
- 12 - 8
-4
Pn400 = 30: Rated force at 3 V
Factory setting
+3-V input: Rated force in forward direction
+9-V input: 300% rated force in forward direction
-0.3-V input: 10% rated force in reverse direction
The voltage input range can be changed with parameter Pn400.
Input Circuit Example
Use twisted-pair wires as a countermeasure against noise.
300
200
100
0 34
- 100
2 k
12
- 200
- 300
SERVOPACK
T-REF
SG
9-60
CN1
9
10
INFO
Reference voltage
Offset automatically
adjusted in SERVOPACK.
Offset
Force
reference
Automatic
offset
adjustment
Force
reference
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the manual adjustment of force reference offset (Fn00B).
IMPORTANT
The analog reference offset must be automatically adjusted with the servo OFF.
9-61
9 Operation
9.9.3 Adjusting the Force Reference Offset
Use the following procedure for automatic adjustment of the force reference offset.
Step
Display after
Operation
Digital
Operator
SERVOPACK
0-V force
Host
reference
controller
Servo OFF
Panel
Operator
Turn OFF the SERVOPACK, and input the 0-V reference voltage from the host controller or external circuit.
Linear servomotor
Slow movement
(Servo ON)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
4
DATA
ENTER
(DATA/ENTER Key)
Description
DATA
(DATA/SHIFT Key)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
9-62
Analog
Input
Voltage
Use the following procedure to manually adjust the force reference offset.
Step
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
3
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
4
Servo ON
5
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
Description
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key
to select parameter Fn00B.
*The digit that can be set will blink.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. The display will be as shown at the left.
The manual adjustment mode for the force reference offset will be
entered.
Turn ON the servo ON (/S-ON) signal. The display will be as
shown at the left.
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to display the force reference offset amount.
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to return to the display shown on the left.
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
8
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Speed limit
n.0
n.1
Description
Uses the value set in Pn480 as the speed limit (internal speed limit function).
Uses V-REF (CN1-5, 6) as an external speed limit input. Applies a speed limit using the input
voltage of V-REF and the setting in Pn300 (external speed limit function).
9-63
9 Operation
9.9.4 Limiting Linear Servomotor Speed during Force Control
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 5000
1 mm/s
5000
Immediately
Sets the linear servomotor speed limit value during force control.
The setting in this parameter is enabled when Pn002 = n.0.
The servomotors maximum speed will be used when the setting in this parameter exceeds the maximum speed of the servomotor used.
Signal
Connector
Name
Name
Pin Number
Input
V-REF
CN1-5
External Speed Limit Input
SG
CN1-6
Signal Ground
Inputs an analog voltage reference as the linear servomotor speed limit value during force control.
The smaller value is enabled, the speed limit input from V-REF or the Pn480 (Speed Limit during Force Control) when
Pn002 = n.1.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.
Pn300
Speed
Setting Range
Setting Unit
150 to 3000
(1.50 to 30.0 V/rated speed)
Position
Factory Setting
Force
Setting Validation
600
Immediately
(6.00 V/rated speed)
Sets the voltage level for the speed that is to be externally limited during force control.
With Pn300 = 600 (factory setting) and 6 V input from V-REF (CN1-5, 6), the actual motor speed is limited to the rated
speed of the servomotor used.
INFO
Signal
Name
/VLT
Connector
Pin Number
Must be allocated
CN1-
Setting
Meaning
ON (low level)
Servomotor speed limit being applied.
OFF (high level) Servomotor speed limit not being applied.
This signal is output when the linear servomotor speed reaches the speed limit value set in Pn480 or set by the analog voltage reference.
For use, this output signal must be allocated with parameter Pn50F. For details, refer to 8.3.3 Output Circuit Signal Allocation.
9-64
/P-CON (/SPD-D)
Contact inputs
CN1
41
/P-CL
(/SPD-A)
45
/N-CL
(/SPD-B)
46
Speed
reference
Linear
Servomotor
M
SPEED3 Pn382
Meaning
Control mode selection: Internally set speed control (contact reference)
Pn000
n.3
Pn380
Pn381
0 to 5000
Internally set speed 2 (SPEED2)
Setting Range
Pn382
0 to 5000
Internally set speed 3 (SPEED3)
Setting Range
0 to 5000
Speed
Setting Unit
Factory Setting
Setting Validation
1 mm/s
10
Immediately
Speed
Setting Unit
Factory Setting
Setting Validation
1 mm/s
20
Immediately
Speed
Setting Unit
1 mm/s
Factory Setting
30
Setting Validation
Immediately
Note: The maximum speed of linear servomotor is used whenever a speed settings for the Pn380 to
Pn382 exceed the maximum speed.
9-65
9 Operation
9.10.2 Input Signal Settings
Signal
Connector Pin
Meaning
Name
Number
Input
/P-CON
CN1-41
Switches the linear servomotor movement direction.
(/SPD-D)
Must be allocated
Input
/P-CL
CN1-45
Selects the internally set speed.
(/SPD-A)
Must be allocated
Input
/N-CL
CN1-46
Selects the internally set speed.
(/SPD-B)
Must be allocated
Input Signal Selection
The following two types of operation can be performed using the internally set speeds:
Operation with the /P-CON, /P-CL, and /N-CL input signals (pins allocated in factory setting)
Operation with the /SPD-D, /SPD-A, and /SPD-B input signals
/SPD-D, /SPD-A, and /SPD-B input signals must be allocated with parameter Pn50C. Refer to 8.3.2 Input Circuit Signal
Allocation.
/N-CL
(/SPD-B)
OFF (high)
ON (low)
ON (low)
OFF (high)
OFF (high)
ON (low)
ON (low)
OFF (high)
Motor
Movement
Direction
Forward
Reverse
Speed
IMPORTANT
9-66
Speed
Pulse train reference input (position control)
Pn380: Internally Set Speed 1 (SPEED1)
Pn381: Internally Set Speed 2 (SPEED2)
Pn382: Internally Set Speed 3 (SPEED3)
+SPEED3
Acceleration/deceleration are
done for the soft start times set in
Pn305 and Pn306.
2nd speed
+SPEED2
1st speed
+SPEED1
0
Stop
Stop
Stop
- SPEED1
1st speed
- SPEED2
2nd speed
- SPEED3
/P-CL (/SPD-A)
/N-CL (/SPD-B)
3rd speed
OFF
OFF
ON
ON
OFF
ON
ON
OFF
ON
ON
ON
/P-CON( /SPD-D)
IMPORTANT
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
When Pn000.1 = 5 (Internally set speed control Position control), the soft start function will operate only
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output of the pulse reference from the host controller after the
positioning completed (/COIN) signal is output from the SERVOPACK.
Example: Operation with an Internally Set Speed and Soft Start Position Control (Pulse Train Reference)
Signal Timing in Position Control
Motor speed
0 mm/s
/COIN
Pulse reference
/P-CL (/SPD-A)
/N-CL (/SPD-B)
Selected speed
t1
t1
OFF
ON
1st speed
ON
ON
2nd speed
ON
OFF
3rd speed
OFF
OFF
Pulse reference
t1 2 ms
OFF
ON
1st speed
9-67
9 Operation
9.11.1 Internal Force Limit (Limiting Maximum Output Force)
Limiting Method
Reference Section
9.11.1
9.11.2
9.11.3
9.11.4
Pn484
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
Reverse Force Limit
30
Immediately
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
%
30
Immediately
The settings in these parameters are constantly enabled. The setting unit is a percentage of rated force.
If the force limit is set higher than the maximum force of the linear servomotor, the maximum force of the linear servomotor
is used.
No Internal Force Limit
Internal Force Limit
(Maximum force can be output.)
Pn484
t
Pn483
Speed
Maximum force
Speed
Limiting force
Too small a force limit setting will result in insufficient force during acceleration and deceleration.
IMPORTANT
9-68
For safe operation at setup of linear servomotor, the factory setting of Pn483 and Pn484 are 30%, which are
relatively low. After having set up the linear servomotor, increase the settings of Pn483 and Pn484 to the
desired level. (Set to 800% if there is no restriction.)
Pn405
Setting Range
Setting Unit
0 to 800
%
Reverse External Force Limit
Setting Range
0 to 800
Speed
Setting Unit
%
Factory Setting
100
Speed
Factory Setting
100
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
Note: The setting unit is a percentage of rated force (i.e., the rated force is 100%).
Signal
Name
/P-CL
Connector Pin
Number
CN1-45
(Factory Setting)
Setting
Meaning
Limit Value
ON (low level)
9-69
9 Operation
9.11.2 External Force Limit (Output Force Limiting by Input Signals)
Pn484
Pn484
Force
Force
Pn404
/N-CL
(Reverse
External
Force Limit
Input)
Speed
Speed
Low
level
Pn483
Pn483
Pn484
Pn484
Force
Force
Pn405
Pn405
Pn404
Speed
Speed
Pn483
Pn483
Note: In this example, the linear servomotor movement direction is Pn000 = n.0 (standard setting,
CCW = forward).
9-70
Force limit
value
Speed
reference
T-REF
Forward force
limit value (Pn483)
Pn400
V-REF Pn300
+
-
Speed loop
gain
(Pn100)
Speed loop
integral
time
constant
(Pn101)
Force
reference
Reverse force
limit value (Pn484)
Speed feedback
INFO
There is no polarity in the input voltage of the analog voltage reference for force limiting. The absolute values of both +
and - voltages are input, and a force limit value corresponding to that absolute value is applied in the forward or reverse
direction.
Meaning
Speed control option: Uses the T-REF terminal to be used as an external force limit input.
When n.2 is set, the T-REF terminal is used for force feed-forward input, but the functions cannot be used together.
Signal
Connector
Name
Name
Pin Number
Input
T-REF
CN1-9
Force reference input
SG
CN1-10
Signal ground for force reference input
The force limit input gain is set at parameter Pn400. Refer to 9.9.1 Setting Parameters.
Input Specifications
Input range: 1 VDC to 10 VDC/rated force
Maximum allowable input voltage: 12 VDC
9-71
9 Operation
9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
This function can be used to combine force limiting by an external input signal and by analog voltage reference.
Because the force limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be
used during force control. Use /P-CL (CN1-45) or /N-CL (CN1-46) for force limiting by external input signal.
When /P-CL (or /N-CL) is ON, either the force limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the force limit, whichever is smaller.
SERVOPACK
/P-CL
/N-CL
T-REF
Force limit
value
Speed
reference
Forward torque
limit value (Pn483)
Pn400
V-REF Pn300 +
-
Speed loop
gain
(Pn100)
Pn404
( /P-CL: ON )
Force
reference
Speed loop
integral
Reverse torque
time
Pn405
constant
limit value (Pn484)
(
/N-CL
:
ON)
(Pn101)
Speed feedback
Pn002
Parameter
n.3
Pn404
Pn405
Setting Range
Setting Unit
0 to 800
%
Reverse External Force Limit
Setting Range
Setting Unit
0 to 800
%
Speed
Force
Factory Setting
100
Setting Validation
Immediately
Factory Setting
100
Setting Validation
Immediately
* The setting unit is a percentage of rated force (i.e., the rated force is 100%).
9-72
Position
Signal
Connector Pin
Name
Name
Number
Input T-REF
CN1-9
Force reference input
SG
CN1-10
Signal ground for force reference input
The force limit input gain is set in parameter Pn400. Refer to 9.9.1 Setting Parameters.
Input Specifications
Input range: 1 VDC to 10 VDC/rated force
Maximum allowable input voltage: 12 VDC
Type
Input
Input
Signal
Name
/P-CL
/N-CL
Connector Pin
Number
CN1-45
(Factory setting)
CN1-46
(Factory setting)
Setting
Meaning
ON (low level)
ON (low level)
Limit Value
The analog voltage reference
limit or the value set in Pn483 or
Pn404 (whichever is smaller)
Pn483
The analog voltage reference
limit or the value set in Pn484 or
Pn405 (whichever is smaller)
Pn484
Signal
Name
/CLT
Connector Pin
Number
Must be allocated
Setting
Meaning
ON (low level)
Servomotor output force is being limited.
OFF (high level)
Force is not being limited.
The output terminal must be allocated with parameter Pn50F to use this output signal. Refer to 8.3.3 Output Circuit Signal
Allocation for details.
9-73
9 Operation
9.12.1 Setting Parameters
Parameter
n.4
Control Method
Internally set speed control (contact reference) Speed control (analog voltage reference)
n.5
Internally set speed control (contact reference) Position control (pulse train reference)
n.6
Internally set speed control (contact reference) Force control (analog voltage reference)
n.7
Position control (pulse train reference) Speed control (analog voltage reference)
n.8
Position control (pulse train reference) Force control (analog voltage reference)
n.9
Force control (analog voltage reference) Speed control (analog voltage reference)
n.A
n.B
Connector
Setting
Meaning
Pin Number
Input
CN1-45
OFF (high level)
Switches control mode.
(Factory setting)
(/SPD-A)
Must be allocated
Input /N-CL
CN1-46
OFF (high level)
(Factory setting)
(/SPD-B)
Must be allocated
Input Signal Selection
The following two types of control mode selection are available for switching from internally set speed control:
Switching with the /P-CL and /N-CL input signals (pins allocated in factory setting)
Switching with the /SPD-A and /SPD-B input signals
When using /SPD-A and /SPD-B, they must be allocated with parameter Pn50C. Refer to 8.3.2 Input Circuit Signal Allocation.
9-74
Signal
Name
/P-CL
Signal
Name
Connector
Pin Number
Input
/P-CON
CN1-41
(Factory setting)
(Input)
(/C-SEL)
Must be allocated
Setting
Pn000 Setting
n.7 n.8 n.9 n.A n.B
ON (low level)
Speed
Force
Speed
Position
Speed
Position
Force
Force
Speed
Zero
clamp
Speed
Zero
clamp
Speed
Inhibit
Position
Inhibit
9-75
9 Operation
9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
(1) Servo Alarm Output (ALM)
This signal is output when an error is detected in the SERVOPACK.
Type
Output
Signal
Name
ALM
Connector
Pin Number
CN1-31, 32
(Factory setting)
Setting
ON (low level)
OFF (high level)
Meaning
Normal SERVOPACK condition
SERVOPACK alarm condition
IMPORTANT
Always form an external circuit so this alarm output turns OFF the main circuit power supply to the SERVOPACK.
Signal
Connector
Name
Name
Pin Number
Input /ALM- CN1-44
Alarm Reset
RST
When a servo alarm (ALM) has occurred and the cause of the alarm has been eliminated, the alarm can be reset by turning
this signal (/ALM-RST) from OFF (high level) to ON (low level).
This signal can be allocated to other pin numbers with Pn50B.
For details on the procedure, refer to 8.3.2 Input Circuit Signal Allocation.
The /ALM-RST signal cannot be constantly enabled by the allocation of an external input signal. Reset the alarm by changing the signal from high level to low level. The alarm can also be reset from the panel operator or digital operator. Refer to
8.1.2 Key Names and Functions for details.
IMPORTANT
1. Some encoder-related alarms cannot be reset with the /ALM-RST signal input. To reset these alarms,
turn OFF the control power supply.
2. When an alarm occurs, always eliminate the cause before resetting the alarm. The methods for troubleshooting alarms are described in 11.1.5 Troubleshooting of Alarm and Warning.
Signal
Connector
Meaning
Name
Pin Number
Output
ALO1
CN1-37
Alarm code output
Output
ALO2
CN1-38
Alarm code output
Output
ALO3
CN1-39
Alarm code output
Output
SG
CN1-1
Signal ground for alarm code output
These open-collector signals output alarm codes. The ON/OFF combination of these output signals indicates the type of
alarm detected by the servomotor.
Use these signals to display alarm codes at the host controller. Refer to 11.1.1 Alarm Display Table for details on alarm
code output.
9-76
Signal
Name
/WARN
Connector
Pin Number
Must be allocated
Setting
Meaning
Related Parameters
The following parameter is used to select the alarm code output.
Pn001
Parameter
n.0
n.1
Description
Outputs alarm codes alone for alarm codes ALO1, ALO2, and ALO3.
Outputs both alarm and warning codes for alarm codes ALO1, ALO2, and ALO3, and outputs an alarm code when an alarm occurs.
Refer to 9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) for alarm code descriptions.
Refer to 11.1.2 Warning Display for the ON/OFF combinations of ALO1, ALO2, and ALO3 when a warning code is output.
Signal
Name
/TGON
Connector
Pin Number
CN1-27, 28
(Factory setting)
Setting
Meaning
ON (low level)
Related Parameter
Pn581
Zero-Speed Level
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 5000
1 mm/s
20
Immediately
Set the range in which the running output signal (/TGON) is output in this parameter.
When the linear servomotor movement speed is above the value set in the Pn581, it is judged to be linear servomotor moving and the running output signal (/TGON) is output. The movement detection signal can also be checked on the digital
operator. For details, refer to 8.1.4 Status Display and 8.4.1 List of Monitor Modes.
9-77
9 Operation
9.13.4 Servo Ready (/S-RDY) Output
Signal
Connector Pin
Name
Number
/S-RDY CN1-29, 30
(Factory setting)
Setting
Meaning
ON (low level)
Servo is ready.
OFF (high level)
Servo is not ready.
This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations.
It is output when there are no servo alarms and the main circuit power supply is turned ON.
If no hall sensor is set, the polarity detection must be completed.
The servo ready signal condition can also be checked on the digital operator. For details, refer to 8.1.4 Status Display and
8.4.1 List of Monitor Modes.
The /S-RDY signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 8.3.3 Output Circuit Signal Allocation.
9-78
10
Adjustments
10-12
10-13
10-13
10-14
10-14
10-15
10-16
10-17
10-18
10-19
10-22
10-22
10-23
10-25
10-26
10
10-1
10 Adjustments
10.1.1 Servo Gain Adjustment Methods
10.1 Autotuning
10.1.1 Servo Gain Adjustment Methods
The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in
the parameters. The parameters are designated for each function as shown in 10.1.2 List of Servo Adjustment
Functions.
The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actual
machine conditions. The following flowchart shows an overview procedure for adjusting the servo gains to
reduce the positioning time for position control. Follow this flowchart to effectively adjust the servo gains. For
functions in bold lines in the flowchart, select the adjustment method according to the clients intent using 10.1.2
List of Servo Adjustment Functions.
Start adjusting servo gain.
Results OK.
Results OK?
Results insufficient.
Results OK.
Results OK?
Results insufficient.
Vibration resulted
Results OK?
Results insufficient.
Results OK.
If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods,
consider the following possible causes.
Autotuning does not suit the operating conditions.
Adjust the servo gains manually. Refer to 10.3 Manual Tuning.
The selection of settings for the positioning time reduction functions or vibration reduction functions are
not appropriate.
Each function may not be effective for all machines due to machine characteristics or operating conditions.
Use other positioning time reduction function or vibration reduction function.
10-2
10.1 Autotuning
Description
This function automatically measures the machine char- Only the minimum number of parameters
acteristics and sets the required servo gains accordingly. must be set for autotuning using a normal
This function allows beginners to adjust the servo gains operation reference.
easily.
The load mass is calculated during operation for a user
reference, and the servo gains (Kv, Ti, Kp, and Tf) are
set according to the Machine Rigidity Setting (Fn001).
Reference
Section
10.2
Description
Feed-forward
Pn109
Pn10A
Force feed-forward
Pn002
Pn400
Feed-forward compensation for the position reference is added to the speed reference.
Speed feed-forward
Pn207
Pn300
Features
Adjustment is easy.
The system will be unstable if a large
value is set, possibly resulting in overshooting or vibration.
Valid
Control
Modes
Position
Reference
Section
10.4.1
Speed
10.4.2
Position
10.4.3
Mode Switch
(P/PI Switching)
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
Position
Speed
10.4.5
Speed Feedback
Compensation
Pn110
Pn111
Position
Speed
10.4.8
Gain Switching
Pn100
Pn101
Pn102
Pn104
Pn105
Pn106
Inputs force feed-forward to the force reference input terminal and adds to the
internal force reference at the speed control.
10.4.9
10-3
10
10 Adjustments
10.1.2 List of Servo Adjustment Functions
Description
Features
A constant acceleration/deceleration is
achieved for smoother operation. The
operation time is increased for the specified time.
Enables smooth operation.
The reference time increases by the filter
delay time even after the reference input
has been completed.
Valid
Control
Modes
Speed
Reference
Section
9.7.4
Position
9.8.4
Acceleration/
Deceleration Filters
Pn204
Pn207
Movement Average
Filter
Pn207
Pn208
Position
9.8.4
Speed Feedback
Filter
Pn308
Position
Speed
10.4.7
Speed Reference
Filter
Pn307
Force Reference
Filter
Pn401
A 1st-order delay filter for the speed refer- The speed reference is smoother.
ence.
The response is delayed if a large value is
set.
Speed
9.7.5
Position
Speed
Force
10.4.10
Position
Speed
Force
10.4.10
Notch Filter
Pn409
Pn40B*
10-4
If the condition meets one of the above cases or the desired operation cannot be achieved by the online
autotuning, calculate the load mass on the basis of the machine specifications or using the mass detection
function of Yaskawas servodrive supporting tool SigmaWin+. Set the value in Pn103 and perform the
adjustment manually.
The following utility function is also available for the online autotuning.
Fn007: Writes the load mass calculated by the online autotuning in Pn103 and uses as the default value for the
next calculation.
10
10-5
10 Adjustments
10.2.2 Online Autotuning Procedure
WARNING
Do not perform extreme adjustment or setting changes causing unstable servo operation.
Failure to observe this warning may result in injury and damages to the machine.
Adjust the gains slowly while confirming motor operation.
Start
Operate with factory setting.
(Set Pn110.0 = 0.)
Operation OK?
Yes
No
No
Operation OK?
Yes
No
Ajust the machine rigidity setting.
(Set at Fn001.)
Operation OK?
Yes
No
Adjust the friction compensation.
(Set Pn110.2.)
Operation OK?
Yes
No
Do not perform online autotuning.
(Set Pn110.0 = 2.)
End
10-6
Speed
Position
Setting Unit
Factory Setting
Setting Validation
0010
After restart
Parameter
Meaning
Pn110
n.0
Online autotuning is performed only after the first time power is turned ON. (Factory Setting)
n.1
Online autotuning (mass calculations) is performed continuously.
n.2
Online autotuning is not performed.
The factory setting is n.0. This setting is recommended for applications in which the load mass does not change
much or if the load mass is not known. The mass calculated at the beginning of operation is used continuously. In this case,
differences in machine status and operation references at the beginning of operation may cause minor differences in the calculation results of the load mass, causing differences in the servo responsiveness each time the power supply is turned ON.
If this occurs, overwrite the mass ratio in Pn103 using the utility function Fn007 (Writing to EEPROM mass ratio data
obtained from online autotuning), and set Pn110 to n.2 to disable online autotuning.
The setting n.1 is used when the load mass varies constantly. This setting enables a consistent responsiveness even
when the load mass changes. If the load mass changes in less than 200 ms, however, the autotuning accuracy will deteriorate, in which case Pn110.0 should be set to 0 or 2.
The setting n.2 is used when online autotuning is not possible, when the load mass is known and the mass ratio is set
in Pn103 to perform the adjustment manually, or any other time the online autotuning function is not going to be used.
10
10-7
10 Adjustments
10.2.4 Machine Rigidity Setting for Online Autotuning
1
2
3
4
5
6
7
8
9
10
15
20
30
40
60
85
120
160
200
250
15
20
30
40
60
85
120
160
200
250
If the machine rigidity setting is greater, the servo gain will increase and positioning time will decrease. If the
setting is too large, however, vibration may result depending on the machine configuration. Set the machine
rigidity starting at a low value and increasing it within the range where vibration does not occur.
10-8
Digital Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
DATA/
(DATA/SHIFT Key)
(DATA/ENTER Key) (Press
at least 1 s.)
UP
DOWN
DSPL
SET
(DSPL/SET Key)
Description
MODE/SET
(MODE/SET Key)
7
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
This completes changing the machine rigidity setting for online autotuning.
10
10-9
10 Adjustments
10.2.6 Saving the Results of Online Autotuning
CAUTION
Always set the correct mass ratio when online autotuning is not used.
If the mass ratio is set incorrectly, vibration may occur.
For online autotuning, the most recent load mass is calculated and the control parameters are adjusted to achieve
response suitable for the machine rigidity setting. When online autotuning is performed, the Position Loop Gain
(Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) are saved. When the power
supply to the SERVOPACK is turned OFF, however, the calculated load mass is lost and the factory setting is
used as the default value to start autotuning the next time the power supply is turned ON.
To use the calculated load mass as the default value the next time the power supply is turned ON, the utility
function mode parameter Fn007 (Writing to EEPROM mass ratio data obtained from online autotuning) can be
used to save the most recent value in parameter Pn103 (Mass Ratio). The mass ratio is given as the mass ratio (%)
of the coil assembly mass of the linear servomotor.
Pn103
Mass Ratio
Setting Range
0 to 10,000
(0 to 20,000)*
Mass ratio=
Speed
Setting Unit
1%
Factory Setting
0
Position
Force
Setting Validation
Immediately
The factory setting for the mass ratio is 0% (no-load operation of linear servomotor without connecting a machine).
* The setting range for the software version 32 or later.
10-10
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
Description
MODE/SET
(MODE/SET Key)
6
DATA
ENTER
DATA/
This completes saving the default value for the mass ratio for online autotuning. The next time the power supply
is turned ON, the value that was saved for the Mass Ratio (Pn103) will be used to start online autotuning.
10
10-11
10 Adjustments
10.3.1 Explanation of Servo Gain
Move
Speed pattern reference
Time
+
-
Error
counter
Position
loop
gain Kp
Speed
reference
Speed loop
Tf
+ Current
- control
section
Electric
power
converting
Linear
servomotor
M
Current loop
PG
Position loop
Linear
scale
SERVOPACK
Host controller
(provided by user)
To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and
adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust
the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to
monitor the output waveform from the analog monitor.
The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermost
loop must have the highest response and the middle loop must have higher response than the outermost. If this
principle is not followed, it will result in vibration or responsiveness decreases.
The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to
adjust only position loop gain and speed loop gain.
10-12
For the position and speed control, the adjustment in the following procedure can increase the responsiveness.
The positioning time in position control can be reduced.
Step
1
2
3
4
5
Explanation
Set correctly the mass ratio (Pn103). The utility function Fn007 can be used after the online autotuning.
Increase the speed loop gain (Pn100) to within the range so that the machine does not vibrate. At the
same time, decrease the speed loop integral time constant (Pn101).
Adjust the force reference filter time constant (Pn401) so that no vibration occurs.
Repeat the steps 1 and 2. Then reduce the value for 10 to 20%.
For the position control, increase the position loop gain (Pn102) to within the range so that the machine
does not vibrate.
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 2,000
1/s
40
Immediately
The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the positioning time decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be set
higher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid to
increase its natural vibrating frequency and allow the position loop gain to be set to a high value.
INFO
If the position loop gain (Pn102) cannot be set high in the mechanical system, an overflow alarm may occur during high
speed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.
Pn505
Overflow Level
Setting Range
Setting Unit
1 to 32,767
256 reference units
This parameters new setting must satisfy the following condition.
Position
Factory Setting
1,024
Setting Validation
Immediately
10-13
10
10 Adjustments
10.3.4 Speed Loop Gain
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 2,000
Hz
40
Immediately
This parameter determines the responsiveness of the speed loop. If the speed loops responsiveness is too low, it will delay
the outer position loop and cause overshooting and vibration of the speed reference. The SERVOPACK will be most stable
and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the
mechanical system. The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in
Pn103 has been set correctly.
Pn103
Mass Ratio
Setting Range
0 to 10,000
(0 to 20,000)*
Speed
Setting Unit
%
Factory Setting
0
Position
Force
Setting Validation
Immediately
The factory setting is Pn103=0. Before adjusting the servo, determine the mass ratio with the equation above and set parameter Pn103.
* The setting range for the software version 32 or later
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
15 to 51,200
0.01 ms
2,000
Immediately
(0.15 to 512.00 ms)
(20.00 ms)
The speed loop has an integral element so that the speed loop can respond to minute inputs. This integral element causes a
delay in the SERVOPACK. If the time constant is set too long, overshooting will occur, which results in a longer positioning settling time or responsiveness decreases.
The estimated set value for Pn101 depends on the speed loop control method with Pn10B.1, as shown below.
INFO
10-14
Selecting the Speed Loop Control Method (PI Control or I-P Control)
Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. The
position loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can be
achieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch or
other method.
Feed-forward
Factory Setting
0
Pn10A
Setting Range
Setting Unit
0 to 100
%
Feed-forward Filter Time Constant
Setting Range
Setting Unit
0 to 6,400
0.01ms
(0.00 to 64.00 ms)
Applies feed-forward compensation in position control inside
the SERVOPACK. Use this parameter to shorten positioning
time. Too high value may cause the machine to vibrate. For
ordinary machines, set 80% or less in this parameter.
Factory Setting
0
Position
Setting Validation
Immediately
Position
Position
reference pulse
Differential
Setting Validation
Immediately
Pn109
Position loop
gain Kp
Pn10A
+ +
Feedback pulse
10
10-15
10 Adjustments
10.4.2 Force Feed-forward
Pn400
Meaning
n.0
Disabled
n.2
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
10 to 100
0.1V/Rated force
30
Immediately
(1.0 to 10.0V/Rated force)
(3.0 V/Rated force)
The force feed-forward function is valid only in speed control (analog reference).
The force feed-forward function shortens positioning time, differentiates a speed reference at the host controller to generate
a force feed-forward reference, and inputs the force feed-forward reference together with the speed reference to the SERVOPACK.
Too high a force feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the optimum value while observing the system responsiveness.
Connect a speed reference signal line to V-REF (CN1-5 and -6) and a force forward-feed reference to T-REF (CN1-9 and 10) from the host controller.
Host controller
+
Position
reference
SERVOPACK
Differential
KFF
Kp
T-REF (CN1-9)
V-REF (CN1-5) +
Pn300
Linear
servomotor
Pn400
+
+
Integration
(Pn101)
Pn100
Speed
calculation
Divider
Current loop
PG
Linear
scale
10-16
Pn300
Meaning
n.0
Disabled
n.1
Speed
Position
Force
Setting Range
Setting Unit
Factory Setting
Setting Validation
150 to 3,000
0.01 V/Rated
600
Immediately
(1.50 to 30.00 V/Rated
speed
(6.00 V/Rated speed)
speed)
The speed feed-forward function uses analog voltages and is valid only in position control.
The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position reference to generate the feed-forward reference, and inputs the feed-forward reference together with the position reference to
the SERVOPACK.
Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the optimum value while observing the system responsiveness.
Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference
signal line to V-REF (CN1-5 and -6) from the host controller.
Host controller
SERVOPACK
Differential
KFF
Position
reference
Kp ( Pn102 )
Linear
servomotor
+
-
Pn100
+
+
Current loop
Integration
(Pn101)
Speed
calculation
PG
Linear
scale
10
10-17
10 Adjustments
10.4.4 Proportional Control Operation (Proportional Operation Reference)
Pn000
Parameter
n.0
n.1
Speed
Control
Position
Control
Control Mode
Effective in speed control or position
control.
Input signal /P-CON (CN1-41) is used
to select PI control or P control.
CN1-41 is OFF PI control
(H level).
CN1-41 is ON P control
(L level).
SERVOPACK
CN1
P/PI
Switching
/P-CON
41
When sending references from the host controller to the SERVOPACK, P control mode can be selected from the host
controller for particular operating conditions. This mode switching method can be used to suppress overshooting and
shorten the settling time. Refer to 10.4.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /PCON signal and switching the control mode for particular operating conditions.
If PI control mode is being used and the speed reference has a reference offset, the linear servomotor may move very
slowly and fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the linear servomotor.
Signal
Name
/P-CON
Connector
Pin Number
CN1-41
Setting
Description
ON (low level)
Operates the SERVOPACK with proportional control.
OFF (high level) Operates the SERVOPACK with proportional integral
control.
/P-CON signal selects either the PI (proportional integral) or P (proportional) Speed Control Mode.
Switching to P control reduces linear servomotor movement and minute vibrations due to speed reference input drift.
Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops
when the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 8.3.2 Input Circuit
Signal Allocation.
10-18
Overshoot
Actual motor operation
Reference
Time
Undershoot
Settling time
The mode switch function automatically switches the speed control mode from PI control mode to P control1
mode based on a comparison between the servos internal value and a user-set detection level.
IMPORTANT
1. The mode switch function is used in very high-speed positioning when it is necessary to use the servodrive near the limits of its capabilities. The speed response waveform must be observed to adjust the
mode switch.
2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/
position control. Even if overshooting or undershooting occur, they can be suppressed by setting the host
controllers acceleration/deceleration time constant, the SERVOPACKs Soft Start Acceleration/Deceleration Time (Pn305, Pn306), or Position Reference Acceleration/Deceleration Time Constant (Pn204).
Parameter
Pn10B
n.0
n.1
n.2
n.3
Parameter
Containing
Detection
Point Setting
Setting Unit
Percentage to the rated force
Pn10C
Pn181
Pn182
Pn10F
n.4
Do not use the mode switch function.
Select a condition to execute the mode switch (P/PI switching). (Setting is validated immediately.)
TERMS
10
10-19
10 Adjustments
10.4.5 Using the Mode Switch (P/PI Switching)
Motor speed
Force reference
+Pn10C
Force
reference 0
- Pn10C
PI P
PI control
P PI control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to force saturation during acceleration or deceleration. The mode switch function
suppresses force saturation and eliminates the overshooting or undershooting of the motor speed.
Overshoot
Motor
speed
Motor
speed
Undershoot
Time
Time
P control
Motor
speed
Time
PI control
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Motor speed
Motor
speed
Long settling time
Increase speed loop gain.
Overshoot
Motor
speed
Undershoot
Time
10-20
Motor
speed
Settling time
Motor speed
Motor acceleration
+Pn182
Acceleration 0
- Pn182
PI P
PI control
P PI control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to force saturation during acceleration or deceleration. The mode switch function
suppresses force saturation and eliminates the overshooting or undershooting of the motor speed.
Overshoot
Motor
speed
Motor
speed
Undershoot
Time
Time
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Motor speed
Motor
speed
10
Overshoot
Motor
speed
Undershoot
Time
Motor
speed
Settling time
10-21
10 Adjustments
10.4.6 Setting the Speed Bias
Bias
Position
Setting Range
0 to 450
Pn108
Setting Unit
Factory Setting
0
1 mm/s
Setting Validation
Immediately
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 250
1 Reference units
Immediately
Speed reference
Bias set
No bias
Bias (Pn180)
Bias (Pn180)
Error pulse
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65,535
0.01 ms
0
Immediately
(0.00 to 655.35 ms)
Sets the 1st-order filter for the speed loops speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.
10-22
Pn111
Speed
Setting Unit
Factory Setting
0010
Speed
Setting Unit
%
Parameter
Pn110
IMPORTANT
Error counter
output
Factory Setting
100
Position
Setting Validation
After restart
Position
Setting Validation
Immediately
Function
n.0
n.1
When this function is used, it is assumed that the mass ratio set in Pn103 is correct. Verify that the mass
ratio has been set correctly.
Speed
reference
Speed loop
PI control
(Pn100,Pn101)
Force reference
filter time constant
(Pn401)
Force reference
Speed feedback
Speed feedback
compensation selection
(Pn110.1)
Speed feedback
compensation
(Pn111)
10
10-23
10 Adjustments
10.4.8 Speed Feedback Compensation
4000
Pn100
IMPORTANT
10-24
The speed feedback compensation usually makes it possible to increase the speed loop gain and position
loop gain. Once the speed loop gain and position loop gain have been increased, the machine may vibrate
significantly and may even be damaged if the compensation value is changed significantly or Pn110.1 is set
to 1 (i.e., speed feedback compensation disabled).
Signal
Setting
Meaning
OFF: H (high)
Gain settings 1
Signal allocation
level
/G-SEL
Input
required
ON: L (low) level Gain settings 2
To use the input signal, the input terminal must be allocated in the parameter Pn50D. Refer to 8.3.2 Input Circuit Signal
Allocation.
OFF (H Level)
Pn100
Pn101
Pn102
ON (L Level)
Pn104
Pn105
Pn106
Pn101
Setting Range
Setting Unit
1 to 2,000
Hz
Speed Loop Integral Time Constant
Setting Range
15 to 51,200
(0.15 to 512.00 ms)
Speed
Setting Unit
0.01 ms
Pn102
Pn104
Setting Range
1 to 2,000
2nd Speed Loop Gain
Setting Range
1 to 2,000
Setting Unit
Hz
Factory Setting
40
Speed
Factory Setting
2,000
(20.00 ms)
Speed
Factory Setting
40
Speed
Pn105
Pn106
Setting Range
15 to 51,200
(0.15 to 512.00 ms)
2nd Position Loop Gain
Setting Range
1 to 2,000
Setting Unit
1/s
Factory Setting
40
Speed
Factory Setting
2,000
(20.00 ms)
Speed
Factory Setting
40
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
10-25
10
10 Adjustments
10.4.10 Force Reference Filter
Force reference
befor filtering
Force
reference
filter
Pn401
IMPORTANT
Second
stage
notch
filter
Pn40B
Pn40C
Notch filter
First
stage
notch
filter
Pn409
Pn40A
Force reference
after filtering
Notch filter
Software version earlier than 32 does not have the parameters for the First Stage Notch Filter Q Value
(Pn40A) and the Second Stage Notch Filter (Pn40B and Pn40C).
10-26
Setting Unit
0.01 ms
Speed
Factory Setting
100
(1.00 ms)
Position
Force
Setting Validation
Immediately
Notch filter
100
Gain
db
Q value 1.0
-100
Gain
-100
db
-200
-200
-300
10
10 3
Frequency
Notch filter
100
-300 2
10
10 4
Hz
-100
-100
Phase -200
deg
-300
Phase -200
deg
-300
10
10 3
Frequency
10 4
-400 2
10
n.0
n.1
n.0
n.1
10
Hz
10
Frequency
Hz
Parameter
Pn408
10
Notch filter
Notch filter
0
-400
10
Frequency
Hz
Meaning
Disables the first stage notch filter.
Enables the first stage notch filter.
Disables the second stage notch filter.*
Enables the second stage notch filter.*
Set the machines vibration frequency in the parameter of a notch filter to be used.
Pn409
Pn40B
Setting Range
Setting Unit
50 to 2,000
Hz
Second Stage Notch Filter Frequency *
Setting Range
50 to 2,000
Setting Unit
Hz
Speed
Factory Setting
2,000
Speed
Factory Setting
2,000
Position
Force
Setting Validation
Immediately
Position
Force
Setting Validation
Immediately
10-27
10
10 Adjustments
10.4.10 Force Reference Filter
When the vibration is suppressed but overshooting occurs, increase the Q value and check whether the
overshooting is corrected.
Pn40A
Pn40C
Setting Range
Setting Unit
50 to 400
0.01
(0.50 to 4.00)
Second Stage Notch Filter Q Value *
Setting Range
50 to 400
(0.50 to 4.00)
Setting Unit
0.01
Speed
Factory Setting
70
(0.70)
Speed
Factory Setting
70
(0.70)
Position
Setting Validation
Immediately
Position
Setting Validation
Immediately
IMPORTANT
1. Sufficient precautions must be taken when setting the notch frequencies. Do not set the notch frequencies (Pn409 or Pn40B) that is close to the speed loops response frequency. Set the frequencies at least
four times higher than the speed loops response frequency. Setting the notch frequency too close to the
response frequency may cause vibration and damage the machine. The speed loop response frequency is
the value of the Speed Loop Gain (Pn100) when the Mass Ratio (Pn103) is set to the correct value.
2. Change the Notch Filter Frequency (Pn409 or Pn40B) only when the linear servomotor is stopped.
Vibration may occur if the notch filter frequency is changed when the linear servomotor is moving.
10-28
SERVOPARK 200V
CN5
SGDHVer.
YASKAWA
POWER
MODE/SET
DATA/
BATTERY
CN5
Cable Type:
JZSP-CA01
Black
Black
White
Red
Pin Number
1
Line Color
Red
Signal Name
Analog monitor 2
White
Analog monitor 1
3, 4
Black (2 lines)
GND (0 V)
10
10-29
10 Adjustments
Related Parameters
The following signals can be monitored.
Pn003
Parameter
Monitor 1
Monitor 2
n.0
n.0
Monitor Signal
Motor speed
n.1
n.1
Speed reference
n.2
n.3
n.2
n.3
n.4
n.4
n.5
n.5
n.6
Position error
Function
Observation Gain
1 V / 1000 mm/s
1 V / 1000 mm/s
1 V / 100% rated force
0.05 V / 1 reference unit
Remarks
Factory setting for Monitor 2
n.6
Position error
Position reference speed
(converted to motor speed)
Motor speed
1 V / 250 mm/s
n.7
n.7
Motor speed
1 V / 125 mm/s
n.8
n.9
n.A
n.B
n.C
n.D
n.E
n.F
n.8
n.9
n.A
n.B
n.C
n.D
n.E
n.F
* When using speed control or force control, the position error monitor signal is not specified.
INFO
10-30
The analog monitor output voltage is 8 V (maximum). The output will be limited to 8 V even if this value is exceeded
in the above calculations.
11
Inspection, Maintenance, and
Troubleshooting
11
11-1
11.1 Troubleshooting
11.1.1 Alarm Display Table
The relation between alarm displays and alarm code outputs is shown in Table 11.1.
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
DB STOP: Stops the servomotor immediately using the dynamic brake.
Coasting to a stop: Stops the servomotor naturally with friction when the motor is running and not braking.
Table 11.1 Alarm Displays and Outputs
Alarm
Display
Alarm Name
A.02
Parameter Breakdown
A.03
A.04
A.05
Combination Error
A.08
A.09
A.0A
A.10
A.30
A.32
Regenerative Overload
A.33
A.40
Overvoltage *2
A.41
Undervoltage *2
11-2
Meaning
Alarm
Reset
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
N/A
Available
N/A
Available
N/A
N/A
N/A
N/A
Available
Available
Available
Available
Available
11.1 Troubleshooting
Alarm Name
A.51
Overspeed
A.55
A.71
A.72
A.73
A.74
A.7A
A.82
A.84
A.b1
A.b2
A.b3
A.bF
System Alarm
A.C1
A.C2
A.C5
A.C9
A.CA
A.Cb
A.d0
A.d3
Meaning
Alarm
Reset
Available
Available
Available
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
Available
Available
Available
Available
N/A
N/A
Available
The electrical angle at the hall sensor phase-U edge deviated for 40
degrees or more.
Hall sensor signal error was
detected.
The polarity of linear servomotor can
not be detected.
Communications between SERVOPACK and encoder is not possible.
Encoder parameters are faulty.
N/A
Available
Available
N/A
Available
Available
N/A
11
N/A
N/A
Available
N/A
11-3
Alarm Name
Meaning
A.F1
A.F6
Not an error
Alarm
Reset
ALO2
ALO3
Servo
Alarm
(ALM)
Output
Available
Available
N/A
Not decided
N/A
Warning Name
Meaning
A.90
A.91
Excessive Position Deviation * The position deviation exceeds the value of Pn51E.
A.92
Regenerative Overload
Overload
11-4
11.1 Troubleshooting
Application Module
which Detects Alarms
Alarm Name
Meaning
NS NS NS NS NS
100 115 300 500 600
A.E0
A.E1
No Application Module
A.E2
A.E4
A.E5
A.E6
A.E7
A.E9
A.EA
A.EB
A.EC
A.ED
A.EF
SERVOPACK Malfunction
SERVOPACK Initial
Access Error
SERVOPACK WDC Error
Command Execution
Incomplete
Application Module Error
Alarm Code
Output
ALO1
ALO2
ALO3
Servo
Alarm
(ALM)
Output
11
11-5
Application Module
which Detects
Warnings
Warning Name
Meaning
NS NS NS NS NS
100 115 300 500 600
A.94
A.95
Command Warning
A.96
A.98
A.9A
A.9F
Communications
Warning
Main Power OFF
Not Completed within
the Set Time
NS600 Error
Warning Code
Output
ALO1
ALO2
ALO3
Servo
Alarm
(ALM)
Output
11-6
11.1 Troubleshooting
A.02
Alarm Name
Situation at Alarm
Occurrence
Parameter
Breakdown
(The EEPROM
data storing the
parameter is
incorrect.)
Cause
Corrective Actions
Correct the power supply, and set Fn005 to initialize the parameter.
A.03
Main Circuit
Encoder Error
(Not detected for
the SERVOPACK with the
capacity of 7.5
kW)
A.04
Parameter
Setting Error
(The parameter
setting was out of
the allowable setting range.)
Combination
Error
(The SERVOPACK and servomotor capacities
do not correspond.)
A.05
A.08
Linear Scale
Pitch Setting
Error
A.09
Dividing Ratio
Setting Error
(For the software
version 32 or
later)
Change the set value to a value within the allowable peak speed, referring to Un010.
Then set validation of the control power supply.
Change the set value to a value within the allowable dividing ratio, referring to Un010.
Then set validation of the control power supply.
Encoder Type
Mismatching
(For the software
version 32 or
later)
A.0A
11-7
11
A.10
Alarm Name
Situation at Alarm
Occurrence
Overcurrent
(An overcurrent
flowed through
the IGBT) or Heat
Sink Overheated
Cause
Corrective Actions
A.30
Regeneration
Error Detected
(Detected when
the power to the
main circuit was
turned ON.)
The jumper between B2 and B3 is removed for a servomotor of 500 W or more, and 5.0 kW or less.
A SERVOPACK fault, such as regenerative transistor and voltage sensor fault, occurred.
Occurred during
normal operation.
11-8
11.1 Troubleshooting
A.32
A.33
A.40
Alarm Name
Situation at Alarm
Occurrence
Regenerative
Overload
(Detected when
the power to the
main circuit is
turned ON.)
Occurred during
normal operation
(large increase of
regenerative resistor
temperature).
Occurred during
normal operation
(small increase of
regenerative resistor
temperature).
Main Circuit
Wiring Error
(Detected when
the power to the
main circuit is
turned ON.)
Overvoltage
(Detected when
the SERVOPACKs main circuit DC voltage is
420 V or more.)
(Detected when
the power to the
main circuit is
turned ON.)
Cause
Corrective Actions
1 and
terminals.
Set Pn600 to 0.
Occurred during
normal operation.
Check the load mass and minus load specifications. Reconsider the load and operation conditions.
11
11-9
A.41
Alarm Name
Situation at Alarm
Occurrence
Undervoltage
(Detected when
the SERVOPACKs main circuit DC voltage is
170 V or less.)
(Detected when
the power to the
main circuit is
turned ON.)
Replace the SERVOPACK. Check the power supply voltage, and reduce the number of times that
the main circuit is turned ON or OFF.)
Occurred during
normal operation.
A.51
Overspeed
(Detected when
the feedback
speed is the maximum motor
speed)
11-10
Corrective Actions
Occurred when
servo was ON.
A.55
Cause
11.1 Troubleshooting
A.71
A.72
Alarm Name
Situation at Alarm
Occurrence
Overload
A.71: High Load
A.72: Low Load
The actual force exceeds the rated force or the starting force largely exceeds the rated force.
Occurred during
normal operation.
A.73
A.74
A.7A
Dynamic Brake
Overload
Cause
Corrective Actions
operation.
Overload of
Surge Current
Limit Resistor
(Detected when
the number of
times that the
main circuits
power is turned
ON or OFF more
than 10 times/2
seconds.)
Occurred during
operations other
than the turning
ON/OFF of the
main circuit.
Occurred at the
main circuit power
supply ON/OFF
operation.
Heat Sink
Overheated
(Detected when
the heat sink temperature exceeds
100 C.)
11-11
11
A.82
A.84
Alarm Name
Situation at Alarm
Occurrence
Cause
Corrective Actions
Encoder
Checksum Error
(Detected on the
encoder side.)
Encoder Data
Error
(Detected on the
encoder side.)
Occurred during
normal operation.
Reference
Speed Input
Read Error
(Detected when
the Servo is ON.)
Occurred during
normal operation.
Reference
Force Input
Read Error
(Detected when
the servo is ON.)
Occurred during
normal operation.
A.b3
Current
Detection Error
(For the software
version 32 or
later)
Occurred during
normal operation.
A.bF
System Alarm
(Program error)
Software
operation time
exceeded
Stack overflow
Micro program
error
Occurred during
normal operation.
A program is incorrect.
Servo Overrun
Detected
A.b1
A.b2
A.C1
11-12
11.1 Troubleshooting
A.C2
Alarm Name
Phase Faulty
Detection
(Occurs when
using a hall
sensor.)
Situation at Alarm
Occurrence
Occurred when the
control power supply was turned ON.
Cause
Corrective Actions
The hall sensor is protruding from the linear servomotor magnetic way.
The hall sensor is protruding from the linear servomotor magnetic way.
A.C5
Polarity
Detection Faulty
Occurred during
polarity detection.
A.C9
Encoder
Communications Error
A.CA
Encoder
Parameter Error
Noise interference occurred because the wiring distance for the serial converter unit cable is too long.
Take a measure against noise for the serial converter unit wiring.
11
11-13
A.Cb
Alarm Name
Situation at Alarm
Occurrence
Encoder
Echoback Error
Cause
Corrective Actions
A.d0
Position Error
Pulse Overflow
(In servo ON
status, the
position error
pulses exceed the
overflow level set
in the parameter
Pn505.)
Noise interference occurred because the wiring distance for the serial converter unit cable is too long.
Take measures against noise for the serial converter unit wiring.
Excessive vibration and shocks to the serial converter unit was applied.
Normal movement,
but occurred with a
long distance reference input.
A.d3
Exceeded
Position Data
A.F1
Power Line
Open Phase
(In the main
power supply ON
status, the voltage
stays low for 1
second or more at
one of the phases
R, S, and T.)
(Detected when
the main circuit
power supply
turns ON.)
11-14
11.1 Troubleshooting
Alarm Name
Situation at Alarm
Occurrence
Cause
Corrective Actions
A.F6
Servomotor Line
Disconnection
(For the software
version 32 or
later)
CPF00
Digital Operator
Transmission
Error 1 *1
CPF01
Digital Operator
Transmission
Error 2 *2
* 1. This alarm occurs when the communications is still disabled five seconds after digital operator power supply is ON, or when digital operator communications disabled status stays while
an application module is connected.
* 2. This alarm occurs when digital operator received data error occurs consecutively five times,
or when the state that digital operator receives no data from SERVOPACK for one second or
more occurs consecutively three times.
11
11-15
Warning Name
Situation at Warning
Occurrence
Cause
Corrective Actions
A.90
Excessive Position
Error
A.91
Overload:
Warning for the
alarms A71 and
A72
In either of the following cases:
1. 20% of the
overload detection
level of A71
2. 20% of the
overload detection
level of A72.
A.92
11-16
Regenerative
Overload:
Warning for the
alarm A32
Reconsider the load and operation conditions. Or, check the servomotor capacity.
Reconsider the load and operation conditions. Or, check the servomotor capacity.
11.1 Troubleshooting
Corrective Actions
Symptom
Cause
Overloaded
Check the parameter setting for the reference pulse mode (Pn200.0).
Check V-REF and SG to confirm if the control method and the input are agreed.
Check T-REF and SG to confirm if the control method and the input are agreed.
11
11-17
Linear
Servomotor
Moves
Without
Reference
Input
DB (dynamic
brake) Does
Not Operate
Abnormal
Noise from
Servomotor
Cause
Inspection
Corrective Actions
Check V-REF and SG to confirm if the control method and the input are agreed.
Check T-REF and SG to confirm if the control method and the input are agreed.
DB resistor disconnected
11-18
11.1 Troubleshooting
Servomotor
Vibrates at
about 200 to
400 Hz
High
Speed
Overshoot on
Starting and
Stopping.
Cause
Inspection
Corrective Actions
11
11-19
Cause
Overtravel
(OT)
(Movement
over the zone
specified by
the host controller)
The overtravel signal does not operate normally (P-OT or N-OT signal
sometimes changes).
Inspection
Corrective Actions
The distance to the position of OT (overtravel) is too short considering the coasting
distance.
Check if the signal line from the serial converter unit is influenced by noise.
Position error
(without
alarm)
The input signal cable distance must be within the specified range.
11-20
11.1 Troubleshooting
Servomotor
Overheated
Inspection
Cause
Corrective Actions
Check visually.
Overloaded
11
11-21
CAUTION
Do not disassemble the linear servomotor.
Failure to observe this caution may result in electric shock or injury.
Simple, daily inspection is sufficient. The inspection and maintenance frequencies in Table 11.8 are only guidelines. Increase or decrease the frequency to suit the operating conditions and environment.
If disassembly of the linear servomotor is required because of the linear servomotor failure, contact your
Yaskawa representative.
Table 11.8 Linear Servomotor Inspections
Item
Vibration and Noise
Frequency
Daily
Exterior
According to degree
of contamination
At least once a year
Insulation Resistance
Measurement
GAP between
Coil Assembly and
Magnetic Way
Overhaul
Procedure
Touch and listen from safe position.
Clean with cloth or compressed
air.
Disconnect SERVOPACK and
test insulation resistance
at 500 V. Must exceed 10 M .
Comments
Levels higher than normal?
Use alcohol solvent.
Contact your Yaskawa representative if the insulation
resistance is below 10 M.
Do not perform insulation
resistance measurement and
withstand voltage test for the
sensors.
The GAP dimension stays
unchanged from its initial
value.
The user should not disassemble and clean the servomotor.
* Measure across the servomotor FG and the phase-U, phase-V, or phase-W power line.
11-22
Frequency
At least once a year
Procedure
Comments
Loose Screws
Defective Parts in
Unit or on
Circuit Boards
Standard
Replacement
Period
4 to 5 years
7 to 8 years
10 years
5 years
Replacement Method
Replace with new part.
Test. Replace with new part if necessary.
Test. Replace if necessary.
Replace with new part.
Operating Conditions
Ambient Temperature: Annual
average of 30C
Load Factor: 80% max.
Operation Rate: 20 hours/day
max.
11
11-23
11-24
12
Appendix
12-16
12-17
12-18
12-19
12-20
12-21
12-22
12
12-1
12 Appendix
Workpiece mass: WW = 1 kg
Table mass: WT = 2 kg
15
Speed
(m/min)
ta
tc
Time (s)
td
60
60
t = n = 120 =0.5 (s)
where ta = td
tc = 0.4 (0.02 2) = 0.36 (s)
0.4
60 x ta
+ FL = (1+2)
120
+ 5.88 = 305.88 (N)
60 0.02
SGDH-04AE SERVOPACK
12-2
L (WW + WT + WM)
60ta
+ FL =
120 (1 + 2 + 0.92)
+ 7.5
60 0.02
L (WW + WT + WM)
60ta
FL =
120 (1 + 2 + 0.82)
7.
60 0.02
Effective force
Frms =
(6) Result
The provisionally selected linear servomotor and SERVOPACK are confirmed to be applicable.
The force diagram is shown below.
(N)
Force
389.5
Speed
7.5
0
-374.53
0.02
0.36
0.02
0.5
12
12-3
12 Appendix
12.2.1 Simple Calculation
200 V
Applicable
SERVOPACKs
SGDH -A5AE
SGDH-01AE to -04AE
Regenerative
Energy that Can
be Processed
(joules)
18.5
37.1
Remarks
Calculate the kinetic energy ES) in the linear servomotor from the following equation.
ES = MVM 2 / 2
M Load mass kg
VM Speed used by linear servomotor m/s
SGLFW-
12-4
40A365C (-M)
60A253C (-M)
60A365C
60A365C (-M)
90A200C
90A370C
90A535C
35A230A
50A200B
50A380B
1ZA200B
1ZA380B
Allowable Frequencies in
Regenerative Mode (times/min.)
4
4
3
3
1
1
6
8
6
2
2
2
Load Condition
(Including Coil
Assembly)
15 times of coil
assembly mass
Twice of coil
assembly mass
Allowable Frequencies in
Regenerative Mode (times/min.)
Load Condition
(Including Coil
Assembly)
8
4
2
6
2
2
3
1
4
1
1
Twice of coil
assembly mass
20A170A
20A320A
20A460A
35A170A
35A320A
35A460A
35A170H
35A320H
50A170H
50A320H
40A400B
Note: The model with (-M) is the combination model with a standard-type coil assembly and a
high-force-type magnetic way.
Speed reference
Servomotor speed
Servomotor-generated force
Maximum speed
Regeneration
mode
Maximum force
t
Maximum force
T
(Operating cycle)
Use the following equation to calculate the allowable frequency for regenerative mode operation.
Allowable frequency in regenerative mode (times)
Allowable frequency =
n
yn
W
WM
W
For SGLTW and SGLFW,
n=
WM
excluding SGLTW-40 and -80)
W
n=
For SGLTW-40 and -80,
WM
For SGLGW,
n=
y WM
yW
Peak speed
Used speed
times/min
/ 15
/3
12
12-5
12 Appendix
12.2.1 Simple Calculation
Linear Servomotor
Model
SGLTW-
12-6
80A600B
Allowable Frequencies in
Regenerative Mode (times/min.)
8
80D600B
Load Condition
0
tD
FL: Load force
Motor force
0
Regenerative
force
Item
Calculate the kinetic energy of the linear servomotor.
Calculate the energy consumed by friction
loss during the deceleration period.
Symbol
ES
Equation
ES =
MVM2/2
EL
EL = VMFLtD/2
EM
EC
EK
WK
WK = EK/ (0.2 T)
Note: 1. The 0.2 in the equation for calculating WK is the value for when the regenerative resistors utilized load ratio is 20%.
2. The units for the various symbols are as follows:
Symbol
ES
EL
EM
EC
EK
WK
M(=MM+ML)
VM
FL
tD
T
Units
J
W
kg
m/s
N
sec
Meanings
Kinetic energy of linear servomotor
Energy consumed by friction loss during the deceleration period
Energy consumed by linear servomotor winding resistance loss
Energy that can be absorbed by SERVOPACK
Energy consumed by regenerative resistor
Required capacity of regenerative resistor
Load mass including linear servomotor
Linear servomotor movement speed
Load force
Period to decelerate to a stop
Repeated operation cycle of linear servomotor
12
12-7
12 Appendix
12.2.2 Calculating the Regenerative Energy
If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in
resistor is not exceeded, then an external regenerative resistor is not required.
If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an
external regenerative resistor for the capacity obtained from the above calculation.
If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using EL = 0.
When the operation period in regeneration mode is continuous, add the following items to the above calculation procedure in order to find the required capacity (W) for the regenerative resistor.
Energy for continuous regeneration mode operation period: EG (joules)
Here, EG = VMGTGtG
VMG: Linear servomotor speed (m/s) for same operation period as above
TG: Linear servomotors generated force (N) in continuous regenerative mode operation period
tG: Same operation periods as above
Energy consumed by a regenerative resistor: EK = ES - (EL + EM + EC) + EG
Required capacity of regenerative resistor: WK = EK / (0.2 T)
12-8
100
80
30A050C
30A080C
Loss
(W)
60
40
20
0%
100%
200%
300%
Force (%)
Model : SGLGW-
400
40A365C
40A253C
40A140C
300
Loss
(W)
200
100
0%
100%
200%
300%
Force (%)
12
12-9
12 Appendix
12.2.2 Calculating the Regenerative Energy
Model : SGLGW-
500
400
Loss
(W)
60A365C
60A253C
60A140C
300
200
100
0%
100%
200%
300%
Force (%)
Model : SGLGW-
1800
1600
90A535C
90A370C
90A200C
1400
1200
Loss 1000
(W)
800
600
400
200
0
12-10
0%
100%
200%
Force (%)
300%
400%
700
600
40A365C
40A253C
40A140C
500
Loss
(W)
400
300
200
100
0
0%
100%
200%
Force (%)
300%
400%
Model : SGLGW-
800
60A365C
60A253C
60A140C
600
Loss
400
(W)
200
0%
100%
200%
Force (%)
300%
400%
12
12-11
12 Appendix
12.2.2 Calculating the Regenerative Energy
1200
SGLFW-
35A230A
35A120A
20A120A
20A090A
1000
800
Loss
(W) 600
400
200
0
0%
100%
200%
300%
Force (%)
Model
1800
SGLFW-
1ZA380B
1600
50A380B
1ZA200B
1400
50A200B
1200
Loss 1000
(W)
800
600
400
200
0
0%
50%
100%
150%
200%
250%
Force (%)
Model
1800
SGLFW-
1ZD380B
1600
50D380B
1400
1ZD200B
50D200B
1200
Loss 1000
(W)
800
600
400
200
0
0%
50%
100%
150%
Force (%)
12-12
200%
250%
4000
SGLTW-
35A460A
35A320A
35A170A
20A460A
20A320A
20A170A
3500
3000
2500
Loss
(W) 2000
1500
1000
500
0
0%
100%
300%
200%
Force (%)
Model
1200
50A320H
35A320H
50A170H
35A170H
1000
800
Loss
(W)
SGLTW-
600
400
200
0
0%
50%
100%
150%
200%
240%
Model
SGLTW-
Force (%)
12000
80A600B
80A400B
40A600B
40A400B
10000
8000
Loss
6000
(W)
4000
2000
540%
0
0%
100%
200%
300%
400%
500%
560%
600%
Force (%)
12
12-13
12 Appendix
12.2.2 Calculating the Regenerative Energy
1200
Model
SGLTW-
200%
240%
50D320H
35D320H
50D170H
35D170H
1000
800
Loss
(W)
600
400
200
0
0%
50%
100%
150%
Force (%)
Model
14000
SGLTW-
80D600B
80D400B
40D600B
40D400B
12000
10000
Loss 8000
(W)
6000
4000
2000
0
540%
0%
100%
200%
300%
Force (%)
12-14
400%
500%
560%
600%
120
600
30AE
20AE
01AE to 04AE
05AE to 10AE
15AE
A5AE
80
60
100
40
20
0
Model: SGDH-
700
500
75AE
400
50AE
300
200
100
180
200
220
240
AC Input Power Supply Voltage (Vrms)
260
180
200
220
240
260
140
120
20DE,30DE
10DE,15DE
05DE
100
80
60
40
20
320
480
360
400
440
AC Input Power Supply Voltage (Vrms)
520
Model
400
SGDH-
350
300
75DE
50DE
250
200
150
100
50
0
320
360
480
400
440
AC Input Power Supply Vrms
520
12
12-15
12 Appendix
12.3.1 Example of Connection to MP2200/MP2300 2-axes Motion Module SVA-01
SGDH SERVOPACK
CN1/CN2
SG
AO_0 (NREF)
PA
PAL
PC
PCL
SG
AI_0 (VTG)
AO_1 (TREF)
0V (for 24V)
0V (for 24V)
DO_2 (PCON)
DO_4
DO_3
DI_3 (P-OT)
+24V
DI_0 (SVALM)
DI_2 (ZERO/HOME LS)
SG
CN1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
21
22
23
PB
24
PBL
25
SG
26
AI-GND
27
AO-GND
28
0V (for 24V)
29
0V (for 24V)
30
DO_1 (ALMRST)
31
DO_0 (SV ON)
DO_5 (SEN for VS866) 32
33
DI_4 (N-OT)
34
+24V
35
DI_1 (SRDY)
36
DI_5 (EXT/DEC)
2
5
33
34
19
20
6
SG
V-REF
PAO
/PAO
PCO
/PCO
SG
9
32
T-REF
ALM-
41
45
46
42
47
31
10
SG
AI_1 (TMON)
FG
35
36
28
27
1
30
PBO
/PBO
TGONTGON+
SG
/S-RDY-
44
40
/ALM-RST
/S-ON
43
N-OT
29
/S-RDY+
L1C
L2C
L1
L2
L3
U
V
W
M
Linear scale
Serial
converter
unit
CN2
FG
EXT/DEC input
ZERO/HOME LS input
P-OT input
N-OT input
Note: Connection cables (model: JEPMC-W2040-) to connect the SERVOPACK to the MP2200/
MP2300 are provided by Yaskawa. For details, refer to Machine Controller MP2200/MP2300
Motion Module Uesrs Manual (manual no. SIEPC88070016).
12-16
PG
SGDH SERVOPACK
DRV connector
24V input
24V input ground
X-axis alarm input
X-axis run reference output
X-axis alarm reset output
1
2
3
4
5
10
11
12
13
14
15
16
17
18
24VDC
ALM+
/S-ON
/ALM-RST
FG
+24V-IN
ALM-
24V output 19
24V output ground 20
I/O connector
24V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6
X-axis origin proximity input 10
24V input ground 14
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
V-REF
SG
CN1
31
40
44
1
33
34
35
36
19
20
5
6
Shell
47
32
L1C
L2C
L1
L2
L3
Linear servomotor
U
V
W
Linear scale
CN2
Serial
converter
unit
PG
24VDC
Note: 1. Only signals applicable to OMRONs MC unit and Yaskawas SGDH SERVOPACK are shown
in the diagram.
2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
The power supply and wiring must be in accordance with the power supply specifications of the
SERVOPACK to be used.
3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
4. Open the signal lines not to be used.
5. The above connection diagram shows only X-axis connection. When using another axes, make
connection to the SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section must be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.
12
12-17
12 Appendix
12.3.3 Example of Connection to OMRONs Position Control Unit
+24V +
-
+24 V
0 24
SGDH SERVOPACK
+5V
CW(+) output A5
CW(-) output A6
CCW(+) output A7
CCW(-) output A8
2
4
A19
A21
A23
A22
A20
PULS
/PULS
SIGN
/SIGN
CLR
/CLR
PCO
/PCO
COIN+
/COIN+24V-IN
/S-ON
P-OT
N-OT
/ALM-RST
ALM1
ALM+
CN1
7
8
11
12
15
14
19
20
25
26
47
40
42
43
44
31
32
L1C
L2C
L1
L2
L3
U
V
W
M
Linear scale
CN2
Serial
converter
unit
Connector
3
shell
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Connect the shield wire to the connector shell.
* 4.
Note: Only signals applicable to OMRONs MC unit (positioning unit) and Yaskawas SGDS SERVOPACK are shown in the diagram.
12-18
PG
ON when
positioning
is cancelled.
12
7(23)
6(22)
5(21)
4(20)
16(14)
15(13)
1(17)
Linear servomotor
U
V
W
ON when
proximity
is detected.
CN1
ALM+ 31
ALM - 32
+24VIN 47
11
3(19)
9(25)
8(24)
L1C
L2C
L1
L2
L3
+24V
024V
1Ry 1
M
Linear scale
Serial
converter
unit
CN2
PG
+24V
OUT-1X
X-OUT
X-AG
X-A
X-/A
X-B
X-/B
X-C
X-/C
0V
/S-ON 40
V-REF(T-REF) 5(9)
SG 6(10)
3
PAO
/PAO
PBO
/PBO
PCO
/PCO
SG
33
34
35
36
19
20
1
42 P-OT
3Ry
43 N-OT
024V
4Ry
Connector 2
shell
* 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this
into consideration when designing the power ON sequence. The ALM signal actuates the alarm
detection relay 1Ry to stop main circuit power supply to the SERVOPACK.
* 2. Connect the I/O cables shield wire to the connector shell.
* 3.
Note: Only signals applicable to OMRONs C500-NC221 position control unit and Yaskawas SGDH
SERVOPACK are shown in the diagram.
12
12-19
12 Appendix
12.3.5 Example of Connection to OMRONs Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)
Position control
unit C500-NC112
manufactured by
OMRON
1A
+12V
1B
2A
CW LIMIT
2B
CCW LIMIT
3A
EMERGENCY STOP
EXTERNAL
3B
INTERRUPT
4A
012V
4Ry
LOCAL
3Ry
LRX-01/A2
10 PCO 19
12V 0V
4B
5A
5B
8A
+5V 8B
9A
PULSE OUTPUT 9B
10A
10B
READY
Linear servomotor
U
V
W
Encoder signal
conversion unit
ORIGIN
ORIGIN PROXIMITY
L1C
L2C
L1
L2
L3
8
1Ry
+24V
7 1Ry
9 /PCO 20
ALM+ 31
ALM - 32
+5 V
PULSE
/PULSE
SIGN
/SIGN
CLR
/CLR
7
8
11
12
15
14
Linear scale
CN2
Serial
converter
unit
PG
47 +24VIN
40 /S-ON
+24V
42 P-OT 3Ry
43 N-OT 4Ry
012V
* 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this
into consideration when designing the power ON sequence. The ALM signal actuates the alarm
detection relay 1Ry to stop main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Manufactured by Yaskawa Controls Co., Ltd.
Note: Only signals applicable to OMRONs C500-NC112 position control unit and Yaskawas SGDH
SERVOPACK are shown in the diagram.
12-20
External
power supply
+24V
+24 V
Positioning unit
AD72 manufactured
by Mitsubishi
2
CONT
1
2
3
SERVO
1
2
3
4
5
6
ON when
positioning
is cancelled.
ON when
proximity
is detected.
STOP
DOG
+24V-IN
/S-ON
SV-ON
1Ry
Speed reference
ENCO
4
5
7
8
10
11
3
6
9
CN1
47
40
1Ry 1
ALM+
READY
L1C
L2C
L1
L2
L3
0 24 V
ALMV-REF (T-REF)
SG
4
PULSE A
PULSE B
PULSE C
0V
0V
0V
PBO
/PBO
PAO
/PAO
PCO
/PCO
SG
U
V
W
31
32
5(9)
6(10)
35
36
33
34
19
20
1
Linear scale
Serial
converter
unit
CN2
PG
CN1
42
P-OT
43
N-OT
024 V
Connector
3
shell
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Pin numbers are the same both for X-axis and Y-axis.
* 3. Connect the connector wire to the connector shell.
* 4.
Note: Only signals applicable to Mitsubishis AD72 Positioning Unit and Yaskawas SGDH SERVOPACK are shown in the diagram.
12
12-21
12 Appendix
12.3.7 Example of Connection to Mitsubishis AD75 Positioning Unit (SERVOPACK in Position Control Mode)
X-axis (Y-axis)
26
7 READY
14
STOP
11
DOG
24
25
SGDH SERVOPACK
+24 V
0 24V
L1C
L2C
L1
L2
L3
1Ry
ON when
positioning
is cancelled.
ON when
proximity
is detected. PCO
/PCO
PGO
CN1
19
20
U
V
W
M
Linear scale
1Ry
ALM+
31
ALM -
32
Serial
converter
unit
CN2
PG
3
21
PULSE
4
22
SIGN
5
23
CLEAR
2.2K
PULS
/PULS
7
8
CN1
SIGN
/SIGN
CLR
/CLR
11
12
15
14
47
40
42
43
+24V
/S-ON
P-OT
N-OT
0 24V
* The ALM signal is output for about two seconds when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry
to stop the main circuit power supply to the SERVOPACK.
Note: Only signals applicable to Mitsubishis AD75 Positioning Unit and Yaskawas SGDH SERVOPACK are shown in the diagram.
12-22
Function
Fn000
Fn001
Fn002
Fn003
Fn005
Fn006
Fn007
Fn008
Fn009
Fn00A
Fn00B
Fn00C
Fn00D
Fn00E
Fn00F
Fn010
Fn011
Fn012
Fn013
Fn014
Rem
arks
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
Reference
Section
8.2.2
10.2.5
8.2.3
8.2.4
8.2.5
8.2.6
10.2.7
9.7.3
9.9.3
9.7.3
9.9.3
8.2.7
8.2.8
8.2.9
8.2.10
8.2.11
8.2.12
Note: When the parameters marked with { in remarks column are set for Password Setting
(Fn010), the indication shown below appears and such parameters cannot be changed.
Blinks for
one second
12
12-23
12 Appendix
12.4.2 List of Parameters
Name
Setting Range
Unit
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
n.
Direction Selection
(Refer to 9.6.2 Switching the Linear Servomotor Movement Direction.)
Sets the counting-up direction of the linear scale (phase-A progression) as forward direction.
0
Sets the counting-down direction of the linear scale (phase-B progression) as forward
1
direction. (Movement direction reversal mode)
Control Method Selection
(Refer to 9.5, 9.12)
Speed control (analog reference)
0
1
Axis Address
0 to F Sets SERVOPACK axis address.
Rotation Type/Linear Type Selection (When the Encoder is not Connected)
12-24
Parameter
No.
Pn001
Name
Setting Range
Unit
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
n.
Stops the linear servomotor by applying dynamic brake (DB) and then releases DB.
Makes the linear servomotor coast to a stop state without using the dynamic brake (DB).
Sets the emergency stop force of Pn406 to the maximum value, decelerate the linear servomotor to a stop, and then sets it to servolock state.
Sets the emergency stop force of Pn406 to the maximum value, decelerate the linear servomotor to a stop, and then sets it to coasting state.
Applicable to main circuit DC power input: Input DC power supply between +1 and
Pn002
ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning codes
are output, ALM signal output remains ON (normal state).
0000
After
restart
n.
Speed Control Option (T-REF Terminal Allocation)
0
N/A
Use T-REF as an external force limit input when P-CL and N-CL are ON. (Refer to 9.11.4)
12
12-25
12 Appendix
12.4.2 List of Parameters
Parameter
No.
Pn003
Name
Setting Range
Unit
n.
Factory
Setting
0002
Setting
Validation
Immediately
Reference
Section
Immediately
Immediately
After
restart
02
03
04
05
06
07
Pn004
0000
Pn005
0000
Pn080
0000
n.
Calculates the encoder output resolution max. value by fixing the motor max.
speed and the monitor displays Un010.
Calculates the motor max. speed by fixing the encoder output resolution max.
value and the monitor displays Un010.
* 1. If the linear servomotor with a hall sensor is used, software version 32 or later can be used.
If software version earlier than 32 is used, set to zero.
* 2. Available only for the software version 32 or later.
12-26
Parameter
No.
Pn100
Name
Setting Range
Unit
1 to 2000
1 Hz
Factory
Setting
40
Pn101
15 to 51200
0.01 ms
2000
Pn102
1 to 2000
1/s
40
Pn103
Mass Ratio
0 to 10000
(0 to 20000)1
1%
Pn104
1 to 2000
1 Hz
40
Pn105
15 to 51200
0.01 ms
20.00
Pn106
1 to 2000
1/s
40
Pn108
0 to 250
Pn109
Feed-forward
0 to 100
1 reference
unit
1%
Pn10A
0 to 6400
0.01 ms
Pn10B
0000
Setting
Validation
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
After
restart /
Immediately
Reference
Section
10.3.4
10.3.5
10.3.3
9.2.2
9.2.3
10.2.6
10.4.9
10.4.9
10.4.9
10.4.6
10.4.1
10.4.1
n.
Immediately
Setting
Validation
Setting
Validation
After restart
I-P control
Setting
Validation
Position reference
Position error
After restart
Pn10C
0 to 800
1%
200
Immediately
10.4.5
12
12-27
12 Appendix
12.4.2 List of Parameters
Parameter
No.
Pn10F
Name
Mode Switch Position Error Pulse
Pn110
Setting Range
Unit
0 to 10000
1 reference
unit
Factory
Setting
0
0010
Setting
Validation
Immediately
After
restart
Reference
Section
10.4.5
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
10.4.8
n.
Online Autotuning Selection
0
Always tunes.
Disabled
1 to 500
1%
100
1 to 10000
1 ms
100
Pn125
1 to 250
Pn180
Bias
0 to 450
1 reference
unit
1 mm/s
Pn181
0 to 5000
1 mm/s
Pn182
0 to 30000
1 mm/s2
Pn111
Pn124
12-28
10.4.6
10.4.5
10.4.5
Parameter
No.
Pn200
Name
Setting Range
Unit
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
9.8.1
n.
Reference Pulse Form
0
Clear Operation
0
Does not clear error counter. (Possible to clear error counter only with CLR signal.)
Filter Selection
0
Pn202
1 to 65535
Pn203
1 to 65535
Pn204
0 to 6400
0.01 ms
After
restart
After
restart
Immediately
9.8.2
9.8.2
9.8.4
12
12-29
12 Appendix
12.4.2 List of Parameters
Parameter
No.
Pn207
Name
Setting Range
Unit
n.
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
Pn208
Inputs pulse reference from CN8 when an application module JUSP-LD001A is mounted.
12-30
0 to 6400
0.01 ms
After
restart
9.8.4
Parameter
No.
Pn217
Pn218
Name
Setting Range
Unit
1 to 99
Factory
Setting
1
0000
0 to 65535
1 m
1 to 255
n.
Setting
Validation
Immediately
After
restart
Reference
Section
After
restart
20
After
restart
Immeciately
9.2.2
9.2.3
9.7.7
9.8.2
9.7.7
Disabled
Enabled
Pn280
Pn281
PG Divider
Pn300
150 to 3000
Pn305
0 to 10000
1P/(scale
pitch)
0.01V
/ rated
speed
1 ms
Pn306
0 to 10000
1 ms
Pn307
0 to 65535
0.01 ms
40
Pn308
0 to 65535
0.01 ms
Pn380
0 to 5000
1 mm/s
10
Pn381
0 to 5000
1 mm/s
20
Pn382
0 to 5000
1 mm/s
30
Pn383
JOG Speed
0 to 5000
1 mm/s
50
Pn384
1 to 100
0.1 m/s
50
Pn400
10 to 100
0.1 V/
rated force
30
Pn401
0 to 65535
0.01 ms
100
Pn404
0 to 800
1%
100
Pn405
0 to 800
1%
100
600
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
After
restart
Immediately
Immediately
Immediately
Immediately
9.7.1
9.9.4
9.7.4
9.7.4
9.7.5
10.4.7
9.10.1
9.10.1
9.10.1
9.6.6
9.9.1
9.9.2
10.4.2
10.4.10
9.11.2
9.11.4
12-31
12
12 Appendix
12.4.2 List of Parameters
Parameter
No.
Pn406
Pn408
Name
n.
Setting Range
Unit
0 to 800
1%
Factory
Setting
800
0000
Setting
Validation
Immediately
Immediately
Reference
Section
9.6.3
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
10.4.10
N/A
Pn409
50 to 2000
1 Hz
2000
Pn40A
50 to 400
0.01
70
Pn40B
50 to 2000
1 Hz
2000
Pn40C
50 to 400
0.01
70
Pn480
0 to 5000
1 mm/s
5000
Pn481
1 to 2000
1 Hz
40
Pn482
15 to 51200
0.01 ms
3000
Pn483
0 to 800
1%
30
Pn484
0 to 800
1%
30
Pn500
0 to 250
Pn504
1 to 250
Pn505
Overflow Level
Pn506
0 to 50
1 reference
unit
1 reference
unit
256 reference units
10 ms
Pn508
10 to 100
10 ms
500
20 to 1000
1 ms
20
Pn509
256 to 8388352
7
262144
0
12-32
10.4.10
10.4.10
10.4.10
9.9.4
9.2.3
9.2.3
9.2.3
9.11.1
9.8.5
9.8.6
10.3.3
9.6.5
Parameter
No.
Pn50A
Name
Input Signal Selection 1
n.
Setting Range
Unit
Factory
Setting
2100
Setting
Validation
After
restart
Reference
Section
12
12-33
12 Appendix
12.4.2 List of Parameters
Parameter
No.
Pn50B
Name
Setting Range
Unit
n.
Factory
Setting
6543
Setting
Validation
After
restart
Reference
Section
INFO
12-34
Effective
Level
Low (L) level
High (H) level
Voltage
Level
0V
24 V
Contact
Close
Open
Parameter
No.
Pn50C
Name
Input Signal Selection 3
Setting Range
Unit
Factory
Setting
8888
Setting
Validation
After
restart
Reference
Section
n.
12
12-35
12 Appendix
12.4.2 List of Parameters
Parameter
No.
Pn50D
Name
Setting Range
Unit
n.
Factory
Setting
8888
12-36
Setting
Validation
After
restart
Reference
Section
Parameter
No.
Pn50E
Name
Output Signal Selection 1
n.
Setting Range
Unit
Factory
Setting
3211
Setting
Validation
After
restart
Reference
Section
After
restart
Pn50F
n.
0000
12
12-37
12 Appendix
12.4.2 List of Parameters
Parameter
No.
Pn510
Name
Setting Range
Unit
n.
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
9.8.6
0000
After
restart
8.3.3
Pn512
n.
12-38
Parameter
No.
Pn513
Name
Setting Range
Unit
n.
Factory
Setting
0000
Setting
Validation
After
restart
Reference
Section
8.3.2
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
11.1.2
Pn51E
0 to 100
1%
Pn580
0 to 5000
1 mm/s
10
Pn581
1 to 5000
1 mm/s
20
Pn582
0 to 100
1 mm/s
10
Pn583
0 to 5000
1 mm/s
100
Pn584
0 to 100
Pn600
1% / peak
speed
10 W
Depending on
model3
9.7.6
9.13.3
9.7.8
7.6
12
12-39
12 Appendix
12.4.3 Monitor Modes
Un00C
Un00D
Un010
Un011
Content of Display
Actual motor speed
Input speed reference
Internal force reference (Value for rated force)
Electrical angle 1 (16-bit decimal code)
Electrical angle 2 (Angle from 0 (zero) degree of phase-U)
Input signal monitor
Output signal monitor
Input reference pulse speed (displayed only in position control mode)
Error counter (amount of position error) (displayed only in position control
mode)
Accumulated load rate (Value for the rated force as 100%: Displays effective
force in 10 s cycle.)
Regenerative load rate (Value for the processable regenerative power as 100%:
Displays regenerative power consumption in 10 s cycle.)
Power consumed by DB resistance
(Value for the processable power when dynamic brake is applied as 100%: Displays DB power consumption in 10 s cycle.)
Input reference pulse counter (32-bit decimal code)
(displayed only in position control mode)
Feedback pulse counter (32-bit decimal code)
Motor maximum speed setting upper limit or encoder output resolution setting
upper limit
Hall sensor signal monitor
12-40
Unit
mm/s
mm/s
%
number of pulses from the
phase-U (0)
deg
mm/s
reference unit
%
%
%
100mm/s or
Pulse/scale pitch (Pn280)
Factory
Setting
Name
Setting
Validation
Pn000
0000
After
restart
Pn001
0000
After
restart
Pn002
0000
After
restart
Pn003
0002
Pn080
0000
Pn100
40 Hz
Pn101
20.00 ms
Pn102
diately
After
restart
Immediately
Immediately
40/s
Immediately
Pn103
0%
Mass Ratio
Immediately
Pn104
40 Hz
Immediately
Pn105
20.00 ms
Immediately
Pn106
40/s
Immediately
Pn108
7 reference
units
Immediately
Pn109
0%
Feed-forward
Immediately
Pn10A
0.00 ms
Immediately
Pn10B
0000
After
restart
Pn10C
200 %
Immediately
Pn10F
0 reference
unit
Immediately
Pn110
0010
After
restart
Pn111
100 %
Immediately
Pn124
100 ms
Immediately
Pn125
Immediately
Pn180
0 mm/s
Bias
Immediately
Pn181
0 mm/s
Immediately
Pn182
0 mm/s2
Immediately
Pn200
0000
After
restart
12-41
12
12 Appendix
Parameter
Factory
Setting
Name
Setting
Validation
Pn202
After
restart
Pn203
After
restart
Pn204
0 ms
Immediately
Pn207
0000
Pn208
0 ms
Immediately
Pn217
Pn218
0000
After
restart
Pn280
0 m
Pn281
20
PG Divider
After
restart
Pn300
6.00 V/rated
speed
Immediately
Pn305
0 ms
Immediately
Pn306
0 ms
Immediately
Pn307
0.40 ms
Immediately
Pn308
0.00 ms
Immediately
Pn380
10 mm/s
Immediately
Pn381
20 mm/s
Immediately
Pn382
30 mm/s
Immediately
Pn383
50 mm/s
JOG Speed
Immediately
Pn384
5.0m/s
After
restart
Pn400
Immediately
Pn401
1.00 ms
Immediately
Pn404
100 %
Immediately
Pn405
100 %
Immediately
Pn406
800 %
Immediately
Pn408
0000
Immediately
Pn409
2000 Hz
Immediately
Pn40A
0.70
Immediately
Pn40B
2000 Hz
Immediately
Pn40C
0.70
Immediately
Pn480
5000mm/s
Immediately
12-42
After
restart
Immediately
After
restart
Parameter
Factory
Setting
Name
Setting
Validation
Immediately
Immediately
30 %
Pn484
30 %
Immediately
Pn500
Immediately
Pn504
Immediately
Pn505
262144
Pn506
0 ms
Pn481
40 Hz
Pn482
30.00 ms
Pn483
Immediately
Overflow Level
Brake Reference - Servo OFF Delay Time Imme-
diately
Immediately
Pn508
500 ms
Pn509
20 ms
Pn50A
2100
After
restart
Pn50B
6543
After
restart
Pn50C
8888
After
restart
Pn50D
8888
After
restart
Pn50E
3211
After
restart
Pn50F
0000
After
restart
Pn510
0000
After
restart
Pn512
0000
After
restart
Pn513
8888
After
restart
Pn51E
0%
Immediately
Pn580
10 mm/s
Immediately
Pn581
20 mm/s
Immediately
Pn582
10 mm/s
Immediately
Pn583
100mm/s
Immediately
Pn584
0%
/max. speed
Immediately
Pn600
0W
Immediately
Immediately
12
12-43
Index
INDEX
A
adjusting offset ....................................................................................38
air gap..................................................................................................14
alarm code output........................................................................... 76, 2
alarm display table ................................................................................2
alarm display table when the application module is used.....................5
alarm reset ...................................................................................... 76, 2
alarm traceback data clear (Fn006) .....................................................13
alarm traceback data display (Fn000) ...................................................9
allocating input signals........................................................................27
allocating output signals......................................................................29
allowable maximum motor speed and dividing ratio monitor ............34
ALM....................................................................................................28
ALM-RST ...................................................................................... 27, 3
ALO ....................................................................................................28
ambient/storage temperature .................................................................3
analog monitor ....................................................................................29
analog monitor cable...........................................................................10
analog monitoring .................................................................................4
application module..............................................................................10
application module detection results clear (Fn014) ............................19
automatic offset-signal adjustment of motor current detection signal
(Fn00E) ...............................................................................................14
autotuning functions..............................................................................3
B
base-mounted type ..............................................................................14
bias setting.............................................................................................3
BK .......................................................................................................28
built-in open collector power supply ....................................................3
built-in panel operator...........................................................................2
C
cable seletion.........................................................................................7
cables for analog monitor....................................................................19
cables for connecting hall sensors
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9
cables for connecting linear scales
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8
cables for connecting personal computers ..........................................18
cables for connecting serial converter units
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7
calculating the required capacity of regenerative resistors ...................4
CE marking .........................................................................................11
checking products .................................................................................2
clear signal form selection ..................................................................48
CLR.....................................................................................................27
CLT .....................................................................................................28
CN1
terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 26
CN2
terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 22
coil assembly
model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2
COIN...................................................................................................28
Index-1
D
DATA/ENTER key ............................................................................... 3
DATA/SHIFT key ................................................................................. 3
DC reactors ......................................................................................... 28
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12
DeviceNet application module............................................................ 31
digital operator ............................................................................. 10, 18
key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - - 3
status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6
types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2
DOWN key ........................................................................................... 3
DSPL/SET key...................................................................................... 3
dynamic brake....................................................................................... 4
E
electronic gear....................................................................................... 4
electronic gear ratio equation.............................................................. 51
encoder signal output .......................................................................... 43
external force limit.............................................................................. 69
external regenerative resistor .............................................................. 21
F
feed forward compensation................................................................... 3
feedback signal checking ............................................................... 9, 15
feed-forward reference........................................................................ 15
flexible cables ..................................................................................... 10
wiring precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10
force control tolerance .......................................................................... 3
force limit setting ......................................................................... 11, 17
force limiting using an analog voltage reference................................ 71
forward run prohibited ........................................................................ 32
frequency characteristics....................................................................... 3
fuse capacity ....................................................................................... 11
G
grounding ............................................................................................ 33
H
hall sensor
selecting no hall sensor- - - - - - - - - - - - - - - - - - - - - - - - - - - -14
hall sensor signal monitor ................................................................... 35
hot start ............................................................................................... 12
I
I/O signal (CN1) names and functions ............................................... 27
I/O signal cables........................................................................... 10, 15
Index
J
JOG mode operation (Fn002)..............................................................10
jog operation ................................................................................ 10, 21
L
LEFT key ..............................................................................................3
limiting force.......................................................................................68
linear scale
adjusting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7, 13
linear scale count direction............................................................. 7, 13
linear scale pitch setting ................................................................. 8, 14
linear scales
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -14
linear servomotor installation................................................................2
linear servomotor main circuit cables
dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2
linear servomotors
mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - - -15
model designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2
nameplate- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2
part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5
list of parameters .................................................................................23
list of utility function modes .................................................................8
load regulation.......................................................................................3
M
magnetic way
model designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2
main circuit wiring examples ..............................................................19
manual adjustment of the force reference offset .................................62
manual offset-adjustment of the motor current detection signal (Fn00F)
15
manual tuning......................................................................................12
mass ratio formula........................................................................ 10, 17
max. output current ...............................................................................2
MECHATROLINK application module .............................................30
mode switch (P/PI switching) .............................................................19
MODE/SET key ....................................................................................3
molded-case circuit breaker (MCCB) .......................................... 11, 23
monitor display
feedback pulse counter - - - - - - - - - - - - - - - - - - - - - - - - - - - -33
reference pulse counter - - - - - - - - - - - - - - - - - - - - - - - - - - - -33
monitor mode ......................................................................................30
motor models display (Fn011) ............................................................17
mounting spacer ..................................................................................11
N
names and functions of main circuit terminals ...................................16
N-CL ...................................................................................................27
NEAR..................................................................................................28
noise filters ..........................................................................................34
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12
noise interference ................................................................................32
N-OT ...................................................................................................27
notch filter...........................................................................................27
O
online autotuning .................................................................................. 5
machine rigidity setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8
saving the results- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10
operating using force control .............................................................. 60
operating using position control..........................................................47
operating using speed control with an internally set speed.................65
operating using speed control with analog reference..........................36
operation in monitor mode..................................................................32
output circuit interface ........................................................................30
line driver output circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - 30
open-collector output circuit - - - - - - - - - - - - - - - - - - - - - - - - 31
photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - - - - 31
output circuit signal allocation............................................................28
output signal monitor display.............................................................. 32
overshooting........................................................................................19
overtravel signal setting ......................................................................17
overtravel stop....................................................................................... 4
P
panel operator
key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - - 3
status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6
PAO .....................................................................................................28
parameter setting mode .......................................................................20
parameter settings initialization (Fn005) ............................................12
parameters .................................................................................... 21, 23
example of changing function selection - - - - - - - - - - - - - - - - 23
password setting (protects parameters from being changed) (Fn010) 16
PBO.....................................................................................................28
P-CL.................................................................................................... 27
PCO.....................................................................................................28
P-CON.................................................................................................27
peripheral device selection.................................................................... 9
polarity detection checking or adjusting .............................................17
polarity detection start input assigning ...............................................16
position control block diagram ........................................................... 55
position loop gain................................................................................13
positioning completed output signal ...................................................57
positioning completed width setting ..................................................... 3
positioning near signal ........................................................................58
positioning time reduction functions .................................................... 3
P-OT.................................................................................................... 27
product part names................................................................................ 5
PROFIBUS-DP application module ...................................................32
proportional control operation (proportional operation reference) .....18
protection .............................................................................................. 4
PULS...................................................................................................27
pulse dividing ratio setting..................................................................45
R
reactors................................................................................................28
DC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 38
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12
reference pulse
form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3
Index-2
Index
frequency - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3
type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3
reference pulse inhibit function (INHIBIT) ........................................59
reference unit.......................................................................................49
regenerative resistor capacity..............................................................41
regenerative resistor unit.....................................................................22
regenerative resistors
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13
RESET key............................................................................................3
reverse run prohibited .........................................................................32
RIGHT key............................................................................................3
running output signal ..........................................................................77
S
selecting a position reference filter .....................................................55
selecting the speed loop control method (PI Control or IP Control) ..14
selecting the stopping method after servo OFF ..................................34
sequence I/O signal monitor display...................................................31
sequence input.......................................................................................4
sequence input circuit interface...........................................................30
sequence output.....................................................................................4
serial converter units
analog signal input timing - - - - - - - - - - - - - - - - - - - - - - - - - - 3
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4
model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4
specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2
servo alarm (ALM) output ....................................................................2
servo alarm output (ALM) ..................................................................76
servo gain
adjustment methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2
explanation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12
servo ready ..........................................................................................78
servo system configurations..................................................................8
servomotors
capacity selection examples - - - - - - - - - - - - - - - - - - - - - - - - - 2
winding resistance loss - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9
SERVOPACKs
absorbable energy - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15
applicable linear servomotors- - - - - - - - - - - - - - - - - - - - - - - - 4
cable types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14
inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 22
installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5
internal block diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7
load mass - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12
model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3
operating conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5
orientation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6
overload characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - 12
parts replacement schedule - - - - - - - - - - - - - - - - - - - - - - - - 23
power losses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11
power supply capacities - - - - - - - - - - - - - - - - - - - - - - - - - - 11
product part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6
ratings and specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - 2
wire size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12
setting a reference pulse form .............................................................47
setting the electronic gear ...................................................................49
setting the overtravel limit function ....................................................32
setting the servo ON signal .................................................................30
Index-3
T
temperature regulation .......................................................................... 3
TGON ................................................................................................. 28
torque reference filter.......................................................................... 26
T-REF.................................................................................................. 27
trial operation ........................................................................................ 4
using SERVOPACK internal references- - - - - - - - - - - - - - - - - 6
troubleshooting ..................................................................................... 2
alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7
malfunction without alarm display - - - - - - - - - - - - - - - - - - - -17
U
UL standards ....................................................................................... 11
undershooting...................................................................................... 19
UP key................................................................................................... 3
using more than one SERVOPACK.................................................... 36
V
V-CMP ................................................................................................ 28
VCT .................................................................................................... 28
vibration reduction functions ................................................................ 4
Index
W
WARN .................................................................................................28
warning code output..............................................................................4
warning display .....................................................................................4
warning display and troubleshooting ..................................................16
warning display table when the application module is used .................6
warning output (/WARN)....................................................................77
wiring
400-V power supply voltage - - - - - - - - - - - - - - - - - - - - - - - -37
DC power supply input- - - - - - - - - - - - - - - - - - - - - - - - - - - -21
wiring encoders ...................................................................................22
wiring example....................................................................................33
wiring for noise control.......................................................................33
wiring main circuit power supply connector.......................................18
wiring precautions...............................................................................32
Z
zero clamp function.............................................................................41
Index-4