YASKAWA SGDV Bedienungsanleitung

Overview of Setup

Installation

Wiring and Connection

Safety Function

Trial Operation

(Checking Servomotor Operation)

SGDV SERVOPACK

SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors

Rotational Motor

-VSeries

AC Servo Drives

USER'S MANUAL

Setup

MANUAL NO. SIEP S800000 43G

system, or transmitted, in any form, or by any means, mechanical, electronic, photo-

copying, recording, or otherwise, without the prior written permission of Yaskawa. No

patent liability is assumed with respect to the use of the information contained herein.

Moreover, because Yaskawa is constantly striving to improve its high-quality products,

the information contained in this manual is subject to change without notice. Every

precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa

assumes no responsibility for errors or omissions. Neither is any liability assumed for

damages resulting from the use of the information contained in this publication.

iii

About this Manual

This manual describes procedures required for installation, wiring, and connecting

Σ-V Series servo drives, including a JOG operation for servomotors not connected to

machinery.

Be sure to refer to this manual and perform setup operations correctly.

Keep this manual in a location where it can be accessed for reference whenever

required.

Description of Technical Terms

The following table shows the meanings of terms used in this manual.

IMPORTANT Explanations

The following icon is displayed for explanations requiring special attention.

Notation Used in this Manual

In this manual, the names of reverse signals (ones that are valid when low) are written

with a forward slash (/) before the signal name, as shown in the following example:

Example

S-ON = /S-ON

Te r m Meaning

Servomotor Σ-V Series SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, or

SGMCS (Direct Drive) servomotor

SERVOPACK Σ-V Series SGDV SERVOPACK

Servo Drive A set including a servomotor and SERVOPACK (i.e., a servo

amplifier)

Servo System A servo control system that includes the combination of a servo

drive with a host controller and peripheral devices

Analog pulse model Analog voltage and pulse-train reference used for SERVOPACK

interface.

M-II model MECHATROLINK-II communications reference used for

SERVOPACK interface.

M-III model MECHATROLINK-III communications reference used for

SERVOPACK interface.

Command option

attachable type

SERVOPACK for which a command option module can be

installed.

• Indicates important information that should be memorized, as well as

precautions, such as alarm displays, that do not involve potential damage

to equipment.

Manuals Related to the Σ-V Series

Refer to the following manuals as required.

Name

Selecting

Models

and

Peripheral

Devices

Ratings

and

Specifi-

cations

System

Design

Panels

and

Wiring

Trial

Operation

Trial

Operation

and

Servo

Adjustment

Maintenance

and

Inspection

Σ-V Series

Product Catalog

(KAEP S800000 42)

Σ-V Series

User's Manual

Design and

Maintenance

Rotational Motor/

Analog Voltage and

Pulse Train

Reference

(SIEP S800000 45)

999 9 9*

Σ-V Series

User's Manual

Design and

Maintenance

Rotational Motor/

MECHATROLINK-II

Communications

Reference

(SIEP S800000 46)

999 9 9*

Σ-V Series

User’s Manual

MECHATROLINK-II

Command

(SIEP S800000 54)

999

Σ-V Series

User’s Manual

Operation of Digital

Operator

(SIEP S800000 55)

99 9

Σ-V Series

User's Manual

Design and

Maintenance

Rotational Motor/

Command Option

Attachable Type

(SIEP S800000 60)

999 9 9

Σ-V Series

User’s Manual

MECHATROLINK-III

Command

(SIEP S800000 63)

999

Σ-V Series

User's Manual

Design and

Maintenance

Rotational Motor/

MECHATROLINK-III

Communications

Reference

(SIEP S800000 64)

999 9 9*

Σ-V Series

User's Manual

Indexer Module

(SIEP C720829 02)

999 9 9*

Σ-V Series

User's Manual

EtherCAT (CoE)

Network Module

(SIEP C720829 04)

999 9 9*

AC SERVOMOTOR

Safety Precautions

(TOBP C230200 00)

Σ-V Series

AC SERVOPACK

SGDV Safety

Precautions

(TOBP C710800 10)

99 9

Σ-V Series

Option Module

Safety Precautions

(TOBP C720829 00)

99 9

Σ-V Series

Command Option

Module

Installation Guide

(TOBP C720829 01)

99 9

(cont’d)

Name

Selecting

Models

and

Peripheral

Devices

Ratings

and

Specifi-

cations

System

Design

Panels

and

Wiring

Trial

Operation

Trial

Operation

and

Servo

Adjustment

Maintenance

and

Inspection

Σ-V Series

Indexer Module

Installation Guide

(TOBP C720829 02)

99 9

Σ-V Series

Feedback Option

Module

Installation Guide

(TOBP C720829 03)

99 9

ΣSeries

Digital Operator

Safety Precautions

(TOBP C730800 00)

∗Refer to these manuals for troubleshooting of problems which may occur during setup.

(Troubleshooting which is common for command option modules is described in

-V Series

User's Manual Design and Maintenance Rotational Motor/Command Option Attachable

Type (SIEP S800000 60).

(cont’d)

Name

Selecting

Models

and

Peripheral

Devices

Ratings

and

Specifi-

cations

System

Design

Panels

and

Wiring

Trial

Operation

Trial

Operation

and

Servo

Adjustment

Maintenance

and

Inspection

vii

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.

Indicates precautions that, if not heeded, could

possibly result in loss of life or serious injury.

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.

Indicates prohibited actions that must not be

performed. For example, this symbol would be used to

indicate that fire is prohibited as follows:

Indicates compulsory actions that must be performed.

For example, this symbol would be used as follows to

indicate that grounding is compulsory:

WARNING

CAUTION

PROHIBITED

MANDATORY

viii

Safety Precautions

These safety precautions are very important. Read them before performing any pro-

cedures such as checking products on delivery, storage and transportation, installa-

tion, wiring, operation and inspection, or disposal. Be sure to always observe these

precautions thoroughly.

WARNING

• Never touch any rotating motor parts while the motor is running.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an

emergency stop can be applied at any time.

Failure to observe this warning may result in injury or damage to the product.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not remove the cover of the power supply terminals while the power is

ON.

Failure to observe this warning may result in electric shock.

• After the power is turned OFF or after a voltage resistance test, do not

touch terminals while the CHARGE lamp is ON.

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in this manual for trial

operation.

Failure to do so may result not only in faulty operation and damage to equipment,

but also in personal injury.

• The multi-turn output range for the Σ-V Series absolute position detecting

system is different from that of earlier systems (15-bit and 12-bit encoders).

In particular, change the system to configure the Σseries infinite-length

positioning system with the Σ-V Series.

• The multi-turn limit value need not be changed except for special applica-

tions.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multi-turn Limit Disagreement alarm occurs, check the setting of

parameter Pn205 in the SERVOPACK to be sure that it is correct.

If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value

will be set in the encoder. The alarm will disappear even if an incorrect value is set,

but incorrect positions will be detected, resulting in a dangerous situation where

the machine will move to unexpected positions.

• Do not remove the front cover, cables, connectors, or optional items from

the upper front of the SERVOPACK while the power is ON.

Failure to observe this warning may result in electric shock.

• Do not damage, press, exert excessive force on, or place heavy objects on

the cables.

Failure to observe this warning may result in electric shock, stopping operation of

the product, or fire.

• Do not modify the product.

Failure to observe this warning may result in injury, fire, or damage to the product.

Storage and Transportation

• Provide an appropriate braking device on the machine side to ensure

safety. The holding brake on a servomotor with a brake is not a braking

device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting a momentary

power loss. The machine may restart unexpectedly. Take appropriate mea-

sures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

• Connect the ground terminal according to local electrical codes (100 Ωor

less for a SERVOPACK with a 100, 200 V power supply. 10 Ωor less for a

SERVOPACK with a 400 V power supply.)

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.

• The person who designs a system using the safety function (Hard Wire

Baseblock function) must have full knowledge of the related safety stan-

dards and full understanding of the instructions in

-V Series User’s Man-

ual Design and Maintenance (SIEP S800000 45/46/60/64).

Failure to observe this warning may result in injury or damage to the product.

WARNING

CAUTION

• Do not store or install the product in the following locations.

Failure to observe this caution may result in fire, electric shock, or damage to the

product.

• Locations subject to direct sunlight

• Locations subject to temperatures outside the range specified in the storage/

installation temperature conditions

• Locations subject to humidity outside the range specified in the storage/instal-

lation humidity conditions

• Locations subject to condensation as the result of extreme changes in tempera-

ture

• 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

• Do not hold the product by the cables, motor shaft or detector while trans-

porting it.

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.

Storage and Transportation (cont’d)

Installation

CAUTION

• If disinfectants or insecticides must be used to treat packing materials such

as wooden frames, pallets, or plywood, the packing materials must be

treated before the product is packaged, and methods other than fumigation

must be used.

Example: Heat treatment, where materials are kiln-dried to a core

temperature of 56°C for 30 minutes or more.

If the electronic products, which include stand-alone products and products

installed in machines, are packed with fumigated wooden materials, the electrical

components may be greatly damaged by the gases or fumes resulting from the

fumigation process. In particular, disinfectants containing halogen, which includes

chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capaci-

tors.

CAUTION

• Never use the product 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 ports 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 con-

trol 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.

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