SIE-C717-3E DESCRIPTIVE INFORMATION ‘Servopack Type CPCR-MR 052K 1, GENERAL DESCRIPTION Servopack type CPCR-MREIK 1s designed as servo unit controller for our CNC YASNAC LX 1/2 and MX1/2 series Servopack can control a wide variety of speed range for servomotor feed drives (Cup Motor, Minertia Motor or Hi- Cup Motor) ‘Servopack with a transistorized PWM control offers a highly responsive servo system with superior stability In addition, low-noise servo drives and low-heat generation are two of Servo- pack’s main features This manual is used as a selection guide to determine a servo system for the CNC YASNAC LX1, MX1, LX2 and MX2 CONTENTS 1 GENERAL DESCRIPTION 2 RATINGS AND SPECIFICATIONS : 3. COMBINATION OF SERVOPACK WITH SERVOMOTOR AND REACTOR 4 CHARACTERISTICS IN COMBINATION OF SERVOPACK WITH SERVOMOTOR 5 INTERNAL BLOCK DIAGRAMS. 5 1 Servopack 5 2 Power Supply Unt 6 INPUT/OUTPUT SIGNALS 6 1 List of Input/Output Signals 6 2 Description of Input/Output Signals 69 List of Terminal and Connector 1 2 7 CONNECTION DIAGRAM 711 Connection for YASNAC LX1 7.2 Connection for YASNAC MX1 8 CHARACTERISTICS OF SERVOPACK AND. ‘SERVOMOTOR COMBINATION 8 1 Characterties Description 8 2 Torque-Speed Characters. 9 APPLICATION TECHNIC OF YASNAC 9.1 Servomoter Selection 8 2 Coasting Distance After YASNAC Emergency Stop 8.3 Minimum Dog Length for Returning to Home Position APPENDIX SELECTION LIST OF DC SERVOMOTOR, FOR YASNAC 12 12 12 18 18 18 20RATINGS AND-SPECIFICATIONS Table Ratings and Specifications of Servopack RO wno7aK | _ MRO: MATS Ra Main Grea DO Votage ZrO Supplied om power supply unk) Control Power Supply ZOO/ZBOVAC 60760 He (upped from power supply uni) ‘Ambient Temperate De +60 (Fin: O10 +4570) Storage Temperature =20% to +85 Storage Humity 30% oF below Vibration, Shock Vibration, O56 or lst, Snock 2G or fas Control Method “Transitorized/PWM contol Maximum 404, peeenen eee een 2254 : BAecoleration/Deceleraton |iymosex si6a)| “8A | yanosax T9A)[MRSAK? 2258) 240A 2004 Continuous Outpt Curent] 50a za aA SIA aA ERA Continuous Output Votage Ea00v Reference Input a Reference neat Rated speed at 4 to 50V Drferental input Detorenal input Fed speed at 4 10 10V [or pahiste Maximum accelerabon/decelerabon current at +10V. une: [Sen ON/OFF Servo ON at COW levelfwih pulkup renior " [Dynamic Brake Operated at alarm, Servo OFF or control power OFF fre on/OFF To detecing eve! SS 302°7 or tas (open cotetor) (Gverioad Datecton Tot operaied a 125%, 150 ses at 150%, 60 see a 200% ponies Current at 2V/100%, Speed at 36V/1000rpm, maximum output current : 10mA Device Uae of fue Protee-[TS Toate ‘Shortareui, Open, wrong, connecton, overspeed(i20% to 140%) tion” [Overcurrent Vex dtechon Vee 7¥) [Overvotage Proteced at 400 t 420V = Power ON (areer) {nde Jhep “Input ON LIN}, Te ON [Ta]wtte) «TG trouble, overcurrent, overvoltage, overload, blown fuse (red) ‘TYPE DESIGNATION serach —] Liretrcup sar rover] | L contgurton Son rein & Speen ope Transorzo/eu—| Contac For Mina Motor J Sees Lous curran Seek Ueieo Sota ne Servontar Ou B%hpe USMED SOTA 8h sty & aon & iow ervonio Type ae %. 38H SCepmaor sow FER r sands 2 teow ps Sow 4 Sra mtr J sre 5 eiSpoace3. COMBINAFION OF SERVOPACK WITH SERVOMOTOR AND REACTOR Table2 Combination of Servopack with Servomotor and Reactor ope] Poa Sarvapaek] — Appice ; cats. | Sevomerer | (sonata insatosy — | YBa | Ser¥amotr (Separately iitaes Tunos2K | UGOWED.ca | 1Omt4A(Owa No DE6405508)| WR154IC[UGJMED-GOLA | SH AT A(Owa No DESAUZTA#) TMRO59x [UGMMEW-10 _|10mH, 8a(Ows No o€8402608)| wn165K1] UGHMED-12AA [iOmH.14A (Ow No DESAD2606) ‘MR054x [UGIMED-4OL [som ¢a(Ows No OE8402608)| wn165K2|UGHMED-1266 [10m 14A(Owg No DES4I2696) 'MR056K [UGHMED-0906]tomH, 1ea(Ow No DEedoze86)| wR2z2K |UGCMED-22 [1OmH.1BA(Ow9 No DESATO090) TMRG7aK_[UGMMEN.25 _|fomt, ¢a(Ows No oEedoze06)| unzzaK |UGJMED-COLA | Sm 25A(0w9 No OESADZ746) 1MR0#2x [UGCMED.08 — |1OmH, sea(Ows No OE e402688)| MR226K| UGHMED-20AA [iO mH ;BA(Ow) No DESADGO90) MR084K [UGJMED-6OMA| SmH.11 A(Owg No DE8402744)| MR225I[UGHMED-2066] 1OmH.18A(Owa, No OF 8409090) MR085K1 | UGHMED-06,A []0mH, a(Owg No OE8402606)| MR72K [UGCMED-A7 _|10mH 25A(Owa No OE 8402600) ‘MR085K2| UGHMED-086G|10mH, 14a(Owg No DE6402556)| MR7SK_[UGMMED.1A _|10mH 254 (Ong No DF 8402000) R182 [UGCMED.15 [10m 16a(Ows No OEe402656)| MRA7AK |UGJMED-00KA | 10mH,25A or 260 (Owg No DEGADI6O5) 1MRv85x [UGMMEW-50 [TOM 14A(Owg No, 08402668 MRS7SKi | UGHMED-00AA| 10mH,26A(Ow9 No OEBA0Z600) TMRY58K [UGIMED-9OMA| Smit A(Ows No DE2402744)] MR87SK2|UGHMED-20G6|10mH.25A(Ow9 No DES4D2609) 4. CHARACTERISTICS IN COMBINATION OF SERVOPACK WITH SERVOMOTOR Table3 Characteristics in Combination of Servopack with Servomotor ‘A overspeed 7A Faied Operation Servopack | gervemotor [Mima [Continuous instantaneous [Continsous| instantaneous] "Coad "ype ‘Wyoe' "| Sitont [Rated Spoed| Entectwe | “Ettectve |Overspeod| fftocive. | Goer Per. went com) | Torque | ‘Torque | (rpm). Torque | (CO, {kg om) {kgrom) (kg em) wROsaK | UGGMED-04 25__[ws0| 212 | 708 | 2000. 70__| 324 ‘maossK | uGMwewts 25 | 9000 | 124 | «a2 = = = vat ‘unos4K | ugsMeD-40. | 16 | 1000 | 252 | ea | 1600_| 17 a7 200 ‘mnossk | uGHMEDosGa | 25 | 1000 | 228 | ree | 1600 | 228 79 | 208 mno7aK | ugMwen2s [30 | s000 | 298 | 861 = = = 283 ‘mn0s2x | uacMen-os | 25 | 1750] 996 | ters | 2400 | oa veo | 360 ‘wnoeak | usmeo-cowa | 19 | 1000 | «18 _| 1er7 | 1500 | a7 105 | 480 ‘wnosski | uaHMEDocaa | 25 | 1000 | 58 | 2099 | 1500 | a8, zs | 733 ‘mnoesk2 | uaHMedosas | 25 | 1000] 475 | 1e¢0 | 1500 | 38. 195} 330 Mais2k | UGCMED.A5 0_[ 1750 | 70a | ose | e400 | ea ‘200 | 101 mntssk | ucMmewso | 40 | 2000 | «7s | veze | — | — = 200 Mnts4k | ugMeD-sowa | a2 | 1000 | 4017 | _a192 | 1200 | 108 27 | v0 MA154K2 | UGJMED-oLA | 25 | 1000 | 7e9 | 2104 | 1500 | 59. 175] 30 MAIS5K1 | UGHMED-12AA | 40 | 1000 | 1112 | a6 | 1400 | 04 a7 [194 mnrssk2 | ucHMeD-t266 | 40 | 1000 | 1112” | 4aa6 | 1400 | 00. 320 [194 mnzzaK | uacmenze | 40 | 1750 | 1160 | 2063 | 200 | 65, 205 | 182 ‘unzeaK | uGsmeD-sora | 40 | 1000 | 1889 _| 9808 | 1500} 110 200 | 245 ‘wnzzski | ughMeDzoaa | 40 | 1000 | 1853 | __«7s0| 1400 | 168 203 | 202 'mnz2sk2 | uaHMeD2zoGs | 40 | 1000 | 1683 | 4320 | 1500 | 190 war | 208 MAS72K | UGCMED.S7 co | 1760__|~1957_| 4057 | 2200 | 190. 405 | 208 mas7aK| uGMmew-1a | 60 | 3000 | 950 | aes | — = = 252 mns7ak | UgsMeD-soKa | 43 | 1000 | 2420 | sast | 1000 | Tes a5 | 295 MAg75Ki_| UGHMED20AA | 60 | 1000 | a7ra_| 7524 | 1200 | 188 752 | 498 mns7sk2 | uaHMensoe | 60 | 1000 | 2680 7a66 | 1200 | 175 706 | 3655. INTERNAL BLOCK DIAGRAMS Fig 1 Internal Block Diagram of Servopack5.2. Power Supply Unit Wun Aiddng smog jo wesBeig 001g PUY 2614 *atidog 2dKx aun Aqddne somod jo sreuyuzey axe sqoquie poztsoyiuored 5 (xv waav0) ee a6. INPUT/OUTPUT SIGNALS 6.1 List of Input/Output Signals 6.2. Description of input/Output Signals + Input Signals (Input through open-collector) Tabled List o Input/Output Signals TableS Input Signals i I — | ‘tar Grat | HOR saVOS rrr wan | Powe Soy | (Suppo om poner that emus 0 4 SER papal roe | ee {Urea on her powor lapped i ho conor i Satan creat using SERVO BREngeal 7 sr | 0/2200 ROP apd in rca a v0 OW saa + | Senet” | onthe pons pp se HIGH tro conta power and mam ercut (on SERVOON an [tute | Bofager | cence smarty Gowen power pe pier ‘SUPPLY (F, 1) : ; wan cinCUT _ na [Moor | & Seed o motor tamil A POWER SUPPLY (,N) ‘'SERVO-ON gy es ae Capea aban Tea er | Remogwerd | srvinarta Moor J venes wh eit [+4 _['SERVOON | "See Table 5 + Output Signals (Output through open-collector Isink= F[oventonn | Tees Suto Sr for [Senn | eT 6 8 oa Table Output Stnas es Sanat ane Fanciers coat Seo “SanalVane ]Fanons Greut | oy rar eee (3) on TEGH signal turns LOW when motor spoed ox Sra seal an Toode Veo tho td poe —™CsS igh up when T@ feure Gasomnecion 177 | Reference oe eee ‘shortewcult, reverse connection) or motor over- oo servo aan sped ine gh on overcurant dtc 0] SRO ALAR | Se Te ese ren 143 80 ov SGV _Signal grounding ‘Applying power to main circuit without genera- [ora = ed eee ee-.__-. ee ee Smut s Steed SSE GEE | Bg ews te Savane on ae 6.3 List of Terminal and Connector + Terminal (Type LC-01-30) e[y[u[elAlel |e Fig 3 Torminal List + Connector (Type MR-20 RMA) signal LOW. 7 5 7 7 qi ¢ 7 7 ED SeWo-oH OVERLOAD | ROTHER] TON | TOC) |paBBEEBR FUSE OFF [Ren na ag [Asc | Ron FAN sor et Ave crs NL OS | Tor | Tem | Sov te [te [ee] 90 | eroune Fig 4 Connector List7. CONNECTION DIAGRAM 7.1. Connection for YASNAC LX1/LX2 200/220/230 VAC peceNeRATIVE 4 RESISTOR UNIT Power UNIT a REACTOR Taeaeniioa | POWER INPUT + Note 1. Where suppiyng 250VAG, connect a control power sup- Bly across terminals @23) (ZB) and © (@) of a power tt 2 For a Servomotor (Minerta motor J series) with buit-n thermostat, connect the thermostat leads tothe external terminals @ and of Sorvopack See figure surrounded by sold ine al nght. ia Servomotor without thermostat wil be used, short-crcult across the terminals @ and © ‘Connection of Minerta Motor ‘J Sones and Servopack Fig 5 Connection for YASNAC LX1/LX2‘+ Wiring of Servopack and YASNAC LX1/LX2 YASNAC LXT/AX2 POWER INPUT UNIT anon] DRIVE UNIT 1 Connection for YASNAC LX1/LX2 (Cont'd) + Detau! of Wiring ‘Svone “YASNACIXI/IX2——] xmas SANG owe. SRDX E x-axis 2c FUX oc oux* 1 oc ez zcaxis ca BCR MRE! FEEDBACK UNIT Auxt oc cone 2c x-axis. Teeth Fig 6 Wiring of Servopack and YASNAC LX1/LX2 nz []|[ + z-axis febett Fw ‘SGX ‘sNormaly closed contact Fig 7 Detall of Wiring7.2 Connection for YASNAC MX 1/MX2 ‘THREE: PHASE. 20072207230 Vac REGENERATIVE RESISTOR UNIT POWER unr Serpe REACTOR pcan T M cn sr 4 ont Note 1" Vinore suppinng 230VAC, connect a control power sup- ly across terminals (23 (G23) and © (©) of @ power ti 2 For a Servomotor (Minerta motor J serves) with buittan thermostat, connect the thermostat leads to tho external terminals @ and @ of Servopack See figure surrounded by solid ine at nght it a Servomotor without thermostat willbe used, short-circut across the terminals @ and ‘Connection of Minerta Motor ‘J Sones and Servopack Fig 8 Connection for YASNAG MX1/MX27.2 Connection for YASNAC MX1/MX2 (Cont'd) + Wiring of Servopack and YASNAC MX1/MX2 YASNAC MX1/MX2 POWER INPUT UNIT "TYPE cra 10 YASNAC MX 1/MX2 POWER INPUT UNIT "TYPE SRaIv0? DRIVE UNIT bRive UNIT X-AXIS: “THC ARIS. 10 }——[]] sen CP CR-MRCIK croR-MRCIK Y-AXIS Fras 10N i CP CR-MRCIK creme >| FEEDBACK UNIT Z-Axis ATH AXIS ren True-0 CPCR-MRCIK TEARS FEEDBACK UNIT. XE AXIS presi rue. YoaxIs TrUE-0 Tae (Nez HANDLE PG) rue Fig 9 Wing of Servopack and YASNAC MX1/MX2+ Detail of Wiring YASNAC MX1/MX2 YASNAG MX17MX2 POWER INPUT UNIT Stina POWER INPUT UNIT | on pit AXIS Twecre, ZAKS E-w am fy LCN Boz er ae LON-12 rx tft row 6 sz eft Lens pax) | news Pe paz | | acer sox if i 10813 on soz ft rowaas svonxe {1 | seNa Het svonzs' 1 | 104 toonxe |! CNS Hes ToONz* ! TONS acres 1ewat Hm wc tt ena sex tena ne | seoz) | | sews oc fi | iene Hs ect || sen rx} i [aces ws rz) | | acne oc TP ene ect! | aenar ouxe i i | sens aaa era 10N.16 a) uxt | {| sono cto race 1oN-18 18 ect 1eN-18 wm [ez 7 cPCR-MROK CPR MRC Servopack "YASNAG MX1/WX2 Servopeck Y-AXIS Trees | AxIS 1eN-12 Ew are one 106 Be are 10N6 LeN-7 Et cae 1cN-7 tae =a sco Plt [rane roe svonee i | [acne rows cone | 1 | sens toe ect | fies ew En es LCN Fo ec 1eN-18 Ee a ro roy rows et rove alae oc Lent E17 — LoN-t7 ous 108-3 et owe!) [sews oct 186 E16 ect! | se Lye jt 1.CN-10 E-10 — 1CN-10 ect S| sew roe F-0 EPY a ‘creR-4nk cron- MRC ‘Normally closed contact, Fig 10, Detail of wiring n7.2 Connection for YASNAC MX1/MX2 (Cont'd) ‘Table7 Relation between Servopack and DC Reactor ee —Bervopack | DC Reactor Resistance ‘OC Reactor YASNAC MX 1/MX2 Servopack ‘Type CPCR- a) Speaitication Numbers FOMER pur tr ar WROSLIK 02 De 6400088 F-12 ATS 42 22 DES«o2088 a 02 DE 8402698 Fe ACIS 015 (DE 8403030, Fr] one 070 De e00809 re | sce Tote. For Servomor characerics st rater fo the following Fei SVONG® cn + Cup Motor A senes 074980107 Fs | Toowe TRvBup Motor sones “67 s060100 ru [ec P-4 SRDS 8.2 Torque-Speed Characteristics ian (ate In combination of Servomotor (Cup Motor A series, Fae oc F-0 Aue Fe °c ‘crOR-MRCIK Hi-Cup Motor G series) with Servopack (Type CPCR-MR. 3K), torque-speed characteristics are shown below. Cup Motor A Serio + Gup-Motor Type: UGCMED-04 AA + Servopack Type: CPCR-MR 052 K softeners 9d ont) Fig 10 Detail of Winng (Cont'd) 8. CHARACTERISTICS OF SERVOPACK AND SERVOMOTOR COMBINATION 8.1. Characteristics Description ‘When Servopack 1s combined with DC Servomotor (Cup- Motor or Hi-Cup Motor), a torque-speed characteristics ccan be obtained by the following formula. 16. te We AC pat voltage te Servonich ep) Own erent to Serpe EP evel lage of Serene Fig 11 Connection of Servopack and Servomotor Et=Ko-N+(Ra+Ak)-la+ Vr+6 ‘ke: Motor voltage constant(V/rpm) 'N- Motor Speed (rpm) ‘Ra Armature resistance (0) at 20°C [Rk DC reactor resistance (0) Vr: Ripple vottage(V) 6. Transistor vokage drop(V) 12 = A a SS! fed seer emt @ + Cup Motor Type- UGCMED-08 AA * Servopack Type: CPCR-MR 082 K+ Cup Motor Type UGCMED-15 AA * Servopack Type CPCR-MR 152 K es | ES wf i el i se i ar con © * Cup Motor Type’ UGCMED-22 AA + Servopack Type: CPCR-MR 222 K + Cup Motor Type: UGCMED-37 AA + Servopack Type’ CPCR-MR 372 K om coral © Fig 12 Torque-Speod Characteristics of ‘Cup Motor A Series Figure Description ‘An output torque of y-distance is expressed as a percentage. +100% Output Torque=Torque Constant Rated Current. = instantaneous Max Torque (1 sec) + Torque Constant= Trstantaneous Max Current {T Sec) Dashed Bold Lino Servopack max output current Vertical Line. Continuous output current ‘Tmax Instantaneous max torque, 1 sec (kgem) N max. Instantaneous max speed, se° (rem) Vso. Input vottage(V) la Armature current(A) Msp)max._Max output current at driven side A" Continuous rating range B Instantaneous rating range 138.2 Torque-Speed Characteristics (Cont'd) Hi-Cup Motor G Series + Hi-Cup Motor Type: UGHMED-20 GG + Hi-Cup Motor Type: UGHMED-03 GG + Servopack Type. CPCR-MR 225 K 1 * Servopack Type: CPCR-MR 055 K ene sol ToectBig een (a) ‘+ Hi-Cup Motor Type: UGHMED-06 GG + Hi-Cup Motor Type: UGHMED-30 GG + Servopack Type: CPCR-MR 085 K 1 + Servopack Type: CPCR-MR 375 K 2 sof Toe-seue =) awe Perr) ‘+ Hi-Cup Motor Type: UGHMED-12 GG + Servopack Type: CPCR-MR 155 K 1 Fig 13 Torque-Spoed Characteristics of Hi-Cup Motor G Series 149. APPLICATION TECHNIC OF YASNAC 9.1 Servomotor Selection Where selecting DC Servomotor, the functions shown below should be considered The motor is selected in accordance with customer's requirements. + Motor speed + Torque + Positioning time + Dimensions For an example of motor selection, Table 8 is used In this case, the motor speed and the torque are important in selecting the motor. 8.1.1 Prerequate ‘o-solect the motor, ts prerequiste fs shown below (1) Ball Screw Length and GD?/4 (Fig. 14) ‘The ball screw GDE/4 Is obiained by the folowing for. me avers M(B) = of Byer 2) 4 xct0-th9-0m9) = dy wo 07 10-349 :6m9} serow dlametor [em] 42. Ball sorew length fom] (sorew section + 400mm) Iron spectic gravity [787 g/em?] 'M_ Ball screw weight [kg] 10 co, eems imc Te Te Bal Seew Lent) Fig 14. Ball Screw Length and Ball Screw GD2/4 (2) Moving Member Weight and Ball Screw Shaft Inertia GD2/4 (Fig. 16) Ball screw shaft inertia GD2/4 for moving member weight (work table, tool fixture, tool) depends on a ball screw pitch. The formula is as follows. aota=wx( 2) kg-em] Ball screw pitch fom] W: Moving member weight (ko) ‘Moving Member Woe Fig 15 Moving Member Weight and Ball Screw Shaft Inertia GO®/4 How to Obtain Rotor Inertia GD2/4 from Load Inertia GD2/4 MovING MEMBER J UNcLUDING TABLE, Lik, Nomber fgg ath s.2s4 deb Jeaxk (8) Motor Torque-Thrust Load Fig 16 shows the relationship of motor torque and thrust Toad. The thrust load (F) is from the following formula. Fe BEXTikg] F 7: Motor torque (kgm : Ball sorow pitch a i Tota reduclon ato. sake gene ecm ‘Note: Data is under no friction and 100% atfciency. Fig 16 Ball Screw Torque and Thrust Load 159.1 Servomotor Selection (Cont'd) (4) Load GD2/4— Accelerating Torque Accelerating torque(T1) used to accelerate to N rpm at accelerating time (ta) Is calculated by the following for- mula. The same formula is used for decelerating torque See Figs 17 and 18 Te Fig 17 Speod-Time and Torque-Time Accelerating torque T= gy S02 Mar tharoml fa Acokraing ime se N__ Speed [rpm]. bos oe ee agen $dom ors ‘Actual accelerating torque Tore Te ee) Toa Lod Inert 74g Fig 18 Total Load Inertia GD#/4 ‘and Accelerating Torque 16 9.1.2 Selection Example In this secon, a Servomotor which mat selecton enter shown in Tales bs slocee (1) Motor Speed. Rolor to Nos 6, 7,12 and 18 in APPENDIX (a) At quick toa 12.000 tmmimin}=W:X410 (m/v) (b) At cutting feed (Ns) N= 2800300 frp vox Motor Speed _1500(rpmi}--- (A) (2) Motor Torque at Cutting Operation Refer to Nos 6, 7 and 10 in APPENDIX (a) At feed of low speed Friction torque T'=25 [kg-cm]- - © {b) Cutting thrust + Ball screw torque 160 {kg cm] (See Fig. 16.) + Tota reduction ratiok. Rotor torque T=160xK se0x-$ =128[kg-cm]-- - @ Actual rotor torque 1s obtained as follows Refer to Paragraph 9.1 1(3) = 2a 1000kg BaxT $10 tmmvrev) on 27.4 {kg-orn] 1000 10-1 fem/mm} Therefore, actual motor torque fs as follows @+@=25+128=153 orem) (©) Maximum torque at cutting operation 165 [kg:cm]=1 08 X153 [kg-cm] Motor Torque at Cutting Operation T63kgemI] (8) From (A) and (8), Servomotor type UGHMED-206G, an be selected as the first motor selection. See Tables 2 and 3. In this example, Cup motor and Hi-Cup motor only are considered for the selection(8) Motor Accelerating/Decelerating Torque at Quick Feed {a) How to obtain total load inertia GD2/4 1 Balser inertia GO*74 Refer to Fig. 14. Ball screw inertia=30 [kg-cm2]------@ For calculation by the formula, see Paragraph 9.1.1(1). «Ball crew shat Inerta GO#/4 to moving member eat For to Not in APPENDIX and Fig. Ball screw shaft inertia=29.5 [kg-cm2]------@ For calculation by the formula, see Paragraph 9 1 1(2) + Rotor ine G04 from tad inera GD2/4 ‘See Paragraph 9.1.1 (2) Rotor inertia=(@+@)x Ke =(30+295)x(4)F = 381 [kg-cm2} However, No.9 In APPENDD that Rotor inertia=68.9 [kg-cm?2]------© Tho rotor inerta In APPENDIX contains couping and gear inertias Therefore, 68.9kg-m? should be used to obtain the total load inertia GD2/4 + Total load inertia GD2/4 Rotor inertia of Hi-Cup motor type UGHMED-20 GG is 234kg-cm? See Table2 As a result of that, Total Load inertia GD2/4=234+@) | :34+68.9 =302 9 [kg-cm2} {b) Accelerating /decelerating torque Reter to Fig 18 Where accelerating/decelerating time at Quick feed ta=0.2s0¢, total load inertia=302 9 kg-cm? ana motor soeed=1000 rpm, accelerating torque Tt 1s 160kg:cm roweve , since actual motor speed at quick feed 1s 1500rpm, actual accelerating/decelerating toraue fs as follows, ‘Accelerating/ decelerating torque=160X1.5 =240 [kg-em]-~ For calculation by the formula, see Paragraph 9 1.1 (4) (c) Friction torque at quick feed 746 fkg-emp----® [Actual Reselerating/Decelerating | Torque at Quick Feed=O+® | ; =240+45, 85 [ka-em] © D (4) Final Motor Selection . at Quick Feed 1500 [rpm] fotor Speed | at Cutting Feed ‘300 {rpm} {Motor Torque at Cutting Feed 163 kg-cm] + Motor Accelerating/Decelerating Torque at Quick Feed "av? 285 kgm) ‘The following Servomotor is selected in accordance with the valu Hi-Cup Motor Type UGHMED-206G 9.1.3 Selected Motor Check In combination of Hi-Cup motor type UGHMED with ‘Servopack type CPCR-MR 225 GD, torque-speed charac- teristics of Fig. 19 can accept the three selecting onteria described in Paragraph 9.1.2(4). Therefore, Hi-Cup motor type UGHMED-20 GG is selected. ‘pe Bono mc Tie PS) nc are AT Servo Smee ‘Trae 750) Taro igo) wats) Creve 28) Mm toqured Torus ot ‘Aecel/Deel Requred Togs a ‘Cong Operon Rave (HD Input Votage ‘Armature Current Continuous Rating Range Instantaneous Rating Range lam Output Current at Drwve Side Fig.19 Torque-Speed Characteristics in Combination of Hi-Cup Motor Type UGHMED-20G6 with Servopack Type CPCR-MR225GD Furthermore, these values are within limits of the follow- ing three items shown in Table 3 Characteristics in Com- bination of Servopack and Servomotor. + Overspeed 1500 [rpm]=1500 (rpm) (Motor speed at quick toed) 166.3 [kg-cm} > 153 [kg-om] (Motor torque at cuting feed) + Continuous Effective Torque at Rated Operation + Instantaneous Effective Torque at Overspeed. 438 [kg-cm] > 285 kg-om] (Motor accel/decel torque at quick ‘eed 79.2 Coasting Distance After YASNAC Emergency Stop 2.2.1 Calelation of Coasting Ditance ee The emergency stop Is achioved by @ dynamic brake The coasting distance after YASNAC emergency stop functions during quick feed is Obtained as shown bolo TH coasting latance(Soe) by the dynamic. brake le bose ls oblained as show Obtained by the folowing formula, on SOP @Du. Load GO" [kg m*} Dynamic braking renstancelO] — Sop=(VXtolx( Vax) [mm] rca . rrrt~”r—~—C—C;SCzSsKSNSCMSNSCNCCCW ? Baclerang conse) Fig. 21 shows relationship of Soe and GDi2/4 for DC Servomotor (Cup Motor A series, Hi-Cup Motor G series). ‘These relationships are obtained using formulas ® and @®, under to=0.04sec. Fig 20 Coasting Distance VeVer pu (GD%t GD) (Rot Ra) BreKekr el (2) Type UGCMED-04AA (@) Type UGCMED-22AA ay pToR INERTIA (52) OPH (ew) ‘cofvatue =! (b) Type UGCMED-08 AA es sm) (0) Type UGCMED-37 AA a & a ee x Sees vue =) (©) Type UGCMED-15AA a < “ Oe KAGE » Cor » as Soa Conshing distance after 1F gorow wenn gon) ‘emergency stop mm] Ye Quek food speed [mm/rn} Tie ato ato ata ston + Gb. toad Go" om) eoyte =) Fig 21. Relationship of Sos and GDux/4 for ‘Cup Motor A Series 18(a) Type UGHMED-036a ny) (8) Type UGHMED-2006 sof worn waar G0) sovon ween exe cole = cou Ge = Ej) ©) Type UGHMED-o6G6 sa) (0) Type UGHMED-30GG = a | oe “| Oe A ao| ie tovon wexTi 2) Ce oro ITA 188) cobtte (©) Type UGHMED-12G6 Sea Coasting distance after ‘emergency stop mm) Ve Quick Teed speed mm/min} Gdy Load GD" kgm") Fig 22 Relationship of Soe and GDi2/4 for Hi-Cup Motor @ Series cobain = 9.3 Minimum Dog Length for Returning to Home Position For returning to home position, minimum dog length is ‘obtained by the following formula. Refer to Fig. 23. Lo WGP + Yoxtotmm) Vo: Quick feed speed [mm/sec] Viz Approach speed 1 [mm/sec} De Quick feed accel/decel constant [mm/sec] Lo: Dog length [mm] 10: Delay time of emergency stop reference to On POSTION sna deceleration sec} Ve: Approach speed 2{mm/sec] Fig 23 Time Chart for Returning to Home Postion 19APPENDIX SELECTION LIST OF DC SERVOMOTOR FOR YASNAC Selection List of DC Servomotor for YASNAC MACHINE NAME ‘APPvL [GK [SEL MAGHINE TYPE (CNG NAME YASNAG. Ne. Teme. x ¥ Zz 1_| Moving Direction Horizontal, Verical, Rotating, Diagonal) | —Horlzontal 2_| Max Stroke (between Machine Ends) m){ 1000 '3_| Table Support (Sip, Raling) ‘Sip '4_ [Moving Membor Woight (with Workpiece) 7) ‘5 | Counterbalance (ea) = ° Diameter Yom) @ Ball Serow Toad (eum) 10 Length (um) | 7606 7_| Total Reduction Ratio a5 | Friction Cootfcient (| Rotor inertia GO#/4 Waremj | 680 ‘Ai Low Feed ‘egrom) 25 ‘At Quick Food: tegrem) 45 oa Guiting Thrust (a) | 000 ‘At Max Cutting teem) 165 a low Max Cuting Duly —_(%ED-min)| —45%/2min Postioning Frequency (sec/time) 6 7 [Quick Food (eam/min)| 72,000, 13 | Max Cutting Speed (am/min)| 2400 14 | Position Detection Mathod ‘Type TFUE- (eee Feed per Revolution —(mm/rev) “Type 0, rec ‘Quick Food Speed Com) | TiBG0T > | Obtained in Paragraph OT Ztap 17_| Servopack Type GPOR- 18 | Postion Loop Gain Kp (coal Beseleraiion Stop (eam) 19 | Decolerating Distance | Emergency Stop (nm) Zoro Point Dog Length (mm) ‘Accelerating/Deceleratng Time at Guick Feed: 02 [sed] 20 | Remarks, ‘seeeeeennannintnmanssaintmmnnetnmsmnttntnenmennnttattntinmtitnnnnenenterantinnen (ee Tomer Indy oe atte YW YASKAWA Electric Mfg. Co., Ltd. ‘om Boe ee NaS a) a3 Pre )SoerrS8 S10 Fagan ven Taman ‘nef a ats i) SPOT aR ENC NOMK Fa (12 co6e76 Hai Rp ra, caters ste U 8 6 ‘one Uh rvtitTon Cy ese ASKAWAUS TET. Fan (14) TE e34 ‘Se aah esran far on esse Nem More US ech) Sti eC) Sas NGOS FL ca carr 2 energetic meaning mt mace Printed in Japan December 1985 24.2 17