AC SERVO DRIVES R SERIES FOR SPEED CONTROL SERVOMOTOR TYPE USAREM (With Optical Encoder) SERVOPACK TYPE CACR-SR...R (Rack-Mounted Type) ean oe ae CACR-S NL 20u ¥ Y YASKAWAYaskawa AC Servo Drives have been de- veloped as basic mechatromies drives for the most advanced FA and FMS including robots and machine tools. Yaskawa takes great pride in introduc- ing the R series as the latest addition to the M, F, and § series AC Servo Drives which have enjoyed an outstanding reputa- tion among their users. The R series achieves lower cost and smaller size in spite of high speed opera- tion and high reliability. Originally designed for point-to-point positioning, it has been found in such applications as assembly robots, chip mounters, small-type X-Y tables, coil winding machines, etc. FEATURES * High speed operation possible * High accuracy and quick responce for speed control even under adverse envi- ronmental conditions * Compact design and light weight + User-friendly protective functions with LED alarm indicationsCONTENTS 1. RATINGS AND SPECIFICATIONS 1 1.1 RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 200) 1 1 2 RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 100) 4 13 RATINGS AND SPECIFICATIONS OF SERVOPACK 6 2. TYPE DESIGNATION 7 3. LIST OF STANDARD COMBINATION & 4. CHARACTERISTICS 9 41 OVERLOAD CHARACTERISTICS 9 4 2 STARTING AND STOPPING TIME 9 43 ALLOWABLE FREQUENCY OF OPERATION 10 4 4 SERVOMOTOR FREQUENCY 17 4 § MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS 11 4 6 MOTOR MECHANICAL CHARACTERISTICS. 17 5. CONFIGURATION 13 5 1 CONNECTION DIAGRAM 13. 5 2 INTERNAL BLOCK DIAGRAM 14 5 3 MAIN-CIRCUIT TERMINALS 16 5 4 CONNECTOR TERMINAL (ACN) FORO SIGNAL 16 5.5 CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER (PG) CONNECTION. 19 6. OPERATION 21 6.1 POWER ON AND OFF 21 6 2 SPEED REFERENCE 22 6 3 EXTERNAL CURRENT LIMIT REFERENCE CIRCUIT IP-CL,N-CLI 23 6 4 CONFIGURATION OF 1/0 CIRCUIT 24 6 5 PROTECTIVE CIRCUIT 26 6 6 LEDINDICATION 27 6 7 PRECAUTIONS FOR APPLICATION 27 6 8 PRECAUTIONS OF OPERATION 27 6 9 APPLICATION 29 7. INSTALLATION AND WIRING 30 71 RECEIVING 90 7 2 INSTALLATION 30 73 WIRING 31 8. DIMENSIONS 33 8 1 SERVOMOTOR DIMENSIONS 33 8 2 SERVOPACK DIMENSIONS 37 8 3 PERIPHERAL EQUIPMENT 38 9. TESTRUN 39 91 CHECK ITEMS BEFORE TEST RUN 39 9 2 TEST RUN PROCEDURES 39 10. ADJUSTMENT 40 10 1 SETTINGS AT THE TIME OF DELIVERY 40 10 2 CHARACTERISTICS AT ‘THE TIME OF DELIVERY 47 10.3 READJUSTMENT 42 10 4 ADJUSTMENT PROCEDURES 42 10 5 SWITCH SETTING 45 11, INSPECTION AND MAINTENANCE 46 111 ACSERVOMOTOR 46 11 2 SERVOPACK 46 12, TROUBLESHOOTING GUIDE 47 121 ACSERVOMOTOR 47 12 2 SERVOPACK 48INDEX Subject ‘AC SERVOMOTOR (Inspection and maintenance) AC SERVOMOTOR (Troubleshooting guide) ‘ADJUSTMENT --- ‘ADJUSTMENT PROCEDURES >» ‘ALLOWABLE FREQUENCY OF OPERATION Alowable Rada Load and Thrust Load ‘APPLICATION ‘Ausiary Input Grout (+ 2 to + 10V) ‘CHARACTERISTICS. CHARACTERISTICS AT THE TIME OF DELIVERY ‘CHECK ITEMS BEFORE TEST RUN ----~ CONFIGURATION. . CONFIGURATION OF 1/0 CIRCUIT ‘CONNECTION DIAGRAM -- Connection for Reverse Motor Running Connector 1CN Layout and Connection of SERVOPACK ‘CONNECTOR TERMINAL (1CN) FOR /0 SIGNAL CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER (PG) CONNECTION Current Limit when Motor is Locked ---+~ DIMENSIONS Direction of Rotation --~ Examples of Troubleshooting for Defectwe Winng or Parts -- Examples of Troubleshooting for Incomplete Adustment EXTERNAL CURRENT LIMIT REFERENCE CIRCUIT [P-CL, N-CL] --- Handing of Speed Reference Input Termnal High Voltage Lino Impact Resistance ~ Input Creut INSPECTION AND MAINTENANCE Inspection during Test Run INSTALLATION -=---+= INSTALLATION AND WIRING -- INTERNAL BLOCK DIAGRAM -- LED INDICATION - LED Incieaton (7-segment) for Troubleshootng UST OF STANDARD COMBINATION Load Inertia (GD?) +++++++ MAIN-CIRCUIT TERMINALS Mechanical Specificatons Mechanical Strength ~ Method of Guang Extomal Curent Lint Reference Minus Load. =+++-++> MOTOR MECHANICAL CHARACTERISTICS ++» MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS, Noise Control -- Operation OPERATION - Optical Encoder (PG) Out Output rout = OVERLOAD CHARACTERISTICSINDEX (Cont'd) Subject PERIPHERAL EQUIPMENT Power Line Protecton - Power Loss «-++-+++++++ POWER ON AND OFF...» PRECAUTIONS FOR APPLICATION PRECAUTIONS OF OPERATION Preparation of Operation PROTECTIVE CIRCUIT Rated Current and Cable Sze RATINGS AND SPECIFICATIONS RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 100 V) RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 200 V) RATINGS AND SPECIFICATIONS OF SERVOPACK READJUSTMENT RECEIVING - 'SERVOMOTOR (Installation) --- SERVOMOTOR (Test run) ‘SERVOMOTOR DIMENSIONS - SERVOMOTOR FREQUENCY SERVOPACK (Installation) ‘SERVOPACK (Test run} SERVOPACK (Inspection and maintenance). SERVOPACK (Troubleshooting guide) ‘SERVOPACK Connector (2CN) Terminal Layout ‘nd Connection =~ ‘SERVOPACK DIMENSIONS. Set Voltage and Current Limit Values «+++++++++ SETTINGS AT THE TIME OF DELIVERY Specifications of Appicable Receptacles ---~ Specrfeatons of Appicable Recoptacies and Cables (Table § 8 Speed and Torque Measurement +++ ‘SPEED REFERENCE Speed Reference Crout ++ « STARTING AND STOPPING TIME ‘Stop Reference Cicut « ‘SWITCH SETTING TEST RUN ‘TEST RUN PROCEDURES - ‘TROUBLESHOOTING GUIDE - ‘TYPE DESIGNATION. Use of Servomotor with Magnetic Holding Brake Vibration Class. Vibration Resistance WIRING Winng Precautions, 51. RATINGS AND SPECIFICATIONS 1.1 RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 200 V) (1) Ratings Time Rating: Continuous Ambient Humidity: 208 to 808 (non-condensing) Insulation: Class B Vibration: 15 ym or below Isolation Voltage: 1000 VAG, one minute Finish in Munsell Notation: 1.5 Insulation Resistance: 500 VDC, 10MM or more Excitation: Permanent magnet Enclosure: Totally-enclosed, self-cooled Mounting: Flange mounted Ambient Temperature: 0 to +40°C Drive Method: Direct drive Storage Temperature -20 to +60°C Table 1.1 Ratings and Specifications of R Series ‘AC SERVOMOTORS (For 200V) = ser Tipe USAFE] gaa | 01k. 2 | 2A 2| -OGA 2] 5A 2 | 07a? : w. 0 | 10 | 200 | 200 | 500 | 700 oe te | on | ory | 2 | om | on | oo i" : wm | o1s9 | oat | o6a7 | 0955 | 159 | 229 coe tem | 5 | us | oo | oa) | a5 | oie aT ‘owe | oas7 | 0739 | 11 | 102 | 256 Continuous Max Torque” (ozviny | @59)_| (518) | (1035) | (1559) | (ese) | (9030) [Nem | 0476 | 065 | 11 | 206 | 476 | 660 Instantaneous Max Torque” (ozviny | 675) | (198) | 270 | (40s) | (675) _| (948) FRatod Curent A ov | 136 [| 27 | 370 | 520 | 520 Ratod Speed" mn 3000 Max Speed im 4500 Nema | 017 ] oa | oz | 027 | 0319 | 0487 Torque Constant fxm | eso | eso | ea | cos | asa) | oom vou Jo emFKIo* [76 | 125 | 507 | m6 | 272 | sre Gemexio-) | Go | 07) | ci | coo | ese | cee Power Rating? ws [930 | a00 | eo | 19 | 925 | 193 Inerta Tene Constant me so | 37 | 96 | 81 | 96 | 34 Inductive Te Constant ms vw [1s | 38 | «2 | 87 | 09 “# Values when SERVOMOTOR i¢ combined wih SERVOPACK and the armature winding temperature is 75°C. ‘Other values at 20°C Shown are normal (TYP) values above type dengation detained by output puses (pulses/rev) of optical encoder as folows {Standard _E (1600 pusee/es) {OptonalF (1000 pases/ov) 2 The power suppy ut fr ta “Input 200 VAC Output 9 VDC (06401002 1) For dette, sae Par 8 3 (2) on pope 38 3 Tho table above shows the data when an sumium plato (heat nt) 250 mm X 260 mm X 6 mm (bein x84 024m) mounted a5 3 coding agent1.1 RATINGS AND SPECIFICATIONS OF R SERIES ‘AC SERVOMOTORS (FOR 200 V) (Cont'd) (2) Torque-Speed Characteristics The values in intermittent duty zone are normal (TYP) values when the power voltage of SERVOPACK is 200 VAC. r/min-N-m ‘Type USAREM-ASA, 4000} 000} toe cool 2 2 1 Type USAREM-02A, 000) 4000} srcey 4 (7 99 1009 d facest FAS TORQUE Wm ‘Type USAREM-O5A, FMS TORQUE (N m) If 200VAC or below, the output characteristics may be decreased even if the data is within allowable variation. Type USAREM-O1A 5009) ‘coo sree * 7 ine) 7 2 x 1 cee) 72 4S TOROUE Nm) ‘Type USAREM-034 5000) sc00k spex0 ine) 2 7 a : 7 ‘Type USAREM-O7A, s sreen 5%] (re) goo]_—A 5 1 28 é WS TOROUE(N-m) (A) : Continuous Duty Zone WB : Intermittent Duty Zoneweit Type USAREM-ASA Type USAREM-O1A 5000 500 400% 0 ‘geen 900 green °°" i) (00 To 1004 80 3005" T80 fs TORQUE) FMS TOROUE(ae ‘Type USAREM-02A ‘Type USAREM-03A 00 5000, 004 4004 seen 200 sreeo (0) 4 (7) 509 100 1000} oO 780 a0 a0 AS TORAUELee n) ‘Type USAREM-05A ‘Type USAREM-O7A 8000, « 4000] 4000] srezo 9 ream © 7 (ee) 7 soo] A : 1006 7 P| 385 —s00— 780 7 7 TOO fas ToRAUELoe n) MS TORQUE(oE-n) [A1: Continuous Duty Zone WI: Intermittent Duty Zone1.2 RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 100V) Time Rating: Continuous Class B Isolation Voltage: 1000 VAC, one minute Insulation Resistance: 500 VDC, 10MA or more Enclosure: Totally-enclosed, self-cooled 0 to +40°C Ambient Humidity 208 to 808 (non-condensing) 15 4m or below Finish in Munsell Notation: Insulation: Vibration: NLS Excitation: Permanent magnet Mounting: Flange mounted Ambient Temperature: Drive Method: Direct drive Table 1.2 Ratings and Speatications of Fi Series ‘AC SERVOMOTORS (For 100V) Motor Type USAR ia yee -038512 ; W 300 eae (HP) (oor) (013) (0401 7 Nem 0169 O38 0955 Peale (oz-in) (225) (43) (135) Nem ove 0337 11 ee (oz-m) (259) 618) (155 3) ~ Nem 0476 0955 206 eee ee oe (oz-m) (678) 138) (405) Rated Curent A 7 24 50 Rated Speed? ‘don 3000) Max Speed" fein 4000 Nem/a | 010, ora o168 0206 Lomas cote (oz-m/A) 142) (203) (239) (290) kg-m?x10~¢ 764 125 507 766 el (ozs? x10") | _(1 08) a7, aa, (109) Power Raing? kW 330 800 801 19) Inerta Tene Constant me a7 36 36 30 Induct Tame Constant ms 13 18 38 rr “Vatu when SERVOMOTOR combined wit SERVOPACK and the ematire winding temperature 12 75°C ‘Other values at 20°C. Shown se normal (T¥P] valves sbove type desrgaton dotermned by output pulses (pvses/er) of opteal ancoder a olows + Standord_€ (1500 puso/tev) Optons! F (1000 pues!) 2. The power supply wnt for brake ‘+ lpt 100 VAC. Output 80 VOC (0P8401002-2) For dete, see Par 8 3 (2 on pope 38 ‘3 The table above shows the data whan an smi plat (est snk) 250: X 260 mm X Gm (Gb4m x 984m x 024m) mounted a5 2 coving agent(2) Torque-Speed Characteristics ‘The values in intermittent duty rone are normal _If 100VAC or below, the output characteristics (Pvp) "Values "when the power voltage of may be decreased even if the data is within SERVOPACK ie 100 VAC. allowable variation. e/ein-N-m Me/min-o2-in Type USAREM-ASB 5 Type USAREM-ASB £00 “ 4004 10 seo ss wee 2000 1009 100 | ° ye = 06 3 75 fa TORE tm) fs TonauEorn) Type USAREM-018 500 Type USAREM-018 009 sro mm [qe 2009 1000 ™ ar 7 T ‘30 7 780, ft TORQUE fs TonaUtoe Type USAREM-028 00 Type USAREM-028 0 4004 sno) 1 seen 90 (crn) (om A 8 d 5 ios 0 a TORQUE em fs TOROUEGs Type USAREW-098 £00 Type USAREM-098 00 - 000 a seen 200 s ~All e Se en 4 2004 so 00 7 ¥ 3 Teo 3 wo MS TOROUE( oem) [Ad : Continuous Duty Zone MM: Intermittent Duty Zone1.3 RATINGS AND SPECIFICATIONS OF SERVOPACK Table 1.3 Rating and Specifications of SERVOPACK Variage Gass 20007 Sevopack Type CAGR- Shae; A] sronGi_A[SAEAGT | SABI A] SmNBT A SRaAB Wa [ Type USAREN ASA [OIA | oz | O9A | 05A— | O70 Aten w—|— 35} 100] 200} — 300] st —] — 00 ccombned] 2 tw | oon | om | oz |_om | oon | oon Spocitica- Rated’Max Speed r/min 3000/4500 we [Guia Cups Oot a0e [Ev] Eig [eee {eer [ass Tass Max Ouput Curent aoc_| +3 | 44] _¢e | +n | £0 | 206 ‘Alowable Load inerta J(=GO"4)_kgrm? [0 764X10~“| 1 25x10-* [5 078X10~"] 7 66X10 [2725x1097 25X10 ‘Phase 200 20 VAC 1% so He “Phase full-wave rectiying, Wansistonzed PWM control ‘Optical encoder (1500 or 1000 pulses/rev) Oto + 55 =20 to +850 120% or less (non-condensing) 05a26 Flack mounted Speed Control | Requaion Moteee 11000 ‘Speed Control Range™ Load 019 100% 07% or os at 3000 rman, 0 05% or Toss at Stun Rlaung:t10% £0 1% or less at 3000rmin, £0 05% or less al S/n ‘25325 £0 5% of loss at 3000r/mn, +0 2% or less at Srimn Temperature Er ‘Response | OOH at J (GD') = Jue (GD) Tied toane Vong -ERVOC al oon lord nn SRD Speed rat peas reer 3 (00 ed ae Cone esse = Tated Retaunce Volne_[ 2a STGVOU a Stan ear alps WET) aiens ‘Input impedance ‘Approx 5kQ per V_ [Pere cleat tio Sonat ‘ep Sion ‘Signal Buittin Reference Power Supply: E12v0C +5%, +30mA_ 2 PG Pulse | Types. Ag, Bé, Co Line driver and open collector Capt” [PegnnyDvvang Rabo [ Tae a V7, 1 10, BE Sequence input ‘Servo ON, P dive, F run inhibit (P-OT), R run inhibit (N-OT), alarm reset Sahens Got Song am er ne TAN eo ay mom oe Saat Gane ot OH Oi can ech oP and (AOD exe Syne Bae Spats a nanan OF, sows alam, sone OFF at Taawhatt ne ntper Regeneration £200W to TOON type. | Applicable Load inertia** Up to 10 times motor mertia. eucn [Sonne Doman Dospan POL NGT Functons | Protection ‘Overvollage (OV), overcurrent (OC), overload (OL), overspeed (OS), MCCE C8) error (CPU, AD) Power supply (MCB LED), alarm (7-segment LEDs) Monitor Oat Speed _2V45% at 1000rmwn torque BV 10% at 100% ‘Others Revers run connection possible (Reverse at plus reference) “+7 _nman erout power supply. vokage shoud not exceed #4 Speed reguaton 1s gonerly dotned as flows Zoov. 410% (GS0V) “Ii votago shoud exceed ts Nobed peed = Rated aed. ahs sop down tansfomer i requred . ‘Speed ran = Noa pees — Rae PS 500%) ‘*2 When housed in a panel, the mside temperature mu Motor speed may be changed voltage vanation or exceed amet temperire range peratena ample crt duet tenperatre Tho to of +9 Be send crear, He west snd scr {the peed change tothe rated spood rprosonts the speed a — regulation, ‘regulation due to voltage or temperature change "+5 Used for applicaton at rated reference valages other than ev +0 nen ond mer (609 exceeds ppb range, 80 Par 6 We see rh 62. TYPE DESIGNATION ‘+ AC SERVOMOTOR: 1-Phase 100 to 115 VAC Oto + 55C =20 to +85T 05G2G, 11000 252250 £0 5% or less at 3000/mn, 3518 SEVAVOG +5%, +30mA 17,12, 178, 14,1 V6, 110, 192, 11 * SOW type Not prowded + 100W to (conan DB stop at P-OT, NOT Reverse run connection, (Reverse at “Phase ful wave rectifying, ransistonzed PWM control ‘Optical encoder (1500 or 1000 pulsesirev) 190% oF fess (non-condensing) lack mounted [016 100% 0-196 or loss at 9000 run, £0 05% oF loss at 3 rman Rating: 10% £0 1% or less at 3000e/min, 0 05% of loss at chm. 2% oF fess at Semin 1O0HZ at Jk (GD') = dt (GD's) EGVDC at 3000r/mun (forward run at plus reference) ‘Approx 30k9 Ete EVOVOC at 9000r/mun forward run at plus reference) ‘Approx 5kO per V ‘Approx 224s [____Aé, 84, Co" Line driver and open collector 14, V5, 16, 110, 112, 11S, 120, 1790, 26, 25 ‘evo ON, P dove, F run hb (-O7), Arun mht (NOT), alam reset ‘See alam, cont ht, TG ON, sve rady, alam endef) 20% to max current n each of P and N (3V/100% current) ‘Operated at man power OFF, servo alarm, servo OFF. ete jeneratve Up to 10 times motor nerta ‘Grtags (ON, own (0), evra (OL, ovapod (OS, MOLE hp | cs), tote (P) votage (UM, CPU erar(CPUAD) Power supply (MCCS LED), alarm (7-segment LEDS) Speed: 2V-ES% at 1ODDeN, orque _3V-#5% at 100% reference) DETECTOR(Table 2 3) 1 1 ln ced ‘OPPOSITE DRIVE EN ‘SPECIFICATION SENT ecane Weare vane 90 V0} ‘+ SERVOPACK CACR- SROSAB1ER fare) ne ‘MoTOR OUTPUT: DESIGN REVISION- ‘ORDER INPUT FORM: STON Ae DETECTOR. [APPLICABLE MOTOR- SERIES’ wr OC SRASAB2_ iA | SRO1AB2 3A | SROZAB2!_'A | SROGAB2_ "A ol EM-OSAE2(3¢ eae top = eee tee Sern) om | om | em | em SS aa Es eas Fao =s_|—s7_|_se_| $00 0 764x10-* | _1.25xi0~* | 5075xi0~* | 7 66x10“3. LIST OF STANDARD COMBINATION Table 3. 1_List of Standard Combination Power | Current Recommended ‘SERVOPACK AC SERVOMOTOR | capacity | Capact Appice “ Power Class) “Type CACR- Opical | Per | Per MCE ONOFF yee Type, | Encoder |sentorscxs| "or Fuse" | Fier | type | Specscaton | “Sich USAREM: | pulsesitev |_KVA A ‘SOW [SRASABIER| —ASAEZ [1500 | 4, (0.074) [SRASABIFR| _ASAF2 | 1000. vow [SAOTABTER| —ovac2 | 1500 |), : ue . (0.134) [snovasieR | ovar2 | 1000. 205A 2oow |SROZABIER| oeAE2 | —1500_| 975 Single- 2ooy [1027HP) | SROZABIFA| O2AF2 1000. phase, soow [sRosasteR| —oaAE2 [1500 |, 5 7 TF | zoovac [a (aoe) [SROsABTER | osAF2—| 1000 goon | 210 | cass Yaskawa soow |SAOSABTER| —osae2 [1500 |, , - type (ae7HP) | sAOsABIER | OsAF2 | 1000. uF sq [HEE ‘700W = |SROSABIERY3| _O7AE2 1500 14 " 215 Fated 356A (0 99H) |srosasirRva|o7AF2 | 1000. or equiv SOW |SRASAB2ER| ASBE2 1500 03 ar oe (QO7HP) |SRASAB2FR| ASBF2 1000. 5 LF i. 10OW |SROIAB2ER| 018E2 1500 05 POOR | 205A | Single- tooy |10-19HP) [SRo1ABeFR| 0182 | 1000 phase, zoow [snozAs2ER| —o2BF2 | —1600_| 97, 3 TF | 200vAC [73 (0 27HP) | SROZAB2FR| O2BF2 1000. 210_| class: soow |SROSAS2ER| —osBe2 | 1500 |, , 7 LF A co.sonp) | sroaaszrR| —o96F2 | 1000 215 7 Yalues at rated oad [opetirg aracerac (25) 200% 25 or mer, 700% 0018 oF more by olen Co Table 3.2 Characteristics of AC SERVOMOTOR, Detector and Holding Brake for Standard Combination una] SEVOPACK en ‘AC SERVOMOTOR Detector Holding Brake Tye car. | Type. Liype | Gable [Recertacie] Liype | Gable [Recep] Lyre | Cable lusAREM-| Type | Plug | Ciamp | Type | Piug | Clamp | Type | Plug | Clamp TSRASABIER | ASAE] 'SRASABIFA |ASAF2KB]| MSO101A | MS31008+|mS9067 | usorora | wso1068 | ws9057 | wsororA | Msox098 | mso057 SROVABIEROrAEKB| 4s2P [14525 |.6a | 20200 |20206° | 12a |sas6P | usesr |.5a 'SROTABIFA | OTAF2KS. 'SAOZABIER | OZAE2KB| zooy [SHOQABTER | c2AFZKE | wssteca | mscr08s | MS9057 vsoi0za | msatoss | mso0s7 'SROSABIER |OSAE2KB] 160 | 165-108 | -10A 1es-i2P | 195-128 | 108 SROGABIFR | OOAF2KB wssiaan | usoioes | ms0057 ‘SROSABTER | OSAE2KB) 2029s |20203 | 124 SROSABIFR | OSAF2KS | usorozA | wsstoas | Ms9057 vusor02n | usaoes | mso0s7 SROSABIERYS [O7AE2KB] 2047 |2048 | -124 zerre | 2047s | 120 SHOSABIFRY9 | O7AF2KG | ‘SRASABZER | ASBEZKB 'SRASABZFR | ASBFAKS | MSGI01A | mso1068 | ms3057 | MSSIO1A | MSS1065, wsa1o1a | msar00a | msa0s7 SROTABZER [OWwEDKS| uszP |ruszs* |-6a | 2020 | ao208° wuser | 145s" | 6a rooy [SAOTABEFR | O1BF2KE Mss057 'SHOZABER | O2BE2KS “128 'SROZABZFR | O2BF2KS | wsst02a | msat088 | 89057 | uso102k | Mss1008, wsstaza | mso109e | ms9057 SAOGABZER |OsBEKB| reo |195-10s |-104 |2029" | 2029 res-zp | 195.128 | -100 'SROSABZFR | OSBF2KS. *Siraght plug4, CHARACTERISTICS 4.1 OVERLOAD CHARACTERISTICS ‘The overload protective carcunt built an SERVOPACK prevents the motor and SERVOPACK from over- loading and restricts the allowable conduction time of SERVOPACK. (See Fig. 4.1.) If the allowable power-on time during motor locking is maximum, the higher the motor speed is, the quicker the motor responce to the same overload. ‘The overload detection level is set precisely by the hot start conditions at an ambient tem- perature of 55°C and cannot be changed. NOTE Hot start 15 the overload charactenstics when the SERVOPACK 1s running atthe rated load and thermally saturated 100] ora ny 19) 271007 sor [MOTOR RATED CURRENT ($) Fig 41 Overload Characteristics 4.2 STARTING AND STOPPING TIME ‘The starting time and stopping time of SERVO- MOTOR under a constant load 1s shown by the formula below. Viscous or friction torque of the motor is disregarded. Starting Tim 104.7 Ne ut du) Kt in (@=—) the (rns) Stopping Time: tp 104.7 x NEMA Kt Te @xA) =) Where, Ne Rated motor speed (r/min) Jy + Notor inertia of motor(kg.m? x 10% Ib-1n*) 4, + Moment of inertia of motor(kg-m!x 10“ Ib-in?) Kt: Torque constant of motor (N-m/A) In: Motor rated current (A) a= Ir/In: Accel/decel current constant Accel/decel current (Accel/decel current # times the motor rated current) (A) B= lu /In: Load current constant lu: Current equivalent to load torque (Load current f times the motor rated current) (A) wet i | Fig. 4.2 Timng Chart of Motor Armature Current and Speed (Constant Load)4.3 ALLOWABLE FREQUENCY OF OPERATION The allowable frequency of operation 1s restricted by the SERVOMOTOR and SERVOPACK, and the conditions must be considered for satisfactory operation. + Allowable frequency of operation restricted by the SERVOPACK ‘The allowable frequency of operation is re~ stricted by the heat generated in the regen- erative resistor in the SERVOPACK, and varies depending on the motor types, capacity, load GD*, acceleration/deceleration current values, and motor speed. If the frequency of opera” tion exceeds 60 times /min when load inertia Ju (GDL) before the motor becomes rated speed, or if st exceeds 82 y-cycles/min when load inertia J, (GD',) = motor inertia Ju (GD'y) x m, contact your YASKAWA representative. + Allowable frequency of operat the SERVOMOTOR ‘The allowable frequency of operation varies depending on the load conditions, motor running time and the operating conditions. Typical examples are shown below. See Par.4.2,"Starting and Stopping Time" for symbols. + When the motor repeats rated-speed operation and being at standstill (Fig.4.3). Cycle time(T) should be determined so that RMS value of motor armature current is lower than the motor rated current: rele! Craters (4) restricted by Where cycle time(T) is determined, values Ip. tr, tf satisfying the formula above, should be ‘specified. + When the motor accelerates, When the motor remains at standstill between cycles of acceleration and deceleration without continuous rated speed running (Fig.¥.4). The timmg chart of the motor armature cur- rent and speed 1s as shown in Fig.4.4. The allowable frequency of operation "n™ can be calculated as follows 88.5 « aieny (aS) (times /min ) Sommer | motor Sea Fig 44 Timing Chart of ‘Motor Armature Current and Speed The motor remains at standstil between) cycles of acceldece! without continuous \ aed speed running runs at constant Speed, snd” decelerates in a consinuing. cycle iithout Being'at Stange (Fg. 8-3) The timing chart of the motor armature Current afd apeed ae shown in Fg. 4.5. ‘The allowable frequency of operation *n* can be" ealevlated an flows. kt 12 meter (ee) (tames min) 288. 5 xt Motor Armature Current and Speed4.4 SERVOMOTOR FREQUENCY In the servo drive consisting of SERVOPACK and SERVOMOTOR, motor speed amplitude 1s restricted by the maximum armature current controlled by SERVOPACK. ‘The relation between motor speed amplitude (N) and frequency(f) is shown by the formula below: ax Kixte Ned 2efn erie (chon) Innate ewan Fig 46 Timing Chart of Motor Armature Current and Speed (Restricted by the maximum armature current) 4.5 MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS Fig.4.7 shows motor speed and input voltage curve when speed reference input terminals ICN-@ and @ are used. With auxiliary in- put termnals, ICN-q@ and @® , motor speed can be set to the rating by adjusting potentiometer as long as input voltage i £2V to t10V. ‘The forward motor rotation (+) means coun- terclockwise (CCW) rotation when viewed from the drive end. within INPUT VOLTAGE RATED SPEED 1 Fig 48 ‘Speed-Input Voltage ‘Charactenstics when Auxihary Input ‘Terminals 1CN-(9 ‘and (9 are used —n- 4.6 MOTOR MECHANICAL CHARACTERISTICS 4 6 1 Mechanical Strength AC SREVOMOTORS can carry up to 3008 of the rated momentary maximum torque at output shaft, 4 6 2 Allowable Radial Load and Thrust Load Table 4.1 shows allowable loads according to AC SERVOMOTOR types. Table 4.1 _R Series Allowable Radial Load and Thrust Load Motor Type | pada toad | thus Lose USAREM= Nw Noo) eshte 734,18) 392( 9) wae ay | we ea ea |e | 00 “*Maxamu values ofthe load applying tothe shaft extension 4 6 3 Mechanical Specifications Table 4 2 Mechanical Specifications in mm ‘Recaracy TORT [_fateronce agra — SES ann @ |_008 = ne a Ae ao i TTR (Tota inaeaor Reading)4 6 4 Direction of Rotation AC SERVOMOTORS rotate counterclockwise (CCW) when viewed from the drive end when motor and detector leads are connected as shown below. Fig 4.8 AC SERVOMOTOR (1) Connector Specifications (a) Motor receptacle + Standard SAT Phase B | Phawv © | Phase w © | Frame Ground + With brake (eau,co7ee,) 100W.0 13H) a eat 8 a @aeze) cay ems) Oo (Sow Size) (Se Same Brake terminal ae E F | Frame Gouna (b) Detector receptacle i [Searnema] K [aoa GA) 6 [oar Revea | | tr et [ert 8 ost [rer a 0 [owen Fonoa W [eva apa [est et] Peat Wo F Jerre soa] [erin [sme Pr oiler gesete| N= 4.6 5 Impact Resistance When mounted horzontally and exposed to vertical shock impulses, the motor can withstand up to two impacts with impact acceleration of 50 G (490 m/s!) (Fig 4:10) NOTE ‘A precision detector 1s mounted on the oppsoste-dive fend of the AC SERVOMOTOR Care should be taken to protect the shaft from impacts that could damage the detector FaoRIZoNTAL Fig 410 impact Resistance 4 6 6 Vibration Resistance When mounted honzontally, the motor can withstand vibration (vertical, lateral, axial) of 25 G (245 mvs!) ig 411) fen Fig 411. Vibration Re: 4.67 Vibration Class Vibration of the motor running at rated speed is 15m or below (Fig.4.12). Grek CORATION Fig. 4 12 Vibration Checking5. CONFIGURATION 5.1 CONNECTION DIAGRAM sFon200v Fon 100 | _ saovene eraacron ea nll | trio in Fig 5 1 Example of Connection Diagram of SERVOPACK with a SERVOMOTOR and Peripherals ao(aHz0 0 ‘mos ‘noo! 103) (aHEL 0 01 20 0 'MOOE 9} 05 “Ada 103) LIUIGVELCUS-HOVO OdAL YOVEOAYAS J0 WeIBeIg y90Ig feUINU Zs “Gl (20 0 onus) a own cas 2494 OBES) bir NBN Xa) fone ane tunaino ot s z z & 2 5 ¥ 8 a HOLONOAKSS Ov 3 Z z z z s we nation, op HODGR a Bes as ORL ahs ee hae : ost os fost 4 6 seyret a(ay 0 0 £1 0 ‘Mmo0e 04 001 ‘ADDL 203) (aHz9 0 01 £0 0 ‘moos 21 002 ‘Aooe 203) E218: 2¢ US-HOVO OAL YOVEORHAS 10 WeiBeI yoOIG reuse ES Ol Tounod |_| ‘asses. | pometn aE —15—3 MAIN-CIRCUIT TERMINALS: 5.4 CONNECTOR TERMINAL (1CN) FOR W/O SIGNAL Table 5.1 Main-Crcut Terminals for SERVOPACK 5.4 1 Specitications of Applicable Receptacles Tema] Nome Desorption Forz00v ‘Toble 5 2. Specifications of Applicable Receptacies for @@ |Mamencut | "Sees 200% 200 eon 'SERVOPACK UO Signal JAC input | * For 00V a Connector Type" | Tapes RacaFaae Sneha 100 to 115V 73% S0760He Vode | "om ove | Mor ‘Connects terminal @ to motor SERVOPACK | facturer_| Type. ‘Type Aenod connection _| terminal A @) to B and @ to C asso] eae = Fo: 2000 {Bight angie | Tavern | wr-sort | MEE, | mnsout onto Single phose 2001 2304 THES sovsote 50%) Covtts ©O |power | revo “Th comes 0 wets ted pe NASA ‘nou ae aby Hands Tue Goi Single pose 100 to 118V “gy, 5O/60HE + htached te SERVOPACK when shipping @ [omung | Connects 1 motor terminal O Must be securely grounded @ GI Reever [Estra cenvoton rot noma 5 4.2 Connector 1CN Layout and Connrction tepster | requred of SERVOPACK The termmal layout of the SERVOPACK 1/0 signal connectors (ICN) is shown in Table 5.3. ‘The external connection and” external signal processing are shown in Fig.5.4 on pagel?. Toble 5 3 Connector 1GN Layout of SERVOPACK T]2[s]*]s]el[7][s]*]w[u[ [el m[wlelwe ov | ov | ov [mor] Ht | #2] son | mou] mem] so [ma [soa] mee [soe] +av] so | ro OV for PG Ourput |Ouput| coven ume | gE, | Seno Mentor | aonted. | Aunty | +12v | Fame ‘Signat 1 | Daecton xt | ‘input | Power | Torque Monitor Input laput Output | Ground ve | 20 | 21 | 22 | 23 | 24 | 26 | 26 | 27 | 28 | 20 | 30] a | a2 co | xPco} avoz | 'SO%| "SON | pron) prc | nor |SFO¥) SRY) wc. | SS | ray] so +|- egy Now Tine Om |oapal EON Tppne| [em | Seve resey| Beene | aay Ouput |] ouput [70m] S| pve | Seme Rees | Cohrent |S Phase C ‘Signe Prac | Ou att Limit Input a a [ae [as | a6 | a7 | a6 [ 30 | a0] «1 [2 | as] ae | a | 6 | a7 | ae | 9 | 80 um [ALM 7 sc pao | #Px0] pao |xrso| auoa | QM | AM | pu |p-or| ena Far p-ct] $6 [—1av] so |+1av] so | Fo ‘ine Diver | Line Orver | Servo | 9 TFs | Ome, | AI | Eve Convent] — rae Sumer” | “Gupse, {O%| Som | Se ne] see | Rom [Find Curane | rv | 412 | Fae Phase A Phase B = Ourput__| mace | Met | rasa | tngur Lert Input si — ne‘Tongue MoNTOR (GuaTeD TORQUE AT 3v/1008) ‘SPEED MONITOR (2v/c0odme)| SPEED REFERENCE NUT (hare shez a #6) PROPORTIONAL CONTROL ‘AT 2 ON DAVE AT OFF) REVERSE RUNNING PROMI AT NLS OFF FoRWaso seins Peon at eS Or [Nava SET AT 9 (ote 2) SH ayongranmon “Pr |UMIT DETECTION car= fP ay teow» ssyou ar 1608 fs SRY aut savor arsewvo mane] LS Aum |P sao cnyon ar sewo reaoy | [ay $80" saoy-|" Fig 5 4 1CN 1/0 Signal Connection and External Signal Processing 75 4 2 Connector 1CN Layout and Connection of SERVOPACK (Cont'd) Table 6 4 Input Signals of Connector 1CN ‘Signal | Connector nae | onus Funetion Descrption Trpating tha signal makes the SERVOPACK ready Yo recane Speed reerence pat SV-ON 8 Serve ON Base block and dynamic brake are cleared Proportional conto referent ‘applies feuon tora Proporvonal deve io the motor to prevent Poon | 28 : daiting when the motor i elt motionless without reference mput while the lain ‘mam circuit kept energizec NOT 26 [Reverse cunning prohibit | In the case of linear dave. etc, connect limit ewitch signal according tothe run direction This signal ¢ “closed” during normal run POT 41 [Forward running prohbt_| When limit switch © tipped. t becomes “open” a ley External power supply to TCN-8, 24 26, 41 and 48 Prepare 8 24VDC(25mA min) power supply IWA® | 12078) [Speed reference input _| At +600v. = rated speed 1s obtained ‘At £20 to £100V, =rated speed 1s obtained For adjustment potentiometer [IN-B] s used weet | 14015) [Aux reference input Current int reference ame nes +30V £ 10%6/100% torque +8V max net | 29(30) ‘Current it rterence pe | 44(48) | Mound unm =30V +10%/100% toque ~9V max AUMAST| —__43__[Alarm reser This aignal resets tho alarm ‘When erher IW oN ic usbd be suo 1 ser the unused mput Table 5 5 Output Signals of Connector 1CN Connector ane Function Desenption TTurna OFF when fault e detected For details refer to Table 6 2, "Fault Detection Function” 38(39) | Servo alarm Tums ON wien motor sped exceeds approx 45 mn oF 480 fn The motor speedesn be changed by using SWI.3 EON | 2229) | Motorman detection | TesMetor spendcan be changed $480 r/min » Open SW1-3 “NCL or P-CL used Turns ON when output torque re NCL or P-cL + N-CL or P-CL not used_Turns ON when output torque reaches the lev set by potentiometr ches the level set By ct (6) |Current mt detection “SRY | 2827) [Seno ready Turns ON when main power supply ON, aad fo Fon 8 F12v [16.48 ov _|t7, 92. 47, 49 =12V | _ 31.46 £12V output power | +12V 5% max output current 30mA supply Used with speed reference o: curent limit input Taam | 9 [Torue montor (ES OV/aied toauel F10%, OV max load TA max NTG-M 10 ‘Speed monitor (£2.0V/1000;pm)+5%, load 1mA max rao | 33 Prawa ‘*PAO 34 [Phase A] Encoder output signal after frequency division 1s output at PG pulse line driver 20 | a5 —|Pemtona Jase 9 CsA To be nanad ye enue ME 30) PaO | 36 lor: [Phase B| a Phase 6 FCO | 20 Phase | PHA | 42(1) Tronuonng [P22 A] open cotasior op, encoder ouput ngnl ater requeny won PHB | 40(2) | Set Phase B| Max operon voiage ” 30VDC Fue} 283] Outout 2. praaeg] Max output curent 29mADC ‘ALOt aay (Open collector output Aloe mets ge Peyax operating wotege _30VDC aus a7 Max cutpt cuvent 20mADC5.5 CONNECTOR TERMINAL (2CN) FOR OPTIGAL ENCODER (PG) CONNECTION 5 5.1 Specifications of Applicable Receptacles and Cables (Table 5 6) Table 5 6 Specifications of Applicable Receptacles and Cables crane Type] Applicable Receptacie Type ‘Connection senvorack| Manulacturer | Sodered Type | Cauking Type | _Cese? Cables MR2ORMA, | Honda Tsushin . ji 0P8409123 or wore | "OS aime | wort | ne-aoron | wn-zous | Bestinss “Made by Horde Tauthin Cod Table 5 7 Details of Specifications of required, purchase uns of tanrd lengths shown m tale 87 Applicable Cables Conneston | _Sostred Type [Caution Toskawa Terma | oretasiza | oc e00000 Wonufacrer Fopkra Cable Go Davi, Kavy-Sw General So Kaw-s6 SoSidons | ANS22x36" | qwazer ior For Soldered Type For Caulking Type NOTE 1. When applicable cables listed in Table 5.7 aro used, allowable wiring distance between SERVOPACK and ‘motor 16 a maximum of 20 meters 2 The cable applied for 50 m winng distance 1s availa- ‘blo on order (Yaskawa drawing No DP8409179) {Mvaning distance is 20 m or more, contact your Yaska- wa representative 6.8 2 SERVOPACK Connector (20N) Terminal Layout and Connection ‘The terminal layout for the SERVOPACK connec- tors (2CN) for connecting the optical encoder is shown in Table 5.8, and the connection method of 2CN and the optical encoder, in Figs. 5.5 and 5.6. ‘Table § @ Connector 2CN Layout eet of SERVOPACK postion and TT2zT2>]7* [s]*]7 red Paov | Paov| Pcov | Pasv. @p>°]" pu | #eu| ev | sev 4 Lis |e | 7 |e | 19 | 20 pc | #ec| pa | pa] po | era | Fo oie For OR, See Par 6 87 Yenve Sonera Specticatone ~19—5.5 2 SERVOPACK Connector (2CN) Terminal Layout and Connection (Cont'd) loPricaL eNcooeR 1 OB m8 ono! Hero tt concen, f | sa poo] Ft wae oT ‘orange! {1 it pan 11 Gee one 1 corey | F 1 . oe mene tt Tt neo| 1 at T ot ohnne | : ea ' denn ! on cecovrason! ond ei 2 EE ne atid cate SPEores : * Mtb Te tuner ne Not Coon srcteon pt ena ra fotows Sere pestaeaerceicg ic aches) ues BEASTS Ange on ane ‘Type MS3087-12 (Cable Camp) Fig 5 5 Soldered Type Connector 26N Connection and 1CN Output Processing {Winen using Conecton Cable OPecoe'29) OPTICAL ENCODER =, O2mme SERVOPAOK HE rote mtn cate " Mado by Tox banat oe "Note Connacorspectcatons of opel encoder ae a8 fotows ‘Connector “Type MSa1G2A20-20° ecapace) ‘eset tno tached) Type MESTO0620-708 (Angle pl) ‘Tipe MS90SY°124 (Cais Sap) Fig 5 6 Caulking Type Connector 20N Connection and 1CN Output Processing (When using Connection Cable DE8400093) 2 —6. OPERATION 6.1 POWER ON AND OFF Arrange the sequence so that the power is simultaneously supplied to the main circuit (R, T) and the control circuit (r,t), or supplied to the control circuit first, then the main circuit (Figs.6.1 and 6.2). woce on tue goozsnnc Sono Fig 6 1 Connection Example for ‘Simultaneous Control Power ON/OFF {When using AC Servomotor for 200V) 1SUP, 25UP Surge supprestor CRSOSO06A ir eauratet (made by Okara rote induces C9” a) 10 Fywheel died fio provet spite of SRY) Fig 6 2 Connection Example for Main-circurt Power ON/OFF (When using AC Servomotor for 200V) Arrange the sequence so that the power is simultaneously cut (Including momentary power failure) (Fig.6.1), or the power to the main circuit is cut first, then the control circuit (Fig.6.2). The order is the reverse of the power ON sequence. Precautions. for connec (in Figs.6.1 and 6.2) + Make sequence to assure that the main-circuit power will be cut off by a servo alarm signal. If the control eirewit 1s turned OFF, the LED indicating the kind of ‘servo alarm also goes OFF. + When power is supplied to the power ON/OFF sequence shown in Fig-6.1, the normal signal is set (5Ry is turned ON) in the control cir- cuit after a maximum delay of 1 second. When the power is turned ON, a servo alaPn signal continues tor -approximately- 1 second (normally 200 to 300 ms) to initialize "SERVOPACK nS. Hold the main-circuit power ON signal for approximately 1 second. However, this is un- necessary in the sequence in Fig.6.2, because the control power is always turned ON. + Since SERVOPACK 1s of a capacstor input type, large recharging current flows when the main circuit power 1s turned ON. (recharging time: 0.2s). If the power is turned ON and off frequently, the recharging-current limit resistor may be degraded and a malfunction may occur. When the motor starts, turn ON the speed reference and turn it OFF when the motor stops. Do not turn the power ON or OFF. * Before power _ON or OFF, turn OFF the servo ON" switch to avold Woubles at Wane sient6.2 SPEED REFERENCE 6 21 Speed Reference Circuit From the SERVOPACK built-in control power(1CN- ®. @: +12V, 1cn-@. @. @, @: OV. 1GN- @), @ : ~12V) or the external power, the speed reference voltage is given to ICN-@ and @ or to 1CN-@ and (9. When the SERVOPACK built-in control power is used, the motor speed fluctuates in the range of 228 of the speed set value. ‘The method for giving speed reference voltage 1s described below. (2) For accurate(inching) speed setting vee aske-108 | Jon equal we ual 25HP-08 type ttle otaon Ye, wre wound vanabie ee for wan dal MOO0-3004) mage Oy Sakae Tua ine (2) When Muttiple-rotation Type, Wire Wound Variable Resistor 16 used 1a (WOR OVER) 1a (4 W OR OVER) 3» on ow seo, SOWN ype Carbon vari rer made by Tokyo Comet Secs \owand hghepeed relays Road role (SRFB, SACS) made by "Nopon Electr or exelent, or lta aay (2A) mad BY COMO or eaten ‘NoteWhen 2 carbon resor used, a great resid! resistance Temas, ané 9 the spaed cont range Bacomer sppronmately (0) When Carbon Variable Resistor is used ‘Parentheses ae for suxtary Mout Fig 6 3_ Method for Giving ‘Speed Reference Voltage (for Accurate Speed Setting) (2) For relatively rough speed setting vara w on over) |SERVOPACK. ‘ Parenthoee are for souary out ‘Not Won a carbon renor tune, oft renal restance ‘aie, and to he apaed conv Yangebacomes about S00" Fig 6 4 Method for Giving Speed Reference Voltage (for relatively Rough Speed Setting ‘8s compared with Fig 6 3) 6 2 2 Stop Reference Circuit When commanding a stop, do not open the speed reference circuit (ICN-@ or 1CN-(@), but set to OV. soa aw on oven) SSERVOPACK 2napt (a) When Muttiple-rotation Type Wire Wound Variable Resistor 1s us tein RUNION Caw oR vem St0° OF = (0) When Carbon Vanable Resistor is used ‘Pareneses are for svuary np Fig 6 5 Mothod for Gung Stop Reference 6 2 3 Handling of Speed Reference Input Terminal The unused terminals, out of the speed reference termnals 1CN-@, @ and the auxiliary input terminals 1CN-@ ; (3 must be short-circuited. 6.2 4 Auxiliary Input Circuit (+ 2 to + 10 V) Awaliary input circuit 18 used for application at rated reference voltage other than *6V. + Adjustment procedures Between ICN- @ and @ ( @ as OV), mput the voltage to be used to set the rated’ speed, and adjust the potentiometer ‘so that the rated speed 1s achieved. When combined with Yaskawa Positionpack in positioning system drive, auxihary input terminals are normally used as speed reference input. In this case, positioning loop gain 1s adjusted with the potentiometer 1VR OREB). For adjustment, be sure to refer to Positionpack instruction manuals. 26.3 EXTERNAL CURRENT LIMIT REFERENCE CIRCUIT [P-CL, N-CL] Current can be limited from the outside as well as within SERVOPACK. The external current limit is used for the following cases: + To protect the motor from overload current when an abnormal load lock occurs in the oad. + To change the current limit value according to the external sequence. The current can be limited by multi-stage setting by the use of relays (Fig.6.6). The same effect can be obtained by giving voltage signals making analog change. etsy Lowiee ray ype G2AAS2A made by OMRON Fig 6 6 Mult-stage Switching of Current Value at Forward Side 6 3 1 Method for Giving External Current Limit Reference Forward current and reverse current can be controlled independently. The forward current can be controlled by giving a reverse voltage (0 to -9.0 V) between SERVOPACK terminals ICN- @® and @;} the reverse current can be con trolled by a forward voltage (0 to 9.0 V) between terminals 1CN- @ and @ . The relation between the rated current of the motor and current limit values is rated cur- rent at 3.0V for applicable motor. The power ‘supply must use an internal resistance less than 2k. The input resistance at SERVOPACK side must be greater than 5kQ. When external cur- rent is not restricted, contacts between termi- nals 1CN- @ and @ and between ICN- @ and @ are opened. 6 3.2 Set Voltage and Current Limit Values ‘The relationship between set voltages of 0 to 29.0 V_and current limit values are shown in Fig. 6.7. 200 cormyous Comment RAO ~ 100| ee) ‘SET VOLTAGE @ (0) Current Limit at Forward Side 00 contmvous Comment Rano 140] ° PER > . ° SET VOLTAGE (b) Current Limit at Reverse Side Note W ating vue exconds max ouput current value of Sropc ‘max utp current va Becomes stration value Fig 6 7 Set Voltage and Current Limit Val 6 3 3 Current Limit when Motor is Locked When locking a motor by applying a current limit, determine a current limit value less than the rated current of the motor. If the load condi- tion requires a current limit exceeding the rated motor, current, refer to Par. 6.5(3), "Overload detection level” and make sure to unlock the motor before reaching the trip level. Note that when the speed reference voltage is less than tens or so millivolts(affected by set~ ting of GAIN [[OOB), the motor lock current sometimes pulsates. If this is not desirable, ‘the current pulsation can be removed by in- creasing the speed reference voltage.6.4 CONFIGURATION OF 1/0 CIRCUIT For proportional drive, overtravel, servo ON, alarm reset, servo alarm output, current limit detection output, TG ON, servo ready output, ete., each I/O circuit isa noncontact circuit insulated with optical couplers. The external circuit, therefore, must be constructed with the specified voltage and current. 6 41 Input Circuit There are five input signal drive reference, _forward/reverse overtravel protection, alarm reset. Construct the input circuit using 24 V power supply (Fig.6.8). Typical circuits are shown. in Fig.5.4, Servo ON, pro- NOTE The user must provide the 24 V power supply 24VDC +1V, 20mA or more (approx SmA/circul) +a SUE $56 el Fig 6 8 Conhguration of /0 Circut (2) Proportional Drive Reference [P=CON] If a position loop is not set for positioning, and after completion of positioning, has been left for quite a long time, the positioned point may have moved due to preamplifier drift. To avoid this, switch the speed amplifier from PI drive to B drive after the positioning and the loop gain in the control systems drops and the drift decreases. With several percent of friction load, the motor stops completely. (2) Forward and reverse running prohibit {P-OT, N-OT] These circuits prohibit motor drive in forward rotation (counterclockwise rotation viewed from the load coupling side) and in reverse rotation. By inputting the P-OT or N-OT signal, the cireuit stops drive of the rotating motor and energizes the built-in dynamic brake to stop the motor. After stopping, the motor can be oper~ ated only in a resetting direction. However, Grive is not possible on the instruction to oper ate to the OT side. The P-OT and N-OT operation specification is as follows: ‘SdeP Power] SdeN Power] Operable ONTA ONTR | Drection_|Pseley Dumg POT [Bare cut off| Power on | Swen | [P] Dumg NOT] Power on [Base cutoff] sieP | [nl Noto Oporanonm «reverse drecton possi for bot ades P and Naftecuttng ot he base and eleseng DB dung DB operation afer PINOT NOTE When the overtravel prevention circut is not used, connect 1CN-@ and @) to the OV terminal of the external 24 V power supply (3) Servo ON [5-ON] ‘This circuit is used to turn on the main-circwt power-drive circuit of the SERVOPACK, When the signal of the circuit 15 not input (Servo OFF state), the motor cannot be driven. If this sig- nal is applied during motor running, the motor will coast to stop. NOTE Before turning power ON or OFF, turn OFF the “Servo- ‘ON switch to avord troubles resulting from transient current (4) Alarm reset (ALM-RST) This is the input to reset a servo alarm state other than the overcurrent alarm (Display[L] ). ‘Turn OFF control power temporarily to reset the servo alarm if an overcurrent alarm ([T.] ) 6 4 2 Output Circuit There are four output signals: Current limit detection, TG ON, Servo alarm, Servo ready. These output circuits are non-contact, em- ploying transistors. Voltage and current speci fications are Applied Voltage(Vmax) = 30 V Conduction Current (Ip) $50 mA NOTE ‘The output circut requires a separate power supply It ts recommended to use the same 24V power ‘supply used for the input circutt (Fig. 6. 9) ee | rena Rt 4 fo) FLEWHEEL BODE i Fig 6 9 Output Circuit —u6 4 3 Optical Encoder (PG) Output Crreutt IPAO, #PAO, PBO, #PBO, PCO, *PCO} Phases A, B, and C (original point) signals for the optical encoder, PG are output. Use these signals as positioning signals. ‘The output signal specifications are as follows: (2) Signal form + Two-phase pulse with 90° pulse difference (phases A and B) + Original point pulse(phase C) (2) Ouput circuit and receiver circuit Two types of output circuits are provided: line driver’ output and open collector output. Fig.6.10 shows an example of line driver output. itn tS ve) —qfr ‘Sovoc, sk CURRENT ‘open coutecron ourPuT > | teva Epronee nage by ona iabuants ne Fig 6 10 Output Circurt and Receiver Circuit (3) Output phase nse FORUM MEG uae REPRE RIN moe eet SE LS Fe EO me ae ‘Note Phase (anginal pom pulse) synchroned wih pha A Fig 6 11 Output Phase (4) Pulse resolution The pulse frequency of the PG can be further divided by using the divider in the SERVOPACK. The phase relation is the same as in (3) above, Set the pulse frequency dividing ratio according to Table 6.1. Fig. 6.12 shows the op- tical encoder output waveform under the divid~ ing pulse frequency. frnaeg ee __L___ FLAP 7 fitene punsee SUP LEE E J ao n eee el ee ee ) Bier cea muses TLS LT LSP Jee. coe ee eet ee ee ee eee Fig 6 12 Output Wavetorm of ‘Optical Encoder Table 6 1 Setting of PG Pulse Frequency Dwiding Ratio wr [o,i[2 [2 ]*ls le ]7 es) ;e /Alelctoletr Pulse Frequency -|- fuses Froawerer | ayy | v2 | va | v4 | vs | v8 | vio} tz] 116 | 720] 1/90] 2/3 | 278 | — “Hexadoama gia wich tal oft6.5 PROTECTIVE CIRCUIT SERVOPACK provides funtions to protect the body and motor from malfunctions. (2) Dynamic brake function Servopack incorporates a dynamic brake emergency stop. This brake operates when: + Alarm (fault detection) occurs. + Servo ON command is opened. + Main power supply 1s turned OFF. + During deceleration at P/N overtravel (2) Trouble detecting functions Table 6 2 Trouble Detecting Functions. Trouble Detection ‘Overcurrent flow in the main ercut aa {at 1 2 tes min inst max current) ‘Guru Protector oe Creut protector tnpped Regenerative orout not actwated m Regeneration ‘SERVOPACK Trouble * For 200" only 200 to 700W * For 100V_ only 100 to 300W Excessively high OC volatge in the main creut Overvoltage ‘For 200V approx 420v * For 100V approx 220V Overspeed Excessively large speed reference input Low DC voltage in the main erout after — ower ON Voltage Drop | For 200V approx 150V For 100V approx 75V (Overload condition of motor and careers SERVOPACK ay Element ertor on the panted eveut cde board of SERVOPACK. oo Wong wang of motor ereut or PE (CPU Error ‘Any error of CPU (3) Overload (OL) detection level Fig. 6.13 shows the setting of overload detection level at 100% rated motor current. For rated cur- rent 2008 or more, the higher the motor speed 15, the quicker the motor responce to the same overload. crvane o N= 9000 aaa) ore 00 ‘300 MOTOR RATED CURRENT () Fig 6 13 Overioard Characteristics (4) Servo alarm output [ALM+, ALM-] If any trouble detection circuits in Table 6.2 functions, the power drive circuit in the SERVOPACK goes off, 7-segment LEDs indicate the operation condition and a servo alarm signal is output. The alarm codes are also output to the ex- ternal through open collector output circuits of ALO1 to ALO3. See Table 6.4. (5) Protective circuit operation ‘An alarm signal indicates some trouble, Check the cause and correct the trouble, and restart the operation. Before checking the cause, turn OFF the power to the main circuit to avoid dan~ ger. Apply the sequence so that the alarm sig- nal turns OFF only the main circuit( ®, ©), as shown in Figs. 6.1 and 6.2. This allows rapid reaction in the event of a malfunction. If the power to the control circuit (@,@) is simultaneously turned OFF, this also turns OFF the LED in the SERVOPACK indicating the cause of the alarm signal. CAUTION ‘When an alarm signal cuts off only the main rout, set the speed reference to OV before supplying power to the main circuit to resume the operation. (6) Resetting servo alarm To reset_the servo alarm, turn ON the alarm reset (ALM-RST) signal of input signal, or turn OFF the control power supply once. ut O) or ison (SERVOPACK 1s over loaded), the reset alarm is not immediate and occurs 2 few minutes later. ae6.6 LED INDICATION LED MAIN) incorporated circuit protector and ‘T-segment LED show status of SERVOPACK and alarm. Table 6 3 LED Status Indicatons ‘Status of SERVOPACK Indication ‘Any indications of 7 ff CRAIN] LED inside MCCB 1s it Control Power Applied sgment LED Man Power Appi Base Curent Intorupted sere Current Conducting (Normal Operator)” —_| 7soament | [1] H¢ P Side Overtravel eo Plem N Sede Overravel fen Table 6 4 Alarm Display and Alarm Output Code (SVALM and 3-bit Output) poten] ERT] So | | OUR OFT sy noma [JE] s | x |x |x ]o Sin eee CCB : x fe} x x RG 3 [olol|x|x ov ee ea ieee o |@l o}|x]|o].x °6 Wve Eee | x |EO|O. |x ou 7 oO oO x eu |) ote? |e] ee] * © Output wane turned ON % Gott tanto timed OFF 6.7 PRECAUTIONS FOR APPLICATION 67 1 Minus Load ‘The motor is rotated by the load; it is impo ble to apply brake(regenerative. brake) speinst this rotation and achieve continuous running. Example: Driving a motor to lower objects (with no counterweight) Since SERVOPACK has the regenerative brake capability of short time (corresponding to the motor stopping time), for application to a minus load, contact your YASKAWA representative. -a- 6 7 2 Load Inertia J, (GDt) The allowable load inertia J, (GDi) converted to the motor shaft must be within ten times the inertia of the applicable AC SERVOMOTOR. If the allow- able inertia is exceeded, an overvoltage alarm may be given during deceleration. If this occurs, take the following actions: + Reduce the current limit. * Slow down the deceleration curve. + Decrease the maximum speed. For details, contact your YASKAWA repres tative. 6 7 3 High Voltage Line If the supply voltage is 400/440 V, the voltage must. be dropped, three-phase "400/440V to Single-phase 200 V’ or 100 V by using a power transformer. Table 6.6 shows the transformer selection. Connection “should be made so. that the power is supplied and cut through the pri- mary (or secondary) side of the transformer. 6.8 PRECAUTIONS OF OPERATION 6 8 1 Noise Control SERVOFACK uses is a power transistor in the main circuit. When these, transistors are switched, the effect of tor -{ (switching noise) may sometimes occur depending on the wiring or grounding method. ‘The SERVOPACK incorporates CPU. This re quires wiring and treatment to prevent noise in- terference. To reduce switching noise as much as possible, the recommended method of wiring and grounding is shown in Fig. 6.14. (2) Grounding method (Fig. 6.18) + Motor frame grounding When the motor is at the machine, side and grounded through the frame, Cf-£- current flows from the PWM power through ‘the floa ing capacity of the motor, To prevent thi effect of current, motor ground terminal © (motor frame) should be connected to terminal ®of SREVOPACK. (Termnal © of SERVOPACK should be directly grounded.) SERVOPACK SG 0 V Noise may remain in the input signal line, so make sure to ground SG 0V. When motor wiring is contained in metal conduits, the con- duits and boxes must be grounded. The above grounding uses one-point grounding.6.8.1 Noise Control (Conta) saovac on s00vAc J — Twa able Notes 1 Ute wes of 9 Simm oF more for grounding tothe cite orfarably Ha woven 2 Eaanect ne hers obserwng te precautions as shown 2) Nowe Har matataton (2) Noise filter installation When noise filters are installed to prevent noise from the power line, the block type must be used. The recommended noise filter is shown Table 6.5. The power supply to peripherals also needs noise filte; NOTE It the noise fiter connection is wrong, the effect de- ‘creases greatly. Obsorving the precautions, carefully ‘connect them as shown in Figs 6 15 to 6 18, Fig 6 14 Grounding Method (a) Separate the input and output leads. Do not bundle or run them in the same duct. ' ' Table 6.5 Recommended Noise Filter . [ ! 4 SERVOPA —] Aopele ced asa Fa i co oon cacr._| Nowe ete | Tipe | Specteabrs — } I | SUST A a ce | “008 2000 | trans i ov | SOMBER SHES Ll | ! | swoon a] T cfevell| o> Leen cow HORE + ! n. [seat 210A] SOAS ES ion 0x ox] | 308, | sro ee urarsa| SapepatE sepandre ohcurs si |s501 POOR G000 SEF Ta | seas a| 0%, |) SORAB ts x Fg 618 ox vw ee | oy oz See 8 rok Sata ar wk corey | SROMEE A vrarsh] Stites ok Made by Tolan Corp ‘nose fiter i required, request your Yaskawa representative 2(b) Do not bundle the ground lead with the filter Table 6 6 Power Supply Capacity and output Line or other signal Hines or run then CCB or Fuse Capacity in the same ‘duct. aa * Semvopacx | Pome Ca i! cons] Sara | po Cale | por senrack | wr Seek a] 20007 |SRaENBT_-A—— 03 $ 00,0 | seO1ABI A] 05 5 xen ea ‘x0 (02n |srooAei__a| 075 5 © ae 200V F200 (040) | SROSABT._R. 10 70 c0(067 |sros- R14 i (088 [stor al # 20/007 SSA ‘| 08 = oh sony [Ho | stores" A[—— os. 5 oo 2x0 0z7 | srazaes“R| 078 70 2c0(640] sro “n—10 ra Fig 616 Taos trad act (c) Connect the ground lead singly to the box or the ground panel. {4 bd Fig 617 (a) If the control panel contains the filter, connect the filter ground and the equipment ground to the base of the control unit. Fig 618 6 8.2 Power Line Protection ‘The SERVOPACK is operated through the commer- cial power line (200 V or 100V). To prevent the power line accidents due to grounding error, contact error, or to protect the system from 'a fire, circuit’ breakers (MCCB) or fuses must be installed according to the number of SERVOPACKS used (Table 6.6). ‘A quick-melting fuse cannot be used, be~ cause the SERVOPACK uses the capacitor-input power supply and the charging current might melt such a fuse. a Note For shrt-orout breaker, spect the tghrspaed pe of sho “ ‘The be day tipo mapped 6.9 APPLICATION 6 9 1 Connection for Reverse Motor Running If, the machine construction requires that the normal forward reference is used for reverse motor running and the normal reverse reference for forward running, short circuit across 2CN-1 and 2CN-7 of connector 2CN for the PG. In this case, change of motor and PG connection 18 not required. For forward reference, frequency dividing output from SERVOPACK forwards B~ phase. 20N3 (ov OF Fay 2087 (0) Fig 6 19 Note The conection batwoen 2CN-—1 and 20N-—7 should be mado ' cable sre connector (MR-ZOF ot MAP-20F0!) ae short as poste Ife net done an ver maybe occur ove to nae 6 9 2 Speed and Torque Measurement When an instrument is connected to measure speed and torque, make the connection as shown in Fig. 6.20, using a DC ammeter of tlmA load at fullscale voltage (both swing) - Speed and Torque Measurement 23.0V 4108/ 100% torque #2.0V 3587 1000 r/min + Instrument: £1 mA(both swing) ammeter. Use ammeter of DCF-6 or DCF-12N by Toyo Instrument or equivalent, + Torque monitor output(ICN-9): * Speed monitor output(1CN-10):6 9 2 Speed and Torque Measurement (Conta) When an R Series motor (rated speed: 3000 r/min) is used, and speeds are to be measured up to the maximum speed (4500 r/min) in both directions, use #9V (both swing) DC voltmeter. + Example: 6 9 3 Use of SERVOMOTOR with Holding Magnetic Brake When SERVOMOTOR with magnetic holding brake is, used, execute the following timing for signals ON and OFF, The magnetic holding brake is, released by current conduction. lyagnenclro.one_OFF [ome ISL OF eee ‘SPEED REFERENCE en WANG MOTOR ROTATION ; ter he moter hes stopped com he take To declerte te motor se "show ym gt ant pig ee Servo ock stats tien 50 me we Fig 6 21 Magnetic Holding Brake ON-OFF Timing 7. INSTALLATION AND WIRING 7.1 RECEIVING ‘This motor has been put through stringent tests at the factory before shipment. After unpacking, however, check for the following. Its nameplate ratings meet your requirements. + It has sustained no damage while in transit. + ‘The output shaft can be hand-rotated freely. However, the brake-mounted motor does not rotate since it is shipped with the shaft locked. + Fastening bolts and screws are not loose. If any part of the motor is damaged or lost, immediately contact your YASKAWA representative giving full details and nameplate data. 7.2 INSTALLATION 7 21 SERVOMOTOR AC SERVOMOTOR can be installed either horizon tally or vertically. (1) Before mounting Wash off anticorrosive paint on shaft extension and flange surface with thinner before connect- ing the motor to the driven machine. See Fig. ma mrcnconnosive 7-1 Anteorrosive Paint to be Removed ) Use the motor under the following conditions. Location + Indoors + Free from corrosive and/or explosive gases or liquids + Ambient temperature: 0 to +40°C + Clean and dry + Accessible for inspection maintenance and cleaning If the AC SERVOMOTOR is subject to excessive water or oll droplets, protect the motor with a cover. The motor can withstand a small amount of splashed water or oil. (3) Environmental conditions Ambient Temperature: 0° to +40°C Storage Temperature: -20° to +80°C Humidity: 208 to 80 RH(non-condensing) (4) Load coupling True aligament of motor and driven machine is essential to prevent vibration, reduced bearing and coupling life, or shaft and bearing failures. Use flexible coupling with direct drive. Align- ment should be made m accordance with Fig. 7.2. When mounting coupling, ease the impact on the shaft and avoid the excessive force on the bearing. “| j Oa nen spn orceas eens ai Fig 7 2. Alignment of Coupling (5) Allowable bearing load Avoid both excessive thrust and radial loads to the motor shaft. If unavoidable, never exceed the values in Table 4.1. When mounting the gear, coupling and pulley, ease the impact on the’ shaft and avoid excessive force on the bearing. (10G max.) a=7 2.2 SERVOPACK (Q) Installation ‘The SERVOPACK type CACR-SREXIAB is rack- mounted type. (2) Location When installed in a panel: Keep the ambient temperature around SERVOPACK at 55°C or below. When installed near a heat source: Keep the ambient temperature around SERVOPACK below 55°C. If subjected to vibration: Mount the unit on shock absorbing material. If corrosive gases are present: Avoid locations where corrosive gases exst since it may cause extensive damage over long use. Especially vulnerable are switching opera- tion of contactors and relays. Unfavorable atmospheric conditions: Select a location with minimum exposure to oil, water, hot air, high humidity, excessive dust or metallic particles. (3) Mounting Direction Mount the SERVOPACK unit vertically on the wall with main terminals being at the bottom to take advantage of natural air convection. (See Fig. 7,5(a).) Install it with setscrews tightened at four mounting holes in the unit base. To change to base-mounted type, change the sup- port position as shown in Fig. 7.5(b). Mounting screws of base support are attached to the SERVOPACK. wa t wa t ‘VENTILATION (2) Rack-mounted Type ‘VENTILATION {(b) Base-mounted Type Fig 7.5 Mounting of SERVOPACK 7.3 WIRING 7 3.1 Rated Current and Cable Size Tables 7.1 and 7.2 show external terminals, rated current, and cable sizes of the power unit and SERVOPACK, respectively. Select the type and size of cables to meet ambient condi tlons and current capacity. The cable size is calculated s0 that a bundle of three cables can bear the rated current at an ambient tempera~ ture of 40°C. Table 7.3 lists the type of cable: Table 7.1 Rated Current = ‘Rated Current (Effective Current) External Terminal 2O0V Glass Y00v Class oo "SAASABT | SAOTABT | SAceABT | SAOGABI | SAosAti [ess fra] SAASAB2 | SRotARe | SAMoARe | SAOBARD ‘on Main Creut Power Input ®O 13 25 45 65 104 26 45 80 no ‘tne | Meter Commacton_ Gee! + 14 28 37 53 17 23 43 60 ont Power nt ‘OO 05 | Serta Snel Conese [10H TOOMA DC max Of, [Ps Sm Gomes 204 TOOMA DC mae (GO0MA DC tor power ine ory) [Gnd = = The unt of curentie 7:06 Table 7.2 Recommended Cable Size of SERVOPACK Te ‘Cable Sze mm? External Terminal 200V Cisse T0Ov Class ome | ASHE [SOTA Ss | sens [Soe [oe a] Sa | Sa | shad [SOD Wan GrcatPoveripa | OO | HV 125 or mow HIV 20 oF more HIV 125 Of, [tate comecton™ (GOS HIV 25 or more HIV 20 0r more Conte Ponernt OO HIV 125 or moe ‘Control VO Signal Gonnetor| 10 _| : Gunscae estas ouster cane Ot Ts Sgr Conon | 208 ee ee cn vont (Gund = HIV 1 25 of move7.3.1 Rated Current and Cable Size (Cont'é) Table 7 3 Cable ‘Type of Cable Baa Vinyl Cable (PO) {600 V Vinyl Gable dvi Gy ‘Spocal Heat Restart Cable HV 7 woes 4) For man orcut, use abies of 600¥ or more 2 Winer cabins are bundled or rom through duct (unplatereg Dalen chlorde condut or mate Sondut, sale! the arg fable ute han tad conser he curren ro rae a he cables 1 Where the bent (panel tue! tmperture 8 hgh C40 To (0-0), une haat vente cabs 7.3 2 Wiring Precautions SERVOPACK is a device for speed control of 1000:1, and signal level of several milli-volts or less. The following precautions should be taken when wiring. (2) For signal lines and PG feedback lines, use twisted cables or multi-core shielded twisted pair cables (Yaskawa Drawing No.DP8409123 or DE8400093). Cable length is a maximum of 3 m for refer ence input lines and a maximum of 20 m for PG feedback lines. Use the shortest possible Tength. (2) For ground line, cable should be as heavy as possible to provide Class 3 ground (ground resistance 1000 or less). Make sure to ground at one point. If the motor and machine are insulated, ground the motor. (3) To prevent malfunction due to noise, take the following precautions: + Place noise filters, SERVOPACK and 1/0 ref- erence as near as possible to each other. + Make sure to mount a surge suppressing ci cult into the relay, electromagnetic contact, and solenoid coils. + Make sure to mount a surge absorbing circuit into the relay, electromagnetic contact, and solenoid coils. + Run the power line and signal line, keeping ‘the distance to 30cm or more; do’ not run them in the same duct or ina bundle, When the same power 1s used for SERVOPACK, as for an electric welder or electrical dis~ charge machine or when a high-frequency noise source is present in the vicinity, use filters in the power and input circuits, ‘The SERVOPACK uses a switching amplifier, and spurious noise may be present in the sig- nal line, Never leave the termination of the analog input wiring open. (4) Remedy for Radio Frequency Interference (RFA) SERVOPACK is not provided with protection from radio frequency interference. If the controller is adversely affected by radio waves, connect a noise filter to the power supply. (5) The signal hne uses cables whose cores are extremely fine (0.2 to 0.3mm). Avoid using excessive force which may damage these cables. 73.3 Power Loss The power loss of Servopack is shown in Table 7.8." The values are calculated under the fol- lowing conditions. + Su (GDAL)= 10 xy (GM) + Repetitive duty of N=0~~4000 r/mn 1s 58. Table 7.4 Power Loss at Rated Output Td Tori erm oma Giga PORCH Oe Rape ea eas | calRton [Sure] Cecut| Resetanoe | Grout | TO! (HP) Ww Ww w_| we yl wer alo fa] — 9 ilove ape fs] — 20 worn a fw|e @ ao oe [cow a] or fos] 7 [mera] so fos] e a » [erm] fe] F @leeatn [al 2 m omafe[a|_« & vo Bloentalel« 7 fowate [ole « Tie eats es cates ge’ bas et eer Pees” eae ise Seer Sake Reann Sasa oo bat ee mers na PLoS Re ea rt8. DIMENSIONS 8.1 SERVOMOTOR DIMENSIONS in mm (inches) If the capacity is the same, the dimensions are the same even if the voltage or pulse specifica~ tions differ (100V, 200V, 1500 pulses or 1000 (1) Standard (with key, straight shaft) Dimensions of the keyway are based on JIS pulse) Gapanese Industrial Standard) B1031" "Sunk So Gienet : keys and their corresponding keyways)." Par- The dimension diagrams show two types: allel key has beon attached. without brake (with key) and with brake (with key). The shaft end dimensions that are non-standard are shown for apphed models. The SERVOMOTOR proper is the same as shown in each diagram. 1aK-01 excooentean Lier 38043 7) __ / AGED Ore ‘ivezexe TWISTED woron cio. SALE 172. {ih — ey ol al 4 = ca ‘ayaa a fare on 2 [2 _jrtosa ra 3 En i *' Tar w [oo [ara ws] as] 19 fan] gei] ah ove] gen laen|ora| aa a ona) ‘s0197) ‘nso Mane cle | ae wi [uso [oen| 4s, ae8.1 SERVOMOTOR DIMENSIONS in mm (inches) (Cont'd) + TYPE USAREM-O5AC 2K 98107 4aba8oa Avorox Maas 4g (97) + TYPE USAREM-O7AL 32K (2) with Brake (with key, straight shaft) ue Fayrsan Tame er eqns aeons Sloe Omtamese” Prauetna Segara) Biost” Sunk eee eee ae eoceeeeme he ears eras ae eee ‘+ TYPES USAREM-AS!_i:2KB, 01 i _Soatia 78) g e ‘so2o8 ca = Treta [Sine Fron] vonage | ee om | tee a lecmre tion] imeem | VOC |*0 (628 | 63a | ava [user |oosexio+| oso om a [2 fins Joon] enn | wea | ° Pr orn | ceo | aie om(1) 13 a saa) ts) oa 4 seo2Hou jor Deere . vonage | Mass 7 vor. | kat oes Jorasxro | 156 | gy Looe, 28 ar | ae 33 oe ce Mogrote Bate se | tt [Ste van | oe catenin] wintery | VOC | 400) saxo] woo | in | |ozte Waprene Brake = istaue Fron] ir "Teraue aed em(or) BA DA me) M587 2a a |s30v4) wn | ® lore1 SERVOMOTOR DIMENSIONS in mm (inches) (Gont'éy (3) Shaft Externsion of Straight Shaft SERVOMOTOR proper is the same dimensions as standard SERVOMOTOR. See Pars. 8.1 (1) and (4) Shaft Extension of Straight Shaft with Shaft Seal (wathout brake) :28B (wath brake) SERVOMOTOR proper is the same dimensions as stanard SERVOMOTOR. See Par. 8.1 (1) and (2). Details of shaft extension are shown below. (2). Details of shaft extension are shown below: ua 3018) uw hyo wef sone) te +1" 4 E 3 4 7 a - Wow Bake |_ Wit Brats] in , ‘Tipe USAR | Type USAR efuful os we | one ASE 3 =e oe 4s [osferafoa Saal Jory fe] tS a ccna |realasossi foe mA sn osx. Josase | w [28 ek nx. [on Bs8 fs}oralo srfaen| oe el * Nppon OF Soa dusty Co Les (5) Shaft Extension of Straight Shaft with Keyway and Shaft Seal SERVOMOTOR proper and shaft extension are ‘same dimensions as standard SERVOMOTOR. See Pars. 8.1 (1) and (2). Shaft seal is same dimensions as shown in Par. 8.1 (4).8.2 SERVOPACK DIMENSIONS in mm (inches) “TYPES CACR-SRASABIR, -SRO1AB1CJR (200 V) + TYPES CACR-SRASAE f8Ma screw Seman 5 goatee / yor msec CAD on MTOHOLES —/ ght ange 80°) [MOUiTING pron 2351025) 2501984) Fike Bien. ar (nina ee) sei * Made by Honda Tushn Co.Ltd LR coma Bale Sra Ge Te TERE = = cry a = oe one Approx Mose 2 8kg (6 168) + TYPES CAGR-SRO2AB1/} “TYPES CAGR-SRO1AB2’ {RTO -SROSAB1{} RYS(200V) tome screw Temas 45102000 roe mason ere Hotes (Sor rei 80°) FOURTIG PH 2508 2500984) 7312951] [2 ug 10013941 |{ngrearge 20m) ASL _2s040 64) oeicl Fianna) 8 ‘ = Made by Honda Tus Go Us oorox Moss 3 6k (7 926) Le gee) Cormeen | Anes 1 ee Srebot_orfecis eptc Thos [Coe Tee tea ren] forse [moor | wee 7 g zen] conte MA 20 MA 200 ‘Taro nous fonts8.3 PERIPHERAL EQUIPMENT in mm (inches) (2) Variable Resistor for Speed Setting Type 25HP-10B — nting Plan —_eegsne figsvomcn ay A 3 as03y, WOR iy 7 a rast (IEEE vara. re wo (2) Power Supply for Brake + Input 100 VAC, 90 VDC, Max 1.0 ADC (B'3400876.2) "Type LPDE-1HOL + Input 200 VAC, 90 VDC, Max 10 ADC (B'9400876-1) “Type LPSE-2H01 tao Pri = {ome | Lead length 500mm (19 69) each Lead color ‘AC input Sido Brake woov | _200v Side ‘Bue | Yelow Red wie | wnte | Black ‘Max ambient temperature 60°C + For 100 VAC (LPDE-1HOL) + For 200 VAC (LPSE-21101) yeuow Note Cte or op the brake ames spy exe on ether AC oF ade Nematy, poet or AC od (ae han BC ee) "tiers on BC ae, be ro meunt h surgo suppressor nea thea ‘ncaue the baka oo maybe damaged Dy uo vonage9. TEST RUN Before test run, check the following. Correct any deficiency. 9.1 CHECK ITEMS BEFORE TEST RUN 9 1.1 SERVOMOTOR Before test run, check the following. If the test run is performed after long storage, see Par. 11, "INSPECTION AND MAINTENANCE". + Connection to machines or devices, wiring, fuse connection, and grounding are correct. + Bolts and nuts are tightened. + For motors with shaft seals, the seals are not damaged and motor is properly lubricated. 912 Servopack + Setting switches are correctly set to satisfy the specifications for the apphcable SERVO- MOTOR and optical encoder. + Connection and wiring leads are firmly con- nected to terminals or inserted into the con- nectors. + The power supply 1s turned OFF if servo outputs alarm. + Voltage supplied to SERVOPACK is 200 to 230V ior 100 to MSV TS. + The speed reference should be OV (speed reference circuit is short-circuited.) 9.2 TEST RUN PROCEDURES. 9.2.1 Preparation for Operation During test run, loade should not be apphed to the SERVOMOTOR. If it is necessary to start with the driven machine connected to the motor, confirm that the driven system has been ready for emergency stop at any time. + Power ON After checking itmes in Par. 9.1, turn ON the power supply, When the power ON sequence is correct, according to Par. 6.1, the power 1s turned ON by depressing the POWER pushbutton for approximately 1 second. + When the power is correctly supplied, 7-segment LED (=,] and LED in MCCB light. + When a Servo ON signal is input (correct 1s fon), the power circuit in the SERVOPACK operates and the motor is ready to run. 922 Operation ‘The operation is possible only while Servo ON signal is ON. + Increase the speed reference voltage gradually from OV, then the motor will rotate at a ‘speed proportional to the reference voltage. + When the reference voltage is positive, the motor rotates forward (counterclockwise viewed from drive end-output shaft) (Fig. 9.1). Fig 9 1 Motor Forward Running 9 2.3 Inspection during Test Run The following items should be checked for during the test run. + Unusual vibration + Abnormal noise + Excessive temperature rise If any abnormality 1s found, take corrective actions according to Par. 12. | At a test opera tion, the load and machine may not fit well at first and result in overload.10. ADJUSTMENT 10.1 SETTINGS AT THE TIME OF DELIVERY ‘The SERVOPACK has been factory-adjusted as follows: Table 10.1 Standard Adjustment and Settng Specifications ‘Applicable SERVOMOTOR ‘SERVOPACK Agjusiment Glass | Output | SERVOPACK OF Rated ‘Stertng Lac ve | OW | Sypecace | y.twpe,, | Staoder | durem | omed | Gurmet | Frequency HP) USAREM | puisccrey | Adc | Satna | Sting | Duising 30 | SRASABIER | ABAEZ 7500 ao ee (oon | SRAsABIFA | _ASAF2 1000 100 | SAOiABIER | O1AE2 1500 7 ie ois) | snotasien | orare 1000 200 | SROZABIER | O2AE2 1500 | ea 30 ooo |-(02m_| SRoeaBiER | zara 1000 300 | SROSABIER | _O3AE2 1500 | S aie 040) | SrosaBirn | o3ar2 4000, 500 | SROSABIER | O5AE2 1500 33 | 3000. mn | 60 os7 | _srosasirr | o5ar2 41000 at rated “1 700 | SROSABIERYS | _O7AE2 1500 | sa | speed eo (os3)_| ShosasiFRYs | o7Ar2 4000 reference 50 | SRASAB2ER | ASBEZ 1500 | V7 50 (oon | srasasern | _Asar2 41000, 00 | SROIAB2ER | 0182 1500 | 5 os too [019 _| saoraB2FR | o18F2 1000 200 | sRO2AB2eR | O2BE2 1500 5 a5 (27 | _srozaszrA | caar2 4000 300 | SROSAB2ER | —O3BE2 1500 | a ag oa) | srosas2rA | _oa5r2 4000 Table 10.2 Standard Factory-adusted Switch Settings oa sw?) SELL seL2 SEL SERVOPACK enteoas (16P Setting Swatch) | (ipe'Sramn, (GP Setting Switch) ated Dwding |W Fiter [Mode Class: Output ‘cacR. peed stat Ratio |Time switch (us) | MSIE-PL woney_| pameeened Seting | ever Setng | Seteeton "500 07) | SRASABTER 100(0 13) | SROIABIER | 1800 pulsestrev ‘aooy | 2001027) | SROZABIER '300(0 40) | SROSABIER | 12345678 500(067) | SROSABIER i 700(0 83) | SROSABIERYS| e000 50(007) | SRASABER ef toov | 1900013) | SrorAB2ER ems | 200% Ms 200(027) | SRo2AB2ER Selection 300(0 40) | SROSABER a i es es fies 50007) | SRASABIFR 10010 13) | SROIABIER | 1000 pulsestov pooy | 200(027) | SROZABIER eeeiEse’ 300(040) | SROGABIFR | 1234567 8 i '500(0.67) | SROSABIFR i 700 (0.83) | SROSABIFRYS 0(007) | SRASABEFR toov | 199013) | SROIABZFR 200(027) | SROZABEFA '300(0 40) | SROSABFATable 10.3 Standard Factory-adjusted Potentiometer Setting SERVOPACK vi LB] | vas[zeRo] | vAs| CUR] | vAe[LooP] | vRel Pm | ‘Glass | Rated Output | SERVOPACK | Auxivay Input | Zero Dnft | Max Current | Loop Gan | F/PI Operaton v ‘W(HP) | Type CACR. | Sottng ‘Setting Seting Setting Seting 50(007) | SRASABY. .R 1001013) :, 20 | 2000027) 300(0 40) (or seting (or seting (or seting 500,067) ‘by the user ) by the user ) by the user) 700083) 410.610 610 oon 10min rort0mex t0110max 100(0 13) 100 | 200,027) 300.0 40) ‘+ shows approxmate scale of potento- 10. 2 CHARACTERISTICS AT THE TIME OF DELIVERY ‘The SERVOPACK has been factory-adjusted as follows: (1) Speed reference input-servomotor speed ratio (no Toad) (Fig. 10.1) Fig 10 1 Speed Reference Input— ‘SERVOMOTOR Speed Ratio —4 2 The potentiometers other than lstod m the Table above are prowd- ‘edior SERVOPACK . Dono! tamper with these wih these poton- fergie evcot ra speci cae any have ben pasta (2) Speed Variation (Fig. 10.2) Speed variation JN. an: AM 100% 5 01% AE x 100% 5 005 .% Ne tie vm pareo +9000 fan +3] Sonnet ‘Speed Variation Fig 10.210.2 CHARACTERISTICS AT THE TIME OF DELIVERY (Cont'd) (3) Start-stop characteristics (Fig. 10.3) Jn: Start current set value in Table 10.1, The overshoot (4Nov) and undershoot ( ANvo) when load inertia J. (GD) = motor inertia Ju(GD4), are as shown in Table 10.4 (adjustment level Preset at the factory). INPUT ACROSS 10N-@.0 ‘ree, a rie Fig 10 3 Start—Stop Characteristics Table 10 4 Overshoot and Undershoot ‘at Step Response TERR ToS STS coo P0208 | a nex a an vo (5) vv [i] vrs 10.3 READJUSTMENT ‘The SERVOPACK has been adjusted at the factory to obtain optimum characteristics, and readjust- ment is rormally unnecessary. If adjustment is required depending on the use, readjust the SERVOPACK referring to Table’ 10,5. (Do not tamper with potentiometers.) 10.4 ADJUSTMENT PROCEDURES Fig. 10.4 shows the arrangement of potenti- ometers, and terminals for checking waveform: Table 10.5 shows potentiometer adjustment and Table 10.6 lists check terminals and fune- tions. Adjust the potentiometers, observing the specified check locations. (Potentiometers should not be tampered with.) Fig. 10.5 shows waveforms at the respective check terminals for step responses at no load. Ra ato Fig 10 4 Printed Circutt Board for SERVOPACK ‘Type CACR-SRCAIIRBATable 10 5 Potentiometer Adjustment Potontometer vat vRa vR3_ (ZERO) VRS = ‘Aunhary input adjustment | Proportional gain Zero ditt adustment ‘Starting current adjustment ne adjustment To be adjusted only when | Turning CWinereases | To adjust so thatthe Turning. CW wereases the ated reference voltage | proportional goin Start’ | motor does not turn at | the starting current (£2 to £10V is other ran] stop by the motor the speed reference Thus has been adjusted 10 Howto | E6V" Tum onlyto | stepinputAduist so | voltage OV. Turning _| full scale CCW at the Adjust ‘speed and do | that the overshoot and | C¥/ allows the motor fectory ‘Rot operate other VAs | undershoot decreases | to be finely adyusted n forward rotation and CCW smreverse rotation ‘woron eee the proportional gains | woronsreco onan nating too high, overshoot or erentnce| _ Undershoot increases IRERSPENCE| « I the proportional gain is too low, ge of fall ei Cherectenstcs unstable . RATING Adjustment ° a ° a Potentometer ‘VAG vrs (Ze a2 ae ‘Speed loop gain P/PI Selection PG BV voltage ‘unetions | adjustment adjustment adysiment Howto | Toinerease gain, For special purpose Turning CW mnoreases Hevds turn CW volge Hse factory Turn cow if winng to optical encoder recs 10 Prevent hunting ‘slong. causing voltage eat . drop, increase vollage (vor below) ‘Adjustment o a a ‘Adustmont Owecdons Mask.” Potantometer shouldbe ested a accordance wih specteatons and anplicatons Mark 4 Potantometer should not be ajusied except mspecal cases ‘not tamper with folowing potentometars as thy have boon sot tthe factory 1 VR2 VAS V0 (Fer speed feedback aoustmort + VA7(Formax motor cisron austen!) + VRI (Fer eurent offset seustrent10.4 ADJUSTMENT PROCEDURES (Cont'd) Table 10 6 Chock Terminal Functions ‘Symoa_| Name Desenton 7 [ra Phase A pulse put Worm a maar ood nina 2 | Pa Phas revere input oe 3 | P8 | pc mpur [Phase 8 pulse mput muh a | #Pe | 2" [pnase 6 vee nput Siri oe =| rc Phase C pulse out 6 | #rc Phase Cre np ‘wo pasa ps wt 0" ps tans 7 [= _[Wornes ‘Scone werPa @ | Posy | Omen encoder) power spay vobigs 48 25 ZO 1 | pu [ Prose u pte moat tom pote reso = Waveform at mote forward von 2 | PU | Prose Urs out . 3 [Pv _| Phase v pulse mput om pole sensor woo: iraq, || #20 [Pass ve mp ae ea 5 | Pw_|[Prase W pulse mout rom pote sensor wo Pa © | ow [Phase w revere mput 7 [0 | Mononng of seg for moter unnng ection swung @ | Pov | Oneal encoder? power supa otge _ OV IPG common ternal of sara fom pole sen + [va [Formontonn of ed erence mputleonnacior 1h between @ oe 2 [ 1-8 | For montonng of seed reeence aux mputlconnecor ICN beween @ and G) 3 | vie [Motor speed montong £20 VDC £6%/1000 r/min tray [4 [EMON| Nor tomse monamng _30V06 = 108/004 te =| w Phase ov ov of ow] Cate ag [Phase v Troe [a5 [or ]oz [os [05 as for [oz [os 7[ Phase W ayes oft ard va] 08 | 04 Jozjos| o« foo @| sc _|somov 1 | =16¥ [contol power 416¥ 061 £0 1¥) ailme = 3 | #16¥ | contol power +16VIE 8%) “| ave | ontet encoder Pl power 6VI525V & 60mvI cam 5 | +5v | Controt power +5V(+5%) 6 | —16v [conot power —16VIE NI 7L- = 2 | 56 [Somov 1 | vai [Als detecton votogel6 S86V 2 1Omv) cra [2 [= = 3 | cm [For obsevanon of T02- ca | vie [220v0e x 6K/000:7mn Ha __[FMoN] #80vDC + 10%/100% torave oe cs | 86_[Sanrov Tone De nat attempt toads except check temnal (wth butfer amper) on font pant 2 Th check trmana on ont panels measured by oscdescope For other check toma measurements donot connect the {ncent two check tomnsle conmectod the elocieal parts may be damaged —“—neurons.) = Tonduenerenence ov ee ar Moroncumeyr AR__AW__A__Av- POETS oe puaseveruse WV Wyp—$V/\-_- Fig 10.5 Waveforms atthe Respectve Gants) rs ™ ‘Check Terminals for Step Responses (No Load) =2Vxticimnit000 42x Nemes 1000 10.5 SWITCH SETTING The four switch (SELz], (SEL) and hexadecimal digital switch (SW2], have the following functions: Table 10 7 SWI Setting and Functions ‘Setting Switch [No Contents 1 | Motor setting PRRRay _2P. 8000 17min 2__| Phase compensation y 3_| TON evel f a 10% (approx 450 r/min} 4 | ot mode Be : NO DB operation swt ne S| PWM phaco shite 6 | PG puke 7 “Test mode a | me (User disable! * Standard fectorradusted ewich sting ‘00 0 Table 10 8 SW? (digital switch) Setting and Functions ‘Swe ofife2lslals}e}7}slejajejclolelr Setting Frequoney Bwana | 171 | 1/2 | 173 | 174 | 18 | 176 [1/10] 1/12|1/16|1/20| 1/90] 2a] 2v8| — | - | — * Standard factoy-adusted snitch eating10.5 SWITCH SETTING (Contd) Table 10 9. SEL Setting and Functions. 11. INSPECTION AND MAINTENANCE 11.1 AC SERVOMOTOR Te AD SERVOMETON nano wearne pre tru Se Setting Functions: es), so simple daily inspection is sufficient ‘The inspection Sete Shenae eles oun eT 1 eos + FER] | oon ary nt yr PASHAN epee Tate 11a Shed te a a vapor [Fay eo - Vibration a Fei ren |¥ abnormal vibrato or nose found, contact Nose i. [Auraly |Your YASKAWA representatwe Sarr aag [roe Cot oy dm er core ofofo] | o6ms insulation FAnnualy [Make uals mor than 10M by messing wah 3 00 ese. eraser OD eae an Sha Sn —— [eyo fess ih Soya (eon g arma Gee ww Seances vo Eee NoMS Overhaul Hnours or | motor form the driven machine o Pease eceerecectrertoe sa | oo “Pars Replacement Scho nemee sia ‘The following parts should be ee periodically since a Rota ees eee Tile 112. Pure pconnt Stale fo Part Name Interval ‘Remarks ae eee rae Sut Sat | — soothers —| Raa hon ewe 11.2 SERVOPACK CH | neem, Sone is Stall wn Be wll a reasons tear 12 3 However, when the SERVOPACK 1s overhauled by Sg [ieee yacht se herent wean wees ie eyes * Standard fctorradusod ewch sting Table 11.8 Inspection Schedule for SERVOPACK Taeaon ton [romoe] ——Dpomton a eal aay seat aororalan [Gonwe ay oro Kixeston| —|sma Siesta tose ee — eee = eon | eRe an lead vaya check for daxsclosston. ey ite : ae Fame Seamer tina conat yr YASKAWA oo oat be te es aay - Para Replacement Schedule ‘The following parts should be replaced penodhcally since Cee eee eee i one Table 14 Pans Replacement Sctae a or eae Sosng east Ti yeas | sa wares Cas ST Seater oe ome marta gio owas ites ence nwa] Sean [Rete toe Ore sre ae12. TROUBLESHOOTING GUIDE 12,1 ACSERVOMOTOR WARNING Corrective actions in [XJ should be performed after turring OFF the power ‘Table 12.1 Troublesooting Guide for AC SERVOMOTOR: Trouble Cause. Corrective Action Loose connection Tighten connection | oo Wrong winng Correct winng start Overtoad Reduce load or use a larger motor = Moasure voltage across motor terminals U, V, and W oe with a tester When correct, replace motor Unstable operation ‘Wrong wining Excessive ambient Reduce below 40°C ca 7) ioe = Ep Overload Reduce load or use a larger motor ee ee oe a ee — tee a eee —a—12.2 SERVOPACK 12 2 1 LED Indication (7-segment) for Troubleshooting Table 12 2 LED Indication for Troubleshooting LED eos Soren cma scree eee | bececnreeomie | ee engin _ ei amr cece cee Ses ceeeeceacste | Baceacnsecnaeat erent ier re are, Over- Goes ON when power is supped to | ¢ Detective motor grounding ‘© Replace the motor i oc, |gonctarmemencamese [regmaeme erie | REE nc eon or cee os Ol earner Onewesecie | me Sea cane | ane | sR aan arena eames [enn seeacd | Roa RR Pea a BD | Gewatentomesereete|toecemnestacsy [tee canes acai. [aegis os sank ee Se eee tues SRO RSS a | encom fen RR von ee os ea |S | econsceasose; oom ca | teams ERE eae oateeeeetcie os et eee pee See oes Seaeien a |om, ea Tasaaeraaamn fe fe ese | ore me aoe eee eee | eedecarames | occereeamaniane wy loc, fronton Spenser as Tnmewmsraanrs—eretrsooerres 7 = ae ee Sreleasoa a Cn axa | gas ORICSTioeT [er ERO eras Ss I man | eae a S| RE TTRATTTS fetes areata joceom eal || erecaod eter terior atooensam The moter rolaes, bu the lorque = Uunavalable When power othe contol ercut is tuned OFF and then turned ON agan, the operation stars, but the torque is still unavailable * Motor cru errer connection, such as UV, VW, W-+U oF ‘sngle-phase connection * Correct the connectionTable 12 2 LED Indication for Troubleshooting (Cont'd) TED [owecea] ahing Conan _ Garena Aion Be) [A | Gon ON wen power w ape’) * Beene col oro board |= Rize he SERVOPAGK or [Roca Crees ru [oes ON dan opoaion Fauty rial oe LCL ae ‘+ Defective internal elements ‘+ Replace the SERVOPACK The nator doe nti ardTET = Eredar abs ae bckon |» Replace re cable z tos Ejointateratoy wen ne | Contact tot connonr or e- | “Che he sel n phases UV, Sono powrs tured On fee once ow Bink aera ar re i TRE] - Wong carb oT car nd [= Che and Gaede combi Se or ETE coer |oaser i, See Fecear eee enesoar” | "Re a Dl =

You might also like

• Servopack SGDB UserManual

  

  No ratings yet

  Servopack SGDB UserManual

  351 pages
• Tse S800 11.2B PDF

  

  No ratings yet

  Tse S800 11.2B PDF

  156 pages
• Servopack CACR-SR - BZ 1S Manual

  

  No ratings yet

  Servopack CACR-SR - BZ 1S Manual

  70 pages
• Tse-S800-2.4e Yaskawa Servo Drive Manual.a PDF

  

  100% (1)

  Tse-S800-2.4e Yaskawa Servo Drive Manual.a PDF

  78 pages
• Yaskawa Wilkerson Yokogawa

  

  0% (2)

  Yaskawa Wilkerson Yokogawa

  129 pages
• XP200伺服驱动器英文版说明书

  

  No ratings yet

  XP200伺服驱动器英文版说明书

  40 pages
• GSK980TA1 GSK980TA2 GSK980TB1 GSK980TB2 GSK98T User Manual

  

  No ratings yet

  GSK980TA1 GSK980TA2 GSK980TB1 GSK980TB2 GSK98T User Manual

  304 pages
• Parametre MR j2 100a

  

  100% (1)

  Parametre MR j2 100a

  1 page
• Frekventni Regulator Uputstvo E300 Series Manual

  

  No ratings yet

  Frekventni Regulator Uputstvo E300 Series Manual

  68 pages
• Sigma-SD Spindle 001

  

  No ratings yet

  Sigma-SD Spindle 001

  60 pages
• 643 6SC69 Instructions

  

  No ratings yet

  643 6SC69 Instructions

  121 pages
• DNC / File Transfer Settings For Fanuc 21im: Set The Following Parameters On The Machine: Parameter Value

  

  No ratings yet

  DNC / File Transfer Settings For Fanuc 21im: Set The Following Parameters On The Machine: Parameter Value

  3 pages
• Yas j3000

  

  No ratings yet

  Yas j3000

  186 pages
• 802C Dimensions 2

  

  0% (1)

  802C Dimensions 2

  24 pages
• S4 English Servo Door - Modrol

  

  No ratings yet

  S4 English Servo Door - Modrol

  20 pages
• Interact4 SeriesII Manual

  

  100% (1)

  Interact4 SeriesII Manual

  222 pages
• Yaskawa

  

  No ratings yet

  Yaskawa

  375 pages
• GE Fanuc Automation: Computer Numerical Control Products

  

  No ratings yet

  GE Fanuc Automation: Computer Numerical Control Products

  904 pages
• TOSOKU Full Lineup

  

  No ratings yet

  TOSOKU Full Lineup

  62 pages
• Bosch Servodyn Manual

  

  100% (1)

  Bosch Servodyn Manual

  73 pages
• MD 1422 N

  

  No ratings yet

  MD 1422 N

  32 pages
• GE Fanuc Automation: Computer Numerical Control Products

  

  No ratings yet

  GE Fanuc Automation: Computer Numerical Control Products

  348 pages
• e

  

  100% (1)

  e

  410 pages
• B64393en PDF

  

  No ratings yet

  B64393en PDF

  1,076 pages
• Yasnac I80m

  

  No ratings yet

  Yasnac I80m

  684 pages
• B 63950en 04 100111 PDF

  

  No ratings yet

  B 63950en 04 100111 PDF

  678 pages
• Lista de Alarme V05

  

  No ratings yet

  Lista de Alarme V05

  9 pages
• ServoDyn D-DM-DMA - 066032-104 - DS&DM Drives & PS

  

  100% (1)

  ServoDyn D-DM-DMA - 066032-104 - DS&DM Drives & PS

  73 pages
• DNC Operation Management Package PDF

  

  0% (1)

  DNC Operation Management Package PDF

  120 pages
• Eixo Spindle Magazine

  

  No ratings yet

  Eixo Spindle Magazine

  69 pages
• Ecodrive03 Drive Controllers: Project Planning Manual

  

  No ratings yet

  Ecodrive03 Drive Controllers: Project Planning Manual

  344 pages
• Operation Manual: Minikol M15S Shear en

  

  No ratings yet

  Operation Manual: Minikol M15S Shear en

  16 pages
• User Manual AC Servo Spindle System V0304

  

  No ratings yet

  User Manual AC Servo Spindle System V0304

  51 pages
• MV Series (MV66A-MV106A) - E-Catalogue - ENG - 2

  

  No ratings yet

  MV Series (MV66A-MV106A) - E-Catalogue - ENG - 2

  12 pages
• DDC4SW 2 4 Lite-1105gb

  

  No ratings yet

  DDC4SW 2 4 Lite-1105gb

  41 pages
• CSDJplus Manual Eng v1.2

  

  No ratings yet

  CSDJplus Manual Eng v1.2

  270 pages
• 4730-3 BLUM IF59 Installation Instructions 180168 Rev0-2 0-2

  

  No ratings yet

  4730-3 BLUM IF59 Installation Instructions 180168 Rev0-2 0-2

  48 pages
• PDF

  

  No ratings yet

  PDF

  284 pages
• Fuji - 5000M3

  

  No ratings yet

  Fuji - 5000M3

  26 pages
• FANUC Ethernet Board Manual 18i

  

  No ratings yet

  FANUC Ethernet Board Manual 18i

  331 pages
• L370 L370-M L370-W L370-MW L470 L470-M: Specifications

  

  No ratings yet

  L370 L370-M L370-W L370-MW L470 L470-M: Specifications

  1 page
• ECO RICH Hybrid Hydraulic System

  

  No ratings yet

  ECO RICH Hybrid Hydraulic System

  25 pages
• MDS-EJ EJH Series Specifications Manual IB-1501232 C

  

  No ratings yet

  MDS-EJ EJH Series Specifications Manual IB-1501232 C

  256 pages
• Transistor - Controller Series: 4KS: Manual Edition 10/00

  

  No ratings yet

  Transistor - Controller Series: 4KS: Manual Edition 10/00

  50 pages
• Baruffaldi General Quick Guide

  

  No ratings yet

  Baruffaldi General Quick Guide

  12 pages
• Fanuc Alpha Ac Servo Alimentation

  

  No ratings yet

  Fanuc Alpha Ac Servo Alimentation

  40 pages
• Delta Vector Control Drive C2000 Series: Automation For A Changing World

  

  No ratings yet

  Delta Vector Control Drive C2000 Series: Automation For A Changing World

  48 pages
• Sanyo Denki PY2C030U0XXXC09 Manual 20172895519

  

  100% (1)

  Sanyo Denki PY2C030U0XXXC09 Manual 20172895519

  356 pages
• Signals for CNC Machine Operators

  

  No ratings yet

  Signals for CNC Machine Operators

  42 pages
• Fanuc Series 15i Maint Alarm Warmings

  

  No ratings yet

  Fanuc Series 15i Maint Alarm Warmings

  414 pages
• Mity-Servo Vea Type User's Manual: MODEL: VEAS-, VEA-, VEA - AC200V Series

  

  No ratings yet

  Mity-Servo Vea Type User's Manual: MODEL: VEAS-, VEA-, VEA - AC200V Series

  59 pages
• Spindle Balancing: Guide Line SP 001

  

  No ratings yet

  Spindle Balancing: Guide Line SP 001

  2 pages
• SR - AC AE Manual Tse s800 2.8c

  

  No ratings yet

  SR - AC AE Manual Tse s800 2.8c

  76 pages
• Cacr Prxxac (Tse S800 2 (1) .7F)

  

  No ratings yet

  Cacr Prxxac (Tse S800 2 (1) .7F)

  72 pages
• SR - BC Manual Tse s800 2.2

  

  No ratings yet

  SR - BC Manual Tse s800 2.2

  76 pages
• Cacr - (SR) (PR) - Aa (Tse-S800-2.5d)

  

  No ratings yet

  Cacr - (SR) (PR) - Aa (Tse-S800-2.5d)

  62 pages
• Tse C253 10C

  

  No ratings yet

  Tse C253 10C

  15 pages
• DS2 Series 380V Servo Driver

  

  No ratings yet

  DS2 Series 380V Servo Driver

  43 pages
• Compact DC SERVOPACK Solutions

  

  No ratings yet

  Compact DC SERVOPACK Solutions

  10 pages
• PRIMA - VFD400 - Instalattion Manual EN

  

  No ratings yet

  PRIMA - VFD400 - Instalattion Manual EN

  19 pages
• ICE3A2065Z

  

  No ratings yet

  ICE3A2065Z

  33 pages
• Usb11 T11a

  

  No ratings yet

  Usb11 T11a

  11 pages
• HAAS

  

  100% (1)

  HAAS

  7 pages
• Igbt Ipm 6mbp20rta060 - Fanuc

  

  No ratings yet

  Igbt Ipm 6mbp20rta060 - Fanuc

  22 pages
• Varispeed V7 MANUAL

  

  No ratings yet

  Varispeed V7 MANUAL

  256 pages
• Profibus-Dp: Technical Manual

  

  No ratings yet

  Profibus-Dp: Technical Manual

  35 pages