Yaskawa Manuals 293 [PDF]

Zitiervorschau

yA,C;KAWA

AC SERVO. DRIVES

BULLETIN ALL DIGITAL,

FOR SPEED

SERVOMOTOR: SERVOPACK

YASKAWA

•

CONTROL

TYPES USAMED, USAFED, USAGED, USADED, USASEM (With Optical Encoder) TYPE CACR-SRE---_BEI'-____-I

TSE-S800-11.1 E

YASKAWA all-digital AC Servo Drives provide mechatronics drives for the most advanced FA and FMS including robots and machine tools. These drives are the result of the most advanced servo drive manufacturing technology available anywhere in the world. For your mechatronics systems, take advantage of the flexible combination of our AC SERVOMOTOR and SERVOPACK to achieve quick response and smooth, powerful operation even at low-speed range.

I

FEATURES • Compact design and simple wiring • Stable operation with all digital control (Stableadjustmentwith parameter) • Versatile Functions (torque control, soft start, • High

I"Ira etc)

reliability

q 592-77

M Series

F Series

G Series

S Series

D Series .

SERVOPACK

CONTENTS 1, RATINGS

AND

SPECIFICATIONS

/ 1

6.8

APPLICATION / 57

1. 1 RATINGS AND SPECIFICATIONS OF M SERIES AC SERVOMOTORS / 1

6.9

MOTOR SPEED AND TORQUE MEASUREMENT

1.2

RATINGS AND SPECIFICATIONS OF F SERIES AC SERVOMOTORS ! 3

7,

USER

1.3

RATINGS AND SPECIFICATIONS OF G SERIES AC SERVOMOTORS / 5

8,

MONITOR

1.4

RATINGS AND SPECIFICATIONS OF S SERIES AC SERVOMOTORS / 7

CONSTANTS

/ 59

I 62

PANEL

OPERATION

8.1

SWITCH.OPERATION

8.2

FUNCTIONS

/ 66

OF MONITOR

PANEL / 67

1.5

RATINGS AND SPECIFICATIONS OF D SERIES AC SERVOMOTORS ! 9

8.3 8.4

STATUS INDICATION MODE / 68 SETTING MODE / 69

1.6

RATINGS AND SPECIFICATIONS SERVOPACK I 11

8.5 8.6

MONITOR MODE I 85 FAULT TRACEBACK MODE I 87

2.

TYPE

DESIGNATION

3.

LIST OF STANDARD COMBINATION I 15

4.

CHARACTERISTICS

OF

I 13

9. 9.1 9.2 9.3

OVERLOAD

CHARACTERISTICS

4.2

STARTINGAND

4.3

ALLOWABLE

4.4 4.5

SERVOMOTOR FREQUENCY / 23 MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS I 23

10.

I 19

FREQUENCY OPERATION I 21

10.2 10.3 11.

4. 6 MOTOR MECHANICAL CHARACTERISTICS I 24

11.1 11.2

5.

12.

I 28 DIAGRAM I 28

MAIN CIRCUIT TERMINALS

5.3

APPLICABLE

5.4

CONNECTOR TERMINAL (1CN) FOR I/O SIGNAL I 30 CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER CONNECTION I 38

13.

INTERNAL BLOCK DIAGRAM I 40

13.2

5.6 6.

I 29 12.2

SERVOPACK I 110 PERIPHERAL DEVICES I 113 TEST

RUN

I 116

CHECK ITEMS BEFORE TEST RUN I 116 TEST RUN PROCEDURES I 116 ADJUSTMENT

14.

INSPECTION MAINTENANCE

PRESET AT THE

AND I 120

14. 1 SERVOMOTOR 14.2

6.3

TORQUE CONTROL / 45

6.4

EXTERNAL

6.5

REFERENCECIRCUIT [P-CL, N-CL] I 48 PROTECTIVE FUNCTIONS I 50

6.6

PRECAUTIONS

LIMIT

I 53

FOR OPERATION I 54 i

•

"

I 120

TROUBLESHOOTING

SPEED REFERENCE I 43

I 118

I 119

SERVOPACK I 121

6.2

FOR APPLICATION

I 118

READJUSTMENT

6. 1 POWER ON AND OFF I 42

6. 7 PRECAUTIONS

I 97

13. 1 AC SERVOMOTOR

I 42

CURRENT

I 89

I 97

FACTORY PRIOR TO SHIPMENT

RECEPTACLES I 29

OPERATION

DIMENSIONS

12. 1 CHARACTERISTICS

5.2

5.5

WIRING

RECEIVING I 89 INSTALLATION I 89 WIRING I 94

10. 1 SERVOMOTOR

STOPPING TIME I 20

5. 1 CONNECTION

AND

I 19

4.1

CONFIGURATION

INSTALLATION

I 66

I 122

SERVOPACK I 123

I 122

"

INDEX Subject A

C

Chapter

Page

13 ............... 13.1 ............... 9 ................. 9.2.1 .............. 12 ........................................ 4 ................. 4.3 ................. 4 ................. 4.6.2 ..............

APPLICABLE RECEPTACLES .............................................................................................. APPLICATION .......................................................................................................................

5 ................. 6 .................

5.3 ................. 6.8 .................

29 59

Application of SERVOMOTORS with Holding Magnetic Brake .............................................. Auxiliary Input Circuit (_+2 to _+10V) .....................................................................................

6 ................. 6 .................

6.9.2 .............. 6.2.4 ..............

61 44

Cable Specifications ............................................................................................................. CHARACTERISTICS PRESET AT THE FACTORY PRIOR TO SHIPMENT ........................... CHARACTERISTICS ............................................................................................................. CHECK ITEMS BEFORE TEST RUN ....................................................................................

5 ................. 5.5.2 .............. 12 ............... 12.1 ............... 4 .......................................... 11 ............... 11.1 ...............

38 118 19 116

Clearing

8 .................

Fault Traceback

Data ..............................................................................................

120 89 118 21 24

8.4.5 ..............

78

5 .......................................... 5 ................. 5.1 .................

28 28

Connection for Reverse Motor Running ................................................................................ Connector 1CN Layout and Connection of SERVOPACK ...................................................... Connector Layout ..................................................................................................................

6 ................. 5 ................. 5 .................

6.8.1 .............. 5.4.1 .............. 5.5.1 ..............

59 30 38

CONNECTOR

CONFIGURATION CONNECTION

D

Section

AC SERVOMOTOR ............................................................................................................... AC SERVOMOTOR ............................................................................................................... ADJUSTMENT ...................................................................................................................... ALLOWABLE FREQUENCY OF OPERATION ....................................................................... Allowable Radial Load and Thrust Load ................................................................................

................................................................................................................. DIAGRAM .....................................................................................................

5 .................

5.5 .................

38

CONNECTOR TERMINAL (1CN) FOR I/O SIGNAL ............................................................... Current Limit when Motor is Locked .....................................................................................

TERMINAL

(2CN) FOR OPTICAL

ENCODER

CONNECTION

.........................

5 ................. 6 .................

5.4 ................. 6.4.3 ..............

30 49

D Series .....................................

10 ...............

10.1.4 ............

105

DIMENSIONS in mm (inches) ............................................................................................... Direction of Rotation .............................................................................................................

:..........................................................................................

10 ........................................ 4 ................. 4.6,4 ..............

97 25

Examples

of Troubleshooting

for Defective Wiring or Parts ...................................................

14 ...............

14.2.2 ............

125

Examples EXTERNAL

of Troubleshooting CURRENT LIMIT

for Incomplete Adjustment ...................................................... REFERENCE CIRCUIT [P-CL, N-CL] ......................................

14 ............... 6 .................

14.2.3 ............ 6.4 .................

125 48

10 ............... 8 .................

10.1.2 ............ 8.6 .................

F

F Series FAULT

................................................................................................................................ TRACEBACK MODE .................................................................................................

G

G Series ...............................................................................................................................

10 ...............

10.1.3 ............

102

H

Handling of Speed Reference Input Terminal ....................................................................... High Voltage Line .................................................................................................................

6 ................. 6 .................

6.2.3 .............. 6.6,3 ..............

44 53

I

Impact Resistance ................................................................................................................ Input Circuit .......................................................................................................................... Input Signals of Connector 1CN ............................................................................................ INSPECTION AND MAINTENANCE ......................................................................................

4 ................. 4.6.5 .............. 5 ................. 5.4.3 .............. 5 ................. 5,4,2 .............. 13 ........................................

26 33 32 120

Inspection

11 ...............

during

INSTALLATION INSTALLATION INTERNAL

Test Run ...................................................................................................

AND WIRING ............................................................................................... ..................................................................................................................... CONNECTION DIAGRAM ...................................................................................

99 87

,din • II

11.2.3 ............ 117

9 .......................................... 9 ................. 9.2 ................. 5 ................. 5.6 .................

89 89 40

Jog Function

6.2,7 ..............

45

L

LED Indication (7-segment) for Troubleshooting .................................................................... LIST OF STANDARD COMBINATION ...................................................................................

14 ............... 14.2.1 ............ 3 ..........................................

123 15

Load Inertia

6 .................

6.6.2 ..............

53

M Series ............................................................................................................................... MAIN CIRCUIT TERMINALS .................................................................................................

10 ............... 5 .................

10.1.1 ............ 5.2 .................

97 29

Mechanical Specifications ..................................................................................................... Mechanical Strength ............................................................................................................. Method of Connection ...........................................................................................................

4 ................. 4 ................. 5 .................

4.6.3 .............. 4.6.1 .............. 5.5.3 ..............

25 24 39

,ii

Method of Giving External Current Limit Reference .............................................................. MONITOR MODE ..................................................................................................................

6 ................. 8 .................

6.4.1 .............. 8.5 .................

48 85

I II

Monitor Panel Controlled Operation Mode Selection and Operating Procedure ..................... MONITOR PANEL FUNCTIONS ............................................................................................. MONITOR PANEL OPERATION ............................................................................................

8 ................. 8.4.3 .............. 8 ................. 8.2 ................. 8 ..........................................

(JL) ....................................................................................................................

6 .................

q

J

M

.........................................................................................................................

I

75 67 66

INDEX (Conrd) Subject M

Monitor MOTOR MOTOR MOTOR

N O

P

Terminals ................................................................................................................. MECHANICAL CHARACTERISTICS ........................................................................ SPEED AND TORQUE MEASUREMENT ................................................................ SPEED-REFERENCE INPUT CHARACTERISTICS ..................................................

R

S

59 24 59 23

Noise Control ........................................................................................................................

6 .................

6.7.1 ..............

54

Operation ............... ............................................................................................................... OPERATION ......................................................................................................................... Output Circuit ................................................................................... :...................

11 ............... 11.2.2 ............ 117 6 .......................................... 42 5 ..... : ........... 5.4.5 ,. ............ 36

"................

Overhanging Loads .......... _..................................................................................... ,............... OVERLOAD CHARACTERISTICS .........................................................................................

6 ................. 4 .................

6.6.1 .............. 4.1 .................

PERIPHERAL DEVICES in mm (inches) ............................................................... Power Line Protection .......................................................................................... Power Loss ...........................................................................................................................

10 ............... 6 ................. 9 .................

10.3 ............... 113 6.8.2 .......... :... 57 9.3.3 .............. 84

.....................................................................................

6 .................

6.6 .................

PRECAUTIONS FOR OPERATION ....................................................................................... Preparation for Operation ....................... , .............................................................................. POWER ON AND OFF .......................................................................................................... PROTECTIVE FUNCTIONS ..................................................................................................

6 ................. 11 ............... 6 6 .................

6.8 " 57 11.2.1 ............ 116 6.1 ................. 41 6.5 ................. 50

Rated Current and Cable Size ... ........................................................................................... RATINGS AND SPECIFICATIONS OF SERVOPACK ............................................................ RATINGS AND SPECIFICATIONS ........................................................................................ READJUSTMENT ................................................................................................... _............. RECEIVING ............................................... •...........................................................................

9 ................. 9.3.1 .............. 1 ................. 1.6 ................. 1 .......................................... 12 ............... 12.2 ............... 9 ................. 9.1 .................

SERVOMOTOR FREQUENCY .............................................................................................. S Series ................................................................................................................................ SERVOMOTOR ..................................................................................................................... SERVOMOTOR .....................................................................................................................

4 ................. 10 10 '............... 11 ...............

4.4 ................. 23 10.1.5 ............ 106 10.1 ............... 97 11.1.1 ...: ........ 116

FOR APPLICATION

....................................

................ :................

53

94 11 1 119 89

14 ...............

14.1 ...............

122

6 ................. 8 ................. 6 .................

6.4.2 .............. 8.4 .......... :...... 6.2.6. .............

49 69 44

Specifications

5 .................

5.3.2

29

of Connector

Terminal

-......... ".......... :........ -...................................................

53 19

Set Voltage and Current Limit Values ................................................................................... SETTING MODE ............................................................................. : ..................................... Soft Start Function ................................................................................................................ (2CN)

for

Encoder

.......................................................

Speed Control with Zero Clamp ............................................................................................ Speed Reference Circuit ....................................................................................................... Speed Reference of Connector Offset Adjustment Specifications Terminal ..................................................................................... (1CN) for Input/Output Signal ..................................... SPEED REFERENCE ............................................................................................................ STARTING AND STOPPING TIME ...................................................................................... STATIJS INDICATION SWITCH OPERATION T

Page

6.9.1 .............. 4.6 ................. 6.9 ................. 4.5 .................

SERVOMOTOR

D

6 4 6 4

Section

................. ................. ................. .................

PRECAUTIONS

D

D

Chapter

MODE ............................................................................................... ....................................................................

:......................................

TROUBLESHOOTING TYPE DESIGNATION

........................................................................................................... ...........................................................................................

U

USER

.............................................................................................................

V

Vibration Vibration

CONSTANTS

.................

Class ...................................................................................... : ............................. Resistance .............................................................................................................

iii

..............

6 ' 6 ................. 85. ................. ................ 6 ................. :. 4 .................

6.2.5 .............. 6.2.1 8.4.4 5.3.1 .............. .............. 6.2 ................. 4.2 .................

45 43 77 29 43 20

8 ................. 8 .................

8.3 ................. 8.1 .................

68 66

14 ........................................ 2 .......................................... 7 .......................................... :. 4 ................. 4 .................

4.6.7 .............. 4.6.6 ..............

122 13 62 26 26

1. RATINGS AND SPECIFICATIONS 1.1 RATINGS AND SPECIFICATIONS OF M SERIES AC SERVOMOTORS 1.1.1

Ratings

Time Rating: Continuous Insulation: Class F

Ambient

Isolation Voltage: 1500 VAC, one minute Insulation Resistance: 500 VDC, 10Mf_ or more

Vibration: 15#m or below Finish in Munsell Notation: N1.5 Excitation: Permanent magnet

Enclosure: (Equivalent

Mounting: Flange mounted Drive Method: Direct drive

Totally-enclosed, to IP-65 exclusive

Ambient Temperature: Table

self-cooled shaft opening)

Humidity:

20% to 80% (non-condensing)

0 to +40°(; 1.1

Ratings

and

tll Ii Specifications

of M Series

AC

SERVOMOTOR

Motor TypeUSAMED,,, 03[Z_Z;1 06E-Ell I 09BiLq2 I 12B[_}2 I 20BiZi2

Item

USAMKD 44BC12 -60BEi2

30B[Lq2

kW(HP)

0.3 (0.4)

0.6 (0.8)

I I

0.9 (1.2)

I I

1.2 (1.6)

I

2.0 (2.7)

3.0 (4.0)

4.4 (5.9)

6.0 (8.0)

N°m

2.84

5.68

I

8.62

I

11.5

I

19.1

28.4

41.9

57.2

RatedTorque*

(Ib.in)

(25)

(50)

I

(76)

I

(102) I

(169)

(252) , (372)

2.94

5.88 r 8.82 I 11.8 I 21.6

32.3

I 46.1

(507)

Continuous Max Torque*

N- m (lb. in)

(26)

(52)

I

(78)

I

(104)

I (191)

(286)

i

(408)

62.9 (557)

N• m

7.17

14.1

I

19,3

I

28.0

I

44.0

63.7

!

91.1

105.8

(63) 3.0

(125) 5.8

I

(171) 7.6

I I

(248) 11.7

I (390) I 18.8

(564) 26

,r (807) ,' o,.,'_'_

(938) 45

RatedOutput*

InstantaneousPeakTorque* (lb. in) Rated Current* A Rated Speed*

.

r/min

1000

Instantaneous Max Speed* r/rain

2000

1500

Torque Constant

N ° m/A (Ib ° in/A)

1.01 (8.9)

1.04 (9.2)

1.21 (10.7)

1.02 (9.0)

1.07 (9.5)

1.16 (10.2)

1.33 (11.8)

Moment of Inertia JM (= G02/4)

kg .rffxl0" 13.5 (Ib * in * s2xl0 -3) (12.0)

24.3 (21.5)

36.7 (32.5)

58.0 (51.2)

110 (97.2)

143 (126.7)

240 (212.6)

Power Rate*

kW/s

6.0

13.3

20.3

22.7

33.2

57.0

74.0

138

InertiaTimeConstant

ms

12.8

6.3

4.4

6.0

5.2

3.5

3.6

4.0

InductiveTime Constant

ms

2.7

5.1

6.5

10.4

12.9

15.3

Insulation

Standard: 2 (8192 pulses/rev) Semi-Standard: 3 (2048 pulses/rev) Optical eneoder is used as a detector. The power supply units for brake: • Input 100 VAC, Output 90 VDC: • Input 200 VAC, Output 90 VDC: For details, see Par. 10.3 (2).

16.2

Class F

8 1: Values when SERVOMOTOR is combined with SERVOPACK and the armature winding temperature Shown are normal (TYP) values above. 82: The blank [_-2, of motor type depends on class of detectors.

Note:

9

Type B9400876-2 Type B9400876-1

is 20°C.

•

1.1.2

Torque-Speed

• TYPE

Characteristics

USAMED-03[-]

• TYPE

1_oo 2000 i

SPEED (r/min)

_..:,,,,_: _

USAMED-20B

1_o_ _

2000 _

SPEED g

(r/min)

1000

A _\ s _"

1001

_

_oo 'If 0 _)

i_ 21 20

50(

_,

&% CN.m) 6 i 8 60 80 (Ib-in)

4

20

0

1(_ , 100

RMSTORQUE

1500 lOOO

soo 0 ()

SPEED (r/min) 1000

;_ _,

D

_

7_

_

ii;

A _

0

150

RMSTORQUE

_

,

soo

_