28 12 6MB
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
_