YASKAWA MECHATROLINK Sigma 2 Series Manuale utente

YA S K A WA

MANUAL NO. SIEP C710800 01C

YASKAWA

MECHATROLINK- APPLICATION MODULE

USER'S MANUAL

Series SGDH

MODEL: JUSP-NS115

or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,

or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed

with respect to the use of the information contained herein. Moreover, because Yaskawa is con-

stantly striving to improve its high-quality products, the information contained in this manual is

subject to change without notice. Every precaution has been taken in the preparation of this

manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is

any liability assumed for damages resulting from the use of the information contained in this

publication.

iii

Overview

About this Manual

This manual provides the following information for the Σ-ΙΙ Series SGMH/SGDH-E

servodrives with a JUSP-NS115 MECHATROLINK-II application module (hereinafter

called the NS115).

• Procedures for installing and wiring the servomotor, SERVOPACK, and NS115.

• Procedures for trial operation of the servodrive.

• Procedures for using functions and adjusting the servodrives.

• Procedures for using the built-in Panel Operator and the Hand-held Digital Operator.

• Ratings and specifications for standard models.

• Procedures for maintenance and inspection.

• MECHATROLINK-II communications specifications for SGDH SERVOPACK

Intended Audience

This manual is intended for the following users.

• Those designing servodrive systems using MECHATROLINK-II

• Those designing Σ-II Series servodrive systems.

• Those installing or wiring Σ-II Series servodrives.

• Those performing trial operation or adjustments of Σ-II Series servodrives.

• Those maintaining or inspecting Σ-II Series servodrives.

Description of Technical Terms

In this manual, the following terms are defined as follows:

• Servomotor = Σ-ΙΙ Series SGMAH, SGMPH, SGMGH, SGMSH, or SGMDH servomo-

tor.

• SERVOPACK = Σ-ΙΙ Series SGDH-E SERVOPACK.

• Servodrive = A set including a servomotor and Servo Amplifier.

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

with a host controller and peripheral devices.

• Online parameters = Parameters that are enabled as soon as they are set.

• Offline parameters = Parameters that are enabled when the control power is turned OFF

and ON again after setting with the Write Non-volatile Parameter command

(PPRM_WR), or those that are set with the control power ON and enabled with the Set

Up Device command (CONFIG).

Indication of Reverse Signals

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

forward slash (/) before the signal name, as shown in the following examples:

• /S-ON

• /P-CON

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates application examples.

Indicates supplemental information.

Indicates important information that should be memorized, including precautions such as

alarm displays to avoid damaging the devices.

Indicates definitions of difficult terms or terms that have not been previously explained in

this manual.

EXAMPLE

INFO

IMPORTANT

TERMS

Related Manuals

Refer to the following manuals as required.

Read this manual carefully to ensure the proper use of Σ-ΙΙ Series servodrives. Also, keep

this manual in a safe place so that it can be referred to whenever necessary.

Manual Name Manual Number Contents

Σ-II Series SGMH/SGDH

User’s Manual

SIEPS80000005 Provides detailed information on selecting

Σ-II Series Servodrives/Servomotors and

capacities, and detailed information on

installation, wiring, trial operation, using

functions, maintenance, and inspection.

Σ-ΙΙ Series SGMH/SGDM

Digital Operator

Operation Manual

TOE-S800-34 Provides detailed information on the opera-

tion of the JUSP-OP02A-2 Digital Opera-

tor, which is an optional product.

High-speed Field Network

MECHATROLINK System

User’s Manual

SIE-S800-26.1 Provides detailed information on the

MECHATROLINK system.

High-speed Field Network

MECHATROLINK

Servo Command User’s Manual

SIE-S800-26.2 Describes the Servo commands for use in a

MECHATROLINK system.

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed

precautions provided in this manual can result in serious or possibly even fatal injury or

damage to the products or to related equipment and systems.

Indicates precautions that, if not heeded, could possibly result in loss of life or

serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor

injury, damage to the product, or faulty operation.

Even items described in may result in a vital accident in some situ-

ations. In either case, follow these important notes.

Indicates actions that must never be taken.

Indicates compulsory actions that must be performed. For example, this symbol

would be used as follows to indicate that grounding is compulsory: .

The warning symbols for ISO and JIS standards are different, as shown below.

The ISO symbol is used in this manual.

Both of these symbols appear on warning labels on Yaskawa products. Please abide by these

warning labels regardless of which symbol is used.

ISO JIS

WARNING

CAUTION

PROHIBITED

MANDATORY

vii

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring,

operation, maintenance and inspections.

Checking Products upon Delivery

Installation

Wiring

• Always use the servomotor and SERVOPACK in one of the specified combinations.

Not doing so may cause fire or malfunction.

• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or

combustibles.

Doing so may result in electric shock or fire.

• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).

Improper grounding may result in electric shock or fire.

CAUTION

WARNING

• Do not connect a three-phase power supply to the U, V, or W output terminals.

Doing so may result in injury or fire.

• Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

CAUTION

viii

Operation

Maintenance and Inspection

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

Doing so may result in injury.

WARNING

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to

avoid any unexpected accidents.

Not doing so may result in injury.

• Before starting operation with a machine connected, change the settings to match the parameters

of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or mal-

function.

• Before starting operation with a machine connected, make sure that an emergency stop can be

applied at any time.

Not doing so may result in injury.

• Do not touch the heat sinks during operation.

Doing so may result in burns due to high temperatures.

• Never touch the inside of the SERVOPACKs.

Doing so may result in electric shock.

• Do not remove the panel cover while the power is ON.

Doing so may result in electric shock.

• Do not touch terminals for five minutes after the power is turned OFF.

Residual voltage may cause electric shock.

CAUTION

WARNING

• Do not disassemble the servomotor.

Doing so may result in electric shock or injury.

• Do not attempt to change wiring while the power is ON.

Doing so may result in electric shock or injury.

CAUTION

General Precautions

Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always

replace the cover or protective guard as specified first, and then operate the products in accordance with

the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• This manual is subject to change due to product improvement, specification modification, and manual

improvement. When this manual is revised, the manual code is updated and the new manual is published

as a next edition. The edition number appears on the front and back covers.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of

the offices listed on the back of this manual.

• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa

shall not be liable for any damages or troubles resulting from unauthorized modification.

CONTENTS

Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii

Visual Aids - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv

Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi

Safety Precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii

1 Checking Products and Part Names

1.1 Checking Products on Delivery - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 Mounting the NS115 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

2 Installation

2.1 Storage Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 Installation Site - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.3 Orientation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.4 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

3 Wiring

3.1 Connecting to Peripheral Devices - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications - - - - - - - 3-3

3.1.2 Three-phase (200 V) Main Circuit Specifications - - - - - - - - - - - - - - - - 3-4

3.2 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - 3-5

3.3 I/O Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.3.1 Connection Example of I/O Signal Connector (CN1) - - - - - - - - - - - - - 3-6

3.3.2 I/O Signals Connector (CN1)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7

3.3.3 I/O Signal Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8

3.3.4 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

3.4 Fully Closed Encoder Signals Connector (CN4) - - - - - - - - 3-11

3.4.1 Fully Closed Encoder Connection Example - - - - - - - - - - - - - - - - - - 3-11

3.4.2 CN4 Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

3.5 Connections for MECHATROLINK-II Communications - - - 3-13

3.5.1 MECHATROLINK-II Communications Connection Example- - - - - - - 3-13

3.5.2 MECHATROLINK-II Communications Connectors (CN6A, CN6B) - - 3-14

3.5.3 Precautions for Wiring MECHATROLINK-II Cables - - - - - - - - - - - - - 3-14

3.6 Examples of Combined Connections

(for Fully Closed Encoders)- - - - - - - - - - - - - - - - - - - - - - - 3-16

3.6.1 Single-phase Power Supply Specifications - - - - - - - - - - - - - - - - - - - 3-16

3.6.2 Three-phase Power Supply Specifications - - - - - - - - - - - - - - - - - - - 3-18

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