YASKAWA USAREM-A5A Manuale

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AC SERVO DRIVES

RSERIES FOR SPEED CONTROL

SERVOMOTOR TYPE USAREM (With Optical Encoder)

SERVOPACK TYPE CACR-SR:..ft (Rack-Mounted Type)

YASKAWA

Yaskawa AC Servo Drives have been de-

veloped as basic mechatronics 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 S 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

11 RATINGS AND SPECIFICATIONS OF

RSERIES AC SERVOMOTORS (FOR 200 V) 1

12 RATINGS AND SPECIFICATIONS OF

RSERIES AC SERVOMOTORS (FOR 100 V) 4

13 RATINGS AND

SPECIFICATIONS OF SERVOPACK 6

2. TYPE DESIGNATION 7

3. LIST OF STANDARD COMBINATION 8

4. CHARACTERISTICS 9

4 1 OVERLOAD CHARACTERISTICS 9

42 STARTING AND STOPPING TIME 9

43 ALLOWABLE FREQUENCY

OF OPERATION 10

44 SERVOMOTOR FREQUENCY 11

45 MOTOR SPEED-REFERENCE

INPUT CHARACTERISTICS 11

46 MOTOR MECHANICAL CHARACTERISTICS 11

5. CONFIGURATION 13

51 CONNECTION DIAGRAM 13

52 INTERNAL BLOCK DIAGRAM 14

53 MAIN-CIRCUIT TERMINALS 16

54 CONNECTOR TERMINAL

(1CN) FOR I/O SIGNAL 16

5.5 CONNECTOR TERMINAL (2CN)

FOR OPTICAL ENCODER (PG) CONNECTION 19

6. OPERATION 21

6. 1 POWER ON AND OFF 21

62 SPEED REFERENCE 22

63 EXTERNAL CURRENT LIMIT

REFERENCE CIRCUIT [P-CL, N-CL] 23

64 CONFIGURATION OF I/O CIRCUIT 24

65 PROTECTIVE CIRCUIT 26

66 LED INDICATION 27

67 PRECAUTIONS FOR APPLICATION 27

68 PRECAUTIONS OF OPERATION 27

69 APPLICATION 29

7. INSTALLATION AND WIRING 30

71 RECEIVING 30

72 INSTALLATION 30

73 WIRING 31

8. DIMENSIONS 33

8 1 SERVOMOTOR DIMENSIONS 33

82 SERVOPACK DIMENSIONS 37

83 PERIPHERAL EQUIPMENT 38

9. TEST RUN 39

9 1 CHECK ITEMS BEFORE TEST RUN 39

92 TEST RUN PROCEDURES 39

10. ADJUSTMENT 40

10 1 SETTINGS AT

THE TIME OF DELIVERY 40

10 2 CHARACTERISTICS AT

THE TIME OF DELIVERY 41

10 3 READJUSTMENT 42

10 4 ADJUSTMENT PROCEDURES 42

10 5 SWITCH SETTING 45

11. INSPECTION AND MAINTENANCE 46

11 1 AC SERVOMOTOR 46

11 2 SERVOPACK 46

12. TROUBLESHOOTING GUIDE 47

12 1 AC SERVOMOTOR 47

12 2 SERVOPACK 48

INDEX

Subject Chapter Section No. Page

AAC SERVOMOTOR (Inspection and maintenance) • 11 11 146

AC SERVOMOTOR (Troubleshooting guide) • 1212 147

ADJUSTMENT 10 • 40

ADJUSTMENT PROCEDURES 1010 442

ALLOWABLE FREQUENCY OF OPERATION 443 10

Allowable Radial Load and Thrust Load

APPLICATION

Auxiliary Input Circuit (± 2 to ± 10 V)

4462 11

66 9 29

6624 22

CCHARACTERISTICS 4 9

CHARACTERISTICS AT THE TIME OF DELIVERY 1010 241

CHECK ITEMS BEFORE TEST RUN 991 39

CONFIGURATION 513

CONFIGURATION OF I/O CIRCUIT 664 24

CONNECTION DIAGRAM

Connection for Reverse Motor Running

Connector 1 CN Layout and Connection of SERVOPACK

CONNECTOR TERMINAL (1 CN) FOR I/O SIGNAL

551 13

66 9 1 29

5542 16

55 4 • • - • ----- 16

CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER (PG) CONNECTION 555 19

Current Limit when Motor is Locked 6 -6 3 3 23

DDIMENSIONS 833

Direction of Rotation 446 4 12

EExamples of Troubleshooting for Defective Wiring or Parts 12 .12 2 249

Examples of Troubleshooting for Incomplete Adjustment 1212 2 349

EXTERNAL CURRENT LIMIT REFERENCE CIRCUIT [P-CL, N-CL] 663 23

HHandling of Speed Reference Input Terminal 662 322

High Voltage Line 6 -6 7 3 27

IImpact Resistance 446 5 12

Input Circuit 664 1 24

INSPECTION AND MAINTENANCE 11 46

Inspection during Test Run 992 3 39

INSTALLATION 772 30

INSTALLATION AND WIRING

INTERNAL BLOCK DIAGRAM

730

552 14

LLED INDICATION 666 27

LED Indication (7-segment) for Troubleshooting 1212 2 148

LIST OF STANDARD COMBINATION 3 8

Load Inertia (GD2) 667 2 27

MMAIN-CIRCUIT TERMINALS 553 16

Mechanical Specifications 446 3 11

Mechanical Strength 446 1 11

Method of Giving External Current Limit Reference 663 1 23

Minus Load 667 1 27

MOTOR MECHANICAL CHARACTERISTICS 446 11

MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS 445 11

NNoise Control 668 1 27

0Operation 9 9 2 2 39

OPERATION 621

Optical Encoder (PG) Output Circuit [PAO, *PAO, PBO, *PBCI, PCO, *PC0] • 664 3 25

Output Circuit 664 2 24

OVERLOAD CHARACTERISTICS 441 ----- • • • • 9

—Ill —

INDEX (Cont'd)

Subject Chapter Section No. Page

PPERIPHERAL EQUIPMENT 8• • 8 3 38

Power Line Protection 668 2 29

Power Loss 773 3 32

POWER ON AND OFF 661 21

PRECAUTIONS FOR APPLICATION 667 27

PRECAUTIONS OF OPERATION 668 27

Preparation of Operation 992 1 39

PROTECTIVE CIRCUIT 665 26

RRated Current and Cable Size 77 3 1 31

RATINGS AND SPECIFICATIONS 1 1

RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 100 V) 112 4

RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 200 V) 1 1 1 1

RATINGS AND SPECIFICATIONS OF SERVOPACK 113 6

READJUSTMENT

RECEIVING

10 103 42

77 1 30

SSERVOMOTOR (Installation) 7• 7 2 1 30

SERVOMOTOR (Test run) 9 9 1 1 • • • • • 39

SERVOMOTOR DIMENSIONS 881 • • • • • • • • 33

SERVOMOTOR FREQUENCY 444 11

SERVOPACK (Installation) 7 7 2 2 31

SERVOPACK (Test run)

SERVOPACK (Inspection and maintenance)

SERVOPACK (Troubleshooting guide)

SERVOPACK Connector (2CN) Terminal Layout and Connection

SERVOPACK DIMENSIONS

Set Voltage and Current Limit Values

SETTINGS AT THE TIME OF DELIVERY

Specifications of Applicable Receptacles

Specifications of Applicable Receptacles and Cables (Table 5 6)

Speed and Torque Measurement

99 1 2 39

11•••112 46

1212 2 48

55 5 2 19

88 2 37

66 3 2 23

10101 40

5 5 4 1 16

55 5 1 19

6692 29

SPEED REFERENCE 662 • • • • ----- 22

Speed Reference Circuit 662 1 22

STARTING AND STOPPING TIME 442 9

Stop Reference Circuit 662 2 22

SWITCH SETTING 1010 5 45

TTEST RUN 939

TEST RUN PROCEDURES 992 39

TROUBLESHOOTING GUIDE 1247

TYPE DESIGNATION 2 7

UUse of Servomotor with Magnetic Holding Brake 669 3 30

✓Vibration Class 446 7 12

Vibration Resistance 446 6 12

WWIRING 7. 7 3 31

Wiring Precautions 773 2 32

1. RATINGS AND SPECIFICATIONS

1. 1 RATINGS AND SPECIFICATIONS OF R SERIES AC SERVOMOTORS (FOR 200 V)

(1) Ratings

Time Rating: Continuous

Insulation: Class B

Isolation Voltage: 1000 VAC, one minute

Insulation Resistance: 500 VDC, 10 MO or more

Enclosure: Totally-enclosed, self-cooled

Ambient Temperature: 0 to +40°C

Storage Temperature -20 to +60°C

Motor Type USAREM-

Item A5A 2 -01A 2 -D2A 2 -03A 2 -05A 2 -07A ,2

Rated Output* W

(HP)

(0 07)

100

(0 13)

200

(0 27)

300

(0 40)

500

(0 67)

700

(0 93)

Rated Torque* N• in

(oz•in)

0 159

(22 5)

0 318

(45)

0 637

(90)

0 955

(135)

159

(225)

2 23

(316)

Continuous Max Torque* N•rn

(oz• in)

0 182

(25 9)

0 367

(51 8)

0 733

(103 5)

(155 3)

182

(258.8)

2 56

(363 0)

Instantaneous Max Torque* N•rn

(oz• in)

0 476

(675)

0 955

(135)

191

(270)

2 86

(405)

4 76

(675)

6 68

(948)

Rated Current* A 0 99 136 2 75 3 70 5 29 5 29

Rated Speed* r/min 3000

Max Speed* r/min 4500

Torque Constant N• m/A

(oz• in/A)

0 17

(24 0)

0 247

(35 0)

0 243

(34 4)

0 271

(38 5)

0 319

(45 3)

0 457

(60 4)

Inertia kg • m2 X10-6

J(oz-In-s2 X10-3)

7 64

(1 08)

12 5

(1 78)

50 7

(7 18)

76 6

(10 9)

272

(38 6)

372

(52 8)

Power Rating* kW/s 3.30 8.09 8.01 11 9 9 26 13 3

Inertia Time Constant ms 5 0 3 7 3.6 3 1 3.6 3 4

Inductive Time Constant ms 12 15 3 8 4 2 8 7 9.9

Ambient Humidity: 20% to 80% (non-condensing)

Vibration: 15 pm or below

Finish in Munsell Notation: N1.5

Excitation: Permanent magnet

Mounting: Flange mounted

Drive Method: Direct drive

Tab le 1.1 Ratings and Specifications of R Series

AC SERVOMOTORS (For 200V)

*Values when SERVOMOTOR is combined with SERVOPACK and the armature winding temperature s 75°C

Other values at 20°C Shown are normal (TYP) values above

Notes

1i::] in type designation is determined by output pulses (pulses/rev) of optical encoder as follows

•Standard E (1500 pulses/rev)

•Optional F (1000 pulses/rev)

2The power supply unit for brake

•Input 200 VAC Output 90 VDC (DP8401002 1)

For details, see Par 8 3 (2) on page 38

3The table above shows the data when an aluminum plate (heat sink) 25(1mm x 250 mm x 6 mm

(9 84 in x 9 84 in x 0 24 in) is mounted as a cooling agent

1. 1 RATINGS AND SPECIFICATIONS OF R SERIES

AC SERVOMOTORS (FOR 200 V) (Cont'd)

-I

A B

(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-A5A

5000

4000

SPEED 3000

(r/min)2000

1000

Type USAREM-02A

5000

4000

SPEED 3000

(r/mtn)

2000

1000

A02 04 06

RMS TORQUE (N•rn)

08 16

RMS TORQUE (N m)

If 200 VAC or below, the output characteristics

may be decreased even if the data is within

allowable variation.

Type USAREM-01A

5000

4000

SPEED 3000

(r/min)2000

1000

Type USAREM-03A

5000

4000

3000

SPEED

(Om) 2000

1000

Type USAREM-05A Type USAREM-07A

5000

4000

3000

SPEED

(r/m) 2000

1000

RMS TORQUE (N m)

5000

04 08

RMS TORQUE (N m)

4000

3000

SPEED

(r/mm) 2000

1000

12 24

RMS TORQUE (N m)

A B

28 56

RMS TORQUE (N • m)

I-I : Continuous Duty Zone

El : Intermittent Duty Zone

■r/min-oz•in

Type USAREM-A5A

5000

4000

te;,

3000

SPEED

(rim) 2000

1000

25 50 75

RMS TORQUE(oz in)

Type USAREM-01A

5000

4000

SPEED 3000

(r/min)

2000

1000

Type USAREM-02A Type USAREM-03A

5000

4000

3000

SPEED

(r/min) 2000

1000

Type USAREM-05A

5000

4000

SPEED 3000

(r/min) 2000

1000

100 200 300

RMS TORQUE (oz -in)

250 500 750

RMS TORQUE(oz in)

5000

4000

3000

SPEED

(r/enn) 2000

1000

Type USAREM-07A

5000

4000

SPEED 3000

(r/men) 2000

IA1

1000

"14

50 100 150

RMS TORQUE(oz in)

eq•

150 300 450

RMS TORQUE(oz en)

250 500 750 1000

RMS TORQUE (oz

:Continuous Duty Zone

1111 : Intermittent Duty Zone

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