Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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6 Wiring6.3.3 Torque Control Mode6.3.3 Torque Control ModeSERVOPACK∗ 4.External speed limit(±2 to ±10 V/rated motor speed)Torque reference(±1 to ±10 V/rated torque)∗ 1.V-REFSGT-REFSG56910∗ 2.LPF∗ 2.LPFA / D373839ALO1ALO2ALO3Alarm code outputMax. operating voltage:30 VDCMax. operating current:20 mA DC∗Backup battery 3.2.8 to 4.5 V+5 VSEN signal input ∗ 3.0 VBAT +BAT -SENSG212242333435361920PAO/PAOPBO/PBOPCO/PCOPG dividing ratio outputApplicable line receiverSN75175 manufacturedby Texas Instruments orthe equivalent correspondingto MC3486Servo ON(Servo ON when ON)P control(P control when ON)∗ 5.+24 V +24VIN/S-ON/P-CON3.3 kΩ4740 (SI0)41 (SI1)∗ 6.(SO1)48492526PSO/PSO1 SG/VLT+/VLT-Amount of phase-S rotationSerial data outputApplicable line receiverSN75175 manufacturedby Texas Instruments orthe equivalent correspondingto MC3486Speed limit output(ON when the motor'srunning speed is limited.) ∗ 4.Forward run prohibited(Prohibited when OFF)Reverse run prohibited(Prohibited when OFF)Alarm reset(Reset when ON)P-OTN-OT/ALM-RST42 (SI2)43 (SI3)44 (SI4)(SO2)(SO3)27282930/TGON+/TGON-/S-RDY+/S-RDY-TGON output(ON at levels above the setting.)Servo ready output(ON when ready)Forward current limit(Limit when ON)Reverse current limit(Limit when ON)/P-CL/N-CL45 (SI5)46 (SI6)FG3132ConnectorshellALM+ALM-Connect shield toconnector shell.Servo alarm output(OFF for an alarm)Photocoupler outputMax. operating voltage:30 VDCMax. operating current:50 mA DC* 1. : represents twisted-pair wires.* 2. The time constant for the primary filter is 47 µs.* 3. Connect a backup battery when using an absolute encoder. When connecting a battery to the hostcontroller, however, do not connect a backup battery.* 4. Enabled by the parameter setting.* 5. Customers must purchase a 24 VDC power supply with double-shielded enclosure.* 6. Enabled when using the absolute encoder.Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can bechanged by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation and 7.3.3 OutputCircuit Signal Allocation.6-12
6.3 Examples of I/O Signal Connections6.3.4 I/O Signal Connector (CN1) Terminal LayoutThe following diagram shows the terminal layout and the signals that are preset before shipping.PinNumberSignalNameFunction1 SG GND 26 /V-CMP-(/COIN-)4 SEN SEN signalinput2 SG GND 27 /TGON+ Running signaloutput3 PL1 Open-collectorreferencepower supply29 /S-RDY+ Servo readyoutput5 V-REF Speed reference6 SG GND input31 ALM+ Servo alarm7 PULS Referenceoutputpulse input8 /PULS Referencepulse input33 PAO PG dividingpulse outputPhase A9 T-REF Torque referenceinput10 SG GND 35 PBO PG dividingpulse output11 SIGN ReferencePhase Bsign input12 /SIGN Referencesign input37 ALO1 Alarm codeoutputSpeed coincidencedetectionoutput28 /TGON- Runningsignal output30 /S-RDY- Servo readyoutput32 ALM- Servo alarmoutput34 /PAO PG dividingpulse outputPhase A36 /PBO PG dividingpulse outputPhase B38 ALO2 Alarm codeoutput13 PL2 Open-collectorreference14 /CLR Clear input 39power supplyALO3 Alarm codeoutput15 CLR Clear input 40 /S-ON Servo ON16 − − 41 /P-CON P controlinput17 − −input42 P-OT Forward runprohibit input18 PL3 Open-collectorreferencepower supply19 PCO PG dividingpulse outputPhase C43 N-OT Reverse runprohibit input44 /ALM-RSTAlarm resetinput20 /PCO PG dividing45 /P-CL Forwardpulse outputexternal21 BAT (+) Battery (+) 46Phase Ctorque limit /N-CL Reverseinputexternaltorque limit22 BAT (-) Battery (-) 47 +24V External inputinputIN power supply23 − − 48 PSO Phase-S24 − − 49 /PSO Phase-Ssignal outputsignal output25 /V-CMP+(/COIN+)Speed coincidencedetectionoutput50 − −6Note: 1. Do not use unused terminals for relays.2. Connect the shield of the I/O signal cable to the connector shell.Connect to the FG (frame ground) at the SERVOPACK-end connector.3. The functions allocated to the following input and output signals can be changed by using theparameters. Refer to 7.3.2 Input Circuit Signal Allocation and 7.3.3 Output Circuit Signal Allocation.• Input signals: /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL• Output signals: /TGON, /S-RDY, and /V-CMP (/COIN)• The above output signals can be changed to /CLT, /VLT, /BK, /WARN, and /NEAR.6-13
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YASKAWASeries SGMH/SGDHUSER'S MANUA
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• Quick access to your required i
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WARNING• Installation, disassembl
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• WiringCAUTION• Do not connect
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• Maintenance and InspectionCAUTI
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2.6.1 Special Options - - - - - - -
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3.16 Dimensional Drawings of SGMSH
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5 Specifications and Dimensional Dr
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6.2.1 Connecting an Encoder (CN2) a
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8.7.1 Setting Parameters - - - - -
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11.3.1 Utility Functions List - - -
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PURODUCT SERVICE1 Outline1.1.1 Chec
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1 Outline1.2.1 Servomotors1.2 Produ
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1 Outline1.2.2 SERVOPACKs(2) SGDH f
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1 Outline1.3.2 Three-phase, 200 V M
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1 Outline1.4.1 North American Safet
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2 Selections2.1.1 Model SGMAH (3000
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2 Selections2.1.2 Model SGMPH (3000
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2 Selections2.1.3 Model SGMGH (1500
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2 Selections2.1.4 Model SGMGH (1000
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2 Selections2.1.5 Model SGMSH (3000
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2 Selections2.1.6 Model SGMDH (2000
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2 Selections2.2.1 Support Tool for
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2 Selections2.2.2 Servomotor Capaci
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.2 Cables for SGMGH/
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2 Selections2.5.2 Cables for SGMGH/
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MODE/SETCHARGEDATA/POWER67534675346
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2 Selections2.6.1 Special OptionsNa
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2 Selections2.6.3 Noise Filters, Ma
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2 Selections2.6.4 Regenerative Resi
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φLBh7φSh6119.5(0.37)W3 Specificat
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φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
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11 (0.43)W3 Specifications and Dime
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W3 Specifications and Dimensional D
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4 SERVOPACK Specifications and Dime
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MODE/SETCHARGEDATA/POWER4 SERVOPACK
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160 (6.30)(5) (0.20)149.5±0.5 (5.8
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YASKAWAMODE/SETCHARGEYASKAWA SERVOP
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POWERMODE/SETDATA/4 SERVOPACK Speci
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MODE/SETDATA/4 SERVOPACK Specificat
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MODE/SETCHANGEDATA/POWER4 SERVOPACK
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POWERMODE/SETDATA/4 SERVOPACK Speci
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POWERMODE/SET DATA/ BATTERY4 SERVOP
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Page 326 and 327: 5 Specifications and Dimensional Dr
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Page 372 and 373: 6 Wiring6.2.1 Connecting an Encoder
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7.3 Operation in Parameter Setting
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7.3 Operation in Parameter Setting
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7.4 Operation in Monitor Mode (Un)(
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7.4 Operation in Monitor Mode (Un)S
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8 Operation8.6 Operating Using Posi
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YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
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MODE/SETYASKAWASERVOPACKSGDH-CHARGE
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8 Operation8.1.1 Trial Operation fo
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YASKAWASERVOPACKSGDH-MODE/SETCHARGE
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8 Operation8.1.4 Servomotor with Br
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8 Operation8.3.1 Setting the Servo
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8 Operation8.3.3 Setting the Overtr
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.6 Instantaneous Powe
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8 Operation8.4.1 Interface Circuits
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8 Operation8.4.4 Replacing Batterie
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.7 Multiturn Limit Se
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8 Operation8.5.1 Setting Parameters
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8 Operation8.5.3 Adjusting Offset8.
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8 Operation8.5.3 Adjusting Offset(2
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8 Operation8.5.6 Using the Zero Cla
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8 Operation8.5.7 Encoder Signal Out
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8 Operation8.6.2 Setting the Electr
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8 Operation8.6.2 Setting the Electr
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8 Operation8.6.3 Position Reference
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8 Operation8.6.3 Position Reference
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8 Operation8.6.5 Positioning Comple
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8 Operation8.6.7 Reference Pulse In
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8 Operation8.7.3 Adjusting the Refe
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8 Operation8.7.4 Limiting Servomoto
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8 Operation8.8.3 Operating Using an
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8 Operation8.9.2 External Torque Li
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8 Operation8.9.3 Torque Limiting Us
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8 Operation8.9.5 Checking Output To
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8 Operation8.10.2 Switching the Con
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8 Operation8.11.2 Warning Output (/
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9Adjustments9.1 Autotuning - - - -
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9.1 Autotuning9.1.2 List of Servo A
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9.2 Online Autotuning9.2 Online Aut
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9.2 Online Autotuning9.2.3 Selectin
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9.2 Online Autotuning9.2.5 Method f
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9.2 Online Autotuning9.2.7 Procedur
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9.3 Manual Tuning9.3.2 Servo Gain M
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9.4 Servo Gain Adjustment Functions
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9.5 Analog Monitor• Related Param
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10 Inspection, Maintenance, and Tro
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11Appendix11.1 Servomotor Capacity
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11.1 Servomotor Capacity Selection
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11.2 Connection to Host Controller1
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11.3 List of Parameters11.3.2 List
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11.3 List of ParametersParameterNo.
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11.3 List of Parameters11.3.3 Monit
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11.4 Parameter Recording TableParam
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IndexINDEXAabsolute encoder battery
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IndexRrack-mounted type - - - - - -
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IndexWWARN- - - - - - - - - - - - -
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Series SGMH/SGDHUSER'S MANUALIRUMA
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