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

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11Appendix11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - 11-211.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - 11-211.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - 11-411.1.3 Calculating the Required Capacity of Regenerative Resistors - - - - 11-711.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - 11-1611.2.1 Example of Connection to MP920 4-axes Analog ModuleSVA-01- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1611.2.2 Example of Connection to CP-9200SH Servo Controller ModuleSVA (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - 11-1711.2.3 Example of Connection to MEMOCON GL120/130 <strong>Series</strong> MotionModule MC20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1811.2.4 Example of Connection to MEMOCON GL60/70 <strong>Series</strong> PositioningModule B2813 (SERVOPACK in Position Control Mode) - - - - - - - - 11-1911.2.5 Example of Connection to OMRON’s Motion Control Unit - - - - - - 11-2011.2.6 Example of Connection to OMRON’s Position Control Unit - - - - - 11-2111.2.7 Example of Connection to OMRON’s Position Control UnitC500-NC221 (SERVOPACK in Speed Control Mode) - - - - - - - - - - 11-2211.2.8 Example of Connection to OMRON’s Position Control UnitC500-NC112 (SERVOPACK in Position Control Mode) - - - - - - - - - 11-2311.2.9 Example of Connection to MITSUBISHI’s A72 Positioning Unit(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - 11-2411.2.10 Example of Connection to MITSUBISHI’s A75 Positioning Unit(SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - - - 11-2511.3 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2611.3.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2611.3.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2711.3.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4311.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - 11-441111-1
11 Appendix11.1.1 Selection Example for Speed Control11.1 Servomotor Capacity Selection Examples11.1.1 Selection Example for Speed ControlMechanical SpecificationsLinear motionServomotor1Ball screwCoupling• Load speed: V = 15 m/min• Feeding times: n = 40 times/min• Linear motion section mass: M = 500 kg • Feeding distance: = 0.275 m• Ball screw length: L B = 1.4 m• Feeding time: tm = 1.2 s max.• Ball screw diameter: D B = 0.04 m • Friction coefficient: µ = 0.2• Ball screw lead: P B = 0.01 m • Mechanical efficiency: η = 0.9 (90%)• Coupling mass: M C = 1 kg• Coupling outer diameter: D C = 0.06 m(1) Speed DiagramV15 60 60t = n =40= 1.5 (s)Speedwhere ta = td(m/min)ta tc tdTime (s)60 × 60 × 0.2751.2ta = tm −V= 1.2 −15= 0.1 (s)ttc = 1.2 − 0.1 × 2 = 1.0 (s)(2) Rotation Speed• Load axis rotation speedN = V =15-1= 1500 (min )P B 0.01• Motor shaft rotation speed with the direct coupling: Gear ratio 1/R = 1/1Therefore,(3) Load torqueN = N • R = 1500 × 1 = 1500 (min-1M)9.8µ • M • PT L = B 9.8 × 0.2 × 500 × 0.01= = 1.73 (N•m)2πR • η 2π × 1 × 0.9(4) Load Moment of Inertia• Linear motion sectionJ L1 = M ( ) 2 = 500 × ( ) 2 = 12.7 × 10 -4 (kg • m 2 )• Ball screw• CouplingP B2πR0.012π × 1J =π4ρ • L • D =π-34 -42B B B × 7.87 × 10 × 1.4 × (0.04) = 27.7 × 10 (kg • m )3232J = 1 M C • D2C =1× 1 × (0.06) 2 = 4.5 × 10 -4 (kg • m 2 C)8811-2
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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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6754675346754381 2890 1 281 29090X1
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6 Wiring6.1.1 Names and Functions o
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6 Wiring6.1.2 Wiring Main Circuit P
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6 Wiring6.1.3 Typical Main Circuit
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6 Wiring6.2.1 Connecting an Encoder
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6 Wiring6.3.1 Speed Control Mode6.3
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6 Wiring6.3.3 Torque Control Mode6.
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6 Wiring6.3.5 I/O Signal (CN1) Name
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6 Wiring6.3.6 Interface Circuit6.3.
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6 Wiring6.3.6 Interface Circuit(b)
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.3 Installation Conditio
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6 Wiring6.4.4 Installation Conditio
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6 Wiring6.4.6 Extending Encoder Cab
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6 Wiring6.4.7 Operating Conditions
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6 Wiring6.4.8 DC Reactor for Harmon
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6 Wiring6.5.2 Connecting External R
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MODE/SETCHARGEYASKAWA SERVOPACKDATA
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7Digital Operator/Panel Operator7.1
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7.1 Functions on Digital Operator/P
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7.2 Operation in Utility Function M
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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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Page 524 and 525: 9.3 Manual Tuning9.3.2 Servo Gain M
Page 526 and 527: 9.4 Servo Gain Adjustment Functions
Page 540 and 541: 9.5 Analog Monitor• Related Param
Page 542 and 543: 10 Inspection, Maintenance, and Tro
Page 566 and 567: 11.1 Servomotor Capacity Selection
Page 580 and 581: 11.2 Connection to Host Controller1
Page 590 and 591: 11.3 List of Parameters11.3.2 List
Page 592 and 593: 11.3 List of ParametersParameterNo.
Page 606 and 607: 11.3 List of Parameters11.3.3 Monit
Page 608 and 609: 11.4 Parameter Recording TableParam
Page 610 and 611: IndexINDEXAabsolute encoder battery
Page 612 and 613: IndexRrack-mounted type - - - - - -
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IndexWWARN- - - - - - - - - - - - -
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Series SGMH/SGDHUSER'S MANUALIRUMA
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