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

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11.1 Servomotor Capacity Selection Examples(c) SERVOPACKs with Capacities of 6.0 kW or MoreSERVOPACKs with capacities of 6.0 kW or more do not have built-in regenerative resistors. The followingtable shows the allowable regenerative frequencies when the JUSP-RA04 or JUSP-RA05 regenerative resistoris used together with an applicable SERVOPACK.The servomotor driven conditions and the conversion equation of the allowable regenerative frequencies tothe rotation speed and load moment of inertia are the same as the (b) SERVOPACKs with Capacities of 500 Wto 5.0 kW.Voltage <strong>Series</strong> Allowable Frequencies in Regenerative Mode (times/min)Capacity 55 75 1A 1ESymbol200 V SGMGH-AA 26 36 36 32SGMGH-AB 44 − − −400 V SGMGH-D 26 18 36 32(2) Calculating the Regenerative EnergyThis section shows the procedure for calculating the regenerative resistor capacity when acceleration and decelerationoperation is as shown in the following diagram.N M : Motor rotation speedRotation speed0Motor torqueT L : Load torquet D0TRegenerativetorque1111-9
11 Appendix11.1.3 Calculating the Required Capacity of Regenerative Resistors(a) Calculation ProcedureThe procedure for calculating the regenerative capacity is as follows:Step Item Symbol Equation1 Calculate the rotational energy of the servomotor.E S ES = JN 2 M /1822 Calculate the energy consumed by load loss E L E L = (π/60) N M T L t Dduring the deceleration period.3 Calculate the energy lost from servomotorwinding resistance.E M (Value calculated from “(b) ServomotorWinding Resistance Loss”diagrams) × t D4 Calculate the SERVOPACK energy that canbe absorbed.5 Calculate the energy consumed by the regenerativeresistor.6 Calculate the required regenerative resistorcapacity (W).E C Calculate from “(3) SERVO-PACK’s Absorbable Energy” diagrams.E K E K = E S − (E L +E M +E C )W K W K = E K / (0.2 × T)Note: 1. The “0.2” in the equation for calculating W K is the value for when the regenerative resistor’sutilized load ratio is 20%.2. The units for the various symbols are as follows:E S to E K : Energy joules (J)T L : Load torque (N·m)W K : Regenerative resistor required capacity (W)t D : Deceleration stopping time (s)J: (= J M + J L )(kg·m 2 )T: Servomotor repeat operation period (s)N M : Servomotor rotation speed (min -1 )If the above calculation determines that the amount of regenerative power (Wk) processed by the built-inresistor is not exceeded, then an external regenerative resistor is not required.If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install anexternal regenerative resistor for the capacity obtained from the above calculation.If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using E L = 0.When the operation period in regeneration mode is continuous, add the following items to the above calculationprocedure in order to find the required capacity (W) for the regenerative resistor.• Energy for continuous regeneration mode operation period: E G (joules)• Energy consumed by regenerative resistor: E K = E S - (E L + E M + E C ) + E G• Required capacity of regenerative resistor: W K = E K / (0.2 × T)Here, E G = (2π/60) N MG T G t G• t G : Same operation period (s) as above• T G : Servomotor’s generated torque (N·m) in continuous regeneration mode operation period• N MG : Servomotor rotation speed (min -1 ) for same operation period as above11-10
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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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7.4 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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Page 542 and 543: 10 Inspection, Maintenance, and Tro
Page 564 and 565: 11Appendix11.1 Servomotor Capacity
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
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Page 610 and 611: IndexINDEXAabsolute encoder battery
Page 612 and 613: IndexRrack-mounted type - - - - - -
Page 614 and 615: IndexWWARN- - - - - - - - - - - - -
Page 616: Series SGMH/SGDHUSER'S MANUALIRUMA
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Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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