Sigma II Series Servo SystemUsers Manual

YASKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YASKAWA products remain the responsibility of the equipment designer or end user. YASKAWA accepts no responsibility for the way its products are incorporated into the final system design.

Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that parts safe use and operation. Any warnings provided by YASKAWA must be promptly provided to the end user.

YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YASKAWAs manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

WARNING

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Safety Information

The following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the corresponding level of hazard inherent to each.Failure to follow precautions provided in this manual can result in serious, possibly even fatal, injury, and/or damage to the persons, products, or related equipment and systems.

WARNING: Indicates a potentially hazardous situation, which, if not heeded, could result in death or serious injury.

CAUTION: Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate injury.

WARNING

CAUTION

Copyright 2002, Yaskawa Electric CorporationAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in anyform, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover,because Yaskawa is constantly 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.

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Sigma II Users Manual Table of Contents/Preface

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 servo amplifier 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 a class 3 ground (100 or less).Improper grounding may result in electric shock or fire.

Required for 7.5kW amplifiers: Use of Yaskawa kit Number JZSP-CKT75 for wiring the power input and output terminals, or equivalent UL listed closed-loop ring terminals designed to accept 4 AWG wires.

Required for 200V, 11kW and 15kW amplifiers: Use of Yaskawa kit number JZSP-CKT75 for wiring the power input and output terminals of the SGDH-1AAE, and JZSP-CKT1E for the SGDH-1EAE, or equivalent UL listed closed-loop ring terminal to accept 4 AWG and 2 AWG wires respectively.

Required for 400V, 6.0kW and 7.5kW amplifiers: Use of Yaskawa kit Number JZSP-CKT75DE for wiring the power input and output terminals, or equivalent UL listed closed-loop ring terminals designed to accept 8 AWG wires.

Required for 400V, 11kW amplifiers: Use of Yaskawa kit Number JZSP-CKT1ADE for wiring the power input and output terminals, or equivalent UL listed closed-loop ring terminals designed to accept 8 AWG wires.

Required for 400V, 15kW amplifiers: Use of Yaskawa kit Number JZSP-CKT1EDE for wiring the power input and output terminals, or equivalent UL listed closed-loop ring terminals designed to accept 6 AWG wires.

CAUTION

CAUTION

WARNING

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Sigma II Users Manual Table of Contents/Preface

Operation

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.

Never touch any rotating motor parts while the motor is running.Doing so may result in injury.

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 malfunction.

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. Not doing so may result in burns due to high temperatures.

CAUTION

CAUTION

CAUTION

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Sigma II Users Manual Table of Contents/Preface

Maintenance and Inspection

General Precautions

Do not remove the panel cover while the power is ON.Doing so carries a risk of electric shock.

Do not touch terminals for five minutes after the power has been turned OFF.Residual voltage may cause electric shock.

Never touch the inside of the servo amplifier.Doing so may result in electric shock.

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

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.

WARNING

CAUTION

Note the following to ensure safe application:

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Sigma II Users Manual Table of Contents/Preface

Notes:

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Sigma II Users Manual Table of Contents/Preface

1. Checking Product and Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 11.1 Checking the Sigma II Series Products on Delivery. . . . . . . . . . . . . . . . . . . . . . . . 1 - 2

1.1.1 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 21.1.2 Direct-drive Motor Supporting Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 41.1.3 Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 6

1.2 Product Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 81.2.1 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 81.2.2 Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 9

2. Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 12.1 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2

2.1.1 Storage Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 22.1.2 Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 22.1.3 Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 32.1.4 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 32.1.5 Allowable Shaft Loads. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 42.1.6 Vibration Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 52.1.7 Vibration Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 62.1.8 Handling Oil and Water . .