Yaskawa LEGEND Digital Torque Amplifier Manuel d'utilisateur

LEGEND Digital Torque Amplifier SGDG User’s ManualUpon receipt of the product and prior to initial operation, read these instructions thoroughly, and

Table of Contents Output Phase Form... 45 PG Divider Setting...

1.1 Rotary Motor Type 11. Interpretation of Model Number1.1 Rotary Motor TypeSGMPH - 01 A A A 2 S D⑧ Brake/Oil Seal Specifications⑦ Shaft Specificatio

1.2 Linear Motor Type21.2 Linear Motor Type Motor Coils1.3 Core-less Type Motor CoilModelSGLGW-Max. Thrust(N)Cont. Thrust(N)External Dimensions (mm)

1.4 T-Type Iron Core 31.4 T-Type Iron Core Motor CoilType: SGLTW-20A □□□ A(P), SGLTW -35A □□□ A(P)Type: SGLTW-40A □□□ A(P), SGLTW -80A □□□ A(P)Mode

1.5 F-Type Iron Core41.5 F-Type Iron Core Motor CoilModelSGLFW-Max. Thrust(N)Cont. Thrust(N)External Dimensions (mm)Mass(kg)L W H20A090A(P) 86 25 91

1.6 Digital Torque Amplifier 51.6 Digital Torque AmplifierMaximum Capacity of Applied MotorNote: Keep the following in mind in SGDG digital torque amp

1.7 Serial Converter Unit61.7 Serial Converter UnitSerial Converter Unit Type Model ClassificationsModel Model Usage Scale Hall Sensor (Y/N?)JZDP-A003

1.7 Serial Converter Unit 7Serial Converter Units and Applied MotorsSerial Converter Unit Model JZDP-A00 □ - □□□Applied MotorSerial Converter Unit Mod

Notes:8

iSafety-Related SymbolsThe following symbols are used in this manual according to the safety-related content.Be sure to observe text annotated with t

2.1 Main Circuit Wiring 92. Wiring2.1 Main Circuit WiringHere we will show representative examples of main circuit wiring, the functions of the main c

2.1 Main Circuit Wiring10B1, B2 or B1, B2, B3External Regen Resistor Connection Terminal100W/400WConnection not normally needed.Connect an external

2.1 Main Circuit Wiring 11 CONTROLPOWERINDICATORMAINPOWERINDICATOROPTION BOARDCONNECTORSTATUSINDICATORENCODER CONNECTORCN2CONTROLPOWERTERMINALMAINPOWE

2.1 Main Circuit Wiring12 Example of Typical Main Circuit WiringA typical wiring example is shown in the figure below.Figure A Main Circuit Wiring Ex

2.1 Main Circuit Wiring 13 Power ON Sequence DesignKeep the following in mind when designing a Power ON Sequence.• Design the power feed sequence so

2.1 Main Circuit Wiring14Connection Method1. Strip the insulation of the power lines used.2. Open the terminal block wiring insertion area with a tool

2.1 Main Circuit Wiring 15 Peripheral Device Types and CapacitiesTable 2.3 Shows Servopack device Types and capacities. ＊ The FN □□□□ noise filter is

2.2 Input Signals162.2 Input Signals Example of I/O Signal Connection• A typical example of I/O signal connection is shown below.L1UVWL2L1CL2CCN1-26C

2.2 Input Signals 17 Connector (CN1) Terminal Array ListThe CN1 terminal array and its specifications are shown below.CN1 Terminal LayoutNote 1 Do no

2.2 Input Signals18 I/O Signal Names and Their FunctionsThe names and functions of the digital torque amplifier I/O signals are shown below.Input Sig

iiIcon DisplayThe following icons were designed so as to aid in understanding the type of descriptive content. The icons are displayed where needed t

2.2 Input Signals 19Reserved1Open Terminal(Note) Do not use empty terminals for relays, etc.589111216171830313236Output Signals (Continued)Signal Name

2.2 Input Signals20 Interface CircuitAn example is given below of connection of the digital torque amplifier I/O signals to an upper level device. C

2.2 Input Signals 21 Output Circuits and InterfacesThe output signal circuits of the digital torque amplifier are of the three types shown below. Con

2.3 Wiring to the Encoder222.3 Wiring to the EncoderThe wiring of the digital torque amplifier to the encoder is described here. Connection to Encode

2.3 Wiring to the Encoder 23 Encoder Connector (CN2) Terminal Array and ModelsThe CN2 terminal arrays and models are shown below.CN2 ConnectorsNote:

2.4 Cable Specifications and Peripheral Devices242.4 Cable Specifications and Peripheral DevicesRatings and specifications for peripheral devices, as

2.4 Cable Specifications and Peripheral Devices 25The following table shows types of cables. It is used in conjunction with the preceding tables.The

2.5 Standard Connection Examples262.5 Standard Connection Examples Single-phase Power Specification (SGDG-01GT, SGDG-04GT)L1UVWL2L1CL2CCN1-26CN1-27 C

2.5 Standard Connection Examples 27 3-Phase Power Specification (SGDG-10GT, SGDG-15GT)L1UL2VWL3L1CL2CCN1-26CN1-27 CN1-13CN1-34ALM+/Ｓ-ＯＮ CN1-14CN1-35A

Notes:28

iiiOutline of Manual Thank you for purchasing the LEGEND Digital torque amplifier.  Use this product with a full understanding of conditions such a

3.1 Linear Motor Mounting 293. Setup3.1 Linear Motor Mounting Motor Mounting and Encoder MountingMount so that the motor forward direction matches th

3.2 Rotary Motor Mounting30Before MountingThe shaft end is treated with a rust-preventative agent. Before mounting the motor, wipe off this rust-preve

3.2 Rotary Motor Mounting 31 AlignmentUpon mating to the machine, make sure the motor shaft core and the machine shaft core are coupled in a straight

3.2 Rotary Motor Mounting32 Oil and Water CountermeasuresIt is possible to take protective measures for motor operation in areas where water or oil m

3.2 Rotary Motor Mounting 33 Vibration ResistanceMount the servomotor with the shaft positioned horizontally. The servomotor will withstand the foll

3.3 Digital Torque Amplifier Installation343.3 Digital Torque Amplifier InstallationThe SGDG digital torque amplifier is a base-mounted digital torque

3.3 Digital Torque Amplifier Installation 35Control Panel Environmental Conditions• Digital Torque Amplifier Ambient Temperature: 0~55°C• Humidity: 90

3.3 Digital Torque Amplifier Installation36Digital Torque Amplifier Mounting StandardsObserve the standards for mounting into a control panel shown in

3.4 Switch Settings 373.4 Switch Settings SW1 Function Selection Switch (dip switches) SW2 Linear Scale Pitch Setting (rotary switch)＊ The default s

3.4 Switch Settings38 SW3 PG Divider Setting (rotary switch) For a 13-bit Rotary Motor Setting PG Divider Setting** Setting PG Divider Setting**0* 81

ivSafety NotesIn this manual, we will describe important cautionary items which should always be observed regarding usage, inspection upon receipt of

3.5 Combinations 393.5 CombinationsDigital Torque amplifier and motor combinations are shown below. Combinations with Rotary MotorsSGMAHDigital Torqu

3.5 Combinations40 Linear Motor Combinations Serial Conversion Unit and Applicable MotorsSGMSHDigital Torque Amplifier ModelCompatible Motor ModelsS

4.1 Torque/Force Control 414. Description of Functions4.1 Torque/Force ControlThis is the torque/force control-dedicated mode.This control mode inputs

4.2 Protection Sequence Design42Be sure to configure the external circuit so that the main power to the digital torque amplifier goes OFF at alarm out

4.2 Protection Sequence Design 43 DB OFF InputSequence Input Signal: The basic connection and handling method for the (DB OFF) signal is shown below.

4.3 Encoder Signal Output444.3 Encoder Signal OutputThe output signal following division within the digital torque amplifier of the encoder output1 ca

4.3 Encoder Signal Output 45 I/O SignalsThe details on the output signal are as follows:The divided encoder signal is output.The division ratio is s

4.3 Encoder Signal Output46 PG Divider SettingSet the pulse division ratio by the following switches.Set the number of output pulses output by the en

4.4 Analog Monitor 474.4 Analog MonitorThe following signals can be monitored in the analog voltage form.The analog monitor output voltage is 8VDC (Ma

4.5 Regenerative Resistor Selection48 External Regen Resistors(1) If the power resistor is used at the rated load rate, resistor temperatures will re

v Operation Maintenance/Inspection• Do not connect a three-phase power supply to the digital torque amplifier output terminals U, V, and W.Doing so

4.5 Regenerative Resistor Selection 49Regenerative Unit SpecificationsSGDG-04GTThe SGDG-04GT has terminals for connecting an external regen resistor o

4.5 Regenerative Resistor Selection50Connecting the JUSP-RG08D to the SGDG-01GT/SGDG-04GTa) A regenerative unit has the following fault detection func

4.5 Regenerative Resistor Selection 51 For Digital Torque Amplifiers of 500W Capacity or MoreOpen terminals B2-B3 on the digital torque amplifier (re

Notes:52

5.1 Motor Inspection 535. Servo System Maintenance/Inspection5.1 Motor InspectionThe procedures for simple daily maintenance of the servomotor are sho

5.2 Digital Torque Amplifier Inspection545.2 Digital Torque Amplifier InspectionDigital torque amplifier inspection is summarized in the table below.

5.3 Alarms 555.3 AlarmsPOWER ON: Green LED turns ON at control power ON.CHARGE LED: Red LED turns ON at main circuit power ON. 7-Segment LED Alarm L

5.3 Alarms56＊ Reset at S–ON signal ON.# LED will blink at warning before alarm.Encoder Communication ErrorCommunication error between encoder and dig

Appendix A: Host Controller Connection Examples 57Appendix A:Host Controller Connection ExamplesThis appendix provides examples of SGDG digital torque

Appendix A: Host Controller Connection Examples58A.2 Connecting the Delta Tau PMAC2 SGDG, CN13CMD-IN4GND20PAO21PAO22P

vi General Cautionary Items Warning LabelCautionary Items Regarding Usage• The figures contained in this manual may, for purposes of detailed expla

Appendix A: Host Controller Connection Examples 59A.3 Connecting the MEI PCX/DSPSGDG, CN13CMD-IN4GND20PAO21PAO22PBO23PBO24PCO25PCO26SV ON5+/-10V Analo

Appendix A: Host Controller Connection Examples60A.4 Connecting the Acroloop ACR-8010SGDG, CN13CMD-IN4GND20PAO21PAO22PBO23PBO24PCO25PCO26SV ON5ASIG-xA

Appendix B: Installation Conditions for EMC Directives 61Appendix B: Installation Conditions for EMC DirectivesThe following conditions must be satis

Appendix B: Installation Conditions for EMC Directives62 SGDG-01GTSGDG-04GTSGDG-04GTNoiseFilterControllerClampClampCoreCoreCoreClampMotorEncoderPower

Appendix B: Installation Conditions for EMC Directives 63SGDG-10GTSGDG-15GTController cableSGDG-15GTNoiseFilterControllerClampClampCoreCoreCoreClampMo

Appendix B: Installation Conditions for EMC Directives64 Cable Core and Cable Clamp The Cable CoreAttach the core on the cable as shown below: The t

Appendix B: Installation Conditions for EMC Directives 65 Noise Filter for Brake Power SupplyFN2070-6/07 (Made by Schaffner) for servomotors of 0.4kW

Notes:66

INDEXAAcroloop ACR-8010 ... 60Alarms7-Segment LED... 55Analog Monitor...

GGalil IMC-1900/2900 ... 57IInput CircuitsCommand... 20Sequence...

Table of ContentsSafety-Related Symbols ... iIcon Display ...

ServomotorInspection... 53Comprehensive ... 53External ...

ASKAWA ELECTRIC UK LTD.1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United KingdomPhone: 44-12-3673-5000 Fax: 44-12-3645-8182MOTOMAN ROBOTICS

Table of Contents Example of I/O Signal Connection .............. 16 Connector (CN1) Terminal Array List...