Document Outline

• About this Manual
• Related Manuals
• Safety Information
• Notes for Safe Operation
• CONTENTS
• 1 Outline
  • 1.1 Checking Products
    • 1.1.1 Check Items
    • 1.1.2 Linear Servomotors
    • 1.1.3 SERVOPACKs
    • 1.1.4 Serial Converter Units
  • 1.2 Product Part Names
    • 1.2.1 Linear Servomotors
    • 1.2.2 SERVOPACKs
  • 1.3 Examples of Servo System Configurations
    • 1.3.1 Single-phase, 200 V Main Circuit
    • 1.3.2 Three-phase, 200 V Main Circuit
    • 1.3.3 Three-phase, 400 V Main Circuit
  • 1.4 Applicable Standards
    • 1.4.1 North American Safety Standards (UL, CSA)
    • 1.4.2 CE Marking
• 2 Selections
  • 2.1 Linear Servomotor Model Designation
    • 2.1.1 Coil Assembly
    • 2.1.2 Magnetic Way
  • 2.2 SERVOPACK Model Designation
  • 2.3 S-II Series SERVOPACKs and Applicable Linear Servomotors
  • 2.4 Serial Converter Units Models
  • 2.5 Selecting Cables
  • 2.6 Selecting Peripheral Devices
    • 2.6.1 Special Options
    • 2.6.2 Molded-case Circuit Breaker and Fuse Capacity
    • 2.6.3 Noise Filters and DC Reactors
    • 2.6.4 Regenerative Resistors
    • 2.6.5 Linear Scales
• 3 Specifications and Dimensional Drawings
  • 3.1 Ratings and Specifications of SGLGW/SGLGM
  • 3.2 Ratings and Specifications of SGLFW/SGLFM
  • 3.3 Ratings and Specifications of SGLTW/SGLTM
  • 3.4 Mechanical Specifications of Linear Servomotors
  • 3.5 Quick Guide to Linear Servomotor Dimensional Drawings
  • 3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors
    • 3.6.1 SGLGo-30 Linear Servomotors
    • 3.6.2 SGLGo-40 Linear Servomotors
    • 3.6.3 SGLGo-60 Linear Servomotors
    • 3.6.4 SGLGo-90 Linear Servomotors
  • 3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors
    • 3.7.1 SGLFo-20 Linear Servomotors
    • 3.7.2 SGLFo-35 Linear Servomotors
    • 3.7.3 SGLFo-50 Linear Servomotors
    • 3.7.4 SGLFo-1Z Linear Servomotors
  • 3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors
    • 3.8.1 SGLTo-20 Linear Servomotors
    • 3.8.2 SGLTo-35ooooAo Linear Servomotors
    • 3.8.3 SGLTo-35ooooHo Linear Servomotors
    • 3.8.4 SGLTo-40 Linear Servomotors
    • 3.8.5 SGLTo-50 Linear Servomotors
    • 3.8.6 SGLTo-80 Linear Servomotors
• 4 SERVOPACK Specifications and Dimensional Drawings
  • 4.1 SERVOPACK Ratings and Specifications
    • 4.1.1 Single-phase/Three-phase 200 V
    • 4.1.2 Three-phase 400 V
    • 4.1.3 SERVOPACK Ratings and Specifications
  • 4.2 SERVOPACK Installation
  • 4.3 SERVOPACK Internal Block Diagrams
    • 4.3.1 Single-phase 200 V, 50 W to 400 W Models
    • 4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models
    • 4.3.3 Three-phase 200 V, 2.0 kW to 5.0 kW Models
    • 4.3.4 Three-phase 200 V, 7.5 kW Models
    • 4.3.5 Three-phase 400 V, 500 W to 3.0 kW Models
    • 4.3.6 Three-phase 400 V, 5.0 kW Model
    • 4.3.7 Three-phase 400 V, 7.5 kW Models
  • 4.4 SERVOPACK’s Power Supply Capacities and Power Losses
  • 4.5 SERVOPACK Overload Characteristics and Allowable Load Mass
    • 4.5.1 Overload Characteristics
    • 4.5.2 Starting Time and Stopping Time
  • 4.6 SERVOPACK Dimensional Drawings
  • 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model
    • 4.7.1 Single-phase 200 V: 50 W/100 W/200 W (A5AE/01AE/02AE)
    • 4.7.2 Single-phase 200 V: 400 W (04AE)
    • 4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AE/08AE/10AE)
    • 4.7.4 Three-phase 200 V: 1.5 kW (15AE) Three-phase 400 V: 500 W/750 W/1.0 kW/1.5 kW (05DE/08DE/10DE/15DE)
    • 4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AE/30AE) Three-phase 400 V: 2.0 kW/3.0 kW (20DE/30DE)
    • 4.7.6 Three-phase 200 V: 5.0 kW (50AE) Three-phase 400 V: 5.0 kW (50DE)
    • 4.7.7 Three-phase 200 V: 7.5 kW (75AE)
    • 4.7.8 Three-phase 400 V: 7.5 kW (75DE)
• 5 Specifications and Dimensional Drawings of Serial Converter Unit
  • 5.1 Serial Converter Unit Specifications
  • 5.2 Analog Signal Input Timing
  • 5.3 Dimensional Drawings of Serial Converter Unit
    • 5.3.1 Linear Scale with Cable for Hall Sensor by Heidenhain
    • 5.3.2 Linear Scale with Cable for Hall Sensor by Renishaw
• 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices
  • 6.1 Linear Servomotor Main Circuit Cables
  • 6.2 Cables for Connecting Serial Converter Units
  • 6.3 Cables for Connecting Linear Scales
  • 6.4 Cables for Connecting Hall Sensors
  • 6.5 Flexible Cables
  • 6.6 SERVOPACK Main Circuit Wire Size
    • 6.6.1 Cable Types
    • 6.6.2 Single-phase 200 V
    • 6.6.3 Three-phase 200 V
    • 6.6.4 Three-phase 400 V
  • 6.7 I/O Signal Cables for CN1 Connector
    • 6.7.1 Standard Cables
    • 6.7.2 Connector Type and Cable Size
    • 6.7.3 Connection Diagram
  • 6.8 Peripheral Devices
    • 6.8.1 Cables for Connecting Personal Computers
    • 6.8.2 Digital Operator
    • 6.8.3 Cables for Analog Monitor
    • 6.8.4 Connector Terminal Block Converter Unit
    • 6.8.5 External Regenerative Resistor
    • 6.8.6 Regenerative Resistor
    • 6.8.7 Molded-case Circuit Breaker (MCCB)
    • 6.8.8 Noise Filter
    • 6.8.9 DC Reactor for Harmonic Suppression
    • 6.8.10 MECHATROLINK application module
    • 6.8.11 DeviceNet application module
    • 6.8.12 PROFIBUS-DP application module
    • 6.8.13 INDEXER application module
• 7 Wiring
  • 7.1 Linear Servomotor Installation
    • 7.1.1 Introduction
    • 7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)
    • 7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core)
    • 7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)
  • 7.2 Wiring Main Circuit
    • 7.2.1 Names and Functions of Main Circuit Terminals
    • 7.2.2 Wiring Main Circuit Power Supply Connector (Spring Type)
    • 7.2.3 Typical Main Circuit Wiring Examples
  • 7.3 Wiring Encoders
    • 7.3.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK
    • 7.3.2 Encoder Connector (CN2) Terminal Layout
  • 7.4 Examples of I/O Signal Connections
    • 7.4.1 Speed Control Mode
    • 7.4.2 Position Control Mode
    • 7.4.3 Force Control Mode
    • 7.4.4 I/O Signal Connector (CN1) Terminal Layout
    • 7.4.5 I/O Signal (CN1) Names and Functions
    • 7.4.6 Interface Circuit
  • 7.5 Others
    • 7.5.1 Wiring Precautions
    • 7.5.2 Wiring for Noise Control
    • 7.5.3 Using More Than One SERVOPACK
    • 7.5.4 Operating Conditions on 400-V Power Supply Voltage
    • 7.5.5 DC Reactor for Harmonic Suppression
  • 7.6 Connecting Regenerative Resistors
    • 7.6.1 Regenerative Power and Regenerative Resistance
    • 7.6.2 Connecting External Regenerative Resistors
• 8 Digital Operator/Panel Operator
  • 8.1 Functions on Digital Operator/Panel Operator
    • 8.1.1 Connecting the Digital Operator
    • 8.1.2 Key Names and Functions
    • 8.1.3 Basic Mode Selection and Operation
    • 8.1.4 Status Display
  • 8.2 Operation in Utility Function Mode (Fnooo)
    • 8.2.1 List of Utility Function Modes
    • 8.2.2 Alarm Traceback Data Display (Fn000)
    • 8.2.3 JOG Mode Operation (Fn002)
    • 8.2.4 Zero-point Search Mode (Fn003)
    • 8.2.5 Parameter Settings Initialization (Fn005)
    • 8.2.6 Alarm Traceback Data Clear (Fn006)
    • 8.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)
    • 8.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F)
    • 8.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010)
    • 8.2.10 Motor Models Display (Fn011)
    • 8.2.11 Software Version Display (Fn012)
    • 8.2.12 Application Module Detection Results Clear (Fn014)
  • 8.3 Operation in Parameter Setting Mode (Pnooo)
    • 8.3.1 Setting Parameters
    • 8.3.2 Input Circuit Signal Allocation
    • 8.3.3 Output Circuit Signal Allocation
  • 8.4 Operation in Monitor Mode (Unooo)
    • 8.4.1 List of Monitor Modes
    • 8.4.2 Sequence I/O Signal Monitor Display
    • 8.4.3 Operation in Monitor Mode
    • 8.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter
    • 8.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later)
    • 8.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)
• 9 Operation
  • 9.1 Trial Operation
  • 9.2 Trial Operation Using SERVOPACK Internal References
    • 9.2.1 SERVOPACK Setup Procedure
    • 9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors
    • 9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors
  • 9.3 Trial Operation for Linear Servomotor without Load from Host Reference
    • 9.3.1 Servo ON Command from the Host
    • 9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.oo0o)
    • 9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.oo1o)
  • 9.4 Trial Operation with the Linear Servomotor Connected to the Machine
  • 9.5 Control Mode Selection
  • 9.6 Setting Common Basic Functions
    • 9.6.1 Setting the Servo ON Signal
    • 9.6.2 Switching the Linear Servomotor Movement Direction
    • 9.6.3 Setting the Overtravel Limit Function
    • 9.6.4 Selecting the Stopping Method After Servo OFF
    • 9.6.5 Instantaneous Power Loss Settings
    • 9.6.6 Motor Maximum Speed (For the software version 32 or later)
  • 9.7 Operating Using Speed Control with Analog Reference
    • 9.7.1 Setting Parameters
    • 9.7.2 Setting Input Signals
    • 9.7.3 Adjusting Offset
    • 9.7.4 Soft Start
    • 9.7.5 Speed Reference Filter
    • 9.7.6 Using the Zero Clamp Function
    • 9.7.7 Encoder Signal Output
    • 9.7.8 Speed Coincidence Output
  • 9.8 Operating Using Position Control
    • 9.8.1 Setting Parameters
    • 9.8.2 Setting the Electronic Gear
    • 9.8.3 Position Reference
    • 9.8.4 Smoothing
    • 9.8.5 Positioning Completed Output Signal
    • 9.8.6 Positioning Near Signal
    • 9.8.7 Reference Pulse Inhibit Function (INHIBIT)
  • 9.9 Operating Using Force Control
    • 9.9.1 Setting Parameters
    • 9.9.2 Force Reference Input
    • 9.9.3 Adjusting the Force Reference Offset
    • 9.9.4 Limiting Linear Servomotor Speed during Force Control
  • 9.10 Operating Using Speed Control with an Internally Set Speed
    • 9.10.1 Setting Parameters
    • 9.10.2 Input Signal Settings
    • 9.10.3 Operating Using an Internally Set Speed
  • 9.11 Limiting Force
    • 9.11.1 Internal Force Limit (Limiting Maximum Output Force)
    • 9.11.2 External Force Limit (Output Force Limiting by Input Signals)
    • 9.11.3 Force Limiting Using an Analog Voltage Reference
    • 9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
    • 9.11.5 Checking Output Force Limiting during Operation
  • 9.12 Control Mode Selection
    • 9.12.1 Setting Parameters
    • 9.12.2 Switching the Control Mode
  • 9.13 Other Output Signals
    • 9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
    • 9.13.2 Warning Output (/WARN)
    • 9.13.3 Running Output Signal (/TGON)
    • 9.13.4 Servo Ready (/S-RDY) Output
• 10 Adjustments
  • 10.1 Autotuning
    • 10.1.1 Servo Gain Adjustment Methods
    • 10.1.2 List of Servo Adjustment Functions
  • 10.2 Online Autotuning
    • 10.2.1 Online Autotuning
    • 10.2.2 Online Autotuning Procedure
    • 10.2.3 Selecting the Online Autotuning Execution Method
    • 10.2.4 Machine Rigidity Setting for Online Autotuning
    • 10.2.5 Method for Changing the Machine Rigidity Setting
    • 10.2.6 Saving the Results of Online Autotuning
    • 10.2.7 Procedure for Saving the Results of Online Autotuning
  • 10.3 Manual Tuning
    • 10.3.1 Explanation of Servo Gain
    • 10.3.2 Servo Gain Manual Tuning
    • 10.3.3 Position Loop Gain
    • 10.3.4 Speed Loop Gain
    • 10.3.5 Speed Loop Integral Time Constant
  • 10.4 Servo Gain Adjustment Functions
    • 10.4.1 Feed-forward Reference
    • 10.4.2 Force Feed-forward
    • 10.4.3 Speed Feed-forward
    • 10.4.4 Proportional Control Operation (Proportional Operation Reference)
    • 10.4.5 Using the Mode Switch (P/PI Switching)
    • 10.4.6 Setting the Speed Bias
    • 10.4.7 Speed Feedback Filter
    • 10.4.8 Speed Feedback Compensation
    • 10.4.9 Switching Gain Settings
    • 10.4.10 Force Reference Filter
  • 10.5 Analog Monitor
• 11 Inspection, Maintenance, and Troubleshooting
  • 11.1 Troubleshooting
    • 11.1.1 Alarm Display Table
    • 11.1.2 Warning Display
    • 11.1.3 Alarm Display Table when the Application Module is Used
    • 11.1.4 Warning Display Table when the Application Module is Used
    • 11.1.5 Troubleshooting of Alarm and Warning
    • 11.1.6 Troubleshooting for Malfunction without Alarm Display
  • 11.2 Inspection and Maintenance
    • 11.2.1 Linear Servomotor Inspection
    • 11.2.2 SERVOPACK Inspection
    • 11.2.3 Parts Replacement Schedule
• 12 Appendix
  • 12.1 Linear Servomotor Capacity Selection Examples
  • 12.2 Calculating the Required Capacity of Regenerative Resistors
    • 12.2.1 Simple Calculation
    • 12.2.2 Calculating the Regenerative Energy
  • 12.3 Connection to Host Controller
    • 12.3.1 Example of Connection to MP2200/MP2300 2-axes Motion Module SVA-01
    • 12.3.2 Example of Connection to OMRON’s Motion Control Unit
    • 12.3.3 Example of Connection to OMRON’s Position Control Unit
    • 12.3.4 Example of Connection to OMRON’s Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)
    • 12.3.5 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)
    • 12.3.6 Example of Connection to Mitsubishi’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)
    • 12.3.7 Example of Connection to Mitsubishi’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)
  • 12.4 List of Parameters
    • 12.4.1 Utility Functions List
    • 12.4.2 List of Parameters
    • 12.4.3 Monitor Modes
  • 12.5 Parameter Recording Table
• INDEX
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W
  • Z