Document Outline

• Front Cover
• 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 Servomotors
    • 1.1.3 SERVOPACKs
  • 1.2 Product Part Names
    • 1.2.1 Servomotors Without Gears and Brakes
    • 1.2.2 SERVOPACKs
  • 1.3 Examples of Servo System Configurations
  • 1.4 Applicable Standards
    • 1.4.1 North American Safety Standards (UL, CSA)
    • 1.4.2 CE Marking
• 2 Selections
  • 2.1 Servomotor Model Designations
    • 2.1.1 Model SGMMJ
    • 2.1.2 Model SGMAJ
  • 2.2 SERVOPACK Model Designations
  • 2.3 SGDJ SERVOPACKs and Applicable Servomotors
  • 2.4 Selecting Cables
  • 2.5 Selecting Peripheral Devices
    • 2.5.1 Special Options
    • 2.5.2 Molded-case Circuit Breaker and Fuse Capacity
    • 2.5.3 AC/DC Power Supply and Power Supply Input Capacitor
    • 2.5.4 Noise Filters, Surge Suppressors, Magnetic Conductors, and Brake Power Supply
• 3 Specifications and Dimensional Drawings
  • 3.1 Ratings and Specifications of SGMMJ (3000 min-1)
    • 3.1.1 SGMMJ Servomotors Without Gears
    • 3.1.2 SGMMJ Servomotors With Standard Backlash Gears
  • 3.2 Ratings and Specifications of SGMAJ (3000min-1)
    • 3.2.1 SGMAJ Servomotors Without Gears
    • 3.2.2 SGMAJ Servomotors With Standard Backlash Gears
    • 3.2.3 SGMAJ Servomotors With Low-backlash Gears
  • 3.3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors
    • 3.3.1 Precautions on Servomotor Installation
    • 3.3.2 Mechanical Characteristics of SGMMJ Servomotors
    • 3.3.3 Mechanical Characteristics of SGMAJ Servomotors
  • 3.4 Terms and Data for Servomotors With Gears
  • 3.5 Dimensional Drawings of SGMMJ Servomotors (3000min-1)
    • 3.5.1 SGMMJ Servomotors (3000min-1) Standard and Without Brakes
    • 3.5.2 SGMMJ Servomotors (3000min-1) Standard and With Brakes
    • 3.5.3 SGMMJ Servomotor (3000min-1) With Gears and Without Brakes
    • 3.5.4 SGMMJ Servomotors (3000min-1) With Gears and Brakes
  • 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)
    • 3.6.1 SGMAJ Servomotors (3000 min-1) Without Gears
    • 3.6.2 SGMAJ Servomotors (3000 min-1) Without Gears and With Brakes
    • 3.6.3 SGMAJ Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes
    • 3.6.4 SGMAJ Servomotors (3000 min-1) With Standard Backlash Gears and Brakes
    • 3.6.5 SGMAJ Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes
  • 3.7 Dimensional Drawing of Output Shafts With Oil Seals
• 4 SERVOPACK Specifications and Dimensional Drawings
  • 4.1 SERVOPACK Ratings and Specifications
    • 4.1.1 SERVOPACK Ratings and Specifications 1
    • 4.1.2 SERVOPACK Ratings and Specifications 2
  • 4.2 SERVOPACK Installation
  • 4.3 SERVOPACK Internal Block Diagrams
    • 4.3.1 Speed and Torque Control (SGDJ-***S)
    • 4.3.2 Position Control (SGDJ-***P)
  • 4.4 SERVOPACK’s Power Supply Capacities and Power Losses
  • 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia
    • 4.5.1 Overload Characteristics
    • 4.5.2 Starting and Stopping Time
    • 4.5.3 Load Moment of Inertia
    • 4.5.4 Overhanging Loads
  • 4.6 Dimensional Drawings
    • 4.6.1 24 VDC: 10/50 W (A1C*/A5C*) 48 VDC: 50 W to 200 W (A5E* to 02E*)
    • 4.6.2 24 VDC: 80 W (A8C*) 48 VDC: 300 W (03E*)
• 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
  • 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable
    • 5.1.1 Cables for SGMMJ and SGMAJ Servomotors Without Brakes
    • 5.1.2 Cables for SGMMJ and SGMAJ Servomotors With Brakes
  • 5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors
    • 5.2.1 Wire Size
    • 5.2.2 SGMMJ Servomotor Connectors for Standard Environments
    • 5.2.3 SGMAJ Servomotor Connectors for Standard Environments
  • 5.3 Encoder Cables for CN4 Connector
    • 5.3.1 Encoder Cable With Connectors
    • 5.3.2 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads
  • 5.4 Connectors and Cables for Encoder Signals
    • 5.4.1 Connectors and Cables
  • 5.5 I/O Signal Cables for CN1 Connector
    • 5.5.1 Standard Cables
    • 5.5.2 Connector Type and Cable Size
    • 5.5.3 Connection Diagram
  • 5.6 Peripheral Devices
    • 5.6.1 Cables for Connecting Personal Computers
    • 5.6.2 Digital Operator
    • 5.6.3 Cables for Analog Monitor
    • 5.6.4 Connector Terminal Block Converter Unit
    • 5.6.5 Noise Filter
    • 5.6.6 Surge Suppressor
    • 5.6.7 Variable Resistor for Speed and Torque Setting
    • 5.6.8 Encoder Signal Converter Unit
• 6 Wiring
  • 6.1 Wiring Main Circuit
    • 6.1.1 Names and Functions of Main Circuit Terminals
    • 6.1.2 Wiring Main Circuit Power Supply Connector
    • 6.1.3 Typical Main Circuit Wiring Examples
  • 6.2 Wiring Encoders
    • 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
    • 6.2.2 Encoder Connector (CN2) Terminal Layout
  • 6.3 Examples of I/O Signal Connections
    • 6.3.1 SGDJ-***S for Speed Control Mode
    • 6.3.2 SGDJ-***P for Position Control Mode
    • 6.3.3 SGDJ-***S for Torque Control Mode
    • 6.3.4 I/O Signal Connector (CN1) Terminal Layout
    • 6.3.5 I/O Signal (CN1) Names and Functions
    • 6.3.6 Interface Circuit
  • 6.4 Others
    • 6.4.1 Wiring Precautions
    • 6.4.2 Wiring for Noise Control
    • 6.4.3 Installation Conditions of EMC Directives
    • 6.4.4 Using More Than One SERVOPACK
    • 6.4.5 Extending Encoder Cables
• 7 Digital Operator
  • 7.1 Functions on Digital Operator
    • 7.1.1 Connecting the Digital Operator
    • 7.1.2 Key Names and Functions
    • 7.1.3 Basic Mode Selection and Operation
    • 7.1.4 Status Display
  • 7.2 Operation in Utility Function Mode (Fn***)
    • 7.2.1 List of Utility Function Modes
    • 7.2.2 Alarm Traceback Data Display (Fn000)
    • 7.2.3 Zero-point Search Mode (Fn003)
    • 7.2.4 Parameter Settings Initialization (Fn005)
    • 7.2.5 Alarm Traceback Data Clear (Fn006)
    • 7.2.6 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)
    • 7.2.7 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F)
    • 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010)
    • 7.2.9 Motor Models Display (Fn011)
    • 7.2.10 Software Version Display (Fn012)
  • 7.3 Operation in Parameter Setting Mode (Pn***)
    • 7.3.1 Setting Parameters
    • 7.3.2 Input Circuit Signal Allocation
    • 7.3.3 Output Circuit Signal Allocation
  • 7.4 Operation in Monitor Mode (Un***)
    • 7.4.1 List of Monitor Modes
• 8 Operation
  • 8.1 Trial Operation
    • 8.1.1 Trial Operation for Servomotor without Load
    • 8.1.2 Trial Operation for Servomotor without Load from Host Reference
    • 8.1.3 Trial Operation with the Servomotor Connected to the Machine
    • 8.1.4 Servomotor with Brakes
    • 8.1.5 Position Control by Host Controller
  • 8.2 Control Mode Selection
  • 8.3 Setting Common Basic Functions
    • 8.3.1 Setting the Servo ON Signal
    • 8.3.2 Switching the Servomotor Rotation Direction
    • 8.3.3 Setting the Overtravel Limit Function
    • 8.3.4 Setting for Holding Brakes
    • 8.3.5 Selecting the Stopping Method After Servo OFF
    • 8.3.6 Instantaneous Power Loss Settings
  • 8.4 Absolute Encoders
    • 8.4.1 Interface Circuits
    • 8.4.2 Selecting an Absolute Encoder
    • 8.4.3 Handling Batteries
    • 8.4.4 Replacing Batteries
    • 8.4.5 Absolute Encoder Setup (Fn008)
    • 8.4.6 Absolute Encoder Reception Sequence
    • 8.4.7 Multiturn Limit Setting
    • 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred
  • 8.5 Operating Using Speed Control with Analog Reference
    • 8.5.1 Setting Parameters
    • 8.5.2 Setting Input Signals
    • 8.5.3 Adjusting Offset
    • 8.5.4 Soft Start
    • 8.5.5 Speed Reference Filter
    • 8.5.6 Using the Zero Clamp Function
    • 8.5.7 Encoder Signal Output
    • 8.5.8 Speed Coincidence Output
  • 8.6 Operating Using Position Control
    • 8.6.1 Setting Parameters
    • 8.6.2 Setting the Electronic Gear
    • 8.6.3 Position Reference
    • 8.6.4 Smoothing
    • 8.6.5 Positioning Completed Output Signal
    • 8.6.6 Positioning Near Signal
    • 8.6.7 Reference Pulse Inhibit Function (INHIBIT)
  • 8.7 Operating Using Torque Control
    • 8.7.1 Setting Parameters
    • 8.7.2 Torque Reference Input
    • 8.7.3 Adjusting the Reference Offset
    • 8.7.4 Limiting Servomotor Speed during Torque Control
  • 8.8 Operating Using Speed Control with an Internally Set Speed
    • 8.8.1 Setting Parameters
    • 8.8.2 Input Signal Settings
    • 8.8.3 Operating Using an Internally Set Speed
  • 8.9 Limiting Torque
    • 8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)
    • 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
    • 8.9.3 Torque Limiting Using an Analog Voltage Reference
    • 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
    • 8.9.5 Checking Output Torque Limiting during Operation
  • 8.10 Control Mode Selection
    • 8.10.1 Setting Parameters
    • 8.10.2 Switching the Control Mode
  • 8.11 Other Output Signals
    • 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
    • 8.11.2 Warning Output (/WARN)
    • 8.11.3 Running Output Signal (/TGON)
    • 8.11.4 Servo Ready (/S-RDY) Output
• 9 Adjustments
  • 9.1 Autotuning
    • 9.1.1 Servo Gain Adjustment Methods
    • 9.1.2 List of Servo Adjustment Functions
  • 9.2 Online Autotuning
    • 9.2.1 Online Autotuning
    • 9.2.2 Online Autotuning Procedure
    • 9.2.3 Selecting the Online Autotuning Execution Method
    • 9.2.4 Machine Rigidity Setting for Online Autotuning
    • 9.2.5 Method for Changing the Machine Rigidity Setting
    • 9.2.6 Saving the Results of Online Autotuning
    • 9.2.7 Procedure for Saving the Results of Online Autotuning
  • 9.3 Manual Tuning
    • 9.3.1 Explanation of Servo Gain
    • 9.3.2 Servo Gain Manual Tuning
    • 9.3.3 Position Loop Gain
    • 9.3.4 Speed Loop Gain
    • 9.3.5 Speed Loop Integral Time Constant
  • 9.4 Servo Gain Adjustment Functions
    • 9.4.1 Feed-forward Reference
    • 9.4.2 Torque Feed-forward
    • 9.4.3 Proportional Control Operation (Proportional Operation Reference)
    • 9.4.4 Using the Mode Switch (P/PI Switching)
    • 9.4.5 Setting the Speed Bias
    • 9.4.6 Speed Feedback Filter
    • 9.4.7 Speed Feedback Compensation
    • 9.4.8 Switching Gain Settings
    • 9.4.9 Torque Reference Filter
  • 9.5 Analog Monitor
    • 9.5.1 Related Parameters
    • 9.5.2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)
• 10 Inspection, Maintenance, and
  • 10.1 Troubleshooting
    • 10.1.1 Alarm Display Table
    • 10.1.2 Warning Display
    • 10.1.3 Troubleshooting of Alarm and Warning
    • 10.1.4 Troubleshooting for Malfunction without Alarm Display
  • 10.2 Inspection and Maintenance
    • 10.2.1 Servomotor Inspection
    • 10.2.2 SERVOPACK Inspection
    • 10.2.3 SERVOPACK’s Parts Replacement Schedule
  • 10.3 Connection to Host Controller Troubleshooting
    • 10.3.1 Example of Connection to MP920 4-axes Analog Module SVA-01
    • 10.3.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)
    • 10.3.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20
    • 10.3.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode)
    • 10.3.5 Example of Connection to OMRON’s Motion Control Unit
    • 10.3.6 Example of Connection to OMRON’s Position Control Unit
    • 10.3.7 Example of Connection to OMRON’s Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)
    • 10.3.8 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)
    • 10.3.9 Example of Connection to MITSUBISHI’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)
    • 10.3.10 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)
  • 10.4 List of Parameters
    • 10.4.1 Utility Functions List
    • 10.4.2 List of Parameters
    • 10.4.3 Monitor Modes
• INDEX
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W
  • Z
• Revision History
• Back Cover