Yaskawa Reguladores Cacr Tse-s800-11.1e

8/18/2019 Yaskawa Reguladores Cacr Tse-s800-11.1e

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y A , C ; K A W A

A C S E R V O . D R IV E S

B U L L E T I N

A LL D IG IT A L , FO R S P E E D C O N TR O L

S E R V O M O T O R : T YP E S U S A M E D , U S A F E D , U S A G E D ,

US A D E D , US A S E M (W ith O p tica l E n cod e r)

S E R V O P A C K • T Y P E C A C R - S R E - - - _ B E I ' - _ _ _ _ - I

YASKAWA TSE-S800-11.1


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YAS

K

AWA all-digital AC Servo Drives provide mechatronics drives for

the m ost advanced FA and FM S including robots and m achine tools.

I

These drives are the resu lt of the m ost advanced servo drive m anufac-

turing technology available anywhere in the world .

For your m echatronics system s, take advantage of the flexib le

combination of our AC SE

R

VOMOTOR and SERVOPACK to achieve

quick response and sm ooth , pow erfu l opera tion even at low -speed

range.

FEATURES

•

Compact design and simple wiring

• S t a b le o p e r a t i o n w i t h a l l d i g i t a l c o n t r o l

(Stableadjustmentwith parameter) I

Ir a

• V e r s a t i l e F u n c t i o n s ( t o r q u e c o n t r o l , s o f t s t a r t , e t c )

• H i g h r e l i a b i l i t y

q

5 9 2 - 7 7

M Series F Series G Series S Series D Series . SERVOPACK


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CO NT E NT S

1, RATING

S AND SPECIFICA

T

IONS

/ 1

6.8 APPLICATION

/

5

7

1. 1 R A T IN GS A N D S PE C IF IC A T IO N S O F 6.9 MO T O R S PE E D A N D

M SERIES AC SERVOMOTORS

/ 1

TORQUE MEASUREMENT

/

59

1

.

2

RATINGS AND SPECIFICATIONS OF 7, USER CONSTANTS

I 62

F SERIES AC SERVOMOTORS 3

1.3 RATINGS AND SPECIFICATIONS OF 8, MONITOR PANEL OPERATION I 66

G SERIES AC SERVOMOTORS

/

5

8.1 SWITCH.OPERATION

/

66

1.4 RATINGS AND SPECIFICATIONS OF

S SERIES AC SERVOMOTORS / 7 8.2 FUNCTIONS OF MONITOR PANEL / 67

1.5 RATINGS AND SPECIFICATIONS OF 8.3 STATUS INDICATION MODE

/

6

8

D SERIES AC SERVOMOTORS 9 8.4 SETTING MODE / 69

1.6 RAT

I

NGS AND SPECIF

I

CA

TI

ONS OF

8.

5

M

O

NI

TOR MOD

E

I 85

SERVOPACK I 11 8.6 FA

U

LT TRACEBACK MODE I 87

2. TYPE DESIGNATION I 13 9. INSTALLATION AND WIRING I 89

3. LIST OF ST

A

ND

AR

D 9.1 RECEIVING I 89

C

O

MB

IN

A

TION I 15 9.2 INS

T

AL

L

ATION I 89

9.

3

WI

R

ING I 94

4. CHARACTERISTICS I 19

10. DIMENSIONS I 97

4

.

1 OVERLOAD CHARACTERISTICS

I 19

10. 1 SERVOMOTOR I 97

4.2 STARTINGAND STOPPING TIME I 20

4.3 ALLOWABLE FREQUENCY OPE

R

ATION I 21 10.2 SERVOPACK I 110

10.3 PERIPHERAL DEVICES I 113

4.4 SERVOMOTOR FREQUENCY / 23

4

.5 MO

T

OR SPEED

-R

EFERE

N

CE

11. TEST RUN I 116

INPUT C

H

ARACTERIS

T

ICS I 23

4. 6 MOTOR MECHANICAL 11.1 CHECK ITEMS BEFORE TEST RUN I 116

CHARACTERISTICS I 24 11.2 TEST RUN PROCEDURES I 116

5.

C

ONFI

GU

R

A

TION I 28 12.

AD

J

US

T

ME

NT I 118

5. 1 CONNECTION DIAGRAM I 28 12. 1 CHARACTERISTICS PRESET AT THE

5.2 MAIN CIRCUIT TERMINALS I 29

F

ACTORY PRIOR TO S

H

IPMENT I 118

5.3 APPLICABLE RECEPTACLES I 29 12.2 READJUSTMENT I 119 •

5.4 CONNECTOR TERMINAL (1CN) 13. INSPECTION AND

FOR I

/

O SIGNAL

I 30

MA

INT

E

N

A

NC

E

I 120

" "

5.5 C O N N E C T O R T E R M IN A L (2C N ) F O R

OPTICAL ENCODER CONNECTION I 38 13. 1 AC SERVOMOTOR I 120

5.6 INTERNAL BLOCK DIAGRAM I 40 13.2 SERVOPACK I 121

6. OPERATION I 42 14. TROUBLESHOOTING I 122

6. 1 POWER ON AND OFF I 42 14. 1 SERVOMOTOR I 122

6.2 SPEED REFERENCE I 43 14.2 SERVOPACK I 123

6.3 TORQUE CONTROL / 45

6 .4 E X T E R N A L C U R R E N T L IM IT

REFERENCECIRCUIT[P-CL,N-CL]

I 8

6.5 PROTECTIVE FUNCTIONS

I 50

6.6

P

RECAUTIONS FOR APPLICATION I 53

6. 7 PRECAUTIONS FOR OPERATION I 54

i


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INDEX

Subject Chapt

er Section Page

A AC SERVOMOTOR ............................................................................................................... 13 ............... 13.1 ............... 120

AC SERVOMOTOR ............................................................................................................... 9 ................. 9.2.1 .............. 89

ADJUSTMENT

...................................................................................................................... 1

2

........................................

1

1

8

ALLOWABLE FREQUENCY OF OPERATION

.......................................................................

4

.................

4.3

.................

21

Allowable Radial Load and Thrust Load ................................................................................ 4 ................. 4.6.2 .............. 24

APP

L

ICAB

L

E RECEPTAC

L

ES

..............................................................................................

5

.................

5.3

.................

29

APP

L

ICATION

.......................................................................................................................

6

.................

6.8

.................

59

Application o

f

SERVOMOTORS with Holding Magnetic Brake

..............................................

6

.................

6.9.2

..............

6

1

Auxiliary Input Circuit (_+2 to

_+

10V)

.....................................................................................

6

.................

6.2.4

..............

44

C Cable Speci

f

ications

.............................................................................................................

5

.................

5.5.2

..............

38

CHARACTERISTICS PRESET AT THE FACTORY PRIOR TO SHIPMENT

...........................

12

...............

12.

1 ...............

118

CHARACTERISTICS ............................................................................................................. 4 .......................................... 19

CHECK ITEMS BEFORE TEST RUN .................................................................................... 11 ............... 11.1 ............... 116

Clearing Fault Traceback Data .............................................................................................. 8 ................. 8.4.5 .............. 78

I

O N F I G U R A T I O N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 8

CONNECTION DIAGRAM ..................................................................................................... 5 ................. 5.1 ................. 28

Connect ion for Reverse Motor Running ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. .. 6 .. ... .. ... .. ... .. 6.8.1 .............. 59

Connector 1CN Layout and Connect ion of SERVOPACK .... .. ... .. ... .. ... .. ... ... .. ... .. ... .. ... .. ... .. ... .. 5 .. ... .. ... .. ... .. 5.4.1 .............. 30

C o n n e c t o r L a y o u t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 . . . . . . . . . . . . . . . . . 5 . 5 . 1 . . . . . . . . . . . . . . 3 8

CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER CONNECTION ......................... 5 ................. 5.5 ................. 38

CONNECTOR TERMINAL (1CN) FOR I/O SIGNAL .. .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... . 5 .. ... .. ... .. ... .. 5.4 ................. 30

Curr

e

nt Limit when Motor is Locked ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... ... .. ... .. ... .. ... .. ... .. .. 6 .. ... .. ... .. ... .. 6

.

4.3 .............. 49

D D Series ..................................... : .......................................................................................... 10 ............... 10.1.4 ............ 105

DIMENSIONS in mm (inches) ............................................................................................... 10 ........................................ 97

Direction of Rotation ............................................................................................................. 4 ................. 4.6,4 .............. 25

q

xamples of Troubleshooting for Defect ive Wir ing or Parts ... .. ... .. ... .. ... ... .. ... .. ... .. ... .. ... .. ... .. ... 14 . .. ... .. ... .. .. 14.2.2 ... .. ... .. .. 125

Examples of Troubleshoot ing for Incomplete Adjustment ...................................................... 14 ............... 14.2.3 ............ 125

E X T E R N A L C U R R E N T L IM IT R E F E R E N C E C IR C U IT [ P - C L , N - C L ] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 . . . . . . . . . . . . . . . . . 6 . 4 . . . . . . . . . . . . . . . . . 4 8

F F S e r i e s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 0 . . . . . . . . . . . . . . . 1 0 . 1 . 2 . . . . . . . . . . . . 9 9

F A U L T T R A C E B A C K M O D E 8 8 6 8 7

G G Series ............................................................................................................................... 10 ............... 10.1.3 ............ 102

H Handling of Speed Reference Input Terminal ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... ... .. ... 6 .. ... .. ... .. ... .. 6.2

.

3 .............. 44

H

i

gh Voltage Line ................................................................................................................. 6 ................. 6.6

,

3 .............. 53

,din

I Impact Resistance ................................................................................................................ 4 ................. 4.6.5 .............. 26 •

Input Circuit .......................................................................................................................... 5 ................. 5.4

.

3 .............. 33

I

I

Input S

i

gnals of Connector 1CN .. .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... ... .. ... .. ... .. ... .. ... .. ... .. 5 .. ... .. ... .. ... .. 5,4,2 .. .. ... .. ... .. 32

INSPECT

I

ON AND MAINTENAN

C

E ...................................................................................... 13 ........................................ 120

Inspection during Test Run ................................................................................................... 11 ............... 11.2.3 ............ 117

I N S T A L L A T I O N A N D W I R I N G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 9

I N S T A L L A T I O N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 . . . . . . . . . . . . . . . . . 9 . 2 . . . . . . . . . . . . . . . . . 8 9

INTERNAL CONNECTION DIAGRAM ................................................................................... 5 ................. 5.6 ................. 40

J Jog Function ......................................................................................................................... 6 ................. 6.2

,

7 .............. 45

L LED Indication (7-segment) for Troubleshoot ing .. .. ... .. ... .. ... .. ... .. ... ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. . 14 . .. ... .. ... .. .. 14.2.1 ............ 123

L I S T O F S T A N D A R D C O M B I N A T I O N 3 1 5

Load Inertia (J

L

) .................................................................................................................... 6 ................. 6.6

.

2 .............. 53

M M Series ............................................................................................................................... 10 ............... 10.1.1 ............ 97

M A I N C IR C U IT T E R M I N A L S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 . . . . . . . . . . . . . . . . . 5 . 2 . . . . . . . . . . . . . . . . . 2 9

Mechanical Specifications ..................................................................................................... 4 ................. 4

.

6.3 .............. 25

Mechanical Strength ............................................................................................................. 4 ................. 4.6

.

1 .............. 24

Method of Connection ........................................................................................................... 5 ................. 5.5.3 .............. 39

,

i

i

Method of Giving External Current Limi t Reference .. ... .. ... .. ... ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. .. 6 .. ... .. ... .. ... .. 6

.

4.1 .............. 48 I

M O N IT O R M O D E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 . . . . . . . . . . . . . . . . . 8 . 5 . . . . . . . . . . . . . . . . . 8 5

I I

M o n i t o r P a n e l C o n t r o l le d O p e r a t io n M o d e S e le c t i o n a n d O p e r a t in g P r o c e d u r e . . . . . . . . . . . . . . . . . . . . . 8 . . . . . . . . . . . . . . . . . 8 . 4 . 3 . . . . . . . . . . . . . . 7 5

M O N I T O R P A N E L F U N C T I O N S 8 8 2 6 7

MONITOR PANEL OPERATION ............................................................................................ 8 .......................................... 66


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INDEX (Conrd)

Subject Chapter Section Page

M Monitor T

erminals

.................................................................................................................

6

.................

6.9.1

..............

59

MOTOR MECHANICAL CHARACTERISTICS ........................................................................ 4 ................. 4.6 ................. 24

MOTOR SPEED AND TORQUE MEASUREMENT ................................................................ 6 ................. 6.9 ................. 59

MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS .................................................. 4 ................. 4.5 ................. 23

N Noise Control

........................................................................................................................

6

.................

6.7.1

..............

54

O Operation ............... ............................................................................................................... 11 ............... 11

.

2.

2

............ 117

OPERATION

.........................................................................................................................

6

..........................................

42

Output Circuit

................................................................................... :................... "

.

...............

5

.....

:

...........

5.4.5 ,.

............

36

Overhanging Loads

.......... _.....................................................................................

,

...............

6

.................

6.6.1

..............

53

OVERLOAD CHARACTERISTICS ......................................................................................... 4 ................. 4.1 ................. 19

P PERIPHERA

L

DEVICES in m

m

(inches)

............................................................... ................

10

...............

10.3

...............

113

Power Line Protection

.......................................................................................... :................

6

.................

6.8.2

..........

:... 57

Power Loss ........................................................................................................................... 9 ................. 9.3.3 .............. 84

PO

WER ON

A

N

D OFF

..........................................................................................................

6 6.

1 ................. 41

PRECAUTIONS FOR APPLICATION ..................................................................................... 6 ................. 6

.

6 ................. 53

PRECAUTIONS FOR OPERATION ....................................................................................... 6 ................. 6.8 " 57

P r e p a r a t i o n f o r O p e r a t i o n . . . . . . . . . . . . . . . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1 . . . . . . . . . . . . . . . 1 1 . 2 . 1 . . . . . . . . . . . . 1 1 6

PROTECTIVE FUNCTIONS .................................................................................................. 6 ................. 6.5 ................. 50

R Rated Current and Cable Size ... ........................................................................................... 9 ................. 9.3.1 .............. 94

R A T IN G S A N D S P E C IF IC A T IO N S O F S E R V O P A C K . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 . . . . . . . . . . . . . . . . . 1 . 6 . . . . . . . . . . . . . . . . . 1 1

R A T I N G S A N D S P E C I F I C A T I O N S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

READJUSTMENT ................................................................................................... _............ 12 ............... 12.2 ... ... .. ... .. .. 119

R E C E I V I N G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . • . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 . . . . . . . . . . . . . . . . . 9 . 1 . . . . . . . . . . . . . . . . . 8 9

S

S Series ................................................................................................................................ 10

' 1

0.1

.5

............ 10

6

S E R V O M O T O R F R E Q U E N C Y 4 4 4 2 3

SERVOMOTOR ..................................................................................................................... 10 ............... 10

.

1 ............... 97

SERVOMOTOR ..................................................................................................................... 11 ............... 11

.

1

.

1

.

..:........ 116

SERVOMOTOR .................................... -......... ".........

:

........ -................................................... 14 ............... 14.1 ............... 122

Set Vol tage and Current Limit Values . .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... .. ... ... .. ... .. ... .. ... .. ... .. ... .. .. 6 .. .. ... .. ... .. ... 6.4.2 .............. 49

SETTING MODE ............................................................................. :..................................... 8 ................. 8.4 ..........

:

...... 69

Soft Start Function ................................................................................................................ 6 ................. 6.2.

6

. ............. 44

Specifications of Connector Terminal (1CN) for Input

/

Output Signal ..................................... 5. ................ 5.3.1 .............. 29

S p e c if i c a t i o n s o f C o n n e c t o r T e r m in a l ( 2 C N ) fo r E n c o d e r . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 . . . . . . . . . . . . . . . . . 5 . 3 . 2 . . . . . . . . . . . . . . 2 9

Speed Control with Zero Clamp ............................................................................................ 6 ' 6

.

2.5 .............. 45

Speed Reference Circuit ....................................................................................................... 6 ................. 6

.

2.1 43

S p e e d R e f e r e n c e O f f s e t A d j u s t m e n t 8 8 4 4 7 7

S P E E D R E F E R E N C E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 . . . . . . . . . . . . . . . . . 6 . 2 . . . . . . . . . . . . . . . . . 4 3

STARTING AND STOPPING TIME ...................................................................................... :. 4 ................. 4.2 ................. 20

S T A T I J S I N D IC A T I O N M O D E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 . . . . . . . . . . . . . . . . . 8 . 3 . . . . . . . . . . . . . . . . . 6 8

SWITCH OPERATION .................................................................... :...................................... 8 ................. 8.1 ................. 66

T T R O U B L E S H O O T I N G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 2

T Y P E D E S I G N A T I O N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 3

U

USER CONSTANTS ............................................................................................................. 7 .......................................... 62

V Vibration Class ...................................................................................... :............................. :. 4 ................. 4.6.7 .............. 26

Vibration Resistance ............................................................................................................. 4 ................. 4.6

.

6 .............. 26

iii


6/132

1. RATINGS AND SPECIFICATIONS

9

1.1 R A T IN GS A N D SPEC IF IC A T IO NS O F M S E R IE S A C SE R V O MO TO R S

1 . 1 . 1 R a t i n g s

T ime R a t in g: C o n t in uo us A m bie n t Humid ity: 2 0% to 80%

Insulatio

n

:

Class F (non-condensing)

Iso la tion Vo ltag e: 1500 VA C, one m inu te Vib ra tion : 15#m or be low

Insu la tion Resistance : 500 VDC, 10M f_ F in ish in M unse ll No tatio n : N1.5

or more Excitation: Permanent magnet

Enclo su re : T o ta lly -enc lo sed , se lf -coo led M oun ting : F lange m ounted

(Equ iva len t to IP-65 exc lu sive shaf t open ing ) Drive M ethod : Direc t d riv e

Ambient

T

emperature: 0 to +40

°

(; tl

l

I

i

T a ble 1 .1 R a tin gs a n d S p e c ific a tio n s o f M S e rie s A C S E R V O M O T O R

MotorTypeUSAMED- USAMKD

Item ,,, 03[Z_Z;1 06E-Ell I 09BiLq2 I 12B[_}2 I 20BiZi2 30B[Lq2 44BC12 -60BEi2

0

.

3 0.6 I 0.9 I 1

.

2 2.0 3.0 4.4 6

.

0

RatedOutput* kW(HP) (0.4) (0.8) I (1.2) I (1.6) I (2.7) (4.0) (5.9) (8.0)

N °m 2.84 5.68 I 8.62 I 11.5 I 19.1 28.4 41.9 57.2

RatedTorque* (Ib.in) (25) . (50) I (76) I (102) I (169) (252) , (372) (507)

I

- m 2.94 5.88 r 8.82 I 11.8 I 21.6 32.3 46.1 62.9

Continuous Max Torque* (lb. in) (26) (52) I (78) I (104) I (191) (286) i (408) (557)

N • m 7.17 14.1 I 19

,

3 I 28.0 I 44.0 63.7 91.1 105.8

InstantaneousPeakTorque* (lb. in) (63) (125) I (171) I (248) I (390) (564) ,r (807) (938)

Rated Current* A 3.0 5.8 7.6 I 11.7 I 18.8 26 ,' o,.,'_'_ 45

Rated Speed* r/min 1000

Instantaneous Max Speed* r

/

rain 2000 1500

N °m/A 1.01 1.04 1.21 1.02 1.07 1.16 1.33 •

Torque Constant (Ib °in/A) (8.9) (9.2) (10.7) (9.0) (9.5) (10.2) (11.8)

Moment of Inertia kg .rffxl0" 13.5 24.3 36.7 58.0 110 143 240

JM (= G02/4) (Ib * in * s2xl0 -3) (12.0) (21.5) (32.5) (51.2) (97.2) (126.7) (212.6)

Power Rate* kW

/

s 6.0 13.3 20.3 22.

7

33.2 57.0 74.0 138

InertiaTimeConstant ms 12.8 6.3 4.4 6.0 5.2 3.5 3.6 4.0

InductiveTimeConstant ms 2.7 5.1 6.5 10.4 12.9 15.3 16.2

Insulation ClassF

8 1: Values when SERVOMOTOR is combined with SERVOPACK and the armature winding temperature is 20°C.

Shown are norm al (TY P) values above.

8

2

: The blank [_-

2

,f motor type depends on class of detectors.

Standard: 2 (8192 pulses/rev)

Semi-Standard: 3 (

2

048 pulses

/

rev)

O ptical eneoder is used as a detector.

Note: The power supply units for brake:

• Input 100 VAC, Output 90 VDC: Type B9400876-2

• Input

2

00 VAC, Output 90 VDC: Type B9400876-1

For details, see Par. 10.3 (2).


7/132

1 . 1 . 2 T o r q u e - S p e e d C h a r a c t e r i s t i c s

• TYPE USAMED-03[-] • TYPE USAMED-20B

2000 _..:,,,,_: 2000_ _#_

1_oo 1_o_ _.

S P E E D

A _\ s

SPEED g (r/min) 1001 _"

(r

/

min) 1000 _

50

_ooIf _, 11

_ &%

C

Nm)

0 21 4 6 i 8 1(_ 20 I 30 A0 .'(N.m)

_) 20 20 60 80 (Ib-in) 0

,

100 200 300 _ 400 (Ib'ln)

RMSTORQUE RMSTORQUE

• TYPE USAMED-06 [-] • TYPE USAMED-30B

1500 _ _, _ "_...

SPEED

SPEED B ;_ (r/min) A B

(r

/

min) lOOO 1000

D _oo

oo _ 7_

0 _ ii; (N-m) :N-m)

() 3, 6 9 12 150 0 9'0 120 150 (Ib.in) 0 150 300 450 600 (Ib°n)

RMSTORQUE RMSTORQUE

• TYPE USAMED-09B • TYPE USAMED-44B

2000_ _ 2000i

1500 _ 150C

SPEED , _< B _ SPEED

(r/min) 100C c+_

(r/rain) lOOO " A B

soo _

'

"' _oc / _'_

,4 8 12 16 20 (N.m) 20 40 60 _ (N.m)

o do 'ib 1._o"200Ib

'

in) 260 4

b

o 6

b

o 8_0 ldOOIb'in)

RMSTORQUE RMSTORQUE

• TYPE USAMED-12B • TYPE USAMKD-60B

ooo

_oo/ _ _

ill

_ SPEED _ "_ _ _ _

SPEED A _ B (r/min) 1000 ....

r/min) 1000 :_°

A

_oo _oo_

0 10 20 _130 r(N'm) 0 20 40 _60 80 100 (N.m)

_) 100 200 300 (Ib'in) 0_- 2_)O 400 6_)0 8_)O 1(_00(Ib°n)

RMSTORQUE RMSTORQUE

A : CO NTINUO US DUTY ZO NE

B: INTERM ITTENT DUTY ZO NE

PO W ER S U PPLY : 200 V


8/132

RATINGS AND SPECIFICATIONS OF F SERIES AC SERVOMOTORS 9

,2

1 . 2 . 1 R a t i n g s

Time Rating: Continuous Ambient Humidity: 20% to 80%

Insulation: Class

F

(non-condensing)

Isolation Voltage: 1500 VAC, one minute Vibration: 15/_mor below

Insula tio n R e sista n ce : 500 V D C , 10M _ F in ish in M un se ll N o ta tio n : N 1.5


Enclo sure : T o ta lly -enc lo sed , se lf -coo led M oun ting : F lange m oun ted

(Equivalent to IP-65 exclusive shaft opening) Drive Method: Direct drive

A mbien t Tempe ra ture : 0 to + 40°C

Table 1.2 Ratings and Specifications of F Series AC SERVOMOTORS

._Motor Type USAFED

-

02 ..........1 03 ..........05 ..........1 09..........p13C .....2 20Ci 'i2130Cii2 44Cii2

, 2 . . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. . .. .

It

em

kW 0.15 i 0

.

3 ' 0.45 ' 0.85 r 1.3 1.8 2.9 4.4

RatedOutput* (HP) (0.2) (0.4) (0.6) . (1.1) (1.7) . (2.4). (3.9) (5.9)

N°m 0.98 1.96 2.84 5.39 8.34 11.5 18.6 28.4

RatedTorque* (Iboin) (8.7) (17) (25) (48) (74) . (102) 1(165) (252)

N°m 1.08 ' 2.16 2.94 5.88 ' 8.83 11.8 } 22.6 37.3

Continuous Max Torque* (ib°n) (10) (19) (26) (52) (78) , (104) I (200) (330)

N°m 2.91 ' 5.83 8.92 15.2 24.7 34.0 I 54.1 76.2

InstantaneousPeak Torque

*

(lb-in) (26) (52) (79) , (135) (219) (301) I' (479) (675)

Rated Current* A 3.0 3.0 3.8 6.2 9.7 15 20 30

Rated Speed* r

/

rain 1500

Instantaneous Max Speed* r/rain 2500

N°m

/

A 0.36 0.72 0.80 0.92 0.92 0.82 0.98 1.02

Torque Constant (Ib* in

/

A) (3,2) (6

,

3) (7,1) (8

,

2) (8

,

2) (7

,

3) (8.7) (9.0)

Momentof inertiajM(=GD=/4 ) kg

°m2Xl0 -4

1.3 2.06 13.5 24.3 36.7 58 110 143

( Ib . in .s_ X 1 0-3) (1 .2 ) (1 .8) (1 2 .0) (21 .5 ) (32 .5 ) (5 1 .2 ) (97.2 ) (1 2 6 .7)

,di

Power Rate

.

1 kW/s 7.4 18.3 6.0 12 18.9 22.7 31.5 57.0 q

Inertia Time Constant ms 3.9 2.5 10.9 6,0 4.4 5.9 5.2 3.7

Inductive Time Constant ms 3,4 4.3 3.2 5.2 6.1 10.4 13.0 15.2

Insulation ClassF

h Values when SERVOMOTOR is combined with SERVOPACKand the armature winding temperature is 20°C.

Shown are normal (TYP) values above.

$2: The blank [:] of motor type depends on class of detectors.


Semi-Standard: 3 (2048 pulses/rev)

O ptical encoder is used as a detector.


• Input 100 VAC, O utput 90 VDC: Type B9400876-2

. Input 200 VAC, Output 90 VDC: Type B9400876-1 •

For details, see Par. 10.3 (2).

1

-3 -


9/132

1.2.2 Torque-Speed Characteristics .-

•

TYPE USAFED-02

[_] •

TYPE USAFED-

1

3C

2000

2 0 0 0

SPEED ]500 ,_ SPEED 1500

A _J

'

"

(r/min) 1000 _; .B _ (r/min) 4_ B

[ _ ,0o0

500

00

o_ _ I

1

r

2 I 3 I (N.m) 0 (N.m)

() 10 20 30 (Ib-in) 0 50 100150200250 (Ib.in)

RMS TORQUE RMS TORQUE

• TYPE USAFED-03-] • TYPE USAFED-20C

2500

_J i',_

2500

_._:

,

{

_oooii _-

'_

...._

._ 2000

PEED 150O A_i_ Bi t_: SPEED1500

I

(r

l

min) I000 A] l_I

(rlmn)1000

,ooi i_ 500

_

oI

_) 21 4 I 6 I (N.m) 10 20. 30 4'0 (N-m)

20 40 60(Ib.in) 0 100 200 3_)0 400'(Ib.in)

RMS TORQUE RMS T

O

RQUE

• TYPE USAFED-05[-] • TYPE USAFED-30C

_oo___ _oo_,:_

000 I "" 2000

SPE

E

D _500 ' " SPEED 1500

(r/min) p . ,_I (r/min) A_t B [,_

I000 _ " _I 1000

II ill

00

0 I 2j 4 I 6 I 8 I 10 (N-m) 0 20i 40 r 601 (N.m)

0 20 40 60 80 (Ib.in) () 200 400 600 (Ib.in)

RMS TORQUE RMS TORQUE

• TYPE USAFED-09[-] • TYPE USAFED-44C

25oo............ 2500_

SPEED1500 SPEED1500

(r/rain) B _ (r/min) ,_ _ B {_

1000 i 1000 _ _

_oo 500 _

0 I 51 1% 15 I (N

.

m) 0 2

0 40 60 801

(N

.

m)

0 50 1OO ]50 [Ib.in) 0 200 400 500 800 (Ib-in)

RMSTORQUE RMSTORQUE

A : CO NTINUO US DUTY ZO NE


PO W ER SU PPLY : 200 V

-4-


10/132

1.3 RATINGS AND SPECIFICATIONS OF G SERIES AC SERVOMOTORS

t

1 . 3 . 1 R a t i n g s

Time Rating: Continuous Ambient Humidity: 20% to 80%

Insulation: ClassF non-condensing)

Iso la tion Vo ltage : 1500 VA C , one minute V ibra tion : 15#m or be low

Insulation Resistance: 500 VDC, 10M9 Finish in Munsell Notation: N1.5

o r m o re E xc ita t io n : P e rm a n e n t m a gn e t

E nc losure : To ta lly-en c losed , se lf-coo le d M o un ting: F lange moun ted

Equivalent to IP-65 exclusive shaft opening Drive Method: Direct drive

A mbie n t Tempe ra ture : 0 to + 40°C

Table 1.3 Ratings and Specifications of G Series AC SERVOMOTORS I

.I

i

M o t o r T y p e U S A G E D - D 2 F i i l 1 0 3 1 1 1 1 0 5 . . . . . . . . . . 1 1 0 9 . . . . . . . . . . 1 1 1 3 A . . . . . 2 2 0 A i 2 1 3 0 A i 2 1 4 4 A i ] 2

I te m ,2 ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . , . . . . . . . . . . . . . .

kW 0.15 I 0.3 0.45 I 0.85 I 1.3 I 1.8 2.9 I 4.4

Rated Output* (HP) (0.2) I (0.4) (0.6) 1 (1.1) I (1.7)F (2.4)' (3.9) 1(5.9)

N-m 0.98 I 1.96 2.84 I 5.39 I 8.34 I 11.5 18.6 I 28.4

Rated Torque* (Ib.in) (8.7) (17) (25) I (48)I (74)I (102)' (165) 1(252)

N.m 1.08 ' 2.16 2.94 I 5.88 I 8.83 I 11.8 22.6 I 37.3

Continuous MaxTorque* (Ib,in) (10) (19) (26) I (52) I (78) I (104) , (200) I (330)

N,m 2.9 5.83 8.92 I 13.3 I 23.3 I 28.0 45.1 I 66.2

InstantaneousPeakTorque* (Ib-in) (26) (52) (79) I (:118) I (207)I (248) ' (4()0) I (587) a

'q

l

RatedCurrent* A 3.0 3.0 3.8 I 7.6 I 11.7 I 19 24 33

Rated Speed* r

/

min 1500

Instantaneous Max Speed*

r

/min 3000

N" m/A 0.36 0.72 0.8 0.8 0.83 0.67 0.80 0.95

Torque Constant (Ib-in/A) (3.2) (6.3) (7.1) (7.1) (7.4) (5.9) (7.1) (8.4)

A_kg'm2 X10-4 1.3 2.06 13.5 24.3 36.7 57.9 110 143

Momentof InertiaJM(=G

D

2/_

,

(ib,in,s _x10_3) (1.2) (1.8) (12.0) (21.5) (32.5) (51.2) (97.2) (126.7)

Power Rate*' kW/s 7.4 18.3 6.0 12 18.9 22.7 36.5 57.0 q

InertiaTime Constant ms 4.5 2.5 10.9 6.1 4.3 5.8 5.2 3.4

Inductive Time Constant ms 3.4 4.3 3.2 5.2 6.7 10.6 13.2 15.9

Insulation ClassF

* 1 : V a l u e s w h e n S E R V O M O T O R i s c o m b in e d w i t h S E R V O P A C K a n d th e a rm a tu r e w i n d i n g t e m p m :a t u r e i s

2 0 ° C .


*2: The blank [_-]of m otor type depends on class of detectors.


Semi-Standard: 3 (2048 pulses

/

rev)



• Input 100 VAC,

O

utput 90 VDC: Type B9400876-2

• Input200VAC,Output90VDC: TypeB9400876-1 •

1

or details, see Par. 10.3 (2).


11/132

1 . 3 . 2 T o r q u e - S p e e d C h a r a c t e r i s t i c s

• TYPE USAGED-02[_] • TYPE USAGED-13A

I i

3 0 0 0

i=I _

_ii _ _= , 300G _ I_: _= I ,

000 _:; 2000 .....

(r

/

min) A :_:i, B i: A_

iooo _ _

/

:

0 1'.0 2

.

O 3.0

(

N.m

)

0 " 10 20 30 (N.m)

• I

I I I

}O 20 30 (Ib.in) 0 100 200 300 (Ib-in)

RMSTORQUE RMSTORQUE

• TYPE USAGED-03F_-] • TYPE USAGED-20A

SPEED 3000 _I _

_'C_2000 , :::_ °

_ _ (r

l

min)SPEED0°01i 2°°°i _ ....B

_:

_i_i_

r/Tin)

_ B ii_ _

i 1000

,ooo _

_;

o ' _ o _

;

10 20 30 (N

.

m)

.0 4.0 6.0 (N.m)

I I I L 1_

)

0

( I

_

)

2

0

4

0 60 (I

b.

in) 0 200 3

00

(

Ib-

i

n

)

RM

S

T

O

R

Q

UE RM

S

T

O

R

QU

E

•

TYPE USAGED-05[

_] •

TYPE USAGED-30A

2000 : "_?_

2000 ..... }4

s,:,EEO E SPEED

(r/min) B

r

/

min) B

lOOO _ _:_

_1 _ ' ,ooo ........_il

1

:

"--

o i_ o .... 4

3.0 6.0 9.0 (Nm) 20 40 60 (Nm)

3o 6o 9o (Ib-in) 0 2 0 4oo 6oo (Ib-in)

RMSTORQUE RMSTORQUE

• TYPE USAGED-09[_] • TYPE USAGED-44A

30OO__000 _ ..... '"4_ Iii 30OO__ _000 = :_

SPEED SPEED

(r/min) ] B (r/Tin) B [_iI

25 50 75 (N-rn)

5 10 15 (N

.

m)

' _o ' _

2_o_o

'

5o (Ib-

i

n)

150 (Ib

.

in)

50

RMSTORQUE RMSTORQUE

A: CO NTINUO US DUTY ZO NE



-6-


12/132

1.4 R A T IN GS A N D S PE C IF IC A T IO N S O F S S E R IE S A C S E R V O MO T O R S

1.4.1 Ratings

Time Rating: Continuous Ambient Temperature: 0 to +40°C

Insulation: Class B (Types USASEM-02A[-]2, Ambient Humidity: 20

%

to 80%

-03A[-__2, -05A[-_I2) (non-condensing)

Class F (Types USASEM-08A[-31, Vibration: 15#m or below

-15A_-_11, -30A[:]l) Finish in Munsell Notation N1.5

Isolation Voltag

e

: 1500 VAC, one minute Excitation: Permanent magnet

Insulation Resistance: 500 VDC, 10Mfl Mounting: Flange mounted

or more Drive Method: Direct drive

Enclosure: Totally-enclosed, self-cooled

(Equivalen t to IP-44 exclusive shaft opening)

Table 1.4 Ratings and Specifications of S Series AC SERVOMOTORS I

M o to r Type U S A S E M -

0 2 A i . . . . j 2 0 3 A i . . . . . i 2 0 5 A i . . . . j 2 0 8 A i . . . . . j1 1 5 A . . . . . 1 3 0 A L . . . . I 1

Item

k

W 0.15 0.31 0.46 0.77 1.54 3.08

RatedOutput* (HP) (0.2) (0.4) (0.6) (1.0) (2.1) (4.1)

N

,

m 0.49 0.98 1.47 2.45 4.90 9.81

Rated Torque

*

(Ib-in) (4.3) (8.7) (13) (22) (43) (87)

N, m 0.57 1.18 1.67 3.33 6.18 12.2

ContinuousMaxTorque* (Ib,in) (5.0) (10) (15) (30) (55) (108)

N• m 1.47 2.94 4.02 7.35 13.7 29

.

0

I

InstantaneouseakTorque* (Ib,in) (13) (26) (36) (65) (122) (257)

Rated Current* A 2

.

1 3.0 4.2 5.3 10.4 19.9

Rated Speed* r/min 3000

Instantaneous Max Speed* r

/

min 4000

N •m/A 0.25 0.35 0.37 0.51 0.50 0.53

Torque Constant (Ib,in/A) (2.1_1) (3.10) (3.25) (4.49) (4.43) (4.64)

Momentof InertiaJM(=GD2/4) kg'm2XlO-' 0.13 0.51 0.75 2.85 3.25 5.74

(Ib,in,s2x10-3) (0.11) (0.45) (0.67) (2.53) (2.88) (5.09)

Power Rate .1 kW/s 18.5 18.9 28.9 21 74 167

Inertia Time Constant ms 1.8 2.2 1.8 1.9 0.7 0.4

InductiveTimeConstant ms 1.5 2.7 3.1 6.2 13 26

Insulation Class13 ClassF

* Values when SERVOMOTOR is combined with SNRVOPACKand the armature winding temperature is 100°C.

Shown are normal (

T

YP) values above.

1 Values when SE

R

VOMOTORis combined with SE

R

VOPACK and the armature winding temperature is

2

0°C.


The blank i:5 of m otor type depends on class of detecto rs.

Standard: 3 (

2

048 pulses

/

rev)

Semi-Standard: 4 (

2

500 pulses

/

rev)

O pLical encoder is used as a detector.


•

lnpul_ 100 VAC, Output 90 VDG: Type B9400876-2

• Input

2

00 VAC

,

Output 90 VDC: Type B9400876-1

For details, see Par.10.3 (

2

)


13/132

1.4.2 Torque-Speed Characteristics

•

TYPE USASEM-02A

•

TYPE USASEM-08A

I

4000 __,_ __ _;_ 4000 __

:

_" _'_i _

1

%_

300C ' 3000 _'- '_

SPEED A B _

,

S P E E D

(rlmir0, 200¢ I _,_ (r/min) 2000 i t _i

l

100C ;_ii_ 1000 _1

• I ° _

:

ii_

_ (N.m) N-m)

0.5 1.0 1.5 2.0 2 4 68 --.

1'0 1'5 2_)(Ib'in) , _)

2

0 ' . 410 60 8%(I.b-in)

RMSTORQUE RMSTORQUE

• TYPE USASEM-03A • TYPE USASEM-15A

400C _/_ _ .... . :_,_ :,_ _ 4-000 _,.,,_

_oo__ 3ooo _

P

E

ED S

P

EED

A

_

B

4i?

(r/min) 2OOC ,_ " (r/rain) 2000

it ii

oo_ _ooo °

N (N

.

m)

1 2 3 4 (Nm) 0 5 10 15

0 ll0 210 30 4%(Ib

-

in

)

_) 5/0 1(_0 15(_ (Ib

-

irf

)

•RMS TORQUE RMS TORQUE

• TYPE USASEM-05A • TYPE USASEM-30A

_ooo_,,_._ _ooo..........,_ -

3000 _ E 3°°°%_ _

PEED

PEED A _ (r/min) A B _

(r/min) 2000 _ • 2000 li, i .i_,._

oo _,i _ooo

, _

1 ' 2 3 L4 5 (N.m) 0 lO 20 (N.m)

_} 1'0 210 30 410 510Ib.in) _) ( I 30_)(Ib.in)

00 2O0

RMS TO

RQ

UE RMS TORQUE

A

:

CONTINUOUS DUTY ZONE



-8-


14/132

1.5 RATINGS AND SPECIFICATIONS OF D SERIES AC SERVOMOTORS

I

1 , 5 . 1 R a t i n g s

Time Rating: Continuous Ambient Humidity: 20

%

to 80

%

Insulation:

Class F (non-condensing)

Isolation Voltage: 1500 VAC, one minute Vibration: 15_m or below

Insulation Resistance: 500 VDC, 10M_ Finish in Munsell Notation: Nl.5


Enclosure: Totally-enclosed, self-cooled Mounting: Flange mounted

(Equivalent to IP-65 exclusive shaft opening) DriveMethod: Direct drive

Ambient Temperature: 0 to +40°C Holding Brake Provided.

Table 1.5 Ratings and Speci

f

ications of D Series AC SERVOMOTORS

M otor Type US A D E D -

05E [iiiiii2 IOE _iiili2 15Eiiiiiii2 225 [iiiiii2 37E [iiiiii2

Item *2

kW 0.5 1.0 1.5 2.2 3.7

RatedOutput* (HP) (0.67) (1.3) (2.0) (2.9) (5.0)

N.m 2.35 4.81 7.16 10.5 17.7

RatedTorque* (Ib.in) (21) (43) (63) (93) (156)

N°m 3.43 6.37 8.83 13.7 " 21.6

C

o

ntinu

o

us Max To

r

que

*

(

Ib

.in

)

(30) (56) (78) (122) (191)

N•m 8.24 16.9 25.1 36.8 61.8

InstantaneousPeak Torque

*

(Ib-in) (73) (149) (222) (326) (547)

Rated Current

*

A 3.5 7.9 12.6 16.6 23.3

Rated Speed

*

r/min 2000

Instantaneous Peak Speed* r

/

min 2500

N°m/A 0.83 0.69 0.64 0.71 0.82

Torque Constant (Ib.in/A) (7.38) (6.07) (5.64) (6.25) (7.29)

kg.m 2 X l0 -4 2 1 , 1 3i 32 , 2 4 t 6 2 , 5 9t 83, 8 0t 1 4 8, 1 4 5 t

M°rnent° lnertiaJM(=GD2/4)(Ib.in.s2Xl0-3) (18.2,11.3 t) (28.6, 21.5t) (54.7, 52.1t) (73.8, 71.1t) (131, 128t)

2.7 7.3 8.2 13 21

Power Rate

.

1 kW/s 4.4t 9.7t 8.6t 14t 22t

18 7.8 7.1 6.2 4.3

InertiaTime Constant ms 11t 5.9t 6.8t 6.0t 4.2t

InductiveTimeConstant ms 4.4 6.9 9.4 11 15

Insulation ClassF

Holding PowerSupply VDC 90

Static Function N.m 8.82 21.56

Brake Torque (lb.in) (78) (191

kg 17,16t 19,18t 30, 27t 32, 29t 39,36t

A p p r o x M a ss ( Ib) (37.5 , 35 .3 t) (4 1 .9, 39.7t) ( 6 6 .2 , 5 9.5 t ) (70 .6 , 6 4 t ) (86 .0, 79.4 t )

• Values when SE

R

VOMOTORis combined with SE

R

VOPA

C

K Note:

o

and the armature winding temperature is

2

0 C. Shown are The power supply units for brake:

normal (TYP) values above. • Input: 100 VAC Output: 90 VDC:

T

ype B9400876-

2

I Values show those of D series without holding brake. * Input:

2

00 VAC O(_tput: 90 VDC:

T

ype B9400876-1

For details, refer to Par. 10.3.

The blank ill o f m otor type depends on class of detecto rs.

Standard:

2

(

2

048 pulses

/

rev)

Semi-Standard: 3 (819

2

pulses

/

rev)


-9-


15/132

1.5.2 Torque-Speed Characteristics

• TYPEUSADED-05E

2500 % 4

ooo

_+ _° I

SPEED 15oo _,

(r

/

min) _ _, B I_;_l _

looo i _4 '

I

5 0 0 _ \ 1 _ , _ 4. m ,

2.5 5 7.5

$ 2t5 50 _5 (Ib. in)

RMS TORQUE

• T YP E U S A D E D -10E

2 5 0 C

200c _ _'_;_ _

S_EED5

oo

i _ _

r

/

min) 1000

0 5 10 1 (N-m)

0 50 100' 150 (Ib.in)

• RMSTORQUE

• T Y P E U S A D E D -15E

250

0

_1 _=:'__'

200C _ _&_'_ .......

. _,:i

sP E E D 1 500

(r

/

min) A_

100C _:}.

5oc I

i- :

C 8 16 24 32 N.m)

_) 1_)O 2_)0 3_)0(Ib'in)

• TYPE USADED-22E RMS TORQUE

2500..................................

+ooo /

r

/

minSPEED) It

B

moo ' _[ . .

+oo iiflL

N

1f 2,) 3) 40 t .m_

0 100 2()0 300 4_0(Ib.in)

• TYPE USADED-37E

RMS TORQUE

SPEED500,_'1++_-_

(r/Tin)

_:_, _ A: CONTINUOUS DUTY ZONE

0 0 0

_' _ B: INTERMITTENT DUTY ZONE

iN.m)

() 200 400 600 (Ib

.

in)

RMS TORQUE

-10-


16/132

1.6 RATINGS AND SPECIFICATIONS OF SERVOPACK 9

Table 1.6 SERVOPA

C

K Types and Applicab

l

e SERVOMOTORS

SERVOPACK Type CACR- SR02BE SR03BE SR05BE SR07BE SR10BE SR15BE SR20BE SR30BE SR44BE SR60BE

kW 0.2 0.3 0.5 0

.

7 1

.

0 1.5 2.0 3.0 4

.

4 6.0

Max Motor Output (HP) (0.3) (0.4) (0.67) (0.94) (1.34) (2.0) (2.7) (4.1) (5.9) (8

.

0)

Applicable Optical Encoder Standard 8192pulses

/

rev (Semi-Standard : 2048 _ulses

/

rev)

U S A M K D -

Type USAMED- -- 03821 -- 06B21 09822 12B22 20822 30B22 44822 6o822

AC kW 0.3 0

.

6 0.9 1.2 2.0 3.0 4

.

4 6

.

0

SERVO- :3utput (HP) -- (0.4) -- (0.8) (1.2) (1.6) (2.7) (4.1) (5.9) (8

.

0)

MO

T

OR Rated

/

MaxSpeed r

/

rain 1000

/

2000 (44B2, 60B2 : 1000

/

1500)

SERVOPACK Type CACR-

-- SR03BE12M

-- SR07BE12MSR10BE12MSR15BE12MSR20BE12M SR30BE12M SR44BE12M ;R60BE12M

:_ Continuous Output Arms -- 3.0 -- 5.8 7.6 11.7 18.8 26.0 33.0 45.0

C u r r e n t

Max Output Current Arms

--

7.3 -- 13.9 16

.

6 28.0 42

.

0 56.6 70.0 80.6 /

/

Allowable kg.m2xl0 ' 67.5 122 184 334 550 715 1200 1200

JL(=GD_/4) ( Ib'il;'s2X]03 ) -- (60) -- (107.5) (162.5) (296) (486) (633.5) (1063) (1063)


/

rev (Semi-Standard • 2048 3ulses

/

rev) -

Type USAFED- 02D21 03D21 05C21 -- 09C21 13C22 20C22 30C22 44C22 --

AC kW 0.15 0.3 0.45 0.85 1.3 1.8 2.9 4.4

SERVO-Output (HP) (0.2) (0.4) (0.6) -- (1.1) (1.7) (2.4) (3.9) (5.9) --

M O T O R

Rated'MaxSpeed dmi_ 1500 '2500 --

S E R V O PA C K Type C A C R - S R 02B E 12F S R 03B E 12F S R 05B E 12F -- S R 10B E 12F S R 158E 12F S R 20B E 12F S R 30B E 12F S R 44B E 12F --

LL Continuous Output Arms ,3.0 3.0 3.8 -- 6.2 9.7 15.0 20.0 30.0 --

C u r r e n t

Max

O

utput Current Arms 8.5 8.5 11

.

0 -- 17.0 27.6 42.0 56

.

5 77

.

0

--

Allowable kg,m2xt0 _' 6

.

5 10.3 67.5 122 184 334 550 572 _

JL (=GD_

/

4) (Ib

.

in.s2x]0 3) (5.75) (9) (60) -- (107

.

5) (162.5) (296) (486) (506.8)


/

rev (Semi-Standard : 2048pulses

/

rev) --

Type USAGED- 02C21 03C21 05A21 -- 09A21 13A22 20A22 30A22 44A22 --

AC kW 0.15 0.3 0.45 0.85 1

.

3 1

.

8 2.9 4

.

4

cc SERVO- Output (HP) (0.2) (0.4) (0.6) -- (1.1) (1.7) (2.4) (3.9) (5.9) --

O _ Rated4VlaxSpeedr

/

min 1500 _3000 --

M O T O R

_) _) SERVOPACK Type CACR- SR026E12

E

R03BE12

E

R05BE12

E

-- SR10BE12C-R15BE12GR20BE12GR30BE12GR44BE12G --

>

L

0 Continuous Output Arms 3.0 3.0 3.8 -- 7.6 11.7 19.0 26.0 33.0 --

u

_ Current

MaxOutputCurrentArms 8.5 8.5 11.0 -- 17.0

Allowable kg.m2xl0 -' 6.5 10.3 67.5 122 184 223 393 360 _

JL {=GD_/4) (Ib in-s_


17/132

T a ble 1 .6 S E R V O P A C K T yp e s a n d A p p lic a ble S E R V O M O T O R S (C o n t'd )

S E R V O P A C K T yp e S R 02B E S R 03B E S R 05B E S R 07B E S R 10B E S R 15B E S R 20B E S R 30B E S R 4 4 B E S R 6 0B E

kW 02 03 0

.

5 07 1.0 15 2.0 30 44 6

.

0

Max Motor Output (HP) (0.3) (0.4) (0

.

67) (0.94) (1.34) (2

.

0:1) (2

.

7) (4.1) (5

.

9) (8.0)

Power M__ Circuit Three-phase 200 to 230 VAC+_5°_50

/

60 Hz .1

Supply IControl Cir

c

uit Single phase 200 to 230VAC +__°_50

/

60 Hz *t

C o n tro l M e th o d T h re e -p h a se F ull-w a ve R e c tifie r T ra n sisto r ize d -P W M C o n tro l (S in e W a ve D rive )

o Feedback Optional encoder (8192 pulses

/

rev,

2048 pulses

/

rev)

Ambient Temperature 0 to 55°C*5(for type with cover : 0 to 50°C) .6

_ StorageTemperature -20"(3to +85"C

o_Ambient and Storage 90% or less (non-codensing)

Humidity

I_ Vibrati°n-resistance/Impact'resistance 5m/s 2 / 20m/s 2 (0 5G/2G)

MountingStructure Base mounted

I

g 6.0 7.0 13.5

ApproxMass (Ib) (13.2) (15.4) (29.8)

SpeedControlRange2 1 : 5000

Load Regulation +0.01% or less at rated r

/

min

0 to100%

_ Speed .3 Vo ltage Regu la tion

-uRegulation+10% 0%

_ T e m p . R e gula t io n

,-, _+01% or less at rated r/min

co 25 + 25°C

Frequencyesponse

n Character stics " 100 Hz (JL:JM)

O Rated Reference Speed Control Mode +6 VDC at rated r/min (forward run at plus reference)

> Speed Voltage Torque Control Mode +3 VDC at rated torque (forward torque generated at plus reference)

R e f e r e n c e

Input Input Impedance Approx 30k_

Circuit Time Constant Approx 70j

u

s

iAuxiliary Reference Voltage +12 VDC at rated r

/

min (forward run at puls reference)

ReferenceInput Impedance Approx 30k_

_ i n p u t , 4

._ Circuit Time Constant Approx 70

ff

s

u) Built -in Reference Power

O ±12VDC±5%±30mAOutput-able

- --

S u p p l y

iO utp utP °sit i°n_ _ _ F o rm L in e D r ive r a n d O p e n C o lle c to r (A -p h a se , B -p h a se , C -p h a se )

_g R-_atio (1 to N)

/

N, N

=

8192, 2048 (by number of optical encoder pulse)

G P ulse )

S equence Input S igna l Se rvo O N , P drive (o r to rque con tro l ze ro-clamp drive ), F ove rtrave l, R overtrave l, a la rm rese t

Seque

n

ce Output Signal Servo ready

,

TG ON

,

current l imit

,

servo alarm

,

alarm code (3-bit ot

)

tput)

External Current Limit 0 to max current in each of P and N (3V

/

100% current)

D yn a m ic B ra ke O p e ra te d a t m a in p o w e r O F F , s e rv o a la rm, o v e r t ra v e l, e tc .

Regeneration Provided (for type SR60BE, separately provided)

_ o A p p lic a ble L o a d In e r t ia JL U p to 2 to 5 t im e s m o to r in e r t ia .7

Overtravel Prevention DB stop or deceleration stop

u_

C

ommunicationerror,overcurrent(OC),MCCB trip(MCCB), regenerativeerror(RG),undervoltage(UV),overspeed

c Protection

a

vervoltage(OV),overload(OL),originerror, overrun,open phase detection,CPU error(CPU,A

/

D)

T

=

Indication 7-segment LEDs x 5 figures (Alarm, status, parameter indications)

m

Monitor Outp

u

t Speed moni

t

or : 2V (4V) ±5%

/

1000r

/

mi

n

, Torq

u

e mo

n

itor : 3V (2V) ±10%

/

100%

JOther functions Torque control, zero clamp, soft start

,

brake inter lock, reverse turn connect ion, JOG Operate .8

$1. Supply voltage should not exceed 230 V + 10% (253 V) If Motor speed may be changed by voltage variation or operational

th e vo ltage should ex ceed th is v alu e, a step dow n tran sfo rm - am p lif ie r d rif t du e to tem peratu re . T he ratio o f th is speed

er is required, change to the rated speed represents the speed regulation due

$ 2. In the speed contro l range, th e low est speed is d efin ed as the to vo ltage o r tem peratu re change .

cond ition in w h ich there is t00 % load varia tion , bu t no t $ 4 . U sed fo r app lica tion a t ra ted refe rence vo ltage o ther than _+6V.

stopped. $ 5. When housed in a panet, the inside temperature must not ex-

$3 Speed regulation is generally defined as follows: ceed ambient temper ature range.

. $ 6.Typewithcover:CACR-SRE]BE1E][-]-Cpeed regu la tio n No lo ad speed -- Ra ted speed x 100 (% ) $ 7 . W hen lo ad JL exceed s applicab le range , b e su re to re fe r to

Rated speed 6.7.2., "Load Inertia."

@ 8. JO G opera tion w ith m on ito r sw itch

-12-


18/132

2. TYPE DESIGNATION 9

• A C S E R V O M O T O R

USAFED - 05C21 [_-3[i_

---

C ADDITIONPECIFICATION

SERVOMOTOR • Blank: Standard

' • B: WithBrake

SERIES Mseries--44,0

• AM: MSeries Sseries--03to30

• AF : F Series

*

E: Wi

t

h Brake

•

AG: G Series F series--02 to 44

• AS: S Series Mseries--03o30

• AD: D Series D series--05o37

G series--02 to 44

ENCLOSURE _ DRIVEEND SPECIFICATION

• E : T o ta ll y -e n c lo se d ,

Self-cooled Type • Blank: Standard

•

K: Totally-enclosed, • O: Standard (With Brake)

externally Fan-cooled Type • K: With Keyway

• S : W ith S h a ft S ea l

MAGNET TYPE J

•

T: With Keyway & Shaft Seal

• D: Ferrite _" SHAFTTYPE

• M : R a re E a rth

• 1 : Ta p e r

MOTOR OUTPUT J • 2: Straight

(Table2.1) _" ENCODERSPECIFICATION

DESIGNREVISIONORDER (Table2.4)

(A , B , C ........ (Table 2.2)

1

• S E RV O PA CK

CA CR - SR05BE 1 2 -.r-_

i .........

SERVOPACK SERIES _ -'_ OPTIONAL SPECIFICATIONS

CONTR

O

L TYPE

_

P: With packing

(excep t type SR 60B E )

SR: Speed E: NPnEnglish

.

_ C: With cover

M O T O R

O U T P U T

'

I

Table 2.3)

APPLICATION J

B : M , F , G , S , D S e r ie s

DESIGNREVISION "

O R D E R

A , B , C . . . . . . . .

I

N

P

U

T FO

R

M J

1: 200V , A n a lo g

ENCODERSPECIFICATION "

(T able 2.4)

A P P L IC A B L E M O T O R

S E R I E S

• M : M S e r ie s

• F : F S e r ie s

• G : G S e r ie s

• S: S Series ,8

• D : D S e r ie s

q

- 1 3 -


19/132

Table 2

.

1

Motor Output

M Series F Series G Series S Series D Series

02 -- 0.15kW(0.2HP) 0.15kW(0

.

2HP) 0.15kW(0

.

2HP) --

03 0.3kW (0.4 HP ) 0.3kW (0.4 HP ) 0.3kW (0.4 HP ) 0.31 kW (0.4 HP ) --

05 -- 0

.45kW(0.6HP) 0.45kW(0.6HP), 0.46kW(0.6HP) 0.5kW(0.67HP)

06 0.6kW(0.8HP) ......

08 -- -- -- 0.77kW(10HP) --

09 0.9kW(1.2HP) 0.85kW(1.1HP) 0.85kW(1.1HP) -- --

10 .... 1.0kW(1.3HP)

12 1.2kW(1.6HP) ....

1

3

-- 1.3kW(1.

7

HP) 1.3kW(1.

7

HP) --

--

15 ..... 1.54kW(2.1HP) 1.5kW(2.0HP)

20 2

.

0kW(2.7HP) 1

.

8kW(2.4HP) 1.8kW(2.4HP) -- --

22 .... 2.2kW(2.9HP)

30 3.0kW(4.1HP) 2.9kW(3.9HP) 2.9kW(3.9HP) 3.08kW(4.1HP) --

37 .... 3.7kW(5.0HP)

44 4.4kW(5.9HP) 4.4kW(5.9HP) 4.4kW(5.9HP) -- --

60 6.0kW(8.0HP).....

Table 2

.

2

Enc0deresoluti0nP/R) Series Type Enc_leresolutionP/R) Series Type

USAMED-03C3 USAMED-03B2

-06C3 M to

M -09B3

to USAMKD-60B2

USAMKD-6083 USAFED-02D2

USAFED-02D3 -03D2

• to F -05C2

F -09D3 to

-13C3 -44C2

to 8192 P

/

R

-44C3 USAGED-02C2

2048 P/R USAGED-02C3 -03C2

to G -05A2

G -09C3 to

-13A3 -44A2

to

-44A3 USADED-05E2

USASEM-02A3 D to

S to -37E2

- 3 0 A 3

USASEM-02A4

USADED-05E3 2500 P

/

R S to

D to

-37E3 -30A4

T a ble 2.3

M o t o r O u t p u t

M series F series G series S series D series

02 -- 0

.

15kW(0.2HP) 0.15kW(0.2HP) 0.15kW(0.2HP) --

03 0.3kW (0.4 HP ) 0.3kW (0.4 HP ) 0.3kW (0 .4 HP ) 0 .3kW (0.4 HP ) --

05 -- 0.4 5 kW (0.6 HP ) 0.4 5 kW (0.6 HP ) 0.4 5 kW (0.6 HP ) 0.5 kW (O .6 7HP )

07 0.6kW(0,8HP) ....

10 0:9kW(I•2HP) 0

.

85kW(I.IHP) 0.85kW(I•IHP) 0.77kW(10HP) --

15 1 .2kW I.6HP) 1.3kW I.FHP) 1.3kW I•7HP) 1 .54kW 2.1HP) I•0kW I.3HP)

20 2.0kW(2.7HP) 1.8kW(2.4HP) 1.8kW(2.4HP) -- 1.5kW(2.0HP)

30 3.0kW(4.1HP) 2.9kW(3.9HP) 2.9kW(3.9HP) 3.08kW(4.1HP) 2.2kW(2.9HP)

4 .4kW 5.9HP ) 4.4kW 5 .9HP ) 4.4kW 5 .9HP ) -- 3 ,7kW 5,0HP)

6.0kW(8.0HP) ......

T a ble 2 .4

Motor Type Standard (P/R) Semi-standard (P/R)

M Series 2 8192 3 2048

F Series 2 8192 3 2048

G Series 2 8192 3 2048 .

S Series 3 2048 4 2500

D Series 3 2048 2 - 8192

-14-


20/132

3. LIST OF STANDARDCOMBINATION

C o m b i n a t i o n o f S E R V O P A C K , A C S E R V O M O T O R S a n d A c c e s s o r i e s

. •

M SERIES

SERVOPACK AC SERVOMOTOR PowerCapacity*_per Current Capacity per Applicable

(Table 3.1) Type CACR- Type SERVOPACK kVA MCCB or Fuse A Noise Filter

SR03BE12M USAMED-03B21 0.65 5

SR07BE12M USAMED-0621 1.5 8

SR 10 BE 12M USAMED-09 B 22 2.1 8

SR15BE12M USAMED-1222 3.1 10 Good

SR20BE12M USAMED°2022 4.1 12

SR30BE12M USAMED-3022 6.0 18

SR 44 BE 12M USAMED-44B 22 8.0 24 - / 4,-,,

SR60BE12M3 USAMKD-6022 11 32 Poor

•

1: Values at rated load.

*

2: Made by Tokin Corp.

*

3: For type CACR-SR60BE, regenerative register unit (JUSP-RA03) is required.

• F SERIES

SERVOPACK AC SERVOMOTOR Power Capacity per Current Capacity per Applicable

(Table 3

.

2) Type CACR- Type SERVOPACK kVA MCCB or Fuse A Noise Filter

S R 02 B E 1 2 F U S A F E D -02 D 21

0.65 5

SR03BE12F USAFED-0321

SR05BE12F USAFED-05 21 1.1 5 -_

SR10BE12F USAFED-09 21 2.1 8 Good

SR15BE12F USAFED-13C 22 3.1 10

SR20BE12F USAFED-2022 4.1 12

SR30 BE12F USAFED-30 C 22 6

.

0 18

P o o r

SR 44 BE 12F USAFED-44 C 22 8.0 24

,-,,

•

G SERIES

SERVOPACK AC SERV

O

MOTOR Power Capacity per Current Capacity per

A

pplicable

(Table 3.3) Type CACR- Type SERVOPACK kVA MCCBor FuseA Noise Filter

S R 02 B E 1 2 G U S A G E D -02 C 21

0.65 5

SR03BE12G USAGED-0321

SR 05 BE 12 G USAGED-05 A 21 1.1 5

SR10BE12G USAGED-09A21 2.1 8 Good

SR15BE12G USAGED-13A22 3.1 10

SR20 BE12G USAGED-20 A 22 4.' 12 e_._ _

SR30BE12G USAGED-30A22 60 18 Poor

SR44BE12G USAGED-44A 22 8.0 24

• S SERIES SERVOPACK AC SERVOMOTOR Power Capacity per Current Capacity per Applicable


S R 02 B E 1 3 S U S A S E M -02 A 32

0.65 5

SR03BE13S USASEM-0332 _,

SR05BE13S USASEM-05A 32 1.1 5

G ood

SR10BE13S USASEM-08 A 31 2.1 8

SR15BE13S USASEM-15A 31 3.1 10

SR30BE13S USASEM-30A 31 6.0 18 Poor

• D SERIES SERVOPACK AC SERVOMOTOR Power Capacity per Current Capacity per Applicable


SR 05 BE

1

3 D USADED-05 E 32 1.5 8 _ •

SR15BE13D USADED-10E32 3.1 10 _"

SR20BE13D USADED-15E32 4.1 12 Good

SR30BE13D USADED-2232 6.0 18

SR44BE13D USADED-37E32 8.0 24 Poor

-15-


21/132

Recommended Noise Filter.2

PowerON

/

OFF Switch

Type Specifications

L F -305 3-p h a se 200 V A C c la ss, 5A


C o n t a c t o r 3 0 A o r a b o v e




L F -330 3-p h a se 200 V A C c la ss, 30A C o n ta c to r 35A o r a bo ve


L F -350 3-p h a se 200 V A C c la ss, 50A C o n ta c to r 50A o r a bo ve

Recommended Noise Filter

Power ON/OFF Switch

Type Specifications

L F -305 3-p h a se 200 V A C c la ss 5 A


LF-305 3-phase 200 VAC class 5 A

C

ontactor

3

0A or above

L F -31 5 3-p h a se 200 V A C c la ss 1 5 A



L F -330 3-p h a se 200 V A C c la ss 30 A C o n ta c to r 35A o r a bo ve

LF-340 3-phase 200 VAC class 40A

R e c o m m e n d e d N o i s e F i l t e r

Power ON/OFF Switch

Type Specifications






LF-320 3-phase 200 VAC class 20 A


L F -34 0 3-p h a se 200V A C c la ss 4 0 A

R e c o m m e n d e d N o is e F i l t e r

Power ON

/

OFF Switch

Type Specifications

L F -305 3-p h a se 200 V A C c la ss, 5 A

L F -305 3-p h a se 200V A C c la ss, 5 A

L F -305 3-p h a se 200 V A C c la ss, 5 A C o n ta c to r 30A o r a bo ve

L F -31 5 3-p h a se 200 V A C c la ss, 1 5 A


LF-330 3-phase 200 VAC class, 30 A Contactor 35A or abbve

R e c o m m e n d e d N o i s e F i l t e r

Power ON/OFF Switch

Type Specifications

LF-310 3-phase 200 VAC class, 10 A Contactor

3 0 A

o r a b o v e

LF-315 3-phase 200VAC class

,

15A

L F -320 3-p h a se 200 V A C c la ss, 20 A

L F -330 3-p h a se 200 V A C c la ss, 30 A C o n ta c to r 35A o r a bo ve


-16-


22/132

S p e c i f i c a t i o n s o f A C S E R V O M O T O R S , D e t e c t o r s a n d H o l d in g B r a k e s f o r C o n n e c t i o _

• MSERIES ACSERVOMOTOR Detector

R e c e p ta c le L -typ e S tra igh t C able R e c e p ta c le L-typ e

(Table 3

.

6) Type Type Plug Plug Clamp Type Plug

U S A M ED - 0 3 [ ] [ _ - ] 1

M S 31 02A M S 31 08B M S 3106 B M S 3057

U S A M ED - 0 6 [ _ - ] [ ] 1

1 8-1 0P 1 8-1 0S 1 8-1 0S -1 0A

U S A M E D - 0 9 B [ _ ] 2

USAMED-12B[_

]2

MS3102 MS3108B

M S 31 02A M S 31 08B M S 3106 B M S 3057

USAMED-20BE]2 20-29P 20-29S

2 2 -2 2 P 2 2 -2 2 S 2 2 -2 2 S -1 2 A

U SA M ED -3 0 B [ _ - ] 2

U S A M E D -44B [_ ]2 M S 3102A M S 3108B M S 3106B M S 3057

U S A M K D -6 0B []2 * 32-1 7P 32-1 7S 32-1 7S -20A

• F SERIES

AC SERVOMOTOR Detector

Receptacle L-type Straight Cable Receptacle L-type

(Table 3.7) Type Type Plug Plug Clamp Type Plug

USAFED-02[_-][-] MS3102A MS3108B MS3106B MS3057

U S A F E D -03 [-][_ ] 1 1 4 S -2P 1 4 S -2S 1 4 S -2S 6 A

q

U S A F E D - 0 5 [ _ -] [_ ] 1

M S 31 02A M S 31 08B M S 3106 B M S 3057

U S A F E D -09 E ][] 1 1 8-1 0P 1 8-1 0S 1 8-1 0S -1 0A M S 31 02A M S 31 08B

USAFED-t3C[-]2 20-29P 20-29S

USAFED-20C [

:

]2

M S 31 02A M S 31 08B M S 3106 B M S 3057

U S A F E D - 3 0 C [ - ] 2

22 -2 2P 2 2-2 2S 2 2-22 S -1 2A

U S A F E D - 4 4 C [ - ] 2

• G SERIES


R e c e p ta c le L -typ e S tra igh t C a ble R e c e p ta c le L -typ e I


18

U S A G E D -02[-][_ ] 1 M S 3102A M S 3108B M S 3106 B M S 3057

U S A G E D -03 r_ -][_ -] 14 S -2P 1 4 S -2S 1 4 S -2S 6 A

U S A G ED 4 ) 5 [ - ] r - ] 1

M S 31 02A M S 31 08B M S 3106 B M S 3057

USAGED-09 r_]r_]1 MS3102A MS3108B

1 8-1 0P 1 8-1 0S 1 8-1 0S -1 0A

USAGED-13Ar-]2 20-29P 20-29S

U S A G E D -2 0 A [ _ - ] 2

M S 31 02A M S 31 08B M S 3106 B M S 3057

U S A G E D - 3 0 A [ [ ] 2

22-

2

2P 22-22S

2

2-2

2

S -12A

U S A G E D - 4 4 A [ _ - ] 2

• S SERIES


R e c e p ta c le L -typ e C a ble R e c e p ta c le L -typ e C a ble

(Table 3.9) Type Type Plug Clamp Type Plug Clamp

USASEM-02A[_-]2 -- -- --

U S A S E M -03A [_ -]2 M S 3102A M S 3108B M S 3057

U S A S E M -05A [_ ] 2 1 8-1 0P 1 8-1 0S -1 0A M S 31 02A M S 31 08B M S 3057

USASEM-08A[_-]2 20-29P 20-29S -12A

MS310

2

A MS3108B MS3057

USASEM-15A[:]2

20-4P 20-4S -12A

USASEM-30Ar-]2

• D SERIES


Receptable L-type Straight Cable :Receptacle L-type


U S A D E D -05E [_ ]2 M S 3102A M S 3108B M S 3106B M S 3057

U S A D E D -1 0E L -]2 20-1 5P 20-1 5S 20-1 5S -1 2A

USADED-15EL]2 MS3102A MS3108B

MS3102A MS3108B MS3106B MS3057 20-29P 20-29S

U S A D E D -22 E E ]2 24 -1 0P 24 -1 0S 2 4 -1 0S -1 6 A

q

S A D E D - 3 7 E [ _ ] 2

- 1 7 -


23/132

Ho

l

ding Brake

S tra igh t C a ble R e c e p ta c le L -typ e S tra igh t C a ble

Plug Clamp Type Plug Plug Clamp

M S 31 02A M S 31 08B M S 3106 B M S 3057

20-1 5P 20-1 5S 20-1 5S -1 2 A

M S 3106B M S 3057

M S 31 02A M S 31 08B M S 3106 B M S 3057

20-29S -1 2A

24 -1 0P 24 -1 0S 24 -1 0S -1 6 A

MS3102A32-17pIMs3108B32-

1

7SS3_06832-17SS3057-20A (Motor Side)

M S 3 1 0 2 A 1 4 S - 7 P M S 3 1 0 8 B 1 4 S - 7 S M S 3 1 0 6 B 1 4 S - T S M S 3 0 5 7 - 6 A ( B r a k e S i d e )

H o l d i n g B r a k e


Plug Clamp Type Plug Plug Clamp

MS3102A MS3108B MS3106B MS3057

4 S -6 P 1 4 S -6 S 1 4 S -6 S -6 A

M S A 3102A M S 31 08B M S 31 06 B M S 3057

M S 3106B M S 3057

20-1 5P 20-1 5S 20-1 5S -1 2 A

20-29S -1 2A

M S 31 02A M S 31 08B M S 3106 B M S 3057

24 -1 0P 24 -1 0S 24 -1 0S -1 6 A

H o l d i n g B r a k e


lug Clamp Type Plug Plug Clamp

M S 31 02A M S 31 08B M S 3106 B M S 3057

1 4 S -6 P 1 4 S -6 S 1 4 S -6 S -6 A

MSA3102A MS3108B MS3106B MS3057

M S 3106B M S 3057

20-1 5P 20-1 5S 20-1 5S -1 2 A

20-29S -1 2A

M S 31 02A M S 31 08B M S 3106 B M S 3057

24 -1 O P 24 -1 0S 24 -1 0S -1 6 A

Holding Brake *For type USAMKD-60BI:]2, the followings are required for cooling fan:

Receptacle L-type Cable Receptacle type: MS3102A14S-6P

Type Plug Clamp L-type plug: MS3108BI4S-6S

Straight plug: MS3106B14S-6S

-- -- --

C

able

c

lamp: MS30576A

M S 31 02A M S 31 08B M S 3057

1 8-1 2 P 1 8-1 2 S -1 0A N o te s:

1. The blank [] of motor type depends on classof detectors,

M S 31 02A M S 31 08B M S 3057

MotorType StandardP/R) Semi-standardP/R)

20-17P 20-17S -12A MSeries 2 8192 3 2048

FSeries 2 8192 3 2048

GSeries 2 8192 3 2048

SSeries 3 2048 4 2500

Straight Cable D Series 3 1024 2 8192

Plug Clamp

2: When plugs or clamps are required, contact your YASKAWA represen-

tative. The following connections are provided: soldered type (type MS)

MS3106B MS3057 and solderless type (type JA).

20-29S - 12A

-18-


24/132

4. C HA RA CTE RIS TIC S

4.1 O VERLO AD CHARACTER IST ICS

The overload protective circuit built in SERVO PACK prevents the motor and SERVO PACK

from overloading and restricts the allowable conduction time of SERVOPACK. (See Fig. 4.1.)

The overload detection level is set precisely by the hot start conditions at an ambient

tem peratu re of 55°C and cannot be changed .

NOTE

Hot start is th

e

ov

e

rload charact

e

risitcs wh

e

n th

e

SERVOPACK is running at

the rated load and thermally saturated.

g

1 0 0 0

O

P

E

RATING

T IME S

1 0 0

o

100 200 30

0

MOTOR RATEDCURRENT (%

)

Fig. 4.

1

AllowableO

v

erloadCurve

of S

E

RVO

PAC

K

-19-


25/132

4.2 STA R T ING A ND STO PPING TIME

The starting tim e and stopping tim e of servom otor under a constant load is show n by the

form ula below . Viscous or fric tion torque of the moto r is disregarded .

Starting T ime:

tr

=

104

.

7

×

NR (JM + JL)

(ms)

Kt,IR (a-/3)

Stopping Time:

tf = 104.7× NR (JM + JL) (ms)

Kt,IR ( a +13)

Where,

NR

: Rated motor speed (r

/

min)

JM ( = GD

_

M/4)

: Moment

of

rotor inertia (kg.m 2)

JL ( = GD:/4) : Moment of load inertia (kg.m 2)

Kt: Torque constant of motor (N.m/A)

IR: Motor rated current (A)

= Ip/]R: Acceleration/deceleration current constant

IP

: Acceleration

/

deceleration current

(Acceleration

/

deceleration current _ times the motor rated

current) (A )

= IL/IR: Load current constant

IL: Current equivalent to load torque

(Load current

/3

times the motor rated current) (A)

I _1 I

ARMATURE I_'m_l. -| I

CURRENT

I

:

t I

_

:

I

_ _ _

TI

ME

I , 1

I '

I

' 1

O_OR

SPEE

D

/ --

TIME

Fig. 4.2

T

imingChartof

M o t o r A r m a t u r e C u r r e n t a n d S p e e d

- 2 0 -


26/132

4.3 ALLOWABLEFREQUENCYOF OPERATION I

The allowable frequency of operation is restricted by the SERVOM OTO R and SERVO PACK,

and both the conditions m ust be considered for satisfactory operation .

•

Allowable frequency o

f

operati

o

n restricted by the SERVOPACK

The allowable frequency of operation is restricted by the heat generated in the regenera-

tive resistor in the Servopack , and varies depending on the m oto r types, capacity , load

J (&), acceleration

/

deceleration current values

,,

and motor speed. If the frequency of oper-

ation exceeds 60 times

/

min when load J = 0 before the rated speed is reached, or if it

60

exceeds cycles/rain when JL

=

JMXm, contact your YASKAWA representative.

m +l

• Allo

w

able frequency of operation restricted by the SERVOMOTOR

The allow ab le frequency of operation varies depending on the load conditions, m o to r run- •

ning tim e and the operating cond itions. Typical exam ples are shown below .

1

1

See Par.4.2, STARTING AND STOPPING TIME for symbols.

• When the m oto r repeats rated-speed operation and being at standstill (F ig .4 .3 ).

Cycle tim e (T ) should be determ ined so that RM S value of motor arm ature curren t is lower

than the m otor rated cu rrent:

T> Ip2 (tr + t')9+ I 2ts 1

(s)

Where cycle time (T) is determined, values Ip, tr, tf satisfying the formula above,

should be specified.

MOTOR'U

RMATURE I: _ _ _:'1 _1_

I t, _ t,

I

:_

/

I

|

. _

...... L T

IME

CURRENT I_

:i :r

I

'

:

_

i

r_[

I

,H

I i i

,;

S

P

EED /

TI

M

E

F ig. 4 .3 T imin g C h a rt o f

M o to r A rma ture C urre n t a n d S p e e d

- 2 1 -


27/132

• W h e n t h e m o t o r r e m a i n s a t s t a n d s t i l l b e t w e e n c y c l e s o f a c c e l e r a t i o n a n d d e c e l e r a t i o n

without continuous rated speed running (Fig. 4.4).

The tim ing chart o f the m otor arm atu re curren t and speed is as show n in F ig . 4 .4 . The

allow able frequency of operation n can be calculated as follow s:

Kt • IR l /32

n = 286.5 × NR (JM + JL) × a a s (times/rain)

M O T O R

AR

M

A

T

U R

E _

-

----

-

---1 _ TIME

C

URR

E

N

T / _S

t

i i

M

O

T

O

R

I I

SPEED J -- TIME

Fig. 4.4 T iming C ha rt o f


• W h e n t h e m o t o r a c c e l e r a t e s , r u n s a t c o n s t a n t s p e e d , a n d d e c e l e r a t e s i n a c o n t i n u i n g c y -

c l e w i t h o u t b e in g a t s t a n d s t i l l ( F i g . 4 . 5 ) .

The tim ing chart o f the m otor arm atu re curren t and speed is as show n in F ig . 4 .5. The

allowable frequency of operation n can be calculated as follow s.

Kt • I

R

1 /'32

•

n

=

286

.

5

×

(J

M +

JL)

× ----

a a

(times

/

rain)

e

c

- ? ? _

AR

MATU

RE

O

T

O

R

I _ __

CORR_NT', -_tI: :1 " i_; --T,ME

I I

MOTOR I I_

SPEED

i - TIME

Fig. 4.5 Timing Chart of


-22-


28/132

4.4 SERVOMOTOR FREQUENCY

I

In the servo drive consisting of SERVO PACK and SERVO M O TO R, motor speed amplitude

is restricted by the maximum armature current controlled by SE

R

VOPACK.

T he rela tion be tw een m oto r speed am plitude (N) and frequency (f) is show n by the

formula below :

o_. Kt , IR

N = 1.52 x (Jg + JL)f (r/rain)

, ,_ MO

TOR

+ ,+++++=-, _

;

/#pE

MO

T

OR

i SPEED

Fig. 4.6 TimingChartof

MotorArmatureCurrentand Speed I

4.5 MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS

Fig. 4.

7

shows motor speed and input voltage curve when speed reference input terminals

1CN- @ and @ are used . With auxiliary input term inals, 1CN- @ and @ , m otor speed can

be set to the rating by ad justing user constan t Cn-03 [INBGN] as long as inpu t voltage

is within + 2V to _+ 10V. See Fig. 4.8.

The forw ard m otor ro ta tion (+) m eans counterc lockw ise (CCW) ro tation w hen view ed

from the d rive end .

'qm

R

A

TE

D A

DJ

U

S

TAB

L

E

WITH

SP

E

ED

(

+) i-i RAT

ED

S

PE

E

D

(+)

-- _ _ -- _' ' , , ,

282.-'2/ '2 , 6

VO

LTA

GE

(

V) i ',

_ATED _--- - - -_ RATED SPEED(-)

S PE ED (--)

Fig. 4.7 Speed-InputVoltage Fig. 4.8 Speed-InputVoltage d

C h a rac te r istics C ha rac te ristics w h e n A uxilia ry In p ut

1

T e r m i n a l s 1 C N - @ a n d @ a r e u s e d .

- 2 3 -


29/132

4.6 MO T O R ME C H A N IC A L C H A R A C T E R IS T IC S

4 . 6 . 1 M e c h a n i c a l S t r e n g t h

AC SERVOMOTORScan carry up to 300

%

of the rated momentary maximum torque at

output shaft. (D s

e

ri

e

s up to 350

%

) .

4 . 6 . 2 A l l o w a b l e R a d i a l L o a d a n d T h r u s t L o a d

Table 4.1 to 4.5 show allowable loads according to AC SERVOMOTOR types.

Table 4.1 M Series Allo

w

able

R

adial Load

T

able 4

.

4 S series All

ow

able Radial Load

andThrustLoad andThrustLoad

MotorType Allowable Allowable Allowable Allowable

USAMED- Radial Load

*

Thrust Load Motor Type Radial Load

*

Thrust Load

N(Ib) N(Ib) USASEM- N(Ib) N(Ib)

03[3[]1 490 (110) 98 ( 22)t 02A[_]2 78.4 (18) 39.2 (9)

0

6

r-]r.]l 490 (110) 98 (22) t 0

3

A[.]2 245

(

55) 98 (22)

09B[_]2 686 (154) 343 (77) 05A[_]2 245 (55) 98 (22)

12B[_]2 1470 (330) 490 (110) 08A[[]1 392 (88) 147 (33)

20B[-]2 1470 (330) 490 (110)

1

5A[:]1 490 (110) 147 (33)

30B[_]2 1470 (330) ,490 (110)

30A[_]1 686 (154) 196 (44)

44B[_]2 1764 (397) 588 (132)

USAMK

D

-

6

0B[_-]2 t 764 (3

9

7) 588 (1

3

2)

Table 4

.

5 D Series Allowable Radial Load

T a ble 4 .2 F S e r ie s A llo w a ble R a d ia l L o a d a n d T h rust L o a d

and Thrust Load Motor Type Allowable Allowable

R a d ia l Lo a d * Th rust L o a d

USADED- N(Ib) N (Ib)

M o to r T yp e A llo w a ble A llo w a ble

Rad

i

a

l

L

o

ad

* T

hr

u

st

L

oad

0

5E[-]2 686 (154) 343 (77)

USAFED- N(Ib) N(Ib)

10E[_]2 686 (154) 343 (77)

02[_][-.]1 147 (33) 49 ( 11)t

=15E[-]2 1176 (265) 490 (110)"l;"l

0

3

...... 1 147 (33) 49 ( 11)t

22E[_]2 1176 (265) 490 (110)

05[_][_-]1 490 (110) 98 ( 22)t

0

9

[[][:]1 490 (110) 98 ( 22)t 3

7

E[:]2 1176 (265) 490 (110)

13C[-.]2 686 (154) 343 (57) * Maximum values of the load applied to the shaft

extension.

2

0C[_]

2

14

7

0 (331) 490 (110) t Do not apply the exceeding load because motor cannot be

30CE]2 1470 (331) 490 (110) rotated.

44CE]2 1470 (331) 490 (110)

T a b le 4 . 3 G S e r i e s A l l o w a b le R a d i a l L o a d

a n d T h r u s t L o a d

M o to r T yp e A llo w a ble A llo w a ble

Radial Load

*

Thrust Load

USAGED- N(Ib) N(Ib)

02[:][_]1 147 (33) 49 (11)

03[:][-]1 147 (33) 49 (11)

05[:][:]1 490 (110) 98 (22)

09[:][_]1 490 (110) 98 (22)

13A[-]2 686 (154) 343 (77)

20AE]2 1470 (331) 490 (110)

30A[[]2 1470 (331) 490 (110)

44A[-.]2 1470(331) 490 (110)

-24-


30/132

_

4.6.3 MechanicalSpecifications

Table 4.6 Mechanic

a

lSpecificationsnmm

Accuracy (T.I.R.)t Reference Diagram

Flange surface 0.04

perpendicular to shaft (_ (0.06){

Flangediameter _-@

L

c o n c e n tr ic to sh a ft ® 0.04

0 . 0 2

Shaft run out © (0.04)*

t T .I.R. (Total Indicator Reading)

t Accuracy for motor types USADED-15E, -22E, and -37E.

* Accuracy for motor types USAMED-44B, USAMRD-60B.

4.6.4 Direction of Rotat

i

on

AC SERVO M O TO RS rotate counterclockw ise (CCW) when viewed from the drive end when

m otor and detector leads are connected as show n below .

Fig. 4.9 A C S E R V O MO TO R

(1) Connector Specifications for S tandard SERVO M O TO RS

(a) Motor receptacle (b) Detector receptacle

• M, F, G

,

S, D Series

• M ,F ,G ,D Series A Phase U

O hasev ,

PhaseW B Channeloutput L --

D Frameground C Channel output M --

D ChannelB output N

•

S Series

E ChannelC output P --

(Type USASEM-02A)

F ChanneI-Coutput R --

G OV S --

C o lo r o f L e a d A p p lic a ble

H + 5VDC T --

Red PhaseU

J Frame ground --

White Phase V

Blue Phase W

G re e n F ra m e gro un d

(Types USA SEM -03A to 30A )

O A PhaseU

BPhase I

C P h a se W

D F ra me gro un d

- 2 5 -


31/132

(2) Connector Specifications for SERVO M O TO R w ith Brake

• M, F (except types USAFEM-02, -03), G, • F Series (Types USAFEM-02, -03)

D Series (Brake is prov ided to all types of

D series as standard .)

Q h a s e a k e t e n a h a s e r a k e t e

Phase-V F B Phase-V F Braketerminal

C Phase-W G -- C Phase-W

D Frameground D Frameground

Types w ithou t brake of D series

do not use E and F .

• S Series

(Type USASEM-02A) (Types USASEMi03A, -05A) (Types USASEM-08A to 30A)

Color of Lead Applicable _ A PhaseU _ A PhaseU

Red PhaseU B Phase B PhaseV

White PhaseV C PhaseW C PhaseW

Blue PhaseW D D

B ra ke t e rm in a l -- B ra ke te rm in a l

Back E E

B r a ke te rm i n a l

Black F Frameground F Frameground

G re e n F ra me gro un d

• Fan term inal connector specifications (Type USAM K D-60BD2)

@ Aan,:

,

Fan motorm°°r FAN[_TO_ li F

CONNECTION Po

w

er Supply: Single-phase200

/

200

/

220V

50/60/60Hz

-- o

AlarmContact: OFFwhen fan is runningnormally

D Alarmterminal o

ONwhen fan rotation is 1800_+200

r/rain or less.

E Alarm terminal - WhencoolingfanstartsrunnL,g,ONfor

SHADING COIL 3 seconds.

F

Contact Capacity: Resistanceload is ll0V max, 0.3A

F ig. 4 .10 Fa n Te rmin a l C o n n e c tio n

Arrange the main circuit sequence to stop the SERVOMOTOR and fan motor when cooling

fan alarm occurs. (A larm contact is O N at a larm occurrence).

After alarm occurrence, make sure to stop the SE

R

VOMO

T

O

R

and fan motor within

five m inutes since SERVO M O TO R self-cooling protection is set to five m inutes.

When cooling fan starts running , alarm detection signal turns O N for three seconds.

T here fo re , add a delay re lay to the circuit fo r th is tim e setting (th ree seconds).

-26-


32/132

4 . 6 . 5 I m p a c t R e s i s t a n c e

When m ounted horizon tally and exposed to vertica l shock im pulses, the m otor can w ith -

stand up to two impacts with impact acceleration of 500m/s2 (50G) (Fig.4.11).

N O T E

A p rec is ion d e te c to r is m oun ted on the o ppos ite -d r iv e end o f AC SERVO -

MOT

O

R

.

Care should be taken to protect the shaft from impacts that could

d a m a g e t h e d e t e c t o r .

I VERTICAL

Fig. 4.

11 I

mpac

t

Res

i

stance

4 . 6 . 6 V i b r a t i o n R e s i s t a n c e

When m ounted horizon ta lly , the m o to r can w ithstand v ib ra tion (vertica l, la te ra l, ax ia l) o f q

2

5m

/

s2 (

2

.5G) (Fig.4.1

2

).

I

V

E

RT

IC

A

L

l ]_IZONTA

Documents

Yaskawa Reguladores Cacr Tse-s800-11.1e