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YASKAWA ELECTRIC ENGINEERING
Re-engineered AC SERVOPACK
USER'S MANUAL
CACR-SR□□BF SERVOPACK
YASKAWA ELECTRIC ENGINEERING CORPORATION
YASKAWA
MANUAL NO. KG22E
Copyright © 2004 YASKAWA ELECTRIC ENGINEERING CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa Electric Engineering. No patent
liability is assumed with respect to the use of the information contained herein. Moreover,
because Yaskawa Electric Engineering is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa Electric
Engineering assumes no responsibility for errors or omissions. Neither is any liability assumed
for damages resulting from the use of the information contained in this publication.
About this manual
„ Description of Technical Terms
The terms in this manual are defined as follows:
• Re-engineered AC SERVOPACK:
The SERVOPACKs that have been developed to be used for replacement of the conventional
SERVOPACK models prior to Σ series.
• CACR-SR††BF1†:
The re-engineered AC SERVOPACK model designation. The code in † differs depending on the
SERVOPACK capacity and specifications. Refer to 2.2 SERVOPACK Model Designations.
„ Quick access to your required information
Read the chapters marked with 9 to get the information required for your purpose.
Chapter
SERVOPACKs,
Servomotors,
and Peripheral
Devices
Chapter 1
Outline
Chapter 2
Specifications and
Dimensional
Drawings
Chapter 3
Wiring
Chapter 4
Settings and Display
Chapter 5
Maintenance,
Inspection, and
Alarm/Warning
Display
Ratings and
Characteristics
Panel
Configuration
and Wiring
9
9
9
9
9
9
Trial Operation
Maintenance
and Inspection
9
9
9
9
„ Related Manuals
Refer to the following manuals as required.
Manual Name
Σ-III Series
SGM†S/SGDS
Digital Operator
Operation Manual
Σ-III Series
SGM†S/SGDS
User’s Manual
Manual Number
Contents
TOBPS80000001
Provides detailed information on the operation of the
JUSP-OP05A Digital Operator.
SIEPS80000000
Describes the following items of Σ-III Series
SERVOPACKs and Servomotors.
• Selection of model and capacity
• Ratings, characteristics, and dimensional drawings
• Cables and peripheral devices
• Panel configuration and wiring
• Trial operation, servo adjustment, and functions
• Inspection, maintenance, and troubleshooting
iii
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.
WARNING
CAUTION
Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have series consequences if not
heeded.
PROHIBITED
Indicates prohibited actions that must not be performed. For example, this symbol
would be used to indicate that fire is prohibited as follows:
MANDATORY
.
Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory:
.
The warning symbols for ISO and JIS standards are different, as shown below.
ISO
JIS
The ISO symbol is used in this manual.
Both of these symbols appear on warning labels on Yaskawa Electric Engineering products. Please abide by
these warning labels regardless of which symbol is used.
iv
Notes for Safe Operation
Read this manual thoroughly before checking products on delivery, storage and transportation, installation,
wiring, operation and inspection, and disposal of the AC servo drives.
WARNING
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
Failure to observe this warning may result in injury.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for trial operation precisely as noted in this Manual.
• Follow the procedures and instructions for the trial operation as noted in the applicable manual for that product.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
• Provide an appropriate stopping device on the machine side to ensure safety. A holding
brake for a servomotor with brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting momentary power loss to
avoid an unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
v
„ Checking on Delivery
CAUTION
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution so may result in fire or malfunction.
„ Storage and Transportation
CAUTION
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage/installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage/installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
„ Installation
CAUTION
• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVOPACK and the control panel or with other
devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
Failure to observe this caution may result in malfunction.
vi
„ Wiring
CAUTION
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminal screws and motor output terminal screws.
Failure to observe this caution may result in fire.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal
lines separated by at least 30 cm (11.81 in).
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder
(PG) feedback lines.
The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback
lines.
• Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may
still remain in the SERVOPACK.
Make sure the charge indicator is out first before starting an inspection.
• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per
minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds
when power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors
and fuses to deteriorate, resulting in unexpected problems.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
Failure to observe this caution may result in damage to the product.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery or cause it to explode.
vii
„ Operation
CAUTION
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to
avoid any unexpected accidents.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters
of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during
JOG mode operation using parameter Fn002 and zero point search mode using parameter Fn003.
• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to
fall off due to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero
clamp state at occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
• When not using the normal autotuning, set to the correct moment of inertia ratio.
Setting to an incorrect moment of inertia ratio may cause vibration.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON
or soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in injury.
• Do not use the servo brake of the servomotor for ordinary braking.
Failure to observe this caution may result in malfunction.
„ Maintenance and Inspection
CAUTION
• When replacing the SERVOPACK, resume operation only after resetting the potentiometers, pins,
and parameters to their original settings.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble the SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
viii
„ Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
„ General Precautions
The following describes general precautions. Note the following to ensure safe application.
• The drawings presented in this manual are sometimes shown without covers or protective guards. Always
replace the cover or protective guard as specified first, and then operate the products in accordance with
the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published
as a next edition. The edition number appears on the front and back covers.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa Electric Engineering
representative or one of the offices listed on the back of this manual.
• Yaskawa Electric Engineering will not take responsibility for the results of unauthorized modifications of
this product. Yaskawa Electric Engineering shall not be liable for any damages or troubles resulting from
unauthorized modification.
ix
CONTENTS
About this manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
SAFETY INFORMATION- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv
Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
1 Outline
1.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series - - - - - - - - - - - - - - -1-2
1.2.2 Updated with the Latest Technologies- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.2.3 Wide Range of Applicable Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.3 Applicable Servomotors and Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.4 SERVOPACK Part Names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
2 Specifications and Dimensional Drawings
2.1 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.3 Re-engineered AC SERVOPACK Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B† to SR44B† - - - - - - - - - - - - - - - - - - -2-7
2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY - - - - - -2-9
3 Wiring
3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SR††BF1††† - - - - - - - 3-2
3.1.1 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2
3.1.2 Names and Description of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2
3.1.3 Connector Receptacle Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3
3.1.4 CN1 I/O Signal Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3
3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-5
3.2 I/O Signal Connector Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.1 Re-engineered SERVOPACKs for CACR-SR††BE
(for Multiplexed Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6
3.2.2 Re-engineered SERVOPACKs for CACR-SR††BB
(for Conventional Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8
3.2.3 Re-engineered SERVOPACKs for CACR-SR††BY (for Absolute Encoder) - - - - - - - - - - - - 3-10
3.2.4 Re-engineered SERVOPACKs for CACR-SR††BZ (for Absolute Encoder)- - - - - - - - - - - - - 3-12
x
4 Settings and Display
4.1 Setting Switches- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Setting Fixed Switches (User’s Modification Prohibited) - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.2 Switches To Be Set According to Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.3 Potentiometers VR and RH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.4 Alarm Reset Button - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.1.5 LED Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.1.6 Monitoring Pins - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.1.7 Digital Operator Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.2 Factory Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.1 Pin Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
5 Maintenance, Inspection and Alarm/Warning Display
5.1 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.2 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.3 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.4 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.4.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.4.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.4.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
xi
1
1
Outline
1.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series - - - - - - - - - - 1-2
1.2.2 Updated with the Latest Technologies - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2.3 Wide Range of Applicable Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.3 Applicable Servomotors and Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.4 SERVOPACK Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1-1
1 Outline
1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series
1.1 Outline
The re-engineered AC SERVOPACK model CACR-SR††BF has been developed to be used for replacement of
the conventional SERVOPACK models that had been introduced before Σ-series, using the latest technologies in
its circuit configuration.
The re-engineered AC SERVOPACK supports all the types of encoders for AC servodrives: serial encoders and
encoders older than serial encoders
The re-engineered AC SERVOPACK provides the operating environment of the following conventional
SERVOPACK models.
CACR-SR††BA
(Speed control/analog control, incremental encoder applicable, base-mounted type)
CACR-SR††BB
(Speed control/analog control, incremental encoder applicable, base-mounted type)
CACR-SR††BZ
(Speed control/analog control, absolute encoder applicable, base-mounted type)
CACR-SR††BE
(Speed control/digital control, incremental encoder applicable, base-mounted type)
CACR-SR††BY
(Speed control/digital control, absolute encoder applicable, base-mounted type)
1.2 Features
1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series
Operating Environments:
• External dimensions/installation
(Some models require attachments.)
• Main circuit terminals
• Control connector and signal layout
• Recognizes the encoder type prior to Σ series by the switch setting
(An encoder signal converter is built in.)
• Important adjustments such as speed gain adjustment can be made
using the potentiometers VR.
(In the same way as of the conventional models CACR-SR†BB and BZ)
1.2.2 Updated with the Latest Technologies
• The basic functions and performance are equivalent to those of Σ-III
series SERVOPACK
• The parameters of Σ-III series SERVOPACK are applied.
(Parameter setting using a digital operator.)
1.2.3 Wide Range of Applicable Servomotors
The re-engineered AC SERVOPACKs can be combined with various models of servomotors by setting the internal parameters: C series, M series, F series, G series, D series, S series, Σ-series, Σ-II series, and Σ-III series Servomotors.
1-2
1.3 Applicable Servomotors and Encoders
1.3 Applicable Servomotors and Encoders
The following servomotors besides Σ series, Σ-II series, Σ-III series are applicable.
Αpplicable Servomotor Models Prior to Σ Series
C Series
USACED-03A
USACED-05A
USACED-12A
USACED-20A
USACED-30A
USACED-44A
USACED-60A
M Series
USAMED-03
USAMED-06
USAMED-09
USAMED-12
USAMED-20
USAMED-30
USAMED-44
USAMED-60
F Series
USAFED-02
USAFED-03
USAFED-05
USAFED-09
USAFED-13
USAFED-20
USAFED-30
USAFED-44
G Series
D Series
S Series
USAGED-02A
USAGED-03A
USAGED-05A
USAGED-09A
USAGED-13A
USAGED-20A
USAGED-30A
USAGED-44A
USADED-05E
USADED-10E
USADED-15E
USADED-22E
USADED-37E
USAGED-44A
USASEM-02A
USASEM-03A
USASEM-05A
USASEM-08A
USASEM-15A
USASEM-30A
1
Applicable Encoders
Conventional Incremental Encoders
Multiplexed Incremental Encoders
Absolute Encoders
1000 p/r, 1500 p/r, 2500 p/r, 4000 p/r, 5000 p/r, 6000 p/r
2048 p/r, 8192 p/r
1024 p/r, 8192 p/r
1-3
1 Outline
1.4 SERVOPACK Part Names
CN3 Connector for personal
computer monitoring or
digital operator
CN1 I/O signal connector
Control/main circuit
power supply terminal
CN2 Encoder connector
1-4
2
Specifications and Dimensional Drawings
2
2.1 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.3 Re-engineered AC SERVOPACK Selection - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B† to SR44B† - - - - - - - - - - - - - - 2-7
2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY 2-9
2-1
2 Specifications and Dimensional Drawings
2.1 Ratings and Specifications
Re-engineered SERVOPACK Model
CACRMax. Applicable Servomotor Capacity
[kW]
Input
Main Circuit
Power
Supply Control Circuit
Continuous Output Current [Arms]
Max. Output Current [Arms]
Control Method
Feedback
Ambient
Temperature
Storage
Temperature
2-2
0.5
0.7
1.0
1.5
2.0
3.0
4.4
6.0
26.0
56.6
33.0
70.0
45.0
80.6
Three-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz
Single-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz
3.0
8.5
4.2
11.0
5.8
13.9
7.6
17.0
11.7
28.0
19.0
42.0
Three-phase full-wave rectification IGBT-PWM (sine-wave driven)
Incremental encoder/Absolute encoder
(8192 p/r, 2048 p/r, 1024 p/r, 6000 p/r, 5000 p/r, 4000 p/r, 2500 p/r, 1500 p/r, 1000 p/r, etc.)
0 to 55 °C
-20 to 85 °C
90 % RH or less (with no condensation)
Basic Specifications
Ambient/
Storage
Humidity
Vibration/
Shock
Resistance
0.3
Configuration
Approx. Mass
Base-mounted
10 kg
Speed Control Range
Load Regulation
Speed Voltage
Speed Regu- Regulation
Control lation Temperature
Regulation
Frequency
Characteristics
Torque Control (Repeatability)
Acceleration Time Setting
1:3000
0 to 100 % load: 0.01 % max. (at rated speed)
Performance
Operating
Conditions
SR03BF SR05BF SR07BF SR10BF SR15BF SR20BF SR30BF SR44BF SR60BF
5 m/s2 / 20 m/s2 (0.5G/2G)
0%
25±25 °C: 0.1% max. (at rated speed)
100 Hz
±2 %
0 to 10 s
2.1 Ratings and Specifications
(cont’d)
Built-in Functions
I/O Signals
Speed/Torque
References
Rated Reference Voltage
Input Impedance
Circuit Time
Constant
Rated Reference Voltage
Auxiliary Inputs Input Impedance
Circuit Time
Constant
Built-in Reference Power Supply
Form
Position Output
Frequency
(PG pulses)
Dividing
Ratio
Sequence Input
Sequence Output
Speed control
mode
Torque control
mode
About 30 kΩ
±6 VDC (forward rotation with positive reference) at rated speed
±3 VDC (forward rotation with positive reference) at rated torque
About 70 µs
±2 V to ±10 VDC (forward rotation with positive reference) at rated speed.
About 30 kΩ
About 70 µs
±12 VDC±5 %, ±30 mA
Line-driver or open-collector (phase A, phase B, phase C)
Any setting ratio
LED Display
Servo ON, P control, forward run prohibited, reverse run prohibited, and alarm reset
Servo alarm, servo ready, TG ON, current limit, and alarm code (3-bit output)
±0 V to ±9 VDC, forward rotation: -3 VDC/rated current, reverse rotation: 3 VDC/rated
current
Operated at main power OFF, servo alarm, servo OFF.
Built-in
5 times of rotor moment of inertia
Operated at P-OT and N-OT
Overcurrent, regeneration error, overvoltage, input overvoltage, overspeed, insufficient
voltage, overload, zero-point pulse error, A/D error, overrun detection, open-phase, and
CPU error
7-segment LED (status and alarm display)
Monitor
Speed monitor 1000 r/min-1 and torque monitor 3V/rated torque
External Current Limits
Dynamic Brake (DB)
Regenerative Processing
Allowable Load Moment of Inertia
Overtravel Prevention
Protection
2
2-3
2 Specifications and Dimensional Drawings
2.2 SERVOPACK Model Designations
This section explains how to check the SERVOPACK model.
CACR-SR††BF1†††-Y†††
SERVOPACK prior to the Σ series
SERVOPACK for speed control
Capacity.∗1
Base-mounted re-engineered AC SERVOPACK
Input voltage: 200 V
Applicable encoder ∗3
Applicable servomotor ∗2
Conventional SERVOPACK model ∗4
Y-specification code (Customer-specified code)
(1) SERVOPACK Capacity and Applicable Servomotors (*1, *2)
Unit: kW
*2 Applicable servomotor code
*1 Capacity code
02
03
05
07
10
15
20
30
44
60
M
F
G
S
D
C
−
0.3
−
0.6
0.9
1.2
2.0
3.0
4.4
6.0
0.15
0.3
0.45
−
0.85
1.3
1.8
2.9
4.4
−
0.15
0.3
0.45
−
0.85
1.3
1.8
2.9
4.4
−
0.15
0.31
0.46
−
0.77
1.54
−
3.08
−
−
−
−
0.5
−
−
1.0
1.5
2.2
3.7
−
−
0.25
0.5
−
−
1.2
1.8
2.9
4.4
6.0
(2) Encoders (*3)
Type
Conventional
incremental
Pulse
1000
1440
1500
2000
2500
4000
5000
6000
Code
F
H
E
K
C
D
B
A
Type
Multiplexed
incremental
(3) Conventional SERVOPACKs (*4)
Model
CACR-SR††BB
CACR-SR††BZ
CACR-SR††BE
CACR-SR††BY
CACR-SR††BA
2-4
Code
B
Z
E
Y
A
Pulse
2048
8192
2500
Code
3
2
4
Type
Absolute
Pulse
1024
8192
Code
W
S
2.3 Re-engineered AC SERVOPACK Selection
2.3 Re-engineered AC SERVOPACK Selection
Applicable
Servomotors
M
F
G
D
S
USAMED-03
USAMED-06
USAMED-09
USAMED-12
USAMED-20
USAMED-30
USAMED-44
USAMED-60
USAFED-02
USAFED-03
USAFED-05
USAFED-09
USAFED-13
USAFED-20
USAFED-30
USAFED-44
USAGED-02A
USAGED-03A
USAGED-05A
USAGED-09A
USAGED-13A
USAGED-20A
USAGED-30A
USAGED-44A
USADED-05E
USADED-10E
USADED-15E
USADED-22E
USADED-37E
USASEM-02A
USASEM-03A
USASEM-05A
USASEM-08A
USASEM-15A
USASEM-30A
Conventional SERVOPACK Model SR††BB
and Re-engineered SERVOPACK Model
Conventional Model Re-engineered Model
SR††BB
SR††BF
CACR-SR03BB1†M CACR-SR03BF1†MB
CACR-SR07BB1†M CACR-SR07BF1†MB
CACR-SR10BB1†M CACR-SR10BF1†MB
CACR-SR15BB1†M CACR-SR15BF1†MB
CACR-SR20BB1†M CACR-SR20BF1†MB
CACR-SR30BB1†M CACR-SR30BF1†MB
CACR-SR44BB1†M CACR-SR44BF1†MB
CACR-SR60BB1†M CACR-SR60BF1†MB
CACR-SR03BB1†F
CACR-SR03BF1†FB
CACR-SR03BB1†F
CACR-SR03BF1†FB
CACR-SR05BB1†F
CACR-SR05BF1†FB
CACR-SR10BB1†F
CACR-SR10BF1†FB
CACR-SR15BB1†F
CACR-SR15BF1†FB
CACR-SR20BB1†F
CACR-SR20BF1†FB
CACR-SR30BB1†F
CACR-SR30BF1†FB
CACR-SR44BB1†F
CACR-SR44BF1†FB
CACR-SR05BB1†D
CACR-SR10BB1†D
CACR-SR20BB1†D
CACR-SR30BB1†D
CACR-SR44BB1†D
CACR-SR02BB1†S
CACR-SR03BB1†S
CACR-SR05BB1†S
CACR-SR10BB1†S
CACR-SR15BB1†S
CACR-SR30BB1†S
CACR-SR05BF1†DB
CACR-SR10BF1†DB
CACR-SR20BF1†DB
CACR-SR30BF1†DB
CACR-SR44BF1†DB
CACR-SR02BF1†SB
CACR-SR03BF1†SB
CACR-SR05BF1†SB
CACR-SR10BF1†SB
CACR-SR15BF1†SB
CACR-SR30BF1†SB
Conventional SERVOPACK Model SR††BZ
and Re-engineered SERVOPACK Model
Conventional Model Re-engineered Model
SR††BZ
SR††BF
CACR-SR03BZ1†M CACR-SR03BF1†MZ
CACR-SR07BZ1†M CACR-SR07BF1†MZ
CACR-SR10BZ1†M CACR-SR10BF1†MZ
CACR-SR15BZ1†M CACR-SR15BF1†MZ
CACR-SR20BZ1†M CACR-SR20BF1†MZ
CACR-SR30BZ1†M CACR-SR30BF1†MZ
CACR-SR44BZ1†M CACR-SR44BF1†MZ
CACR-SR60BZ1†M CACR-SR60BF1†MZ
CACR-SR03BZ1†F
CACR-SR03BF1†FZ
CACR-SR03BZ1†F
CACR-SR03BF1†FZ
CACR-SR05BZ1†F
CACR-SR05BF1†FZ
CACR-SR10BZ1†F
CACR-SR10BF1†FZ
CACR-SR15BZ1†F
CACR-SR15BF1†FZ
CACR-SR20BZ1†F
CACR-SR20BF1†FZ
CACR-SR30BZ1†F
CACR-SR30BF1†FZ
CACR-SR44BZ1†F
CACR-SR44BF1†FZ
CACR-SR05BZ1†D
CACR-SR10BZ1†D
CACR-SR20BZ1†D
CACR-SR30BZ1†D
CACR-SR44BZ1†D
CACR-SR02BZ1†S
CACR-SR03BZ1†S
CACR-SR05BZ1†S
CACR-SR10BZ1†S
CACR-SR15BZ1†S
CACR-SR30BZ1†S
2
CACR-SR05BF1†DZ
CACR-SR10BF1†DZ
CACR-SR20BF1†DZ
CACR-SR30BF1†DZ
CACR-SR44BF1†DZ
CACR-SR02BF1†SZ
CACR-SR03BF1†SZ
CACR-SR05BF1†SZ
CACR-SR10BF1†SZ
CACR-SR15BF1†SZ
CACR-SR30BF1†SZ
2-5
2 Specifications and Dimensional Drawings
Applicable
Servomotors
Conventional SERVOPACK Model SR††BE
and Re-engineered SERVOPACK Model
Conventional Model
M
F
G
D
S
2-6
USAMED-03
USAMED-06
USAMED-09
USAMED-12
USAMED-20
USAMED-30
USAMED-44
USAMED-60
USAFED-02
USAFED-03
USAFED-05
USAFED-09
USAFED-13
USAFED-20
USAFED-30
USAFED-44
USAGED-02A
USAGED-03A
USAGED-05A
USAGED-09A
USAGED-13A
USAGED-20A
USAGED-30A
USAGED-44A
USADED-05E
USADED-10E
USADED-15E
USADED-22E
USADED-37E
USASEM-02A
USASEM-03A
USASEM-05A
USASEM-08A
USASEM-15A
USASEM-30A
CACR-SR03BE1†M
CACR-SR07BE1†M
CACR-SR10BE1†M
CACR-SR15BE1†M
CACR-SR20BE1†M
CACR-SR30BE1†M
CACR-SR44BE1†M
CACR-SR60BE1†M
CACR-SR03BE1†F
CACR-SR03BE1†F
CACR-SR05BE1†F
CACR-SR10BE1†F
CACR-SR15BE1†F
CACR-SR20BE1†F
CACR-SR30BE1†F
CACR-SR44BE1†F
CACR-SR02BE1†G
CACR-SR03BE1†G
CACR-SR05BE1†G
CACR-SR10BE1†G
CACR-SR15BE1†G
CACR-SR20BE1†G
CACR-SR30BE1†G
CACR-SR44BE1†G
CACR-SR05BE1†D
CACR-SR10BE1†D
CACR-SR20BE1†D
CACR-SR30BE1†D
CACR-SR44BE1†D
CACR-SR02BE1†S
CACR-SR03BE1†S
CACR-SR05BE1†S
CACR-SR10BE1†S
CACR-SR15BE1†S
CACR-SR30BE1†S
Re-engineered Model
SR††BF
CACR-SR03BF1†ME
CACR-SR07BF1†ME
CACR-SR10BF1†ME
CACR-SR15BF1†ME
CACR-SR20BF1†ME
CACR-SR30BF1†ME
CACR-SR44BF1†ME
CACR-SR60BF1†ME
CACR-SR03BF1†FE
CACR-SR03BF1†FE
CACR-SR05BF1†FE
CACR-SR10BF1†FE
CACR-SR15BF1†FE
CACR-SR20BF1†FE
CACR-SR30BF1†FE
CACR-SR44BF1†FE
CACR-SR02BF1†GE
CACR-SR03BF1†GE
CACR-SR05BF1†GE
CACR-SR10BF1†GE
CACR-SR15BF1†GE
CACR-SR20BF1†GE
CACR-SR30BF1†GE
CACR-SR44BF1†GE
CACR-SR05BF1†DE
CACR-SR10BF1†DE
CACR-SR20BF1†DE
CACR-SR30BF1†DE
CACR-SR44BF1†DE
CACR-SR02BF1†SE
CACR-SR03BF1†SE
CACR-SR05BF1†SE
CACR-SR10BF1†SE
CACR-SR15BF1†SE
CACR-SR30BF1†SE
Conventional SERVOPACK Model
SR††BYand Re-enginerred SERVOPACK
Model
Re-engineered Model
Conventional Model
SR††BF
CACR-SR03BY1†M CACR-SR03BF1†MY
CACR-SR07BY1†M CACR-SR07BF1†MY
CACR-SR10BY1†M CACR-SR10BF1†MY
CACR-SR15BY1†M CACR-SR15BF1†MY
CACR-SR20BY1†M CACR-SR20BF1†MY
CACR-SR30BY1†M CACR-SR30BF1†MY
CACR-SR44BY1†M CACR-SR44BF1†MY
CACR-SR60BY1†M CACR-SR60BF1†MY
CACR-SR03BY1†F
CACR-SR03BF1†FY
CACR-SR03BY1†F
CACR-SR03BF1†FY
CACR-SR05BY1†F
CACR-SR05BF1†FY
CACR-SR10BY1†F
CACR-SR10BF1†FY
CACR-SR15BY1†F
CACR-SR15BF1†FY
CACR-SR20BY1†F
CACR-SR20BF1†FY
CACR-SR30BY1†F
CACR-SR30BF1†FY
CACR-SR44BY1†F
CACR-SR44BF1†FY
CACR-SR02BY1†G CACR-SR02BF1†GY
CACR-SR03BY1†G CACR-SR03BF1†GY
CACR-SR05BY1†G CACR-SR05BF1†GY
CACR-SR10BY1†G CACR-SR10BF1†GY
CACR-SR15BY1†G CACR-SR15BF1†GY
CACR-SR20BY1†G CACR-SR20BF1†GY
CACR-SR30BY1†G CACR-SR30BF1†GY
CACR-SR44BY1†G CACR-SR44BF1†GY
CACR-SR05BY1†D CACR-SR05BF1†DY
CACR-SR10BY1†D CACR-SR10BF1†DY
CACR-SR20BY1†D CACR-SR20BF1†DY
CACR-SR30BY1†D CACR-SR30BF1†DY
CACR-SR44BY1†D CACR-SR44BF1†DY
CACR-SR02BY1†S
CACR-SR02BF1†SY
CACR-SR03BY1†S
CACR-SR03BF1†SY
CACR-SR05BY1†S
CACR-SR05BF1†SY
CACR-SR10BY1†S
CACR-SR10BF1†SY
CACR-SR15BY1†S
CACR-SR15BF1†SY
CACR-SR30BY1†S
CACR-SR30BF1†SY
2.4 Dimensional Drawings
2.4 Dimensional Drawings
2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B† to SR44B†
(1) Re-engineered AC SERVOPACK Models for Conventional Models CACR-SR††BB
and -SR††BZ
Note: † at the end of the model codes of the re-engineered AC SERVOPACK for CACR-SR††BB is “B” , and
that for CACR-SR††BZ is “Z” .
For Conventional M-series For Conventional F-series For Conventional D-series For Conventional S-series
Models for which no mounting attachment is required
CACR-SR03BF1†M†
CACR-SR03BF1†F†
CACR-SR07BF1†M†
CACR-SR05BF1†F†
CACR-SR10BF1†M†
CACR-SR10BF1†F†
CACR-SR15BF1†M†
CACR-SR15BF1†F†
CACR-SR05BF1†D†
CACR-SR10BF1†D†
Models for which the mounting attachment F352086-A is required
CACR-SR20BF1†M†
CACR-SR20BF1†F†
CACR-SR20BF1†D†
CACR-SR30BF1†M†
CACR-SR30BF1†F†
CACR-SR30BF1†D†
CACR-SR44BF1†M†
CACR-SR44BF1†F†
CACR-SR44BF1†D†
CACR-SR02BF1†S†
CACR-SR03BF1†S†
CACR-SR05BF1†S†
CACR-SR10BF1†S†
CACR-SR15BF1†S†
CACR-SR30BF1†S†
2
CACR-SR30BF1†S†
2-7
2 Specifications and Dimensional Drawings
2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B† to SR44B†
(2) Re-engineered AC SERVOPACK Models for Conventional Models CACR-SR††BE
and -SR††BY
Note: † at the end of the model codes of the re-engineered AC SERVOPACK for CACR-SR††BE is “E” , and
that for CACR-SR††BY is “Y” .
For Conventional
For Conventional
For Convention
M-series
F-series
D-series
No mounting attachment is required for SERVOPACKs 4.4 kW or less.
CACR-SR03BF1†M† CACR-SR03BF1†F† CACR-SR05BF1†D†
CACR-SR07BF1†M† CACR-SR05BF1†F† CACR-SR10BF1†D†
CACR-SR10BF1†M† CACR-SR10BF1†F† CACR-SR20BF1†D†
CACR-SR15BF1†M† CACR-SR15BF1†F† CACR-SR30BF1†D†
CACR-SR20BF1†M† CACR-SR20BF1†F† CACR-SR44BF1†D†
CACR-SR30BF1†M† CACR-SR30BF1†F†
CACR-SR44BF1†M† CACR-SR44BF1†F†
CACR-SR44BF1†M† CACR-SR44BF1†F†
For Conventional
S-series
For Conventional
G-series
CACR-SR02BF1†S†
CACR-SR03BF1†S†
CACR-SR05BF1†S†
CACR-SR10BF1†S†
CACR-SR15BF1†S†
CACR-SR30BF1†S†
CACR-SR02BF1†G†
CACR-SR03BF1†G†
CACR-SR05BF1†G†
CACR-SR10BF1†G†
CACR-SR15BF1†G†
CACR-SR20BF1†G†
CACR-SR30BF1†G†
CACR-SR44BF1†G†
Attachment
product code:
F352086-A
2 × 7 dia. holes
Dimensions in mm
4 × SERVOPACK mounting
screws M6 × 16 (included)
Mounting base
(included)
F352086-A includes:
y Attachment
y SERVOPACK mounting bolts
2-8
Attachment
product code:
F352086-A
2.4 Dimensional Drawings
2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE,
and 60BY
(1) Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY
CACR-SR60BF1†MB
CACR-SR60BF1†MZ
CACR-SR60BF1†ME
CACR-SR60BF1†MY
Attachment
product code:
F352087-A
2
2 × 7 dia. holes
Dimensions in mm
4 × SERVOPACK mounting
screws M6 × 16 (included)
Mounting base (included)
F352087-A includes:
y Attachment
y SERVOPACK mounting bolts
Attachment
product code:
F352087-A
2-9
3
Wiring
3
3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SR††BF1††† - - - 3-2
3.1.1 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.1.2 Names and Description of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - 3.1.3 Connector Receptacle Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.1.4 CN1 I/O Signal Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - -
3-2
3-2
3-3
3-3
3-5
3.2 I/O Signal Connector Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.1 Re-engineered SERVOPACKs for CACR-SR††BE
(for Multiplexed Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.2 Re-engineered SERVOPACKs for CACR-SR††BB
(for Conventional Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.2.3 Re-engineered SERVOPACKs for CACR-SR††BY (for Absolute Encoder) - - - - - - - 3-10
3.2.4 Re-engineered SERVOPACKs for CACR-SR††BZ (for Absolute Encoder) - - - - - - - 3-12
3-1
3 Wiring
3.1.1 Connection Diagram
3.1 Wiring for Re-engineered AC SERVOPACKs
CACR-SR††BF1†††
3.1.1 Connection Diagram
Re-engineered AC SERVOPACK
Regenerative
resistor
Main circuit power supply
Three-phase 200V/220V
50/60 Hz
Control circuit power supply
Single-phase 200V/220V
50/60Hz
Y3
R
S
T
Y4
U
V
W
AC Servomotor
A
B
C
M
D
r
t
Encoder signal
conversion function
built-in
I/O signals
y Speed reference
y PG signal
y Operation signal
PG
CN2
Encoder
CN1
Digital operator
JUSP-OP05A
CN3
3.1.2 Names and Description of Main Circuit Terminals
Terminal Symbol
(R) (S) (T)
(U) (V) (W)
(r) (t)
(Y3) (Y4)
3-2
Name
Main circuit input
terminals
Servomotor
connection terminals
Control circuit input
terminals
Description
Three-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz
Connect (U) to the terminal A, (V) to the terminal B, (W) to the terminal C of
Servomotor.
Single-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz
Ground terminal
Connect to the power supply ground terminal and the Servomotor D terminal.
Regenerative resistor
terminals
Regenerative resistor connection terminals (normally not to be connected
externally.)
3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SR††BF1†††
3.1.3 Connector Receptacle Specifications
CN1: For I/O signals
Applicable Receptacle Model
Inside
SERVOPACK
Soldered Type
Caulking Type
Case
Manufacturer
MR-50RMA
MR-50F
MRP-50F01
MR-50L
Honda
Communication
Industries Co., Ltd.
CN2: For connecting the optical encoder (PG)
Applicable Receptacle Model
Inside
SERVOPACK
Soldered Type
Caulking Type
Case
Manufacturer
MR-20RMA
MR-20F
MRP-20F01
MR-20L
Honda
Communication
Industries Co., Ltd.
CN3: For connecting the digital operator
3
Half-pitch Connector
Plug
Shell
10114-3000VE
10314-52A0-008
Manufacturer
SUMITOMO 3M
Limited
3.1.4 CN1 I/O Signal Connector Terminal Layout
Re-engineered AC
SERVOPACK
Model
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
CACR-SR††BF1††
Model No. ended
with B (Model for
SR††BB)
Model No. ended
with Z (Model for
SR††BZ)
Model No. ended
with E (Model for
SR††BE)
Model No. ended
with Y (Model for
SR††BY)
SG
SG
SG
PHA
/V-CMP+
/V-CMP+24V-IN
/S-ON
TMON
VTG
SG
IN-A
SG
IN-B
SG
+12V
SG
FG
PCO
/PCO
PHC
/TGON+
/TGON-
SG
SG
SG
SEN
/V-CMP+
/V-CMP+24V-IN
/S-ON
TMON
VTG
SG
IN-A
SG
IN-B
SG
+12V
SG
FG
PCO
/PCO
BAT+
/TGON+
/TGON-
SG
SG
SG
PHA
/V-CMP+
/V-CMP+24V-IN
/S-ON
TMON
VTG
SG
V-REF
SG
T-REF
SG
+12V
SG
FG
PCO
/PCO
PHC
/TGON+
/TGON-
SG
SG
SG
SEN
/V-CMP+
/V-CMP+24V-IN
/S-ON
TMON
VTG
SG
V-REF
SG
T-REF
SG
+12V
SG
FG
PCO
/PCO
BAT+
/TGON+
/TGON-
3-3
3 Wiring
3.1.4 CN1 I/O Signal Connector Terminal Layout
(cont’d)
Re-engineered AC
SERVOPACK
Model
CACR-SR††BF1††
Model No. ended
with B (Model for
SR††BB)
Model No. ended
with Z (Model for
SR††BZ)
Model No. ended
with E (Model for
SR††BE)
Model No. ended
with Y (Model for
SR††BY)
24
/P-CON
/P-CON
/P-CON
/P-CON
25
OL-
OL-
AL01
26
27
28
29
30
31
32
33
34
35
36
37
38
39
N-OT
/S-RDY/S-RDY+
N-CL
SG
-12V
SG
PAO
/PAO
PBO
/PBO
PHB
ALM+
ALM-
N-OT
/S-RDY/S-RDY+
N-CL
SG
-12V
SG
PAO
/PAO
PBO
/PBO
BATALM+
ALM-
N-OT
/S-RDY/S-RDY+
N-CL
SG
-12V
SG
PAO
/PAO
PBO
/PBO
PHB
ALM+
ALM-
empty *2
N-OT
/S-RDY/S-RDY+
N-CL
SG
-12V
SG
PAO
/PAO
PBO
/PBO
BATALM+
ALM-
40
OL+
OL+
AL02
41
P-OT
Pin No.
empty
*1
AL03
empty
empty
*1
/ALM-RST
/ALM-RST
P-CL
SG
-12V
SG
+12V
SG
FG
P-CL
SG
-12V
SG
+12V
SG
FG
P-OT
empty
*1
43
empty
*1
44
45
46
47
48
49
50
P-CL
SG
-12V
SG
+12V
SG
FG
42
P-OT
empty *2
P-OT
P-CL
SG
-12V
SG
+12V
SG
FG
* 1. The MCB trip signal output function is not provided for SR††BB and SR††BZ.
* 2. The PG signal output phase S is not provided for SR††BY.
3-4
3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SR††BF1†††
3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout
1
2
3
4
5
6
7
For Conventional
Incremental
Encoder
0V
0V
0V
PG5 V
PG5 V
PG5 V
DIR
For Multiplexed
Type Incremental
Encoder
0V
0V
0V
PG5 V
PG5 V
PG5 V
DIR
0V
0V
0V
PG5 V
PG5 V
PG5 V
DIR
8
PU
−
−*
9
/PU
−
−*
10
11
12
13
14
15
16
17
18
19
20
PV
/PV
PW
/PW
PC
/PC
PA
/PA
PB
/PB
FG
Absolute RST
−
BAT
BAT0
PC
/PC
PA
/PA
PB
/PB
FG
Absolute RST
−
BAT
BAT0
PC
/PC
PA
/PA
PB
/PB
FG
Pin No.
For Absolute
Encoder
3
* The phase S rotation amount serial data of 12-bit absolute PG is not processed.
3-5
3 Wiring
3.2.1 Re-engineered SERVOPACKs for CACR-SR††BE (for Multiplexed Incremental Encoder)
3.2 I/O Signal Connector Terminals
3.2.1 Re-engineered SERVOPACKs for CACR-SR††BE
(for Multiplexed Incremental Encoder)
Example: CACR-SR20BF12FE that have replaced CACR-SR20BE12F
SERVOPACK
Torque monitor
F-series: 3.0 V±10 %/100 %
CN1
16-bit
D/A
1-9
1-10
Speed monitor
F-series: 2.0 V±10 %/1000 min-1
Speed reference input
±6V/rated speed
1-12
LPF
1-13
Auxiliary speed reference input
±2 to ±10 V/rated speed
1-14
1-29
1-44
1-45
+24Vin
1Ry
1-7
S-ON
1-8
P control when 2Ry is ON
(PI control when 2Ry is OFF)
Reverse run prohibited
when N-LS is open
CPU
LPF
LPF
1-30
Forward rotation current limit
+100 %±10 %/-3.0V input
24V
16-bit
D/A
1-15
Reverse rotation current limit
-100 %±10 %/+3.0V input
Servo ON
when 1RY is ON
CACR-SR20BF12FE
2Ry
P-CON
16-bit
D/A
LPF
SG
5 mA
5 mA
1-24
N-LS
N-OT
1-26
Forward run prohibited
when P-LS is open
P-LS P-OT
Alarm reset
when 9Ry is ON
9Ry
5 mA
5 mA
1-41
ALM-RST
5 mA
1-43
3Ry
3Ry turns ON when
24V
current limit detected
4Ry turns ON when
TG turns ON.
CLT+
1-5
CLT4Ry
5Ry turns OFF for a
servo alarm
6Ry turns ON when
servo ready
TGON+
1-6
TGON-
1-22
Output
Max. voltage 30 VDC
Max. current 30 mA
1-23
5Ry
ALM+
ALMS-RDY+
1-38
6Ry
S-RDY-
1-28
1-39
1-27
Phase A
PAO
/PAO
P
1-33
1-34
P
1-35
PBO
Phase B
/PBO
1-36
PCO
Phase C
/PCO
Output line driver
LS75ALS174
P
1-19
1-20
+12 V
PHA
1-4
PG signal
open collector output
1-48
PHB
PHC
1-37
SG
1-21
Output open
collector
LS07
ALO1
1-25
ALO2
Alarm code output
ALO3
1-40
-12 V
1-3
1-2
1-1
1-50
1-18
3-6
1-17
1-32
1-47
1-49
1-42
0V
0V
0V
1-16
1-11
1-31
1-46
SG
3.2 I/O Signal Connector Terminals
SERVOPACK
Optical encoder
CN2
A
P
B
2-16
2-17
C
P
D
2-18
P
F
L
/PA
PB
PC
2-14
2-15
K
PA
/PB
2-19
E
PG
CACR-SR20BF12FE
/PC
Z
/Z
3
H
G
PG5 V
2-4
PG0 V
2-1
2-5
2-2
2-6
2-3
2-7
DIR
J
1-50
2-20
3-7
3 Wiring
3.2.2 Re-engineered SERVOPACKs for CACR-SR††BB (for Conventional Incremental Encoder)
3.2.2 Re-engineered SERVOPACKs for CACR-SR††BB
(for Conventional Incremental Encoder)
Example: CACR-SR20BF1AMB that have replaced CACR-SR20BB1AM
SERVOPACK
Torque monitor
M-series: 3.0 V±10 %/100 %
CACR-SR20BF1AMB
CN1
Speed reference input
±6 V/rated speed
1-12
Auxiliary speed reference input
±2 to ±10 V/rated speed
1-14
Current
limit
1-9
1-10
Speed monitor
M-series: 4.0 V±10 %/1000 min-1
1-13
1-15
Reverse rotation current limit
-100 %±10 %/+3.0 V input
1-29
1-30
Forward rotation current limit
+100 %±10 %/-3.0 V input
1-44
1-45
SG
+24Vin
Servo ON
when 1Ry is ON
24V
1Ry
1-7
S-ON
1-8
P control when 2Ry is ON
(PI control when 2Ry is OFF)
2Ry
Reverse run prohibited
when N-LS is open
N-LS
P-CON
5 mA
1-24
N-OT
1-26
Forward run prohibited
when P-LS is open
5 mA
P-LS P-OT
5 mA
5 mA
1-41
3Ry
3Ry turns ON when
24V
current limit detected
4Ry turns ON
when TG turns ON
CLT+
1-5
CLT4Ry
5Ry turns OFF for a
servo alarm
6Ry turns ON when
servo ready
TGON+
1-6
TGON-
1-22
Output
Max. voltage: 30 VDC
Max. current: 30 mA
1-23
5Ry
ALM+
ALMS-RDY+
1-38
6Ry
S-RDY-
1-28
1-39
1-27
8Ry turns OFF for a
OL alarm
8Ry
OL
1-40
OL-
1-25
Phase A
PAO
/PAO
P
1-33
1-34
P
1-35
PBO
Phase B
/PBO
/PCO
+12 V
1-36
PCO
Phase C
Output line driver
LS75ALS174
P
1-48
1-19
SG
1-20
PHA
Output open
collector
LS07
1-4
PG signal
open collector output
PHB
PHC
1-37
1-3
1-2
1-1
1-50
1-18
Note: MCB trip (CN1-43 and -42) outputs are not provided.
3-8
1-17
1-32
1-47
1-49
1-21
0V
0V
0V
1-16
1-11
-12 V
1-31
1-46
SG
3.2 I/O Signal Connector Terminals
Optical Encoder
SERVOPACK
CN2
A
B
P
P
2-18
P
K
L
P
N
P
H
G
2-10
2-11
P
R
2-8
2-9
M
P
/PA
PB
PC
2-14
2-15
PG
PA
/PB
2-19
E
F
2-16
2-17
C
D
CACR-SR20BF1AMB
/PC
PU
/PU
PV
3
/PV
PW
2-12
2-13
/PW
PG5V
2-4
PG0V
2-1
2-5
2-2
2-6
2-3
2-7
DIR
J
1-50
2-20
3-9
3 Wiring
3.2.3 Re-engineered SERVOPACKs for CACR-SR††BY (for Absolute Encoder)
3.2.3 Re-engineered SERVOPACKs for CACR-SR††BY (for Absolute Encoder)
Example: CACR-SR20BF1SFY that have replaced CACR-SR20BY1SF
SERVOPACK
Torque monitor
F-series: 3.0 V±10 %/100 %
CN1
Speed monitor
F-series: 2.0 V±10 %/1000 min-1
1-9
1-12
Auxiliary speed reference input
±2 to ±10 V/rated speed
1-14
1-29
1-30
1Ry
1-45
SG
1-8
Reverse run prohibited
when N-LS is open
N-LS
LPF
LPF
1-7
S-ON
2Ry
CPU
LPF
1-44
+24Vin
P control when 2Ry is ON
(PI control when 2Ry is OFF)
16-bit
D/A
1-15
Forward rotation current limit
+100 %±10 %/-3.0 V input
24 V
LPF
1-13
Reverse rotation current limit
-100 %±10 %/+3.0 V input
Servo ON
when 1Ry is ON
16-bit
D/A
1-10
Speed reference input
±6 V/rated speed
CACR-SR20BF1SFY
P-CON
16-bit
D/A
5 mA
5 mA
1-24
N-OT
1-26
Forward run prohibited
when P-LS is open
P-LS P-OT
Alarm reset
when 9Ry is ON
9Ry
5 mA
5 mA
1-41
3Ry turns ON when
24 V
current limit detected
4Ry turns ON when
TG turns ON
5Ry turns OFF for a
servo alarm
6Ry turns ON when
servo ready
ALM-RST
3Ry
5 mA
1-43
CLT+
1-5
CLT4Ry
1-6
TGON+
1-22
TGON5Ry
1-38
ALM6Ry
S-RDY+
1-39
S-RDY-
1-28
1-27
PAO
Phase A
/PAO
P
/PBO
P
/PCO
1-35
Output line driver
LS75ALS174
+12 V
1-36
PCO
Phase C
1-33
1-34
PBO
Phase B
Output
Max. voltage: 30 VDC
Max. current: 30 mA
1-23
ALM+
P
1-19
1-16
1-48
1-20
SG
1-17
1-32
SEN
0SEN
1-4
0V
0V
1-2
1-47
1-3
1-49
1-1
-12 V
BAT
+
Battery
2.8 to 4.5 V
BAT0
1-21
3-10
1-31
1-46
1-37
1-50
1-18
1-11
FG
3.2 I/O Signal Connector Terminals
Optical encoder
15-bit absolute encoder
SERVOPACK
CN2
A
P
B
2-16
2-17
C
D
P
2-18
P
2-14
2-19
E
F
2-15
CACR-SR20BF1SFY
PA
/PA
PB
/PB
PC
/PC
PG
H
PG5 V
2-4
G
PG0 V
2-1
2-5
3
2-2
2-6
2-3
R
2-10
T
P
S
1-21
2-12
1-37
2-13
J
BAT
BAT0
1-50
2-20
Optical encoder
12-bit absolute encoder
SERVOPACK
CN2
A
P
B
2-17
C
D
P
2-18
P
2-14
2-19
E
F
PG
K
L
2-16
2-15
PS
/PS
CACR-SR20BF1WFY
PA
/PA
PB
/PB
PC
/PC
Note
H
2-4
G
2-1
PG5 V
PG0 V
2-5
2-2
2-6
2-3
R
2-10
T
S
P
2-12
1-21
1-37
2-13
BAT
BAT0
J
1-50
2-20
Note: Cut the rotation amount data signal line on the Servomotor encoder cable side.
3-11
3 Wiring
3.2.4 Re-engineered SERVOPACKs for CACR-SR††BZ (for Absolute Encoder)
3.2.4 Re-engineered SERVOPACKs for CACR-SR††BZ (for Absolute Encoder)
Example: CACR-SR20BF1SMZ that have replaced CACR-SR20BZ1SM
SERVOPACK
Torque monitor
M-series: 3.0 V±10 %/100 %
CACR-SR20BF1SMZ
CN1
1-9
Speed monitor
M-series: 4.0 V±10 %/1000 min-1
Speed reference input
±6 V/rated speed
Current
limit
1-10
1-12
1-13
Auxiliary speed reference input
±2 to ±10 V/rated speed
1-14
1-15
Reverse rotation current limit
-100 %±10 %/+3.0 V input
1-29
1-30
Forward rotation current limit
+100 %±10 %/-3.0 V input
1-44
1-45
SG
+24Vin
Servo ON
when 1Ry is ON
24 V
1Ry
1-7
S-ON
5 mA
1-8
P control when 2Ry is ON
(PI control when 2Ry is OFF)
2Ry
Reverse run prohibited
when N-LS is open
N-LS
P-CON
5 mA
1-24
N-OT
5 mA
1-26
Forward run prohibited
when P-LS is open
P-LS P-OT
5mA
1-41
3Ry turns ON when
current limit detected 24 V
4Ry turns on when
TG turns ON
5Ry turns OFF for a
servo alarm
6Ry turns ON when
servo ready
3Ry
CLT+
1-5
CLT4Ry
1-6
TGON+
1-22
TGON5Ry
1-38
ALM6Ry
Output
Max. voltage: 30 VDC
Max. current: 30 mA
1-23
ALM+
S-RDY+
1-39
S-RDY-
1-28
1-27
8Ry turns OFF for a
OL alafm
8Ry
OL
1-40
OL-
1-25
Output line driver
LS75ALS174
PAO
Phase A
/PAO
P
Phase B
/PBO
P
/PCO
+12 V
1-35
1-36
PCO
Phase C
1-33
1-34
PBO
P
1-48
1-19
SG
1-20
1-17
1-32
SEN
0SEN
1-4
0V
0V
1-2
1-49
1-1
1-11
+ BAT
Battery
2.8 to 4.5 V
BAT0
1-47
1-3
SG
1-21
1-37
1-50
1-18
Note: MCB trip (CN1-43 and -42) outputs are not provided.
3-12
1-16
-12 V
1-31
1-46
3.2 I/O Signal Connector Terminals
Optical encoder
15-bit absolute encoder
SERVOPACK
CN2
A
B
P
P
2-18
P
PA
/PA
PB
/PB
2-19
E
F
2-16
2-17
C
D
CACR-SR20BF1SMZ
PC
2-14
2-15
/PC
PG
H
2-4
G
2-1
3
PG5 V
PG0 V
2-5
2-2
2-6
2-3
R
2-10
T
S
P
1-21
2-12
1-37
2-13
BAT
BAT0
J
1-50
2-20
3-13
4
Settings and Display
4.1 Setting Switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Setting Fixed Switches (User’s Modification Prohibited) - - - - - - - - - - - - - - - - - - - - - 4.1.2 Switches To Be Set According to Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4.1.3 Potentiometers VR and RH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4.1.4 Alarm Reset Button - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4.1.5 LED Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4.1.6 Monitoring Pins - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4.1.7 Digital Operator Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
4-3
4-3
4-3
4-4
4-4
4-4
4-4
4
4.2 Factory Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.1 Pin Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4-1
4 Settings and Display
4.1 Setting Switches
The setting switches are provided on the board inside the re-engineered AC SERVOPACK CACR-SR††BF to
ensure the operating environment of the corresponding conventional model.
There are two types of switches: The switches that have been set and fixed according to the corresponding conventional model before shipment, and the switches that need to be set by users according to the application.
CN17
CN503
3
1
SL5
TMON
SW2
LED lamp (2
CN24
3
LED lamp (3
RUN ALARM
1
CN14
1
1
CN13
DS1
3 3
1
1
LOOP
PG5V RESET VR5
CUR
SL7
CN23 CN21
1
1 3
3
1 3
CN4
1
1
CN16
1
3
3
3
3
3
CN20
1 3
CN18
CN7
CN5
CN6
CN11 CN10
3
3 3
CN2
4-2
1
IN-B
SW3
CN12
3
1
CN26
CN19
3
3
CN15
ZERO
CN22
DSW1 DSW5
LED lamp
(1
(CHARGE)
CN3
S2
VTG
GND
CN1
1
1
1
1
FINE
CN8
CN9
4.1 Setting Switches
4.1.1 Setting Fixed Switches (User’s Modification Prohibited)
The switches listed in the table below have been set to the appropriate values before shipment.
Do not change the settings of these switches. Doing so will cause motor runaway or SERVOPACK failure.
Switch No.
CN4
CN5
CN6
CN7
CN8
CN9
CN10
CN11
CN13
CN14
CN15
CN16
CN18
Name
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
CN20
CN21
CN22
CN23
CN24
CN26
S2
SL5
SW3-7
CN503
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Model depended function selection switch
Speed feedback gain switching
Speed feedback gain switching
PC connection connector
Remarks
Not mounted
Not mounted
4
Connector for personal computer cable
4.1.2 Switches To Be Set According to Application
The switches listed in the table below need to be set by users according to the application.
Switch No.
SL7
SW2
SW3
DSW1
DSW5
Name
Torque filter switching
Frequency dividing ratio setting
Setting for CACR-SR††BB/BZ
Encoder setting
Encoder setting
Remarks
4.1.3 Potentiometers VR and RH
Set the following potentiometers to the same scale positions as those of your conventional SERVOPACK to
obtain the same performance as before replacement.
VR1
VR6
VR3
VR4
VR5
RH2
IN-B
LOOP
ZERO
FINE
CUR
PG5V
IN-B input gain
Speed loop gain
Speed amplifier zero adjustment
IN-B fine adjustment
Starting current adjustment
PG voltage adjustment
4-3
4 Settings and Display
4.1.4 Alarm Reset Button
4.1.4 Alarm Reset Button
When a SERVOPACK alarm occurs, eliminate the cause and then press the RESET Button to reset the servo
alarm.
If the cause has not been eliminated, the alarm will occur again.
RESET
Alarm reset button
4.1.5 LED Display
There are four LEDs on the board as follows.
DS1
LED lamp (1)
LED lamp (2)
LED lamp (3)
7-Segment LED
Main circuit CHARGE LED
Encoder conversion function
Encoder conversion alarm
SERVOPACK status and alarm display
Main circuit with high-voltage
Lit in yellow during normal operation
Lit in red at alarm occurrence
4.1.6 Monitoring Pins
The monitoring pins listed in the table below are provided for monitor signals.
The levels are the same as the conventional models.
TMON
VTG
GND
For torque monitor
For speed monitor
GND for monitor signal line
4.1.7 Digital Operator Connector
When using the re-engineered SERVOPACK as the replacement of the conventional model CACR-SR††BE or
CACR-SR††BY, the connector CN3 is used to connect the digital operator JUSP-OP05A.
CN3
4-4
Connector for Σ-III series
digital operator
Cable connector
4.2 Factory Settings
4.2 Factory Settings
4.2.1 Pin Settings
Switch
No.
Setting
CN4
CN5
CN6
CN7
CN8
CN9
CN10
CN11
CN13
CN14
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
CN15
Short-circuited Pins
CN16
CN18
CN20
CN21
CN22
CN23
CN24
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
Short-circuited Pins
CN26
Short-circuited Pins
S2
6-digit ON/OFF
SL5
Short-circuited Pins
SL7
SW2
SW3
DSW1
DSW5
Short-circuited Pins
8-digit ON/OFF
8-digit ON/OFF
Hexadecimal switching
Hexadecimal switching
Applicable Conventional SERVOPACK Model
SR††BA
SR††BE SR††BZ SR††BY
SR††BB
1-2
2-3
1-2
open
1-2
1-2
2-3
2-3
1-2
1-2
2-3
2-3
1-2
1-2
2-3
2-3
Remarks
Not mounted
1-2
2-3
1-2
2-3
1-2
2-3
1-2
2-3
1-2
1-2
1-2
1-2
1-2
1-2
1-2
1-2
Set to the defaults at factory depending on re-engineered
AC SERVOPACK model
1-2
2-3
1-2
open
1-2
1-2
1-2
1-2
1-2
2-3
1-2
2-3
1-2
1-2
2-3
2-3
1-2
1-2
2-3
2-3
1-2
1-2
2-3
2-3
1-2
2-3
1-2
1-2
Set to the defaults at factory depending on re-engineered
AC SERVOPACK model
Set to the defaults at factory depending on re-engineered
AC SERVOPACK model
Set to the defaults at factory depending on re-engineered
AC SERVOPACK model
See Table 4.1
4
See Table 4.1
See Table 4.1
See Table 4.3
These switches are set to the defaults at factory.
Change the setting according to the application.
See Table 4.5
See Table 4.6
See Table 4.4
Set to the defaults at factory depending on encoder type
See Table 4.2
Table 4.1
Model CACRSR03BF
SR05BF
SR07BF to 10BF
SR15BF
SR20BF
SR30BF
SR44BF
SR60BF
S2-1
OFF
OFF
OFF
OFF
OFF
S2-2
ON
ON
ON
ON
ON
S2-3
ON
ON
ON
ON
ON
S2-4
ON
ON
ON
OFF
OFF
S2-5
ON
ON
OFF
ON
OFF
S2-6
ON
OFF
ON
ON
OFF
CN15
OPEN
2-3
1-2
1-2
1-2
CN26
OPEN
2-3
1-2
1-2
1-2
OFF
OFF
OFF
ON
ON
ON
OFF
OFF
OFF
ON
ON
OFF
ON
OFF
ON
OFF
ON
ON
1-2
1-2
1-2
1-2
1-2
1-2
4-5
4 Settings and Display
4.2.1 Pin Settings
Table 4.2
Servomotor Encoder Specifications
Encoder Type
Conventional
incremental
Multiplexed incremental
Absolute
Model
Code
F
H
E
K
C
D
B
A
M
3
2
W
S
No. of
Pulses
1000 P/R
1440 P/R
1500 P/R
2000 P/R
2500 P/R
4000 P/R
5000 P/R
6000 P/R
30000 P/R
2048 P/R
8192 P/R
1024 P/R
8192 P/R
SW2
Status
Setting
DSW1 DSW5
0
1
2
3
4
5
6
7
9
0
1
0
1
0
1
2
1
2
3
4
5
6
7
ON
ON
OFF
OFF
ON
ON
ON
OFF
ON
ON
OFF
OFF
OFF
ON
ON
OFF
ON
ON
OFF
ON
ON
ON
OFF
OFF
ON
OFF
ON
ON
ON
OFF
ON
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
Set according to
the number of
encoder pulses.
When the SERVOPACK output dividing
ratio is set to 1/1
Pn212 is enabled when SW2-8 is ON.
The settings shown in Tables 4.3, 4.4 and 4.5 are valid on the re-engineered AC SERVOPACKs for CACRSR††BB and -SR††BZ, but invalid for the re-engineered AC SERVOPACK for CACR-SR††BE and SR††BY.
Table 4.3 Motor Rated Speed
(Valid for CACR-SR††BB and -SR††BZ)
Servomotor Rated Speed
SL5
SW3-7
-1
1-2
ON
-1
1500 r/min
2-3
ON
2000 r/min-1
2-3
OFF
-1
2-3
ON
1000 r/min
3000 r/min
Table 4.4 Speed Amplifier Gain (Valid for CACR-SR††BB and -SR††BZ)
SW3 Specifications
4-6
Pin No.
Functions
OFF
ON
1
2
3
4
5
6
7
8
Proportional gain 100 kΩ
Proportional gain 220 kΩ
Imperfect integration 6.6 MΩ
Integration 0.033 uF
Integration 0.033 uF
Integration 0.22 uF
For servomotor rated speed
Mode selection switch
Valid
Valid
Valid
Invalid
Invalid
Invalid
Invalid
Invalid
Invalid
Valid
Valid
Valid
Valid
Invalid
M-series
F-series
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
Factory Settings
S-series
S-series
0.5 kW or
1 kW and
less, and
1.5 kW
3.0 kW
OFF
OFF
ON
ON
OFF
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
ON
OFF
OFF
D-series
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
4.2 Factory Settings
Table 4.5 Torque Filter Switching
(Valid for CACR-SR††BB and -SR††BZ)
SL7 Specifications
Connection
Selected Capacitor
Short-circuited
3200 pF
between 1-2
Short-circuited
2000 pF
between 2-3
Open
Factory Setting
Factory setting
1000 pF
The PG pulse outputs from the SERVOPACK can be set using SW2 pins 1 through 8.
Caution: The maximum number of output pulses that can be set is the number of encoder pulses.
Table 4.6 SW2: No. of Dividing Output Pulses
Settings for Re-engineered AC SERVOPACKs CACR-SR††BF
1
2
3
4
5
6
7
8
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
No. of Dividing
Output Pulses
8192
8000
6000
5000
4096
4000
3000
2500
2400
2048
2000
1600
1500
1250
1024
1000
800
750
625
600
512
500
480
400
375
300
256
250
240
200
160
150
128
125
120
100
80
64
60
4
4-7
4 Settings and Display
4.2.1 Pin Settings
Table 4.6 SW2: No. of Dividing Output Pulses
Settings for Re-engineered AC SERVOPACKs CACR-SR††BF (cont’d)
4-8
1
2
3
4
5
6
7
8
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
−
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
−
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
−
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
−
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
−
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
−
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
−
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
No. of Dividing
Output Pulses
50
40
32
30
25
20
16
1200
1440
360
720
2880
6000
6000
6000
6000
6000
6000
6000
10000
12500
15000
20000
25000
30000
Pn212
4.2 Factory Settings
Settings for Conventional SERVOPACK SR††BB with Incremental Encoder for Reference
Check the number of dividing output pulses on the SR††BB in the following table.
1
2
3
4
5
6
7
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
Dividing
Ratio
1/1
1/2
1/3
1/4
1/5
1/6
1/8
1/10
1/12
1/15
1/16
1/20
1/24
1/25
1/30
1/40
1/48
1/50
1/60
2/2
2/3
2/4
2/5
2/6
2/8
2/10
2/12
2/15
2/16
2/20
2/24
2/25
2/30
2/40
2/48
2/50
2/60
(A)
6000
6000
3000
2000
1500
1200
1000
750
600
500
400
375
300
250
240
200
150
125
120
100
6000
4000
3000
2400
2000
1500
1200
1000
800
750
600
500
480
400
300
250
240
200
(B)
5000
5000
2500
−
1250
1000
−
625
500
−
−
−
250
−
200
−
125
−
100
−
5000
−
2500
2000
−
1250
1000
−
−
−
500
−
400
−
250
−
200
−
(D)
4000
4000
2000
−
1000
800
−
500
400
−
−
250
200
−
160
−
100
−
80
−
4000
−
2000
1600
−
1000
800
−
−
500
400
−
320
−
200
−
160
−
(C)
2500
2500
1250
−
625
500
−
−
250
−
−
−
125
−
100
−
−
−
50
−
2500
−
1250
1000
−
625
500
−
−
−
250
−
200
−
125
−
100
−
(E)
(F)
1500 1000
1500 1000
750
500
500
−
375
250
300
200
250
−
−
125
150
100
125
−
100
−
−
−
75
50
−
−
60
40
50
−
25
−
−
30
20
25
−
1500 1000
1000
−
750
500
600
400
500
−
−
250
300
200
250
−
200
−
−
125
150
100
125
−
120
80
100
−
75
50
−
−
60
40
50
−
4
Note: The pin SW2-8 is reserved. The pins marked with { are short-circuited.
4-9
4 Settings and Display
4.2.1 Pin Settings
Settings for Conventional SERVOPACK SR††BZ with Absolute Encoder for Reference
Check the number of dividing output pulses on the SR††BZ in the following table.
1
2
3
4
5
6
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
(s)
8192
6000
5000
4000
3000
2500
2400
2000
1600
1500
1250
1200
1000
800
750
625
600
500
480
400
375
320
300
250
240
200
160
150
125
120
100
80
75
1
2
3
4
5
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
Note: The pins SW2-7 and -8 are reserved. The pins marked with { are short-circuited.
4-10
6
(s)
8192
60
50
40
30
25
20
8192
4096
2048
1024
512
256
128
64
3600
2160
1800
1440
1080
720
360
180
90
45
(15)
(12)
(9)
(8)
(5)
(4)
(3)
(2)
4.2 Factory Settings
4.2.2 List of Parameters
Parameter
No.
Pn000
Name
Pn100
Pn101
Function Selection Basic Switch 0
Function Selection Application
Switch 1
Function Selection Application
Switch 2
Speed Loop Gain
Speed Loop Integral Time Constant
Pn102
Position Loop Gain
Pn001
Pn002
Unit
Factory
Setting
Setting
Validation
−
0
After restart
Conventional
Model
SR††BE/BY
Constant No.
−
−
0
After restart
−
−
0
After restart
−
1.0 to 2000.0 Hz
0.15 to 512.00 ms
0.1 Hz
0.01 ms
40.0 Hz
20.00 ms
Immediately
Immediately
Cn-04
Cn-05
1.0 to 2000.0/s
0.1/s
40.0/s
Immediately
−
Immediately
0
7 reference
Immediately
units
0%
Immediately
−
Setting Range
min-1
Pn107
Bias
Pn108
Bias Addition Width
0 to 250 reference units
0 to 450
min-1
Pn109
Feed Forward Gain
0 to 100 %
1
Reference
unit
1%
Pn10B
Pn10C
Gain-related Application Switch
Mode Switch (torque reference)
−
0 to 800 %
−
1%
Pn10D
Mode Switch (speed reference)
Pn10E
Mode Switch (acceleration)
Pn10F
Mode Switch (position error pulse)
0 to 10000 min-1
0 to 30000 r/min/s
0 to 10000 reference
units
1 min-1
1 r/min/s
Reference
unit
Pn200
Position Control Reference Form
Selection Switch
Pn209
Position Reference Acceleration/
Deceleration Bias
Pn20E
min-1
−
−
Immediately
Immediately
−
Cn-0C
Immediately
0 min-1
0 r/min/s Immediately
0 reference
Immediately
unit
Cn-0D
0
200%
Cn-0E
−
−
0
After restart
−
0 to 65535 reference
units/s
1
reference
unit/s
0
Immediately
−
Electronic Gear Ratio (Numerator)
1 to 1073741824 (230)
−
4
After restart
−
Pn210
Electronic Gear Ratio (Denominator)
1 to 1073741824 (230)
−
1
After restart
−
Pn212
PG Dividing Pulse (pulse unit)
Enabled when SW2-8 is ON
16 to 1073741824 (230)
P/Rev
1 P/Rev
Pn300
Speed Reference Input Gain
Pn304
JOG Speed
Pn305
Pn306
Soft Start Acceleration Time
Soft Start Deceleration Time
0 to 10000 min-1
0 to 10000 ms
0 to 10000 ms
Pn30A
Auxiliary Speed Reference Input
Gain
1.50 to 10.00 V/
rated speed
Pn400
Torque Reference Input Gain
Pn401
1st Step 1st Torque Reference Filter
Time Constant
Pn402
Pn403
Pn406
Forward Torque Limit
Reverse Torque Limit
Emergency Stop Torque
Pn407
Speed Limit during Toque Control
Pn408
Torque Related Function Switch
Pn415
External Current Limit Input Gain
1.50 to 10.00 V/ rated
speed
1.0 to 10.0 V/
rated torque
2048 P/Rev After restart
0.01 V/
6.00 V/
Immediately
rated speed rated speed
1 min-1
500 min-1
1 ms
0 ms
1 ms
0 ms
0.01 V/
10.00 V/
rated speed rated speed
Cn-0A
−
Immediately
Cn-10
Immediately
Immediately
Cn-07
Cn-23
Immediately
Cn-03
0.1 V/ rated 3.0 V/ rated
Immediately
torque
torque
Cn-13
0.00 to 655.35 ms
0.01 ms
1.00 ms
Immediately
Cn-17
0 to 800 %
0 to 800 %
0 to 800 %
1%
1%
1%
800 %
800 %
800 %
Immediately
Immediately
Immediately
Cn-08
Cn-09
Cn-06
0 to 10000 min-1
1 min-1
10000 min- Immediately
Cn-14
−
1.0 to 10.0V/
rated torque
1
−
0
After restart
0.1V/ rated 3.0V/ rated
Immediately
torque
torque
4
−
−
Note: The parameters in shaded area have been set according to the SERVOPACK model before shipment.
Contact Yaskawa service division when changing the settings of these parameters.
4-11
4 Settings and Display
4.2.2 List of Parameters
(cont’d)
Setting Range
Unit
Zero Clamp Level
0 to 10000 min-1
1 min-1
10 min-1
Immediately
Cn-0F
Zero Speed Level
-1
-1
1 min
-1
20 min
Immediately
Cn-0B
0 to 100 min-1
1 min-1
10 min-1
Immediately
−
(0 to 50) × 10 ms
10 ms
0 ms
Immediately
Cn-12
0 to 10000 min-1
1 min-1
100 min-1
Immediately
Cn-15
Waiting Time for Brake Signal
When Motor Running
Instantaneous Power Cut Hold
Time
(10 to 100) × 10 ms
10 ms
500 ms
Immediately
Cn-16
20 to 1000 ms
1 ms
20 ms
Immediately
−
Input Signal Selection 1
Input Signal Selection 2
Input Signal Selection 3
Input Signal Selection 4
Output Signal Selection 1
Output Signal Selection 2
Output Signal Selection 3
Output Signal Reversal Setting
−
−
−
−
2100
6543
After restart
After restart
−
−
−
−
−
−
−
−
−
−
−
−
−
−
After restart
After restart
After restart
After restart
After restart
After restart
−
−
−
−
−
−
Pn520
Excessive Position Error Alarm
Level
1 to 1073741824 (230)
reference units
1 reference
unit
8888
8888
3211
0
0
0
262144
reference
units
Immediately
−
Pn522
Positioning Completed Width
0 to 1073741824 (230)
reference units
1 reference
unit
7 reference
Immediately
units
−
Pn501
Pn502
Pn503
Pn506
Pn507
Pn508
Pn509
Pn50A
Pn50B
Pn50C
Pn50D
Pn50E
Pn50F
Pn510
Pn512
Name
Speed Coincidence Signal Output
Width
Brake Reference - Servo OFF
Delay Time
Brake Reference Output Speed
Level
1 to 10000 min
Setting
Validation
Note: The parameters in shaded area have been set according to the SERVOPACK model before shipment.
Contact Yaskawa service division when changing the settings of these parameters.
4-12
Conventional
Model
SR††BE/BY
Constant No.
Factory
Setting
Parameter
No.
5
Maintenance, Inspection and Alarm/Warning
Display
5.1 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.2 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.3 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5
5.4 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.4.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.4.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.4.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5-1
5 Maintenance, Inspection and Alarm/Warning Display
5.1 Status Display
The 7-segment LED (DS1) on the re-engineered AC SERVOPACK indicates the SERVOPACK status.
e
d
c
• When no alarm occurs, the bits are lit as shown in the table below.
Bit Data Indication
Item
Bit Data
Indication
c
Control Power ON
Lights when the control power to the SERVOPACK turns ON.
d
Baseblock
e
Rotation Detection
(/TGON)
Lights when baseblocked (the servo turns OFF.)
Goes out when the servo turns ON.
Lights when the motor speed is higher than the value specified
in Pn502.
(Factory setting: 20 min-1)
• When an alarm occurs, the corresponding alarm code is displayed and blinks digit by digit for 250 msec.
5-2
5.2 Alarm Display Table
5.2 Alarm Display Table
The re-engineered SERVOPACK model CACR-SR††BF has the same alarm function as that of Σ-III series
SERVOPACK.
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
• DB stop: Stops the servomotor immediately using the dynamic brake.
• Zero-speed stop: Stops the servomotor by setting the speed reference to “0.”
Table 5.1 Alarm Display Table
Alarm
Display
A.020
A.021
A.022
A.023
A.030
A.031
A.040
A.041
A.042
A.050
A.051
A.0b0
A.100
A.300
A.320
A.330
A.400
A.410
Alarm Name
Parameter Checksum
Error
Parameter Format Error
Meaning
The data of the parameter in the
SERVOPACK is incorrect.
The data of the parameter in the
SERVOPACK is incorrect.
System Checksum Error
The data of the parameter in the
SERVOPACK is incorrect.
Parameter Password Error The data of the parameter in the
SERVOPACK is incorrect.
Main Circuit Detector
Detection data for power circuit is
Error
incorrect.
Main Circuit (Power
The switch S2 is set incorrectly
Pack) Alarm
Parameter Setting Error
The parameter setting is outside the
allowable setting range.
Dividing Pulse Output
The PG dividing pulse setting
Setting Error
(Pn212) is outside the allowable setting range or not satisfies the setting
conditions.
This alarm may occur when usingSR††BF1††E or SR††BF1††Y.
Parameter Combination
Combination of some parameters
Error
exceeds the setting range.
Combination Error
SERVOPACK and servomotor capacities do not match each other.
Unsupported Product
The serial converter unit unsupAlarm
ported was connected.
Servo ON reference
The Host controller reference was
Invalid Alarm
sent to turn the Servo ON after the
Servo ON function was used with the
Digital Operator or SigmaWin+.
Overcurrent or Heat Sink An overcurrent flowed through the
Overheated
IGBT.
Heat sink of SERVOPACK was overheated.
Regeneration Error
Regenerative circuit or regenerative
Detected
resistor is faulty.
Regenerative Overload
Regenerative energy exceeds regenerative resistor capacity.
Main Circuit Power
The power supply to the main circuit
Supply Wiring Error
does not match the parameter Pn001
setting.
Overvoltage
Main circuit DC voltage is excessively high.
Undervoltage
Main circuit DC voltage is excessively low.
Servomotor Stop
Method
Alarm
Reset
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
N/A
DB stop
N/A
Alarm Code Output
ALO1
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
Available
Zero speed
stop
Available
DB stop
Available
DB stop
Available
Zero speed
stop
Available
ALO2
ALO3
Servo
Alarm
(ALM)
Output
5
H
H
H
H
L
H
H
H
L
L
H
H
H
H
L
H
5-3
5 Maintenance, Inspection and Alarm/Warning Display
Table 5.1 Alarm Display Table (cont’d)
Alarm
Display
A.510
Overspeed
A.511
Dividing Pulse Output
Overspeed
A.520
Vibration Alarm
A.521
Autotuning Alarm
A.710
Overload: High Load
A.720
Overload: Low Load
A.730
Dynamic Brake Overload
A.740
A.7A0
Overload of Surge
Current Limit Resistor
Heat Sink Overheated
A.810
Encoder Backup Error
A.820
Encoder Checksum Error
A.830
Absolute Encoder Battery
Error
Encoder Data Error
A.840
A.850
The servomotor speed is excessively
high.
The motor speed upper limit of the
set PG dividing pulse (Pn212) is
exceeded.
Vibration at the motor speed was
detected.
The moment of inertia ratio calculation error occurred.
The motor was operating for several
seconds to several tens of seconds
under a torque largely exceeding ratings.
The motor was operating continuously under a torque largely exceeding ratings.
When the dynamic brake was
applied, rotational energy exceeded
the capacity of dynamic brake resistor.
The main circuit power was frequently turned ON and OFF.
The heat sink of SERVOPACK overheated.
All the power supplies for the absolute encoder have failed and position
data was cleared.
The checksum results of encoder
memory is incorrect.
Battery voltage for the absolute
encoder has dropped.
Data in the encoder is incorrect.
DB stop
Available
DB stop
Available
DB stop
Available
DB stop
Available
Zero speed
stop
Available
DB stop
Available
DB stop
Available
DB stop
Available
Zero speed
stop
Available
DB stop
N/A
DB stop
N/A
DB stop
Available
DB stop
N/A
DB stop
N/A
DB stop
N/A
Zero speed
stop
Available
Zero speed
stop
Available
Zero speed
stop
Available
DB stop
N/A
A.860
Encoder Overheated
A.b10
Reference Speed Input
Read Error
Speed Reference A/D
Data Error
Reference Torque Input
Read Error
Current Detection Error1
Current Detection Error 2
Phase-V current sensor is faulty.
DB stop
N/A
Phase-W current sensor is faulty.
DB stop
N/A
A.b20
A.b31
A.b32
A.b33
Encoder Overspeed
Meaning
Alarm
Reset
The encoder was rotating at high
speed when the power was turned
ON.
The internal temperature of encoder
is too high.
The A/D converter for reference
speed input is faulty.
A/D conversion data of speed reference is incorrect.
The A/D converter for reference
torque input is faulty.
Phase-U current sensor is faulty.
A.b11
5-4
Alarm Name
Servomotor Stop
Method
Current Detection Error 3
Alarm Code Output
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
L
H
L
H
L
L
L
H
H
H
H
H
5.2 Alarm Display Table
Table 5.1 Alarm Display Table (cont’d)
Alarm
Display
A.bF0
A.bF1
A.bF2
A.bF3
A.bF4
A.C10
A.C80
A.C90
A.C91
A.C92
A.CA0
A.Cb0
Alarm Name
System Alarm 0
(Internal program
processing error)
System Alarm 1
(Internal program error)
System Alarm 2
(Current control
processing program error)
System Alarm 3
(Encoder interface
processing error)
System Alarm 4
(CPU watchdog timer
error)
Servo Overrun Detected
Absolute Encoder Clear
Error and Multi-turn
Limit Setting Error
Encoder Communications Error
Encoder Communications Position Data Error
Encoder Communications Timer Error
Encoder Parameter Error
Encoder Echoback Error
Servomotor Stop
Method
Alarm
Reset
“Internal program error 0” of
SERVOPACK occurred.
DB stop
N/A
“Internal program error 1” of
SERVOPACK occurred.
“Internal program error 2” of
SERVOPACK occurred.
DB stop
N/A
DB stop
N/A
“Internal program error 3” of
SERVOPACK occurred.
DB stop
N/A
“Internal program error 4) of
SERVOPACK occurred.
DB stop
N/A
The servomotor ran out of control.
DB stop
Available
The multi-turn for the absolute
encoder was not properly cleared or
set.
Communications between
SERVOPACK and encoder is not
possible.
An encoder position data calculation
error occurred.
An error occurs in the communications timer between the encoder and
the SERVOPACK.
Encoder parameters are faulty.
DB stop
N/A
DB stop
N/A
DB stop
N/A
Meaning
Contents of communications with
encoder is incorrect.
Different multi-turn limits have been
A.CC0 Multi-turn Limit
Disagreement
set in the encoder and SERVOPACK.
Position error pulse exceeded paramA.d00 Position Error Pulse
Overflow
eter (Pn520).
When the servo turns ON, the posiA.d01 Position Error Pulse
Overflow Alarm
tion error pulses exceeded the paramat Servo ON
eter setting (Pn526).
Position
Error
Pulse
OverIf the servo turns ON with position
A.d02
flow Alarm by Speed
error pulses accumulated, the speed is
Limit at Servo ON
limited by Pn529. In this state, the
reference pulse was input without
resetting the speed limit, and the position error pulses exceeds the value set
for the parameter Pn520.
One phase is not connected in the
A.F10 Power Line Open Phase
main power supply.
A voltage higher than 200 VAC is
A.F20 AC Overvoltage Alarm
supplied
Digital operator (JUSP-OP05A) fails
CPF00 Digital Operator
Transmission
Error
to communicate with SERVOPACK
CPF01
(e.g., CPU error).
Not an error
Normal operation status
A.− −
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
N/A
DB stop
Available
DB stop
Available
Zero speed
stop
Available
Zero speed
stop
Available
DB stop
N/A
−
N/A
−
N/A
−
−
Alarm Code Output
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
H
H
H
H
L
H
L
H
L
L
H
H
H
L
H
H
5
Not decided
H
H
H
L
5-5
5 Maintenance, Inspection and Alarm/Warning Display
5.3 Warning Displays
The relation between warning displays and warning code outputs are shown in table 5.2.
Table 5.2 Warning Displays and Outputs
Warning
Display
A.910
Overload
A.911
Vibration
A.920
Regenerative Overload
A.930
Absolute Encoder Battery
Voltage Lowered
Change of Parameters
Requires Setting Validation
A.941
5-6
Warning Name
Meaning
This warning occurs before the overload alarms (A.710 or
A.720) occur. If the warning is ignored and operation continues, an overload alarm may occur.
Abnormal vibration at the motor speed was detected. The
detection level is the same as A.520. Set whether to output
an alarm or warning by “Vibration Detection Switch” of
Pn310.
This warning occurs before the regenerative overload
alarm (A.320) occurs. If the warning is ignored and operation continues, a regenerative overload alarm may occur.
This warning occurs when the absolute encoder battery
voltage is lowered.
The change of the parameters can be validated only after
turning the power ON from OFF.
Warning Code Output
ALO1 ALO2 ALO3
L
H
H
L
H
H
H
L
H
L
L
H
L
H
H
5.4 Inspection and Maintenance
5.4 Inspection and Maintenance
5.4.1 Servomotor Inspection
The AC servomotors are brushless. Simple daily inspection is sufficient. The inspection and maintenance frequencies in the table are only guidelines. Increase or decrease the frequency to suit the operating conditions and
environment.
During inspection and maintenance, do not disassemble the servomotor.
IMPORTANT
Item
Vibration and Noise
Frequency
Daily
According to degree of
contamination
Exterior
Insulation Resistance
Measurement
At least once a year
At least once every
5000 hours
At least once every
20000 hours or 5 years
Replacing Oil Seal
Overhaul
Procedure
Touch and listen.
Comments
Levels higher than normal?
Clean with cloth or compressed air. −
Disconnect SERVOPACK and test
insulation resistance
at 500 V. Must exceed 10 MΩ .∗
Remove the servomotor and
replace the oil seal.
Contact the Yaskawa service
division.
Contact the Yaskawa service
division if the insulation resistance is below 10 MΩ.
Applies only to servomotors
with oil seals.
Do not disassemble and clean
the servomotor by yourself.
* Measure across the servomotor’s FG and the phase-U, phase-V, or phase-W power line.
5.4.2 SERVOPACK Inspection
Item
5
Frequency
Exterior and Boards
At least once a year
Loose Screws
Procedure
Check for dust, dirt, and oil on the surfaces.
Check for discoloration, damage, and disconnected wires on the surfaces.
Check for loose terminal block and connector screws.
Comments
Clean with compressed air.
Contact the Yaskawa service
division.
Tighten any loose screws.
5.4.3 SERVOPACK’s Parts Replacement Schedule
The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated.
The parameters of any SERVOPACKs overhauled by Yaskawa service division are reset to the factory settings
before shipping. Be sure to confirm that the parameters are properly set before starting operation.
Part
Standard
Replacement
Period
Recommendations
Cooling Fan
4 to 5 years
Replace with a new SERVOPACK.
Smoothing Capacitor
7 to 8 years
Replace with a new SERVOPACK.
(Depending on results of investigation.)
Relays
−
Replace with a new SERVOPACK.
(Depending on results of investigation.)
Fuses
10 years
Replace with a new SERVOPACK.
Aluminum Electrolytic
Capacitor on Circuit Board
5 years
Replace with a new SERVOPACK.
(Depending on results of investigation.)
Operating Conditions
• Ambient Temperature: Annual
average of 30°C
• Load Factor: 80% max.
• Operation Rate: 20 hours/day max.
5-7
Applications and Inquiries
YASKAWA ENGINEERING Global Office
<Japan>
<Asia>
YASKAWA ENGINEERING CORPORATION
480 Kamifujisawa, Iruma, Saitama 358-0013, Japan
Phone +81-4-2966-1862 Fax +81-4-2966-2766
http://www.yaskawa-eng.co.jp
YASKAWA ENGINEERING ASIA-PACIFIC PTE. LTD.
151 Lorong Chuan, #04-01B,
New Tech Park, Singapore 556741, SINGAPORE
Phone +65-6282-1601 Fax +65-6382-3668
http://www.yaskawa.com.sg
<North & South America>
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, USA
Phone +1-874-887-7000
Phone +1-800-YASKAWA(1-800-927-5292)
from U.S.A. and Canada
Fax +1-874-887-7440
http://www.yaskawa.com
'
Yaskawa Electrico
do Brasil Ltda.
'
Av. Fagundes Filho, 620-Saude
~
Sao Paulo, SP 04304-000, Brasil
Phone +55-11-5071-2552 Fax +55-11-5581-8795
http://www.yaskawa.com.br
<Europe>
YASKAWA ENGINEERING EUROPE GmbH
Am kronberger Hang 2, 65824 Schwalbach, Germany
Phone +49-6196-569-520 Fax +49-6196-888-598
http://www.yaskawa.de
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Aona Road, Waigaoqiao Free
Trade Zone, Pudong New Area
Shanghai 200131, P.R. China
Phone +86-21-5385-2200 Fax +86-21-5385-3299
YASKAWA ENGINEERING KOREA CORPORATION
KFPA Bldg. #1201, 35-4, Youido-Dong
Yeongdungpo-Ku, Seoul 150-010, Korea
Phone +82-2-3775-0337 Fax +82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E.Rd., Sec. 3, Taipei, Taiwan
Phone +886-2-2502-5003 Fax +886-2-2505-1280
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/101 20th floor, Muang Thai-phatra Office Tower
2, Rachadaphisek Road, Huaykwang,
Bangkok 10320, THAILAND
Phone +662-693-2200 Fax +662-693-2204
YASKAWA ELECTRIC ENGINEERING CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
for ongoing product modifications and improvements.
© 2004 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. KG22E
Printed in Japan October 2004 04-10