YASKAWA AC SERVO DRIVES JUNMA SERIES SJME SERVOMOTOR SJDE SERVOPACK
AC SERVO DRIVES JUNMA SERIES C O N T E N T S With Yaskawa’s world-leading servo drive technology, we are proud to introduce the Junma series for a wide range of applications. Following our policy to make user-friendly products, the Junma series is different from conventional models, because no more parameter settings and no more servo adjustments are required; therefore, the setup and test runs are greatly reduced.
Selection Selection of of Devices Devices Connection to Peripheral Devices Cables and Connectors Servomotor main circuit cables with connectors at both ends (for relay)*1 Molded-case circuit breaker To protect the equipment and wiring, always connect a molded-case circuit breaker (earth leakage breaker). Surge protector To protect the system from lightening surge. CAUTION SJDE SERVOPACKs Magnetic contactor Used to turn off the servo power supply when using a regenerative unit or in case of emergency.
Selection Selection of of Devices Devices Precautions when Selecting Peripheral Devices Regenerative Units The rotational energy of driven machines, including servomotor, is returned to the SERVOPACK as electric power. This is called regenerative power. The power is absorbed by the smoothing capacitor. When the capacitor has reached its limit in power absorption, the excess is then consumed by the regenerative unit.
Molded-case Circuit Breaker (MCCB) If selecting a molded-case circuit breaker, observe the following precautions. • The instantaneous maximum output of SERVOPACK is approximately 3 times the rated output. The output can last up to 3 seconds. Accordingly, select a molded-case circuit breaker whose breaking time is 5 seconds or more at 300% of SERVOPACK rated current. The general-purpose low-speed acting moldedcase circuit breakers are applicable.
Servomotors Servomotors Ratings and Specifications Voltage Servomotor Model: SJMEA Applicable SERVOPACK SJDEA Rated Output*1 W Rated Torque*1,*2 Nm Instantaneous Peak Torque*1 Nm Rated Current*1 Arms Instantaneous Max. Current*1 Arms Rated Speed*1 min-1 Max. Speed*1 min-1 Torque Constant Nm/Arms Rotor Moment of Inertia kgm2 × 10-4 Rated Power Rate*1 kw/s Rated Angular rad/s2 Acceleration*1 200 VAC 02 04 04 02 400 200 1.27 0.637 3.82 1.91 2.0 1.1 6.0 3.3 3000 4500 0.682 0.645 0.603 0.330 26.7 12.
Dimensions Units: mm 100W 300±30 Motor Connector Specifications Encoder connector Servomotor main circuit cable Motor connector 1.8 0.03 25 0 30 -0.033 dia. A A Holding brake (de-energization operation) Power supply: 24 VDC 0.06 dia. A 46 dia . 2-4.3 dia. Plug: 5559-06P-210 Terminal (No.1 to 3, 5, 6): 5558T(chained) or 5558TL(detached) Grounding Pin (No.4): 30490-2002(chained) or 30490-2012 (detached) (Manufacture: Molex Japan Co.
SERVOPACKs SERVOPACKs Ratings and Specifications SERVOPACK model SJDEMax. applicable servomotor capacity [kW] Continuous output current [Arms] Instantaneous max. output current [Arms] Voltage Input power supply Frequency (for main circuit and control circuit) Capacity at rated output [kVA] Power loss at rated output [W] 01APA 02APA 04APA 08APA 0.1 0.2 0.4 0.75 Motor capacity that the SERVOPACK can drive. 0.84 1.1 2.0 3.7 Current that the SERVOPACK can output continuously. 2.5 3.3 6.0 11.
Dimensions Units: mm 10 Mounting Hole Diagram 4.5 dia.holes 2-M4 mounting holes 5 5 (17) (14) (5) SJDE-01, 02 (100W, 200W) Airflow YASKAWA 200V SJDE- 02 APA REF BC D AL1 AL2 AL3 78 9 23 6 F0 1 45 CN1 140 120 130 140 C N 1 CN2 C N 2 Cooling fan PWR U L1 V YASKAWA ELECTRIC W + CNA MADE IN CHINA CNB CNB (10) (5) CNA Nameplate 4.5 7 Ground terminal with 2 × M4 screws Airflow (5) 12.5 15 L2 SERVOPACKs 45 E BC D 130 ± 0.
SERVOPACKs SERVOPACKs Part Names and Functions YASKAWA 200V Input voltage 67 89 A 67 BCDE F0 12 34 5 FIL BCDE 34 5 PULSE 89 A SJDE- 04 APA F0 12 Type Rotary switch for reference pulse setting (PULSE) REF Reference indicator (REF) AL1 AL2 AL3 Alarm indicators (AL1 to AL3) Rotary switch for reference filter setting (FIL) I/O signal connector (CN1) Power supply indicator (PWR) C N 1 C N 2 Encoder connector (CN2) PWR Ground terminal L1 L2 U ＋ W V Connector for motor main circuit
Alarm (AL1, AL2, and AL3) : Lit Indicators* Lit orange. Blinks orange. Motor Power Reference Pulses OFF — OFF Indicators ON — Blinks green. ON Input Meaning of Alarm AL1 Meaning of Alarm AL2 Normal AL3 Overcurrent AL3 AL1 *: Lit yellow for 1 s when the clear signal is input. Indicators AL1 AL2 Input Lit green.
Connection Connection Diagram Diagram Example Power supply Single-phase 200 V to 230 VAC 50/60Hz L1 L2 Molded-case circuit breaker Surge protector Noise filter AVR1* 24-V power supply MC1 SW1 SW2 MC1 C1 200 V to AVR2 230 VAC 24-V power supply +24V 0V Reactor 200 V to 230 VAC MC1 Spark killer + C2 Regenerative unit — JUSPY4 RG08D Y5 Ry1 5 +24V Varistor Brake 6 0V SERVOPACK L1 CNA 1 L2 2 + 3 — 4 CNB 1 U 1 2 V 2 3 W 3 U V Servomotor W FG 4 CN1 Controller CW,PULS 1 75Ω
Main Circuit Wiring • SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms (230 V rms max.). • SERVOPACKs must be used with UL-listed fuses or circuit breakers, in accordance with the National Electrical Code (NEC). • Use 75 ˚C heat-resistant copper wires or an equivalent.
Connection Connection Diagram Diagram Power Supply Input Terminals (L1, L2), Motor Connection Terminals (U, V, W), and Regenerative Unit Connection Terminals (+, –) Capacity W SERVOPACK Type 100 200 400 750 SJDE-01A SJDE-02A SJDE-04A SJDE-08A L1, L2 Terminal Symbol U, V, W +, – HIV1.25mm2 Wiring length: 20 m max. HIV1.25mm2 Wiring length: 0.5 m max. HIV1.25mm2 HIV2.0mm2 Note: Connectors are used for all wiring. Ground Terminal ( Wire Size ) Terminal Screw Size Tightening Torque 2 HIV 2.
Wiring Precautions Connection Diagram • Only an electrical engineer should perform the wiring. • Design the circuit so that both the /S-ON signal and the main-circuit power supply turn OFF at an emergency stop. • An overtravel function is not provided for the SERVOPACK. To configure a safer system, include a function so that the /S-ON signal will turn OFF when the limit switch is activated.
Connection Connection Diagram Diagram Explanation of I/O Signals Pulse train references are given to control the position of the servomotor. The following pulse train output forms are supported from the host controller. • Line driver output • +24-V open-collector output • +12-V open-collector output • +5-V open-collector output I/O Signal Timing Examples Servo ON (/S-ON) ON Motor ON t1 Motor ON t2 Brake released H Brake (/BK) (SIGN) Sign + pulse train t1: t2: t3 Approx. 40 ms Approx.
Connection Examples of Input Signal Line Driver Output Applicable line driver: SN75174 or MC3487 (Manufactured by Texas Instruments or equivalent) 24-V Power supply +24V SERVOPACK CN1 +24VIN 6 3.4kΩ Photocoupler Host controller 0V 5 PULS 1 7mA 75Ω /PULS 2 75Ω SIGN 3 75Ω /SIGN 4 75Ω CLR 8 75Ω /CLR 9 75Ω Twisted-pair wires Connection Diagram *: /S-ON ＊ Open-collector Output Set the R1 through R3 current limit resistors so that input current (i) will fall within the following range.
Installation Installation Servomotor Installation Precautions The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location. Always observe the precautions in this section when installing a servomotor. • If the relay cables are connected to the motor, be sure to connect the end for the servomotor's main-circuit cables before connecting the end for the encoder cable.
Installation Direction • The motor can be installed horizontally or vertically. If the motor is mounted vertically, provide a cable trap so that water drops do not enter the motor. If the motor is installed with the axis pointing up, take preventative measures so that oil does not splash on the motor from other parts of the machine such as the gearbox. • Do not bend or pull excessively any cables, the lead openings, and the junctions of the cables.
Installation Installation Coupling to the Machine Observe the following precautions when coupling the servomotor with the drive axis of the machine. • Align the shaft of the servomotor with the shaft of the equipment, and then couple the shafts. • Make sure that the motor and the machine are accurately aligned. Failure to observe this caution may result in damage to the motor axis or deterioration of the standard life of the servomotor by an eccentric load. Keep the eccentric load as small as possible.
SERVOPACK Installation Installation Conditions Installation Site Notes Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPACK does not exceed 55˚C. Installation in a control panel Note: The maximum ambient temperature for long-term reliability is 45˚C. Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55˚C.
Cables Cables // Peripheral Peripheral Devices Devices Servomotor Main-circuit Cables with Connectors at both Ends (for Relays) Specifications Motor Type No brake With brakes Cable Model JZSP-CHM000-05 JZSP-CHM000-10 JZSP-CHM030-05 JZSP-CHM030-10 Length (L) Manufacturer Contact 5m 10m KUNSHAN FUJIX IMPORT Fujix Co., Ltd AND EXPORT TARDE CO.,LTD. 5m 10m Note: Contact your Yaskawa representative for the servomotor main-circuit cables of 3m, 15m, and 20m.
Connectors for Servomotor Main-circuit Cables Specifications Type Parts Model 5557-06R-210 Receptacle 5556T(chained) or Terminal Crimp type 5556TL(detached) Crimping tool 57027-5000 Manufacturer Contact Molex Japan Co., Ltd. Molex Interconnect(Shanghai)Co.,Ltd. Shanghai Shenzhen Molex Hong Kong China Ltd., Shenzhen Office Dimensions Units: mm 11.6 10.7 4 5 6 1 2 3 13.8 19.
Cables Cables // Peripheral Peripheral Devices Devices Encoder Cables with Connectors at both Ends (for Relay) Specifications Model Length (L) Manufacturer Contact 5m JZSP-CHP800-05 Sun-Wa Technos SHANGHAI SUN-WA TECHNOS CO.,LTD Corporation 10m JZSP-CHP800-10 Note: Contact your Yaskawa representative for the encoder cables of 3m, 15m, and 20m.
Connectors for Encoder Cables Specifications Motor End Type Parts Model 5557-12R-210 5556T2(chained) or 5556T2L(detached) Receptacle Crimp type Terminal Manufacturer Contact Shanghai Molex Japan Co., Ltd. Molex Interconnect(Shanghai)Co.,Ltd. Shenzhen Molex Hong Kong China Ltd.
Cables Cables // Peripheral Peripheral Devices Devices Cables for I/O Signals Specifications Cable Model Length (L) Manufacturer Contact 1m JZSP-CHI003-01 Sun-Wa Technos SHANGHAI SUN-WA TECHNOS CO.,LTD 2m JZSP-CHI003-02 Corporation 3m JZSP-CHI003-03 Dimensions Units: mm SERVOPACK end Host controller end 100 +10 –0 (5.6 dia.) L Connector(14P) : 10114-6000EL Shell : 10314-52A0-008 (Sumitomo 3M Ltd.) Cable (black) HP-SB/20276SR AWG#28 × 7P UL20276 VW-1 Wiring Specifications Pin No.
Magnetic Contactor Specifications Model Specifications Manufacturer Contact 20A HI-11J Yaskawa Controls YASKAWA ELECTRICH Co., Ltd. (SHANGHAI) CO.,LTD. 35A HI-15J Dimensions Units: mm HI-11J Mounting Hole Dimensions Dimensions 44 10.1 Coil terminal M3.5 8.2 76 61 34.5 4.5 Auxiliary Contact 34 13 U V R 1 S 3 T 5 1 13 U 2 V 4 W6 2 14 1 W 35 NO A1 2 NC 10.4 2 × M4 mounting holes 9 4 8.2 Auxiliary contact terminal M3.5 Main contact terminal M3.
Cables Cables // Peripheral Peripheral Devices Devices External Fuse Specifications Fuse Model 0KLK015.T 0KLK030.T Rated Rated Fusing Applicable Manufacturer Current Voltage Time SERVOPACKs 15Arms Within 2 s SJDE-01 to 04 Littelfuse Inc. 600V 30Arms at 200% SJDE-08 Contact KUNSHAN FUJIX IMPORT AND EXPORT TARDE CO.,LTD. Fuse Block Model L60030M2SQ L60030M2C Type Manufacturer Screw terminal, 2 poles Littelfuse Inc. Copper box lug, 2 poles Dimensions Units: mm Fuse 10.31 38.1 Fuse Block 36.49 31.
Noise Filter Specifications Model Specifications Manufacturer Contact FN2070-6/07 Single-phase 250 VAC, 6A Schaffner Schaffner Shanghai FN2070-10/07 Single-phase 250 VAC, 10A Electronic Co.,LTD. FN2070-16/07 Single-phase 250 VAC, 16A Dimensions Units: mm FN2070-6/07, FN2070-10/07 Top view 38±0.5 Cables / Peripheral Devices 25±0.2 140 +5 -0 32.4±0.5 45.4±1.2 P/N/E 0.9±0.1 B C 8.4±0.5 6±0.1 D A Contact terminal Side view 57.5±1 Model FN2070-6/07 FN2070-10/07 A B C D 113.5±1 103±0.3 94±1 4.
Cables Cables // Peripheral Peripheral Devices Devices Regenerative Unit Specifications JUSP-RG08D Model 50Ω Resistance Allowable regenerative energy 12W Manufacturer Regenerative operating voltage 380 Vdc Contact YASKAWA Yaskawa Electric ELECTRIC Corporation (SHANGHAI) CO.,LTD. Regenerative processing current 8 Adc Error detection Disconnection of regenerative resistance, failure of regenerative transistor, or overvoltage Alarm output NC contact (Opens if a protective function is used.
AC Reactor Specifications Contact Inductance (mH) Rated Current (A) Manufacturer 1.0 45.0 2.0 20.0 Yaskawa Controls YASKAWA ELECTRICH Co., Ltd. (SHANGHAI) CO.,LTD. 3.0 5.0 5.0 2.0 Cables / Peripheral Devices Model X5052 X5053 X5054 X5056 Dimensions Units: mm I dia. G C D Nameplate Model X5052 X5053 X5054 X5056 E F A B 4 × H dia. Notch A 35 35 35 35 B 52 52 52 52 Dimensions mm G F E D C 80 95 30 40 45 90 105 35 45 50 80 95 30 40 45 80 95 30 40 45 H 4 4 4 4 I 4.3 4.3 4.5 4.3 Approx. Mass kg 0.
Cables Cables // Peripheral Peripheral Devices Devices Contact Information Manufacture Representative in China Manufacture Kunshan Fujix Import and Export Trade Co.,Ltd Representative in China Shanghai Okaya Hong Kong Trading Limited. Fujix Co., Ltd Shanghai Molex Japan Co., Ltd Shenzhen Okaya Electric Industries Co., Ltd. Shenzhen Okaya Hong Kong Trading Limited. Hong Kong Okaya Hong Kong Trading Limited. Shanghai Kunshan Fujix Import and Export Trade Co.,Ltd JST. Mfg. Co., Ltd.
Selection Selection of of Servomotor Servomotor Size Size AC Servomotor Selection Software: JunmaSize+ JunmaSize+ is software designed for the capacity selection of servomotors in the Junma series. Features Cables / Peripheral Devices • The latest product information. • A wizard system with conversational mode to select optimal servomotors. • References and reuses previously input and stored data.
Selection Selection of of Servomotor Servomotor Size Size Formulas for Selecting Servomotor Capacity Motions Linear Motion Horizontal Axis Vertical Axis Rotational Motion M V NR Servomotor µ Counterbalance MC 1/R Servomotor Servomotor Lead : PB 1/R Mechanical Configuration N : Load axis speed (min-1) V : Load speed (m/min) T : Effective load torque at motor shaft (Nm) µ : Friction coefficient 1/R Lead : PB PB : Ball screw lead (m) M : Mass of linear-motion unit (kg) MC : Mass of counterbalanc
Linear Motion Motions Rack & Pinion µ Mechanical Configuration Chain and Timing Belt µ Lp W dp, Zp 1/R Lp dp, Zp 1/R N : Load axis speed (min-1) V : Load speed (m/min) T : Effective load torque at motor shaft (Nm) µ : Friction coefficient Torque M : Mass of linear-motion unit (kg) 1/R : Gear ratio η : Combined efficiency TM : Servomotor maximum torque (Nm) Speed dp : Pitch diameter (m) Zp : Number of gear Lp : Pitch (m) PB = Zp Lp or π dp Speed V Tp TL Speed Diagram W Torque 0 T
Selection Selection of of Servomotor Servomotor Size Size Servomotor Selection Example Mechanical Specifications • Load speed Load : V = 30m/min • Mass of linear-motion unit : M = 4kg Gear A Pulley Gear B • Pulley diameter : DP = 0.064m • Pulley thickness : LP • Coupling mass : MC = 2690kg/m3 • Gear ratio :R =5 • Positioning frequency : n = 40 times/min • Traveling distance = 0.5m : = 1.2 S max. • Positioning interval : tm • Friction coefficient :µ = 0.
Load Running Power Po = 2π NM TL 60 = 2π × 745 × 0.0669 = 5.2(W) 60 Load Acceleration Power 2π NM 60 Pa = 2 2 2π × 10-4 = 16.4(W) JL = × 745 × 2.690.
Selection Selection of of Servomotor Servomotor Size Size Servomotor Selection Example Mechanical Specifications :V • Load speed Linear motion unit Servomotor = 15m/min • Mass of linear motion unit : M = 80kg • Ball screw length : LB = 0.8m • Ball screw diameter : DB = 0.016m Ball screw v Coupling • Ball screw lead : PB = 0.005m • Coupling mass : MC = 0.3kg • Positioning frequency n = 40 times/min • Traveling distance = 0.25m • Positioning interval tm = 1.2 S max.
Load Acceleration Power Pa = 2π NM 60 2 2 1.25 × 10-4 2π JL = × 3000 × = 123.4(W) 60 0.1 ta Recommended Servomotor Selections Conditions TL Motor rated torque Pa + Po =(1 to 2) × Motor rated output NM Motor rated speed or maximum speed JL Allowable load inertia of SERVOPACK From these conditions, the following selections are recommended : Servomotor : SJME-02AMA4 SERVOPACK : SJDE-02APA 200(W) 3000(min-1) 4500(min-1) 0.637(N m) 1.91(N m) 0.
Connection Connection to to Host Host Controller Controller Wiring to Mitsubishi's QD75D I/O power supply +24V + QD75D positioning unit o Positioning Unit +24V - 024V SJDE SERVOPACK 1 FLS 2 RLS 8 PG024 CN1 SG-PCO 11 10 PGO PCO 10 11 6 7 READY ALM 12 SG-COM 2.
Product Product Standard Standard Life Life Servodrive parts are subject to deterioration caused by mechanical friction and aging. • The following standard service life is for reference only. The service life varies with environmental conditions and application methods. Refer to the standard life provided in the table and contact your Yaskawa representative to determine whether part replacement is required. If a problem occurs, inspection is necessary regardless of the length of the service life.
Terminology Terminology SERVOPACKs lServo OFF The state in which the motor is free and not controlled and power is not supplied to the motor. Servomotors lForward rotation and reverse rotation With Yaskawa's AC servomotors, forward rotation is the CCW direction and reverse rotation is the CW direction as seen from the lServo ON load side of the motor. The state in which the motor is controlled and power is supplied to lMotor with brake the motor.
FAQs FAQs Q. What are the features of a servomotor? A. Compared with a stepping motor, a servomotor can output constant torque in low- to high-speed ranges. Unlike a stepping motor, which causes problems with vibration, noise, and heat generation, a servomotor ensures smooth rotation without loss of control. Q. What features does the JUNMA servodrive have compared with other servodrives? A. Conventional servodrives require settings for a variety of functions, including servo gain settings.
Revision Revision History History The revision dates and numbers of the revised catalogs are given on the bottom of the back cover. LITERATURE NO. KAEP S800000 23B © Printed in Japan July 2005 04-7 Date of printing 1 Revision number Date of original publication Date of Printing Rev. No. July 2004 – July 2005 46 Section – – 1 Revised Content First edition: Based on the Japanese version of the JUNMA Series catalog printed in July 2004. (Catalog No.
Revision History MEMO 47
JUNMA SERIES LITERATURE NO.
