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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 series. · CACR-SR BF1 : differs depending on the The re-engineered AC SERVOPACK model designation. The code in

SERVOPACK capacity and specifications. Refer to 2.2 SERVOPACK Model Designations.

Quick access to your required information

Read the chapters marked with to get the information required for your purpose.

Ratings and Characteristics Panel Configuration and Wiring Maintenance and Inspection

Chapter 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

SERVOPACKs, Servomotors, and Peripheral Devices

Trial Operation

Related Manuals

Refer to the following manuals as required.

Manual Name -III Series SGM S/SGDS Digital Operator Operation Manual Manual Number TOBPS80000001 Contents Provides detailed information on the operation of the JUSP-OP05A Digital Operator. Describes the following items of -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 Series SGM S/SGDS User's Manual

SIEPS80000000

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

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

CAUTION

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 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 -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 3.2.4 Re-engineered SERVOPACKs for CACR-SR BY (for Absolute Encoder) - - - - - - - - - - - - 3-10 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 -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 -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 -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 -Series

Operating Environments: · External dimensions/installation (Some models require attachments.) · Main circuit terminals · Control connector and signal layout · Recognizes the encoder type prior to 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 -III series SERVOPACK · The parameters of -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, -series, -II series, and -III series Servomotors.

1-2

1.3 Applicable Servomotors and Encoders

1.3 Applicable Servomotors and Encoders

The following servomotors besides series, -II series, -III series are applicable. pplicable Servomotor Models Prior to 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 USAGED-02A USAGED-03A USAGED-05A USAGED-09A USAGED-13A USAGED-20A USAGED-30A USAGED-44A D Series USADED-05E USADED-10E USADED-15E USADED-22E USADED-37E USAGED-44A S Series 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 Basic Specifications Operating Conditions Ambient/ Storage Humidity Vibration/ Shock Resistance

SR03BF SR05BF SR07BF SR10BF SR15BF SR20BF SR30BF SR44BF SR60BF

0.3

0.5

0.7

1.0

1.5

2.0

3.0

4.4

6.0

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 26.0 56.6 33.0 70.0 45.0 80.6

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)

5 m/s2 / 20 m/s2 (0.5G/2G) Base-mounted 10 kg 1:3000 0 to 100 % load: 0.01 % max. (at rated speed) 0% 25±25 °C: 0.1% max. (at rated speed) 100 Hz ±2 % 0 to 10 s

Configuration Approx. Mass Speed Control Range Load Regulation Speed Voltage Speed Regu- Regulation Control lation Temperature Regulation Frequency Characteristics Torque Control (Repeatability) Acceleration Time Setting

2-2

Performance

2.1 Ratings and Specifications

(cont'd) Rated Reference Voltage Speed control mode Torque control mode About 30 k About 70 µs ±2 V to ±10 VDC (forward rotation with positive reference) at rated speed. About 30 k About 70 µs ±12 VDC±5 %, ±30 mA Line-driver or open-collector (phase A, phase B, phase C) Any setting ratio 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) Speed monitor 1000 r/min-1 and torque monitor 3V/rated torque ±6 VDC (forward rotation with positive reference) at rated speed ±3 VDC (forward rotation with positive reference) at rated torque

I/O Signals

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 External Current Limits Dynamic Brake (DB) Regenerative Processing Allowable Load Moment of Inertia Overtravel Prevention Protection LED Display Monitor

Speed/Torque References

2

Built-in Functions

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 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 - 0.3 - 0.6 0.9 1.2 2.0 3.0 4.4 6.0 F 0.15 0.3 0.45 - 0.85 1.3 1.8 2.9 4.4 - G 0.15 0.3 0.45 - 0.85 1.3 1.8 2.9 4.4 - S 0.15 0.31 0.46 - 0.77 1.54 - 3.08 - - D - - 0.5 - - 1.0 1.5 2.2 3.7 - C - 0.25 0.5 - - 1.2 1.8 2.9 4.4 6.0

(2) Encoders (*3)

Type Pulse 1000 1440 1500 2000 2500 4000 5000 6000 Code F H E K C D B A Type Pulse 2048 8192 2500 Code 3 2 4 Type Absolute Pulse 1024 8192 Code W S

Conventional incremental

Multiplexed incremental

(3) Conventional SERVOPACKs (*4)

Model CACR-SR CACR-SR CACR-SR CACR-SR CACR-SR BB BZ BE BY BA Code B Z E Y A

2-4

2.3 Re-engineered AC SERVOPACK Selection

2.3 Re-engineered AC SERVOPACK Selection

Applicable Servomotors 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 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

M

2

F

G

D

S

CACR-SR05BB1 CACR-SR10BB1 CACR-SR20BB1 CACR-SR30BB1 CACR-SR44BB1 CACR-SR02BB1 CACR-SR03BB1 CACR-SR05BB1 CACR-SR10BB1 CACR-SR15BB1 CACR-SR30BB1

D D D D D S S S S S S

CACR-SR05BF1 CACR-SR10BF1 CACR-SR20BF1 CACR-SR30BF1 CACR-SR44BF1 CACR-SR02BF1 CACR-SR03BF1 CACR-SR05BF1 CACR-SR10BF1 CACR-SR15BF1 CACR-SR30BF1

DB DB DB DB DB SB SB SB SB SB SB

CACR-SR05BZ1 CACR-SR10BZ1 CACR-SR20BZ1 CACR-SR30BZ1 CACR-SR44BZ1 CACR-SR02BZ1 CACR-SR03BZ1 CACR-SR05BZ1 CACR-SR10BZ1 CACR-SR15BZ1 CACR-SR30BZ1

D D D D D S S S S S S

CACR-SR05BF1 CACR-SR10BF1 CACR-SR20BF1 CACR-SR30BF1 CACR-SR44BF1 CACR-SR02BF1 CACR-SR03BF1 CACR-SR05BF1 CACR-SR10BF1 CACR-SR15BF1 CACR-SR30BF1

DZ DZ DZ DZ DZ SZ SZ SZ SZ SZ SZ

2-5

2 Specifications and Dimensional Drawings

Applicable Servomotors 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 BE and Re-engineered SERVOPACK Model Conventional Model CACR-SR03BE1 CACR-SR07BE1 CACR-SR10BE1 CACR-SR15BE1 CACR-SR20BE1 CACR-SR30BE1 CACR-SR44BE1 CACR-SR60BE1 CACR-SR03BE1 CACR-SR03BE1 CACR-SR05BE1 CACR-SR10BE1 CACR-SR15BE1 CACR-SR20BE1 CACR-SR30BE1 CACR-SR44BE1 CACR-SR02BE1 CACR-SR03BE1 CACR-SR05BE1 CACR-SR10BE1 CACR-SR15BE1 CACR-SR20BE1 CACR-SR30BE1 CACR-SR44BE1 CACR-SR05BE1 CACR-SR10BE1 CACR-SR20BE1 CACR-SR30BE1 CACR-SR44BE1 CACR-SR02BE1 CACR-SR03BE1 CACR-SR05BE1 CACR-SR10BE1 CACR-SR15BE1 CACR-SR30BE1 M M M M M M M M F F F F F F F F G G G G G G G G D D D D D S S S S S S Re-engineered Model BF SR 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

M

F

G

D

S

Conventional SERVOPACK Model BYand Re-enginerred SERVOPACK Model Re-engineered Model Conventional Model BF SR 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 SR

2-6

2.4 Dimensional Drawings

2.4 Dimensional Drawings

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B to SR44B

BB (1) Re-engineered AC SERVOPACK Models for Conventional Models CACR-SR and -SR BZ

Note: at the end of the model codes of the re-engineered AC SERVOPACK for CACR-SR that for CACR-SR BZ is "Z" . BB is "B" , and

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 CACR-SR02BF1 CACR-SR03BF1 CACR-SR05BF1 CACR-SR10BF1 CACR-SR15BF1 CACR-SR30BF1 S S S S S S

2

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-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 and -SR BY

Note: at the end of the model codes of the re-engineered AC SERVOPACK for CACR-SR that for CACR-SR BY is "Y" . For Conventional S-series CACR-SR02BF1 CACR-SR03BF1 CACR-SR05BF1 CACR-SR10BF1 CACR-SR15BF1 CACR-SR30BF1 S S S S S S BE is "E" , and

BE

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 G-series CACR-SR02BF1 CACR-SR03BF1 CACR-SR05BF1 CACR-SR10BF1 CACR-SR15BF1 CACR-SR20BF1 CACR-SR30BF1 CACR-SR44BF1 G G G G G G G 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: Attachment SERVOPACK mounting bolts

Attachment product code: F352086-A

2-8

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 CACR-SR60BF1 CACR-SR60BF1 CACR-SR60BF1 MB MZ ME 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: Attachment 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

3-2 3-2 3-3 3-3 3-5 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 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 R S T r t

Encoder signal conversion function built-in

AC Servomotor

A B C D

Y3

Y4

U V W

M

I/O signals Speed reference PG signal Operation signal

CN2 CN1

PG

Encoder

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) Name Main circuit input terminals Servomotor connection terminals Control circuit input terminals Ground terminal (Y3) (Y4) Regenerative resistor 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 Connect to the power supply ground terminal and the Servomotor D terminal. Regenerative resistor connection terminals (normally not to be connected externally.)

3-2

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 MR-50RMA Soldered Type MR-50F Caulking Type MRP-50F01 Case MR-50L Manufacturer Honda Communication Industries Co., Ltd.

CN2: For connecting the optical encoder (PG)

Applicable Receptacle Model Inside SERVOPACK MR-20RMA Soldered Type MR-20F Caulking Type MRP-20F01 Case MR-20L Manufacturer Honda Communication Industries Co., Ltd.

CN3: For connecting the digital operator

Half-pitch Connector Plug 10114-3000VE Shell 10314-52A0-008 Manufacturer SUMITOMO 3M Limited

3

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 Model No. ended with B (Model for SR BB) 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+ /TGONModel No. ended with Z (Model for SR BZ) 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+ /TGONBF1 Model No. ended with E (Model for SR BE) 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+ /TGONModel No. ended with Y (Model for SR BY) 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 Pin No. 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 CACR-SR Model No. ended with B (Model for SR BB) /P-CON OLN-OT /S-RDY/S-RDY+ N-CL SG -12V SG PAO /PAO PBO /PBO PHB ALM+ ALMOL+ P-OT empty empty P-CL SG -12V SG +12V SG FG

*1 *1

BF1 Model No. ended with E (Model for SR BE) /P-CON AL01 N-OT /S-RDY/S-RDY+ N-CL SG -12V SG PAO /PAO PBO /PBO PHB ALM+ ALMAL02 P-OT Model No. ended with Y (Model for SR BY) /P-CON empty *2 N-OT /S-RDY/S-RDY+ N-CL SG -12V SG PAO /PAO PBO /PBO BATALM+ ALMempty *2 P-OT empty /ALM-RST P-CL SG -12V SG +12V SG FG BZ.

Model No. ended with Z (Model for SR BZ) /P-CON OLN-OT /S-RDY/S-RDY+ N-CL SG -12V SG PAO /PAO PBO /PBO BATALM+ ALMOL+ P-OT empty empty P-CL SG -12V SG +12V SG FG

*1 *1

AL03 /ALM-RST P-CL SG -12V SG +12V SG FG BB and SR

* 1. The MCB trip signal output function is not provided for SR * 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

For Conventional Incremental Encoder 0V 0V 0V PG5 V PG5 V PG5 V DIR PU /PU PV /PV PW /PW PC /PC PA /PA PB /PB FG For Multiplexed Type Incremental Encoder 0V 0V 0V PG5 V PG5 V PG5 V DIR - - Absolute RST - BAT BAT0 PC /PC PA /PA PB /PB FG For Absolute Encoder 0V 0V 0V PG5 V PG5 V PG5 V DIR -* -* Absolute RST - BAT BAT0 PC /PC PA /PA PB /PB FG

Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

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 (for Multiplexed Incremental Encoder)

Torque monitor F-series: 3.0 V±10 %/100 % Speed monitor F-series: 2.0 V±10 %/1000 min-1 Speed reference input ±6V/rated speed Auxiliary speed reference input ±2 to ±10 V/rated speed Reverse rotation current limit -100 %±10 %/+3.0V input Forward rotation current limit +100 %±10 %/-3.0V input

+24Vin

BE

Example: CACR-SR20BF12FE that have replaced CACR-SR20BE12F

SERVOPACK CACR-SR20BF12FE 16-bit D/A

LPF LPF

CN1

1-9 1-10 1-12 1-13 1-14 1-15 1-29 1-30 1-44 1-45 S-ON P-CON 1-24 N-LS N-OT 1-26 P-LS P-OT 1-41 9Ry ALM-RST 1-43 3Ry 4Ry 5Ry 6Ry CLT+ CLTTGON+ TGONALM+ ALMS-RDY+ S-RDYPAO /PAO PBO /PBO PCO /PCO PHA 1-5 1-6 1-22 1-23 1-38 1-39 1-28 1-27 5 mA 5 mA 5 mA 1-7 1-8 2Ry LPF LPF

16-bit D/A

CPU

16-bit D/A

SG

5 mA 5 mA

Servo ON when 1RY is ON

24V

1Ry

P control when 2Ry is ON (PI control when 2Ry is OFF) Reverse run prohibited when N-LS is open Forward run prohibited when P-LS is open Alarm reset when 9Ry is ON 3Ry turns ON when 24V current limit detected 4Ry turns ON when TG turns ON. 5Ry turns OFF for a servo alarm 6Ry turns ON when servo ready

Output Max. voltage 30 VDC Max. current 30 mA

Phase A Phase B Phase C

P P P

1-33 1-34 1-35 1-36 1-19 1-20 1-4

Output line driver LS75ALS174

+12 V

1-16 1-48

PG signal open collector output

PHB PHC ALO1 1-25 1-37 1-21

SG Output open collector LS07

1-17 1-32 1-47 1-49

Alarm code output

ALO2 ALO3 0V 0V 0V 1-40 1-42

-12 V

1-3 1-2 1-1 1-50 1-18

1-11 1-31 1-46

SG

3-6

3.2 I/O Signal Connector Terminals

Optical encoder A B C D E F K Z /Z P P P

SERVOPACK

CACR-SR20BF12FE

CN2

2-16 2-17 2-18 2-19 2-14 2-15 /PC PA /PA PB /PB PC

PG

L

3

H G 2-4 2-1 2-5 2-2 2-6 2-3 2-7 J 1-50 2-20 DIR PG5 V PG0 V

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 (for Conventional Incremental Encoder)

SERVOPACK Torque monitor M-series: 3.0 V±10 %/100 % Speed monitor M-series: 4.0 V±10 %/1000 min-1 Speed reference input ±6 V/rated speed Auxiliary speed reference input ±2 to ±10 V/rated speed Reverse rotation current limit -100 %±10 %/+3.0 V input Forward rotation current limit +100 %±10 %/-3.0 V input Servo ON when 1Ry is ON

+24Vin 24V 1Ry 2Ry N-LS S-ON P-CON 1-24 N-OT 1-26 P-LS P-OT 1-41 3Ry CLT+ CLT4Ry 5Ry 6Ry TGON+ TGONALM+ ALMS-RDY+ S-RDY1-5 1-6 1-22 1-23 1-38 1-39 1-28 1-27 5 mA 5 mA 1-7 1-8 5 mA 5 mA

BB

Example: CACR-SR20BF1AMB that have replaced CACR-SR20BB1AM

CACR-SR20BF1AMB

CN1

1-9 1-10 1-12 1-13 1-14 1-15 1-29 1-30 1-44 1-45

Current limit

SG

P control when 2Ry is ON (PI control when 2Ry is OFF) Reverse run prohibited when N-LS is open Forward run prohibited when P-LS is open 3Ry turns ON when 24V current limit detected 4Ry turns ON when TG turns ON 5Ry turns OFF for a servo alarm 6Ry turns ON when servo ready

Output Max. voltage: 30 VDC Max. current: 30 mA

8Ry turns OFF for a OL alarm

8Ry

OL OL1-40 1-25

Phase A Phase B Phase C

PAO /PAO PBO /PBO PCO /PCO PHA

P P P

1-33 1-34 1-35 1-36 1-19 1-20 1-4

Output line driver LS75ALS174 +12 V

1-16 1-48

SG Output open collector LS07

1-17 1-32 1-47 1-49 1-11

PG signal open collector output

PHB PHC 1-37 1-21 0V 0V 0V

1-3 1-2 1-1 1-50 1-18

-12 V

1-31 1-46

SG

Note: MCB trip (CN1-43 and -42) outputs are not provided.

3-8

3.2 I/O Signal Connector Terminals

Optical Encoder A B C D E F K P P P

SERVOPACK

CACR-SR20BF1AMB

CN2

2-16 2-17 2-18 2-19 2-14 2-15 /PC PU /PU PV /PV PW /PW PG5V PG0V PA /PA PB /PB PC

PG

L M N P R H G

P

2-8 2-9

P

2-10 2-11

3

P

2-12 2-13 2-4 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 % Speed monitor F-series: 2.0 V±10 %/1000 min-1 Speed reference input ±6 V/rated speed Auxiliary speed reference input ±2 to ±10 V/rated speed Reverse rotation current limit -100 %±10 %/+3.0 V input Forward rotation current limit +100 %±10 %/-3.0 V input

+24Vin

CACR-SR20BF1SFY 16-bit D/A

CN1

1-9 1-10 1-12 1-13 1-14 1-15 1-29 1-30 1-44 1-45 S-ON P-CON 1-24 N-OT 1-26 1-7 1-8

LPF LPF

16-bit D/A

CPU

LPF LPF

SG 5 mA 5 mA 5 mA 5 mA

16-bit D/A

Servo ON when 1Ry is ON

24 V

1Ry 2Ry N-LS

P control when 2Ry is ON (PI control when 2Ry is OFF) Reverse run prohibited when N-LS is open Forward run prohibited when P-LS is open Alarm reset when 9Ry is ON 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

P-LS P-OT 1-41 9Ry 3Ry ALM-RST CLT+ CLT4Ry 5Ry 6Ry TGON+ TGONALM+ ALMS-RDY+ S-RDYPAO 1-43 1-5 1-6 1-22 1-23 1-38 1-39 1-28 1-27 P P P 1-33 1-34 1-35 1-36 1-19 1-20

5 mA

Output Max. voltage: 30 VDC Max. current: 30 mA

Phase A Phase B Phase C

/PAO PBO /PBO PCO /PCO

Output line driver LS75ALS174 +12 V

1-16 1-48

SG

1-17 1-32

SEN 0SEN 0V 0V + Battery 2.8 to 4.5 V BAT0

BAT

1-4 1-3 1-2 1-1 1-21 1-37 1-50 1-18

1-47 1-49

-12 V

1-11 1-31 1-46

FG

3-10

3.2 I/O Signal Connector Terminals

Optical encoder 15-bit absolute encoder

A B C D E F P P P

SERVOPACK

CACR-SR20BF1SFY

CN2

2-16 2-17 2-18 2-19 2-14 2-15

PA /PA PB /PB PC /PC

PG

H 2-4 G 2-1 2-5 2-2 2-6 R T S J P 2-3 2-10 2-12 2-13 1-50 2-20 1-21 1-37 BAT BAT0 PG5 V PG0 V

3

Optical encoder 12-bit absolute encoder

A B C D E F P PS /PS P P

SERVOPACK

CACR-SR20BF1WFY

CN2

2-16 2-17 2-18 2-19 2-14 2-15

Note

PA /PA PB /PB PC /PC

PG

K L H G

2-4 2-1 2-5 2-2 2-6 2-3

PG5 V PG0 V

R T S J 1-50 2-20 P 2-10 2-12 2-13 1-21 1-37 BAT BAT0

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

SERVOPACK Torque monitor M-series: 3.0 V±10 %/100 % Speed monitor M-series: 4.0 V±10 %/1000 min-1 Speed reference input ±6 V/rated speed Auxiliary speed reference input ±2 to ±10 V/rated speed Reverse rotation current limit -100 %±10 %/+3.0 V input Forward rotation current limit +100 %±10 %/-3.0 V input

+24Vin

BZ (for Absolute Encoder)

CACR-SR20BF1SMZ

Example: CACR-SR20BF1SMZ that have replaced CACR-SR20BZ1SM

CN1

1-9 1-10 1-12 1-13 1-14 1-15 1-29 1-30 1-44 1-45 1-7 1-8 2Ry N-LS P-CON 1-24 N-OT 1-26 P-LS P-OT 1-41 3Ry 4Ry 5Ry 6Ry CLT+ CLTTGON+ TGONALM+ ALMS-RDY+ S-RDY1-5 1-6 1-22 1-23 1-38 1-39 1-28 1-27 5mA 5 mA 5 mA

SG

5 mA

Servo ON when 1Ry is ON

24 V

1Ry

S-ON

P control when 2Ry is ON (PI control when 2Ry is OFF) Reverse run prohibited when N-LS is open Forward run prohibited when P-LS is open 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

Output Max. voltage: 30 VDC Max. current: 30 mA

8Ry turns OFF for a OL alafm

8Ry

OL OL1-40 1-25

PAO

Phase A Phase B Phase C

/PAO PBO /PBO PCO /PCO

P P P

1-33 1-34 1-35 1-36 1-19 1-20

Output line driver LS75ALS174 +12 V

Current limit

1-16 1-48

SG

1-17 1-32

SEN 0SEN 0V 0V + BAT Battery 2.8 to 4.5 V BAT0

1-4 1-3 1-2 1-1

1-47 1-49

SG

1-21 1-37 1-50 1-18

1-11

-12 V

1-31 1-46

Note: MCB trip (CN1-43 and -42) outputs are not provided.

3-12

3.2 I/O Signal Connector Terminals

Optical encoder 15-bit absolute encoder A B C D E F P P P

SERVOPACK

CACR-SR20BF1SMZ

CN2

2-16 2-17 2-18 2-19 2-14 2-15 /PC PA /PA PB /PB PC

PG

H 2-4 G 2-1 2-5 2-2 2-6 2-3 R 2-10 T S J 1-50 2-20 P 2-12 1-37 2-13 1-21 BAT BAT0 PG5 V PG0 V

3

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 ensure the operating environment of the corresponding conventional model. BF to 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

3 1

LED lamp (1 (CHARGE)

3

CN503 S2 SW2 CN24

1 3 3

SL5

TMON CN3 VTG GND

LED lamp (3

LED lamp (2

DSW1 DSW5

RUN ALARM

CN15 CN14

1

CN26

1

CN19

CN13

3 3

CN22

1

DS1 CN12

3 3

CN23 CN21

1 3 1

3 3

1 1

ZERO SW3

3 1

LOOP

IN-B

SL7

CN11 CN10

3

CN18 CN7 CN5 CN6 CN20

PG5V RESET VR5 CUR

FINE

3 3 3 3

1 1 1 1

CN8 CN9

1 3 1 3

1 1

CN2

1

CN4

CN16

CN1

4-2

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 CN20 CN21 CN22 CN23 CN24 CN26 S2 SL5 SW3-7 CN503 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 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 CACR-SR BY, the connector CN3 is used to connect the digital operator JUSP-OP05A.

CN3 Connector for -III series digital operator Cable connector

BE or

4-4

4.2 Factory Settings

4.2 Factory Settings

4.2.1 Pin Settings

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 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 These switches are set to the defaults at factory. Change the setting according to the application. Set to the defaults at factory depending on encoder type

Switch No. CN4 CN5 CN6 CN7 CN8 CN9 CN10 CN11 CN13 CN14 CN15 CN16 CN18 CN20 CN21 CN22 CN23 CN24 CN26

Setting 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 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

Remarks

See Table 4.1

4

See Table 4.1

S2 SL5 SL7 SW2 SW3 DSW1 DSW5

6-digit ON/OFF Short-circuited Pins Short-circuited Pins 8-digit ON/OFF 8-digit ON/OFF Hexadecimal switching Hexadecimal switching

See Table 4.1 See Table 4.3 See Table 4.5 See Table 4.6 See Table 4.4 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 OFF OFF OFF S2-2 ON ON ON ON ON ON ON ON S2-3 ON ON ON ON ON OFF OFF OFF S2-4 ON ON ON OFF OFF ON ON OFF S2-5 ON ON OFF ON OFF ON OFF ON S2-6 ON OFF ON ON OFF OFF ON ON CN15 OPEN 2-3 1-2 1-2 1-2 1-2 1-2 1-2 CN26 OPEN 2-3 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 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 Setting DSW1 DSW5 0 1 2 3 4 5 6 7 9 0 1 0 1 1 ON ON OFF OFF ON ON ON OFF ON ON OFF OFF OFF 2 ON ON OFF ON ON OFF ON ON ON OFF OFF ON OFF 3 ON ON ON OFF ON ON OFF OFF ON OFF OFF ON OFF SW2 Status 4 ON ON ON ON OFF OFF OFF OFF ON ON OFF ON OFF 5 OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF 6 OFF ON OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF 7 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF

Conventional incremental

0

Multiplexed incremental Absolute

1 2

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 Servomotor Rated Speed 1000 r/min 1500 r/min 3000 r/min

-1 -1

BZ) SW3-7 ON ON OFF ON BB and -SR BZ)

SL5 1-2 2-3 2-3 2-3

2000 r/min-1

-1

Table 4.4 Speed Amplifier Gain (Valid for CACR-SR SW3 Specifications Pin No. 1 2 3 4 5 6 7 8 Functions Proportional gain 100 k Proportional gain 220 k Imperfect integration 6.6 M Integration 0.033 uF Integration 0.033 uF Integration 0.22 uF For servomotor rated speed Mode selection switch OFF Valid Valid Valid Invalid Invalid Invalid Valid ON Invalid Invalid Invalid 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

4-6

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 1000 pF Factory Setting

Factory setting

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 1 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 2 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 3 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 4 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 5 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 6 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 7 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 8 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 BF

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) 1 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 - 2 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 - 3 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 - 4 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 - 5 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 - 6 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 - 7 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 - 8 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

4-8

4.2 Factory Settings

Settings for Conventional SERVOPACK SR Check the number of dividing output pulses on the SR 1 2 3 4 5 6 7

BB with Incremental Encoder for Reference BB in the following table. 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 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)

Note: The pins SW2-7 and -8 are reserved. The pins marked with

are short-circuited.

4-10

4.2 Factory Settings

4.2.2 List of Parameters

Conventional Model SR BE/BY Constant No. - - - Cn-04 Cn-05 - - - - - Cn-0C Cn-0D Cn-0E - - - - - Cn-0A - Cn-10 Cn-07 Cn-23 Cn-03 Cn-13 Cn-17 Cn-08 Cn-09 Cn-06 Cn-14 - -

Parameter No. Pn000 Pn001 Pn002 Pn100 Pn101 Pn102 Pn107 Pn108 Pn109 Pn10B Pn10C Pn10D Pn10E Pn10F Pn200 Pn209 Pn20E Pn210 Pn212 Pn300 Pn304 Pn305 Pn306 Pn30A Pn400 Pn401 Pn402 Pn403 Pn406 Pn407 Pn408 Pn415

Name Function Selection Basic Switch 0 Function Selection Application Switch 1 Function Selection Application Switch 2 Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain Bias Bias Addition Width Feed Forward Gain Gain-related Application Switch Mode Switch (torque reference) Mode Switch (speed reference) Mode Switch (acceleration) Mode Switch (position error pulse) Position Control Reference Form Selection Switch Position Reference Acceleration/ Deceleration Bias Electronic Gear Ratio (Numerator) Electronic Gear Ratio (Denominator) PG Dividing Pulse (pulse unit) Enabled when SW2-8 is ON Speed Reference Input Gain JOG Speed Soft Start Acceleration Time Soft Start Deceleration Time Auxiliary Speed Reference Input Gain Torque Reference Input Gain 1st Step 1st Torque Reference Filter Time Constant Forward Torque Limit Reverse Torque Limit Emergency Stop Torque Speed Limit during Toque Control Torque Related Function Switch External Current Limit Input Gain

Setting Range

Unit - - -

Factory Setting 0 0 0 40.0 Hz 20.00 ms 40.0/s min-1

Setting Validation After restart After restart After restart Immediately Immediately Immediately

1.0 to 2000.0 Hz 0.15 to 512.00 ms 1.0 to 2000.0/s 0 to 450 min-1

0.1 Hz 0.01 ms 0.1/s 1 Reference unit 1% - 1% 1 min-1 1 r/min/s Reference unit - min-1

0 to 250 reference units 0 to 100 % - 0 to 800 % 0 to 10000 min-1 0 to 30000 r/min/s 0 to 10000 reference units

Immediately 0 7 reference Immediately units 0% Immediately 0 200% Immediately Immediately

Immediately 0 min-1 0 r/min/s Immediately 0 reference Immediately unit 0 0 4 1 After restart Immediately After restart After restart

4

0 to 65535 reference units/s 1 to 1073741824 (230) 1 to 1073741824 (230) 16 to 1073741824 (230) P/Rev 1.50 to 10.00 V/ rated speed 0 to 10000 min-1 0 to 10000 ms 0 to 10000 ms 1.50 to 10.00 V/ rated speed 1.0 to 10.0 V/ rated torque 0.00 to 655.35 ms 0 to 800 % 0 to 800 % 0 to 800 % 0 to 10000 min-1 - 1.0 to 10.0V/ rated torque

1 reference unit/s - - 1 P/Rev

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 Immediately Immediately Immediately Immediately

0.1 V/ rated 3.0 V/ rated Immediately torque torque 0.01 ms 1% 1% 1% 1 min-1 1.00 ms 800 % 800 % 800 %

1

Immediately Immediately Immediately Immediately

10000 min- Immediately

- 0 After restart 0.1V/ rated 3.0V/ rated Immediately torque torque

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) Parameter No. Pn501 Pn502 Pn503 Pn506 Pn507 Pn508 Pn509 Pn50A Pn50B Pn50C Pn50D Pn50E Pn50F Pn510 Pn512 Pn520 Pn522 Factory Setting 10 min-1 20 min

-1

Name Zero Clamp Level Zero Speed Level Speed Coincidence Signal Output Width Brake Reference - Servo OFF Delay Time Brake Reference Output Speed Level Waiting Time for Brake Signal When Motor Running Instantaneous Power Cut Hold Time 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 Excessive Position Error Alarm Level Positioning Completed Width

Setting Range 0 to 10000 min-1 1 to 10000 min

-1

Unit 1 min-1 1 min

-1

Setting Validation Immediately Immediately Immediately Immediately Immediately Immediately Immediately After restart After restart After restart After restart After restart After restart After restart After restart Immediately

Conventional Model SR BE/BY Constant No. Cn-0F Cn-0B - Cn-12 Cn-15 Cn-16 - - - - - - - - - - -

0 to 100 min-1 (0 to 50) × 10 ms 0 to 10000 min-1 (10 to 100) × 10 ms 20 to 1000 ms - - - - - - - - 1 to 1073741824 (230) reference units 0 to 1073741824 (230) reference units

1 min-1 10 ms 1 min-1 10 ms 1 ms - - - - - - - - 1 reference unit 1 reference unit

10 min-1 0 ms 100 min-1 500 ms 20 ms 2100 6543 8888 8888 3211 0 0 0 262144 reference units

7 reference Immediately units

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

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

5

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.

· When no alarm occurs, the bits are lit as shown in the table below.

Bit Data Indication Item Bit Data Control Power ON Baseblock Rotation Detection (/TGON) Indication Lights when the control power to the SERVOPACK turns ON. 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 SERVOPACK. BF has the same alarm function as that of -III series 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 Alarm Name Meaning Servomotor Stop Method DB stop DB stop DB stop DB stop DB stop DB stop DB stop DB stop Alarm Reset Alarm Code Output ALO1 N/A N/A N/A N/A Available N/A N/A N/A H H H H ALO2 ALO3 Servo Alarm (ALM) Output

A.020 A.021 A.022 A.023 A.030 A.031 A.040 A.041

Parameter Checksum Error Parameter Format Error

A.042 A.050 A.051 A.0b0

A.100

A.300 A.320 A.330 A.400 A.410

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.

5

DB stop DB stop DB stop DB stop

N/A Available N/A Available

DB stop

N/A L H H H

DB stop Zero speed stop DB stop

Available Available L Available L H H

DB stop Zero speed stop

Available Available H H L H

5-3

5 Maintenance, Inspection and Alarm/Warning Display

Table 5.1 Alarm Display Table (cont'd)

Alarm Display Alarm Name Meaning Servomotor Stop Method DB stop DB stop Alarm Reset Alarm Code Output ALO1 Available Available L DB stop DB stop Zero speed stop Available Available Available H L H ALO2 ALO3 Servo Alarm (ALM) Output

A.510 A.511 A.520 A.521 A.710

Overspeed Dividing Pulse Output Overspeed Vibration Alarm Autotuning Alarm Overload: High Load

A.720 A.730

Overload: Low Load

Dynamic Brake Overload

A.740 A.7A0 A.810 A.820 A.830 A.840 A.850 A.860 A.b10 A.b11 A.b20 A.b31 A.b32 A.b33

Overload of Surge Current Limit Resistor Heat Sink Overheated Encoder Backup Error

Encoder Checksum Error Absolute Encoder Battery Error Encoder Data Error Encoder Overspeed

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. 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. Phase-V current sensor is faulty. Phase-W current sensor is faulty.

DB stop

Available

DB stop

Available

L

L

L

H

DB stop Zero speed stop DB stop

Available Available N/A

DB stop DB stop DB stop DB stop

N/A Available N/A N/A

Encoder Overheated Reference Speed Input Read Error Speed Reference A/D Data Error Reference Torque Input Read Error Current Detection Error1 Current Detection Error 2 Current Detection Error 3

DB stop Zero speed stop Zero speed stop Zero speed stop DB stop DB stop DB stop

N/A Available Available Available N/A N/A N/A

H

H

H

H

5-4

5.2 Alarm Display Table

Table 5.1 Alarm Display Table (cont'd)

Alarm Display Alarm Name Meaning Servomotor Stop Method DB stop Alarm Reset Alarm Code Output ALO1 N/A ALO2 ALO3 Servo Alarm (ALM) Output

A.bF0 A.bF1 A.bF2 A.bF3 A.bF4 A.C10 A.C80 A.C90 A.C91 A.C92 A.CA0 A.Cb0

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

"Internal program error 0" of SERVOPACK occurred. "Internal program error 1" of SERVOPACK occurred. "Internal program error 2" of SERVOPACK occurred. "Internal program error 3" of SERVOPACK occurred. "Internal program error 4) of SERVOPACK occurred. The servomotor ran out of control. 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 DB stop

N/A N/A H H H H

DB stop

N/A

DB stop

N/A

DB stop DB stop

Available N/A

DB stop

N/A

DB stop DB stop

N/A L N/A H L H

5

DB stop DB stop DB stop DB stop DB stop

N/A N/A N/A Available Available

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 Over- If 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.- -

Zero speed stop

Available

L

L

H

H

Zero speed stop DB stop - - -

Available N/A N/A N/A - H Not decided H H L H L H H

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 Warning Name Overload 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

A.910 A.911

Vibration

L

H

H

A.920 A.930 A.941

Regenerative Overload

H

L

H

Absolute Encoder Battery Voltage Lowered Change of Parameters Requires Setting Validation

L L

L H

H H

5-6

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.

IMPORTANT

During inspection and maintenance, do not disassemble the servomotor.

Item Vibration and Noise Exterior Insulation Resistance Measurement Replacing Oil Seal Overhaul

Frequency Daily According to degree of contamination At least once a year At least once every 5000 hours At least once every 20000 hours or 5 years

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 M . 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 M. 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 Exterior and Boards At least once a year Loose Screws Frequency 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

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.

Standard Replacement Period 4 to 5 years 7 to 8 years - 10 years 5 years

Part Cooling Fan Smoothing Capacitor Relays Fuses Aluminum Electrolytic Capacitor on Circuit Board

Recommendations Replace with a new SERVOPACK. Replace with a new SERVOPACK. (Depending on results of investigation.) Replace with a new SERVOPACK. (Depending on results of investigation.) Replace with a new SERVOPACK. 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>

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

<Asia>

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 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

<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 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

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