YASKAWA ∑ - II Series SGMBH/SGDH AC Servo System

YASKAWA ∑ - II Series SGMBH/SGDH AC Servo System

Basic Product Information

Product composition and positioning: The ∑ - II Series SGMBH/SGDH is a complete AC servo drive system consisting of SGMBH servo motors (actuators) and SGDH servo amplifiers (SERVOPACK) (control units). Its core is used for high-precision positioning, speed adjustment, and torque control of industrial equipment, and is suitable for scenarios such as machine tools and automated production lines.

Model specifications:

Servo motor (SGMBH): 5 power models (22kW/30kW/37kW/45kW/55kW), rated speed 1500min ⁻¹, maximum speed 2000min ⁻¹, maximum torque 200% of rated value.

Servo amplifier (SGDH): corresponding to 5 models (2BDE/3ZDE/3GDE/4EDE/5EDE), output current 60-160A (effective value), total power loss 770-1840W.

Key Definition:

Servo System: A closed-loop control system that includes servo drives, upper level controllers, and peripheral devices.

Servo drive: a combination of servo motors and servo amplifiers.

Reverse signal: Add "/" before the name (such as/S-ON), it is effective when the low level is low.

Core Technical Characteristics

2.1 Core parameters of motor and amplifier

Category specific parameters

Servo motor type: synchronous type; Cooling method: Fan cooling (with built-in thermal protector); Braking options: 24V/90V DC brake (optional)

Servo amplifier control mode: P/PI control; Speed loop gain: 1-2000Hz; Position loop gain: adjustable through parameters; Integral time constant: 15-51200 × 0.01ms

Incremental encoder: 13 bit (2048P/R), 16 bit (16384P/R), 17 bit (32768P/R);

Absolute value: 17 bits (32768P/R), 20 bits (262144P/R, optional), supports multi turn limit setting

2.2 Core Functions

Control mode switching: Select position, speed, and torque control modes through parameter Pn000.1, and support mode switching (such as position → speed).

Electronic gear function: Set the gear ratio through Pn202 (numerator) and Pn203 (denominator), adapt to different mechanical transmission ratios, and the minimum reference unit can reach 1 μ m.

Autotuning: Automatically detects the rotational inertia and friction characteristics of the load, optimizes parameters such as speed loop gain (Pn100) and position loop gain (Pn102), and improves system response performance.

Protection functions: overtravel limit (P-OT/N-OT signal), torque limit (internal/external two-level limit), overcurrent protection, overheating protection, alarm reset (/ALM-RST).

Braking function: dynamic braking (DB), holding brake (applicable to vertical axis, preventing gravity from falling), zero clamp (locking the motor when stopped).

Installation and wiring specifications

3.1 Installation Requirements

Core requirements for installation objects

Indoor installation of servo motors, avoiding water and corrosive gases; Axis alignment error ≤ 0.03mm; the installation surface should be flat and the fixing screws should be tightened; The distance between the fan and the motor is ≥ 200mm

Vertical installation of servo amplifier DIN rail; The distance between adjacent devices is ≥ 10mm, and the distance between upper and lower devices is ≥ 50mm; the ambient temperature is 0-55 ℃, and there is no condensation or severe vibration (≤ 4.9m/s ²)

3.2 Wiring specifications

Main circuit wiring: The three-phase power supply (L1/R, L2/S, L3/T) is connected to the amplifier, and the motor power line (U/V/W) is correspondingly connected. The grounding resistance is ≤ 100 Ω, and the terminal screws must be tightened.

Control circuit wiring: CN1 (50 pins) is used for I/O signal interaction, including position pulses (PULS/IGN), servo enable (/S-ON), alarm output (ALM+/-), etc; The CN2 (encoder interface) uses shielded twisted pair cables, with a maximum length of 50m.

Brake wiring: Motors with brake pads need to be separately connected to a brake power supply (24V/90V DC), and the brake switch should be controlled through the/BK signal.

Noise control: The power line and signal line are arranged separately (with a spacing of ≥ 30cm), shielded cables are used, and noise filters are installed at the power end.

Parameter Configuration

4.1 Parameter Classification and Core Parameters

Parameter category represents parameter function description

Function selection parameters Pn000 Control mode selection (position/speed/torque), rotation direction selection

The servo gain parameter Pn100 speed loop gain (1-2000Hz) determines the speed response speed

Pn102 position loop gain, affecting positioning accuracy and stability

Position control parameters Pn202/Pn203 electronic gear ratio numerator/denominator, adapted to mechanical transmission ratio

Pn200 reference pulse form selection (symbol+pulse, two-phase 90 ° differential, etc.)

Speed control parameter Pn300 speed reference input gain (0.01V/rated speed)

Pn305/Pn306 soft start acceleration/deceleration time (0-10000ms)

Torque control parameters Pn402/Pn403 forward/reverse torque limit (0-800% rated torque)

Pn400 torque reference input gain

Sequence parameters Pn50A-Pn512 I/O signal allocation and output signal inversion settings

4.2 Parameter Setting Process

Complete the wiring in a power-off state and confirm that the power, grounding, and encoder connections are correct;

Connect the power supply of the control circuit and enter the parameter setting mode through the digital operator;

Set core parameters (control mode, electronic gear ratio, servo gain, etc.) according to system requirements;

Power off and restart after changing parameters to make them effective;

Conduct a trial run and check the motor speed, torque, position error, and other status through monitoring mode (Un000-Un00D).

Trial operation process

Two step trial operation

No load trial operation:

Disconnect the mechanical connection between the motor and the load, and confirm that the P-OT/N-OT signal is short circuited;

Connect the power supply, start the jog (JOG) operation through the digital operator, and check whether the motor rotates smoothly and has no abnormal noise;

Monitor parameters such as speed (Un000) and current, and confirm that there are no alarms (ALM light off).

Test run with load:

Connect the motor to the load to ensure a secure mechanical installation;

Perform Autotuning to optimize servo gain parameters;

Send reference signals through the upper controller to test positioning accuracy, speed response, and load adaptability;

Verified the effectiveness of protection functions such as travel restrictions and emergency stops.

Maintenance and Troubleshooting

6.1 Daily Maintenance

Regular inspection: motor bearing wear, encoder cable integrity, amplifier heat dissipation, terminal screw tightness;

Battery replacement: The backup battery for the absolute value encoder (JZSP-BA01) needs to be replaced regularly to avoid loss of position data;

Cleaning requirements: Keep the equipment clean and avoid dust accumulation that affects heat dissipation.

6.2 Fault diagnosis

Alarm indication: Determine the fault type through the amplifier LED (ALM red light) and alarm codes (ALO1/ALO2/ALO3);

Common faults: overcurrent (A.01), overvoltage (A.02), encoder fault (A.81/A.82), overtravel (A.10);

Troubleshooting process: Power off and check wiring → Confirm parameter configuration → Test load status → Contact technical support (device serial number required).

Safety operation requirements

Grounding specifications: It must be reliably grounded (grounding resistance ≤ 100 Ω) to prevent electric shock or equipment damage;

Power operation: Before wiring/disconnecting, the power must be cut off, and after the power is cut off, wait for 5 minutes (capacitor discharge) before touching the terminals;

Operating taboos: It is prohibited to directly connect the motor to a commercial power source; Do not touch rotating parts and heat sinks during operation; Unauthorized modification of parameters or disassembly of equipment is prohibited;

Emergency stop: The equipment needs to be equipped with an emergency stop button to ensure that the power can be quickly cut off in case of abnormalities.