YASKAWA CACR-JU series Manuals

Manuals and User Guides for YASKAWA CACR-JU series. We have 1 YASKAWA CACR-JU series manual available for free PDF download: User Manual

YASKAWA CACR-JU series User Manual

YASKAWA CACR-JU series User Manual (340 pages)

AC Servo Drives. Rotational Motor EtherCAT (CoE) Communications Reference

Brand: YASKAWA | Category: Servo Drives | Size: 12.19 MB

Table of Contents

About this Manual
3
Outline
3
Safety Precautions
6
Warranty
12
Table of Contents
14
1 Outline

18
- System Configurations
  
  19
- Model Designation
  
  20
  - Spindle Motor
    20
  - Servomotor
    21
  - Σ-V-SD Series Driver
    22
2 Compatible Devices

25
- Combinations
  25
- Selecting Cables
  27
  - Spindle Motor
    27
  - Servomotor
    30
  - Σ-V-SD Driver
    40
- Peripheral Devices
  43
3 Specifications and External Dimensions for Motors

48
- Spindle Motor
  48
  - Configuration
    48
  - Ratings and Specifications
    49
  - Output and Torque Characteristics
    51
  - Tolerance Radial Loads
    57
  - Motor Total Indicator Readings
    57
  - Rotation Direction
    58
  - Vibration Resistance
    58
  - External Dimensions
    59
- Servomotors
  63
  - Ratings and Specifications
    63
  - Torque-Motor Speed Characteristics
    66
  - Overload Characteristics
    67
  - Holding Brake Electrical Specifications
    67
  - Allowable Load Moment of Inertia at the Motor Shaft
    68
  - Allowable Radial and Thrust Loads
    68
  - Motor Total Indicator Readings
    69
  - Rotation Direction
    69
  - Shock Resistance
    69
  - Vibration Resistance
    69
  - Vibration Class
    69
  - External Dimensions
    70
4 Specifications and External Dimensions for Σ-V-SD Drivers

76
- Power Regeneration Converter
  76
  - Specifications
    76
  - External Dimensions
    78
- Servopack
  80
  - Specifications
    80
  - External Dimensions
    87
5 Peripheral Devices

92
- Absolute Encoder Battery
  92
  - Specifications
    92
  - Setup Procedure
    93
- AC Reactor
  94
  - Specifications
    94
  - External Dimensions
    95
- Magnetic Contactor for Winding Selection
  99
  - Specifications
    99
  - External Dimensions
    99
  - Terminal Descriptions
    100
  - Installation Orientation
    101
- Noise Filter
  102
  - Specifications
    102
  - External Dimensions
    103
- Base Mounting Units
  106
  - Specifications
    106
  - Power Regeneration Converter and SERVOPACK Combinations
    106
  - External Dimensions
    108
  - Wiring
    112
  - Mounting Method
    113
6 Installation

114
- Motors
  115
  - Installation Environment
    115
  - Enclosure
    116
  - Installation Orientation
    116
  - Coupling Motor and Machinery
    117
- Σ-V-SD Driver
  119
  - Installation Requirements
    119
  - Thermal Design of Control Panel
    120
  - Control Panel Dust-Proof Design
    123
  - Installation Precautions
    124
  - Installation Orientation and Space
    125
7 Wiring

126
- Motors
  127
  - Precautions on Wiring
    127
  - Spindle Motors
    129
  - Spindle Motors
    135
  - Servomotors
    137
  - Main Circuit
    137
  - Σ-V-SD Driver
    144
  - Control Circuit Power Supply
    150
  - DC-Bus
    151
  - Local Bus
    152
  - I/O Signals
    153
  - Ethercat (Coe) Communications
    156
- Winding Selection
  157
8 Operation

158
- Ethercat (Coe) Communications Settings
  160
  - Ethercat Secondary Address Settings
    160
  - Ethercat (Coe) Commands
    160
- Ethercat State Machine
  161
- Device Control
  162
- Settings for Common Basic Functions
  164
  - Servomotor Rotation Direction
    165
  - Overtravel
    166
  - Holding Brakes
    169
  - Stopping Servomotor after SV_OFF Command or Alarm Occurrence
    174
  - Instantaneous Power Interruption Settings
    176
  - Setting Motor Overload Detection Level
    177
  - Spindle Motor Settings
    179
  - Setting Local Bus Addresses
    180
- Trial Operation
  181
  - Inspection and Checking before Trial Operation
    181
  - Trial Operation Via Ethercat (Coe) Communication
    181
- Limiting Torque
  182
- Absolute Encoders
  184
  - Encoder Resolution
    184
  - Backup of the Settings
    184
  - Battery Replacement
    185
  - Absolute Encoder Setup
    186
  - Multiturn Limit Setting
    189
  - Multiturn Limit Disagreement Alarm (A.CC0)
    190
  - Absolute Encoder Home Offset
    193
- Hard Wire Base Block (HWBB) Function
  194
9 Adjustments

202
- Type of Adjustments and Basic Adjustment Procedure
  203
  - Adjustments
    203
  - Basic Adjustment Procedure
    204
  - Monitoring Analog Signals
    205
  - Safety Precautions on Adjustment of Servo Gains
    208
  - Inspection, Maintenance
    209
- Advanced Autotuning
  210
  - Related Parameters
    220
- Advanced Autotuning by Reference
  221
  - Related Parameters
    227
- One-Parameter Tuning
  228
  - Related Parameters
    235
- Anti-Resonance Control Adjustment Function
  236
  - Related Parameters
    246
- High-Speed Control Adjustments
  247
10 Standards Compliance

250
11 Inspection, Maintenance, and Troubleshooting

256
12 Appendix

301
Index

337
Revision History

339

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