SIE-C717-13E DEseRI PTIVE INFORMATION

582-38

1. GENERAL DESCRIPTION

Servo pack type CPCR-M R [~J K IS designed as servo unit controller for our CNC YASNAC LX 1/2 and MX1/2 series Servo pack can control a Wide variety of speed range for servomotor feed drives (Cup Motor, Mlnertla Motor or HICup Molor)

Servo pack with a transistorized PWM control offers a highly responsive servo system with superior stability In addition, low-noise servo drives and low-heat generation are two of Servopack's main features

This manual is used as a selection guide to determine a servo system for the CNC YASNAC LX1, MX1, LX2 and MX2

Servopack Type CPCR-MR 052K

CONTENTS

1 GENERAL DESCRIPTION 1 7 CONNECTION DIAGRAM .. 7
2 RATINGS AND SPECIFICATIONS ·2 71 Connection for YASNAC LX1 7
72 ConnectIOn for YASNAC MX1 9
3 COMBINATION OF SERVOPACK WITH SERVOMOTOR 8 CHARAcTERISTICS OF SERVO PACK AND
AND REACTOR 3
SERVOMciTOR COMBINATION ··12
4 CHARACTERISTICS IN COMBINATION OF SERVOPACK 8 1 Charactelllsllcs Description . 12
WITH SERVOMOTOR 3 8 2 Torque-Speed Characteristics·· 4 ............. 12
5 INTERNAL BLOCK DIAGRAMS 4 9 APPLICATION TECHNIC OF YASNAC ... ·15
5 1 Servopack ·4 9 1 Servomoter Selection . 15
5 2 Power Supply Unit· . 5 92 Coasting Distance After YASNAC Emergency Stop .. . . 18
6 INPUT/OUTPUT SIGNALS 6 9 3 MInimum Dog Length for Returning to Home Position 18
6 1 List of Input/Output Signals . 6 APPENDIX ~,ELECTION LIST OF DC SERVOMOTOR
6 2 Description of Input/Output Signals 6 FOR YASNAG· 20
6 3 list of Terminal and Connector 6 2. RATINGS AND=SPECIFICATIONS

Table 1 Ratings and Specifications of Servopack

~- MR05C}K MR073K MROSf:]K MR15[:;K I MR22:_:K I MR37[ :K
I
Main Circuit DC Voltage 270 V (Supplied from power supply unit)
Control Power Supply 200/220 VAC 50/60 Hz (Supplied from power supply Unit)
Ambient Temperature o to +60·C(Fin: 0 to +45·C)
Storage Temperature -20·C to +SS·C
Storage Humidity 90 % or below
Vibration, Shock Vibration _ 0 5 G or less, SI10ck 2G or less
Control Method Translstorized/PW M control
Maximum ±25A ±25A ±40A
Acceleration/Deceleration (MR054K ±16A) ±30A (MR084K ±19A) (MR"154K2 ±25A) ±40A ±60A
Current (MR154K ±32A)
Continuous Output Current ±9A ±14A ±SA ±13A ±lSA ±24A
Continuous Output Voltage ±200V
Reference Input Rated speed at 4 to 50 V
Adjustable Range
Differential Input Rated speed at 4 to 10 V
Adjustable Range
External Current Maximum acceleration/deceleration current at +10V
Limit
Func- Servo ON/OFF Servo ON at LOW level (wllh pull-up resistor)
non
Dynamic Brake Operated at alarm, Servo OFF or control power OFF
TG ON/OFF TG detectmg level Rated speed - or less (open collector)
HJ
Overload Detection Not operated at 125%, 150 sec at 150%,50 sec at 200%
Speed, Current Current at 2 V /100 %, Speed at 3 6 V 11000 rpm, maximum output current ±10mA
Detection
Device Use of fuse
Protec- TG Trouble Shortcircuit, open, wrong, connection, overs peed (120% to 140%)
non Overcurrent VeE detection (VeE ~ 7 V)
Overvoltage Protected at 400 Ito 420 V
lndrca- • Power ON 1 POWER I(green)
non LED • Input ON om, TG ON ITG I(whlte)
• TG trouble, overcurrent, overvoltage, overload, blown fuse (red) TYPE DESIGNATION

Servopaclc

Pc,wer Unit

CPCR-MR~_:[_]~-i K~::

Servopack TJ--r-· t ; HI-Cup Motor

Series 1- Type UGHMED-:-i:_;AA

2 Type UGHMED-LE:;GG Translstorized/PWM Control Reversing

JUSP-DCP:-~:::[-:

Power Unit=:=] rLconflguratlon

A Compact type B Upright type

Output Current

10 lOA

15 15A

30 30A

60 60A

For Mmerba Motor J Series Blank Type UGJMED-SO MA 2 Type UGJMED-60 LA

Servomotor Output-----' 05 500W

07 700W

OS. SOOW

15 1500W

22 2200W

37- 3700W

,--Servomotor Type 2_ Cup motor

3 Mmertla motor standard series

4 Mmertla motor J senes 5 HI-CUp motor

2

3. COMBINAl-ION OF SERVOPACK WITH SERVOMOTOR AND REACTOR

Table 2 Combination of Servo pack with Servomotor and Reactor

Servopack Applicable Reactor Servopack Applicable I Reactor
Type Servomotor (Separately Installed) Type Servomotor (Separately Installed)
CPCR- Type CPCR- Type
MR052K UGCMED-04 10mH,14A(Dwg No DE8402698) MR154K2 UCiJMED-60LA 5mH ,11 A(Dwg No DE8402744)
MR053K UGMMEM-13 10mH,14A(Dwg No DE8402698) MR155K1 UCiHMED-12AA 10mH ,14A(Dwg No DE8402698)
MR054K UGJMED-40L 10mH,14A(Dwg No DE8402698) MR155K2 UCiHMED-12GG 10mH ,14A(Dwg No DE8402698)
MR055K UGHMED-03GG 10mH,14A(Dwg No DE8402698) MR222K UCiCMED-22 10mH ,18A(Dwg No DE8403030)
-
MR073K UGMMEM-25 10mH,14A(Dwg No DE8402698) MR224K UCiJMED-80LA 5mH ,25A(Dwg No DE8402745)
MR082K UGCMED-08 10mH,14A(Dwg No DE8402698) MR225K1 UCiHMED-20AA 10mH ,18A(Dwg No DE8403030)
MR084K UGJMED-60 MA 5mH,ll A (Dwg No DE8402744) MR225K2 UCiHMED-20GG 10mH ,18A(Dwg. No DE8403030)
MR085Kl UGHMED-06AA 10mH,14A(Dwg No DE8402698) MR372K UCICMED-37 ,10mH ,25A(Dwg No DE8402699)
MR085K2 UGHMED-06GG 10mH,14A(Dwg No DE8402698) MR373K UCiMMED-1A 10mH ,25A(Dwg.No DE8402699)
MR152K UGCMED-15 10mH,14A(Dwg No DE8402698) MR374K UCiJMED-80KA 10mH,25A or 28A(Dwg No DE8401695}
MR153K UGMMEM-50 10mH,14A(Dwg No.DE8402698) MR375K1 UCiHMED-30AA 10mH,25A(Dwg No DE8402699)
MR154K UGJMED-80MA 5mH,ll A(Dwg No DE8402744) MR375K2 UCiHMED-30GG 10mH,25A(Dwg No DE8402699) 4. CHARACTERISTICS IN COMBINATION OF SERVOP,ACK WITH SERVOMOTOR

Table 3 Characteristics in Combination of Servopack with Servomotor

Servopack At Rated Operation At Overspeed Applicable
Servopack Servomotor Maximum Continuous Instantaneous Continuous Instantaneous Load
Type Type Current Rated Speed Effective Effective Overspeed Effective Effective GD2/4
CPCR- (A) (rpm) Torque Torque (rpm) Torque Torque (kg cm2)
(kg cm) (kg·em) (kg cm) (kgcm)
MR052K UGCMED-04 25 1750 21.2 705 2400 18 70 224
MR053K UGMMEM-13 25 3000 124 432 - - - 1 41
MR054K UGJMED-40L 16 1000 232 784 1500 17 37 200
MR055K UGHMED-03GG 25 1000 228 798 1500 228 79 203
MR073K UGMMEM-25 30 3000 238 561 - - - 283
MR082K UGCMEM-08 25 1750 396 1615 2400 33 160 360
MR084K UGJMED-60 MA 19 1000 418 1617 1500 27 105 440
MR085Kl UGHMED-06AA 25 1000 555 23619 1500 48 223 733
MR085K2 UGHMED-06GG 25 1000 475 1940 1500 38 195 330
MR152K UGCMED-15 40 1750 79.3 3082 2400 62 300 101
MR153K UGMMEM-50 40 3000 475 16:2'6 - - - 900
MR154K UGJMED-80MA 32 1000 1017 31612 1200 104 237 140
MR154K2 UGJMED-60LA 25 1000 789 2104 1500 59 175 630
MR155Kl UGHMED-12AA 40 1000 1112 4446 1400 84 437 134
MR155K2 UGHMED-12GG 40 1000 111 2 444.6 1400 90 329 134
MR222K UGCMED-22 40 1750 1169 295-.3 2300 85 295 152
MR224K UGJMED-80 LA 40 1000 166.3 3838 1500 110 290 245
MR225Kl UGHMED-20AA 40 1000 1853 4750 1400 188 463 292
MR225K2 UGHMED-20GG 40 1000 1663 437-10 1500 130 437 234
MR372K UGCMED-37 60 1750 1957 4657 2200 136 465 298
MR373K UGMMEM-1A 60 3000 950 236,5 - - - 252
MR374K UGJMED-80KA 43 1000 242.3 5351 1300 185 345 335
MR375Kl UGHMED-30AA 60 1000 277.4 7524 1200 188 752 494
MR375K2 UGHMED-30GG 60 1000 2660 7866 1200 175 786 365 3

5. INTERNAL BLOCK DIAGRAMS

5.1 ServopaCk

__.--------, ~-----, I

r---<""'~," ]' aJ I I

T I

I I ~

::rllg!::

I I I'g

I I

r---:-:O--~---:-<>--- - --------;{). -. -<i'......"c>1 ~h'"""'"-- - -----.-

'.3 s lJ I::l >- ..:jaJ

"':~N I+~ t

+ "' ..... '"

!5 I I 1 L.....f.----",..--_~

>- ;~
I::l I::l
<
111 <
a:: 0
0 ...l
> a::
a:: 111
111 >
VI 0 VI
"I' Z 'r " ~ ~~
~ I 7777
............... ,....j
~-tJ+- ...
'"
:z; ::>
0 ...
1= c r,l
~ -+I- ..J
< 0 ,_
!:l ~ ':~
c:l § --+I- s
!l > ... CQ
0 !!S ;.:
...
W .,
..: ~--I*- I'
g "
::> ..
..l U
:;: I
~-I*- a::
r.. ~ ;:;!
,
~-I*- a::
~ -0
~ is Po.
~-I*- l;l 01
< ~ ~
t)
is ~--+f- ::i z ,.
!'! '"
~ '"
0 '"
0. 8 I

5.2 Power Supply Unit

t .:.: "
y X
0
.:.:
0 .. I>:

.~

oc .>-

:.:
+ I
C .,...
!2
I I I >- .>-
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[olo z .. Z .. 01-0 UO(

:=
c:
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==
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8
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GI
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-
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...
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GI
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* 5

6. INPUT IOUTPUT SIGNALS

6.1 List of Input/Output Signals

Table 4 List of Input/Output Signals

Terminal Symbol Signal Name Description
Main Circuit 270 to 310VDC
P,N Power Supply (Supplied from the power
Input supply unit)
r, t Control Power 2OO/220VAC, SO/60 Hz (Supplied
Supply Input from the power supply Unit)
Main L" l2 DC Reactor Connected to the separately
CirCUit Connection Installed DC reactor
Termi-
nals Motor A Connected to motor terminal A
A,B Connection B Connected to motor terminal B
Thermoguard Connected to terminals Bl and B2
e, f of Mlnertla Motor J senes with a
Connection thermoguard
1-1 SERVO Olil See Table 5
1-3 OVERLOAD See Table 6
1-4 SERVO READY See Table 6
1-5
1-11 iG""""Off See Table 6
Control 1-6 Connected to TG terminal (-)
Circuit lCN -- TG(FB)
Connec- 1-12 Connected to TG terminal (+)
tors 1-7 Speed Speed reference Input 4t050V
Reference
1-9 FDSE OFF See Table 6
1-10 SERVO ALARM See Table 6
1-13 SG OV SGOV Signal grounding
1-20 Grounding - 6.3 List ot Terminal and Connector

• Terminal (Type LC-01-30)

P

L, I 14 I A

B

N

Fig 3 Terminal List

• Connector (Type MR-20 RMA)

6.2 Descriptlion ot Input/Output Signals

• Input Signal~1 (Input through open-collector)

Table 5 Input Signals

Signal Name

Functions

SERVO ON

At LOW the controller IS ready to operate

Make a sequence so that SERVO ON signal IS turned on after power is applied to the controlier and main circun, adJusting SERVO ON signal to HIGH turns off control power and main circuit power

CONTROL POWER SUPPLY (r, t)

MAIN CIRCUIT POWER SUPPLY (P, N)

SERVO ON

• Output Signals (Output through open-collector lsmk= 10 rnA max)

Table 6 Output Signals

Signal Name

Functions

"iGON signal turns LOW when motor speed exceeds 1/10 of the rated speed

SERVO ALARM

I TG I lights up when TG failure (disconnection, shortcucuu, reverse connection) or motor overspeed IS detected

[QQ] lights up when overcurrent IS detected [QYJ lights up when overvoltage IS detected

ApplYing power to main clrcurt Without generaSERVO READY non of SERVO ALARM signal makes

SERVO ALARM output LOW

OVERLOAD output signal turns HIGH when mo-

OVERLOAD tor overload (internal thermal relay circuit or thermostat) IS detected

BlOWing fuses In tne Servopack urut turns FUSE OFF signal LOW

1 2 3 4 5 6 7 8 9 10
SERVO ON OVERLOAD SERVO READY TG""""ON TG(-) _~PEED FOSE OFF SERVO ALARM
REFERENCE
11 12 13 14 15 16 17 18 19 20
TG""""ON TG(+) SG OV Oc Oc Oc Oc GROUND Fig 4 Connector List

6

7. CONNECTION DIAGRAM

7.1 Connection for YASNAC LX1/LX2

~~~~~PEOW~ERUNIT

P'lI!>-----1...._--<lJU>

SIT) JUSP N''t>-t-~-_cl)1N

-DCP:]A '"

TIR) IB)

MR>--f-f--.-01

Mro--f-f--..-+-@

YASNAC uoiOOl

I

POWER INPUT I UNIT

Ser.opack

Note

1. Where supplYing 230VAC, connect a control power supply across terminals @ (@) and CD (0) of a power Unit

2 For a Servomotor (Mlnertla motor J series) with built-in thermostat, connect the thermostat leads to the external terminals ® and (!) of Servopack See figure surrounded by solid line at right. If a Servomotor wrthout thermostat Will be used, short-circuit across the terminals ® and (!)

Connection of Mlnertla Motor J Series and Servopack

Fig 5 Connection for YASNAC lX1/lX2

7

7.1 Connection for YASNAC LX1/LX2 (Cont'd)

• Wiring of Servopack and YASNAC LX1/LX2

YASNAC LX "LX 2

POWER INPUT UNIT TYPE CP04

DRIVE UNIT

X-AXIS

ICN CPCR-MRl.JK

Fig 6 WIring of Servopack and YASNAC LX1/LX2

8

Z-AXIS

ICN CPCR-MR[JK

• Detail of Wiring

YASNAC LX,II,X2 X-AXIS
WER INPUT UNIT SERVO UNIT
TYPE CP04 ---
E-I SVONI{ --- -_ .. _---. I -I
I
E-4 SRDX 0 1-4
E-19 OC 1-19
0
E-9 FUX 0 1-9
I
E- 17 oC 1-17
OLX· 0 1-3
E-3 0
0
E-16 OC 0 1-16
ALX· 0
E-IO 0 1-10
I
E-18 OC I 1-18
0
E-5 TGONI{ 0 1-5
0 I - 11
E-II OC
E-12 ATX 0 1-12
P : r
E-6 BTX 0 1-6
I
I
E-7 DAX 0 1-7
E-13 SGX P : 0 1-13
I
0
,.J;-- - ---------: Z-AXIS
SERVO UNIT
--- - - - - ---,
F-I SVONZ 0 I -I
I
F-4 SRDZ I 1-4
0
F-19 OC 0 1-19
F-9 FUZ 0 1-9
0
F-17 OC : I -17
F-3 OLZ· 0 1-3
0
F-16 OC 0 1-16
0
ALZ· 0
F-IO I 1-10
F-18 OC 0 1-18
0
F-5 TGONZ 1-5
0 1-11
F-ll OC I
0
F-12 ATX 0 1-12
P t 0
F-6 BTX I 1 -6
F-7 DAX 0 1-7
F-13 SGX P ! 0 1-13
I
----------'
.,;;;-- PO

* Normally closed contact

Flog 7 Detail of Wiring

THREE-PHASE 200/220/230 VAC

b ). 6 REGENERATIVE

:ll RESISTOR UNIT <'JUSP1R-A:-lj

"R~ • .::_ R2"

LINE FILTER· POWER UNIT Servo

= - 1- i. 'fI('s) R ~ - ~ P{-o-x- ···-- __ --=.ot ... , .... ··..aiIln L...II--iII--O!s(Tl JUSP PJ,....--

~. , -DCP N~

+----4--1I---O~<.T(Rl ;' A ':llO--f--_+ __ -.",..oO'iN

": "8 N~>-

;r .. (5 .. ) ( ) M' ''''_-I-~Hf--"oJ

~~ r CPCR

- ;_ .. (5,,) -j MR •

L----l:i~t(r) C C _ M~ t - •• K

;iN"" •• --~-0ll!......... _....

7.2 Connection for YASNAC MX1/MX2

YASNAC MX1/MX2

8:6----11----...J

96-~f-----.J

POWER INPUT UNIT

ICN

Note

1 Where supplYing 230VAC. connect a control power supply across terminals @ (@) and CD (<0) of a power Unit

2 For a Servomotor (Mlnertla motor J senes) with buut-m thermostat, connect the thermostat leads to the external terminals ® and CD of Servopack See figure surrounded by solid line at nght If a Servomotor without thermostat will be used, short-clrcuit across the terminals ® and CD-

Connection of Mlnertla Motor J Senes and Servopack

Fig 8 Connection for YASNAC MXlIMX2

9

7.2 Connection for YASNAC MX1/MX2 (Cont'd)

• Wiring of Servopack and YASNAC MX1/MX2

YASNAC MX ,IMX2
POWER INPUT UNIT
TYPE CP02
DRIVE UNIT
X-AXIS
E 0- r
MR-31RM 0 l ICN
CPCR-MRrJK

Y-AXIS
F D- r
MR-20RM 0 L leN
CPCR-MRUK

Z-AXIS
H 0- m ICN
MR-20RM 0
CPCR-MRrJK
FEEDBACK UNIT
J 0- r X-AXIS
MR-20RM 0 L~ TFUE-fJ

K 0- r Y-AXIS
MR-20RM 0 L TFUE-[]

MR-20R~ 0 0- r~ Z-AXIS
TFUE-rJ YASNAC MX J/MX2
POWER INPUT UNIT
TYPE SROI/O:'
DRIVE UNIT
4TH-AXIS
MR-20R~ o!~ ICN

CPCR-MR[]K

Fon r 5TH-AXIS
MR-WRM U l ICN
CPCR-MR::K
FEEDBACK UNIT
H on r 4TH-AXIS
MR-20RM U L TFUE-rJ

Jon W 4TH-AXIS
MR-:'ORM u
TFUE-_ ;
MR-ZOR~ 00 (No.3 HANDLE PG)

L n (No.2 HANDLE PG)
MR-20RM 0 U Fig 9 WIring of Servopack and YASNAG MX1/MX2

10

• Detail of Wiring YASNAC MX r/MX2 POWER TYPE C

Servopaclc

INPUT UNIT X-AXIS
P02
ATX I ,-, I CN-12
E-12
E-6 BTX :1'1: I CN-6
, ,
E-7 DAX , , ICN-7
SGX ' )1' ICN-13
E-13 ,p I
I
E-I SVONX* , I ICN-I
,
E-S TGONX* , , ICN-5
1 ,
E-II oc , , I CN-II
, ,
E-4 SRDX , , I CN-4
E-19 OC I 1 I CN-19
, ,
I
E-9 FUX , 1 ICN-9
,
,
E-17 OC , I ICN-17
, ,
E-3 OLX* , , ICN-3
, ,
E-16 OC , , I CN-16
ALX* , ,
E-IO , , I CN-IO
, ,
E-18 OC , I CN-18
: I
,
EPX , 't"
E-211
CPCR-MRrJK
Servopaclr.
Y-AXIS
F-12 ATY ,-, , I CN-12
,
F-6 BTY :1: ICN-6
, 1
F-7 DAY , , ICN-7
F-13 SGY :"1, I CN-13
F-I SVONY* , , I CN-I
TGONY* , I ICN-5
F-5 ,
I I
F-U OC 1 1 CN-ll
,
F-4 SRDY , ICN-4
,
F-19 OC , I CN-19
I
F-9 FUY 1 ICN-9
,
F-17 OC I I CN-17
,
F-3 OLY* I ICN-3
F-16 OC 1 I CN-16
1
F-IO ALY* , I CN-IO
,
,
F-18 OC , I CN-18
F-211 EPY \1"
CPCR-MRDK YASNAC MX r/MX2 POWER I~ TYPE CP

Servopaclr.

'PUT UNIT
02 Z-AXIS
, - - ,
"-12 ATZ I I CN-12
"-6 BTZ :~' ICN-6
1 ,
"-7 DAZ I I ICN-7
SGZ '1' I CN-13
"-13 IP I
"-I SVONZ* I 1 ICN-I
"-5 TGONZ* 1 1 ICN-S
"-II OC I : ICN-U
, ,
"-4 SRDZ , 1 ICN-4
I ,
"-19 OC I ICN-19
I 1
"-9 FUZ , _i ICN-9
"~17 OC I , I CN-17
"-3 OLZ* I lCN-3
-- .i, ,
I 1
"-16 OC I I 1 CN-16
I
"-10 ALZ* I 1 I "cN-IO
I
"-18 OC 1 , ICN-18
,
"-211 EPZ '.,/
CPCR-MR[]K YASNAC: MX ./MX2 POWER IN TYPE SRC

Servopaclr.

PUT UNIT
1102 4-AXIS
E-12 AT4 ... - .... \ I CN-12
I ,
E-6 BT4 IFf: ICN-6
E-7 OM , I ICN-7
, ., I ICN-13
E-13 SG4 ,P 1
I I ICN-I
E-I SVON4* ,
1 I ICN-S
E-S TGON4* ,
E-U OC , 1 ICN-ll
,
, 1
E-4 SRD4 1 I CN-4
, I CN-19
E-19 OC , ,
E-9 FU4 1 1 ICN-9
,
, I ICN-17
E-17 OC ,
OL"* 1 , ICN-3
E-3 ,
, I
E-16 OC , I CN-16
E-IO AL"* 1 I ICN-IO
I
, ,
E-18 OC I , ICN-18
I I
E-20 EN ,.,,'

CPCR-MRDK * Normally closed contact 11

Fig 10 Detail of WIring

7.2 Connection for YASNAC MX1/MX2 (Cont'd)

YASNAC MXIIMX2 POWER TYPE S

Servopaclc

INPUT UNIT
ROI/02 5-AXIS
F-12 AT4 ,- ... \ 1 CN-12
I ,
F-6 BT4 ,d; lCN-6
F-7 DA4 I I lCN-7
F-13 SG4 :pll ICN-13
I
F-I SVON4· I I ICN-l
F-S I I
TGON4· I lCN-S
F-ll OC I I 1 cs-u
I
I I
F-4 SRD4 I I CN-4
F-19 ,
OC , I I CN-I9
F-9 FU4 I I ICN-9
I
F-I7 I I
OC I 1 CN-I7
F-3 OL4· I I
I lCN-3
F-I6 I I
OC , I CN-I6
F-lO AL4· I : 1 CN-lO
I
F-I8 , I
OC I I ICN-18
I I
F-20 EP4 '",,'
CPCR-MRLJK Fig 10 Detail of WIring (Cont'd)

8. CHARACTERISTICS OF SERVOPACK AND SERVOMOTOR COMBINATION

8.1 Characteristics Description

When Servopack IS combined with DC Servomotor (CupMotor or Hi-Cup Motor), a torque-speed characteristics can be obtained by the following formula.

VAC AC Input voltage to Servopack I(sp) Output current to Servopack

Et DC term.nal voltage or Servomotor

Ia Armature current

Fig 11 Connection of Servopack and Servomotor

Et=Ke·N+(Ra+Rk)·/a+ Vr+6 Ke: Motor voltage constant(V/rpm) N Motor Speed (rpm)

Ra Armature resistance (0) at 20·C Rk: DC reactor resistance (0)

Vr: Ripple voltage (V)

6 Transistor voltage drop (V)

12

Table 7 Relation between Servopack and DC Reactor

Servopack DC Reactor Resistance DC Reactor
Type CPCR- (0) Specification Numbers
MR05[.~K 02 DEB402698
MR08:-:K 02 DEB402698
MR15[:}K 02 DEB402698
MR22:::K 015 DE 8403030
MR37:::K 010 DE 8402699 Note For Servomotor characteristics list. refer to the follOWing lists

• Cup Motor A series C 74980107

• HI-Cup Motor G series C74980109

8.2 Torque-~jpeed Characteristics

In combination of Servomotor (Cup Motor A series, Hi-Cup Motor G series) with Servopack (Type CPCR-MR [] K), torque-speed characteristics are shown below.

Cup Motor A Se,ries

• Cup-Motor Type: UGCMED-04 AA

• Servo pack Type: CPCR-MR 052 K

500 Tmax-112 (Icc an)

...... =40 A

O.'puI Torque C,,)

A
1000 1500 2000
Speed [rpm)
I-
0 10 l!.U 30 40 50
Current [A]
(a) • Cup Motor Type· UGCMED-08 AA

• Servopack Type: CPCR-M R 082 K

liSp! max -25(A)

400 Out .. ,

T ........ I")

CPCR MHOB

Ra',. loo+-r.~~t7":"""+---+"":':.::..Il:::--+----1

1000 1500 2000 2500 1000
I- Speed["",,)
0 10 15 l!.U 25 .JI
Carrenl[A]
(b) • Cup Motor Type UGCMED-15 AA

• Servopack Type CPCR-MR 152 K

• Cup Motor Type: UGCMED-37 AA

• Servopack Type· CPCR-MR 372 K

4nn

A
500 1000 1';00 2000
speed [rpm]
10 20 VI 40 0;0 60
Current [A)
(c) 1
I
I
;
A Z
1000 1500 20011
speed [rpm)
25 50 75 100 125 150
Current [A]
(e) 3~~~~~-b~--+---CP<:R MRl7

Fig 12 Torque-Speed Characteristics of Cup Motor A Series

• Cup Motor Type· UGCMED-22 AA

• Servopack Type· CPCR-MR 222 K

,nil Output Torque

[,,]

Figure Description

An output torque of y-distance is expressed as a percentage.

1
j
~
~
Z
A
1000 1500 2000 2SOO
Speed [rpm]
25 5n 75 100 125 150
Current [A]
(d) • 100 % Output Torque = Torque Constant X Rated Current.

Dalshed Bold Line Servopack max output current Vertical Line. Continuous output current

T max Instantaneous max torque, 1 sec (kg'cm) N max. Instantaneous max speed, 1 sec (rpm) VAC Input voltage (V)

la Armatu re current (A)

I(sp)max Max output current at driven Side A· Continuous ratmg range

B Instantaneous ratmg range

13

8. 2 Torque-Speed Characteristics (Cont'd)

Hi-Cup Motor G Series

• Hi-Cup Motor Type: UGHMED-03 GG

• Servopack Type: CPCR-MR 055 K

• Hi-Cup Motor Type: UGHMED-20 GG

• Servo pack Type. CPCR-MR 225 K 1

5OO1-_..:cTm:::.:.::..-_':.:20:::("'~""~l __ ~[. max=z38A

CPCR MRCl5

400 Output TorqH

!,,)

300

1

2OO-I2~!":~~':""'_...Jl--\---+j

I

i

,~~~~~~~~-+~~ijZ

1000 1500 2000

Speed!.,..)

3000

3000

10

20 30 40

SP C ....... [A)

50

60

500 1000 1500

~ __ ~ __ ~ __ S~peed-+!rpIII~) __ ~ __ -+ +-

o ~ 50 ~ ~

Carre.t[A]

(d)

• Hi-Cup Motor Type· UGHMED-30 GG

• Servopack Type: CPCR-MR 375 K 2

I~

150

(a)

• Hi-Cup Motor Type: UGHMED-06 GG

• Servopack Type: CPCR-MR 085 K 1

400 Out ... Torque

,!,,)

1
CPCR ~
1
MR37 i
z
500 1000 1500 2000 ~ 3000
~ Speed! .... )
0 ~ 50 75 100 I~ 150
Cur .... t[A1
(e) 1

~'~~T7~~--~~j

CPCR ~

MR~ 2

z

'~~~~o;;;;:::--+---l

1000 1500 2000 ~ 3000
I Speed!rpm)
l~ 1 I I :10 I
0 20 30 40 60
CurrentrAl
(b) • Hi-Cup Motor Type: UGHMED-12 GG

• Servopack Type: CPCR-MR 155 K 1

.. e

+~~=!¥-----lll-\:-\-t i

CPCR~ I

MR~ ~

Ratllll E

,+-=:";;":~"-l=:.Ijo.o;;;:::---1~...-''tl z

Fig 1~~ Torque-Speed Characteristics of Hi-Cup Motor G Senes

1000 1500

Speed! ..... )

o

10

20 JO 40

Current [A]

50

6IJ

(c)

14

9. APPLICATION TECHNIC OF YASNAC

9.1 Servomotor Selection

Where selecting DC Servomotor, the functions shown below should be considered The motor is selected in accordance with customer's requirements.

• Motor speed

• Torque

• Positioning time

• Dimensions

For an example of motor selection, Table 8 is used In this case, the motor speed and the torque are important in selecting the motor.

9. 1 .1 Prerequisite

To select the motor, its prerequisite is shown below. (1) Ball Screw Length and GlJ2/4 (Fig. 14)

The ball screw GlJ2/4 is obtained by the following formula

GD2/4= MX( % yx 1

= n( ~YXiP x( ~ yx ~ X10- 3[kg ·cm3]

= i2 n04XiPX10-3[kg.cm3]

D: Ball screw diameter [cm]

g Ball screw length [cm] (screw section+400mm) P Iron specific gravity [787 g/cm3]

M Ball screw weight [kg]

150

200

Ball

Serew 100 GD'/4

[kg cm~

50

Fig 14 Ball Screw Length and Ball Screw G[)214

(2) Moving Member Weight and Ball Screw Shaft Inertia GlJ2/4 (Fig. 15)

Ball screw shaft inertia GD2/4 for moving member weight (work table, tool fixture, tool) depends on a ball screw pitch. The formula Is as follows.

GD2/4=WX( :7l'Y[kg'cm2] p. Ball screw pitch [cm]

W: Moving member weight [kg]

Ball

75

Screw Shaft Inertia so GD'/4

[kg cm~

:'9 5

25

1500 2500

MOVing Member WeIght [kg]

3000

Fig 15 MOVing Member Weight and Ball Screw Shaft Inertia G[)214

How to Obtam Rotor Inertia GD2/4 from Load lnertra GD2/4

MOVING MEMBER (INCLUDING TABLE. TOOL FIXTURE. TOOL)

L i , L_ ~lJmber of Ilear tooth

MOTOR

• J~ Rotor mertra

• Jl Ball screw Inertia

• J2 Ba II screw shaft rnertra of the movmg member

• Jz., JZ1 Gear inertia

• K Total reduction ratio

K=Z!

Z. Z.

Where direct drove. K=y,=1

Total Inertla

J=JM+JZ.+ (J. +J.+Jz,) xK'

(3) Motor Torque-Thrust Load

Fig 16 shows the relationship of motor torque and thrust load. The thrust load (F) is from the following formula.

27l'

F= p. IC:X T[kg]

T: Motelr torque [kg·cm] P: Ball screw pitch [cm] K Total reduction ratio

~F

BALL SCREW H

TORQUE (T) PITCH (P)

2000

lSOC'

Thrust Load 100c+----.....,""7'---~:rl"

[kg]

500

IHM-2OGG 160

tHM-30GG

100 150 200 250 300

Ball Screw Torque (kv am)

Note: Data is under no friction and 100% efficiency.

Fig 16 Ball Screw Torque and Thrust Load

15

9.1 Servomotor Selection (Cont'd)

(4) Load GD2/4 - Accelerating Torque

Accelerating torque (TL) used to accelerate to N rpm at accelerating time (ta) is calculated by the following formula. The same formula is used for decelerating torque See Figs 17 and 18

SPEED

TIME

T L....---H--"";""_I TIME

Fig 17 Speed-Time and Torque-Time

GD2xN Accelerating torque TL= 375xtax102 [kg·cm]

ta Accelerating time [sec)

N Speed [rpm)

GD2 Total load merna [kg cm2)

T' Friction torque

.

Actual accelerating torque T= Tt. + T'

Accelerating

Torque T L (kg em)

200

IbO

100

50

302 4

t HM-06CG(2-JM) t HM-I2GG(2-JM)t HM-20GG(2-J,,)

100 200 300 500 600

Total Load Inert .. GD' 14 (kg ad)

Fig 18 Total Load Inertia GD214 and Accelerating Torque

16

9.1.2 Selection Example

In this section, a Servomotor which met selection criteria shown in Table 8 is selected.

(1) Motor speed N

Refer to No:; 6, 7, 12 and 13 in APPENDIX (a) At quick feed (N,)

12,000 [mm/rmn] =N,X 6 X10 [mm/rev] 12000

N,=-'--=1500 [rpm]

10X±

5

(b) At cuttlnq feed (N2) 2400 N2=--""4=300 [rpm]

10XS

I Motor Speed 1500 [rpm] ~ ... (A)

(2) Motor Torque at Cutting Operation Refer to Nos, 6, 7 and 10 In APPENDIX (a) At feed of low speed

Friction torque T'=25 [kg·cm]· . CD

(b) Cutting thrust

• Ball screw torque 160 [kg cm] (See Fig. 16.)

• Total reduction ratio K. 6 Rotor torque T=160xK =160X 6

=128 [kg·cm]·· . @

Actual rotor torque IS obtained as follows Refer to Paragraph 9.1 1 (3)

1000 kg = ~. K x T

tX10 [mm/revj

T= 27r X1000X10-1 [cm/mm]

= 127.4 [kg·cm]

Therefore, ac:tual motor torque is as follows CD+@=2l5+128=153[kg·cm]

(c) Maximum torque at cutting operation 165 [kg·crn]=1 08 X153 [kg·cm]

I Motor Torque at Cutting Operation· 153 [kg·cm] I ... (B)

From CA) and (B), Servomotor type UGHMED-20GG can be selected as the first motor selection. See Tables 2 and 3. In this example, Cup motor and Hi-Cup motor only are considered for the selection

(3) Motor Accelerating/Decelerating Torque at Quick Feed (a) How to obtain total load inertia G[)2/4

• Ball screw inertia GD2/4

Refer to Fig. 14.

Ball screw inertia=30[kg·cm2] @

For calculation by the formula, see Paragraph 9.t 1 (1 ).

• Ball screw shaft inertia GD2/4 to moving member weight

Refer to No.4 in APPENDIX and Fig. 15. Ball screw shaft inertia=29.5 [kg·cm2)······@

For calculation by the formula, see Paragraph 9 11 (2)

• Rotor inertia GD2/4 from load inertia GD2/4

See Paragraph 9.1.1 (2)

Rotor inertia=(@+@)XJ(2

=(30+29.5) x( ~l =381 [kg'cm2] However, No.9 in APPENDIX, that is;

Rotor inertia=68.9 [kg ·cm2] @

The rotor inertia in APPENDIX contains coupling

and gear inertias Therefore, 68.9 kg·cm2 should be

used to obtain the total load inertia GD2/4

• Total load inertia GD2/4

Rotor inertia of Hi-Cup motor type UGHMED-20 GG is 234 kg . cm2 See Table 2 As a result of that,

Total Load Inertia GD2/4=234+@

=234+68.9 ..... @

= 302 9 [kg· cm2]

(b) Accelerating/decelerating torque

Refer to Fig 18 Where accelerating/decelerating time at qulcx feed ta=0.2 sec, total load lnertia=302 9 kg·cm2 ana motor soeed=1000 rpm, accelerating torque TL IS 160 kq-cm Howeve, since actual motor speed at quick feed IS 1500 rpm, actual accelerating/decelerating toraue is as follows,

Accelerating/ decelerating torque = 160 x 1.5

=240 [kg·cm] .... ·<l)

For calculation by the formula, see Paragraph 91.1 (4).

(c) Friction torque at quick feed

,'=45 [kg·cm] ...... @

1 Actual Accelerating/Decelerating

I '7orque at Quick Feed=(l)+@

=240+45 =285 [kg·cm]

(4) Final Motor Selection

• Motor Seed { at Qui~k Feed 1500 [rpm]

p at Cutting Feed 300 [rpm]

• Motor Torque at Cutting Feed 153 [kg'cm]

• Motor Accelerating/Decelerating Torque 28

at Quick Feed 5[kg'cm]

The fc)IIowing Servomotor is selected in accordance with the values:

HI-Cup Motor Type UGHMED-20GG

9.1.3 S,al.cted Motor Check

In combination of Hi-Cup motor type UGHMED with Servopack type CPCR-MR 225 GD, torque-speed characteristics of Fig. 19 can accept the three selecting cnterla described in Paragraph 9.1.2 (4). Therefore, Hi-Cup motor type UGHMED-20 GG is selected.

400

At Cullmg Operation

• Torque 153 [kg em)

~~XlOO=87 4["]

• Current 15 [A)

300

MR22

,5J(kg em

3000

6'--~~----~~1----7~~----41~----~1~~5----1~~ Current (Al

Fig. 19

VAC Input Voltage

la Armature Current

A Continuous Rating Range

8 Instantaneous Rating Range I,SPI Output Current at Drive Side

Torque-Speed Characteristics in Combination of Hi-Cup Motor Type UGHMED-20GG with Servopack Type CPCR-MR225GD

Furthermore, these values are within limits of the following three items shown in Table 3 Characteristics In Combination of Servopack and Servomotor.

• Overspeed 1500 [rpm] = 1500 [rpm]

(Motor speed at quick feed)

• Continuous Effective Torque at Rated Operation

• Instantaneous Effective Torque at Overspeed

166.3 [kg· cm] > 153 [kg· cm] (Motor torque at cutting feed)

438 [kg· cm] > 285 [kg·cm] (Motor accel/decel torque at qUick feed)

17

9.2 Coasting Distance After YASNAC Emergency Stop 9.2.1 Calculation of Coasting Distance

The coasting distance after YASNAC emergency stop functions during quick feed is obtained as shown below

(V) N /" ESP OFF GOM' Motor GO' (kg m')

(V.)No GOL' . Load GO' (kg m')

RD Dynamic braking resistance [n)

Ra Armature resistance [n)

Ke Voltage constant(V/rpm)

KT Torque constant (kg m/A)

to 1----,-1"_....; .-

Fig 20

V=VOe-~ t

Coasting Distance (GD2M+ G£)2L.) (RD+ Ra)

-r- 375 [sec] ······00

·Ke-KT

s.. (a) Type UGCMED-04AA

[mm]

80

70

60

50

40

10

ROTOR INERTIA (22 4)

o 10 20 3040 50607080 90XIO-' CD ~ /4 [kg m'l

(b) Type UGCMED-08AA

10

ROTOR INERTIA (44 2)

0L---~~50~----10~0------15~0-X--IO • CDl!4 (kg m'l

(c) Type UGCMED-15AA

50

40

30

20

10

ROTOR INERTIA (101)

o

100 200 300

400 500XIO'

GDl!4 (kg m'l

18

The emergency stop is achieved by a dynamic brake.

The coasting distance (SOB) by the dynamic brake is obtained by the following formula.

SoB=(VoXtDlx(Voxr) [mm) ... ···@

V QUick feed speed [mm/s)

ID Delay time of emergency stop reference todeceleranon (sec) r Decelerannq constant[sec)

Fig.21 shows relationship of SDS and GDL214 for DC Servomotor (Gup Motor A series. Hi-Cup Motor G series). These relationships are obtained using formulas CD and ®. under to= 0.04 sec.

(d) T'fpe UGCMED-22AA

SOB

[rnm]

60

50

40

30

10

ROTOR I;I;ERTIA (152)

o

100 2JO 300 400 500 600X 10-' CD ~ /4 (kg m'l

So. (e) Wpe UGCMED-37 AA

[mm]

90

80

70

60

50

40

30

20

10

ROTOR IN~;RTIA (298)

o

500

1000XIO -.

CDV4 (kg m'l

SDB Coastmg distance after emergency stop (mm)

Vo QUick feed speed (mm/mm)

GOL' Load GO' [kg m')

Fig 21 Relatlc)nship of SDB and GDul4 for Cup Motor A Senes

s.. (a) Type UGHMED-03GG

(mmJ 80

70

60

10

ROTOR INERTIA (20 3)

o

10 20 30 40 50 60 70 80 xIO-'

GOV4 [kg m2l

s.. (b) Type UGHMED-06GG

(mml

ROTOR INERTIA (33)

o

50

100 x 10 -.

GOU4 [kg m2l

s ••

[mm] (c) Type UGHMED-12GG

50

40

30

20

ROTOR INERTIA (134)

o

200

300

400 500 x 10 -.

GOU4 (kg m"l

100

(d) Type UGHMED-20GG

10

ROTOR INERTIA (234)

o

200

400

800 XIO -,

GOV4 (kg m2l

600

(e) Type UGHMED-30GG

10

ROTOR INERTIA (365)

o 200 400 600 800 1000 1200 1400XIO-'

GOV4 (kg m2l

Soe

Coasting distance after emergency stop [mm] QUick feed speed [mm/min] Load GOo [kg-mOl

Fig 22 Relationship of SOB and GDv/4 for HI-Cup Motor G Series

9.3 Minimum Dog Length for Returning to Home Position

For returning to home position, minimum dog length is obtained by the following formula, Refer to Fig. 23.

Lo~(Va;riC)2 + Voxtc[mm]

Vo: Quick feed speed [mm/sec] V1: Approach speed 1 [mm/sec]

Dc: Quick feed accel/decel constant [mm/sec2] Lo: Dog length [mm]

tc : Delay time of emergency stop reference to deceleration [sec]

V2: Approach speed 2 [mm/sec]

DECEL L S OFF

QUICK FEED ACCELIDECEL

CONSTANT Dc(#6286-#6289)

APPROACH SPEED 1 VI (#6310-#6313) APPROACH SPEED 2 Vz (#6316-#6317)

TRAVELLING DISTANCE .L------.r-i-....---.......;-lII:...._-IIf)- Tune (#6304-#6309)

. Lo : : [see]

L,___; __ ~I ! DECEL L S SIGNAL

~

. HOME POSITION SIGNAL

Speed V [mm/sec}

Fig 23 Time Chart for Returning to Home Position

19

APPENDIX SELECTION LIST OF DC SERVOMOTOR FOFI YASNAC Selection List of DC Servomotor for YASNAC

MACHINE NAME
MACHINE TYPE
CNC NAME YASNAC No. Items X Y Z
1 Moving Direction (Horizontal, Vertical, Rotating, Diagonal) Horizontal
2 Max Stroke (between Machine Ends) (mm) 1000
3 Table Support (Slip, Roiling) Slip
4 Moving Member Weight (with Workpiece) (kg) 1180
5 Counterbalance (kg) -
Diameter (mm) 40
6 Ball Screw Lead (mm) 10
Length (mm) 1506
7 Total Reduction Ratio 4/5
8 Friction Coefficient
9 Rotor Inertia G02/4 (kg·cm2) 689
At Low Feed (kg·cm) 25
Load Torque At Quick Feed (kg·cm) 45
10 Cutting Thrust (kg) 1000
At Max Cutting (kg·cm) 165
11 Duty Max Cutting Duty (%ED·mln) 45%/12min
Positioning Frequency (sec/time) 5
12 Quick Feed (mm/mln) 12,000
13 Max Cutting Speed (mm/min) 2400
14 Position Detection Method
15 Detector Type TFUE-
Feed per Revolution (mm/rev)
16 Motor Type
Quick Feed Speed (rpm) 115001 .. ObuLlned In Paragraph 9 1 2 (a)
17 Servopack Type CPCR-
18 Position Loop Gain Kp (sec-1)
Dec~leratlon Stop (mm)
19 Decelerating Distance Emergency Stop (mm)
Zero Point Dog Length (mm)
Accelerating/Decelerating Time at QUick Feed: 0.2 [sec]
20 Remarks A .etler TomorroW' lor bJdWl,., fluoagll Automation

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'(

YASKAWA Electric Mfg. Co., Ltd.

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Phone (03) 284-9111, -9145 ·9146 Telex YASKAWA J33530 Fax (03) 284-9034

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YASKAWA ELECTRIC AMERICA. INC SUBSIDIARY

~OIIIce/rA.SWACA_

3160 MacArthur Blvd • Northbrook, illInOIs 60062 USA

Phone (312) 291·2348 Telex (230) 270197 YSKW YSNC NBRK Fax (312) 564.3276

..... Ange'" 0IIIce

14811 Mylord Road. TUSlon. Cald","l. 92680 USA

Phone (714) 731-6841 Telex (230) 678396 YASKAWAUS TSTN Fax (714) 730-8294 N_ ....... , 0IIIce 769 NorthfIeld Ave • SuIte 140 West Orange NJ 07052 USA Phone (200 325·7397 Fax (2011 325·7398

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Phone (0211) 501127 Telex (41) 8588673 YASD D Fax (0211) 507737

Printed in Japan December 1985 84-2 1T <D