Yaskawa vs626m5
Yaskawa vs626m5
Yaskawa vs626m5
General Precautions
D The diagrams in this manual may be indicated without covers or safety shields to show
details.
Be sure to restore covers or shields before operating the Units and run the Units according
to the instructions described in this manual.
D Any illustrations, photographs, or examples used in this manual are provided as examples
only and may not apply to all products to which this manual is applicable.
D The products and specifications described in this manual or the content and presentation
of the manual may be changed without notice to improve the product and/or the manual.
D When ordering a new copy of the manual due to damage or loss, contact your Yaskawa
representatives or the nearest Yaskawa sales office and provide the manual number
shown on the front cover.
D If nameplates become warn or damaged, order new ones from your Yaskawa representa-
tives or the nearest Yaskawa sales office.
WARNING
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury to person-
nel and damage to equipment.
It may also be used to alert against unsafe practices.
Even items described in CAUTION may result in a vital accident in some situations. In either case, follow
these important notes.
The warning symbols for ISO and JIS standards are different, as shown below.
ISO JIS
PROHIBITED
Specifies prohibited handling.
MANDATORY
Specifies actions that must be taken.
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CAUTION
Page
D Do not install any Inverter or Converter that is damaged or has missing parts. 2 -2
Failure to observe this caution may result in personal injury or equipment damage.
J Installation
CAUTION
Page
D Always hold the case when carrying the Inverter. 2 -5
If the Inverter is held by the front cover, the main body of the Inverter may fall, possibly result-
ing in injury.
D Mount the Inverter and the Converter on nonflammable material (i.e. metal). 2 -5
Failure to observe this caution may result in a fire.
D Install a fan or other cooling device to keep the ambient temperature of Inverter and 2 -5
Converter below 55_C (131_F) and the intake air temperature to heatsink below
45_C (113_F).
Overheating may cause a fire or damage to the unit.
WARNING
Page
D Disconnect all power before removing Digital Operator (JVOP-132). Then wait for the 2 -9
time described on warning labels after the main circuit power supply and control pow-
er supply are disconnected and all indicators on the Inverter and the Converter have
gone out.
Failure to observe this warning may result in an electric shock.
CAUTION
Page
D Use only the screws provided with the cable bracket when installing the cable. 2 -9
Improper installation may result.
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WARNING
Page
D Always turn OFF the input power supply before wiring terminals. 3 -2
Otherwise, an electric shock or fire may occur.
D Wiring should be performed only by qualified personnel. 3 -2
Failure to observe this warning may result in an electric shock or a fire.
D Make sure to ground the ground terminal . 3 -2
(200V class: Ground to 100Ω or less, 400V class: Ground to 10Ω or less)
Failure to observe this warning may result in an electric shock or a fire.
D Always check the operation of any emergency stop circuits after they are wired. 3 -2
Otherwise, there is the possibility of injury. (Wiring is the responsibility of the user.)
D Never touch the output terminals directly with your hands or allow the output lines to 3 -2
come into contact with the Inverter case. Never short the output circuits.
Otherwise, electrical shock or grounding may occur.
CAUTION
Page
D Verify that the rated voltage of the Converter coincides with the AC power supply volt- 3 -2
age.
Failure to observe this caution may result in personal injury or a fire.
D Do not perform a withstand voltage test of the Inverter and the Converter. 3 -2
It may cause semi-conductor elements to be damaged.
D Make sure to connect the Inverter and the Converter as shown in the connection dia- 3 -2
grams.
The Inverter or Converter may be damaged.
D Tighten terminal screws to the specified tightening torque. 3 -2
Failure to observe this caution may result in a fire.
D Never connect the power supply to output terminals U/T1, V/T2, and W/T3. 3 -2
The Inverter may be damaged.
D Do not connect phase-advancing capacitors or LC/RC noise filters to the output cir- 3 -2
cuits.
The Inverter may be damaged or internal parts burnt if these devices are connected.
D Do not connect electromagnetic switches or contactors to the output circuits. 3 -2
If a load is connected while the Inverter is operating, surge current will cause the overcurrent
protection circuit inside the Inverter to operate.
J Trial Operation
WARNING
Page
D Only turn ON the input power supply after closing the upper and lower cover. Do not 6 -3
open the covers while current is flowing.
Failure to observe this warning may result in an electric shock.
D Since the stop button can be disabled by a function setting, install a separate emer- 6 -3
gency stop switch.
Failure to observe this warning may result in personal injury.
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CAUTION
Page
D Never touch the heatsink since the temperature is very high. 6 -3
Failure to observe this caution may result in harmful burns to the body.
D Since it is easy to change operation speed from low to high speed, verify the safe 6 -3
working range of the Motor and machine before operation.
Failure to observe this caution may result in personal injury.
D Do not check signals during operation. 6 -3
The machine or the unit may be damaged.
D Do not change the settings of the Inverter unnecessarily. All the constants of the In- 6 -3
verter have been preset at the factory.
The machine or the unit may be damaged.
WARNING
Page
D Never touch high-voltage terminals in the Inverter and the Converter. 13 -2
Failure to observe this warning may result in an electric shock.
D Close upper and lower covers before powering up the Inverter or the Converter. To 13 -2
open the covers, make sure to shut OFF the molded-case circuit breaker.
Failure to observe this warning may result in an electric shock.
D Perform maintenance or inspection only after verifying that the CHARGE LED indica- 13 -2
tor and 7-segment display go OFF, after the main circuit power supply and control
power supply are turned OFF.
The capacitors are still charged and may be dangerous.
D Only authorized personnel should be permitted to perform maintenance, inspections 13 -2
or parts replacement.
Remove all metal objects, such as watches and rings, before starting work. Always
use grounded tools.
Failure to observe this warning may result in an electric shock.
CAUTION
Page
D The control PC board employs CMOS ICs. Do not touch the CMOS elements. 13 -2
They are easily damaged by static electricity.
D Do not connect or disconnect wires or connectors while power is applied to the cir- 13 -2
cuit.
Failure to observe this caution may result in personal injury.
WARNING
D Never modify the product.
Failure to observe this warning may result in an electric shock or personal injury and will invalidate the war-
ranty.
CAUTION
D Do not store or transport the equipment in locations where halogen, fluorine, chlorine, bromine,
or iodine is present.
Failure to observe this caution may result in damage to the machine or burnout of the parts.
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J Notes on Use
WARNING
Observe the following precautions to avoid electrical shock or injury.
D Ground the ground terminals of the Inverter and the Motor (or ground a metallic part, such as the
frame, if there is no ground terminal, according to local and/or national electrical codes.
Failure to observe this warning may result in electrical shock.
D Use grounding wires of a size complying with relevant international or local standards.
D Make wiring lengths as short as possible. Separate power cables from signal lines.
Noise on signal lines may cause vibration or malfunctions.
D Perform wiring or inspection only after verifying that the CHARGE indicator and the 7-segment
display of the Inverter go OFF after the power supply is turned OFF.
Failure to observe this warning may result in electrical shock.
D Do not damage the cables or apply excess stress to them; do not place heavy objects on the
cables or clamp the cables.
Failure to observe this warning may result in electrical shock.
CAUTION
D Use only a specified combination of Inverter and Motor.
Failure to observe this caution may result in fire or malfunctions.
D Never use at locations exposed to water splashes, corrosive, or inflammable gases, or near
combustible substances.
Failure to observe this caution may result in fire or malfunctions.
D Use under the following environmental conditions.
(1) Indoors where no corrosive or explosive gas exists
(2) Well-ventilated without dust or metallic particles
(3) Easy to check, clean, and maintain
For use at locations where excessive water or oil splashes exist, use a cover or other protection.
It is recommended to place the terminal box upward.
D Do not touch the Motor while the power is ON or immediately after turning the power OFF.
Failure to observe this caution may cause harmful burn.
J Storage
PROHIBITED
D Do not store the equipment in locations where water splashes are present or where there are
corrosive gases or liquids.
MANDATORY
D Store the equipment protected from direct sunlight in the specified ranges of temperature and
humidity. (0°C to 60°C (32°F to 140°F), 5% to 95%)
D After long-term storage, contact your YASKAWA representative before using the Motor.
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CAUTION
D Do not lift the Motor by the cables or the motor shaft when carrying the Motor.
Failure to observe this caution may result in product malfunctions or personal injury.
D Do not overload the products.
Failure to observe this caution may result in collapse of cargo and personal injury.
MANDATORY
D Use the motor eyebolts when lifting and transporting the Motor.
Do not attempt to move a Motor when other equipment is attached to it.
J Installation
CAUTION
D Do not climb on the Motor or place heavy objects on it.
Failure to observe this caution may result in personal injury.
D Do not block the air inlet and outlet, and do not let foreign materials enter.
Failure to observe this caution may result in fire.
D Do not apply heavy shock.
Failure to observe this caution may result in a malfunction.
D When unpacking, be careful of the nails in the wood frame.
Failure to observe this caution may result in personal injury.
D Cover the rotary parts to prevent them from being touched.
Failure to observe this warning may result in personal injury.
D The motor shaft extension is coated with anticorrosive paint. Before installation, wipe off the paint
with a cloth soaked in detergent liquid.
D When connecting the Motor to a load machine, be careful of centering, belt tension, and pulley
parallelism.
D Use a flexible coupling for coupling with the load machine.
D The motor system is a high-precision device. Do not apply shock to the Motor or the motor output
shaft. Design machines so that the thrust load and radial load applied to the motor shaft exten-
sion during operation are within the allowable ranges specified in the manual for each model.
With a thrust load, the allowable load is 0 N in the direction where the output shaft is pressed into
the motor.
D Never perform any additional machining on the Motor.
D Flange-mounted types must be installed with the load motor output shaft either horizontally, or
vertically with the shaft down. If the output shaft is to be placed horizontally, place the terminal box
upward. Foot-mounted Motors must be installed on the floor with the feet down. For details, refer
to the manual for each model.
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J Wiring
CAUTION
D Perform wiring securely according to the connection diagrams.
Failure to observe this caution may cause Motor overrun and personal injury.
D Verify that the input power is OFF before wiring.
D Perform proper grounding and noise control.
D Make wiring length as short as possible. Separate the power cables from the signal lines. Do not
run power cables and signal lines in the same duct or bundle. Noise on signal lines may cause
vibration or malfunctions.
D Never connect a commercial power supply directly to the Motor.
D Use Yaskawa-specified cables. To use other cables, check the rated current of your equipment,
and consider the operating environment to select correct cables. If a cable not specified by Yas-
kawa is to be used for the Encoder, select a twisted-pair shielded cable.
D The terminal block, connectors, or connector pin layout differ according to the model. Refer to the
manuals for your model before wiring.
D If no terminal block is used, protect lead joints with insulating tubes or tapes.
Failure to observe this caution may result in electrical shock or fire.
J Operation
WARNING
D Do not operate the equipment with the terminal box cover removed. After wiring, replace the ter-
minal box cover.
Failure to observe this warning may result in electrical shock.
CAUTION
D Perform trial operation as follows: Secure the Motor and disconnect it from load machine system,
check operations, then reconnect the Motor to the load machine.
Failure to observe this caution may result in personal injury.
D If an alarm is issued, correct the cause, verify safety, then reset the alarm and resume operation.
Failure to observe this caution may result in personal injury.
D If momentary power loss occurs, turn OFF the power supply.
The machine may resume operation suddenly and may result in personal injury.
D Before starting a liquid-cooled Motor, verify that cooling oil is properly supplied to the Motor.
D For oil mist lubrication Motors, verify that the lubrication is properly performed before starting op-
eration.
D Build an emergency stop circuit or a device that protects the Motor by immediately stopping op-
eration in case of malfunctions of cooling oil supply or oil mist lubrication.
After emergency stop, restart operation using the following procedure.
(1) Recover cooling oil supply or oil mist lubrication.
(2) Cool the Motor sufficiently (for one hour or longer), then restart operation from low speed.
(3) Gradually increase rotation speed while verifying that there is no abnormal noise, increase
of vibration or rise in temperatures.
PROHIBITED
D Do not operate liquid-cooled Motors without supplying cooling oil.
D Do not operate oil mist lubrication Motors without supplying proper lubricant.
ix
PROHIBITED
D Only authorized personnel should be permitted to disassemble or repair the equipment.
D If it becomes necessary to disassemble the Motor, contact your YASKAWA representative.
J Warning Label
Warning labels are displayed on the upper cover and the front cover of the Inverter and the Converter, as shown
below. Follow these instructions when handling the Inverter and the Converter.
Converter Inverter
Warning Warning
Label 1 Label 1
Warning Warning
Label 2 Label 3
Model CIMR-MR5A27P5 [200V 10HP (7.5KW)] Model CIMR-M5A27P5 [200V 10HP (7.5KW)]
xi
Periodic inspections must be conducted by the customer. However, upon request, Yaskawa or one
of Yaskawa’s Service Centers can inspect the product for a fee. In this case, if after conferring with
the customer, a Yaskawa product is found to be defective due to Yaskawa workmanship or materials
and the defect occurs during the warranty period, then this fee will be waived and the problem reme-
died free of charge.
Repairs
If a Yaskawa product is found to be defective due to Yaskawa workmanship or materials and the de-
fect occurs during the warranty period, Yaskawa will provide a replacement, repair the defective
product, and provide shipping to and from the site free of charge.
However, if the Yaskawa Authorized Service Center determines that the problem with a Yaskawa
product is not due to defects in Yaskawa’s workmanship or materials, then the customer will be re-
sponsible for the cost of any necessary repairs. Some problems that are outside the scope of this war-
ranty are:
J Exceptions
Any inconvenience to the customer or damage to non-Yaskawa products due to Yaskawa’s defective
products whether within or outside the warranty period are NOT covered by this warranty.
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J Restrictions
D The Varispeed 626M5/656MR5 was not designed or manufactured for use in devices or sys-
tems that may directly affect or threaten human lives or health.
D Customers who intend to use the product described in this manual for devices or systems
relating to transportation, health care, space aviation, atomic or electric power, or underwa-
ter use must contact their Yaskawa representatives or the nearest Yaskawa sales office be-
forehand.
D This product has been manufactured under strict quality-control guidelines. However, if
this product is to be installed in any location where failure of this product could involve
or result in a life-and-death situation or loss of human life or in a facility where failure may
cause a serious accident or physical injury, safety devices must be installed to minimize
the likelihood of any accident.
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xiv
1 Introduction 1
2 Handling 2
3 Wiring 3
4 Control Signals 4
6 Trial Operation 6
10 Control Constants 10
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12 12 Troubleshooting
14 14 Specifications
15 15 Appendix
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1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -1
1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -2
1.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -2
1.1.2 Inverter Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -3
1.1.3 Converter Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -4
2 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -1
2.1 Confirmation upon Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -2
2.1.1 Inverter Nameplate Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -2
2.1.2 Converter Nameplate Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -3
2.1.3 Motor Nameplate Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -4
2.3 CLEARANCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -7
2.3.1 External Heatsink Cooling Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -7
2.3.2 Open Chassis Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -8
3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -1
3.1 Connection with Peripheral Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -2
3.2 Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -5
3.3 Wiring Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -7
3.3.1 Wires and Suitable Crimp Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -7
3.3.2 Functions of Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -13
3.3.3 Main Circuit Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -15
3.3.4 Main Circuit Connection Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -19
3.3.5 Wiring the Main Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 -21
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4 Control Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -1
4.1 Sequence Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -2
4.1.1 Connecting Sequence Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -2
4.1.2 Selecting Sequence Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -2
4.1.3 Status Display of Sequence Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -3
4.1.4 Details on Sequence Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -3
4.2 Analog Speed Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -9
4.3 Using a 12-bit Digital Speed Reference . . . . . . . . . . . . . . . . . . . . . . . . . 4 -10
4.4 Sequence Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -12
4.4.1 Connecting Sequence Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -12
4.4.2 Setting Sequence Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -12
4.4.3 Status Display of Sequence Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -12
4.4.4 Details on Sequence Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -13
4.5 Analog Monitor Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -18
4.6 Encoder Pulse Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -19
4.7 Encoder Pulse Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 -20
6 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -1
6.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -4
6.2 Trial Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -5
6.2.1 Checking the Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -5
6.2.2 Setting the YENET1200 Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -5
6.2.3 Turning ON the Control Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -5
6.2.4 Turning ON the Main Circuit Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -5
6.2.5 Checking the Motor Cooling Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -6
6.2.6 Starting Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -6
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10 Control Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 -1
10.1 User Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 -2
10.2 Encoder Orientation Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 -8
10.3 Magnetic Sensor Orientation Constants . . . . . . . . . . . . . . . . . . . . . . . 10 -11
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14 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -1
14.1 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -2
14.1.1 Standard Drive Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -2
14.1.2 Winding Selection Drive Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -6
14.1.3 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -10
14.1.4 Panel Cutout Dimensions for External Heatsink Cooling Type . . . . . . . . . . . . . . 14 -14
14.1.5 Calorific Value and Cooling Air Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -15
14.2 Standard Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -17
14.2.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -17
14.2.2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -17
14.2.3 Output and Torque Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -19
14.2.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -30
14.2.5 Tolerance Radial Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -37
14.2.6 Motor Total Indicator Readings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -37
14.2.7 Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -38
14.2.8 Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -39
14.2.9 Spare Motor Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -40
14.2.10 Replacing the Motor Cooling Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -41
14.3 Options and Peripheral Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -42
14.3.1 AC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -42
14.3.2 Molded Case Circuit Breaker and Magnetic Contactor . . . . . . . . . . . . . . . . . . . . 14 -46
14.3.3 Magnetic Contactor Specifications for Winding Selection . . . . . . . . . . . . . . . . . . 14 -47
14.3.4 Busbar and Cable Kits for Connecting Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -49
14.3.5 Digital Operator and Connector Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -54
14.3.6 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -58
14.3.7 Noise Filters (Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -62
14.3.8 Surge Absorbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -68
15 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -1
15.1 Inverter Drive Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -2
15.1.1 Principle of an Inverter Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -2
15.1.2 Inverter and Converter Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -3
15.1.3 Squirrel Cage Induction Motor Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -3
15.1.4 Controlling an Induction Motor Using Vector Control . . . . . . . . . . . . . . . . . . . . . . 15 -5
15.2 Basic Inverter Drive mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -6
15.2.1 Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -6
15.2.2 Rotator and Linear Operator Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -6
15.2.3 Inertial Moment and GD2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -7
15.2.4 Converting Metric Units and SI Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 -10
xxi
xxii
Introduction
1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -2
1.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -2
1.1.2 Inverter Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -3
1.1.3 Converter Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -4
1 -1
1.1 Overview
The VS-625M5 Inverter and VS-656MR5 Converter form a highly reliable, high-performance AC drive system
in which an AC spindle motor is controlled by the Inverter using vector control with a regenerative function.
The system ensures stable drive control of machine tools, such as machining centers and lathes, and industrial
machines, such as transfer machines and testing machines, while providing high speed and the ability to handle
tough environmental conditions.
1.1.1 Features
1 The system has the following features.
J Multi-axis Driving
The Inverter and Converter are separate units of highly reliable, compact book-type construction. The
Converter incorporates a power regeneration function and multi-axis driving configuration, providing
power to the spindle drive and servo drive with easy control through the control panel.
J Compact
The Inverter and Converter are more compact and ensure higher precision than conventional models. This
was enabled by the development of a compact, high-precision detector, improvement in output voltage
under optimal vector control, and the selection of an optimum cooling construction as a result of thermal
analysis.
J Compatible with Yaskawa’s YENET1200 Standard Network
The Inverter and Converter are available in models that are compatible with Yaskawa’s YENET1200 stan-
dard high-speed serial network, making it possible to reduce the number of wires for CNC connections.
The Inverter and Converter are also available in models that are compatible with analog I/O interfaces as
well so that the Inverter and Converter can be used with the VS-626 Series for conventional spindle driv-
ing. Sequence I/O can be connected to 0- and 24-V common terminals.
J Compact, Lightweight Spindle Motor
The downsizing of the spindle motor was enabled by the optimum electromagnetic design of the system
ensuring ideal heat distribution, improvements in the core and cooling construction of the system, and
changes in the circuit design of the encoder. The system ensures higher reliability under tough environ-
mental conditions than any conventional system.
J High-precision, High Servo Performance
The system employs a high-speed IGBT (insulated gate bipolar transistor) power element for high−preci-
sion, high-frequency PWM control at high speeds, suppressing current distortion that may cause torque
ripples and reducing rotational fluctuations. The system employs a DSP (digital signal processor) as well
to improve the servo performance of the system.
J Improved Orientation Function
The system performs orientation control to a fixed position using the motor encoder. This function is used
when the motor shaft is connected to the load shaft at a ratio of one to one. For orientation control with
a magnetic sensor, the detected signal of the motor encoder will be used for orientation control to desired
position.
J Expanded Fixed Output Range via Winding Selection
If a winding selection motor is used, a dedicated electromagnetic contactor will select the winding, making
it possible to expand the fixed output range without an increase in the capacity of the Inverter. This will
eliminate the speed change mechanism of the machinery to enable downsizing.
J Continuous Regenerative Operation
The Converter and Inverter employ an IGBT so that the Converter will respond to frequent accelerations
and decelerations, suppress temperature rises, and save energy consumption, improving the rate of power
supply regeneration and enabling regenerative control at high speeds.
J Construction
Inverter and Converter models with external heatsink cooling are available and panel-mounting construc-
tion with an integral cooling fan are provided for ease of panel mounting and maintenance.
1 -2
J International Standards
The Inverter and Converter meet EMC and low-voltage directive requirements, allowing machinery
manufacturers to easily acquire CE marking certification.
Inverter models are offered in both 200 and 400 V classes. Both M5A models for independent drive with
analog speed references and M5N models for NC systems using YENET1200 serial communications are
available in both classes. M5A and M5N models differ from each other in the host control device and in
connection methods.
1
Table 1.1 Inverter Models
VS-626M5 Inverter Model Numbers *
Voltage 30-minute
Type Class Open Chassis Enclosed Wall-mounted
Rated Model Number
CIMR-M5jjjjj5 CIMR-M5jjjjj0
Output (kW)
3.7 CIMR-M5A23P7 CIMR-M5A23P75 CIMR-M5A23P70
5.5 CIMR-M5A25P5 CIMR-M5A25P55 CIMR-M5A25P50
7.5 CIMR-M5A27P5 CIMR-M5A27P55 CIMR-M5A27P50
11 CIMR-M5A2011 CIMR-M5A20115 CIMR-M5A20110
200 V class 15 CIMR-M5A2015 CIMR-M5A20155 CIMR-M5A20150
18.5 CIMR-M5A2018 CIMR-M5A20185 CIMR-M5A20180
22 CIMR-M5A2022 CIMR-M5A20225 CIMR-M5A20220
30 CIMR-M5A2030 CIMR-M5A20305 CIMR-M5A20300
37 CIMR-M5A2037 CIMR-M5A20375 CIMR-M5A20370
M5A
5.5 CIMR-M5A45P5 CIMR-M5A45P55 CIMR-M5A45P50
7.5 CIMR-M5A47P5 CIMR-M5A47P55 CIMR-M5A47P50
11 CIMR-M5A4011 CIMR-M5A40115 CIMR-M5A40110
15 CIMR-M5A4015 CIMR-M5A40155 CIMR-M5A40150
400 V class 18.5 CIMR-M5A4018 CIMR-M5A40185 CIMR-M5A40180
22 CIMR-M5A4022 CIMR-M5A40225 CIMR-M5A40220
30 CIMR-M5A4030 CIMR-M5A40305 CIMR-M5A40300
37 CIMR-M5A4037 CIMR-M5A40375 CIMR-M5A40370
45 CIMR-M5A4045 CIMR-M5A40455 CIMR-M5A40450
3.7 CIMR-M5N23P7 CIMR-M5N23P75 CIMR-M5N23P70
5.5 CIMR-M5N25P5 CIMR-M5N25P55 CIMR-M5N25P50
7.5 CIMR-M5N27P5 CIMR-M5N27P55 CIMR-M5N27P50
11 CIMR-M5N2011 CIMR-M5N20115 CIMR-M5N20110
200 V class 15 CIMR-M5N2015 CIMR-M5N20155 CIMR-M5N20150
18.5 CIMR-M5N2018 CIMR-M5N20185 CIMR-M5N20180
22 CIMR-M5N2022 CIMR-M5N20225 CIMR-M5N20220
30 CIMR-M5N2030 CIMR-M5N20305 CIMR-M5N20300
37 CIMR-M5N2037 CIMR-M5N20375 CIMR-M5N20370
M5N
5.5 CIMR-M5N45P5 CIMR-M5N45P55 CIMR-M5N45P50
7.5 CIMR-M5N47P5 CIMR-M5N47P55 CIMR-M5N47P50
11 CIMR-M5N4011 CIMR-M5N40115 CIMR-M5N40110
15 CIMR-M5N4015 CIMR-M5N40155 CIMR-M5N40150
400 V class 18.5 CIMR-M5N4018 CIMR-M5N40185 CIMR-M5N40180
22 CIMR-M5N4022 CIMR-M5N40225 CIMR-M5N40220
30 CIMR-M5N4030 CIMR-M5N40305 CIMR-M5N40300
37 CIMR-M5N4037 CIMR-M5N40375 CIMR-M5N40370
45 CIMR-M5N4045 CIMR-M5N40455 CIMR-M5N40450
1 -3
1 -4
1.2.1 Converter
The appearance of the Converter and the names of its components are shown below.
Mounting Base 1
4-Mounting Holes
Heatsink
Upper Cover
Front Cover
Case
Lower Cover
P/¨ P
+
Main Circuit
DC Output N/© N
−
5CN
5CN
Nameplate
Control Power P1 P1
1CN
R S T
L1 L2 L3
A1 A2
r t
R/L1 S/L2 T/L3
A1/r A2/t
Main Circuit
Power Supply Input Control Power
Supply Input
Grounding
1 -5
1.2.2 Inverter
The appearance of the Inverter and the names of its components are shown below.
Mounting Base
4-Mounting Holes
Heatsink
1 Upper Cover
Front Cover
Case
Lower Cover
51CN 52CN
Nameplate
CHARGE 4CN
CHARGE LED 6CN
6CN
1CN
Control Power P1 P1
Supply Input N1 N1
U V W
T1 T2 T3
Ground
U/T1 V/T2 W/T3
Inverter Outputs
Ground
Fig 1.2 Appearance of Inverter, Model CIMR-M5A27P55 (200 V, 7.5 kW)
1 -6
This chapter describes the checks required upon receiving an Inverter and
Converter and describes installation methods.
2.3 CLEARANCES . . . . . . . . . . . . . . . . . . . . . . . . 2 -7
2.3.1 External Heatsink Cooling Type . . . . . . . . . . . . . . . . 2 -7
2.3.2 Open Chassis Type . . . . . . . . . . . . . . . . . . . . . . . . . . 2 -8
2 -1
CAUTION
D Do not install any Inverter or Converter which is damaged or has missing parts.
Failure to observe this caution may result in personal injury or equipment damage.
Check the following items as soon as the Inverter and Converter are delivered.
If any of the above checkpoints are not satisfactory, contact your Yaskawa representative.
J Nameplate Information
Example of a Model for 200 VAC, 10HP (7.5 kW)
J Model Designations
CIMR - M5 N 2 7P5
Inverter
VS-626M5 Series
2 -2
J Model Designations
CIMR - MR5 N 2 011
Converter
VS-656MR5 Series
2 -3
J Nameplate Information
Ratings
Bearing number
(load side/motor side)
Serial number
Number of poles
Fig 2.7 Motor Nameplate
UAASKj−jjjjjjjj
Voltage class ( : 200 V, E: 400 V)
Other specifications
Installation method (1: Flange-mounted; 3: Foot-mounted)
Detector specifications (Z: With home position)
Design order (F: M5 standard; L: High speed)
Capacity (04: 3.7/2.2 kW to 45: 45/37 kW)
:
:
(45:45/37 kW)
Output characteristics
A: Base speed: 1,500 min−1
B: Wide range output 1:12 (Winding selection)
D: Other wide range output (Winding selection)
E: Base speed: 3,000 min−1
J: Base speed: 1,150 min−1
Cooling method (K: Forced air cooling)
Example: UAASKA−22FZ3OOE
400 V
Other specifications: None
Fig 2.8 Motor Model Numbers
2 -4
Install the VS-626M5 Inverter and VS-656MR5 Converter in the installation site described below. Maintain
optimum conditions. 2
2.2.1 Installation Site
Install the Inverter and Converter under the following conditions.
D Install the Inverter and Converter in a clean location free from oil mist and water drops. Water or dirty
oil inside the Inverter or Converter will decrease the insulation resistance, which may result in a ground
fault. Also, any oil on the electronic components may result in an unforeseeable accident.
D Install the Inverter and Converter in a location not in direct sunlight. The interior temperature of the
Inverter or Converter exposed to sunlight will increase and exceed the operating ambient temperature,
which may reduce the service life of internal electronic components.
D Install the Inverter and Converter in a location free from harmful gasses, liquids, excessive dust, and
excessive metal powder. Harmful gasses, corrosion of the electronic or conductive parts, and/or dust
on the Inverter or Converter will decrease the insulation resistance, which may result in a ground fault.
D Do not install the Inverter and Converter on combustible material, such as wood.
D If the Inverter or Converter is installed in a location where the operation conditions are less than ideal
because the occurrence of oil mist, install the Inverter or Converter in the oilproof-control panel.
Oil mist in the Inverter or Converter may cause the corrosion of electronic or conductive part, that may
then decrease the insulation resistance, which may result in a ground fault.
If installing the Inverter or Converter in the control panel, care must be taken when planning this instal-
lation to prevent oil mist from entering the panel thorough gaps in the welded sections.
D Install the Inverter and Converter in a location free from radioactive materials and combustible materi-
als.
D Install the Inverter and Converter in a location without excessive vibration.
D Install the Inverter and Converter in a location free from chlorides.
D Design the ventilation or heat exchanger considering the heat radiation of the Inverter and Converter.
Refer to Tables 14.9 to 14.12 for the heat radiation of each Inverter and Converter model. If the ventila-
tion is improper, the heatsink temperature fault protective function will work regardless of whether
or not the output is above the rated value.
D To cool the Inverter and Converter efficiently, install them vertically. Considering the maintainability
and ventilation of the Inverter and Converter, provide sufficient space on the left, right, top, and bottom
of the Inverter and Converter. Refer to 2.3 Clearance for details. If the ventilation is improper, the heat-
sink temperature fault protective function will work regardless of whether or not the output is above
the rated value.
D Although the Inverter and Converter operate between 05C and 555C (325F and 1315F), install the In-
verter and Converter so that the maximum temperature of the heatsink inlet air will be 455C (1135F).
If the temperature of the inlet air is excessively high, the heatsink temperature fault protective function
will work regardless of whether or not the output is less than the rated value.
D Install the Inverter and Converter in a location where the maximum ambient humidity is 90% with no
condensation.
D The heat dissipation in the control panel can be reduced if the control panel has a ventilation duct and
the heatsink of the Inverter and that of the Converter are exposed in the duct to the cooling air. In this
case, the capacity of the heat exchanger, if required, can be reduced. Refer to 15.5 Inverter/Converter
Cooling Design for details.
D If the Inverter is installed in a panel, the air in the box can be mixed to cool the Inverter. The Inverter
must not be installed outside an enclosure. Although the surface of the PCB is coated with varnish,
the Inverter may fail to operate or result in accidents if the PCB comes in contact with moisture or dust.
2 -5
D Observe these additional cautions if taking the heatsink out of the panel from the opening in the control
panel to cool outside.
D Install an oil-proof gasket on the fitting to prevent oil and dust from entering the unit.
Without a gasket, oil and iron particles may enter the control panel, corrosion of the electronic
parts and conductive parts may occur, and the resulting decrease of the insulation resistance may
result in a ground fault.
D If oil is on the external cooling fan, decrease in the insulation resistance and in the life of the rotat-
ing section may occur over time.
Also, if oil and dust are on the heatsink, cooling efficiency may decrease due to the clogging of
the fins. Attach a filter onto the cooling-air intake and avoid taking in air in locations where the
oil mist is present.
2.2.2 Operating Ambient Temperature
To enhance the reliability of operation, the Inverter and Converter should be installed in an environment
free from extreme temperature increases. If the Inverter or Converter is installed in an enclosed environ-
2 ment, such as a panel, use a cooling fan or air conditioner to maintain the internal air temperature below
45°C (113°F).
2.2.4 Storage
The Inverter, Converter, and Motor must be stored under the following conditions.
2 -6
2.3 CLEARANCES
Install the Inverter and Converter vertically and allow sufficient clearances for effective cooling as shown in
Fig. 2.9 and Fig. 2.10.
IMPORTANT 1. For the external dimensions and mounting dimensions, refer to 14.1.3 Dimensions.
2. Allowable intake air temperature to the Inverter and the Converter:
S Open chassis type : 0_C to +45_C (32_F to 113_F)
S External heatsink cooling type
Inside of heatsink : 0_C to +45_C (32_F to 113_F)
Inside of unit : 0_C to +55_C (32_F to 131_F)
3. Near the heatsink, cooling air speed should be 2.5 m/s for effective cooling (for external heatsink cooling).
Air
120 mm (4.72 inches)
or more
Max. 70 mm
(2.76 inches)
Heatsink
Converter Inverter
120 mm (4.72 inches)
or more
5 mm (0.20 inches)
or more Air
2 -7
2
Max. 70 mm
(2.76 inches)
When using an Open-chassis Converter (11 kW or more) in combination with an Inverter (7.5 kW or less),
follow the installation procedure shown below.
Converter 28 mm (1.1inches)
(11kW or more)
Inverter
(7.5kW or less)
57 mm (2.24inches)
2 -8
WARNING
D Disconnect all power before removing Digital Operator (JVOP-132). Then wait for the time de-
scribed on warning labels after main circuit power supply and control power supply are discon-
nected, and all LEDs of the Inverter and the Converter are extinguished.
Failure to observe this warning can result in an electric shock.
CAUTION
D Do not use any screws other than the ones provided to mount the cable holder.
Otherwise, the cable holder will not be attached securely.
2
The VS-626M5 can support the Multi-functional Display Digital Operator (JVOP-132) as an option. The
Exclusive-use Extension Cable (72616-W5301 or 72616-W5303) is required when connecting the Digital
Operator with the Inverter. Use 3CN to attach the digital operator firmly as follows.
D Turn OFF the Inverter power supply.
D Connect the extension cable on both Inverter and Digital Operator. (See Fig. 2.12.)
D After inserting the connector into the Inverter, tighten two connector screws to prevent the connector
from being removed.
D Install the cable holder on the Digital Operator with the provided tapping screws to prevent the cable
from dropping.
Digital Operator
(Back of JVOP-132)
Cable holder
(Make sure it’s not reversed.)
Attach the cable Control PC board
Connector screws
holder with tapping
screws M3×10. Connector code for
digital operator con-
nection
3CN
Extension cable
2 -9
IMPORTANT The motor flange and shaft are coated with anti-corrosive paint or grease. Clean the flange, shaft, and key
groove with paint thinner before installing the motor.
2 -10
J Direct Coupling
Couple the Motor with the machinery so that the center of the motor shaft and that of the machinery shaft
are on a straight line. Insert a liner for adjustment, if necessary. If the center of the motor shaft does not
coincide with that of the machinery shaft, unnecessary torsion will be imposed on the motor shaft and ma-
chinery shaft. As a result, the bearings may wear out or break quickly.
Level
B
Tolerance A: 0.03 m (0.0012 inches) max.
Surface irregularity B: 0.03 mm (0.0012 inches) max.
2
A
Use the coupling so that a axial load is not imposed on the motor shaft.
J Belt Coupling
Check that the motor shaft is parallel to the machinery shaft and that the line connecting the centers of the
pulleys and the shafts are at right angles to each other. The radial load imposed on the motor shaft edge
must not exceed the permissible value specified in 14.2.5 Tolerance Radial Loads.
Be sure that no axial load is imposed on the motor shaft.
If the angularity of the belt is improper, the belt will vibrate or slip. If an excessive radial load is imposed
on the motor shaft, the motor bearings will be adversely affected and the service life of the bearings will
be decreased.
Check that the angle of contact of the belt and pulley will be 140° or more, or otherwise the belt may slip.
d
S If C is 1,000 mm (39.4 inches) or less, d < 1 mm (0.039 inches).
S If C is more than 1,000 (39.4) mm (39.4 inches), d/C < 1/1000
S β < 1/3° C
Belt
C
β
φ
Motor shaft
Machinery shaft
Fig 2.14 Belt Installation
J Gear Coupling
Check that the motor shaft is parallel to the machinery shaft and that the centers of the gears are engaged
properly. Refer to 14.2.6 Motor Total Indicator Readings for the precision of the peripheral parts connect-
ing to the motor shaft. The gears may grate if they do not engage properly.
Be sure that no axial load is imposed on the motor shaft.
2 -11
3
This chapter provides typical connection examples of the Inverter and Con-
verter to peripheral units, main circuit wiring specifications, and control cir-
cuit wiring.
3 -1
3
CAUTION
D Verify that the rated voltage of the Converter coincides with the AC power supply voltage.
Failure to observe this caution can result in personal injury or a fire.
D Do not perform a withstand voltage test of the Inverter and the Converter.
It may cause semi-conductor elements to be damaged.
D Make sure to connect the Inverter and the Converter as shown in the connection diagram.
The Inverter or the Converter may be damaged.
D Tighten terminal screws to the specified tightening torque.
Failure to observe this caution can result in a fire.
D Do not connect the power supply to output terminals U/T1, V/T2, and W/T3.
The interior parts of the Inverter will be damaged if voltage is applied to the output terminals.
D Do not connect phase-advancing capacitors or LC/RC noise filters to the output circuits.
The Inverter can be damaged or internal parts burnt if these devices are connected.
D Do not connect electromagnetic switches or contactors to the output circuits.
If a load is connected while the Inverter is operating, surge current will cause the overcurrent protection
circuit inside the Inverter to operate.
3 -2
The following shows standard connections of the VS-626M5 with peripheral units.
3
Magnetic Contactor
(1MC)*2
Flat Cable
Grounding Grounding
U/T1
Encoder Cable V/T2
W/T3
*1 Make sure to connect an AC reactor to each Converter. Do not connect any equipment
other than the Converter to the secondary side of the AC reactor. If not observed, Con-
verter may burn out.
*2 Connect a surge absorber to the electromagnetic contactor in parallel with the coil of the Z1, Z2, Z3
electromagnetic contactor, or otherwise the control signal lines may malfunction. Motor Motor Cooling Fan
Power Supply
Fig 3.1 Connection with Peripheral Units for External Heatsink Cooling Type
3 -3
The following figure shows the system configuration of the Inverter compatible with YENET1200 commu-
nications. For details on the connections of an NC machine and servo units, refer to the manual for the NC ma-
chine.
R
S VS-656MR5
T Converter Unit
r
t P
5CN N
N1 P1
N1 P1
51CN
VS-626M5
Inverter Unit
3 P
N
52CN
2CN
PG M
51CN
Servo Unit
P
N
52CN 2CN
PG M
51CN
Servo Unit
P
52CN N
NC Machine 2CN
PG M
51CN
Servo Unit
1CN P
N
4CN 2CN
PG M
Fig 3.2 Connection Diagram for Inverter Compatible with YNET1200 Communications
3 -4
Motor
Cooling Fan
Connection Bus Bar
*1 Z1
3−Phase Z2
200 VAC Z3
P/ N/ P/ N/
1MCCB 1MC L VS−656MR5 P1N1 Power Cable VS−626M5 U IM
R/L1 P1 P1 U/T1
R V
*1 N1 N1 V/T2
S/L2 W
3−Phase S W/T3
200 VAC 5CN 51CN
T T/L3
2MCCB 2MC
Single−phase r A1/r
200 VAC t A2/t
Flat Cable
52CN Ground
3
Ground (100 Ω or less)
2CN
(100 Ω or less)
Not used +5V 4,5,6
1CN 1
0V 1,2,3 2
Not used PA 16 3
3CN *PA 17 P 4
PB 18 5
Digital *PB
Operator 19 P 6 PG
(Option) PC 14 7
MCCB: Molded−case Circuit Breaker *PC 15 P 8
MC: Magnetic Contactor 9
L: AC Reactor 6CN *2
*3 19,20,21 EXTCOM0 THSA 8 11 TS
22,23 24VCOM THSB 9 P 12
External 24 V SS
Power Supply 24,25 0VCOM 7 10
6 RDY
7 EMG 1CN
8 FWD PAO 13
9 REV *PAO 14 P
10 TLH PBO 15
11 TLL(INC) *PBO 16 P Motor encoder
PCO 11 signal outputs
12 SSC(SV)
13 RST *PCO 12 P
14 CHW SS 17
5 DAS
15 PPI
16 ORT *2
EXTCOM 31 *3
17 LGR 12−bit Digital Command
24VCOM 32 External 24 V
18 MGR
0VCOM 33 Power Supply BCD
3rd digit 2nd digit BIN
3 SCOM D1 19
Speed reference 1 − 1
4 0V D2 20
2 − 2
2 SS D3 21
4 − 4
D4 22 − 8
33 8
ZSPD D5 23
10 1 16
34 AGR D6 24
20 2 32
35 SDET D7 25
40 4 64
36 TDET D8 26
80 8 128
37 TLE D9 27 100 10 256
38 ORG D10 28 200 20 512
39 ORE D11 29
400 40 1024
40 CHWE D12 30 800 80 2048
42 COM1
6CN
43
SM 47
*1 Connection when the sequence input common 44 FLT
is the external common. 45 0V 48 SM
Fig 3.3 Connection Diagram for Stand-alone Drive, 200 V Class External Heatsink Cool-
ing Type
3 -5
3MCCB
R1
S1
T1
Connection Bus Bar
P/ N/ P/ N/ P/ N/
1MCCB 1MC VS-656MR5
L P1N1 Power Cable
Servo Unit
*1 R R/L1 P1 P1 VS-626M5
3-Phase N1
200 VAC S/L2 N1
S
5CN 51CN 52CN 51CN 52CN
T T/L3
2MCCB 2MC
Single-phase r A1/r
200 VAC
t A2/t
Flat Cable Flat Cable
Ground
(100 Ω or less)
1CN 3CN
Digital
Operator
Not used (Option)
3 *2
THSA 8 TS
THSB 9 P 11
SS 7 12
10
Fig 3.4 Connection Diagram for NC System, 200 V Class External Heatsink Cooling
Type
3 -6
P/¨, N/©
M4
M6
1.2 − 2.0
2.94
10 (5.3) 2
(*1)
2 2
3
R/L1, S/L2, T/L3 M5 2.35 12 (3.3) 3.5 2 3.5
25P5
A1/r, A2/t M5 2.35 14 (2.1) 2 2 2
M4 1.2 − 2.0 10 (5.3) 3.5 2 2
P/¨, N/© M6 2.94 (*1)
R/L1, S/L2, T/L3 M5 2.35 10 (5.3) 3.5 2 3.5
27P5
A1/r, A2/t M5 2.35 14 (2.1) 2 2 2
M4 1.2 − 2.0 10 (5.3) 3.5 2 3.5
P/¨, N/© M6 × 2 2.94 (*1)
R/L1, S/L2, T/L3 M6 3.4 − 4.9 8 (8.4) 8 3.5 8
2011
A1/r, A2/t M4 1.2 − 2.0 14 (2.1) 2 2 2
M6 3.4 − 4.9 8 (8.4) 5.5 3.5 5.5
P/¨, N/© M6 × 2 2.94 (*1)
R/L1, S/L2, T/L3 M6 3.4 − 4.9 6 (13.3) 14 5.5 14
2015
A1/r, A2/t M4 1.2 − 2.0 14 (2.1) 2 2 2
M6 3.4 − 4.9 8 (8.4) 8 5.5 5.5
P/¨, N/© M6 × 2 2.94 (*1)
R/L1, S/L2, T/L3 M6 3.4 − 4.9 4 (21.2) 22 8 22
2018
A1/r, A2/t M4 1.2 − 2.0 14 (2.1) 2 2 2
M6 3.4 − 4.9 6 (13.3) 8 5.5 8
P/¨, N/© M6 × 2 2.94 (*1)
R/L1, S/L2, T/L3 M6 3.4 − 4.9 4 (21.2) 22 14 22
2022
A1/r, A2/t M4 1.2 − 2.0 14 (2.1) 2 2 2
M6 3.4 − 4.9 6 (13.3) 14 8 8
P/¨, N/© M6 × 2 2.94 (*1)
R/L1, S/L2, T/L3 M8 7.8 − 9.8 2 (33.6) 38 2.2 38
2030
A1/r, A2/t M4 1.2 − 2.0 14 (2.1) 2 2 2
M8 7.8 − 9.8 6 (13.3) 14 8 14
P/¨, N/© M6 × 4 2.94 (*1)
R/L1, S/L2, T/L3 M10 14.7 − 19.6 1/0 (53.5) 50 30 60
2037
A1/r, A2/t M4 1.2 − 2.0 14 (2.1) 2 2 2
M8 7.8 − 9.8 4 (21.2) 22 14 14
2011 to 2037 A11/r1, A21/t1 (*2) M4 1.2 − 2.0 14 (2.1) 2 2 2
* 1. Connect using exclusive-use connection bus bar.
* 2. Provided for open chassis type with a minimum capacity of 11 kW. Not provided for external heatsink cooling type.
3 -7
Notes: 1. Wire size is selected assuming external suspended wiring of single 3-core cables at
an ambient temperature of 30°C (86°F).
2. If ambient temperature exceeds 30°C (86°F), the allowable current of wire may be lowered.
3. Temperature for each wire indicates the maximum allowable conductor temperature.
3 -8
2. If ambient temperature exceeds 30°C (86°F), the allowable current of wire may be lowered.
3. Temperature for each wire indicates the maximum allowable conductor temperature.
M8 × 2, 7.8 to 9.8
M6 3 (26
(26.7)
7) 22 14 22
3.4 to 4.9
2011 to
A12/r2, A22/t2 (*2) M4 1.2 to 2.0 14 (2.1) 2 2 2
2037
* 1. Connect using exclusive-use connection bus bar.
* 2. Provided for open chassis type with a minimum capacity of 11 kW. Not provided for external heatsink cooling type.
Notes: 1. Wire size is selected assuming external suspended wiring of single 3-core cables at
an ambient temperature of 30°C (86°F).
2. If ambient temperature exceeds 30°C (86°F), the allowable current of wire may be lowered.
3. Temperature for each wire indicates the maximum allowable conductor temperature.
3 -9
3 -10
3 -11
Table 3.7 Closed-loop Crimp Connector Sizes (JIS C 2805) (For 200 V and 400 V Classes)
Wire Sizes Terminal Screws Closed-loop Crimp
Connectors
mm2 AWG
M3.5 1.25 to 3.5
05
0.5 20
M4 1.25 to 4
M3.5 1.25 to 3.5
0 75
0.75 18
M4 1.25 to 4
M3.5 1.25 to 3.5
1 25
1.25 16
M4 1.25 to 4
M3.5 2 to 3.5
M4 2 to 4
2 14 M5 2 to 5
M6 2 to 6
M8 2 to 8
3 M4
M5
5.5 to 4
5.5 to 5
3 5 to 55.5
3.5 5 12 to 10
M6 5.5 to 6
M8 5.5 to 8
M5 8 to 5
8 8 M6 8 to 6
M8 8 to 8
M6 14 to 6
14 6
M8 14 to 8
M6 22 to 6
22 4
M8 22 to 8
30 to 38 3 to 2 M8 38 to 8
M8 60 to 8
50 to 60 1 to 1/0
M10 60 to 10
100 4/0 M10 100 to 10
3 -12
Heatsink Single-phase
200 V A11/r1*
Power supply input for 200 to 220 VAC 50 Hz
class A21/t1 cooling fan 200 to 230 VAC 60 Hz
P/¨ 270 to 325 VDC
Main circuit DC output
N/©
P1
(For inverter main circuit power supply)
282 to 325 VDC
3
Control power supply
N1 output (For inverter control power supply)
Ground terminal
Grounding
(Ground resistance: 100 Ω or less)
R/L1 3-phase
Main circuit power supply
S/L2 400 to 440 VAC 50 Hz
input
T/L3 400 to 460 VAC 60 Hz
Single-phase
A1/r Control power supply
200 to 220 VAC 50 Hz
A2/t input
200 to 230 VAC 60 Hz
Heatsink Single-phase
400 V A11/r1*
Power supply input for 200 to 220 VAC 50 Hz
class A21/t1 cooling fan 200 to 230 VAC 60 Hz
P/¨ 540 to 650VDC
Main circuit DC output
N/© (For inverter main circuit power supply)
P1 Control power supply 282 to 325VDC
N1 output (For inverter control power supply)
Ground terminal
Grounding
(Ground resistance: 10 Ω or less)
* Terminals on Open Chassis Converters with a minimum capacity of 11 kW.
3 -13
Heatsink Single-phase
A12/r2*
200 V Power supply input for 200 to 220 VAC 50 Hz
A22/t2 cooling fan
class 200 to 230 VAC 60 Hz
U/T1
V/T2 Inverter output Inverter output to motor
W/T3
Ground terminal
Grounding
(Ground resistance: 100 Ω or less)
3 P/¨ Main circuit power supply 540 to 650 VDC
N/© input (Supplied from converter)
Heatsink Single-phase
A12/r2*
400 V Power supply input for 200 to 220 VAC 50 Hz
A22/t2 cooling fan
class 200 to 230 VAC 60 Hz
U/T1
V/T2 Inverter output Inverter output to motor
W/T3
Ground terminal
Grounding
(Ground resistance: 10 Ω or less)
3 -14
Converter (VS-656MR5)
CIMR-MR5j20115 to 20375
Inverter (VS-626M5)
CIMR-M5j20115 to 20375
3
P/ + P/ +
R/L1 U/T1
S/L2 + + V/T2
T/L3 W/T3
N/ − N/ −
Power
A1/r Supply Control Circuit
+ (RCC)
A2/t P1 P1 Power
N1 N1 Supply Control Circuit
(RCC)
Internal Cooling Fan
51CN
+24 V
+24V 5CN +24V (Note) 52CN
Power 0V 0V
Supply
3 -15
Power
A1/r Supply Control Circuit
A2/t + (RCC)
P1 P1 Power
Supply
N1 N1 (RCC)
Control Circuit
3
P/ +
R/L1 U/T1
S/L2 + + V/T2
T/L3 W/T3
N/ − N/ −
Power
A1/r Supply Control Circuit
(RCC)
A2/t + P1 P1 Power
Control Circuit
N1 N1 Supply
(RCC)
Internal Cooling Fan
51CN 52CN
(Note)
+24V 5CN +24V (Note)
+24 V
Power 0V 0V
Supply A12/r2
A11/r1 Heatsink Cooling Fan
A21/t1 Heatsink Cooling Fan A22/t2
3 -16
P/ + P/ +
R/L1 U/T1
S/L2 + + V/T2
T/L3 W/T3
N/ − N/ −
Power
A1/r Supply Control Circuit
(RCC)
A2/t + P1
P1 Power
N1 N1 Supply Control Circuit
(RCC)
(Note)
+24V 5CN 51CN +24V (Note) 52CN
+24 V
Power
0V 0V
Supply
R/L1
S/L2
T/L3
+ +
U/T1
V/T2
W/T3
3
N/ − N/ −
Power
A1/r Supply Control Circuit
(RCC)
A2/t + P1
P1 Power
N1 N1 Supply Control Circuit
(RCC)
Internal Cooling Fan
51CN
+24V 5CN +24V 52CN
(Note) (Note)
+24 V
Power 0V 0V
Supply
3 -17
3 R/L1
S/L2 + +
U/T1
V/T2
W/T3
T/L3
N/ − N/ −
Power
Control Circuit
A1/r Supply
(RCC)
A2/t + P1 P1 Power
Control Circuit
N1 N1 Supply
(RCC)
Internal Cooling Fan
51CN (Note) 52CN
+24V 5CN +24V
(Note)
+24 V
Power
0V 0V
Supply
A11/r1 A12/r2
Heatsink Cooling Fan
A21/t1 Heatsink Cooling Fan A22/t2
3 -18
Motor
P/ N/ P/ N/ 3-phase Z1 Cooling fan
VS−656MR5
R R/L1 P1 P1 VS−626M5 200 VAC Z2
Z3
3-phase N1 N1
S S/L2
200 VAC U/T1 U IM
T T/L3 V
V/T2
W/T3 W
Single-phase r A1/r
200 VAC t A2/t
(Note)
Motor
P/ N/ P/ N/
VS−656MR5 3-phase Z1Cooling fan
Z2
R R/L1 P1 P1 VS−626M5 200 VAC Z3
3-phase S N1 N1
S/L2
200 VAC T T/L3 U/T1
U IM
V
V/T2 W
W/T3
Single-phase r A1/r
200 VAC t A2/t
Motor
P/ N/ P/ N/ 3-phase Z1Cooling fan
VS−656MR5
R R/L1 P1 P1 VS−626M5 200 VAC Z2
Z3
3-phase S/L2 N1 N1
S
200 VAC T/L3 U/T1
U IM
T V
V/T2 W
W/T3
Single-phase r A1/r
200 VAC t A2/t
A11/r1 A12/r2
A21/t1 A22/t2
3 -19
Motor
P/ N/ P/ N/ 3-phase Z1 Cooling fan
VS−656MR5 Z2
R R/L1 P1 P1 VS−626M5 400 VAC Z3
3-phase S/L2 N1 N1
S
400 VAC T/L3 U/T1 U IM
T V
V/T2 W
W/T3
Single-phaser A1/r
200 VAC t A2/t
3 Note: No ground terminals are provided on the 45P5 through 47P5 models.
Fig 3.11 Main Circuit Connections for 400 V Class External Heatsink Cooling Type
Motor
P/ N/ P/ N/ 3-phase Z1Cooling fan
VS−656MR5 Z2
R R/L1 P1 P1 VS−626M5 400 VAC Z3
3-phase S S/L2 N1 N1
400 VAC T T/L3 U/T1
U IM
V
V/T2 W
W/T3
Single-phase r A1/r
t A2/t
200 VAC
Motor
P/ N/ P/ N/ 3-phase Z1 Cooling fan
VS−656MR5 Z2
R R/L1 P1 P1 VS−626M5 400 VAC Z3
3-phase S S/L2 N1 N1
400 VAC T T/L3 U/T1
U IM
V
V/T2 W
W/T3
Single-phase r A1/r
t A2/t
200 VAC
A11/r1 A12/r2
A21/t1 A22/t2
3 -20
Installation of AC Reactor
Make sure to install an AC reactor, which corresponds to the capacity of the individual Converter, to each
Converter for the Converter’s power-supply regeneration.
Do not connect any equipment other than the Converter to the secondary side of the AC reactor. If this
caution is not observed, an overcurrent may occur in the Converter. An AC reactor is effective in improving
the power factor of the power supply side.
IMPORTANT A surge absorber is used to absorb energy accumulated in the coil of an inductive load. Use a surge absorber
with a capacity suitable for the coil. Do not, however, connect surge absorbers to output terminals U, V, W
of the Inverter. If a surge absorber is not used, the generated surge voltage of the coil will affect the control
signal line of the Inverter when the inductive load is turn ON and OFF. As a result, the control signal may
malfunction.
3 -21
D Example 1
Correct Use an exclusive noise filter
Power
Supply MCCB
specified for inverters.
Noise VS- VS-
~
Filter 656MR5 626M5 M
MCCB
Other Control Device
D Example 2
Power
Incorrect Do not use general-purpose filters
MCCB
Supply
VS-
because they are not effective.
VS-
~ 656MR5 626M5 M
MCCB
General
Noise Other Control Device
Filter
3 Power
MCCB
Incorrect
Supply
General VS- VS-
~ Noise 656MR5 626M5 M
Filter
MCCB
Other Control Device
3 -22
Correct Incorrect
3 -23
YENET1200
Card 3 8
4CN 5 0.25 Honda Tsushin
(VS-626M5) Control signals MR-8RMAG MR-8LFG 2 7
(8P) 1
4
6 mm2 Kogyo Co., Ltd.
(NC systems
only)
S 10120-
Load shaft 3000VE 20 10
8CN 0.2 Sumitomo 3M
encoder signal 10220-52A2JL S 10320-
Encoder (20P) mm2 Ltd.
input 52A0-008
Method 11 1
(case)
Orientation
S 10114-
Card 14 7
Load shaft 3000VE
(VS-626M5) 9CN 0.2 Sumitomo 3M
encoder signal 10214-52A2JL S 10314-
(14P) mm2 Ltd.
output 52A0-008
8 1
(case)
Magnetic S 10114-
Sensor Meth- 3000VE 14 7
10CN 0.2 Sumitomo 3M
od Orientation Control signals 10214-52A2JL S 10314-
(14P) mm2 Ltd.
Card 52A0-008
8 1
(VS-626M5) (case)
3 -24
Note: Connectors for wires are not sold separated. Refer to 14.3.6 Connector Kit.
IMPORTANT Some of the connectors attached with control PC board and option cards are of the same type. Therefore, make
sure to mount the cards to the correct connectors each of which is identified by device symbol. If connection
is wrong, it may cause damage to the inverter.
3
Table 3.11 Applicable Connector Wires
Connector Number Cable Specification Cable External Diameter
1CN (36P) UL2464-SB Vinyl-insulated Multi-conductor 16 mm (0.63 inches) dia. max.
6CN (50P) Cable (AWG24)
2CN, 8CN (20P) Composite KQVV-SW Cable (AWG22 x 3 C + 20P: 12 mm (0.47 inches) dia. max.
AWG26 x 6P)
9CN, 10CN (14P) Yaskawa’s drawing No.: BDP8409123 (with no 14p: 8 mm (0.31 inches) dia. max.
connector)
4CN (8P) JKEV-SB (JCS) Shielded Twisted-pair Cable 11 mm (0.43 inches) dia. max.
(AWG18)
3 -25
3 -26
Note: Terminal arrangement is as when the connectors on the PC board are viewed from the front of the unit.
Fig 3.18 Terminal Arrangement of Control Signal Connector
3 -27
8CN (Option)
20 SS 10 —
P P 19 *SPB 9 CPA
+ +
18 SPB 8 *CPC
N
N
− − 17 *SPA 7 CPC
5CN 51CN/52CN 16 SPA 6 +5V
15 *SPC 5 +5V
14 SPC 4 +5V
CHARGE CHARGE 4CN
6CN 13 *CPB 3 0V
8 8
12 CPB 2 0V
P1 P1 1CN
11 *CPA 1 0V Encoder Method Orientation
N1 N1 Card
1CN
8CN 9CN (Option)
2CN
14 — 7 *SPBO
13 — 6 SPBO
3CN
12 — 5 *SPAO
11 — 4 SPAO
9CN
CN 10CN
10 — 3 *SPCO
3 9 — 2 SPCO
8 — 1 SS
10CN (Option)
Converter Inverter 14 SIG− 7 —
13 SIG+ 6 —
3CN (Option) 12 +15V 5 0V
Magnetic
M ti S
Sensor M
Method
th d
14 — 7 +5V 11 — 4 — Orientation Card
13 — 6 OP1 10 +12V 3 0V
12 — 5 0V 9 — 2 —
11 +5V 4 RX
10 — 3 8 — 1 SS
0V
9 +5V 2 TX
8 O
OP2 1 0V
Note: Terminal arrangement is as when the connectors on the PC board are viewed from the front of the unit.
Fig 3.19 Terminal Arrangements of Control Signal Connectors (Optional)
IMPORTANT The12-bit digital reference signals to 1CN-19 through 1CN-30 and the sequence input signals to 6CN-5
through 6CN-18 can be 0 V, 24 V, or external common signals. The wiring of terminals varies with the input
method. Refer to 3.4.4 Sequence Input Signal Circuits for details.
3 -28
3-29
3-30
* 1. The 24 V power supply is output only for M5N models for NC systems.
* 2. These signals are used only for M5N models for NC systems.
3 -31
3.3kΩ
3 390Ω
+24 V Common
EXTCOM
24VCOM
0VCOM
3.3kΩ
390Ω
External Common
+24 V (or 0 V)
EXTCOM
24VCOM
0VCOM
3.3kΩ
390Ω
0 V (or +24 V)
Pin Number
Signal Name
1CN 6CN
EXTCOM 31 19, 20, 21
24VCOM 32 22, 23
0VCOM 33 24, 25
3 -32
D Design the wiring for control signal lines (1, 2, 4CN) in such a way that they will be separated form
the main circuit wiring (R/L1, S/L2, T/L3) or other power lines.
IMPORTANT If the power lines are provided along with the signal lines (motor encoder signal lines), a malfunction may
be caused by the affect of noise generated from the power lines.
D The length of the control signal lines (including motor encoder signal lines) must be less than 20 m
(65.6 ft).
IMPORTANT Excessively long motor encoder signal lines reduce the encoder power supply voltage because of voltage drop
in the signal lines which may cause the inverter to malfunction.
D When shielded twisted-pair cables are used for control signal lines, terminate them as shown below.
To inverter shielded
sheath terminal Never connect.
Insulate these parts
with insulating tape.
Fig 3.22 Shielded Cable Termination
3 -33
D Use twisted shielded wires for motor encoder signal lines and connect both ends as shown below.
To encoder shielded
To inverter shielded sheath terminal
sheath terminal
3 -34
3 -35
4 -1
* The M5N for NC systems does not use the RST signal.
4 -2
U1-19 D1 D2 D3 D4 D5
12-bit digital
D6 D7 D8 D9 D10
reference
signal status D11 D12
Notes: 1. The LED lights to indicate that the corresponding input signal is ON.
2. CHWA indicates the status of the auxiliary bits (2CN-12 and 2CN-13) of the electromag-
netic contractor for winding selection.
Fig 4.1 Display of Input Signal Status
C1−37
Bit 2
The RDY signal functions when 6CN-6 turns ON.
D When the RDY signal us turned OFF during operation, the gate will be blocked instantly and the motor
current will be shut off.
D While the RDY signal is OFF, the motor will not start unless the FWD and REV signals are turned OFF
together.
D Always keep the RDY signal ON if the it is not being used. If a 0 V common or 24 V common input
is selected, connect pin 6 to pin 20. If the external common input is selected, turn the RDY signal ON
externally.
J EMG2 (Emergency Stop Signal 2)
EMG2 Function Selection: 6CN-6 will be the EMG2 signal if bit 2 of the C1-37 selection signals (SEL2)
is turned ON.
C1−37
Bit 2
The EMG2 signal functions when 6CN-6 turns OFF.
D The function of EMG2 is the same as the function of EMG (emergency stop signal). Refer to the de-
scription of EMG for details.
D If EMG2 is used, there will be two emergency stop signals, EMG and EMG2.
D The emergency stop operation will be performed if either EMG or EMG2 turns OFF.
D To enable operation after clearing the emergency stop operation, turn ON both EMG and EMG2.
4 -3
Speed Reference + −
Operation signals [FWD] CCW (Forward) CW (Reverse)
[REV] CW (Reverse) CCW (Forward)
D When the FWD or REV signal is turned OFF while the motor is in operation, the motor will stop due
to regenerative braking. When the motor speed reaches zero, the gate will be blocked and the motor
current will be shut off.
D The acceleration and deceleration time between a stopped state and 100% rotation (C1-26) can be set
with C1-10, the soft start time constant (TSFS) between 0.1 and 180.0 s. The acceleration and decelera-
tion time may be, however, longer than the soft start set time due to the load inertial moment.
D Turn ON the FWD or REV signal at least 15 ms after the EMG and RDY signals are turned ON. The
FWD or REV signal will be unacceptable if it is turned ON before the EMG and RDY signals are turned
ON.
[EMG] ON
[RDY] ON
[FWD] or [REV] ON
15 ms min.
The motor will stop if the FWD and REV signals are turned ON simultaneously by mistake. Be aware
4
D
that the motor will start operating immediately after either of the signals is turned OFF.
D When the FWD or REV signal is turned ON, the motor will rotate according to the speed reference.
Set the speed reference in advance.
Speed reference
[FWD] or [REV] ON
D If a fault occurs while the motor is in operation, the gate will be blocked immediately and the motor
current will be shut off.
D Keep the FWD and REV signals turned OFF when the motor is ON. The motor will not operate while
the FWD and REV signals are ON.
J EMG (Emergency Stop Signal)
The EMG signal functions when 6CN-7 turns OFF.
D The main circuit capacitor will be charged after the EMG signal is turned ON. The motor will be ready
to operate a maximum of 2.5 s after the EMG signal is turned ON. Do not attempt to charge the capaci-
tor repeatedly within a short period of time, or otherwise the charging circuit will deteriorate quickly.
Allow a sufficient interval to charge the capacitor again.
D When the EMG signal is turned OFF, the motor will stop promptly due to regenerating braking and
the current will be shut off. If the motor does not stop, the current will be shut off automatically 10 s
after the EMG signal is turned OFF. At that time, the protective function will operate and “AL-21”
(emergency stop failure) will be displayed.
D C1-10 (soft start time setting) will be disabled when an emergency stop failure occurs.
D If the EMG signal is turned OFF, the motor will not operate when the EMG signal turns ON again un-
less the FWD, REV, and ORT signals are turned OFF.
D While the motor is decelerated in emergency stop operation, the motor will coast to a stop with no re-
generation breaking if the magnetic contactor on the Converter input shuts off the main circuit power
supply. At that time, the main circuit low-voltage protective function will operate and a fault will be
indicated.
D To prevent the motor from coasting to a stop when shutting off the main circuit power supply in emer-
gency stop operation, use the OFF-delay circuit to delay the timing of shutting off the main circuit pow-
er supply.
D Always turn ON the EMG signal if it is not used. If the 0 V common or 24 V common input method
is selected, connect 6CN-7 to 6CN-19. If the external common input method is selected, always turn
the EMG signal ON externally.
4 -4
0%
TLH or TLL ON
D The TLL control function will be enabled while the emergency stop is operating.
D When the TLH or TLL signal is not used, turn 6CN-10 and 6CN-11 OFF.
J INC (Incremental Signal)
INC Function Selection: 6CN-11 will be the INC signal if bit 0 of the C1-36 selection signals (SEL1) is
turned OFF and bit 1 is turned ON.
4
C1−36
Bit 10
The INC signal functions when 6CN-11 turns ON.
D Used for incremental operation under orientation control.
D The INC signal will be enabled if it is input earlier than or simultaneously with the ORT signal.
D If the INC signal is input when the system is turned ON or during absolute positioning, an INC signal
fault (AL-65 or AL-75) will result.
D The INC signal will start incremental operation from the stop position when the ORG signal input turns
ON. If positional precision of the system is required, execute absolute positioning first.
J SSC (Soft Start Cancel Signal)
SSC Function Selection: 6CN-12 will be the SSC signal if bit 03 of the C1-36 selection signals (SEL1)
is turned OFF.
C1−36
Bit 3
The SSC signal functions when 6CN-12 turns ON.
D The SSC signal cancels the soft start function (C1-10) so that the speed standard will catch up with
the speed reference for inching.
D When the SSC signal is turned ON, the motor will be accelerated or decelerated within the shortest
period in current-limited acceleration or deceleration regardless of the acceleration or deceleration
time set in the C1-10 constant.
D Turn pin 12 OFF when SSC is not being used.
4 -5
Bit 3
The servo mode for a solid tap or similar device will be switched to when 6CN-12 turns ON.
D In the servo mode, the speed loop gain and other control constants for servo mode will be used.
D The following control constants will be enabled in servo mode.
Speed control proportional gain (C1-05 and C1-07)
Speed control integral time constant (C1-06 and C1-08)
Servo mode magnetic flux level (C1-31 and C1-33)
Servo mode base speed ratio (C1-32 and C1-34)
J PPI (P/PI Control Selection Signal)
PPI Function Selection: 6CN-15 will be the PPI signal if bit 04 of the C1-36 selection signals (SEL1)
is turned OFF.
C1−36
Bit 4
P control functions when 6CN-15 turns ON.
PI control functions when 6CN-15 turns OFF.
D The PPI signal is used to select the P or PI control of the speed controller.
4 D When the PPI signal is turned ON, the speed controller will be in P control regardless of the operating
status of the system.
D Turn pin 15 OFF when P control is not to be performed.
J LM10 (Load Factor Meter ×10 Selection Signal)
LM10 Function Selection: 6CN-15 will be the LM10 signal if bit 04 of the C1-36 selection signals
(SEL1) is turned ON.
C1−36
Bit 4
The LM10 signal functions when 6CN-15 turns ON.
(Not used for NC system (M5N). )
D The LM10 signal is used to improve the signal-noise ratio of the system with light loads by increasing
the sensitivity of the load factor meter by 10 times.
J DAS (Speed Reference Digital/Analog Selection Signal)
Analog input will be selected when 6CN-5 is turned OFF.
Digital input will be selected when 6CN-5 is turned ON.
(Not used for NC system (M5N). )
D The DAS signal is used to select an analog input (10 V/100%) or digital input for the speed reference.
D The analog speed reference is selected when the DAS signal is turned OFF, and the digital speed refer-
ence is selected when the DAS signal is turned ON.
D The DAS signal can be turned ON or OFF only when the system is not operating.
D The following four types of digital speed reference can be selected.
12-bit binary (factory setting)
3-digit BCD
2-digit BCD
Internal speed setting
D The digital speed reference is selected with bits 7 and 6 of selection signal C1-37.
Refer to 4.3 Using a 12-bit Digital Speed Reference.
J RST (Fault Reset Signal)
The RST signal functions when 6CN-13 turns OFF.
(Not used for NC system (M5N). )
D The RST signal is used to reset the system after the protective circuit operates for overcurrent or over-
load protection and the probable cause is eliminated.
4 -6
D The RST signal is enabled only after the protective circuit operates.
D The system cannot be reset while the FWD , REV, or ORT signal is ON.
D The RESET switch of the Digital Operator has the same function as the RST signal.
D The system is reset on the rising edge of the RST signal. Therefore, turn the RST signal ON and then
OFF.
D Faults take precedence in the sequence of the protective circuit. The following timing chart is an exam-
ple of resetting.
[FWD] ON
[RST] ON ON ON
RUN
Fault indication AL-05
Fault signal
Protective circuit Reset
in operation
J CHW (Winding Selection Signal)
Low speed winding will be selected when 6CN-14 is turned ON.
High speed winding will be selected when 6CN-14 is turned OFF.
The CHW signal is a reference signal for motor winding selection control.
4
D
D The high-speed winding will be selected when the CHW signal is turned OFF. The low-speed winding
will be selected when the CHW signal is turned ON.
D Winding selection is possible while the system is in operation.
D When the CHW signal is turned ON for winding selection, the gate will be blocked until the actual
winding is switched over. If this status continues for the preset time, a winding selection fault (AL-20)
will result and the system will stop.
ON ON ON
[CHW]
High speed Low speed
Winding
Gate blocked (current interrupted)
D If the winding does not coincide with the CHW reference when the system is turned ON, the winding
will be switched so that is coincides with the reference.
J ORT (Orientation Signal)
The ORT signal functions when 6CN-16 turns ON.
D The ORT signal is a reference signal for electrical orientation.
D When the ORT signal is turned ON, the load shaft will be promptly moved to the preset position.
D Turn the ORT signal OFF after completing tool or workpiece replacement for positioning.
D The system will not restart unless the ORT signal is turned OFF if an emergency stop is performed
during orientation.
D Keep the ORT signal OFF when the system is turned ON, or otherwise the system will not operate.
D Turn ON the ORT signal at least 15 ms after the EMG or RDY signal is turned ON. The ORT signal
will not be accepted if it is turned ON before the EMG or RDY signal is turned ON.
[EMG] ON
[RDY] ON
[ORT] ON
15 ms min.
D Use the motor encoder signal for positioning if the optional orientation card is not used.
D Turn 6CN-16 OFF if the ORT signal is not used.
4 -7
4 -8
Speed Reference + −
Operation signal [FWD] CCW (Forward) CW (Reverse)
[REV] CW (Reverse) CCW (Forward)
D The SCOM signal will be enabled and the motor will rotate when the FWD or REV signal is turned
ON.
D The motor may not come to a stop with the SCOM signal set to 0 V while the FWD or REV signal is
being input. To stop the motor, turn OFF both the FWD and REV signals. The motor current will flow
while the FWD or REV signal is ON.
D Use a shielded cable to wire the SCROM signal to improve noise immunity.
D The SCOM signal can be manually set to the reference voltage (+15 V) of the Controller provided that
the current flow is 10 mA or less.
VS−626M5
6CN
1 +15 V
Setting resistor 3
2 3 [SCOM]
2 kΩ
1 W min. 1 4
0V
4 -9
C1−36
Bit 7
D Bit 7 is used for internal speed or digital speed settings.
D It is possible to select 12-bit binary, 2-digit BCD, 3-digit BCD, or internal speed setting for digital
speed references. Speed references are factory-set to 12-bit binary.
D The setting method can be selected using bits 6 and 7 of selection signal C1-37 (SEL2).
C1−37
Bit 76
Selecting the Speed Setting
4
D
6CN-5, 19 C1-37 (SEL2) Speed Selection
DAS Bit 7 Bit 6
OFF --- --- Analog speed
ON OFF OFF 2-digit BCD
OFF ON Binary
ON OFF 3-digit BCD
ON ON Internal speed
D The DAS signal can be switched only when the system is not in operation.
D If the binary, BCD, or internal speed setting method is selected, the forward or reverse rotation of the
motor is selected with the external FWD or REV relay signal.
D If two or more speed selection signals (D1 through D8) are turned ON at the same time, the smaller
selection signal number will be enabled. (For example, if D2 and D5 are turned ON simultaneously,
D2 will be enabled.)
D If all speed selection signals are OFF, the speed references are treated as 0.
D No speed reference values in C1-41 through C1-48 can be changed while the system is in operation.
4 -10
D All signals will be ON with the rated speed reference set in C1-26 if the 12-bit binary setting is selected.
D If the 3- or 2-digit BCD setting is selected, a rated speed reference of 999 or 99 will be set in C1-26
respectively.
The input signal circuit for digital speed references is the same as the sequence input signal circuit explained
in 3.4.4 Sequence Input Signal Circuit (for Stand-alone Drive).
4
4 -11
Winding selection
8 40 CHWE −
completion
Note: The LED indicator lights to indicate that the corresponding input signal is ON.
Fig 4.2 Display of Output Signal Status
4-12
33
42
D The ZPSD signal will turn ON when the motor speed drops to the set speed or less. Once the ZPSD
signal turns ON, it will be kept on hold for 50 ms.
[ZSPD] ON
34
42
D The AGR signal will turn ON when the motor speed reaches the range set by the SCOM signal. The
AGR signal will not, however, turn ON while the gate is blocked or the motor winding is selected.
D Once the AGR signal turns ON, it will be kept on hold for 50 ms.
D The AGR signal can be used in response to the S reference for NC machines in program operation to
go to the next step.
D The C1-20 (AGRBD) can be set to a speed agree signal detection width between ±10% and ±50%.
Operation Example of Speed Agree Signal
Speed reference vs. motor speed
C1−20 = 15%
15%
AGR is OFF
4% AGR is ON
0
25% 100% speed reference
4 -13
35
42
D The SDET signal will turn ON when the motor speed reaches the preset value or less.
D The speed detection level is set between 0% and 100% in the C1-21 (SDLVL) control constant.
Speed
Detection Time
level
(C1−21)
ON OFF ON
D Set the hysteresis width of the SDET signal in the C1-22 (SDHYS) control constant.
D The SDET operates regardless of the operation signal.
J TDET (Torque Detection Signal)
4 Connector number: 6CN
Pin numbers:
36
42
D The TDET signal will turn ON when the torque reference reaches the preset value or less.
D Once TDET turns OFF, the status is held for 50 ms.
D The torque detection level is set between 5% and 120% of the 30-minute rating for the C1-23 (TDLVL)
time constant. There is an hysteresis of ±10% of the set value for the operation point.
D Bit 2 of selection signals C1-40 (SEL5) can be turned ON to prevent TDET from turning OFF even
if the torque references exceeds the set value during acceleration and deceleration.
D The TDET signal can be used to check the operation of the torque limit or load.
J TLE (Torque Control Signal)
Connector number: 6CN
Pin numbers:
37
42
D The TLE signal turns ON when the TLL or TLH torque control signal turns ON.
D The TLE signal can be used to check the TLL or TLH signal.
4-14
40
42
ON
[CHW]
High speed Low speed
Winding
ON ON
[CHWE]
ON ON
4
[AGR]
39
42
D The ORE signal will turn ON when the ORT signal input turns ON and when the load shaft is close
to the specified stop position.
D While the ORE signal is ON, the deviation of the position will be compensated with countertorque is
generated to offset external force. Make tool or workpiece changes while the ORE signal is ON.
D The ORE signal will turn OFF if the external force is high and the deviation of the position is excessive.
In that case, arrange a sequence to result an orientation fault.
J ORG (Load Shaft Origin) Signal
Connector number: 6CN
Pin numbers:
38
42
D A single pulse is output per load shaft rotation by using the magnetic sensor signal.
D The ORG signal will turn ON when the load shaft is rotating at the rate of 1000 min−1 or less.
4 -15
26
4
27
28
29
30
D A fault code signal is output to provide the details of the operation of the protective function.
D Refer to tables 12.1 and 12.2 for the details of fault codes.
4 -16
46
30
D The TALM signal turns ON when a motor overheat alarm 1, heatsink overheat alarm 1, or control card
temperature alarm 1 is detected. The system will continue operating.
D The FLTL signal will turn ON if any of the following conditions continues while the TALM signal is
ON, the current will be shut off, and the system will stop.
Motor overheat alarm 1 continues one minute (AL-40 will change to AL-41)
Heatsink overheat alarm continues one minute (AL-43 will change to AL-44)
Control card temperature exceeds 85°C (185°F) (AL-46 will change to AL-47)
The TALM signal will be output if there is a minor fault in an optional function, such as an orientation
fault.
J FLTL (Fault Signal)
Connector number: 6CN
Pin numbers:
41
4
30
D The FLTL signal will turn OFF if a fault occurs. The FLTL signal is ON while the system is in normal
operation.
D The output conditions for the FLTL signal are the same as those for the FLT signal.
D The motor current will be shut off instantly when the protective circuit operates for overcurrent or over-
load protection and the motor will coast to a stop. The FLTL signal will be output when the current
is shut off.
D Turn OFF the FWD, REV and ORT signal OFF while the FLT signal is being output, and then display
the fault at the host system.
D The fault number is displayed when the FLTL is output. Refer to the fault number.
D For the relationship between the FLT and RST signals, refer to the RST signal in 4.1.4 Details on Se-
quence Input Signals.
4 -17
D The rated SM signal output (10 V) will turn ON when the motor is rotating at the speed set in C1-26
(S100), the rated speed set constant.
4 D The SM signal level can be adjusted with C1-16 (SMADJ), the control constant.
D The C1-16 (SMADJ) control constant is for speed adjustment. The actual motor speed will not be af-
fected by changing the set value of C1-16.
D The SM signal precision is less than 3% of the rated value when the motor is in reverse operation.
J LM (Load Rate Signal)
Connector number: 6CN
Pin number: 50
D The load rate signal indicates the load rate based on the rated output.
D The meter used must have the same specifications as the one for the speed meter.
D The load rate signal level can be adjusted with C1-17 (LMADJ) for control and C1-18 (LMFS) for full-
scale setting.
INFO Use 6CN pin 48 and 6CN pin 49 for the 0 V on the meter.
4 -18
J Signal Configuration
90° phase-difference, two-phase pulse (A and B), and marker pulse (C)
2CN
Inverter Encoder
+5 V 4, 5, 6
(300 mA max) +5 V
1, 2, 3
0 V 16 PA
Phase A C R P Phase A
17 *PA
18 PB
4
Phase B C R P Phase B
19 *PB
14 PC
Phase C C R P Phase C
15 *PC
Output line driver
Line receiver 7 equivalent to
equivalent to
SN75174
SN75175 SS
P indicates shielded
twisted-pair wires.
J Input Phase
Phase A Phase A
(PA) (PA)
90° 90°
Phase B Phase B
(PB) (PB)
Phase C Phase C
(PC) (PC)
4 -19
J Signal Configuration
90° phase-difference, two-phase pulse (A and B), and marker pulse (C)
J Output Circuit Configuration
The output circuit is a line receiver with RS-422A specifications. Use a line receiver with specifications
matching the RS-422A specifications for signal exchange as shown in the following connection example.
1 CN
Inverter Receiver circuit (prepared by user)
13 PAO
Phase A P RT CT Phase A
14 *PAO
15 PBO
Phase B P RT CT Phase B
4 16 *PBO
11 PCO
Phase C P RT CT Phase C
12 *PCO
RT: 51 to 200Ω
17 CT: 47 to 200PF
Output line driver
SN75174 Use a line receiver matching
EIA RS-422A standards,
such as the SN75175.
P
indicates shielded twisted-pair wires.
J Output Phase
Phase A Phase A
(PAO) (PAO)
90° 90°
Phase B Phase B
(PBO) (PBO)
Phase C Phase C
(PCO) (PCO)
4 -20
5 -1
5 -2
Fig. 5.1 shows the display section and operation keys of the Digital Operator, and Fig. 5.2 shows the LED dis-
play status of the RUN and STOP keys. Table 5.1 shows the displayed characters and the corresponding alpha-
bets and numbers, and Fig. 5.3 shows the display of bit selection signal.
Display
Displays monitored values of speed reference
and function set values.
Run Command Key Digital Operator
JVOP-132
These are run command keys when the drive is oper-
ated by the Digital Operator. These keys are effective
only in operation by Digital Operator.
Display Selection Key
DRIVE/PRGM: Emergency stop
5
When this key is depressed, the op- Depress this key to select display items.
eration speed is reduced and stopped.
Then current is interrupted. LOCAL DRIVE Read/Write Key
DSPL
REMOTE PRGM Depress this key to display set values of
JOG: Jog run: constants. Depress this key again to write
When this key is held down, jogging DATA
is possible. JOG
ENTER set values.
FWD/REV: Forward and reverse rotation switch Numeral Change Key
FWD Use these keys to change values such as set
When this key is depressed, direction
of rotation is changed. REV RESET values and constant Nos.
∧: Increment key
RUN: Run command
JOGRUN STOP
∨: Decrement key
When RUN is depressed, the red LED on
the left part of the key lights.
Digit Selection Key
Use this key to select a position in a set val-
STOP: Stop command
When STOP is depressed, the red LED on ue to be changed. The selected position
the left part of the key lights. blinks. (Use this key to reset after and error
occurs.)
Fig 5.1 Display Unit and Operation Keys of the Digital Operator
RUN and STOP LEDs light, blink, and go OFF depending on the status of operation.
Motor Speed
[FWD]or [REV]
FWD Speed Reference
REV RESET
Main Circuit Power Supply
JOGRUN STOP
RUN
LED
STOP
LED
ON Blink OFF
5 -3
0 A N −
1 B O −
2 C P
3 D Q −
4 E R
5 F S −
6 G − T −
7 H − U
8 I − V −
9 J − W −
. G K − X −
− L Y −
M − Z −
5 1: ON
0: OFF
Bit 76 54 32 10
Fig 5.3 Display of Bit Selection Signal
5 -4
Control power ON
5
Cj-jj The control constants are displayed.
Alarm is ON.
* “88888” will be display if the model is the M5N for NC systems until communications with
the NC machine are established.
Fig 5.4 Display Order of Digital Operator
5 -5
S U1-01 (motor speed) data is Because the motor does not rotate when power
displayed. supply is turned ON, “0” is displayed.
5 Description
Key
Digital Operator Display Remarks
Sequence
S Motor speed data No. is dis- DSPL Control signal status of each unit can
played. (Operation status be monitored.
display has been selected.)
S Fault record display is se- DSPL Contents of past faults are displayed.
lected. 1AL30 indicates the last fault is en-
coder signal disconnection.
5 -6
Key
Description Digital Operator Display Remarks
Sequence
S U1-01 is displayed.
S Move blinking cursor to the Depress [>] key once more to return
data No. RESET the blinking cursor.
S Select U1-09.
S Display U1-09 data con- DATA The display example is the status
tents. ENTER when [RDY] and [EMG] signals are
ON.
S Return to operation status DSPL
No. display
For explanations of operation status display, refer to Chapter 11 Operating Status Displays.
Description
Key
Sequence
Digital Operator Display Remarks 5
S C1-01 is displayed.
S Move blinking cursor to the Depress [>] key once more to return
data No. RESET the blinking cursor.
S Select C1-10.
Note: When data outside the input range are set, “End” will not appear on the display and all data lines
will continue blinking even when the [DATA/ENTER] is held down. To correct this condition,
depress [DSPL] key returning to the data number display and correct the settings.
Refer to Chapter 10 Control Constants for contents of control constants.
5 -7
IMPORTANT The following are constants that cannot be changed during operation:
C1-25 to 59, C2-09 to 27, C3-09 to 25: Cannot be changed during operation. Change when
stopped.
C1-01 to 24, C2-01 to 08, C3-01 to 08: Can be changed during operation or when stopped.
In Digital Operator operation mode, operation is enabled by commands from the Digital Operator. The
following table shows the operation. Change the lower 2 bits of C1-37 from “ ” to “ ” to turn ON the
operation mode.
Key
Description Digital Operator Display Remarks
Sequence
S C1-37 is selected.
The following table shows the reference list in Digital Operator operation. Operation control signals (se-
quence input) and speed references displayed among reference display are handled similar to constant set-
up.
Bit 9 8 7 6 5 4 3 2 1 0
TLH
TLL
Operation signal SSC
Binary
(Sequence input) −−−
CHW
PPI
ORT
LGR
MGR
−−−
5 -8
Key
Description Digital Operator Display Remarks
Sequence
S Select d1-02.
The following table shows the keys used in the Digital Operator operation mode. Rotating direction is se-
lected by [FWD/REV] key and run/stop by [RUN] or [STOP] key.
Jog run can be performed when the key is held down. [Runs at 5% ref-
JOG Jog run key
erence of rated speed setting (C1-26).]
Depress the key to start operation. (Red LED on the left lights during
JOGRUN Run command key
run.)
Depress the key to stop operation. (Red LED on the left lights during
STOP
JOG Stop command key
stop.)
To return to operation mode using a regular external run command, change the lower 2 bits of C1-37 from
“ ” to “ .”
5 -9
Display Example
Time
Fault Reset
5 -10
Fault No.
Fault Occurrence No. (1 to 6)
The larger the number, the older the fault data.
Display Example
Time
5
D Displays the third most recent fault No.
IMPORTANT S Fault record data are not erased by fault reset or turning OFF power supply. (The data will not affect
the operation.)
S To erase fault record data, turn ON bit 0 of C1-57 (right end) and turn OFF the control power supply.
When power is turned ON again, data will be erased and bit 0 of C1-57 will automatically be turned
OFF.
5 -11
This chapter explains the setup for trial operation, and gives examples of
Digital Operator operations and trial operation.
6.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -4
6.2 Trial Operation Procedure . . . . . . . . . . . . . . 6 -5
6.2.1 Checking the Power Supply Voltage . . . . . . . . . . . . 6 -5
6.2.2 Setting the YENET1200 Node Address . . . . . . . . . 6 -5
6.2.3 Turning ON the Control Power Supply . . . . . . . . . . 6 -5
6.2.4 Turning ON the Main Circuit Power Supply . . . . . . 6 -5
6.2.5 Checking the Motor Cooling Fan . . . . . . . . . . . . . . . 6 -6
6.2.6 Starting Trial Operation . . . . . . . . . . . . . . . . . . . . . . . 6 -6 6
6.3 Converter and Inverter LED Displays . . . . . 6 -7
6.3.1 Display Details Tables . . . . . . . . . . . . . . . . . . . . . . . . 6 -7
6.3.2 Display when the Converter Control Power Supply Is
Turned ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -7
6.3.3 Display when an Error Occurs . . . . . . . . . . . . . . . . . 6 -8
6.4 Constant Settings . . . . . . . . . . . . . . . . . . . . . . 6 -9
6.4.1 User Constant Functions Table . . . . . . . . . . . . . . . . 6 -9
6.4.2 Soft Start Time Setting (TSFS: C1-10) . . . . . . . . . . 6 -10
6.4.3 Load Factor Meter Full Scale (LMFS: C1-18) . . . . 6 -10
6.4.4 Zero Speed Detection Level (ZSLVL: C1-19) . . . . 6 -10
6.4.5 Speed Agree Width (AGRBD: C1-20) . . . . . . . . . . . 6 -10
6.4.6 Speed Detection Level and Detection Width
(SDLVL: C1-21, SDHYS: C1-22) . . . . . . . . . . . . . 6 -11
6.4.7 Torque Detection Signal Operation Level
(TDLVL: C1-23) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -11
6.4.8 External Control Torque Limit Level
(TLEXT: C1-24) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -11
6.4.9 Motor Code Selection (MTR: C1-25) . . . . . . . . . . . 6 -11
6.4.10 Rated Speed (S100: C1-26) . . . . . . . . . . . . . . . . . . 6 -13
6.4.11 Gear Ratios (RHGR: C1-27, RMGR: C1-28,
RLGR: C1-29) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 -13
6.4.12 Servo Mode Flux and Base Speed Ratio
(ΦSVH: C1-31, RBSH: C1-32,
ΦSVL: C1-33, RSBL: C1-34) . . . . . . . . . . . . . . . . 6 -13
6 -1
6 -2
CAUTION
D Never touch the heatsink because the temperature is very high.
Failure to observe this caution can result in harmful burns to the body.
D Verify the safe working range of the Motor and machine before operation.
Failure to observe this caution can result in personal injury.
D Do not check signals during operation.
The machine or the Unit may be damaged.
D Do not change the settings of the inverter unnecessarily. All the constants of the Inverter have
been preset at the factory.
The machine or the Unit may be damaged.
6 -3
6.1 Procedure
Perform trial operation according to the following flowchart.
Item Details Refer-
ence
Page
Installation and Mounting Install the Inverter and Converter according to the installation conditions. 1 -5
S Check that the installation conditions are satisfied.
Wiring Connect the power supply and peripheral devices. 2 -3
S Select peripheral devices that meet the specifications, and wire them firmly.
S Be sure to check that the main circuit power supply input terminals (R/L1, S/L2, and T/L3) and control
power supply input terminals (A1/r and A/2t) are wired firmly.
S Check that the Motor output terminals (U/T1, V/T2, and W/T3) and the Motor are connected firmly.
S Check that the ground terminal is connected firmly.
S Check that the wiring between the Converter and Inverter (main circuit DC (P/+ and N/−), control power
supply (P1 and N1), and control signal (5CN and 51CN)) is connected firmly.
S If using a Unit mounted inside of a panel (11 kW min.), check that the power supply terminals (A1j/rj
and A2j/rj) for the cooling fan are connected firmly.
S Check that the control circuit signal and Control Unit are wired firmly and be sure that all control circuit
signals are OFF.
S If using an Orientation Card, check that the Card is wired firmly.
S If using a magnetic contactor for switching windings, check that the contactor is wired firmly.
Check Power Supply Check that the power supply voltage is correct before turning ON the power supply. 5 -5
Voltage S Main circuit power supply voltage
200 V class: 3-phase 200 to 230 VAC, 50/60 Hz
400 V class: 3-phase 400 to 460 VAC, 50/60 Hz
S Control power supply voltage
1-phase 200 to 230 V, 50/60 Hz
Set YENET1200 Node If using an NC Drive (M5N), set the Inverter YENET1200 node address correctly using rotary switch 5 -5
Address SW1.
Turn ON Control Power Turn ON the control power supply, and check that there are no abnormalities with the Inverter and 5 -5
6 Supply Converter.
S If the 7-segment LED display is normal when the power supply is turned ON, it will read as follows:
Converter LED display: “ ”
Inverter LED display: “ ”
S If an error occurs, details of the error will be displayed on the LED display (or on the Digital Operator
data display). Refer to Chapter 12 Troubleshooting, and perform the appropriate remedy.
Turn ON Main Circuit Turn ON the main circuit power supply, and check that the 7-segment LED display on the Converter 5 -5
Power Supply has changed to “ ”.
S If the Converter LED display continues to display “ ”, the main circuit input voltage is too low, or
the phase has been interrupted. Check the input power supply voltage.
Check Motor Cooling Fan When the main circuit power supply is turned ON, the Motor cooling fan will start to rotate. Check that 5 -6
the direction of the Motor air flow is correct as shown in Fig 6.1.
Check Motor Code Check that the Motor code selection (C1-25) is set correctly. (Check the Motor model and Motor code 5 -11
using the factory settings table enclosed with the Inverter.)
S If changing the Motor code (C1-25) set value, be sure to turn OFF the control power supply for three
seconds and then turn it ON again to enable the changed settings.
Perform Trial Operation Send the RUN signal to start trial operation. (If using a Digital Operator for the trial operation, refer to 5 -5
5.3.5 Digital Operator Operation Mode.)
S When the RUN signal is sent, check that the 7-segment LED display on the Inverter and Converter
changes to “ ”.
S Check that the direction of Motor rotation is correct.
S Check that there is no abnormal vibration or noise coming from the Motor.
6 -4
Note: The Inverter can operate within the voltage fluctuation range shown in the table above, but
make the following settings for optimum characteristics. 200-V series: 200 to 240 V, and
400-V series: 400 to 480 V. If the voltage falls below 200 V or 400 V, lower outputs may
not be possible in the high-speed range as specified. Therefore, if the input voltage can be
converted to within these ranges using transformer tap conversion or other method,opti-
mum operation according to the characteristics can be achieved.
6.2.2 Setting the YENET1200 Node Address
Before turning ON the control power supply, set the YENET1200 node address using rotary switch SW1
on the Inverter Unit. The node address must agree with the NC Unit node address parameter settings.
IMPORTANT Turn ON the control power supply before (or at the same time as) turning ON the main control circuit power
supply. Also, turn OFF the main power supply before (or at the same time as) turning OFF the control power
supply. Failure to observe this precaution can result in the Converter and Inverter malfunctioning.
6 -5
Operation Reference + −
RUN Signal FWD CCW CW
REV CW CCW
CCW
6 -6
J Inverter
Display Explanation
Indicates that the Inverter is not operating (baseblock condition).
Indicates that the Inverter is operating.
Indicates an error. Alternately displays the error number and the error
(Error number) details. (This example shows that the error, which is the 2nd to occur, is a
broken Motor thermistor wire. For other errors, refer to Table 12.2.)
(Error details)
If only one error has occurred, only the error details are displayed. 6
• • Indicates that the WDT is working correctly (Exchange the control card).
Note: The M5N (for NC systems) does not have a 7-segment display for the Inverter.
6.3.2 Display when the Converter Control Power Supply Is Turned ON
When the control power supply is turned ON, the 2-digit 7-segment LED display will display the software
version of the Converter control card (with software version 0j20 or later).
Example: Software version is 0020.
6 -7
6 -8
M5A: Stand-alone drive (analog speed reference settings); M5N: NC system (YENET1200 serial communica-
tions)
ON: Constant valid; OFF: Constant not valid (Not used.)
6 -9
Speed base
0 TSFS TSFS
Time (s)
Fig 6.3 Soft Start Time Setting
6.4.3 Load Factor Meter Full Scale (LMFS: C1-18)
The load factor meter displays the output ratio (in %) over the Motor rated output while the Motor is operat-
ing. Set the full scale value (i.e., the percentage value over the Motor continuous rating) of the load factor
meter using control constant C1-18. The setting can be between 120% and 500%.
ON (contact closed)
Lit when ZSPD is ON
Signal output
6
OFF (contact open)
0
Motor speed
(U1-10 display) −2 +2
C1−19
Fig 6.4 Zero Speed Signal Detection Level and Operation Display
6.4.5 Speed Agree Width (AGRBD: C1-20)
Use this constant to set the operation level of the speed agree signal (AGR) (ON when the speed agrees).
The speed agree width can be set between 10% and 50%. The standard setting is 15%.
50
Speed deviation (%)
Setting width
15
10
Operating
1.2 Operating
area
6 -10
6.4.6 Speed Detection Level and Detection Width (SDLVL: C1-21, SDHYS: C1-22)
When the Motor speed is below the set value, the output signal (SDET) turns ON. At this time, the U1-10
operating status display on the Digital Operator is as shown below. The speed detection signal level
(C1-21) can be set between 0% and 100%, and the speed detection signal detection width (C1-22) can be
set between 0% and 10%. (The percentage of the rated speed (C1-26) is displayed.)
C1−22
Lit when SDET is ON ON
Signal output
OFF
0 N
(U1-10 display) C1−21 Motor speed
Fig 6.6 Speed Detection Signal Level and Operating Status Display
6.4.7 Torque Detection Signal Operation Level (TDLVL: C1-23)
This constant is the set value for the torque detection signal (TDET) operation level. (The signal turns ON
when the torque is below the set value.) When TDET is ON, the U1-10 operating status display on the Digi-
tal Operator is as shown below. The torque detection signal operation level can be set between 5% and
120%, taking 30 minutes rated torque to be 100%. As shown in the following diagram, the operation point
has an hysterisis of ±10%.
OFF
0 (%)
(U1-10 display) C1−23 Torque reference
Fig 6.7 Torque Detection Signal Operation Level and Operation Display 6
6.4.8 External Control Torque Limit Level (TLEXT: C1-24)
This control constant is used when limiting the torque externally. The limit can be set between 5% and
120%, taking the rated torque for 30 minutes as 100%.
6 -11
6 400 V Standard
2030
45P5
0B
25
UAASKB-30FZj
UAASKA-06FZjOOE
068
102
4,800 (1,000)
8,000
30/20
5.5/3.7
180
178
47P5 26 UAASKA-08FZjOOE 103 8,000 7.5/5.5 164
4011 27 UAASKA-11FZjOOE 104 6,000 11/7.5 176
4015 28 UAASKA-15FZjOOE 105 6,000 15/11 164
4018 29 UAASKA-19FZjOOE 106 6,000 18.5/15 148
4022 2A UAASKA-22FZjOOE 107 6,000 22/18.5 143
4030 2B UAASKJ-30FZjOOE 108 4,500 30/22 164
4037 2C UAASKJ-37FZjOOE 109 4,500 37/30 148
4045 2D UAASKJ-45FZjOOE 10A 4,500 45/37 146
Winding 45P5 25 UAASKB-06FZjOOE 162 6,000 (1,500) 5.5/3.7 178
selection
47P5 26 UAASKB-08FZjOOE 163 6,000 (1,500) 7.5/5.5 164
4011 27 UAASKB-11FZjOOE 164 6,000 (1,500) 11/7.5 176
4015 28 UAASKB-15FZjOOE 165 4,800 (1,000) 15/11 164
4018 29 UAASKB-19FZjOOE 166 4,800 (1,000) 18.5/15 148
4022 2A UAASKB-22FZjOOE 167 4,800 (1,000) 22/18.5 143
4030 2B UAASKB-30FZjOOE 168 4,800 (1,000) 30/20 180
Note: Values in parentheses are the maximum speed (min−1) of the low-speed windings.
The maximum value of the load factor meter = (30-min rated output x 120%)/(continuous rated output) (%)
6 -12
(%)
100
Normal operation
C1−31
C1−33
0
Base speed
6.4.13 Positioning Completion Detection Width (ZFIN: C2-09 and C3-09) and Posi- 6
tioning Completion Cancel Width (ZCAN: C2-10 and C3-10)
Make sure the Motor is stopped before setting the Positioning Completion Detection Width and Position-
ing Completion Cancel Width. The orientation completion signal turns ON when the deviation between
the stop position reference and the stop position is below the completion detection width for 60 ms or lon-
ger. Also, after the completion signal has been output once, if the deviation is greater than the completion
cancel width, the completion signal will immediately turn OFF.
The encoder orientation control for both the completion detection width and completion cancel width can
be set between 0 (0_) and 200 (17.6_), and the magnetic sensor orientation control for both the completion
detection width and completion cancel width can be set between 0.0 and 20.0_, but the completion cancel
width cannot be set to a smaller value than the completion detection width. Also if after setting the comple-
tion cancel width, the completion detection width is set to a greater value than the completion cancel width,
the completion cancel width will automatically be set to the same value as the completion detection width.
Completion signal
−200 −P2 −P1 0 +P1 +P2 +200
Stop reference (+20°)
(−20°) position
Setting width
Note: Values in parentheses are when using magnetic sensor orientation control.
Fig 6.9 Completion Signal Detection Position
6 -13
150 min−1
4 1
Load shaft moment of inertia
6
0.4 0.1
0.1
0.04 0.01
10 100 1000 (N S m)
Load torque (Ts)
Fig 6.10 Orientation Speed Settings
6 -14
6.4.15 BCD Stop Position Reference Resolution (PBCD: C2-12 and C3-12)
Make sure the Motor has stopped before setting the BCD stop position reference resolution.
The BCD stop position reference resolution can be set between 0.5_ and 180.0_, but the stop position refer-
ence must be within ±360_. For example, when the set value = 90_, the resolution will be 90_ with a stop
position reference of 1, 180_ with a stop position reference of 2, 0_ with a stop position reference of 4,
and 90_ with a stop position reference of 5.
+360°
−10 −5
0 5 10
When C2-12 or C3-12 = 90
−360°
Fig 6.11 Stop Position Reference and Stop Position
6 -15
0.9
YES
Adjust C1-12 (SADJ) to
smaller than current value. 0
0.9 1.0 1.1 (C1−12)
C1-12 = Reference speed/Actual motor speed
Adjust C1-12 (SADJ) to
smaller than current value. Example: When reference speed = 6,000 min−1 and actual speed =
6,060 min−1., C1-12 = 6,000/6,060 = 0.99
(1)
6 -16
Capacity LM Capacity LM
YES 1.0
Adjust C1-17 (LMADJ) to 0.9
smaller than current value.
0
Adjust C1-17 (LMADJ) to 0.9 1.0 1.5 (C1−17)
greater than current value.
C1-17 = (120% of rated torque for 30 min.)/Load factor meter display
value
Press the DSPL Key to Example: When load factor meter display value = 150% at
reset the values. 7.5 kW/5.5 kW, C1-17 = 164/150 = 1.09
Adjustment completed
6-17
7 -1
7 -2
Fig 7.1 Standard Connections Diagram (for 200 V Class Winding Selection Motor)
7 -3
(P.U)
Low-speed winding output
1.0
SBL SML
0
0.083 0.33 (P.U)
Speed
SBH SMH
0
0.25 1.0
Low-speed coil range
High-speed winding range
7 -4
Approx. 170 ms
Winding 2CN
10-11
OFF ON
Auxiliary 2CN
contact 12-13
Winding selection completion signal ON OFF ON
(CHWE)
100 ms
Approx. 30 ms
Motor current
Reference Completed
Note: The auxiliary contact (2CN terminals 12-13) of the magnetic contactor for winding selec-
tion can be checked using control signal U1-09. When the auxiliary contact is ON, CHWA
of U1-09 is lit.
Fig 7.3 Winding Selection Timing Chart
7 -5
Start
M42 NO
Low speed to
high speed
YES M41 NO
High speed to
low speed
NO
S reference ≥ K X SCHW
YES
YES NO
S reference < K X SCHW
Speed reference = SCHW
YES
S reference
Speed reference =
NO K
Does speed agree (AGR)?
YES
NO
Winding selection Does speed agree (AGR)?
(CHW turns OFF.)
YES
7 Winding selection
NO (CHW turns ON.)
Switching completed
(CHWE)?
YES
NO
Switching completed
(CHWE)?
S reference
Speed reference =
K YES
1.0
Speed reference
End M42
* 1. Operations within the dotted lines are Inverter internal signal processes.
* 2. M41: Low-speed winding selection
M42: High-speed winding selection
S reference: Main shaft rotation speed reference (main shaft) M41
SCHW
SCHW: Winding selection speed (Motor)
(In the diagram, SBH ≥ SCHW ≤ SML)
K: Gearbox ratio (When main shaft is traveling at 4,000 min−1,
if the Motor is operating at 5,000 min−1, K = 0.8.) 0 S reference 1.0
Speed reference: Motor speed reference.
The relationship between the speed reference and S reference for M41
and M42 is shown in the diagram on the right.
Fig 7.4 Flowchart
7 -6
[AGR] OFF
ON
[CHW] OFF
ON
[CHWE] OFF
ON
2000 min−1
SCHW
Speed 500 min−1 500 min−1
reference
0
Speed
0
Fig 7.5 Timing Chart
7 -7
This section explains the automatic winding selection methods. There are two methods.
The flowchart and timing chart for performing automatic winding selection judging from the actual motor
speed alone using the Inverter speed detection signal (SDET) are shown below.
Start
Motor speed ≥ NO
SCHW + nS
YES NO
Motor speed ≤
(SDET) OFF SCHW − nS
YES
NO (SDET) ON
Low-speed winding?
YES NO
High-speed winding?
Select high-speed coil.
(CHW Turns OFF.)
YES
End
* 1. Operations within the dotted lines are Inverter internal signal processes.
* 2. SCHW: Winding selection speed (Motor) (Set using control constant C1-21 (SDLVL).)
∆S: Switching speed hysterisis width (Set using control constant C1-22 (SDHYS).)
Set SCHW and ∆S as shown below.
Within the diagram,
SCHW − ∆S ≧ SBH
SCHW + ∆S ≦ SBH
S CHW OFF
C1−21= × 100(%)
S100 (C1-26) [SDET]
ΔS × 100(%)
C1−22= ON
S100 (C1-26)
−nS SCHW +nS
(Where ∆S = 100 to 200 min−1)
(C1-21)
Refer to Chapter 5 Operating the Digital Operator for details on the setting methods.
7 -8
S2000 S500
S500
OFF
[SDET] ON
OFF
[CHW] ON
OFF
[CHWE] ON
2000 min−1
nS
SCHW
Speed 0 nS
This method performs winding selection by judging whether the speed reference and actual motor speed
are within the high-speed winding selection range or the low-speed winding selection range, using the
speed reference and the Inverter speed detection signal (SDET). (Refer to the table below.) Compared with
the changing method that uses only the speed detection signal, signal processing is increased, but the fre-
quency of magnetic contactor changing can be reduced. The flowchart and timing chart are shown below.
Start
NO
Speed reference ≥
SCHW + nS
YES NO
Speed reference ≤
SCHW − nS
NO
Is SDET OFF?
YES
YES
7
NO
Is SDET ON?
Select high-speed winding.
(CHW turns OFF.)
YES
YES NO
Winding selection
completed (CHWE)?
YES
End
* Operations within the dotted lines are Inverter internal signal processes.
Fig 7.8 Flowchart
7 -9
Set the host controller speed reference judgment level SCHW and the hysterisis level ∆S to the same values
as the Inverter speed detection signal level C1-21 (SDLVL) and the speed detection signal detection width
C1-22 (SDHYS).
Table 7.1 Winding Selection Conditions
Speed Speed Reference
≧ SCHW − ∆S ≦ SCHW − ∆S
Speed ≧ SCHW − ∆S (SDET High-speed winding selected Winding selection not performed
OFF)
Speed ≦ SCHW − ∆S (SDET ON) Winding selection not performed Low-speed winding selected
M05 M03
S2000 (Stopped) S500
(FWD rotation)
[FWD] OFF
ON
OFF
[SDET] ON
[CHW] OFF
ON
[CHWE] OFF
ON
2000 min−1
Speed 0 nS
Fig 7.9 Timing Chart
7 -10
7 -11
8.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 -6
8.4.1 Encoder Orientation Card (ETC62613X) . . . . . . . . 8 -6
8.4.2 Load Shaft Mounted Encoder
(NE-1024-2MDF-068) . . . . . . . . . . . . . . . . . . . . . . 8 -6
8 -1
Orientation signal
gear selection
6CN
Orientation
AC main
Motor encoder signal shaft motor
Stop position 1CN 2CN
reference
No Encoder
Orientation Card
Motor encoder signal
required
1:1
Transmission
mechanism
Main shaft
(gear,belt,etc)
Tool
Fig 8.1 Main Shaft Orientation Device Configuration for Motor Encoder Method
NC panel VS−626M5
Orientation signal
gear selection
6CN
8
Orientation AC main
Stop position 1CN 2CN Motor encoder signal shaft motor
reference
Transmission
Main shaft mechanism
(gears, belt, etc.)
Tool
Fig 8.2 Main Shaft Orientation Device Configuration for Spindle Shaft Encoder Method
8 -2
1-phase r A1/r
300 VAC t A2/t Flat cable
52CN
Ground to 100 Ω or less.
Not used 2CN
Ground to 100 Ω or less.
+5V 4,5,6 1
0V 1,2,3 2
1CN 3CN
PA 16 3
Digital Op- :PA 17 P 4
Not used erator (op- PB 18 5
tional) :PB 19 P 6
PG
PC 14 7
MCCB: Wiring circuit breaker :PC 15 P 8
MC: Magnetic contactor 9
6CN
L: AC reactor
*3 19,20,21 EXTCOM0*2 THSA 8 11 TS
24-V external 22,23 24VCOM THSB 9 P 12
power supply 24,25 0VCOM SS 7 10
6 RDY 1CN
7 EMG
8 FWD PAO 13
9 REV :PAO 14 P
10 TLH PBO 15
11 TLL(INC) :PBO 16 P
Motor encoder signal output
12 SSC(SV) PCO 11
13 RST :PCO 12 P
14 CHW SS 17
5 DAS
15 PPI
16 ORT 12-bit digital refer- Stop position
EXTCOM*2 31 *3
ence reference
17 LGR
18 MGR 24VCOM 32 24-V external
0VCOM 33 BCD BIN BCD
power supply BIN
3-digit 2-digit 3-digit
3 SCOM D1 19 1 1 1 1
Speed reference 4 0V D2 20 2 2 2 2
2 SS D3 21 4 4 4 4
D4 22 8 8 8 8
33 ZSPD
34 AGR
35 SDET
D5 23
D6 24
D7 25
10
20
40
1
2
4
16
32
64
10
20
40
16
32
64
8
36 TDET D8 26 80 8 128 80 128
37 TLE D9 27 100 10 256 100 256
38 ORG D10 28 200 20 512 200 512
39 ORE D11 29 400 40 1024 400 1024
40 CHWE D12 30 800 80 2048 Sign Sign
42 COM1
6CN
43
44 FLT SM 47
45 SM
0V 48
26 FC0
27 FC1 LM 50
28 FC2 LM
29 FC3 0V 49
41 FLTL
46 TALM
30 COM2
I/O card P indicates shielded twisted-pair cable.
*1 In the 400-V class, 3-phase 400 VAC is used.
*2 6CN EXTCOM0 and 1CN EXTCOM are isolated internally.
*3 Sequence input common is the external common contact.
Fig 8.3 Standard Connection Diagram for 200-V Class User-set Position Stop Control
Using a Motor Encoder
8 -3
3MCCB
8 43
44 FLT
6CN
SM 47
45 SM
0V 48
26 FC0
27 FC1 LM 50
28 FC2 LM
29 FC3 0V 49
41 FLTL
46 TALM
30 COM2
I/O card
*1 In the 400-V class, 3-phase 400 VAC is used.
*2 6CN EXTCOM0 and 1CN EXTCOM are isolated internally. Encoder Orientation Card
*3 Sequence input common is the external common contact. (optional) Load shaft encoder
8CN
+5V 4,5,6 H +5V
P indicates shielded twisted-pair cable. 9CN
0V 1,2,3 K 0V
4 SPOA A PA
P SPA 16
5 :SPOA :SPA 17 P N :PA
6 SPOB C PB
Load shaft encoder signal P SPB 18
7 :SPOB P R :PB
output 2 SPOC :SPB 19
SPC 14 B PC
P 3 :SPOC P P :PC
1 SS :SPC 15
SS 20 E FG
Fig 8.4 Standard Connection Diagram for 200-V Class User-set Position Stop Control
Using a Load Shaft Encoder
8 -4
8 -5
8.4 Dimensions
The dimensions of the Orientation Card and Encoder are shown in the following diagrams.
123
8CN
91
9CN
(Unit = mm)
Fig 8.5 Dimensions of Encoder Orientation Card
20
+0.014
2 1.15 0
15.86−0.017
−0.006
−0.009
50.86 −0.025
−0.11
+0.012
50
68 ± 0.5
0
68 ± 0.5
56 ± 0.2
16
14.3
28
φ
φ
φ
+0.05
30
Four 5.5-dia.
56±0.2 3 5
mounting
holes
68±0.5 33±0.5 102±1 Key position
(Unit = mm)
97F3102E20−29P
* 1. Mount to prevent backlash, as this may cause inaccurate positioning.
* 2. A Shaft Load Encoder without a flange is also available.
8 * 3. Ask your Yaskawa representative for Load Shaft Encoders for built-in motors.
Fig 8.6 Dimensions of Load Shaft Mounted Encoder
8 -6
Encoder: MS3102A20-29P
Cables: MS3106A20-29S (Straight plug, solid shell)
MS3106B20-29S (Straight plug, 2-piece shell)
MS-3108B20-29S (L−plug, 2-piece)
MS3057-12A (Cable Clamp)
A B C D E F G H I
PA PC PB --- FG --- --- 5V ---
K L M N P R S T ---
0V --- --- *PA *PC *PB --- --- ---
Notes: 1. The asterisk (*) for signals *PA, *PB, and *PC indicates reverse rotation signals.
2. The connectors are manufactured by Nihon Koku Denshi Kogyo (KK).
Fig 8.7 Load Shaft Encoder Connector Terminal Arrangement
8 -7
A1: Red
A2: Black
A3: Yellow-green 1: Blue and white
B1: Blue and white-blue 2: Yellow and white
B2: Yellow and white-yellow 3: Green and white
B3: Green and white-green 4: Red and white
B4: Orange and white-orange 5: Purple and white
B5: Purple and white-purple 6: Blue and brown
B6: Gray and white-gray 7: Yellow and brown
8: Green and brown
9: Red and brown
10: Purple and brown
Standard Specifications Standard lengths: 5 m, 10 m, and 20 m
No terminal processing (Connectors are not supplied.)
Note: The composite KQVV-SW (BDP8409123) is the standard product for the internal configuration and lead colors.
D Multiple volt signals pass through the signal cable, so arrange the wiring by separating the signal cables
from power cables.
D If rotation is clockwise as seen from the end of the Encoder shaft during forward rotation of the load
shaft, reverse phase A and phase B as shown in the following diagram.
8CN
8 SPA 16
P
A
N
PA
* SPA 17 * PA
18 C
SPB PB
19 P R
* SPB * PB
8 -8
UI-19 D1 D2 D3 D4 D5
12-bit digital reference D6 D7 D8 D9 D10
signal status
D11 D12
Note: When the input signal is ON, the indicator is lit.
Fig 8.9 Stop Position Reference Signal Status Display.
C1−36
Bit 7
12-bit Digital Reference Signal Function Selection: 1CN-19 to 1CN-30 will be the 12-bit Digital Refer-
ence if bit 07 of the C1-36 selection signals (SEL1) is turned OFF.
Operation is performed when pins 19 to 30 on connector 1CN are turned ON. Pins 19 to 30 correspond
to signals D1 to D12.
D Signals D1 to D12 are stop position reference signals when performing user-set position stop control 8
using a motor encoder or load shaft encoder.
D Stop position references are sent externally, taking the load shaft origin to be 0.
D The position reference can be selected using 12-bit binary or 3-digit BCD.
Absolute Binary Data 12 bits 0_ to 359.9_
(000 to FFF Hex)
BCD Sign: 1 bit −θ to θ
Data 3 digits (11 bits) (−799 to 799 decimal)
Incremental Binary Sign: 1 bit −2,047 to 2,047 pulses
Data: 11 digits (−000 to 7FF Hex)
BCD Sign: 1 bit −θ to θ
Data: 3 digits (11 bits) (−799 to 799 decimal)
D When the sign bit is ON, the sign is negative, and when the sign bit is OFF, the sign is positive.
D θ is determined by adding the 3-digit BCD data and the BCD stop position reference resolution C2-12
(PBCD) of the control constant. The following equation must be satisfied: θ < 360_
D The relationship between the reference signals and the number of pulses is shown in the following
table.
8 -9
D When using signed binary data, the meaning of the signal will depend on the sign (+ or −).
If the sign is positive, the total number of bit pulses input is added:
0 0 1 0 1 0 0 1 0 0 1
: : : :
256+ 64 + 8 + 1 = 329
If the sign is negative, the negative of sum of the number of bit pulses input is used:
− (256 + 64 + 3 + 1) = −329
D For incremental operations, binary references cannot be above 180_. For BCD references, references
above 180_ are possible depending on the setting of the BCD stop position reference resolution C2-12
(PBCD) to a maximum of ±360_.
INFO The input signal circuit for the stop position reference for the Encoder orientation is the same as that shown
in 3.4.4 Sequence Input Signal Circuits.
8-10
8.8 Functions
This section explains in detail the Encoder orientation control code functions.
There are two types of user-set positioning operations. This section explains them both.
D Absolute positioning
D Incremental positioning
8.8.1 Absolute Positioning
Absolute positioning is used when performing positioning to the specified stop position based on the load
shaft origin. Consequently, if the specified stop position is 0_, the shaft will stop at the load shaft origin,
and if the specified stop position is 90_, the shaft will advance 90_ clockwise before stopping.
When the orientation signal is input while the motor is rotating (or while the motor is stopped), the load
shaft immediately decelerates (or accelerates) to the orientation speed that has been set. After attaining the
set speed, the Encoder phase-C signal is checked, and then the shaft stops at the position specified by the
servo loop, and an orientation completion signal (ORE) is output at the same time.
After orientation has been completed, the servo loop will still continue to operate unless the orientation
completion signal is turned OFF, so even if external force is applied to the load shaft, the shaft will not slip
easily from the positioning point.
The timing chart for the absolute positioning operation is shown in the following diagram.
8 -11
Speed
( Reference)
( Actual speed)
0
Incremental operation
Position
( Reference)
( Actual speed)
0
When performing incremental positioning, make sure that the position does not slip while the orientation
signal is turned OFF. If the position slips, stop position accuracy will be lost.
8 -12
[EMG] ON
[RDY] ON
[ORT] ON
15 ms min.
D In the orientation control, after the Encoder phase−C signal is checked, the shaft stops at the specified
position, and an orientation completion signal (ORE) is output. The detected position of the origin
signal is cleared when the motor speed exceeds 50 min−1 after the shaft has stopped. (it is also cleared
if the motor is rotated by external force.) If the ORT signal is input when the detected position of the
origin signal is cleared, the motor will rotate to detect the origin signal.
D If the ORT signal is input when the detected position of the origin signal is being held, the motor does
not rotate because the origin signal does not have to be detected. Therefore, if the ORT signal to the
current position is input, an orientation completion signal (ORE) is immediately output without rotat-
ing the motor.
D Assume the motor may rotate after the ORT signal is input because it is impossible to check if the origin
signal is detected externally. Therefore, design the sequence for checking that an orientation comple-
tion signal (ORE) has turned ON after the ORT signal is input.
D The positioning rotation direction is described below.
Before the origin signal is detected: the set value in the Positioning rotation direction constant (C2-22,
bit 1 and 0)
When the origin signal is being held: If the ORT signal is input again, the rotation direction is automati-
cally detected, and shortcut control is carried out. The rotation direction cannot be specified.
8 -13
Turn ON the power supply. Initial Settings: Change Constants Using Digital Operator
S Turn OFF the orientation selection (bit 0) of selection signal 4 (C1-39).
S Turn OFF the tuneup operation selection (bit 4) of orientation selection
Make the initial settings. signal 1 (C2-22).
Tuneup Operation
Tuneup incomplete error (AL-60)
is displayed.
Orientation signal
Press the STOP and RESET Do not hold the key STOP Key and
Keys and release them together. down. RESET Key
FWD
Rotate Load shaft speed 0
motor forwards and NO REV
reverse. Does load
shaft stop at ori- Note: During tuneup, the orientation completion signal (ORE) is not
gin? output.
YES Perform error diagnosis
and correct error.
Load Shaft Origin
Select control constant display
for load shaft origin (C2-01). Orientation signal
8 Origin data 0 P1
(When 0 < P1 < P3 < P2)
P2 P3
Set the origin data, and press
the ENTER Key.
ENTER Key
FWD
Shaft stops at new origin. Load shaft speed 0
REV
P2
Load P3
Does shaft NO shaft
stop at correct posi- position P1
tion?
0
YES
(1)
8 -14
Stop position
Time
NO S If the load inertia changes, the characteristics will also change. Check
Is stopping smooth? the characteristics for the H, M, and L gears individually.
Select M gear.
Lit when M gear is selected
8
Turn OFF orientation signal (ORT). Interface input status (U1-09)
Select L gear.
Lit when L gear is selected
Adjustment completed.
8 -15
9.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 9 -6
9.4.1 Magnetic Sensor Orientation Card (ETC62614X) 9 -6
9.4.2 Magnet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 -6
9.4.3 Magnetic Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 -7
9 -1
NC panel VS−626M5
10CN
Magnetic Sensor
orientation card
Magnetic Sensor
Magnet
Transmission mechanism
(gears, belt, etc.)
Main shaft
Tool
Fig 9.1 Main Shaft Orientation Device Configuration for Magnetic Sensor Method
9 -2
2MCCB 2MC
1-phase r A1/r Flat cable
300 VAC A2/t 52CN
t Ground to 100 Ω or less.
Not used 2CN
+5V 4,5,6 1
Ground to 100 Ω or less. 0V 1,2,3 2
PA 16 3
1CN 3CN 4
Digital Op- :PA 17 P
Not used PB 18 5
erator (op-
tional) :PB 19 P 6
MCCB: Wiring circuit breaker PC 14 PG
7
MC: Magnetic contactor :PC 15 P 8
L: AC reactor 9
6CN
*3 19,20,21 EXTCOM0*2 THSA 8 11 TS
22,23 24VCOM THSB 9 P 12
24-V external 24,25 0VCOM SS 7 10
power supply 6 RDY
1CN
7 EMG
8 FWD PAO 13
9 REV :PAO 14 P
10 TLH PBO 15
11 TLL(INC) :PBO 16 P
PCO 11 Motor encoder signal output
12 SSC(SV)
13 RST :PCO 12 P
14 CHW SS 17
5 DAS
15 PPI
16 ORT 12-bit digital refer- Stop position
EXTCOM*2 31 *3
17 LGR ence reference
24VCOM 32 24-V external
18 MGR BCD BCD
0VCOM 33 power supply BIN BIN
3-digit 2-digit 3-digit
3 SCOM D1 19 1 1
1 1
Speed reference 4 0V D2 20 2 2 2 2
2 SS D3 21 4 4
4 4
D4 22 8 8 8 8
33 ZSPD D5 23 10 1 16 10 16
34 AGR D6 24 20 2 32 20 32
35 SDET D7 25 64
40 4 40 64
36 TDET D8 26 8 128
80 80 128
37 TLE D9 27 100 10 256 100 256
38 ORG D10 28 200 20 512 200 512
39 ORE D11 29 400 40 1024 400 1024
40 CHWE D12 30 800 80 2048 Sign Sign
42 COM1
43 6CN
FLT SM 47
44
9
45 SM
0V 48
26 FC0
27 FC1 LM 50
28 FC2 LM
29 FC3 0V 49
41 FLTL
46 TALM For Magnetic Sensor
30 COM2 Amplifier (FS-1378C)
I/O card
Magnetic Sensor Orienta- 10CN
tion Card (optional) 13 A
*1 In the 400-V class, 3-phase 400 VAC is used.
14 P D
Positioning signal
*2 6CN EXTCOM0 and 1CN EXTCOM are isolated internally. (for control) E
*3 Sequence input common is the external common contact. F
+15V 12 C
SG 3 P B
P indicates shielded twisted-pair cable. SS 1 G
Fig 9.2 Standard Connections for 200 V Class User-set Position Stop Control and Mag-
netic Sensor Positioning
9 -3
* 1. When the Magnet is mounted on the circumference of the φ120 load shaft. Excludes deviation due to mechanical deviation
and external magnetic fields.
* 2. Output may not reach continuous rated torque depending on the gain setting.
9 -4
9 -5
9.4 Dimensions
The dimensions for the Orientation Card, Magnet, and Magnetic Sensor are shown in the following diagrams.
123
91
10CN
(Unit: mm)
Note: The Magnetic Sensor Orientation Card can be shipped after being mounted to the Unit at
the factory.
Fig 9.3 Dimensions of Magnetic Sensor Orientation Card
9.4.2 Magnet
J MG-1378BS
Differential standard
hole, dia: 1.0
Four, 4.3-dia mounting holes Stainless steel cover 0.5 t
SPC 2.0 t
MG−1378−BS
30
22
N
12
S MACOME CORP
15 15 5 2.5
50
(Unit: mm)
Fig 9.4 Dimensions of MG-1378BS Magnet
9 J MG-1444S
2-φ4.3
N S
10
Name 30
plate 40 Base plate
50 (Unit: mm)
Fig 9.5 Dimensions of MG-1444S Magnet
9 -6
J FS-1378C
FSH-1378C Magnetic
Magnet direction ofSensor Head 25
FSD-1378C TRC116-21A 10-7M Recep-
travel Detector 2−φ5.4 13
tacle
6-core LCKV cable 1
1 1-groove 4.5 2.7 500 mm
(Tajimimusen)
pin
A
1
6
φ
36
18
50
60
5
40
φ
φ
φ12 18
22 16 4
SPC 0.5 t
10 37.5 37.5 10 TRC116-12A 10-7F Plug
Mounting cutaway (Tajimimusen)
95 Detail at A
2−M4 STP-7 Waterproof Ground
(Rappu)
φ20
(Unit: mm)
28
J FS-200A
4.2 mounting hole
4-core cabtire cable
MACOME Diameter: 6 mm
27
35
Length: 5 m
MAGNETIC FLUX
SENSOR FS−200A
11.5 42
22.5 1 50 4.2 x 5 oblong mounting hole
52.3
(Unit: mm)
Fig 9.7 Dimensions of FS-200A Magnetic Sensor
9 -7
Orientation card
10CN
(See note 1.) FSD-1378C
13
+ A Magnetic FSH-1378C
Position signal P
− 14
D Sensor
(See note 2.)
C Amplifier
12
+15 V P Sensor
3
SG B Head
1
SG
Metal connector
(supplied)
Notes:1. Use a model 2P 0.3-mm2 twisted-paired vinyl cable with copper shielding. Make sure the wiring distance is 20 m maxi-
mum.
10CN
Orientation Card 13 Green
+
Position signal − 14 White FS-200A
+ 12 V 10 Red Magnetic
SG 3 Black Sensor
Binary Controller
1 1CN
19
D1 (P01)
2 20 D2 (P02)
4 21
D3 (P03)
8 22 D4 (P04)
9 16
32
23
24
D5 (P05)
D6 (P06)
64 25 D7 (P07)
128 26 D8 (P08)
256 27
D9 (P09)
512 28
D10 (P10)
1024 29
D11 (P11)
2048 30
D12 (P12)
31
COM
Note: For the connector terminal arrangement, refer to 3.4 Wiring Control Circuit Signals.
Fig 9.10 Connection between Devices
9 -8
F A
E G B
C
D
9 -9
J Mounting Diagram
L
MG-1378BS Magnet nS2
L
δ
nS1
R
(a) MG-1378BS/FS-1378C
L
MG-1444S Magnet
L
δ
nS1
nS2
R
(b) MG-1444S/FS-200A
J Mounting Dimensions
The mounting dimensions for the above diagram are shown in the following table.
Sign Name MG-1378BS/FS-1378C MG-1444S/FS-200A
R Radius of rotating part 60 to 70 mm 60 to 70 mm
mounted to the Magnet*1
L Gap (between center of 6 mm (6 to 8 mm) 5 mm (3 to 7 mm)
Magnet and Magnetic
Sensor)*2
∆L Gap (between tip of Mag- 1 to 2 mm 1 to 2 mm
net and Magnetic Sen-
sor)*2
9 ∆S1 and ∆S2 Magnet and center of 0.5 mm max. 0.5 mm max.
Magnetic Sensor are no
longer aligned.*3
δ Angle of misalignment 0.2_ max. 0.2_ max.
from base surface.*3
* 1. When specifying the radius of the rotating part mounted to the Magnet, consider the maxi-
mum speed tolerance of the Magnet.
* 2. The value of L is the recommended value. Adjust the gap to satisfy the value of ∆L.
* 3. When the mechanical central shaft (e.g., the spindle nose key in the machining center) has
been matched, make sure that the center misalignment of the Magnet and Magnetic Sensor,
as well as the standard of accuracy of the emitter mounting, have been satisfied. Make sure
the base surface is parallel to the tangent at the point where it crosses the circumference of
the rotating part mounted to the Magnet and the Magnet centerline.
Fig 9.13 Magnet and Magnetic Sensor Mounting Diagram 2
9 -10
Magnetic Sensor
Silicon adhesive
9 -11
Load shaft
Magnetic Sensor
head pin groove
Magnet detection
standard hole
(a) MG-1378BS/FS-1378C
Load shaft
FS-200 printed on
the back
(b) MG-1444S/FS-200
9 -12
C1−36
Bit 7
The circuit operates when pins 19 to 30 of 1CN are turned ON.
D Use these stop position reference signals when performing user-set position stop control (incremental
operation) using Magnetic Sensor orientation.
D Stop position references are sent externally, taking the load shaft external home position to be 0.
D Select the position references as either 12-bit binary or 3-digit BCD.
Incremental Binary Sign: 1 bit −2047
2047 pulses to 2047 pulses
Data: 11 bits (−000 to 7FF hexadecimal)
BCD Sign: 1 bit −θ
θ to +θ
Data: 3 digits (11 bits) (−799 to 799 decimal)
D When the sign bit is ON, the sign is negative, and when the sign bit is OFF, the sign is positive.
D θ is determined using the sum of the 3-digit BCD data and the BCD stop position reference resolution
C3-12 (PBCD). The following equation must be satisfied, θ < 360_.
D The relationship between the reference signals and the number of pulses is shown in the following
table.
Signal 1CN Pin Number Binary BCD
With Sign With Sign
D1 19 1 1
D2 20 2 2
D3 21 4 4
D4 22 8 8
D5 23 16 10
D6 24 32 20
D7 25 64 40
D8 26 128 80
D9 27 256 100
D10 28 512 200
D11 29 1024 400
D12 30 Sign Sign
D If using signed binary, the meaning of the signal will depend on the sign (+ or −). If the sign is positive,
the total number of bit pulses input is added:
0 0 1 0 1 0 0 1 0 0 1 9
: : : :
256+ 64 + 8 + 1 = 329
If the sign is negative, the negative of sum of the number of bit pulses input is used:
− (256 + 64 + 3 + 1) = −329
D Binary references cannot be made above 180_. For BCD references, references above 180_ are pos-
sible, depending on the setting in BCD stop position reference resolution C2-12 (PBCD), to a maximum
of ±360_.
9 -13
9.10 Functions
This section explains in detail the Magnetic Sensor orientation control mode functions.
This section explains the Magnetic Sensor system fixed position stopping operation and user-set position
stopping operation.
9.10.1 Fixed Position Stopping Operation Using the Magnetic Sensor
When the orientation signal is input while the motor is rotating (or while the motor is stopped), the load
shaft immediately decelerates (or accelerates) to the orientation speed that has been set.
After attaining the set speed, the motor rotates until the Magnet and the center of the Magnetic Sensor are
aligned according to the servo loop, which uses the motor encoder signal from the point that the load shaft
Magnet passes the stop position, and stops at the fixed position using the Magnetic Sensor signal. The ori-
entation completion signal (ORE) is output at the same time.
After orientation has been completed, the servo loop will still continue to operate unless the orientation
completion signal is turned OFF, so even if external force is applied to the load shaft, the shaft will not slip
easily from the positioning point.
The timing chart for the positioning operation is shown in the following diagram.
Operation signal
(FWD or REV) ON
Orientation signal ON
(ORT)
Orientation completion signal ON
(ORE)
Orientation speed
Operation time
Speed
( Reference)
0
( Actual speed)
Operation signal
(FWD or REV)
ON
9 Orientation signal
(ORT) ON
Orientation completion signal
(ORE)
Operation time
Speed
( Reference)
( Actual speed) 0
9 -14
Speed
( Reference)
( Actual speed) 0
Note: If performing incremental positioning, make sure that the position does not slip while the orientation signal
is turned OFF. If the position slips, stop position accuracy may be lost.
Fig 9.17 Incremental Positioning
To use user-set position stop control, select the stop position reference using control constant bit 7 of C1-36
(SEL1).
When bit 7 of C1-36 is set to ON, the stop position reference is enabled and user-set position stop can be
used during orientation control. Normally, user-set position stop is used as a digital speed reference, so the
standard setting is OFF. When bit 7 is OFF, fixed position stop control is used.
C1−36
Bit 7
9 -15
Turn ON the power supply. Initial Settings: Change Constants Using Digital Operator
S Turn OFF the orientation selection (bit 0) of selection signal 4 (C1-39).
Initial settings S Set the sensor signal standardization angle (C3-20).
S Turn OFF the tuneup operation selection (bit 4) of orientation selection
signal 1 (C3-22).
Is gear ratio NO
setting correct? Gear Ratio Constants
S C1-27: Gearbox ratio (H)
YES 0.0400 to 2.5000
Adjust controller gear S C1-28: Gearbox ratio (M)
ratio constant. S C1-29: Gearbox ratio (L)
Is motor
speed U1-01 dis- NO
playing forward
rotation?
YES Turn OFF bit 7 of C3-22. Input Signal Check
Interface input status (U1-09)
Turn ON bit 7 of C3-22.
Select H gear.
Orientation signal is lit.
Orientation signal
Tuneup incomplete error
(AL-70) is displayed. STOP Key and
RESET Key 60 min−1
10 min−1
Press the STOP Key and RESET Do not hold the key FWD
Load shaft speed0
Key simultaneously. down. REV
Note: During tuneup, the orientation completion signal (ORE) is not
Rotate motor output.
NO
forwards. Does load
shaft stop at home Load Shaft Home Position
position?
Perform error diagnosis Orientation signal
YES and correct error.
(When 0 < P1 < P3 < P2)
9 Select control constant display for
load shaft home position (C3-01).
Home position data 0 P1 P2 P3
ENTER Key
Set the home position data,
and press the ENTER Key.
FWD
Load shaft speed 0
REV
Shaft stops at new home position.
P2
P3
Load shaft
stop position P1
Does shaft NO
stop at correct
position? 0
YES
(1)
9 -16
Offset small
Adjust control constants accord-
ing to machine specifications. Offset large
Stop position
Time
Turn ON orientation signal (ORT).
S If the load inertia changes, the characteristics will also change, so check
the characteristics for the H, M, and L gears individually.
H Gear Selection
Is stopping NO
Adjust Proportional Gain (C3-02)
smooth?
S If the ORE signal is not output close to the stop position, increase the
gain.
YES
Adjust virtual stop posi- S If the shaft load is unsteady even if the ORE signal is output, reduce the
tion offset (C3-13). gain.
Is position
accuracy insuffi- YES
cient, or is there Check M Gear Selection
hunting? S Interface input status (U1-09)
Adjust position control
NO proportional gain (C3-02).
Is position YES
accuracy insuffi-
cient, or is there
hunting? Adjust position control
NO proportional gain (C3-03).
9 -17
Is position
accuracy insuffi- YES Adjust Proportional Gain (C3-04)
cient, or is there S If the ORE signal is not output close to the stop position, increase the
hunting? gain.
Adjust position control
NO proportional gain (C3-04). S If the shaft load is unsteady even if the ORE signal is output, reduce the
gain.
Adjustment completed.
9 -18
The control constants of the VS-626M5 can be changed using the Digital
Operator (option). The control constants includes user constants (C1), op-
tional encoder orientation constants (C2), and magnetic sensor orientation
constants (C3).
10
10-1
Motor Speed Constant to adjust motor speed over analog speed reference. When the 1.1000
Adjustment Val-
Val value of SADJ increases, speed increases, and when the value of SADJ
C1-12
C1 12*2 ue decreases, speed decreases. Disabled when using digital speed reference. Yes --- 1 0000
1.0000
SADJ 0.9000
10-2
C1 29
C1-29
Gear Ratio 3 (L)
RLGR
Gear ratio determined by mechanical specifications. This parameter is
valid when L gear is selected (i.e.,
(i e LGR is ON).
ON) No --- 1 0000
1.0000
2.5000
10
Gear ratio = Load shaft speed ÷ Motor speed 0.0400
Motor Flux Set value of motor flux lower limit level at reduction control 100
Lower Limit
C1 30
C1-30 No % 15
Level
15
φWL
10-3
Servo Mode Base speed ratio when low-speed gear is selected (i.e., MGR or LGR is 5.00
Base Speed
p Ra- ON)) or when low-speed
p windingg is selected (i.e.,
( , CHW is ON)) in servo
C1 34
C1-34 tio
i (M
(M, L) mode
d (i.e.,
(i SV iis ON)
ON). No --- 1 00
1.00
RBSL 1.00
Base speed (Servo) = RBSL × Base speed (Motor)
Zero-speed Time for generating braking force after deceleration and zero-speed is 100
C1 35
C1-35 Braking Time reached to stop
stop. No sec 0
TBLK 0
Signal Selec- Selections for multi-functional signals and other selections.*3
tions 1 S Bits 1 and 0: 6CN pin 11
SEL1*4 00: TLL 01: −−−
10: INC 11: −−−
S Bit 2: 6CN pin 10
0: TLH 1: −−−
C1-36 S Bit 3: 6CN pin 12 No --- 00000000 ---
0: SSC 1: SV
S Bit 4: 6CN pin 15*2
0: PPI 1: LM10
S Bit 7: 1CN 12-bit digital reference signal selection*2
0: Digital speed reference
1: Orientation control stop position reference
Signal Selec- Selections for multi-functional signals and other selections.*3
tions 2 S Bits 1 and 0: RUN mode selection
SEL2*4 00: Operation by speed reference
11: Operation by Digital Operator
S Bit 2: 6CN pin 6
C1-37 0: RDY 1: EMG2 No --- 01000000 ---
S Bits 7 and 6: Digital speed reference selection*2
00: 2-digit BCD
01: 12-bit binary
10: 3-digit BCD
11: Internal speed setting
10
10-4
10-5
Load Meter Sig- Offset adjustment value for load meter signal. Outputs speedometer 200
nal Offset Ad-
Ad signal after subtracting from LMOFS. 5.4
C1 55*2
C1-55 justment Value Yes mV 0
LMOFS −200
Inverter Capac- Inverter capacity setting. (The setting is already made at factory prior
ity Selection to shipment.)
UNITNO
200 V class
CIMR
23P7 25P5 27P5 2011 2015 2018 2022 2030 2037
−M5
Set value 04 05 06 07 08 09 0A 0B 0C
C1-56 No --- --- ---
400 V class
CIMR 45P5 47P5 4011 4015 4018 4022 4030 4037 4045
−M5
Set value 25 26 27 28 29 2A 2B 2C 2D
When the setting has changed, turn the control power supply OFF for
3 seconds or longer then ON again.
Signal Selec- Control mode signal selections
tions 6 S Bit 0: Fault record clear selection
SEL6*4 0: Disabled
1: Clears next time control power is turned ON.
(Automatically returns to 0.)
C1-57 No --- 00000000 ---
S Bit 4 and 5: Emergency stop fault (AL-21) detection time selection *5
00: 10 sec
01: 20 sec
10: 40 sec
11: Disabled
10 Signal Selec-
tions 7
Control mode signal selections
S Bit 0: YENET1200 card encoder selection
SEL7*4 0: Motor encoder (2CN)
C1-58 No --- 00000000 ---
1: Load shaft encoder (8CN)
When the setting has changed, turn the control power supply OFF then
ON again.
C1-59 --- --- --- --- --- ---
10-6
*1. Change (change during operation) column: Indicates whether the constant can be changed during inverter operation.
Yes: Constant can be changed during inverter operation; No: Constant cannot be changed during inverter operation
*2. This constant is enabled for stand-alone drives (M5A) only. Do not change the set value for NC system s (M5N).
*3. Connector pin numbers are for stand-alone drives.
*4. In signal selection descriptions, 0 stands for “ ” and 1 for “ .”
*5. This function is available in the following software.
VSM200XXX: VSM200112 or later
*6. Constants only for IPM motors (with syncs using flush-type permanent magnets). C1-60 and C1-61 are not displayed when the
software for controlling an induction motor is used.
10
10-7
10-8
10-9
10
10 -10
10-11
S Bit 7, 6, and 5: Dither signal level (L) (i.e., MGR or LGR is ON)
000: 0% 011: 3% 110: 6%
001: 1% 100: 4% 111: 7%
010: 2% 101: 5%
10 -12
10
10 -13
The operating status of the VS-626M5 can be monitored on the Digital Op-
erator (option). The operating status displays include Inverter operation
(U1), optional encoder orientation control (U2), and magnetic sensor orien-
tation control (U3).
11
11 -1
11
U1-20 LED check All LEDs on the Digital Operator light when U1-20 is selected.
U1-21 PROM No. PROM software version number is displayed (lower 5 digits).
11 -2
Table 11.2 Operating Status Displays Functions for Encoder Orientation Control
No. Signal Name Explanation Unit
Orientation I/O signal status (See note.)
Stop reference Stop reference position expressed by dividing one rotation by 4096
U2-04 Pulses
position in reference to the set origin
Table 11.3 Operating Status Displays for Magnetic Sensor Orientation Control
No. Signal Name Explanation Unit
Magnetic sensor
U3-02*2 AD converted value of magnetic sensor signal
signal level
stop reference
U3-04 stop reference position expressed in reference to the set origin Pulses
position
11 -3
11
11-4
Troubleshooting
This chapter describes the Inverter and Converter fault displays, the faults
caused by motor malfunctions, and the corrective actions to be taken.
12 -1
12 -2
12 -3
12 -4
Motor over-
Motor overload capacity exceeded. Reduce the load. FFFF
load
* The ground fault here is one which occurs in the motor wiring while the motor is running.
A ground fault may not be detected in the following cases.
¯ A ground fault with low resistance which occurs in motor cables or terminals.
¯ A ground fault occurs when the power is turned ON.
12 -5
12 Winding
Winding selection was not completed
S Check the control constant
C1-25.
selection FFfF
within set time. S Check magnetic contactor wir-
fault
ing for winding selection.
Encoder sig-
Motor encoder signal was discon- Check the wiring of encoder sig-
nal cable dis- FFff
nected or connected improperly. nal lines.
connection
12 -6
Heatsink
Heatsink temperature over upper
Check the ambient temperature
for effective cooling.
FfFF 12
limit continued for one minute or
overheat 2
longer.
Thermistor for heatsink temperature
Heatsink detection was disconnected. S Replace the unit.
thermistor S Raise the ambient temperature FfFF
The ambient temperature is low
disconnection to above −20°C (−4°F).
(−20°C (−4_F) or below).
Control PCB
Control PCB temperature exceeded
temperature
80°C (176°F) (minor fault).
fault 1 Check the ambient temperature
FfFF
Control PCB for effective cooling.
Control PCB temperature exceeded
temperature
85°C (185°F).
fault 2
Internal cool- Inverter internal cooling fan is
Replace the internal cooling fan. FfFF
ing fan fault stopped.
tuneup
incomplete
Orientation command was input be-
(Encoder Perform orientation tuneup. FffF
fore tuning up (minor fault).
method
orientation)
Phase-C sig-
Phase-C signal could not be de-
nal detection
tected during tuning up.
error S Check the wiring g of encoder sig-
g
nall li
lines.
Phase-C sig-
Phase-C signal width exceeded 100 S Confirm that encoder signal
nal width er-
pulses. lines are separated from main
ror circuit or other power lines. FffF
Fault of num- S Verify that motor and Inverter
ber of pulses are grounded.
per rotation Number of pulses per rotation ex- S Replace the Orientation Card.
(Encoder ceeded 4096 ±1 during tuning up. S Replace the encoder.
method
orientation)
Position S Check the wiring of load shaft
Position detection encoder signal encoder signal lines.
detection sig-
cable was disconnected or con- FffF
nal cable S Replace the load shaft encoder.
nected improperly.
disconnection S Replace the Orientation Card.
INC signal er-
ror After carrying out absolute posi-
INC signal input timing error
(Encoder tioning, change circuit to com- FffF
(minor fault)
method mand INC signal.
orientation)
12 -7
YENET1200
Communication error between YE- Check the wiring on communica-
communica- ---
NET1200 card and NC machine. tion line.
tion error
Excessive
Position deviation exceeded the al-
position devi- Check the main axis load. ---
lowable range.
ation
YENET1200
YENET1200 card memory (PROM)
card ROM er- Replace YENET1200 card. ---
error
ror
YENET1200
communica- WDT error between YENET1200 Check the wiring on communica-
---
tion WDT er- card and NC machine. tion line.
ror 1
YENET1200
communica- WDT error between YENET1200
Replace the control PCB. ---
tion WDT er- card and control PCB.
ror 2
YENET1200
YENET1200 card detected NMI. Replace YENET1200 card. ---
card NMI
YENET1200
YENET1200 card detected division/
card zero di- ---
overflow error.
vision
12 -8
Communica-
YENET1200 card internal timeout
tions timeout Replace YENET1200 card. ---
error
2
Undefined
constant No. Undefined constant number is set. Check NC machine constants. ---
setting error
YENET1200
undefined Undefined command for YENET
12
---
command er- 1200 is specified.
ror
Replace YENET1200 card.
Constant
change dis- I/F card constant change is disabled. ---
able error
YENET1200
YENET1200 card memory (RAM)
card RAM er- ---
error
ror 1
Replace YENET1200 card.
card
YENET1200
YENET1200 card memory (IC) er-
card RAM er- ---
ror
ror 2
12 -9
YENET1200
YENET1200 card fault
card fault
YENET1200
YENET1200 card memory (com-
card RAM er-
mon RAM) error
ror
YENET1200
YENET1200 card data send/receive
12 card I/O fault
1
error (initial handshake error) Replace YENET1200 card. ---
YENET1200
WDT error between control PCB
card I/O fault
and YENET1200 card
2
YENET1200
YENET1200 card interrupt signal
card I/O fault
timeout error
3
Low Speed
Winding Check the external sequence to
The motor speed exceeded the max.
Overspeed Er- verify that the winding change fFff
speed for the low speed winding.
ror (For IPM point is correct.
motor only)
12 -10
CPU built-in
A/D Convert- CPU built-in A/D Converter error ffFf
er error
Phase U A/D
Phase U current detection A/D Con-
Converter er- ffFf
verter error
ror
Phase W A/D
Converter er-
Phase W current detection A/D
ffFf
12
Converter error
ror
Replace the control PCB.
PCB
Control cir-
cuit I/O fault ffFf
1
Control cir-
Data transmission error between
cuit I/O fault ffFf
CPUs.
2
Control cir-
cuit I/O fault ffFf
3
Selected motor code (C1-25) does Check motor model, motor code
Motor code
not match Inverter capacity (C1-25), Inverter model, and In- fffF
selection error
(C1-56). verter capacity selection (C1-56).
Inverter ca-
Selected Inverter capacity (C1-56) Check Inverter model and Invert-
pacity selec- fffF
does not match the Unit. er capacity selection (C1-56).
tion error
EEPROM er-
ffff
ror 1
EEPROM er-
ffff
ror 2 Replace the control PCB.
Memory (EEPROM) error
EEPROM er-
ffff
ror 3
EEPROM er-
ffff
ror 4
12 -11
12 -12
Motor fault (rotor and stator rub together, broken S Check motor shaft rotation manually.
bearing) S Replace the motor.
Motor rotates slowly or vi- S Check for abnormal changes in motor speed on speedometer
brates without rotation. Motor encoder fault or operating status display (U1-01).
S Replace the encoder or the motor.
12 -13
Incorrect setting of motor rated speed Check the setting of control constant C1-26.
12 -14
Motor does not stop at Encoder signal line disconnection, improper con-
Check the wiring of encoder signal lines.
orientation. nection, loose connector
(encoder method orienta- S Check for abnormal changes in motor speed on the speedom-
tion) Encoder fault eter or operating status display (U1-01).
S Replace the encoder or the motor.
Fault of Orientation Card or control PCB Replace the Orientation Card or the control PCB. 12
Confirm that orientation signal ORT is closed on operating
Orientation signal ORT is not input.
status display (U1-09).
Check the machine data for transmission ratio values (C1-27
Incorrect transmission ratio setting
Motor does not stop
p at to 29).
orientation.
i i Magnetic sensor signal line disconnection, im-
(magnetic sensor method Check the wiring of magnetic sensor signal lines.
proper connection, loose connector
orientation)
Rotate the load shaft and verify that ORG signal lights once
Fault of magnetic sensor or magnetizer
per rotation on operating status display (U1-10).
Fault of Orientation Card or control PCB Replace the Orientation Card or the control PCB.
Check whether the position reference is correct on operating
Incorrect setting of stop position reference
status display (U2-04).
Incorrect selection of binary/BCD reference or in- Check the setting of control constants C2-22 bit 3 and
correct setting of BCD reference resolution C2-12.
Incorrect selection of reference point at incremen-
Check the setting of control constant C2-22 bit 5.
tal positioning
Stop position differs from S Perform positioning at zero-point to measure position accu-
commanded position. Improper setting of load shaft zero-point position racy.
(encoder method orienta- S Perform tuneup again to set the load shaft zero point.
ti )
tion)
Encoder signal line disconnection, improper con-
Check the wiring of encoder signal lines.
nection, loose connector
S Confirm that encoder signal lines are separated from Inverter
Malfunction due to noise output wiring or other power lines.
(Poor encoder characteristics) S Check encoder cable specifications (whether the cable is a
shielded twisted-pair cable).
Control PCB fault Replace the control PCB.
Stop position differs from Magnetic sensor signal line disconnection, loose
Check the wiring of magnetic sensor signal lines.
commanded position. connector
(magnetic sensor method
orientation) Fault of Orientation Card or control PCB Replace the Orientation Card or the control PCB.
12 -15
12 -16
This chapter describes basic maintenance and inspection procedures for the
VS-626M5 and the VS-656MR5.
13 -1
WARNING
D Never touch high-voltage terminals in the Inverter or the Converter.
Failure to observe this warning can result in an electric shock.
D Close the upper and lower covers before supplying power to the Inverter or the Converter. Be-
fore opening the covers, always shut OFF the molded-case circuit breaker.
Failure to observe this warning can result in an electric shock.
D Perform maintenance or inspection only after verifying that the CHARGE LED indicator and
7-segment display go OFF after the main circuit power supply and control power supply have
been turned OFF.
The capacitors are still charged and can be dangerous.
D Only authorized personnel should be permitted to perform maintenance, inspections, or parts
13 replacement. Remove all metal objects (watches, bracelets, etc.) before performing these op-
erations. (Use tools which are insulated against electric shock.)
Failure to observe this warning can result in an electric shock.
CAUTION
D The control PC board employs CMOS ICs. Do not touch the CMOS elements.
They are easily damaged by static electricity.
D Do not connect or disconnect wires or connectors while power is applied to the circuits.
Failure to observe this caution can result in personal injury.
13 -2
13 -3
13 -4
14
This chapter describes the specifications for the Drives, Motors, options,
and peripheral devices.
14.1 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -2
14.1.1 Standard Drive Series . . . . . . . . . . . . . . . . . . . . . . . 14 -2
14.1.2 Winding Selection Drive Series . . . . . . . . . . . . . . . 14 -6
14.1.3 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -10
14.1.4 Panel Cutout Dimensions for External Heatsink
Cooling Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 -14
14.1.5 Calorific Value and Cooling Air Speed . . . . . . . . . . 14 -15
14 -1
14.1 Drives
This section provides the standard specifications of the Drives.
HP 3 5 7.5 10 15 20 25 30 40
Continuous Rating (S1)
(kW) (2.2) (3.7) (5.5) (7.5) (11) (15) (18.5) (22) (30)
Rated Base Speed 1500 1150
speed
(min−1) Maximum Speed 8000 6000 4500
N·m 14.0 23.5 35.0 47.7 70.0 95.0 117.6 182.3 249.1
Output Torque at
14 Motor
Base Speed Con-
tinuous Rating
lb·ft
(kgf·m)
10.4
(1.43)
17.4
(2.40)
25.8
(3.57)
35.8
(4.87)
51.7
(7.14)
70.6
(9.74)
86.9
(12.0)
134
(18.6)
183
(25.4)
Rotor Inertia J (GD2/4) lb·ft2 0.209 0.411 0.617 0.759 1.614 1.970 2.326 6.122 8.068
(kg·m2) (0.0088) (0.0173) (0.026) (0.032) (0.068) (0.083) (0.098) (0.258) (0.34)
Overload Capacity 120%, 60s of 30-minute rating
Vibration (µ·m) V5 V10
Noise Level 75dB (A) or less 80dB (A) or less
Ambient Temperature, Humidity 0°C to +40°C (32°F to 104°F), 95% or less (non-condensing)
Approx. Mass lb 71 119 130 150 207 238 269 481 580
(kg) (32) (54) (59) (68) (94) (108) (122) (218) (263)
14 -2
Model CIMR-M5j*1 23P7 23P5 27P5 2011 2015 2018 2022 2030 2037
Continuous Rated Input Cur-
rent (A) 17.6 17.6 26.2 35.7 52.4 71.4 88.1 104.8 142.8
Three-phase, 200 VAC (50/60Hz); 220 VAC (50/60Hz); 230 VAC (60Hz)
Power Supply (Allowable voltage fluctuation: +10% to −15%, allowable frequency fluctuation: ±5%,
Line-to-line voltage unbalance: 5% or less)
Single-phase, 200 VAC (50/60Hz); 220 VAC (50/60Hz); 230 VAC (60Hz)
onverter *3
Controller
Co
Model CIMR-M5j*1 23P7 25P5 27P5 2011 2015 2018 2022 2030 2037
CIMR-MR5j*1
Ambient Temperature 0°C to 55°C (32°F to 131°F) (not frozen)
Heatsink Intake Air Tempera-
ture 0°C to 45°C (32°F to 113°F)
n
C mmon
14 -3
Output Torque at Base N·m 23.5 35.0 47.7 70.0 95.0 117.6 182.3 249.0 306.8
Speed Continuous Rat- lb·ft 17.4 25.8 35.8 51.7 70.6 86.9 134 183.7 226.4
Motor ing (kgf·m) (2.40) (3.57) (4.87) (7.14) (9.74) (12.0) (18.6) (25.4) (31.3)
Rotor Inertia J (GD2/4) lb·ft2 0.411 0.617 0.759 1.614 1.970 2.326 6.122 8.068 11.22
(kg·m2) (0.0173) (0.026) (0.032) (0.068) (0.083) (0.098) (0.258) (0.340) (0.473)
Overload Capacity 120%, 60s of 30-minute rating
Vibration (µ·m) V5 V10
Noise Level 75dB (A) or less 80dB (A) or less
(A) 8.8 13.1 17.9 26.2 35.7 44.1 52.4 71.4 88.2
Contr
Three-phase, 400 VAC (50/60Hz); 440 VAC (50/60Hz); 460 VAC (60Hz)
Power Supply (Allowable voltage fluctuation: +10% to −15%, allowable frequency fluctuation: ±5%,
Line-to-line voltage unbalance: 5% or less)
Single-phase, 200 VAC (50/60Hz); 220 VAC (50/60Hz); 230 VAC (60Hz)
onverter *5
14 -4
Model CIMR-M5j*2 45P5 47P5 4011 4015 4018 4022 4030 4037 4045
CIMR-MR5j*2
Location Indoor (protected from corrosive gases and dust), elevation: 1000 m (3280 ft) or less
IEC IP00
Protective Structure (Protected so that parts of the human body cannot reach electrically charged parts from the front)
* 1. Rated output power is guaranteed when input voltage is three-phase, 400 V (50/60 Hz), 440 V (50/60 Hz), 460 V (60Hz). If
input voltage is lower than 400 V, rated output power is not guaranteed.
* 2. A: For stand-alone drive system N: for NC system 14
* 3. If the heatsink input temperature for the 4037 and 4045 Inverter is high, the bearable load is limited. The continuous use time
at 1 minute rated value (120% of 30 minutes rated output) depending on the Unit heat limit is shown in the following diagram.
* 4. Dimensions of External Heatsink Cooling Type. Refer to 14.1.3 Dimensions for Open Chassis Type.
* 5. An AC reactor is required between Converter and main circuit power supply.
* 6. Temperature during shipping.
1 min. rated continuous use time
60
40
20
(seconds)
15
0
37.5
0 10 20 30 40 50
1 Minute Rated Continuous Use Time for 4037 and 4045 Inverters
14 -5
Inve
14 -6
Three-phase, 200 VAC (50/60Hz); 220 VAC (50/60Hz); 230 VAC (60Hz)
Power Supply (Allowable voltage fluctuation: +10% to −15%, allowable frequency fluctuation: ±5%,
Line-to-line voltage unbalance: 5% or less)
Single-phase, 200 VAC (50/60Hz); 220 VAC (50/60Hz); 230 VAC (60Hz)
Converter *4
Dimensions
Di i iin iinches
h
Height 13.78 (350)
(mm) *3
Depth 12.60 (320) 14
Power Supply AC Reactor Code
No. X010058 X010059 X010060 X010061 X010062 X010063 X010064
* 1. Rated output power is guaranteed when input voltage is three-phase, 200 V (50/60 Hz), 220 V (50/60 Hz), 230 V (60 Hz). If
input voltage is lower than 200 V, rated output power is not guaranteed.
* 2. A: For stand-alone drive system N: for NC system
* 3. Dimensions of External Heatsink Cooling Type. Refer to 14.1.3 Dimensions for Open Chassis Type.
* 4. An AC reactor is required between Converter and main circuit power supply.
* 5. Temperature during shipping.
14 -7
14
Ambient Temperature, Humidity 0°C to 40°C (32°F to 104°F), 95% or less (non-condensing)
Approx. Mass lb 207 238 291 481 783 893 893
(kg) (94) (108) (132) (218) (355) (405) (405)
Model CIMR-M5j*3 45P5 47P5 4011 4015 4018 4022 4030
Continuous Rated Input Current
(A) 8.8 13.1 17.9 26.2 35.7 44.1 52.4
Three-phase, 400 VAC (50/60Hz); 440 VAC (50/60Hz); 460 VAC (60Hz)
Power Supply (Allowable voltage fluctuation: +10% to −15%, allowable frequency fluctuation: ±5%,
Line-to-line voltage unbalance: 5% or less)
Converter *55
Single-phase, 200 VAC (50/60Hz); 220 VAC (50/60Hz); 230 VAC (60Hz)
Control Power Supply (Allowable voltage fluctuation: +10% to −15%, allowable frequency fluctuation: ±5%)
Required power capacity: 100 VA (for independent drive system)
250 VA (for NC system)
Co
14 -8
n
mon
Location Indoor (protected from corrosive gases and dust), elevation: 1000 m (3280 ft) or less
Vibration 9.8 m/s2 (1G) at 10 to less than 20 Hz, up to 2 m / s2 (0.2G) at 20 to 50 Hz
IEC IP00
Protective Structure (Protected so that parts of the human body cannot reach electrically charged parts from the front)
14
14 -9
14.1.3 Dimensions
The Inverter and Converter dimensions are shown in the following diagrams.
Air
H1
H
14 Max.70mm
(2.76 inches)
H2
Air
W1 4-d D1 D2
W D
Fig 14.1 Inverter Dimensions
45P5
47P5 100 350 320 75 330 10 190 130 6 M5
(3.94) (13.78) (12.6) (2.95) (12.99) (0.39) (7.48) (5.12) (13)
4011
4015
400 V 150 350 320 100 330 10 190 130 12
4018 M5
class (5.91) (13.78) (12.6) (3.94) (12.99) (0.39) (7.48) (5.12) (26)
4022
4030
4037 250 350 320 200 330 10 190 130 16 M5
(9.84) (13.78) (12.6) (7.87) (12.99) (0.39) (7.48) (5.12) (35)
4045
14 -10
Air
H1
H Max.70mm
(2.76 inches)
14
H2
Air
W1
W 4-d D
Fig 14.2 Inverter Dimensions
14 -11
Air
H1
H
Max.70mm
14
(2.76 inches)
H2
Air
W1 4-d D1 D2
W D
14 -12
Air
H1
H
Max.70mm
(2.76 inches)
H2
W1
Air
14
W D
4-d
Fig 14.4 Dimensions of the Converter
14 -13
W
W2 W1 4-C
(H2)
H6
Opening
H5
H1
14
H
H3
H4
W4 W5
H2
14 -14
Table 14.9 Calorific Value and Cooling Air Speed of Inverter Unit (200 V class)
Inverter Model
23P7 25P5 27P5 2011 2015 2018 2022 2030 2037
CIMR-M5j*1
Output Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30-
tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min-
ous ute ous ute ous ute ous ute ous ute ous ute ous ute ous ute ous ute
Open Chassis 185 257 185 257 244 316 307 427 454 597 565 680 717 836 869 1147 1061 1344
Type
Total calorific
value*2 (W)
External Outside 127 188 127 188 167 229 218 320 335 456 421 519 537 638 650 887 809 1029
Heatsink of
Cooling heatsink
Type
yp (W)
Inside 58 69 58 69 77 87 89 107 119 141 144 161 180 198 219 260 252 315
of
heatsink
(W) 14
Cooling air speed 2.5
near heatsink (m/s)
Table 14.10 Calorific Value and Cooling Air Speed of Inverter Unit (400 V class)
Inverter Model
45P5 47P5 4011 4015 4018 4022 4030 4037 4045
CIMR-M5j*1
Output Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30-
tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min-
ous ute ous ute ous ute ous ute ous ute ous ute ous ute ous ute ous ute
Open Chassis Type 117 192 170 247 273 288 354 488 512 583 630 674 759 939 934 1130 1298 1691
Total calorific
value*2 (W)
External Outside 56 120 94 159 146 159 207 321 328 388 419 457 488 641 612 778 910 1243
Heatsink of
Cooling heatsink
Type
yp (W)
Inside of 61 72 76 88 127 129 147 167 184 195 211 217 271 298 322 352 388 448
heatsink
(W)
Cooling air speed 2.5
near heatsink (m/s)
Table 14.11 Calorific Value and Cooling Air Speed of Converter Unit (200 V class)
Inverter Model
23P7 25P5 27P5 2011 2015 2018 2022 2030 2037
CIMR-MR5j*1
Output Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30-
tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min-
ous ute ous ute ous ute ous ute ous ute ous ute ous ute ous ute ous ute
Open Chassis Type 84 108 84 108 119 144 152 197 204 254 273 318 335 380 392 491 524 698
Total calorific
value*2 (W)
External Outside 40 60 40 60 58 79 82 121 116 158 165 203 203 241 232 316 331 426
Heatsink of
Cooling heatsink
Type
yp (W)
Inside of 44 48 44 48 61 65 70 76 88 96 108 115 132 139 160 175 193 272
heatsink
(W)
Cooling air speed 2.5
near heatsink (m/s)
14 -15
Table 14.12 Calorific Value and Cooling Air Speed of Converter Unit (400 V class)
Inverter Model
45P5 47P5 4011 4015 4018 4022 4030 4037 4045
CIMR-MR5j*
Output Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30- Con- 30-
tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min- tinu- min-
ous ute ous ute ous ute ous ute ous ute ous ute ous ute ous ute ous ute
Open Chassis Type 58 73 76 88 117 138 185 209 193 210 233 250 310 356 365 398 435 477
Total calorific value
(W)
External Outside 20 32 29 39 40 58 59 79 79 93 100 115 118 157 158 186 200 236
Heatsink of
Cooling heatsink
Type
yp (W)
Inside of 38 41 47 49 77 80 126 130 114 117 133 135 192 199 207 212 235 241
heatsink
(W)
Cooling air speed 2.5
near heatsink (m/s)
14 -16
14.2.1 Outline
The AC main axis motor is a squirrel cage induction motor ideal for the main axis drive of machine-tools
and high-speed drives on industrial devices. There are two series of models: Flange models for easy mount-
ing to machinery, and foot-mounted models. The features of both are given below.
6 5 3 4
7
8 2
10 2
14 -17
Encoder
board
Encoder
connector U V W
Z1 Z2 Z3
1 2 3 4
5 6 7 8
9 10 11 12
EL Connector (ELR-12V)
3 PA 9 FG (Frame Ground)
4 :PA 10 SS (Shield)
5 PB 11 TS
6 :PB 12
14 -18
J Standard Motors
The output characteristics are the same for both the 200 V and 400 V Series. Note that 3.7/2.2 kW is avail-
able only for the 200 V Series, and 45/37 kW is available only for the 400 V Series.
1 min. rating
Output (kW)
Torque
2.2 kW (Continuous rating) 1.43 14.0
2
14
Continuous
rating
0 0
0 1500 8000 1500 8000
Motor speed (min−1) Motor speed (min−1)
3.7 kW
2.40 23.5 30 min. rating (50% ED)
Torque
2.5 kW
2
Continuous
rating
14 -19
(kgf•m) (N•m)
9.0 kW (1 min. rating) 5.84 57.3
Torque
2 Continuous
rating
0 1500 8000 0 0
1500 8000
Motor speed (min−1) Motor speed (min−1)
14
11/7.5 kW (200 V and 400 V Series)
(kgf•m) (N•m)
13.2 kW (1 min. rating) 8.57 84.0
12
11 kW (30 min. rating, 50% ED) 7.14 70.0
4
Continuous
rating
0 1500 6000 0 0
1500 6000
Motor speed (min−1) Motor speed (min−1)
(kgf•m) (N•m)
18 kW (1 min. rating) 11.7 114.6
1 min. rating
12 11 kW (Continuous rating) 7.14 70.0
30 min. rating (50% ED)
Output (kW)
8
Torque
4 Continuous
rating
0 0
0 1500 6000 1500 6000
Motor speed (min−1) Motor speed (min−1)
14 -20
(kgf•m) (N•m)
24 22.2 kW (1 min. rating) 14.4 141.3
Torque
30 min. rating (50% ED)
8
Continuous
rating
0 0
0 1500 6000 1500 6000
Motor speed (min−1) Motor speed (min−1)
14
22/18.5 kW (200 V and 400 V Series)
(kgf•m) (N•m)
26.4 kW (1 min. rating)
17.1 168.1
24
22 kW (30 min. rating, 50% ED)
14.3 140.0
18.5 kW (Continuous rating)
12.0 117.6 1 min. rating
16
30 min. rating (50% ED)
Output (kW)
Torque
8
Continuous
rating
0 1500 6000 0 0
1500 6000
Motor speed (min−1) Motor speed (min−1)
(kgf•m) (N•m)
36 kW (1 min. rating) 30.5 298.9
16
8 Continuous
rating
0 0
0 1150 4500 1150 4500
Motor speed (min−1) Motor speed (min−1)
14 -21
26 kW
Torque
22 kW 30 min. rating (50% ED)
Continuous rating
0 0
1150 3800 4500 1150 3800 4500
Motor speed (min−1) Motor speed (min−1)
26 kW
Continuous rating
0 0
1150 3800 4500 1150 3800 4500
Motor rating (min−1) Motor speed (min−1)
Fig 14.9 Output and Torque Speed Characteristics for Standard Motors
14 -22
Torque
2 winding)
0 500 1500
0
0 500 1500 14
Motor speed (min−1) Motor speed (min−1)
8 (kgf•m) (N•m)
High-speed winding output (kW)
4.28 42.0
6.6 kW (1 min. rating)
6 3.57 35.0 1 min. rating
5.5 kW (30 min. rating, 50% ED)
Continuous rating
Torque
(High-speed
2 winding)
0 0
1500 6000 0 1500 6000
Motor speed (min−1) Motor speed (min−1)
14 -23
4 Continuous (Low-speed
Torque
rating winding)
2
0 0
500 1500 0 500 1500
Motor speed (min−1) Motor speed (min−1)
(kgf•m) (N•m)
10
9 kW (1 min. rating)
5.84 57.3
High-speed winding output (kW)
winding
14 -24
12 1 min. rating
11 kW (30 min. rating, 50% ED) 21.4 210
10
Torque
4 rating winding)
winding
4
0 0 0 1500 6000
1500 6000
Motor speed (min−1) Motor speed (min−1)
14 -25
Low-speed winding output (kW) 16 15 kW (30 min. rating, 50% ED) 36.5 358
1 min. rating
8 Continuous (Low-
Torque
rating speed
winding)
4
0
0 400 1000 0 400 1000
20 (kgf•m) (N•m)
18 kW (1 min. rating)
17.5 172
14
High-speed winding output (kW)
rating winding
4
14 -26
Torque
10 Continuous (Low-
rating speed
winding)
5
0
0 400 1000 0 400 1000
Motor rating (min−1) Motor rating (min−1)
0 0
1000 4800 0 1000 4800
Motor rating (min−1) Motor speed (min−1)
14 -27
Torque
Continuous rating
10
Low-speed
5 winding
0 400 1000 0
0 400 1000
Motor speed (min−1) Motor speed (min−1)
26.4 kW (1 min. rating) (kgf•m) (N•m)
25 25.7 252
High-speed winding output (kW)
15
30 min. rating (50% ED)
Torque
10 Continuous rating
High-speed
5 winding
0 1000 4800 0
0 1000 4800
Motor speed (min−1)
Motor speed (min−1)
14 -28
Torque
20 48.7 477
Continuous rating
Low-speed
10 winding
0
0 400 1000 0 400 1000
Motor speed (min−1) Motor speed (min−1)
(kgf•m) (N•m)
36 kW (1 min. rating)
35.1 344
30 kW (2 min. rating,
High-speed winding output (kW)
Torque
Continuous rating
10 High-speed
winding
Fig 14.10 Output and Torque Speed Characteristics (Winding Selection Motor)
14 -29
14.2.4 Dimensions
The motor dimensions are shown in the following diagram. (unit: mm)
KD
H
C
G
J J F F XB
4-φZ:
E E N
Diameter of
mounting hole M
Detail of Shaft
14
U
W
U
QK W
T
T
Unit: mm (inch)
Rated Output kW 0
−0.5
05
30
Continuous A B C D E F G H J KD L M N R XB Z KI
min.
Rating
Rating
3.7 *1 2.2 237 93 100 174 80 50 9 242 34 34 392 188 125 155 45 12 174
(9.33) (3.66) (3.94) (6.85) (3.15) (1.97) (0.35) (9.53) (1.34) (1.34) (15.4) (7.4) (4.92) (6.1) (1.77) (0.47) (6.85)
5.5 3.7 308 132 100 174 80 89 9 242 34 34 502 188 206 194 45 12 174
(12.1) (5.2) (3.94) (6.85) (3.15) (3.5) (0.35) (9.53) (1.34) (1.34) (19.8) (7.4) (8.11) (7.64) (1.77) (0.47) (6.85)
7.5 5.5 300 137 112 204 95 70 10 269 75 42.5 520 220 177 220 70 12 204
(11.8) (5.39) (4.41) (8.03) (3.74) (2.76) (0.39) (10.6) (2.95) (1.67) (20.5) (8.66) (6.97) (8.66) (2.76) (0.47) (8.03)
11 7.5 321 156 112 204 95 89 10 269 75 42.5 590 220 215 269 70 12 204
(12.6) (6.14) (4.41) (8.03) (3.74) (3.5) (0.39) (10.6) (2.95) (1.67) (23.2) (8.66) (8.46) (10.6) (2.76) (0.47) (8.03)
15 11 261 196 160 260 127 89 16 341 55 42.5 568 290 223 307 108 15 250
(10.3) (7.72) (6.3) (10.2) (5) (3.5) (0.63) (13.4) (2.17) (1.67) (22.4) (11.4) (8.78) (12.1) (4.25) (0.59) (9.84)
18.5 15 283 212 160 260 127 105 16 341 55 42.5 606 290 255 323 108 15 250
(11.1) (8.35) (6.3) (10.2) (5) (4.13) (0.63) (13.4) (2.17) (1.67) (23.9) (11.4) (1) (12.7) (4.25) (0.59) (9.84)
22 18.5 297 234 160 260 127 127 16 341 55 42.5 642 290 299 345 108 15 250
(11.7) (9.21) (6.3) (10.2) (5) (5) (0.63) (13.4) (2.17) (1.67) (25.3) (11.4) (11.8) (13.6) (4.25) (0.59) (9.84)
30 22 406 246 180 320 139.5 127 16 407 55 61 794 320 298 388 121 19 320
(16) (9.69) (7.09) (12.6) (5.49) (5) (0.63) (16) (2.17) (2.4) (31.3) (12.6) (11.7) (15.3) (4.76) (0.75) (12.6)
37 30 460 297 180 320 139.5 178 16 407 55 61 899 320 400 439 121 19 320
(18.1) (11.7) (7.09) (12.6) (5.49) (7.01) (0.63) (16) (2.17) (2.4) (35.4) (12.6) (15.7) (17.3) (4.76) (0.75) (12.6)
45 *2 37 378 302 225 380 178 155.5 21 505 75 61 822.5 420 425 444.5 149 24 385
(14.9) (11.9) (8.86) (15) (7.01) (6.12) (0.83) (19.9) (2.95) (2.4) (32.4) (16.5) (16.7) (17.5) (5.87) (0.94) (15.2)
14 -30
* 1. 3.7/2.2 kW is 15 min. rating (50% ED)/Continuous rating. There are no eyebolts on the 3.7/2.2 kW or 5.5/3.7 kW models.
* 2. 45/37 kW is for the 400 V Series.
Notes:1. The shaft key and the key way are standard JIS B 1301-1996 models.
2. External dimensions are the same for both the 200 V and 400 V Series.
14 -31
KD
LL
L
jD
LG
LR
5
Q
Detail of Shaft
LB
U
W
U
QK W
LH
T
T
LC
KI
I
LA
14
j
3-m screw
QR d 2-m screw
Depth 10
Q S Depth 10
S
4-φZ: KL
Diameter of (For 3.7/2.2 kW)
mounting hole
Unit: mm (inch)
Rated Output kW
30 L LA LB LC LG LH LL LR Z D I KD KL KI
Continuous
min.
Rating
Rating
3.7 *1 2.2 392 185 0 174 12 220 332 60 11 174 --- 34 142 174
(15.4) (7.28) 150 −0.04 (6.85) (0.47) (8.66) (13.1) (2.36) (0.43) (6.85) (1.34) (5.59) (6.85)
5.5 3.7 502 185 0 174 12 220 442 60 11 174 --- 34 142 174
(19.8) (7.28) 150 −0.04 (6.85) (0.47) (8.66) (17.4) (2.36) (0.43) (6.85) (1.34) (5.59) (6.85)
7.5 5.5 526 215 0 204 16 250 446 80 15 204 270 42.5 157 204
(20.7) (8.46) 180 −0.04 (8.03) (0.63) (9.84) (17.6) (3.15) (0.59) (8.03) (10.6) (1.67) (6.18) (8.03)
11 7.5 596 215 0 204 16 250 486 110 15 204 270 42.5 157 204
(23.5) (8.46) 180 −0.04 (8.03) (0.63) (9.84) (19.1) (4.33) (0.59) (8.03) (10.6) (1.67) (6.18) (8.03)
15 11 568 265 0 250 20 300 458 110 15 260 343 42.5 182.5 250
(22.4) (10.4) 230 −0.046 (9.84) (0.79) (11.8) (18) (4.33) (0.59) (10.2) (13.5) (1.67) (7.19) (9.84)
18.5 15 606 265 0 250 20 300 496 110 15 260 343 42.5 182.5 250
(23.9) (10.4) 230 −0.046 (9.84) (0.79) (11.8) (19.5) (4.33) (0.59) (10.2) (13.5) (1.67) (7.19) (9.84)
22 18.5 642 265 0 250 20 300 532 110 15 260 343 42.5 182.5 250
(25.3) (10.4) 230 −0.046 (9.84) (0.79) (11.8) (20.9) (4.33) (0.59) (10.2) (13.5) (1.67) (7.19) (9.84)
30 22 794 350 0 320 20 385 654 140 19 320 440 61 224 320
(31.3) (13.8) 300 −0.052 (12.6) (0.79) (15.2) (25.7) (5.51) (0.75) (12.6) (17.3) (2.4) (8.82) (12.6)
37 30 899 350 0 320 20 385 759 140 19 320 440 61 224 320
(35.4) (13.8) 300 −0.052 (12.6) (0.79) (15.2) (29.9) (5.51) (0.75) (12.6) (17.3) (2.4) (8.82) (12.6)
45 *2 37 827 400 0 370 22 450 687 140 24 380 505 61 280 385
(32.6) (15.7) 350 −0.057 (14.6) (0.87) (17.7) (27) (5.51) (0.94) (15) (19.9) (2.4) (11) (15.2)
14 -32
* 1. 3.7/2.2 kW is 15 min. rating (50% ED)/Continuous rating. There are no eyebolts on the 3.7/2.2 kW or 5.5/3.7 kW models.
* 2. 45/37 kW is for the 400 V Series.
Notes:1. The shaft key and the key way are standard JIS B 1301-1996 models.
2. External dimensions are the same for both the 200 V and 400 V Series.
14 -33
KD
H
C
J
G
J F F XB
E E N
4-φZ:
M
Diameter of
mounting hole
Details of Shaft
U
QK W
14
T
3-m screw
QR
Depth 10
Q S
Unit: mm (inch)
Rated Output kW 0
A B −0.5
05 D E F G H J KD L M N R XB Z KI
30 min. Continuous
Rating Rating C
5.5 3.7 261 196 160 260 127 89 16 341 55 42.5 568 290 223 307 108 15 250
(10.3) (7.72) (6.3) (10.2) (5) (3.5) (0.63) (13.4) (2.17) (1.67) (22.4) (11.4) (8.78) (12.1) (4.25) (0.59) (9.84)
7.5 5.5 283 212 160 260 127 105 16 341 55 42.5 606 290 255 323 108 15 250
(11.1) (8.35) (6.3) (10.2) (5) (4.13) (0.63) (13.4) (2.17) (1.67) (23.9) (11.4) (1) (12.7) (4.25) (0.59) (9.84)
11 7.5 310.5 246.5 160 260 127 139.5 16 341 55 42.5 668 290 324 357.5 108 15 250
(12.2) (9.7) (6.3) (10.2) (5) (5.49) (0.63) (13.4) (2.17) (1.67) (26.3) (11.4) (12.8) (14.1) (4.25) (0.59) (9.84)
15 11 406 246 180 320 139.5 127 16 407 55 61 794 320 298 388 121 19 320
(16) (9.69) (7.09) (12.6) (5.49) (5) (0.63) (16) (2.17) (2.4) (31.3) (12.6) (11.7) (15.3) (4.76) (0.75) (12.6)
18.5 15 378 302 225 380 178 155.5 21 505 75 61 822.5 420 425 444.5 149 24 385
(14.9) (11.9) (8.86) (15) (7.01) (6.12) (0.83) (19.9) (2.95) (2.4) (32.4) (16.5) (16.7) (17.5) (5.87) (0.94) (15.2)
22 18.5 409 321 225 380 178 174.5 21 505 75 61 872.5 420 465 463.5 149 24 385
(16.1) (12.6) (8.86) (15) (7.01) (6.87) (0.83) (19.9) (2.95) (2.4) (34.4) (16.5) (18.3) (18.2) (5.87) (0.94) (15.2)
30 20 409 321 225 380 178 174.5 21 505 75 61 872.5 420 465 463.5 149 24 385
(16.1) (12.6) (8.86) (15) (7.01) (6.87) (0.83) (19.9) (2.95) (2.4) (34.4) (16.5) (18.3) (18.2) (5.87) (0.94) (15.2)
Notes:1. The shaft key and the key way are standard JIS B 1301-1996 models.
2. External dimensions are the same for both the 200 V and 400 V Series.
14 -34
KD
LL
L
jD
LG
LR
5
Q Details of Shaft
LB
QK W
U
LH
T
LC
KI
I
14
j LA
3-m screw
QR
Depth 10
Q S
4-φZ: KL
Diameter of
mounting hole
Unit: mm (inch)
Rated Output kW
30 min. Rat- Continuous L LA LB LC LG LH LL LR Z D I KD KL KI
ing Rating
568 265 0 250 20 300 458 110 15 260 343 42.5 182.5 250
5.5 3.7 230 −0.046
(22.4) (10.4) (9.84) (0.79) (11.8) (18) (4.33) (0.59) (10.2) (13.5) (1.67) (7.19) (9.84)
606 265 0 250 20 300 496 110 15 260 343 42.5 182.5 250
7.5 5.5 230 −0.046
(23.9) (10.4) (9.84) (0.79) (11.8) (19.5) (4.33) (0.59) (10.2) (13.5) (1.67) (7.19) (9.84)
668 265 0 250 20 300 558 110 15 260 343 42.5 182.5 250
11 7.5 230 −0.046
(26.3) (10.4) (9.84) (0.79) (11.8) (22) (4.33) (0.59) (10.2) (13.5) (1.67) (7.19) (9.84)
794 350 0 320 20 385 654 140 19 320 440 61 224 320
15 11 300 −0.052
(31.3) (13.8) (12.6) (0.79) (15.2) (25.7) (5.51) (0.75) (12.6) (17.3) (2.4) (8.82) (12.6)
827 400 0 370 22 450 687 140 24 380 505 61 280 385
18.5 15 350 −0.057
(32.6) (15.7) (14.6) (0.87) (17.7) (27) (5.51) (0.94) (15) (19.9) (2.4) (11) (15.2)
877 400 0 370 22 450 737 140 24 380 505 61 280 385
22 18.5 350 −0.057
(34.5) (15.7) (14.6) (0.87) (17.7) (29) (5.51) (0.94) (15) (19.9) (2.4) (11) (15.2)
877 400 0 370 22 450 737 140 24 380 505 61 280 385
30 20 350 −0.057
(34.5) (15.7) (14.6) (0.87) (17.7) (29) (5.51) (0.94) (15) (19.9) (2.4) (11) (15.2)
14 -35
Rated Output
Shaft Dimension
kW
30 Contin-
min. uous Q QK QR S T U W d m
Rating Rating
110 90 1 0 9 5.5 14 40
5.5 3.7 48−0.016 M5
(4.33) (3.54) (0.039) (0.35) (0.22) (0.55) (1.57)
110 90 1 0 9 5.5 14 40
7.5 5.5 48−0.016 M5
(4.33) (3.54) (0.039) (0.35) (0.22) (0.55) (1.57)
110 90 1 +0.030 10 6 16 45
11 7.5 55 +0.011 M5
(4.33) (3.54) (0.039) (0.39) (0.24) (0.63) (1.77)
140 110 2 +0.030 11 7 18 50
15 11 60 +0.011 M6
(5.51) (4.33) (0.079) (0.43) (0.28) (0.71) (1.97)
140 110 1 +0.030 12 7.5 20 60
18.5 15 70 +0.011 M6
(5.51) (4.33) (0.039) (0.47) (0.3) (0.79) (2.36)
140 110 1 +0.030 12 7.5 20 60
22 18.5 70 +0.011 M6
(5.51) (4.33) (0.039) (0.47) (0.3) (0.79) (2.36)
140 110 1 +0.030 12 7.5 20 60
30 20 70 +0.011 M6
(5.51) (4.33) (0.039) (0.47) (0.3) (0.79) (2.36)
14 Notes:1. The shaft key and the key way are standard JIS B 1301-1996 models.
2. External dimensions are the same for both the 200 V and 400 V Series.
14 -36
J Foot-mounted Motors
Table 14.15 Leg-mounted Motor TIR
Item Standard Motor Winding Selection Motor Accuracy
Degree of Shaft Paral- 7.5/5.5 kW max. --- 0.03
lax
11/7.5 to 22/18.5 kW 5.5/3.7 to 11/7.5 kW 0.033
30/22 to 45/37 kW 15/11 to 30/20 kW 0.042
Shaft Vibration 7.5/5.5 kW max. --- 0.02
11/7.5 to 22/18.5 kW 5.5/3.7 to 11/7.5 kW 0.022
30/22 to 45/37 kW 15/11 to 30/20 kW 0.028
J Flange Motors
Table 14.16 Flange Motor TIR
Item Standard Motor Winding Selection Motor Accuracy
Right Angle to the 22/18.5 kW max. 11/7.5 kW max. 0.04
Flange Output Shaft
30/22 to 37/30 kW 15/11 kW 0.06
45/37 kW 18.5/15 to 30/20 kW 0.072
Flange External Diame- 11/7.5 kW max. --- 0.04
ter Eccentricity
15/11 to 22/18.5 kW 5.5/3.7 to 11/7.5 kW 0.046
30/22 to 37/30 kW 15/11 kW 0.048
45/37 kW 18.5/15 to 30/20 kW 0.070
Shaft Vibration 7.5/5.5 kW max. --- 0.02
11/7.5 to 22/18.5 kW 5.5/3.7 to 11/7/5 kW 0.022
30/22 to 45/37 kW 15/11 to 30/20 kW 0.028
14 -37
14.2.7 Encoders
A magnetic encoder that uses a magnetic disk is used as the motor speed detector. If there is a home position
signal, three detection signals are used: Two 1024 P/R AB phase signals, and one P/R home position pulse
signal. If using a main axis drive with a machine-tool, the signal resolution is the same as the main axis
encoder, and in machinery where the motor axis and main axis correspond 1:1, the motor encoder can be
used as the main axis encoder. The relationship between the encoder configuration and the output phase
during forward rotation is shown in the following diagram.
Magnetic
drum
N
S
N
S
N N
S S
N
S
N
Shaft S
N A
B
resistance element)
Fig 14.11 Encoder Configuration
Forward rotation
A phase
(PA)
90°
B phase
(PB)
C phase
(PC)
Fig 14.12 Output Phases (Forward Rotation)
14 -38
J Terminal Arrangement
1 2 3 4
5 6 7 8
9 10 11 12
EL Connector (ELR-12V)
3 PA 9 FG (Frame Ground)
4
5
:PA
PB
10
11
SS (Shield)
TS
14
6 :PB 12
Notes:1. Pins 11 and 12 are thermistor signal wires from the motor unit.
2. The asterisk (:) before PA, PB, and PC indicate reverse rotation signals.
Fig 14.13 Encoder Signal Connector Terminal Arrangement
J Dimensions
19.3
19.3
14.6
14.8 24.6
24.6 14.8
17.7 17.7
2.3 2.0 11.3 11.3 2.0 2.3
14 -39
14 -40
IMPORTANT Never replace the cooling fan or insert or remove wiring while the power supply is turned ON. Also, when
replacing the cooling fan or inserting or removing wiring, be sure not to drop screws or other small parts into
the motor unit.
Casing (Forms
Casing mounting single unit with
screws (x 4) cooling fan.)
Motor unit
Casing Mounting
14 -41
14.3.1 AC Reactor
The exterior of the AC Reactor (UZBA-B: Input, 50/60 Hz) and connections examples are shown below.
Connection Example
Magnetic AC Reactor
MCCB contactor U X R/L1
V Y Converter
W S/L2VS-656MR5
Z
T/L3
Dimensions in mm (inches)
Model Cur - Induc- Approx. Heat
Code Fig.
Fig
CIMR- rent tance A B1 Mass Loss
No. No. A1 B B2 C1 C2 D E F I J K L M
MR5V: A mH (Max.) (Max.) kg (lb) W
2022 120 0.09 X010 2 180 190 100 95 50 150±5 45 75 80 180 2.3 M6 10 7 M8 8 90
063 (7.09) (7.48) (3.94) (3.74) (1.97) (5.91±0.2) (1.77) (2.95) (3.15) (7.09) (0.09) (0.39) (0.28) (17.6)
2030 160 0.07 X010 3 210 — 100 210 — 175±5 110 75 80 205 2.3 M6 10 7 M10 12 100
064 (8.27) (3.94) (8.27) (6.89±0.2) (4.33) (2.95) (3.15) (8.07) (0.09) (0.39) (0.28) (26.5)
2037 200 0.05 X010 3 210 — 116 230 — 175±5 130 75 95 205 2.3 M6 10 7 M10 15 110
120 (8.27) (4.57) (9.06) (6.89±0.2) (5.12) (2.95) (3.74) (8.07) (0.09) (0.39) (0.28) (0.59)
400 V Class
Dimensions in mm (inches)
Model Cur - Induc- Approx. Heat
Code Fig.
Fig
CIMR- rent tance A B1 Mass Loss
No. No. A1 B B2 C1 C2 D E F I J K L M
MR5V: A mH (Max.) (Max.) kg (lb) W
4037 90 0.24 X010 1 210 — 116 110 58 175±5 48 75 95 205 3.2 M6 10 7 M8 15 110
105 (8.23) (4.57) (4.33) (2.28) (6.89±0.2) (1.89) (2.95) (3.74) (8.07) (0.13) (0.39) (0.28) (33.1)
4045 120 0.18 X010 1 240 — 126 120 63 205±5 48 150 110 240 3.2 M8 8 10 M8 23 130
106 (9.41) (4.96) (4.72) (2.48) (8.07±0.2) (1.89) (5.90) (4.33) (9.45) (0.13) (0.31) (0.39) (50.7)
14 -42
U X V Y W Z Nameplate
C2
C1
I
D H
F E
4-J:
A B
Mounting
Bolts B1 B2
L
Details of
Mounting
K
Bolts
Fig. 2
A1 6-M: Terminals 14
U X V Y W Z Nameplate
C2
C1
D H
F E
4-J:
A Mounting B
Bolts B1 B2
L
Details of
Mounting
K
Bolts
Nameplate
C2
C1
D H
F E
4-J:
A B
Mounting
Bolts
L
Details of
Mounting
K
Bolts
14 -43
200 V Class
Cur- Induc-
Dimensions in mm (inches) Approx. Heat
Model Fig.
Fig
CIMR- rent tance Code No. A B1 Mass Loss
MR5V: No. B C D E F H J K L M
A mH (Max.) (Max.) kg (lb) W
400 V Class
Cur- Induc-
Dimensions in mm (inches) Approx. Heat
Model Fig.
Fig
CIMR- rent tance Code No. A Mass Loss
MR5V: No. B B1 C D E F H J K L M
A mH (Max.) kg (lb) W
14 -44
U V W
C
X Y Z
4.5
D H
F E
A B
L
B1
Details of K
Mounting 4-J:
Bolts Mounting
Bolts
14
4-J:
Fig. 2 Mounting
Bolts 6-M: Terminals
U X V Y WZ
Nameplate
C
4.5
D H
F E
A B
L
Details of 4-J:
Mounting K Mounting
Bolts Bolts
14 -45
3MCCB
R1
S1 To Motor Cooling Fan
T1
VS-656MR5
1MCCB 1MC L
R R/L1
3-Phase Main Circuit Power
S S/L2 Supply Input
200 VAC*
T T/L3
14 2MCCB 2MC
25P5 9 40 3 3 30 3
27P5 12 50 3 3 40 3
2011 19 75 3 3 60 3
200 V 2015 24 100 3 3 75 3
Class
2018 30 125 3 3 100 3
45P5 9 20 3 2 15 3
47P5 12 25 3 2 20 3
4011 19 40 3 2 30 3
4015 24 50 3 2 40 3
400 V 4018 30 60 3 2 50 3
Class
4022 36 75 3 2 60 3
4030 48 100 3 2 80 3
14 -46
* 1. Models with safety covers are as follows: HV- AP4S and HV- BP4S.
* 2. IPM motors are the standard models with the short circuit bar removed.
* 3. A dwell time of 1 hour or more is required after applying power supply for 30 minutes.
J Dimensions
The dimensions are shown below in mm (inches).
Control Circuit Terminals (M4)
4-M6
Mounting 170 (6.69)
Holes 22 (0.87) 22 (0.87) 22 (0.87)
Control Circuit
Terminals (M4)
15 16
13 14 17 18
148 (5.83)
164 (6.46)
107 (4.21)
115 (4.53)
1 2 3 4 5 6
1 2 3 4 5 6
4-M6
Mounting
7 8 9 10 11 12 Holes 7 8 9 10 11 12
65 (2.56)
145 (5.71) 34 (1.34) 34 (1.34) 34 (1.34)
85 (3.35)
97 (3.82) 160 (6.3) 107 (4.21) Main Circuit 64 (2.52) 64 (2.52)
Terminals (M8) 192 (7.56)
Main Circuit Terminals (M5)
14 -47
J Terminal Descriptions
14
1 2 3 4 5 6 1 2 3 4 5 6
7 8 9 10 11 12 7 8 9 10 11 12
J Mounting Orientations
Refer to the following table for mounting orientations.
Mounting HV-75 P4 HV-150 P4 and HV-200 P4
Possible
f f
Not Possible
× ×
Terminal
Terminal cover
cover
14 -48
WARNING
D Always turn OFF the input power supply before wiring terminals.
Otherwise, an electric shock or fire can occur.
CAUTION
D When mounting the Busbar, use only the screws supplied.
Otherwise, mounting may be incorrect.
14 -49
14 4011
4011
4015
72626-W150150
4015
4018
4018
4022 4022
4030 72626-W250250
4037
4045
45P5 72626-W250100
47P5
4011 72626-W250150
4030 4015
4037 4018
4045 4022
4030 72626-W250250
4037
4045
14 -50
J Dimensions
The Busbar and Cable dimensions are given in the following table.
Table 14.23 Busbar and Cable Dimensions
Code Special Busbar Flat Cable P1N1 Power Supply
Number Cable
Cutaway Dimensions (mm (inches)) No. Dimen- No. Dimen- No.
Diagram sions L in sions L in
L L1 L2 mm (in- mm (in-
ches) ches)
72626-W100100 1 120 (4.72) 100 (3.94) --- 2 100 (3.94) 1 150 (5.91) 1
72626-W100150 2 167.5 (6.59) 122.5 (4.82) --- 2 180 (7.09) 1 150 (5.91) 1
72626-W100200 2 217.5 (8.56) 172.5 (6.79) --- 2 230 (9.06) 1 150 (5.91) 1
72626-W100250 2 267.5 (10.5) 222.5 (8.76) --- 2 280 (11) 1 150 (5.91) 1
72626-W100300 4 317.5 (12.5) 122.5 (4.82) 98.5 (3.88) 2 330 (13) 1 150 (5.91) 1
72626-W150100 2 147.5 (5.81) 102.5 (4.04) --- 2 100 (3.94) 1 250 (9.84) 1
72626-W150150 3 195 (7.68) 125 (4.92) --- 2 180 (7.09) 1 250 (9.84) 1
72626-W150200 3 245 (9.65) 175 (6.89) --- 2 230 (9.06) 1 300 (11.8) 1 14
72626-W150300 5 345 (13.6) 125 (4.92) 101 (3.98) 2 330 (13) 1 350 (13.8) 1
72626-W250100 2 147.5 (5.81) 102.5 (4.04) --- 2 100 (3.94) 1 300 (11.8) 1
72626-W250150 3 195 (7.68) 125 (4.92) --- 2 180 (7.09) 1 300 (11.8) 1
72626-W250250 3 295 (11.6) 225 (8.86) --- 2 280 (11) 1 300 (11.8) 1
72626-W300100 4 297.5 (11.7) 102.5 (4.04) 78.5 (3.09) 2 100 (3.94) 1 350 (13.8) 1
72626-W300150 5 345 (13.6) 125 (4.92) 101 (3.98) 2 180 (7.09) 1 350 (13.8) 1
72626-W300200 5 395 (15.6) 175 (6.89) 151 (5.94) 2 230 (9.06) 1 350 (13.8) 1
72626-W300300 6 495 (19.5) --- --- 2 330 (13) 1 350 (13.8) 1
14 -51
J Cutaway Diagrams
The Busbar and cable cutaway diagrams are shown below.
Busbar: Cutaway Diagram 1
L Width 3 mm
Two 7x12
Oblong holes 10 L1 10
15
22 22
Insulation tube
15
47 22
Insulation tube
14 Two 7x12
Oblong holes 10 25 L1 25 10
15
47 47
Insulation tube
47 101 49 L2 47
Insulation tube
Flat Cable
L
P1N1 Power Supply Cable
14 -52
J Unit Installation
An example combination of a 200-V, 22-kW Converter and a 200-V, 22-kW Inverter is shown in the fol-
lowing diagram. Always install the Converter on the left when viewed from the front.
Converter Inverter
YASKAWA YASKAWA
Inverter
Converter
VS−626M5
VS−656MR5
Upper
covers CHARGE
CHARGE
CHARGE SERVOPACK
indicators
14
Fig 14.18 Unit Mounting
J Busbar Mounting
Use the following procedure to mount the Busbar.
1. Turn OFF the power supply to the Converter, and wait at least 5 minutes (until the CHARGE indicator
is no longer lit) before opening the upper cover.
2. Remove the Converter and Inverter power supply terminal screws, and connect the Busbar.
INFO Be sure to use all of the power supply terminal screws supplied to mount the Busbar, and tighten the screws firmly to a torque
of 4 to 5 NSm.
INFO When inserting the connectors, check that the clasp locks with a snap.
14 -53
INFO When inserting the connectors, check that the clasp locks with a snap.
Busbars (x2)
Power supply
terminal screws Power supply
Converter Inverter terminal screws
Flat cable
Make sure the
2 connector
grooves are
facing left. Red line
14
P1N1 power supply Cable Insert into leftmost connector.
Fig 14.19 Busbar and Cable Mounting (With Upper Cover Open)
14 -54
Display panel
LOCAL DRIVE
DSPL
REMOTE PRGM
DATA
14
JOG
ENTER
Keypad (display
FWD selection keys, etc.)
REV RESET
JOGRUN STOP
* 1. Mounting methods 2 and 3 require additional parts such as metal plates or resin.
* 2. If mounting the Digital Operator in a dusty location or similar, mount packaging or another
buffer between the panel and the Digital Operator.
14 -55
J Mounting Method 1
As shown in the following diagram, the Digital Operator can be fixed easily just by drilling holes in the
panel on the side to be mounted, and fixing the Digital Operator using screws from the back of the panel.
(Screws must be supplied by the customer. If the panel thickness is 1.6 mm, use Sems screws M3 x 8.)
Panel cutout
(Viewed from the front of the panel.) Mounted on the panel
4 (0.16) Panel
Panel cutout
Cable clamp (Mount the Digital
(for cable)
DRIVE FWD REV
SEQ
REMOTE
REF
Operator to the panel before
mounting the cable.)
(1.54)
39
140 (5.51)
140 (5.51)
DIGITAL OPERATOR
JVOP-132
125 (4.92)
(0.63)
16
Panel front
LOCAL DRIVE
DSPL
8 6 Panel back
REMOTE PRGM
DATA
JOG
ENTER (0.31) (0.24)
FWD
REV RESET 2-φ4 hole
14 RUN STOP
70(2.76)
4 27 18.8
(0.16) (1.06) (0.74) 30 min.
70(2.76)
Fig 14.21 Mounting the Digital Operator to a Panel, Method 1 (Unit: mm)
J Mounting Method 2
Use this method to mount the Digital Operator from the back of the panel using a metal plate.
As shown in the following diagram, this method supports the Digital Operator using a metal plate from
the back of the panel by drilling screw holes making a cutout in the panel.
The code number for the metal plate is DACT32183-AD.
Panel cutout Mounted on the panel
(Viewed from the front of the panel.)
Metal plate
Panel surface
Cable clamp
Panel
130 (5.12)
170 (6.69)
cutout
Panel front
Panel back
Fig 14.22 Mounting the Digital Operator to the Panel, Method 2 (Unit: mm)
14 -56
J Mounting Method 3
Use this method to mount the Digital Operator from the front of the panel using resin parts.
The Digital Operator can be mounted and removed from the panel easily. (To fix the Digital Operator per-
manently, use Sems screws M3 x 8 from the back of the Operator bracket.)
As shown in the following diagram, this method mounts the Digital Operator from the front of the panel
using a resin part on the back of the panel, and by drilling mounting holes and making a cutout in the panel.
When attaching the cable to the resin part, open the cable connector cover fully, and insert the connector
until the cable audibly snaps into place. (If the cable is not securely mounted, the connection with the Digi-
tal Operator will be poor.)
The code number for the metal plate is DACT32183-BD.
Panel cutout Mounted on the panel
(Viewed from the front of the panel.)
(0.61)
15.5
Resin part
Panel surface
Mount the
cable firmly
14
Panel
cutout
125 (4.92)
156 (6.14)
Panel back
Panel front
2-φ4.8 hole
(0.61)
50 min.
15.5
110 (4.33)
Fig 14.23 Mounting the Digital Operator to the Panel Method 3 (Unit: mm)
14 -57
14 -58
72626-CA01 72626-CN01
YASKAWA
VS−626M5 Control
connector 1CN 6CN 1CN 4CN
MDR (36P) MDR (50P) MDR (36P) MR (8P)
2CN 2CN
MDR (20P) MDR (20P)
72626-CA02 72626-CN02
1CN
MDR (36P)
6CN 1CN
MDR (50P) MDR (36P)
4CN
MR (8P) 14
8CN 8CN
MDR (20P) MDR (20P)
2CN 9CN 2CN 9CN
MDR (20P) MDR (14P) MDR (20P) MDR (14P)
72626-CA03 72626-CN03
14 -59
2.3 (0.091)
2.3 (0.091)
1.27 (0.05)
5.1 (0.2)
5.1 (0.2)
6.6 (0.26)
19.3 (0.76)
2.9 (0.11)
12.7 (0.05)
14
Pin 1
9.1 (0.36)
7.5 (0.3)
15°
1.27 (0.05)
Pin (No. of poles/2+1)
Unit: mm (inches)
14 -60
Case (Unshielded)
8.5 (0.33)
Jack screw M2.6 with 14 poles
7.0 (0.28)
Logo or other display
39.0 (1.54)
5.2 (0.2) 23.8 (0.94)
12.7 (0.5)
10.0 (0.39)
14.0 (0.55)
12.7 (0.5)
8.0 (0.31)
Logo or other display
39.0 (1.54)
5.2 (0.2) 23.8 (0.94)
14 -61
J MR Connector Shapes
The MR connector shapes and specifications are shown in the following diagram.
A
D
E B 2.6 (0.1)
3 (0.12) 3 (0.12)
HONDA
1 2 3
4 5 8 (0.31)
C
6 7 8
MR-jL
HONDA 2.6 (0.1)
Unit: mm (inches)
Connection Example
Input
MCCB Magnetic noise
contactor filter AC Reactor
IN U X
R 1 4 R/L1
V Y
S 2 5 S/L2 Converter
W Z VS-656MR5
T 3 6 T/L3
Note: Do not connect the input noise filter to the Inverter outputs (U, V. and W).
14 -62
J Specifications
The (input) noise filter specifications are shown in the following table. There are two types: Standard spec-
ifications and Counter−EMC models. There are also a simplified models.
200 V Series
Simplified Models
14 -63
400 V Series
Simplified Models
14 -64
J Dimensions
The noise filter dimensions are shown in mm (inches) in the following table.
FN258L- 1 329 (13) 185±1 70 (2.76) 300 (11.8) 314 45 6.5 500 1.5 12 M6 AWG8 2.8
42-07 (7.28± (12.4) (1.77) (0.26) (19.7) (0.059) (0.47) (6.17)
0.039)
FN258L- 1 329 (13) 185±1 80 (3.15) 300 (11.8) 314 55 6.5 500 1.5 12 M6 AWG6 3.1
55-07 (7.28± (12.4) (2.17) (0.26) (19.7) (0.059) (0.47) (6.83)
0.039)
FN258L- 2 329 (13) 220 (8.66) 80 (3.15) 300 (11.8) 314 55 6.5 --- 1.5 --- M6 --- 4.0
Standard
75-34 (12.4) (2.17) (0.26) (0.059) (8.82)
Specifica-
14
tions FN258L- 2 379±1.5 220 (8.66) 90±0.8 350±1.2 364 65 6.5 --- 1.5 --- M10 --- 5.5
(FN258L) 100-35 (14.9± (3.54± (13.8± (14.3) (2.56) (0.26) (0.059) (12.13)
0.059) 0.031) 0.047)
FN258L- 2 439±1.5 240 (9.45) 110±0.8 400±1.2 414 80 6.5 --- 3 --- M10 --- 7.5
130-35 (17.3± (4.33± (15.7± (16.3) (3.15) (0.26) (0.12) (16.53)
0.059) 0.031) 0.047)
FN258L- 3 438±1.5 240 (9.45) 110±0.8 400±1.2 413 80 6.5 500 4 15 M10 50 mm2 11
180-07 (17.2± (4.33± (15.7± (16.3) (3.15) (0.26) (19.7) (0.16) (0.59) (0.077 in- (24.25)
0.059) 0.031) 0.047) ches2)
FN359P- 4 See diagram for specifications. 16
250-99 (35.27)
FN258- 1 335 (13.2) 150±1 60 (2.36) 305 (12) 320 35 6.5 400 1±0.1 9 M5 AWG10 1.8
30/07 (5.91 (12.6) (1.38) (0.26) (15.7) (0.039± (0.35) (3.97)
±0.039) 0.0039)
FN258- 1 329 (13) 185±1 70 (2.76) 300 (11.8) 314 45 6.5 500 1.5 12 M6 AWG8 2.8
42/07 (7.28± (12.4) (1.77) (0.26) (19.7) (0.059) (0.47) (6.17)
0.039)
FN258- 1 329 (13) 185±1 80 (3.15) 300 (11.8) 314 55 6.5 500 1.5 12 M6 AWG6 3.1
55/07 (7.28± (12.4) (2.17) (0.26) (19.7) (0.059) (0.47) (6.83)
0.039)
EMC Con-
Con
formance FN258- 2 329 (13) 220 (8.66) 80 (3.15) 300 (11.8) 314 55 6.5 --- 1.5 --- M6 --- 4.0
Models 75/34 (12.4) (2.17) (0.26) (0.059) (8.82)
(FN258)
FN258- 2 379±1.5 220 (8.66) 90±0.8 350±1.2 364 65 6.5 --- 1.5 --- M10 --- 5.5
100/35 (14.9± (3.54± (13.8± (14.3) (2.56) (0.26) (0.059) (12.13)
0.059) 0.031) 0.047)
FN258- 2 439±1.5 240 (9.45) 110±0.8 400±1.2 414 80 6.5 --- 3 --- M10 --- 7.5
130/35 (17.3± (4.33± (15.7± (16.3) (3.15) (0.26) (0.12) (16.53)
0.059) 0.031) 0.047)
FN258- 3 439±1.5 240 (9.45) 110±0.8 400±1.2 413 80 6.5 500 4 15 M10 50 11
180/07 (17.3± (4.33± (15.7± (16.3) (3.15) (0.26) (19.7) (0.16) (0.59) mm2(0.07 (24.25)
0.059) 0.031) 0.047) 7 inches2)
14 -65
External Diagrams
External diagrams of the noise filters are shown below in mm (inches).
Standard Specifications and EMC Conformance Models
(manufactured by Schaffner EMC (KK))
P
F
F
G
E
G
E
A
A
D C
D H C
L
B
B
O
J O
Diagram 2
Diagram 1
160±1 (6.3±0.039)
P
45°±5
F
14 516±1.5 (20.3±0.059)
)
64± 2
0.079
E
G
(1.06±0.079) (3.94±0.02)
±
27 100
60 0.5 (2.52
A 564±1.5 (22.2±0.059) ±0.2 ±0.5
(2.36± 0.02)
D H C M5×8
(11.8± 0.039)
220 0.5
300 ± 1
275 ± 0.5
(10.8± 0.02 )
(8.66± 0.02)
250 1
(9.84± 0.039)
(2.36± 0.02 )
60± 0.5
±
±
B
φ9±0.2
O
J
0.012)
40±0.3
M12
210±0.5 210±0.5 3±0.2
±
(0.12±0.0079)
(1.57
(8.27±0.02) (8.27±0.02)
Diagram 3 64±1 (2.52±0.039)
Diagram 4
14 -66
Simplified Models
External Diagrams
W
A
See note
14
R (L1) (T1) U
S (L2) (T2) V
D
B
φ5
C
Hn(Max.)
Details of
5 (0.2)
Details of
(0.59)
15
terminal
φ12
block
Y 10 15
(0.39) (0.59)
Mounting screws: 4-M4 x 10
14 -67
IMPORTANT Failure to connect a surge absorber means that there is a risk of signal failure because the surge voltage gener-
ated by the coils when the magnetic contactor is turned ON and OFF can affect the Inverter control signal
wires.
J Dimensions
The surge absorber dimensions are shown in the following diagram.
Unit: mm (inches)
68 (2.68)
Details of
mounting holes
2-3 tap
(1.02)
26
φ0.8
33 (1.3)
φ4.8 30 16
(1.18) (0.63)
7 (0.28)
24
(0.94)
76 (2.99) 692−241
φ18
30 36 22.5 16 34
(1.18) (1.42) (0.89)(0.63) (1.34)
Weight: 22 g Weight: 5 g Weight: 150 g
DCR2-50A22E DCR2-10A25C DCR2-50D100B
14 -68
This appendix explains the Inverter drive basics, how to select the drive ca-
pacity, designing an interface and cooling configuration, wiring, and the
VS-626M5 drive specifications.
15 -1
S1 S3 S5
U
Ed V
W
S4 S6 S2
Switches
S1, S4 S1 ON S4 ON S1 ON
S3, S6 S6 ON S3 ON S6 ON
S2, S5 S5 ON S2 ON S5 ON
Output
voltage Ed
Vu-v0
Vv-w0
Vw−u0
In reality, a motor drive inverter requires a variable voltage and variable frequency (VVVF), so sine wave
pulse width modulation (PWM) control is used, as shown in Fig. 15.3. When the carrier frequency is in-
creased, sine wave current flows through the motor.
15 -2
1 cycle 1 cycle
Switches
(See Fig.15.2)
Phase−U
voltage signal PWM carrier signal Phase−U voltage signal
S1, S4
ON
S2, S3
ON
Induction
ACL motor
3-phase
AC power
supply
N
Main circuit Main circuit
capacitor capacitor
Fig 15.4 Inverter and Converter Configuration
15 -3
Magnetic field +
winding Stator Flange
+ Commutator
Torque
−
−
Stator winding
(a) DC Motor
Stator winding
Rotator
Terminal U I2 Terminal V
15 Magnetic
flux φm Torque
ωr
ω1
Terminal W
(b) Squirrel Cage Induction Motor
Fig 15.5 Motor Model Diagrams
As shown in Fig. 15.5, the rotator is positioned inside the stator; i.e., within the rotation magnetic field.
When there is a difference between the angular velocity ωr of the rotator and the angular velocity ω1 of
the rotation magnetic field, the rotator conductor cuts the alternating magnetic field of the differential an-
gular velocity. Consequently, secondary induction electromotive force E2 is generated in the rotator con-
ductor due to the effect of magnetic field induction. Also, counterelectromotive force E1 is generated in
the stator due to the effects of electromagnetic induction, and interlinkage between the magnetic flux of
the rotation magnetic field and the stator winding.
E1 = kω1 φm = 2πkf1 φm
Both tips of the rotator conductor are connected to the short-circuit ring, hence the name “squirrel cage.”
The secondary current I2 thus flows due to the secondary induction electromotive force E2. This is equiva-
lent to the armature current of the DC motor.
Torque is generated using electromagnetic force proportional to the accumulation of secondary current I2
and magnetic flux φm in the same way as the DC motor, causing the rotator to rotate. The ratio of the rotator
to the speed differential of the rotator magnetic field is called the induction motor “slip.” If the rotator is
rotating at the same speed as the rotation magnetic field, the relative position of both will not change, so
the electromagnetic induction effect does not occur, and torque will not be generated. This is called syn-
chronous speed. Synchronous speed and slip are expressed using the following formulas.
120f
Synchronous speed N = (min−1)
P
N − Nr
Slip S =
N
15 -4
Nr: Rotator speed (min−1), f: Power supply frequency (Hz), P: No. of motor poles
Also, switching to 3-phase alternating current will reverse the order of the phases, causing the rotation
magnetic field to rotate in reverse, so the motor will rotate in reverse.
In this way, the squirrel cage induction motor changes slip to meet the required torque, generates the re-
quired primary current, and functions as an energy converter that converts electric power (electrical ener-
gy) to to torque and speed (mechanical energy). Differing from the DC motor, however, there is the prob-
lem that the magnetic flux of the rotation magnetic field and the secondary current cannot be controlled
directly, so careful planning for the control is required.
ωs +
+ ωr
M Induction motor
E Encoder
15 -5
15.2.1 Torque
Torque is a moment of force that causes the rotation axis on the rotator to rotate about a center. As shown
in Fig. 15.7, when external force f (N) is used in a tangential direction at point P, which is separated by
the distance r (m) only from the center of rotation O, the torque T can be expressed using the following
formula.
T = f ⋅ r (N ⋅m)
P
r
O f0
f
Fig 15.7 Torque Definition
Also, as shown in Fig. 15.8, if a gearbox is used, the torque increases and decreases proportional to the
shifting gears, so taking motor axis speed NM (min−1) and load axis speed NL (min−1), the motor axis calcu-
lated torque TM (NSm) can be expressed using the following formula.
N LT L T
15 TM =
NM
= aL (N ⋅m)
TM
Motor axis
Motor
NM (min−1)
Inertial moment
TL JL (kg⋅m2)
Load axis NM
Load machinery (Gear ratio a = )
NL (min−1) NL
P L = FV = 0.0167FV (W)
60
V (m/min)
N (min −1)
Ball screw
W (kg)
Bed
Fig 15.9 Linear Operation Output
15 -6
J = GD (kg ⋅m2)
2
4
The various inertial moment shapes are summarized below. Friction and other losses, however, have not
been considered, and the efficiency is taken to be 1.
r1
(m)
Mass m1 (kg) 15
Fig 15.10 Cylindrical Inertial Moment
r1 (m)
r2 (m)
Mass m2 (kg)
r1 (m)
Rope
Pulley
m3 (kg)
Fig 15.12 Load Reel Inertial Moment
15 -7
mL Motor
µ
Motor mC
Counter-
PB weight
mL
PB
15 -8
D0
(D 2 = D 0 2∕2) D 2 = (D 0 2 + D 1 2)∕2
line
L
D0
Sphere
D2 = 2 D0 2 15
D0
5 Hollow sphere
D 5 − D1 5
D2 = 2 · 0 3
5 D0 − D1 3
D1
Cone
D2 = 3 D0 2
D0
10 Circle
D2 = D0 2 + 3 D1 2
D0
4
Rotation axis is c D0
outside rotator Right-angled
box Cylinder
2 2
D 2 = 4b + c D 2
D2 = 4 L2 + 0
b
3
L
3 4
+ 4 (bd + d 2 )
+ 4 (dL + d 2 )
d
General equation The general equation for the rotation circumference when the rotation axis
Center of
when rotation gravity
is outside the rotator is shown below.
axis is outside ro-
tator D22 = D12 + 4d2
D1: Rotation circumference when the axis parallel to the rotation
d
axis and whose center of gravity passes through the rotation axis is Rotation
axis
hypothetically the rotation axis.
15 -9
Note: The relationship between the metric GD2 and the SI unit for inertial moment is as follows:
GD2 = 4J.
15
15 -10
D Make clear the ratings to be used (continuous rating, short-time rating, and repetitive rating) to suit
the load characteristics.
D Consider the efficiency of the motive force transmission mechanism and the load dispersion, and select
a drive capacity greater than the motive force required by the load.
D Select a capacity that can sufficiently provide the startup torque and maximum torque required by the
load. Use the following equation to select the drive capacity.
Drive load ≧ Motive force to drive the load mechanism + Motive force to accelerate and decel-
erate the load mechanism to the required speed
The above equation shows the method for calculating load drive force and acceleration/deceleration motive
force.
The torque-speed characteristics of the load mechanism that uses the VS-626M5 are classified as listed
in Table 15.3. The methods of calculating load drive capacity that are described are typical examples.
Load output
0 Speed 1.0
Fixed Output Load Required output Within fixed torque range: Required rated output
over speed is a Load torque is fixed regardless of speed. when using a drive
fixed load. with fixed torque
Output is proportional to speed. characteristics is as
Within fixed output range: follows:
Output required by load is fixed. Required output =
Load output x Fixed
Load torque is inversely proportional to speed. output control ratio1/2
1.0
Load output
0 1.0
15 -11
d
L
As shown in Fig. 15.15, if using milling processing, the blade is mounted to the main axis and rotated to
cut the object being processed, so the motive force PF required can be expressed using the following for-
mula.
K S δWf δWf
PF = = (kW)
60 × 1000 2 × η F 1000 2 S F η F
KS: Cutting resistance (N/mm2)
δ: Cutting depth (mm)
W: Cutting width (mm)
f: Feed speed (mm/min.)
SF: Cutting efficiency (i.e., cutting amount per 1 kW per minute) (CC/kW/min.)
ηF: Machine efficiency 0.7 to 0.85
f
15 -12
As shown in Fig. 15.16, when performing drill processing, the blade is mounted to the main axis and ro-
tated, opening a hole in the material being processed, so the motive force PD required can be expressed
using the following formula. The load torque M differs depending on the material, and the ratio of the drill
radius D: Feed speed f, so care must be applied.
2
M ⋅ 2πn πD f
PD = = (kW)
60 × 100 × 1000 × η D 4 × 1000 × S D η D
M: Drill load torque (N ⋅cm)
n: Main axis speed (min−1)
ηD: Machine efficiency 0.7 to 0.85
D: Drill radius (mm)
f: Feed speed (mm/min.)
SD: Cutting efficiency (i.e., cutting amount per 1 kW per minute) (CC/kW/min.)
15
Drum
Motor Motor
Speed
Speed
mC
V (m/min) V (m/min)
mL
Load
(kg)
mL
(kg)
15 -13
Friction coefficient
Speed µ
V (m/min)
Motor
mL (kg)
Fig 15.18 Friction Loads
15
15 -14
D Required drive capacity of the fixed torque characteristics + the fixed output characteristics range
(0 ≦NM ≦ NMAX)
2
J M (N M 2 + N B 2)
PM = 2 π
60
2000 t
(kW)
ta
Time
0
ta
Time
0
An example of calculations based on standard drive and machinery specifications is shown below. With
actual machinery, the calculated values may vary slightly due to mechanical loss, fluctuations in the power
supply voltage, and machine noise and motor magnetic field noise countermeasures.
15 -15
J Calculation Conditions
Table 15.5 Calculation Conditions
Item Value
Acceleration Time 2.5 s (0 to 6,000 min−1)
0.5 s (0 to 1,500 min−1)
Inertial Moment JM 0.13 kg S m2
Load: 0.10 kg S m2
Motor: 0.03 kg S m2 (assuming load to be x 0.3)
Output Characteristics (30 min. Rating) Basic low speed NB: 1,500 min−1
(kW)
Max. output (120%)
30 min. rating
Output
0 (min−1)
0 1500 6000
J Calculations
15 In the example shown in Table 15.5, as a result of performing the calculations, the motive force required
from the acceleration/deceleration time is as follows: Upper formula: 30 min. rated 7.5 kW (47.7 NSm);
Lower formula: 15 kW (95.0 N ⋅m).
D At 0 to 1,500 min−1
2
60
P M = 2 π 0.13 × 1500 = 6.41 (kW)
1000 × 0.5
2
D At 0 to 6,000 min−1
2
0.13 × (6000 2+1500 2)
PM = 2 π
60
2000 × 2.5
= 10.89 (kW)
15 -16
TM PM
Motor Motor
speed speed
0 NB NMAX 0 NB NMAX
(min−1) Fixed Fixed (min−1)
Fixed Fixed
torque output torque output
0 ↔ NM Acceleration/deceleration Time
Fixed Output Characteristics N M 2–N 2B 2 JM N 2–N B 2
(NB ≦ NM ≦ NMAX) t = 2 π ⋅ JM ⋅ 1 ⋅
60 TM 2N B
t= 2π
60
⋅
1000 P M
⋅ M
2
NB ↔ NM Acceleration/deceleration Time
Fixed Torque + Fixed Output Characteris-
tics t = 2 π ⋅ JM ⋅ 1 ⋅
60 TM
N M 2 + N 2B
2N B
t= 2π
60
2
⋅
JM
1000 P M
N 2 + NB2
⋅ M
2
15
(NB ≦ NM ≦ NMAX)
0 ↔ NM Acceleration/deceleration Time
NM: Operation speed (min−1)
NB: Basic low speed (min−1)
MMAX: Maximum speed (min−1)
JM: Motor axis conversion inertial moment (kg ⋅m2) (= Motor inertial moment + motor axis conversion load inertial moment)
TM: Motor maximum torque at basic low speed (N ⋅m) (For a standard motor, max. torque = 30 min. rated torque x 1.2)
PM: Motor maximum output at basic low speed (kW) (For a standard motor, max. output = 30 min. rated output x 1.2)
Note: The values obtained from actual units may differe from calculated values due to mechanical losses, fluctuation in supply volt-
ages, mechanical noise, and measures taken for motor’s magnetic noise.
15 -17
TL TP
Motor torque Time
tr ts t f
−TP
tc
NM
Motor speed Time
The motor reverse rating is the rating over the load where the motor load changes cyclically. When the
15 reverse rated output is taken to be t1, and with no load is taken to be t2, a as expressed in the following
formula is called %ED (Einschalt Dauer). t1 + t2 is regulated to 10 minutes.
t1
α= × 100 (%)
t1 + t2
15 -18
Forward Forward
rotation rotation
Reverse Reverse
rotation rotation
0V 0V
SS SS
Voltage resistance 35 VDC min.
Relay contact capacity
Rated current 100 mA min.
15
35 VDC min.
Rated current 100 mA min.
15 -19
EXTCOM
24VCOM
0VCOM
3.3 kΩ
390 Ω
(a) 0 V Common
EXTCOM
24VCOM
0VCOM
3.3 kΩ
390 Ω
(b) 24 V Common
15 +24 V (or 0 V)
EXTCOM
24VCOM
0VCOM
3.3 kΩ
390 Ω
0 V (or +24 V)
15 -20
±10 V
D/A
Level
conver-
sion
15 -21
Inverter
4CN−2 S
4CN−6 *S
4CN−4 R
4CN−3 SH
15
1CN−7 ALM−
1CN−8 ALMC
Inverter
NC Unit
4CN−1 *S
P
4CN−2 S
4CN−3 SH
4CN−8 SH
4CN−5 FG
15 -22
∆T =
P (K)
k×A
The value of k changes according to the conditions as shown below.
D With no internal circulation fan: 4 (W/m2 ⋅°C) 15
D With internal circulation fan: 6 (W/m2 ⋅°C)
D Cooling air duct with forced air current (with internal circulation fan): 9 (W/m2 ⋅°C)
The internal temperature rise ∆T (K) when using a heat exchanger can be expressed using the following
formula.
∆T =
P
k × (A − B) + qh
qh: Heat exchanger cooling ability (W/°C)
B: Heat exchanger surface area (m2)
Air duct
AIR
15 -23
The calorific content of the Cooling Ability column is the calorific tolerance when the internal air tempera-
ture rise within the unit is suppressed to 10 K (10 °C (50°F)) max.
Mount the heat exchanger internally as shown in Fig. 15.28 so that the internal air is drawn in from the
top and expelled through the bottom, and so that the external air is drawn in from the bottom and expelled
from the top.
Top
15
Internal air Case
flow
External air
flow
Bottom
Heat exchanger
Fig 15.28 Example of Heat Exchanger Mounting
15 -24
15
15 -25
3MCCB
Special busbar
Motor
P/ N/ P1N1 power P/ N/ Cooling fan
1MCCB 1MC L 3-phase Z1
VS−656MR5 supply cable 200 VAC*1 Z2
P1 P1
R R/L1 Z3
N1 N1 VS−626M5
3-phase S S/L2
200 VAC*1 5CN 51CN U
T/L3 IM
T U/T1 V
V/T2
W/T3 W
2MCCB 2MC
1-phase r A1/r
200 VAC t A2/t
Flat cable
52CN
(Grounded to
100 Ω or less.) 1CN Not used (Grounded to
100 Ω or less.)
2CN
Not used +5V 4,5,6 1
0V 1,2,3 2
3CN
PA 16 3
:PA 17 P 4
PB 18 5
:PB 19 P 6
PLC 14 PG
MCCB: Molded Case Circuit Breaker 7
15 MC:
L:
Magnetic Contactor
AC reactor
6CN
:PLC 15 P 8
9
Digital Operator
19,20,21 EXTCOM0 THSA 8 11 TS
22,23 24VCOM THSB 9 P 12
DRIVE FWD REV REMOTE
SEQ REF 24,25 0VCOM SS 7 10
6 RDY
7 EMG 1CN
8 FWD PAO 13
9 REV :PAO 14
10 TLH PBO 15
DIGITAL OPERATOR 11 TLL(INC) :PBO 16
JVOP−132 PLCO 11
12 SSC(SV)
13 RST :PLCO 12
14 CHW SS 17
5 DAS
LOCAL DRIVE
15 PPI
DSPL
REMOTE PRGM 16 ORT
17 LGR EXTCOM 31
DATA
JOG
ENTER 18 MGR 24VCOM 32
0VCOM 33
LOCAL
REMOTE RESET 3 SCOM D1 19
4 0V D2 20
RUN STOP 2 SS D3 21
D4 22
33 ZSPD D5 23
34 AGR D6 24
35 SDET D7 25
36 TDET D8 26
37 TLE D9 27
38 ORG D10 28
39 ORE D11 29
40 CHWE D12 30
42 COM1
6CN
43
44 FLT SM 47
45
0V 48
26 FC0
27 FC1 LM 50
28 FC2
29 FC3 0V 49
*: 400-V class: 3-phase 400 VAC 41 FLTL
46 TALM
P Indicated shielded twisted-pair cable
30 COM2
I/O Card
15 -26
Special busbar
Motor
2MCCB 2MC
1-phase r A1/r
200 VAC t A2/t
Flat cable
52CN
(Ground to 100 Ω (Ground to 100 Ω
1CN Not used or less.)
or less.) 2CN
Not used +5V 4,5,6 1
0V 1,2,3 2
Digital Opera-
3CN
PA 16
:PA 17 P
3
4 15
tor (optional) PB 18 5
:PB 19 P 6
PLC 14 PG
MCCB: Molded Case Circuit Breaker 7
MC: Magnetic Contactor NC PLC 15 P 8
L: AC reactor 9
Output Module 6CN
*3 19,20,21 EXTCOM0*2 THSA 8 11 TS
22,23 24VCOM THSB 9 P 12
External 24 V
24,25 0VCOM SS 7 10
power supply
6 RDY
7 EMG
8 FWD
NC
9 REV
1CN Control Axis
10 TLH
PAO 13 Module
11 TLL(INC) :PAO 14 P
12 SSC(SV) PBO 15
13 RST P
:PBO 16
14 CHW PLCO 11
5 DAS :PLCO 12 P
15 PPI SS 17
16 ORT
17 LGR
18 MGR
6CN
SCOM 3
Input Module 0V 4
33 ZSPD SS 2
34 AGR
35 SDET
36 TDET
37 TLE
38 ORG
39 ORE
40 CHWE
42 COM1
43
44 FLT 6CN
45 SM 47
*1 400-V class: 3-phase 400 VAC
SM Speedometer
*2 EXTCOM0 on 6CN and EXTCOM 26 FC0 0V 48
on 1CN are isolated internally. 27 FC1
*3 Connection when sequence input 28 FC2 LM 50
common is an external common. 29 FC3
LM Load meter
41 FLTL 0V 49
46 TALM
P indicates shielded twisted- 30 COM2
pair cable. I/O Card
15 -27
Motor
3MCCB Special busbar
3-phase Cooling fan
Z1
200 VAC*1 Z2
P/ N/ P/ N/ Z3
1MCCB 1MC L
P1N1 power supply
R R/L1VS−656MR5 cable P1 VS−626M5 U
3-phase P1 IM
U/T1
200 VAC*1 S S/L2 N1 N1 V
V/T2
W/T3 W
T T/L3 5CN 51CN
2MCCB 2MC
1-phase r A1/r
200 VAC t A2/t Flat cable 52CN
Not used
15 -28
3MCCB
N/ N/
P1 P1
Power
2MCCB 2MC N1 N1 supply
A1/r
r (RCC)
+
A2/t
t Control
power
supply
(RCC) Internal cooling
fan
TS TS
15
TS TS
Gate driver Gate driver
2CN TS
5CN 51CN
Detector
(AD) Detector
(AD)
Detector
CPU (AD) PG
PG
P−ROM pulse
proces-
sor
DSP 1CN
(DIO)
6CN Motor encoder
I/O Card (See note.) signal outputs
Speed reference (AD)
Analog speed reference (±10 V)
Sequence inputs (14 points) Sequence inputs 12-bit digital refer- 12-bit digital references
(DI) ences (DI) (12 points)
CPU
Sequence outputs Digital Operator
Sequence outputs (10 points)
(DO)
PROM DRIVEFWDREVREMOTE
SEQ REF
Error codes (4 points) Error codes
(DO)
EEPROM
(Constants)
3CN DIGITAL OPERATOR
Speedometer signals
Speedometer output (10 V) Load meter signals
JVOP−132
LOCAL
REMOTE RESET
RUN STOP
15 -29
J Machine Specifications
Power Required Short-time rating kW ( min., %ED) Continuous rating kW
Power Transmis- 1. Gear --- High speed (H) Medium speed (M) Low speed (L)
sion Method 2. Belt Speed control
3. Direct connec- range (min−1)
tion
i Gear ratio
4. Built-in motor Load axis/Motor
axis
Motor axis con-
version inertial
moment
(kg S m2: GD2/4)
Acceleration/de- times/min. Acceleration/de-
celeration Fre- celeration time
quency (0 ↔ Top) (s)
15 -30
J Motor Specifications
J Inverter Specifications
Model CIMR-M5
Reference Card 1. I/O Card (ETC62612X) (M5A)
2. YENET1200 Card (ETC62611X-SXXXX) (M5N) 15
Mounting Configuration 1. Mounted in the panel (with fan)
2. External heatsink cooling (without fan)
Connection Diagram
Remarks
J Converter Specifications
Model CIMR-MR5
Servo Control Power Supply 1. Without power supply (MR5A)
2. With power supply (MR5N)
Mounting Configuration 1. Mounted in the panel (with fan)
2. External heatsink cooling (without fan)
Remarks
Power Supply Voltage 1. 3-phase 200 V (50/60 Hz), 220 V (50/60 Hz), 230 V (60 Hz)
2. 3-phase 400 V (50/60 Hz), 440 V (50/60 Hz), 460 V (60 Hz)
Tolerable voltage fluctuation 10% to 15%
Tolerable frequency fluctuation ±5%
Voltage unbalance between wires 5% max.
Ambient Temperature and Humidity Inverter and Converter: 0% to 55% (internal air temperature 45°C
(113°F) max.)
5% to 95% (with no condensation)
Motor: 0 to 40°C (32 to 104°F)
95% max. (with no condensation)
Location for Use Indoors (with no corrosive gas or dust), or as per other standard specifi-
cations.
15 -31
J Remarks
If using magnetic sensor orientation, enter the mounting radius of the magnetic.
Magnetic emitter: ( 1. MG-1378BS 2. MG1444S)
Magnet
Magnetic sensor: ( 1. FS-1378C 2. FS-200A)
R
R= mm
15
15 -32
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
MANUAL NO. SIE-S626-7.5B
for ongoing product modifications and improvements. Printed in Japan October 2005 01-4 3
© 2001-2005 YASKAWA ELECTRIC CORPORATION. All rights reserved. 05-7⑦ 96-71088, 98-A1002