Yaskawa SGD7W, SGD7S User Manual

-7-Series AC Servo Drive

-7S/ -7W SERVOPACK with Hardware Option Specifications Dynamic Brake

Product Manual

SGD7S-020

SGD7W-020

Basic Information on SERVOPACKs

Selecting a SERVOPACK

Selecting a Dynamic Brake Resistor

Wiring and Connecting

a Dynamic Brake Resistor

Basic Functions That Require

Setting before Operation

Maintenance

Parameter Lists

Appendices

MANUAL NO. SIEP S800001 73B

1

2

3

4

5

6

7

8

9

10

Copyright © 2015 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual

This manual provides information on Σ-7-Series AC Servo Drives that support the dynamic brake hardware option specifications (SGD7-020). It describes the specifications of

SERVOPACKs that are different from the SERVOPACKs that do not support the dynamic brake hardware option specifications.

For all other information, refer to the product manual for a standard SERVOPACK.

Read and understand this manual and the standard SERVOPACK product manual to ensure correct usage of the Σ-7-Series AC Servo Drives.

Keep this manual and the standard SERVOPACK product manual in a safe place so that they can be referred to whenever necessary.

Finding Information

Information on SERVOPACKs that support the dynamic brake hardware option specifications is provided in different manuals depending on the topic. Use the following table to find what information is provided in this manual and what information is provided in the standard SERVOPACK product manual.

				Σ-7S SERVOPACKs			Σ-7W
							SERVOPACKs
	Item	This	Analog	MECHA-	Command Option		MECHA-
				TROLINK-II/	Attachable		TROLINK-III
		Manual	Voltage/
				-III Commu-			Communica-
			Pulse Train		INDEXER	DeviceNet
				nications			tions
			References		Module	Module
				References			References
	About the Dynamic
	Brake Hardware Option	1.1
	Specifications				−
Basic Informa-
	Nameplate	1.2
tion on
	Part Names	1.3
SERVOPACKs
	Model Designations	1.4
	Other basic information	−			Chapter 1
	not listed above
	Combinations of Servo-
	motors and SERVO-	2.1			−
Selecting a	PACKs
SERVOPACK	External Dimensions	2.2
	Other selection informa-	−			Chapter 2
	tion not listed above
Dynamic Brake Resistor Selection		Chapter			−
		3
SERVOPACK Installation		−			Chapter 3
Wiring and Connecting SERVOPACKs					Chapter 4

Continued on next page.

iii

Continued from previous page.

					Σ-7S SERVOPACKs			Σ-7W
								SERVOPACKs
	Item	This	Analog		MECHA-	Command Option		MECHA-
					TROLINK-II/	Attachable		TROLINK-III
		Manual	Voltage/
					-III Commu-			Communica-
			Pulse Train			INDEXER	DeviceNet
					nications			tions
			References			Module	Module
					References			References
Dynamic Brake Resistor Wiring and Con-		Chapter
nections		4
	Motor Stopping Methods
	for Servo OFF and	5.2
	Alarms
						−
Basic Informa-	Motor Stopping Method	5.3
tion Required	for Overtravel
for Settings	Setting the Energy Con-
before Opera-	sumption and Resis-	5.4
tion	tance of the Dynamic
	Resistor
	Other basic functions	−				Chapter 5
	not listed above
Application Functions						Chapter 6
Trial Operation and Actual Operation						Chapter 7
Tuning		−				Chapter 8
Monitor						Chapter 9
Fully-Closed Loop Control					Chapter 10			−
Safety Control					Chapter 11
		−		−		Chapters 12,	Chapters 12,	−
Option Module Functions						13, 14, and
							13, and 16
						17
	Troubleshooting Related
	to the Dynamic Brake	Chapter				−
	Hardware Option Speci-	6
Maintenance
	fications
	All other troubleshooting	−	Chapter 12			Chapter 15	Chapter 14	Chapter 10
Panel Displays and Panel Operator Pro-		−	Chapter 13				−
cedures
	Parameters Related to
	the Dynamic Brake Hard-	Chapter				−
Parameter List	ware Option Specifica-	7
	tions
	All other parameters	−	Chapter 14		Chapter 13	Chapter 16	Chapter 15	Chapter 11
Interpreting the Panel Display			–		14.1	1.3	1.5	12.1
		−
Examples of Connections to Host Con-			15.1				−
trollers
Corresponding SERVOPACK and		−	15.2		14.2	17.1	16.1	12.2
SigmaWin+ Function Names
Monitor Displays for the Dynamic Brake		8.1				−
Hardware Option Specifications
Coasting Distance when Stopping with		8.2
the Dynamic Brake						−
Data for Coasting Distance Calculation		8.3

iv

Related Documents

The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required.

Catalogs

Manuals

System

Machine

Controller and

Servo Drive

General

Catalog

Components

Machine Controllers Servo Drives

MP3300				Σ-7-Series
Catalog				Catalog

Machine Controllers

SERVOPACKs with Built-in Controllers: Σ-7C

Built-in

Option

Function

Module

User’s

Manuals

Manuals

Enclosed

Σ-

7-Series

Built-in

Documents

Σ-

7C

Function

S

ERVOPACK

Manuals

SERVOPACKs: Σ-7S and Σ-7W

Product Manual

Enclosed

Σ-7-Series

Σ-7-Series

Σ-7-Series

Documents

Σ-7S/Σ-7W

Σ-7S/Σ-7W

Σ-7S/Σ-7W

SERVOPACK

SERVOPACK

SERVOPACK

Hardware Option

FT/EX

Product

Product Manuals

Manuals

(such as this manual)

Product Manuals

Servomotors

Σ-7-Series Σ-7C SERVOPACK

Troubleshooting

Manual

Option

Module

User’s

Manual

	Enclosed					Σ-7-Series
	Documents					Servomotor
						Product
						Manuals

Other Documents

Σ-7-Series		Σ-7-Series
Peripheral		MECHATROLINK
Device		Communications
Selection		Command
		Manuals
Manual

Programming

Manuals

Σ-7-Series Operation Interface

Operating

Manuals

Distributed

I/O Module

User’s

Manual

v

	Classification	Document Name	Document No.	Description
				Describes the features and applica-
		Machine Controller and		tion examples for combinations of
	Machine Controller and
		AC Servo Drive	KAEP S800001 22	MP3000-Series Machine Control-
	Servo Drive
		Solutions Catalog		lers and Σ-7-Series AC Servo
	General Catalog
				Drives.
				Provides detailed information on
		Machine Controller	KAEP C880725 03	MP3300 Machine Controllers,
	MP3300 Catalog	MP3300		including features and specifica-
				tions.
		AC Servo Drives		Provides detailed information on Σ-
			KAEP S800001 23	7-Series AC Servo Drives, including
	Σ-7-Series Catalog	Σ-7 Series
				features and specifications.
		Σ-7-Series AC Servo Drive		Provides detailed information on
				the specifications, system configu-
		Σ-7C SERVOPACK	SIEP S800002 03	ration, and application methods of
		Motion Control		the Motion Control Function Mod-
		User’s Manual		ules (SVD, SVC4, and SVR4) for Σ-
				7-Series Σ-7C SERVOPACKs.
				Provides detailed information on
	Built-in Function Manuals			the specifications, system configu-
		Machine Controller		ration, and communications con-
		MP3000 Series	SIEP C880725 12	nection methods for the Ethernet
		Communications		communications that are used with
		User’s Manual		MP3000-Series Machine Control-
				lers and Σ-7-Series Σ-7C SERVO-
				PACKs.
		Machine Controller
		MP2000 Series	SIEP C880700 04
		Communication Module
		User’s Manual		Provide detailed information on the
		Machine Controller
				specifications and communica-
		MP2000 Series
			SIEP C880700 36	tions methods for the Communica-
		262IF-01 FL-net
				tions Modules that can be mounted
		Communication Module
				to MP3000-Series Machine Con-
		User’s Manual
				trollers and Σ-7-Series Σ-7C
		Machine Controller
				SERVOPACKs.
		MP2000 Series
		263IF-01 EtherNet/IP	SIEP C880700 39
		Communication Module
	Option Module	User’s Manual
	User’s Manuals	Machine Controller
		MP2000 Series	SIEP C880700 34
		I/O Module
		User’s Manual		Provide detailed information on the
		Machine Controller
				specifications and communica-
		MP2000 Series
				tions methods for the I/O Modules
		Analog Input/Analog Output	SIEP C880700 26
				that can be mounted to MP3000-
		Module AI-01/AO-01
				Series Machine Controllers and Σ-
		User’s Manual
				7-Series Σ-7C SERVOPACKs.
		Machine Controller
		MP2000 Series	SIEP C880700 27
		Counter Module CNTR-01
		User’s Manual
				Continued on next page.

vi

				Continued from previous page.
	Classification	Document Name	Document No.	Description
		Σ-7-Series AC Servo Drive		Provides detailed information for
		Σ-7S and Σ-7W SERVOPACK	TOMP C710828 00	the safe usage of Σ-7-Series
		Safety Precautions		SERVOPACKs.
		Σ-V-Series/Σ-V-Series
		for Large-Capacity Models/		Provides detailed information for
		Σ-7-Series	TOBP C720829 00
				the safe usage of Option Modules.
		Safety Precautions
		Option Module
		Σ-V-Series/Σ-V-Series		Provides detailed procedures for
		for Large-Capacity Models/
		Σ-7-Series	TOBP C720829 01	installing the Command Option
		Installation Guide		Module in a SERVOPACK.
		Command Option Module
		Σ-V-Series/Σ-V-Series
		for Large-Capacity Models/		Provides detailed procedures for
		Σ-7-Series	TOBP C720829 03	installing the Fully-closed Module in
		Installation Guide		a SERVOPACK.
	Enclosed Documents	Fully-closed Module
		Σ-V-Series/Σ-V-Series
		for Large-Capacity Models/		Provides detailed procedures for
		Σ-7-Series	TOBP C720829 06	installing the Safety Module in a
		Installation Guide		SERVOPACK.
		Safety Module
		Σ-V-Series/Σ-V-Series
		for Large-Capacity Models/		Provides detailed procedures for
		Σ-7-Series	TOBP C720829 02	installing the INDEXER Module in a
		Installation Guide		SERVOPACK.
		INDEXER Module
		Σ-V-Series/Σ-V-Series
		for Large-Capacity Models/		Provides detailed procedures for
		Σ-7-Series	TOBP C720829 07	installing the DeviceNet Module in a
		Installation Guide		SERVOPACK.
		DeviceNet Module
				Provides detailed information on
		Σ-7-Series AC Servo Drive		selecting Σ-7-Series Σ-7C SERVO-
				PACKs; installing, connecting, set-
	Σ-7-Series
		Σ-7C SERVOPACK	SIEP S800002 04	ting, testing in trial operation, and
	Σ-7C SERVOPACK
		Product Manual		tuning Servo Drives; writing, moni-
	Product Manual
				toring, and maintaining programs;
				and other information.
	
	Σ-7-Series	Σ-7-Series AC Servo Drive		Provides detailed troubleshooting
	Σ-7C SERVOPACK	Σ-7C SERVOPACK	SIEP S800002 07	information for Σ-7-Series Σ-7C
	Troubleshooting	Troubleshooting Manual		SERVOPACKs.
	Manual
				Continued on next page.

vii

				Continued from previous page.
	Classification	Document Name	Document No.	Description
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with
		MECHATROLINK-III	SIEP S800001 28
		Communications References
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with
		MECHATROLINK-II	SIEP S800001 27
		Communications References
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with	SIEP S800001 26
		Analog Voltage/Pulse Train		Provide detailed information on
		References
				selecting Σ-7-Series SERVO-
	Σ-7-Series	Product Manual
				PACKs and information on install-
	Σ-7S/Σ-7W
				ing, connecting, setting, performing
	SERVOPACK	Σ-7-Series AC Servo Drive
				trial operation for, tuning, and mon-
	Product Manuals	Σ-7S SERVOPACK
			SIEP S800001 64	itoring the Servo Drives.
		Command Option Attachable
		Type with INDEXER Module
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK	SIEP S800001 70
		Command Option Attachable
		Type with DeviceNet Module
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7W SERVOPACK with	SIEP S800001 29
		MECHATROLINK-III
		Communications References
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S/Σ-7W SERVOPACK with
		Hardware Option Specifica-	This manual
		tions	(SIEP S800001 73)
	Σ-7-Series	Dynamic Brake
	Σ-7S/Σ-7W	Product Manual		Provide detailed information on
	SERVOPACK with			Hardware Options for Σ-7-Series
		Σ-7-Series AC Servo Drive
	Hardware Option			SERVOPACKs.
		Σ-7W/Σ-7C SERVOPACK with
	Specifications
		Hardware Option Specifica-
	Product Manuals		SIEP S800001 72
		tions
		HWBB Function
		Product Manual
				Continued on next page.

viii

				Continued from previous page.
	Classification	Document Name	Document No.	Description
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with	SIEP S800001 84
		FT/EX Specification for Index-
		ing Application
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with
		FT/EX Specification for Track-	SIEP S800001 89
		ing Application
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with
		FT/EX Specification
		for Application with Special	SIEP S800001 91
		Motor,
		SGM7D Motor
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with
	Σ-7-Series	FT/EX Specification	SIEP S800001 94	Provide detailed information on the
	Σ-7S/Σ-7W SERVOPACK	for Press and Injection		FT/EX Option for Σ-7-Series
	FT/EX	Molding Application		SERVOPACKs.
	Product Manuals	Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with
		FT/EX Specification	SIEP S800001 95
		for Transfer and Alignment
		Application
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with
		FT/EX Specification	SIEP S800002 09
		for Torque/Force Assistance
		for Conveyance Application
		Product Manual
		Σ-7-Series AC Servo Drive
		Σ-7S SERVOPACK with
		FT/EX Specification	SIEP S800002 10
		for Cutting Application
		Feed Shaft Motor
		Product Manual
		AC Servo Drives
		Σ-V Series/Σ-V Series		Provides details information
		for Large-Capacity Models/
	Option Module		SIEP C720829 06	required for the design and mainte-
		Σ-7 Series
	User’s Manual			nance of a Safety Module.
		User’s Manual
		Safety Module
		AC Servo Drive		Provides detailed information for
		Rotary Servomotor	TOBP C230260 00	the safe usage of Rotary Servomo-
		Safety Precautions		tors and Direct Drive Servomotors.
	Enclosed Documents
		AC Servomotor		Provides detailed information for
		Linear Σ Series	TOBP C230800 00	the safe usage of Linear Servomo-
		Safety Precautions		tors.

Continued on next page.

ix

Continued from previous page.

Classification

Document Name

Document No.

Description

Σ-7-Series AC Servo Drive

Rotary Servomotor SIEP S800001 36

Product Manual

	Σ-7-Series	Σ-7-Series AC Servo Drive		Provide detailed information on
		Linear Servomotor	SIEP S800001 37	selecting, installing, and connecting
	Servomotor
		Product Manual		the Σ-7-Series Servomotors.
	Product Manuals
		Σ-7-Series AC Servo Drive
		Direct Drive Servomotor	SIEP S800001 38
		Product Manual
	Σ-7-Series	Σ-7-Series AC Servo Drive		Describes the peripheral devices
		Peripheral Device	SIEP S800001 32
	Peripheral Device			for a Σ-7-Series Servo System.
		Selection Manual
	Selection Manual
		Σ-7-Series AC Servo Drive		Provides detailed information on
		MECHATROLINK-II	SIEP S800001 30	the MECHATROLINK-II communi-
		Communications		cations commands that are used
	Σ-7-Series	Command Manual		for a Σ-7-Series Servo System.
	MECHATROLINK
		Σ-7-Series AC Servo Drive
	Communications			Provides detailed information on
	Command Manuals	MECHATROLINK-III		the MECHATROLINK-III communi-
		Communications	SIEP S800001 31	cations standard servo profile com-
		Standard Servo Profile		mands that are used for a Σ-7-
		Command Manual		Series Servo System.
		Machine Controller		Provides detailed information on
				the ladder programming specifica-
		MP3000 Series
			SIEP C880725 13	tions and instructions for MP3000-
		Ladder Programming
				Series Machine Controllers and Σ-
		Manual
				7-Series Σ-7C SERVOPACKs.
	Programming
				Provides detailed information on
	Manuals	Machine Controller
				the motion programming and
		MP3000 Series	SIEP C880725 14	sequence programming specifica-
		Motion Programming		tions and instructions for MP3000-
		Manual		Series Machine Controllers and Σ-
				7-Series Σ-7C SERVOPACKs.
		Machine Controller
		MP2000/MP3000 Series		Describes in detail how to operate
		Engineering Tool	SIEP C880761 03
				MPE720 version 7.
		MPE720 Version 7
		User’s Manual
	Σ-7-Series	Σ-7-Series AC Servo Drive		Describes the operating proce-
		Digital Operator	SIEP S800001 33	dures for a Digital Operator for a
	Operation Interface
		Operating Manual		Σ-7-Series Servo System.
	Operating Manuals
		AC Servo Drive		Provides detailed operating proce-
		Engineering Tool	SIET S800001 34	dures for the SigmaWin+ Engineer-
		SigmaWin+		ing Tool for a Σ-7-Series Servo
		Operation Manual		System.

Continued on next page.

x

				Continued from previous page.
	Classification	Document Name	Document No.	Description
				Describes the functions, specifica-
		MECHATROLINK-III		tions, operating methods, and
	Distributed			MECHATROLINK-III communica-
		Compatible I/O Module	SIEP C880781 04
	I/O Module			tions for the Remote I/O Modules
		User’s Manual
	User’s Manuals			for MP2000/MP3000-Series
				Machine Controllers.

xi

Using This Manual

 Technical Terms Used in This Manual

The following terms are used in this manual.

	Term	Meaning
	Servomotor	A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.
		A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P,
	Rotary Servomotor	or SGM7G) or a Direct Drive Servomotor (SGM7D, SGM7E, SGM7F, SGMCV, or SGMCS).
		The descriptions will specify when Direct Drive Servomotors are excluded.
	Linear Servomotor	A generic term used for a Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT).
		• A Σ-7-Series Σ-7S Servo Amplifier with Analog Voltage/Pulse Train References.
		• A Σ-7-Series Σ-7S Servo Amplifier with MECHATROLINK-II Communications References.
	SERVOPACK	• A Σ-7-Series Σ-7S Servo Amplifier with MECHATROLINK-III Communications References.
		• A Σ-7-Series Σ-7W Servo Amplifier with MECHATROLINK-III Communications References.
		• A Σ-7-Series Σ-7S Command Option Module Attachable-Type Servo Amplifier.
	Servo Drive	The combination of a Servomotor and SERVOPACK.
	Servo System	A servo control system that includes the combination of a Servo Drive with a host controller
		and peripheral devices.
	servo ON	Supplying power to the motor.
	servo OFF	Not supplying power to the motor.
	base block (BB)	Shutting OFF the power supply to the motor by shutting OFF the base current to the power
		transistor in the SERVOPACK.
	dynamic brake (DB)	A brake that performs a quick stop of a Servomotor by connecting resistance between the
		Servomotor terminals.
	servo lock	A state in which the motor is stopped and is in a position loop with a position reference of 0.
	Main Circuit Cable	One of the cables that connect to the main circuit terminals, including the Main Circuit Power
		Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
	SigmaWin+	The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engi-
		neering Tool is installed.

 Differences in Terms for Rotary Servomotors and Linear Servomotors

There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors. This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you need to interpret the terms as given in the following table.

Rotary Servomotors	Linear Servomotors
torque	force
moment of inertia	mass
rotation	movement
forward rotation and reverse rotation	forward movement and reverse movement
rotary encoder	linear encoder
unit: min-1	unit: mm/s
unit: N·m	unit: N

xii

 Notation Used in this Manual

 Notation for Reverse Signals

The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation.

Notation Example

BK is written as /BK.

 Notation for Parameters

The notation depends on whether the parameter requires a numeric setting (parameter for numeric setting) or requires the selection of a function (parameter for selecting functions).

• Parameters for Numeric Settings

	The control methods for which the parameters apply are given.
Parameter number
	Speed	: Speed control	Position	: Position control	Torque	: Torque control

Gain

Speed

Position

	Pn100
		Setting Range	Setting Unit	Default Setting	When Enabled	Classification
		20,000	0.1 Hz	400	Immediately	Tuning

If All Axes is given here, the parameter applies to both axes A and B.

If you change the setting, the new setting will be applied to both axes.

This is the minimum unit (setting increment) that you can set for the parameter.

This is the parameter setting before shipment.

This is when any change made to the parameter will become effective.

This is the parameter classification.

This is the setting range for the parameter.

• Parameters for Selecting Functions

Parameter number

Meaning	When Enabled	Classification

		0	Do not detect preventative maintenance warnings.
Pn00F (default setting)
				After startup	Setup
All Axes
			s.

function

is set to 1.

If All Axes is given here, the parameter applies to both axes A and B. If you change the setting, the new setting will be applied to both axes.

This column explains the selections for the function.

Notation Example

Notation Examples for Pn002

Digit Notation

Numeric Value Notation

n . 0 0 0 0

Notation

Meaning

Notation

Meaning

Pn002 =

Indicates the first digit from

Pn002 =

Indicates that the first digit from

n. X

the right in Pn002.

n. 1

the right in Pn002 is set to 1.

Pn002 =

Indicates the second digit

Pn002 =

Indicates that the second digit from

n. X

from the right in Pn002.

n. 1

the right in Pn002 is set to 1.

Pn002 =

Indicates the third digit from

Pn002 =

Indicates that the third digit from

n. X

the right in Pn002.

n. 1

the right in Pn002 is set to 1.

Pn002 =

Indicates the fourth digit from

Pn002 =

Indicates that the fourth digit from

n.X

the right in Pn002.

n.1

the right in Pn002 is set to 1.

xiii

 Engineering Tools Used in This Manual

This manual uses the interfaces of the SigmaWin+ for descriptions.

 Trademarks

• QR code is a trademark of Denso Wave Inc.

• MECHATROLINK is a trademark of the MECHATROLINK Members Association.

• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the → mark do not appear with product or company names in this manual.

 Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates precautions or restrictions that must be observed.

Also indicates alarm displays and other precautions that will not result in machine damage.

Important

Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

Term

Example Indicates operating or setting examples.

Information Indicates supplemental information to deepen understanding or useful information.

xiv

Safety Precautions

 Safety Information

To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.

DANGER

 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.

WARNING

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

CAUTION

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in fire.

NOTICE

 Indicates precautions that, if not heeded, could result in property damage.

xv

 Safety Precautions That Must Always Be Observed

 General Precautions

DANGER

Read and understand this manual to ensure the safe usage of the product.

Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.

Do not remove covers, cables, connectors, or optional devices while power is being supplied to the SERVOPACK.

There is a risk of electric shock, operational failure of the product, or burning.

WARNING

Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC type) that are appropriate for the product.

There is a risk of burning, electric shock, or fire.

Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according to local electrical codes (100 Ω or less for a SERVOPACK with a 100-VAC or 200-VAC power supply, and 10 Ω or less for a SERVOPACK with a 400-VAC power supply).

There is a risk of electric shock or fire.

Do not attempt to disassemble, repair, or modify the product.

There is a risk of fire or failure.

The warranty is void for the product if you disassemble, repair, or modify it.

CAUTION

The SERVOPACK heat sinks, regenerative resistors, external dynamic brake resistors, Servomotors, and other components can be very hot while power is ON or soon after the power is turned OFF. Implement safety measures, such as installing covers, so that hands and parts such as cables do not come into contact with hot components.

There is a risk of burn injury.

For a 24-VDC power supply, use a power supply device with double insulation or reinforced insulation.

There is a risk of electric shock.

Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.

There is a risk of failure, damage, or electric shock.

The person who designs the system that uses the hard wire base block safety function must have a complete knowledge of the related safety standards and a complete understanding of the instructions in this document.

There is a risk of injury, product damage, or machine damage.

Do not use the product in an environment that is subject to water, corrosive gases, or flammable gases, or near flammable materials.

There is a risk of electric shock or fire.

xvi

NOTICE

Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.

Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.

In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.

There is a risk of damage to the SERVOPACK.

Use a Noise Filter to minimize the effects of electromagnetic interference.

Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.

Always use a Servomotor and SERVOPACK in one of the specified combinations.

Do not touch a SERVOPACK or Servomotor with wet hands.

There is a risk of product failure.

Storage Precautions

CAUTION

Do not place an excessive load on the product during storage. (Follow all instructions on the packages.)

There is a risk of injury or damage.

NOTICE

Do not install or store the product in any of the following locations.

•Locations that are subject to direct sunlight

•Locations that are subject to ambient temperatures that exceed product specifications

•Locations that are subject to relative humidities that exceed product specifications

•Locations that are subject to condensation as the result of extreme changes in temperature

•Locations that are subject to corrosive or flammable gases

•Locations that are near flammable materials

•Locations that are subject to dust, salts, or iron powder

•Locations that are subject to water, oil, or chemicals

•Locations that are subject to vibration or shock that exceeds product specifications

•Locations that are subject to radiation

If you store or install the product in any of the above locations, the product may fail or be damaged.

 Transportation Precautions

CAUTION

Transport the product in a way that is suitable to the mass of the product.

Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.

There is a risk of damage or injury.

When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners.

There is a risk of injury.

Do not place an excessive load on the product during transportation. (Follow all instructions on the packages.)

There is a risk of injury or damage.

xvii

NOTICE

Do not hold onto the front cover or connectors when you move a SERVOPACK.

There is a risk of the SERVOPACK falling.

A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.

There is a risk of failure or damage.

Do not subject connectors to shock.

There is a risk of faulty connections or damage.

If disinfectants or insecticides must be used to treat packing materials such as wooden frames, plywood, or pallets, the packing materials must be treated before the product is packaged, and

methods other than fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

Do not overtighten the eyebolts on a SERVOPACK or Servomotor.

If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.

Installation Precautions

CAUTION

Install the Servomotor or SERVOPACK in a way that will support the mass given in technical documents.

Install SERVOPACKs, Servomotors, regenerative resistors, and external dynamic brake resistors on nonflammable materials.

Installation directly onto or near flammable materials may result in fire.

Provide the specified clearances between the SERVOPACK and the control panel as well as with other devices.

There is a risk of fire or failure.

Install the SERVOPACK in the specified orientation.

There is a risk of fire or failure.

Do not step on or place a heavy object on the product.

There is a risk of failure, damage, or injury.

Do not allow any foreign matter to enter the SERVOPACK or Servomotor.

There is a risk of failure or fire.

xviii

NOTICE

Do not install or store the product in any of the following locations.

•Locations that are subject to direct sunlight

•Locations that are subject to ambient temperatures that exceed product specifications

•Locations that are subject to relative humidities that exceed product specifications

•Locations that are subject to condensation as the result of extreme changes in temperature

•Locations that are subject to corrosive or flammable gases

•Locations that are near flammable materials

•Locations that are subject to dust, salts, or iron powder

•Locations that are subject to water, oil, or chemicals

•Locations that are subject to vibration or shock that exceeds product specifications

•Locations that are subject to radiation

If you store or install the product in any of the above locations, the product may fail or be damaged.

Use the product in an environment that is appropriate for the product specifications.

If you use the product in an environment that exceeds product specifications, the product may fail or be damaged.

A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.

There is a risk of failure or damage.

Always install a SERVOPACK in a control panel.

Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor’s cooling fan.

There is a risk of failure.

Wiring Precautions

DANGER

Do not change any wiring while power is being supplied.

There is a risk of electric shock or injury.

WARNING

Wiring and inspections must be performed only by qualified engineers.

There is a risk of electric shock or product failure.

Check all wiring and power supplies carefully.

Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit failures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. This could damage the machine or cause an accident that may result in death or injury.

Connect the AC and DC power supplies to the specified SERVOPACK terminals.

•Connect an AC power supply to the L1, L2, and L3 terminals and the L1C and L2C terminals on the SERVOPACK.

•Connect a DC power supply to the B1/ and 2 terminals and the L1C and L2C terminals on the SERVOPACK.

There is a risk of failure or fire.

If you use a SERVOPACK that supports the dynamic brake hardware option specifications, connect an external dynamic brake resistor that is suitable for the machine and equipment specifications to the specified terminals.

There is a risk of unexpected operation, machine damage, burning, or injury when an emergency stop is performed.

xix

CAUTION

Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in the SERVOPACK.

There is a risk of electric shock.

Observe the precautions and instructions for wiring and trial operation precisely as described in this document.

Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury.

Check the wiring to be sure it has been performed correctly.

Connectors and pin layouts are sometimes different for different models. Always confirm the pin layouts in technical documents for your model before operation.

There is a risk of failure or malfunction.

Connect wires to power supply terminals and motor connection terminals securely with the specified methods and tightening torque.

Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact, possibly resulting in fire.

Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Signal Cables and Encoder Cables.

Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.

•Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit terminals, has been completed.

•If a connector is used for the main circuit terminals, remove the main circuit connector from the SERVOPACK before you wire it.

•Insert only one wire per insertion hole in the main circuit terminals.

•When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into contact with adjacent wires.

Install molded-case circuit breakers and other safety measures to provide protection against short circuits in external wiring.

There is a risk of fire or failure.

NOTICE

Whenever possible, use the Cables specified by Yaskawa.

If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.

Securely tighten cable connector screws and lock mechanisms.

Insufficient tightening may result in cable connectors falling off during operation.

Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Signal Cables or Encoder Cables) together or run them through the same duct. If you do not place power lines and low-current lines in separate ducts, separate them by at least 30 cm.

If the cables are too close to each other, malfunctions may occur due to noise affecting the low-cur- rent lines.

Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

When connecting a battery, connect the polarity correctly.

There is a risk of battery rupture or encoder failure.

xx

 Operation Precautions

WARNING

Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine.

Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made.

Do not radically change the settings of the parameters.

There is a risk of unstable operation, machine damage, or injury.

Install limit switches or stoppers at the ends of the moving parts of the machine to prevent unexpected accidents.

There is a risk of machine damage or injury.

For trial operation, securely mount the Servomotor and disconnect it from the machine.

There is a risk of injury.

Forcing the motor to stop for overtravel is disabled when the Jog (Fn002), Origin Search (Fn003), or Easy FFT (Fn206) utility function is executed. Take necessary precautions.

There is a risk of machine damage or injury.

When an alarm occurs, the Servomotor will coast to a stop or stop with the dynamic brake according to the SERVOPACK hardware option specifications and settings. The coasting distance will change with the moment of inertia of the load and the resistance of the external dynamic brake resistor. Check the coasting distance during trial operation and implement suitable safety measures on the machine.

Do not enter the machine’s range of motion during operation.

There is a risk of injury.

Do not touch the moving parts of the Servomotor or machine during operation.

There is a risk of injury.

CAUTION

Design the system to ensure safety even when problems, such as broken signal lines, occur. For example, the P-OT and N-OT signals are set in the default settings to operate on the safe side if a signal line breaks. Do not change the polarity of this type of signal.

When overtravel occurs, the power supply to the motor is turned OFF and the brake is released. If you use the Servomotor to drive a vertical load, set the Servomotor to enter a zero-clamped state after the Servomotor stops. Also, install safety devices (such as an external brake or counterweight) to prevent the moving parts of the machine from falling.

Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor will stop as follows:

•If you turn OFF the main circuit power supply during operation without turning OFF the servo, the Servomotor will stop abruptly with the dynamic brake.

•If you turn OFF the control power supply without turning OFF the servo, the stopping method that is used by the Servomotor depends on the model of the SERVOPACK. For details, refer to the manual for the SERVOPACK.

•If you use a SERVOPACK that supports the dynamic brake hardware option specifications, the Servomotor stopping methods will be different from the stopping methods used without dynamic brake hardware option specifications or for other hardware option specifications.

Do not use the dynamic brake for any application other than an emergency stop.

There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of unexpected operation, machine damage, burning, or injury.

xxi

NOTICE

When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration.

If a high gain causes vibration, the Servomotor will be damaged quickly.

Do not frequently turn the power supply ON and OFF. After you have started actual operation, allow at least one hour between turning the power supply ON and OFF (as a guideline).

Do not use the product in applications that require the power supply to be turned ON and OFF frequently.

The elements in the SERVOPACK will deteriorate quickly.

An alarm or warning may occur if communications are performed with the host controller while the SigmaWin+ or Digital Operator is operating.

If an alarm or warning occurs, it may interrupt the current process and stop the system.

After you complete trial operation of the machine and facilities, use the SigmaWin+ to back up the settings of the SERVOPACK parameters. You can use them to reset the parameters after SERVOPACK replacement.

If you do not copy backed up parameter settings, normal operation may not be possible after a faulty SERVOPACK is replaced, possibly resulting in machine or equipment damage.

Maintenance and Inspection Precautions

DANGER

Do not change any wiring while power is being supplied.

There is a risk of electric shock or injury.

WARNING

Wiring and inspections must be performed only by qualified engineers.

There is a risk of electric shock or product failure.

CAUTION

Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit because high voltage may still remain in the SERVOPACK after turning OFF the power supply.

There is a risk of electric shock.

Before you replace a SERVOPACK, back up the settings of the SERVOPACK parameters. Copy the backed up parameter settings to the new SERVOPACK and confirm that they were copied correctly.

If you do not copy backed up parameter settings or if the copy operation is not completed normally, normal operation may not be possible, possibly resulting in machine or equipment damage.

NOTICE

Discharge all static electricity from your body before you operate any of the buttons or switches inside the front cover of the SERVOPACK.

There is a risk of equipment damage.

xxii

 Troubleshooting Precautions

DANGER

If the safety device (molded-case circuit breaker or fuse) installed in the power supply line operates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.

There is a risk of fire, electric shock, or injury.

WARNING

The product may suddenly start to operate when the power supply is recovered after a momentary power interruption. Design the machine to ensure human safety when operation restarts.

There is a risk of injury.

CAUTION

When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm or turn the power supply OFF and ON again to restart operation.

There is a risk of injury or machine damage.

If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an alarm.

There is a risk of injury or machine damage.

Always insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply.

If a magnetic contactor is not connected when the SERVOPACK fails, a large current may flow, possibly resulting in fire.

If an alarm occurs, shut OFF the main circuit power supply.

There is a risk of fire due to a regenerative resistor overheating as the result of regenerative transistor failure.

Install a ground fault detector against overloads and short-circuiting or install a molded-case circuit breaker combined with a ground fault detector.

There is a risk of SERVOPACK failure or fire if a ground fault occurs.

The holding brake on a Servomotor will not ensure safety if there is the possibility that an external force (including gravity) may move the current position and create a hazardous situation when power is interrupted or an error occurs. If an external force may cause movement, install an external braking mechanism that ensures safety.

Disposal Precautions

When disposing of the product, treat it as ordinary industrial waste. However, local ordinances and national laws must be observed. Implement all labeling and warnings as a final product as required.

xxiii

General Precautions

Figures provided in this document are typical examples or conceptual representations. There may be differences between them and actual wiring, circuits, and products.

The products shown in illustrations in this document are sometimes shown without covers or protective guards. Always replace all covers and protective guards before you use the product.

If you need a new copy of this document because it has been lost or damaged, contact your nearest Yaskawa representative or one of the offices listed on the back of this document.

This document is subject to change without notice for product improvements, specifications changes, and improvements to the manual itself.

We will update the document number of the document and issue revisions when changes are made.

Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.

xxiv

Warranty

 Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called the “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period.

This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

•Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

•Causes not attributable to the delivered product itself

•Modifications or repairs not performed by Yaskawa

•Use of the delivered product in a manner in which it was not originally intended

•Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa

•Events for which Yaskawa is not responsible, such as natural or human-made disasters

Limitations of Liability

•Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

•Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

•The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

•Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

xxv

 Suitability for Use

•It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

•The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

•Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

•Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

•Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

•Systems, machines, and equipment that may present a risk to life or property

•Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day

•Other systems that require a similar high degree of safety

•Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

•The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

•Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

 Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

xxvi

Compliance with UL Standards, EU Directives, and Other Safety Standards

Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards.

 North American Safety Standards (UL)

	Product	Model		North American Safety Standards (UL File No.)
	SERVOPACKs	• SGD7S		UL 61800-5-1 (E147823),
		• SGD7W		CSA C22.2 No.274
		• SGMMV
	Rotary	• SGM7A		UL 1004-1
		• SGM7J		UL 1004-6
	Servomotors
		• SGM7P		(E165827)
		• SGM7G
	Direct Drive	• SGM7E*1		UL 1004-1
		• SGM7F	*2	UL 1004-6
	Servomotors*1
				(E165827)
		• SGMCV
		• SGLGW
	Linear	• SGLFW		UL 1004
	Servomotors	• SGLFW2*1		(E165827)
		• SGLTW

*1. Certification is pending.

*2. SGM7F-B, -C, and -D: Certified; SGM7F-A: Certification is pending.

 European Directives

S

Product	Model	European Directive	Harmonized Standards
		Machinery Directive	EN ISO13849-1: 2015
		2006/42/EC
			EN 55011 group 1, class A
		EMC Directive	EN 61000-6-2
	SGD7S		EN 61000-6-4
		2014/30/EU
			EN 61800-3
			(Category C2, Second environment)
SERVOPACKs		Low Voltage Directive	EN 50178
		2014/35/EU	EN 61800-5-1
			EN 55011 group 1, class A
		EMC Directive	EN 61000-6-2
			EN 61000-6-4
		2014/30/EU
	SGD7W		EN 61800-3
			(Category C2, Second environment)
		Low Voltage Directive	EN 50178
		2014/35/EU	EN 61800-5-1

Continued on next page.

xxvii

			Continued from previous page.
Product	Model	European Directive	Harmonized Standards
		EMC Directive	EN 55011 group 1, class A
			EN 61000-6-2
		2004/104/EC
	SGMMV		EN 61800-3
		Low Voltage Directive	EN 60034-1
		2006/95/EC	EN 60034-5
Rotary
			EN 55011 group 1, class A
Servomotors	• SGM7J	EMC Directive	EN 61000-6-2
			EN 61000-6-4
	• SGM7A	2014/30/EU	EN 61800-3
	• SGM7P		(Category C2, Second environment)
	• SGM7G
		Low Voltage Directive	EN 60034-1
		2014/35/EU	EN 60034-5
	• SGM7E*1		EN 55011 group 1, class A
	• SGM7F	EMC Directive	EN 61000-6-2
Direct Drive	• SGMCV	2004/108/EC	EN 61000-6-4*2
	• SGMCS-		EN 61800-3*2
Servomotors	B, C,
	D, E	Low Voltage Directive	EN 60034-1
	(Small-Capacity, Coreless	2006/95/EC	EN 60034-5
	Servomotors)
	• SGLG	EMC Directive	EN 55011 group 1, class A
			EN 61000-6-2
Linear	• SGLF	2004/108/EC	EN 61000-6-4
Servomotors	• SGLFW2
		Low Voltage Directive
	• SGLT		EN 60034-1
		2006/95/EC

*1. Certification is pending.

*2. SGM7E: Certification is pending, SGMCS: No application has been made for certification.

Note: 1. We declared the CE Marking based on the harmonized standards in the above table.

2.These products are for industrial use. In home environments, these products may cause electromagnetic interference and additional noise reduction measures may be necessary.

Safety Standards

S

	Product	Model	Safety Standards	Standards
			Safety of Machinery	EN ISO13849-1: 2015
				IEC 60204-1
	SERVOPACKs	SGD7S		IEC 61508 series
			Functional Safety	IEC 62061
				IEC 61800-5-2
			EMC	IEC 61326-3-1

xxviii

 Safety Parameters

	Item	Standards	Performance Level
	Safety Integrity Level	IEC 61508	SIL3
		IEC 62061	SILCL3
	Probability of Dangerous Failure per Hour	IEC 61508	PFH = 4.04×10-9 [1/h]
		IEC 62061	(4.04% of SIL3)
	Performance Level	EN ISO 13849-1	PLe (Category 3)
	Mean Time to Dangerous Failure of Each Channel	EN ISO 13849-1	MTTFd: High
	Average Diagnostic Coverage	EN ISO 13849-1	DCavg: Medium
	Stop Category	IEC 60204-1	Stop category 0
	Safety Function	IEC 61800-5-2	STO
	Mission Time	IEC 61508	10 years
	Hardware Fault Tolerance	IEC 61508	HFT = 1
	Subsystem	IEC 61508	B

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Contents

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Finding Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxv Compliance with UL Standards, EU Directives, and Other Safety Standards. . xxvii

1Basic Information on SERVOPACKs

1.1About the Dynamic Brake Hardware Option Specifications . . . 1-2

1.1.1 What Is Dynamic Braking? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

1.1.2Capabilities of SERVOPACKs That Support the Dynamic Brake Hardware

Option Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

1.2 Interpreting the Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3 Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.3.1SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, and SGD7W-1R6A

to -2R8A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4 1.3.2 SGD7S-3R8A to -330A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4 1.3.3 SGD7S-470A to -780A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5 1.3.4 SGD7W-5R5A and -7R6A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1.4 Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.1 Interpreting Σ-7S SERVOPACK Model Numbers . . . . . . . . . . . . . . . . . . . . . .1-6

1.4.2 Interpreting Σ-7W SERVOPACK Model Numbers . . . . . . . . . . . . . . . . . . . . .1-7

2Selecting a SERVOPACK

2.1 Combinations of Servomotors and SERVOPACKs . . . . . . . . . . . 2-2

2.1.1 Combinations of Rotary Servomotors and SERVOPACKs. . . . . . . . . . . . . . .2-2 2.1.2 Combinations of Direct Drive Servomotors and SERVOPACKs. . . . . . . . . . .2-4 2.1.3 Combinations of Linear Servomotors and SERVOPACKs . . . . . . . . . . . . . . .2-6

2.2 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8

3Selecting a Dynamic Brake Resistor

3.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.2 Selection Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.3 Determining the Resistance of the Dynamic Brake Resistor . . . 3-4

3.3.1 How to Determine the Resistance of the Dynamic Brake Resistor . . . . . . . .3-4 3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics . . . . . . . . . . .3-5

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