YASKAWA SGD7S-3R8A, SGD7S-120A, SGD7S-5R5A, SGD7S-7R6A, SGD7S-180A Product Manual

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-7-Series AC Servo Drive

-7S SERVOPACK with

FT/EX Specification for Indexing Application

Product Manual

Model: SGD7S-00F79

MANUAL NO. SIEP S800001 84C

Basic Information on

SERVOPACKs

SERVOPACK Ratings and

Specifications

Wiring and Connecting

SERVOPACKs

Trial Operation

Monitoring

Settings

Operation with Digital I/O

Maintenance

Parameter Lists

Appendices

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 describes the Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs for indexing applications.

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

Keep this manual in a safe place so that it can be referred to whenever necessary.

Outline of Manual

The contents of the chapters of this manual are described in the following table. When you use the Σ-7S SERVOPACKs for indexing applications, use this manual together with the

relevant Σ-7-Series product manual.

Item

The Σ-7 Series - 1.1

Product Introduction 1.1 -

Interpreting the Nameplate - 1.2

Basic Information on SERVOPACKs

Selecting a SERVOPACK

SERVOPACK Installation - Chapter 3

Wiring and Connecting SERVOPACKs

Basic Functions That Require Setting before Operation - Chapter 5

Application Functions - Chapter 6

Part Names - 1.3

Model Designations 1.2 -

Combinations of SERVOPACKs and Servomotors

Functions - 1.6

Ratings 2.1 -

SERVOPACK Overload Characteristics 2.2 -

Specifications 2.3 -

Block Diagrams - 2.2

External Dimensions - 2.3

Examples of Standard Connections between SERVOPACKs and Peripheral Devices

Wiring and Connecting SERVOPACKs - 4.1

Basic Wiring Diagrams 3.1 -

Wiring the Power Supply to the SERVOPACK - 4.3

Wiring Servomotors - 4.4

I/O Signal Connections 3.2 -

Connecting Safety Function Signals - 4.6

Connecting the Other Connectors - 4.7

This

Manual

1.3 -

-2.4

Σ-7S SERVOPACKs

Analog Voltage/Pulse Train

References Product Manual

Continued on next page.

iii

Continued from previous page.

Item

Flow of Trial Operation - 7.1

Inspections and Confirmations before Trial Operation

Trial Operation for the Servomotor without a Load

Trial Operation and Actual Operation

Tuning - Chapter 8

Monitoring

Fully-Closed Loop Control - Chapter 10

Safety Functions - Chapter 11

Settings

Operation with Digital I/O

Maintenance

Panel Displays and Panel Operator Procedures 10.3 -

Parameter Lists

Trial Operation Example 4.1 -

Trial Operation from the Host Controller for the Servomotor without a Load

Trial Operation with the Servomotor Connected to the Machine

Convenient Function to Use during Trial Operation

Monitoring Product Information - 9.1

Monitoring SERVOPACK Status 5.1 -

Monitoring Machine Operation Status and Signal Waveforms

Monitoring Product Life - 9.4

Alarm Tracing - 9.5

Control Method Selection 6.1 -

I/O Signal Allocations 6.2 -

Moving Mode and Coordinate Settings 6.3 -

Settings for References 6.4 -

Origin Settings 6.5 -

Operations 7.1 -

Homing 7.2 -

Program Table Operation 7.3 -

Jog Speed Table Operation 7.4 -

ZONE Outputs 7.5 -

Inspections and Part Replacement - 12.1

Alarm Displays -

List of Alarms 8.1.1 -

Troubleshooting Alarms 8.1.2 -

INDEXER Warning Displays and Troubleshooting

Resetting Alarms - 12.2.3

Alarm History Display - 12.2.4

Clearing the Alarm History - 12.2.5

Resetting Alarms Detected in Option Modules

Resetting Motor Type Alarms - 12.2.7

Warning Displays 8.2 -

Troubleshooting Based on the Operation and Conditions of the Servomotor

Parameter Configuration 9.1 -

List of Parameters 9.2 -

Parameter Recording Table - 14.2

This

Manual

-7.2

-7.3

-7.4

-7.5

-7.6

5.2 -

8.1.3 -

- 12.2.6

8.3 -

Σ-7S SERVOPACKs

Analog Voltage/Pulse Train

References Product Manual

Continued on next page.

Appendices

Continued from previous page.

Item

Examples of Connections to Host Controllers - 15.1

Corresponding SERVOPACK and SigmaWin+ Function Names

Operation of Digital Operator 10.2 -

This

Manual

10.1 -

Σ-7S SERVOPACKs

Analog Voltage/Pulse Train

References Product Manual

Manuals Catalogs

System Components



Machine Controller and Servo Drive

General Catalog



MP3300

Catalog

Machine Controllers



Σ-7-Series

Catalog

Servo Drives

Machine Controllers

SERVOPACKs:

Σ-7S and Σ-7W

SERVOPACKs with Built-in Controllers:

Σ-7C

Servomotors

Using This Manual

 Technical Terms Used in This Manual

The following terms are used in this manual.

Ter m 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

Linear Servomotor

SERVOPACK

Servo Drive

Servo System

servo ON

servo OFF

base block (BB)

servo lock

Main Circuit Cable

SigmaWin+

or SGM7G) or a Direct Drive Servomotor (SGM7E, SGM7F, SGMCV, or SGMCS). The descriptions will specify when Direct Drive Servomotors are excluded.

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.

The combination of a Servomotor and SERVOPACK.

A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices.

Supplying power to the motor.

Not supplying power to the motor.

Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK.

A state in which the motor is stopped and is in a position loop with a position reference of 0.

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.

The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engineering 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

CW and CCW pulse trains forward and reverse pulse trains

rotary encoder linear encoder

absolute rotary encoder absolute linear encoder

incremental rotary encoder incremental linear encoder

unit: min

unit: N·m unit: N

-1

unit: mm/s

xii

 Notation Used in this Manual

Parameters for Selecting Functions

Notation Examples for Pn002

Pn002 = n.

X

Indicates the rst digit from the right in Pn002.

Pn002 = n.

1

Indicates that the rst digit from the right in Pn002 is set to 1.

Pn002 = n.

X

Indicates the second digit from the right in Pn002.

Pn002 = n.

1

Indicates that the second digit from the right in Pn002 is set to 1.

Pn002 = n.

X

Indicates the third digit from the right in Pn002.

Pn002 = n.

1

Indicates that the third digit from the right in Pn002 is set to 1.

Pn002 = n.X



Indicates the fourth digit from the right in Pn002.

Pn002 = n.1



Indicates that the fourth digit from the right in Pn002 is set to 1.

n.0 0 0 0

Notation

Digit Notation Numeric Value Notation

Meaning Notation Meaning

 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

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

Speed Loop Gain

Pn100

Setting Range

10 to 20,000 0.1 Hz 400 Immediately

Setting Unit Default Setting When Enabled

Classication

Tuning

Parameter number

This is the setting range for the parameter.

Parameter Meaning When Enabled Classication

Pn002

Parameter number

Notation Example

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

0

(default setting)

n.1

n.2

The notation “n.” indicates a parameter for selecting functions.

 indicates the setting for one digit.

Each The notation shown here means that the third digit from the right is set to 2.

Use the encoder according to encoder specications.

Use the encoder as an incremental encoder.

Use the encoder as a single-turn absolute encoder.

This is the parameter setting before shipment.

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

This column explains the selections for the function.

This is the parameter classication.

After restart Setup

 Engineering Tools Used in This Manual

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

xiii

Term

Example

Information

 Trademarks

• QR code is a trademark of Denso Wave Inc.

• 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.

Important

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

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

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

xiv

Safety Precautions

DANGER

WARNING

CAUTION

NOTICE

 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.

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

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

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

fire.

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

DANGER

WARNING

CAUTION

 Safety Precautions That Must Always Be Observed

 General Precautions

 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.

 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.

 The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servo-

motors, 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 flamma-

ble 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.

CAUTION

NOTICE

CAUTION

 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

 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.

 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

 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

CAUTION

 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

 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 Resis-

tors 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.

DANGER

WARNING

• 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

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

There is a risk of electric shock or injury.

 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 a Dynamic Brake Option, 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

NOTICE

 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-

VAC 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 even after turning OFF the power supply.

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 Sig-

nal 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 con-

tact 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.

 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 Sig-

nal 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-current 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.

 Operation Precautions

WARNING

CAUTION

 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 EasyFFT (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 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.

 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 cir-

cuit 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 with the Dynamic Brake Hardware Option, the Servomotor stopping methods will be different from the stopping methods used without the Option or with other Hardware Options. For details, refer to the following manual.

Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual (Manual No.: SIEP S800001 73)

 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

DANGER

WARNING

CAUTION

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

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

There is a risk of electric shock or injury.

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

There is a risk of electric shock or product failure.

 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-

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.

xxii

 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.

 Troubleshooting Precautions

DANGER

WARNING

CAUTION

 If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper-

ates, 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.

 The product may suddenly start to operate when the power supply is recovered after a momen-

tary power interruption. Design the machine to ensure human safety when operation restarts.

There is a risk of injury.

 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 exter-

nal 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

• SGMMV

Rotary Servomotors

Direct Drive Servomotors

Linear Servomotors

*1. Certification for the SGM7F-07A is pending. *2. Certification for the SGLFW2-90560A and -1D560A is pending.

Other models are certified.

• SGM7A

• SGM7J

• SGM7P

• SGM7G

• SGM7E

• SGM7F-A,

-B, -C, and -D

• SGMCV

• SGMCS-B,

-C, -D, and

-E (Small-Capacity, Coreless Servomotors)

• SGLGW

• SGLFW

• SGLFW2

• SGLTW

UL 61800-5-1 (E147823) CSA C22.2 No.274

UL 1004-1 UL 1004-6 (E165827)

UL 1004 (E165827)

xxvii

 European Directives

Product Model EU Directive Harmonized Standards

Machinery Directive 2006/42/EC

EMC Directive

SERVOPACKs

Rotary Servomotors

Direct Drive Servomotors

Linear Servomotors

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.

SGD7S

SGMMV

• SGM7J

• SGM7A

• SGM7P

• SGM7G

• SGM7E

• SGM7F

• SGMCV

• SGMCS-



B, C,



D, E (Small-Capacity, Coreless Servomotors)

• SGLG

• SGLF



• SGLF

• SGLT

2014/30/EU

Low Voltage Directive 2014/35/EU

RoHS Directive 2011/65/EU

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

RoHS Directive 2011/65/EU

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

RoHS Directive 2011/65/EU

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

RoHS Directive 2011/65/EU

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

RoHS Directive 2011/65/EU

EN ISO13849-1: 2015

EN 55011 group 1 EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment)

EN 50178 EN 61800-5-1

EN 50581

EN 55011 group 1 EN 61000-6-2 EN 61800-3 (Category C2, Second environment)

EN 60034-1 EN 60034-5

EN 50581

EN 55011 group 1 EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment)

EN 60034-1 EN 60034-5

EN 50581

EN 55011 group 1 EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment)

EN 60034-1 EN 60034-5

EN 50581

EN 55011 group 1 EN 61000-6-2 EN 61000-6-4 EN61800-3 (Category C2, Second environment)

EN 60034-1

EN 50581

class A

xxviii

 Safety Standards

Product Model Safety Standards Standards

EN ISO13849-1: 2015 IEC 60204-1

IEC 61508 series IEC 62061 IEC 61800-5-2

SERVOPACKs SGD7S

Safety of Machinery

Functional Safety

EMC IEC 61326-3-1

 Safety Parameters

Item Standards Performance Level

Safety Integrity Level

Probability of Dangerous Failure per Hour

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

IEC 61508 SIL3

IEC 62061 SILCL3

IEC 61508 IEC 62061

PFH = 4.04×10 (4.04% of SIL3)

-9

[1/h]

xxix

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi

Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxv

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

Basic Information on SERVOPACKs

1.1

1.2

1.3

1.4

1.5

Product Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1.1 Main Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

1.1.2 Main Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.2.1 Interpreting SERVOPACK Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

1.2.2 Interpreting Servomotor Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

Combinations of SERVOPACKs and Servomotors . . . . . . . . . . . 1-4

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

SERVOPACK Ratings and Specifications

2.1

2.2

2.3

Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

SERVOPACK Overload Protection Characteristics . . . . . . . . . . 2-5

Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

xxx

Wiring and Connecting SERVOPACKs

3.1

3.2

Basic Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.2.1 I/O Signal Connector (CN1) Names and Functions . . . . . . . . . . . . . . . . . . . .3-4

3.2.2 I/O Signal Connector (CN1) Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . . .3-7

3.2.3 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8

Trial Operation

4.1

Trial Operation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Monitoring

5.1

5.2

Monitoring SERVOPACK Status . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.1.1 Monitoring Status and Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.1.2 I/O Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Monitoring Machine Operation Status and Signal Waveforms . . 5-5

Settings

6.1

6.2

6.3

Control Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.2.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.2.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

Moving Mode and Coordinate Settings . . . . . . . . . . . . . . . . . . . 6-8

6.3.1 When the Coordinates are the Linear Type . . . . . . . . . . . . . . . . . . . . . . . . . 6-8

6.3.2 When the Coordinates are the Rotary Type . . . . . . . . . . . . . . . . . . . . . . . . . 6-9

6.4

6.5

Settings for References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.4.1 Motor Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.4.2 Acceleration Rate and Deceleration Rate . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.4.3 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

Origin Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.5.1 When Using an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.5.2 When Using an Incremental Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

Operation with Digital I/O

7.1

7.2

Operation Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.2.1 I/O Signals Related to Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.2.2 Parameters Related to Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.2.3 Homing Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

xxxi

7.3

7.4

7.5

Program Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

7.3.1 Types of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-9

7.3.2 I/O Signals Related to Program Table Operation. . . . . . . . . . . . . . . . . . . . .7-11

7.3.3 Program Table Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-12

7.3.4 Settings in the Program Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-13

7.3.5 SigmaWin+ Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14

7.3.6 State Transitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-26

7.3.7 Program Table Operation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-27

7.3.8 EVENT Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-42

7.3.9 Output Response Times after /START-STOP Turns ON. . . . . . . . . . . . . . . .7-43

Jog Speed Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44

7.4.1 Input Signals Related to Jog Operation . . . . . . . . . . . . . . . . . . . . . . . . . . .7-44

7.4.2 Jog Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-44

7.4.3 Jog Speed Table and Speed Selection Signals . . . . . . . . . . . . . . . . . . . . . .7-45

7.4.4 SigmaWin+ Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-46

7.4.5 Jog Speed Table Operation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-51

7.4.6 Timing of Signal Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-52

ZONE Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-53

7.5.1 ZONE Table and ZONE Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-53

7.5.2 Parameters Related to ZONE Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-54

7.5.3 SigmaWin+ Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-55

Maintenance

8.1

8.2

8.3

Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2

8.1.2 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-8

8.1.3 INDEXER Alarm Displays and Troubleshooting . . . . . . . . . . . . . . . . . . . . . .8-38

Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40

8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40

8.2.2 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-42

8.2.3 INDEXER Warning Displays and Troubleshooting . . . . . . . . . . . . . . . . . . . .8-47

Troubleshooting Based on the Operation and Conditions of the Servomotor. . 8-52

Parameter Lists

9.1

9.2

Parameter Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.2.1 Interpreting the Parameter Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3

9.2.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-4

xxxii

Appendices

10.1

10.2

10.3

Corresponding SERVOPACK and SigmaWin+ Function Names . .10-2

10.1.1 Corresponding SERVOPACK Utility Function Names . . . . . . . . . . . . . . . . . 10-2

10.1.2 Corresponding SERVOPACK Monitor Display Function Names . . . . . . . . . 10-3

Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

10.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

10.2.2 Operation of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7

Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20

10.3.1 Panel Operator Key Names and Functions . . . . . . . . . . . . . . . . . . . . . . . 10-20

10.3.2 Changing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20

10.3.3 Status Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21

Index

Revision History

xxxiii

Basic Information on SERVOPACKs

This chapter provides basic information, including an introduction to the product, and describes how to interpret model numbers and combinations with Servomotors.

1.1

1.2

1.3

1.4

1.5

Product Introduction . . . . . . . . . . . . . . . . . . 1-2

1.1.1 Main Features . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1.2 Main Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Model Designations . . . . . . . . . . . . . . . . . . 1-3

1.2.1 Interpreting SERVOPACK Model Numbers . . . . . 1-3

1.2.2 Interpreting Servomotor Model Numbers . . . . . . 1-3

Combinations of SERVOPACKs and Servomotors . .1-4

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.1 Product Introduction

1.1.1 Main Features

1.1

1.1.1

1.1.2

Product Introduction

The SERVOPACKs described in this manual are for positioning and contain a built-in INDEXER.

Main Features

This section describes the main features.

• You can achieve high-speed, high-precision positioning without using a motion controller. A host controller can be easily connected through digital I/O signals.

• Motion control can be easily achieved simply by setting positions and speeds in a program table or jog speed table.

• The SigmaWin+ Engineering Tool can be used for everything from making adjustments to editing the program table and jog speed table.

Main Functions

This section describes the main functions.

Function Name Function Overview

With program table operation, you can register positioning operation patterns

Program Table

Homing and Jog Speed Table

Registration The program table supports registration (external positioning).

Programmable Output Signals

ZONE Table

in a table in the SERVOPACK in advance and then use digital I/O signals with the host controller to specify the operation patterns to perform operation. You can save up to 256 program steps. Program steps can be linked to each other to create complex movements.

You can perform homing when an incremental encoder is used, or you can perform jog operation with a jog speed table that contains up to eight jog speeds.

You can specify the output status of up to five output signals (/POUT0 to /POUT4).

You can use the programmable output signals (/POUT0 to /POUT2) as the ZONE signals. You can specify up to eight ZONEs in the ZONE table.

1-2

1.2 Model Designations

Basic Information on SERVOPACKs

F79 Indexing applications

Specification

Code

FT/EX Specification

None

BTO

specification

Specification

Code

BTO Specification

A 200 VAC

SGD7S

R70

A 00 A

000

Maximum Applicable Motor Capacity

Voltage

Interface

Code

Specication

Analog voltage/pulse train reference

Design Revision Order

Hardware Options Specication

ThreePhase, 200 VAC

1st+2nd+3rd digits

4th digit

5th+6th digits

7th digit

8th+9th+10th digits

Σ-7-Series Σ-7S

SERVOPACKs

4th

digit

1st+2nd+3rd

digits

5th+6th

digits

8th+9th+10th

digits

7th

digit

R70

R90

1R6

2R8

3R8

5R5

7R6

120

180

200

330

470

550

590

780

R70

R90

2R1

2R8

0.05 kW

0.1 kW

0.2 kW

0.4 kW

0.5 kW

0.75 kW

1.0 kW

1.5 kW

2.0 kW

3.0 kW

5.0 kW

6.0 kW

7.5 kW

11 kW

15 kW

0.05 kW

0.1 kW

0.2 kW

0.4 kW

Voltage Code Specication

000

Without options All models

Code

Specication

Applicable

Models

F79

11th+12th+13th

digits

14th digit

11th+12th+13th digits

14th digit

SinglePhase, 100 VAC

F 100 VAC

1.2.1 Interpreting SERVOPACK Model Numbers

1.2

1.2.1

Model Designations

Interpreting SERVOPACK Model Numbers

1.2.2

*1. You can use these models with either a single-phase or three-phase input. *2. A model with a single-phase, 200-VAC power supply input is available as a hardware option (model: SGD7S-

120A00A008).

*3. The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors. *4. The BTO specification indicates if the SERVOPACK is customized by using the MechatroCloud BTO service.

You need a BTO number to order SERVOPACKs with customized specifications. Refer to the following catalog for details on the BTO specification.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

Interpreting Servomotor Model Numbers

This section outlines the model numbers of Σ-7-series Servomotors. Refer to the relevant manual in the following list for details.

Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36) Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37) Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38)

1-3

1.3 Combinations of SERVOPACKs and Servomotors

1.3

Combinations of SERVOPACKs and Servomotors

Refer to the following manuals for information on combinations with Σ-7-Series Servomotors.

1-4

1.4 Functions

Basic Information on SERVOPACKs

1.4

Functions

This section lists the functions provided by SERVOPACKs. Refer to this manual and the following manuals for details on the functions.

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

•

Functions Related to the Machine

Function

Power Supply Type Settings for the Main Circuit and Control Circuit

Automatic Detection of Connected Motor

Motor Direction Setting

Linear Encoder Pitch Setting

Writing Linear Servomotor Parameters

Selecting the Phase Sequence for a Linear Servomotor

Polarity Sensor Setting

Polarity Detection

Overtravel Function and Settings

Holding Brake

Motor Stopping Methods for Servo OFF and Alarms

Resetting the Absolute Encoder

Setting the Origin of the Absolute Encoder

Setting the Regenerative Resistor Capacity

Operation for Momentary Power Interruptions

SEMI F47 Function

Setting the Motor Maximum Speed

Multiturn Limit Setting

Adjustment of Motor Current Detection Signal Offset

Forcing the Motor to Stop

Speed Ripple Compensation

Current Control Mode Selection

Current Gain Level Setting

Speed Detection Method Selection

Fully-Closed Loop Control

Safety Functions

•

Functions Related to the Host Controller

Function

Electronic Gear Settings I/O Signal Allocations ALM (Servo Alarm) Signal

ALO1 to ALO3 (Alarm Code) Signals /WARN (Warning Output) Signal /TGON (Rotation Detection) Signal

/S-RDY (Servo Ready) Signal Speed Control Basic Settings for Speed Control

Speed Reference Filter Zero Clamping /V-CMP (Speed Coincidence Detection) Signal

Position Control Reference Pulse Form

Continued on next page.

1-5

1.4 Functions

Continued from previous page.

Function

CLR (Position Deviation Clear Input) Signal Function and Settings Reference Pulse Input Multiplication Switching /COIN (Positioning Completion) Signal

/NEAR (Near) Signal Reference Pulse Inhibition and Settings Tor q u e C o nt r o l

Basic Settings for Torque Control Torque Reference Filter Settings Speed Limit during Torque Control

/VLT (Speed Limit Detection) Signal Encoder Divided Pulse Output Selecting Torque Limits

Vibration Detection Level Initialization Alarm Reset Replacing the Battery

Setting the Position Deviation Overflow Alarm Level

•

Functions to Achieve Optimum Motions

Function

Speed Control

Soft Start Settings

Position Control

Smoothing Settings

Tor q u e C o nt r o l

Tuning-less Function

Autotuning without a Host Reference

Autotuning with a Host Reference

Custom Tuning

Anti-Resonance Control Adjustment

Vibration Suppression

Gain Selection

Friction Compensation

Model Following Control

Compatible Adjustment Functions

Mechanical Analysis

EasyFFT

• Functions for Trial Operation during Setup

1-6

Function

Software Reset

Trial Operation for the Servomotor without a Load

Program Jog Operation

Origin Search

Test without a Motor

Monitoring Machine Operation Status and Signal Waveforms

Basic Information on SERVOPACKs

•

Functions for Inspection and Maintenance

Function

Write Prohibition Setting for Parameters

Initializing Parameter Settings

Automatic Detection of Connected Motor

Monitoring Product Information

Monitoring Product Life

Alarm History Display

• Operation with Digital I/O

Function

Homing

Positioning Operations with a Program Table

Registration

Constant Speed Operations with a Jog Speed Table

ZONE Outputs

1.4 Functions

1-7

1.5 SigmaWin+

1.5

SigmaWin+

To use the SigmaWin+, a model information file for the SERVOPACK must be added to SigmaWin+ version 7. Contact your Yaskawa representative for the model information file.

1-8

SERVOPACK Ratings and Specifications

This chapter provides information required to select SERVOPACKs, such as specifications.

2.1

2.2

2.3

Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

SERVOPACK Overload Protection Characteristics . . 2-5

Specifications . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.1 Ratings

2.1

Ratings

Three-Phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A

Maximum Applicable Motor Capacity [kW]

Continuous Output Current [Arms]

Instantaneous Maximum Output Current [Arms]

Main Circuit

Control

Power Supply Capacity [kVA]

Power Loss

Regenerative Resistor

Overvoltage Category

* This is the net value at the rated load.

Power Supply

Input Current [Arms]

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

Main Circuit Power Loss [W]

Control Circuit Power Loss [W]

Built-in Regenerative Resistor Power Loss [W]

Tot a l P o w e r L o ss [ W]

Built-In Regenerative Resistor

Minimum Allowable External Resistance [

Resistance [Ω]

Capacity [W]

]

0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0

0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9

2.1 3.2 5.9 9.3 11 16.9 17 28 42 56 84

0.4 0.8 1.3 2.5 3.0 4.1 5.7 7.3 10 15 25

0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.25 0.25 0.3

0.2 0.3 0.5 1.0 1.3 1.6 2.3 3.2 4.0 5.9 7.5

5.0 7.0 11.9 22.5 28.5 38.9 49.2 72.6 104.2 114.2 226.6

12 12 12 12 14 14 14 15 16 16 19

−−−−8 8 8 10 16 16 36

17.0 19.0 23.9 34.5 50.5 60.9 71.2 97.6 136.2 146.2 281.6

−−−−40 40 40 20 12 12 8

−−−−40 40 40 60 60 60 180

40 40 40 40 40 40 40 20 12 12 8

200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

III

2-2

2.1 Ratings

SERVOPACK Ratings and Specications

Model SGD7S- 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 6.0 7.5 11 15

Continuous Output Current [Arms] 46.9 54.7 58.6 78.0

Instantaneous Maximum Output Current [Arms] 110 130 140 170

Main Circuit

Control

Power Supply Capacity [kVA]

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

29 37 54 73

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

0.3 0.3 0.4 0.4

10.7 14.6 21.7 29.6

Main Circuit Power Loss [W] 271.7 326.9 365.3 501.4

Control Circuit Power Loss [W] 21 21 28 28

Power Loss

External Regenerative Resistor Unit Power Loss [W]

180

350

Total Power Loss [W] 292.7 347.9 393.3 529.4

External Regenerative Resistor Unit

Resistance [Ω]

Capacity [W]

Minimum Allowable External Resistance [Ω]

6.25

880

5.8 2.9 2.9 2.9

3.13

1760

3.13

1760

3.13

1760

Overvoltage Category III

*1. This is the net value at the rated load. *2. This value is for the optional JUSP-RA04-E Regenerative Resistor Unit. *3. This value is for the optional JUSP-RA05-E Regenerative Resistor Unit.

Single-Phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 5R5A 120A

Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.75 1.5

Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 5.5 11.6

Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9 28

Main Circuit

Control

Power Supply Capacity [kVA]* 0.2 0.3 0.6 1.2 1.9 4.0

Power Loss*

Regenerative Resistor

Overvoltage Category III

* This is the net value at the rated load.

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]* 0.8 1.6 2.4 5.0 8.7 16

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]* 0.2 0.2 0.2 0.2 0.2 0.25

Main Circuit Power Loss [W] 5.0 7.1 12.1 23.7 39.2 71.8

Control Circuit Power Loss [W] 121212121416

Built-in Regenerative Resistor Power Loss [W]

−−−−816

Total Power Loss [W] 17.0 19.1 24.1 35.7 61.2 103.8

Built-In Regenerative Resistor

Minimum Allowable External Resistance [Ω]

Resistance [Ω] −−−−40 12 Capacity [W] −−−−40 60

40 40 40 40 40 12

2-3

2.1 Ratings

270 VDC

Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A

Maximum Applicable Motor Capacity [kW]

Continuous Output Current [Arms]

Instantaneous Maximum Output Current [Arms]

Main Circuit

Control

Power Supply Capacity [kVA]

Power Loss

Overvoltage Category

*1. This is the net value at the rated load. *2. The value is 0.25 Arms for the SGD7S-120A00A008.

Model SGD7S- 180A 200A 330A 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW]

Continuous Output Current [Arms]

Instantaneous Maximum Output Current [Arms]

Main Circuit

Control

Power Supply Capacity [kVA]

Power Loss

Overvoltage Category

* This is the net value at the rated load.

Power Supply

Input Current [Arms]

Power Supply

Input Current [Arms]

Main Circuit Power Loss [W]

Control Circuit Power Loss [W]

Tot a l P o w e r L o ss [ W]

Power Supply

Input Current [Arms]

Power Supply

Input Current [Arms]

Main Circuit Power Loss [W]

Control Circuit Power Loss [W]

Tot a l P o w e r L o ss [ W]

0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5

0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6

2.1 3.2 5.9 9.3 11.0 16.9 17.0 28.0

270 VDC to 324 VDC, -15% to +10%

0.5 1.0 1.5 3.0 3.8 4.9 6.9 11

270 VDC to 324 VDC, -15% to +10%

0.2 0.2 0.2 0.2 0.2 0.2 0.2

0.2

0.2 0.3 0.6 1 1.4 1.6 2.3 3.2

4.4 5.9 9.8 17.5 23.0 30.7 38.7 55.8

12 12 12 12 14 14 14 15

16.4 17.9 21.8 29.5 37.0 44.7 52.7 70.8

III

2.0 3.0 5.0 6.0 7.5 11.0 15.0

18.5 19.6 32.9 46.9 54.7 58.6 78.0

42.0 56.0 84.0 110 130 140 170

270 VDC to 324 VDC, -15% to +10%

14 20 34 36 48 68 92

270 VDC to 324 VDC, -15% to +10%

0.25 0.25 0.3 0.3 0.3 0.4 0.4

4.0 5.9 7.5 10.7 14.6 21.7 29.6

82.7 83.5 146.2 211.6 255.3 243.6 343.4

16 16 19 21 21 28 28

98.7 99.5 165.2 232.6 276.3 271.6 371.4

III

2-4

Single-Phase, 100 VAC

Model SGD7S- R70F R90F 2R1F 2R8F

Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4

Continuous Output Current [Arms] 0.66 0.91 2.1 2.8

Instantaneous Maximum Output Current [Arms] 2.1 3.2 6.5 9.3

Main Circuit

Control

Power Supply Capacity [kVA]

Power Loss

Regenerative Resistor

Overvoltage Category III

* This is the net value at the rated load.

Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

1.5 2.5 5 10

Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

0.38 0.38 0.38 0.38

0.2 0.3 0.6 1.4

Main Circuit Power Loss [W] 5.3 7.8 14.2 26.2

Control Circuit Power Loss [W] 12 12 12 12

Total Power Loss [W] 17.3 19.8 26.2 38.2

Minimum Allowable Resistance [Ω]40404040

2.2 SERVOPACK Overload Protection Characteristics

SERVOPACK Ratings and Specications

Detection time (s)

SERVOPACK output current

(continuous output current ratio) (%)

Instantaneous maximum output current

(Instantaneous maximum output current)

Continuous output current

(Continuous output current)

× 100%

100 230

10000

1000

100

100 200

10000

1000

100

Detection time (s)

SERVOPACK output current

(continuous output current ratio) (%)

Instantaneous maximum output current

(Instantaneous maximum output current)

Continuous output current

(Continuous output current)

× 100%

2.2 SERVOPACK Overload Protection Characteristics

The overload detection level is set for hot start conditions with a SERVOPACK surrounding air temperature of 55°C.

An overload alarm (A.710 or A.720) will occur if overload operation that exceeds the overload protection characteristics shown in the following diagram (i.e., operation on the right side of the applicable line) is performed.

The actual overload detection level will be the detection level of the connected SERVOPACK or Servomotor that has the lower overload protection characteristics.

In most cases, that will be the overload protection characteristics of the Servomotor.

• SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F

Note: The above overload protection characteristics do not mean that you can perform continuous duty operation

with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.

• SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A

Note: The above overload protection characteristics do not mean that you can perform continuous duty operation

2-5

2.3 Specifications

Degree SERVOPACK Model: SGD7S-

IP20

R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, R70F, R90F, 2R1F, 2R8F

IP10

120A00A008, 180A, 200A, 330A, 470A, 550A, 590A, 780A

2.3

Specifications

The product specifications are given below.

Item Specification

Control Method IGBT-based PWM control, sine wave current drive

Serial encoder: 20 bits or 24 bits (incremental encoder/

absolute encoder) 22 bits (absolute encoder)

• Absolute linear encoder (The signal resolution depends on the absolute linear encoder.)

• Incremental linear encoder (The signal resolution depends on the incremental linear encoder or Serial Converter Unit.)

0°C to 55°C

90% relative humidity max. (with no freezing or condensation)

4.9 m/s

19.6 m/s

Feedback

Environmental Conditions

With Rotary Servomotor

With Linear Servomotor

Surrounding Air Temperature

Storage Temperature -20°C to 85°C

Surrounding Air Humidity

Storage Humidity

Vibration Resistance

Shock Resistance

Degree of Protection

Pollution Degree

Altitude

Others

Applicable Standards

Mounting

Speed Control Range

Coefficient of Speed

Performance

I/O Signals

Fluctuation

Torque Control Precision (Repeatability)

Soft Start Time Setting

Encoder Divided Pulse Output

Overheat Protection Input

• Must be no corrosive or flammable gases.

• Must be no exposure to water, oil, or chemicals.

• Must be no dust, salts, or iron dust.

1,000 m max.

Do not use the SERVOPACK in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, or radioactivity

Refer to the following section for details.

Compliance with UL Standards, EU Directives, and Other

Safety Standards on page xxvii

Base-mounted

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

0% of rated speed max. (for a load fluctuation of ±10%) ±0.1% of rated speed max. (for a temperature fluctuation of

25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Number of input points: 1 Input voltage range: 0 V to +5 V

Continued on next page.

2-6

SERVOPACK Ratings and Specications

I/O Signals

Item Specification

Allowable voltage range: 5 VDC ±5% Number of input points: 1 Input signal: SEN (Absolute Data Request) signal

Number of input points: 1 Input method: Line driver or open collector

Input Signals

• /DEC (Homing Deceleration Switch) signal

• /RGRT (Registration Input) signal

• CLR (Clear) signal

Allowable voltage range: 24 VDC ±20% Number of input points: 7

Input method: Sink inputs or source inputs Input Signals

• /S-ON (Servo ON) signal

• /P-CON (Proportional Control) signal

• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive

Prohibit) signals

• /ALM-RST (Alarm Reset) signal

• /P-CL (Forward External Torque Limit) and /N-CL (Reverse

External Torque Limit) signals

• /SPD-D (Motor Direction) signal

• /SPD-A and /SPD-B (Internal Set Speed Selection) signals

• /C-SEL (Control Selection) signal

• /ZCLAMP (Zero Clamping) signal

• /INHIBIT (Reference Pulse Inhibit) signal

• /P-DET (Polarity Detection) signal

• /G-SEL (Gain Selection) signal

• /PSEL (Reference Pulse Input Multiplication Switch) signal

• SEN (Absolute Data Request) signal

• /DEC (Homing Deceleration Switch) signal

• /MODE 0/1 (Mode Switch Input) signal

• /START-STOP (Program Table Operation Start-Stop Input)

signal

• /JOGP (Forward Jog Input) signal

• /JOGN (Reverse Jog Input) signal

• /HOME (Homing Input) signal

• /PGMRES (Program Table Operation Reset Input) signal

• /SEL0 (Program Step Selection Input 0) signal

• /SEL1 (Program Step Selection Input 1) signal

• /SEL2 (Program Step Selection Input 2) signal

• /SEL3 (Program Step Selection Input 3) signal

• /SEL4 (Program Step Selection Input 4) signal

• /JOG0 (Jog Speed Table Selection Input 0) signal

• /JOG1 (Jog Speed Table Selection Input 1) signal

• /JOG2 (Jog Speed Table Selection Input 2) signal

gnal can be allocated and the positive and negative logic

A si can be changed.

Sequence Input Signals

SERVOPAC Ks

Fixed Input Signals

Input Signals for Which Allocations Can Be Changed

2.3 Specifications

Continued from previous page.

Continued on next page.

2-7

2.3 Specifications

I/O Signals

Communications

Displays/Indicators CHARGE indicator and five-digit seven-segment display

Panel Operator Four push switches

Item Specification

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 1 Output signal: ALM (Servo Alarm) signal

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 6 (A photocoupler output (isolated) is used for three of the outputs.) (An open-collector output (non-isolated) is used for the other three outputs.) Output Signals

• /COIN (Positioning Completion) signal

• /V-CMP (Speed Coincidence Detection) signal

• /TGON (Rotation Detection) signal

• /S-RDY (Servo Ready) signal

• /CLT (Torque Limit Detection) signal

• /VLT (Speed Limit Detection) signal

• /BK (Brake) signal

• /WARN (Warning) signal

• /NEAR (Near) signal

• /PSELA (Reference Pulse Input Multiplication Switching

Output) signal

• ALO1, ALO2, and ALO3 (Alarm Code) signals

• /POUT0 (Programmable Output 0) signal

• /POUT1 (Programmable Output 1) signal

• /POUT2 (Programmable Output 2) signal

• /POUT3 (Programmable Output 3) signal

• /POUT4 (Programmable Output 4) signal

• /POSRDY (Homing Completed Output) signal

• DEN (Position Reference Distribution Completed) signal

A signal can be allocated and the positive and negative logic can be changed.

Digital Operator (JUSP-OP05A-1-E)

Up to N = 15 stations possible for RS-422A port

Set with parameters.

Conforms to USB2.0 standard (12 Mbps).

Sequence Output Signals

RS-422A Communications (CN3)

USB Communications (CN7)

Fixed Output

SERVOPAC K s

Interfaces

1:N Communications

Axis Address Setting

Interface Personal computer (with SigmaWin+)

Communications Standard

Output Signals That Can Be Allocated

Continued from previous page.

2-8

Program Table

Operating Methods

Other Functions Registration (positioning with external signals) and homing

Analog Monitor (CN5)

Dynamic Brake (DB)

Maximum Number of Steps

• Program table positioning in which steps are executed in sequence with commands from contact inputs

• Positioning by specifying station numbers with commands from contact inputs

256 steps (Up to 32 steps can be selected with input signals.)

umber of p

N Output voltage range: ±10 VDC (effective linearity range: ±8 V) Resolution: 16 bits Accuracy: ±20 mV (Typ) Maximum output current: ±10 mA Settling time (±1%): 1.2 ms (Typ)

Activated when a servo alarm or overtravel (OT) occurs, or when the power supply to the main circuit or servo is OFF.

oints: 2

Continued on next page.

SERVOPACK Ratings and Specications

Item Specification

Regenerative Processing

Overtravel (OT) Prevention

Protective Functions

Utility Functions

Inputs

Safety Functions

Output

Applicable Standards

Applicable Option Modules

Soft Start Time Setting

Input Signal

Speed Control

Controls

Internal Set Speed Control

Reference Volta ge

Input Impedance

Circuit Time Constant

Rotation Direction Selection

Speed Selection

2.3 Specifications

Continued from previous page.

Built-in (An external resistor must be connected to the SGD7S-470A to -780A.) Refer to the following catalog for details.

Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)

Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.

Gain adjustment, alarm history, jog operation, origin search, etc.

/HWBB1 and /HWBB2: Base block signals for Power Modules

EDM1: Monitors the status of built-in safety circuit (fixed output).

ISO13849-1 PLe (Category 3) and IEC61508 SIL3

Fully-closed Modules and Safety Modules

Note: You cannot use a Fully-closed Module and a Safety Module

together.

0 s to 10 s (Can be set separately for acceleration and deceleration.)

• Maximum input voltage: ±12 V (forward motor rotation for

positive reference).

• 6 VDC at rated speed (default setting). Input gain setting can be changed.

Approx. 14 kΩ

30 μs

With Proportional Control signal

With Forward/Reverse External Torque Limit signals (speed 1 to 3 selection). Servomotor stops or another control method is used when both signals are OFF.

Continued on next page.

2-9

2.3 Specifications

× 100%

Coefcient of speed uctuation =

No-load motor speed - Total-load motor speed

Rated motor speed

Controls

Position Control

Tor qu e Control

Item Specification

Feedforward Compensation

Output Signal Positioning Completed Width Setting

Reference Pulse Form

Input Form

0% to 100%

0 to 1,073,741,824 reference units

One of the following is selected: Sign + pulse train, CW + CCW pulse trains, and two-phase pulse trains with 90° phase differential

Line driver or open collector

• Line Driver Sign + pulse train or CW + CCW pulse trains: 4 Mpps Two-phase pulse trains with 90° phase differential: 1 Mpps

• Open Collector Sign + pulse train or CW + CCW pulse trains: 200 kpps Two-phase pulse trains with 90° phase differential: 200

Input Signals

Reference pulses

Maximum Input Frequency

kpps

Input Multiplication

1 to 100 times

Switching

Position deviation clear Line driver or open collector

• Maximum input voltage: ±12 V (forward torque output for positive reference).

• 3 VDC at rated torque (default setting).

Input gain setting can be changed.

Approx. 14 kΩ

Input Signal

Clear Signal

Reference Volta ge

Input Impedance

Circuit Time

16 μs

Constant

Continued from previous page.

*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO-

PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m max. Also, the applicable surrounding range cannot be increased by derating.

*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:

*3. Always perform risk assessment for the system and confirm that the safety requirements are met.

2-10

Wiring and Connecting SERVOPACKs

This chapter provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices.

3.1

3.2

Basic Wiring Diagrams . . . . . . . . . . . . . . . . 3-2

I/O Signal Connections . . . . . . . . . . . . . . . . 3-4

3.2.1 I/O Signal Connector (CN1) Names and

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.2.2 I/O Signal Connector (CN1) Pin Arrangement . . . 3-7

3.2.3 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3.1 Basic Wiring Diagrams

BAT(+)

BAT(-)

PBO

PCO

/PBO

PAO /PAO

/PCO

/SO1+ (/COIN+)

/SO1(/COIN-)

/SO2+ (/S-RDY+) /SO2(/S-RDY-)

/SO3+ (/BK+)

ALM+

ALM-

EDM1+

EDM1-

+24 V

+24VIN

/SI0 (/S-ON)

/SI3 (/MODE 0/1)

/SI1 (/STAR T- STOP,

/HOME)

/SI2 (/JOGP,

SEL0)

/SI4 (/JOGN, SEL1)

/SI6 (/PGMRES,

/ALM-RST)

/SI5 (/JOG0, SEL2)

/SO3(/BK-)

+5 V

0 V

SEN

/POUT0

/POUT1

/POUT2

/HWBB1+

/HWBB1-

/HWBB2+

/HWBB2-

24 V

0 V

PSO /PSO

48 49

DEC

CN1

CN8

1 2

5 6

ENC

PS /PS PG5V

PG0V

2 4

0 V

1Ry

+24 V

CN5

L1C

L2C

B1/

2KM

1KM

1QF

S T

1FLT

3SA

1PL

1KM

2KM

1SA

2SA

1KM

1Ry

1KM

1Ry

CN2

Battery for absolute encoder

2.8 V to 4.5 V

Connect shield to connector shell.

Connector shell

Ground to a resistance of 100 Ω or less.

Switch

Fuse

Safety

Encoder Divided Pulse Output, Phase A

Encoder Divided Pulse Output, Phase B

Encoder Divided Pulse Output, Phase C

Absolute encoder position output

General-purpose sequence input 0 (Servo ON input: ON to turn ON servo)

Sequence input signal power supply input

Overheat protection input

Frame ground

Servo Alarm output

Signal ground

Absolute data request input

Main circuit

terminals

Analog Monitors

SERVOPACK

(For servo alarm

display)

Servo power ONServo power

OFF

Motor

terminals

General-purpose sequence input 8 (Homing Deceleration Switch input: Deceleration when ON)

General-purpose sequence input 2 (Forward Jog input: Forward jog operation when ON)

General-purpose sequence input 1 (Program Table Operation Start-Stop input: Program table operation starts when ON)

General-purpose sequence input 4 (Reverse Jog input: Reverse jog operation when ON)

General-purpose sequence input 6 (Program Table Operation Reset input: Program table operation reset for ON)

General-purpose sequence input 5 (Jog Speed Table Selection input: Jog operation when ON)

General-purpose sequence input 3 (Mode Switch input: Program Table Operation Mode when ON)

General-purpose sequence output 2 (Servo Ready output: ON when /S-ON signal can be received)

General-purpose sequence output 3 (Brake output: OFF to apply brake)

General-purpose sequence output 1 (Positioning Completion output; Positioning completed when ON)

Programmable outputs

SI8(DEC)

/SI8(/DEC)

3.1

Basic Wiring Diagrams

This section provide the basic wiring diagrams. Refer to the reference sections given in the diagrams for details.

3-2

3.1 Basic Wiring Diagrams

Wiring and Connecting SERVOPACKs

*1. represents twisted-pair wires. *2. Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not

connect a backup battery.

*3. You can enable this function with a parameter setting. *4. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or

reinforced insulation.

*5. Refer to the following manual if you use a safety function device.

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

If you do not use the safety function, insert the Safety Jumper Connector (provided as an accessory) into CN8 when you use the SERVOPACK.

*6. Always use line receivers to receive the output signals.

Note: 1. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power

supplies, such as the one for the I/O signals of the CN1 connector. If the power supply is shared, the I/O signals may malfunction.

2. Default settings are given in parentheses.

3-3

3.2 I/O Signal Connections

3.2.1 I/O Signal Connector (CN1) Names and Functions

3.2

3.2.1

I/O Signal Connections

I/O Signal Connector (CN1) Names and Functions

The following table gives the pin numbers, names, and functions of the I/O signal pins for the default settings.

Input Signals

Default settings are given in parentheses.

Control Method

Any Control Method

Signal

/SI0* (/S-ON)

/SI3* (MODE 0/1)41

/SI1* (/STARTSTOP, /HOME)

/SI2* (/JOGP, SEL0)

/SI5* (/JOG0, /SEL2)

/SI6* (/PGMRES, /ALM-RST)

/SI4* (/JOGN, SEL1)

No.

General-purpose Sequence Input 0 (Servo ON Input)

General-purpose Sequence Input 3 (Mode Switch Input)

General-purpose Sequence Input 1 (Program Table Operation StartStop Input or Homing Input)

General-purpose Sequence Input 2 (Forward Jog Input or ProgramSpecified Area 1 Input)

General-purpose Sequence Input 5 (Jog Speed Table Selection Input or Program-Specified Area 3 Input)

General-purpose Sequence Input 6 (Program Table Operation Reset Input or Alarm Clear Input)

General-purpose Sequence Input 4 (Reverse Jog Input or ProgramSpecified Area 2 Input)

Name Function

You can allocate the input signal to use with a parameter. Controls turning the Servomotor ON and OFF (supplying/not supplying power).

You can allocate the input signal to use with a parameter. Switches between mode 0 and mode 1. ON: Program Table Operation Mode is entered (mode 0). OFF: Jog Speed Table Operation or Homing Mode is entered (mode 1).

You can allocate the input signal to use with a parameter. Mode 0: When the signal turns ON, program table operation starts or restarts. Refer to /SEL0 to /SEL4 when starting. When this signal turns OFF, the program table operation is stopped. Mode 1: When the signal turns ON, homing is started or restarted. When the signal turns OFF, homing is canceled.

You can allocate the input signal to use with a parameter. Mode 0: Program table selection 0 Mode 1: Forward jog operation starts when the input signal turns ON. (Jog operation stops when the signal turns OFF.)

You can allocate the input signal to use with a parameter. Mode 0: Program table selection 2 Mode 1: Jog operation is started when the input signal turns ON.

You can allocate the input signal to use with a parameter. Mode 0: If this signal turns ON while a program table operation is stopped, the program table operation will be reset. Mode 0 or mode 1: An alarm is reset. (There are a limited number of general-purpose input signals, so this signal is used for two functions. Both /ALM-RST and /PGMRES are used to reset errors.)

You can allocate the input signal to use with a parameter. Mode 0: Program table selection 1 Mode 1: Reverse jog operation is performed. (Jog operation stops when the signal turns OFF.)

Reference

Page

page 6-3

Continued on next page.

3-4

3.2 I/O Signal Connections

Wiring and Connecting SERVOPACKs

3.2.1 I/O Signal Connector (CN1) Names and Functions

Continued from previous page.

Control Method

Signal

No.

Name Function

Inputs the sequence input signal power

+24VIN 47

Sequence Input Signal Power Supply Input

supply. Allowable voltage range: 24 VDC ±20% The 24-VDC power supply is not provided by Yaskawa.

Any Control Method

Speed Control

Position Control

SEN 4 (2)

BAT+ 21

BAT- 22

TH 50

V-R EF 5 (6 )

PULS /PULS

SIGN /SIGN

7 8

11 12

SI8(DEC) /SI8(/DEC)1514

Absolute Data Request Input (SEN)

Battery for absolute encoder (+)

Battery for absolute encoder (-)

Overheat Protection Input

Speed Reference Input

Pulse Reference Input

Sign of Reference Input

General-purpose Sequence Input 8 (Homing Deceleration Switch Input)

To rq ue Control

* You can change the allocations. Refer to the following section for details.

Note: 1. Pin numbers in parentheses ( ) indicate signal grounds.

T-REF 9 (10)

6.2.1 Input Signal Allocations on page 6-3

2. If forward drive prohibition or reverse drive prohibition is used, the SERVOPACK is stopped by software controls. If the application does not satisfy the safety requirements, add external safety circuits as required.

Tor q u e R e fe rence Input

Inputs the overheat protection signal from a Linear Servomotor.

These are the pins to connect the absolute

encoder backup battery. Do not connect these pins if you use the Encoder Cable with a Battery Case.

Inputs the overheat protection signal from a

Linear Servomotor.

Inputs the speed reference. Maximum input

voltage: ±12 V

One of the following input pulse forms is set.

• Sign + pulse train

• CW + CCW pulse trains

• 90° phase-differential pulses

You can allocate the input signal to use with

a parameter.

The homing speed is changed to the

approach speed or creep speed.

Inputs the torque reference. Maximum input

voltage: ±12 V

Reference

Page

−

page 6-5

−

3-5

3.2 I/O Signal Connections

3.2.1 I/O Signal Connector (CN1) Names and Functions

Output Signals

Default settings are given in parentheses.

Control

Method

Any Control Method

Position Control

−−

* You can change the allocations. Refer to the following section for details.

6.2.2 Output Signal Allocations on page 6-5

Note: Pin numbers in parentheses ( ) indicate signal grounds.

Signal Pin No. Name Function

ALM+ 31

ALM- 32

/SO2+* (/S-RDY+)

/SO2-* (/S-RDY-)

/SO3+* (/BK)

/SO3-* (/BK)

PAO 33 Encoder Divided

/PAO 34

PBO 35 Encoder Divided

/PBO 36

PCO 19 Encoder Divided

/PCO 20

PSO 48 Absolute

/PSO 49

ALO1* (/POUT0)

ALO2* (/POUT1)

ALO3* (/POUT2)

FG Shell Frame ground

/SO1+* (/COIN+)

/SO1-* (/COIN-)

PL1 3 Open-Collector

PL2 13

PL3 18

37 (1)

38 (1)

39 (1)

16 17 23 24 48 49 50

Servo Alarm Output

General-purpose Sequence Output 2 (Servo Ready Output)

General-purpose Sequence Output 3 (Brake Output)

Pulse Output, Phase A

Pulse Output, Phase B

Pulse Output, Phase C

Encoder Position Output

Programmable Outputs

General-purpose Sequence Output 1 (Positioning Completion Output)

Power Supply Output for Reference Pulses

− Do not use these terminals. −

Turns OFF (opens) when an error is

detected.

You can allocate the output signal to use

with a parameter.

Turns ON (closes) when the SERVO-

PACK is ready to acknowledge the /S-

ON (Servo ON) signal.

You can allocate the output signal to use

with a parameter.

Activates the brake.

Output the encoder divided pulse output

signals with a 90° phase differential.

Outputs the origin signal once every

encoder rotation.

Outputs the position data of the absolute

encoder.

You can allocate the output signals to

use with parameters.

Output the programmed signals.

Connected to the frame ground if the

shield of the I/O Signal Cable is con-

nected to the connector shell.

You can allocate the output signals to

use with parameters.

Turns ON (closes) if the position devia-

tion reaches the set value when position

control is selected.

Outputs the open-collector power supply

for reference pulses.

Reference

Page

−

page 6-5

−

page 6-5

−

page 6-5

−

3-6

3.2 I/O Signal Connections

Wiring and Connecting SERVOPACKs

Pin 26

Pin 27

Pin 1

Pin 2

Pin 24

Pin 25

Pin 50

Pin 49

3.2.2 I/O Signal Connector (CN1) Pin Arrangement

3.2.2

I/O Signal Connector (CN1) Pin Arrangement

The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings.

Generalpurpose Sequence Output 1

Generalpurpose Sequence Output 2

Generalpurpose Sequence Output 3

Servo Alarm Output

Encoder Divided Pulse Output, Phase A

Encoder Divided Pulse Output, Phase B

Programmable Output

Generalpurpose Sequence Input 0

Generalpurpose Sequence Input 1

Generalpurpose Sequence Input 4

Generalpurpose Sequence Input 6

Absolute Encoder Position Output

Overheat Protection Input

The above view is from the direction of the following arrow without the connector shell attached.

Signal Ground

/SO2+ (/S-RDY+)

2SG

Signal Ground

1SG

Open-Collector Power Supply Output for Reference Pulses

/SO3+ (/BK+)

4SEN

Absolute Data Request Input

3PL1

(SEN)

Speed Reference Input

Pulse Reference Input

31 ALM+

33 PAO

6SG

8/PULS

Signal Ground

Pulse Reference

5V-REF

7PULS

Input

Tor q u e R e fe rence Input

Sign of Reference Input

Open-Collector Power Supply Output for Reference Pulses

35 PBO

37 /POUT0

39 /POUT2

10 SG

12 /SIGN

/SI8

(/DEC)

Signal Ground

Sign of Reference Input

Generalpurpose Sequence Input 8

9T-REF

11 SIGN

13 PL2

General-pur-

SI8

16 – – 41

(DEC)

pose Sequence Input 8

/SI3 (MODE0/1)

Open-

18 PL3

Collector Power Supply Output for Reference Pulses

17 – – 42

/SI2

(/JOGP)

19 PCO

Encoder Divided Pulse Output, Phase C

Encoder

20 /PCO

Divided Pulse Output,

21 BAT+

Battery for Absolute Encoder (+)

/SI5 (/JOG0)

Phase C

Battery for Abso-

22 BAT-

lute

23 – – 48 PSO

47 +24VIN Encoder (-)

General-pur-

24 – – 49 /PSO

/SO1+ (/COIN+)

pose Sequence Output 1

Generalpurpose Sequence Output 2

Generalpurpose Sequence Output 3

Servo Alarm Output

Encoder Divided Pulse Output, Phase A

Encoder Divided Pulse Output, Phase B

Programmable Output

Generalpurpose Sequence Input 3

Generalpurpose Sequence Input 2

Generalpurpose Sequence Input 5

Sequence Input Signal Power Supply Input

Absolute Encoder Position Output

/SO1-

(/COIN-)

/SO2-

(/S-RDY-)

/SO3-

(/BK-)

32 ALM-

34 /PAO

36 /PBO

38 /POUT1

/SI0

(/S-ON)

/SI1 (/STARTSTOP)

/SI4

(/JOGN)

/SI6

(/PGMRES)

50 TH

3-7

3.2 I/O Signal Connections

Important

150 Ω

4.7 kΩ

Applicable Line Driver: SN75ALS174 from Texas Instruments or equivalent

Host controller SERVOPACK

2.8 V ≤ (High level − Low level) ≤ 3.7 V If the above formula is not satisfied, the inputs to the

SERVOPACK will be unstable, and the Home Deceleration Switch Input may be identified as ON even though the switch has not been turned ON.

SERVOPACK

Host controller

PL3 terminal

0 V

+12 V

4.7 kΩ

150 Ω

ON:

1.5 V max.

Approx.

9 mA

Important

Pull-Up Voltage (Vcc) Pull-Up Resistance (R1) Output Current (i)

24 V 1.8 kΩ to 2.7 kΩ

20 mA max.12 V max. 820 Ω to 1.5 kΩ

5 V max. 180 Ω to 470 Ω

Circuit Example for Open-Collector Outputs

3.2.3 I/O Circuits

3.2.3

I/O Circuits

Sequence Input Circuits

This section describes CN1 connector terminals 15-14 (Homing Deceleration Switch Input).

The wiring specifications for CN1 connector terminals 15-14 and 40 to 47 are different. Wire the terminals according to the information described in this section (Sequence Input Circuits). The SERVOPACK may fail if the terminals are wired incorrectly.

The output circuit for the Homing Deceleration Switch signal from the host controller can be either line-driver output or open-collector output. These are shown below for each type.

Line-Driver Output Circuit

Open-Collector Output Circuits

(12-V Power Supply in SERVOPACK)

• Precaution When Host Controller Uses Open-Collector Output with User-Supplied Power Supply The SERVOPACK may fail depending on the relationship between the pull-up voltage (Vcc) and the pull-up resistance (R1). Before you wire the circuits, confirm that the specifications of the host controller satisfy the values shown in the following table.

Host controller

Vcc

Pull-up

150 Ω

SERVOPACK

Tr 1

3-8

4.7 kΩ

VF = 1.5 V to 1.8 V

3.2 I/O Signal Connections

Wiring and Connecting SERVOPACKs

4.7 kΩ

E.g., /S-ON

SERVOPACK

24 VDC

+24VIN

S_Analog

24 VDC

4.7 kΩ

E.g., /S-ON

SERVOPACK

+24VIN

S_Analog

SERVOPACK input side

24 V

−

Switch

Photocoupler

Internal signal level

Photocoupler

Switch

3.2.3 I/O Circuits

This section describes CN1 connector terminals 40 to 47. The circuits are connected through relay or open-collector transistor circuits. If you connect through a relay, use a low-current relay. If you do not use a low-current relay, a faulty contact may result.

Examples for Relay Circuits Examples for Open-Collector Circuits

Note: The 24-VDC external power supply capacity must be 50 mA minimum.

The SERVOPACK input circuits use bidirectional photocouplers. Select either a sink circuit or source circuit according to the specifications required by the machine.

Sink Circuits Source Circuits

24 V

−

SERVOPACK input side

Photocoupler

Switch

Photocoupler

Switch

Internal signal level

Input Signal Polarity Input Signal Polarity

Photocoupler Internal Signal Level Photocoupler Internal Signal Level

ON Low level ON Low level

OFF High level OFF High level

Sequence Output Circuits

Refer to the following manual for details on sequence circuit outputs.

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP

S800001 26)

3-9

Trial Operation

This chapter gives the flow and operating procedures for trial operation.

4.1

Trial Operation Example . . . . . . . . . . . . . . . 4-2

4.1 Trial Operation Example

4.1

Trial Operation Example

A trial operation example for digital I/O is given below.

Refer to the following chapter for information on operation with digital I/O.

Chapter 7 Operation with Digital I/O

Confirm that the wiring is correct, and then connect the I/O signal connector (CN1 connector).

Refer to the following chapter for details on wiring.

Chapter 3 Wiring and Connecting SERVOPACKs

Turn ON the power supplies to the SERVOPACK.

If power is being supplied correctly, the CHARGE indicator on the SERVOPACK will light.

Set the following items, which are necessary for trial operation.

Program Table Operation

Setting Reference

Electronic Gear

Motor Direction

Overtravel

Input the /S-ON (Servo ON) signal.

The servo will turn ON.

Operate the Servomotor at low speed.

Program Table Operation

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

PGM-

STEP

0 I+10000 1000 - 1000 : : ::::::: IT0 1 END

While operation is in progress for step 5, confirm the following items.

Confirm that the rotational direction of the Servomotor agrees with the forward or reverse reference. If they do not agree, correct the rotation direction of the Servomotor.

Confirm that no abnormal vibration, noise, or temperature rise occurs. If any abnormalities are found, implement corrections.

Note: If the load machine is not sufficiently broken in before trial operation, the Servomotor may become over-

POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT

Confirmation Item Reference

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor on page 8-52

loaded.

4-2

Monitoring

This chapter provides information on monitoring SERVOPACK product information and SERVOPACK status.

5.1

5.2

Monitoring SERVOPACK Status . . . . . . . . . 5-2

5.1.1 Monitoring Status and Operations . . . . . . . . . . . 5-2

5.1.2 I/O Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Monitoring Machine Operation Status and Signal Waveforms . . 5-5

5.1 Monitoring SERVOPACK Status

5.1.1 Monitoring Status and Operations

5.1

5.1.1

Monitoring SERVOPACK Status

Monitoring Status and Operations

Monitor Items

The items that you can monitor on the Status Monitor Window and Motion Monitor Window are listed below.

• Status Monitor Window

Monitor Items

• Main Circuit

• Encoder (PGRDY)

• Motor Power (Request)

• Motor Power ON

• Dynamic Brake (DB)

• Rotation (Movement)

Direction

• Mode Switch

• Speed Reference (V-Ref)

• Torque Reference (T-Ref)

• Position Reference

(PULS)

• Position Reference Direction

• Surge Current Limiting Resistor Short Relay

• Regenerative Transistor

• Regenerative Error

Detection

• AC Power ON

• Overcurrent

Internal Status

• Origin Not Passed

• NEAR Status

• DEN Status

• Positioning Stopped or

Program Stopped

• Program Operating Status

• Current Limit Status

• Main Power Supply Sta-

tus

• /S-ON (Servo ON Input Signal)

• P-OT (Forward Drive Prohibit Input

Signal)

• N-OT (Reverse Drive Prohibit Input Signal)

• /ALM-RST (Alarm Reset Input Signal)

• Clear Signal (CLR)

• /DEC (Homing Deceleration Switch

Input Signal)

• /RGRT (Registration Input Signal)

• /MODE 0/1 (Mode Switch Input Sig-

nal)

• /START-STOP (Program Table Operation Start-Stop Input Signal)

• /PGMRES (Program Table Operation Reset Input Signal)

• /SEL0 (Program Step Selection Input 0 Signal)

• /SEL1 (Program Step Selection Input 1 Signal)

• /SEL2 (Program Step Selection Input 2 Signal)

Input Signal Status

• /SEL3 (Program Step Selection Input 3 Signal)

• /SEL4 (Program Step Selection Input 4 Signal)

• /HOME (Homing Input Signal)

• /JOGP (Forward Jog Input Signal)

• /JOGN (Reverse Jog Input Signal)

• /JOG0 (Jog Speed Table Selection

Input 0 Signal)

• /JOG1 (Jog Speed Table Selection Input 1 Signal)

• /JOG2 (Jog Speed Table Selection Input 2 Signal)

• ALM (Servo Alarm Output Signal)

• /S-RDY (Servo Ready Output Signal)

• /BK (Brake Output Signal)

• /WARN (Warning Output

Signal)

• PAO (Encoder Divided Pulse Output Phase A Signal)

• PBO (Encoder Divided Pulse Output Phase B Signal)

• PCO (Encoder Divided Pulse Output Phase C Signal)

• ALO1, ALO2, and ALO3 (Alarm Code Output Signals)

• /COIN (Positioning Completion Output Signal)

• /POUT0 (Programmable

Output Signal Status

Output 0 Signal)

• /POUT1 (Programmable Output 1 Signal)

• /POUT2 (Programmable Output 2 Signal)

• /POUT3 (Programmable Output 3 Signal)

• /POUT4 (Programmable Output 4 Signal)

• /POSRDY (Homing Completed Output Signal)

• DEN (Position Reference Distribution Completed Signal)

5-2

5.1 Monitoring SERVOPACK Status

Monitoring

Information

5.1.1 Monitoring Status and Operations

• Motion Monitor Window

Monitor Items

• Current Alarm State

• Error Monitor

• Position Reference Current Position

• Motor Current Position

• Positioning Target Position

• Positioning Distance

• Registration Target Position

• Registration Distance

• Program Step

• Elapsed Event Time

• Loop Execution Elapsed Time

• Motor Speed

• Speed Reference

• Internal Torque Reference

• Angle of Rotation 1 (number of

encoder pulses from origin within one encoder rotation)

• Angle of Rotation 2 (angle from origin within one encoder rotation)

• Input Reference Pulse Speed

• Deviation Counter (Position Deviation)

• Cumulative Load

• Regenerative Load

• Power Consumption

• Consumed Power

• Cumulative Power Consumption

• DB Resistor Consumption Power

• Absolute Encoder Multiturn Data

• Absolute Encoder Position within One Rota-

tion

• Absolute Encoder (Lower)

• Absolute Encoder (Upper)

• Reference Pulse Counter

• Feedback Pulse Counter

• Fully Closed Feedback Pulse Counter

• Tot a l O pe r at i n g T im e

Operating Procedure

Use the following procedure to display the Motion Monitor and Status Monitor for the SERVOPACK.

• Select Monitor in the SigmaWin+ Menu Dialog Box.

The Operation Pane and Status Pane will be displayed in the Monitor Window.

You can flexibly change the contents that are displayed in the Monitor Window. Refer to the following manual for details.

Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34)

5-3

5.1 Monitoring SERVOPACK Status

Input signal status

Output signal status

Information

5.1.2 I/O Signal Monitor

5.1.2

I/O Signal Monitor

Use the following procedure to check I/O signals.

Select the Servo Drive’s Button from the workspace of the Main Window of the SigmaWin+.

Select Wiring Check in the Menu Dialog Box.

The Wiring Check Dialog Box will be displayed.

Click the Monitor Mode Button.

You can also use the above window to check wiring.

• Checking Input Signal Wiring Change the signal status at the host controller. If the input signal status on the window changes accordingly, then the wiring is correct.

• Checking Output Signal Wiring Click the Force Output Mode Button. This will force the output signal status to change. If the signal status at the host controller changes accordingly, then the wiring is correct. You cannot use the Force Output Mode Button while the servo is ON.

5-4

5.2 Monitoring Machine Operation Status and Signal Waveforms

Monitoring

Click this button to display the Trace Setting Dialog Box shown below, and set the data to trace and the trace conditions.

5.2

Monitoring Machine Operation Status and Signal Waveforms

To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a memory recorder. This section describes how to trace data and I/O with the SigmaWin+.

Refer to the following manual for detailed operating procedures for the SigmaWin+.

AC Servo Drives Engineering Tool SigmaWin+ Selection Manual (Manual No.: SIEP S800001 34)

Operating Procedure

Select the Servo Drive’s Button from the workspace of the Main Window of the SigmaWin+.

Select Trace in the Menu Dialog Box.

The Trace Dialog Box will be displayed.

Trace Objects

You can trace the following items.

• Data Tracing

• Torq u e R e fe r e n c e

• Feedback Speed

• Reference Speed

• Position Reference Speed

• Position Error (Deviation)

• Position Amplifier Error (Deviation)

Trace Objects

• Motor - Load Position Deviation

• Speed Feedforward

• Torque Feedforward

• Effective (Active) Gain

• Main Circuit DC Voltage

• External Encoder Speed

• Control Mode

5-5

5.2 Monitoring Machine Operation Status and Signal Waveforms

• I/O Tracing

Trace Objects

• /S-ON (Servo ON Input Signal)

• /P-CON (Proportional Control Input Sig-

nal)

• P-OT (Forward Drive Prohibit Input Signal)

• N-OT (Reverse Drive Prohibit Input Signal)

• /ALM-RST (Alarm Reset Input Signal)

• /P-CL (Forward External Torque/Force

Limit Input Signal)

• /N-CL (Reverse External Torque/Force Limit Input Signal)

• /SPD-D (Motor Direction Input Signal)

• /SPD-A (Internal Set Speed Selection

Input Signal)

• /SPD-B (Internal Set Speed Selection Input Signal)

Input Signals

• /C-SEL (Control Selection Input Signal)

• /ZCLAMP (Zero Clamping Input Signal)

• /INHIBIT (Reference Pulse Inhibit Input

Signal)

• /G-SEL (Gain Selection Input Signal)

• /P-DET (Polarity Detection Input Signal)

• FSTP (Forced Stop Input Signal)

• SEN (Absolute Data Request Input Signal)

• PULS (Pulse Reference Input Signal)

• SIGN (Sign Reference Input Signal)

• CLR (Position Deviation Clear Input Sig-

nal)

• /PSEL (Reference Pulse Input Multiplication Input Signal)

• /HWBB1 (Hard Wire Base Block Input 1 Signal)

• /HWBB2 (Hard Wire Base Block Input 2 Signal)

Output Signals

Internal Status

• ALM (Servo Alarm Output Signal)

• /COIN (Positioning Completion Output

Signal)

• /V-CMP (Speed Coincidence Detection Output Signal)

• /TGON (Rotation Detection Output Signal)

• /S-RDY (Servo Ready Output Signal)

• /CLT (Torque Limit Detection Output Sig-

nal)

• /VLT (Speed Limit Detection Output Signal)

• /BK (Brake Output Signal)

• /WARN (Warning Output Signal)

• /NEAR (Near Output Signal)

• ALO1 (Alarm Code Output Signal)

• ALO2 (Alarm Code Output Signal)

• ALO3 (Alarm Code Output Signal)

• PAO (Encoder Divided Pulse Output

Phase A Signal)

• PBO (Encoder Divided Pulse Output Phase B Signal)

• PCO (Encoder Divided Pulse Output Phase C Signal)

• /PSELA (Reference Pulse Input Multiplication Switching Output Signal)

• ACON (Main Circuit ON Signal)

• PDETCMP (Polarity Detection Com-

pleted Signal)

• DEN (Position Reference Distribution Completed Signal)

5-6

Settings

This chapter describes settings that are made according to the machine.

6.1

6.2

6.3

6.4

6.5

Control Method Selection . . . . . . . . . . . . . . 6-2

I/O Signal Allocations . . . . . . . . . . . . . . . . . 6-3

6.2.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . 6-3

6.2.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . 6-5

Moving Mode and Coordinate Settings . . . 6-8

6.3.1 When the Coordinates are the Linear Type . . . . . 6-8

6.3.2 When the Coordinates are the Rotary Type . . . . . 6-9

Settings for References . . . . . . . . . . . . . . . 6-10

6.4.1 Motor Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.4.2 Acceleration Rate and Deceleration Rate . . . . . 6-10

6.4.3 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

Origin Settings . . . . . . . . . . . . . . . . . . . . . . 6-12

6.5.1 When Using an Absolute Encoder . . . . . . . . . . . 6-12

6.5.2 When Using an Incremental Encoder . . . . . . . . 6-13

6.1 Control Method Selection

Information

Pn000 = n.X Control Method Reference

0

Speed control (with analog voltage) and program table operation

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

1

(default setting)

Position control (with pulse train) and program table operation

2

Torque control (with analog voltage) and program table operation

6.1

Control Method Selection

To perform operation with the program table or jog speed table, set Pn000 (Control Method Selection) to n.1.

Pn000 = n.X

1

(default setting)



Operation is also possible by combining program table operation and jog speed table operation with speed control, position control, or torque control. You can perform the optimum operation for the application. To combine different types of control, you set the control method in Pn000 = n.X (Control Method Selection) as shown in the following table.

Note: 1. Before you change between program table operation and another form of control (speed control,

2. If you use program table operation, do not set Pn000 to n.3 to n.B.

Control Method Outline Reference

Commands from the program table and

Position control

position control, or torque control), confirm that all commands and the motor have stopped.

jog speed table are used to control machine positioning.

Chapter 7

6-2

6.2 I/O Signal Allocations

Settings

Important

6.2.1 Input Signal Allocations

6.2

6.2.1

I/O Signal Allocations

Functions are allocated to the pins on the I/O signal connector (CN1) in advance. You can change the allocations and the polarity for some of the connector pins. Function allocations and polarity settings are made with parameters.

This section describes the I/O signal allocations.

Input Signal Allocations

Changing Input Signal Allocations

• If you change the polarity of the /S-ON (SERVO ON Input) signal from the default setting, you will not be able to turn OFF the main circuit power supply to the Servomotor if signal lines break or other problems occur. If you change the polarity of this signal, verify operation and make sure that no safety problems will exist.

• If you allocate two or more signals to the same input circuit, a logical OR of the inputs will be used and all of the allocated signals will operate accordingly. This may result in unexpected operation.

 Input Signals That Can Be Allocated to CN1-40 to CN1-46

The input signals that you can allocate to the pins on the I/O signal connector (CN1) and the related parameters are given in the following table.

Input Signal Input Signal Name Parameter

/S-ON Servo ON Pn50A = n.X

/P-CON Proportional Control Pn50A = n.X

P-OT Forward Drive Prohibit Pn50A = n.X

N-OT Reverse Drive Prohibit Pn50B = n.

/ARM-RST Alarm Reset Pn50B = n.X

/P-CL Forward External Torque Limit Pn50B = n.X

/N-CL Reverse External Torque Limit Pn50B = n.X

/SPD-D Motor Direction Pn50C = n.

/SPD-A Internal Set Speed Selection Pn50C = n.X

/SPD-B Internal Set Speed Selection Pn50C = n.X

/C-SEL Control Selection Pn50C = n.X

/ZCLAMP Zero Camping Pn50D = n.

/INHIBIT Reference Pulse Inhibit Pn50D = n.X

/G-SEL Gain Selection Pn50D = n.X

/P-DET Polarity Detection Pn50D = n.X

SEN Absolute Data Request Pn515 = n.

/PSEL

FSTP Forced Stop Pn516 = n. /MODE 0/1

/START-STOP

/HOME

/PGMRES

/SEL0

/SEL1

/SEL2

/SEL3

Reference Pulse Input Multiplication Switch

Mode Switch

Program Table Operation Start-Stop

Homing

Program Table Operation Reset

Program Step Selection Input 0

Program Step Selection Input 1

Program Step Selection Input 2

Program Step Selection Input 3

Pn515 = n.

Pn630 = n.

Pn630 = n.X

Pn630 = n.X

Pn630 = n.X

Pn631 = n.

Pn631 = n.X

Pn631 = n.X

Pn631 = n.X

Continued on next page.





X

























6-3

6.2 I/O Signal Allocations

+24 V

6.2.1 Input Signal Allocations

Input Signal Input Signal Name Parameter

/SEL4

/JOGP

/JOGN

/JOG0

/JOG1

/JOG2

 Relationship between Parameter Settings, Allocated Pins, and Polarities

The following table shows the relationship between the input signal parameter settings, the pins on the I/O signal connector (CN1), and polarities.

Program Step Selection Input 4

Forward Jog Input

Reverse Jog Input

Jog Speed Table Selection Input 0

Jog Speed Table Selection Input 1

Jog Speed Table Selection Input 2

Continued from previous page.

Pn632 = n.

Pn632 = n.X

Pn632 = n.X

Pn632 = n.X

Pn633 = n.







X



Parameter

Setting

040

141

242

343

444

545

646

7–

8–

940

A41

B42

C43

D44

E45

F46

Note: Refer to the following section for details on input signal parameter settings.

Pin No. Description

A reverse signal (a signal with “/” before the signal abbreviation, such as the / S-ON signal) is active when the contacts are ON (closed). A signal that does not have “/” before the signal abbreviation (such as the POT signal) is active when the contacts are OFF (open).

The input signal is not allocated to a connector pin and it is always active. If the signal is processed on a signal edge, then it is always inactive.

The input signal is not allocated to a connector pin and it is always inactive. Set the parameter to 8 if the signal is not used.

A reverse signal (a signal with “/” before the signal abbreviation, such as the / S-ON signal) is active when the contacts are OFF (open). A signal that does not have “/” before the signal abbreviation (such as the POT signal) is active when the contacts are ON (closed).

9.2.2 List of Parameters on page 9-4

6-4

 Example of Changing Input Signal Allocations

The following example shows reversing the P-OT (Forward Drive Prohibit) signal allocated to CN1-42 and the /P-CL (External Torque Limit) signal allocated to CN1-45.

Pn50A = n.20 Pn50B = n.5

↓↓

Pn50A = n.51 Pn50B = n.2



Before change



After change

Refer to the following manual for the parameter setting procedure.

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

6.2 I/O Signal Allocations

Settings

Important

6.2.2 Output Signal Allocations

 Input Signals That Can Be Allocated to CN1-14 and CN1-15

Input Signal Input Signal Name Parameter Setting

CLR Clear Pn634 = n.

/DEC Homing Deceleration Switch Pn634 = n.

/RGRT Registration Pn634 = n.

 Relationship between Parameter Settings, Pin Numbers, and Polarity

The polarity of the signals that you allocate to CN1-14 and CN1-15 are set in separate parameters. You can set the signal polarity in Pn634 = n.X (SI8 Signal Selection Logic).



Parameter

Setting

Note: Refer to the following section for details on input signal parameter settings.

Pin No. Description

A reverse signal (a signal with “/” before the signal abbreviation, such as the

14, 15

9.2.2 List of Parameters on page 9-4

/DEC signal) is active when the contacts are ON (closed).

A reverse signal (a signal with “/” before the signal abbreviation, such as the

/DEC signal) is active when the contacts are OFF (open).

 Example of Changing Input Signal Allocation for CN1-14 and CN1-15

The following example shows how to change the allocation of the Return Deceleration Switch signal (/DEC) to CN1-14 and CN1-15 to allocate the Registration Input (/RGRT) instead.

Before Change: Pn634 = n.2

↓

After Change: Pn634 = n.3

The wiring specifications for CN1 connector terminals 15-14 and 40 to 47 are different. Refer to the following section for information on the wiring the terminals.

Important

3.2.3 I/O Circuits on page 3-8

The SERVOPACK may fail if the terminals are wired incorrectly.

6.2.2

Confirming Input Signals

You can confirm the status of input signals on the I/O signal monitor. Refer to the following section for information on the I/O signal monitor.

5.1.2 I/O Signal Monitor on page 5-4

Output Signal Allocations

You can allocate the desired output signals to pins 25 to 30 and 37 to 39 on the I/O signal connector (CN1). You set the allocations in the following parameters: Pn50E, Pn50F, Pn510, Pn512, Pn513, Pn514, Pn517, Pn635, and Pn636.

• The signals that are not detected are considered to be OFF. For example, the /COIN (Positioning Completion) signal is considered to be OFF during speed control.

• Reversing the polarity of the /BK (Brake) signal, i.e., changing it to positive logic, will prevent the holding brake from operating if its signal line is disconnected. If you must change the polarity of this signal, verify operation and make sure that no safety problems will exist.

• If you allocate two or more signals to the same output circuit, a logical OR of the outputs will be used and all of the allocated signals will operate accordingly. This may result in unexpected operation.

6-5

6.2 I/O Signal Allocations

6.2.2 Output Signal Allocations

Output signals are allocated as shown in the following table.

Refer to Interpreting the Output Signal Allocation Tables and change the allocations accord- ingly.

Interpreting the Output Signal Allocation Tables

These columns give the parameter settings to use. Signals are allocated to CN1 pins according to the settings.

Output Signal Name

and Parameter

Positioning

Completion

Pn50E = n.X

Output Signal Name

and Parameter

Positioning Completion Pn50E = n.X

Speed Coincidence Detection Pn50E = n.X

Rotation Detection Pn50E = n.X

Servo Ready Pn50E = n.X

Torque Limit Detection Pn50F = n.X

Speed Limit Detection Pn50F = n.X

Brake Pn50F = n.X

Warning Pn50F = n.X

Near Pn510 = n.X

Reference Pulse Input Multiplication Switching Output Pn510 = n.X

Preventative Maintenance Pn514 = n.X

Alarm Code Pn517 = n.X

Alarm Code Pn517 = n.X

Alarm Code Pn517 = n.X

Output

Signal

25 and 26 27 and 28 29 and 30 37 38 39

123 4056/COIN

Output

Signal

/COIN

/V-CMP123456

/TGON123456

/S-RDY 1

/CLT 123456

/VLT 123456

/BK 1 2

/WARN123456

NEAR123456

/PSELA123456

/PM 123456

ALO1 123456

ALO2 123456

ALO3 123456

25 and 2627 and 2829 and

1 (default setting)

23456

2 (default setting)

CN1 Pin No.

3456

3 (default setting)

37 38 39

456

Disabled

(Not Used)

Disabled

(Not Used)

0 (default setting)

6-6

Programmable Output 0 Pn635 = n.X

Programmable Output 1 Pn635 = n.X

Programmable Output 2 Pn635 = n.X

/POUT0 1 2 34 (default

56 0

setting)

/POUT112345 (default

6 0

setting)

/POUT2123456 (default

setting)

Continued on next page.

Settings

Output Signal Name

）

and Parameter

Programmable Output 3 Pn635 = n.X

Programmable Output 4 Pn636 = n.X

Homing Completion Output Pn636 = n.X

Positioning Reference Distribution Output Pn636 = n.X

Pn512 = n.1

6.2 I/O Signal Allocations

6.2.2 Output Signal Allocations

Continued from previous page.

Output

Signal

/POUT31234560 (default setting)

/POUT41234560 (default setting)

/POSRDY1234560 (default setting)

/DEN1234560 (default setting)

Reverse polarity for

CN1-25 and CN1-26

25 and 2627 and 2829 and

CN1 Pin No.

37 38 39

Disabled

(Not Used)

Pn512 = n.1

Pn512 = n.1 Reverse polarity for CN1-29 and CN1-30

Pn512 = n.1 Reverse polarity for CN1-37

Pn513 = n.1 Reverse polarity for CN1-38

Pn513 = n.1 Reverse polarity for CN1-39

Reverse polarity for CN1-27 and

CN1-28

0 (default setting)

The polarity

is not reversed

in the default

settings.

Example of Changing Output Signal Allocations

The following example shows disabling the /COIN (Positioning Completion) signal allocated to CN1-25 and CN1-26 and allocating the /BK (Brake) signal.

Pn50E = n.1

↓↓

Pn50E = n.0



Pn50F = n.0



Pn50F = n.1

Refer to the following manual for the parameter setting procedure.

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)



Before change



After change

Checking Output Signal Status

You can confirm the status of output signals on the I/O signal monitor. Refer to the following section for information on the I/O signal monitor.

5.1.2 I/O Signal Monitor on page 5-4

6-7

6.3 Moving Mode and Coordinate Settings

Forward Software Limit (P-LS): Pn638

Reverse Software Limit (N-LS): Pn63A

Workpiece

6.3.1 When the Coordinates are the Linear Type

6.3

Moving Mode and Coordinate Settings

Use the following parameters to set the moving mode and the coordinates.

Parameter Meaning

n.0

Pn637

Pn638

Pn63A

Pn63C

[default setting]

n.1

n.2

n.3

Linear Type (Pn637 = n.0): Forward Software Limit (P-LS) Rotary Type (Pn637 ≠ n.0): End Point of Rotational Coordinates

Setting Range Setting Unit Default Setting When Enabled Classification

-536,870,911 to +536,870,911

Linear Type (Pn637 = n.0): Reverse Software Limit (N-LS) Rotary Type (Pn637 ≠ n.0): Starting Point of the Rotational Coordinates

Setting Range Setting Unit Default Setting When Enabled Classification

-536,870,911 to +536,870,911

Origin (Incremental Encoder) Absolute Encoder Offset (Absolute Encoder)

Setting Range Setting Unit Default Setting When Enabled Classification

-1,073,741,823

+1,073,741,823

Sets coordinates to linear type.

Sets coordinates to rotary type. Moving mode is set as shortest path.

Sets coordinates to rotary type. Moving mode is always set as forward.

Sets coordinates to rotary type. Moving mode is always set as reverse.

Reference unit +536,870,911 After restart Setup

Reference unit -536,870,911 After restart Setup

Reference unit 0 After restart Setup

When

Enabled

After restart Setup

Classifica-

tion

6.3.1

When the Coordinates are the Linear Type

For a ball screw or other equipment with linear coordinates, set Pn637 to n.0 (Moving

Mode), set the forward software limit (P-LS) in Pn638, and set the reverse software limit (N-LS) in Pn63A.

One of the following errors will occur if the positioning target point exceeds a software limit: Moving Disabled Error due to P-LS (E4DE) or Moving Disabled Error due to N-LS (E4EE).

One of the following errors will also occur if ±INFINITE is specified for the target position (POS) in the program table: Moving Disabled Error due to P-LS (E4DE) or Moving Disabled Error due to N-LS (E4EE).

If the motor reaches a software limit during jog speed table operation, the motor will be stopped at the deceleration rate set in Pn640.

If you set both Pn638 and Pn63A to 0, the software limits are disabled.

The software limits are enabled when homing is completed.

6-8

6.3 Moving Mode and Coordinate Settings

Settings

Example

• Pn638 = +3599, Pn63A = 0 • Pn638 = +4999, Pn63A = -5000

Pn63A = 0

Pn638 = +3599

Pn63A = -5000

Pn638 = +4999

Starting

point

Starting

point

Important

6.3.2 When the Coordinates are the Rotary Type

6.3.2

When the Coordinates are the Rotary Type

For a rotary table or other equipment with rotational coordinates, set Pn637 = n.X to 1 (shortest path), 2 (always forward), or 3 (always reverse). Set the last rotational coordinate in Pn638 (End Point of Rotational Coordinates) and the first rotational coordinate in Pn63A (Starting Point of Rotational Coordinates). Set Pn638 and Pn63A so that the origin is between them.

The software limit function will be disabled. If Pn637 = n.1 (shortest path), the motor will rotate in the shortest direction (forward or

reverse) when the target position is specified as an absolute position. If Pn637 = n.2 (forward), the motor will always rotate in the forward direction when the

target position is specified as an absolute position. If Pn637 = n.3 (reverse), the motor will always rotate in the reverse direction when the tar-

get position is specified as an absolute position.

If the target position is specified as an relative position, the motor will rotate in the specified direction.

If a rotary table or other device with rotational coordinates is used, but multiturn operation is not possible, use linear coordinates (Pn637 = n.0). In this case, Pn638 and Pn63A are for software limits.

When using rotary type coordinates and an absolute encoder, set the multi-turn limit (Pn205). Refer to the following manual for information on the multiturn limit settings.

-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual

(Manual No.: SIEP S800001 26)

6-9

6.4 Settings for References

Example

15,000 mm/min

0.01 mm

= 1,500,000 reference units/min

Example

15,000 mm/min

0.01 mm

= 1,500,000 reference units/min

1,500,000 reference units/min

100 ms

= 15,000 [(reference units/min)/ms]

Important

6.4.1 Motor Speed

6.4

6.4.1

6.4.2

Settings for References

Motor Speed

For program table operation, the positioning speed is registered in SPD and the registration speed is registered in RSPD. For jog speed table operation, the jog speed is registered in JSPD.

The speed is set in units of 1,000 reference units/min.

The following calculation applies if the reference unit is 0.01 mm and the positioning speed is 15 m/min.

Thus, the positioning speed setting is 1,500 [1,000 reference units/min].

Acceleration Rate and Deceleration Rate

For program table operation, the acceleration rate is set in ACC and the deceleration rate is set in DEC.

For jog speed table operation, the settings of the following Pn63E parameter (Acceleration Rate) and Pn640 parameter (Deceleration Rate) are used.

The acceleration and deceleration rates are set in units of 1,000 reference units/min/ms.

Pn63E

Pn640

Acceleration Rate

Setting Range Setting Unit Default Setting When Enabled Classification

1 to 199,999,999

Deceleration Rate

Setting Range Setting Unit Default Setting When Enabled Classification

1 to 199,999,999

The following calculation applies if the reference unit is 0.01 mm and the acceleration time from 0 m/min to 15 m/min is 100 ms.

Thus, the acceleration setting is 15 [1,000 reference units/min].

Set the acceleration and deceleration so that the values of the two settings do not differ greatly. If they differ greatly, the machine will not accelerate in accordance with the settings. For example, if Pn63E is set to 199,999,999 and Pn640 is set to 1, then the machine’s performance will be unpredictable.

1,000 (reference

units/min)/ms

1,000 (reference

units/min)/ms

1,000 Immediately Setup

6-10

6.4 Settings for References

Settings

Pn217

Before lter After lter

Pn217

Time

Speed

Target speed

6.4.3 Smoothing

6.4.3

Smoothing

Smoothing allows you to apply a filter to the position reference to produce smoother Servomotor acceleration and deceleration.

Note: Smoothing does not affect the travel distance.

The following parameters are related to smoothing.

Average Position Reference Movement Time

Pn217

* The filter is disabled if you set the parameter to 0.

Note: Change the setting only when the motor is stopped.

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 0.1 ms

Immediately after

the motor stops

Setup

6-11

6.5 Origin Settings

Encoder coordinate

Absolute encoder origin

Current origin in reference coordinate system (Origin of reference coordinate system = Machine origin)

New origin of reference coordinate system = New machine coordinate

Current Pn63C = −X

Current position of machine

Current position of machine in current reference coordinate system (P)

Current position of machine in new reference coordinate system (N)

New Pn63C

- ( P - N )

Coordinate of current machine origin in encoder coordinate system

Reference (machine) coordinate

6.5.1 When Using an Absolute Encoder

6.5

6.5.1

Origin Settings

It is necessary to define a reference position to operate a device or machine. This is done with origin settings.

The origin settings depend on whether an absolute encoder or an incremental encoder is used.

When Using an Absolute Encoder

If you use an absolute encoder, it is not necessary to set the origin every time the power supply to the equipment is turned ON.

However, when you set up the equipment, you must set Pn63C to the offset between the origin of the absolute encoder and the position of the origin of the reference coordinate system (called the machine coordinate system).

When you start a system that uses an absolute encoder, you must initialize the absolute encoder and adjust the position of the machine origin. Then you must set the offset that defines the origin of the reference coordinates.

Origin (Incremental Encoder) Absolute Encoder Offset (Absolute Encoder)

Pn63C

Setting Range Setting Unit Default Setting When Enabled Classification

-1073741823 to +1073741823

Reference unit 0 After restart Setup

Perform one of the following operations to set the offset.

• Execute utility function Fn066.

• Calculate the value and set it in Pn63C.

The relationship between the origin of the absolute encoder and the machine origin coordinate system is shown in the following figure. Use the following formula to find a new absolute encoder offset (Pn63C).

Pn63C = Current Pn63C + N - P

N: Current position of machine in new reference coordinate system

If this position is to be defined as the origin, then normally N is 0.

P: Current position of machine in current reference coordinate system

6-12

When using the linear type coordinate (Pn637 =

n.

0), set the calculated value in Pn63C.

6.5 Origin Settings

Settings

Important

WARNING

6.5.2 When Using an Incremental Encoder

6.5.2

When using a rotary type coordinate (Pn637 ≠

n.

0), set the results in Pn63C after perform-

ing the following calculations so that the following relationships are satisfied: Pn63A ≤ Pn63C ≤ Pn638.

• If the results is smaller than Pn63A (the starting point of the rotational coordinates), add the

width of the coordinates (Pn638 − Pn63A + 1).

• If the results is larger than Pn638 (the end point of the rotational coordinates), subtract the

width of the coordinates (Pn638 − Pn63A + 1).

Refer to the following manual for information on setting up an absolute encoder.

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

You must define the origin again if you change the settings of any of the following parameters: Pn20E, Pn210, Pn205, Pn637, or Pn63C. Always turn the power supply OFF and ON again before you set the origin to enable changes to these parameters.

When Using an Incremental Encoder

If you use an incremental encoder, you must set the origin every time the power supply to the equipment is turned ON.

Homing is used to define the machine origin. Refer to the following section for details on homing.

7.2 Homing on page 7-4

The setting of Pn63C is set as the current value when the power supply is turned ON or when homing is completed.

Origin (Incremental Encoder) Absolute Encoder Offset (Absolute Encoder)

Pn63C

Setting Range Setting Unit Default Setting When Enabled Classification

-1073741823 to +1073741823

 If you are using an incremental encoder, always perform homing before you start program

table operation. If you perform program table operation without performing homing, positions cannot be managed so correct positioning may not be possible.

Unexpected machine operation, failure, or personal injury may occur.

Reference unit 0 After restart Setup

6-13

Operation with Digital I/O

This chapter provides detailed information on homing, positioning with a program table, registration, constant speed operation with a jog speed table, and ZONE outputs.

7.1

7.2

7.3

7.4

Operation Functions . . . . . . . . . . . . . . . . . . 7-3

Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.2.1 I/O Signals Related to Homing . . . . . . . . . . . . . . 7-4

7.2.2 Parameters Related to Homing . . . . . . . . . . . . . . 7-5

7.2.3 Homing Procedures . . . . . . . . . . . . . . . . . . . . . . 7-7

Program Table Operation . . . . . . . . . . . . . . 7-9

7.3.1 Types of Operation . . . . . . . . . . . . . . . . . . . . . . . 7-9

7.3.2 I/O Signals Related to Program

Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . 7-11

7.3.3 Program Table Configuration . . . . . . . . . . . . . . . 7-12

7.3.4 Settings in the Program Table . . . . . . . . . . . . . . 7-13

7.3.5 SigmaWin+ Procedures . . . . . . . . . . . . . . . . . . . 7-14

7.3.6 State Transitions . . . . . . . . . . . . . . . . . . . . . . . . 7-26

7.3.7 Program Table Operation Examples . . . . . . . . . 7-27

7.3.8 EVENT Examples . . . . . . . . . . . . . . . . . . . . . . . 7-42

7.3.9 Output Response Times after /START-STOP

Turns ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-43

Jog Speed Table Operation . . . . . . . . . . . . 7-44

7.4.1 Input Signals Related to Jog Operation . . . . . . . 7-44

7.4.2 Jog Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44

7.4.3 Jog Speed Table and Speed Selection

Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-45

7.4.4 SigmaWin+ Procedures . . . . . . . . . . . . . . . . . . . 7-46

7.4.5 Jog Speed Table Operation Example . . . . . . . . 7-51

7.4.6 Timing of Signal Changes . . . . . . . . . . . . . . . . . 7-52

7.5

ZONE Outputs . . . . . . . . . . . . . . . . . . . . . . 7-53

7.5.1 ZONE Table and ZONE Signals . . . . . . . . . . . . .7-53

7.5.2 Parameters Related to ZONE Signals . . . . . . . . . 7-54

7.5.3 SigmaWin+ Procedures . . . . . . . . . . . . . . . . . . .7-55

7.1 Operation Functions

Operation with Digital I/O

7.1

Operation Functions

The following five operation functions are provided.

• Homing Homing is used to define the machine origin when the power supply is turned ON to equipment that uses an incremental encoder. Homing is not required for equipment that uses an absolute encoder because the positional relationship between the origin of the absolute encoder and the machine origin is set in a parameter.

• Positioning with a Program Table You can register (program) positioning patterns in a table in advance and then use specifications from the host controller to specify the operation pattern to perform operation.

• Registration If a trigger signal (/RGRT) is input from an external device during positioning, the motor will be moved for the registration distance (RDST) that is registered in the program table.

• Constant Speed Operations with a Jog Speed Table This function supports constant-speed operation at preset jog speeds.

• ZONE Outputs This function outputs a zone number to indicate when the motor is within a preset zone. The lower three programmable outputs are assigned.

7-3

7.2 Homing

WARNING

7.2.1 I/O Signals Related to Homing

7.2

7.2.1

Homing

Homing is used to define the machine origin when the power supply is turned ON to equipment that uses an incremental encoder. Turn OFF (mode 1) the /MODE 0/1 (Mode Switch Input) signal to enable performing homing.

 If you are using an incremental encoder, always perform homing before you start program

table operation. If you perform program table operation without performing homing, positions cannot be managed so correct positioning may not be possible.

Unexpected machine operation, failure, or personal injury may occur.

I/O Signals Related to Homing

The following I/O signals are related to homing.

Input Signals Related to Homing

Input Signal Description Reference

/MODE 0/1

/HOME The /HOME signal is turned ON to start homing. page 6-3

/DEC

ON: Mode 0 (program table operation) OFF: Mode 1 (jog speed table operation or homing)

The /DEC signal is used to change the homing speed. The homing method is set in Pn642 = n.X.

page 6-3

page 6-5

Output Signals Related to Homing

Output Signal Description Reference

This signal turns ON when the current position is within the positioning

/COIN

/POSRDY This signal turns ON when homing is completed. −

* Refer to the following manual for details.

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

Important

completed width of the target position (final travel distance). It also turns ON when the motor stops after positioning is canceled, even if the target position was not reached.

Homing is not performed for an absolute encoder. Therefore, error E61E (Encoder Mismatch Error) will occur if the /HOME signal turns ON.

7-4

7.2 Homing

Operation with Digital I/O

7.2.2 Parameters Related to Homing

7.2.2

Parameters Related to Homing

 Parameter That Specifies the Homing Method

Specify the homing method with Pn642 = n.X.

Parameter Meaning When Enabled

n.0 (default setting)

n.1

Pn642

n.2

n.3

Note: A Homing Method Unspecified Error (E5DE) will occur if homing is attempted while Pn642 is set to n.0.

The current position when the power supply is turned ON is the origin. Homing is not executed.

The /DEC signal and encoder phase C are used for performing homing.

Only the /DEC signal is used for performing homing.

Only the encoder phase C is used for performing homing.

After restart Setup

 Parameter That Specifies the Homing Direction

Specify whether to perform homing in the forward or in the reverse direction with Pn643 = n.X.

Parameter Meaning When Enabled

Pn643

n.0 (default setting)

n.1 Perform homing in the reverse direction.

Perform homing in the forward direction.

Immediately Setup

Classifica-

tion

Classifica-

tion

 Parameter That Specifies the Origin

The value specified in Pn63C will be set as the current value when homing is completed.

Origin

Pn63C

Setting Range Setting Unit

-1,073,741,823 to +1,073,741,823

Reference

units

Default Setting

0 After restart Setup

When Enabled

Classifica-

tion

 Parameter That Specifies the Homing Movement Speed

The following parameter sets the homing movement speed.

Homing Movement Speed

Pn644

Setting Range Setting Unit

1 to 199,999,999

1,000 refer-

ence units/s

Default Setting

1,000 Immediately Setup

When Enabled

Classifica-

tion

 Parameter That Specifies the Homing Approach Speed

The following parameter sets the homing approach speed for homing. Operation details, such as changing to this speed, depends on the homing method.

Homing Approach Speed

Pn646

Setting Range Setting Unit

1 to 199,999,999

1,000 refer-

ence units/s

Default Setting

1,000 Immediately Setup

When Enabled

Classifica-

tion

7-5

7.2 Homing

7.2.2 Parameters Related to Homing

 Parameter That Specifies the Homing Creep Speed

The following parameter sets the homing creep speed. Operation details, such as changing to this speed, depends on the homing method.

Homing Creep Speed

Pn648

 Parameter That Specifies the Homing Final Travel Distance

This parameter sets the travel distance after the motor changes to the creep speed. The stopping position when this travel is completed is set as the setting of Pn63C (Origin Position).

If a negative value is set, the movement direction will be reversed after the motor changes to the creep speed.

Homing Final Travel Distance

Pn64A

Setting Range Setting Unit

1 to 199,999,999

Setting Range Setting Unit

-1,073,741,823 to +1,073,741,823

1,000 reference units/s

Reference

units

Default Setting

1,000 Immediately Setup

Default Setting

0 Immediately Setup

When Enabled

Classifica-

tion

Classifica-

tion

7-6

7.2 Homing

Operation with Digital I/O

7.2.3 Homing Procedures

7.2.3

Homing Procedures

Homing will start when the /HOME signal turns ON. Homing will be stopped if the /HOME signal turns OFF. If the /HOME signal turns ON while homing is stopped, homing will be restarted from where it was stopped.

If a jog speed table operation is performed with the /JOGP or /JOGN signal or if the mode is changed with the /MODE 0/1 signal while homing is stopped, homing will be canceled.

When Pn642 is set to n.0 (the current position when the power supply is turned ON is the origin; homing is not executed), the origin position is defined as soon as the control power supply is turned ON.

There are three different origin patterns depending on the homing method that is specified in Pn642 = n.X.

The homing procedure for each method is given in this section.

Using the /DEC Signal and Encoder Origin (Phase C) for Homing (Pn642 = n.1)

 Turn ON the /HOME signal. Homing starts. The motor will rotate in the direction specified in

Pn643 = n.X (Homing Direction) at the speed specified in Pn644 (Homing Movement Speed).

 When the /DEC signal turns ON, the motor changes to the approach speed.  When the encoder’s origin signal (phase C) is detected, the motor decelerates to the creep

speed.

 Homing is completed after the motor moves the final travel distance. Set Pn63C to the value

of the current position where the motor is stopped.

Homing movement speed

Speed

(Pn644)

Operation Pattern

/MODE 0/1

/HOME

/DEC

Encoder origin (phase C)

1 ms min.

Approach speed

(Pn646)







Creep speed

(Pn648)

Final travel distance (Pn64A)



0 ms min.

Time

7-7

7.2 Homing

/HOME

/DEC

/MODE 0/1

1 ms min.

0 ms min.

Operation Pattern

Speed

Time

Approach speed (Pn646)

Creep speed

(Pn648)

Final travel distance (Pn64A)







/HOME

/MODE 0/1

0 ms min.

1 ms min.

Operation Pattern

Speed

Time

Approach speed (Pn646)

Creep speed

(Pn648)

Final travel distance (Pn64A)

Encoder origin (phase C)







7.2.3 Homing Procedures

Using Only the /DEC Signal for Homing (Pn642 = n.2)

 Turn ON the /HOME signal. Homing starts. The motor will rotate in the direction specified in

Pn643 = n.X (Homing Direction) at the speed specified in Pn646 (Approach Speed).  When the /DEC signal turns ON, the motor decelerates to the creep speed.  Homing is completed after the motor moves the final travel distance. Set Pn63C to the value

of the current position where the motor is stopped.

Using Only the Encoder Origin (Phase C) for the Homing (Pn642 = n.3)

 Turn ON the /HOME signal. Homing starts. The motor will rotate in the direction specified in

Pn643 = n.X (Homing Direction) at the speed specified in Pn646 (Approach Speed).  When the encoder’s origin signal (phase C) is detected, the motor decelerates to the creep

speed.  Homing is completed after the motor moves the final travel distance. Set Pn63C to the value

of the current position where the motor is stopped.

7-8

7.3 Program Table Operation

Operation with Digital I/O

Information

Operation Pattern

Speed

SPD

Time

Position

Movement at SPD

Travel distance (POS)

Target position

7.3.1 Types of Operation

7.3

7.3.1

Program Table Operation

With program table operation, you can register (program) positioning patterns in a table in

advance and then use commands from the host controller to specify the operation patterns to

perform operation.

If you use program table operation, you do not need motion control programming in the host

controller.

This section describes the types of operation that are possible, program table details, and Sig-

maWin+ operating procedures. It also provides examples of program table operation.

Typ e s o f O pe r a t io n

Two types of program table operation are provided: positioning and registration.

Both types of operation are described in the rest of this section.

This section describes program table operation using the item names and symbols that are registered in the program table. Refer to the following section for detailed information on the names and symbols.

7.3.4 Settings in the Program Table on page 7-13

Positioning

For positioning, the target positions are specified as the target positions (POS) in the program

table. The motor is moved to the current target position.

Positioning is illustrated conceptually in the following figure.

7-9

7.3 Program Table Operation

Operation Pattern

Speed

Time

Position

Movement at SPD

Travel distance (POS)

Target position

Positioning completed width

/RGRT

Movement at RSPD

Registration distance (RDST)

SPD

RSPD

7.3.1 Types of Operation

Registration Operation

If an external trigger signal (/RGRT) is input during travel (i.e., during positioning) toward a tar-

get position that is specified as the target position (POS) in the program table, the motor will move the registration distance (RDST) that is specified in the program table.

Registration operation is illustrated conceptually in the following figure.

7-10

7.3 Program Table Operation

Operation with Digital I/O

7.3.2 I/O Signals Related to Program Table Operation

7.3.2

I/O Signals Related to Program Table Operation

The following I/O signals are related to program table operation.

Input Signals Related to Program Table Operation

Input Signal Description Reference

/MODE 0/1

/START-STOP

/PGMRES

/SEL0 to /SEL4

/RGRT Registration operation starts on the rising edge of this signal.

*1. “Canceled” is the state in which the mode is mode 0, execution is not in a stopped state, and no program step

has been executed.

*2. Use the five selection signals (/SEL0 to /SEL4) to specify between 0 and 31 for PGMSTEP. A value of 1 means

that the signal is ON (active), and a value of 0 means that the signal is OFF (inactive).

PGMSTEP

0 00000

1 00001

2 00010

3 00011

4 00100

5 00101

6 00110

7 00111

8 01000

ON: Mode 0 (program table operation) OFF: Mode 1 (jog speed table operation or homing)

Turn ON this signal to start operation for the program step that is specified by the /SEL0 to /SEL4 (Program Step Selection Inputs) signals. Turn OFF this signal to stop program table operation and decelerate the motor to a stop.

If this signal turns ON while a program table operation is stopped, the program table operation will be reset and canceled.

These signals specify the program step number at which to start program table operation.

/SEL4 /SEL3 /SEL2 /SEL1 /SEL0

Selection Signals

page 6-3

•

30 11110

31 11111

Output Signals Related to Program Table Operation

Output Signal Description

/COIN

/POUT0 to /POUT4

/DEN This signal turns ON at the completion of position reference distribution.

This signal turns ON when the target position (final travel distance) is within the positioning completed width. It also turns ON when the motor stops after positioning is canceled, even if the target position was not reached.

You can set these signals as outputs. The output status is specified with POUT in the program steps.

7-11

7.3 Program Table Operation

7.3.3 Program Table Configuration

7.3.3

Program Table Configuration

The program table is a table that contains programming. You can enter up to 256 program steps.

The configuration of the program table is shown below. Each line in the table is called a program step. The steps are managed with program step numbers 0 to 255.

Note: You can program up to 256 program steps. You can used input signals (/SEL0 to /SEL4) to select program

steps numbers 0 to 31.

Refer to the following section for details on the items that are set.

Settings in the Program Table

7.3.4

PGM-

STEP

:::::::::::

255

Note

POS SPD RDST RSPD ACC DEC

After you edit the program table, save it to flash memory. Refer to the following section for the operating procedure.



Saving the Program Table to Flash Memory in the SERVOPACK on page 7-24

If you turn OFF the power supply before you save the program table in flash memory, the values that you set in the program table will be lost.

on page 7-13

POUT EVENT LOOP

7-12

7.3 Program Table Operation

Operation with Digital I/O

nnnnn

/POUT0

/POUT4

7.3.4 Settings in the Program Table

7.3.4

Settings in the Program Table

Item Name Meaning Setting Procedure

PGM STEP

POS Target position Specifies the target position.

SPD

RDST

RSPD

ACC Acceleration rate

DEC Deceleration rate

Program step

Positioning speed

Registration distance

Registration speed

Numbers are used to identify the program steps in the program table.

Specifies the target speed for positioning.

Specifies the travel distance after the trigger signal (/RGRT) is input.

Specifies the target speed for positioning after the trigger signal (/RGRT) is input.

Specifies the acceleration rate to use to reach the positioning speed.

Specifies the deceleration rate from the positioning speed.

The /SEL0 to /SEL4 signals are used to specify the program step.

Refer to the following section.

POS on page 7-16

Refer to the following section.

SPD on page 7-17

Refer to the following section.

RDST on page 7-17

Refer to the following section.

RSPD on page 7-18

Refer to the following section.

ACC and DEC on page 7-18

Programmable

POUT

EVENT End condition

LOOP Number of loops

output specification

Next program step

Specifies the output status of /POUT0 to /POUT4.

n = N, A, Z, or: N: Non-active (OFF) A: Active (ON) Z: ZONE signal A colon (:) indicates using the specification from the previous program step. Refer to the following section for information on the ZONE signals.

7.5 ZONE Outputs on page 7-53

Specifies the condition to use to determine when the program step is completed. When the end condition is met and the number of executions specified for LOOP is completed, execution jumps to the program step specified by NEXT.

Specifies the number of times to execute the program step.

Specify the program step to execute after completion of the current program step.

Refer to the following section.

POUT (Output Signal) on

page 7-20

Refer to the following section.

EVENT on page 7-20

Refer to the following section.

LOOP on page 7-21

Refer to the following section.

NEXT on page 7-22

7-13

7.3 Program Table Operation

Editing the Program Table

Writing the Program Table

Saving the Program Table

Checking Operation with the Program Table

Editing the Program Table on page 7-14

Writing the Program Table on page 7-23

Saving the Program Table on page 7-24

7.3.5 SigmaWin+ Procedures

• If you specify new positioning during positioning, an E53E (Movement Reference Duplication) error will occur and program table operation will be stopped. To restart, first turn ON the /PGM-

Important

RES signal to cancel program table operation.

• If the target position (POS) is ±INFINITE and the registration distance (RDST) is “-” (no registration), you can change the program step to change the speed. In this case, the motor will simply change to the new speed. In all other cases, you cannot change the program step to change the speed. An E53E (Movement Reference Duplication) error will occur.

• You can change the settings in the program table only when program table operation is canceled. If program table operation is in progress or stopped, you cannot change the settings, even for program steps that are not currently being executed. An E5EE (Execution Not Possible during Program Table Operation) error will occur.

7.3.5

SigmaWin+ Procedures

You use the SigmaWin+ to edit, write, and save the program table.

A flowchart is provided below.

Editing the Program Table

 Displaying the Program Table Editing Dialog Box.

Select Edit Program Table from the menu bar of the Main Window of the SigmaWin+.

7-14

Operation with Digital I/O

 Program Table Editing Dialog Box





















7.3 Program Table Operation

7.3.5 SigmaWin+ Procedures

No. Item Description

Save Button



Print Button Used to print the program table.



Station split



Button

Program table



editing cells

Import Button Imports a file on the computer to a program table in SigmaWin+.



Comment Button



Initialize Button



Save Button



Read Button Reads the program table in RAM in the SERVOPACK to the SigmaWin+.



Write Button



Saves the program table currently displayed on the SigmaWin+ in a file on the computer.

Splits the valid coordinate range (i.e., the range defined by Pn63A to Pn638) into equal intervals and sets the resulting positions in the program table.

You edit the program table here. The colors of the cells will change as follows: White: The values in SERVOPACK RAM is the same as the value in the Sig-

maWin+ table cells.

Green: If any changes are made, the rows that include the changes change to

green. When you write the changes, the cells change to white.

Red: If there is a setting error, the row is displayed in red. The Write Button will be

disabled.

Refer to the following section for the table cell editing procedures.



Editing Procedures on page 7-16

Lets you enter a comment for the program table. The comment is also saved when you click the Save Button.

Initializes the flash memory for the program table in the SERVOPACK and restores the default settings.

Saves the program table in RAM in the SERVOPACK to flash memory. If you save the program table to flash memory, it will not be lost even if you turn OFF the power supply. The next time you turn ON the power supply, the program table will be written to RAM.

Writes the program table currently displayed on the SigmaWin+ to the SERVOPACK. The program table is written only to RAM. Writing the program table enables program operation.

7-15

7.3 Program Table Operation

Displays the current setting.

Information

7.3.5 SigmaWin+ Procedures

 Editing Procedures

The following two ways are used to edit the program table.

Note: The method that is used depends on the item.

• Items That Are Entered Directly

Click the cell to edit the item. Enter the setting directly.

• Items with Dialog Boxes

Double-click the cell to display the dialog box for editing. Make the settings in the dialog box.

Setting procedures are provided below for each item.



POS

Set the target positions.

Double-click the cell to edit.

The Target Position Reservation Dialog Box will be displayed.

Set the target position and the position/distance.

The Position/Distance setting is enabled when you set the target position to an absolute position or relative distance.

7-16

Operation with Digital I/O

• Target position

7.3 Program Table Operation

7.3.5 SigmaWin+ Procedures

Selected Item Description

Absolute position Use this setting to specify the target position directly. A ± Position

Relative distance

Infinity

(Positive direction)

Infinity

(Negative direction)

Stop

[default setting]

Consecutive stop

Without reference

*1. You can use the INFINITE settings for the target positions only for rotational coordinates (Pn637 ≠

n.0) or when the software limits are not used (Pn637 and Pn63A = 0). An error will occur if you use an INFINITE setting for linear coordinates or when the software limits are enabled.

*2. You can use consecutive stop settings for the target positions for rotational coordinates (Pn637 ≠

n.0) or when the target position in the previous step is set to INFINITE. A consecutive stop setting will result in an error if linear coordinates are being used or if the target position for the previous step is not INFINITE. Also, you cannot use the consecutive stop setting in combination with a speed change for an infinite target position setting.

Use this setting to specify the relative position (travel

distance) from the previous step.

Constant-speed operation is performed in the forward

direction.

Constant-speed operation is performed in the reverse

direction.

The axis is not moved. Use this setting to stop con-

stant-speed operation when the target position is set to infinite.

Specify the absolute target position within the rota-

tional coordinates to perform positioning after constant-speed operation.

The axis is not moved. This setting can be used only

when POUT is specified.

Display in Program

Ta bl e

I ± Distance

+INFINITE

-INFINITE

STOP

S + Position

–

• Position/Distance

Unit Setting Range Default Setting

Reference units -1,073,741,823 to +1,073,741,823 STOP

Click the OK Button.

This concludes the setting procedure.



SPD

Specify the target speeds for positioning.

Select the cells to edit and enter the values directly.

Unit Setting Range Default Setting

1,000 reference units/min 1 to 199,999,999 1,000

 RDST

Set the registration absolute distance.

Double-click the cell to edit.

The Registration Relative Position Dialog Box will be displayed.

7-17

7.3 Program Table Operation

7.3.5 SigmaWin+ Procedures

Using Registration

Clear the selection of the No registration Check Box and enter the registration absolute distance.

Not Using Registration

Select the No registration Check Box.

Click the OK Button.

This concludes the setting procedure.



RSPD

Set the registration speed.

Select the cell to edit and set the value directly.

Unit Setting Range Default Setting

1,000 reference units/min 1 to 199,999,999 1,000

 ACC and DEC

Set the acceleration rate (ACC) and deceleration rate (DEC) for movement.

Double-click a cell under ACC or DEC.

The Acceleration/Deceleration Dialog Box will be displayed.

7-18

7.3 Program Table Operation

Operation with Digital I/O

Information

7.3.5 SigmaWin+ Procedures

Set the acceleration and deceleration rates.

The Same as previous step Check Boxes are selected by default.

To use different values from the previous step, clear the selections of the Same as previous step Check Boxes and enter the values directly.

Unit Setting Range Default Setting

1,000 reference units/min/ms 1 to 199,999,999 :

Click the OK Button.

This concludes the setting procedure.

If you select the Same as previous step Check Boxes for the starting program step, the set- tings of the acceleration/deceleration parameters (Pn63E: acceleration rate, Pn640: deceleration rate) that were set before programmed operation was started will be used.

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YASKAWA SGD7S-3R8A, SGD7S-120A, SGD7S-5R5A, SGD7S-7R6A, SGD7S-180A Product Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Outline of Manual

Related Documents

Using This Manual

Safety Precautions

Warranty

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

Contents

Basic Information on SERVOPACKs

1.1 Product Introduction

1.1.1 Main Features

Main Functions

1.2 Model Designations

1.2.1 Interpreting SERVOPACK Model Numbers

Interpreting Servomotor Model Numbers

1.3 Combinations of SERVOPACKs and Servomotors

1.4 Functions

1.5 SigmaWin+

SERVOPACK Ratings and Specifications

2.1 Ratings

2.2 SERVOPACK Overload Protection Characteristics

2.3 Specifications

Wiring and Connecting SERVOPACKs

3.1 Basic Wiring Diagrams

3.2 I/O Signal Connections

3.2.1 I/O Signal Connector (CN1) Names and Functions

3.2.2 I/O Signal Connector (CN1) Pin Arrangement

3.2.3 I/O Circuits

Trial Operation

4.1 Trial Operation Example

Monitoring

5.1 Monitoring SERVOPACK Status

5.1.1 Monitoring Status and Operations

5.1.2 I/O Signal Monitor

5.2 Monitoring Machine Operation Status and Signal Waveforms

Settings

6.1 Control Method Selection

6.2 I/O Signal Allocations

6.2.1 Input Signal Allocations

6.2.2 Output Signal Allocations

6.3 Moving Mode and Coordinate Settings

6.3.1 When the Coordinates are the Linear Type

6.3.2 When the Coordinates are the Rotary Type

6.4 Settings for References

6.4.1 Motor Speed

Acceleration Rate and Deceleration Rate

6.4.3 Smoothing

6.5 Origin Settings

6.5.1 When Using an Absolute Encoder

6.5.2 When Using an Incremental Encoder

Operation with Digital I/O

7.1 Operation Functions

7.2 Homing

7.2.1 I/O Signals Related to Homing

7.2.2 Parameters Related to Homing

7.2.3 Homing Procedures

7.3 Program Table Operation

7.3.1 Types of Operation

7.3.2 I/O Signals Related to Program Table Operation

7.3.3 Program Table Configuration

7.3.4 Settings in the Program Table

7.3.5 SigmaWin+ Procedures