YASKAWA SGD7S-1R9D, SGD7S-3R5D, SGD7S-5R4D, SGD7S-8R4D, SGD7S-170D Product Manual

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-7-Series AC Servo Drive

-7S SERVOPACK with

400V-Input Power and EtherCAT (CoE) Communications References

Product Manual

Model: SGD7S-DA0

Basic Information on

SERVOPACKs

Selecting a SERVOPACK

SERVOPACK Installation

Wiring and Connecting

SERVOPACKs

Basic Functions That Require

Setting before Operation

Application Functions

Trial Operation and

Actual Operation

Tuning

Monitoring

Fully-Closed Loop Control

Safety Functions

EtherCAT Communications

MANUAL NO. SIEP S800001 80G

CiA402 Drive Profile

Object Dictionary

Maintenance

Parameter and Object 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 provides information required to select Σ-7S SERVOPACKs with EtherCAT Communications References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune, operate, and maintain the Servo Drives.

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. Refer to these chapters as required.

Chapter Chapter Title Contents

Basic Information on

SERVOPACKs

2 Selecting a SERVOPACK

3 SERVOPACK Installation

Wiring and Connecting

SERVOPACKs Basic Functions That Require Set-

ting before Operation

6 Application Functions

Trial Operation and Actual

Operation

8Tuning

9 Monitoring

10 Fully-Closed Loop Control

11 Safety Functions

12 EtherCAT Communications Provides basic information on EtherCAT communications. 13 CiA402 Drive Profile Provides detailed information on the CiA402 drive profile. 14 Object Dictionary Provides an overview and details on the object dictionary.

15 Maintenance

16 Parameter and Object Lists Provides information on parameters and objects.

17 Appendices

Provides information required to select SERVOPACKs, such as SERVOPACK models and combinations with Servomotors.

Provides information required to select SERVOPACKs, such as specifications, block diagrams, dimensional drawings, and connection examples.

Provides information on installing SERVOPACKs in the required locations.

Provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices.

Describes the basic functions that must be set before you start Servo System operation. It also describes the setting methods.

Describes the application functions that you can set before you start Servo System operation. It also describes the setting methods.

Provides information on the flow and procedures for trial operation and convenient functions to use during trial operation.

Provides information on the flow of tuning, details on tuning functions, and related operating procedures.

Provides information on monitoring SERVOPACK product information and SERVOPACK status.

Provides detailed information on performing fully-closed loop control with the SERVOPACK.

Provides detailed information on the safety functions of the SERVOPAC K.

Provides information on the meaning of, causes of, and corrections for alarms and warnings.

Provides information on interpreting panel displays and tables of corresponding SERVOPACK and SigmaWin+ function names.

iii

Servo Drives

Σ-7-Series

Catalog

Servo Drives

Manuals

Catalogs

Servomotors



Σ-7-Series Rotary Servomotor

Product Manual



Σ-7-Series Linear Servomotor

Product Manual



Σ-7-Series Operation Interface

Operating Manuals



Enclosed Documents



Enclosed Document

SERVOPACKs

Σ-7-Series Σ-7S/Σ-7W

SERVOPACK Product Manual (this manual)



Using This Manual

 Technical Terms Used in This Manual

The following terms are used in this manual.

Term Meaning

Servomotor A Σ-7-Series Rotary Servomotor or Linear Servomotor Rotary Servomotor Linear Servomotor SERVOPACK Servo Drive

Servo System

servo ON servo OFF

Servo ON command (Enable Operation command)

Servo OFF command (Disable Operation command)

base block (BB)

servo lock

Main Circuit Cable

SigmaWin+

A Σ-7-Series Rotary Servomotor (SGM7J, SGM7A, or SGM7G). A Σ-7-Series Linear Servomotor (SGLF or SGLT). A Σ-7-Series Σ-7S servo amplifier with EtherCAT Communications 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. A command that is used to turn ON the servo (i.e., supply power to the motor) when bit 3 of

controlword (6040 hex) is changed to 1 (ON) while the control power supply and main circuit power supply are ON. Refer to the following section for details.

13.1 Device Control (page 13-3)

A command that is used to turn OFF the servo (i.e., power not supplied to the motor) when bit 3 of controlword (6040 hex) is changed to 0 (OFF) while the control power supply and main circuit power supply are ON. Refer to the following section for details.

13.1 Device Control (page 13-3)

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 Engi-

neering Tool is installed.

 Differences in Terms for Rotary Servomotors and Linear Servomotors

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

Rotary Servomotors Linear Servomotors

torque force

moment of inertia mass

rotation movement

forward rotation and reverse rotation forward movement and reverse movement

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

vii

This column explains the selections for the function.

The notation “n.

” indicates a parameter for

selecting functions. Each

 indicates the setting for one digit.

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

Position

Torque

The control methods for which the parameters apply are given.

Speed

: Speed control : Position control : Torque control

Pn100 (2100 hex)

Pn002 (2002 hex)

Parameter number

This is the parameter setting before shipment.

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

This is the parameter classication.

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

This is the setting range for the parameter.

Object index number used to access the parameter with EtherCAT (CoE) communications

Position

Speed

Parameter number

Speed Loop Gain

Setting Range

10 to 20,000 0.1 Hz 400 Immediately

Setting Unit Default Setting When Enabled

Classication

Tuning

Parameter Meaning When Enabled Classication

n.0



After startup Setup

n.1



n.2



(default setting)

Use the encoder according to encoder specications.

Use the encoder as an incremental encoder.

Use the encoder as a single-turn absolute encoder.

•

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 Used in this Manual

 Notation for Reverse Signals

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

Notation Example BK

is written as /BK.

 Notation for Parameters

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

•

Parameters for Numeric Settings

viii

Notation Example

 Engineering Tools Used in This Manual

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

 Trademarks

Important

Term

Example

Information

• EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany.

• 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. 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.

DANGER

WARNING

CAUTION

NOTICE

Safety Precautions

 Safety Information

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

 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.

 Safety Precautions That Must Always Be Observed

DANGER

WARNING

CAUTION

 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. (Connect to 10 Ω or less for the SERVOPACK.)

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, Servomotors, and other components can

be very hot while power is ON or soon after the power is turned OFF. Implement safety measures, such as installing covers, so that hands and parts such as cables do not come into contact with hot components.

There is a risk of burn injury.

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

insulation.

There is a risk of electric shock.

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

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

 The person who designs the system that uses the hard wire base block safety function must

have a complete knowledge of the related safety standards and a complete understanding of the instructions in this document.

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

 Do not use the product in an environment that is subject to water, corrosive gases, or flamma-

ble gases, or near flammable materials.

There is a risk of electric shock or fire.

NOTICE

CAUTION

NOTICE

CAUTION

 Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation

immediately when an error occurs.

 In locations with poor power supply conditions, install the necessary protective devices (such as

AC Reactors) to ensure that the input power is supplied within the specified voltage range.

There is a risk of damage to the SERVOPACK.

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

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

 Always use a Servomotor and SERVOPACK in one of the specified combinations.  Do not touch a SERVOPACK or Servomotor with wet hands.

There is a risk of product failure.

 Storage Precautions

 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.

xii

NOTICE

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

CAUTION

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, and Regenerative Resistors on nonflammable materials.

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

 Provide the specified clearances between the SERVOPACK and the control panel as well as

with other devices.

There is a risk of fire or failure.

 Install the SERVOPACK in the specified orientation.

There is a risk of fire or failure.

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

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

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

There is a risk of failure or fire.

xiii

NOTICE

DANGER

WARNING

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

• Locations that are subject to direct sunlight

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

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

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

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

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

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

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

• Locations that are subject to radiation

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

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

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

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

There is a risk of failure or damage.

 Always install a SERVOPACK in a control panel.  Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and

do not cover the outlet from the Servomotor’s cooling fan.

There is a risk of failure.

 Wiring Precautions

 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 on the SERVOPACK.

• Connect a DC power supply to the B1 and 2 terminals and the 24 V and 0 V terminals on the SER-

VOPACK.

There is a risk of failure or fire.

xiv

CAUTION

 Wait for six minutes after turning OFF the power supply and then make sure that the CHARGE

NOTICE

indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in the SERVOPACK.

There is a risk of electric shock.

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

this document.

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

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

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

There is a risk of failure or malfunction.

 Connect wires to power supply terminals and motor connection terminals securely with the

specified methods and tightening torque.

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

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

 If you use an External Regenerative Resistor or External Dynamic Brake Resistor, use cable ties,

clamps, or other means to secure the resistor so that the connectors or terminal blocks inside the SERVOPACK will not be affected even if the resistor is subjected to vibration or shock.

There is a risk of SERVOPACK damage.

WARNING

CAUTION

 Operation Precautions

 Before starting operation with a machine connected, change the settings of the switches and

parameters to match the machine.

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

 Do not radically change the settings of the parameters.

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

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

unexpected accidents.

There is a risk of machine damage or injury.

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

There is a risk of injury.

 Forcing the motor to stop for overtravel is disabled when the Jog (Fn002), Origin Search

(Fn003), or Easy FFT (Fn206) utility function is executed. Take necessary precautions.

There is a risk of machine damage or injury.

 When an alarm occurs, the motor will coast to a stop or stop with the dynamic brake according

to a setting in the SERVOPACK. The coasting distance will change with the moment of inertia of the load. 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 or it will coast to a stop.

• If you turn OFF the control power supply during operation without turning OFF the servo, the Servomotor will stop abruptly with the dynamic brake or it will coast to a stop. For details, refer to the manual for the SERVOPACK.

• If you use an External Dynamic Brake Resistor, the Servomotor stopping method will be different from when the built-in dynamic brake resistor is used. For details, refer to the product manual for your SERVOPACK.

 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.

xvi

NOTICE

 When you adjust the gain during system commissioning, use a measuring instrument to monitor

DANGER

WARNING

CAUTION

NOTICE

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 six minutes after turning OFF the power supply and then make sure that the CHARGE

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.

 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.

xvii

DANGER

WARNING

CAUTION

 Troubleshooting Precautions

 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.

xviii

 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.

 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.

xix

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.

 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.

xxi

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 UL Standards (UL File No.)

SERVOPACKs

Rotary Servomotors

Linear Servomotors

*1. There are usage restrictions. Contact your Yaskawa representative for details. *2. Certification is pending.

• SGD7S

• SGD7W

• SGM7A

• SGM7J

• SGM7G

• SGLFW

• SGLFW2

• SGLTW

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

UL 1004-1 UL 1004-6 (E165827)

UL 1004 (E165827)

 European Directives

Product Model European Directive Harmonized Standards

Machinery Directive 2006/42/EC

SERVOPACKs

Rotary Servomotors

Linear Servomotors

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

• SGD7S

• SGD7W

• SGM7J

• SGM7A

• SGM7G

• SGLF

• SGLFW2

• SGLT

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

EN ISO13849-1: 2015

EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3

EN 50178 EN 61800-5-1

EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3

EN 60034-1 EN 60034-5

EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4

EN 60034-1

xxii

 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

• SGD7W

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 = 4.60 × 10 (4.60% of SIL3)

-9

[1/h]

xxiii

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

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

Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .x

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xx

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

Basic Information on SERVOPACKs

1.1

1.2

1.3

1.4

1.5

1.6

1.7

The Σ-7 Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Introduction to EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.2.1 Introduction to CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

1.2.2 CANopen over EtherCAT OSI Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

1.2.3 Sending and Receiving Data in EtherCAT (CoE) Communications . . . . . . . .1-4

1.2.4 CoE Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4

1.2.5 Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1.2.6 Data Ranges. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

Interpreting the Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.5.1 Interpreting SERVOPACK Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . .1-9

1.5.2 Interpreting Servomotor Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . .1-10

Combinations of SERVOPACKs and Servomotors . . . . . . . . . . 1-11

1.6.1 Combinations of Rotary Servomotors and SERVOPACKs . . . . . . . . . . . . . .1-11

1.6.2 Combinations of Linear Servomotors and SERVOPACKs . . . . . . . . . . . . . .1-12

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

xxiv

Selecting a SERVOPACK

2.1

2.2

2.3

2.4

Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

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

2.1.2 SERVOPACK Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . .2-3

2.1.3 Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2.2.1 SERVOPACKs without Built-in Servomotor Brake Control . . . . . . . . . . . . . .2-8

2.2.2 SERVOPACKs with Built-in Servomotor Brake Control . . . . . . . . . . . . . . . .2-11

External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14

2.3.1 Front Cover Dimensions and Connector Specifications . . . . . . . . . . . . . . .2-14

2.3.2 SERVOPACK External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-16

Examples of Standard Connections between SERVOPACKs and Peripheral Devices . . 2-18

SERVOPACK Installation

3.1

3.2

3.3

3.4

3.5

3.6

Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Mounting Types and Orientation . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Mounting Hole Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Mounting Interval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.4.1 Installing One SERVOPACK in a Control Panel . . . . . . . . . . . . . . . . . . . . . . 3-5

3.4.2 Installing More Than One SERVOPACK in a Control Panel . . . . . . . . . . . . . 3-5

Monitoring the Installation Environment . . . . . . . . . . . . . . . . . . 3-6

EMC Installation Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

Wiring and Connecting SERVOPACKs

4.1

Wiring and Connecting SERVOPACKs . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.2 Countermeasures against Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.1.3 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4.2

4.3

4.4

4.5

4.6

Basic Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

Wiring the Power Supply to the SERVOPACK . . . . . . . . . . . . . 4-11

4.3.1 Terminal Symbols and Terminal Names . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.3.2 Connector Wiring Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

4.3.3 Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4.3.4 Power Supply Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

4.3.5 Wiring Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.3.6 Wiring DC Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

Wiring Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.4.1 Terminal Symbols and Terminal Names . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.4.2 Pin Arrangement of Encoder Connector (CN2) . . . . . . . . . . . . . . . . . . . . . 4-19

4.4.3 Wiring the SERVOPACK to the Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20

4.4.4 Wiring the SERVOPACK to the Holding Brake . . . . . . . . . . . . . . . . . . . . . . 4-25

Connecting I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.5.1 I/O Signal Connector (CN1) Names and Functions . . . . . . . . . . . . . . . . . . 4-28

4.5.2 I/O Signal Connector (CN1) Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . 4-30

4.5.3 I/O Signal Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.5.4 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

Connecting Safety Function Signals . . . . . . . . . . . . . . . . . . . . 4-35

4.6.1 Pin Arrangement of Safety Function Signals (CN8) . . . . . . . . . . . . . . . . . . 4-35

4.6.2 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.7

Connecting Dynamic Brake Resistors . . . . . . . . . . . . . . . . . . . 4-37

4.7.1 Terminal Symbols and Terminal Names . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37

4.7.2 Connecting a Dynamic Brake Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37

xxv

4.8

4.9

Connecting EtherCAT Communications Cables. . . . . . . . . . . . 4-39

4.8.1 EtherCAT Connectors (RJ45) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-39

4.8.2 Ethernet Communications Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-40

Connecting the Other Connectors . . . . . . . . . . . . . . . . . . . . . . 4-41

4.9.1 Serial Communications Connector (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . .4-41

4.9.2 Computer Connector (CN7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41

4.9.3 Analog Monitor Connector (CN5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

Basic Functions That Require Setting before Operation

5.1

5.2

5.3

Manipulating SERVOPACK Parameters (Pn) . . . . . . . . . . . 5-3

5.1.1 Classifications of SERVOPACK Parameters . . . . . . . . . . . . . . . . . . . . . . . . .5-3

5.1.2 Notation for SERVOPACK Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

5.1.3 Setting Methods for SERVOPACK Parameters. . . . . . . . . . . . . . . . . . . . . . .5-5

5.1.4 Write Prohibition Setting for SERVOPACK Parameters . . . . . . . . . . . . . . . . .5-7

5.1.5 Initializing SERVOPACK Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . .5-10

Power Supply Type Settings for the Main Circuit . . . . . . . . . . 5-12

Automatic Detection of Connected Motor . . . . . . . . . . . . . . . . 5-13

5.4

5.5

5.6

5.7

5.8

5.9

5.10

Motor Direction Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

Setting the Linear Encoder Pitch . . . . . . . . . . . . . . . . . . . . . . . 5-15

Writing Linear Servomotor Parameters . . . . . . . . . . . . . . . . . . 5-16

Selecting the Phase Sequence for a Linear Servomotor . . . . . 5-20

Polarity Sensor Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22

Polarity Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23

5.9.1 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-23

5.9.2 Using the Servo ON Command (Enable Operation Command)

to Perform Polarity Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24

5.9.3 Using a Tool Function to Perform Polarity Detection. . . . . . . . . . . . . . . . . .5-25

Overtravel and Related Settings . . . . . . . . . . . . . . . . . . . . . . . 5-26

5.10.1 Overtravel Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-26

5.10.2 Setting to Enable/Disable Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27

5.10.3 Motor Stopping Method for Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27

5.10.4 Overtravel Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29

5.10.5 Overtravel Release Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-30

5.10.6 Overtravel Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31

5.10.7 Overtravel Operation by Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31

xxvi

5.11

Holding Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32

5.11.1 Brake Operating Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32

5.11.2 /BK (Brake) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-33

5.11.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped . . .5-34

5.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating . .5-35

5.11.5 Built-in Brake Relay Usage Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-36

5.12

5.13

5.14

5.15

5.16

5.17

Motor Stopping Methods for Servo OFF and Alarms. . . . . . . . 5-37

5.12.1 Stopping Method for Servo OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38

5.12.2 Servomotor Stopping Method for Alarms . . . . . . . . . . . . . . . . . . . . . . . . . 5-38

Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . 5-40

5.13.1 Detection Timing for Overload Warnings (A.910) . . . . . . . . . . . . . . . . . . . . 5-40

5.13.2 Detection Timing for Overload Alarms (A.720) . . . . . . . . . . . . . . . . . . . . . . 5-41

Setting Unit Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42

5.14.1 Setting the Position Reference Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42

5.14.2 Setting the Speed Reference Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47

5.14.3 Setting the Acceleration Reference Unit . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48

5.14.4 Setting the Torque Reference Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48

Resetting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.15.1 Precautions on Resetting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.15.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.15.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50

Setting the Origin of the Absolute Encoder . . . . . . . . . . . . . . . 5-52

5.16.1 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.16.2 Setting the Origin of the Absolute Linear Encoder . . . . . . . . . . . . . . . . . . . 5-52

Setting the Regenerative Resistor Capacity . . . . . . . . . . . . . . 5-55

5.18

Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor . . 5-56

Application Functions

6.1

6.2

6.3

6.4

I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.1.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.1.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

6.1.3 ALM (Servo Alarm) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

6.1.4 /WARN (Warning) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

6.1.5 /TGON (Rotation Detection) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8

6.1.6 /S-RDY (Servo Ready) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8

6.1.7 /V-CMP (Speed Coincidence Detection) Signal . . . . . . . . . . . . . . . . . . . . . . 6-9

6.1.8 /COIN (Positioning Completion) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.1.9 /NEAR (Near) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.1.10 Speed Limit during Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

Operation for Momentary Power Interruptions . . . . . . . . . . . . 6-14

SEMI F47 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15

Setting the Motor Maximum Speed . . . . . . . . . . . . . . . . . . . . . 6-17

6.5

6.6

Encoder Divided Pulse Output . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

6.5.1 Encoder Divided Pulse Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

6.5.2 Setting for the Encoder Divided Pulse Output . . . . . . . . . . . . . . . . . . . . . . 6-23

Software Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25

xxvii

6.7

6.8

6.9

6.10

Selecting Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26

6.7.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-26

6.7.2 External Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-27

6.7.3 /CLT (Torque Limit Detection) Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-30

Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

6.8.1 Connecting an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-31

6.8.2 Structure of the Position Data of the Absolute Encoder . . . . . . . . . . . . . . .6-32

6.8.3 Output Ports for the Position Data from the Absolute Encoder. . . . . . . . . .6-32

6.8.4 Reading the Position Data from the Absolute Encoder . . . . . . . . . . . . . . . .6-33

6.8.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-34

6.8.6 Calculating the Current Position in Machine Coordinates . . . . . . . . . . . . . . 6-35

6.8.7 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-36

6.8.8 Multiturn Limit Disagreement Alarm (A.CC0). . . . . . . . . . . . . . . . . . . . . . . .6-37

Absolute Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-40

6.9.1 Connecting an Absolute Linear Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . .6-40

6.9.2 Structure of the Position Data of the Absolute Linear Encoder . . . . . . . . . .6-40

6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder . . . .6-41

6.9.4 Reading the Position Data from the Absolute Linear Encoder. . . . . . . . . . .6-42

6.9.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-42

6.9.6 Calculating the Current Position in Machine Coordinates . . . . . . . . . . . . . . 6-43

Software Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44

6.10.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-44

6.10.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-44

6.10.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-45

6.11

6.12

6.13

6.14

Initializing the Vibration Detection Level . . . . . . . . . . . . . . . . . 6-46

6.11.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-46

6.11.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-46

6.11.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-47

6.11.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-49

Adjusting the Motor Current Detection Signal Offset . . . . . . . 6-50

6.12.1 Automatic Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-50

6.12.2 Manual Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-53

Forcing the Motor to Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-55

6.13.1 FSTP (Forced Stop Input) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-55

6.13.2 Stopping Method Selection for Forced Stops . . . . . . . . . . . . . . . . . . . . . . .6-55

6.13.3 Resetting Method for Forced Stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-57

ZONE Outputs (FT64 Specification) . . . . . . . . . . . . . . . . . . . . . 6-58

6.14.1 ZONE Table and ZONE Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-58

6.14.2 ZONE Table Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-59

6.14.3 ZONE Signals 1 to 4 Outputs (/ZONE0 to /ZONE3). . . . . . . . . . . . . . . . . . .6-60

6.14.4 nZONE Signal Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-61

6.14.5 ZONE Output Application Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-62

xxviii

Trial Operation and Actual Operation

7.1

7.2

7.3

7.4

7.5

7.6

Flow of Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.1 Flow of Trial Operation for Rotary Servomotors . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.2 Flow of Trial Operation for Linear Servomotors . . . . . . . . . . . . . . . . . . . . . . 7-4

Inspections and Confirmations before Trial Operation . . . . . . . 7-6

Trial Operation for the Servomotor without a Load . . . . . . . . . . 7-7

7.3.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.3.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.3.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

Trial Operation with EtherCAT (CoE) Communications . . . . . . 7-10

Trial Operation with the Servomotor Connected to the Machine . . 7-11

7.5.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11

7.5.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11

7.5.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12

Convenient Function to Use during Trial Operation. . . . . . . . . 7-13

7.6.1 Program Jogging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13

7.6.2 Origin Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19

7.6.3 Test without a Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21

Tuning

8.1

8.2

8.3

8.4

Overview and Flow of Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

8.1.1 Tuning Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5

8.1.2 Diagnostic Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

Monitoring Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

Precautions to Ensure Safe Tuning . . . . . . . . . . . . . . . . . . . . . . 8-8

8.3.1 Overtravel Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

8.3.2 Torque Limit Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

8.3.3 Setting the Position Deviation Overflow Alarm Level . . . . . . . . . . . . . . . . . . 8-8

8.3.4 Vibration Detection Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10

8.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON . . . . . . . 8-10

Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12

8.4.1 Application Restrictions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12

8.4.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13

8.4.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14

8.4.4 Parameters Disabled by Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . 8-15

8.4.5 Automatically Adjusted Function Setting . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

8.4.6 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

8.5

Estimating the Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . 8-16

8.5.1 Outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16

8.5.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16

8.5.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.5.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

xxix

8.6

8.7

8.8

Autotuning without Host Reference . . . . . . . . . . . . . . . . . . . . . 8-23

8.6.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23

8.6.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-24

8.6.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25

8.6.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25

8.6.5 Troubleshooting Problems in Autotuning without a Host Reference . . . . . .8-29

8.6.6 Automatically Adjusted Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . 8-31

8.6.7 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-33

Autotuning with a Host Reference . . . . . . . . . . . . . . . . . . . . . . 8-34

8.7.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-34

8.7.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-35

8.7.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-35

8.7.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-36

8.7.5 Troubleshooting Problems in Autotuning with a Host Reference. . . . . . . . .8-39

8.7.6 Automatically Adjusted Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . 8-39

8.7.7 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40

Custom Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-41

8.8.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-41

8.8.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41

8.8.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-42

8.8.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-42

8.8.5 Automatically Adjusted Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . 8-48

8.8.6 Tuning Example for Tuning Mode 2 or 3 . . . . . . . . . . . . . . . . . . . . . . . . . . .8-48

8.8.7 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-49

8.9

8.10

8.11

8.12

Anti-Resonance Control Adjustment . . . . . . . . . . . . . . . . . . . . 8-50

8.9.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50

8.9.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-50

8.9.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51

8.9.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51

8.9.5 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53

8.9.6 Suppressing Different Vibration Frequencies with

Anti-resonance Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53

Vibration Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-55

8.10.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-55

8.10.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-56

8.10.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-56

8.10.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-56

8.10.5 Setting Combined Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-58

8.10.6 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-58

Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . 8-59

8.11.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-59

8.11.2 Setting Up Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . 8-59

8.11.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-63

Additional Adjustment Functions . . . . . . . . . . . . . . . . . . . . . . . 8-65

8.12.1 Gain Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-65

8.12.2 Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-68

8.12.3 Current Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-69

8.12.4 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-70

8.12.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-70

8.12.6 Speed Feedback Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-70

8.12.7 Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-71

xxx

8.13

8.14

Manual Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-76

8.13.1 Tuning the Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-76

8.13.2 Compatible Adjustment Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-86

Diagnostic Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-90

8.14.1 Mechanical Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-90

8.14.2 Easy FFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-92

Monitoring

9.1

9.2

9.3

Monitoring Product Information . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 Items That You Can Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.2 Operating Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

Monitoring SERVOPACK Status . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.2.1 Servo Drive Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.2.2 Monitoring Status and Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.2.3 I/O Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

Monitoring Machine Operation Status and Signal Waveforms . . 9-6

9.3.1 Items That You Can Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6

9.3.2 Using the SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

9.3.3 Using a Measuring Instrument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9

9.4

9.5

Monitoring Product Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13

9.4.1 Items That You Can Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13

9.4.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14

9.4.3 Preventative Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15

Alarm Tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16

9.5.1 Data for Which Alarm Tracing Is Performed . . . . . . . . . . . . . . . . . . . . . . . . 9-16

9.5.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16

Fully-Closed Loop Control

10.1

10.2

10.3

Fully-Closed System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

SERVOPACK Commissioning Procedure . . . . . . . . . . . . . . . . . 10-3

Parameter and Object Settings for Fully-closed Loop Control . . 10-5

10.3.1 Control Block Diagram for Fully-Closed Loop Control . . . . . . . . . . . . . . . . 10-5

10.3.2 Setting the Motor Direction and the Machine Movement Direction . . . . . . 10-6

10.3.3 Setting the Number of External Encoder Scale Pitches . . . . . . . . . . . . . . . 10-6

10.3.4 Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output)

Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7

10.3.5 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . 10-8

10.3.6 Setting Unit Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8

10.3.7 Alarm Detection Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8

10.3.8 Analog Monitor Signal Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9

10.3.9 Setting to Use an External Encoder for Speed Feedback . . . . . . . . . . . . . 10-9

xxxi

10.4

Monitoring an External Encoder. . . . . . . . . . . . . . . . . . . . . . . 10-10

10.4.1 Option Module Required for Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . .10-10

10.4.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-10

10.4.3 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10

Safety Functions

11.1

11.2

Introduction to the Safety Functions . . . . . . . . . . . . . . . . . . . . 11-2

11.1.1 Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2

11.1.2 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3

Hard Wire Base Block (HWBB and SBB) . . . . . . . . . . . . . . . . . 11-4

11.2.1 Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-4

11.2.2 Hard Wire Base Block (HWBB) State . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-5

11.2.3 Resetting the HWBB State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-6

11.2.4 Recovery Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7

11.2.5 Detecting Errors in HWBB Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7

11.2.6 HWBB Input Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8

11.2.7 Operation without a Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-8

11.2.8 /S-RDY (Servo Ready Output) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9

11.2.9 /BK (Brake Output) Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9

11.2.10 Stopping Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-10

11.2.11 ALM (Servo Alarm) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-10

11.3

11.4

11.5

11.6

EDM1 (External Device Monitor) . . . . . . . . . . . . . . . . . . . . . . 11-11

11.3.1 EDM1 Output Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-11

Applications Examples for Safety Functions . . . . . . . . . . . . . 11-12

11.4.1 Connection Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-12

11.4.2 Failure Detection Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-12

11.4.3 Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13

Validating Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 11-14

Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . 11-15

EtherCAT Communications

12.1

12.2

12.3

EtherCAT Slave Information . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2

EtherCAT State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3

EtherCAT (CoE) Communications Settings . . . . . . . . . . . . . . . 12-5

12.3.1 Normal Device Recognition Process at Startup . . . . . . . . . . . . . . . . . . . . .12-5

12.3.2 Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-5

12.3.3 Device Recognition with Station Aliases . . . . . . . . . . . . . . . . . . . . . . . . . . .12-5

xxxii

12.4

PDO Mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6

12.4.1 Setting Procedure for PDO Mappings. . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-7

12.4.2 Default PDO Mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-7

12.5

12.6

Synchronization with Distributed Clocks . . . . . . . . . . . . . . . . . 12-8

Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11

CiA402 Drive Profile

13.1

13.2

13.3

13.4

Device Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-3

13.1.1 State Machine Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-4

13.1.2 Bits in Statusword (6041 Hex) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-4

13.1.3 Related Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-4

Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5

13.2.1 Related Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5

13.2.2 Dynamic Mode Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5

Position Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6

13.3.1 Profile Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6

13.3.2 Interpolated Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-9

13.3.3 Cyclic Synchronous Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-12

Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-14

13.4.1 Related Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-14

13.4.2 Homing Method (6098 Hex) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-14

13.5

13.6

13.7

13.8

13.9

13.10

Velocity Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17

13.5.1 Profile Velocity Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17

13.5.2 Cyclic Synchronous Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-18

Torque Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19

13.6.1 Profile Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19

13.6.2 Cyclic Sync Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-20

Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-21

Digital I/O Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-22

Touch Probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-23

13.9.1 Related Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-23

13.9.2 Example of Execution Procedure for a Touch Probe . . . . . . . . . . . . . . . . 13-24

Fully-Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-25

Object Dictionary

14.1

Object Dictionary List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3

14.2

14.3

14.4

General Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-5

PDO Mapping Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-9

Sync Manager Communications Objects. . . . . . . . . . . . . . . . 14-13

xxxiii

14.5

14.6

14.7

14.8

14.9

14.10

14.11

14.12

14.13

14.14

14.15

14.16

Manufacturer-Specific Objects . . . . . . . . . . . . . . . . . . . . . . . 14-17

Device Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-21

Profile Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-29

Homing Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-31

Position Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-33

Interpolated Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . 14-35

Cyclic Synchronous Position Mode . . . . . . . . . . . . . . . . . . . . 14-41

Profile Velocity/Cyclic Synchronous Velocity Mode. . . . . . . . 14-42

Profile Torque/Cyclic Synchronous Torque Mode . . . . . . . . . 14-43

Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-44

Touch Probe Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-45

Digital Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-47

14.17

Dual Encoder Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-49

Maintenance

15.1

15.2

15.3

Inspections and Part Replacement . . . . . . . . . . . . . . . . . . . . . 15-2

15.1.1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15-2

15.1.2 Guidelines for Part Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15-2

15.1.3 Replacing the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-3

Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-5

15.2.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15-5

15.2.2 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-11

15.2.3 Resetting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-39

15.2.4 Displaying the Alarm History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15-40

15.2.5 Clearing the Alarm History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15-41

15.2.6 Resetting Alarms Detected in Option Modules . . . . . . . . . . . . . . . . . . . . . 15-42

15.2.7 Resetting Motor Type Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15-43

Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-45

15.3.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15-45

15.3.2 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15-46

xxxiv

15.4

Troubleshooting Based on the Operation and Conditions of the Servomotor . . 15-51

Parameter and Object Lists

16.1

16.2

16.3

16.4

List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2

16.1.1 Interpreting the Parameter Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2

16.1.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-3

Object List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-30

SDO Abort Code List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-39

Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . 16-40

Appendices

17.1

17.2

Interpreting Panel Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-2

17.1.1 Interpreting Status Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-2

17.1.2 Alarm and Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-2

17.1.3 Hard Wire Base Block Active Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-2

17.1.4 Overtravel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-2

17.1.5 Forced Stop Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-2

17.1.6 EtherCAT Communications Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-3

Corresponding SERVOPACK and SigmaWin+ Function Names. . .17-5

17.2.1 Corresponding SERVOPACK Utility Function Names . . . . . . . . . . . . . . . . . 17-5

17.2.2 Corresponding SERVOPACK Monitor Display Function Names . . . . . . . . . 17-6

Index

Revision History

xxxv

Basic Information on SERVOPACKs

This chapter provides information required to select SERVOPACKs, such as SERVOPACK models and combinations with Servomotors.

1.1

1.2

1.3

1.4

1.5

1.6

The Σ-7 Series . . . . . . . . . . . . . . . . . . . . . . . 1-2

Introduction to EtherCAT . . . . . . . . . . . . . . . 1-3

1.2.1 Introduction to CANopen . . . . . . . . . . . . . . . . . . 1-3

1.2.2 CANopen over EtherCAT OSI Model . . . . . . . . . . 1-3

1.2.3 Sending and Receiving Data in EtherCAT (CoE)

Communications . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.2.4 CoE Terminology . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.2.5 Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1.2.6 Data Ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Interpreting the Nameplate . . . . . . . . . . . . . 1-6

Part Names . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

Model Designations . . . . . . . . . . . . . . . . . . 1-9

1.5.1 Interpreting SERVOPACK Model Numbers . . . . . 1-9

1.5.2 Interpreting Servomotor Model Numbers . . . . . 1-10

Combinations of SERVOPACKs and Servomotors . . 1-11

1.6.1 Combinations of Rotary Servomotors and

SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.6.2 Combinations of Linear Servomotors and

SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.7

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.1 The Σ-7 Series

1.1

The Σ-7 Series

The Σ-7-series SERVOPACKs are designed for applications that require frequent high-speed and high-precision positioning. The SERVOPACK will make the most of machine performance in the shortest time possible, thus contributing to improving productivity.

These SERVOPACKs support ZONE outputs. ZONE outputs are used to output signals during preset ranges of positions. You can use the

ZONE outputs as triggers for operations related to positioning. Refer to the following chapter for details on ZONE outputs.

6.14 ZONE Outputs (FT64 Specification) on page 6-58

1-2

1.2 Introduction to EtherCAT

Basic Information on SERVOPACKs

SyncMan 3

CANopen service (CoE)

Service data object

(SDO)

PDO mappings

Object dictionary

Mailbox Process data

Ethernet physical layer

Servo application

EtherCAT data link layer

EtherCAT state machine

Registers

FMMU 0

FMMU 2 FMMU 1

SyncMan 2SyncMan 1SyncMan 0

Application layer (CANopen DS402)

Data link layer (EtherCAT)

Physical layer (Ethernet)

1.2.1 Introduction to CANopen

1.2

1.2.1

1.2.2

Introduction to EtherCAT

The CANopen over EtherCAT (CoE) Communications Reference SERVOPACKs implement the CiA 402 CANopen drive profile for EtherCAT communications (real-time Ethernet communications).

Basic position, speed, and torque control are supported along with synchronous position, speed, and torque control. You can select the type of control to match your system from basic positioning to high-speed, high-precision path control.

You can also use EtherCAT communications to control the high-level servo control performance, advanced turning functions, and many actuators of the Σ-7 Series.

Introduction to CANopen

The CiA 402 CANopen profile is based on the IEC 61800-7-1, IEC61800-7-201, and IEC 61800-7-301 standards for international standardization of drive control and operation control.

CANopen over EtherCAT OSI Model

The OSI model implemented by the SERVOPACKs consists of three layers: the application layer (CANopen), the data link layer (EtherCAT), and the physical layer (Ethernet). The four layers other than the application layer, data link layer, and physical layer are not used. The data link layer is implemented with EtherCAT communications and the application layer is implemented with the DS402 CANopen drive profile.

This manual describes mainly the specifications of the application layer implemented in the SERVOPACKs. For detailed information on the data link layer (EtherCAT), refer to documentation provided by the EtherCAT Technology Group.

The object dictionary in the application layer includes parameters, application data, and PDO mapping information between the master and slaves.

The process data objects (PDOs) consist of the objects in the object dictionary that can be mapped to PDO mappings. The PDO mappings define the structure and contents of the process data.

1-3

1.2 Introduction to EtherCAT

1.2.3 Sending and Receiving Data in EtherCAT (CoE) Communications

1.2.3

1.2.4

Sending and Receiving Data in EtherCAT (CoE) Communications

Objects are used to send and receive data in EtherCAT (CoE) communications. Reading and writing object data is performed in process data communications (PDO service),

which transfers data cyclically, and in mailbox communications (SDO service), which transfers data non-cyclically.

Process data communications are used to read and write PDOs. Mailbox communications (SDO) are used to read and write object dictionary data entries.

CoE Terminology

The EtherCAT and CANopen terms that are used in this manual are described in the following table.

Te rm Abbreviation Description

A non-profit organization established in 1992 as a joint ven-

CAN in Automation CiA

Controller Area Network CAN

CANopen CANopen

CANopen over EtherCAT CoE

Distributed Clocks DC

Electrically Erasable Programmable Read Only Memory

EtherCAT Slave Controller ESC

EtherCAT State Machine ESM

EtherCAT Technology Group ETG

Ethernet for Control Automation Technology

Fieldbus Memory Management Unit

INIT INIT The Init state in the EtherCAT state machine. OPERATIONAL OP The Operational state in the EtherCAT state machine.

Object Dictionary OD

Process Data Object PDO Objects that are sent and received in cyclic communications. Process Data Object

Mapping

Service Data Object SDO

PRE-OPERATIONAL PREOP The Pre-operational state in the EtherCAT state machine.

Process data –

EEPROM A ROM that can be electrically overwritten.

EtherCAT An open network developed by Beckhoff Automation.

FMMU A unit that manages fieldbus memory.

PDO mapping

ture between companies to provide CAN technical information, product information, and marketing information.

Communications protocol for the physical layer and data link layer established for automotive LANs. It was established as an international standard as ISO 11898.

An upper-layer protocol based on the international CAN standard (EN 50325-4). It consists of profile specifications for the application layer, communications, applications, devices, and interfaces.

A network that uses Ethernet for the physical layer, EtherCAT for the data link layer, and CANopen for the application layer in a seven-layer OSI reference model.

A clock distribution mechanism that is used to synchronize the EtherCAT slaves with the EtherCAT master.

A hardware chip that processes EtherCAT communications (such as loopbacks) and manages the distributed clock.

A state machine in which the state of EtherCAT (the data link layer) changes according to transition conditions.

An international organization established in 2003 to provide support for developing EtherCAT technologies and to promote the spread of EtherCAT technologies.

A group of objects and structure supported by an EtherCAT SERVOPACK.

Definitions of the applications objects that are sent with PDOs.

Objects that are sent and received in mailbox communications.

The data contained in application objects that are periodically transferred for measurements or controls.

Continued on next page.

1-4

1.2 Introduction to EtherCAT

Basic Information on SERVOPACKs

Continued from previous page.

Te rm Abbreviation Description

SyncManager –

Receive Process Data Object RXPDO The process data received by the ESC. Transmit Process Data Object TXPDO The process data sent by the ESC.

The ESC unit that coordinates data exchange between the master and slaves.

1.2.5 Data Types

1.2.5

1.2.6

Data Types

The following table lists the data types and ranges that are used in this manual.

Code Data Type Range

SINT Signed 8-bit integer -128 to 127 INT Signed 16-bit integer -32,768 to 32,767 DINT Signed 32-bit integer -2,147,483,648 to 2,147,483,627 USINT Unsigned 8-bit integer 0 to 255 UINT Unsigned 16-bit integer 0 to 65,535 UDINT Unsigned 32-bit integer 0 to 4,294,967,295 STRING Character string −

Data Ranges

The following table lists the data units and notations that are used in this manual.

Notation Description

Pos. unit

Vel. unit

Acc. unit

Trq . un it

inc

The user-defined position reference unit that is set in position user unit (2701 hex). 1 [Pos. unit] = 2701: 01 hex/2701: 02 hex [inc]

The user-defined speed reference unit that is set in velocity user unit (2702 hex). 1 [Vel. unit] = 2702: 01 hex/2702: 02 hex [inc/s]

The user-defined acceleration reference unit that is set in acceleration user unit (2703 hex). 1 [Acc. unit] = 2703: 01 hex/2703: 02 hex x 10

The user-defined torque reference unit that is set in torque user unit (2704 hex). 1 [Trq. unit] = 2704: 01 hex/2704: 02 hex [%]

This is the encoder pulse unit. For a 24-bit encoder, the resolution is 16,777,216 × Pn210/Pn20E [inc] per rotation.

[inc/s2]

1-5

1.3 Interpreting the Nameplate

Order number

Serial number

Degree of protection

Surrounding air temperature

SERVOPACK model

1.3

Interpreting the Nameplate

The following basic information is provided on the nameplate.

1-6

1.4 Part Names

Basic Information on SERVOPACKs

121314

151617

1.4

Part Names

Main circuit terminals



DC power supply terminals

Control power supply terminals



 









13 14

Motor terminals

Dynamic brake terminals



Servomotor brake power supply terminals*



No. Name Description Reference

Front Cover −−



Model The model of the SERVOPACK. page 1-9



QR Code The QR code that is used by the MechatroCloud service. −



Lit while the main circuit power is being supplied.

Note: Even if you turn OFF the main circuit power supply, this

CHARGE



Main Circuit Terminals



DC Power Supply Terminals − page 4-11



Control Power Supply Termi-



nals Servomotor Terminals (U, V,

and W) and Ground Termi-



nal (PE) Dynamic Brake Terminals The connection terminals for a Dynamic Brake Resistor. page 4-37





Ground Terminal ( )

indicator will be lit as long as the internal capacitor remains charged. Do not touch the main circuit or motor terminals while this indicator is lit. Doing so may result in electric shock.

The terminals depend on the main circuit power supply input specifications of the SERVOPACK.

The connection terminals for the control power supply. page 4-11

The connection terminals for the Servomotor Main Circuit Cable (power line).

The ground terminals to prevent electric shock. Always connect this terminal.

EtherCAT Communications Connectors (Input: CN6A,

Connect to EtherCAT devices. page 4-39

Output: CN6B) I/O Signal Connector (CN1) Connects to sequence I/O signals. page 4-28 Safety Connector (CN8) Connects to a safety function device. page 4-35

• Rotary Servomotor: Connects to the encoder in the Ser-

Encoder Connector (CN2)

vomotor.

• Linear Servomotor: Connects to a Serial Converter Unit or linear encoder.

Computer Connector (CN7) A USB connector to connect a computer. page 4-41 Safety Option Module Con-

nector Feedback Option Module

Connector Communications Status

Indicators

Connects to a Safety Option Module. −

Connects to a Feedback Option Module. −

Indicate the status of EtherCAT communications. –

With Front Cover Open

–

page 4-11

page 4-19

–

page 4-19

Continued on next page.

24 25

1-7

1.4 Part Names

222324

252627

No. Name Description Reference

* SERVOPACKs without built-in Servomotor brake control do not have these terminals.

Continued from previous page.

Serial Communications Connector (CN3)

Connects to the Digital Operator. page 4-41

Serial Number – − DIP Switch (S3) Not used. EtherCAT secondary

address (S1 and S2)

Use these switches to set the device ID and address.

page 5-12

PWR Lights when the control power is being supplied. − CN L1 and L2 − Analog Monitor Connector

(CN5)

Not used.

You can use a special cable (peripheral device) to monitor the motor speed, torque reference, or other values.

page 4-41

Panel Display Displays the servo status with a seven-segment display. − Servomotor Brake Power

Supply Terminals (CN117)*

Connect to the power supply for the Servomotor brake. −

−

1-8

1.5 Model Designations

Basic Information on SERVOPACKs

D 400 VAC

1R9

3R5

5R4

8R4

120

170

210

260

280

370

0.5 kW

1.0 kW

1.5 kW

2.0 kW

3.0 kW

5.0 kW

6.0 kW

7.5 kW

11.0 kW

15.0 kW

SGD7S

1R9

D A0 B

000

F64

ZONE outputs

FT/EX Specification

Interface

Code Specication

EtherCAT communications reference

Design Revision Order

5th+6th digits

7th digit

Maximum Applicable Motor Capacity

Voltage

Code Specication

Hardware Options Specication

1st+2nd+3rd digits

4th 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

000

Without options All models

Voltage Code Specication

ThreePhase, 400 VAC

Code

Specication

Applicable

Models

11th+12th+13th

digits

11th+12th+13th digits

Code Specication

026

Built-in Servomotor brake control

All models

1.5.1 Interpreting SERVOPACK Model Numbers

1.5

1.5.1

Model Designations

Interpreting SERVOPACK Model Numbers

* The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.

1-9

1.5 Model Designations

Code

Specifications

Σ-7-Series Servomotors

Series

SGM7J

SGM7A

SGM7G

Medium inertia, high speed

Low inertia, high speed

Medium inertia, low speed, high torque

Medium inertia, high speed, high torque

SGM7

D 7 F

1st+2nd

digits

1st+2nd digits

Rated Output

3rd digit

Power Supply Voltage

4th digit

Serial Encoder Specication

5th digit

Design Revision Order

7th digit

Options

6th digit

Shaft End Specication

3rd

digit

4th

digit

5th

digit

6th

digit

7th

digit

Code Specification

Servomotor Type

1st digit

3rd digit on

Models with F-type iron core

Models with T-type iron core

Code

Specification

Moving Coil

Magnetic Way

The specifications for the 3rd digit on depend on the Servomotor type.

SGL - 30D120AP

1st

digit

2nd digit

Series

Σ-7-Series Servomotors

Series

2nd digit

Moving Coil/Magnetic Way

1.5.2 Interpreting Servomotor Model Numbers

1.5.2

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 with 400 V-Input Power Product Manual (Manual No.: SIEP S800001 86) Σ-7-Series Linear Servomotor with 400 V-Input Power Product Manual (Manual No.: SIEP S800001 81)

Rotary Servomotors

Linear Servomotors

1-10

1.6 Combinations of SERVOPACKs and Servomotors

Basic Information on SERVOPACKs

1.6.1 Combinations of Rotary Servomotors and SERVOPACKs

1.6

1.6.1

Combinations of SERVOPACKs and Servomotors

Combinations of Rotary Servomotors and SERVOPACKs

Rotary Servomotor Model Capacity

SGM7J Models

(Medium Inertia,

High Speed),

Rated motor speed:

3,000 min

SGM7A Models

(Low Inertia,

High Speed),

Rated motor speed:

3,000 min

SGM7G Models

Standard Models

(Medium Inertia,

Low Speed,

High Torque),

Rated motor speed:

1,500 min

SGM7G Models

High-speed Models

(Medium Inertia, High

Speed, High Torque)

Rated motor speed:

1,500 min

-1

SGM7J-02DF 200 W SGM7J-04DF 400 W SGM7J-08DF 750 W 3R5D SGM7J-15DF 1.5 kW 5R4D SGM7A-02DF 200 W

SGM7A-04DF 400 W SGM7A-08DF 750 W 3R5D SGM7A-10DF 1.0 kW SGM7A-15DF 1.5 kW SGM7A-20DF 2.0 kW 8R4D SGM7A-25DF 2.5 kW SGM7A-30DF 3.0 kW SGM7A-40DF 4.0 kW SGM7A-50DF 5.0 kW SGM7A-70DF 7.0 kW 260D SGM7G-05DF 450 W 1R9D SGM7G-09DF 850 W 3R5D SGM7G-13DF 1.3 kW 5R4D SGM7G-20DF 1.8 kW 8R4D SGM7G-30DF 2.9 kW 120D SGM7G-44DF 4.4 kW 170D SGM7G-55DF 5.5 kW 210D SGM7G-75DF 7.5 kW 260D SGM7G-1ADF 11.0 kW 280D SGM7G-1EDF 15.0 kW 370D SGM7G-05DR 450 W 3R5D SGM7G-09DR 850 W 5R4D SGM7G-13DR 1.3 kW 8R4D SGM7G-20DR 1.8 kW 120D SGM7G-30DR 2.9 kW 170D SGM7G-44DR 4.4 kW 210D

SERVOPACK Model

SGD7S-

1R9D

5R4D

120D

170D

1-11

1.6 Combinations of SERVOPACKs and Servomotors

1.6.2 Combinations of Linear Servomotors and SERVOPACKs

1.6.2

Combinations of Linear Servomotors and SERVOPACKs

Linear Servomotor Model

SGLF

(Models with

F-type Iron Cores)

SGLT

(Models with

T- type Iro n C o r e s )

Rated Torque

[N]

SGLFW-35D120A 80 220 1R9D SGLFW-35D230A 160 440 1R9D SGLFW-50D200B 280 600 3R5D SGLFW-50D380B SGLFW-1ZD200B SGLFW-1ZD380B 1120 2400 120D SGLFW2-30D070A 45 135 1R9D SGLFW2-30D120A 90 270 1R9D SGLFW2-30D230A 180 540 1R9D SGLFW2-45D200A 280 840 3R5D SGLFW2-45D380A SGLFW2-90D200A 5R4D SGLFW2-90D380A 1120 3360 120D SGLFW2-90D560A 1680 5040 170D SGLFW2-1DD380A 1680 5040 170D SGLFW2-1DD560A 2520 7560 260D SGLTW-35D170H 300 600 3R5D SGLTW-35D320H 600 1200 8R4D SGLTW-40D400B 670 2600 120D SGLTW-40D600B 1000 4000 170D SGLTW-50D170H 450 900 3R5D SGLTW-50D320H 900 1800 8R4D SGLTW-80D400B 1300 5000 170D SGLTW-80D600B 2000 7500 260D

560 1200 5R4D

560 1680

Instantaneous

Maximum Torque

[N]

SERVOPACK Model

SGD7S-

8R4D

1-12

1.7 Functions

Basic Information on SERVOPACKs

1.7

Functions

This section lists the functions provided by SERVOPACKs. Refer to the reference pages for details on the functions.

•

Functions Related to the Machine

Function Reference

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 Ser-

vomotor 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 Software Limits 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 Touch P robe

page 5-12

page 5-13

page 5-14

page 5-15

page 5-16

page 5-20

page 5-22

page 5-23

page 5-26

page 5-32

page 5-37

page 5-49

page 5-52

page 5-55

page 6-14

page 6-15

page 6-17

page 6-25

page 6-36

page 6-50

page 6-55

page 8-59

page 8-69

page 8-70

page 10-1

page 11-1

page 13-23

•

Functions Related to the Host Controller

Function Reference

Electronic Gear Settings I/O Signal Allocations Servo Alarm (ALM) Signal Warning Output (/WARN) Signal Rotation Detection (/TGON) Signal Servo Ready (/S-RYD) Signal Speed Coincidence Detection (/V-CMP) Signal Positioning Completion (/COIN) Signal Near (/NEAR) Signal Speed Limit during Torque Control

Continued on next page.

page 5-42

page 6-4

page 6-7

page 6-8

page 6-9

page 6-10

page 6-11

page 6-12

1-13

1.7 Functions

Continued from previous page.

Function Reference

Speed Limit Detection (/VLT) 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 Reference

Tuning-less Function Automatic Adjustment without a Host Reference Automatic Adjustment with a Host Reference Custom Adjustment Anti-Resonance Control Adjustment Vibration Suppression Gain Selection Friction Compensation Backlash Compensation Model Following Control Compatible Adjustment Functions Mechanical Analysis Easy FFT

page 6-12

page 6-18

page 6-26

page 6-46

page 15-39

page 15-3

page 8-8

page 8-12

page 8-23

page 8-34

page 8-41

page 8-50

page 8-55

page 8-65

page 8-68

page 8-71

page 8-83

page 8-86

page 8-90

page 8-92

• Functions for Trial Operation during Setup

Function Reference

Software Reset Trial Operation of Servomotor without a Load Program Jogging Origin Search Test without a Motor Monitoring Machine Operation Status and Signal

Waveforms

•

Functions for Inspection and Maintenance

Function Reference

Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Motor Monitoring Product Information Monitoring Product Life Alarm History Display Alarm Tracing

page 6-44

page 7-7

page 7-13

page 7-19

page 7-21

page 9-6

page 5-7

page 5-10

page 5-13

page 9-2

page 15-40

page 9-16

1-14

Selecting a SERVOPACK

This chapter provides information required to select SERVOPACKs, such as specifications, block diagrams, dimensional drawings, and connection examples.

2.1

2.2

2.3

2.4

Ratings and Specifications . . . . . . . . . . . . . 2-2

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

2.1.2 SERVOPACK Overload Protection

Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.1.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Block Diagrams . . . . . . . . . . . . . . . . . . . . . . 2-8

2.2.1 SERVOPACKs without Built-in Servomotor

Brake Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2.2.2 SERVOPACKs with Built-in Servomotor

Brake Control . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

External Dimensions . . . . . . . . . . . . . . . . . 2-14

2.3.1 Front Cover Dimensions and Connector

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14

2.3.2 SERVOPACK External Dimensions . . . . . . . . . . 2-16

Examples of Standard Connections between SERVOPACKs and Peripheral Devices . . 2-18

2.1 Ratings and Specifications

2.1.1 Ratings

2.1

2.1.1

Ratings and Specifications

This section gives the ratings and specifications of SERVOPACKs.

Ratings

Three-Phase, 400 VAC

Model SGD7S- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D

Maximum Applicable Motor Capacity [kW]

Continuous Output Current [Arms] 1.9 3.5 5.4 8.4 11.9 16 20.8 25.7 28.1 37.2 Instantaneous Maximum Output Cur-

rent [Arms]

Main Circuit

Control Power Supply

Power Supply Capacity [kVA]* 1.1 2.3 3.5 4.5 7.1 11.7 12.4 14.4 21.9 30.6

Power Loss*

Regenerative Resistor

Overvoltage Category III

* This is the net value at the rated load.

Power Supply

Input Current [Arms]* 1.4 2.9 4.3 5.8 8.6 14.5 17.4 21.7 31.8 43.4 Power Supply 24 VDC ±15%

Input Current [Arms]* 1.2 1.4 1.5

Main Circuit Power Loss [W]

Control Circuit Power Loss [W]

Built-in Regenerative Resistor Power Loss [W]

Total Power Loss [W] 54.4 65.3 111.8 139.1 186.7 246.7 216.4 256.5 310.2 389.8 Built-In

Regenerative Resistor

Minimum Allowable External Resistance [Ω]

Resistance [

]

Capacity [W]

0.5 1 1.5 2 3 5 6 7.5 11 15

5.5 8.5 14 21 28 42 55 65 70 85

Three-phase, 380 VAC to 480 VAC, -15% to +10%,

50 Hz/60 Hz

19.4 30.3 62.8 90.1 137.7 188.7 188.4 228.5 278.2 389.8

21 22 28 32

14 14 28 28 28 36 (180)* (240)*

75 75 75 43 43 27 –

70 70 140 140 140 180 –

75 75 75 43 43 27 18 18 14.25 14.25

2-2

540 VDC

Model SGD7S- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D

Maximum Applicable Motor Capacity [kW]

Continuous Output Current [Arms] 1.9 3.5 5.4 8.4 11.9 16 20.8 25.7 28.1 37.2 Instantaneous Maximum Output Cur-

rent [Arms] Main Cir-

cuit Control

Power Supply

Power Supply Capacity [kVA]* 1.1 2.3 3.5 4.5 7.1 11.7 12.4 14.4 21.9 30.6

Power Loss*

Overvoltage Category III

* This is the net value at the rated load.

Power Supply 513 VDC to 648 VDC, -15% to +10% Input Current [Arms]* 2 3.3 5.5 6.8 11 18 19.6 26.2 38.3 47.6 Power Supply 24 VDC ±15%

Input Current [Arms]* 1.2 1.4 1.5

Main Circuit Power Loss [W]

Control Circuit Power Loss [W]

Total Power Loss [W] 37.4 45.4 69.5 94.7 131.4 166.5 216.4 228.5 310.2 389.8

0.511.52 3 5 67.51115

5.5 8.5 14 21 28 42 55 65 70 85

16.4 24.4 48.5 73.7 110.4 144.5 188.4 228.5 278.2 389.8

21 22 28 32

2.1 Ratings and Specifications

Selecting a SERVOPACK

100 200

10000

1000

100

SERVOPACK Model: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D,

-210D, -260D, -280D, or -370D

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%

2.1.2 SERVOPACK Overload Protection Characteristics

2.1.2

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.

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.

2-3

2.1 Ratings and Specifications

2.1.3 Specifications

2.1.3

Specifications

Item Specification

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

With Rotary Servomotor

Feedback

Environmen tal Conditions

Applicable Standards

Mounting Base-mounted

Performance

With Linear Servomotor

Surrounding Air Temperature

Storage Temperature -20°C to 85°C Surrounding Air

Humidity Storage Humidity 95% relative humidity max. (with no freezing or condensation) Vibration Resistance

Shock Resistance Degree of Protection

Pollution Degree

Altitude 1,000 m or less.

Others

Speed Control Range

Coefficient of Speed Fluctuation

Torque Control Precision (Repeatability)

Soft Start Time Setting

Serial encoder: 24 bits

(incremental encoder/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.)

-5°C to 55°C

However, the range for the SGD7S-370D is -5°C to 40°C.

95% relative humidity max. (with no freezing or condensation)

4.9 m/s

19.6 m/s IP10 2

• Must be no corrosive or flammable gases.

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

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

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.

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 voltage 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.)

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

dards on page xxii

Continued on next page.

2-4

Selecting a SERVOPACK

I/O Signals

Communications

Item Specification

Encoder Divided Pulse Output

Linear Servomotor Overheat Protection Signal Input

Input

Sequence Input Signals

Sequence Output Signals

RS-422A Communications (CN502)

USB Communications (CN7)

Signals That Can Be Allocated

Fixed Output

Output Signals That Can Be Allocated

Interfaces

1:N Communications

Axis Address Setting

Interface

Communications Standard

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

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

Input method: Sink inputs or source inputs Input Signals

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

• /Probe1 (Probe 1 Latch Input) signal

• /Probe2 (Probe 2 Latch Input) signal

• /Home (Home Switch Input) signal

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

Torque Limit) signals

• /SI0 and /SI3 (General-Purpose Input) signals

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

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: 5 (A photocoupler output (isolated) is used.)

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

• /ZONE0 (ZONE Signal 1 Output) signal

• /ZONE1 (ZONE Signal 2 Output) signal

• /ZONE2 (ZONE Signal 3 Output) signal

• /ZONE3 (ZONE Signal 4 Output) signal

• /nZONE (nZONE Output) signal

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

(JUSP-OP05A-1-E).

Digital Operator

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

Set with parameters.

Personal computer (with SigmaWin+) The software version of the SigmaWin+ must be version 7.11 or higher.

Conforms to USB2.0 standard (12 Mbps).

2.1 Ratings and Specifications

2.1.3 Specifications

Continued from previous page.

Continued on next page.

2-5

2.1 Ratings and Specifications

2.1.3 Specifications

Displays/Indicators

EtherCAT Communications Setting Switches

Applicable Communications Standards

Physical Layer Communications

Connectors

Cable

Sync Manager

FMMU EtherCAT Communications

EtherCAT

Commands

(Data Link Layer)

Process Data

Mailbox (CoE)

Distributed Clocks

Slave Information

Interface

Indicators

CiA402 Drive Profile

Analog Monitor (CN5)

Dynamic Brake (DB)

Regenerative Processing

Overtravel (OT) Prevention

Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc. Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.

Item Specification

CHARGE, PWR, RUN, ERR, and L/A (A and B) indicators, and one-digit seven-segment display

EtherCAT secondary address (S1 and S2), 16 positions

IEC 61158 Type 12, IEC 61800-7 CiA402 Drive Profile

100BASE-TX (IEEE 802.3) CN6A (RJ45): EtherCAT signal input connector

CN6B (RJ45): EtherCAT signal output connector Category 5, 4 shielded twisted pairs

* The cable is automatically detected with AUTO MDIX.

SM0: Mailbox output, SM1: Mailbox input, SM2: Process data output, and SM3: Process data input

FMMU 0: Mapped in process data output (RxPDO) area. FMMU 1: Mapped in process data input (TxPDO) area. FMMU 2: Mapped to mailbox status.

APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, and FRMW (APRW, FPRW, BRW, and LRW commands are not supported.)

Assignments can be changed with PDO mapping. Emergency messages, SDO requests, SDO responses, and SDO infor-

mation (TxPDO/RxPDO and remote TxPDO/RxPDO are not supported.) Free-Run Mode and DC Mode (Can be switched.)

Applicable DC cycles: 125 μs to 4 ms in 125-μs increments

256 bytes (read-only)

EtherCAT communications in progress: Link/Activity x 2 EtherCAT communications status: RUN x 1 EtherCAT error status: ERR x 1

• Homing Mode

• Profile Position Mode

• Interpolated Position Mode

• Profile Velocity Mode

• Profile Torque Mode

• Cyclic Synchronous Position Mode

• Cyclic Synchronous Velocity Mode

• Cyclic Synchronous Torque Mode

• Touch Probe Function

• Torque Limit Function

Number of points: 2 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.

Built-in Refer to the catalog for details.

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

Continued from previous page.

Continued on next page.

2-6

2.1 Ratings and Specifications

Selecting a SERVOPACK

2.1.3 Specifications

Continued from previous page.

Item Specification

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

Safety Functions

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

Standards

ISO13849-1 PLe (category 3), IEC61508 SIL3

Applicable Option Modules Fully-closed Modules

*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the surrounding air temperature

specification of the Σ-V-Series SERVOPACKs must be used, i.e., 0°C to 55°C. Also, the applicable surrounding range cannot be increased by derating.

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

Coefcient of speed uctuation =

*3. The SGD7S-210D, -260D, -280D, and -370D do not have a dynamic brake (DB). If a dynamic brake is neces-

sary, create an external dynamic brake circuit.

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

No-load motor speed - Total-load motor speed

Rated motor speed

× 100%

2-7

2.2 Block Diagrams

Servomotor

Fan

B1 B2 B3

24 V

0 V

D2 D3

CN3CN11 CN12 CN7

CN2

ENC

CN5

CHARGE

Overheat protector

Overcurrent protector

CN8

12 V

I/O

I/F

CN1

CN6A

CN6B

Dynamic

brake circuit

Processor

(PWM control, position/

speed calculations, etc.)

Control power supply

Digital Operator Computer

Option Module Option Module

Current

sensor

Gate drive

Analog voltage

converter

Encoder divided pulse output

Analog monitor output

Voltage

sensor

Voltage

sensor

Varistor

Relay

drive

Safety function signals

Main circuit power supply

Control power supply

−

EtherCAT communications

I/O signals

Status display

The DC power supply (24 VDC) is not provided by Yaskawa.

−

CN101

CN103

CN102

CN115

CN201

2.2.1 SERVOPACKs without Built-in Servomotor Brake Control

2.2

2.2.1

Block Diagrams

This section provides a block diagram of the interior of the SERVOPACKs.

SERVOPACKs without Built-in Servomotor Brake Control

SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, and -170D

2-8

* If using these terminals, contact your YASKAWA representative.

Selecting a SERVOPACK

SGD7S-210D and -260D

Processor

(PWM control, position/

speed calculations, etc.)

Control power supply

B1 B2

24 V

0 V

Digital Operator Computer

CN3

Option Module

CN11

Option Module

CN12 CN7

Current

sensor

CN2

Servomotor

ENC

Analog

voltage

converter

CN5

Analog monitor output

Voltage

sensor

Voltage

sensor

Varistor

−

Relay

drive

−

CHARGE

Gate drive

Overheat protector

Overcurrent protector

Safety function signals

CN8

Main circuit power supply

Control power supply

Fan

12 V

I/O

I/F

CN1

CN6A

CN6B

EtherCAT communications

Encoder divided pulse output

I/O signals

Status display

The DC power supply (24 VDC) is not provided by Yaskawa.

CN101

CN102

CN201

CN103

2.2 Block Diagrams

2.2.1 SERVOPACKs without Built-in Servomotor Brake Control

* If using these terminals, contact your YASKAWA representative.

2-9

2.2 Block Diagrams

Processor

(PWM control, position/

speed calculations, etc.)

Control power supply

B1 B2

24 V

0 V

Digital Operator Computer

CN3

Option Module

CN11

Option Module

CN12 CN7

Current

sensor

CN2

Servomotor

ENC

Analog

voltage

converter

CN5

Analog monitor output

Voltage

sensor

Voltage

sensor

Varistor

−

Relay

drive

−

CHARGE

Gate drive

Overheat protector

Overcurrent protector

Safety function signals

CN8

Main circuit power supply

Control power supply

Fan

12 V

I/O

I/F

CN1

CN6A

CN6B

EtherCAT communications

Encoder divided pulse output

I/O signals

Status display

The DC power supply (24 VDC) is not provided by Yaskawa.

CN101

CN201

CN103

CN102

2.2.1 SERVOPACKs without Built-in Servomotor Brake Control

SGD7S-280D and -370D

2-10

* If using these terminals, contact your YASKAWA representative.

2.2 Block Diagrams

Selecting a SERVOPACK

Processor

(PWM control, position/

speed calculations, etc.)

B1 B2 B3

CN3

Option Module Option Module Digital Operator Computer

CN11 CN12 CN7

Current

sensor

CN2

CN5

Analog monitor output

Voltage

sensor

Voltage

sensor

Varistor

Relay

drive

＋

− ＋

−

CHARGE

Gate drive

Overheat protector

Overcurrent protector

Safety function signals

CN8

Fan

12 V

CN101

I/O

I/F

CN1

CN6A

CN6B

EtherCAT communications

Encoder divided pulse output

I/O signals

Status display

The DC power supply (24 VDC) is not provided by Yaskawa.

DC+

DC-

D2 D3

Servomotor

ENC

BK+

BK-

Brake

control

circuit

CN117

CN115

CN102

Main circuit power supply

Brake power supply

Analog

voltage

converter

CN103

24 V

0 V

Control power supply

−

CN201

Dynamic

brake circuit

2.2.2 SERVOPACKs with Built-in Servomotor Brake Control

2.2.2

SERVOPACKs with Built-in Servomotor Brake Control

SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, and -170D

* If using these terminals, contact your YASKAWA representative.

2-11

2.2 Block Diagrams

2.2.2 SERVOPACKs with Built-in Servomotor Brake Control

SGD7S-210D and -260D

CN101

Varistor

Main

circuit power

supply

B1 B2

Fan

CN101

CN102

12 V

−

CHARGE

−

Servomotor

CN103

The DC power supply (24 VDC) is not provided by Yaskawa.

CN201

24 V

Control power supply

0 V

CN11

Option Module

Voltage

sensor

Control

power

−

supply

Status display

CN12 CN7

Relay

drive

Voltage

sensor

CN3

Digital Operator Computer

Overheat protector

Overcurrent protector

Gate drive

Processor (PWM control, position/ speed calculations, etc.)

Current

sensor

Safety function signals

Analog

voltage

converter

I/O

I/F

CN8

CN117

DC+

Brake control circuit

CN2

CN5

CN1

CN6A

CN6B

DC-

BK+

BK-

Brake power supply

ENC

Analog monitor output

Encoder divided pulse output

I/O signals

EtherCAT communications

* If using these terminals, contact your YASKAWA representative.

2-12

Selecting a SERVOPACK

SGD7S-280D and -370D

Processor

(PWM control, position/

speed calculations, etc.)

B1 B2

Digital Operator Computer

CN3

Option Module

CN11

Option Module

CN12 CN7

Current

sensor

CN2

Analog voltage

converter

CN5

Analog monitor output

Voltage

sensor

Voltage

sensor

Varistor

Relay

drive

−

CHARGE

Gate drive

Overheat protector

Overcurrent protector

Safety function signals

CN8

Main circuit power supply

Control power supply

DC+

DC-

Servomotor

ENC

BK+

BK-

Brake control circuit

Brake power supply

CN117

Control power supply

24 V

0 V

−

Fan

12 V

I/O

I/F

CN1

CN6A

CN6B

EtherCAT communications

Encoder divided pulse output

I/O signals

Status display

The DC power supply (24 VDC) is not provided by Yaskawa.

CN101

CN201

CN103

CN102

2.2 Block Diagrams

2.2.2 SERVOPACKs with Built-in Servomotor Brake Control

* If using these terminals, contact your YASKAWA representative.

2-13

2.3 External Dimensions

CN6B

CN1

CN8 CN2

CN7

CN6A

CN3

CN101

CN103

CN201

(16)

250

(20)

(120°)

Unit: mm

CN102

CN115

2.3.1 Front Cover Dimensions and Connector Specifications

2.3

2.3.1

External Dimensions

Front Cover Dimensions and Connector Specifications

The front cover dimensions and panel connector section are the same for all models. Refer to the following figures and table.

•

Front Cover Dimensions and Connectors

•

Connector Specifications

Connector

No.

CN1 DMC 1.5/15-G1F-3.5-LR-BK 30 Phoenix Contact All models CN2 3E106-0220KV 6 3M Japan Limited All models

CN3 HDR-EC14LFDTN-SLD+ 14

CN6A/B 1-1734579-4 8

CN7 2172034-1 5

CN8 1903815-1 8

Connector Model

Number

of Pins

Manufacturer

Honda Tsushin Kogyo Co., Ltd.

Tyco Electronics Japan G.K.

Continued on next page.

SERVOPACK

Model

All models

2-14

2.3.1 Front Cover Dimensions and Connector Specifications

Selecting a SERVOPACK

Connector

No.

BLZ 7.62HP/08/180LR SN BK BX PRT

CN101

BUZ 10.16HP/07/180F AG BK BX LPR

BLZ 7.62IT/04/180MF4 SN BK BX PRT

CN102

BUZ 10.16IT/04/180MF4 AG BK BX LPR

BVZ 7.62IT/04/180MF3 SN BK BX PRT

CN103*

BUZ 10.16IT/04/180MF3 AG BK BX LPR

BLZ 7.62IT/03/180MF2 SN BK BX PRT 3

CN115

None −−

CN201 BLF 5.08HC/04/180LR SN OR BX SO 4

* If using these terminals, contact your YASKAWA representative.

Note: The above connectors or their equivalents are used for the SERVOPACKs.

Connector Model

Number

of Pins

Weidmüller Interface

GmbH & Co. KG

Weidmüller Interface

GmbH & Co. KG

Weidmüller Interface

GmbH & Co. KG

Weidmüller Interface GmbH & Co. KG

2.3 External Dimensions

Continued from previous page.

Manufacturer

SERVOPACK

SGD7S-1R9D to -170D

SGD7S-210D to -370D

SGD7S-1R9D to -170D

SGD7S-210D to -370D

SGD7S-1R9D to -170D

SGD7S-210D to -370D

SGD7S-1R9D to -170D

SGD7S-210D to -370D

All models

Model

2-15

2.3 External Dimensions

Approx. mass: SGD7S-1R9D, -3R5D, or -5R4D: 3.4 kg

SGD7S-8R4D or -120D: 3.7 kg

Unit: mm

(25)

(75)

(25)

315±0.5

(mounting pitch)

Exterior

Ground terminal, M4

60±0.5

(mounting pitch)

(27.5)

Mounting Hole Diagram

300 15

330

15.3 19

4×M5

330

7.5

Ground terminal, M4

300 15

330

100

（

）

（

）

（

27.5

）

（

）

15.3

4 × M5

315

0.5

(mounting pitch)

330

7.5

10 80±0.5

(mounting pitch)

100

Exterior

Mounting Hole Diagram

Approx. mass:

5.5 kg

Unit: mm

2.3.2 SERVOPACK External Dimensions

2.3.2

SERVOPACK External Dimensions

Base-mounted SERVOPACKs

• Three-Phase, 400 VAC: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, and -120D

• Three-Phase, 400 VAC: SGD7S-170D

2-16

Selecting a SERVOPACK

• Three-Phase, 400 VAC: SGD7S-210D and -260D

Ground terminal, M4

(25)

33.7

(41.9)

2.3 External Dimensions

2.3.2 SERVOPACK External Dimensions

(75)

7.5

4 × M5

380

350

41.8

100

• Three-Phase, 400 VAC: SGD7S-280D and -370D

Ground terminal, M4

(25)

380

350

380

365±0.5

(mounting pitch)

10 80±0.5

Mounting Hole Diagram

Approx. mass: 7.0 kg

(75)

(42)

4 × M6

100

(mounting pitch)

Unit: mm

6.5

380

367±0.5

(mounting pitch)

180

12.5

180

Mounting Hole Diagram

Approx. mass: 13.5 kg

155±0.5

(mounting pitch)

Unit: mm

2-17

2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices

I/O Signal Cable

Host controller

Bottom of SERVOPACK

Computer

Engineering Tool

Computer Cable

Analog Monitor Cable

Holding Brake Power Supply Unit

Magnetic Contactor

(Wires required for a Servomotor with a Brake)(Wires required for a Servomotor with a Brake)

Noise Filter

Molded-case circuit br

eaker

Magnetic Contactor

Power supply Three-phase, 400 VAC

Control Power Supply Cable

SERVOPACK main circuit wires

RS T

To next EtherCAT station

EtherCAT Communications Cable

Safety Function Device Cable

→To Servomotor

AC/DC power supply

Digital Operator

Digital Operator cable

2.4

Examples of Standard Connections between SERVOPACKs and Peripheral Devices

•

Rotary Servomotors

* The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the holding

brake specifications. 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.

2-18

Selecting a SERVOPACK

Linear encoder

Sensor Cable

Serial Converter Unit

Serial Converter Unit Cable

Linear Servomotor

I/O Signal Cable

Host controller

Computer

Engineering Tool

Computer Cable

Analog Monitor Cable

Noise Filter

Molded-case circuit breaker

Magnetic Contactor

Power supply Three-phase, 400 VAC

Control Power Supply Cable

SERVOPACK main circuit wires

RS T

To next EtherCAT station

EtherCAT Communications Cable

AC/DC power supply

Digital Operator

Digital Operator cable

Safety Function Device Cable

Linear Encoder Cable

→To Servomotor

Bottom of SERVOPACK

•

Linear Servomotors

2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices

2-19

SERVOPACK Installation

This chapter provides information on installing SERVOPACKs in the required locations.

3.1

3.2

3.3

3.4

3.5

3.6

Installation Precautions . . . . . . . . . . . . . . . . 3-2

Mounting Types and Orientation . . . . . . . . . 3-3

Mounting Hole Dimensions . . . . . . . . . . . . . 3-4

Mounting Interval . . . . . . . . . . . . . . . . . . . . 3-5

3.4.1 Installing One SERVOPACK in a Control Panel . . 3-5

3.4.2 Installing More Than One SERVOPACK

in a Control Panel . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Monitoring the Installation Environment . . . 3-6

EMC Installation Conditions . . . . . . . . . . . . 3-7

3.1 Installation Precautions

3.1

Installation Precautions

Refer to the following section for the ambient installation conditions.

2.1.3 Specifications on page 2-4

 Installation Near Sources of Heat

Implement measures to prevent temperature increases caused by radiant or convection heat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions.



Installation Near Sources of Vibration

Install a vibration absorber on the installation surface of the SERVOPACK so that the SERVOPACK will not be subjected to vibration.



Other Precautions

Do not install the SERVOPACK in a location subject to high temperatures, high humidity, water drops, cutting oil, excessive dust, excessive dirt, excessive iron powder, corrosive gasses, or radioactivity.

3-2

3.2 Mounting Types and Orientation

SERVOPACK Installation

Airow

SERVOPACK

Base

3.2

Mounting Types and Orientation

The SERVOPACKs are based mounted. Mount the SERVOPACK vertically, as shown in the following figures.

Also, mount the SERVOPACK so that the front panel is facing toward the operator.

Note: Prepare four mounting holes for the SERVOPACK and mount it securely in the mounting holes. (The number

of mounting holes depends on the capacity of the SERVOPACK.)

3-3

3.3 Mounting Hole Dimensions

3.3

Mounting Hole Dimensions

Use mounting holes to securely mount the SERVOPACK to the mounting surface.

Note: To mount the SERVOPACK, you will need to prepare a screwdriver that is longer than the depth of the SER-

VOPACK.

 Mounting Hole Dimensions

Dimensions (mm)

SERVOPACK Model

1R9D, 3R5D, 5R4D, 8R4D,

SGD7S-

120D 170D 330 7.5 315 ±0.5 100 10 80 ±0.5 10 80 ±0.5 M5 4 210D, 260D 380 7.5 365±0.5 100 10 80±0.5 10 80±0.5 M5 4 280D, 370D 380 6.5 367±0.5 180 12.5 155±0.5 12.5 155±0.5 M6 4

A B C D E F G H

330 7.5 315 ±0.5 80 10 60 ±0.5 10 60 ±0.5 M5 4

Screw

Size

Number

Screws

3-4

3.4 Mounting Interval

SERVOPACK Installation

30 mm min.

120 mm min.

SERVOPACK

Important

Fan

30 mm min.

Fan

120 mm min.

SERVOPACK

3.4.1 Installing One SERVOPACK in a Control Panel

3.4

3.4.1

3.4.2

Mounting Interval

Installing One SERVOPACK in a Control Panel

Provide the following spaces around the SERVOPACK.

* For this dimension, ignore items protruding from the main body of the SERVOPACK.

Installing More Than One SERVOPACK in a Control Panel

Provide the following spaces around the SERVOPACK, and install a cooling fan in the control panel.

Install cooling fans above the SERVOPACKs so that hot spots do not occur around the SERVOPAC Ks.

Cooling Fan Installation Conditions

10 mm above SERVOPACK’s Top Surface

Air speed: 1.0 m/s min.

SGD7S-

SERVOPACK model

1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D, 210D, 260D, 280D, 370D

3-5

3.5 Monitoring the Installation Environment

Information

3.5

Monitoring the Installation Environment

You can use the SERVOPACK Installation Environment Monitor parameter to check the operating conditions of the SERVOPACK in the installation environment.

You can check the SERVOPACK installation environment monitor with either of the following methods.

• Using the SigmaWin+: Life Monitor - Installation Environment Monitor - SERVOPACK

• Digital Operator: Un025 (Installation Environment Monitor [%])

Implement one or more of the following actions if the monitor value exceeds 100%.

• Lower the surrounding temperature.

• Decrease the load.

The value of the SERVOPACK Installation Environment Monitor parameter will increase by about 10% for each 10°C increase in the ambient temperature.

Always observe the surrounding air temperature given in the SERVOPACK environment conditions. Even if the monitor value is 100% or lower, you cannot use a SERVOPACK in a location

Important

that exceeds the specified surrounding air temperature.

3-6

3.6 EMC Installation Conditions

SERVOPACK Installation





CN2

CN6A and CN6B

L1, L2, and L3

U, V, and W

Noise

Filter

Surge

Absorber

Clamp

Brake

Servomotor

Encoder

Brake power supply

SERVOPACK

Safety

function device

I/O

controller

Shield box

Power supply: Three-phase, 400 VAC

ClampClamp

Clamp









Host controller

Clamp

CN1

24 V, 0 V



Power supply: 24 VDC

CN8

3.6

EMC Installation Conditions

This section gives the installation conditions that were used for EMC certification testing. The EMC installation conditions that are given here are the conditions that were used to pass

testing criteria at Yaskawa. The EMC level may change under other conditions, such as the actual installation structure and wiring conditions. These Yaskawa products are designed to be built into equipment. Therefore, you must implement EMC measures and confirm compliance for the final equipment.

The applicable standards are EN 55011 group 1 class A, EN 61000-6-2, EN 61000-6-4, and EN 61800-3 (category C2, second environment).

• Three-Phase, 400 VAC

Symbol Cable Name Specification

 I/O Signal Cable Shielded cable  Safety Function Device Cable Shielded cable  Servomotor Main Circuit Cable Shielded cable  Encoder Cable Shielded cable  Main Circuit Power Supply Cable Shielded cable  EtherCAT Communications Cable Shielded cable

3-7

Wiring and Connecting SERVOPACKs

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

4.1

4.2

4.3

4.4

4.5

Wiring and Connecting SERVOPACKs . . . . 4-3

4.1.1 General Precautions . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.2 Countermeasures against Noise . . . . . . . . . . . . . 4-5

4.1.3 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

Basic Wiring Diagrams . . . . . . . . . . . . . . . . 4-9

Wiring the Power Supply to the SERVOPACK . . 4-11

4.3.1 Terminal Symbols and Terminal Names . . . . . . . 4-11

4.3.2 Connector Wiring Procedure . . . . . . . . . . . . . . . 4-13

4.3.3 Power ON Sequence . . . . . . . . . . . . . . . . . . . . . 4-14

4.3.4 Power Supply Wiring Diagrams . . . . . . . . . . . . . 4-15

4.3.5 Wiring Regenerative Resistors . . . . . . . . . . . . . 4-18

4.3.6 Wiring DC Reactors . . . . . . . . . . . . . . . . . . . . . 4-18

Wiring Servomotors . . . . . . . . . . . . . . . . . . 4-19

4.4.1 Terminal Symbols and Terminal Names . . . . . . . 4-19

4.4.2 Pin Arrangement of Encoder Connector (CN2) . 4-19

4.4.3 Wiring the SERVOPACK to the Encoder . . . . . . 4-20

4.4.4 Wiring the SERVOPACK to the Holding Brake . . 4-25

Connecting I/O Signals . . . . . . . . . . . . . . . 4-28

4.5.1 I/O Signal Connector (CN1) Names

and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.5.2 I/O Signal Connector (CN1) Pin Arrangement . . 4-30

4.5.3 I/O Signal Wiring Examples . . . . . . . . . . . . . . . . 4-31

4.5.4 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

4.6

Connecting Safety Function Signals . . . . . 4-35

4.6.1 Pin Arrangement of Safety Function Signals (CN8) . . 4-35

4.6.2 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-35

4.7 Connecting Dynamic Brake Resistors . . . . . . . 4-37

4.7.1 Terminal Symbols and Terminal Names . . . . . . . . . . . 4-37

4.7.2 Connecting a Dynamic Brake Resistor . . . . . . . . . . . . . . 4-37

4.8

4.9

Connecting EtherCAT Communications Cables . . 4-39

4.8.1 EtherCAT Connectors (RJ45) . . . . . . . . . . . . . . . . . . . 4-39

4.8.2 Ethernet Communications Cables . . . . . . . . . . . . . . . 4-40

Connecting the Other Connectors . . . . . . . 4-41

4.9.1 Serial Communications Connector (CN3) . . . . . .4-41

4.9.2 Computer Connector (CN7) . . . . . . . . . . . . . . . .4-41

4.9.3 Analog Monitor Connector (CN5) . . . . . . . . . . . .4-41

4.1 Wiring and Connecting SERVOPACKs

Wiring and Connecting SERVOPACKs

DANGER

WARNING

CAUTION

4.1.1 General Precautions

4.1

4.1.1

Wiring and Connecting SERVOPACKs

General 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.

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

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

• Connect a DC power supply to the B1 and 2 terminals and the 24 V and 0 V terminals on the

SERVOPACK.

There is a risk of failure or fire.

 Wait for six minutes after turning OFF the power supply and then make sure that the

CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in the SERVOPACK.

There is a risk of electric shock.

 Observe the precautions and instructions for wiring and trial operation precisely as

described in this document.

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

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

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

There is a risk of failure or malfunction.

 Connect wires to power supply terminals and motor connection terminals securely with the

specified methods and tightening torque.

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

 Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O

Signal Cables and Encoder Cables.

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

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

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

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

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

contact with adjacent wires.

 Install molded-case circuit breakers and other safety measures to provide protection

against short circuits in external wiring.

There is a risk of fire or failure.

4-3

4.1 Wiring and Connecting SERVOPACKs

NOTICE

Important

4.1.1 General Precautions

 Whenever possible, use the Cables specified by Yaskawa.

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

 Securely tighten cable connector screws and lock mechanisms.

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

 Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O

Signal Cables or Encoder Cables) together or run them through the same duct. If you do not place power lines and low-current lines in separate ducts, separate them by at least 30 cm.

If the cables are too close to each other, malfunctions may occur due to noise affecting the lowcurrent 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.

 If you use an External Regenerative Resistor or External Dynamic Brake Resistor, use cable

ties, clamps, or other means to secure the resistor so that the connectors or terminal blocks inside the SERVOPACK will not be affected even if the resistor is subjected to vibration or shock.

There is a risk of SERVOPACK damage.

• Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit. The SERVOPACK connects directly to a commercial power supply; it is not isolated through a transformer or other device. Always use a molded-case circuit breaker (1QF) or fuse to protect the Servo System from accidents involving different power system voltages or other accidents.

• Install an earth leakage breaker. The SERVOPACK does not have a built-in ground fault protective circuit. To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker.

• Do not turn the power supply ON and OFF more than necessary.

• Do not use the SERVOPACK for applications that require the power supply to turn ON and

OFF frequently. Such applications will cause elements in the SERVOPACK to deteriorate.

• After you have started actual operation, allow at least one hour between turning the power supply ON and OFF (as a guideline).

To ensure safe, stable application of the Servo System, observe the following precautions when wiring.

• Use the Cables specified by Yaskawa. Design and arrange the system so that each cable is as short as possible. Refer to the catalog for information on the specified cables.

• The signal cable conductors are as thin as 0.2 mm

or 0.3 mm2. Do not subject them to

excessive bending stress or tension.

4-4

4.1 Wiring and Connecting SERVOPACKs

Wiring and Connecting SERVOPACKs

4.1.2 Countermeasures against Noise

4.1.2

Countermeasures against Noise

The SERVOPACK is designed as an industrial device. It therefore provides no measures to prevent radio interference. The SERVOPACK uses high-speed switching elements in the main circuit.

Important

The SERVOPACK uses microprocessors. Therefore, it may be affected by switching noise from peripheral devices.

To prevent the noise from the SERVOPACK or the peripheral devices from causing malfunctions of any devices, take the following countermeasures against noise as required.

• Install the input reference device and Noise Filter as close to the SERVOPACK as possible.

• Always install a Surge Absorber for relays, solenoids, and Magnetic Contactor coils.

• Do not place the following cables in the same duct or bundle them together. Also, separate

the cables from each other by at least 30 cm.

•Main Circuit Cables and I/O Signal Cables

•Main Circuit Cables and Encoder Cables

• Do not share the power supply with an electric welder or electrical discharge machine. If the

SERVOPACK is placed near a high-frequency generator, install Noise Filters on the input side on the Main Circuit Power Supply Cable and Control Power Supply Cable even if the same power supply is not shared with the high-frequency generator. Refer to the following section for information on connecting Noise Filters.

• Implement suitable grounding measures. Refer to the following section for information on grounding measures.

Therefore peripheral devices may be affected by switching noise. If the equipment is to be used near private houses or if radio interference is a problem, take countermeasures against noise.

Noise Filters on page 4-6

4.1.3 Grounding on page 4-8

4-5

4.1 Wiring and Connecting SERVOPACKs

SERVOPACK

Servomotor

Operation relay sequence

User signal generators

DC power supply

(Grounding plate)

External ground: Use a dedicated ground.

2.0 mm

min.

Noise Filter

2.0 mm

min.

2.0 mm

min.

Noise Filter

*3 *2

0 V

24 V

CN2

CN1

400 VAC

ENC

(FG)

Noise Filter

power

supply

4.1.2 Countermeasures against Noise

Noise Filters

You must attach Noise Filters in appropriate places to protect the SERVOPACK from the adverse effects of noise. The following is an example of wiring for countermeasures against noise.

*1. For the ground wire, use a wire with a thickness of at least 2.0 mm

(preferably, flat braided copper wire).

*2. Whenever possible, use twisted-pair wires to wire all connections marked with .

*3. Refer to the following section for precautions when using Noise Filters.

Noise Filter Wiring and Connection Precautions on page 4-7

4-6

4.1 Wiring and Connecting SERVOPACKs

Wiring and Connecting SERVOPACKs

Noise

Filter

Noise

Filter

Noise

Filter

Noise

Filter

Separate the circuits.

Correct

Incorrect

Grounding plate

It is OK if the ground wire is close to the input lines.

Noise

Filter

Noise

Filter

Correct

Incorrect

Grounding plate

Shielded ground wire

Noise

Filter

Noise

Filter

Grounding plate

SERVOPACK SERVOPACK SERVOPACK SERVOPACK

CorrectIncorrect

4.1.2 Countermeasures against Noise

Noise Filter Wiring and Connection Precautions

Always observe the following precautions when wiring or connecting Noise Filters.

• Separate input lines from output lines. Do not place input lines and output lines in the same duct or bundle them together.

• Separate the Noise Filter ground wire from the output lines. Do not place the Noise Filter ground wire, output lines, and other signal lines in the same duct or bundle them together.

• Connect the Noise Filter ground wire directly to the grounding plate. Do not connect the Noise Filter ground wire to other ground wires.

4-7

4.1 Wiring and Connecting SERVOPACKs

Control panel

Ground

Grounding plate

SERVOPACK

Noise

Filter

4.1.3 Grounding

• If a Noise Filter is located inside a control panel, first connect the Noise Filter ground wire and the ground wires from other devices inside the control panel to the grounding plate for the control panel, then ground the plate.

4.1.3

Grounding

Implement grounding measures as described in this section. Implementing suitable grounding measures will also help prevent malfunctions, which can be caused by noise.

Observe the following precautions when wiring the ground cable.

• Ground the SERVOPACK to a resistance of 10 Ω or less.

• Be sure to ground at one point only.

• Ground the Servomotor directly if the Servomotor is insulated from the machine.

Motor Frame Ground or Motor Ground

If you ground the Servomotor through the machine, switching noise current can flow from the main circuit of the SERVOPACK through the stray capacitance of the Servomotor. To prevent this, always connect the motor frame terminal (FG) or ground terminal (FG) of the Servomotor to the ground terminal on the SERVOPACK. Also be sure to ground the ground terminal .

Ground both the Moving Coil and Magnetic Way of a Linear Servomotor.

Noise on I/O Signal Cables

If noise enters the I/O Signal Cable, ground the shield of the I/O Signal Cable using a clamp or other means. If the Servomotor Main Circuit Cable is placed in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point only.

4-8

4.2 Basic Wiring Diagrams

Wiring and Connecting SERVOPACKs

SERVOPACK

Frame ground

General-purpose sequence output 1 (Brake output: ON to release brake)

General-purpose sequence output 2

General-purpose sequence output 3

Signal ground

Connector shell

Ground to a resistance of 10 Ω or less.

Switch

Fuse

Safety

Analog monitors

(For servo alarm

display)

Servo power ONServo power

OFF

Servo Alarm Output (OFF for alarm)

Encoder Divided Pulse Output, Phase A

Encoder Divided Pulse Output, Phase B

Encoder Divided Pulse Output, Phase C

/SO1+ (/BK+)

/SO1- (/BK-)

ALM+

ALM-

/SO2+

/SO2-

/SO4+

/SO4-

/SO5+

/SO5-

/SO3+

/SO3-

PBO

PCO

/PBO

PAO /PAO

/PCO

17 18

19 20

General-purpose sequence output 4

General-purpose sequence output 5

EDM1+

EDM1-

/HWBB1+

/HWBB1-

/HWBB2+

/HWBB2-

24 V

0 V

CN1

CN8

1 2

5 6

ENC

PS /PS PG5V

PG0V

2 4

1 3

CN5

24 V 24 V

0 V

1 2

2KM

1KM

1QF

1FLT

3SA

1PL

1KM

2KM

1SA

2SA

1KM

1Ry

1KM

1Ry

CN2

AC/DC

+24VIN

+24 V

4.7 k

/SI0

/SI1 (P-OT)

/SI2 (N-OT)

/SI3

/SI4 (/Probe1)

/SI5 (/Probe2)

/SI6 (/Home)

BAT(+)

BAT (-)

Main circuit

terminals

U V

Motor

terminals

General-purpose sequence input 1 (Forward Drive Prohibit input: OFF to prohibit drive)

Sequence input signal power supply input

Battery for absolute encoder

2.8 V to 4.5 V

General-purpose sequence input 0

General-purpose sequence input 2 (Reverse Drive Prohibit input: OFF to prohibit drive)

Linear Servomotor overheat protection input

General-purpose sequence input 4 (Probe 1 Latch Input: latch when ON)

General-purpose sequence input 3

General-purpose sequence input 5 (Probe 2 Latch Input: latch when ON)

General-purpose sequence input 6 (Home Switch Input: homing when ON)

BK+

BKDC+

Brake power supply

Dynamic Brake Resistor terminals

DC-

CN117

CN102

D1 D2 D3

CN115

Connect the shield to the connector shell or ground it with a clamp or other means.

CN101

CN201

CN103

4.4 Wiring Servomotors on page 4-19

4.9.3 Analog Monitor Connector (CN5)

on page 4-41

4.3 Wiring the Power Supply to the SERVOPAC K on page

4-11

4.5 Connecting I/O Signals on page 4-28

4.6 Connecting Safety Function Signals on page 4-35

4.4 Wiring Servomotors

on page 4-19

4.4 Wiring Servomotors on page 4-19

4.7.2 Connecting a Dynamic Brake Resistor on page 4-37

4.2

Basic Wiring Diagrams

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

4-9

4.2 Basic Wiring Diagrams

*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. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or

reinforced insulation.

*4. Refer to the following chapter if you use a safety function device.

*5. Always use line receivers to receive the output signals. *6. Use an SELV-compliant power supply according to EN/IEC 60950-1 to input 24 VDC to the control power sup-

*7. The CN117 connector is used for SERVOPACKs with built-in Servomotor brake control. SERVOPACKs without

*8. If using these terminals, contact your YASKAWA representative.

Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3, P-OT, N-OT, /Probe1, /Probe2,

Chapter 11 Safety Functions

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

ply input terminals.

built-in Servomotor brake control do not have the CN117 connector.

and /Home input signals and the /SO1, /SO2, /SO3, /SO4, and /SO5 output signals. Refer to the following section for details.

6.1 I/O Signal Allocations on page 6-4

2. 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.

3. Default settings are given in parentheses.

4-10

4.3 Wiring the Power Supply to the SERVOPACK

Wiring and Connecting SERVOPACKs

CAUTION

4.3.1 Terminal Symbols and Terminal Names

4.3

4.3.1

Wiring the Power Supply to the SERVOPACK

Ter m i n al S y m b ol s a n d Ter m i n al N a m es

Use the main circuit connector on the SERVOPACK to wire the main circuit power supply and control circuit power supply to the SERVOPACK.

 Wire all connections correctly according to the following table and specified reference infor-

mation. There is a risk of SERVOPACK failure or fire if incorrect wiring is performed.

The SERVOPACKs have the following two types of main circuit power supply input specifications.

• Three-Phase, 400-VAC Power Supply Input

Te rm ina l Symbols

L1, L2, L3

24 V 0 V 0 VDC

B1, B2, B3

1, 2

U, V, W, PE Servomotor terminals

D1, D2, D3

DC+ DC-

BK+, BK-

*1. Use an SELV-compliant power supply according to EN/IEC 60950-1 to input 24 VDC to the control power sup-

ply input terminals.

*2. With the SGD7S-210D, -260D, -280D, or -370D, connect a Regenerative Resistor Unit between B1 and B2. *3. The SGD7S-210D, -260D, -280D, and -370D do not have the D1, D2, and D3 terminals. *4. Make sure you check the brake specifications of the Servomotor for the 24-VDC power supply input to the Ser-

vomotor brake power supply terminals.

*5. SERVOPACKs without built-in Servomotor brake control do not have these terminals.

Termi n a l Name Specifications and Reference

Main circuit power supply input terminals for AC power supply input

Control power supply termi-

nals

Regenerative Resistor terminal

DC Reactor terminals for power supply harmonic suppression

− None. (Do not connect anything to this terminal.)

Dynamic Brake Resistor terminals

Servomotor brake power supply terminals

Servomotor brake terminals

Ground terminal

Three-phase, 380 VAC to 480 VAC, -15% to +10%, 50 Hz/60 Hz

24 VDC, -15% to +15%

4.3.5 Wiring Regenerative Resistors on page 4-18

If the internal regenerative resistor is insufficient, remove the lead or short bar between B2 and B3 and connect an External Regenerative Resistor between B1 and B2. The External Regenerative Resistor is not included. Obtain it separately.

4.3.6 Wiring DC Reactors on page 4-18

These terminals are used to connect a DC Reactor for power supply harmonic suppression or power factor improvement.

These are the Σ-7S connection terminals for the Servomotor Main Circuit Cable (power line).

Note: Do not connect the PE terminal to anything other than a ground

terminal.

In the following cases, remove the lead or short bar between D2 and D3 and connect a Dynamic Brake Resistor between D1 and D2.

• To specify the brake torque when stopping with the dynamic brake

• To use a larger load moment of inertia than in the standard specifications

The Dynamic Brake Resistor is not included. Obtain it separately.

24 VDC 0 VDC Connect these terminals to the Servomotor’s holding brake

terminals. The holding brake terminals on the Servomotor do not have any polarity.

The ground terminals to prevent electric shock. Always connect this terminal.

4-11

4.3 Wiring the Power Supply to the SERVOPACK

4.3.1 Terminal Symbols and Terminal Names

• DC Power Supply Input

Te rm ina l

Symbols

24 V 0 V 0 VDC

Termi n a l Name Specifications and Reference

Control power supply termi-

nals Main circuit power supply

input terminals for DC power supply input

24 VDC, -15% to +15%

513 VDC to 648 VDC, -15% to +10%

0 VDC

L1, L2, L3, B2, B3, 1, , − None. (Do not connect anything to these terminals.)

These are the Σ-7S connection terminals for the Servomotor

U, V, W, PE Servomotor terminals

Main Circuit Cable (power line).

Note: Do not connect the PE terminal to anything other than a ground

terminal.

In the following cases, remove the lead or short bar between D2 and D3 and connect a Dynamic Brake Resistor between D1 and D2.

• To specify the brake torque when stopping with the dynamic brake

• To use a larger load moment of inertia than in the standard

D1, D2, D3

Dynamic Brake Resistor ter-

minals

specifications

The Dynamic Brake Resistor is not included. Obtain it separately.

DC+

DC-

BK+, BK-

Servomotor brake power supply terminals

Servomotor brake terminals

24 VDC 0 VDC Connect these terminals to the Servomotor’s holding brake

terminals. The holding brake terminals on the Servomotor do not have any polarity.

Ground terminal

*1. Use an SELV-compliant power supply according to EN/IEC 60950-1 to input 24 VDC to the control power sup-

ply input terminals.

*2. If using these terminals, contact your YASKAWA representative. *3. The SGD7S-210D, -260D, -280D, and -370D do not have the D1, D2, and D3 terminals. *4. Make sure you check the brake specifications of the Servomotor for the 24-VDC power supply input to the Ser-

vomotor brake power supply terminals.

*5. SERVOPACKs without built-in Servomotor brake control do not have these terminals.

This is the ground terminal to prevent electric shock. Always connect this terminal.

If you use a DC power supply input to the SERVOPACK, make sure to set parameter Pn001 to n.1 (DC power supply input supported) before inputting the power supply. Refer to the following section for details.

5.2 Power Supply Type Settings for the Main Circuit on page 5-12

4-12

4.3 Wiring the Power Supply to the SERVOPACK

Wiring and Connecting SERVOPACKs

Wire

Lock lever

4.3.2 Connector Wiring Procedure

4.3.2

Connector Wiring Procedure

• Required Items: Phillips or flat-blade screwdriver

Screwdriver End

SERVOPACK model

SGD7S-

1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D

210D, 260D, 280D, 370D

Prepare the connector that was provided with the SERVOPACK.

Remove the sheath from the wire to connect.

Open the wire insertion hole on the terminal connector with the screwdriver.

Termi n a l Symb o l s

L1, L2, L3, B1, B2, B3, -1, -2 Flat-blade

U, V, W, PE

24 V, 0 V Flat-blade 10

L1, L2, L3, B1, B2, B3, -1, -2

U, V, W, PE

24 V, 0 V Flat-blade 10

Screwdriver

Type

Phillips or flat-blade

Dimensions

Thickness × Width

[mm]

0.6 × 3.5

1.0 × 5.5

Wire Stripping

Length [mm]

Main Circuit Terminals and Motor Terminals Control Power Supply Terminals

Insert the conductor of the wire into the wire insertion hole, insert the screwdriver into the screwdriver insertion hole, and tighten the screw.

Make all other connections in the same way.

When you have completed wiring, attach the connector to the SERVOPACK.

Press the connector all the way to the back and lock it with the lock lever.

Press the lever with a screwdriver or your fingertip and insert the conductor of the wire into the wire insertion hole. After you insert conductor, release the screwdriver or your fingertip.

Wire

4-13

4.3 Wiring the Power Supply to the SERVOPACK

WARNING

Important

4.3.3 Power ON Sequence

4.3.3

Power ON Sequence

Consider the following points when you design the power ON sequence.

• The ALM (Servo Alarm) signal is output for up to five seconds when the control power supply is turned ON. Take this into consideration when you design the power ON sequence, and turn ON the main circuit power supply to the SERVOPACK when the ALM signal is OFF (alarm cleared).

Power ON

Control power supply

Main circuit power supply

Servo Alarm (ALM) output signal

• Design the power ON sequence so that main circuit power supply is turned OFF when an ALM (Servo Alarm) signal is output.

• Make sure that the power supply specifications of all parts are suitable for the input power supply.

• Allow at least 1 s after the power supply is turned OFF before you turn it ON again.

Turn ON the control power supply and the main circuit power supply at the same time or turn ON the control power supply before the main circuit power supply. Turn OFF the main circuit power supply first, and then turn OFF the control power supply.

Alarm

Up to 5.0 s

Alarm cleared.

 Even after you turn OFF the power supply, a high residual voltage may still remain in the

SERVOPACK. To prevent electric shock, do not touch the power supply terminals after you turn OFF the power. When the voltage is discharged, the CHARGE indicator will turn OFF. Make sure the CHARGE indicator is OFF before you start wiring or inspection work.

4-14

4.3 Wiring the Power Supply to the SERVOPACK

Wiring and Connecting SERVOPACKs

2KM

SERVOPACK

0 V

1Ry

−

CN1

1KM

24 V

0 V

1QF

1FLT

+24 V

3SA

1QF: Molded-case circuit breaker 1FLT: Noise Filter 1KM: Magnetic Contactor (for control power supply) 2KM: Magnetic Contactor (for main circuit power supply)

1Ry: Relay 1PL: Indicator lamp 1SA: Surge Absorber 2SA: Surge Absorber 3SA: Surge Absorber 1D: Flywheel diode

(For servo alarm

display)

1PL

1KM

2KM

1SA

Servo power ONServo power

OFF

2SA

1KM

1Ry

1KM

ALM

1Ry

AC/DC

4.3.4 Power Supply Wiring Diagrams

4.3.4

Power Supply Wiring Diagrams

Using Only One SERVOPACK

• Wiring Example for Three-Phase, 400-VAC Power Supply Input: SGD7S-1R9D, -3R5D,

-5R4D, -8R4D, -120D, and -170D

1QF

3SA

1FLT

Servo power ONServo power

1KM

2KM

(For servo alarm

1Ry

OFF

1Ry

1KM

AC/DC

display)

1PL

1KM

1SA 2KM

2SA

• Wiring Example for Three-Phase, 400-VAC Power Supply Input: SGD7S-210D, -260D,

-280D, and -370D

SERVOPACK

L1 L2 L3

24 V

0 V

CN1

1QF: Molded-case circuit breaker 1FLT: Noise Filter 1KM: Magnetic Contactor (for control power supply) 2KM: Magnetic Contactor (for main circuit power supply)

ALM

1Ry

+24 V

0 V

1Ry: Relay 1PL: Indicator lamp 1SA: Surge Absorber 2SA: Surge Absorber 3SA: Surge Absorber 1D: Flywheel diode

4-15

4.3 Wiring the Power Supply to the SERVOPACK

SERVOPACK

(For servo alarm

display)

Servo power ONServo power

OFF

1QF: Molded-case circuit breaker 1FLT: Noise Filter 1KM: Magnetic Contactor (for control power supply) 2KM: Magnetic Contactor (for main circuit power supply)

1FU: Fuse 2FU: Fuse 1Ry: Relay 1PL: Indicator lamp 1SA: Surge Absorber 2SA: Surge Absorber 3SA: Surge Absorber 1D: Flywheel diode

2FU

1PL

1KM

2KM

1SA

2SA

24 V

0 V

1FU

2KM

0 V

1Ry

+24 V

1KM

AC/DC

1QF

3SA

CN1

1Ry

1KM

1Ry

1KM

ALM

1FLT

B2 B3

L1 L2 L3

AC/DC

2FU

(For servo alarm

display)

1PL

1KM

2KM

1SA

Servo power ONServo power

OFF

2SA

24 V

0 V

SERVOPACK

1FU

2KM

0 V

1Ry

+24 V

1KM

AC/DC

1QF

3SA

1QF: Molded-case circuit breaker 1FLT: Noise Filter 1KM: Magnetic Contactor (for control power supply) 2KM: Magnetic Contactor (for main circuit power supply)

−

CN1

1Ry

1KM

1Ry

1KM

ALM

1FLT

1FU: Fuse 2FU: Fuse 1Ry: Relay 1PL: Indicator lamp 1SA: Surge Absorber 2SA: Surge Absorber 3SA: Surge Absorber 1D: Flywheel diode

L1 L2 L3

AC/DC

4.3.4 Power Supply Wiring Diagrams

• Wiring Example for DC Power Supply Input: SGD7S-1R9D, -3R5D, -5R4D, -8R4D,

-120D, and -170D

• Wiring Example for DC Power Supply Input: SGD7S-210D, -260D, -280D, and -370D

4-16

Wiring and Connecting SERVOPACKs

RS T

1QF

2KM

1Ry

+24 V

L1 L2 L3

0 V

L1 L2 L3

3SA

1PL

1KM

2KM

1SA

2SA

CN1

1KM

1Ry

1KM

ALM+

ALM−

CN1

ALM−

CN1

ALM−

1Ry

ALM+

2FLT

3FLT

4FLT

Power supply

SERVOPACK

Servomotor

SERVOPACK

Relay terminal

(For servo alarm

display)

Servo power ONServo power

OFF

1QF: Molded-case circuit breaker 1FLT: Noise Filter 2FLT: Noise Filter 3FLT: Noise Filter 4FLT: Noise Filter 1KM: Magnetic Contactor (for control power supply) 2KM: Magnetic Contactor (for main circuit power supply)

1Ry: Relay 1PL: Indicator lamp 1SA: Surge Absorber 2SA: Surge Absorber 3SA: Surge Absorber 1D: Flywheel diode

1KM

1FLT

24 V

0 V

24 V

0 V

24 V

0 V

AC/DC

4.3 Wiring the Power Supply to the SERVOPACK

4.3.4 Power Supply Wiring Diagrams

Using More Than One SERVOPACK

Connect the ALM (Servo Alarm) output for these SERVOPACKs in series to operate the alarm detection relay (1RY).

When a SERVOPACK alarm is activated, the ALM output signal transistor turns OFF. The following diagram shows the wiring to stop all of the Servomotors when there is an alarm

for any one SERVOPACK. More than one SERVOPACK can share a single Noise Filter. However, always select a Noise Fil-

ter that has a large enough capacity to handle the total power supply capacity of all the SERVOPACKs. Be sure to consider the load conditions.

To comply with UL/cUL standards, you must install a branch circuit protective device at the power supply input section to each SERVOPACK. Refer to the following document for details.

Σ-7-Series Σ-7S SERVOPACK with 400 V-Input Power Safety Precautions (Manual No.: TOMP C710828 02)

4-17

4.3 Wiring the Power Supply to the SERVOPACK

WARNING

Enlarged View

SERVOPACK

DC Reactor

4.3.5 Wiring Regenerative Resistors

4.3.5

Wiring Regenerative Resistors

This section describes how to connect External Regenerative Resistors. Refer to the catalog to select External Regenerative Resistors.

 Be sure to wire Regenerative Resistors correctly. Do not connect B1/⊕ and B2.

Doing so may result in fire or damage to the Regenerative Resistor or SERVOPACK.

Connecting Regenerative Resistors

Remove the wire connected between the B2 and B3 terminals.

4.3.6

Connect the External Regenerative Resistor between the B1 and B2 terminals on the SERVOPACK.

Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistor Resistance).

Refer to the following section for details on the settings.

5.17 Setting the Regenerative Resistor Capacity on page 5-55

Wiring DC Reactors

You can connect a DC Reactor to the SERVOPACK when power supply harmonic suppression is required. Connection terminals 1 and 2 for a DC Reactor are connected when the SERVOPACK is shipped. Remove the lead wire and connect a DC Reactor as shown in the following diagram.

4-18

4.4 Wiring Servomotors

Wiring and Connecting SERVOPACKs

4.4.1 Terminal Symbols and Terminal Names

4.4

4.4.1

4.4.2

Wiring Servomotors

Ter m i n al S y m b ol s a n d Ter m i n al N a m es

The SERVOPACK terminals or connectors that are required to connect the SERVOPACK to a Servomotor are given below.

Terminal/Connector

Symbols

U, V, and W Servomotor terminals

PE Ground terminal CN2 Encoder connector

Pin Arrangement of Encoder Connector (CN2)

• When Using a Rotary Servomotor

Pin No. Signal Function

1 PG5V Encoder power supply +5 V 2 PG0V Encoder power supply 0 V 3BAT (+)* Battery for absolute encoder (+) 4BAT (-)* Battery for absolute encoder (-) 5 PS Serial data (+) 6 /PS Serial data (-) Shell Shield –

* You do not need to wire these pins for an incremental encoder.

• When Using a Linear Servomotor

Pin No. Signal Function

1 PG5V Linear encoder power supply +5 V 2 PG0V Linear encoder power supply 0 V 3– – (Do not use.) 4– – (Do not use.) 5 PS Serial data (+) 6 /PS Serial data (-) Shell Shield –

Terminal/Connector Name Remarks

Refer to the following section for the wiring procedure.

4.3.2 Connector Wiring Procedure on page 4-13

– –

4-19

4.4 Wiring Servomotors

ENC

3 4

21 22

BAT BAT

(+)

(-)

CN2

CN1

5 6

1 2

PG5V PG0V

/PS

BAT(+)

BAT(-)

U V

Absolute encoder

(Shell)

SERVOPACK

Connector shell

Battery

4.4.3 Wiring the SERVOPACK to the Encoder

4.4.3

Wiring the SERVOPACK to the Encoder

When Using an Absolute Encoder

If you use an absolute encoder, use an Encoder Cable with a JUSP-BA01-E Battery Case or install a battery on the host controller.

Refer to the following section for the battery replacement procedure.

15.1.3 Replacing the Battery on page 15-3

• Wiring Example When Installing a Battery on the Host Controller

*1. The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use.

*2. represents a shielded twisted-pair cable.

• Wiring Example When Using an Encoder Cable with a Battery Case

SERVOPACK

Absolute encoder

ENC

(Shell)

*1. The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use.

*2. represents a shielded twisted-pair cable.

/PS

PG5V PG0V

BAT(+)

BAT(-)

Battery

Encoder Cable with a Battery Case

CN2 5 6

1 2

3 4

Connector shell

U V

4-20

4.4.3 Wiring the SERVOPACK to the Encoder

Wiring and Connecting SERVOPACKs

Important

Circuit Example

Required Component Specifications

• Schottky Diode

Reverse Voltage: Vr ≥ 40 V Forward Voltage: Vf ≤ 0.37 V Reverse current: Ir ≤ 5 μA Junction temperature: Tj ≥ 125℃

• Resistor Resistance: 22

Tolerance: ±5% max. Rated power: 0.25 W min.

5 6

CN2

ENC

/PS

PG5V PG0V

Incremental encoder

(Shell)

Connector shell

SERVOPACK

Shield

• When Installing a Battery on the Encoder Cable Use the Encoder Cable with a Battery Case that is specified by Yaskawa. Refer to the catalog for details.

• When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow.

Battery

When Using an Incremental Encoder

4.4 Wiring Servomotors

*1. The incremental encoder pin numbers for wiring the connector depend on the Servomotor that you use.

*2. represents a shielded twisted-pair cable.

4-21

4.4 Wiring Servomotors

/PS

PG5V

PG0V

CN2

Absolute linear encoder

from Mitutoyo Corporation

Shield

Connector shell

SERVOPACK

Absolute linear

encoder from

Renishaw PLC

/PS

PG5V

PG0V

Shield

Connector shell

SERVOPACK

CN2

U V

/PS

PG5V

PG0V

CN2

Absolute linear encoder

from Magnescale Co., Ltd.

Shield

Connector shell

SERVOPACK

4.4.3 Wiring the SERVOPACK to the Encoder

When Using an Absolute Linear Encoder

The wiring depends on the manufacturer of the linear encoder.

 Connections to Linear Encoder from Mitutoyo Corporation

* represents a shielded twisted-pair cable.

 Connections to Absolute Linear Encoder from Renishaw PLC

* represents a shielded twisted-pair cable.

 Connections to Absolute Linear Encoder from Magnescale Co., Ltd.

 SR77, SR87, SQ47, and SQ57

4-22

* represents a shielded twisted-pair cable.

4.4 Wiring Servomotors

Wiring and Connecting SERVOPACKs

Serial Converter Unit

Linear encoder from

Renishaw PLC

COS PS

/PS

PG5V

PG0V

SIN

REF

/REF

/SIN

/COS

CN2

Shield

Connector shell

CN1

Connector shell

SERVOPACK

CN2

U V

4.4.3 Wiring the SERVOPACK to the Encoder

When Using an Incremental Linear Encoder

The wiring depends on the manufacturer of the linear encoder.

 Connections to Linear Encoder from Heidenhain Corporation

Linear encoder from

Heidenhain Corporation

Connector shell

Shield

Serial Converter Unit

CN2

COS

SIN

/SIN

REF

/REF

Connector shell

/COS

Connector shell

Shield

/PS

PG5V

PG0V

SERVOPACK

CN2CN1

Connector shell

U V

* represents a shielded twisted-pair cable.

 Connections to Linear Encoder from Renishaw PLC

* represents a shielded twisted-pair cable.

4-23

4.4 Wiring Servomotors

/PS

PG5V

PG0V

CN2

Linear encoder from

Magnescale Co., Ltd.

Shield

Connector shell

SERVOPACK

/PS

PG5V

PG0V

CN2

U V

InterpolatorLinear encoder

Shield

Connector shell

Head

Cable from

Magnescale Co., Ltd.

Connector shell

SERVOPACK

4.4.3 Wiring the SERVOPACK to the Encoder

 Connections to Linear Encoder from Magnescale Co., Ltd.

If you use a linear encoder from Magnescale Co., Ltd., the wiring will depend on the model of the linear encoder.



SR75 and SR85

* represents a shielded twisted-pair cable.

 SL700, SL710, SL720, SL730, and SQ10

• PL101-RY, MQ10-FLA, or MQ10-GLA Interpolator The following table gives the Linear Encoder and Interpolator combinations.

Linear Encoder Model Interpolator Model

SL700, SL710, SL720, and SL730

SQ10

PL101-RY MQ10-FLA MQ10-GLA

*1. This is the model of the Head with Interpolator. *2. This is the model of the Interpolator.

* represents a shielded twisted-pair cable.

4-24

Wiring and Connecting SERVOPACKs

 SL700, SL710, SL720, and SL730

/PS

PG0V

12, 14, 16

CN2

+5 V0 V

External power supply

Interpolator

Linear encoder

Shield

Connector shell

Head

Cable from

Magnescale Co., Ltd.

Connector shell

SERVOPACK

Important

Relay Circuit Example

• MJ620-T13 Interpolator

* represents a shielded twisted-pair cable.

4.4 Wiring Servomotors

4.4.4 Wiring the SERVOPACK to the Holding Brake

4.4.4

Wiring the SERVOPACK to the Holding Brake

• If you use a Rotary Servomotor, select a Surge Absorber according to the brake current and brake power supply. Refer to the catalog for details.

• After the Surge Absorber is connected, check the time required to brake in your application. The Surge Absorber may affect the time required to brake. Configure the relay circuit to activate the holding brake for an emergency stop.

SERVOPACK

Photocoupler

• You can change the output signal allocation of the /BK signal. Refer to the following section for details.

Allocating the /BK (Brake) Signal

• 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.

5 VDC to 30 VDC

Emergency stop

on page 5-34

4-25

YASKAWA SGD7S-1R9D, SGD7S-3R5D, SGD7S-5R4D, SGD7S-8R4D, SGD7S-170D 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

1.2 Introduction to EtherCAT

1.2.1 Introduction to CANopen

CANopen over EtherCAT OSI Model

1.2.3 Sending and Receiving Data in EtherCAT (CoE) Communications

CoE Terminology

1.2.5 Data Types

Data Ranges

1.3 Interpreting the Nameplate

1.4 Part Names

1.5 Model Designations

1.5.1 Interpreting SERVOPACK Model Numbers

1.5.2 Interpreting Servomotor Model Numbers

1.6 Combinations of SERVOPACKs and Servomotors

1.6.1 Combinations of Rotary Servomotors and SERVOPACKs

1.6.2 Combinations of Linear Servomotors and SERVOPACKs

1.7 Functions

Selecting a SERVOPACK

2.1 Ratings and Specifications

2.1.1 Ratings

2.1.2 SERVOPACK Overload Protection Characteristics

2.1.3 Specifications

2.2 Block Diagrams

2.2.1 SERVOPACKs without Built-in Servomotor Brake Control

2.2.2 SERVOPACKs with Built-in Servomotor Brake Control

2.3 External Dimensions

2.3.1 Front Cover Dimensions and Connector Specifications

2.3.2 SERVOPACK External Dimensions

2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices

SERVOPACK Installation

3.1 Installation Precautions

3.2 Mounting Types and Orientation

3.3 Mounting Hole Dimensions

3.4 Mounting Interval

3.4.1 Installing One SERVOPACK in a Control Panel

Installing More Than One SERVOPACK in a Control Panel

3.5 Monitoring the Installation Environment

3.6 EMC Installation Conditions

Wiring and Connecting SERVOPACKs

4.1 Wiring and Connecting SERVOPACKs

4.1.1 General Precautions

4.1.2 Countermeasures against Noise

4.1.3 Grounding

4.2 Basic Wiring Diagrams

4.3 Wiring the Power Supply to the SERVOPACK

4.3.1 Terminal Symbols and Terminal Names

4.3.2 Connector Wiring Procedure

4.3.3 Power ON Sequence

4.3.4 Power Supply Wiring Diagrams

4.3.5 Wiring Regenerative Resistors

Wiring DC Reactors

4.4 Wiring Servomotors

4.4.1 Terminal Symbols and Terminal Names

Pin Arrangement of Encoder Connector (CN2)

4.4.3 Wiring the SERVOPACK to the Encoder

4.4.4 Wiring the SERVOPACK to the Holding Brake