Yaskawa SGD7W, SGD7S User Manual

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-7-Series AC Servo Drive



-7S/



-7W SERVOPACK with Hardware Option Specifications Dynamic Brake

Product Manual

SGD7S-020 SGD7W-020

MANUAL NO. SIEP S800001 73B

Basic Information on SERVOPACKs

Selecting a SERVOPACK

Selecting a Dynamic Brake Resistor

Wiring and Connecting

a Dynamic Brake Resistor

Basic Functions That Require

Setting before Operation

Maintenance

Parameter Lists

Appendices

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

About this Manual

This manual provides information on Σ-7-Series AC Servo Drives that support the dynamic brake hardware option specifications (SGD7-020). It describes the specifications of SERVOPACKs that are different from the SERVOPACKs that do not support the dynamic brake hardware option specifications.

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

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

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

Finding Information

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

Σ-7S SERVOPACKs

Item

About the Dynamic Brake Hardware Option

Specifications Basic Information on SERVOPACKs

Selecting a SERVOPACK

Dynamic Brake Resistor Selection

SERVOPACK Installation

Wiring and Connecting SERVOPACKs Chapter 4

Nameplate 1.2

Part Names 1.3

Model Designations 1.4

Other basic information

not listed above

Combinations of Servo-

motors and SERVO-

PAC Ks

External Dimensions 2.2

Other selection informa-

tion not listed above

This

Manual

1.1

− Chapter 1

2.1

− Chapter 2

Chapter

−

Analog

Volta ge/ Pulse Train References

MECHA-

TROLINK-II/

-III Communications

References

Command Option

Attachable

INDEXER

Module

−

Chapter 3

DeviceNet

Module

Continued on next page.

Σ-7W

SERVOPACKs

MECHA-

TROLINK-III

Communica-

tions

References

iii

Σ-7S SERVOPACKs

Item

Dynamic Brake Resistor Wiring and Connections

Motor Stopping Methods for Servo OFF and Alarms

Basic Information Required for Settings before Operation

Application Functions

Trial Operation and Actual Operation Chapter 7

Tuning Chapter 8

Monitor Chapter 9

Fully-Closed Loop Control Chapter 10

Safety Control Chapter 11

Option Module Functions −−

Maintenance

Panel Displays and Panel Operator Procedures

Parameter List

Interpreting the Panel Display

Examples of Connections to Host Controllers

Corresponding SERVOPACK and SigmaWin+ Function Names

Motor Stopping Method for Overtravel

Setting the Energy Consumption and Resistance of the Dynamic Resistor

Other basic functions not listed above

Troubleshooting Related to the Dynamic Brake Hardware Option Specifications

All other troubleshooting − Chapter 12 Chapter 15 Chapter 14 Chapter 10

Parameters Related to the Dynamic Brake Hardware Option Specifications

All other parameters − Chapter 14 Chapter 13 Chapter 16 Chapter 15 Chapter 11

This

Manual

Chapter

5.2

5.3

5.4

− Chapter 5

−

Chapter

− Chapter 13 −

Chapter

−

− 15.2 14.2 17.1 16.1 12.2

Analog

Voltage/ Pulse Train References

– 14.1 1.3 1.5 12.1

15.1 −

MECHA-

TROLINK-II/

-III Communications

References

Continued from previous page.

Command Option

Attachable

INDEXER

Module

−

Chapter 6

Chapters 12,

13, 14, and

−

DeviceNet

Module

Chapters 12,

13, and 16

Σ-7W

SERVOPACKs

MECHA-

TROLINK-III

Communica-

tions

References

−

Monitor Displays for the Dynamic Brake Hardware Option Specifications

Coasting Distance when Stopping with the Dynamic Brake

Data for Coasting Distance Calculation 8.3

8.1 −

8.2

−

Using This Manual

 Technical Terms Used in This Manual

The following terms are used in this manual.

Ter m Meaning

Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.

A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P,

Rotary Servomotor

Linear Servomotor

SERVOPACK

Servo Drive

Servo System

servo ON

servo OFF

base block (BB)

dynamic brake (DB)

servo lock

Main Circuit Cable

SigmaWin+

or SGM7G) or a Direct Drive Servomotor (SGM7D, SGM7E, SGM7F, SGMCV, or SGMCS). The descriptions will specify when Direct Drive Servomotors are excluded.

A generic term used for a Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT).

• A Σ-7-Series Σ-7S Servo Amplifier with Analog Voltage/Pulse Train References.

• A Σ-7-Series Σ-7S Servo Amplifier with MECHATROLINK-II Communications References.

• A Σ-7-Series Σ-7S Servo Amplifier with MECHATROLINK-III Communications References.

• A Σ-7-Series Σ-7W Servo Amplifier with MECHATROLINK-III Communications References.

• A Σ-7-Series Σ-7S Command Option Module Attachable-Type Servo Amplifier.

The combination of a Servomotor and SERVOPACK.

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

Supplying power to the motor.

Not supplying power to the motor.

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

A brake that performs a quick stop of a Servomotor by connecting resistance between the Servomotor terminals.

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

One of the cables that connect to the main circuit terminals, including the Main Circuit Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.

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

 Differences in Terms for Rotary Servomotors and Linear Servomotors

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

Rotary Servomotors Linear Servomotors

torque force

moment of inertia mass

rotation movement

forward rotation and reverse rotation forward movement and reverse movement

rotary encoder linear encoder

unit: min

unit: N·m unit: N

-1

unit: mm/s

xii

 Notation Used in this Manual

n.0

(default setting)

Do not detect preventative maintenance warnings.

n.1

Detect preventative maintenance warnings.

Parameter Meaning When Enabled Classication

After startup Setup

This is the setting range for the parameter.

Pn00F

Parameter number

The notation “n.” indicates a parameter for selecting functions. Each  indicates the setting for one digit. The notation shown here means that the first digit from the right is set to 1.

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

Pn100

Speed Loop Gain

Position

Speed

Setting Range

10 to 20,000 0.1 Hz 400 Immediately

Setting Unit Default Setting When Enabled

Classication

Tuning

Parameter number

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

All Axes

Position Torque

The control methods for which the parameters apply are given.

Speed

: Speed control : Position control : Torque control

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 column explains the selections for the function.

•

Parameters for Selecting Functions

Notation Examples for Pn002

Pn002 = n.

X

Indicates the rst digit from the right in Pn002.

Pn002 = n.

1

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

Pn002 = n.

X

Indicates the second digit from the right in Pn002.

Pn002 = n.

1

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

Pn002 = n.

X

Indicates the third digit from the right in Pn002.

Pn002 = n.

1

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

Pn002 = n.X



Indicates the fourth digit from the right in Pn002.

Pn002 = n.1



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

n.0 0 0 0

Notation

Digit Notation Numeric Value Notation

Meaning Notation Meaning

 Notation for Reverse Signals

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

Notation Example

is written as /BK.

 Notation for Parameters

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

•

Parameters for Numeric Settings

Notation Example

xiii

Example

Information

 Engineering Tools Used in This Manual

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

 Trademarks

• QR code is a trademark of Denso Wave Inc.

• MECHATROLINK is a trademark of the MECHATROLINK Members Association.

• Other product names and company names are the trademarks or registered trademarks of the

respective company. “TM” and the

® mark do not appear with product or company names in this

manual.

 Visual Aids

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

Indicates precautions or restrictions that must be observed.

Important

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

Term

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

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

xiv

Safety Precautions

DANGER

WARNING

CAUTION

NOTICE

 Safety Information

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

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

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

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

fire.

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

DANGER

WARNING

CAUTION

 Safety Precautions That Must Always Be Observed

 General Precautions

 Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.

Make sure that it is delivered to the final user of the product.

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

the SERVOPACK.

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

 Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC

type) that are appropriate for the product.

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

 Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according

to local electrical codes (100 Ω or less for a SERVOPACK with a 100-VAC or 200-VAC power supply, and 10 Ω or less for a SERVOPACK with a 400-VAC power supply).

There is a risk of electric shock or fire.

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

There is a risk of fire or failure. The warranty is void for the product if you disassemble, repair, or modify it.

 The SERVOPACK heat sinks, regenerative resistors, external dynamic brake resistors, Servo-

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

There is a risk of burn injury.

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

insulation.

There is a risk of electric shock.

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

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

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

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

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

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

ble gases, or near flammable materials.

There is a risk of electric shock or fire.

xvi

NOTICE

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

CAUTION

NOTICE

CAUTION

 Install external emergency stop circuits that shut OFF the power supply and stops operation

immediately when an error occurs.

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

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

There is a risk of damage to the SERVOPACK.

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

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

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

There is a risk of product failure.

 Storage Precautions

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

packages.)

There is a risk of injury or damage.

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

• Locations that are subject to direct sunlight

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

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

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

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

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

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

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

• Locations that are subject to radiation

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

 Transportation Precautions

 Transport the product in a way that is suitable to the mass of the product.  Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.

There is a risk of damage or injury.

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

There is a risk of injury.

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

the packages.)

There is a risk of injury or damage.

xvii

NOTICE

CAUTION

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

There is a risk of the SERVOPACK falling.

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

There is a risk of failure or damage.

 Do not subject connectors to shock.

There is a risk of faulty connections or damage.

 If disinfectants or insecticides must be used to treat packing materials such as wooden frames,

plywood, or pallets, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30

minutes or more.

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

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

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

 Installation Precautions

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

documents.

 Install SERVOPACKs, Servomotors, regenerative resistors, and external dynamic brake resis-

tors on nonflammable materials.

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

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

with other devices.

There is a risk of fire or failure.

 Install the SERVOPACK in the specified orientation.

There is a risk of fire or failure.

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

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

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

There is a risk of failure or fire.

xviii

NOTICE

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

DANGER

WARNING

• Locations that are subject to direct sunlight

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

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

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

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

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

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

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

• Locations that are subject to radiation

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

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

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

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

There is a risk of failure or damage.

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

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

There is a risk of failure.

 Wiring Precautions

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

There is a risk of electric shock or injury.

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

There is a risk of electric shock or product failure.

 Check all wiring and power supplies carefully.

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

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

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

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

There is a risk of failure or fire.

 If you use a SERVOPACK that supports the dynamic brake hardware option specifications, con-

nect an external dynamic brake resistor that is suitable for the machine and equipment specifications to the specified terminals.

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

xix

CAUTION

NOTICE

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

VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit 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.

 Operation Precautions

WARNING

CAUTION

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

parameters to match the machine.

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

 Do not radically change the settings of the parameters.

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

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

unexpected accidents.

There is a risk of machine damage or injury.

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

There is a risk of injury.

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

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

There is a risk of machine damage or injury.

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

according to the SERVOPACK hardware option specifications and settings. The coasting distance will change with the moment of inertia of the load and the resistance of the external dynamic brake resistor. Check the coasting distance during trial operation and implement suitable safety measures on the machine.

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

There is a risk of injury.

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

There is a risk of injury.

 Design the system to ensure safety even when problems, such as broken signal lines, occur.

For example, the P-OT and N-OT signals are set in the default settings to operate on the safe side if a signal line breaks. Do not change the polarity of this type of signal.

 When overtravel occurs, the power supply to the motor is turned OFF and the brake is released.

If you use the Servomotor to drive a vertical load, set the Servomotor to enter a zero-clamped state after the Servomotor stops. Also, install safety devices (such as an external brake or counterweight) to prevent the moving parts of the machine from falling.

 Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main cir-

cuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor will stop as follows:

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

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

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

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

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

xxi

NOTICE

DANGER

WARNING

CAUTION

NOTICE

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

the torque waveform and speed waveform and confirm that there is no vibration.

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

 Do not frequently turn the power supply ON and OFF. After you have started actual operation,

allow at least one hour between turning the power supply ON and OFF (as a guideline). Do not use the product in applications that require the power supply to be turned ON and OFF frequently.

The elements in the SERVOPACK will deteriorate quickly.

 An alarm or warning may occur if communications are performed with the host controller while

the SigmaWin+ or Digital Operator is operating.

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

 After you complete trial operation of the machine and facilities, use the SigmaWin+ to back up

the settings of the SERVOPACK parameters. You can use them to reset the parameters after SERVOPACK replacement.

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

 Maintenance and Inspection Precautions

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

There is a risk of electric shock or injury.

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

There is a risk of electric shock or product failure.

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

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

There is a risk of electric shock.

 Before you replace a SERVOPACK, back up the settings of the SERVOPACK parameters. Copy

the backed up parameter settings to the new SERVOPACK and confirm that they were copied correctly.

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

xxii

 Discharge all static electricity from your body before you operate any of the buttons or switches

inside the front cover of the SERVOPACK.

There is a risk of equipment damage.

 Troubleshooting Precautions

DANGER

WARNING

CAUTION

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

ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.

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

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

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

There is a risk of injury.

 When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm

or turn the power supply OFF and ON again to restart operation.

There is a risk of injury or machine damage.

 If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may

suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an alarm.

There is a risk of injury or machine damage.

 Always insert a magnetic contactor in the line between the main circuit power supply and the

main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply.

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

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

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

 Install a ground fault detector against overloads and short-circuiting or install a molded-case

circuit breaker combined with a ground fault detector.

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

 The holding brake on a Servomotor will not ensure safety if there is the possibility that an exter-

nal force (including gravity) may move the current position and create a hazardous situation when power is interrupted or an error occurs. If an external force may cause movement, install an external braking mechanism that ensures safety.

 Disposal Precautions

 When disposing of the product, treat it as ordinary industrial waste. However, local ordinances

and national laws must be observed. Implement all labeling and warnings as a final product as required.

xxiii

 General Precautions

 Figures provided in this document are typical examples or conceptual representations. There

may be differences between them and actual wiring, circuits, and products.

 The products shown in illustrations in this document are sometimes shown without covers or

protective guards. Always replace all covers and protective guards before you use the product.

 If you need a new copy of this document because it has been lost or damaged, contact your

nearest Yaskawa representative or one of the offices listed on the back of this document.

 This document is subject to change without notice for product improvements, specifications

changes, and improvements to the manual itself. We will update the document number of the document and issue revisions when changes are made.

 Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies

the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.

xxiv

Warranty

 Details of Warranty

 Warranty Period

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

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

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

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

• Causes not attributable to the delivered product itself

• Modifications or repairs not performed by Yaskawa

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

• Causes that were not foreseeable with the scientific and technological understanding at the time

of shipment from Yaskawa

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

 Limitations of Liability

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

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

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

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

xxv

 Suitability for Use

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

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

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

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

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

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

• Systems that require a high degree of reliability, such as systems that supply gas, water, or

electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

• Never use the product for an application involving serious risk to life or property without first

ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

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

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

 Specifications Change

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

xxvi

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

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

 North American Safety Standards (UL)

Product Model North American Safety Standards (UL File No.)

SERVOPACKs

Rotary Servomotors

Direct Drive Servomotors

Linear Servomotors

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

• SGD7S

• SGD7W

• SGMMV

• SGM7A

• SGM7J

• SGM7P

• SGM7G

• SGM7E

• SGM7F

• SGMCV

• SGLGW

• 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

SERVOPACKs

SGD7S

SGD7W

Machinery Directive 2006/42/EC

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

EN ISO13849-1: 2015

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

EN 50178 EN 61800-5-1

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

EN 50178 EN 61800-5-1

Continued on next page.

xxvii

Product Model European Directive Harmonized Standards

EMC Directive

SGMMV

2004/104/EC

Low Voltage Directive 2006/95/EC

Rotary Servomotors

• SGM7J

• SGM7A

EMC Directive 2014/30/EU

• SGM7P

• SGM7G

Low Voltage Directive 2014/35/EU

• SGM7E

• SGM7F

• SGMCV

Direct Drive Servomotors

• SGMCS-

 

(Small-Capacity, Coreless Servomotors)

• SGLG

Linear Servomotors

• SGLF

• SGLFW2

• SGLT

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

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

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

B, C, D, E

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

Continued from previous page.

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

EN 60034-1 EN 60034-5

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

EN 60034-1 EN 60034-5

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

 Safety Standards

Product Model Safety Standards Standards

EN ISO13849-1: 2015 IEC 60204-1

IEC 61508 series IEC 62061 IEC 61800-5-2

SERVOPACKs SGD7S

Safety of Machinery

Functional Safety

EMC IEC 61326-3-1

xxviii

 Safety Parameters

Item Standards Performance Level

Safety Integrity Level

Probability of Dangerous Failure per Hour

Performance Level EN ISO 13849-1 PLe (Category 3)

Mean Time to Dangerous Failure of Each Channel EN ISO 13849-1 MTTFd: High

Average Diagnostic Coverage EN ISO 13849-1 DCavg: Medium

Stop Category IEC 60204-1 Stop category 0

Safety Function IEC 61800-5-2 STO

Mission Time IEC 61508 10 years

Hardware Fault Tolerance IEC 61508 HFT = 1

Subsystem IEC 61508 B

IEC 61508 SIL3

IEC 62061 SILCL3

IEC 61508 IEC 62061

PFH = 4.04×10 (4.04% of SIL3)

-9

[1/h]

xxix

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

Finding Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .v

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

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

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

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

Basic Information on SERVOPACKs

1.1

1.2

1.3

1.4

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

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

1.1.2 Capabilities of SERVOPACKs That Support the Dynamic Brake Hardware

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

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

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

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

to -2R8A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4

1.3.2 SGD7S-3R8A to -330A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4

1.3.3 SGD7S-470A to -780A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1.3.4 SGD7W-5R5A and -7R6A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

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

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

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

Selecting a SERVOPACK

2.1

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

2.1.1 Combinations of Rotary Servomotors and SERVOPACKs . . . . . . . . . . . . . . .2-2

2.1.2 Combinations of Direct Drive Servomotors and SERVOPACKs . . . . . . . . . . .2-4

2.1.3 Combinations of Linear Servomotors and SERVOPACKs . . . . . . . . . . . . . . .2-6

xxx

2.2

External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

Selecting a Dynamic Brake Resistor

3.1

3.2

3.3

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

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

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

3.3.1 How to Determine the Resistance of the Dynamic Brake Resistor . . . . . . . .3-4

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics . . . . . . . . . . .3-5

3.4

3.5

Calculating the Energy Consumption of the Dynamic Brake Resistor . . 3-14

Presenting the Required Specifications to the Resistor Manufacturer . . 3-15

Wiring and Connecting a Dynamic Brake Resistor

4.1

4.2

Wiring and Connecting SERVOPACKs . . . . . . . . . . . . . . . . . . . . 4-2

Dynamic Brake Resistor Connections . . . . . . . . . . . . . . . . . . . . 4-5

4.2.1 Terminal Symbols and Terminal Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.2.2 Wire Sizes and Tightening Torques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.2.3 Crimp Terminals and Insulating Sleeves . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.2.4 Dynamic Brake Resistor Connector Wiring Procedure. . . . . . . . . . . . . . . . . 4-8

4.2.5 Connecting Dynamic Brake Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

Basic Functions That Require Setting before Operation

5.1

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2

5.3

5.4

Motor Stopping Methods for Servo OFF and Alarms. . . . . . . . . 5-3

5.2.1 Stopping Method for Servo OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.2.2 Servomotor Stopping Method for Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Motor Stopping Method for Overtravel . . . . . . . . . . . . . . . . . . . 5-6

Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor . . 5-7

Maintenance

6.1

6.2

Alarms Related to the Dynamic Brake Hardware Option Specifications . . 6-2

6.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.2 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

Troubleshooting Based on the Operation and Conditions of the Servomotor . .6-6

Parameter Lists

7.1

Interpreting the Parameter Lists . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2

List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

xxxi

Appendices

8.1

8.2

8.3

Monitor Displays for the Dynamic Brake Hardware Option Specifications . . 8-2

Coasting Distance when Stopping with the Dynamic Brake . . . 8-3

Data for Coasting Distance Calculation . . . . . . . . . . . . . . . . . . . 8-4

8.3.1 Coasting Distance Coefficients. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4

8.3.2 Characteristic Impedance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-6

Index

Revision History

xxxii

Basic Information on SERVOPACKs

This chapter provides information required to select SERVOPACKs, such as part names and SERVOPACK models.

1.1

1.2

1.3

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

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

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

1.1.2 Capabilities of SERVOPACKs That Support the Dynamic Brake Hardware Option

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

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

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

1.3.1 SGD7S-R70A to -2R8A, SGD7S-R70F

to -2R8F, and SGD7W-1R6A to -2R8A . . . . . . . . 1-4

1.3.2 SGD7S-3R8A to -330A . . . . . . . . . . . . . . . . . . . . 1-4

1.3.3 SGD7S-470A to -780A . . . . . . . . . . . . . . . . . . . . 1-5

1.3.4 SGD7W-5R5A and -7R6A . . . . . . . . . . . . . . . . . . 1-5

1.4.1 Interpreting Σ-7S SERVOPACK Model

Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.2 Interpreting Σ-7W SERVOPACK Model

Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.1 About the Dynamic Brake Hardware Option Specifications

CAUTION

1.1.1 What Is Dynamic Braking?

1.1

1.1.1

About the Dynamic Brake Hardware Option Specifications

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

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

What Is Dynamic Braking?

If the servo turns OFF due to a loss of power or an emergency stop triggered by an alarm during Servomotor operation, the SERVOPACK can no longer control the Servomotor. Therefore, the Servomotor will continue to coast when the servo is turned OFF until all of the kinetic energy from its speed and moment of inertia is expended. Only an extremely small amount of kinetic energy is expended when the servo is turned OFF. This results in an extremely long coasting distance, which can damage the machinery or cause personal injury.

Dynamic braking uses a coasting Servomotor as a power generator to brake the Servomotor. The Servomotor’s kinetic energy is converted to electrical energy and is expended as heat through a resistor to stop the Servomotor.

1.1.2

Capabilities of SERVOPACKs That Support the Dynamic Brake Hardware Option Specifications

A SERVOPACK that supports the dynamic brake hardware option specifications does not have a built-in dynamic brake resistor, and you can achieve the following things with it by using an external dynamic brake resistor or by not connecting a resistor at all.

Note: Standard SERVOPACKs include a built-in dynamic brake. However, because the dynamic brake is built in, the

brake torque is fixed and there is a limit to the amount of kinetic energy that can be processed by the Servomotor.

 Reduction of Brake Torque When Stopping with the Dynamic Brake

The brake torque can be adjusted according to the rigidity of the machine to prevent scattering of conveyor objects caused by dynamic braking either by increasing the resistance of the dynamic brake resistor or by not connecting the resistor at all.

 Application to Equipment or Machines with a Higher Load Moment of

Inertia Than the Allowable Load Moment of Inertia in the Standard Specifications

The dynamic brake can be applied to a machine with a high load moment of inertia by increasing the energy capacity of the dynamic brake resistor. If a dynamic brake resistor is not connected, dynamic braking can be disabled to allow the Servomotor to be turned by the machine.

The following specification is different for different SERVOPACK models.

1-2

SERVOPACK Model Specification

SGD7S-

SGD7W- 1R6A to 2R8A

SGD7S- 3R8A to 780A

SGD7W- 5R5A to 7R6A

R70A to 2R8A, R70F to 2R8F

No dynamic brake

External dynamic brake resistor

1.2 Interpreting the Nameplate

Basic Information on SERVOPACKs

1.2

Interpreting the Nameplate

The following basic information is provided on the nameplate.

SERVOPACK model

BTO information

Order number

Serial number

Degree of protection

Surrounding air temperature

1-3

1.3 Part Names

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

1.3

1.3.1

1.3.2

Part Names

This section describes the connection terminals for an external dynamic brake resistor. All other names are the same as those for a standard SERVOPACK. Refer to the standard SERVOPACK product manual.

The external dynamic brake resistor terminals are used to connect an external dynamic brake resistor. The terminal specifications and location depend on the SERVOPACK model. Refer to the following section for the connection procedure.

4.2.5 Connecting Dynamic Brake Resistors on page 4-9

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

These models do not support the dynamic brake hardware option specifications, so they do not have external dynamic brake resistor terminals.

SGD7S-3R8A to -330A

The SGD7S-3R8A to -330A have external dynamic brake resistor terminals on the bottom of the SERVOPACK.

1-4

1.3 Part Names

Basic Information on SERVOPACKs

1.3.3 SGD7S-470A to -780A

1.3.3

SGD7S-470A to -780A

The SGD7S-470A to -780A have external dynamic brake resistor terminals on the front of the SERVOPACK next to the CHARGE indicator.

• SGD7S-470A and -550A • SGD7S-590A and -780A

1.3.4

SGD7W-5R5A and -7R6A

The SGD7W-5R5A and -7R6A have external dynamic brake resistor terminals on the bottom of the SERVOPACK.

1-5

1.4 Model Designations

1.4.1 Interpreting Σ-7S SERVOPACK Model Numbers

1.4

1.4.1

Model Designations

Interpreting Σ-7S SERVOPACK Model Numbers

SGD7S

Σ-7-Series Σ-7S

SERVOPACKs

1st+2nd+3rd digits

Voltage Code Specication

ThreePhase, 200 VAC

SinglePhase, 100 VAC

*1. You can use these models with either a single-phase or three-phase input. *2. The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors. *3. The BTO specification indicates if the SERVOPACK is customized by using the MechatroCloud BTO service.

This service is available on the e-mechatronics website. You need a BTO number to order SERVOPACKs with customized specifications. Refer to the following catalog for details.

R70

R90

1R6

2R8

3R8

5R5

7R6

120

180

200

330

470

550

590

780

R70

R90

2R1

2R8

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

R70

1st+2nd+3rd

digits

Maximum Applicable Motor Capacity

0.05 kW

0.1 kW

0.2 kW

0.4 kW

0.5 kW

0.75 kW

1.0 kW

1.5 kW

2.0 kW

3.0 kW

5.0 kW

6.0 kW

7.5 kW

11 kW

15 kW

0.05 kW

0.1 kW

0.2 kW

0.4 kW

A 00 A

4th

digit

4th digit

Code Specication

5th+6th digits

Code Specication

7th digit

5th+6th

digits

Voltage

200 VAC

100 VAC

Analog voltage/pulse train references

MECHATROLINK-II communications references

MECHATROLINK-III communications references

Command option attachable type

Design Revision Order

Interface

7th

digit

020

8th+9th+10th

digits

8th+9th+10th digits

Code

020

11th+12th+13th digits

002

Code

None

000

14th digit

Code

None

000

11th+12th+13th

digits

Specication

No dynamic brake SGD7S-R70A

External dynamic brake resistor

Duct-ventilated

Varnished

Specification

None

BTO Specification

Specification

None

BTO specification

14th digit

Hardware Options Specication

to -2R8A

SGD7S-3R8A to -780A

FT/EX Specification

Applicable

Models

1-6

1.4 Model Designations

Basic Information on SERVOPACKs

SGD7W

1R6

A 20 A

020

Σ-7-Series Σ-7W

SERVOPACKs

4th

digit

1st+2nd+3rd

digits

5th+6th

digits

8th+9th+10th

digits

7th

digit

Maximum Applicable Motor Capacity per Axis

A 200 VAC

Voltage

Code Specication

1R6

2R8

5R5

*1*2

7R6

0.2 kW

0.4 kW

0.75 kW

1.0 kW

Voltage Code Specication

ThreePhase, 200 VAC

1st+2nd+3rd digits

4th digit

8th+9th+10th digits

Interface

Code Specication

MECHATROLINK-III communications reference

Design Revision Order

5th+6th digits

7th digit

No dynamic brake SGD7W-1R6A

to -2R8A

SGD7W-5R5A to -7R6A

020

External dynamic brake resistor

Code

Specication

Applicable

Models

000

11th+12th+13th

digits

14th digit

Hardware Options Specication

Duct-ventilated

None

000

None

Specification

Code

FT/EX Specification

None

BTO specification

Specification

Code

BTO Specification

11th+12th+13th digits

14th digit

1.4.2 Interpreting Σ-7W SERVOPACK Model Numbers

1.4.2

Interpreting Σ-7W SERVOPACK Model Numbers

*1. You can use these models with either a single-phase or three-phase input. *2. If you use the Servomotor with a single-phase 200-VAC power supply input, derate the load ratio to 65%. An

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

example is given below. If the load ratio of the first axis is 90%, use a load ratio of 40% for the second axis so that average load ratio for both axes is 65%. ((90% + 40%)/2 = 65%)

This service is available on the e-mechatronics website. You need a BTO number to order SERVOPACKs with customized specifications. Refer to the following catalog for details.

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

1-7

Selecting a SERVOPACK

This chapter provides information required to select SERVOPACKs, such as specifications and external dimensional drawings.

2.1 Combinations of Servomotors and SERVOPACKs . 2-2

2.1.1 Combinations of Rotary Servomotors and

SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 Combinations of Direct Drive Servomotors and

SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.1.3 Combinations of Linear Servomotors and

SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.2

External Dimensions . . . . . . . . . . . . . . . . . . 2-8

2.1 Combinations of Servomotors and SERVOPACKs

2.1.1 Combinations of Rotary Servomotors and SERVOPACKs

2.1

2.1.1

Combinations of Servomotors and SERVOPACKs

The maximum allowed load moment of inertia depends on the Servomotor and SERVOPACK combination.

The maximum load moment of inertias listed here are determined by the durability of the dynamic brake circuit, the regenerative processing circuit, and the Servomotor. Do not exceed the allow-

Important

Combinations of Rotary Servomotors and SERVOPACKs

SGMMV Models

(Low Inertia,

3,000 min

Models (Medium

Inertia, Small

3,000 min

(Low Inertia,

3,000 min

able load moment of inertia values given in the table when you select an external regenerative resistor.

Allowable Load Moment of Inertia

[×10-4 kgm2]

L/JM

Hardware

Option

12.15 (25) 4.86 (10)

16 (20) 16 (20)

0.868 (40) 0.868 (40)

1.832 (40) 1.832 (40)

4.32 (20) 4.32 (20)

6.3 (20) 6.3 (20)

29.13 (30) 19.42 (20)

63.8 (20) 31.9 (10)

144 (15) 48 (5)

Servomotor Model

SGM7-

A1A 10 W 0.00272

Ultra-small

Capacity),

SGM7J

Capacity),

SGM7A

Models

Small

Capacity),

A2A 20 W 0.00466 0.1398 (30) 0.1398 (30)

A3A 30 W 0.00668 1R6A, 2R1F

-1

A5A 50 W 0.0395 R70A, R70F

01A 100 W 0.0659 R90A, R90F 2.3065 (35) 2.3065 (35)

C2A 150 W 0.0915

02A 200 W 0.263 6.575 (25) 3.945 (15)

04A 400 W 0.486 2R8A, 2R8F

-1

06A 600 W 0.8

08A 750 W 1.59 23.85 (15) 19.08 (12)

A5A 50 W 0.0217 R70A, R70F

01A 100 W 0.0337 R90A, R90F 1.348 (40) 1.348 (40)

C2A 150 W 0.0458

02A 200 W 0.139 4.17 (30) 4.17 (30)

04A 400 W 0.216 2R8A, 2R8F

06A 600 W 0.315

08A 750 W 0.775 23.25 (30) 15.5 (20)

10A 1.0 kW 0.971

15A 1.5 kW 2 40 (20) 20 (10)

-1

20A 2.0 kW 2.47 180A 49.4 (20) 24.7 (10)

25A 2.5 kW 3.19

30A 3.0 kW 7 105 (15) 35 (5)

40A 4.0 kW 9.6

50A 5.0 kW 12.3 184.5 (15) 61.5 (5)

70A 7.0 kW 12.3 550A 184.5 (15) 61.5 (5)

Capacity

Servomotor

Rotor

Moment of

Inertia J

-4

[×10

kgm2]

SERVOPACK Model

SGD7S- SGD7W-

R90A, R90F

1R6A, 2R1F

5R5A 5R5A, 7R6A

1R6A, 2R1F

5R5A 5R5A, 7R6A

120A

200A

330A

1R6A

2R8A

1R6A, 2R8A

1R6A

2R8A

1R6A, 2R8A

2R8A,

5R5A

7R6A

1R6A

2R8A

1R6A, 2R8A

2R8A,

5R5A

7R6A

−

The ratio J

SERVOPACKs

That Support the

Dynamic Brake

Specifications

0.0816 (30) 0.0816 (30)

0.2004 (30) 0.2004 (30)

1.3825 (35) 1.3825 (35)

3.2025 (35) 3.2025 (35)

Continued on next page.

is given in paren-

theses.

Other

SERVOPACKs

2-2

2.1 Combinations of Servomotors and SERVOPACKs

Selecting a SERVOPACK

2.1.1 Combinations of Rotary Servomotors and SERVOPACKs

Continued from previous page.

Allowable Load Moment of Inertia

[×10-4 kgm2]

is given in paren-

L/JM

theses.

Other

Hardware

SERVOPACKs

Option

1.48 (25) 1.48 (25)

3.945 (15) 3.945 (15)

37.2 (15) 37.2 (15)

199 (10) 99.5 (5)

322 (7) 138 (3)

Servomotor Model

SGM7-

Capacity

Servomotor

Rotor

Moment of

Inertia J

[×10

-4

kgm2]

SERVOPACK Model

SGD7S- SGD7W-

The ratio J

SERVOPACKs

That Support the

Dynamic Brake

Specifications

1R6A

2R8A

5R5A

7R6A

SGM7P

Models (Medium

Inertia, Flat),

3,000 min

-1

01A 100 W 0.0592 R90A, R90F

02A 200 W 0.263 2R8A, 2R1F 2R8A,

04A 400 W 0.409 2R8A, 2R8F 4.09 (10) 4.09 (10)

08A 750 W 2.1 5R5A 5R5A, 7R6A 10.5 (5) 10.5 (5)

15A 1.5 kW 4.02 120A − 20.1 (5) 20.1 (5)

03A 300 W 2.48

05A 450 W 3.33 49.95 (15) 49.95 (15)

3R8A

5R5A

7R6A

09A 850 W 13.9 7R6A 139 (10) 69.5 (5)

13A 1.3 kW 19.9 120A

SGM7G

Models (Medium

Inertia, Medium

Capacity),

1,500 min

20A 1.8 kW 26 180A 260 (10) 130 (5)

2.4 kW 46 200A 460 (10) 230 (5)

30A

-1

44A 4.4 kW 67.5 675 (10) 337.5 (5)

2.9 kW 46 330A

−

55A 5.5 kW 89 470A 890 (10) 445 (5)

75A 7.5 kW 125 550A 1250 (10) 625 (5)

1AA 11 kW 242 590A 2420 (10) 1210 (5)

1EA 15 kW 303 780A 3030 (10) 1515 (5)

*1. If you use this combination, the control gain may not increase as much as with a Σ-7S SERVOPACK and other

performances may be lower than those achieved with a Σ-7S SERVOPACK.

*2. The capacity depends on the SERVOPACK that is used with the Servomotor.

2-3

2.1 Combinations of Servomotors and SERVOPACKs

2.1.2 Combinations of Direct Drive Servomotors and SERVOPACKs

2.1.2

Combinations of Direct Drive Servomotors and SERVOPACKs

Allowable Load Moment of Iner-

tia J

[×10-4 kgm2]

is given in paren-

L/JM

theses.

Other

SERVOPACKs

280 (10) 280 (10)

770 (10) 770 (10)

2790 (3) 2790 (3)

Continued on next page.

Servomotor Model

SGM7D

(Outer Rotor with

Core)

SGM7E

(Small Capacity,

Coreless, Inner

Rotor)

SERVOPACK Model

Rated

Torq ue

[N·m]

30F 30.0 960

58F 58.0 1190 4165000 (3500) 178500 (150)

90F 90.0 1420 5680000 (4000) 213000 (150)

1AF 110 1670 8350000 (5000) 217100 (130)

01G 1.30 55.0

05G 5.00 75.0 22500 (300) 22500 (300)

08G 8.00 120

18G 18.0 150 450000 (3000) 52500 (350)

24G 24.0 190 760000 (4000) 57000 (300)

34G 34.0 230 920000 (4000) 57500 (250)

45G 45.0 270 1080000 (4000) 54000 (200)

03H 3.00 25.0 2R8A, 2R8F 15000 (600) 15000 (600)

28I 28.0 1800

70I 70.0 2000 4000000 (2000) 200000 (100)

1ZI 100 2300 5750000 (2500) 207000 (90)

1CI 130 2850 8550000 (3000) 228000 (80)

2BI 220 3400 34000 (100) 34000 (100)

2DI 240 4000 600000 (150) 600000 (150)

06J 6.00 150 105000 (700) 52500 (350)

09J 9.00 210 189000 (900) 52500 (250)

18J 18.0 240 600000 (2500) 57600 (240)

20J 20.0 260 520000 (2000) 57200 (220)

38J 38.0 330 660000 (2000) 59400 (180)

02K 2.06 60.0

06K 6.00 70.0 24500 (350) 24500 (350)

08K 8.00 80.0 2000 (25) 2000 (25)

06L 6.00 220 99000 (450) 99000 (450)

12L 12.0 220 4400 (20) 4400 (20)

30L 30.0 370 120A 1295000 (3500) 22200 (60)

02B 2 28.0

05B 5 51.0 510 (10) 510 (10)

07B 7 77.0 770 (10) 770 (10)

04C 4 77.0

10C 10 140 700 (5) 700 (5)

14C 14 220 660 (3) 660 (3)

08D 8 285 855 (3) 855 (3)

17D 17 510 1530 (3) 1530 (3)

25D 25 750 2250 (3) 2250 (3)

16E 16 930

35E 35 1430 4290 (3) 4290 (3)

Servomotor

Rotor Moment of

Inertia J

kgm

[×10-4

]

SGD7S- SGD7W-

120A

2R8A, 2R8F

120A

–

120A

2R8A, 2R8F

2R8A, 2R1F

2R8A

2R8A, 2R8F

5R5A

The ratio J

SERVOPACKs

That Support

the Dynamic Brake Hardware Option

Specifications

2400000 (2500) 192000 (200)

7150 (130) 7150 (130)

240000 (2000) 48000 (400)

1440000 (800) 90000 (50)

12000 (200) 12000 (200)

2-4

2.1 Combinations of Servomotors and SERVOPACKs

Selecting a SERVOPACK

2.1.2 Combinations of Direct Drive Servomotors and SERVOPACKs

Continued from previous page.

Allowable Load Moment of Iner-

[×10-4 kgm2]

tia J

SERVOPACK Model

Servomotor Model

02A 2 8.04

05A 5 14.5 507.5 (35) 507.5 (35)

07A 7 19.3

04B 4 16.2 405 (25) 405 (25)

SGM7F (Small Capacity, With Core, Inner

Rotor)

SGM7F

(Medium Capac-

ity, With Core,

Inner Rotor)

SGMCV (Small Capacity, With Core, Inner

Rotor)

SGMCS

(Small Capacity,

Coreless, Inner

Rotor)

SGMCS

(Medium Capac-

ity, With Core,

Inner Rotor)

* Use derated values for this combination. Refer to the following catalog for information on derating values.

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

10B 10 25.2 1008 (40) 1008 (40)

14B 14 36.9 5R5A 1660.5 (45) 1660.5 (45)

08C 8 56.5 2R8A, 2R8F 2R8A 847.5 (15) 847.5 (15)

17C 17 78.5 5R5A 1962.5 (25) 1962.5 (25)

25C 25 111 7R6A 2775 (25) 2775 (25)

16D 16 178 5R5A 1780 (10) 1780 (10)

35D 35 276 7R6A*, 120A 7R6A* 4140 (15) 4140 (15)

45M 45 388 7R6A 1164 (3) 1164 (3)

80M 80 627

80N 80 865 2595 (3) 2595 (3)

1AM 110 1360 180A 4080 (3) 4080 (3)

1EN 150 2470

2ZN 200 3060 9180 (3) 9180 (3)

04B 4 16.2

10B 10 25.2 1008 (40) 1008 (40)

14B 14 36.9 5R5A 1660.5 (45) 1660.5 (45)

08C 8 56.5 2R8A 847.5 (15) 847.5 (15)

17C 17 78.5 5R5A 1962.5 (25) 1962.5 (25)

25C 25 111 7R6A 2775 (25) 2775 (25)

16D 16 178 5R5A 1780 (10) 1780 (10)

35D 35 276 7R6A*, 120A 7R6A* 4140 (15) 4140 (15)

02B 2 28

05B 5 51 510 (10) 510 (10)

07B 7 77 770 (10) 770 (10)

04C 4 77

10C 10 140 700 (5) 700 (5)

14C 14 220 660 (3) 660 (3)

08D 8 285 855 (3) 855 (3)

17D 17 510 1530 (3) 1530 (3)

25D 25 750 2250 (3) 2250 (3)

16E 16 930

35E 35 1430 4290 (3) 4290 (3)

45M 45 388 7R6A 1164 (3) 1164 (3)

80M 80 627

80N 80 865 2595 (3) 2595 (3)

1AM 110 1360 180A 4080 (3) 4080 (3)

1EN 150 2470

2ZN 200 3060 9180 (3) 9180 (3)

Rated

To rq ue

[N·m]

Servomotor

Rotor Moment of

Inertia J

kgm

[×10-4

]

SGD7S- SGD7W-

2R8A, 2R1F

2R8A

2R8A, 2R8F

120A

–

200A

2R8A

2R8A, 2R1F

2R8A

2R8A, 2R8F

5R5A

120A

−

200A

The ratio J

SERVOPACKs

That Support

the Dynamic Brake Hardware Option

Specifications

675.5 (35) 675.5 (35)

L/JM

theses.

201 (25) 201 (25)

1881 (3) 1881 (3)

7410 (3) 7410 (3)

405 (25) 405 (25)

280 (10) 280 (10)

770 (10) 770 (10)

2790 (3) 2790 (3)

1881 (3) 1881 (3)

7410 (3) 7410 (3)

is given in paren-

Other

SERVOPACKs

2-5

2.1 Combinations of Servomotors and SERVOPACKs

2.1.3 Combinations of Linear Servomotors and SERVOPACKs

2.1.3

Combinations of Linear Servomotors and SERVOPACKs

SERVOPACK Model Maximum Allowable Payload [kg]

−

SERVOPACKs

That Support

the Dynamic

Brake Hardware Option

Specifications

3.4 3.4

110 110

3.2 3.2

80 67

5.6 5.6

110 110

110 95

SERVOPACKs

Continued on next page.

Other

Servomotor Model

SGLG

(Coreless

Models), Used

with Standard-

Force Mag-

netic Way

SGLG

(Coreless

Models), Used

with High-

Force Mag-

netic Way

SGLF

(Models with

F-type Iron

Cores)

Rated

Force

[N]

SGLGW-30A050C 12.5 40

SGLGW-30A080C 25 80

SGLGW-40A140C 47 140 5.9 5.9

SGLGW-40A253C 93 280

SGLGW-40A365C 140 420

SGLGW-60A140C 70 220

SGLGW-60A253C 140 440

SGLGW-60A365C 210 660 5R5A 48 48

SGLGW-90A200C 325 1300 120A

SGLGW-90A370C 550 2200 180A 190 190

SGLGW-90A535C 750 3000 200A 260 260

SGLGW-40A140C 57 230

SGLGW-40A253C 114 460

SGLGW-40A365C 171 690 3R8A 5R5A 58 58

SGLGW-60A140C 85 360

SGLGW-60A253C 170 720 3R8A 5R5A 61 61

SGLGW-60A365C 255 1080 7R6A 91 91

SGLFW-20A090A 25 86

SGLFW-20A120A 40 125 4.8 4.8

SGLFW-35A120A 80 220 8.7 8.7

SGLFW-35A230A 160 440 3R8A 5R5A 29 29

SGLFW-50A200B 280 600 5R5A 40 33

SGLFW-50A380B

SGLFW-1ZA200B 82 66

SGLFW-1ZA380B 1120 2400 200A 160 78

SGLFW2-30A070A 45 135

SGLFW2-30A120A 90 270 11 9.4

SGLFW2-30A230A*

SGLFW2-45A200A 280 840 5R5A 64 58

SGLFW2-45A380A* 560

LFW2-90A200A 560 1680 140 130

SGLFW2-90A380A 1120 3360 200A 290 160

SGLFW2-90A560A 1680 5040 330A 440 360

SGLFW2-1DA380A 1680 5040 200A 710 690

SGLFW2-1DA560A 2520 7560 330A 1000 1000

560 1200 120A

180 540 3R8A − 34 34

170 500

Instanta-

neous Maxi-

mum Force

[N]

1680 180A

1500

SGD7S- SGD7W-

R70A,

R70F

R90A,

R90F

1R6A,

2R1F

2R8A,

2R8F

1R6A,

2R1F

2R8A,

2R8F

1R6A,

2R1F

2R8A,

2R8F

1R6A,

2R1F

1R6A,

2R1F

1R6A,

2R1F

2R8A,

2R8F

120A

1R6A 1.7 1.7

1R6A

1R6A 12 12

2R8A 18 18

1R6A 9.9 9.9

2R8A 19 19

1R6A 12 12

2R8A 24 24

1R6A 18 18

1R6A

2R8A 20 10

2-6

2.1 Combinations of Servomotors and SERVOPACKs

Selecting a SERVOPACK

2.1.3 Combinations of Linear Servomotors and SERVOPACKs

SERVOPACK Model Maximum Allowable Payload [kg]

Rated

Servomotor Model

SGLTW-20A170A 130 380 3R8A 5R5A 25 25

SGLTW-20A320A 250 760 7R6A 50 50

SGLTW-20A460A 380 1140 120A − 76 76

SGLTW-35A170A 220 660

SGLTW-35A170H 300 600 40 33

SGLT

(Models with

T- t y pe Ir on

Cores)

* The force depends on the SERVOPACK that is used with the Servomotor.

SGLTW-35A320A 440 1320

SGLTW-35A320H 600 1200 82 67

SGLTW-35A460A 670 2000

SGLTW-40A400B 670 2600 280 280

SGLTW-40A600B 1000 4000 330A − 440 440

SGLTW-50A170H 450 900 5R5A 95 92

SGLTW-50A320H 900 1800 120A

SGLTW-80A400B 1300 5000 330A 690 690

SGLTW-80A600B 2000 7500 550A 1000 1000

Force

[N]

Instanta-

neous Maxi-

mum Force

[N]

SGD7S- SGD7W-

5R5A

120A

180A

Continued from previous page.

SERVOPACKs

That Support

the Dynamic

Brake Hardware Option

Specifications

44 44

88 88

−

130 130

190 190

Other

SERVOPACKs

2-7

2.2 External Dimensions

Two sets of terminals

160

168

Ground terminals 2 × M4

170

(4)

(75)

20±0.5 (mounting pitch)

168

160±0.5 (mounting pitch)

2×M4

Exterior

Mounting Hole Diagram

Unit: mm

Approx. mass: 1.0 kg

2.2

External Dimensions

All SERVOPACKs that support the dynamic brake hardware option specifications are basemounted. The external dimensions are the same for all interfaces.

•

Three-Phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A

Note: There are no dynamic brake resistor terminals.

168

Ground terminals 2 × M4

160

Two sets of terminals

(75)

140

(4)

168

160 ±0.5 (mounting pitch)

Mounting Hole Diagram

• Three-Phase, 200 VAC: SGD7S-2R8A; Single-Phase, 100 VAC: SGD7S-R70F, -R90F, and

-2R1F

Note: There are no dynamic brake resistor terminals.

2×M4

Exterior

10 ±0.5 (mounting pitch)

Approx. mass: 0.8 kg

Unit: mm

2-8

2.2 External Dimensions

Selecting a SERVOPACK

Two sets of terminals

Ground terminals 2 × M4

160

168

(75)

180

(4)

(25)

Dynamic brake resistor terminals

Unit: mm

Approx. mass: 1.6 kg

3×M4

168

160±0.5

(mounting pitch)

Exterior

58±0.5

(mounting pitch)

Mounting Hole Diagram

Dynamic brake resistor terminals

Two sets of terminals

Ground terminals 2 × M4

160

168

(75)

180

(4)

(25)

Unit: mm

Approx. mass: 1.6 kg

3×M4

168

160±0.5

(mounting pitch)

80±0.5

(mounting pitch)

Exterior

12.5

Mounting Hole Diagram

•

Three-Phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A; Single-Phase, 100 VAC: SGD7S-2R8F

•

Three-Phase, 200 VAC: SGD7S-120A

2-9

2.2 External Dimensions

(24)

(110°)

100

180

188

(75)

180

(4)

3×M4

188

12.5

100

Unit: mm

Approx. mass: 2.7 kg

Dynamic brake resistor terminals

Ground terminals 2 × M4

180±0.5

(mounting pitch)

82.5±0.5

(mounting pitch)

75±0.5

(mounting pitch)

Exterior

Mounting Hole Diagram

(110°)

(30)

250

258

110

(75)

210

(5)

4×M5

258

110

Unit: mm

Approx. mass: 4.4 kg

Dynamic brake resistor terminals

Ground terminals 2 × M4

250±0.5

(mounting pitch)

100±0.5

(mounting pitch)

84±0.5

(mounting pitch)

Exterior

Mounting Hole Diagram

•

Three-Phase, 200 VAC: SGD7S-180A and -200A

• Three-Phase, 200 VAC: SGD7S-330A

2-10

Selecting a SERVOPACK

•

Unit: mm

Approx. mass: 15.5 kg

Dynamic brake resistor terminals 2 × M4

Ground terminals 2 × M6

Terminals 8 × M6

Terminals 4 × M6

260

390

(75)

210

200±0.5

(mounting pitch)

260

Mounting Hole Diagram

390

375±0.5 (mounting pitch)

Exterior

4×M6

7.5

Three-Phase, 200 VAC: SGD7S-470A and -550A

315

2.2 External Dimensions

4×M6

Exterior

315

Terminals 4 × M5

Terminals 8 × M5

Ground terminals 2 × M5

•

Three-Phase, 200 VAC: SGD7S-590A and -780A

170

Dynamic brake resistor terminals 2 × M4

(75)

210

302.5±0.5 (mounting pitch)

142±0.5

(mounting pitch)

170

Mounting Hole Diagram

Approx. mass: 8.2 kg

Unit: mm

• Three-Phase, 200 VAC: SGD7W-1R6A and -2R8A

Note: There are no dynamic brake resistor terminals.

168

160

Two sets of terminals

Ground terminals 3 × M4

(75) 180

3×M4

Exterior

168

0.5 (mounting pitch)

160

(4)

60±0.5

(mounting pitch)

Mounting Hole Diagram

Approx. mass: 1.6 kg

Unit: mm

2-11

2.2 External Dimensions

Unit: mm

Approx. mass: 2.3 kg

Dynamic brake resistor terminals (2 sets)

Ground terminals 3 × M4

Two sets of terminals

160

168

(76)

180

100 17 (4)(26)

100

90±0.5

(mounting pitch)

Mounting Hole Diagram

3×M4

Exterior

168

160±0.5

(mounting pitch)

• Three-Phase, 200 VAC: SGD7W-5R5A and -7R6A

2-12

Selecting a Dynamic Brake Resistor

This chapter describes the flow and selection methods used to select an external dynamic brake resistor.

3.1

3.2

3.3

3.4

3.5

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

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

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

3.3.1 How to Determine the Resistance of the Dynamic

Brake Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.3.2 Brake Torque and Dynamic Brake Resistance

Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Calculating the Energy Consumption of the Dynamic Brake Resistor . .3-14

Presenting the Required Specifications to the Resistor Manufacturer . . 3-15

3.1 Precautions

WARNING

CAUTION

3.1

Precautions

 Use an external dynamic brake resistor that matches the specifications for the relevant

equipment or machine. Always evaluate the dynamic brake operation on the actual equipment or machine to confirm that there are no problems with the coasting distance or durability of the dynamic brake resistor. If necessary, select another dynamic brake resistor and install any necessary safety devices in the machine.

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

 The dynamic brake resistor cannot be used if the motor is turned by the machine after stop-

ping due to a power interruption or error. Coast the motor to a stop instead.

Failure to do so may cause the dynamic brake resistor or SERVOPACK to burn or may cause injury.

 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.

3-2

3.2 Selection Flow

Selecting a Dynamic Brake Resistor

This concludes the selection process.

1. Determine the resistance of the dynamic brake resistor.

3.3 Determining the Resistance of the Dynamic Brake Resistor on page 3-4

2. Calculate the energy consumption of the dynamic brake resistor.

3.4 Calculating the Energy Consumption of the Dynamic Brake Resistor on page 3-14

3. Present the required specifications to the resistor manufacturer.

3.5 Presenting the Required Specifications to the Resistor Manufacturer on page 3-15

3.2

Selection Flow

Follow these steps to select an appropriate external dynamic brake resistor.

Note: Refer to the following section for information on calculating the dynamic brake coasting distance.

8.1 Monitor Displays for the Dynamic Brake Hardware Option Specifications on page 8-2

3-3

3.3 Determining the Resistance of the Dynamic Brake Resistor

WARNING

Important

Example

Instantaneous maximum

dynamic brake force [N]

Dynamic brake resistance [Ω]

5101520253035400

3000

500

1000

1500

2000

2500

SGLTW-80A600B

9 Ω

3.3.1 How to Determine the Resistance of the Dynamic Brake Resistor

3.3

3.3.1

Determining the Resistance of the Dynamic Brake Resistor

How to Determine the Resistance of the Dynamic Brake Resistor

Refer to the Servomotor’s characteristic graph to determine the dynamic brake resistance that will satisfy the restrictions to the instantaneous maximum brake torque of the equipment or machine.

Refer to the following section for Servomotor characteristic graphs.

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics on page 3-5

 Do not set the resistance of the dynamic brake resistor to a value less than the minimum

allowed resistance.

There is a risk of burning in the SERVOPACK or Servomotor, damage to the machine, or injury.

• Increasing the dynamic brake resistance will also increase the coasting distance proportionally.

• The SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, and SGD7W-1R6A to -2R8A do not sup-

port a dynamic brake. For these SERVOPACKs, the brake torque is limited to the friction of the Servomotor and the equipment or machine.

If the brake torque does not require reduction, set the resistance of the connected dynamic brake resistor as shown in the following table.

Minimum Allowed

SGD7S-

SGD7W-

Model

R70A to 2R8A, R70F to 2R8F

3R8A to 7R6A

120 A (three-phase input) 3.5

180A to 200A 3

330A 1.5

470A to 550A 1

590A to 780A 0.6

1R6A to 2R8A –

5R5A to 7R6A 6

Under the following conditions, the dynamic brake resistance would be 9 Ω.

• Linear Servomotor Model: SGLTW-80A600B

• Brake force limit: 2000 N

Dynamic Brake Resistance (±5%)

–

3-4

3.3 Determining the Resistance of the Dynamic Brake Resistor

Selecting a Dynamic Brake Resistor

0.0

0.5

1.0

1.5

2.0

2.5

3.0

3.5

4.0

0 40 80 120 160 200 240

SGM7G-05A

SGM7G-03A

0 40 80 120 160 200 240

SGM7J-06A

SGM7P-08A

SGM7A-08A

SGM7J-08A

SGM7A-06A

0 20 40 60 80 100 120 140

SGM7A-10A

SGM7P-15A

SGM7G-13A

SGM7A-15A

0 20 40 60 80 100 120

SGM7G-30A

SGM7A-30A

SGM7A-25A

0102030405060

SGM7G-30A

SGM7A-50A

SGM7A-40A

0.0

0.5

1.0

1.5

2.0

2.5

3.0

3.5

4.0

0 40 80 120 160 200 240

SGM7J-04A

SGM7P-02A

SGM7P-04A

SGM7A-04A

0 40 80 120 160 200 240

0 20 40 60 80 100 120

SGM7G-20A

SGM7A-20A

SGM7G-09A

SGM7G-44A

Dynamic brake resistance [Ω]

SGD7S-3R8A, SGD7W-5R5A, 7R6A

Dynamic brake resistance [Ω]

SGD7S-5R5A, SGD7W-5R5A, 7R6A

Dynamic brake resistance [Ω]

SGD7-7R6A

Dynamic brake resistance [Ω]

SGD7S-120A

Dynamic brake resistance [Ω]

SGD7S-180A

Dynamic brake resistance [Ω]

SGD7S-200A

Dynamic brake resistance [Ω]

SGD7S-330A

Dynamic brake resistance [Ω]

SGD7W-5R5A, 7R6A

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics

3.3.2

Brake Torque and Dynamic Brake Resistance Characteristics

The following figures show the relationship between the instantaneous maximum dynamic brake torque and dynamic brake resistance of the Servomotor.

For Rotary Servomotors

The following graphs show the Servomotors that can be used with each model of SERVOPACK.

3-5

3.3 Determining the Resistance of the Dynamic Brake Resistor

0 5 10 15 20 25 30 35 40

SGM7G-75A

SGM7A-70A

0 4 8 12 16 20 24

100

120

140

SGM7G-1AA

100

120

140

160

180

0 4 8 12 16 20 24

SGM7G-1EA

0 5 10 15 20 25 30 35 40

SGM7G-55A

Dynamic brake resistance [Ω]Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

SGD7S-550A

Dynamic brake resistance [Ω]

SGD7S-590A

Dynamic brake resistance [Ω]

SGD7S-780A

SGD7S-470A

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics

3-6

3.3 Determining the Resistance of the Dynamic Brake Resistor

Selecting a Dynamic Brake Resistor

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics

For Direct Drive Servomotors

The following graphs show the Servomotors that can be used with each model of SERVOPACK.

 SGD7-5R5A

Instantaneous maximum

dynamic brake torque [Nm]

0 40 80 120 160 200 240

180

160

140

120

100

Instantaneous maximum

dynamic brake torque [Nm]

0 40 80 120 160 200 240

SGMCV-16DA or SGM7F-16D

Dynamic brake resistance [Ω]

SGMCS-35E

SGMCV-14BA or SGM7F-14BA

SGMCV-17CA or SGM7F-17CA

Dynamic brake resistance [Ω]

A

B or SGM7E-35EA

Instantaneous maximum

dynamic brake torque [Nm]

0 40 80 120 160 200 240

SGMCS-16EB or SGM7E-16E

Dynamic brake resistance [Ω]

A



SGD7-7R6A

Instantaneous maximum

dynamic brake torque [Nm]

0 40 80 120 160 200 240

SGMCV-35DA or SGM7F-35DA

Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake torque [Nm]

0 40 80 120 160 200 240

SGMCS-45MA or SGM7F-45MA

SGMCV-25CA or SGM7F-25CA

Dynamic brake resistance [Ω]

3-7

3.3 Determining the Resistance of the Dynamic Brake Resistor

100

120

140

160

100

120

140

0 20 40 60 80 100 120 140

Dynamic brake resistance [Ω]

0 20 40 60 80 100 120 140

Dynamic brake resistance [Ω]

0 20 40 60 80 100 120 140

Dynamic brake resistance [Ω]

0 20 40 60 80 100 120 140

Dynamic brake resistance [Ω]

0 20 40 60 80 100 120 140

Dynamic brake resistance [Ω]

0 20 40 60 80 100 120 140

Dynamic brake resistance [Ω]

0 20 40 60 80 100 120 140

Dynamic brake resistance [Ω]

SGMCS-80NA or SGM7F-80NA

SGMCS-80MA or SGM7F-80MA

SGM7D-30FC

SGM7D-30LC

SGMCV-35DA or SGM7F-35D

A

SGM7D-1AFC

SGM7D-90FC

SGM7D-58FC

SGM7D-18GC

SGM7D-08GC

SGM7D-45GC

SGM7D-34GC

SGM7D-24GC

SGM7D-09JC SGM7D-06JC

SGM7D-38JC SGM7D-20JC SGM7D-18JC

SGM7D-1ZIC SGM7D-70IC SGM7D-28IC

SGM7D-2DIC SGM7D-2BIC SGM7D-1CIC

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics



SGD7S-120A

3-8

Selecting a Dynamic Brake Resistor



100

150

200

250

100

150

200

250

300

350

400

450

0 20 40 60 80 100 120 0 20 40 60 80 100 120

Dynamic brake resistance [Ω] Dynamic brake resistance [Ω]

SGMCS-1AMA or SGM7F-1AMA

SGMCS-2ZNA or SGM7F-2ZNA

SGMCS-1ENA or SGM7F-1ENA

Instantaneous maximum

dynamic brake torque [Nm]

Instantaneous maximum

dynamic brake torque [Nm]

SGD7S-180A

3.3 Determining the Resistance of the Dynamic Brake Resistor

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics

3-9

3.3 Determining the Resistance of the Dynamic Brake Resistor

0 40 80 120 160 200 240

04080

120

160 200 240

200

400

600

800

1000

0 40 80 120 160 200 240

100

150

200

250

300

350

120

160

SGLGW-60A253C*

SGLFW-35A230A

SGLFW2-30A230A

SGLGW-40A365C*

SGLTW-20A170A

Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

200

400

600

800

1000

40 80 120 160 200 240

SGLGW-60A365C

40 80 120 160 200 2400

100

150

200

250

300

40 80 120 160 200 2400

100

200

300

400

SGLTW-50A170H

SGLTW-35A170H

SGLTW-35A170A

SGLFW2-45A200A

SGLFW-50A200B

Dynamic brake resistance [Ω] Dynamic brake resistance [Ω]

Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics

For Linear Servomotors

The following graphs show the Servomotors that can be used with each model of SERVOPACK.



SGD7S-3R8A, SGD7W-2R8A, and SGD7W-5R5A

* These values are for combinations with High-Force Magnetic Ways.



SGD7-5R5A

3-10

3.3 Determining the Resistance of the Dynamic Brake Resistor

Selecting a Dynamic Brake Resistor

200

400

600

800

1000

1200

100

150

200

250

300

350

SGLGW-60A365C*

0 40 80 120 160 200 240 0 40 80 120 160 200 240

SGLTW-20A320A

Dynamic brake resistance [Ω] Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

40 80 120

400

800

1200

1600

SGLGW-90A200C

40 80 120

200

400

600

800

SGLTW-50A320H

SGLTW-35A320H

SGLTW-35A320A

SGLTW-20A460A

100

200

300

400

500

600

700

40 80 120

SGLFW2-90A200A

SGLFW2-45A380A

SGLFW-1ZA200B

SGLFW-50A380B

Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics



SGD7-7R6A

* These values are for combinations with High-Force Magnetic Ways.



SGD7S-120A

3-11

3.3 Determining the Resistance of the Dynamic Brake Resistor

100

200

300

400

500

600

700

200

400

600

800

1000

20 40 60 80 100 120

500

1000

1500

2000

2500

SGLFW2-45A380A

SGLTW-40A400B

SGLTW-35A460A

SGLGW-90A370C

Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

500

1000

1500

2000

2500

3000

20 40 60 80 100 120

SGLGW-90A535C

400

800

1200

1600

2000

0 20 40 60 80 100 120

SGLFW2-1DA380A

SGLFW2-90A380A

SGLFW-1ZA380B

Dynamic brake resistance [Ω] Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

01020 30405060

3000

500

1000

1500

2000

2500

SGLFW2-1DA560A

SGLFW2-90A560A

10 20 30 40 50 60

400

800

1200

1600

2000

SGLTW-80A400B

SGLTW-40A600B

Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

Instantaneous maximum

dynamic brake force [N]

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics



SGD7S-180A

3-12



SGD7S-200A



SGD7S-330A

Selecting a Dynamic Brake Resistor



5101520253035400

3000

500

1000

1500

2000

2500

SGLTW-80A600B

Dynamic brake resistance [Ω]

Instantaneous maximum

dynamic brake force [N]

SGD7S-550A

3.3 Determining the Resistance of the Dynamic Brake Resistor

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics

3-13

3.4 Calculating the Energy Consumption of the Dynamic Brake Resistor

EDB = ×

1 2

+ mL) × v

3.4

Calculating the Energy Consumption of the Dynamic Brake Resistor

Calculate the energy that must be consumed by the resistance for one dynamic brake stop.

To simplify the energy consumption calculation, assume that all the kinetic energy until the Servomotor stops is consumed by the dynamic brake resistor and use the following formula. Out of all possible operation patterns, use the one which maximizes the kinetic energy of the Servomotor.

Rotary Servomotors

Energy consumption of the dynamic brake resistor: EDB [J]

Motor moment of inertia*: JM [kgm2]

Load inertia: J

Motor speed just before stopping with the dynamic brake: N [min

* For detailed information on the motor moment of inertia, refer to the catalog or Servomotor product manual.

Linear Servomotors

Energy consumption of the dynamic brake resistor: EDB [J]

Moving Coil mass*: m

Load mass: m

Motor speed just before stopping with the dynamic brake: v [m/s]

* For detailed information on Moving Coil mass, refer to the catalog or Servomotor product manual.

[kgm2]

[kg]

EDB = ×

+ JL) ×

-1

]

× N

)

2π

(

3-14

3.5 Presenting the Required Specifications to the Resistor Manufacturer

Selecting a Dynamic Brake Resistor

Example

Resistor Energy

Consumption

Model Inquiries Manufacturer

1,000 J max. RH120 Series

Yaskawa Controls Co., Ltd.

Iwaki Musen Kenkyusho Co., Ltd.

2,000 J max. RH220 Series

10,000 J max. RH500 Series

3.5

Presenting the Required Specifications to the Resistor Manufacturer

Provide the following information to the manufacturer of your resistors and select a dynamic brake resistor that is appropriate for the required specifications.

Required Information for Resistor Selection Reference

Resistance [Ω]

Resistor energy consumption for one operation of the

dynamic brake [J]

Number of dynamic brake operations (estimated number of emergency stops required during the product life of your system)

Wire sizes and crimped terminals

Note: The applicable wire sizes depend on the SERVOPACK

model.

Resistor Selection Example for a Dynamic Brake That Operates 1,000 Times

Refer to the following manual for the external dimensions of the dynamic brake resistor and other parts in the selection example.

-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)

3.3 Determining the Resistance of the Dynamic Brake Resistor on page 3-4

3.4 Calculating the Energy Consumption of the Dynamic Brake Resistor on page 3-14

−

4.2.1 Terminal Symbols and Terminal Names on page 4-5

4.2.2 Wire Sizes and Tightening Torques on page 4-5

3-15

Wiring and Connecting a Dynamic Brake Resistor

This chapter provides information required to wire and connect dynamic brake resistors.

4.1

4.2

Wiring and Connecting SERVOPACKs . . . . 4-2

Dynamic Brake Resistor Connections . . . . 4-5

4.2.1 Terminal Symbols and Terminal Names . . . . . . . . 4-5

4.2.2 Wire Sizes and Tightening Torques . . . . . . . . . . . 4-5

4.2.3 Crimp Terminals and Insulating Sleeves . . . . . . . 4-6

4.2.4 Dynamic Brake Resistor Connector Wiring

Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4.2.5 Connecting Dynamic Brake Resistors . . . . . . . . . 4-9

4.1 Wiring and Connecting SERVOPACKs

DANGER

WARNING

4.1

Wiring and Connecting SERVOPACKs

 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 and the L1C and L2C terminals on the SERVOPACK.

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

There is a risk of failure or fire.

 If you use a SERVOPACK that supports the dynamic brake hardware option specifications,

connect an external dynamic brake resistor that is suitable for the machine and equipment specifications to the specified terminals.

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

4-2

4.1 Wiring and Connecting SERVOPACKs

Wiring and Connecting a Dynamic Brake Resistor

CAUTION

NOTICE

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

100-VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit 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.

 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.

4-3

4.1 Wiring and Connecting SERVOPACKs

Important

• 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 following manual for information on the specified cables.

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

• The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not subject them to excessive bending stress or tension.

4-4

4.2 Dynamic Brake Resistor Connections

Wiring and Connecting a Dynamic Brake Resistor

CAUTION

4.2.1 Terminal Symbols and Terminal Names

4.2

4.2.1

Dynamic Brake Resistor Connections

Connectors or terminal blocks are used to wire a dynamic brake resistor.

The SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, and SGD7W-1R6A to -2R8A do not support the dynamic brake hardware option specifications, so they do not have any dynamic brake resistor terminals.

For the SGD7S-3R8A to -330A and SGD7W-5R5A to -7R6A, connect the external dynamic brake resistor with the enclosed connectors.

For the SGD7S-470A to -780A, connect the external dynamic brake resistor using the terminal block.

The location and dimensions depend on the model of the SERVOPACK. Refer to the following sections for details.

1.3 Part Names on page 1-4

2.2 External Dimensions on page 2-8

For information on connections other than to the dynamic brake resistor terminals, refer to the standard SERVOPACK product manual.

Termina l S ymbols a n d Termina l N a mes

 Wire all connections correctly according to the following table.

If the wiring is not correct, there is a risk of SERVOPACK failure or fire.

SERVOPACK

Models

SGD7S- D1 and D2

SGD7W-

4.2.2

Wire Sizes and Tightening Torques

SERVOPACK Models

SGD7S-

SGD7W-

* Any wire sizes within the ranges given in this table can be used for the external dynamic brake resistor.

Ter mi na l Symbols

D1A and D2A

D1B and D2B

R70A, R90A, 1R6A, 2R8A, R70F, R90F, 1R6F, and 2R8F

3R8A, 5R5A, 7R6A, 120A, 180A, 200A, and 330A

470A and 550A D1 and D2

590A and 780A D1 and D2

1R6A and 2R8A - (There are no D1A, D2A, D1B, and D2B terminals.)

5R5A and 7R6A

Ter mi na l N am e Specification

Dynamic Brake Resistor terminals

Dynamic Brake Resistor terminals for axis A

Dynamic Brake Resistor terminals for axis B

Ter mi na l Symbols

- (There are no D1 and D2 terminals.)

D1 and D2

D1A, D2A, D1B, and D2B

AWG14 (2.0 mm2) to AWG18 (0.9 mm

AWG12 (3.5 mm (0.9 mm

AWG12 (3.5 mm2) to AWG18 (0.9 mm

AWG14 (2.0 mm (0.9 mm

These terminals are used to connect an external dynamic brake resistor for a Σ-7S SERVOPACK.

Note: The SGD7S-R70A to -2R8A and -R70F to -2R8F

SERVOPACKs do not have D1 and D2 terminals.

These terminals are used to connect an external dynamic brake resistor for a Σ-7W SERVOPACK.

Note: The SGD7W-1R6A to -2R8A SERVOPACKs do

not have D1A, D2A, D1B, and D2B terminals.

Wire Size

) to AWG18

Screw

Size

––

M4 1.0 to 1.2

M4 1.6 to 1.8

––

Tightening

To rq ue

[Nm]

4-5

4.2 Dynamic Brake Resistor Connections

4.2.3 Crimp Terminals and Insulating Sleeves

4.2.3

Crimp Terminals and Insulating Sleeves

For SGD7S-470A to -780A SERVOPACKs, use crimped terminals and insulating sleeves to connect the dynamic brake resistor to the terminal block. Do not allow the crimp terminals to come close to adjacent terminals or the case.

To comply with UL standards, you must use UL-compliant closed-loop crimp terminals and insulating sleeves for the main circuit terminals. Use the tool recommended by the crimp terminal manufacturer to attach the crimp terminals.

The following tables give the recommended tightening torques, closed-loop crimp terminals, and insulating sleeves in sets. Use the set that is suitable for your model and wire size.

If you use a SERVOPACK that supports the dynamic brake hardware option specifications and connect an external dynamic brake resistor, refer to the following section.

SERVOPACK Models

470A and 550A

SGD7S-

590A and 780A

Screw

Size

Tighten-

ing

To rq ue

[Nm]]

1.0 to

1.2

1.6 to

1.8

Crimp Termi-

nal Horizon-

tal Width

9.9 mm max.

10.6 mm max.

Recom-

mended Wire

Size

AWG12 (3.5 mm

AWG14 (2.0 mm

AWG16 (1.25 mm

AWG18 (0.9 mm

AWG12 (3.5 mm

AWG14 (2.0 mm

AWG16 (1.25 mm

AWG18 (0.9 mm

)

Crimp

Ter mi na l

Model

From J.S.T. Mfg.

5.5-S4

R2-4

R1.25-4

5.5-S4

R2-4

R1.25-4

Crimping

Tool

Co., Ltd.

YHT-2210

Insulating

Sleeve

Model

From

Tok y o D i p

Co., Ltd.

TP-005

TP-003

TP-005

TP-003

4-6

4.2 Dynamic Brake Resistor Connections

Wiring and Connecting a Dynamic Brake Resistor

2 dia.

1 dia.

D dia.

4.2.3 Crimp Terminals and Insulating Sleeves

Crimp Terminal Dimensional Drawing

 Crimp Terminal Models: R1.25-4, R2-4, and 5.5-S4

Crimp

Ter mi na l

Model

R1.25-4

R2-4 8.5 16.8 7.8 4.1 2.3

d2 dia. B L F E D dia. d1 dia. T

8 15.8 7

4.3

Dimensions (mm)

4.8

3.4 1.7

0.8

5.5-S4 7.2 15.7 5.9 6.2 5.6 3.4 1.0

4-7

4.2 Dynamic Brake Resistor Connections

Lock

4.2.4 Dynamic Brake Resistor Connector Wiring Procedure

4.2.4

Dynamic Brake Resistor Connector Wiring Procedure

• Required Items

Required Item Remarks

• Spring Opener This is provided with the SERVOPACK. (It is attached to the dynamic brake resis-

Spring Opener or Flatblade Screwdriver

Remove the dynamic brake resistor connector from the SERVOPACK. Press and hold the lock with your finger, then pull out the connector.

tor connector.) The Spring Opener that is provided with the main circuit connector cannot be used.) (You can also use a model J-FAT-OT Spring Opener from J.S.T. Mfg. Co., Ltd.)

• Flat-blade screwdriver Commercially available screwdriver with tip width of 3.0 mm to 3.5 mm

Remove the sheath from the wire to connect.

8 mm to 9 mm

Open the wire insertion hole on the terminal connector with the tool. There are the following two ways to open the insertion hole. Use either method.



Using a Spring Opener

Press the Spring Opener in the direction of the arrow to open the connector.

Spring Opener

Wire

Insert the conductor into the wire insertion hole. Then, remove the Spring Opener or flat-



Using a Flat-blade Screwdriver

Firmly insert a flat-blade screwdriver into the screwdriver insertion hole to open the wire insertion hole.

blade screwdriver.

4-8

Make all other connections in the same way.

When you have completed wiring, attach the connectors to the SERVOPACK.

4.2 Dynamic Brake Resistor Connections

Wiring and Connecting a Dynamic Brake Resistor

WARNING

CAUTION

4.2.5 Connecting Dynamic Brake Resistors

4.2.5

Connecting Dynamic Brake Resistors

 Wire dynamic brake resistors correctly. Do not connect the following terminals directly to

each other: D1 and D2, D1A and D2A, or D1B and D2B.

There is a risk of burning in the SERVOPACK or Servomotor, damage to the machine, or injury.

 Mount dynamic brake resistors only on nonflammable materials. Do not mount them on or

near any flammable material.

There is a risk of fire.

 SERVOPACK Models SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A,

-200A, and -330A

Connect the dynamic brake resistor to the D1 and D2 terminals on the SERVOPACK.

Note: 1. The D1 terminal is connector pin 1, and the D2 terminal is connector pin 3. Do not connect any-

thing to pin 2 (the center pin).

2. Terminal labels (D1 and D2) are provided on the dynamic brake resistor connector.

Set Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) and Pn604 (Dynamic Brake Resistance).

Refer to the following section for details on the settings.

5.4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor on page 5-7

 SERVOPACK Models SGD7S-470A, -550A, -590A, and -780A

Connect the dynamic brake resistor to the D1 and D2 terminals on the SERVOPACK.

Note: Terminal labels (D1 and D2) are provided on the dynamic brake resistor connector.

Set Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) and Pn604 (Dynamic Brake Resistance).

Refer to the following section for details on the settings.

5.4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor on page 5-7

4-9

4.2 Dynamic Brake Resistor Connections

4.2.5 Connecting Dynamic Brake Resistors

 SERVOPACK Models SGD7W-5R5A, and -7R6A

Connect dynamic brake resistors to the D1A and D2A terminals and the D1B and D2B terminals on the SERVOPACK.

Note: 1. The D1 terminal is connector pin 1, and the D2 terminal is connector pin 3. Do not connect

anything to pin 2 (the center pin).

2. Terminal labels (D1 and D2) are provided on the dynamic brake resistor connector.

Set Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) and Pn604 (Dynamic Brake Resistance) for each axis.

Refer to the following section for details on the settings.

5.4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor on page 5-7

4-10

Basic Functions That Require Setting before Operation

This chapter describes the setting methods for the following settings, which are some of the required settings before operating the servo system: the dynamic brake resistances and the stopping methods used when the servo is turned OFF, when an alarm occurs, and when overtravel occurs.

5.1

5.2

5.3

5.4

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Motor Stopping Methods for Servo OFF and Alarms . . 5-3

5.2.1 Stopping Method for Servo OFF . . . . . . . . . . . . . 5-4

5.2.2 Servomotor Stopping Method for Alarms . . . . . . 5-4

Motor Stopping Method for Overtravel . . . . 5-6

Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor . . 5-7

5.1 Outline

5.1

Outline

This section describes the settings related to dynamic braking. These settings must be made before operating a servo system. For information on basic functions not listed in the following table, refer to the standard SERVOPACK product manual.

Function Reference

Stopping Method for Servo OFF

Servomotor Stopping Method for Alarms

Motor Stopping Method for Overtravel

Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor

5.2.1 Stopping Method for Servo OFF on page 5-4

5.2.2 Servomotor Stopping Method for Alarms on page 5-4

5.3 Motor Stopping Method for Overtravel on page 5-6

5.4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor on page 5-7

5-2

5.2 Motor Stopping Methods for Servo OFF and Alarms

Basic Functions That Require Setting before Operation

Important

Condition

Servomotor Stopping Method

SGD7S-R70A,

-R90A, -1R6A,

-2R8A, -R70F,

-R90F, -2R1F,

and -2R8F, and

SGD7W-1R6A

and -2R8A

SGD7S-3R8A, -5R5A, -7R6A,

-120A, -180A, and -200A,

and SGD7W-5R5A and -7R6A

SGD7S-330A, -470A, -550A,

-590A, and -780A

External Dynamic Brake

Resistor

External Dynamic Brake

Resistor

Not connected Connected Not connected Connected

Main circuit power supply turned OFF before turning OFF the servo

Coasts to a stop.

Stops with the dynamic brake.

Coasts to a stop.

Stops with the dynamic brake.

Control power supply turned OFF before turning OFF the servo

Coasts to a stop.

5.2 Motor Stopping Methods for Servo OFF and Alarms

Set the parameters to specify the motor stopping methods to use when the servo is turned OFF and when an alarm occurs. Refer to the following sections for details on settings.

5.2.1 Stopping Method for Servo OFF on page 5-4

5.2.2 Servomotor Stopping Method for Alarms on page 5-4

There are the following four stopping methods.

Motor Stopping Method Meaning

Stopping by Applying the Dynamic Brake

Coasting to a Stop The motor stops naturally due to friction during operation.

Zero-Speed Stop The speed reference is set to 0 to stop the Servomotor quickly.

Decelerating to a Stop Emergency stop torque is used to decelerate the motor to a stop.

There are the following three conditions after stopping.

Status after Stopping Meaning

Dynamic Brake Applied The electric circuits are internally connected to hold the Servomotor.

Coasting

Zero Clamping

The electric circuits are internally connected to stop the Servomotor quickly.

The SERVOPACK does not control the Servomotor. (The machine will move in response to a force from the load.)

A position loop is created and the Servomotor remains stopped at a position reference of 0. (The current stop position is held.)

• The dynamic brake is used for emergency stops. The dynamic brake circuit will operate frequently if the power supply is turned ON and OFF or the servo is turned ON and OFF to start and stop the Servomotor while a reference input is applied. This may result in deterioration of the elements inside the SERVOPACK. Use speed input references or position references to start and stop the Servomotor.

• To minimize the coasting distance of the Servomotor to come to a stop when an alarm occurs, zero-speed stopping is the default method for alarms to which it is applicable. However, depending on the application, stopping with the dynamic brake may be more suitable than using a zero-speed stop. For example, when coupling two shafts (twin-drive operation), machine damage may occur if a zero-speed stopping alarm occurs for one of the coupled shafts and the other shaft stops with a dynamic brake. In such cases, change the stopping method to the dynamic brake.

• If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo for a SERVOPACK that supports the dynamic brake hardware option specifications, the Servomotor stopping method depends on the SERVOPACK model as shown in the following table.

5-3

5.2 Motor Stopping Methods for Servo OFF and Alarms

5.2.1 Stopping Method for Servo OFF

5.2.1

Stopping Method for Servo OFF

Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method).

To use the dynamic brake to stop the motor, set Pn001 to n.0 or n.1.

For a SERVOPACK that does not support a dynamic brake or for a SERVOPACK that supports an external dynamic brake but to which an external dynamic brake resistor is not connected, set Pn001 to n.2 (Coast the motor to a stop without the dynamic brake).

The default settings are different for different SERVOPACK models.

• SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, and SGD7W-1R6A to -2R8A (no dynamic

brake): Pn001 = n.2

• SGD7S-3R8A to -780A and SGD7W-5R5A to -7R6A (external dynamic brake resistor):

Pn001 = n.0

Parameter



Pn001

* If an external dynamic brake resistor is not connected, the Servomotor will coast to a stop.

Note: 1. If Pn001 is set to n.0 (Stop the motor by applying the dynamic brake) and the Servomotor is stopped

or operates at a low speed, braking force may not be generated, just like it is not generated for coasting to a stop.

2. If Pn001 is set to n.0 (Stop the motor by applying the dynamic brake) when using an SGD7S-R70A

to -2R8A, SGD7S-R70F to -2R8F, or SGD7W-1R6A to -2R8A, an A.042 (Parameter Combination Error) alarm will occur.



1 Coasting



2 Coasting Coasting

Servomotor Stop-

ping Method

Dynamic brake*

Status after

Servomotor Stops

Dynamic brake*

When

Enabled

After restart Setupn.

Classifi-

cation

5.2.2

Servomotor Stopping Method for Alarms

There are two types of alarms, group 1 (Gr. 1) alarms and group 2 (Gr. 2) alarms. A different parameter is used to set the stopping method for alarms for each alarm type.

To determine if the triggered alarm is Gr.1 or Gr.2, refer to the standard SERVOPACK product manual.

Motor Stopping Method for Group 1 Alarms

When a group 1 alarm occurs, the Servomotor will stop according to the setting of Pn001 = n.X. The default setting is to stop by applying the dynamic brake.

Refer to the following section for details.

5.2.1 Stopping Method for Servo OFF on page 5-4

Motor Stopping Method for Group 2 Alarms

When a group 2 alarm occurs, the Servomotor will stop according to the settings of the following three parameters. The default setting is for zero-speed stop.

• Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method)

• Pn00A = n.X (Motor Stopping Method for Group 2 Alarms)

• Pn00B = n.X (Motor Stopping Method for Group 2 Alarms)

However, during torque control, the group 1 stopping method is always used. If you set Pn00B to n.1 (Apply dynamic brake or coast Servomotor to a stop), you can use the same stopping method as group 1. If you are coordinating a number of Servomotors, you can use this stopping method to prevent machine damage that may result because of differences in the stopping method.

The following table shows the combinations of the parameter settings and the resulting stopping methods.

5-4

5.2 Motor Stopping Methods for Servo OFF and Alarms

Basic Functions That Require Setting before Operation

5.2.2 Servomotor Stopping Method for Alarms

Parameter

Pn00B Pn00A Pn001

n.0



(default setting)

–

1

–



(default setting)



2



*1. The default settings are different for different SERVOPACK models.

• SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, and SGD7W-1R6A to -2R8A (no dynamic brake): Pn001 =

2

• SGD7S-3R8A to -780A and SGD7W-5R5A to -7R6A (external dynamic brake resistor): Pn001 = n.

*2. If an external dynamic brake resistor is not connected, the Servomotor will coast to a stop.

Note: 1. If Pn001 is set to n.0 (Stop the motor by applying the dynamic brake) when using an SGD7S-R70A

to -2R8A, SGD7S-R70F to -2R8F, or SGD7W-1R6A to -2R8A, an A.042 (Parameter Combination Error) alarm will occur.

2. The setting of Pn00A is ignored if Pn001 is set to n.0 or n.1.

3. The setting of Pn00A = n.X is enabled for position control and speed control. During torque control, the setting of Pn00A = n.X will be ignored and only the setting of Pn001 = n.X will be used.

4. For more information on Pn406 (Emergency Stop Torque), refer to the standard SERVOPACK product manual.

5. For more information on Pn30A (Deceleration Time for Servo OFF and Forced Stops), refer to the standard SERVOPACK product manual.



2 Coasting



2 Coasting



Servomotor

Stopping Method

Zero-speed stopping

Dynamic brake

Motor is decelerated using the torque set in Pn406 as the maximum torque.

Motor is decelerated according to setting of Pn30A.

Status after

Servomo-

tor Stops

Dynamic

brake

Coasting

Dynamic

brake

Coasting

Dynamic

brake

Coasting

Dynamic

brake

Coasting

Coastingn.

Dynamic

brake

Coasting

Coastingn.

When

Classifica-

Enabled

After restart Setup

0

tion

5-5

5.3 Motor Stopping Method for Overtravel

5.3

Motor Stopping Method for Overtravel

You can set the stopping method of the Servomotor when overtravel occurs in Pn001 = n.XX (Servo OFF or Alarm Group 1 Stopping Method and Overtravel Stopping Method).

The default settings are different for different SERVOPACK models.

• SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, and SGD7W-1R6A to -2R8A (no dynamic brake): Pn001 = n.

• SGD7S-3R8A to -780A and SGD7W-5R5A to -7R6A (external dynamic brake resistor): Pn001 = n.

Pn001

*1. You cannot decelerate a Servomotor to a stop during torque control. For torque control, the Servomotor will be

stopped with the dynamic braking or coast to a stop (according to the setting of Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method)), and then the Servomotor will enter a coasting state.

*2. The Servomotor will coast to a stop if you use a SERVOPACK that does not support the dynamic brake hard-

ware option specifications (SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, or SGD7W-1R6A to -2R8A) or do not connect an external dynamic brake resistor.

*3. For detailed information on settings, refer to the standard SERVOPACK product manual.

Note: If Pn001 is set to n.0 (Stop the motor by applying the dynamic brake) when using an SGD7S-R70A to

-2R8A, SGD7S-R70F to -2R8F, or SGD7W-1R6A to -2R8A, an A.042 (Parameter Combination Error) alarm will occur.



Parameter



n.1

2

n.3

4

Refer to the standard SERVOPACK product manual for information on stopping methods other than those for overtravel.



Motor Stop-

ping Method

02 Coasting



Dynamic brake

Deceleration according to setting of

Pn406

Deceleration according to setting of

Pn30A

Coasting

Zero clamp

Coasting

Zero clamp

Coasting

Status after

Stopping

When Enabled Classification

After restart Setup

5-6

5.4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor

Basic Functions That Require Setting before Operation

WARNING

CAUTION

Position

To rq ue

Position

To rq ue

5.4

Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor

If an external dynamic brake resistor is connected, you must set Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) and Pn604 (Dynamic Brake Resistance).

 If you connect an external dynamic brake resistor, set Pn601 and Pn604 to suitable values.

Failure to set these parameters will cause A.730 (Dynamic Brake Overload) to be detected incorrectly and can destroy the external dynamic brake resistor, cause unintended operation during an emergency stop, cause damage to the machine, and cause burning or injury.

 When you select an external dynamic brake resistor, make sure that it has a suitable energy

consumption and resistance.

There is a risk of personal injury or fire.

 Mount dynamic brake resistors only on nonflammable materials. Do not mount them on or

near any flammable material.

There is a risk of fire.

Speed

Pn601

Pn604

Dynamic Brake Resistor Allowable Energy Consumption

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 65,535 10 J 0 After restart Setup

Dynamic Brake Resistance

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 65,535 10 m

0 After restart Setup

Set Pn601 to the energy consumption of the dynamic brake resistor that you calculated when selecting the connected external dynamic brake resistor or the energy consumption of the resistor as reported by the manufacturer.

Refer to the following section for details on the energy consumption of the dynamic brake resistor.

3.4 Calculating the Energy Consumption of the Dynamic Brake Resistor on page 3-14

Note: An A.042 alarm (Parameter Combination Error) will occur if Pn601 and Pn604 are not set on a SERVOPACK

that supports an external dynamic brake resistor (SGD7S-3R8A to -780A or SGD7W-5R5A to -7R6A).

5-7

Maintenance

This chapter provides information on the meaning of, causes of, and corrections for alarms related to the dynamic brake hardware option specifications.

6.1

6.2

Alarms Related to the Dynamic Brake Hardware Option Specifications . . 6-2

6.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.2 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . 6-3

Troubleshooting Based on the Operation and Conditions of the Servomotor . . 6-6

6.1 Alarms Related to the Dynamic Brake Hardware Option Specifications

6.1.1 List of Alarms

6.1

6.1.1

Alarms Related to the Dynamic Brake Hardware Option Specifications

List of Alarms

This section gives the alarm names, alarm meanings, alarm stopping methods, alarm reset possibilities, and alarm code outputs for alarms related to the dynamic brake hardware option specifications.

Servomotor Stopping Method for Alarms

Refer to the standard SERVOPACK product manual for information on the motor stopping method when an alarm occurs.

Alarm Reset Possibility

Yes: You can use an alarm reset to clear the alarm. However, this assumes that the cause of the alarm has been removed. No: You cannot clear the alarm.

List of Alarms

Alarm

Number

A.042

A.730 Dynamic Brake Overload

Parameter Combination Error

Alarm Name Alarm Meaning

• The combination of some parameters exceeds the setting range.

• The required parameters (Pn001, Pn601, and Pn604) have not been set.

When the dynamic brake was applied, the rotational or linear kinetic energy exceeded the allowable energy consumption of the dynamic brake resistor.

Servo-

motor Stop-

ping

Method

Gr.1 No HHH

Gr.1 Yes L L L

Alarm Reset

Possi-

ble?

Alarm Code

Output

ALO1 ALO2 ALO3

6-2

6.1 Alarms Related to the Dynamic Brake Hardware Option Specifications

Maintenance

6.1.2 Troubleshooting Alarms

6.1.2

Troubleshooting Alarms

This section provides information on the causes of and corrections for alarms related to the dynamic brake hardware option specifications. Contact your Yaskawa representative if you cannot solve a problem with the corrections given in the table.

Alarm Number:

Alarm Name

A.042:

Parameter Combination Error

Possible Cause Confirmation Correction

The speed of program jogging went below the setting range when the electronic gear ratio (Pn20E/Pn210) or the Servomotor was changed.

The speed of program jogging went below the setting range when Pn533 or Pn585 (Program Jogging Speed) was changed.

The movement speed of advanced autotuning went below the setting range when the electronic gear ratio (Pn20E/ Pn210) or the Servomotor was changed.

Pn001 (Basic Function Select Switch 1), Pn601 (Dynamic Brake Resistor Allowable Energy Consumption), and Pn604 (Dynamic Brake Resistance) are not set correctly.

Check to see if the detection conditions

are satisfied.

Check to see if the detection conditions

are satisfied.

Check to see if the detection conditions

are satisfied.

• Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) or Pn604 (Dynamic Brake Resistance) is set to 0, even though using the dynamic brake to stop is specified in the parameters (Pn001 = n.0 or Pn001 = n.1).

• Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) or Pn604 (Dynamic Brake Resistance) is not set to 0, even though coasting the motor to stop without using the dynamic brake is specified in the parameters (Pn001 = n.2).

Decrease the setting of

the electronic gear ratio (Pn20E/Pn210).

Increase the setting of

Pn533 or Pn585.

Decrease the setting of

the electronic gear ratio (Pn20E/Pn210).

Set Pn001 (Basic Function Select Switch 1), Pn601 (Dynamic Brake Resistor Allowable Energy Consumption), and Pn604 (Dynamic Brake Resistance) to the correct values.

Continued on next page.

Refer-

ence

–

page 7-3

6-3

6.1 Alarms Related to the Dynamic Brake Hardware Option Specifications

6.1.2 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction

The Servomotor was rotated by an external force.

Check the operation status.

When the Servomotor

A.730:

was stopped by applying the dynamic brake, the rotational or linear kinetic energy exceeded the allowable energy consumption of the dynamic brake resistor.

Use the monitor to check the allowable energy consumption of the dynamic brake resistor.

Dynamic Brake Overload (An excessive power consumption by the dynamic brake was detected.)

The external dynamic brake resistor is not connected properly.

Check the connection status.

Check to confirm that the allowable energy

consumption and Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) and Pn604 (Dynamic Brake Resistance) are not set correctly.

resistance of the con-

nected dynamic brake

resistor match the set-

tings of Pn601

(Dynamic Brake Resis-

tor Allowable Energy

Consumption) and

Pn604 (Dynamic Brake

Resistance).

A failure occurred in the SERVOPACK.

–

Continued from previous page.

Implement measures to ensure that the motor will not be rotated by an external force.

Reconsider the following:

• Reduce the Servomotor command speed.

• Decrease the moment of inertia ratio or mass ratio.

• Reduce the frequency of stopping with the dynamic brake.

• Select a suitable external dynamic brake resistor.

Connect the selected dynamic brake resistor correctly.

Set Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) and Pn604 (Dynamic Brake Resistance) to the correct values.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Refer-

ence

–

page 7-3

–

6-4

6.1 Alarms Related to the Dynamic Brake Hardware Option Specifications

Maintenance

Pn533 [min-1] 

6 10

Pn20E

Pn210



Encoder resolution

Pn20E

Pn210



Maximum motor speed [min

-1

] 

Encoder resolution

Approx. 3.66  10

Pn585 [mm/s]

Pn20E

Pn210





Pn385 [100 mm/s] Pn20E

Pn210



Linear encoder pitch [m]

Resolution of Serial Converter Unit

Approx. 6.10 10

Resolution of Serial Converter Unit

 1/3 

610

Pn20E

Pn210



Rated motor speed [min

-1

]

Encoder resolution

*1. Detection Conditions

• Rotary Servomotor

If either of the following conditions is detected, an alarm will occur.

• Linear Servomotor If either of the following conditions is detected, an alarm will occur.

*2. Detection Conditions

• Rotary Servomotor

If either of the following conditions is detected, an alarm will occur.

6.1.2 Troubleshooting Alarms

Maximum motor speed [min

・

Encoder resolution

-1

]



Approx. 3.66  10

Pn20E



Pn210

• Linear Servomotor If either of the following conditions is detected, an alarm will occur.

Rated motor speed [mm/s] Resolution of Serial Converter Unit

Linear encoder pitch [m]

Pn385 [100 mm/s]

Linear encoder pitch [m]

 1/3



Resolution of Serial Converter Unit



Approx. 6.10 10





Pn20E Pn210

6-5

6.2 Troubleshooting Based on the Operation and Conditions of the Servomotor

6.2

Troubleshooting Based on the Operation and Conditions of the Servomotor

This section provides troubleshooting for problems related to the dynamic brake hardware option specifications based on the operation and conditions of the Servomotor, including causes and corrections.

Turn OFF the Servo System before troubleshooting the items shown in bold lines in the table.

Problem Possible Cause Confirmation Correction Reference

Dynamic Brake Does Not Operate

An External Dynamic Brake Resistor Cannot Be Connected

The setting of Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method) is not suitable.

Dynamic brake resistor is disconnected.

The dynamic brake drive circuit failure.

The external dynamic brake resistor is not connected properly.

A SERVOPACK to which an external dynamic brake resistor cannot be connected (SGD7SR70A to -2R8A or SGD7W-1R6A to -2R8A) is in use.

Check the setting of Pn001 = n.X.

Check the moment of inertia, motor speed, and dynamic brake frequency of use. The dynamic brake resistor may be disconnected if there was excessive moment of inertia, excessive motor speed, excessive use of the dynamic brake, or if a suitable external dynamic brake has not been selected.

–

Check the connection status.

Check the SERVOPACK model.

Set Pn001 = n.X correctly.

Replace the SERVOPACK. To prevent disconnection, reduce the load.

A part in the dynamic brake circuit has failed. Replace the SERVOPAC K. Tak e m e asures to reduce the load in order to prevent damage to the dynamic brake drive circuit.

Connect the selected dynamic brake resistor correctly.

Select another SERVOPAC K. (Use a SERVOPACK that accepts an externally connected dynamic brake resistor or a standard SERVOPACK.)

–

6-6

Parameter Lists

This chapter provides information on parameters related to the dynamic brake hardware option specifications.

7.1

7.2

Interpreting the Parameter Lists . . . . . . . . . 7-2

List of Parameters . . . . . . . . . . . . . . . . . . . . 7-3

7.1 Interpreting the Parameter Lists



Differences in Terms for Rotary Servomotors and

Linear Servomotors on page xii

Indicates when a change to the parameter will be effective.

n.X

Rotation Direction Selection

Reference

Movement Direction Selection

Use CCW as the forward direction.

page 5-24

Use the direction in which the linear encoder counts up as the forward direction.

Use CW as the forward direction. (Reverse Rotation Mode)

Use the direction in which the linear encoder counts down as the forward direction. (Reverse Movement Mode)

n.X

Control Method Selection Reference

0 Speed control with analog references

page 5-15

1 Position control with pulse train references

2 Torque control with analog references

3 Internal set speed control with contact commands

Switching between internal set speed control with contact references and speed control with analog references

Switching between internal set speed control with contact references and position control with pulse train references

Switching between internal set speed control with contact references and torque control with analog references

Switching between position control with pulse train references and speed control with analog references

Switching between position control with pulse train references and torque control with analog references

Switching between torque control with analog references and speed control with analog references

Switching between speed control with analog references and speed control with zero clamping

Switching between position control with pulse train references and position control with reference pulse inhibition

n.X Reserved parameter (Do not change.)

n.X

Rotary/Linear Servomotor Startup Selection When Encoder Is Not Connected

Reference

When an encoder is not connected, start as SERVOPACK for Rotary Servomotor.

page 5-22

When an encoder is not connected, start as SERVOPACK for Linear Servomotor.

If there are differences in the parameters for Rotary Servomotor and Linear Servomotor, information is provided for both.

Bottom row: For Linear Servomotors

Top row: For Rotary Servomotors

7.1

Interpreting the Parameter Lists

The types of motors to which the parameter applies.

All: The parameter is used for both Rotary Servomotors and Linear Servomotors. Rotary: The parameter is used for only Rotary Servomotors. Linear: The parameter is used for only Linear Servomotors.

Rotary Servomotor terms are used for parameters that are applicable to all Servomotors. If you are using a Linear Servomotor, you need to interpret the terms accordingly. Refer to the following section for details.

Parameter

No.

Size

2 Basic Function Selections 0

Name

Setting

Range

0000 to

10B1

Setting

Unit

Default Setting

– 0000 All After restart Setup –

Applica-

ble Motors

There are the following two classications.

Setup

Tuning For details, refer to the standard SERVOPACK product manual.

When

Enabled

Classi-

fication

Refer-

ence

Pn000

7-2

7.2 List of Parameters

Parameter Lists

n.X

Motor Stopping Method for Servo OFF and Group 1 Alarms Reference

0 Stop the motor by applying the dynamic brake.

–

Stop the motor by the applying dynamic brake and then release the dynamic brake.

2 Coast the motor to a stop without the dynamic brake.

n.X

Overtravel Stopping Method Reference

Apply the dynamic brake or coast the motor to a stop (use the stopping method set in Pn001 = n.X).

–

Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then servo-lock the motor.

Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast.

Decelerate the motor to a stop using the deceleration time set in Pn30A and then servo-lock the motor.

Decelerate the motor to a stop using the deceleration time set in Pn30A and then let the motor coast.

n.X Main Circuit Power Supply AC/DC Input Selection Reference

Refer to the standard SERVOPACK product manual.

n.X Warning Code Output Selection Reference

Refer to the standard SERVOPACK product manual.

7.2

List of Parameters

Parame-

ter No.

Pn001

Size

Application Function

Selections 1

Name

Setting

Range

0000 to

1142

Set-

ting

Unit

–

Default Setting

000

Applica-

ble

Motors

All

When

Enabled

After

restart

Classi-

fica-

tion

Refer-

ence

Setup –

Pn601 2

Resistor Allowable

0 to 65,535 10 J 0 All

Energy Consumption

Dynamic Brake

Pn604 2

* The default settings are different for different SERVOPACK models.

• SGD7S-R70A to -2R8A, SGD7S-R70F to -2R8F, and SGD7W-1R6A to -2R8A (no dynamic brake): Pn001 =

n.0002

• SGD7S-3R8A to -780A and SGD7W-5R5A to -7R6A (external dynamic brake resistor): Pn001 = n.0000

Dynamic Brake Resistance

0 to 65,535 10 mΩ 0All

After

restart

After

restart

Setup –

7-3

Appendices

The appendices provide information on monitor displays for the dynamic brake hardware option specifications and dynamic brake coasting distances.

8.1

8.2

8.3

Monitor Displays for the Dynamic Brake Hardware Option Specifications . . 8-2

Coasting Distance when Stopping with the Dynamic Brake . . 8-3

Data for Coasting Distance Calculation . . . 8-4

8.3.1 Coasting Distance Coefficients . . . . . . . . . . . . . . 8-4

8.3.2 Characteristic Impedance . . . . . . . . . . . . . . . . . . 8-6

8.1 Monitor Displays for the Dynamic Brake Hardware Option Specifications

8.1

Monitor Displays for the Dynamic Brake Hardware Option Specifications

You can monitor the dynamic brake hardware option specifications with the SigmaWin+ or with the Un numbers in the SERVOPACK.

SigmaWin+ SERVOPACK

Menu Bar

Button

Motion

Monitor

Function Name Fn No. Function Name

Energy consumption of the dynamic brake resistor [%]

Un03B

Energy consumption of the dynamic brake resistor [%] The percentage of the setting of Pn601 (Dynamic Brake

Resistor Allowable Energy Consumption) is displayed.

8-2

8.2 Coasting Distance when Stopping with the Dynamic Brake

Appendices

WARNING

Lm = M



RD + Z

{

 v

}

[m]

 (RD + Zm)  v

+ 

8.2

Coasting Distance when Stopping with the Dynamic Brake

When stopping with the dynamic brake, the motor continues to rotate due to inertia until the motor’s energy has been completely expended.

The travel distance during this period is called the coasting distance.

The coasting distance must be confirmed on the actual equipment, but you can use the following formula to calculate an approximate value.

 The calculated value of the coasting distance is a guideline. There may be error between the

calculated value and the actual coasting distance. Always evaluate the dynamic brake operation on the actual equipment or machine to confirm that there are no problems with the coasting distance.

There is a risk of machine damage or injury.

For Rotary Servomotors

= J



{



(RD + Zm)  N



RD + Z

The above formula is based on the following conditions.

[deg]: Coasting distance (mechanical angle)

•

• J [kgm

• R

• N

α, β

•

• Zm: Characteristic impedance

*1. Refer to the following section for details on the coasting distance coefficient.

*2. Refer to the following section for details on the characteristic impedance.

]: Moment of inertia (Motor moment of inertia + Load moment of inertia)

[Ω]: Selected dynamic brake resistance

[min-1]: Motor speed just before stopping with the dynamic brake

: Coasting distance coefficients

8.3.1 Coasting Distance Coefficients on page 8-4

8.3.2 Characteristic Impedance on page 8-6

[deg]

}

 N

For Linear Servomotors

The above formula is based on the following conditions.

[m]: Coasting distance

• L

• M [kg]: Conveying weight (Moving Coil mass + Load weight)

[Ω]: Selected dynamic brake resistance

• R

[m/s]: Motor speed just before stopping with the dynamic brake

• V

α, β

: Coasting distance coefficients

•

• Zm: Characteristic impedance

*1. Refer to the following section for details on the coasting distance coefficient.

8.3.1 Coasting Distance Coefficients on page 8-4

*2. Refer to the following section for details on the characteristic impedance.

8.3.2 Characteristic Impedance on page 8-6

8-3

8.3 Data for Coasting Distance Calculation

8.3.1 Coasting Distance Coefficients

8.3

8.3.1

Data for Coasting Distance Calculation

This section provides information on the coasting distance coefficients and characteristic impedance required to calculate the coasting distance.

Coasting Distance Coefficients

The following table shows the relationship between the Servomotor and coasting distance coefficients α and β.

For Rotary Servomotors

Coasting Distance

Servomotor Model

SGM7J-06A 42.80 22.63 SGM7D-1ZI 0.02 572.13

SGM7J-08A 30.43 61.01 SGM7D-1CI 0.01 468.15

SGM7A-06A 50.09 148.56 SGM7D-2BI 0.01 465.81

SGM7A-08A 30.43 128.36 SGM7D-2DI 0.00 629.22

SGM7A-10A 35.45 41.19 SGM7D-06J 3.56 1875.52

SGM7A-15A 29.84 74.67 SGM7D-09J 0.96 1159.65

SGM7A-20A 32.96 34.33 SGM7D-18J 0.24 1466.78

SGM7A-25A 35.83 20.99 SGM7D-20J 0.11 923.57

SGM7A-30A 30.73 13.52 SGM7D-38J 0.06 1140.28

SGM7A-40A 38.65 8.15 SGM7D-30L 0.66 270.41

SGM7A-50A 28.44 6.54 SGM7E-16E 0.33 9.45

SGM7A-70A 28.44 6.54 SGM7E-35E 0.08 3.45

SGM7P-08A 45.95 93.14 SGM7F-14B 0.97 30.28

SGM7P-15A 33.30 31.97 SGM7F-17C 0.64 107.53

SGM7G-03A 17.24 494.99 SGM7F-25C 0.28 81.94

SGM7G-05A 14.26 237.63 SGM7F-16D 0.93 46.62

SGM7G-09A 14.07 87.07 SGM7F-35D 0.18 38.95

SGM7G-13A 13.09 36.01 SGM7F-45M 0.15 74.36

SGM7G-20A 18.59 14.82 SGM7F-80M 0.13 23.76

SGM7G-30A 14.45 5.76 SGM7F-80N 0.13 21.84

SGM7G-44A 11.91 2.80 SGM7F-1AM 0.15 7.86

SGM7G-55A 10.40 1.79 SGM7F-1EN 0.13 5.75

SGM7G-75A 11.35 0.63 SGM7F-2ZN 0.08 3.59

SGM7G-1AA 5.45 0.55 SGMCS-16E

SGM7G-1EA 5.02 0.38 SGMCS-35EB 0.08 3.45

SGM7D-30F 0.35 666.91 SGMCS-45MA 0.15 74.36

SGM7D-58F 0.09 558.00 SGMCS-80MA 0.13 23.76

SGM7D-90F 0.04 578.86 SGMCS-80NA 0.13 21.84

SGM7D-1AF 0.02 595.57 SGMCS-1AMA 0.15 7.86

SGM7D-08G 1.31 1501.75 SGMCS-1ENA 0.13 5.75

SGM7D-18G 0.31 1423.33 SGMCS-2ZNA 0.08 3.59

SGM7D-24G 0.14 1310.21 SGMCV-14BA 0.97 30.28

SGM7D-34G 0.08 1480.48 SGMCV-17CA 0.64 107.53

SGM7D-45G 0.10 648.86 SGMCV-25CA 0.28 81.94

SGM7D-28I 0.22 625.89 SGMCV-16D 0.93 46.62

SGM7D-70I 0.05 546.26 SGMCV-35D 0.18 38.95

Coefficients

α β [x10-6] α β [x10-6]

Servomotor Model



B 0.33 9.45

Coasting Distance

Coefficients

8-4

Appendices

For Linear Servomotors

8.3 Data for Coasting Distance Calculation

8.3.1 Coasting Distance Coefficients

Linear Servomotor

Model

SGLGW-40A365C (with a High-Force Magnetic Way)

SGLGW-60A253C (with a High-Force Magnetic Way)

SGLGW-60A365C 3.90 0.37 SGLTW-20A170A 4.67 92.22

SGLGW-60A365C (with a High-Force Magnetic Way)

SGLGW-90A200C 2.85 0.42 SGLTW-35A170H 4.24 42.00

SGLGW-90A370C 2.85 0.10 SGLTW-50A170H 1.92 38.55

SGLGW-90A535C 2.85 0.046 SGLTW-20A320A 4.67 23.28

SGLFW-35A230A 4.45 25.23 SGLTW-20A460A 4.67 10.34

SGLFW-50A200B 4.76 36.62 SGLTW-35A320A 3.80 9.16

SGLFW-50A380B 4.76 9.04 SGLTW-35A320H 4.24 10.50

SGLFW-1ZA200B 3.64 11.83 SGLTW-50A320H 1.92 9.73

SGLFW-1ZA380B 3.64 2.96 SGLTW-35A460A 3.80 4.13

SGLFW2-30A230A 4.16 78.33 SGLTW-40A400B 1.77 8.77

SGLFW2-45A200A 3.80 39.21 SGLTW-40A600B 1.77 4.05

SGLFW2-45A380A 3.80 9.80 SGLTW-80A400B 1.09 3.16

SGLFW2-90A200A 2.58 14.34 SGLTW-80A600B 1.09 1.42

SGLFW2-45A380A 3.80 9.80

SGLFW2-90A380A 2.58 3.54

SGLFW2-1DA380A 1.14 3.47

Coasting Distance Coeffi-

cients

α [x10-4] β [x10-4] α [x10-4] β [x10-4]

3.01 0.78 SGLFW2-90A560A 2.58 1.57

2.89 0.61 SGLFW2-1DA560A 1.14 1.52

2.89 0.27 SGLTW-35A170A 3.80 37.64

Linear Servomotor

Model

Coasting Distance Coeffi-

cients

8-5

8.3 Data for Coasting Distance Calculation

0 500 1000 1500 2000 2500 3000 3500

SGM7G-05A SGM7G-03A

SGD7S-3R8A, SGD7W-5R5A, 7R6A

0 500 1000 1500 2000 2500 3000 3500

SGM7G-09A

SGD7-7R6A

0 1000 2000 3000 4000 5000 6000 7000

SGM7A-20A

SGD7S-180A

0.5

1.5

2.5

3.5

4.5

0 1000 2000 3000 4000 5000 6000 7000

SGM7G-30A

SGM7A-30A

SGM7A-25A

SGD7S-200A

0 1000 2000 3000 4000 5000 6000 7000

SGM7J-06A SGM7P-08A SGM7J-08A

SGM7A-06A

SGM7A-08A

SGD7S-5R5A, SGD7W-5R5A, 7R6A

0.5

1.5

2.5

0 1000 2000 3000 4000 5000 6000 7000

SGM7G-44A

SGM7A-50A

SGM7A-40A

SGD7S-330A

SGM7G-30A

0 1000 2000 3000 4000 5000 6000 7000

SGM7P-15A SGM7A-10A SGM7A-15A

SGD7S-120A

SGM7G-13A

0 1000 2000 3000 4000 5000 6000 7000

SGM7P-02A

SGD7W-5R5A, 7R6A

SGM7A-04A SGM7P-04A

SGM7J-04A

SGM7G-20A

Speed Nm [min-1] Speed Nm [min-1]

Speed Nm [min

-1

]

Speed Nm [min

-1

]

Speed Nm [min

-1

]

Speed Nm [min

-1

]

Speed Nm [min

-1

] Speed Nm [min-1]

Characteristic impedance Zm [Ω]

8.3.2 Characteristic Impedance

8.3.2

Characteristic Impedance

The following figures show the relationship between the characteristic impedance and Servomotor speed.

Refer to the graph for your Servomotor and obtain the characteristic impedance Z speed immediately before a dynamic brake stop.

For Rotary Servomotors

The following graphs show the Servomotors that can be used with each model of SERVOPACK.

from the

8-6

8.3 Data for Coasting Distance Calculation

Appendices

0.5

1.5

2.5

0 1000 2000 3000 4000 5000 6000 7000

SGM7A-70A SGM7G-75A

SGD7S-550A

0.1

0.2

0.3

0.4

0.5

0.6

0 500 1000 1500 2000 2500

SGM7G-1AA

SGD7S-590A

0 500 1000 1500 2000 2500

0.1

0.2

0.3

0.4

0.5

SGM7G-1EA

SGD7S-780A

0.2

0.4

0.6

0.8

1.2

0 500 1000 1500 2000 2500 3000 3500

SGM7G-55A

SGD7S-470A

Speed Nm [min-1]

Speed Nm [min

-1

]

Speed Nm [min

-1

]

Characteristic impedance Zm [Ω]

Characteristic impedance Zm [Ω]Characteristic impedance Zm [Ω]

Speed Nm [min-1]

Characteristic impedance Zm [Ω]

8.3.2 Characteristic Impedance

8-7

8.3 Data for Coasting Distance Calculation

0.5

1.5

2.5

3.5

4.5

0 100 200 300 400 500 600 700

SGMCV-16DA or SGM7F-16D

A

Speed Nm [min-1]

4.5

5.5

6.5

7.5

0 100 200 300 400 500 600

Speed Nm [min

-1

]

SGMCS-16EB or SGM7E-16E

A

SGMCS-35EB or SGM7E-35E

A

0 100 200 300 400 500 600 700

Speed Nm [min

-1

]

SGMCV-17CA or SGM7F-17CA

SGMCV-14BA or SGM7F-14BA

Characteristic impedance Zm [Ω] Characteristic impedance Zm [Ω]

Characteristic impedance Zm [Ω]

0 100 200 300 400 500 600 700

SGMCS-45MA or SGM7F-45MA

0 50 100 150 200 250 300 350 400 450

SGMCV-25CA or SGM7F-25CA

SGMCV-35DA or SGM7F-35DA

Speed Nm [min

-1

]

Characteristic impedance Zm [Ω]

Speed Nm [min-1]

8.3.2 Characteristic Impedance

For Direct Drive Servomotors

The following graphs show the Servomotors that can be used with each model of SERVOPACK.



SGD7-5R5A



SGD7-7R6A

8-8

Yaskawa SGD7W, SGD7S User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Finding Information

Related Documents

Using This Manual

Safety Precautions

Warranty

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

Contents

Basic Information on SERVOPACKs

1.1 About the Dynamic Brake Hardware Option Specifications

1.1.1 What Is Dynamic Braking?

Capabilities of SERVOPACKs That Support the Dynamic Brake Hardware Option Specifications

1.2 Interpreting the Nameplate

1.3 Part Names

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

SGD7S-3R8A to -330A

1.3.3 SGD7S-470A to -780A

SGD7W-5R5A and -7R6A

1.4 Model Designations

Selecting a SERVOPACK

2.1 Combinations of Servomotors and SERVOPACKs

2.1.1 Combinations of Rotary Servomotors and SERVOPACKs

2.1.2 Combinations of Direct Drive Servomotors and SERVOPACKs

2.1.3 Combinations of Linear Servomotors and SERVOPACKs

2.2 External Dimensions

Selecting a Dynamic Brake Resistor

3.1 Precautions

3.2 Selection Flow

3.3 Determining the Resistance of the Dynamic Brake Resistor

3.3.1 How to Determine the Resistance of the Dynamic Brake Resistor

3.3.2 Brake Torque and Dynamic Brake Resistance Characteristics

3.4 Calculating the Energy Consumption of the Dynamic Brake Resistor

3.5 Presenting the Required Specifications to the Resistor Manufacturer

Wiring and Connecting a Dynamic Brake Resistor

4.1 Wiring and Connecting SERVOPACKs

4.2 Dynamic Brake Resistor Connections

4.2.1 Terminal Symbols and Terminal Names

Wire Sizes and Tightening Torques

4.2.3 Crimp Terminals and Insulating Sleeves

4.2.4 Dynamic Brake Resistor Connector Wiring Procedure

4.2.5 Connecting Dynamic Brake Resistors

Basic Functions That Require Setting before Operation

5.1 Outline

5.2 Motor Stopping Methods for Servo OFF and Alarms

5.2.1 Stopping Method for Servo OFF

Servomotor Stopping Method for Alarms

5.3 Motor Stopping Method for Overtravel

5.4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor

Maintenance

6.1 Alarms Related to the Dynamic Brake Hardware Option Specifications

6.1.1 List of Alarms

6.1.2 Troubleshooting Alarms

6.2 Troubleshooting Based on the Operation and Conditions of the Servomotor

Parameter Lists

7.1 Interpreting the Parameter Lists

7.2 List of Parameters

Appendices

8.1 Monitor Displays for the Dynamic Brake Hardware Option Specifications

8.2 Coasting Distance when Stopping with the Dynamic Brake

8.3 Data for Coasting Distance Calculation

8.3.1 Coasting Distance Coefficients

8.3.2 Characteristic Impedance