Yaskawa SGDV-OSA01A Users Manual

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Page 1

AC Servo Drives

Σ-V Series

Σ-V Series for

Large-Capacity Models

USER'S MANUAL

Safety Module

Model: SGDV-OSA01A

Checking Products

Specifications

SERVOPACK Installation

Wiring and Connection

Precautions and Basic Settings

Required before Starting Operation

Safety Functions

Setting Parameters

Utility Functions

Monitor Mode

Active Mode Function

Troubleshooting

Appendix

MANUAL NO. SIEP C720829 06C

Page 2

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.

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About this Manual

This manual describes informations required for designing, and maintaining the Safety Module for Σ-V series and Large-Capacity Σ-V Series SERVOPACKs.

Be sure to refer to this manual and perform design and maintenance to select devices correctly.

Keep this manual in a location where it can be accessed for reference whenever required.

 IMPORTANT Explanations

The following icon is displayed for explanations requiring special attention.

 Notation Used in this Manual

• Reverse Symbol Notation

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example:

• Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment.

Example

The notation for

• Parameter Notation

The following two types of notations are used for parameter digit places and settings.

Example

Pn000㧩㨚㧜㧜㧜㧜

BK is /BK.

Notation Example for Pn000

Notation Method

Digit 1

Digit 2

Digit 3

Digit 4

Pn000.0

Pn000.1

Pn000.2

Pn000.3

Digit Notation

Meaning

Indicates digit 1 of the parameter (Pn000).

Indicates digit 2 of the parameter (Pn000).

Indicates digit 3 of the parameter (Pn000).

Indicates digit 4 of the parameter (Pn000).

Set Value Notation

Notation Method Meaning

Pn000.0 = x or n.x

Pn000.1 = x or n.x

Pn000.2 = x or n.x

Pn000.3 = x or n.x

Indicates that digit 1 of the parameter (Pn000) is x.

Indicates that digit 2 of the parameter (Pn000) is x.

Indicates that digit 3 of the parameter (Pn000) is x.

Indicates that digit 4 of the parameter (Pn000) is x.

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 Manuals Related to the Σ-V Series and Large-Capacity Σ-V Series

Refer to the following manuals as required.

Name

Σ-V Series Product Catalog (KAEP S800000 42)

Large-Capacity Σ-V Series (KAEPS 800000 86)

Σ-V Series/Σ-V Series for Large-Capacity Models Installation Guide Safety Option Module (TOBP C720829 06)

Σ-V Series User's Manual Setup Rotational Motor (SIEP S800000 43)

Σ-V Series User's Manual Setup Linear Motor (SIEP S800000 44)

Σ-V Series User’s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference (SIEP S800000 45)

Σ-V Series User’s Manual Design and Maintenance Linear Motor Analog Voltage and Pulse Train Reference (SIEP S800000 47)

Σ-V Series User’s Manual Design and Maintenance Rotational Motor MECHATROLINK-II Communications Reference (SIEP S800000 46)

Σ-V Series User’s Manual Design and Maintenance Linear Motor MECHATROLINK-II Communications Reference (SIEP S800000 48)

Σ-V Series/DC Power Input Σ-V Series/Σ-V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Command (SIEP S800000 54)

Σ-V Series User’s Manual Design and Maintenance Rotational Motor MECHATROLINK-III Communications Reference (SIEP S800000 64)

Selecting

Models and

Peripheral

Devices

999

Ratings and

Specifications

System

Design

999

99 999

999

99 999

Panels and

Wiring

Trial

Operation

Trial

Operation

and Servo

Adjustment

Maintenance and Inspection

Page 5

(cont’d)

Name

Σ-V Series User’s Manual Design and Maintenance Linear Motor MECHATROLINK-III Communications Reference (SIEP S800000 65)

Σ-V Series/DC Power Input Σ-V Series/Σ-V Series for Large-Capacity Models User’s Manual MECHATROLINK-III Standard Servo Profile Commands (SIEP S800000 63)

Σ-V Series User’s Manual Design and Maintenance Rotational Motor Command Option Attachable Type (SIEP S800000 60)

Σ-V Series User’s Manual Design and Maintenance Linear Motor Command Option Attachable Type (SIEP S800000 66)

Σ-V Series User's Manual For Use with LargeCapacity Models Setup Rotational Motor (SIEP S800000 89)

Σ-V Series User’s Manual For Use with LargeCapacity Models Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference (SIEP S800000 88)

Σ-V Series User’s Manual For Use with LargeCapacity Models Design and Maintenance Rotational Motor MECHATROLINK-II Communications Reference (SIEP S800000 90)

Σ-V Series User’s Manual For Use with LargeCapacity Models Design and Maintenance Rotational Motor MECHATROLINK-III Communications Reference (SIEP S800000 93)

Selecting

Models and

Peripheral

Devices

Ratings and

Specifications

99 999

System

Design

999

Panels and

Wiring

Trial

Operation

Trial

Operation

and Servo

Adjustment

Maintenance and Inspection

99 999

Page 6

WARNING

CAUTION

PROHIBITED

MANDATORY

(cont’d)

Name

Σ-V Series User's Manual For Use with LargeCapacity Models Design and Maintenance Rotational Motor Command Option Attachable Type (SIEP S800000 98)

Σ-V Series User’s Manual Operation of Digital Operator (SIEP S800000 55)

SigmaWin+ Online Manual Σ-V Component (SIEP S800000 73)

AC Servomotor Safety Precautions (TOBP C230200 00)

Σ-V Series AC SERVOPACK SGDV Safety Precautions (TOBP C710800 10)

Σ-V Series Safety Precautions For Use with LargeCapacity Models (TOBP C710829 07)

Selecting

Models and

Peripheral

Devices

999

Ratings and

Specifications

9999

System

Design

Panels and

Wiring

Trial

Operation

999

Trial

Operation

and Servo

Adjustment

Maintenance and Inspection

 Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

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

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol would be used to indicate that fire is prohibited as follows:

Indicates compulsory actions that must be performed. For example, this symbol would be used as follows to indicate that grounding is compulsory:

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Safety Precautions

These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly.

• Never touch any rotating motor parts while the motor is running.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time.

Failure to observe this warning may result in injury or damage to the product.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not remove the cover of the power supply terminal block while the power is ON.

Failure to observe this warning may result in electric shock.

• After the power is turned OFF or after a voltage resistance test, do not touch terminals while the CHARGE lamp is ON.

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in this manual for trial operation.

Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.

• The multi-turn serial data output range for the Σ-V Series and Large-Capacity Σ-V Series absolute position detecting system is different from that of earlier systems with 15-bit and 12-bit encoders. In particular, change the system to configure the Σ Series infinite-length positioning system with the Σ- V Series or Large-Capacity Σ-V Series.

• The multi-turn limit value need not be changed except for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct.

If Fn013 is executed when an incorrect parameter value is set, an incorrect value will be set in the encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a dangerous situation where the machine will move to unexpected positions.

• Do not remove the front cover, cables, connectors, or optional items from the upper front of the SERVOPACK while the power is ON.

Failure to observe this warning may result in electric shock.

• Do not damage, press, exert excessive force on, or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.

• Provide an appropriate stopping device on the machine side to ensure safety.

The holding brake on a servomotor with a brake is not a braking device for ensuring safety. Failure to observe this warning may result in injury.

• Connect the ground terminal according to local electrical codes (100 Ω or less for a SERVOPACK with a 100 V, 200 V power supply, 10 Ω or less for a SERVOPACK with a 400 V power supply).

Improper grounding may result in electric shock or fire.

WARNING

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WARNING

• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.

• Engineers designing a mechanical system using the safety functions of the Safety Module must have complete knowledge of the relative safety standards and a full understanding of the safety functions of the Safety Module.

Improper use may result in injury or damage to the product.

• When creating a safety design for a mechanical system using the safety functions of the Safety Module, always perform risk assessment of the system to identify residual risks.

Improper use may result in injury or damage to the product.

• The dynamic brake is not a safety-related part of a control system. Create the safety design of the mechanical system in such a way that any trouble in the dynamic brake function does not create a hazard when the safety functions of the Safety Module operate.

Improper use may result in injury or damage to the product.

• Connect device conforming to the relative safety standards to the connector for Safety Request Input Signals.

Improper use may result in injury or damage to the product.

• The safety functions of the Safety Module are not for emergency stopping. To use the safety functions for emergency stopping, separately shut OFF the power supply from the electromechanical section to the motor.

Improper use may result in injury or damage to the product.

• The safety functions of the Safety Module are not for shutting OFF the power supply to the SERVOPACK and do not provide electrical isolation. Be sure to separately shut OFF the power supply to the SERVOPACK when performing maintenance or inspection of the SERVOPACK.

Failure to observe this warning may result in electric shock.

• Be sure to check the safety-related parameters before using the safety functions of the Safety Module.

Improper use may result in injury or damage to the product.

• If the Safety Module or SERVOPACK is changed when starting the servo system or during maintenance or inspection, be sure to check the operation of the safety functions in the actual application after performing wiring.

Improper use may result in injury or damage to the product.

• Make sure that the safety function jumper connector is not connected to the connector (CN8) of the SERVOPACK.

If the safety jumper connector is connected, the safety functions may not operate properly, which may result in injury or damage to the product.

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 Storage and Transportation

• Do not store or install the product in the following locations.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Locations subject to direct sunlight

• Locations subject to ambient operating temperatures outside the range specified in the storage/installation temperature conditions

• Locations subject to humidity outside the range specified in the storage/installation humidity conditions

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

• Locations subject to corrosive or flammable gases

• Locations subject to dust, salts, or iron dust

• Locations subject to exposure to water, oil, or chemicals

• Locations subject to shock or vibration

• Do not hold the product by the cables, motor shaft or detector while transporting it.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, 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 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.

CAUTION

°C for 30

 Installation

• Never use the product in an environment subject to water, corrosive gases, inflammable gases, or combustibles.

Failure to observe this caution may result in electric shock or fire.

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

Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

CAUTION

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 Wiring

CAUTION

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connection.

Failure to observe this caution may result in injury or fire.

• Securely connect the main circuit power supply terminal screws, control power supply terminal screws, and servomotor connection terminal screws.

Failure to observe this caution may result in fire.

• Do not bundle or run the main circuit cables together with the input/output signal cables or the encoder cables in the same duct. Keep them separated by at least 30 cm.

Failure to observe this caution may result in malfunction.

• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for input/output signal cables and the encoder cables.

• I/O signal cables must be no longer than 3 m, encoder cables must be no longer than 50 m, and control power supply cables for the SERVOPACK with a 400 V power supply (+24 V, 0 V) must be no longer than 10 m.

• Do not touch the power terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK.

Make sure the CHARGE lamp is OFF first before starting an inspection.

• Observe the following precautions when wiring main circuit terminal blocks of the SERVOPACK.

• Remove the detachable main circuit terminal blocks from the SERVOPACK prior to wiring.

• Insert only one main power line per opening in the main circuit terminals.

• Make sure that no part of the core wire comes into contact with (i.e., short-circuit) adjacent wires.

• Install a battery at either the host controller or the SERVOPACK, but not both.

It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the batteries.

• Always use the specified power supply voltage.

An incorrect voltage may result in fire or malfunction.

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations.

• Locations subject to static electricity or other forms of noise

• Locations subject to strong electromagnetic fields and magnetic fields

• Locations subject to possible exposure to radioactivity

• Locations close to power supplies

Failure to observe this caution may result in damage to the product.

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may damage the battery, the SERVOPACK, the servomotor, or cause an explosion. Wiring or inspection must be performed by a technical expert.

• Use a 24-VDC power supply with double insulation or reinforced insulation.

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 Operation

• Always use the servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution so may result in fire or malfunction.

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.

Failure to observe this caution may result in injury.

• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system safety against problems such as signal line disconnection.

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

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

• Do not frequently turn power ON and OFF.

Since the SERVOPACK has a capacitor in the power supply, a high charging current flows when power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate, resulting in unexpected problems.

• When using JOG operations (Fn002), search operations (Fn003), or EasyFFT operations (Fn206), the dynamic brake function does not work for reverse overtravel or forward overtravel. Take necessary precautions.

• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when overtravel occurs.

Failure to observe this caution may cause workpieces to fall due to overtravel.

• When not using turning-less function, set to the correct moment of inertia ratio (Pn103).

Setting to an incorrect moment of inertia ratio may cause machine vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury or damage to the product due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.

Failure to observe this caution may result in damage to the product, fire, or injury.

• Do not use the brake of the servomotor for braking.

Failure to observe this caution may result in malfunction.

• An alarm or warning may be generated if communications are executed with the host controller during operation using the digital operator.

If an alarm or warning is generated, the process currently being executed may be aborted and the system may stop.

CAUTION

 Maintenance and Inspection

• Do not disassemble the SERVOPACK.

Failure to observe this caution may result in electric shock or injury.

• Do not change wiring while the power is ON.

Failure to observe this caution may result in electric shock or injury.

• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK.

Failure to observe this caution may result in damage to the product.

CAUTION

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 Disposal

CAUTION

• When disposing of the products, treat them as ordinary industrial waste.

 General Precautions

Observe the following general precautions

to ensure safe application.

• The products shown in illustrations in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

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Warranty

(1) Details of Warranty

 Warranty Period

 Warranty Scope

(2) Limitations of Liability

The warranty period for a product that was purchased (hereinafter called “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.

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

1. 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

2. Causes not attributable to the delivered product itself

3. Modifications or repairs not performed by Yaskawa

4. Abuse of the delivered product in a manner in which it was not originally intended

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

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

1. 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.

2. 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.

3. 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.

4. 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.

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(3) Suitability for Use

1. 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.

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

3. 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

4. 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.

5. 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.

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

(4) 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.

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Harmonized Standards

 North American Safety Standards (UL)

Model

SERVOPACK Converter

∗ Underwriters Laboratories Inc. Note: Applicable when the Safety Module is attached to the SERVOPACKs for use with the analog voltage and pulse train

reference, with the MECHATROLINK-II communications reference, with the MECHATROLINK-III communications reference, and with the command option attachable type.

SGDV SGDV-COA

UL∗ Standards

(UL File No.)

UL508C (E147823)

 European Directives

Model European Directives Harmonized Standards

SERVOPACK Converter

SGDV SGDV-COA

Machinery Directive 2006/42/EC

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

EN ISO13849-1: 2008 EN 954-1

EN 55011 group 1, class A EN61000-6-2 EN 61800-3

EN 50178 EN 61800-5-1

Note: Applicable when the Safety Module is attached to the SERVOPACKs for use with the analog voltage and pulse train

reference, with the MECHATROLINK-II communications reference, with the MECHATROLINK-III communications reference, and with the command option attachable type.

 Safety Standards

Model Safety Standards Standards

EN ISO13849-1: 2008

Safety of Machinery

SERVOPACK SGDV

Functional Safety

EMC IEC 61326-3-1

Note: Applicable when the Safety Module is attached to the SERVOPACKs for use with the analog voltage and pulse train

reference, with the MECHATROLINK-II communications reference, with the MECHATROLINK-III communications reference, and with the command option attachable type.

EN 954-1 IEC 60204-1

IEC 61508 series IEC 62061 IEC 61800-5-2

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 Safe Performance

Items Standards Performance Level

Safety Integrity Level

Probability of Dangerous Failure per Hour

Category EN 954-1 Category 3

Performance Level EN ISO 13849-1 PL d (Category 2)

Mean Time to Dangerous Failure of Each Channel

Average Diagnostic Coverage EN ISO 13849-1 DCave: Medium

Stop Category IEC 60204-1 Stop category 0/1/2

Safety Function IEC 61800-5-2 STO/SS1/SS2/SLS

Description of Technical Terms

IEC 61508 SIL2

IEC 62061 SILCL2

IEC 61508 IEC 62061

EN ISO 13849-1 MTTFd: High

PFH ≤ 3.3 × (3.3% of SIL2)

-7

[1/h]

The following table shows the meanings of terms used in this manual.

Te rm Meaning

Σ-V Series: SGMJV, SGMAV, SGMVV, SGMPS, SGMGV, SGMSV, and SGMCS

Servomotor

SERVOPACK Σ-V Series and Large-Capacity Σ-V Series SGDV SERVOPACKs

Servo Drive A set including a servomotor and SERVOPACK (i.e., a servo amplifier)

Servo System

Analog voltage and pulse train reference model

M-II communications reference model

M-III communications reference model

Command option attachable type

Safety Option Module

Safety Module The option module that provides safety functions specified in this manual.

Panel Operator

Digital Operator Handy type operator connected to SERVOPACKs

Servo ON Power to motor ON

Servo OFF Power to motor OFF

BaseBlock (BB)

Hardwire BaseBlock Function (HWBB)

Safe Torque Off (STO)

(Direct Drive) servomotor Linear Σ Series: SGLGW, SGLFW, SGLTW, and SGLC servomotors

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

Analog voltage and pulse train used for SGDV SERVOPACK interface

MECHATROLINK-II communications reference used for SGDV SERVOPACK interface

MECHATROLINK-III communications reference used for SGDV SERVOPACK interface

SERVOPACK on which a Command Option Module can be installed

General term of option modules that provide safety functions and are mounted on SGDV SERVOPACKs.

The operator with a panel display that is mounted on analog voltage and pulse-train reference SERVOPACKs.

Power supply to motor is turned OFF by shutting OFF the base current to the power transistor that supplies power to the motor.

Safety function in the SERVOPACK This is the safety function that is equivalent to the Safe Torque Off function defined in IEC 61800-5-2.

This is one of safety functions defined in IEC 61800-5-2. This is the safety function that shuts OFF power supply to the motor.

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Te rm Meaning

This is one of safety functions defined in IEC 61800-5-2.

Safe Stop 1 (SS1)

Safe Stop 2 (SS2)

Safely-Limited Speed (SLS)

Safe BaseBlock Function (SBB function)

Safe BaseBlock with Delay Function (SBB-D function)

Safe Position Monitor with Delay Function (SPM-D function)

Safely Limited Speed with Delay Function (SLS-D function)

Safe (HWBB) state

Safe State

Deceleration Monitoring The Safety Module is monitoring deceleration operation of the motor.

Position Monitoring The Safety Module is monitoring distance that the motor moved.

Constant-speed Monitoring The Safety Module is monitoring constant-speed operation of the motor.

Safety-related Module Parameter

Safety-related Servo Parameter

This is the safety function that starts deceleration of the motor and executes the STO function after a specified time has passed.

This is one of safety functions defined in IEC 61800-5-2. This is the safety function that starts deceleration of the motor and prevents the motor from stopping at a distance greater than the allowable deviation from the specified position after a specified time has passed.

This is one of safety functions defined in IEC 61800-5-2. This is the safety function that prevents the motor speed from exceeding the specified speed.

This is one of safety functions in the Safety Module. This is the safety function that is equivalent to the Safe Torque Off function defined in IEC 61800-5-2.

This is one of safety functions in the Safety Module. This is the safety function that is equivalent to the Safe Stop 1 function defined in IEC 61800-5-2.

This is one of safety functions in the Safety Module. This is the safety function that is equivalent to the Safe Stop 2 function defined in IEC 61800-5-2.

Stopping function in the Safety Module. This is the safety function that is equivalent to the Safely-Limited Speed function defined in IEC 61800-5-2.

The Safety Module is shutting OFF power supply to the motor by executing the HWBB function of SGDV SERVOPACK.

Safe state depends on safety functions used.

SBB function

SBB-D function

SPM-D function

SLS-D function

Parameter related to the safety functions of the Safety Module.

These parameters contain the information related to the safety functions of SERVOPACKs and servomotors, and are managed by the Safety Module.

Safe (HWBB) state

When monitoring positions or in a safe (HWBB) state

When monitoring constant-speed operation or in a safe (HWBB) state

(cont’d)

System Reset Reset the servo system by shutting OFF the power or executing software reset (Fn030).

Parameter Recalculation

Proof Test

Recalculation of parameter by CONFIG command via MECHATROLINK-II or by the request from the Command Option Module.

Scheduled tests defined in IEC 61508-4. This is the test that is used to detect the failure of the safety-related system.

xvii

Page 18

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

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

Description of Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi

Chapter 1 Checking Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 Checking Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2 Nameplate (Ratings) and Model Designation. . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3 Nameplate Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

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

2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.3 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4 Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

Chapter 3 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.1 SERVOPACK Installation Environment and Harmonized Standards . . . . . . . 3-2

3.1.1 Installation Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2

3.1.2 Installation Conditions for Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2

3.2 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.2 Installation Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.3 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3.3.1 SGDV-0 (Analog Voltage and Pulse Train Reference Model). . . . . . . . . . . . . 3-6

3.3.2 SGDV-1 (M-II Communications Reference Model). . . . . . . . . . . . . . . . . . . . 3-16

3.3.3 SGDV-2 (M-III Communications Reference Model) . . . . . . . . . . . . . . . . . . . 3-26

3.3.4 SGDV-EA (Command Option Attachable Type). . . . . . . . . . . . . . . . . . . . . . . . 3-36

Chapter 4 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

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

4.2.1 Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2.2 Electrical Specifications and Connections of Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.2.3 Electrical Specifications and Connections of Output Circuit. . . . . . . . . . . . . . . . . . . . . . . .4-5

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Chapter 5 Precautions and Basic Settings Required

before Starting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 Safety Precautions for Using the Safety Module . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2 Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.3.1 Limitations on Lower Limit of Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.3.2 Limitations on the Use of the Test without Motor Function. . . . . . . . . . . . . . . . . . . . . . . . .5-6

5.3.3 Limitations on the Use of an External Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5.3.4 Device Combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6

5.4 Basic Settings Required before Starting Operation . . . . . . . . . . . . . . . . . . . . 5-7

5.5 Checking the Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

Chapter 6 Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Common Items. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.2.1 Selecting a Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

6.2.2 Safety Request Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4

6.2.3 External Device Monitor Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

6.2.4 Operations After Alarms and Resetting Systems, and While Recalculating Parameters. 6-10

6.3 Safe BaseBlock Function (SBB Function) . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.3 Returning Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.4 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12

6.3.5 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

6.4 Safe BaseBlock with Delay Function (SBB-D Function) . . . . . . . . . . . . . . . 6-17

6.4.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17

6.4.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.4.3 Returning Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.4.4 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-19

6.4.5 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20

6.5 Safe Position Monitor with Delay Function (SPM-D Function). . . . . . . . . . . 6-21

6.5.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21

6.5.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

6.5.3 Returning Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

6.5.4 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-23

6.5.5 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.6 Safely Limited Speed with Delay Function (SLS-D Function) . . . . . . . . . . . 6-25

6.6.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25

6.6.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

6.6.3 Returning Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

6.6.4 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-27

6.6.5 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28

6.7 Order of Priority of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29

6.8 Application Example of Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

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Page 20

Chapter 7 Setting Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

7.1 Types of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Safety-related Module Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.2.2 Operation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-4

7.3 Safety-related Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.3.2 Operation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8

Chapter 8 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.2 Safety Option Module Access Mode Setting (Fn040) . . . . . . . . . . . . . . . . . .8-3

8.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

8.2.2 Operation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3

8.3 Safety-related Module Parameter Setting (Fn041). . . . . . . . . . . . . . . . . . . . . 8-5

8.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5

8.3.2 Operation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-6

8.4 Safety-related Servo Parameter Updating (Fn042) . . . . . . . . . . . . . . . . . . . . 8-8

8.4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

8.4.2 Operation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-8

8.5 Safety Option Module Initializing Parameter Setting (Fn043) . . . . . . . . . . .8-12

8.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12

8.5.2 Operation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-12

8.6 Safety Option Module Setup Alarm Clear (Fn044). . . . . . . . . . . . . . . . . . . . 8-14

8.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14

8.6.2 Operation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-15

8.7 Related Utility Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.7.1 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.7.2 Resetting Configuration Error in Option Modules (Fn014) . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.7.3 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

Chapter 9 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

9.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 List of Monitor Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.2 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.2 Monitoring from the Panel Operator and Digital Operator . . . . . . . . . . . . . . . 9-5

9.2.1 Safety Module I/O Signal Monitor (Un016) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

9.2.2 Safety Module Safety Function Status (Un017) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-5

9.2.3 Safety Module System Status (Un018) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6

9.2.4 Time until Arrival at Safety Speed (Un019 and Un01A) . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

9.2.5 Active Mode Reference Speed (Un01B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8

9.2.6 Safety Module Motor Speed (Un01C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8

9.2.7 Safety Module Motor Position (Un01D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8

9.2.8 Safety Module Monitoring Speed (Un01E, Un01F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-8

9.3 Monitoring Over the Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9

9.3.1 SERVOPACK for Use with MECHATROLINK-II Communications Reference. . . . . . . . . . 9-9

9.3.2 SERVOPACK for Use with MECHATROLINK-III Communications Reference . . . . . . . . 9-10

9.3.3 SERVOPACK for Use with Command Option Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10

Page 21

Chapter 10 Active Mode Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.2 Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.2.1 Internal Deceleration References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-3

10.2.2 Active Mode Hold Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

10.2.3 Position Error Level for Releasing Active Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4

10.2.4 Speed Reference Level for Releasing Active Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . .10-5

10.2.5 Monitoring Active Mode Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

10.3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10

10.4 Returning Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11

10.4.1 Returning Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11

10.4.2 SERVOPACK for Use with Analog Voltage and Pulse Train Reference . . . . . . . . . . . 10-11

10.4.3 SERVOPACK for Use with MECHATROLINK-II Communications Reference. . . . . . . 10-13

10.4.4 SERVOPACK for Use with MECHATROLINK-III Communications Reference . . . . . . 10-15

10.4.5 SERVOPACK for Use with Command Option Module . . . . . . . . . . . . . . . . . . . . . . . . . 10-16

10.5 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17

10.6 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18

10.6.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18

10.6.2 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19

10.6.3 Servo ON Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19

10.6.4 Zero-clamp Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19

10.6.5 Speed Feedforward Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19

10.6.6 Torque Feedforward Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19

Chapter 11 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1

11.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

11.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3

Chapter 12 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-1

12.1 Safety-related Module Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2

12.2 Safety-related Servo Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4

12.3 Parameters Related Active Mode Function . . . . . . . . . . . . . . . . . . . . . . . . 12-6

12.4 Device Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8

12.4.1 SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-8

12.4.2 Servomotors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8

12.4.3 Serial Converter Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-10

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1

Revision History

xxi

Page 22

Checking Products

This chapter describes how to check products upon delivery.

1.1 Checking Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

1.2 Nameplate (Ratings) and Model Designation . . . . . . . . . . . . . . . . . . . . . .1-3

1.3 Nameplate Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-1

Page 23

1 Checking Products

1.1 Checking Products on Delivery

 When the Safety Module is Not Connected to the SERVOPACK

1. Check the nameplate (ratings) to confirm that the product is the one that was ordered.

For the nameplate (ratings), refer to 1.2 Nameplate (Ratings) and Model Designation.

2. Mount the Safety Module to the SERVOPACK as described in the enclosed

Series for Large-Capacity Models Safety Option Module Installation Guide. For the location of the nameplate, refer to 1.3 Nameplate Location.

3. Remove the safety function jumper connector from the connector (CN8) of the SERVOPACK.

 When the Safety Module is Connected to the SERVOPACK

1. Check the nameplate (ratings) to confirm that the Module that is mounted is the Safety Module.

2. Check that the safety function jumper connector is not connected to the connector (CN8) of the

SERVOPACK.

-V Series/Σ-V

CN8

Nameplate (Ratings)

1-2

Page 24

1.2 Nameplate (Ratings) and Model Designation

Checking Products

Application Module model number

Name

Manufacturing number

Nameplate (Ratings)

Nameplate (Model no.)

Nameplate (Component code)

1.2 Nameplate (Ratings) and Model Designation

 Nameplate (Ratings) Example

 Model Designation

SGDV – OS A01 A

Series

SGDV

Σ-V Series

1st + 2nd digits: Module Type

Code

Safety option module

Module

1.3 Nameplate Location

6th digit: Design Revision Order

3rd + 4th + 5th digits: Interface Specifications

Code

A01

Interface

Safety module

1-3

Page 25

Specifications

This chapter gives an overview and describes the specifications of the Safety Module.

2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.3 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4 Internal Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

2-1

Page 26

2 Specifications

2.1 Overview

The Safety Module is an Option Module that is connected to a Σ-V-series or Large-Capacity Σ-V Series SERVOPACK. By using the Hard Wire BaseBlock function of the SERVOPACK, the following four safety func-

tions, which are defined in functional safety standards, can be achieved.

Safe BaseBlock Function (SBB function)

Safe BaseBlock with Delay Function (SBB-D function)

Safe Position Monitor with Delay Function (SPM-D function) 　

Safely Limited Speed with Delay Function (SLS-D function)

Function Remarks

This is a safety function that is equivalent to the Safe Torque Off function defined in IEC 61800-5-2.

This is a safety function that is equivalent to the Safe Stop 1 function defined in IEC 61800-5-2.

This is a safety function that is equivalent to the Safe Stop 2 function defined in IEC 61800-5-2.

This is a safety function that is equivalent to the Safely-Limited Speed function defined in IEC 61800-5-2.

2-2

Page 27

Specifications

2.2 Specifications

This table lists the general specifications of the Safety Module.

Rotational motor

Σ-V Series

Applicable SERVOPACK

Placement Attached to the SERVOPACK

Power Specification

Operating Conditions

Safety Functions

Stopping Methods

Others Active Mode Function

Response Time Max. 200 ms

Proof Test Interval 10 years

Power Supply Method Supplied from the control power supply of the SGDV SERVOPACK.

Surrounding Air/Storage Temperature

Ambient/Storage Humidity

Vibration/Shock Resistance

Protection Class/ Pollution Degree

Altitude 1000 m or less

Others

Number of Functions: 2

Inputs Safety Function A

Output

Inputs Safety Function B

Output

/Σ-V Series for Large-Capacity Models

Linear motor

0°C to +55°C/ -20°C to +85°C

90% RH or less (with no condensation)

4.9 m/s

Protection class: IP10, Pollution degree: 2 An environment that satisfies the following conditions.

• Free of corrosive or explosive gases

• Free of exposure to water, oil or chemicals

• Free of dust, salts or iron dust

Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to radioactivity

Number of Channels 2

Function Safety Request Input Signal (SRI-A1, SRI-A2)

Number of Channels 1

Function External Device Monitor Output Signal (EDM-A)

Number of Channels 2

Function Safety Request Input Signal (SRI-B1, SRI-B2)

Number of Channels 1

Function External Device Monitor Output Signal (EDM-B)

Safe Torque Off (STO) Safe BaseBlock Function (SBB function)

Safe Stop 1 (SS1)

Safe Stop 2 (SS2)

Safety-Limited Speed (SLS)

/ 19.6 m/s

Safety Functions

(IEC61800-5-2)

2.2 Specifications

SGDV-01 (analog voltage and pulse train reference model) SGDV-11 (M-II communications reference model) SGDV-E1 (command option attachable type) SGDV-21 (M-III communications reference model)

SGDV-05 (analog voltage and pulse train reference model) SGDV-15 (M-II communications reference model) SGDV-E5 (command option attachable type) SGDV-25 (M-III communications reference model)

Function names of Safety Module

Safe BaseBlock with Delay Function (SBB-D function)

Safe Position Monitor with Delay Function (SPM-D function) 　

Safely Limited Speed with Delay Function (SLS-D function)

2-3

Page 28

2 Specifications

I/O connector for the Safety Function A (CN21)

I/O connector for the Safety Function B (CN22)

2.3 Part Names

The following figure shows the part names of the Safety Module.

2-4

Note: For the names of the SERVOPACK parts, refer to the user’s manual for the SERVOPACK being used.

Page 29

Specifications

2.4 Internal Block Diagram

This figure shows a typical internal block diagram.

2.4 Internal Block Diagram

Power supply

Safety Function A

/SRI-A1+

/SRI-A1–

/SRI-A2+

/SRI-A2–

/EDM-A+

/EDM-A–

Safety Function B

/SRI-B1+

/SRI-B1–

/SRI-B2+

/SRI-B2–

/EDM-B+

Safety Module

CN21

CN22

Block A

Safety function

Block B

SERVOPACK

CN11

HWBB1

HWBB2

EDM1

HWBB

CPU

SERVOޓ

ASIC

Power module

/EDM-B–

CN2

ENC

2-5

Page 30

SERVOPACK Installation

This chapter describes how to install the SERVOPACK.

3.1 SERVOPACK Installation Environment and Harmonized Standards . . . . 3-2

3.1.1 Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.2 Installation Conditions for Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.2 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

3.2.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4

3.3 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3.3.1 SGDV-0 (Analog Voltage and Pulse Train Reference Model) . . . . . . . . . 3-6

3.3.2 SGDV-1 (M-II Communications Reference Model) . . . . . . . . . . . . . . . . 3-16

3.3.3 SGDV-2 (M-III Communications Reference Model) . . . . . . . . . . . . . . . 3-26

3.3.4 SGDV-EA (Command Option Attachable Type) . . . . . . . . . . . . . . . . . . . . 3-36

3-1

Page 31

3 SERVOPACK Installation

3.1.1 Installation Environment

3.1 SERVOPACK Installation Environment and Harmonized Standards

SERVOPACK installation environment and harmonized standards are as follows.

3.1.1 Installation Environment

 Surrounding air temperature: 0 to 55°C

 Ambient humidity: 90% RH or less (with no condensation)

 Altitude: 1,000 m or less

 Vibration resistance: 4.9 m/s

 Shock resistance: 19.6 m/s

 Installation Precautions

• Mounting in a Control Panel

To prevent the temperature around the SERVOPACK from exceeding 55°C, take into account the size of the control panel, the layout of the SERVOPACK, and the cooling method. For details, refer to 3.2 SERVOPACK Installation.

• Mounting Near a Heating Unit

To prevent the temperature around the SERVOPACK from exceeding 55°C, suppress radiant heat from the heating unit and temperature rise due to convection.

• Mounting Near a Vibration Source

To prevent vibration from being transmitted to the SERVOPACK, install a vibration isolator underneath the SERVOPACK.

• Mounting to a Location Exposed to Corrosive Gas

Take measures to prevent exposure to corrosive gas. Corrosive gases will not immediately affect the SERVOPACK, but will eventually cause electronic components and contactor-related devices to malfunction.

• Other Locations

Do not mount the SERVOPACK in locations subject to high temperatures, high humidity, dripping water, cutting oil, dust, iron filings, or radiation.

<Note>

When storing the SERVOPACK with the power OFF, store it in an environment with the following temperature and humidity:

•-20 to +85°C, 90% RH or less (with no condensation)

3.1.2 Installation Conditions for Harmonized Standards

UL508C

Harmonized Standards

Operating Conditions

Installation Conditions

EN50178, EN55011 group1 classA, EN61000-6-2, EN61800-3, EN61800-5-1, EN954-1 EN ISO13849-1, IEC 60204-1, IEC61326-3-1, IEC 61508 series, IEC61800-5-2, IEC62061

Overvoltage category: III Pollution degree: 2 Protection class: IP10

UL Standard and Low Voltage Directive: Satisfy the conditions outlined in

SGDV Safety Precautions.

EMC Directive: Certification is required after installation in the user’s machine under the conditions outlined in

3.3 EMC Installation Conditions.

-V Series or Large-Capacity Σ-V Series AC SERVOPACK

3-2

Page 32

SERVOPACK Installation

3.2 SERVOPACK Installation

Rack

Air flow

3.2.1 Orientation

The SERVOPACK is available in models that are base-mounted, models that are rack-mounted, and models that are duct-ventilated. In any case, mount the SERVOPACK with a vertical orientation.

Firmly secure the SERVOPACK to the mounting surface, using either two or four mounting holes depending on the SERVOPACK capacity.

• Base-mounted

3.2 SERVOPACK Installation

Base

• Rack-mounted

• Duct-ventilated

Air flow

Duct

Air flow

3-3

Page 33

3 SERVOPACK Installation

50 mm or more 5 mm

100 mm or more

120 mm or more

5 mm

Fan

3.2.2 Installation Standards

Observe the standards for mounting SERVOPACKs in control panels, including those for the mounting SERVOPACKs side by side in one control panel as shown in the following illustration.

• SERVOPACK Mounting Orientation

Mount the SERVOPACK vertically to the wall, with the front panel (the side with the panel operator display) facing out.

• Cooling

Refer to the following diagram and leave sufficient space for cooling by fans and natural convection.

• Mounting SERVOPACKs Side by Side in a Control Panel

30 mm or more

Fan Fan

Width varies with SERVOPACK model.

40 mm or more

Leave sufficient space on each side and at the top and the bottom of each SERVOPACK. The width on each side varies in accordance with the models of the SERVOPACKs used.

SERVOPACK Model SGDV-

R70F, R90F, 2R1F, R70A, R90A, 1R6A, 2R8A 1 mm or more

2R8F, 3R8A, 5R5A, 7R6A 1 mm or more 10 mm or more

120A, 180A, 200A, 330A, 470A, 550A, 590A, 780A, 1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D, 210D, 260D, 280D, 370D

Left Right

Side

10 mm or more

Top and bottom

40 mm or more

3-4

Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVOPA CK s.

• Large-Capacity Σ-V Series

Also install cooling fans above the SERVOPACKs and converters to disperse local pockets of warmer air around them.

Page 34

3.2 SERVOPACK Installation

SERVOPACK Installation

• Inside the Control Panel

The conditions inside the control panel should be the same as the environmental conditions of the SERVOPAC K . Re f er t o 3.1.1 Installation Environment.

3-5

Page 35

3 SERVOPACK Installation

U, V, W

L1, L2

L1C, L2C

CN2

CN1

CN8

Safety

controller

CN21, CN22

Safety Module

Power supply:

Single-phase 100 VAC

Encoder

Servomotor

Brake

Noise

filter

Brake power

supply

Surge

absorber

Two turn

Core Core

Core

Host

controller

Clamp

ClampClamp

Clamp

Shield box

One turn

SERVOPACK

3.3.1 SGDV-0 (Analog Voltage and Pulse Train Reference Model)

3.3 EMC Installation Conditions

This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the SGDV SERVOPACK. The conditions required for the standard type (base-mounted) of the SERVOPACK are described. Refer to this section for other SERVOPACK models such as the rack-mounted types as well.

This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other conditions. However, because this product is built-in, check that the following conditions are still met after being installed in the user’s product.

The harmonized standards are EN55011 group 1 class A and EN61800-3.

3.3.1 SGDV-0 (Analog Voltage and Pulse Train Reference Model)

 Single-phase 100 V

•SGDV-F0A ( = R70, R90, 2R1, 2R8) + SGDV-OSA01A

3-6

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

Page 36

SERVOPACK Installation

 Three-phase 200 V

Power supply: Three-phase 200 VAC

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Clamp

Noise

filter

Brake Power

Supply

Clamp Clamp

CN8

Surge

absorber

Host

controller

Safety

controller

CN21, CN22

Safety

Module

•SGDV-A0B ( = R70, R90, 1R6, 2R8) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-7

Page 37

3 SERVOPACK Installation

Safety

controller

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

Power supply:

Three-phase 200 VAC

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Clamp

ClampClamp

Clamp

Noise

filter

Brake power

supply

Surge

absorber

Two turn

Core

CoreCore

Core

Host

controller

One turn

CN21, CN22

Safety Module

3.3.1 SGDV-0 (Analog Voltage and Pulse Train Reference Model)

 Three-phase 200 V

•SGDV-A0A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-8

Page 38

SERVOPACK Installation

 Three-phase 200 V

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

Power supply:

Three-phase 200 VAC

Clamp

Noise

filter

Surge

absorber

Safety

controller

Brake power

supply

SERVOPACK

Shield box

One turn

Two turn

CoreCore

Clamp

Host

controller

Core

Encoder

Servomotor

Brake

CN21, CN22

Safety Module

•SGDV-A0A ( = 120) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-9

Page 39

3 SERVOPACK Installation

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

One turn

Power supply:

Three-phase 200 VAC

Clamp

Noise

filter

Surge

absorber

Safety

controller

Brake power

supply

SERVOPACK

Shield box

Two turn

Core

Clamp

Host

controller

Core

Encoder

Servomotor

Brake

CN21, CN22

Safety Module

3.3.1 SGDV-0 (Analog Voltage and Pulse Train Reference Model)

 Three-phase 200 V

•SGDV-A0A ( = 180, 200, 330) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-10

Page 40

SERVOPACK Installation

 Three-phase 200 V

U, V, W

L1, L2, L3

L1C, L2C

B1, B2

CN2

CN1

CN8

Safety

controller

Power supply:

Three-phase 200 VAC

Shield box

SERVOPACK

Noise

filter

Brake power

supply

Surge

absorber

Host

controller

Encoder

Servomotor

Brake

Cooling fan

Clamp

Clamp Clamp

Clamp

Regenerative

resistor unit

CN21, CN22

Safety Module

•SGDV-A0A ( = 470, 550, 590, 780) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h Regenerative resistor unit cable Non-shield cable

i Cooling fan cable Shield cable

3-11

Page 41

3 SERVOPACK Installation

Power supply: Three-phase 200 VAC

Regenerative resistor unit

Clamp

Shield box

Surge

absorber

DB unit

ClampClamp Clamp

Servomotor

Encoder

Fan

Converter

L1,L2,L3

B1,B2

CN101

CN103,104

200 VAC

CN901

Core

SERVOPACK

U,V,W

CN2

P N

CN901

CN103,104

DU,DV,DW

CN115

CN8

Clamp

Core

Host

controller

Clamp

CN1

Noise

filter

Noise

filter

Surge

absorber

Safety controller

CN21 CN22

Safety

Module

Core

One turn

Two turn

One turn

Two turn

3.3.1 SGDV-0 (Analog Voltage and Pulse Train Reference Model)

 Three-phase 200 V

• SERVOPACK: SGDV-H0A ( = 121, 161, 201) + SGDV-OSA01A

• Converter: SGDV-COAAA ( = 2B, 3G)

3-12

Symbol Cable Name Specification

c Main circuit cable Shield cable

d I/O signal cable Shield cable

e DB unit signal cable Non-shield cable

f DB unit power cable Non-shield cable

g Safety signal cable Shield cable

h Motor cooling fan cable Shield cable

i Regenerative resistor unit cable Non-shield cable

j I/O signal connection cable Shield cable

k 24-VDC control power cable Non-shield cable

l Motor main circuit cable Shield cable

∗1. Surge absorber: LT-C32G801WS (manufactured by Soshin Electric Co., Ltd.) ∗2. Surge absorber: LT-C12G801WS (manufactured by Soshin Electric Co., Ltd.) ∗3. Noise filter: HF2005A-UP (manufactured by Soshin Electric Co., Ltd.)

Encoder cable Shield cable

Page 42

3.3 EMC Installation Conditions

SERVOPACK Installation

U, V, W

L1, L2, L3

24 V, 0 V

CN2

CN1

CN8

Safety

controller

SERVOPACK

Brake power

supply

Host controller

Encoder

Servomotor

Brake

Shield box

Clamp

Core

Clamp

Core

Clamp

Noise

filter

Core

Surge

absorber

Surge

absorber

Core

Noise filter*

Control

power supply

24 VDC*

Clamp

One turn

Two turn

One turn

Power supply:

Single-phase

200 VAC

Power supply:

Three-phase

400 VAC

CN21, CN22

Safety Module

 Three-phase 400 V

•SGDV-D0A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Control power cable Shield cable

h Main circuit cable Shield cable

∗1. Products that have received CE marking are recommended for the 24 VDC power supply. ∗2. Install the following noise filter on the power line between the single-phase 200 V power supply and the 24 VDC

power supply. Model number: FN2070-6/07 (SCHAFFNER)

3-13

Page 43

3 SERVOPACK Installation

3.3.1 SGDV-0 (Analog Voltage and Pulse Train Reference Model)

 Three-phase 400 V

•SGDV-D0A ( = 210, 260, 280, 370) + SGDV-OSA01A

Shield box

Power supply:

Single-phase

200 VAC

Power supply:

Three-phase

400 VAC

Safety

controller

Clamp

absorber

Clamp

Surge

absorber

Surge

Noise

filter*

24 VDC*

Noise

filter

Regenerative

resistor unit

Control

power supply

Brake power

supply

SERVOPACK

24 V, 0 V

L1, L2, L3

B1, B2

CN21, CN22

Safety Module

CN1

Clamp

Host controller

U, V, W

CN2

CN8

Clamp

Brake

Clamp

Servomotor

Encoder

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Control power cable Shield cable

h Main circuit cable Shield cable

i Regenerative resistor unit cable Non-shield cable

power supply. Model number: FN2070-6/07 (SCHAFFNER)

3-14

Page 44

SERVOPACK Installation

 Three-phase 400 V

• SERVOPACK: SGDV-J0A ( = 750, 101, 131) + SGDV-OSA01A

• Converter: SGDV-COADA ( = 3Z, 5E)

Shield box

One turn

3.3 EMC Installation Conditions

Power supply: Three-phase 400 VAC

Power supply: Single-phase 200 VAC

Safety contoller

Clamp

Surge

absorber

Host

controller

DB unit

Surge

absorber

Core

Noise

filter

4 5

One turn

Noise

filter

Core

*3 *4

Clamp

Two turn

Control power supply 24 VDC

Core

Safety

Module

CN21 CN22

L1,L2,L3

Converter

CN101 24V,0V

CN103,104

CN6A,CN6B

SERVOPACK

CN1

CN8

CN115 DU,DV,DW

B1,B2

CN901

U,V,W

CN2

Core

Regenerative resistor unit

One turn

Core

ClampClamp Clamp

One turn

Core

Servomotor

Encoder

Core

Fan

Symbol Cable Name Specification

c Main circuit cable Shield cable

d Control power cable Shield cable

e I/O signal cable Shield cable

f DB unit signal cable Non-shield cable

g DB unit power cable Non-shield cable

h Safety signal cable Shield cable

i Motor cooling fan cable Shield cable

j Regenerative resistor unit cable Non-shield cable

k I/O signal connection cable Shield cable

l 24-VDC control power cable Non-shield cable

Motor main circuit cable Shield cable

Encoder cable Shield cable

∗1. Surge absorber: LT-C35G102WS (manufactured by Soshin Electric Co., Ltd.) ∗2. Surge absorber: LT-C12G801WS (manufactured by Soshin Electric Co., Ltd.) ∗3. Noise filter: HF2005A-UP (manufactured by Soshin Electric Co., Ltd.) ∗4. 24 VDC power supply: Power supply with double or reinforced insulation that has received CE marking.

3-15

Page 45

3 SERVOPACK Installation

U, V, W

L1, L2

L1C, L2C

CN2

CN1

CN8

Safety

controller

CN21, CN22

Safety Module

Power supply:

Single-phase 100 VAC

Encoder

Servomotor

Brake

Noise

filter

Brake power

supply

Surge

absorber

Two turn

Core Core

Core

Host

controller

Clamp

ClampClamp

Clamp

Shield box

One turn

SERVOPACK

3.3.2 SGDV-1 (M-II Communications Reference Model)

 Single-phase 100 V

•SGDV-F1A ( = R70, R90, 2R1, 2R8) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-16

Page 46

SERVOPACK Installation

 Three-phase 200 V

Power supply: Three-phase 200 VAC

MECHATROLINK-II

controller

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN6A, CN6B

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Clamp

Noise

filter

Brake Power

Supply

Clamp Clamp

CN8

Surge

absorber

Host

controller

Clamp

Safety

cotroller

CN21, CN22

Safety

Module

•SGDV-A1B ( = R70, R90, 1R6, 2R8) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h MECHATROLINK-II communication cable Shield cable

3-17

Page 47

3 SERVOPACK Installation

Safety

controller

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

Power supply:

Three-phase 200 VAC

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Clamp

ClampClamp

Clamp

Noise

filter

Brake power

supply

Surge

absorber

Two turn

Core

CoreCore

Core

Host

controller

One turn

CN21, CN22

Safety Module

3.3.2 SGDV-1 (M-II Communications Reference Model)

 Three-phase 200 V

•SGDV-A1A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-18

Page 48

SERVOPACK Installation

 Three-phase 200 V

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

Power supply:

Three-phase 200 VAC

Clamp

Noise

filter

Surge

absorber

Safety

controller

Brake power

supply

SERVOPACK

Shield box

One turn

Two turn

CoreCore

Clamp

Host

controller

Core

Encoder

Servomotor

Brake

CN21, CN22

Safety Module

•SGDV-A1A ( = 120) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-19

Page 49

3 SERVOPACK Installation

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

One turn

Power supply:

Three-phase 200 VAC

Clamp

Noise

filter

Surge

absorber

Safety

controller

Brake power

supply

SERVOPACK

Shield box

Two turn

Core

Clamp

Host

controller

Core

Encoder

Servomotor

Brake

CN21, CN22

Safety Module

3.3.2 SGDV-1 (M-II Communications Reference Model)

 Three-phase 200 V

•SGDV-A1A ( = 180, 200, 330) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-20

Page 50

SERVOPACK Installation

 Three-phase 200 V

U, V, W

L1, L2, L3

L1C, L2C

B1, B2

CN2

CN1

CN8

Safety

controller

Power supply:

Three-phase 200 VAC

Shield box

SERVOPACK

Noise

filter

Brake power

supply

Surge

absorber

Host

controller

Encoder

Servomotor

Brake

Cooling fan

Clamp

Clamp Clamp

Clamp

Regenerative

resistor unit

CN21, CN22

Safety Module

•SGDV-A1A ( = 470, 550, 590, 780) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h Regenerative resistor unit cable Non-shield cable

i Cooling fan cable Shield cable

3-21

Page 51

3 SERVOPACK Installation

Power supply: Three-phase 200 VAC

Regenerative resistor unit

Clamp

Shield box

Surge

absorber

DB unit

ClampClamp Clamp

Servomotor

Encoder

Fan

Converter

L1,L2,L3

B1,B2

CN101

CN103,104

200 VAC

CN901

Core

SERVOPACK

U,V,W

CN2

N CN901

CN103,104

DU,DV,DW

CN115

CN8

CN6A,CN6B

Clamp

Core

I/O control

unit

Clamp

CN1

Noise

filter

Noise

filter

Surge

absorber

MECHATROLINK-II controller

Clamp

Safety controller

CN21 CN22

Safety

Module

Core

One turn

Two turn

One turn

Two turn

One turn

3.3.2 SGDV-1 (M-II Communications Reference Model)

 Three-phase 200 V

• SERVOPACK: SGDV-H1A ( = 121, 161, 201) + SGDV-OSA01A

• Converter: SGDV-COAAA ( = 2B, 3G)

3-22

Symbol Cable Name Specification

c Main circuit cable Shield cable

d MECHATROLINK-II communication cable Shield cable

e I/O signal cable Shield cable

f DB unit signal cable Non-shield cable

g DB unit power cable Non-shield cable

h Safety signal cable Shield cable

i Motor cooling fan cable Shield cable

j Regenerative resistor unit cable Non-shield cable

k I/O signal connection cable Shield cable

l 24-VDC control power cable Non-shield cable

Motor main circuit cable Shield cable

Encoder cable Shield cable

Page 52

3.3 EMC Installation Conditions

SERVOPACK Installation

U, V, W

L1, L2, L3

24 V, 0 V

CN2

CN1

CN8

Safety

controller

SERVOPACK

Brake power

supply

Host controller

Encoder

Servomotor

Brake

Shield box

Clamp

Core

Clamp

Core

Clamp

Noise

filter

Core

Surge

absorber

Surge

absorber

Core

Noise filter*

Control

power supply

24 VDC*

Clamp

One turn

Two turn

One turn

Power supply:

Single-phase

200 VAC

Power supply:

Three-phase

400 VAC

CN21, CN22

Safety Module

 Three-phase 400 V

•SGDV-D1A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Control power cable Shield cable

h Main circuit cable Shield cable

power supply. Model number: FN2070-6/07 (SCHAFFNER)

3-23

Page 53

3 SERVOPACK Installation

3.3.2 SGDV-1 (M-II Communications Reference Model)

 Three-phase 400 V

•SGDV-D1A ( = 210, 260, 280, 370) + SGDV-OSA01A

Shield box

Power supply:

Single-phase

200 VAC

Power supply:

Three-phase

400 VAC

Safety

controller

Clamp

absorber

Clamp

Surge

absorber

Surge

Noise

filter*

24 VDC*

Noise

filter

Regenerative

resistor unit

Control

power supply

Brake power

supply

SERVOPACK

24 V, 0 V

L1, L2, L3

B1, B2

CN21, CN22

Safety Module

CN1

Clamp

Host controller

U, V, W

CN2

CN8

Clamp

Brake

Clamp

Servomotor

Encoder

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Control power cable Shield cable

h Main circuit cable Shield cable

i Regenerative resistor unit cable Non-shield cable

power supply. Model number: FN2070-6/07 (SCHAFFNER)

3-24

Page 54

SERVOPACK Installation

 Three-phase 400 V

Power supply: Three-phase 400 VAC

Regenerative resistor unit

Clamp

Power supply: Single-phase 200 VAC

Shield box

5 6

Clamp

Surge

absorber

*3 *4

Surge

absorber

Noise

filter

Noise

filter

I/O

control unit

DB unit

ClampClamp Clamp

Servomotor

Encoder

Fan

Converter

L1,L2,L3

B1,B2

CN101

CN103,104

24 V,0 V

CN901

Core

Clamp

SERVOPACK

U,V,W

CN2

CN1

CN901

CN103,104

DU,DV,DW

CN115

CN8

CN6A,CN6B

Safety controller

CN21 CN22

Safety

Module

Core

MECHATROLINK-II controller

Clamp

Core

One turn

Two turn

One turn

Control power supply 24 VDC

• SERVOPACK: SGDV-J1A ( = 750, 101, 131) + SGDV-OSA01A

• Converter: SGDV-COADA ( = 3Z, 5E)

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c Main circuit cable Shield cable

d Control power cable Shield cable

e MECHATROLINK-II communication cable Shield cable

f I/O signal cable Shield cable

g DB unit signal cable Non-shield cable

h DB unit power cable Non-shield cable

i Safety signal cable Shield cable

j Motor cooling fan cable Shield cable

k Regenerative resistor unit cable Non-shield cable

l I/O signal connection cable Shield cable

24-VDC control power cable Non-shield cable

Motor main circuit cable Shield cable

Encoder cable Shield cable

3-25

Page 55

3 SERVOPACK Installation

3.3.3 SGDV-2 (M-III Communications Reference Model)

 Single-phase 100 V

•SGDV-F2A ( = R70, R90, 2R1, 2R8) + SGDV-OSA01A

Shield box

Brake Power

Supply

Power supply: Single-phase 100 VAC

MECHATROLINK-III

controller

Safety

coroller

One turn

Noise

Clamp

Surge

absorber

Clamp

filter

Two turn

CN21, CN22

Two turn

L1, L2

Core

L1C, L2C

Core

CN6A, CN6B

Safety

Module

CN1

Core

Host

controller

SERVOPACK

U, V, W

CN2

CN8

CoreCore

One turn

Clamp

Brake

Clamp

Servomotor

Encoder

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h MECHATROLINK-III communication cable Shield cable

3-26

Page 56

SERVOPACK Installation

 Three-phase 200 V

Power supply: Three-phase 200 VAC

MECHATROLINK-III

controller

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN6A, CN6B

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Clamp

Noise

filter

Brake Power

Supply

Clamp Clamp

CN8

Surge

absorber

Host

controller

Clamp

Safety

coroller

CN21, CN22

Safety

Module

SGDV-A2B ( = R70, R90, 2R6, 2R8) + SGDV-OSA01A

•

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h MECHATROLINK-III communication cable Shield cable

3-27

Page 57

3 SERVOPACK Installation

3.3.3 SGDV-2 (M-III Communications Reference Model)

 Three-phase 200 V

•SGDV-A2A ( =R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OSA01A

Brake Power

Supply

Shield box

Power supply: Three-phase 200 VAC

MECHATROLINK-III

controller

Safety

controller

SERVOPACK

U, V, W

CN2

CN8

CoreCore

One turn

Clamp

Noise

Clamp

Surge

absorber

Clamp

filter

One turn

Two turn

L1, L2, L3

Core

L1C, L2C

Core

CN6A, CN6B

Safety

Module

CN21, CN22

CN1

Core

Host

controller

Brake

Clamp

Servomotor

Encoder

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h MECHATROLINK-III communication cable Shield cable

3-28

Page 58

SERVOPACK Installation

 Three-phase 200 V

•SGDV-A2A ( = 120) + SGDV-OSA01A

3.3 EMC Installation Conditions

Shield box

Brake Power

Supply

Power supply: Three-phase 200 VAC

MECHATROLINK-III

controller

Safety

controller

SERVOPACK

U, V, W

CN2

CN8

CoreCore

One turn

Clamp

Noise

Clamp

Surge

absorber

Clamp

filter

Two turn

L1, L2, L3

L1C, L2C

CN6A, CN6B

Safety

Module

CN21, CN22

CN1

Core

Host

controller

Brake

Clamp

Servomotor

Encoder

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h MECHATROLINK-III communication cable Shield cable

3-29

Page 59

3 SERVOPACK Installation

Power supply: Three-phase 200 VAC

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Clamp

Noise

filter

Brake Power

Supply

Clamp

CN8

Surge

absorber

One turn

Core

Two turn

Host

controller

MECHATROLINK-III

controller

CN6A, CN6B

Clamp

Safety

controller

CN21, CN22

Safety

Module

3.3.3 SGDV-2 (M-III Communications Reference Model)

 Three-phase 200 V

•SGDV-A2A ( = 180, 200, 330) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h MECHATROLINK-III communication cable Shield cable

3-30

Page 60

SERVOPACK Installation

 Three-phase 200 V

Power supply: Three-phase 200 VAC

U, V, W

L1, L2, L3

L1C, L2C

B1, B2

CN2

CN1

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Cooling fan

Clamp

Noise

filter

Brake Power

Supply

Clamp

CN8

Surge

absorber

Clamp

Host

controller

MECHATROLINK-III

controller

CN6A, CN6B

Regenerative

resistor unit

Clamp

Safety

controller

CN21, CN22

Safety

Module

•SGDV-A2A ( = 470, 550, 590, 780) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h Regenerative resistor unit cable Non-shield cable

i Cooling fan cable Shield cable

j MECHATROLINK-III communication cable Shield cable

3-31

Page 61

3 SERVOPACK Installation

Power supply: Three-phase 200 VAC

Regenerative resistor unit

Clamp

Shield box

Surge

absorber

DB unit

ClampClamp Clamp

Servomotor

Encoder

Fan

Converter

L1,L2,L3

B1,B2

CN101

CN103,104

200 VAC

CN901

Core

SERVOPACK

U,V,W

CN2

CN901

CN103,104

DU,DV,DW

CN115

CN8

CN6A,CN6B

Clamp

Core

I/O

control unit

Clamp

CN1

Noise

filter

Noise

filter

Surge

absorber

MECHATROLINK-III controller

Clamp

Safety controller

CN21 CN22

Safety

Module

Core

One turn

Two turn

One turn

Two turn

One turn

3.3.3 SGDV-2 (M-III Communications Reference Model)

 Three-phase 200 V

• SERVOPACK: SGDV-H2A ( = 121, 161, 201) + SGDV-OSA01A

• Converter: SGDV-COAAA ( = 2B, 3G)

3-32

Symbol Cable Name Specification

c Main circuit cable Shield cable

d MECHATROLINK-III communication cable Shield cable

e I/O signal cable Shield cable

f DB unit signal cable Non-shield cable

g DB unit power cable Non-shield cable

h Safety signal cable Shield cable

i Motor cooling fan cable Shield cable

j Regenerative resistor unit cable Non-shield cable

k I/O signal connection cable Shield cable

l 24-VDC control power cable Non-shield cable

Motor main circuit cable Shield cable

Encoder cable Shield cable

Page 62

3.3 EMC Installation Conditions

SERVOPACK Installation

 Three-phase 400 V

•SGDV-D2A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OSA01A

Shield box

Power supply: Single-phase 200 VAC

Power supply: Three-phase 400 VAC

MECHATROLINK-III

controller

Clamp

Surge

absorber

Clamp

Noise filter*

Control

power

24 VDC*

Surge

absorber

supply

Noise

filter

Core

One turn

Brake Power

Supply

SERVOPACK

U, V, W

24 V, 0 V

L1, L2, L3

CN2

CN6A, CN6B

Core

One turn

Core

Clamp

Brake

Clamp

Servo-

motor

Encoder

Core

One turn

Safety

controller

Two turn

Safety

Module

CN21, CN22

CN1

Core

Clamp

Host controller

CN8

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Control power cable Shield cable

h Main circuit cable Shield cable

i MECHATROLINK-III communication cable Shield cable

power supply. Model number: FN2070-6/07 (SCHAFFNER)

3-33

Page 63

3 SERVOPACK Installation

3.3.3 SGDV-2 (M-III Communications Reference Model)

 Three-phase 400 V

•SGDV-D2A ( = 210, 260, 280, 370) + SGDV-OSA01A

Shield box

Power supply: Single-phase 200 VAC

Power supply: Three-phase 400 VAC

MECHATROLINK-III

controller

Safety

controller

Clamp

Surge

absorber

Clamp

Surge

absorber

Clamp

Noise filter*

Control

power

supply

24 VDC*

Surge

absorber

Regenerative

resistor unit

Noise

filter

CN21, CN22

Safety

Module

Brake Power

Supply

SERVOPACK

24 V, 0 V

L1, L2, L3

B1, B2

CN6A, CN6B

CN1

U, V, W

CN2

CN8

Clamp

Brake

Clamp

Servomotor

Encoder

Clamp

Host controller

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Control power cable Shield cable

h Main circuit cable Shield cable

i Regenerative resistor unit cable Non-shield cable

j MECHATROLINK-III communication cable Shield cable

power supply. Model number: FN2070-6/07 (SCHAFFNER)

3-34

Page 64

SERVOPACK Installation

 Three-phase 400 V

Power supply: Three-phase 400 VAC

Regenerative resistor unit

Clamp

Power supply: Single-phase 200 VAC

Shield box

5 6

Clamp

Surge

absorber

*3 *4

Surge

absorber

Noise

filter

Noise

filter

I/O

control unit

DB unit

ClampClamp Clamp

Servomotor

Encoder

Fan

Converter

L1,L2,L3

B1,B2

CN101

CN103,104

24 V,0 V

CN901

Core

CoreCore

Core

Clamp

SERVOPACK

U,V,W

CN2

CN1

CN901

CN103,104

DU,DV,DW

CN115

CN8

CN6A,CN6B

Safety controller

CN21 CN22

Safety

Module

Core

MECHATROLINK-III controller

Clamp

Core

One turn

Two turn

One turn

Control power supply 24 VDC

• SERVOPACK: SGDV-J2A ( = 750, 101, 131) + SGDV-OSA01A

• Converter: SGDV-COADA ( = 3Z, 5E)

3.3 EMC Installation Conditions

c Main circuit cable Shield cable

d Control power cable Shield cable

e MECHATROLINK-III communication cable Shield cable

Symbol Cable Name Specification

f I/O signal cable Shield cable

g DB unit signal cable Non-shield cable

h DB unit power cable Non-shield cable

i Safety signal cable Shield cable

j Motor cooling fan cable Shield cable

k Regenerative resistor unit cable Non-shield cable

l I/O signal connection cable Shield cable

24-VDC control power cable Non-shield cable

Motor main circuit cable Shield cable

Encoder cable Shield cable

3-35

Page 65

3 SERVOPACK Installation

U, V, W

L1, L2

L1C, L2C

CN2

CN1

CN8

Safety

controller

CN21, CN22

Safety Module

Power supply:

Single-phase 100 VAC

Encoder

Servomotor

Brake

Noise

filter

Brake power

supply

Surge

absorber

Two turn

Core Core

Core

Host

controller

Clamp

ClampClamp

Clamp

Shield box

One turn

SERVOPACK

3.3.4 SGDV-EA (Command Option Attachable Type)

 Single-phase 100 V

•SGDV-FEA ( = R70, R90, 2R1, 2R8) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-36

Page 66

3.3 EMC Installation Conditions

SERVOPACK Installation

Safety

controller

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

Power supply:

Three-phase 200 VAC

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Clamp

ClampClamp

Clamp

Noise

filter

Brake power

supply

Surge

absorber

Two turn

Core

CoreCore

Core

Host

controller

One turn

CN21, CN22

Safety Module

 Three-phase 200 V

•SGDV-AEA ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-37

Page 67

3 SERVOPACK Installation

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

Power supply:

Three-phase 200 VAC

Clamp

Noise

filter

Surge

absorber

Safety

controller

Brake power

supply

SERVOPACK

Shield box

One turn

Two turn

CoreCore

Clamp

Host

controller

Core

Encoder

Servomotor

Brake

CN21, CN22

Safety Module

3.3.4 SGDV-EA (Command Option Attachable Type)

 Three-phase 200 V

•SGDV-AEA ( = 120) + SGDV-OSA01A

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-38

Page 68

SERVOPACK Installation

 Three-phase 200 V

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN8

One turn

Power supply:

Three-phase 200 VAC

Clamp

Noise

filter

Surge

absorber

Safety

controller

Brake power

supply

SERVOPACK

Shield box

Two turn

Core

Clamp

Host

controller

Core

Encoder

Servomotor

Brake

CN21, CN22

Safety Module

•SGDV-AEA ( = 180, 200, 330) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

3-39

Page 69

3 SERVOPACK Installation

3.3.4 SGDV-EA (Command Option Attachable Type)

 Three-phase 200 V

•SGDV-AEA ( = 470, 550, 590, 780) + SGDV-OSA01A

Shield box

Brake power

supply

SERVOPACK

U, V, W

CN2

CN8

Clamp Clamp

Clamp

Power supply:

Three-phase 200 VAC

Safety

controller

Noise

Clamp

Surge

absorber

filter

Regenerative

resistor unit

L1, L2, L3

L1C, L2C

B1, B2

CN21, CN22

Safety Module

CN1

Clamp

Host

controller

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Main circuit cable Shield cable

h Regenerative resistor unit cable Non-shield cable

i Cooling fan cable Shield cable

Cooling fan

Brake

Servomotor

Encoder

3-40

Page 70

SERVOPACK Installation

 Three-phase 200 V

Power supply: Three-phase 200 VAC

Regenerative resistor unit

Clamp

Shield box

Surge

absorber

DB unit

ClampClamp Clamp

Servomotor

Encoder

Fan

Converter

L1,L2,L3

B1,B2

CN101

CN103,104

200 VAC

CN901

Core

SERVOPACK

U,V,W

CN2

CN901

CN103,104

DU,DV,DW

CN115

CN8

Clamp

Core

I/O

control unit

Clamp

CN1

Noise

filter

Noise

filter

Surge

absorber

Safety controller

CN21 CN22

Safety

Module

Core

One turn

Two turn

One turn

• SERVOPACK: SGDV-HEA (=121, 161, 201) + SGDV-OSA01A

• Converter: SGDV-COAAA (=2B, 3G)

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c Main circuit cable Shield cable

d I/O signal cable Shield cable

e DB unit signal cable Non-shield cable

f DB unit power cable Non-shield cable

g Safety signal cable Shield cable

h Motor cooling fan cable Shield cable

i Regenerative resistor unit cable Non-shield cable

j I/O signal connection cable Shield cable

k 24-VDC control power cable Non-shield cable

l Motor main circuit cable Shield cable

Encoder cable Shield cable

3-41

Page 71

3 SERVOPACK Installation

3.3.4 SGDV-EA (Command Option Attachable Type)

 Three-phase 400 V

•SGDV-DEA ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OSA01A

Shield box

Power supply:

Single-phase

200 VAC

Power supply:

Three-phase

400 VAC

Safety

controller

Clamp

absorber

Clamp

Surge

absorber

Surge

Noise filter*

Noise

filter

Control

power

supply

24 VDC*

One turn

Two turn

Brake power

SERVOPACK

24 V, 0 V

Core

L1, L2, L3

Core

CN21, CN22

Safety Module

CN1

Core

Clamp

Host controller

supply

U, V, W

CN2

CN8

Core

One turn

Core

Clamp

One turn

Brake

Servomotor

Encoder

Core

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Control power cable Shield cable

h Main circuit cable Shield cable

power supply. Model number: FN2070-6/07 (SCHAFFNER)

3-42

Page 72

SERVOPACK Installation

 Three-phase 400 V

U, V, W

L1, L2, L3

24 V, 0 V

CN2

CN1

CN8

B1, B2

Safety

controller

Power supply:

Single-phase

200 VAC

Power supply:

Three-phase

400 VAC

Clamp

Surge

absorber

Surge

absorber

Clamp

Noise filter*

Noise

filter

Brake power

supply

Shield box

Control

power

supply

24 VDC*

SERVOPACK

Encoder

Servomotor

Brake

Clamp

Host controller

Clamp

Regenerative

resistor unit

CN21, CN22

Safety Module

•SGDV-DEA ( = 210, 260, 280, 370) + SGDV-OSA01A

3.3 EMC Installation Conditions

Symbol Cable Name Specification

c I/O signal cable Shield cable

d Safety signal cable Shield cable

e Motor main circuit cable Shield cable

f Encoder cable Shield cable

g Control power cable Shield cable

h Main circuit cable Shield cable

i Regenerative resistor unit cable Non-shield cable

power supply. Model number: FN2070-6/07 (SCHAFFNER)

3-43

Page 73

3 SERVOPACK Installation

Shield box

Power supply: Three-phase 400 VAC

Regenerative resistor unit

Clamp

Power supply: Single-phase 200 VAC

4 5

Clamp

Surge

absorber

*3 *4

Surge

absorber

Noise

filter

Noise

filter

I/O

control unit

DB unit

ClampClamp Clamp

Servomotor

Encoder

Fan

Converter

L1,L2,L3

B1,B2

CN101

CN103,104

24 V,0 V

CN901

PNPN

Core

CoreCore

Core

Clamp

SERVOPACK

U,V,W

CN2

CN1

CN103,104

DU,DV,DW

CN115

CN8

Safety controller

CN21 CN22

Safety

Module

Core

One turn

Two turn

One turn

CN901

Control power supply 24 VDC

3.3.4 SGDV-EA (Command Option Attachable Type)

 Three-phase 400 V

• SERVOPACK: SGDV-JEA ( = 750, 101, 131) + SGDV-OSA01A

• Converter: SGDV-COADA ( = 3Z, 5E)

3-44

Symbol Cable Name Specification

c Main circuit cable Shield cable

d Control power cable Shield cable

e I/O signal cable Shield cable

f DB unit signal cable Non-shield cable

g DB unit power cable Non-shield cable

h Safety signal cable Shield cable

i Motor cooling fan cable Shield cable

j Regenerative resistor unit cable Non-shield cable

k I/O signal connection cable Shield cable

l 24-VDC control power cable Non-shield cable

Motor main circuit cable Shield cable

Encoder cable Shield cable

Page 74

SERVOPACK Installation

 Attachment Methods of Ferrite Cores

Cable

Ferrite core

Cable

Ferrite core

One turn Two tu rn

 Recommended Ferrite Core

• Σ-V Series

Cable Name Ferrite Core Model Manufacturer

Motor main circuit cable ESD-SR-250 NEC TOKIN Corp.

• Large-Capacity Σ-V Series

• Three-phase 200 V

Cable Name Ferrite Core Model Manufacturer

Main circuit power supply cable

Motor main circuit cable

Control power cable

I/O signal connection cable

Encoder cable

DB unit signal cable

Motor cooling fan cable

Safety signal cable

F11080GB Hitachi Metals, Ltd.

ESD-SR-250 NEC TOKIN Corp.

3.3 EMC Installation Conditions

• Three-phase 400 V

Cable Name Ferrite Core Model Manufacturer

Main circuit power supply cable

Motor main circuit cable

RC5128ZZ

Soshin Electric Co.,

Ltd.

(motor end)

Motor main circuit cable (SERVOPACK end)

F11080GB Hitachi Metals, Ltd.

Encoder cable

DB unit signal cable

Motor cooling fan cable

ESD-SR-250 NEC TOKIN Corp. MECHATROLINK-II communication cable

Safety signal cable

 Recommended Noise Filter and Surge Absorber

For more information on recommended noise filters and surge absorbers, refer to Σ-V Series or Large-Capac-

ity

-V Series Product Catalog.

 Fixing the Cable

Fix and ground the cable shield using a piece of conductive metal.

• Example of Cable Clamp

Host controller side

Ground plate

Cable

Cable clamp

Shield (cable sheath stripped)

Fix and ground the cable shield using a piece of conductive metal.

Remove paint on mounting surface.

3-45

Page 75

3 SERVOPACK Installation

3.3.4 SGDV-EA (Command Option Attachable Type)

 Shield Box

A shield box, which is a closed metallic enclosure, is effective as reinforced shielding against electromagnetic interference (EMI) from SERVOPACKs. The structure of the box should allow the main body, door, and cooling unit to be attached to the ground. The box opening should be as small as possible.

<Note>

Do not connect the digital operator and the analog monitor cable to the SERVOPACK during operations. Connect them only when the machinery is stopped during maintenance.

3-46

Page 76

Wiring and Connection

This chapter describes an example of how a system is configured using the Safety Module and how the I/O signals are connected. For details on the main circuit, encoders, and regenerative resistors, refer to the manual for SERVOPACK being used. For more information on safe and stable usage of the servo system, be sure to read the

precautions in the sections labelled, “ IMPORTANT,” in the manuals.

4.1 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

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

4.2.1 Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2.2 Electrical Specifications and Connections of Input Circuit . . . . . . . . . . . . . . . . . . . . . 4-4

4.2.3 Electrical Specifications and Connections of Output Circuit . . . . . . . . . . . . . . . . . . . . 4-5

4-1

Page 77

4 Wiring and Connection

Power supply Three-phase 200 VAC

Noise filter

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when overcurrent is detected.

Used to eliminate external noise from the power line.

Magnetic contactor

Turns the servo ON and OFF. Install a surge absorber.

Connect to safety-related devices.

SGDV-11A

SERVOPACK

R S T

MECHATROLINK-II.

200 VAC

Brake power supply*

Magnetic contactor

Regenerative resistor*

Used for a servomotor with a brake.

Turns the brake power supply ON and OFF. Install a surge absorber.

Motor main circuit cable

Servomotor

Encoder cable

Battery case

(when an absolute encoder is used.)

I/O signal cable

External LED indicator, external device, etc.

Connection cable for digital operator

Connection cable for personal computer

Digital operator

Personal computer

Connect to the

4.1 System Configuration Diagram

An example of system configuration using SERVOPACK for MECHATROLINK-II communications reference is shown below.

4-2

∗1. Use a 24-VDC power supply. (not included.) ∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to the user’s manual for appropriate

SERVOPACK.

Note: The connections and wiring of the power supply of the main circuit and that of the controls differ in accordance with

the SERVOPACK to be used. For details, refer to the user’s manual for the SERVOPACK being used.

Page 78

Wiring and Connection

4.2 I/O Signal Connections

This section describes the names and functions of I/O connectors (CN21 and CN22) for the Safety Functions A and B.

4.2.1 Terminal Layout

(1) I/O Connector for Safety Function A (CN21)

4.2 I/O Signal Connections

Signal Pin No. Name Function

– 1–––

– 2–––

/SRI-A1- 3

/SRI-A1+ 4

/SRI-A2- 5

/SRI-A2+ 6

EDM-A- 7

EDM-A+ 8

Safety Request Input Signal A1

Safety Request Input Signal A2

External Device Monitor Output Signal A

(2) I/O Connector for Safety Function B (CN22)

Signal Pin No. Name Function

– 1–––

– 2–––

/SRI-B1- 3

/SRI-B1+ 4

/SRI-B2- 5

/SRI-B2+ 6

EDM-B- 7

EDM-B+ 8

Safety Request Input Signal B1

Safety Request Input Signal B2

External Device Monitor Output Signal B

Input signal for Safety Function A

Output signal indicates that Safety Function A activates without failure.

Input signal for Safety Function B

Output signal indicates that Safety Function B activates without failure.

Reference

Section

6.2.2

6.2.3

Reference

Section

6.2.2

6.2.3

4-3

Page 79

4 Wiring and Connection

4.2.2 Electrical Specifications and Connections of Input Circuit

This section describes the characteristics of the input signals assigned to the CN21 and CN22 connectors on the Safety Module.

(1) Specifications

Name Signal Pin No. Input Status Meaning

OFF Safety Function A activates.

OFF Safety Function B activates.

Safety Request Input Signal A

Safety Request Input Signal B

SRI-A1

SRI-A2

SRI-B1

SRI-B2

CN21-4 CN21-3

CN21-6 CN21-5

CN22-4 CN22-3

CN22-6 CN22-5

The SERVOPACK is operating normally.

Electrical characteristics of Safety Request Input Signal are as follows.

Items Characteristics Remarks

Input Current 5 mA (Typ.) This is the value per channel.

ON Input Voltage Range +20 V to +26 V –

OFF Input Voltage Range 0 V to +2 V –

Maximum Pulse Width 20 ms

The Safety Request Input Signal will not detect pulses with pulse widths of 0.5 ms or shorter.

(2) Connection Example

Safety Module

24 V Power supply

Switch

Fuse

Use contacts for a minute current.

0 V

Note: This is the same for Safety Request Input Signal B.

SRI-A1+

SRI-A1−

SRI-A2+

SRI-A2−

CN21

4-4

Page 80

Wiring and Connection

4.2.3 Electrical Specifications and Connections of Output Circuit

This section describes the characteristics of the output signals assigned to the CN21 and CN22 connectors on the Safety Module.

(1) Specifications

Name Signal Pin No. Input Status Meaning

External Device Monitor Output Signal A

External Device Monitor Output Signal B

EDM-A

EDM-B

CN21-8 CN21-7

CN22-8 CN22-7

Electrical characteristics of External Device Monitor Output Signal are as follows.

Items Characteristics Remarks

Maximum Allowable Voltage

Maximum Current 50 mADC –

Maximum Voltage Drop at ON

Operating Current at ON 5 mA to 50 mA –

30 VDC –

1.5 V

ON Safety Function A activates without fault.

OFF

ON Safety Function B activates without fault.

OFF

• Voltage between EDM-A+ to EDM-A– at current 50 mA.

• Voltage between EDM-B+ to EDM-B– at current 50 mA.

The SERVOPACK is operating normally, or Safety Function A is fault.

The SERVOPACK is operating normally, or Safety Function B is fault.

4.2 I/O Signal Connections

(2) Connection Example

Safety Module

CN21

EDM-A+

EDM-A−

Note: This is the same for External Device Monitor Output Signal B.

Host controller

24 V Power supply

0 V

4-5

Page 81

Precautions and Basic Settings Required before Starting Operation

Precautions and Basic Settings Required

before Starting Operation

This chapter describes information that is required before starting operation. Be sure to read the following safety precautions, risk assessment information, limitations, and basic settings before starting operation, and use the Safety Module after properly understanding all of this information.

5.1 Safety Precautions for Using the Safety Module . . . . . . . . . . . . . . . . . . .5-2

5.2 Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

5.3.1 Limitations on Lower Limit of Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.3.2 Limitations on the Use of the Test without Motor Function . . . . . . . . . . . . . . . . . . . . . 5-6

5.3.3 Limitations on the Use of an External Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5.3.4 Device Combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5.4 Basic Settings Required before Starting Operation . . . . . . . . . . . . . . . . .5-7

5.5 Checking the Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8

5-1

Page 82

5 Precautions and Basic Settings Required before Starting Operation

5.1 Safety Precautions for Using the Safety Module

Carefully read the following important precautions and observe them when using the Safety Module.

WARNING

• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this precaution may result in electric shock or injury.

Improper use may result in injury or damage to the product.

• When creating a safety design for a mechanical system using the safety functions of the Safety Module, always perform risk assessment of the system to identify residual risks.

Improper use may result in injury or damage to the product.

• Connect device conforming to the relative safety standards to the connector for Safety Request Input Signals.

Improper use may result in injury or damage to the product.

Failure to observe this warning may result in electric shock.

• Be sure to check the safety-related parameters before using the safety functions of the Safety Module.

Improper use may result in injury or damage to the product.

• Make sure that the safety function jumper connector is not connected to the connector (CN8) of the SERVOPACK.

If the safety jumper connector is connected, the safety functions may not operate properly, which may result in injury or damage to the product.

5-2

Page 83

Precautions and Basic Settings Required before Starting Operation

5.2 Risk Assessment

When using the Safety Module, be sure to perform risk assessment of the servo system in advance. Make sure that the safety level of the standards is met. For details about the standards, refer to Harmonized Standards at the front of this manual.

The following residual risks can be present even when the safety functions operate. Therefore, safety must always be given consideration during risk assessment.

• If external forces (such as gravitational force with a vertical axis) are applied when the safety functions of the Safety Module are operating, the motor will rotate due to the action of these external forces. Provide a separate mechanical brake to secure the motor.

• If the SERVOPACK fails, the motor may operate within a range of 180 electrical degrees. Make sure that safety is ensured even in hazardous situations.

The number of rotations and movement distance for each type of motor are listed below.

Rotational Servomotor: 1/6 rotation max. (rotation angle at motor shaft conversion) Direct Drive Motor: 1/20 rotation max. (rotation angle at motor shaft conversion) Linear Servomotor: 30 mm max.

5.2 Risk Assessment

5-3

Page 84

5 Precautions and Basic Settings Required before Starting Operation

0.0%

1.0%

2.0%

3.0%

4.0%

5.0%

6.0%

7.0%

8.0%

9.0%

10.0%

11.0%

10 100 1000 10000

Encoder Output Pulses (Pn212)

Speed accuracy

6000 5000 3000 1500

750 375

Motor Max. Speed [min

−1

]

5.3.1 Limitations on Lower Limit of Encoder Output Pulses

5.3 Limitations

When the Safety Module is used, use of Pn212 or Pn281 to control the encoder’s output pulses, test without the motor function, and the external encoder of the SERVOPACK will be restricted.

5.3.1 Limitations on Lower Limit of Encoder Output Pulses

When the Safety Module is used, the lower limit for the encoder’s output pulses is restricted. Set the encoder’s output pulses to a value that is higher than the lower limit. If the pulses number is lower than the lower limit, the following alarm will occur.

Alarm

Number

A.EB2

Name Meaning Alarm Reset Stopping Method

Safety Module: Parameter Setting Error

The settings of safety-related module parameters or safety-related servo parameter.

Not possible

According to the setting of Pn001.0

The following section shows the method used to calculate the lower limit for the encoder’s output pulses.

 Rotational Servomotors

Pn212: Encoder Output Pulses [pulses/rev]

Lower limit of Pn212 [pulses/rev] = 75000/Motor Max. Speed [min

Lower Limit of Encoder Output Pulse

Motor Max. Speed [min−1]

6000 16

5000 16

3000 25

1500 50

750 100

375 200

Lower Limit [pulses/rev] of Encoder Output Pulses (Pn212)

−1

]

Example of Detection Accuracy at Different Motor Speeds

5-4

Note: The Motor Max. Speed (Pc62) of the Safety-related Servo Parameter depends on the connected rotational servomo-

tor.

Page 85

Precautions and Basic Settings Required before Starting Operation

 Linear Servomotors

5 × Pn282 (Linear Scale Pitch) [μm/pitch]

Pn385 (Motor Max. Speed) [mm/s]

Lower limit of Pn281 [edge/pitch] ≥

Encoder Output Resolution (Pn281)

Speed accuracy

400 or 2000

25600

Linear Scale Pitch [0.01 μm]

0.0%

1.0%

2.0%

3.0%

111000

Pn281: Encoder Output Resolution [edge/pitch]

Lower Limit of Encoder Output Resolution

5.3 Limitations

Motor Max. Speed

[mm/s]

5000

4000

3000

1500

1000

100

Example of Detection Accuracy at Different Motor Speeds

Linear Scale Pitch

[μm/pitch]

256

20 1

256 2

0.4

256 13

Lower Limit of Encoder

Output Resolution (Pn281)

[edge/pitch]

120

Note: The Motor Max. Speed (Pc62) of the Safety-related servo parameter is 5000 mm/s in this example.

5-5

Page 86

5 Precautions and Basic Settings Required before Starting Operation

5.3.2 Limitations on the Use of the Test without Motor Function

The test without motor function of the SERVOPACK cannot be used together with the safety functions of the Safety Module. When using the safety functions, disable the test without motor function of the SERVOPACK being used. When using the test without motor function, set parameter Pc00 (Safety Function Selection Switch) of the Safety Module to “0000” (No safety functions). For details, refer to Chapter 12 Appendix.

5.3.3 Limitations on the Use of an External Encoder

An external encoder cannot be used together with the Safety Module, even if the external encoder is compatible with the Σ-V Series or Large-Capacity Σ-V Series servo drives. Disable the use of an external encoder for the SERVOPACK being used.

5.3.4 Device Combination

Due to the safety functions, the Safety Module can be used with limited models of SERVOPACKs, servomotors, and serial converters. For details, refer to 12.4 Device Combinations.

5-6

Page 87

5.4 Basic Settings Required before Starting Operation

Precautions and Basic Settings Required before Starting Operation

5.4 Basic Settings Required before Starting Operation

The basic functions that must be set before starting operation are given below.

Step Item Reference

1 Disabling the external encoder

2 Disabling the test without motor function

Rotational servomotor

Setting motor

information

Linear servomotor

Rotational servomotor

Setting encoder

information

Linear servomotor

5 Safety-related Module Parameter Setting

6 Safety-related Servo Parameter Updating

7 Safety Option Module Setup Alarm Clear

Motor rotation direction

• Motor movement direction

• Scale pitch

• Motor Max. Speed

Encoder output pulses

Encoder output resolution

For details, refer to the user's manual of the SERVOPACK being used.

8.3 Safety-related Module Parameter Setting (Fn041)

8.4 Safety-related Servo Parameter Updating (Fn042)

8.6 Safety Option Module Setup Alarm Clear (Fn044)

Note: Perform Steps 5 to 7 with the actual motor connected.

5-7

Page 88

5 Precautions and Basic Settings Required before Starting Operation

5.5 Checking the Operation

When starting the system or replacing a SERVOPACK for maintenance or inspection purposes, make sure that the relevant External Device Monitor Output Signal turns ON when the redundant Safety Request Input Signals turn OFF.

Failure of the safety functions can be detected by monitoring the Safety Request Input Signals and the External Device Monitor Output Signals.

The following table shows the logic for the Safety Request Input Signals and the External Device Monitor Output Signals.

Signal Name Code Logic

Safety Request Input Signal A1 SRI-A1 ON ON OFF OFF

Safety Request Input Signal A2 SRI-A2 ON OFF ON OFF

External Device Monitor Output Signal A EDM-A OFF OFF OFF ON

Note 1. For details on the Safety Request Input Signals, refer to 6.2.2 Safety Request Input Signals.

2. For details on the External Device Monitor Output Signals, refer to 6.2.3 External Device Monitor Output Sig- nals.

3. This logic is the same for the Safety Request Input Signal B.

5-8

Page 89

Safety Functions

This chapter describes the Safety Functions of the Safety Module.

6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Common Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

6.2.1 Selecting a Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.2.2 Safety Request Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.2.3 External Device Monitor Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

6.2.4 Operations After Alarms and Resetting Systems, and While Recalculating

Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.3 Safe BaseBlock Function (SBB Function) . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.3 Returning Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.4 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.3.5 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

6.4 Safe BaseBlock with Delay Function (SBB-D Function) . . . . . . . . . . . . .6-17

6.4.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-17

6.4.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.4.3 Returning Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.4.4 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.4.5 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20

6.5 Safe Position Monitor with Delay Function (SPM-D Function) . . . . . . . .6-21

6.5.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-21

6.5.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

6.5.3 Returning Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

6.5.4 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

6.5.5 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.6 Safely Limited Speed with Delay Function (SLS-D Function) . . . . . . . . . 6-25

6.6.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-25

6.6.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

6.6.3 Returning Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

6.6.4 Exceptional Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

6.6.5 Related SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28

6.7 Order of Priority of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29

6.8 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . .6-31

6-1

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6 Safety Functions

6.1 Overview

The Safety Module is equipped with four functions to provide machine safety. These functions reduce risks during usage of the machine by protecting people from hazardous operations of movable machine parts. The stopping function that is defined in functional safety standards can be achieved with these four functions.

The Safety Module provides the following four safety functions.

Function Description Remarks Reference

Safe BaseBlock Function (SBB function)

Safe BaseBlock with Delay Function (SBB-D function)

Safe Position Monitor with Delay Function (SPM-D function)

Safely Limit Speed with Delay Function (SLS-D function)

This function shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK according to the state of the input signals.

1. This function monitors the deceleration of the motor until the specified time according to the state of the input signal.

2. It shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK.

1. This function monitors the deceleration of the motor until the specified time according to the state of the input signal.

2. It monitors the position after the motor has stopped.

1. This function monitors the deceleration of the motor until the specified time according to the state of the input signal.

2. It monitors the motor speed to make sure that it is within the allowable range.

This safety function is equivalent to the Safe Torque Off function that is defined in IEC 61800-5-2.

This safety function is equivalent to the Safe Stop 1 function that is defined in IEC 61800-5-2.

This safety function is equivalent to the Safe Stop 2 function that is defined in IEC 61800-5-2.

This safety function is equivalent to the SafelyLimited Speed function that is defined in IEC 61800-5-2.

6.3

6.4

6.5

6.6

The Safety Module has two Safety Functions with the same features and these functions can be allocated separately. Each of these functions has a two input channels and one output channel. The safety function that is specified beforehand is executed according to the state of the input signal.

A schematic diagram of the functions is shown below.

Safety Module

Safety Function A

Safety Request Input Signal A

SRI-A1 signal

SRI-A2 signal

EDM-A signal

Safety Function B

Safety Request Input Signal B

SRI-B1 signal

SRI-B2 signal

Photocoupler

Safety request input detection

Safety request input status A

Safety

Function A

Safety request input status B

Safety

Function B

6-2

EDM-B signal

Photocoupler

Page 91

Safety Functions

6.2 Common Items

6.2.1 Selecting a Safety Function

The Safety Module has two safety functions with the same features and these functions can be allocated separately. Either or both of these safety functions can be used.

The setup parameters of safety functions are as follows:

6.2 Common Items

Parameter

No.

Pc00 Safety Function Selection Switch – – 0002

Details Safety Function Selection Basic Switch

Safety Function A Selection

0 No safety function.

Pc00.0

Pc00.1

Pc00.2 0 Reserved (Do not change.)

Pc00.3 0 Reserved (Do not change.)

Note 1. For details on safety functions, refer to 6.3 Safe BaseBlock Function (SBB Function) through 6.6 Safely Limited

Speed with Delay Function (SLS-D Function).

2. The SERVOPACK functions will be limited when safety functions are used. For details, refer to 5.3 Limitations.

1 Safe BaseBlock Function (SBB function)

2 Safe BaseBlock with Delay Function (SBB-D function) [factory setting]

3 Safe Position Monitor with Delay Function (SPM-D function)

4 Safely Limited Speed with Delay Function (SLS-D function)

Safety Function B Selection

0 No safety function [factory setting].

1 Safe BaseBlock Function (SBB function)

2 Safe BaseBlock with Delay Function (SBB-D function)

3 Safe Position Monitor with Delay Function (SPM-D function)

4 Safely Limited Speed with Delay Function (SLS-D function)

Name

Setting Range

Units

Factory Setting

When Enabled

After resetting the system

6-3

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6 Safety Functions

SRI-A2 signal

Safety Function A

td td

OFF (Safety Function Operation Request)

SRI-A1 signal

OFF (Safety Function Operation Request)

Operating

6.2.2 Safety Request Input Signals

(1) Safety Request Input Signals

Safety Request Input Signals initiate the execution of the safety functions. Safety functions are executed when a Safety Request Input Signal is input.

To improve safety, two Safety Request Input Signal channels are allocated to each safety function.

Safety Request Input Signal A

Signal Name Signal State Meaning

SRI-A1

SRI-A2

Note: This is the same for Safety Request Input Signal B.

(2) Safety Request Input State

The state when the Safety Module recognizes a request for operation of a safety function based on the state of

the redundant Safety Request Input Signals is called the safety request input status.

ON Cancels the safety function operation request.

OFF Requests operation of the safety function.

ON Cancels the safety function operation request.

OFF Requests operation of the safety function.

Cancels the safety function execution request.

Requests execution of the safety function.

Safety Request Input State

OFF

Relationship between Safety Request Input Signal and Safety Request Input Status

Operation Timing

OFF (Safety Function

SRI-A1 signal

SRI-A2 signal

Safety request input status A

ON ON

Operation Request)

OFF (Safety Function

Operation Request)

OFF (Safety Function

Execution Request)

(3) Relationship between the Safety Request Input Signal and Safety Function

Relationship between the Safety Request Input Signal and Safety Function

Operation Timing

6-4

td: Operation delay time = 200 ms max.

Note 1. Make sure that the Safety Request Input Signal has a pulse width that is 200 ms or longer.

2. Safety Request Input Signal with a pulse width that is 0.5 ms or shorter cannot be detected.

Page 93

6.2 Common Items

Safety Functions

ON ON

ON OFF

OFF

SRI-A1 signal

SRI-A2 signal

Time measurement is not stopped here.

OFF

ON ON

SRI-A1 signal

SRI-A2 signal

Time measurement is not stopped here.

OFF

OFF OFF

(4) Error Detection for Safety Request Input Signals

The Safety Module monitors the state of redundant Safety Request Input Signals allocated to each safety function to detect errors.

The process of error detection is as follows:

1. The time period until the ON/OFF state of the redundant Safety Request Input Signals matches is measured.

2. If the measured time period exceeds the specified time period, an error is detected in the Safety Request Input Signal.

3. The power supply to the motor is shut OFF by executing the HWBB function of the SERVOPACK.

 Time Measurement Timing

The timing of measuring the time period until the ON/OFF state of the redundant Safety Request Input Signals match is described below.

• Measurement starts when the edge of either the SRI-A1 signal or SRI-A2 signal is detected.

• The condition for ending measurement depends on the condition when measurement was started.

The conditions for starting and ending the measurement of time period are as follows:

Condition for

Starting Measurement

When either the SRI-A1 signal or SRI-A2 signal changes from ON to OFF

When either the SRI-A1 signal or SRI-A2 signal changes from OFF to ON

Condition for Ending Measurement

Measurement ends when both the Safety Request Input Signals turn OFF.

Measurement ends when both the Safety Request Input Signals turn ON.

Operation Timing

tm: Measured time

6-5

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6 Safety Functions

SRI-A1 signal

Safety Function A

SRI-A2 signal

OFF (Safety Function Operation Request)

t_alm ≤ tm

ALM signal

Operating

OFF ON

Safe (HWBB) state

OFF (Safety Function Operation Request)

6.2.2 Safety Request Input Signals

 Alarms

The following alarms occur if an error is detected in the Safety Request Input Signals.

To cancel an alarm, remove the cause of the alarm, and then reset the system.

Alarm No. Name Description

The ON/OFF state of the Safety Request Input Signals A1 and A2 did not match within the specified time period.

The ON/OFF state of the Safety Request Input Signals B1 and B2 did not match within the specified time period.

A.EB5

A.EB6

Safety Module: Timing Error of Safety Request Input Signal A

Safety Module: Timing Error of Safety Request Input Signal B

Alarm Reset

Not

possible

Not

possible

Stopping Method

According to the setting of

Pn001.0

According to the setting of

Pn001.0

∗ For details on how to stop the motor, refer to the user's manual of the SERVOPACK being used.

The timing of the occurrence of an alarm when an error is detected in the Safety Request Input Signals is shown below.

Operation Timing

6-6

∗ For details on alarm signals, refer to the user's manual of the SERVOPACK being used.

tm: Time period during which time measurement is performed: Measurement is performed

until an alarm occurs. t_alm: Specified value (average 10 s) td: Alarm output delay time (40 ms max.)

Page 95

Safety Functions

6.2.3 External Device Monitor Output Signals

Safety Module

Safety

Function A

Photocoupler

Safety

Function B

External Device Monitor Signal A

External Device Monitor Signal B

These signals are output when the following two conditions are met:

• The safety function is operating normally.

• No malfunction occurs in the safety function.

If a malfunction occurs in the safety function when the safety function is operating, this signal will not be output. By monitoring this signal from an external device, a sequence can be designed for returning to normal operations from the safety function operation state.

The following figure shows the relationship between the External Device Monitor Signal and safety function.

6.2 Common Items

The specifications of the External Device Monitor Output Signal are as follows:

Signal Name Output State Meaning

External Device Monitor Output Signal A

External Device Monitor Output Signal B

OFF –

Safety Function A is operating normally and no malfunction occurs in the safety function.

Safety Function B is operating normally and no malfunction occurs in the safety function.

(1) Output Conditions

The output signal turns ON when all of the following conditions are met:

• Application Safety Request Input Signals are OFF (Safety Function Operation Request).

• The safety function is either operating, or is in the safe state.

• Output of the External Device Monitor Signal is set by using parameters. For details, refer to (2) Selecting Output Conditions.

• No malfunction is being detected in the Safety Module.

• There is no malfunction in the safety-related parts of the SERVOPACK.

• A system reset or recalculation of parameters is not in progress.

6-7

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6 Safety Functions

6.2.3 External Device Monitor Output Signals

(2) Selecting Output Conditions

The output conditions of the External Device Monitor Output Signals can be selected by using the parameters.

Parameter

No.

Pc01

Name

EDM Signal Output Selection Switch

Setting

Range

Units

– – 0011

Factory

Setting

When Enabled

After resetting the system

Details EDM Signal Output Setting

EDM Signal A Output Setting

Pc01.0

0 The EDM-A signal turns ON while the safety function of safety function A is operating.

1 The EDM-A signal turns ON while safety function A is in the safe state.* [default setting]

EDM Signal B Output Setting

Pc01.1

0 The EDM-B signal turns ON while the safety function of safety function B is operating.

1 The EDM-B signal turns ON while safety function B is in the safe state.* [default setting]

Pc01.2 Reserved (Do not change.)

Pc01.3 Reserved (Do not change.)

∗ The kind of the safe state depends on the type of the Safety Function used. For details, refer to Description of Techni-

cal Terms at the front of this manual.

An example of the output timing of External Device Monitor Output Signal is shown below.

 When Pc01.0 = 0 (Output Condition = Safety Function Operation)

Operation Timing

Safety request input state A

OFF (Safety Function Execution Request)

State of Safety Function A

Monitoring speed

External Device Monitor Output Signal A

OFF

 When Pc01.0 = 1 (Output Condition = Safe State)

Operation Timing

Safety request input state A

Status of Safety Function A

Monitoring speed

External Device Monitor Output Signal A

OFF ON

Safety function is operating.

Safe state

OFF (Safety Function Execution Request)

Safety function is operating.

Safe state

6-8

Page 97

Safety Functions

(3) Output Delay Time

External Device Monitor Signal A

OFF

Safety Function A

Safety request input signal A

Malfunction

Operating

A malfunction occurs

OFF

OFF (Safety Function Execution Request)

The output delay time of the External Device Monitor Output Signals is shown below.

Operation Timing

6.2 Common Items

Output Conditions

External Device Monitor Output Signals

Met Not met

td td

td: Output delay time of the External Device Monitor Output Signal (40 ms max.)

 Timing Charts

The timing chart for each output condition is shown below.

Note: All other output conditions are met, and the output delay time is applicable.

a) When the Safety Request Input Signals A1 and A2 are OFF

Operation Timing

Safety Request Input Signal A1

Safety Request Input Signal A2

FF (Safety Function

Operation Request)

OFF (Safety Function Operation Request)

Not met

OFF ON OFF

External Device Monitor Signal A

ON OFF

OFF

b) When a Malfunction Occurs in Safety Function A

Operation Timing

Note: Safety Function Operation is set as the output condition in this example. Regardless of the state of the Safety

Request Input Signals, if a malfunction is detected in the safety function, the External Device Monitor Signal will turn OFF.

6-9

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6 Safety Functions

Operating

OFF

ALM signal

System reset

HWBB state

Initialization

Safety Module state

SERVOPACK state

Initialization

Motor power state

Operating

OFF

S-RDY signal

System preparations

The HWBB function operates during this time interval according to the Safety Request Input Signals.

Motor speed

SERVOPACK state

Alarm occurs

HWBB state

Servo ON command

Alarm cleared

ALM signal

OFF

OperatingOperating

6.2.4 Operations After Alarms and Resetting Systems, and While Recalculating Parameters

The Safety Module operates in a different manner after the system is reset, an alarm occurs, or while parameters are recalculated.

(1) After Resetting the System

After the system is reset, the Safety Module forcibly shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK. After the startup processes of the Safety Module and the SERVOPACK have been completed, the ALM signal of the SERVOPACK turns OFF and normal operation starts. The timing of system startup of Safety Module is shown below.

Operation Timing

tc: Time period until the Safety Module is started (10 s max.)

(2) While Recalculating Parameters

When parameters are being recalculated, the Safety Module shuts OFF the power supply to the motor by executing the HWBB function of SERVOPACK according to the safety request input state.

(3) After an Alarm Occurs

After an alarm occurs, the Safety Module shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK regardless of the input state of the Safety Request Input Signals.

The timing of the execution of the HWBB function of the SERVOPACK during an alarm is shown below.

Operation Timing

6-10

For details on alarms that are detected in the Safety Module, refer to Chapter 11 Troubleshooting.

To cancel the HWBB state after an alarm has occurred, perform the following:

• Remove the cause of the alarm.

• Set the safety request input state to ON.

• Set the servo ON command to OFF.

Page 99

6.3 Safe BaseBlock Function (SBB Function)

Safety Functions

6.3 Safe BaseBlock Function (SBB Function)

6.3.1 Basic Operation

The Safe BaseBlock Function (hereafter called the SBB function) operates based on Safe Torque Off (STO) function that is defined in IEC 61800-5-2. This function shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK according to the safety request input state.

The safe state in the SBB function indicates the safe (HWBB) state in which the power supply to the motor has been shut OFF.

Operation Timing

6.3.2 Settings

To use the SBB function, make the settings for using the SBB function of either Safety Function A or Safety Function B in the parameters. For details on the settings of the safety functions, refer to 6.2.1 Selecting a Safety Function.

6.3.3 Returning Method

(1) Returning Conditions

When the SERVOPACK state changes to the safe (HWBB) state by the SBB function, the safe (HWBB) state can be cleared to return to normal operation when all of the following conditions are met.

• The input states of all safety request must be ON.

• The servo ON command must be OFF.

• The polarity detection request must not be input to the SERVOPACK.

• The following utility functions for turning ON the servo must not be executed.

Safety request input state A

SBB function operation state

Power supply to motor

SERVOPACK state HWBB stateOperating

Standby

OFF (Safety Function Execution Request)

Safe (HWBB) state

Shut OFFSupplied

The utility functions for turning ON the servo are as follows:

Utility Function No. Function Name

Fn002 Jog Operation

Fn003 Origin Search

Fn004 Program Jog Operation

Fn00E Automatic Offset-signal Adjustment of the Motor Current Detection Signal

Fn080 Polarity Detection

Fn201 Advanced Autotuning

Fn206 EasyFFT

Note: If any of these utility functions are being executed, the utility function must be terminated first. Return to either the

main menu of utility function mode with a digital operator or the utility function selection screen with a panel operator to terminate it. Refer to SERVOPACK being used for more details.

-V Series User’s Manual Operation of Digital Operator or the user’s manual of the

6-11

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6 Safety Functions

Safety request input state A

SERVOPACK state

HWBB state BB state

Operating

Safety function A operation state

(SBB function)

ON OFF

Servo ON command

Not met Met

Returning conditions

OFF (Safety Function Execution Request)

ONOFF

S-RDY signal

System reset

HWBB state

SERVOPACK state

Initialization

Motor power state

UndefinedON

Safety Request Input Signals

SBB function executed

OFF (Safety Function Operation Request)

6.3.4 Exceptional Operation

(2) Returning Timing

 When the Servo ON Command Is Not Input

Operation Timing

Returning conditions

Servo ON command

SERVOPACK state

Not met

ON OFF

HWBB state BB state

Met

td: Delay time (40 ms max.)

 When the Servo ON Command Is Input

When the safety request input status is ON, the SBB function stops operating. However, if the servo ON command is input at that point, the SERVOPACK continues in the HWBB state. To return to normal operation, the servo must be turned OFF to change the SERVOPACK to the BB status. For details on returning to the operation of the SERVOPACK, refer to the user's manual of the SERVOPACK being used.

Operation Timing

6.3.4 Exceptional Operation

6-12

(1) After Resetting the System

After the system is reset, the SBB function is executed according to the Safety Request Input Signals during completion of the initialization processing.

For details on how to return to normal operation from the HWBB state, refer to 6.3.3 Returning Method.

Operation Timing

Yaskawa SGDV-OSA01A Users Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Safety Precautions

Warranty

Harmonized Standards

Description of Technical Terms

CONTENTS

Checking Products

1.1 Checking Products on Delivery

1.2 Nameplate (Ratings) and Model Designation

1.3 Nameplate Location

Specifications

2.1 Overview

2.2 Specifications

2.3 Part Names

2.4 Internal Block Diagram

SERVOPACK Installation

3.1.1 Installation Environment

3.1 SERVOPACK Installation Environment and Harmonized Standards

3.1.2 Installation Conditions for Harmonized Standards

3.2.1 Orientation

3.2 SERVOPACK Installation

3.2.2 Installation Standards

3.3 EMC Installation Conditions

Wiring and Connection

4.1 System Configuration Diagram

4.2.1 Terminal Layout

4.2 I/O Signal Connections

4.2.2 Electrical Specifications and Connections of Input Circuit

4.2.3 Electrical Specifications and Connections of Output Circuit

Precautions and Basic Settings Required before Starting Operation

5.1 Safety Precautions for Using the Safety Module

5.2 Risk Assessment

5.3.1 Limitations on Lower Limit of Encoder Output Pulses

5.3 Limitations

5.3.2 Limitations on the Use of the Test without Motor Function

5.3.3 Limitations on the Use of an External Encoder

5.3.4 Device Combination

5.4 Basic Settings Required before Starting Operation

5.5 Checking the Operation

Safety Functions

6.1 Overview

6.2.1 Selecting a Safety Function

6.2 Common Items

6.2.2 Safety Request Input Signals

6.2.3 External Device Monitor Output Signals

6.2.4 Operations After Alarms and Resetting Systems, and While Recalculating Parameters

6.3 Safe BaseBlock Function (SBB Function)

6.3.1 Basic Operation

6.3.2 Settings

6.3.3 Returning Method

6.3.4 Exceptional Operation