Yaskawa SGDV-OSA01A Users Manual

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

1

2

3

4

5

6

7

8

9

10

11

12

MANUAL NO. SIEP C720829 06C

Copyright © 2010 YASKAWA ELECTRIC CORPORATION

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

About this Manual

This manual 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.

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

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:

Example

The notation for BK is /BK.

•Parameter Notation

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

Example

Notation Example for Pn000

Pn000

Digit Notation

Set Value Notation

Notation Method

Meaning

Notation Method

Meaning

Digit 1

Pn000.0

Indicates digit 1

Pn000.0 = x

Indicates that digit 1 of the

of the parameter (Pn000).

or n. x

parameter (Pn000) is x.

Digit 2

Pn000.1

Indicates digit 2

Pn000.1 = x

Indicates that digit 2 of the

of the parameter (Pn000).

or n. x

parameter (Pn000) is x.

Digit 3

Pn000.2

Indicates digit 3

Pn000.2 = x

Indicates that digit 3 of the

of the parameter (Pn000).

or n. x

parameter (Pn000) is x.

Digit 4

Pn000.3

Indicates digit 4

Pn000.3 = x

Indicates that digit 4 of the

of the parameter (Pn000).

or n.x

parameter (Pn000) is x.

iii

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

Refer to the following manuals as required.

		Selecting	Ratings and				Trial	Mainte-
		Models and		System	Panels and	Trial	Operation
	Name		Specifi-					nance and
		Peripheral		Design	Wiring	Operation	and Servo
			cations					Inspection
		Devices					Adjustment
	Σ-V Series Product
	Catalog	9	9	9
	(KAEP S800000 42)
	Large-Capacity Σ-V
	Series	9	9	9
	(KAEPS 800000 86)
	Σ-V Series/Σ-V Series for
	Large-Capacity Models
	Installation Guide				9
	Safety Option Module
	(TOBP C720829 06)
	Σ-V Series User's Manual
	Setup Rotational Motor				9	9
	(SIEP S800000 43)
	Σ-V Series User's Manual
	Setup Linear Motor				9	9
	(SIEP S800000 44)
	Σ-V Series User’s Manual
	Design and Maintenance
	Rotational Motor		9	9		9	9	9
	Analog Voltage and Pulse
	Train Reference
	(SIEP S800000 45)
	Σ-V Series User’s Manual
	Design and Maintenance
	Linear Motor		9	9		9	9	9
	Analog Voltage and
	Pulse Train Reference
	(SIEP S800000 47)
	Σ-V Series User’s Manual
	Design and Maintenance
	Rotational Motor
	MECHATROLINK-II		9	9		9	9	9
	Communications
	Reference
	(SIEP S800000 46)
	Σ-V Series User’s Manual
	Design and Maintenance
	Linear Motor
	MECHATROLINK-II		9	9		9	9	9
	Communications
	Reference
	(SIEP S800000 48)
	Σ-V Series/DC Power
	Input Σ-V Series/Σ-V
	Series for Large-Capacity
	Models User’s Manual			9		9	9
	MECHATROLINK-II
	Command
	(SIEP S800000 54)
	Σ-V Series User’s Manual
	Design and Maintenance
	Rotational Motor
	MECHATROLINK-III		9	9		9	9	9
	Communications
	Reference
	(SIEP S800000 64)

iv

								(cont’d)
		Selecting	Ratings and				Trial	Mainte-
		Models and		System	Panels and	Trial	Operation
	Name		Specifi-					nance and
		Peripheral		Design	Wiring	Operation	and Servo
			cations					Inspection
		Devices					Adjustment
	Σ-V Series User’s Manual
	Design and Maintenance
	Linear Motor
	MECHATROLINK-III		9	9		9	9	9
	Communications
	Reference
	(SIEP S800000 65)
	Σ-V Series/DC Power
	Input Σ-V Series/Σ-V
	Series for Large-Capacity
	Models User’s Manual			9		9	9
	MECHATROLINK-III
	Standard Servo Profile
	Commands
	(SIEP S800000 63)
	Σ-V Series User’s Manual
	Design and Maintenance
	Rotational Motor		9	9		9	9	9
	Command Option
	Attachable Type
	(SIEP S800000 60)
	Σ-V Series User’s Manual
	Design and Maintenance
	Linear Motor		9	9		9	9	9
	Command Option
	Attachable Type
	(SIEP S800000 66)
	Σ-V Series User's Manual
	For Use with Large-
	Capacity Models				9	9
	Setup Rotational Motor
	(SIEP S800000 89)
	Σ-V Series User’s Manual
	For Use with Large-
	Capacity Models
	Design and Maintenance		9	9		9	9	9
	Rotational Motor
	Analog Voltage and
	Pulse Train Reference
	(SIEP S800000 88)
	Σ-V Series User’s Manual
	For Use with Large-
	Capacity Models
	Design and Maintenance
	Rotational Motor		9	9		9	9	9
	MECHATROLINK-II
	Communications
	Reference
	(SIEP S800000 90)
	Σ-V Series User’s Manual
	For Use with Large-
	Capacity Models
	Design and Maintenance
	Rotational Motor		9	9		9	9	9
	MECHATROLINK-III
	Communications
	Reference
	(SIEP S800000 93)

v

								(cont’d)
		Selecting	Ratings and				Trial	Mainte-
		Models and		System	Panels and	Trial	Operation
	Name		Specifi-					nance and
		Peripheral		Design	Wiring	Operation	and Servo
			cations					Inspection
		Devices					Adjustment
	Σ-V Series User's Manual
	For Use with Large-
	Capacity Models
	Design and Maintenance		9			9	9	9
	Rotational Motor
	Command Option
	Attachable Type
	(SIEP S800000 98)
	Σ-V Series User’s Manual
	Operation of Digital					9	9
	Operator
	(SIEP S800000 55)
	SigmaWin+ Online
	Manual Σ-V Component					9	9	9
	(SIEP S800000 73)
	AC Servomotor
	Safety Precautions				9			9
	(TOBP C230200 00)
	Σ-V Series
	AC SERVOPACK SGDV	9			9			9
	Safety Precautions
	(TOBP C710800 10)
	Σ-V Series
	Safety Precautions
	For Use with Large-	9			9			9
	Capacity Models
	(TOBP C710829 07)

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.

WARNING

CAUTION

PROHIBITED

MANDATORY

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:

vi

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.

WARNING

•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.

vii

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.

viii

Storage and Transportation

CAUTION

•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 meth-

ods other than fumigation must be used.

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

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

Installation

CAUTION

•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.

ix

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.

x

Operation

CAUTION

•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.

Maintenance and Inspection

CAUTION

•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.

xi

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.

xii

Warranty

(1)Details of Warranty

Warranty Period

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.

Warranty Scope

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

(2)Limitations of Liability

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.

xiii

(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.

xiv

Harmonized Standards

North American Safety Standards (UL)

				Model	UL Standards
					(UL File No.)
	SERVOPACK			SGDV	UL508C (E147823)
	Converter			SGDV-COA

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.

European Directives

		Model	European Directives	Harmonized Standards
			Machinery Directive	EN ISO13849-1: 2008
			2006/42/EC	EN 954-1
	SERVOPACK	SGDV	EMC Directive	EN 55011 group 1, class A
				EN61000-6-2
	Converter	SGDV-COA	2004/108/EC
				EN 61800-3
			Low Voltage Directive	EN 50178
			2006/95/EC	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	EN 954-1
			IEC 60204-1
SERVOPACK	SGDV
			IEC 61508 series
		Functional Safety	IEC 62061
			IEC 61800-5-2
		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.

xv

Safe Performance

	Items	Standards	Performance Level
	Safety Integrity Level	IEC 61508	SIL2
		IEC 62061	SILCL2
	Probability of Dangerous Failure per Hour	IEC 61508	PFH ≤ 3.3 × 10-7 [1/h]
		IEC 62061	(3.3% of SIL2)
	Category	EN 954-1	Category 3
	Performance Level	EN ISO 13849-1	PL d (Category 2)
	Mean Time to Dangerous Failure of Each	EN ISO 13849-1	MTTFd: High
	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

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

	Term	Meaning
		Σ-V Series: SGMJV, SGMAV, SGMVV, SGMPS, SGMGV, SGMSV, and SGMCS
	Servomotor	(Direct Drive) servomotor
		Linear Σ Series: SGLGW, SGLFW, SGLTW, and SGLC servomotors
	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	A servo control system that includes the combination of a servo drive with a host con-
		troller and peripheral devices
	Analog voltage and pulse train	Analog voltage and pulse train used for SGDV SERVOPACK interface
	reference model
	M-II communications	MECHATROLINK-II communications reference used for SGDV SERVOPACK inter-
	reference model	face
	M-III communications	MECHATROLINK-III communications reference used for SGDV SERVOPACK inter-
	reference model	face
	Command option attachable	SERVOPACK on which a Command Option Module can be installed
	type
	Safety Option Module	General term of option modules that provide safety functions and are mounted on
		SGDV SERVOPACKs.
	Safety Module	The option module that provides safety functions specified in this manual.
	Panel Operator	The operator with a panel display that is mounted on analog voltage and pulse-train ref-
		erence SERVOPACKs.
	Digital Operator	Handy type operator connected to SERVOPACKs
	Servo ON	Power to motor ON
	Servo OFF	Power to motor OFF
	BaseBlock (BB)	Power supply to motor is turned OFF by shutting OFF the base current to the power
		transistor that supplies power to the motor.
	Hardwire BaseBlock Func-	Safety function in the SERVOPACK
		This is the safety function that is equivalent to the Safe Torque Off function defined in
	tion (HWBB)
		IEC 61800-5-2.
	Safe Torque Off (STO)	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.

xvi

			(cont’d)
	Term		Meaning
	Safe Stop 1 (SS1)	This is one of safety functions defined in IEC 61800-5-2.
		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.
	Safe Stop 2 (SS2)	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 posi-
		tion after a specified time has passed.
	Safely-Limited Speed (SLS)	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.
	Safe BaseBlock Function	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
	(SBB function)
		IEC 61800-5-2.
	Safe BaseBlock with Delay	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
	Function (SBB-D function)
		61800-5-2.
	Safe Position Monitor with	This is one of safety functions in the Safety Module.
	Delay Function	This is the safety function that is equivalent to the Safe Stop 2 function defined in IEC
	(SPM-D function)	61800-5-2.
	Safely Limited Speed with	Stopping function in the Safety Module.
	Delay Function	This is the safety function that is equivalent to the Safely-Limited Speed function
	(SLS-D function)	defined in IEC 61800-5-2.
	Safe (HWBB) state	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	Safe (HWBB) state
	Safe State	SBB-D function	Safe (HWBB) state
		SPM-D function	When monitoring positions or in a safe (HWBB) state
		SLS-D function	When monitoring constant-speed operation or in a safe (HWBB)
			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 related to the safety functions of the Safety Module.
	Parameter
	Safety-related Servo	These parameters contain the information related to the safety functions of SERVO-
	Parameter	PACKs and servomotors, and are managed by the Safety Module.
	System Reset	Reset the servo system by shutting OFF the power or executing software reset (Fn030).
	Parameter Recalculation	Recalculation of parameter by CONFIG command via MECHATROLINK-II or by the
		request from the Command Option Module.
	Proof Test	Scheduled tests defined in IEC 61508-4.
		This is the test that is used to detect the failure of the safety-related system.

xvii

CONTENTS

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

xviii

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

xix

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

xx

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

1

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

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1Checking Products

1.1Checking 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 Σ-V Series/Σ-V

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.

Nameplate (Ratings)

CN8

1-2

1.2 Nameplate (Ratings) and Model Designation

1.2Nameplate (Ratings) and Model Designation

Nameplate (Ratings) Example

Application Module model number

Name

Manufacturing number

Model Designation

SGDV – OS A01 A

Series

SGDV Σ-V Series

1st + 2nd digits: Module Type

Code	Module
OS	Safety option module

6th digit: Design Revision Order

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

Code Interface

A01 Safety module

1.3Nameplate Location

Nameplate

(Component code)

Nameplate (Model no.)

Nameplate (Ratings)

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2

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

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2 Specifications

2.1Overview

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.

Function	Remarks
Safe BaseBlock Function	This is a safety function that is equivalent to the Safe Torque Off
(SBB function)	function defined in IEC 61800-5-2.
Safe BaseBlock with Delay Function	This is a safety function that is equivalent to the Safe Stop 1 func-
(SBB-D function)	tion defined in IEC 61800-5-2.
Safe Position Monitor with Delay Function	This is a safety function that is equivalent to the Safe Stop 2 func-
(SPM-D function)	tion defined in IEC 61800-5-2.
Safely Limited Speed with Delay Function	This is a safety function that is equivalent to the Safely-Limited
(SLS-D function)	Speed function defined in IEC 61800-5-2.

2-2

2.2 Specifications

2.2Specifications

This table lists the general specifications of the Safety Module.

						SGDV01
						(analog voltage and pulse train reference model)
						SGDV11
					Rotational	(M-II communications reference model)
					motor	SGDVE1
						(command option attachable type)
			Σ-V Series			SGDV21
Applicable SERVOPACK			/Σ-V Series for			(M-III communications reference model)
			Large-Capacity
						SGDV05
			Models			(analog voltage and pulse train reference model)
						SGDV15
					Linear	(M-II communications reference model)
					motor	SGDVE5
						(command option attachable type)
						SGDV25
						(M-III communications reference model)
Placement			Attached to the SERVOPACK
Power	Power Supply Method		Supplied from the control power supply of the SGDV SERVOPACK.
Specification
	Surrounding Air/Storage		0°C to +55°C/ -20°C to +85°C
	Temperature
	Ambient/Storage		90% RH or less (with no condensation)
	Humidity
	Vibration/Shock		4.9 m/s2 / 19.6 m/s2
	Resistance
Operating
			Protection class: IP10, Pollution degree: 2
Conditions	Protection Class/		An environment that satisfies the following conditions.
			• Free of corrosive or explosive gases
	Pollution Degree						<![if ! IE]> <![endif]>Specifications
			Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to
			• Free of exposure to water, oil or chemicals
			• Free of dust, salts or iron dust
	Altitude		1000 m or less
	Others		radioactivity
	Number of Functions: 2
		Inputs	Number of Channels		2
	Safety		Function		Safety Request Input Signal (SRI-A1, SRI-A2)
	Function A
Safety		Output	Number of Channels		1
			Function		External Device Monitor Output Signal (EDM-A)
Functions
		Inputs	Number of Channels		2
	Safety		Function		Safety Request Input Signal (SRI-B1, SRI-B2)
	Function B
		Output	Number of Channels		1
			Function		External Device Monitor Output Signal (EDM-B)
			Safety Functions			Function names of Safety Module
			(IEC61800-5-2)
			Safe Torque Off (STO)			Safe BaseBlock Function (SBB function)
			Safe Stop 1 (SS1)			Safe BaseBlock with Delay Function
Stopping Methods						(SBB-D function)
			Safe Stop 2 (SS2)			Safe Position Monitor with Delay Function
						(SPM-D function)
			Safety-Limited Speed (SLS)			Safely Limited Speed with Delay Function
						(SLS-D function)
Others			Active Mode Function
Response Time			Max. 200 ms
Proof Test Interval			10 years

2-3

2 Specifications

2.3Part Names

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

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

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

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

2-4

2.4 Internal Block Diagram

2.4Internal Block Diagram

This figure shows a typical internal block diagram.

Power supply

	Safety Module
	CN21
Safety Function A
/SRI-A1+	4
/SRI-A1–	3
/SRI-A2+	6
/SRI-A2–	5
/EDM-A+	8
/EDM-A–	7
	CN22
Safety Function B
/SRI-B1+	4
/SRI-B1–	3
/SRI-B2+	6
/SRI-B2–	5
/EDM-B+	8
/EDM-B–	7

Block A

Safety function

SERVOPACK

CN11

CPU

SERVO

ASIC

HWBB1

HWBB2 HWBB

EDM1

Power module

Block B

CN2

ENC

M

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3

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

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