YASKAWA SGD7S, SGD7W, SGD7C, SGM7M, SGM7J Selection Manual

...

-7-Series AC Servo Drive

Peripheral Device

Selection Manual

Applicable SERVOPACK Model: SGD7S, SGD7W, SGD7C Applicable Rotary Servomotor Model: Applicable Direct Drive Servomotor Model: SGM7D, SGM7E, SGM7F, SGMCV, SGMCS Applicable Linear Servomotor Model: SGLG, SGLF, SGLT

SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, SGMMV

Peripheral Devices

and System Configurations

Cables and User-Assembled Wiring

Materials for SGM7M Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGM7J Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGM7A Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGM7P Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGM7G Rotary Servomotors

Cables and User-Assembled Wiring

Materials for SGMMV Rotary Servomotors

Cables and User-Assembled Wiring

Materials for Direct Drive Servomotors

Cables and User-Assembled Wiring

Materials for Linear Servomotors

Cables and User-Assembled Wiring

Materials for SERVOPACKs

Option Modules

SERVOPACK

Peripheral Devices

1

2

3

4

5

6

7

8

9

10

11

12

MANUAL NO. SIEP S800001 32K

Software

Other Peripheral

Devices and Options

13

14

Copyright © 2014 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 provides information required to select cables, peripheral devices, and options for Σ-7- Series AC Servo Drives. It also describes the wiring materials that you can use to make your own cables.

Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.

Outline of Manual

The contents of the chapters of this manual are described in the following table. Refer to these chapters as required.

Chapter Chapter Title Contents

Peripheral Devices and

1

System Configurations Cables and User-Assembled

2

Wiring Materials for SGM7M Rotary Servomotors

Cables and User-Assembled

3

Wiring Materials for SGM7J Rotary Servomotors

Cables and User-Assembled

4

Wiring Materials for SGM7A Rotary Servomotors

Cables and User-Assembled

5

Wiring Materials for SGM7P Rotary Servomotors

Cables and User-Assembled

6

Wiring Materials for SGM7G Rotary Servomotors

Cables and User-Assembled

7

Wiring Materials for SGMMV Rotary Servomotors

Cables and User-Assembled

8

Wiring Materials for Direct Drive Servomotors

Cables and User-Assembled

9

Wiring Materials for Linear Servomotors

Cables and User-Assembled

10

Wiring Materials for SERVOPACKs

11 Option Modules

SERVOPACK Peripheral

12

Devices

13 Software

Other Peripheral Devices and

14

Options

This chapter provides system configuration diagrams of Servo Drives and peripheral devices. References are provided to detailed information.

These chapters provide the following information.

• Selection tables, specifications, and dimensional drawings for Servomotor Main Circuit Cables, Encoder Cables, and user-assembled wiring materials

Note: References to detailed information are provided in the system configu-

ration diagrams.

This chapter provides the following information.

• Information on recommended Linear Encoders and connected system configurations

• Selection tables, specifications, and dimensional drawings for Servomotor Main Circuit Cables, Linear Encoder Cables, Sensor Cables, and userassembled wiring materials

• Selection tables, specifications, and dimensional drawings for Serial Converter Units and Cables

Note: References to detailed information are provided in the system configu-

ration diagrams.

This chapter provides selection tables, specifications, and dimensional drawings for SERVOPACK cables.

This chapter provides the specifications and dimensional drawings of Option Modules. This chapter provides selection tables, specifications, and dimensional

drawings for SERVOPACK peripheral devices. This chapter provides information on the SigmaWin+, Yaskawa’s AC Servo

Drive Engineering Tool, and MPE720, our System Integrated Engineering Tool. This chapter provides information on surge absorbers and diodes for hold-

ing brake power supplies. It also provides information on the battery required to use an absolute encoder. And it provides information on the compatibility of cables for Σ-V-Series Servomotors and information on metal connectors.

iii

Related Documents

The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required.

System Components



Machine Controller and Servo Drive

General Catalog

Machine Controllers



MP3300

Catalog

Machine Controllers



Built-in Function

Manuals

SERVOPACKs:

Σ-7S and Σ-7W



Enclosed Documents



Option Module User’s Manuals



Σ-7-Series Σ-7S/Σ-7W

SERVOPACK

Product Manuals

Servo Drives



Σ-7-Series

Catalog

SERVOPACKs with Built-in Controllers:



Enclosed Documents



Σ-7-Series Σ-7C

SERVOPACK

Product Manual



Built-in Function

Manuals



Σ-7-Series Σ-7S/Σ-7W

SERVOPACK Hardware Option

Product Manuals

Σ-7-Series Σ-7S/Σ-7W

SERVOPACK FT/EX

Product Manuals

Σ-7C



Σ-7-Series Σ-7C

SERVOPACK

Troubleshooting Manual

Option Module

User’s Manuals

iv

Manuals Catalogs

Servomotors

Enclosed Documents

Other Documents

Σ-7-Series Peripheral Device

Selection Manual (this manual)

Σ-7-Series Servomotor

Product Manuals

Σ-7-Series MECHATROLINK Communications

Command Manuals

Programming Manuals

Σ-7-Series Operation Interface

Operating Manuals

Distributed I/O Module

User’s Manuals

Classification Document Name Document No. Description



Machine Controller and Servo Drive General Catalog



MP3300 Catalog



Σ-7-Series Catalog



Built-in Function Manuals



Option Module User’s Manuals

Machine Controller and AC Servo Drive Solutions Catalog

Machine Controller MP3300

AC Servo Drives

Σ-7 Series

Σ-7-Series AC Servo Drive Σ-7C SERVOPACK

Motion Control User’s Manual

Machine Controller MP3000 Series Communications User’s Manual

Machine Controller MP2000 Series Communication Module User’s Manual

Machine Controller MP2000 Series 262IF-01 FL-net Communication Module User’s Manual

Machine Controller MP2000 Series 263IF-01 EtherNet/IP Communication Module User’s Manual

Machine Controller MP2000 Series I/O Module User’s Manual

Machine Controller MP2000 Series Analog Input/Analog Output Module AI-01/AO-01 User’s Manual

Machine Controller MP2000 Series Counter Module CNTR-01 User’s Manual

KAEP S800001 22

KAEP C880725 03

KAEP S800001 23

SIEP S800002 03

SIEP C880725 12

SIEP C880700 04

SIEP C880700 36

SIEP C880700 39

SIEP C880700 34

SIEP C880700 26

SIEP C880700 27

Describes the features and application examples for combinations of MP3000-Series Machine Controllers and Σ-7-Series AC Servo Drives.

Provides detailed information on MP3300 Machine Controllers, including features and specifications.

Provides detailed information on Σ-7-Series AC Servo Drives, including features and specifications.

Provides detailed information on the specifications, system configuration, and application methods of the Motion Control Function Modules (SVD, SVC4, and SVR4) for Σ- 7-Series Σ-7C SERVOPACKs.

Provides detailed information on the specifications, system configuration, and communications connection methods for the Ethernet communications that are used with MP3000-Series Machine Controllers and Σ-7-Series Σ-7C SERVOPACKs.

Provide detailed information on the specifications and communications methods for the Communications Modules that can be mounted to MP3000-Series Machine Controllers and Σ-7-Series Σ-7C SERVOPACKs.

Provide detailed information on the specifications and communications methods for the I/O Modules that can be mounted to MP3000Series Machine Controllers and Σ-7-Series Σ-7C SERVOPACKs.

Continued on next page.

v

Classification Document Name Document No. Description



Enclosed Documents



Σ-7-Series Σ-7C SERVOPACK

Product Manual



Σ-7-Series Σ-7C SERVOPACK

Troubleshooting Manual

Σ-7-Series AC Servo Drive Σ-7S, Σ-7W, and Σ-7C SER-

VOPACK Safety Precautions

Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Safety Precautions Option Module

Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide Command Option Module

Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide Fully-closed Module

Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide Safety Module

Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide INDEXER Module

Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide DeviceNet Module

Σ-7-Series AC Servo Drive Σ-7C SERVOPACK

Product Manual

Σ-7-Series AC Servo Drive Σ-7C SERVOPACK

Troubleshooting Manual

TOMP C710828 00

TOBP C720829 00

TOBP C720829 01

TOBP C720829 03

TOBP C720829 06

TOBP C720829 02

TOBP C720829 07

SIEP S800002 04

SIEP S800002 07

Continued from previous page.

Provides detailed information for the safe usage of Σ-7-Series SERVOPACKs.

Provides detailed information for the safe usage of Option Modules.

Provides detailed procedures for installing the Command Option Module in a SERVOPACK.

Provides detailed procedures for installing the Fully-closed Module in a SERVOPACK.

Provides detailed procedures for installing the Safety Module in a SERVOPACK.

Provides detailed procedures for installing the INDEXER Module in a SERVOPACK.

Provides detailed procedures for installing the DeviceNet Module in a SERVOPACK.

Provides detailed information on selecting Σ-7-Series Σ-7C SERVOPACKs; installing, connecting, setting, testing in trial operation, and tuning Servo Drives; writing, monitoring, and maintaining programs; and other information.

Provides detailed troubleshooting information for Σ-7-Series Σ-7C SERVOPACKs.

Continued on next page.

vi

Continued from previous page.

Classification Document Name Document No. Description

Σ-7-Series AC Servo Drive



Σ-7-Series Σ-7S/Σ-7W

SERVOPACK Product Manuals



Σ-7-Series Σ-7S/Σ-7W

SERVOPACK with Hardware Option Specifications Product Manuals

Σ-7S SERVOPACK with MECHATROLINK-4 Communications References Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

MECHATROLINK-III Communications References Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

MECHATROLINK-II Communications References Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

Analog Voltage/Pulse Train References Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK

Command Option Attachable Type with INDEXER Module Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK

Command Option Attachable Type with DeviceNet Module Product Manual

Σ-7-Series AC Servo Drive Σ-7W SERVOPACK with

MECHATROLINK-III Communications References Product Manual

Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with

Hardware Option Specifications Dynamic Brake Product Manual

Σ-7-Series AC Servo Drive Σ-7W/Σ-7C SERVOPACK with

Hardware Option Specifications HWBB Function Product Manual

SIEP S800002 31

SIEP S800001 28

SIEP S800001 27

SIEP S800001 26

SIEP S800001 64

SIEP S800001 70

SIEP S800001 29

SIEP S800001 73

SIEP S800001 72

Provide detailed information on selecting Σ-7-Series Σ-7S and Σ-7W SERVOPACKs; installing, connecting, setting, testing in trial operation, tuning, monitoring, and maintaining Servo Drives; and other information.

Provides detailed information on Hardware Options for Σ-7-Series SERVOPACKs.

Continued on next page.

vii

Classification Document Name Document No. Description

Σ-7-Series Σ-7S/Σ-7W SERVOPACK

FT/EX Product Manuals

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Indexing Application Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Tracking Application Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Application with Special Motor, SGM7D Motor Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Press and Injection Molding Application Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Transfer and Alignment Application Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Torque/Force Assistance for Conveyance Application Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Cutting Application Feed Shaft Motor Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Three-Point Latching for Conveyance Application Product Manual

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with

FT/EX Specification for Semi-/Fully-Closed Loop Control Online Switching for Conveyance Application Product Manual

Σ-7-Series AC Servo Drive Σ-7W SERVOPACK with

FT/EX Specification for Gantry Applications Product Manual

Continued from previous page.

SIEP S800001 84

SIEP S800001 89

SIEP S800001 91

SIEP S800001 94

SIEP S800001 95

Provides detailed information on the FT/EX Option for Σ-7-Series SERVOPACKs.

SIEP S800002 09

SIEP S800002 10

SIEP S800002 17

SIEP S800002 27

SIEP S800002 29

Continued on next page.

viii

Continued from previous page.

Classification Document Name Document No. Description

AC Servo Drives

Option Module User’s Manual

Enclosed Documents

Σ-7-Series Servomotor Product Manuals

Σ-7-Series Peripheral Device Selection Manual

Σ-7-Series MECHATROLINK Communications Command Manuals

Programming Manuals

Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series User’s Manual Safety Module

AC Servo Drive Rotary Servomotor Safety Precautions

AC Servomotor Linear Σ Series Safety Precautions

Σ-7-Series AC Servo Drive Rotary Servomotor Product Manual

Σ-7-Series AC Servo Drive Linear Servomotor Product Manual

Σ-7-Series AC Servo Drive Direct Drive Servomotor Product Manual

Σ-7-Series AC Servo Drive Peripheral Device Selection Manual

Σ-7-Series AC Servo Drive MECHATROLINK-II Communications Command Manual

Σ-7-Series AC Servo Drive MECHATROLINK-III Communications Standard Servo Profile Command Manual

Σ-7-Series AC Servo Drive MECHATROLINK-4 Communications Standard Servo Profile Command Manual

Machine Controller MP3000 Series Ladder Programming Manual

Machine Controller MP3000 Series Motion Programming Manual

SIEP C720829 06

TOBP C230260 00

TOBP C230800 00

SIEP S800001 36

SIEP S800001 37

SIEP S800001 38

This manual (SIEP S800001 32)

SIEP S800001 30

SIEP S800001 31

SIEP S800002 32

SIEP C880725 13

SIEP C880725 14

Provides detailed information required for the design and maintenance of a Safety Module.

Provides detailed information for the safe usage of Rotary Servomotors and Direct Drive Servomotors.

Provides detailed information for the safe usage of Linear Servomotors.

Provide detailed information on selecting, installing, and connecting the Σ-7-Series Servomotors.

Provides the following information in detail for Σ-7-Series Servo Systems.

• Cables: Models, dimensions, wiring materials, connector models, and connection specifications

• Peripheral devices: Models, specifications, diagrams, and selection (calculation) methods

Provides detailed information on the MECHATROLINK-II communications commands that are used for a Σ-7-Series Servo System.

Provides detailed information on the MECHATROLINK-III communications standard servo profile commands that are used for a Σ Series S

Provides detailed information on the MECHATROLINK-4 communications standard servo profile commands that are used for a Σ-7- Series Servo System.

Provides detailed information on the ladder programming specifications and instructions for MP3000Series Machine Controllers and Σ-7-Series Σ-7C SERVOPACKs.

Provides detailed information on the motion programming and sequence programming specifications and instructions for MP3000Series Machine Controllers and Σ-7-Series Σ-7C SERVOPACKs.

ervo System.

-7-

Continued on next page.

ix

Classification Document Name Document No. Description

Σ-7-Series Operation Interface Operating Manuals

Distributed I/O Module User’s Manual

Machine Controller MP2000/MP3000 Series Engineering Tool MPE720 Version 7 User's Manual

Σ-7-Series AC Servo Drive Digital Operator Operating Manual

AC Servo Drive Engineering Tool SigmaWin+ Operation Manual

MECHATROLINK-III Compatible I/O Module User’s Manual

MECHATROLINK-4 Compatible I/O Module User’s Manual

SIEP C880761 03

SIEP S800001 33

SIET S800001 34

SIEP C880781 04

SIEP C880782 01

Continued from previous page.

Describes in detail how to operate MPE720 version 7.

Describes the operating procedures for a Digital Operator for a Σ-7-Series Servo System.

Provides detailed operating procedures for the SigmaWin+ Engineering Tool for a Σ-7-Series Servo System.

Describes the functions, specifications, operating methods, and MECHATROLINK-III communications for the Remote I/O Modules for MP2000/MP3000-Series Machine Controllers.

Describes the functions, specifications, operating methods, and MECHATROLINK-4 communications for the Remote I/O Modules for MP3000-Series Machine Controllers.

x

Using This Manual

Important

Term

Example

Information

 Technical Terms Used in This Manual

The following terms are used in this manual.

Term Meaning

Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor. Rotary Servomotor A Rotary Servomotor (SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, or SGMMV). Direct Drive Servomotor A Direct Drive Servomotor (SGM7D, SGM7E, SGM7F, SGMCV, or SGMCS). Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT). SERVOPACK A Σ-7-Series amplifier. Servo Drive The combination of a Servomotor and SERVOPACK.

Servo System

Main Circuit Cable

SigmaWin+

absolute encoder

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

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

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

The general term used for absolute encoders with batteries and batteryless absolute encoders. In cases where the general term causes confusion, the term “batteryless absolute encoder” may also be used.

 Trademarks

• Ethernet is a registered trademark of the Xerox Corporation.

• EtherCAT is a registered trademark of Hans Beckhoff.

• EtherNet/IP is a registered trademark of ODVA (Open DeviceNet Vendor Association, Inc.).

• DeviceNet is a registered trademark of ODVA (Open DeviceNet Vendor Association, Inc.).

• MECHATROLINK is a trademark of the MECHATROLINK Members Association.

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

respective company. “TM” and the

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

manual.

 Visual Aids

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

Indicates precautions or restrictions that must be observed. Also indicates alarm displays and other precautions that will not result in machine damage.

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

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

xi

DANGER

WARNING

CAUTION

NOTICE

Safety Precautions

 Safety Information

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

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

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

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

fire.

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

xii

 Safety Precautions That Must Always Be Observed

DANGER

WARNING

CAUTION

NOTICE

 General Precautions

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

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

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

the SERVOPACK.

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

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

type) that are appropriate for the product.

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

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

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

 The regenerative resistors, External Dynamic Brake Resistors, and other peripheral devices can

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

There is a risk of burn injury.

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

insulation.

There is a risk of electric shock.

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

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

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

ble gases, or near flammable materials.

There is a risk of electric shock or fire.

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

immediately when an error occurs.

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

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

There is a risk of damage to the SERVOPACK.

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

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

 Always use peripheral devices in the specified combinations.  Do not touch peripheral devices with wet hands.

There is a risk of product failure.

xiii

CAUTION

NOTICE

CAUTION

NOTICE

 Storage Precautions

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

packages.)

There is a risk of injury or damage.

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

• Locations that are subject to direct sunlight

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

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

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

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

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

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

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

• Locations that are subject to radiation

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

 Transportation Precautions

 Transport the product in a way that is suitable to the mass of the product.  When you handle a peripheral device, be careful of sharp parts, such as the corners.

There is a risk of injury.

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

the packages.)

There is a risk of injury or damage.

 Peripheral devices are precision devices. Do not drop it or subject it to strong shock.

There is a risk of failure or damage.

 Do not subject connectors to shock.

There is a risk of faulty connections or damage.

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

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

minutes or more.

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

xiv

 Installation Precautions

CAUTION

NOTICE

DANGER

WARNING

 Install a peripheral device in a way that will support the mass given in technical documents.  Install SERVOPACKs, Servomotors, regenerative resistors, and External Dynamic Brake Resis-

tors on nonflammable materials.

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

 Install the SERVOPACK in the specified orientation.

There is a risk of fire or failure.

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

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

 Do not allow any foreign matter to enter a peripheral device.

There is a risk of failure or fire.

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

• Locations that are subject to direct sunlight

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

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

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

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

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

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

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

• Locations that are subject to radiation

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

 Wiring Precautions

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

There is a risk of electric shock or injury.

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

There is a risk of electric shock or product failure.

 Check all wiring and power supplies carefully.

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

xv

CAUTION

NOTICE

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

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

There is a risk of electric shock.

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

Always confirm the pin layouts and wiring methods in technical documents for your peripheral devices before operation.

There is a risk of failure or malfunction.

 Connect wires to your peripheral devices securely with the specified methods and tightening

torque.

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

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

nal Cables and Encoder Cables.

 The maximum wiring length is 3 m for I/O Signal Cables, and 50 m for Encoder Cables or Servo-

motor Main Circuit Cables.

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

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

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

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

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

tact with adjacent wires.

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

short circuits in external wiring.

There is a risk of fire or failure.

 Whenever possible, use the Cables specified by Yaskawa.

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

 Securely tighten cable connector screws and lock mechanisms.

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

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

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

If the cables are too close to each other, malfunctions may occur due to noise affecting the low-current lines.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

 When connecting a battery, connect the polarity correctly.

There is a risk of battery rupture or encoder failure.

xvi

 Maintenance and Inspection Precautions

DANGER

WARNING

CAUTION

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

There is a risk of electric shock or injury.

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

There is a risk of electric shock or product failure.

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

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

There is a risk of electric shock.

 Disposal Precautions

 Correctly discard the product as stipulated by regional, local, and municipal laws and

regulations. Be sure to include these contents in all labelling and warning notifications on the final product as necessary.

 General Precautions

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

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

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

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

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

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

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

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

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

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

xvii

Warranty

 Details of Warranty

 Warranty Period

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

 Warranty Scope

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

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

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

• Causes not attributable to the delivered product itself

• Modifications or repairs not performed by Yaskawa

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

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

of shipment from Yaskawa

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

 Limitations of Liability

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

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

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

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

xviii

 Suitability for Use

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

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

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

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

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

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

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

electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

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

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

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

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

 Specifications Change

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

xix

1

Contents

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

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

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

Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xviii

Peripheral Devices and System Configurations

2

1.1

1.2

1.3

Configuration with a Rotary Servomotor. . . . . . . . . . . . . . . . . . . . . .1-2

Configuration with a Direct Drive Servomotor . . . . . . . . . . . . . . . . .1-3

Configuration with a Linear Servomotor . . . . . . . . . . . . . . . . . . . . . .1-4

Cables and User-Assembled Wiring Materials for SGM7M Rotary Servomotors

2.1

2.2

2.3

2.4

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes . .2-3

2.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .2-4

Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

2.3.1 Encoder Cables for Incremental Encoders . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

2.3.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6

User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . . .2-7

2.4.1 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7

2.4.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8

xx

3

2.5

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9

2.5.1 Precautions for Standard Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9

2.5.2 Precautions for Flexible Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9

Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors

3.1

3.2

3.3

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

3.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes . .3-3

3.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .3-4

User-Assembled Wiring Materials for Servomotor Main Circuit Cables . . 3-5

3.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5

3.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8

4

3.4

3.5

3.6

3.7

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10

3.4.1 Encoder Cables for Incremental Encoders or Batteryless Absolute

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.4.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

Relay Encoder Cables of 30 m to 50 m . . . . . . . . . . . . . . . . . . . . . .3-12

3.5.1 Motor-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.5.2 SERVOPACK-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.5.3 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

User-Assembled Wiring Materials for Encoder Cables . . . . . . . . .3-14

3.6.1 Precautions When Using Encoder Cables with a Wiring Length of

30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.6.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.6.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

3.6.4 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-17

Cables and User-Assembled Wiring Materials for SGM7A Rotary Servomotors

4.1

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

4.1.1 SGM7A-A5 to -10 (50 W to 1.0 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.2 SGM7A-15 to -70 (1.5 kW to 7.0 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.2

4.3

4.4

4.5

4.6

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5

4.2.1 Servomotor Main Circuit Cables for Servomotors without

Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . . 4-7

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-A5 to -10 . .4-11

4.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7A-15 to -70 . .4-15

4.4.1 Connector Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

4.4.2 Main Power Supply Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.4.3 Holding Brake Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

4.4.4 Built-in Cooling Fan Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.5 Connector External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . .4-23

4.5.1 Encoder Cables for Incremental Encoders or Batteryless Absolute

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.5.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

Relay Encoder Cable of 30 m to 50 m. . . . . . . . . . . . . . . . . . . . . . .4-27

4.6.1 Motor-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27

4.6.2 SERVOPACK-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.6.3 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

xxi

5

4.7

4.8

User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . .4-30

4.7.1 Precautions When Using Encoder Cables with a Wiring Length of

30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-30

4.7.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-30

4.7.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.7.4 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-33

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-34

Cables and User-Assembled Wiring Materials for SGM7P Rotary Servomotors

5.1

5.2

5.3

5.4

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

5.2.1 Servomotor Main Circuit Cables for Servomotors without Holding Brakes . .5-4

5.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .5-5

User-Assembled Wiring Materials for Servomotor Main Circuit Cables . . 5-6

5.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6

5.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9

5.4.1 Encoder Cables for Incremental Encoders or Batteryless Absolute

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9

5.4.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . .5-11

6

5.5

5.6

5.7

Relay Encoder Cable of 30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . .5-13

5.5.1 Motor-End Relay Encoder Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13

5.5.2 SERVOPACK-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . .5-13

5.5.3 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . .5-15

5.6.1 Precautions When Using Encoder Cables with a Wiring Length of

30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15

5.6.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15

5.6.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5.6.4 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-18

Cables and User-Assembled Wiring Materials for SGM7G Rotary Servomotors

6.1

6.2

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

6.1.1 SGM7G-03 and -05 (300 W and 450 W) . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

6.1.2 SGM7G-09 to -1E (850 W to 15 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5

6.2.1 Servomotor Main Circuit Cables for Servomotors

without Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5

6.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .6-7

xxii

6.3

6.4

6.5

6.6

6.7

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7G-03, -05

6.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

6.3.2 Wiring Materials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

User-Assembled Wiring Materials for Servomotor Main Circuit Cables: SGM7G-09 to -1E

6.4.1 Connector Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.4.2 Main Power Supply Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

6.4.3 Holding Brake Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14

6.4.4 Connector External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16

. .6-11

. .6-12

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . .6-20

6.5.1 Encoder Cables for Incremental Encoders or Batteryless Absolute

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20

6.5.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21

Relay Encoder Cables of 30 m to 50 m . . . . . . . . . . . . . . . . . . . . . .6-22

6.6.1 Motor-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22

6.6.2 SERVOPACK-End Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . 6-22

6.6.3 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

User-Assembled Wiring Materials for Encoder Cables . . . . . . . . .6-24

6.7.1 Precautions When Using Encoder Cables with a Wiring Length of

30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.7.2 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.7.3 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25

6.7.4 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26

7

6.8

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-27

Cables and User-Assembled Wiring Materials for SGMMV Rotary Servomotors

7.1

7.2

7.3

7.4

7.5

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3

7.2.1 Servomotor Main Circuit Cables for Servomotors

without Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . . 7-4

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5

7.3.1 Encoder Cables for Incremental Encoders. . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.3.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

Relay Encoder Cable of 30 m to 50 m. . . . . . . . . . . . . . . . . . . . . . . .7-7

7.4.1 Relay Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.4.2 Relay Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

User-Assembled Wiring Materials for Encoder Cables . . . . . . . . . .7-9

7.5.1 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

7.5.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

7.6

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11

xxiii

Cables and User-Assembled Wiring Materials for Direct Drive Servomotors

8

8.1

8.2

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3

8.1.1 SGM7D Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3

8.1.2 SGM7E Motors and SGM7F-A to -D Motors . . . . . . . . . . . . . . . . . .8-4

8.1.3 SGM7F-M and -N Motors and SGMCS Motors . . . . . . . . . . . . . . . .8-5

8.1.4 SGMCV Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-6

Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-7

8.2.1 SGM7D Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . .8-7

8.2.2 Main Circuit Cables for SGM7E and SGM7F-A to -D Motors . . . . . .8-8

8.2.3 Main Circuit Cables for SGM7F-M, -N, and SGMCS Motors . . . . . .8-9

8.2.4 SGMCV Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . .8-11

8.3 User-Assembled Wiring Materials for Servomotor Main Circuit Cables

8.3.1 Servomotor Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12

8.3.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-16

8.4

8.5

Encoder Cables of 20 m or Less . . . . . . . . . . . . . . . . . . . . . . . . . . .8-18

8.4.1 SGM7D Encoder Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-18

8.4.2 Encoder Cables for SGM7E and SGM7F Servomotors . . . . . . . . . . . . . . . .8-20

8.4.3 SGMCV Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-24

8.4.4 SGMCS Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27

Relay Encoder Cable of 30 m to 50 m . . . . . . . . . . . . . . . . . . . . . . .8-29

8.5.1 SGM7D Encoder Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-29

8.5.2 Encoder Cables for SGM7E and SGM7F Servomotors . . . . . . . . . . . . . . . .8-31

8.5.3 SGMCV Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-34

8.5.4 SGMCS Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-37

. .8-12

9

8.6

8.7

User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . .8-39

8.6.1 SERVOPACK Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-39

8.6.2 Encoder Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-39

8.6.3 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40

Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41

Cables and User-Assembled Wiring Materials for Linear Servomotors

9.1

9.2

Recommended Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3

9.1.1 Incremental Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3

9.1.2 Absolute Linear Encoders. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-4

Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6

9.2.1 Connections to Linear Encoder from

Dr. JOHANNES HEIDENHAIN GmbH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6

9.2.2 Connections to Linear Encoder from RSF Elektronik GmbH . . . . . . . . . . . .9-10

9.2.3 Connections to Linear Encoder from Renishaw plc . . . . . . . . . . . . . . . . . .9-11

9.2.4 Connections to Linear Encoder from RLS d.o.o.. . . . . . . . . . . . . . . . . . . . .9-14

9.2.5 Connections to Linear Encoder from Magnescale Co., Ltd. . . . . . . . . . . . .9-15

9.2.6 Connections to Linear Encoders from Mitutoyo Corporation . . . . . . . . . . .9-22

9.2.7 Connections to Linear Encoder from Fagor Automation S. Coop. . . . . . . .9-23

9.2.8 Connections to Linear Encoder from Canon Precision Inc. . . . . . . . . . . . . .9-24

xxiv

10

9.3

9.4

Cable Selection Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-25

9.3.1 Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25

9.3.2 Linear Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26

9.3.3 Serial Converter Unit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26

9.3.4 Sensor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27

9.3.5 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27

9.3.6 Cable Dimensional Drawings and Wiring Specifications . . . . . . . . . . . . . . 9-28

9.3.7 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-35

Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-37

9.4.1 Selection Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-37

9.4.2 Characteristics and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-38

9.4.3 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-39

9.4.4 Analog Signal Input Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-43

Cables and User-Assembled Wiring Materials for SERVOPACKs

10.1

10.2

System Configuration Diagrams and Selection Tables . . . . . . . . . 10-3

10.1.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

10.1.2 Selection Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

Analog Monitor Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-10

10.3

10.4

10.5

10.6

10.7

10.8

Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-11

10.3.1 Digital Operator for Σ-7-Series SERVOPACKs: JUSP-OP05A-1-E . . . . . . 10-11

10.3.2 Digital Operator Conversion Cable (for Σ-III-Series Digital Operators) . . . 10-12

10.3.3 Digital Operator Conversion Cable with Lock Screws . . . . . . . . . . . . . . . 10-12

10.3.4 Communications Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-13

Computer Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-14

I/O Signal Cables for SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . .10-15

10.5.1 For Σ-7S Analog Voltage/Pulse Train Reference SERVOPACKs . . . . . . . . 10-15

10.5.2 For Σ-7S MECHATROLINK-II/-III Communications Reference or

Command Option Attachable-Type SERVOPACKs . . . . . . . . . . . . . . . . . 10-18

10.5.3 For Σ-7W SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21

10.5.4 For Servo Section of Σ-7C SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . 10-24

10.5.5 For Controller Section of Σ-7C SERVOPACKs . . . . . . . . . . . . . . . . . . . . . 10-27

Safety Function Device Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-30

10.6.1 Cables with Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30

10.6.2 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30

MECHATROLINK-II Communications Cable . . . . . . . . . . . . . . . . .10-31

MECHATROLINK-III Communications Cable . . . . . . . . . . . . . . . . 10-32

10.9

10.10

MECHATROLINK-4 Communications Cable . . . . . . . . . . . . . . . . .10-33

Cables to Connect to MP3000/MP2000-Series Machine Controllers

10.10.1 Cables to Connect to SVA-01 Analog Output Motion Modules . . . . . . . . 10-34

. . 10-34

xxv

11

10.11

10.12

10.13

I/O Signal Cables for INDEXER Modules . . . . . . . . . . . . . . . . 10-35

10.11.1

10.11.2

10.11.3

Cables with Loose Wires at One End . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-35

Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-36

Cables with Terminal Block on One End . . . . . . . . . . . . . . . . . . . . . . . . . . 10-38

Serial Command Cables (Connector Kit Only) . . . . . . . . . . . . 10-39

DeviceNet Communications Cable . . . . . . . . . . . . . . . . . . . . 10-40

Option Modules

11.1

11.2

11.3

Feedback Option Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2

11.1.1 Fully-Closed Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2

Safety Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-11

11.2.1 Applicable Standards and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11

11.2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-12

11.2.3 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-13

Option Case Kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-14

12

SERVOPACK Peripheral Devices

12.1

12.2

12.3

12.4

Molded-Case Circuit Breakers and Fuses. . . . . . . . . . . . . . . . . . . .12-3

12.1.1 Using an AC Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-3

12.1.2 Using a DC Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-4

Magnetic Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-6

SERVOPACK Main Circuit Wires . . . . . . . . . . . . . . . . . . . . . . . . . .12-10

12.3.1 Three-Phase, 200-VAC Wires for Σ-7S SERVOPACKs . . . . . . . . . . . . . . .12-10

12.3.2 Single-Phase, 200-VAC Wires for Σ-7S SERVOPACKs . . . . . . . . . . . . . . .12-13

12.3.3 Single-Phase, 100-VAC Wires for Σ-7S SERVOPACKs . . . . . . . . . . . . . . .12-14

12.3.4 DC Power Supply Wires for Σ-7S SERVOPACKs . . . . . . . . . . . . . . . . . . .12-15

12.3.5 Three-Phase, 200-VAC Wires for Σ-7W SERVOPACKs and

Σ-7C SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-18

12.3.6 Single-Phase, 200-VAC Wires for Σ-7W SERVOPACKs and

Σ-7C SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-19

12.3.7 DC Power Supply Wires for Σ-7W SERVOPACKs . . . . . . . . . . . . . . . . . . .12-19

12.3.8 Wire Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20

Crimp Terminals and Insulating Sleeves . . . . . . . . . . . . . . . . . . . .12-21

12.4.1 Σ-7S SERVOPACKs with Three-Phase, 200-VAC or

DC Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-21

12.4.2 Σ-7S SERVOPACKs with Single-Phase, 200-VAC . . . . . . . . . . . . . . . . . . . 12-22

12.4.3 Σ-7S SERVOPACKs with Single-Phase, 100-VAC . . . . . . . . . . . . . . . . . . . 12-22

12.4.4 Σ-7W SERVOPACKs with Three-Phase, 200-VAC or DC Power Supplies

and Σ-7C SERVOPACKs with Three-Phase, 200-VAC. . . . . . . . . . . . . . . .12-23

12.4.5 Σ-7W SERVOPACKs and Σ-7C SERVOPACKs with Single-Phase,

200-VAC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23

xxvi

12.5

Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-25

13

12.6

12.7

12.8

12.9

AC/DC Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-28

12.6.1 Using a Three-Phase, 200-VAC Power Supply Input . . . . . . . . . . . . . . . . 12-28

12.6.2 Using a Single-Phase, 200-VAC Power Supply Input. . . . . . . . . . . . . . . . 12-29

12.6.3 Using a Single-Phase, 100-VAC Power Supply Input. . . . . . . . . . . . . . . . 12-29

12.6.4 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-30

Surge Absorbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-31

Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-32

12.8.1 Regenerative Power and Regenerative Resistance . . . . . . . . . . . . . . . . . 12-32

12.8.2 Types of Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-32

12.8.3 Selection Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-33

12.8.4 Specifications of Built-in Regenerative Resistors in SERVOPACKs . . . . . 12-33

12.8.5 Specifications and Dimensions of External Regenerative Resistors . . . . . 12-34

12.8.6 Selecting External Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . 12-37

Inrush Current Suppression Devices. . . . . . . . . . . . . . . . . . . . . . .12-53

Software

13.1

SigmaWin+: AC Servo Drive Engineering Tool . . . . . . . . . . . . . . . .13-2

14

13.2

MPE720: System Integrated Engineering Tool . . . . . . . . . . . . . . . .13-3

Other Peripheral Devices and Options

14.1

14.2

14.3

14.4

Surge Absorbers (Varistors) and Diodes for Holding Brake Power Supplies

Batteries for Servomotors with Absolute Encoders . . . . . . . . . . . .14-4

14.2.1 Using Encoder Cables with Battery Cases . . . . . . . . . . . . . . . . . . . . . . . . 14-4

14.2.2 When Installing a Battery on the Host Controller . . . . . . . . . . . . . . . . . . . . 14-5

Precautions for Connecting a Σ-V-Series Cable to a Σ-7-Series Servomotor

14.3.1 Restrictions in Using Σ-V-Series Cables . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6

14.3.2 Precautions When the Encoder Cable Is Installed toward the Load Side . . 14-6

14.3.3 Cables That Connect to Σ-7-Series Servomotors . . . . . . . . . . . . . . . . . . . 14-7

Optional Metal Connectors for Servomotor Main Circuit Cables. .14-8

14.4.1 SGM7J and SGM7A (50 W to 150 W) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-8

14.4.2 SGM7J and SGM7A (200 W to 600 W) . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-8

14.4.3 SGM7J and SGM7A (750 W and 1.0 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . 14-9

Revision History

. .14-2

. .14-6

xxvii

Peripheral Devices and System Configurations

1

1.1

1.2 Configuration with a Direct Drive Servomotor . . 1-3

1.3

Configuration with a Rotary Servomotor . . 1-2

Configuration with a Linear Servomotor . . . 1-4

1.1 Configuration with a Rotary Servomotor

R S T

C N 6

Ground cable

(Wiring required for a Servomotor with a Brake)

Encoder Cable Refer to chapter 2 to 7 depending on the motor that you are using.

Holding Brake Power Supply Unit

*3, *4, *5

Brake Relay

*4

External Regenerative Resistor

Noise Filter

Molded-case circuit breaker

Magnetic Contactor

I/O Signal Cable

SERVOPACK

*1

Servomotor

Power supply Three-phase, 200 VAC

*1

Computer

Computer Cable

Control Power Supply Cable

Digital Operator (JUSP-OP05A-1-E)

Digital Operator cable

200 VAC

Host controller

MECHATROLINK Communications Cable

*1

To next MECHATROLINK-III station

*2

Analog Monitor Cable

Safety Function Device Cable

Safety function device

SERVOPACK

main circuit wires

Engineering Tool

Battery Case (Required when an absolute encoder is used.)

When not using a safety function, leave the Safety Jumper Connector connected to the SERVOPACK.

External Regenerative Resistor Cable

Servomotor Main Circuit Cable Refer to chapter 2 to 7 depending on the motor that you are using.

(page 12-3)

(page 12-25)

(page 12-6)

Surge Absorbers (page 12-31) Reactors (page 12-28) Surge Absorbers (Varistors) and Diodes for Holding Brake Power Supplies

(page 14-2)

(page 12-10)

(pages 10-31 and 10-32)

(page 10-11)

(page 10-14)

(pages 10-15, 10-18 and 10-21)

(page 10-10)

(page 14-4)

(page 10-30)

(page 12-32)

(pages 10-12 and 10-12)

(page 13-2)

1.1

Configuration with a Rotary Servomotor

*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference SERVOPACK for

a three-phase 200-VAC power supply input as an example. The shapes of the connectors and pin layout may be different for SERVOPACKs with other power supply input specifications and for other interfaces. Refer to the product manual for your SERVOPACK when using a SERVOPACK other than the above.

*2. The connected devices depend on the interface.

For MECHATROLINK-4 communications references: Other MECHATROLINK-4 stations For MECHATROLINK-II communications references: Other MECHATROLINK-II stations For analog voltage/pulse train references: There is no CN6 connector.

*3. A Holding Brake Power Supply Unit is required to use a Servomotor with a Holding Brake. Holding Brake Power

1-2

*4. If you use a Servomotor with a Holding Brake, select a brake relay according to the power supply voltage and

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

Supply Units for 24 VDC are not provided by Yaskawa. Obtain these from other manufacturers. Never connect Holding Brake Power Supply Units with different output voltages to a SERVOPACK. Overcurrent may result in burning in the brake.

current of the brake. Yaskawa does not recommend any particular brake relays. Select an appropriate brake relay using the selection method of the brake relay manufacturer.

ing brake specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power supplies, such as the one for the I/O signals of the CN1 connector. If the power supply is shared, the I/O signals may malfunction.

1.2 Configuration with a Direct Drive Servomotor

1

Peripheral Devices and System Congurations

External Regenerative Resistor

Noise Filter

Molded-case circuit breaker

Magnetic Contactor

I/O Signal Cable

SERVOPACK

*1

Power supply Three-phase, 200 VAC

*1

R S T

Computer Cable

External Regenerative Resistor Cable

Control Power Supply Cable

Digital Operator (JUSP-OP05A-1-E)

Digital Operator cable

Host controller

MECHATROLINK Communications Cable

*1

To next MECHATROLINK-III station

*2

C N 6

Safety Function Device Cable

Safety function device

SERVOPACK main circuit wires

Servomotor Main

Circuit Cable

Direct Drive Servomotor

Encoder Cable

Analog Monitor Cable

Computer

Battery Case (Required when an absolute encoder is used.)

When not using a safety function, leave the Safety Jumper Connector connected to the SERVOPACK.

Ground cable

Engineering Tool

(page 12-3)

(page 12-25)

(page 12-6)

(page 8-7)

(page 12-10)

(pages 10-31 and 10-32)

(page 10-11)

(page 10-10)

(page 8-18)

(page 10-30)

(page 12-32)

(pages 10-12 and 10-

12)

(page 10-14)

(pages 10-15, 10-18 and 10-21)

(page 14-4)

Surge Absorbers (page 12-31) Reactors (page 12-28)

(page 13-2)

1.2

Configuration with a Direct Drive Servomotor

*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference SERVOPACK for

a three-phase 200-VAC power supply input as an example. The shapes of the connectors and pin layout may be different for SERVOPACKs with other power supply input specifications and for other interfaces. Refer to the product manual for your SERVOPACK when using a SERVOPACK other than the above.

*2. The connected devices depend on the interface.

For MECHATROLINK-4 communications references: Other MECHATROLINK-4 stations For MECHATROLINK-II communications references: Other MECHATROLINK-II stations For analog voltage/pulse train references: There is no CN6 connector.

1-3

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