YASKAWA Sigma-7Siec User Manual

Sigma-7Siec

Hardware Manual

100V/200V Safety Standards and Performance Level

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

North American Safety Standards (UL)

Product Model UL Standards (UL File No.)

SERVOPACKs • SGD7S

European Directives

Product Model European Direc tive Harmonized Standards

Machinery Directive 2006/42/EC

SERVOPAC Ks

• SGD7S

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

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

EN ISO13849-1: 2015

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

EN 50178 EN 61800-5-1

Safety Standards

Product Model European Di rective Harmonized Standards

EN IOSO13849-1:2015 IEC 60204-1

IEC 61508 series IEC 62061 IEC61800-5-2

SERVOPAC Ks

• SGD7S

Safety of Machinery

Functional Safety

EMC IEC 61326-3-1

3

Safety Performance Amplifier Alone

Items Standards Performance Level

Safety Integrity Level

Mission Time

Probability of Dangerous Failure per Hour

Performance Level

Mean Time to Dangerous Failure of Each Channel Average Diagnostic Coverage Stop Category

Safety Function

Hardware Fault Tolerance

Subsystem

IEC 61508 SIL3

IEC 62061 SILCL3

IEC 61508 10 years 20 years

IEC 61508 IEC 62061

EN ISO 13849-1

IEC 60204-1 Stop category 0

IEC 61800-5-2

IEC 61508 HFT = 1

IEC 61508 B

PFH = 4.60 x 10

4.60% of SIL3

PLe (Category 3)

MTTFd: High

DCavg: Medium

STO

Safety Performance with Safety Module

Items Standards Performance Level

Safety Integrity Level

Probability of Dangerous Failure per Hour

Performance Level

Mean Time to Dangerous Failure of Each Channel Average Diagnostic Coverage Safety Function

Mission Time

Hardware Fault Tolerance

Subsystem

IEC 61508 SIL2

IEC 62061 SILCL2

IEC 61508 IEC 62061

EN ISO 13849-1 PL d (Category 2)

EN ISO 13849-1 MTTFd: High

EN ISO 13849-1 DCavg: Medium

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

IEC 61508 10 Years

IEC 61508 HFT = 1

IEC 61508 B

PFH = 3.3 x 10

3.3% of SIL2

-9

[1/h]

PFH = 4.62 x 10-9 [1/h]

4.62% of SIL3

-7

[1/h]

4

400V Safety Standards and Performance Level

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

North American Safety Standards (UL)

Product Model UL Standards (UL File No.)

SERVOPACKs • SGD7S

European Directives

Product Model European Di rective Harmonized Standards

Machinery Directive 2006/42/EC

SERVOPAC Ks

• SGD7S

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

RoHS Directive 2011/65/EU EN 50581

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

EN ISO13849-1: 2015

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

EN 50178 EN 61800-5-1

Safety Standards

Product Model European Di rective Harmonized Standards

EN IOSO13849-1:2015 IEC 60204-1

IEC 61508 series IEC 62061 IEC61800-5-2

SERVOPAC Ks

• SGD7S

Safety of Machinery

Functional Safety

EMC IEC 61326-3-1

5

Safety Performance Amplifier Alone

Items Standards Performance Level

Safety Integrity Level

Mission Time

Probability of Dangerous Failure per Hour

Performance Level

Mean Time to Dangerous Failure of Each Channel Average Diagnostic Coverage Stop Category

Safety Function

Hardware Fault Tolerance

Subsystem

IEC 61508 SIL3

IEC 62061 SILCL3

IEC 61508 10 years 20 years

IEC 61508 IEC 62061

EN ISO 13849-1

IEC 60204-1 Stop category 0

IEC 61800-5-2

IEC 61508 HFT = 1

IEC 61508 B

PFH = 4.60 x 10

4.60% of SIL3

PLe (Category 3)

MTTFd: High

DCavg: Medium

STO

Safety Performance with Safety Module

Items Standards Performance Level

Safety Integrity Level

Probability of Dangerous Failure per Hour

Performance Level

Mean Time to Dangerous Failure of Each Channel Average Diagnostic Coverage Safety Function

Mission Time

Hardware Fault Tolerance

Subsystem

IEC 61508 SIL2

IEC 62061 SILCL2

IEC 61508 IEC 62061

EN ISO 13849-1 PL d (Category 2)

EN ISO 13849-1 MTTFd: High

EN ISO 13849-1 DCavg: Medium

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

IEC 61508 10 Years

IEC 61508 HFT = 1

IEC 61508 B

PFH = 3.3 x 10

3.3% of SIL2

-9

[1/h]

PFH = 4.62 x 10-9 [1/h]

4.62% of SIL3

-7

[1/h]

6

1 Introduction

1.1 Sigma-7Siec Features

The Sigma-7Siec is a single-axis machine controller that is enclosed inside a Sigma-7 servo amplifier, providing a compact, all-in-one servo/controller package with the following features:

 PLCopen for Motion Control, including indexing, virtual camming, and

servo parameter maintenance capability. Multiple communications protocols are supported, including: Modbus/TCP, EtherNet/IP, OPC and user customizable socket communications.

 Sigma-7 self-tuning, anti-vibration, and other high performance,

easy-to-implement servo control features.

1

Introduction

3

1

Switches (under cover)

Main Circuit Power Supply

Control Circuit Power Supply

Servo Motor Power

Regenerative Resistor Connections

LED Indicators

CN6A/B: Ethernet

CN7: USB

CN1: SERVOPACK I/O

CN8: HWBB

CN2: Encoder

Switches (under cover)

LED Indicators

Introduction

1.2 Sigma-7Siec Appearance

The following figures show the external appearance of the Sigma-7Siec controller.

4

200V Front View

400V Front View

400V Top View

CN101: Main Circuit Power Supply

CN103: DC Bus Terminals

CN201: Control Circuit Power Supply

CN7: USB

CN2: Encoder

CN8: HWBB

CN1: SERVOPACK I/O

CN6A/B: Ethernet

1

Introduction

CN102: Servo Motor Power

CN115: Dynamic Brake

400V Bottom View

5

1

2R8 A

M0

A

000 F50

M0

SGD7S -

F50

FT/EX Speciﬁcation

Application function for Sigma-7Siec

F82

Application function for Sigma-7Siec with support for SGM7D motors

A 200 VAC

D 400 VAC

F 100 VAC

A: Global design revision B: 400V Global design revision

R70

*2

R90

*2

1R6

*2

2R8

*2

3R8

5R5

*2

7R6

120

180

200

330

470

550

590

780

R70

R90

2R1

2R8

0.05 kW

0.1 kW

0.2 kW

0.4 kW

0.5 kW

0.75 kW

1.0 kW

1.5 kW

2.0 kW

3.0 kW

5.0 kW

6.0 kW

7.5 kW

11 kW

15 kW

0.05 kW

0.1 kW

0.2 kW

0.4 kW

Maximum Applicable Motor Capacity

Voltage

Interface

Code

Speciﬁcation

Code

000

Speciﬁcation

Without options

All models

Applicable

Models

Speciﬁcation

Sigma-7Siec

(built-in single-axis control)

Design Revision Order

Hardware Options Speciﬁcation

Voltage Code Speciﬁcation Voltage Code Speciﬁcation

Threephase, 200 VAC

1R9

3R5

5R4

8R4

120

170

210

*4

260

*4

280

*4

370

*4

500 W

1.0 kW

1.5 kW

2.0 kW

3.0 kW

5.0 kW

6.0 kW

7.5 kW

11 kW

15 kW

Threephase, 400 VAC

Singlephase, 100 VAC

1st+2nd+3rd digits

4th digit

5th+6th digits

7th digit

8th+9th+10th digits

-7 Series SERVOPACK

4th

digit

1st+2nd+3rd

digits

5th+6th

digits

8th+9th+10th

digits

7th

digit

11th+12th+

13th digits

_ _ _

14th+15th+

16th digits

11th+12th+13th digits

Code

Speciﬁcation

Blank

Option Module

Standard

010

*1

Safety Module

*3

14th+15th+16th digits

Code

Speciﬁcation

Introduction

1.3 Model Number Designation

1.4 Accessories

Type Description Model Number Note

CN1 Terminal Block Conversion Kit

CN1 Cable (Flying leads)

Module cover and mounting plate for 200V amps

Mounting plate for 400V amps

Accessories and

Cables (100 VAC

and 200 VAC)

Communication Ethernet Cable

Option Case Kit

6

System Components

xx denotes cable length

SBK-U-MP2Bxx

JZSP-CSI02-x-E

Customer Supplied

SGDV-OZA01A Used for mounting safety module

JZSP-P7R2-8-E Using for mounting safety module

 A5: 0.5 m  01: 1.0 m  03: 3.0 m

x denotes cable length

 A: 1.0 m  B: 2.0 m  C: 3.0 m

Use high quality shielded industrial Ethernet cables (Yaskawa model JZSP-CM3RRM0-xx-E is recommended)

2 Specifications and Settings

Degree SERVOPACK Model: SGD7S-

IP20

R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, R70F, R90F, 2R1F, 2R8F

IP10

180A, 200A, 330A, 470A, 550A, 590A, 780A

Mounting SERVOPACK Model: SGD7S-

Base-mounted All Models

Rack-mounted

R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A, R70F, R90F, 2R1F, 2R8F

Duct-ventilated 470A, 550A, 590A, 780A

2.1.1 200 VAC Specifications

2 Specifications and Settings

2.1 Specifications

2.1.1 200 VAC Specifications

Item Specification

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

Serial encoder: 20 bits or 24 bits (incremental encoder/

• Absolute linear encoder (The signal resolution depends on the absolute linear encoder.)

• Incremental linear encoder (The signal resolution depends on the incremental linear encoder or Serial Converter Unit.)

-5°C to 55°C

(With derating, usage is possible between 55°C and 60°C.)

-20°C to 85°C

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

2

4.9 m/s

2

19.6 m/s

absolute encoder) 22 bits (absolute encoder)

Feedback

With Rotary Servomotor

With Linear Servomotor

Surrounding Air Temperature

Storage Temperature

Surrounding Air Humidity

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

Vibration Resistance

Shock Resistance

Environmental Conditions

Applicable Standards

Mounting

Degree of Protection

Pollution Degree

Altitude

Others

• Must be no corrosive or flammable gases.

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

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

1,000 m or less. (With derating, usage is possible between 1,000 m and 2,000 m.)

Do not use the SERVOPACK in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, or radioactivity

Compliance with UL Standards, EU Directives and Other Safety Standards

7

2 Specifications and Settings

2.1.1 200 VAC Specifications

Item Specification

Speed Control Range

Coefficient of

Performance

I/O Signals

Speed Fluctuation

Torque Control Precision (Repeatability)

Soft Start Time Setting

Encoder Divided Pulse Output

Linear Servomotor Overheat Protection Signal Input

Input Sig-

Digital Input Signals

Digital Output Signals

nals That Can Be Allocated

Fixed Output

Output Signals That Can Be Allocated

(cont’d)

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

0% of rated speed max. (for a voltage fluctuation of ±10%)

±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Number of input points: 1 Input voltage range: 0 V to +5 V

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

Input method: Sink inputs or source inputs Input Signals

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

• /EXT1 External latch signal input (General purpose input)

• /EXT2 External latch signal input (General purpose input)

• /EXT3 External latch signal input (General purpose input)

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

External Torque Limit) signals

• FSTP (Forced Stop Input) signal

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

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 1 Output signal: ALM (Servo Alarm) signal

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 3 (A photocoupler output (isolated) is used.)

Output Signals

• /COIN (Positioning Completion) signal

• /V-CMP (Speed Coincidence Detection) signal

• /TGON (Rotation Detection) signal

• /S-RDY (Servo Ready) signal

• /CLT (Torque Limit Detection) signal

• /VLT (Speed Limit Detection) signal

• /BK (Brake) signal

• /WARN (Warning) signal

• /NEAR (Near) signal

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

8

2 Specifications and Settings

2.1.1 200 VAC Specifications

Item Specification

Interfaces

RS-422A Communications (CN502)

Communications

USB Communications (CN7)

Displays/Indicators

Ethernet IP Address Setting Switches

Analog Monitor (CN5)

Dynamic Brake (DB)

Regenerative Processing

Overtravel (OT) Prevention

Protective Functions

Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.

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

Safety Functions

Applicable Option Modules Safety Module

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

Applicable Standards

1:N Communications

Axis Addres s Setting

Interface

Communications Standard

A JUSP-JC001 Communications Unit is required to connect to a Digital Operator (JUSP-OP05A-1-E).

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

Set with parameters.

Personal computer (with SigmaWin+)

Conforms to USB2.0 standard (12 Mbps).

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

Used to configure IP address

Number of points: 2 Output voltage range: ±10 VDC (effective linearity range: ±8 V) Resolution: 16 bits Accuracy: ±20 mV (Typ) Maximum output current: ±10 mA Settling time (±1%): 1.2 ms (Typ)

Activated when a servo alarm or overtravel (OT) occurs, or when the power supply to the main circuit or servo is OFF.

Built-in (An external resistor must be connected to the SGD7S470A to -780A.) Refer to the following manual for details.

S-7-Series AC Servo Drive Peripheral Device Selection

Manual (Manual No.: SIEP S800001 32)

Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Overcurrent, overvoltage, low voltage, overload, regeneration error , etc.

ISO13849-1 PLe (Category 3), IEC61508 SIL3

(cont’d)

9

2 Specifications and Settings

2.1.2 400 VAC Specifications

Item Specification

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

With Rotary Servomotor

Feedback

Environmental Conditions

Applicable Standards

Mounting Base-mounted

Performance

With Linear Servomotor

Surrounding Air Temperature

Storage Temperature -20°C to 85°C

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

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

Vibration Resistance

Shock Resistance

Degree of Protection

Pollution Degree

Altitude 1,000 m or less.

Others

Speed Control Range

Coefficient of Speed Fluctuation

Torque Control Precision (Repeatability)

Soft Start Time Setting

*1

*2

Serial encoder: 24 bits

• Absolute linear encoder (The signal resolution depends on

the absolute linear encoder.)

• Incremental linear encoder (The signal resolution depends

on the incremental linear encoder or Serial Converter Unit.)

-5°C to 55°C

2

4.9 m/s

2

19.6 m/s

IP10

2

• Must be no corrosive or flammable gases.

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

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

Do not use the SERVOPACK in the following locations: Locations subject to static electricity noise, strong electromagnetic/ magnetic fields, or radioactivity

Refer to the following section for details.

Compliance with UL Standards, EU Directives, and Other

Safety Standards on page xxi

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

0% of rated speed max. (for a voltage fluctuation of ±10%)

±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

(incremental encoder/absolute encoder)

10

I/O Signals

Communications

Item Specification

Encoder Divided Pulse Output

Linear Servomotor Overheat Protection Signal Input

Input

Sequence Input Signals

Sequence Output Signals

RS-422A Communications (CN502)

USB Communications (CN7)

Signals That Can Be Allocated

Fixed Output

Output Signals That Can Be Allocated

Interfaces Digital Operator (JUSP-OP05A-1-E).

1:N Communications

Axis Address Setting

Interface

Communications Standard

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Number of input points: 1 Input voltage range: 0 V to +5 V

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

Input method: Sink inputs or source inputs Input Signals

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

• /Probe1 (Probe 1 Latch Input) signal

• /Probe2 (Probe 2 Latch Input) signal

• /Home (Home Switch Input) signal

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

External Torque Limit) signals

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

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

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 1 Output signal: ALM (Servo Alarm) signal

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 5 (A photocoupler output (isolated) is used.)

Output Signals

• /COIN (Positioning Completion) signal

• /V-CMP (Speed Coincidence Detection) signal

• /TGON (Rotation Detection) signal

• /S-RDY (Servo Ready) signal

• /CLT (Torque Limit Detection) signal

• /VLT (Speed Limit Detection) signal

• /BK (Brake) signal

• /WARN (Warning) signal

• /NEAR (Near) signal

• /ZONE0 (ZONE Signal 1 Output) signal

• /ZONE1 (ZONE Signal 2 Output) signal

• /ZONE2 (ZONE Signal 3 Output) signal

• /ZONE3 (ZONE Signal 4 Output) signal

• /nZONE (nZONE Output) signal

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

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

Set with parameters.

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

Conforms to USB2.0 standard (12 Mbps).

2 Specifications and Settings

2.1.2 400 VAC Specifications

11

2 Specifications and Settings

× 100%

Coefcient of speed uctuation =

No-load motor speed - Total-load motor speed

Rated motor speed

2.1.2 400 VAC Specifications

Item Specification

Displays/Indicators

Ethernet IP Address Setting Switches Used to configure IP address

Analog Monitor (CN5)

Dynamic Brake (DB)

Regenerative Processing

Overtravel (OT) Prevention

Protective Functions

Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.

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

Safety Functions

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

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

Output

Applicable Standards

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

*3

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

Number of points: 2 Output voltage range: ±10 VDC (effective linearity range: ±8 V) Resolution: 16 bits Accuracy: ±20 mV (Typ) Maximum output current: ±10 mA Settling time (±1%): 1.2 ms (Typ)

Activated when a servo alarm or overtravel (OT) occurs, or when the power supply to the main circuit or servo is OFF.

Built-in Refer to the catalog for details.

Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.

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

ISO13849-1 PLe (category 3), IEC61508 SIL3

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

12

2.2 DIP Switch Settings

DIP Switches

Rotary Switches (used to set IP address)

2 Specifications and Settings

2.1.2 400 VAC Specifications

1

2 3

4

Rotary Switch 1 Rotary Switch 0

Switch Name Setting Operating Mode

User program execution

ON

STOP

1

2

SUP

INIT

3

4

E-INIT

inhibited

OFF Normal operation

Firmware programming

ON

mode

OFF Normal operation

Configuration bypass

ON

mode

OFF Normal operation

ON Normal operation

OFF Rotary switches ignored

Setting for

Normal

Operation

OFF

Details

Inhibits user program execution

Enables servo controller firmware programming. This mode can also be enabled via web UI without changing the DIP switch.

Set to ON to bypass the stored configuration (e.g. in case of a configuration problem that prevents servo controller startup)

Rotary switches used to set IP address

IP address is set from configuration settings in servo controller

13

2 Specifications and Settings

2.1.2 400 VAC Specifications

2.3 Rotary Switches

When DIP switch 4 (E-INIT) is OFF, the rotary switches are ignored. The IP address is set from configuration settings stored on the servo controller.

Rotary switches are normally used to set the IP address. This is the case when DIP switch 4 (E-INIT) is ON

 If both rotary switches are set to 0, use DHCP.

 If either rotary switch is non zero, the last octet of the IP address is set

by the value on the switches. Note that the switch values are labeled in hexadecimal. The IP address will be 192.168.1.x where x is 0x01 to 0xFF for a decimal value of 01 to 255.

Rotary Switch 1 Rotary Switch 0 IP Address

0 0 Set by DHCP

0 1 192.168.1.1

0 2 192.168.1.2

... ... ...

0 F 192.168.1.15

1 0 192.168.1.16

... ... ...

1 F 192.168.1.31

2 0 192.168.1.32

... ... ...

F F 192.168.1.255

2.4 Switch Factory Settings

 All DIP switches off

 Rotary switch 0 setting = 0. Rotary switch 1 setting = 1.

 Configured IP address is 192.168.1.1

14

3 Installation Standards

3.1 Mechanical Installation/Dimensions

The Sigma-7Siec servo interface is based on the Sigma-7S EtherCAT servo amplifier. As such, it has the same envelope and mechanical installation directions. Please refer to section 2.3 of the Sigma-7S EtherCAT (CoE) Communications Reference Product Manual (document number SIEPS80000155)

15

3 Installation Standards

Important

3.2.1 200V SERVOPACKS

3.2 Installing Multiple SERVOPACKS in a Control Panel

3.2.1 200V SERVOPACKS

Provide the following intervals between the SERVOPACKs and spaces around the SERVOPACKs.

Install cooling fans above the SERVOPACKs so that hot spots do not occur around the SERVOPACKs. Provide sufficient intervals and spaces as shown in the following figure to enable cooling by the fans and natural convection.

40 mm min.

Fan

SERVOPACK

30 mm min.

This distance depends on the model.

Fan

SERVOPACK

30 mm min.

SERVOPACK

40 mm min.

The space required on the right side of a SERVOPACK (when looking at the SERVOPACK from the front) depends on the SERVOPACK models. Refer to the following table.

Cooling Fan Installation

Conditions

10 mm above SERVO-

PACK’s Top Surface

SGD7S-

SERVOPACK Model

R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, R70F, R90F, 2R1F, 2R8F

120A, 180A, 200A, 330A, 470A, 550A, 590A, 780A

Space on

Right Side

1 mm min. Air speed: 1.0 m/s min.

10 mm min. Air speed: 1.0 m/s min.

16

3.2.2 400V SERVOPACKS

Important

Fan

30 mm min.

Fan

120 mm min.

SERVOPACK

400 V SERVOPACKS can be mounted side-by-side as shown.

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

3 Installation Standards

3.2.2 400V SERVOPACKS

SGD7S-

SERVOPACK Model

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

120D, 170D, 210D, 260D,

280D, 370D

Cooling Fan Installation Conditions

10 mm above SERVOPACK’s Top Surface

Air speed: 1.0 m/s min.

17

3 Installation Standards

3.2.2 400V SERVOPACKS

18

4 Inputs and Outputs

4.1 Input Signals

4.1.1 200V SERVOPACKS

Default settings are provided in parentheses

4 Inputs and Outputs

4.1.1 200V SERVOPACKS

Signal

/SI1 (P-OT)

/SI2 (N-OT)

/SI3

/SI4 (/EXT1)

/SI5 (/EXT2)

/SI6 (/EXT3)

/SI0

+24VIN

BAT+

BAT-

TH 5

Note: If forward drive prohibition or reverse drive prohibition is used, the SERVOPACK is stopped

by software controls. If the application does not satisfy the safety requirements, add external safety circuits as required.

Pin No.

General-purpose Sequence

7

Input 1 (Forward Drive Prohibit Input)

General-purpose Sequence

8

Input 2 (Reverse Drive Prohibit Input)

General-purpose Sequence

9

Input 3

External latch signal 1 input

10

(General purpose input 4)

External latch signal 2 input

11

(General purpose input 5)

External latch signal 3 input

12

(General purpose input 6)

General-purpose Sequence

13

Input 0

Sequence Input Signal Power

6

Supply Input

14 Battery for Absolute Encoder (+) These are the pins to connect the absolute

15 Battery for Absolute Encoder (-)

Linear Servomotor Overheat Protection Input

Name Function

You can allocate the input signal to use with a parameter. (Stops Servomotor drive (to prevent overtravel) when the moving part of the machine exceeds the range of movement.)

You can allocate the input signal to use with parameters. (Used for general-purpose input.)

You can allocate the input signals to use with parameters.

You can allocate the input signal to use with a parameter. (Used for general-purpose input.)

Inputs the sequence input signal power supply. Allowable voltage range: 24 VDC ±20% The 24-VDC power supply is not provided by Yaskawa.

encoder backup battery. Do not connect these pins if you use the Encoder Cable with a Battery Case.

Inputs the overheat protection signal from a Linear Servomotor.

19

4 Inputs and Outputs

4.1.2 400V SERVOPACKS

Default settings are given in parentheses.

Signal Pin No. Name Function

/SI1 (P-OT)

/SI2 (N-OT)

/SI3

/SI4 (/Probe1)

/SI5 (/Probe2)

/SI6 (/Home)

/SI0

+24VIN

BAT+

BAT-

TH 5

7

8

9

10

11

12

13

6

14

15

General-purpose Sequence Input 1 (Forward Drive Prohibit Input)

General-purpose Sequence Input 2 (Reverse Drive Prohibit Input)

General-purpose Sequence Input 3

General-purpose Sequence Input 4 (Probe 1 Latch Input)

General-purpose Sequence Input 5 (Probe 2 Latch Input)

General-purpose Sequence Input 6 (Home Switch Input)

General-purpose Sequence Input 0

Sequence Input Signal Power Supply Input

Battery for Absolute Encoder (+)

Battery for Absolute Encoder (-)

Linear Servomotor Overheat Protection Input

You can allocate the input signal to use with a parameter. (Stops Servomotor drive (to prevent overtravel) when the moving part of the machine exceeds the range of movement.)

You can allocate the input signal to use with parameters. (Used for general-purpose input.)

You can allocate the input signals to use with parameters. (Connect the external signals that latch the current feedback pulse counter.)

You can allocate the input signal to use with parameters. (Connect the switch that starts homing.)

You can allocate the input signal to use with a parameter. (Used for general-purpose input.)

Inputs the sequence input signal power supply. Allowable voltage range: 24 VDC ±20% The 24VDC power supply is not provided by Yaskawa.

These are the pins to connect the absolute encoder backup battery. Do not connect these pins if you use the Encoder Cable with a Battery Case.

Inputs the overheat protection signal from a Linear Servomotor.

Note: If forward drive prohibition or reverse drive prohibition is used, the SERVOPACK is

stopped by software controls. If the application does not satisfy the safety requirements, add external safety circuits as required.

20

4.2 Output Signals

4.2.1 200V SERVOPACKS

Default settings are provided in parentheses.

4 Inputs and Outputs

4.2.1 200V SERVOPACKS

1

2

No.

Name Function

Servo Alarm Output Turns OFF (opens) when an error is detected.

General-purpose Sequence Output 1 (Brake Output)

General-purpose Sequence Output 2

General-purpose Sequence Output 3

Pulse Output, Phase A

Pulse Output, Phase B

Pulse Output, Phase C Outputs the origin signal once every encoder rotation.

You can allocate the output signal to use with a parameter. (Controls the brake. The brake is released when the signal turns ON (closes).)

Used for general-purpose outputs. Set the parameters to allocate functions.

Output the encoder divided pulse output signals with a 90° phase differential.

Connected to the frame ground if the shield of the I/O Signal Cable is connected to the connector shell.

Signal

ALM+ 3

ALM- 4

/SO1+ (/BK+)

/SO1(/BK-)

/SO2+ 23

/SO2- 24

/SO3+ 25

/SO3- 26

PAO 17 Encoder Divided

/PAO 18

PBO 19 Encoder Divided

/PBO 20

PCO 21 Encoder Divided

/PCO 22

SG 16 Signal ground This is the 0-V signal for the control circuits.

FG Shell Frame ground

21

4 Inputs and Outputs

4.2.2 400V SERVOPACKS

Default settings are provided in parentheses.

1

2

Pin No.

Name Function

Servo Alarm Output Turns OFF (opens) when an error is detected.

General-purpose Sequence Output 1 (Brake Output)

General-purpose Sequence Output 2

General-purpose Sequence Output 3

General-purpose Sequence Output 4

General-purpose Sequence Output 5

Pulse Output, Phase A

Pulse Output, Phase B

You can allocate the output signal to use with a parameter. (Controls the brake. The brake is released when the signal turns ON (closes).)

Used for general-purpose outputs. Set the parameters to allocate functions.

Output the encoder divided pulse output signals with a 90° phase differential.

Signal

ALM+ 3

ALM- 4

/SO1+ (/BK+)

/SO1(/BK-)

/SO2+ 23

/SO2- 24

/SO3+ 25

/SO3- 26

/SO4+ 27

/SO4- 28

/SO5+ 29

/SO5- 30

PAO 17 Encoder Divided

/PAO 18

PBO 19 Encoder Divided

/PBO 20

22

4 Inputs and Outputs

4.3.1 200V SERVOPACKS

4.3 I/O Signal Connector (CN1) Pin Arrangement

4.3.1 200V SERVOPACKS

The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings.

Pin 1

Pin 2

Pin 12

Pin 13

The above view is from the direction of the following arrow without the connector shell attached .

Pin 14

Pin 15

Pin 25

Pin 26

/SO1-

2

(/BK-)

4ALM-

+24VI

6

N

/SI2

8

(N-OT)

/SI4

10

(/EXT1)

/SI6

12

(/EXT3)

Generalpurpose Sequence Output 1

Servo Alarm Output

Sequence Input Signal Power Supply Input

Generalpurpose Sequence Input 2

External latch signal 1 input (General purpose input 4)

External latch signal 3 input (General purpose input 6)

/SO1+

1

(/BK+)

3ALM+

5TH

/SI1

7

(P-OT)

/SI3

9

(/DEC)

/SI5

11

(/EXT2)

13 /SI0

Generalpurpose Sequence Output 1

Servo Alarm Output

Linear Servomotor Overheat Protection Input

Generalpurpose Sequence Input 1

Generalpurpose Sequence Input 3

External latch signal 2 input (General purpose input 5)

Generalpurpose Sequence Input 0

15 BAT-

17 PAO

19 PBO

21 PCO

23 /SO2+

25 /SO3+

Battery for Absolute Encoder (-)

Encoder Divided Pulse Output, Phase A

Encoder Divided Pulse Output, Phase B

Encoder Divided Pulse Output, Phase C

Generalpurpose Sequence Output 2

Generalpurpose Sequence Output 3

14 BAT+

16 SG

18 /PAO

20 /PBO

22 /PCO

24 /SO2-

26 /SO3-

Battery for Absolute Encoder (+)

Signal Ground

Encoder Divided Pulse Output, Phase A

Encoder Divided Pulse Output, Phase B

Encoder Divided Pulse Output, Phase C

Generalpurpose Sequence Output 2

Generalpurpose Sequence Output 3

23

4 Inputs and Outputs

15

1

2

30

16

17

4.3.2 400V SERVOPACKS

The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings.

No Signal Specification No Signal Specification

15

PG BAT-

Battery for absolute encoder (-)

30 /SO5-

General-purpose sequence output 5

Top View of I/O Signal Connector

Side View of I/O Signal Connector

PG

14

BAT+

13 /SI0

/SI6

12

(/Home)

/SI5

11

(/ Probe2)

/SI4

10

(/ Probe1)

9/SI3

/SI2

8

(N-OT)

/SI1

7

(P-OT)

6 +24VIN

5TH

4 ALM- Servo alarm output 19 PBO

3 ALM+ Servo alarm output 18 /PAO

/SO1-

2

(/BK-)

Battery for absolute encoder (+)

General-purpose sequence input 0

General-purpose sequence input 6

General-purpose sequence input 5

General-purpose sequence input 4

General-purpose sequence input 3

General-purpose sequence input 2

General-purpose sequence input 1

Sequence input signal power supply input

Linear Servomotor overheat protection input

General-purpose sequence output 1

29 /SO5+

28 /SO4-

27 /SO4+

26 /SO3-

25 /SO3+

24 /SO2-

23 /SO2+

22 /PCO

21 PCO

20 /PBO

17 PAO

General-purpose sequence output 5

General-purpose sequence output 4

General-purpose sequence output 3

General-purpose sequence output 2

Encoder divided pulse output, phase C

Encoder divided pulse output, phase B

Encoder divided pulse output, phase A

/SO1+

1

(/BK+)

24

General-purpose sequence output 1

16 SG Signal ground

4.4 I/O Signal Wiring Examples

/BK+

/BK-

/SO2+

/SO2-

/SO3+

ALM+

ALM-

1

2

23

24

3

4

+24VIN

+24 V

*3

4.7 k

Ω

6

8

10

9

11

12

/SI0

P-OT

N-OT

General-purpose sequence input 0

BAT+

BAT-

13

14

15

7

/SO3-

Forward Drive Prohibit input (prohibited when OFF)

Sequence input signal power supply input

Battery for absolute encoder Backup battery

*2

2.8 V to 4.5 V

Reverse Drive Prohibit input (prohibited when OFF)

Brake output (released when ON)

Servo Alarm Output (OFF for alarm)

25

26

16

SG

*1

PBO

PCO

/PBO

PAO /PAO

/PCO

21

17

18

19

20

22

FG

CN1

*4

Photocoupler outputs Max. allowable voltage: 30 VDC Max. allowable current: 50 mA DC

Encoder Divided Pulse Output, Phase A

Encoder Divided Pulse Output, Phase B

Encoder Divided Pulse Output, Phase C

Applicable Line Receiver: SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent

Connect shield to connector shell.

Connector shell

SERVOPACK

Frame ground

Signal ground

/SI3

/EXT1

/EXT2

/EXT3

External latch signal 1 input (General purpose input 4)

General-purpose sequence input 3

External latch signal 2 input (General purpose input 5)

External latch signal 3 input (General purpose input 6)

+

-

4.4.1 Using a Rotary Servo Motor

200V SERVOPACKS

4 Inputs and Outputs

4.4.1 Using a Rotary Servo Motor

* 1. represents twisted-pair wires.

* 2. Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case

is connected, do not connect a backup battery.

* 3. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with

double insulation or reinforced insulation.

* 4. Always use line receivers to receive the output signals.

Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,

2. If you use a 24-V brake, install a separate power supply for the 24-VDC

P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2, and /SO3 output signals.

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.

25

4 Inputs and Outputs

4.4.1 Using a Rotary Servo Motor

400V SERVOPACKS

Digital input signal power supply input

Forward Drive Prohibit input (prohibited when OFF)

Reverse Drive Prohibit input (prohibited when OFF)

General-purpose digital input 3

External latch signal 1 input (General-purpose input 4)

General-purpose digital input 5

General-purpose digital input 6

General-purpose digital input 0

Battery for absolute encoder

*2

Backup battery

2.8 V to 4.5 V

*3

+24 V

*1

+

-

+24VIN

P-OT

N-OT

/SI3

/EXT1

/EXT2

/EXT3

/SI0

BAT+

BAT-

10

11

12

13

14

15

CN1

6

7

8

9

4.7 k

SERVOPACK

Photocoupler outputs Max. allowable voltage: 30 VDC Max. allowable current: 50 mA DC

ALM+

3

Servo Alarm Output (OFF for alarm)

ALM-

4

/BK+

1

Brake output (released when ON)

2

/BK-

23

/SO2+

/SO2-

24

25

/SO3+

/SO3-

26

27

/SO4+

/SO4-

28

29

/SO5+

/SO5-

30

17

PAO

18

/PAO

19

PBO /PBO

20

21

PCO

22

/PCO

16

SG

*4

Signal ground

Encoder Divided Pulse Output, Phase A

Encoder Divided Pulse Output, Phase B

Encoder Divided Pulse Output, Phase C

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent

26

* 1. represents twisted-pair wires.

* 2. Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case

is connected, do not connect a backup battery.

* 3. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with

double insulation or reinforced insulation.

* 4. Always use line receivers to receive the output signals.

Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,

P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2, and /SO3 output signals.

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

4.4.2 Using a Linear Servo Motor

200V SERVOPACKS

SERVOPACK

5

4.7 k

Ω

6

7

8

9

FG

Frame ground

Linear Servomotor overheat protection input

Sequence input signal power supply input Forward Drive Prohibit input (prohibited when OFF)

Reverse Drive Prohibit input (prohibited when OFF)

General-purpose sequence input 3

External latch signal 1 input (General purpose input 4)

External latch signal 2 input (General purpose input 5)

External latch signal 3 input (General purpose input 6)

General-purpose sequence input 0

+24 V *2

+24VIN

/EXT1

/EXT2

/EXT3

P-OT

N-OT

/SI3

CN1

TH

10

11

12

/SI0

13

4.4.2 Using a Linear Servo Motor

Photocoupler outputs Max. allowable voltage: 30 VDC Max. allowable current: 50 mA DC

ALM+

3

Servo Alarm Output (OFF for alarm)

ALM-

4

/BK+

1

2

/BK-

23

/SO2+

/SO2-

24

25

/SO3+

/SO3-

26

*1

17

PAO

18

/PAO

19

PBO /PBO

20

21

PCO

22

/PCO

16

SG

Connector shell

Connect shield to connector shell.

4 Inputs and Outputs

Brake output (released when ON)

*3

Encoder Divided Pulse Output, Phase A

*3

Encoder Divided Pulse Output, Phase B

*3

Encoder Divided Pulse Output, Phase C

Applicable Line Receiver: SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent

* 1. represents twisted-pair wires.

* 2. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with

double insulation or reinforced insulation.

* 3. Always use line receivers to receive the output signals.

Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,

P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2, and /SO3 output signals.

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

27

4 Inputs and Outputs

4.4.2 Using a Linear Servo Motor

400V SERVOPACKS

Linear Servomotor overheat protection input

Digital input signal power supply input

Forward Drive Prohibit input (prohibited when OFF)

Reverse Drive Prohibit input (prohibited when OFF)

General-purpose digital input 3

External latch signal 1 input (General purpose input 4)

General purpose digital input 5

General purpose digital input 6

General purpose digital input 0

* 1. represents twisted-pair wires.

* 2. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with

double insulation or reinforced insulation.

* 3. Always use line receivers to receive the output signals.

Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,

2. If you use a 24-V brake, install a separate power supply for the 24-VDC

*2

+24 V

P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2, and /SO3 output signals.

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.

+24VIN

P-OT

N-OT

/SI3

/EXT1

/EXT2

/EXT3

/SI0

Photocoupler outputs Max. allowable voltage: 30 VDC

SERVOPACK

CN1

TH

5

4.7 k



6

7

8

9

10

11

12

13

Max. allowable current: 50 mA DC

ALM+

3

Servo Alarm Output (OFF for alarm)

ALM-

4

/BK+

1

Brake output

2

(released when ON)

/BK-

23

/SO2+

/SO2-

24

25

/SO3+

/SO3-

26

27

/SO4+

/SO4-

28

29

/SO5+

/SO5-

30

*1

17

PAO

18

/PAO

19

PBO /PBO

20

21

PCO

22

/PCO

16

SG

*3

Encoder Divided Pulse Output, Phase A

*3

Encoder Divided Pulse Output, Phase B

*3

Encoder Divided Pulse Output, Phase C

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent

28

4.5 I/O Circuits

4.7 kΩ

e.g., /DEC

SERVOPACK

24 VDC

+24VIN

SERVOPACK input side

Switch

Photocoupler

Internal signal level

Photocoupler

Switch

24 V

+

−

SERVOPACK input side

24 V

+

−

Switch

Photocoupler

Internal signal level

Photocoupler

Switch

4.5.1 Sequence Input Circuits

 Photocoupler Input Circuits

This section describes CN1 connector terminals 6 to 13.

4 Inputs and Outputs

4.5.1 Sequence Input Circuits

Examples for Relay Circuits

Examples for Open-Collector

Circuits

SERVOPACK

4.7 k

24 VDC

+24VIN

e.g., /DEC

Ω

Note: The 24-VDC external power supply capacity must be 50 mA minimum.

The SERVOPACK input circuits use bi-directional photocouplers. Select either a sink circuit or source circuit according to the specifications required by the machine.

Note: The connection examples in 4.4 I/O Signal Wiring Examples are for sink

circuit connections.

Sink Circuits Source Circuits

Photocoupler

Input Signal Polarity Input Signal Polarity

Internal Signal

Level

Photocoupler

Internal Signal

Level

ON Low level ON Low level

OFF High level OFF High level

29

4 Inputs and Outputs

Important

0V

Relay

5 VDC to 30 VDC

SERVOPACK

5 VDC to 30 VDC

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent

Output line driver: SN75ALS174 or the equivalent

Host controller

SERVOPACK

220 Ω to 470 Ω

4.5.2 Sequence Output Circuits

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.

 Photocoupler Output Circuits

Photocoupler output circuits are used for the ALM (Servo Alarm), /S-RDY (Servo Ready), and other sequence output signals. Connect a photocoupler output circuit to a relay or line-receiver circuit.

Example for Relay Circuit Example for Line-Receiver Circuit

Note: The maximum allowable voltage and current range for photocoupler output circuits are

as follows:

• Maximum allowable voltage: 30 VDC

• Current range: 5 mA to 50 mA DC

 Line-Driver Output Circuits

This section describes CN1 connector terminals 17-18 (Phase-A Signal), 19-20 (Phase-B Signal), and 21-22 (Phase-C Signal).

The serial data from the encoder is converted to two-phase (phases A and B) pulses. The resulting output signals (PAO, /PAO and PBO, /PBO) and origin pulse signal (PCO and /PCO) are output with line-driver output circuits. Connect the linedriver output circuits to line-receiver circuits at the host controller.

Example for Line-Receiver Circuit

30

5 LED Outputs

The following indicators show the operating status of the servo controller and error information.

ERR:

 Solid at power up

 Off when there is no error

 Solid when there is an alarm

 Blinking when there is a critical error

RUN:

 Solid when internal logic controller is booted and ready

 Blinking when internal logic controller is running a program

Ethernet Link/Activity:

 Off when CN6A/B does not have an active Ethernet connection

 Solid when CN6A/B has an active Ethernet connection

 Blinking when CN6A/B is transmitting or receiving data

5 LED Outputs

31

5 LED Outputs

32

6 Ethernet Connectivity

Ethernet

The Sigma-7Siec supports both 100 Mbps/100Base-TX and 10 Mbps/ 10Base-T connections. One single network is accessed using both CN6A and CN6B. The same IP address is set for both ports. The Ethernet address (MAC address) can be found on the nameplate.

6.1 Ethernet Connector Details

Ethernet Connector Specification and Pin Array

The following table provides the Ethernet connector specifications.

6 Ethernet Connectivity

Connector

Name

Ethernet

Number

of Pins

8

Module Side Cable Side Manufacturer

RJ-45 CAT5

Socket

Connector Model

RJ-45 CAT5

Plug

TE Connectivity

The following table provides Ethernet connector pin array details.

Pin Number Signal Name Description

1TXD+

2TXD-

3RXD+

4–

5–

6RXD-

7–

8–

Transmitted data + side

Transmitted data – side

Received data + side

–

Received data – side

–

33

6 Ethernet Connectivity

100Base-TX

Ethernet Switch

Sigma-7Siec

100Base-TX

Ethernet Switch

100Base-TX

Station

StationStation

Up to 100m

Station

Up to 100m

Sigma-7Siec

6.2 Ethernet Cable

For the Ethernet cable, use a twisted pair cable with RJ-45 connector. Yaskawa strongly recommends the use of shielded ethernet cables (Yaskawa model JZSP-CM3RRM0-xx-E). Ethernet ports are capable of auto-crossover, so crossover cables are not necessary.

6.3 Ethernet Connection Examples

Connection Example 1

34

Specification

Cable length from node to Ethernet hub or switch 100 m or less

Cable length between Ethernet hubs or switches 100 m or less

Number of Ethernet hubs or switches between nodes Unlimited

Connection Example 2

100Base-TX

Ethernet Switch

Core

100Base-TX

Servo motor

Station

Sigma-7Siec

100 Base-TX (up to 100m)

Connection Example 3

6 Ethernet Connectivity

Station

35

6 Ethernet Connectivity

Model Manufacturer

E04SR301334

Seiwa Electric Mfg. Co., Ltd

 Caution

Electromagnetic interference (EMI) may interfere with Ethernet communication. The following measures can help minimize the influence of EMI:

1. Locate Ethernet cables so that they are well-separated from power cables or other sources of EMI

2. Yaskawa strongly recommends the use of high-quality shielded Ethernet cables such as JZSP-CM3RRM0-xx-E

3. Attach ferrite cores to Ethernet cables that are subjected to EMI

Recommended ferrite core:

36

7 Cable Diagrams

Signal Function

1

/BK+ (/SO1+) Brake interlock output (+) (General purpose output 1 (+))

2

/BK- (/SO1-) Brake interlock output (-) (General purpose output 1 (-))

3 ALM+ Servo alarm output (+) 4 ALM- Servo alarm output (-) 56+24VIN

Control power supply for sequence signal input

7

P-OT (/SI1) Forward run prohibited input (General purpose input 1)

8

N-OT (/SI2) Reverse run prohibited input (General purpose input 2)

9

/DEC (/SI3) Zero-point return deceleration switch input (General purpose input 3)

10

/EXT1 (/SI4) External latch signal 1 input (General purpose input 4)

11

/EXT2 (/SI5) External latch signal 2 input (General purpose input 5)

12

/EXT3 (/SI6) External latch signal 3 input (General purpose input 6)

13 /SI0 General purpose input 0 14 BAT (+) Battery (+) input 15 BAT (-) Battery (-) input 16 SG Signal ground 17 PAO Phase-A pulse output (+) 18 /PAO Phase-A pulse output (-) 19 PBO Phase-B pulse output (+) 20 /PBO Phase-B pulse output (-) 21 PCO Phase-C pulse output (+) 22 /PCO Phase-C pulse output (-) 23 /SO2+ General purpose output 2 (+) 24 /SO2- General purpose output 2 (-) 25 /SO3+ General purpose output 3 (+) 26 /SO3- General purpose output 3 (-)

Mechatrolink-II type Servo Amplifier / Option type

Pin No.

SBK-U-VBA-xx Function Chart for Sigma-5 or Sigma-7 Servo Amplifier

Note: General purpose input and output signals are shown with their default signals assigned - signal assignment may have been changed by parameter

7.1 SBK-U-VBA-xx (200V Only)

Terminal Block - CN1 I/O.

7 Cable Diagrams

37

7 Cable Diagrams

/BK

+

/BK

−

ALM

+

ALM

−

–

+

24VIN

P-OT

N-OT

/DEC

/EXT1

/EXT2

/EXT3

/SI0

BAT

+

BAT

−

SG

PAO

/PAO

PBO

/PBO

PCO

/PCO

/SO2

+

/SO2

−

/SO3

+

/SO3

−

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

Blue

Pink

Green

Orange

Gray

Blue

Pink

Green

Orange

Gray

Blue

Pink

Green

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

1

2

3

Pin No.

Wire

Color

Signal

Marking

Color

SERVOPACK End

Dots

Lead

Marker

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

Represents

twisted-pair

wires.

Host

Controller End

Model Cable Length

JZSP-CSI02-1-E 1000 mm

JZSP-CSI02-2-E 2000 mm

JZSP-CSI02-3-E 3000 mm

SERVOPACK End Connector

10126-6000

EL (by Sumitomo 3M Ltd.

)

Shell

10326-52A0-008

Cable (Ivory

)

SSRFPVV-SB AWG#

28

× 13P

UL

20276

VW-1SC

L

37

.

2

14 100

+

10

-

0

3

Dia. Wire Markers

(

6

.

3

Dia.

)

Dimensions in mm

7.2 JZSP-CSI02-x-E (200V Only)

Flying Lead - CN1 I/O.

38

8

EMC Installation Conditions

8 EMC Installation Conditions

This section gives the installation conditions that were used for EMC certification testing.

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

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

• Three-Phase, 200 VAC

Shield box

Brake power supply

SERVOPACK

Power supply: Three-phase, 200 VAC

Noise

filter

Clamp



Surge

absorber

PE

L1, L2, and L3

L1C and L2C

U, V, and W

CN2

ClampClamp

Brake

Clamp



Servomotor

Encoder



Clamp

Host controller

Clamp



CN6A and CN6B

CN1

Clamp Clamp



I/O

controller

CN8

Safety

function device

PE

Symbol Cable Name Specification

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

39

8

CN1

CN2

L1C and L2C

CN6A and CN6B

L1 and L2

U, V, and W

Noise

filter

Surge

absorber

Clamp

Brake

Servomotor

Encoder

Brake power supply

SERVOPACK

Safety

function device

I/O

controller

PE

Shield box

Power supply: Single-phase, 200 VAC

ClampClamp

Clamp

Clamp Clamp

Clamp











Host controller

Clamp

CN8

EMC Installation Conditions

• Single-Phase, 200 VAC

Symbol Cable Name Specification

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

40

8

CN1

CN2

L1C and L2C

CN6A and CN6B

L1 and L2

U, V, and W

Noise

filter

Surge

absorber

Clamp

Brake

Servomotor

Encoder

Brake power supply

SERVOPACK

Safety

function device

I/O

controller

PE

Shield box

Power supply: Single-phase, 100 VAC

ClampClamp

Clamp

Clamp Clamp

Clamp











Host controller

Clamp

CN8

EMC Installation Conditions

• Single-Phase, 100 VAC

Symbol Cable Name Specification

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

41

8





CN2

CN6A and CN6B

L1, L2, and L3

U, V, and W

Noise

Filter

Surge

Absorber

Clamp

Brake

Servomotor

Encoder

Brake power supply

SERVOPACK

Safety

function device

I/O

controller

PE

Shield box

Power supply: Three-phase, 400 VAC

ClampClamp

Clamp









Host controller

Clamp

CN1

24 V, 0 V



Power supply: 24 VDC

CN8

EMC Installation Conditions

• Three-Phase, 400 VAC

Symbol Cable Name Specification

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

42

9 Safety

9.1 Safety Modules

The Sigma-7Siec can support safety functions in combination with the following Safety Module for Σ-V Series, Large-Capacity Σ-V Series, and Σ-7 Series SERVOPACKs:

• “SGDV-OSA01A” for 200V Sigma-7Siec

• “SGDV-OSA01A000FT900” for 400V Sigma-7Siec

9.2 Safety Module Installation

For the installation procedure of SGDV-OSA01A, please refer to the Σ-V Series/ Σ-V Series for Large-Capacity Models/ Σ-7 Series Safety Module Installation Guide (document number TOBPC72082906)

For the installation procedure of SGDV-OSA01A000FT900, please refer to the Σ-V Series AC SERVOPACK Safety Module with FT900 Specification Installation Guide (document number TOBPC72082909)

9

Safety

9.3 Supported Safety Functions

The Sigma-7Siec on its own supports Hard Wire Base Block (HWBB) Safety function. For more information on HWBB, please see section 11 in Σ-7S SERVOPACK with EtherCAT (CoE) Communications Reference Product Manual (document number SIEPS80000155).

The Sigma-7Siec also supports other safety functions in combination with the safety modules mentioned above. For more details, please see section 6 in the Safety Module for Σ-V Series, Large-Capacity Σ-V Series, and Σ-7 Series SERVOPACKs User’s Manual (document number SIEPC72082906).

9.4 Relationship with Function Blocks for Motion

If the Sigma-7Siec changes to the HWBB state during operation due to motion commanded by function blocks, a “4400h: Hard Wire Base Block” error will occur.

If this error occurs, user can turn off “Enable” input of MC_Power function block, turn on the /HWBB1 and /HWBB2 signals (Safety request input signals in case of SBB) and turn on “Enable” input of MC_Power function block. After completing these steps, the HWBB error will be cleared and operation can resume.

43

9

Safety

9.5 Risk Assessment

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

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

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

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

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

• Rotational Servomotor: 1/6 rotation max. (Rotation angle at motor shaft conversion)

• Direct Drive Motor: 1/20 rotation max. (Rotation angle at motor shaft conversion)

• Linear Servomotor: 30 mm max.

44

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan Phone: 81-4-2962-5696 Fax: 81-4-2962-6138

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 http://www.yaskawa.co.jp

YASKAWA AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax: 1-847-887-7310 http://www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL, LTDA.

Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brasil Phone: 55-11-3585-1100 Fax: 55-11-3585-1187 http://www.yaskawa.com.br

YASKAWA ELECTRIC EUROPE GmbH

Hauptstrae 185, 65760 Eschborn, Germany Phone: 49-6196-569-300 Fax: 49-6196-569-398

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom Phone: 44-1236-735000

YASKAWA ELECTRIC KOREA CORPORATION

7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul, 150-877, Korea Phone: 82-2-784-7844

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park, 556741, Singapore Phone: 65-6282-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No. 18 Xizang Zhong Road, Room 1702-1707, Harbour Ring Plaza, Shanghai, 200001, China Phone: 86-21-5385-2200

YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE

Room 1011A, Tower W3 Oriental Plaza, No. 1 East Chang An Ave., Dong Cheng District, Beijing, 100738, China Phone: 86-10-8518-4086

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone: 886-2-2502-5003

Fax: 44-1236-458182

Fax: 82-2-784-8495

Fax: 65-6289-3003

Fax: 86-21-5385-3299

Fax: 86-10-8518-4082

Fax: 886-2-2505-1280

MANUAL NO.

Published in U.S.A

IG.S7Siec.01, Rev C-5

September 10, 2020

YASKAWA Sigma-7Siec User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

100V/200V Safety Standards and Performance Level

400V Safety Standards and Performance Level

Table of Contents

1 Introduction

1.1 Sigma-7Siec Features

1.2 Sigma-7Siec Appearance

1.3 Model Number Designation

1.4 Accessories

2 Specifications and Settings

2.1.1 200 VAC Specifications

2.1 Specifications

2.1.2 400 VAC Specifications

2.2 DIP Switch Settings

2.3 Rotary Switches

2.4 Switch Factory Settings

3 Installation Standards

3.1 Mechanical Installation/Dimensions

3.2.1 200V SERVOPACKS

3.2.2 400V SERVOPACKS

4.1 Input Signals

4 Inputs and Outputs

4.1.1 200V SERVOPACKS

4.1.2 400V SERVOPACKS

4.2 Output Signals

4.2.1 200V SERVOPACKS

4.2.2 400V SERVOPACKS

4.3.1 200V SERVOPACKS

4.3.2 400V SERVOPACKS

4.4 I/O Signal Wiring Examples

4.4.1 Using a Rotary Servo Motor

4.4.2 Using a Linear Servo Motor

4.5 I/O Circuits

4.5.1 Sequence Input Circuits

4.5.2 Sequence Output Circuits

5 LED Outputs

6 Ethernet Connectivity

6.2 Ethernet Cable

6.3 Ethernet Connection Examples

7.1 SBK-U-VBA-xx (200V Only)

7 Cable Diagrams

7.2 JZSP-CSI02-x-E (200V Only)

9 Safety

9.1 Safety Modules

9.2 Safety Module Installation

9.3 Supported Safety Functions

9.4 Relationship with Function Blocks for Motion

9.5 Risk Assessment