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

EN ISO
13849-1

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

EN ISO
13849-1

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

Table of Contents

1 Introduction

1.1 Sigma-7Siec Features - - - - - - - - - - - - - - - - - - - - - - - -3

1.2 Sigma-7Siec Appearance - - - - - - - - - - - - - - - - - - - - - -4

1.3 Model Number Designation - - - - - - - - - - - - - - - - - - - -6

1.4 Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6

2 Specifications and Settings

2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7

2.2 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - -13

2.3 Rotary Switches - - - - - - - - - - - - - - - - - - - - - - - - - - -14

2.4 Switch Factory Settings - - - - - - - - - - - - - - - - - - - - - -14

3 Installation Standards

3.1 Mechanical Installation/Dimensions - - - - - - - - - - - - - -15

3.2 Installing Multiple SERVOPACKS in a Control Panel -16

4 Inputs and Outputs

4.1 Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -19

4.2 Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - -21

4.3 I/O Signal Connector (CN1) Pin Arrangement - - - - - -23

4.4 I/O Signal Wiring Examples - - - - - - - - - - - - - - - - - - -25

4.5 I/O Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -29

5 LED Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 31

6 Ethernet Connectivity

6.1 Ethernet Connector Details - - - - - - - - - - - - - - - - - - -33

6.2 Ethernet Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - -34

6.3 Ethernet Connection Examples - - - - - - - - - - - - - - - - -34

1

7 Cable Diagrams

7.1 SBK-U-VBA-xx (200V Only) - - - - - - - - - - - - - - - - - - -37

7.2 JZSP-CSI02-x-E (200V Only) - - - - - - - - - - - - - - - - - -38

8 EMC Installation Conditions - - - - - - - - - - - - - - - - - - 39

9 Safety - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 43

9.1 Safety Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - -43

9.2 Safety Module Installation - - - - - - - - - - - - - - - - - - - -43

9.3 Supported Safety Functions - - - - - - - - - - - - - - - - - - -43

9.4 Relationship with Function Blocks for Motion - - - - - - -43

9.5 Risk Assessment - - - - - - - - - - - - - - - - - - - - - - - - - - -44

2

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

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

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

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

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