Yaskawa SigmaLogic User Manual

SigmaLogic

TM

Hardware Manual

Table of Contents

1 Introduction

1.1 SigmaLogic™ Features - - - - - - - - - - - - - - - - - - - - - - 3

1.2 SigmaLogic™ Appearance- - - - - - - - - - - - - - - - - - - - 4

1.3 Model Number Reference - - - - - - - - - - - - - - - - - - - - 5

2 Specifications

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

2.2 SigmaLogic™ Hardware Specifications - - - - - - - - - - - 8

3 Mechanical Installation

3.1 Mounting Information- - - - - - - - - - - - - - - - - - - - - - - - 9

3.2 Installation Standards - - - - - - - - - - - - - - - - - - - - - - 10

3.3 Dimensions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11

Table of Contents

4 Inputs/Outputs

4.1 CN13 Connection Diagram - - - - - - - - - - - - - - - - - - 13

4.2 CN13 Connection Description - - - - - - - - - - - - - - - - 14

4.3 External Encoder Interface - - - - - - - - - - - - - - - - - - 15

4.4 Digital I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16

4.5 CN1 I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18

5 DIP Switches

5.1 Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - 19

6 LED Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21

7 Battery

7.1 Battery Installation- - - - - - - - - - - - - - - - - - - - - - - - - 23

1

Table of Contents

8 Ethernet

8.1 Connectivity Information- - - - - - - - - - - - - - - - - - - - - 25

8.2 Ethernet Connector Details- - - - - - - - - - - - - - - - - - - 25

8.3 Ethernet Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - 26

8.4 Ethernet Connection Examples- - - - - - - - - - - - - - - - 26

9 Cable Diagrams

9.1 CBK-U-MP2B-xx (Terminal Block-Controller) - - - - - - 29

9.2 CFC-U-MP2B-xx (Flying Lead-Controller) - - - - - - - - 30

9.3 SBK-U-VBA-xx (Terminal Block-Servo Amp) - - - - - - 31

9.4 JZSP-CSI02-x-E (Flying Lead-Servo Amp) - - - - - - - 32

10 Firmware Upgrade Procedure - - - - - - - - - - - - - - - - - 33

11 EMC Installation Conditions - - - - - - - - - - - - - - - - - - 35

2

1 Introduction

1.1 SigmaLogic™ Features

SigmaLogic™ is a single-axis machine controller option card that is
attached to a servo amplifier. The servo amplifier and controller are
factory assembled, providing a compact, all-in-one servo/controller
package with the following features:

 Easy configuration with Yaskawa’s free LogicWorks™ software.

 Add-on Instructions (AOI) are provided for use with Rockwell RSLogic

5000 software.

 Ethernet (100Mbps) Auto crossover switching

• EtherNet/IP

• Allows high-speed communications with PLC

 Combined Amplifier/Controller I/O features

• 15 digital inputs

• 11 digital outputs

• 1 external encoder (quadrature, pulse + direction, up/down)

1.1

SigmaLogic™ Features

3

1.2

LED (10 points)

Ethernet Port A

Ethernet Port B

DIP Switch (6 points)

CN13 Port

Digital I/O

External Encoder (incremental)

3.6V Lithium Battery

(preserves retained variables,

absolute encoder offset,
and real-time clock data)

SigmaLogic™ Appearance

1.2 SigmaLogic™ Appearance

The following figure shows the external appearance of the
SigmaLogic™ controller (Note: The servo amplifier is not shown).

4

1.3 Model Number Reference

R70 A E 1 A 000 00 0 B00

Series SGDV SERVOPACK

SGDV

Current

Interface Options

Design Revision Order

Revision A

Voltage

Code Specifications

E

Option Command Type

Code Specifications

F 100 VAC

A 200 VAC

D 400 VAC

Options (hardware)

Code Specifications

002

Base-mounted
varnish (standard)

008

Single-phase
200V Input

Options (software)

Code Specifications

00 standard

Options (parameter)

Code Specifications

0 standard

Option Module

Code Specifications

B00 SigmaLogic™

Voltage

Code

Applicable Servomotor

Max. Capacity kW

100V

R70 0.05

R90 0.1

2R1 0.2

2R8 0.4

200V

R70* 0.05

R90* 0.1

1R6* 0.2

2R8* 0.4

3R8 0.5

5R5* 0.75

7R6 1.0

120

♣1.5

180 2.0

200 3.0

330 5.0

470 6.0

550 7.5

590 11

780 15

400V

1R9 0.5

3R5 1.0

5R4 1.5

8R4 2.0

120 3.0

170 5.0

210 6.0

260 7.5

280 11

370 15

Motor Type

Code Specifications

1 Rotary Servomotors

* These amplifiers can be powered with single or three-phase.
♣ SGDV-120A¡¡A008000¡¡¡, a special version of the 1.5kW

amplifier can be used for single-phase operation.

1.3.1 Model Number Designation

1.3

Model Number Reference

1.3.1 Model Number Designation

5

1.3

Model Number Reference

1.3.2 Accessory Model Numbers

1.3.2 Accessory Model Numbers

System Components

Type Model Part Number Note

Battery JZSP-BA01 Replacement

Battery Holder Kit SGDV-OZC02A Replacement (does not include battery)

CN13 Terminal Block
Conversion Kit

CN13 (Flying Leads) CFC-U-MP2Bxx

CN1 Terminal Block
Conversion Kit

Accessories/Cables

CN1 Cable (Flying
Leads)

CBK-U-MP2Bxx

SBK-U-MP2Bxx

JZSP-CSI02-x-E

xx denotes cable length (m)
A5 = 0.5
01 = 1
03 = 3

x denotes cable length (m)
A = 1 B = 2 C = 3

Ethernet Cable N/A

Communication

LogicWorks N/A

Software

Use commonly available shielded Ethernet
cable

Freeware download at
www.yaskawa.com/SigmaLogic

6

2 Specifications

2.1 General Specifications

Item Specifications

Environmental
Conditions

Mechanical
Operating
Conditions

Ambient Operating
Temperature

Ambient Storage
Temperature

Ambient Operating
Humidity

Ambient Storage
Humidity

Protection Class/
Pollution Degree

Operating Altitude 1,000 m above sea level or lower

Vibration
Resistance

Shock Resistance

Others

0 to 55°C

-20°C to +85°C

90% RH or less (with no condensation)

90% RH or less (with no condensation)

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

• Free of corrosive or explosive gases

• Free of exposure to water, oil or chemicals

• Free of dust, salts or iron dust

2

4.9 m/s

2

19.6 m/s

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

2.1 General Specifications

7

2.2

SigmaLogic™ Hardware Specifications

2.2 SigmaLogic™ Hardware Specifications

Item Specification

CPU 200 MHz, 32 bit, ARM 9

SDRAM 32 MB

Memory

Operator interface

Controller
Side
(CN13)

User
I/O

Servo­Side
(CN1)

Network capability EtherNet/IP

Diagnostic and configuration interface Web interface

Motion control performance

Servo-Side Safety Functions

SRAM 512 kB with battery backup

Flash 4 MB flash. Code and parameter storage.

LED

User Configuration

Network 2x 100baseTX Ethernet

Digital input 8 programmable inputs

Digital output 8 programmable outputs

Input Allocated*

Fixed Servo Alarm (ALM)

Output

Allocated*

Input

Output

10 LEDs (red and green - operating mode,
communication and error status)

6x DIP switch (operating mode and communication
configuration)

Number of Inputs: 7

Functions: The signal allocation and positive/negative
logic can be modified. Forward run prohibited (P-OT),

reverse run prohibited (N-OT), forward torque limit (/P­CL), reverse torque limit (/N-CL), general-purpose
input signal (/SI0 to /SI6)

Number of Outputs: 3

Functions: The signal allocation and positive/negative
logic can be modified. Positioning completion (/COIN),
speed coincidence detection(/V-CMP), servomotor

rotation detection (/TGON), servo ready (/S-RDY),
torque limit detection (/CLT), speed limit detection

(VLT), brake (/BK), warning (/WARN), near (/NEAR)

1 controlled axis and one external position input at a
trajectory update rate of 1 kHz

/HWBB1, /HWBB2: Baseblock signal for power
module

EDM1: Status monitor (fixed output) of built-in safety
circuit

* Allocated I/O can also be used as programmable I/O if the output functions are disabled.

8

3 Mechanical Installation

3.1 Mounting Information

The SigmaLogic™ controller is pre-assembled to the Sigma-5 servo
amplifier by factory personnel. For more dimensional information for
mounting the entire unit to a subpanel, please refer to the Sigma-5
Product Catalog (document YEA-KAEPS80000042).

3.1 Mounting Information

9

3.2 Installation Standards

The servo amplifier must be installed in a fully enclosed metal control panel. Observe the standards
for mounting servo amplifiers in control panels, including those for the mounting servo amplifiers side
by side in one control panel as shown in the following illustration.

• Servo Amplifier Mounting Orientation
Mount the servo amplifier vertically to the wall, with the fr

ont panel (the side with the panel operator

display)

facing out.

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

• Mounting Servo Amplifiers Side by Side in a Control Panel

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

Also install cooling fans above the servo amplifiers to disperse local pockets of warmer air around
the servo amplifiers.

• Inside the Control Panel
The conditions inside the control panel should be the same as the environmental conditions of

the servo amplifier. Refer to the environmental conditions in 2.1 General Specifications

.

• During Operation
Do not touch the connectors or IO cables during operation if the panel door is open.

.

30 mm or more

40 mm or more

40 mm or more

Fan Fan

Width varies with
servo amplifier model

Servo Amplifier Model SGDV-

Side

Top and bottom

Left Right

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

40 mm or more

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

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

10 mm or more

3.2 Installation Standards

10

3.3 Dimensions

20

160

(22)

97

(20)

Dimensions in mm.

20

SigmaLogic

3.3.1 SigmaLogic™ Controller

3.3 Dimensions

3.3.1 SigmaLogic™ Controller

11

3.3 Dimensions

3.3.1 SigmaLogic™ Controller

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12

4 Inputs/Outputs

L

Load

NOTE: For a more detailed circuit drawing, see section 4.4.2.

External Fuse
(installed by
customer)

Pulse
Generator

FG

External Input

Signal

4
5

29
30
6
31

13
38
14

15

16

17

39

40

41

42

PA+
PA-

PB+
PB­GND
GND

DICOM
DICOM
DI_00
DI_01
DI_02
DI_03
DI_04
DI_05
DI_06
DI_07

+5V

Encoder
Interface

Digital
Input

Digital
Output

Polyswitch Device:
A self-resetting
fuse if excessive
current is drawn
from the output

FG Connector Shell)

CN13

21

11

DO_00+

DO_00-

46

36

DO_01+

DO_01-

22

12

DO_02+

DO_02-

47

37

DO_03+

DO_03-

23

18

DO_04+

DO_04-

48

43

DO_05+

DO_05-

24

19

DO_06+

DO_06-

49

44

* DO_07+

* DO_07-

7 + Battery

32 - Battery

L

+24VDC

0V

L

+24VDC

0V

L

+24VDC

0V

L

+24VDC

0V

L

+24VDC

0V

L

+24VDC

0V

L

+24VDC

0V

L

+24VDC

0V

4.1 CN13 Connection Diagram

4.1 CN13 Connection Diagram

13