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

4.2

CN 13 Pin Code Description

1
2
3 n/c no connection
4 PA+ Encoder A phase +
5 PA- Encoder A phase ­6 GND Encoder ground
7 BAT + SRAM Positive Battery input
8 n/c no connection

9
10
11 DO_00- Digital Output 0 ­12 DO_02- Digital Output 2 ­13 DICOM Digital Input Common
14 DI_00 Digital Input 0
15 DI_02 Digital Input 2
16 DI_04 Digital Input 4
17 DI_06 Digital Input 6
18 DO_04- Digital Output 4 ­19 DO_06- Digital Output 6 ­20 n/c no connection
21 DO_00+ Digital Output 0 +
22 DO_02+ Digital Output 2 +
23 DO_04+ Digital Output 4 +
24 DO_06+ Digital Output 6 +
25 n/c no connection
26
27
28 n/c no connection
29 PB+ Encoder B phase +
30 PB- Encoder B phase ­31 GND Encoder ground
32 BAT - SRAM Negative Battery input
33 n/c no connection
34
35
36 DO_01- Digital Output 1 ­37 DO_03- Digital Output 3 ­38 DICOM Digital Input Common
39 DI_01 Digital Input 1
40 DI_03 Digital Input 3
41 DI_05 Digital Input 5
42 DI_07 Digital Input 7
43 DO_05- Digital Output 5 ­44 DO_07- Digital Output 7 ­45 n/c no connection
46 DO_01+ Digital Output 1 +
47 DO_03+ Digital Output 3 +
48 DO_05+ Digital Output 5 +
49 DO_07+ Digital Output 7 +
50 n/c no connection

CN13 Connection Description

4.2 CN13 Connection Description

Numerical

n/c no connection
n/c no connection

n/c no connection
n/c no connection

14

n/c no connection
n/c no connection

n/c no connection
n/c no connection

4.3 External Encoder Interface

4.3 External Encoder Interface

Item Specification

Number of
channels

Input circuit

Counter modes

Two RS-422 compatible inputs are provided for encoder phases A and
B.

One channel (Phase A, Phase B)

Phase A & B: 5V differential input (RS-422 compatible), non-insulated.
Maximum frequency 4MHz.

Quadrature, pulse and direction, up/down

CN13 Connector

R

R

4

PA+

5

PA-

29

PB+

30

PB-

6

GND

31

GND

Phase A

Phase B

Pulse generator

+5V

0V

+5V

0V

Encoder Input Circuit

15

4.4 Digital I/O

4.4.1 Inputs

4.4 Digital I/O

4.4.1 Inputs

• 8 general purpose

• Optically isolated

• 24 V @ 5 mA

• Entire bank is configurable as either current sinking or sourcing via
connection of common

16

Digital Input Circuit

To configure all controller inputs as sinking, wire +24VDC to pins 13
and 38. To configure all controller inputs as sourcing, wire 0VDC to
pins 13 and 38. Refer to diagram in Section 5.1.

4.4.2 Outputs

0V

Relay

5 to 24 VDC

SERVOPACK

• 8 general purpose

• Optically isolated

• 24 V @ 50 mA

• Current source or sink (connection to both emitter and collector are
provided)

Connection Examples of Output Circuits

• Relay Circuit Example

• Line Receiver Circuit Example

4.4 Digital I/O

4.4.2 Outputs

SERVOPACK

5 to 12 VDC

17

4.5 CN1 I/O

4.4.2 Outputs

4.5 CN1 I/O

CN1 includes seven digital inputs and three digital outputs that can
be monitored and controlled by the SigmaLogic™.

Control power supply
for sequence signal

Forward run prohibited
(Prohibited when OFF)

Reverse run prohibited
(Prohibited when OFF)

Command option

module input 3

Command option

module input 4

Command option

module input 5

Command option

module input 6

General-purpose input 0

Backup battery
(2.8 to 4.5 V)

Photocoupler output

Max. operating voltage: 30 VDC

Sigma-5 SGDV Servo Amp

CN1

3.3kΩ

6

*

3

*

4

*

4

*

4

*

4

+24V

/SI1

7

/SI2

8

/SI3

9

/SI4

10

/SI5

11

12

/SI6

/SI0

13

BAT+

*

2

14

BAT-

15

*

1

Max. operating current: 50 mA DC

ALM+

3



Servo alarm output
(OFF for an alarm)

ALM-

4

SO1+ / BK+

1

2

23

24

25

26

17

18
19

20
21
22

16

SO1- / BK-

/SO2+

/SO2-

/SO3+

/SO3-

/PAO

/PBO

/PCO

General-purpose outputs

PAO

PBO

PCO

SG

Brake output
(Brake released when ON)

Encoder output
pulses phase A

Encoder output
pulses phase B

Encoder output
pulses phase C

Signal ground





Applicable line
receiver
SN75ALS175
manufactured by
Texas Instruments
or an MC3486
equivalent

18

5 DIP Switches

5.1 Switch Settings

STOP
SUP
INT
CNFG
EINIT
DHCP

S11

NO

5.1 Switch Settings

Switch Name Setting Operating Mode

User program execution

ON

STOP

1

2

SUP

INIT

3

4

CNFG

5

E-INIT

6

DHCP

inhibited

OFF Normal operation

Firmware programming

ON

mode

OFF Normal operation

SRAM/clock initialization

ON

and configuration bypass
mode

OFF Normal operation

ON Normal operation

Do not set (reserved for

OFF

future use)

Force Ethernet address
setting for Port A to

ON

192.168.1.1 and Port B
to 192.168.2.1

OFF Normal Operation

DHCP-configured IP

ON

settings

Manually-configured IP

OFF

settings

Setting for

Normal

Operation

OFF

OFF

OFF

ON

OFF

OFF

Details

Inhibits user program execution

Enables SigmaLogic firmware programming.
(See Section 11)

Set to ON to bypass the stored configuration
(e.g. in case of a configuration problem that
prevents controller startup) or to initialize the
SRAM contents and clock settings after
backup power has been lost (See Section

7.1).

Always set to ON

Enables use of the default Ethernet
addresses

Enables use of DHCP for IP setting
configuration

19

5.1 Switch Settings

20

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6 LED Outputs

RDY

ALM

BAT

RUN

ERR

CTRL

LINK

A

LINK

B

TRX

A

TRX

B

The following table shows the indicators that show the operating
status of the controller and error information.

Indicator Color Status

RDY

RUN

ALM

ERR

CTRL

BAT

TRX A

LINK A

TRX B

LINK B

Green

Green

Red

Red

Green

Red

Green

Green

Green

Green

6 LED Outputs

Lit during normal operation.

Lit during execution of user program.

Lit when alarm occurs.

Lit when malfunction occurs.

Lit when option card is communicating to the
servo amplifier.

Lit during battery alarm.

Lit during Ethernet CN11A activity.

Lit during Ethernet CN11A link up.

Lit during Ethernet CN11B activity.

Lit during Ethernet CN11B link up.

21

6 LED Outputs

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22

7 Battery

Option Case
(snaps off unit)

Screw

Battery

Metal plate for
connection

Battery Holder

1

2

3

+

-

7.1 Battery Installation

A 3.6V lithium battery must be used to retain SRAM data in the
controller when the power is off. SRAM will last for one hour without
the battery connected. The battery power can be applied through the
battery connector (CN14), or through the I/O connector (CN13 pins
7[+] & 32[-]). The battery is necessary for preserving retained
variables, absolute encoder offset, and real-time clock data.

7.1 Battery Installation

To initialize the non-volatile memory and clock settings after a battery
is attached for the first time (or any time backup power has been lost),
use the following procedure.

1. Power off the SigmaLogic™.

2. Set the “INIT” switch (S11) to ON.

3. Power on the SigmaLogic™ and wait for the “RDY” LED to
illuminate.

4. Power off the SigmaLogic™.

5. Set the “INIT” switch (S11) to OFF.

23

7.1 Battery Installation

Battery Holder Installation Instructions:

1. Remove the plastic case from the
controller by pressing the tabs at the
top and bottom.

2. Insert the tab of the metal plate
into the last vent slot on the bottom
front of the case as shown.

3. Line up the hole in battery holder
with the hole in the metal plate and
secure the battery holder with the
screw provided.

4. Attach the extension cable to the
battery and place the battery into the
battery holder with the cable facing
forward.

5. Attach the plastic case to the
controller.

24

6. Plug the battery extension cable
into the battery connector (CN14).

8 Ethernet

Ethernet

8.1 Connectivity Information

The SigmaLogic™ controller supports 100MB speeds exclusively.
Two separate networks are possible using both CN11A and CN11B.
A default gateway can be specified only for the network attached to
CN11A.

8.2 Ethernet Connector Details

Ethernet Connector Specification and Pin Array

The following table provides the Ethernet connector specifications.

8.1 Connectivity Information

Connector

Name

Ethernet

Number

of Pins

8 RJ-45 CAT5 Socket RJ-45 CAT5 Plug Pulse Engineering

Module Side Cable Side Manufacturer

Connector Model

The following table provides Ethernet connector pin array / indicator
light 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

–

–

25

8.3 Ethernet Cable

8.3 Ethernet Cable

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

8.4 Ethernet Connection Examples

Connection Example 1 (When using a repeater HUB)

Sigma-5 with SigmaLogic

SigmaLogic

Station*

Station*

26

100Base-TX

Up to 100m

Up to 100m

Specification

Cable Length between Node-HUB 100 m or less

Cable Length between HUBs 100 m or less

Number of HUBs between Nodes Unlimited

100Base-TX

Ethernet Switch

Item

Up to 100m

Up to 100m

Up to 100m

Station*Station*

Up to 100m

100Base-TX

Ethernet Switch

* Note: SigmaLogic can only be plugged into
a 100Base-TX Ethernet port.

When Connecting to a

Ethernet Switch

Connection Example 2

Model Manufacturer

E04SR301334

Seiwa Electric Mfg. Co., Ltd

8.4 Ethernet Connection Examples

Sigma-5 with SigmaLogic

SigmaLogic

100 Base-TX (up to 100m)

Note: SigmaLogic can only be plugged
into a 100Base-TX Ethernet port.

 Caution

High frequency wave noise from other devices in the installation environment
may cause errors in communications. When designing a system, use protective
measures to avoid the influence of high frequency wave noise as follows:

1. Wiring
Wire Ethernet cables so that they are well-separated from other cable
systems such as the main circuit or power lines.

2. Communication system (Ethernet)

• Communicate data to a remote device.

• Yaskawa strongly recommends shielded Ethernet cables.

3. Attach a ferrite core.
This will help reduce the occurrence of electrical interference.
Recommended ferrite core:

27

8.4 Ethernet Connection Examples

100Base-TX

Ethernet Switch

LogicWorks

Sigma-5 with SigmaLogic

Core

Core

100Base-TX

Servo motor

Station*

* Note: SigmaLogic can only be plugged
into a 100Base-TX Ethernet port

SigmaLogic

Connection Example 3

28

9 Cable Diagrams

CBK-U-MP2B-XX Function Chart for SigmaLogic

I = Input, O = Output, P = Power

Pin
No.

Signal

Name

I/O Function

Pin
No.

Signal

Name

I/O Function

126

227

3 - - - 28 reserved -

4 PA+ I Phase A pulse (+) 29 PB+ I Phase B pulse (+)

5 PA- I Phase A pulse (-) 30 PB- I Phase B pulse (-)

6 GND P Encoder input ground 31 GND P Encoder input ground

7 BAT+ P Controller SRAM Battery (+) 32 BAT- P Controller SRAM Battery (-)

8 - - - 33

- - -

- - -

934

10 35
11 DO_00- O Digital output 0 (-) 36 DO_01- O Digital output 1 (-)

12 DO_02- O Digital output 2 (-) 37 DO_03- O Digital output 3 (-)

13 DICOM I Digital input common 38 DICOM I Digital input common

14 DI_00 I Digital input 0 39 DI_01 I

Digital input 1
(shared with pulse latch input)

15 DI_02 I Digital input 2 40 DI_03 I Digital input 3

16 DI_04 I Digital input 4 41 DI_05 I Digital input 5

17 DI_06 I Digital input 6 42 DI_07 I Digital input 7

18 DO_04- O Digital output 4 (-) 43 DO_05- O Digital output 5 (-)

19 DO_06- O Digital output 6 (-) 44 DO_07- O Digital output 7 (-)

20 - - - 45 - - -

21 DO_00+ O Digital output 0 (+) 46 DO_01+ O Digital output 1 (+)

22 DO_02+ O Digital output 2 (+) 47 DO_03+ O Digital output 3 (+)

23 DO_04+ O Digital output 4 (+) 48 DO_05+ O Digital output 5 (+)

24 DO_06+ O Digital output 6 (+) 49 DO_07+ O

Digital output 7 (+) (shared with
position agreement 'COIN' signal)

25 - - - 50 - - -

- - -

- - - - - -

- - -

- - -

- - -

- - -

- - -

9.1 CBK-U-MP2B-xx

Terminal Block - CN13 I/O

9.1 CBK-U-MP2B-xx

29

9.2 CFC-U-MP2B-xx

Model X =Cable Length

CFC-U-MP2B-A5 500 mm

CFC-U-MP2B-01 1000 mm

CFC-U-MP2B-03 3000 mm

Dimensions in mm

Pin
No.

Color

(Solid/Band)

Signal

Name

I/O Function

Pin
No.

Color

(Solid/Band)

Signal

Name

I/O Function

126

Analog output

227

3 RED/GRN - - -

- - -

28 GRN/RED - - -

4 BLK/BLU PA+ I Phase A pulse (+) 29 BLK/BRN PB+ I Phase B pulse (+)

5 BLU/BLK PA- I Phase A pulse (-) 30 BRN/BLK PB- I Phase B pulse (-)

6RED/BLUGND P

Encoder input
ground

31 BLU/RED GND P

Encoder input
ground

7 RED/WHT BAT + P

Controller SRAM
Battery (+)

32 W HT/RED BAT- P

Controller SRAM
Battery (-)

8 BLK/GRN - - - 33 GRN/BLK - - -

934

10 35

11 RED/YEL DO_00- O Digital output 0 (-) 36 W HT/ORG DO_01- O Digital output 1 (-)

12 RED/BRN DO_02- O Digital output 2 (-) 37 BLU/YEL DO_03- O Digital output 3 (-)

13 RED/ORG DICOM I Digital input common 38 ORG/RED DICOM I

Digital input
common

14 GRN/WHT DI_00 I Digital input 0 39 WHT/GRN DI_01 I

Digital input 1
(shared with pulse
latch input)

15 GRN/BLU DI_02 I Digital input 2 40 BLU/GRN DI_03 I Digital input 3

16 GRN/YEL DI_04 I Digital input 4 41 YEL/GRN DI_05 I Digital input 5

17 GRN/BRN DI_06 I D igital input 6 42 BRN/GRN DI_07 I Digital input 7

18 GRN/ORG DO_04- O Digital output 4 (-) 43 BLU/BRN DO_05- O Digital output 5 (-)

19 W HT/BLU DO_06- O Digital output 6 (-) 44 BLU/ORG DO_07- O Digital output 7 (-)

20 W HT/YEL - - - 45 YEL/WHT - - -

21 YEL/RED DO_00+ O Digital output 0 (+) 46 ORG/W HT DO_01+ O Digital output 1 (+)

22 BRN/RED DO_02+ O Digital output 2 (+) 47 YEL/BLU DO_03+ O Digital output 3 (+)

23 ORG/GRN DO_04+ O Digital output 4 (+) 48 BRN/BLU DO_05+ O Digital output 5 (+)

24 BLU/W HT DO_06+ O Digital output 6 (+) 49 ORG/BLU DO_07+ O

Digital output 7 (+)
(shared with position
agreement 'COIN'
signal)

25 W HT/BRN - - - 50 BRN/WHT - - -

SigmaLogic

----

----

----

----

----

----

----

----

9.2 CFC-U-MP2B-xx

Flying Lead - CN13 I/O

30

9.3 SBK-U-VBA-xx

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 (-)

SGDV Mechatrolink-II type / SGDV Option type

Pin No.

SBK-U-VBA-xx Function Chart for SGDV Servo Amplifier

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

Terminal Block - CN1 I/O.

9.3 SBK-U-VBA-xx

31

9.4 JZSP-CSI02-x-E

/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

Blue

Pink

Pink

Green

Green

Orange

Orange

Gray

Gray

Blue

Blue

Pink

Pink

Green

Green

Orange

Orange

Gray

Gray

Blue

Blue

Pink

Pink

Green

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

1

1

1

1

1

1

1

1

1

2

2

2

2

2

2

2

2

2

2

3

3

3

3

3

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

9.4 JZSP-CSI02-x-E

Flying Lead - CN1 I/O.

32

10 Firmware Upgrade

10 Firmware Upgrade

It is possible to upgrade SigmaLogic firmware in the field.

Please visit the SigmaLogic product page on www.yaskawa.com for the
latest firmware and software release information.

33

10 Firmware Upgrade

34

This page left intentionally blank

11 EMC Installation Conditions

11 EMC Installation Conditions

This section describes the recommended installation conditions that
satisfy EMC guidelines for each model of the SGDV SERVOPACK. The
conditions required for the standard type (base-mounted) of the
SERVOPACK are described. Refer to this section for other
SERVOPACK models such as the rack-mounted types as well.

This section describes the EMC installation conditions satisfied in test
conditions prepared by Yaskawa. The actual EMC level may differ
depending on the actual system’s configuration, wiring, and other
conditions. However, because this product is built-in, check that the
following conditions are still met after being installed in the user’s
product.

The applicable standards are EN55011/A2 group 1 class A, EN61800-3,
and EN61000-6-2.

Ethernet Communication Cables: Use a category 5 or higher cable with
double, aluminum tape and braided shielding according to the standard
EN50288-2-2.

35

11 EMC Installation Conditions

U, V, W

L1, L2

L1C, L2C

CN2

CN1

PE

PE

1

3

4

5

CN8

2

PC

Controller

6

CN11 A/B

SigmaLogic

Power supply:

Single-phase 100 VAC

Encoder

Servomotor

Brake

Noise

filter

Brake Power

Supply

Surge

absorber

Two turn

Two turn Two turn

Core

Core Core

Core

Core Core

Core

General

I/O

Safety unit

Clamp

ClampClamp

Clamp

Clamp

Shield box

One turn

One turn

One turn

General I/O

1

CN13

SigmaLogic

Core

Clamp

One turn

SERVOPACK

Single-phase 100 V

SGDV-FE1A ( = R70, R90, 2R1, 2R8) + SGDV-OCC02A

36

Symbol Cable Name Specification

 I/O signal cable Shield cable

 Safety signal cable Shield cable

 Motor main circuit cable Shield cable

 Encoder cable Shield cable

 Main circuit cable Shield cable

 Ethernet communication cable Shield cable

11 EMC Installation Conditions

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

PE

PE

2

1

3

4

5

CN8

Power supply:

Three-phase 200 VAC

Shield box

SERVOPACK

Encoder

Servomotor

Brake

Clamp

ClampClamp

Clamp

Noise

filter

Brake Power

Supply

Surge

absorber

Two turn Two turn

Core

CoreCore

Core

Core Core

Clamp

General

I/O

Safety unit

One turn

One turn

PC

Controller

6

CN11 A/B

SigmaLogic

Core

One turn

General I/O

1

CN13

SigmaLogic

Core

Clamp

One turn

Three-phase 200 V

SGDV-AE1A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) +
SGDV-OCC02A

Symbol Cable Name Specification

 I/O signal cable Shield cable

 Safety signal cable Shield cable

 Motor main circuit cable Shield cable

 Encoder cable Shield cable

37

 Main circuit cable Shield cable

 Ethernet communication cable Shield cable

11 EMC Installation Conditions

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

PE

PE

2

1

3

4

5

CN8

Power supply:

Three-phase 200 VAC

Clamp

Noise

filter

Surge

absorber

Brake Power

Supply

SERVOPACK

Shield box

One turn

Two turn

CoreCore

Clamp

Clamp

Clamp

Two turn

Safety unit

General

I/O

Core Core

Clamp

Encoder

Servomotor

Brake

PC

Controller

6

CN11 A/B

SigmaLogic

Core

One turn

General I/O

1

CN13

SigmaLogic

Core

Clamp

One turn

Three-phase 200 V

SGDV-AE1A ( = 120) + SGDV-OCC02A

38

Symbol Cable Name Specification

 I/O signal cable Shield cable

 Safety signal cable Shield cable

 Motor main circuit cable Shield cable

 Encoder cable Shield cable

 Main circuit cable Shield cable

 Ethernet communication cable Shield cable

11 EMC Installation Conditions

Three-phase 200 V

SGDV-AE1A ( = 180, 200, 330) + SGDV-OCC02A

Brake Power

Supply

SERVOPACK

Power supply:

Three-phase 200 VAC

General I/O

PC

Controller

5

PE

1

6

Clamp

Surge

absorber

One turn

Clamp

One turn

Noise

filter

Core

Core

Two turn

L1, L2, L3

L1C, L2C

CN13

SigmaLogic

CN11 A/B

SigmaLogic

General

I/O

CN1

Core Core

1

U, V, W

CN2

CN8

Clamp

2

Safety unit

Shield box

One turn

Core

Two turn

Clamp

Clamp

Clamp

3

4

Brake

Servomotor

Encoder

PE

Symbol Cable Name Specification

 I/O signal cable Shield cable

 Safety signal cable Shield cable

 Motor main circuit cable Shield cable

 Encoder cable Shield cable

 Main circuit cable Shield cable

 Ethernet communication cable Shield cable

39

11 EMC Installation Conditions

U, V, W

L1, L2, L3

L1C, L2C

B1, B2

CN2

CN1

PE

PE

1

3

4

5

CN8

2

6

7

Power supply:

Three-phase 200 VAC

Shield box

SERVOPACK

Noise

filter

Brake Power

Supply

Surge

absorber

General

I/O

Safety unit

Encoder

Servomotor

Brake

Cooling fan

Clamp

Clamp Clamp

Clamp

Clamp

Clamp Clamp

Regenerative

resistor unit

PC

Controller

8

CN11 A/B

SigmaLogic

Core

One turn

General I/O

1

CN13

SigmaLogic

Core

Clamp

One turn

Three-phase 200 V

SGDV-AE1A ( = 470, 550, 590, 780) + SGDV-OCC02A

40

Symbol Cable Name Specification

 I/O signal cable Shield cable

 Safety signal cable Shield cable

 Motor main circuit cable Shield cable

 Encoder cable Shield cable

 Main circuit cable Shield cable

 Regenerative resistor unit cable Non-shield cable

 Cooling fan cable Shield cable

 Ethernet communication cable Shield cable

11 EMC Installation Conditions

U, V, W

L1, L2, L3

24 V, 0 V

CN2

CN1

PE

PE

1

2

3

6

5

CN8

4

SERVOPACK

Brake Power

Supply

General I/O

Safety unit

Encoder

Servomotor

Brake

Shield box

Clamp

Clamp

Core

Core

Clamp

Core

Core

Clamp

Noise
filter*

3

Core Core

Surge

absorber

Surge

absorber

Core

Noise
filter*

2

Control

power
supply

24 VDC*

1

Clamp

Clamp Clamp

One turn

One turn

Two turnTwo turn

One turn

Power supply:

Single-phase

200 VAC

Power supply:

Three-phase

400 VAC

PC

Controller

7

CN11 A/B

SigmaLogic

Core

One turn

General I/O

1

CN13

SigmaLogic

Core

Clamp

One turn

Three-phase 400 V

SGDV-DE1A ( = 1R9, 3R5, 5R4, 8R4, 120, 170)
+ SGDV-OCC02A

Symbol Cable Name Specification

 I/O signal cable Shield cable

 Safety signal cable Shield cable

 Motor main circuit cable Shield cable

 Encoder cable Shield cable

 Control power cable Shield cable

 Main circuit cable Shield cable

 Ethernet communication cable Shield cable

* 1. Products that have received CE marking are recommended for the 24 VDC power supply.
* 2. Install the following noise filter on the power line between the single-phase 200 V power

supply and the 24 VDC power supply.
Model number: FN2070-6/07 (SCHAFFNER).

* 3. For more information on this filter, refer to Sigma-5 Product Catalog

(YEA-KAEPS80000042).

41

11 EMC Installation Conditions

U, V, W

L1, L2, L3

24 V, 0 V

CN2

CN1

PE

PE

1

2

3

6

5

CN8

B1, B2

7

4

Power supply:

Single-phase

200 VAC

Power supply:

Three-phase

400 VAC

Clamp

Surge

absorber

Surge

absorber

Clamp

Noise
filter*

2

Noise
filter*

3

Brake Power

Supply

Shield box

Control

power
supply

24 VDC*

1

SERVOPACK

Encoder

Servomotor

Brake

Clamp

Clamp

Clamp

General I/O Safety unit

Clamp Clamp

Regenerative

resistor unit

PC

Controller

8

CN11 A/B

SigmaLogic

Core

One turn

General I/O

1

CN13

SigmaLogic

Core

Clamp

One turn

Three-phase 400 V

SGDV-DE1A ( = 210, 260, 280, 370) + SGDV-OCC02A

42

Symbol Cable Name Specification

 I/O signal cable Shield cable

 Safety signal cable Shield cable

 Motor main circuit cable Shield cable

 Encoder cable Shield cable

 Control power cable Shield cable

 Main circuit cable Shield cable

 Regenerative resistor unit cable Non-shield cable

 Ethernet communication cable Shield cable

* 1. Products that have received CE marking are recommended for the 24 VDC power supply.
* 2. Install the following noise filter on the power line between the single-phase 200 V power

supply and the 24 VDC power supply.
Model number: FN2070-6/07 (SCHAFFNER).

* 3. For more information on this filter, refer to Sigma-5 Product Catalog

(YEA-KAEPS80000042).

11 EMC Installation Conditions

Host controller side

Ground plate

Cable

Cable
clamp

Shield (cable sheath stripped)

Fix and ground the cable shield
using a piece of conductive metal.

Remove paint on mounting surface.

Attachment Methods of Ferrite Cores

One turn Two tur n

Cable

Ferrite core

Cable

Ferrite core

Recommended Ferrite Core

Cable Name Ferrite Core Model Manufacturer

Motor main circuit cable ESD-SR-250 NEC TOKIN Corp.

Recommended Noise Filter and Surge Absorber

For more information on recommended noise filters and surge absorbers, refer
to Sigma-5 Product Catalog. (YEA-KAEPS800000 42)

Fixing the Cable

Fix and ground the cable shield using a piece of conductive metal.

 Example of Cable Clamp

Shield Box

A shield box, which is a closed metallic enclosure, is effective as reinforced
shielding against electromagnetic interference (EMI) from SERVOPACKs. The
structure of the box should allow the main body, door, and cooling unit to be
attached to the ground. The box opening should be as small as possible.

Note: Do not connect the digital operator and the analog monitor cable to the
SERVOPACK during operations. Connect them only when the machinery is
stopped during maintenance.

43

11 EMC Installation Conditions

44

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan
Phone: [phone] Fax: [phone]
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: [phone]
http://www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL COMÉRCIO LTDA.

Avenda Fagundes Filho, 620 Bairro Saude, São Paulo, SP04304-000, Brasil
Phone: [phone]
http://www.yaskawa.com.br

YASKAWA ELECTRIC EUROPE GmbH

Hauptstraβe 185, 65760 Eschborn, Germany
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom
Phone: [phone]

YASKAWA ELECTRIC KOREA CORPORATION

7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul, 150-877, Korea
Phone: [phone]

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park, 556741, Singapore
Phone: [phone]

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No. 18 Xizang Zhong Road, Room 1702-1707, Harbour Ring Plaza, Shanghai, 200001, China
Phone: [phone]

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: [phone]

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

Fax: [phone]

MANUAL NO.

Published in U.S.A

YAI-SIA-SL-7A

September, 2014