YASKAWA SGD7S-***A20****F62 Series User manual

Model: SGD7S-A20F62

-7S SERVOPACK with

FT/EX Specification for

Transfer and

Alignment Application

-7-Series AC Servo Drive

Product Manual

MANUAL NO. SIEP S800001 95A

Basic Information on SERVOPACKs

SERVOPACK Ratings and Specifications

Triggers at Preset Positions

Rotational Coordinate System

Maintenance

Parameter Lists

retrieval system, or transmitted, in any form, or by any means, mechanical, elec-

tronic, photocopying, recording, or otherwise, without the prior written permission

of Yaskawa. No patent liability is assumed with respect to the use of the informa-

tion contained herein. Moreover, because Yaskawa is constantly striving to

improve its high-quality products, the information contained in this manual is sub-

ject to change without notice. Every precaution has been taken in the preparation

of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or

omissions. Neither is any liability assumed for damages resulting from the use of

the information contained in this publication.

iii

About this Manual

This manual describes the transfer and alignment application option for Σ-7-Series AC Servo Drive

Σ-7S SERVOPACKs.

Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.

Keep this manual in a safe place so that it can be referred to whenever necessary.

Outline of Manual

The contents of the chapters of this manual are described in the following table.

When you use the transfer and alignment application option for Σ-7-Series SERVOPACKs, use this

manual and the relevant manual given in the following table.

Item This Manual

Σ-7-Series AC Servo Drive Σ-7S

SERVOPACK Product Manual

SERVOPACKs with MECHA-

TROLINK-III Communications

References (Manual No.: SIEP

S800001 28)

Basic Informa-

tion on SERVO-

PACKs

The

-7 Series –1.1

Product Introduction 1.1 –

Interpreting the Nameplate – 1.2

Part Names – 1.3

Model Designations – 1.4

Combinations of SERVOPACKs and Servomo-

tors –1.5

Functions 1.4 –

SigmaWin+ 1.5 –

Selecting a SER-

VOPACK

Ratings 2.1 –

SERVOPACK Overload Protection Characteris-

tics 2.2 –

Specifications 2.3 –

Block Diagrams – 2.2

External Dimensions – 2.3

Examples of Standard Connections between

SERVOPACKs and Peripheral Devices –2.4

SERVOPACK Installation – Chapter 3

Wiring and Connecting SERVOPACKs – Chapter 4

Basic Functions That Require Setting before Operation – Chapter 5

Application Functions – Chapter 6

Trial Operation and Actual Operation – Chapter 7

Tuning – Chapter 8

Monitoring

Monitoring Product Information – 9.1

Monitoring SERVOPACK Status – 9.2

Monitoring Machine Operation Status and Sig-

nal Waveforms –9.3

Monitoring Product Life – 9.4

Fully-Closed Loop Control – Chapter 10

Safety Functions – Chapter 11

Continued on next page.

Triggers at Pre-

set Positions

Outline 3.1 –

Settings for Triggers at Preset Positions 3.2 –

Forced Stop Setting for Triggers at Preset Posi-

tions 3.3 –

Rotational Coor-

dinate System

Outline 4.1 –

Setup Procedure 4.2 –

Maintenance

Inspections and Part Replacement – 12.1

Alarm Displays 5.1 –

List of Alarms 5.2 –

Troubleshooting Alarms 5.3 –

Warning Displays 5.4 –

List of Warnings 5.5 –

Troubleshooting Warnings 5.6 –

Troubleshooting Based on the Operation and

Conditions of the Servomotor 5.7 –

Parameter Lists

Interpreting the Parameter Lists 6.1 –

List of Servo Parameters 6.2 –

List of MECHATROLINK-III Common Parame-

ters 6.3 –

Appendices – Chapter 14

Continued from previous page.

Item This Manual

Σ-7-Series AC Servo Drive Σ-7S

SERVOPACK Product Manual

SERVOPACKs with MECHA-

TROLINK-III Communications

References (Manual No.: SIEP

S800001 28)

Related Documents

The relationships between the documents that are related to the Servo Drives are shown in the fol-

lowing figure. The numbers in the figure correspond to the numbers in the table on the following

pages. Refer to these documents as required.

SERVOPACKsand Option Modules

Servo Drives

Servomotors



Σ-7-Series

Rotary

Servomotor

Product

Manual

Σ-7-Series

Linear

Servomotor

Product

Manual



Enclosed

Documents

Σ-7-Series

Direct Drive

Servomotor

Product

Manual

Σ-7-Series

Peripheral

Device

Selection

Manual

Option

Module

User’s

Manual

Σ-7-Series

Operation

Interface

Operating

Manuals



Enclosed

Documents

Σ-7-Series

Σ-7S/Σ-7W

Hardware Option

Product

Manuals



Σ-7-Series

MECHATROLINK

Communications

Command

Manuals

Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK FT/EX

Product

Manuals

(thismanual)



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

Product

Manuals



Machine Controllers

Refer to the manual for your Machine Controller

for the documentsrelated to the Machine Controllers.



MP3000-

Series

Manuals

System Components



Machine

Controller

and

Servo Drive

General

Catalog



MP3300

Catalog



Σ-7-Series

Catalog

Machine ControllersServo Drives

ManualsCatalogs

Classification Document Name Document No. Description



Machine Controller and

Servo Drive

General Catalog

Machine Controller and

AC Servo Drive

Solutions Catalog

KAEP S800001 22

Describes the features and applica-

tion examples for combinations of

MP3000-Series Machine Control-

lers and Σ-7-Series AC Servo

Drives.



MP3300 Catalog

Machine Controller

MP3300 KAEP C880725 03

Provides detailed information on

MP3300 Machine Controllers,

including features and specifica-

tions.



Σ-7-Series Catalog

AC Servo Drives

Σ-7 Series KAEP S800001 23

Provides detailed information on Σ-

7-Series AC Servo Drives, including

features and specifications.



MP3000-Series

Manuals

Machine Controller

MP3000 Series

MP3300

Product Manual

SIEP C880725 21

Describes the functions, specifica-

tions, operating methods, mainte-

nance, inspections, and

troubleshooting of the MP3000-

series MP3300 Machine Control-

lers.



Enclosed Documents

Σ-7-Series AC Servo Drive

Σ-7S and Σ-7W SERVOPACK

Safety Precautions

TOMP C710828 00

Provides detailed information for

the safe usage of Σ-7-Series

SERVOPACKs.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Safety Precautions

Option Module

TOBP C720829 00 Provides detailed information for

the safe usage of Option Modules.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

Command Option Module

TOBP C720829 01

Provides detailed procedures for

installing a Command Option Mod-

ule in a SERVOPACK.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

Fully-closed Module

TOBP C720829 03

Provides detailed procedures for

installing the Fully-closed Module in

a SERVOPACK.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

Safety Module

TOBP C720829 06

Provides detailed procedures for

installing the Safety Module in a

SERVOPACK.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

Indexer Module

TOBP C720829 02

Provides detailed procedures for

installing the Indexer Module in a

SERVOPACK.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

DeviceNet Module

TOBP C720829 07

Provides detailed procedures for

installing the DeviceNet Module in a

SERVOPACK.

Continued on next page.

vii



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

MECHATROLINK-III

Communications References

Product Manual

SIEP S800001 28

Provide detailed information on

selecting Σ-7-Series SERVO-

PACKs and information on install-

ing, connecting, setting, performing

trial operation for, tuning, and mon-

itoring the Servo Drives.

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

MECHATROLINK-II

Communications References

Product Manual

SIEP S800001 27

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

Analog Voltage/Pulse Train

References

Product Manual

SIEP S800001 26

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK

Command Option Attachable

Type with INDEXER Module

Product Manual

SIEP S800001 64

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK

Command Option Attachable

Type with DeviceNet Module

Product Manual

SIEP S800001 70

Σ-7-Series AC Servo Drive

Σ-7W SERVOPACK with

MECHATROLINK-III

Communications References

Product Manual

SIEP S800001 29



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK with Hard-

ware Option Specifica-

tions

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S/Σ-7W SERVOPACK with

Hardware Option Specifica-

tions

Dynamic Brake

Product Manual

SIEP S800001 73

Provides detailed information on

Hardware Options for Σ-7-Series

SERVOPACKs.

Σ-7-Series AC Servo Drive

Σ-7W SERVOPACK with

Hardware Option Specifica-

tions HWBB Function

Product Manual

SIEP S800001 72

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

viii



Σ-7-Series

Σ-7S/Σ-7W SERVOPACK

FT/EX

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with FT/EX

Specification for Indexing

Application Product Manual

SIEP S800001 84

Provide detailed information on

FT/EX Specification Option

Functions for Σ-7-Series

SERVOPACKs.

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with FT/EX

Specification for Tracking

Application Product Manual

SIEP S800001 89

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with FT/EX

Specification for SGM7D

Motor Product Manual

SIEP S800001 91

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with FT/EX

Specification for Press and

Injection Molding Application

Product Manual

SIEP S800001 94

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with FT/EX

Specification for Torque/Force

Assistance for Conveyance

Application Product Manual

SIEP S800002 09

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with FT/EX

Specification for Transfer and

Alignment Application

Product Manual

This manual

(SIEP S800001 95)



Enclosed Documents

AC Servo Drive

Rotary Servomotor

Safety Precautions

TOBP C230260 00

Provides detailed information for

the safe usage of Rotary Servomo-

tors and Direct Drive Servomotors.

AC Servomotor

Linear ΣSeries

Safety Precautions

TOBP C230800 00

Provides detailed information for

the safe usage of Linear Servomo-

tors.



Σ-7-Series

Rotary Servomotor

Product Manual

Σ-7-Series AC Servo Drive

Rotary Servomotor

Product Manual

SIEP S800001 36

Provide detailed information on

selecting, installing, and connecting

the Σ-7-Series Servomotors.

Σ-7-Series

Linear Servomotor

Product Manual

Σ-7-Series AC Servo Drive

Linear Servomotor

Product Manual

SIEP S800001 37

Σ-7-Series

Direct Drive

Servomotor

Product Manual

Σ-7-Series AC Servo Drive

Direct Drive Servomotor

Product Manual

SIEP S800001 38

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

Σ-7-Series

Peripheral Device

Selection Manual

Σ-7-Series AC Servo Drive

Peripheral Device

Selection Manual

SIEP S800001 32 Describes the peripheral devices

for a Σ-7-Series Servo System.

Σ-7-Series

MECHATROLINK

Communications

Command Manuals

Σ-7-Series AC Servo Drive

MECHATROLINK-II

Communications

Command Manual

SIEP S800001 30

Provides detailed information on

the MECHATROLINK-II communi-

cations commands that are used

for a Σ-7-Series Servo System.

Σ-7-Series AC Servo Drive

MECHATROLINK-III

Communications

Standard Servo Profile

Command Manual

SIEP S800001 31

Provides detailed information on

the MECHATROLINK-III communi-

cations standard servo profile com-

mands that are used for a Σ-7-

Series Servo System.

Σ-7-Series

Operation Interface

Operating Manuals

Σ-7-Series AC Servo Drive

Digital Operator

Operating Manual

SIEP S800001 33

Describes the operating proce-

dures for a Digital Operator for a

Σ-7-Series Servo System.

AC Servo Drive

Engineering Tool

SigmaWin+

Operation Manual

SIET S800001 34

Provides detailed operating proce-

dures for the SigmaWin+ Engineer-

ing Tool for a Σ-7-Series Servo

System.

Option Module

User’s Manual

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

User’s Manual

Safety Module

SIEP C720829 06

Provides details information

required for the design and mainte-

nance of a Safety Module.

Continued from previous page.

Classification Document Name Document No. Description

Using This Manual

Technical Terms Used in This Manual

The following terms are used in this manual.

Differences in Terms for Rotary Servomotors and Linear Servomotors

There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.

This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you

need to interpret the terms as given in the following table.

Term Meaning

Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.

Rotary Servomotor

A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P,

or SGM7G) or a Direct Drive Servomotor (SGM7F, SGMCV, or SGMCS).

The descriptions will specify when Direct Drive Servomotors are excluded.

Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT).

SERVOPACK A Σ-7-Series Σ-7S Servo Amplifier with MECHATROLINK-III Communications References.

Servo Drive The combination of a Servomotor and SERVOPACK.

Servo System A servo control system that includes the combination of a Servo Drive with a host controller

and peripheral devices.

servo ON Supplying power to the motor.

servo OFF Not supplying power to the motor.

base block (BB) Shutting OFF the power supply to the motor by shutting OFF the base current to the power

transistor in the SERVOPACK.

servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0.

Main Circuit Cable One of the cables that connect to the main circuit terminals, including the Main Circuit Power

Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.

SigmaWin+ The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engi-

neering Tool is installed.

Rotary Servomotors Linear Servomotors

torque force

moment of inertia mass

rotation movement

forward rotation and reverse rotation forward movement and reverse movement

CW and CCW pulse trains forward and reverse pulse trains

rotary encoder linear encoder

absolute rotary encoder absolute linear encoder

incremental rotary encoder incremental linear encoder

unit: min-1 unit: mm/s

unit: N·m unit: N

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