YASKAWA SGD7S series User manual

Model: SGD7S-20A

-7S SERVOPACK with

MECHATROLINK-III

Communications References

-7-Series AC Servo Drive

Product Manual

MANUAL NO. SIEP S800001 28H

Selecting a SERVOPACK

SERVOPACK Installation

Application Functions

Tuning

Monitoring

Fully-Closed Loop Control

Safety Functions

Maintenance

Parameter Lists

Appendices

Basic Functions That Require

Setting before Operation

Basic Information on

SERVOPACKs

Wiring and Connecting

SERVOPACKs

Trial Operation and

Actual Operation

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 provides information required to select Σ-7S SERVOPACKs with MECHATROLINK-III

Communications References for Σ-7-Series AC Servo Drives, and to design, perform trial operation

of, tune, operate, and maintain the Servo Drives.

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.

Refer to these chapters as required.

Chapter Chapter Title Contents

1Basic Information on

SERVOPACKs

Provides information required to select SERVOPACKs, such as SER-

VOPACK models and combinations with Servomotors.

2 Selecting a SERVOPACK

Provides information required to select SERVOPACKs, such as specifi-

cations, block diagrams, dimensional drawings, and connection exam-

ples.

3 SERVOPACK Installation Provides information on installing SERVOPACKs in the required loca-

tions.

4Wiring and Connecting

SERVOPACKs

Provides information on wiring and connecting SERVOPACKs to power

supplies and peripheral devices.

5Basic Functions That Require Set-

ting before Operation

Describes the basic functions that must be set before you start servo

system operation. It also describes the setting methods.

6 Application Functions Describes the application functions that you can set before you start

servo system operation. It also describes the setting methods.

7Trial Operation and Actual

Operation

Provides information on the flow and procedures for trial operation and

convenient functions to use during trial operation.

8Tuning Provides information on the flow of tuning, details on tuning functions,

and related operating procedures.

9 Monitoring Provides information on monitoring SERVOPACK product information

and SERVOPACK status.

10 Fully-Closed Loop Control Provides detailed information on performing fully-closed loop control

with the SERVOPACK.

11 Safety Functions Provides detailed information on the safety functions of the SERVO-

PACK.

12 Maintenance Provides information on the meaning of, causes of, and corrections for

alarms and warnings.

13 Parameter Lists Provides information on the parameters.

14 Appendices Provides information on interpreting panel displays and tables of corre-

sponding SERVOPACK and SigmaWin+ function names.

Related Documents

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

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

Σ-7S/Σ-7W

SERVOPACK

Product

Manuals

(thismanual)



Σ-7-Series

MECHATROLINK

Communications

Command

Manuals

Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK FT/EX

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.



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

This 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

Hardware Option

Specifications

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S/Σ-7W SERVOPACK with

Hardware Option Specifications

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 Specifications

HWBB Function

Product Manual

SIEP S800001 72



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

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

vii



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

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

viii

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.

Ter m 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

Notation Used in this Manual

Notation for Reverse Signals

The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/)

before the signal abbreviation.

Notation Example

BK is written as /BK.

Notation for Parameters

The notation depends on whether the parameter requires a numeric setting (parameter for numeric

setting) or requires the selection of a function (parameter for selecting functions).

•Parameters for Numeric Settings

Notation Example

Engineering Tools Used in This Manual

This manual uses the interfaces of the SigmaWin+ for descriptions.

Pn100

Speed Loop Gain

Setting Range

10 to 20,000 0.1 Hz 400 Immediately

Setting Unit Default Setting When Enabled Classication

Tuning

(default setting) Use the encoder according to encoder specications.

Use the encoder asan incremental encoder.

Use the encoder asa single-turn absolute encoder.

Thisisthe setting range

for the parameter.

Parameter

number

Thiscolumn explainsthe

selectionsfor the function.

Position Torque

The control methodsfor which the parametersapply are given.

Speed : Speed control : Position control : Torque control

Thisisthe

parameter setting

before shipment.

Thisiswhen any

change made to the

parameter will

become effective.

Thisisthe parameter

classication.

Thisisthe minimum

unit (setting increment)

that you can set for

the parameter.

Position

Speed

Parameter Meaning When Enabled Classication

Pn002

n.0

After startup Setup

n.1

n.2

Parameter

number

The notation “n.” indicatesa parameter for

selecting functions.

Each indicatesthe setting for one digit.

The notation shown here meansthat the third digit

from the right isset to 2.

•Parameters for Selecting Functions

Notation Examplesfor Pn002

Pn002 =

n.X

Indicatesthe rst digit from

the right in Pn002.

Pn002 =

n.1

Indicatesthat the rst digit from

the right in Pn002 isset to 1.

Pn002 =

n.X

Indicatesthe second digit

from the right in Pn002.

Pn002 =

n.1

Indicatesthat the second digit from

the right in Pn002 isset to 1.

Pn002 =

n.X

Indicatesthe third digit from

the right in Pn002.

Pn002 =

n.1

Indicatesthat the third digit from

the right in Pn002 isset to 1.

Pn002 =

n.X

Indicatesthe fourth digit from

the right in Pn002.

Pn002 =

n.1

Indicatesthat the fourth digit from

the right in Pn002 isset to 1.

n.0 0 0 0 Notation

Digit Notation Numeric Value Notation

Meaning Notation Meaning

Trademarks

•QR code is a trademark of Denso Wave Inc.

•MECHATROLINK is a trademark of the MECHATROLINK Members Association.

•Other product names and company names are the trademarks or registered trademarks of the

respective company. “TM” and the ®mark do not appear with product or company names in this

manual.

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates precautions or restrictions that must be observed.

Also indicates alarm displays and other precautions that will not result in machine damage.

Indicates definitions of difficult terms or terms that have not been previously explained in this

manual.

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

Important

Term

Example

Information

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