YASKAWA Sigma-7Siec User manual

Sigma-7Siec

Hardware Manual

Table of Contents

1 Introduction

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

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

1.3 Model Number Designation - - - - - - - - - - - - - - - - - - - -5

1.4 Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5

2 Specifications and Settings

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

2.2 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - -10

2.3 Rotary Switches - - - - - - - - - - - - - - - - - - - - - - - - - - -11

2.4 Switch Factory Settings - - - - - - - - - - - - - - - - - - - - - -11

3 Installation Standards

3.1 Mechanical Installation/Dimensions - - - - - - - - - - - - - -13

3.2 Installing Multiple SERVOPACKS in a Control Panel -14

4 Inputs and Outputs

4.1 Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -15

4.2 Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - -16

4.3 I/O Signal Connector (CN1) Pin Arrangement - - - - - -17

4.4 I/O Signal Wiring Examples - - - - - - - - - - - - - - - - - - -18

4.5 I/O Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -20

5 LED Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23

6 Ethernet Connectivity

6.1 Ethernet Connector Details - - - - - - - - - - - - - - - - - - -25

6.2 Ethernet Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - -26

6.3 Ethernet Connection Examples - - - - - - - - - - - - - - - - -26

Table of Contents

7 Cable Diagrams

7.1 SBK-U-VBA-xx - - - - - - - - - - - - - - - - - - - - - - - - - - - -27

7.2 JZSP-CSI02-x-E - - - - - - - - - - - - - - - - - - - - - - - - - - -28

8 EMC Installation Conditions - - - - - - - - - - - - - - - - - - 29

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 pro-

tocols 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

1.2 Sigma-7Siec Appearance

The following figure shows the external appearance of the Sigma-7Siec

controller.

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

1 Introduction

1.3 Model Number Designation

1.4 Accessories

System Components

Type Description Model Number Note

Accessories and

Cables

CN1 Terminal Block

Conversion Kit SBK-U-MP2Bxx

xx denotes cable length

A5: 0.5 m

01: 1.0 m

03: 3.0 m

CN1 Cable (Flying

leads) JZSP-CSI02-x-E

x denotes cable length

A: 1.0 m

B: 2.0 m

C: 3.0 m

Communication Ethernet Cable Customer

Supplied

Use high quality shielded industrial

Ethernet cables (Yaskawa model

JZSP-CM3RRM0-xx-E is recommended)

*1 2R8 A M0 A

000 F50

SGD7S

F50

FT/EX Speciﬁcation

Application function for Sigma-7Siec

A 200 VAC

F 100 VAC

A: 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

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

Three-

phase,

200

VAC

Single-

phase,

100

VAC

1st+2nd+3rd digits 4th digit

5th+6th digits

7th digit

8th+9th+10th digits

Σ-7 Series

SERVOPACK

4th

digit

1st+2nd+3rd

digits

5th+6th

digits

8th+9th+10th

digits

7th

digit

11th+12th+

13th digits

11th+12th+13th digits

Code Speciﬁcation

1 Introduction

2 Specifications and Settings

2.1 Specifications

Item Specification

Control Method IGBT-based PWM control, sine wave current drive

Feedback

With Rotary

Servomotor Serial encoder: 20 bits or 24 bits (incremental encoder/

absolute encoder)

22 bits (absolute encoder)

With Linear

Servomotor

•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.)

Environmen-

tal Conditions

Surrounding Air

Temperature -5°C to 55°C

(With derating, usage is possible between 55°C and 60°C.)

Storage Tempera-

ture -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 4.9 m/s2

Shock Resistance 19.6 m/s2

Degree of

Protection

Pollution Degree •Must be no corrosive or flammable gases.

•Must be no exposure to water, oil, or chemicals.

•Must be no dust, salts, or iron dust.

Altitude 1,000 m or less. (With derating, usage is possible between 1,000

m and 2,000 m.)

Others Do not use the SERVOPACK in the following locations: Locations

subject to static electricity noise, strong electromagnetic/magnetic

fields, or radioactivity

Applicable Standards Compliance with UL Standards, EU Directives and Other Safety

Standards

Mounting

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 Specifications and Settings

Performance

Speed Control

Range 1:5000 (At the rated torque, the lower limit of the speed control

range must not cause the Servomotor to stop.)

Coefficient of

Speed Fluctuation

±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)

Torque Control

Precision (Repeat-

ability) ±1%

Soft Start Time

Setting 0 s to 10 s (Can be set separately for acceleration and decelera-

tion.)

I/O Signals

Encoder Divided

Pulse Output Phase A, phase B, phase C: Line-driver output

Number of divided output pulses: Any setting is allowed.

Linear Servomotor

Overheat Protec-

tion Signal Input Number of input points: 1

Input voltage range: 0 V to +5 V

Digital

Input

Signals

Input

Sig-

nals

That

Can

Allo-

cated

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 Pro-

hibit) 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.

I/O Signals Digital

Output

Signals

Fixed

Output

Allowable voltage range: 5 VDC to 30 VDC

Number of output points: 1

Output signal: ALM (Servo Alarm) signal

Output

Sig-

nals

That

Can Be

Allo-

cated

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.

(cont?d)

Item Specification

Table of contents

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