Fuji Electric ALPHA7 User manual

i
This manual is "User's Manual for Fuji AC Servo System ALPHA7 Series".
The user's manual is in one volume and covers all handling methods of the product.
The following documents are included in the package of each device.
Device
Document name
Doc. No.
Servomotor
Operation Manual
Fuji AC servomotor (GYS/GYG/GYB Series)
ING-SI47-0863
Servo amplifier
Operation manual
Fuji AC servo ALPHA7 Series
servo amplifier (RYTF7-**□)
INR-SI47-2058-JE
The target model of this manual is shown below.
Device
Model
Servomotor
GYSD7-**or GYGC (B) 7-**or GYBD7-**
Servo amplifier
RYTF7-**□
* "" in the model indicates a decimal point or number.
* "*" in the model indicates an alphabet or blank.
For uncertainties in the product or description given in this manual, contact the dealer or our sales
office shown at the end of this volume.
Manual
Description given in this manual may be inconsistent to the product due to improvements added to
the product. Description given in this manual is subject to change without notice.
Illustrations included in this manual show the servo amplifier or servomotor of a specific capacity
and they may be different from the appearance of the product you purchased.
This product is not designed or manufactured for use in devices or systems related to human lives.
To use this product for aeronautic devices, traffic controllers, space industry devices, nuclear reactor
controllers, medical devices or systems including those devices, contact our sales window.
To use the product for equipment in which failure of the product will be engaged with human lives or
serious material losses, install safety devices matching the equipment.
Icon
The following icons are used in the description of the manual when necessary.
Negligence of description shown with this sign will undermine the true performance of the
product.
Reference items helpful for operation and data entry of the servomotor or servo amplifier
are described.

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iii
CHAPTER 0 INTRODUCTION
0
CHAPTER 1 INSTALLATION
1
CHAPTER 2 WIRING
2
CHAPTER 3 OPERATION
3
CHAPTER 4 PARAMETER
4
CHAPTER 5 SERVO ADJUSTMENT
5
CHAPTER 6 KEYPAD
6
CHAPTER 7 MAINTENANCE AND INSPECTION
7
CHAPTER 8 SPECIFICATIONS
8
CHAPTER 9 CHARACTERISTICS
9
CHAPTER 10 PERIPHERAL EQUIPMENT
10
CHAPTER 11 ABSOLUTE POSITION SYSTEM
11
CHAPTER 12 POSITIONING DATA
12
CHAPTER 13 PC LOADER
13
CHAPTER 14 STANDARDS COMPLIANCE
14
CHAPTER 15 APPENDIXES
15

iv
CHAPTER 0 INTRODUCTION 0-1
0.1 Safety Precautions···································································0-2
■Precautions on use··················································································· 0-3
■Precautions on storage ············································································· 0-4
■Precautions on transportation ····································································· 0-4
■Precautions on installation ········································································· 0-5
■Precautions on wiring················································································ 0-6
■Precautions on operation ··········································································· 0-7
■General precautions ················································································· 0-8
■Harmonics suppression measures (for Japan)················································ 0-8
■Compliance with EU directives···································································· 0-9
■Service life of EEPROM ············································································ 0-9
■Compliance with EU Directives and UL/CSA Standard ····································· 0-9
0.2 Outline of System ·································································· 0-10
0.2.1 Servomotor ······································································· 0-10
0.2.2 Servo Amplifier ·································································· 0-11
0.3 Model Nomenclature ······························································ 0-12
0.3.1 Servomotor ······································································· 0-12
0.3.2 Servo Amplifier ·································································· 0-13
0.4 Combination between Servomotor and Servo Amplifier·············· 0-14
0.4.1 SX Type ··········································································· 0-14
CHAPTER 1 INSTALLATION 1-1
1.1 Servomotor·············································································1-2
1.1.1 Storage Environment ····························································1-2
1.1.2 Operating Environment··························································1-2
1.1.3 Installing the Servomotor ·······················································1-3
1.1.4 Water Proof and Oil Proof Properties ········································1-3
1.1.5 Servomotor Handling Precautions············································1-4
1.1.6 Notes on Stress Given to Cable···············································1-4
1.1.7 Assembling Accuracy ····························································1-5
1.1.8 Allowable Load ····································································1-6
1.1.9 Cautionary Items on Servomotor Equipped with a Brake···············1-6
1.2 Servo Amplifier ·······································································1-7
1.2.1 Storage Environment ····························································1-7
1.2.2 Operating Environment··························································1-8
Contents

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1.2.3 Installing the Servo Amplifier···················································1-9
1.2.4 Depth of Control Panel ························································ 1-11
CHAPTER 2 WIRING 2-1
2.1 Configuration·······································································2-2
2.1.1 Part Name ··········································································2-2
2.1.2 Configuration·······································································2-5
2.1.3 Sequence I/O ···································································· 2-10
2.1.3.1 Pulse Input (PPI, CA, *CA, CB, *CA) ···································· 2-12
2.1.3.2 Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ)··················· 2-13
2.1.3.3 Z-Phase Output (FZ, M5)··················································· 2-13
2.1.3.4 Analog Monitor Output (MON1, MON2, M5)··························· 2-13
2.1.3.5 Sequence Input (CONT1, CONT2, CONT3, ... COMIN)············ 2-14
2.1.3.6 Sequence Output (OUT1, OUT2, ... COMOUT) ······················ 2-14
2.1.4 SX Bus (CN3)···································································· 2-15
2.1.5 USB (CN4)········································································ 2-21
2.1.6 Safety Function (CN6) ························································· 2-21
2.2 P-N Junction ······································································ 2-22
2.3 Servomotor········································································ 2-23
2.3.1 Motor Power Connectors ····················································· 2-23
2.3.2 Brake Connector ································································ 2-24
2.4 Encoder ············································································ 2-25
2.4.1 Encoder Wiring Cable ························································· 2-25
2.4.2 Encoder Cable Fabrication Method ········································ 2-27
2.5 Description of I/O Signals ···················································· 2-32
2.5.1 I/O Signals of VS Type ························································ 2-32
List of input signals ····················································································· 2-32
List of output signals ··················································································· 2-33
2.5.2 I/O Signals of LS Type························································· 2-35
List of input signals ····················································································· 2-35
List of output signals ··················································································· 2-37
2.5.3 Signal Descriptions ····························································· 2-39
Input signal ······························································································· 2-39
Servo-on [S-ON]: Sequence input signal (Reference value 1)··························· 2-39
Forward command [FWD]: Sequence input signal (Reference value 2)··············· 2-40
Reverse command [REV]: Sequence input signal (Reference value 3) ··············· 2-40
Start positioning [START]: Sequence input signal (Reference value 4) ··············· 2-42
Homing [ORG]: Sequence input signal (Reference value 5) ····························· 2-44

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Homing position LS [LS]: Sequence input signal (Reference value 6)················· 2-44
Interrupt input: Sequence input signal (Reference value 49)····························· 2-44
Over-travel in positive direction [+OT]: Sequence input signal
(Reference value 7)················································································· 2-46
Over-travel in negative direction [-OT]: Sequence input signal
(Reference value 8)················································································· 2-46
ABS/INC: Sequence input signal (Reference value 9) ····································· 2-49
Forced stop [EMG]: Sequence input signal (Reference value 10) ······················ 2-50
Alarm reset [RST]: Sequence input signal (Reference value 11)························ 2-51
VEL1: Sequence input signal (Reference value 13)········································ 2-52
ACC0: Sequence input signal (Reference value 14) ······································· 2-53
Position preset: Sequence input signal (Reference value 16)···························· 2-54
Gain swtich: Sequence input signal (Reference value 17)································ 2-55
Torque limit 0: Sequence input signal (Reference value 19) ····························· 2-56
Torque limit 1: Sequence input signal (Reference value 20) ····························· 2-56
Immediate value continuation: Sequence input signal (Reference value 22) ········ 2-58
Immediate value change: Sequence input signal (Reference value 23)··············· 2-60
Command pulse ratio 1: Sequence input signal (Reference value 27) ················ 2-61
Command pulse ratio 2: Sequence input signal (Reference value 28) ················ 2-61
Proportional control: Sequence input signal (Reference value 29) ····················· 2-62
Pause: Sequence input signal (Reference value 31)······································· 2-62
Positioning cancel: Sequence input signal (Reference value 32) ······················· 2-63
External regenerative resistor overheat: Sequence input signal
(Reference value 34) ··············································································· 2-63
Teaching: Sequence input signal (Reference value 35) ··································· 2-64
Torque control: Sequence input signal (Reference value - )······························ 2-65
Override enable: Sequence input signal (Reference value 43) ·························· 2-66
Override 1: Sequence input signal (Reference value 44) ································· 2-66
Override 2: Sequence input signal (Reference value 45) ································· 2-66
Override 4: Sequence input signal (Reference value 46) ································· 2-66
Override 8: Sequence input signal (Reference value 47) ································· 2-66
Interrupt input enable: Sequence input signal (Reference value 48) ··················· 2-67
Interrupt input: Sequence input signal (Reference value 49)····························· 2-67
Interrupt position detection: Sequence input signal (Reference value -) ·············· 2-67
Deviation clear: Sequence input signal (Reference value 50)···························· 2-70
Multi-step speed selection [X1]: Sequence input signal (Reference value 51)······· 2-71
Multi-step speed selection [X2]: Sequence input signal (Reference value 52)······· 2-71
Multi-step speed selection [X3]: Sequence input signal (Reference value 53)······· 2-71

vii
Free-run [BX]: Sequence input signal (Reference value 54) ····························· 2-72
Edit permission: Sequence input signal (Reference value 55)··························· 2-73
Anti resonance frequency selection 0: Sequence input signal
(Reference value 57) ··············································································· 2-74
Anti resonance frequency selection 1: Sequence input signal
(Reference value 58) ··············································································· 2-74
Toggle monitor 0: Sequence input signal (Reference value 75) ························· 2-75
Toggle monitor 1: Sequence input signal (Reference value 76) ························· 2-75
Position control: Sequence input signal (Reference value -) ····························· 2-76
Position command operation: Sequence input signal (Reference value -)············ 2-76
Z-phase detection command: Sequence input signal (Reference value -)············ 2-77
SEL0：Sequence input signal (Reference value -)········································· 2-78
SEL1：Sequence input signal (Reference value -)········································· 2-78
SEL2：Sequence input signal (Reference value -)········································· 2-78
SEL3：Sequence input signal (Reference value -)········································· 2-78
Output signal ························································································· 2-79
Ready for servo-on [RDY]: Sequence output signal (Reference value 1) ············· 2-79
In-position [INP]: Sequence output signal (Reference value 2)·························· 2-80
Speed limit detection: Sequence output signal (Reference value 11)·················· 2-82
Over write completion: Sequence output signal (Reference value 13)················· 2-83
Read completion: Sequence output signal (Reference value -) ························· 2-83
Write command: Sequence input signal (Reference value -)····························· 2-83
Read command: Sequence input signal (Reference value -)····························· 2-83
Brake timing: Sequence output signal (Reference value 14)····························· 2-86
Alarm detection (normally open contact): Sequence output signal
(Reference value 16) ··············································································· 2-88
Alarm detection (normally closed contact): Sequence output signal
(Reference value 76) ··············································································· 2-88
Point detection, area detection 1: Sequence output signal (Reference value 17)··· 2-89
Point detection, area detection 2: Sequence output signal (Reference value 18)··· 2-89
Limiter detection: Sequence output signal (Reference value 19)························ 2-90
OT detection: Sequence output signal (Reference value 20) ···························· 2-91
Cycle end detection: Sequence output signal (Reference value 21) ··················· 2-92
Homing completion: Sequence output signal (Reference value 22) ···················· 2-93
Zero deviation: Sequence output signal (Reference value 23)··························· 2-94
Zero speed [NZERO]: Sequence output signal (Reference value 24) ················· 2-94
Speed coincidence [NARV]: Sequence output signal (Reference value 25) ········· 2-94
Torque limit detection: Sequence output signal (Reference value 26)················· 2-95

viii
Overload warning detection: Sequence output signal (Reference value 27) ········· 2-95
Servo control ready [S-RDY]: Sequence output signal (Reference value 28)········ 2-97
Edit permission response: Sequence output signal (Reference value 29) ············ 2-97
Data error: Sequence output signal (Reference value 30) ································ 2-98
Address error: Sequence output signal (Reference value 31) ··························· 2-98
Alarm code 0: Sequence output signal (Reference value 32)···························· 2-99
Alarm code 1: Sequence output signal (Reference value 33)···························· 2-99
Alarm code 2: Sequence output signal (Reference value 34)···························· 2-99
Alarm code 3: Sequence output signal (Reference value 35)···························· 2-99
Alarm code 4: Sequence output signal (Reference value 36)···························· 2-99
+OT detection: Sequence output signal (Reference value 38)··························2-101
-OT detection: Sequence output signal (Reference value 39) ··························2-101
Home position LS detection: Sequence output signal (Reference value 40) ········2-102
Forced stop detection: Sequence output signal (Reference value 41)················2-102
Toggle answer 0: Sequence output signal (Reference value 42) ······················2-102
Toggle answer 1: Sequence output signal (Reference value 43) ······················2-102
Toggle error: Sequence output signal (Reference value 44) ····························2-102
Battery warning: Sequence output signal (Reference value 45)························2-103
Life warning: Sequence output signal (Reference value 46) ····························2-103
MD0: Sequence output signal (Reference value 60) ······································2-104
MD1: Sequence output signal (Reference value 61) ······································2-104
MD2: Sequence output signal (Reference value 62) ······································2-104
MD3: Sequence output signal (Reference value 63) ······································2-104
MD4: Sequence output signal (Reference value 64) ······································2-104
MD5: Sequence output signal (Reference value 65) ······································2-104
MD6: Sequence output signal (Reference value 66) ······································2-104
MD7: Sequence output signal (Reference value 67) ······································2-104
Position preset completion: Sequence output signal (Reference value 75) ·········2-107
Immediate value continuation permission: Sequence output signal
(Reference value 79) ··············································································2-107
Immediate value continuation completion: Sequence output signal
(Reference value 80) ··············································································2-108
Immediate value change completion: Sequence output signal
(Reference value 81) ··············································································2-108
Command positioning completion: Sequence output signal
(Reference value 82) ··············································································2-109
CONTa Through: Sequence output signal (Reference value 91) ······················2-110
CONTb Through: Sequence output signal (Reference value 92) ······················2-110

ix
CONT1 Through: Sequence output signal (Reference value -)·························2-111
CONT2 Through: Sequence output signal (Reference value -)·························2-111
CONT3 Through: Sequence output signal (Reference value -)·························2-111
CONT4 Through: Sequence output signal (Reference value -)·························2-111
CONT5 Through: Sequence output signal (Reference value -)·························2-111
Internal command pulse zero: Sequence output signal (Reference value -) ········2-111
Z-phase detection: Sequence output signal (Reference value -) ·······················2-111
Deviation overflow: Sequence output signal (Reference value -) ······················2-111
Interrupt position detection: Sequence output signal (Reference value -)············2-111
CSEL0: Sequence output signal (Reference value -) ·····································2-112
CSEL1: Sequence output signal (Reference value -) ·····································2-112
CSEL2: Sequence output signal (Reference value -) ·····································2-112
2.6 Safety Function ································································ 2-113
2.6.1 Overview ········································································ 2-113
2.6.2 Usage Precautions ··························································· 2-114
2.6.3 Specifications ·································································· 2-115
CHAPTER 3 OPERATION 3-1
3.1 Signal Description (Priority among Input Signals)·····················3-2
3.2 Operation Check ··································································3-3
3.2.1 Power-On·········································································3-3
3.2.2 Power-On/Servo Control-Ready [S-RDY] ································3-4
3.2.3 Servo-On [S-ON]/Ready for Servo-On [RDY] ···························3-5
3.2.4 Test Operation at Keypad ····················································3-6
3.2.5 If the Servomotor Fails to Start··············································3-7
3.2.6 Shutdown·········································································3-7
3.3 Operation with VS Type·························································3-8
3.3.1 IQ Area············································································3-8
3.3.2 Servo-On [S-ON]/ Ready for Servo-on [RDY] ···························3-9
3.3.3 Switching among Position Control, Speed Control and
Torque Control ············································································3-9
3.3.4 Operation under Position Control···········································3-9
3.3.5 Operation under Speed Control··········································· 3-11
3.3.6 Operation under Torque Control·········································· 3-11
3.3.7 Interrupting/Stopping Operation ·········································· 3-12
3.3.8 Writing a Parameter·························································· 3-17
3.3.9 Selecting the Monitor ························································ 3-23
3.4 Operation with LS Type ······················································· 3-25