YASKAWA E-7-Series SGD7S User manual

Model: SGD7S
-7S SERVOPACK with
Analog Voltage/Pulse Train References
-7-Series AC Servo Drive
Product Manual
MANUAL NO. SIEP S800001 26B
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
Wiring and Connecting
SERVOPACKs
Trial Operation and
Actual Operation
Basic Information on
SERVOPACKs
Panel Displays and
Panel Operator Procedures
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Copyright © 2014 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
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 Analog Voltage/Pulse
Train 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 Panel Displays and Panel Opera-
tor Procedures Describes how to interpret panel displays and the operation of the Panel Operator.
14 Parameter Lists Provides information on the parameters.
15 Appendices Provides host controller connection examples and tables of corre-
sponding SERVOPACK and SigmaWin+ function names.

iv
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.
Machine Controllers
Refer to the manual for your Machine
Controller for the documents
related to the Machine Controllers.
SERVOPACKs
Servo Drives
Servomotors

Σ-7-Series
Rotary
Servomotor
Product
Manual

Σ-7-Series
Linear
Servomotor
Product
Manual

Σ-7-Series
Direct Drive
Servomotor
Product
Manual

Σ-7-Series
Peripheral
Device
Selection
Manual

Σ-7-Series
Σ-7W
SERVOPACK
Product Manual

Σ-7-Series
Σ-7S
SERVOPACK
Product Manuals
(such asthismanual)
Σ-7-Series
MECHATROLINK
Communications
Command
Manuals
Σ-7-Series
Operation
Interface
Operating
Manuals

MP3000-
Series
Manuals
System Components

Machine
Controller
and
Servo Drive
General
Catalog

MP3300
Catalog

Σ-7-Series
Catalog
Machine ControllersServo Drives
ManualsCatalogs
S

v
Classification Document Name Document No. Description

Machine Controller
and Servo Drive
General Catalog
Machine Controller and Servo
Drive Solutions Catalog KAEP S800001 22
Provides detailed information
required to select MP3000-Series
Machine Controllers 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, includ-
ing 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.

Σ-7-Series
Σ-7S 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
This manual
(SIEP S800001 26)

Σ-7-Series
Σ-7W SERVOPACK
Product Manual
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 29

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.
Continued on next page.

vi
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 Drives Engineering Tool
SigmaWin+
Online Manual
Σ-7 Component
SIEP S800001 48
Provides detailed operating proce-
dures for the SigmaWin+ Engineer-
ing Tool for a Σ-7-Series Servo
System.
Continued from previous page.
Classification Document Name Document No. Description

vii
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 (SGM7A, SGM7J, or SGM7G) or a
Direct Drive Servomotor (SGMCS or SGMCV).
The descriptions will specify when Direct Drive Servomotors are excluded.
Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, SGLT, or SGLC).
SERVOPACK A Σ-7-Series Σ-7S Servo Amplifier with Analog Voltage/Pulse Train 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

viii
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.
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.
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
•Parameters for Selecting Functions
S
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

ix
Trademarks
•QR code is a trademark of Denso Wave Inc.
•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

x
Safety Precautions
Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used
to indicate safety precautions in this document. The signal words are used to classify the hazards
and the degree of damage or injury that may occur if a product is used incorrectly. Information
marked as shown below is important for safety. Always read this information and heed the precau-
tions that are provided.
DANGER
Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in
fire.
NOTICE
Indicates precautions that, if not heeded, could result in property damage.