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
1
2
3
4
5
6

Copyright © 2016 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 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
Σ -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.

iv
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)

v
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

vi
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

ix
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

x
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