YASKAWA SGD7S series User manual

Model: SGD7S-A00F19, -A20F19
-7S SERVOPACK with
FT/EX Specification
for Tracking Application
-7-Series AC Servo Drive
Product Manual
MANUAL NO. SIEP S800001 89A
1
2
3
4
5
Less-Deviation Control
Maintenance
Parameter Lists
Basic Information on
SERVOPACKs
SERVOPACK Ratings and
Specifications

Copyright © 2015 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 tracking application option for Σ-7-Series AC Servo Drive Σ-7S SERVO-
PACKs.
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 SERVOPACK, read this manual and the relevant product manual given in the fol-
lowing table.
Item This
Manual
Σ-7-Series AC Servo Drive Σ-7S SERVOPACK Product Manual
SERVOPACKs with Analog
Voltage/Pulse Train References
(Manual No.: SIEP S800001 26)
SERVOPACKs with
MECHATROLINK-III
Communications References
(Manual No.: SIEP S800001 28)
Basic
Informa-
tion on
SERVO-
PACKs
The Σ-V Series – 1.1
Product Introduction 1.1 –
Interpreting the Name-
plates –1.2
Part Names – 1.3
Model Designations – 1.4
Combinations of
SERVOPACKs and
Servomotors
–1.5
Functions 1.4 –
SigmaWin+ 1.5 –
Selecting
a SERVO-
PACK
Ratings 2.1 –
SERVOPACK Over-
load Protection Char-
acteristics
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 SERVO-
PACKs –Chapter4
Basic Functions That Require Set-
ting before Operation –Chapter5
Application Functions – Chapter 6
Trial Operation and Actual Opera-
tion –Chapter7
Tuning – Chapter 8
Continued on next page.

iv
Monitoring
Monitoring Product
Information –9.1
Monitoring SERVO-
PACK Status –9.2
Monitoring Machine
Operation Status and
Signal Waveforms
3.6 –
Monitoring Product
Life –9.4
Fully-Closed Loop Control – Chapter 10
Safety Functions – Chapter 11
Less-
Deviation
Control
Introduction 3.1 –
Restrictions 3.2 –
Adjusting Less-Devia-
tion Control 2 3.3 –
Adjusting Less-Devia-
tion Control 1 3.4 –
Reference Compensa-
tion 3.5 –
Mainte-
nance
Inspections and Part
Replacement –12.1
Alarm Displays 4.1.1, 4.2.1 –
List of Alarms 4.1.2, 4.2.2 –
Troubleshooting
Alarms 4.1.3, 4.2.3 –
Warning Displays 4.1.4, 4.2.4 –
List of Warnings 4.1.5, 4.2.5 –
Troubleshooting Warn-
ings 4.1.6, 4.2.6 –
Troubleshooting Based
on the Operation and
Conditions of the Ser-
vomotor
4.1.7, 4.2.7 –
Panel Displays and Panel Operator
Procedures –Chapter13 –
Parame-
ter Lists
Interpreting the
Parameter Lists 5.1.1, 5.2.1 –
List of Parameters and
List of Servo Parame-
ters
5.1.2, 5.2.2 –
List of MECHA-
TROLINK-III Common
Parameters
5.2.3 –
Parameter Recording
Tabl e 5.1.3, 5.2.4 –
Appendices – Chapter 15 Chapter 14
Continued from previous page.
Item This
Manual
Σ-7-Series AC Servo Drive Σ-7S SERVOPACK Product Manual
SERVOPACKs with Analog
Voltage/Pulse Train References
(Manual No.: SIEP S800001 26)
SERVOPACKs with
MECHATROLINK-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 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 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
SERVOPACKs
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
SERVOPACK
Hardware Option
Product Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manuals

Σ-7-Series
MECHATROLINK
Communications
Command
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
FT/EX
Product Manuals
(thismanual)

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
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 Specification
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification for
Tracking Application
Product Manual
This manual
(SIEP S800001 89)
Provides detailed information on
the FT/EX Option for Σ-7-Series
SERVOPACKs.

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.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

viii

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
SIEP 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

ix
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 or MECHA-
TROLINK-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

x
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