YASKAWA Sigma-7Siec User manual

Sigma-7Siec
Hardware Manual

Table of Contents
1
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
2
7 Cable Diagrams
7.1 SBK-U-VBA-xx - - - - - - - - - - - - - - - - - - - - - - - - - - - -27
7.2 JZSP-CSI02-x-E - - - - - - - - - - - - - - - - - - - - - - - - - - -28
8 EMC Installation Conditions - - - - - - - - - - - - - - - - - - 29

1 Introduction
3
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
4
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
5
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
M0
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
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
6

2 Specifications and Settings
7
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
8
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
Be
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

2 Specifications and Settings
9
Communica-
tions
RS-422A
Commu-
nica-
tions
(CN502)
Inter-
faces A JUSP-JC001 Communications Unit is required to connect to a Digital Operator (JUSP-OP05A-1-E).
1:N
Com-
muni-
cations Up to N = 15 stations possible for RS-422A port
Axis
Addres
s Set-
ting Set with parameters.
USB
Commu-
nica-
tions
(CN7)
Inter-
face Personal computer (with SigmaWin+)
Com-
muni-
cations
Stan-
dard
Conforms to USB2.0 standard (12 Mbps).
Displays/Indicators CHARGE, PWR, CN, RUN, ERR, and L/A (A and B) indicators,
and one-digit seven-segment display
Analog Monitor (CN5)
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Dynamic Brake (DB) Activated when a servo alarm or overtravel (OT) occurs, or when
the power supply to the main circuit or servo is OFF.
Regenerative Processing
Built-in (An external resistor must be connected to the SGD7S-
470A to -780A.)
Refer to the following manual for details.
S-7-Series AC Servo Drive Peripheral Device Selection
Manual (Manual No.: SIEP S800001 32)
Overtravel (OT) Prevention Stopping with dynamic brake, deceleration to a stop, or coasting
to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse
Drive Prohibit) signal
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration
error , etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Safety Func-
tions
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Applicable
Standards ISO13849-1 PLe (Category 3), IEC61508 SIL3
Applicable Option Modules Fully-closed Modules and Safety Modules Note: You cannot use a Fully-closed Module and a Safety Mod-
ule together. (cont?d)
(cont?d)
Item Specification

2 Specifications and Settings
10
2.2 DIP Switch Settings
1
2
3
4
DIP Switches
Rotary
Switches
(used to
set IP
address)
Rotary Switch 1 Rotary Switch 0
Switch Name Setting Operating Mode Setting for Normal
Operation Details
1
STOP
ON User program execution
inhibited OFF Inhibits user program execution
OFF Normal operation
2
SUP
ON Firmware programming
mode OFF Enables servo controller firmware programming. This mode can also be
performed via web UI without changing
the DIP switch.
OFF Normal operation
3
INIT
ON Configuration bypass
mode OFF Set to ON to bypass the stored
configuration (e.g. in case of a
configuration problem that prevents
servo controller startup)
OFF Normal operation
4
E-INIT
ON Normal operation OFF Rotary switches used to set IP address
OFF Rotary switches ignored IP address is set from configuration
settings in servo controller

2 Specifications and Settings
11
2.3 Rotary Switches
When DIP switch 4 (E-INIT) is OFF, the rotary switches are ignored.
The IP address is set from configuration settings stored on the servo
controller.
Rotary switches are normally used to set the IP address. This is the
case when DIP switch 4 (E-INIT) is ON
If both rotary switches are set to 0, use DHCP.
If either rotary switch is non zero, the last octet of the IP address is set
by the value on the switches. Note that the switch values are labeled in
hexadecimal. The IP address will be 192.168.1.x where x is 0x01 to
0xFF for a decimal value of 01 to 255.
2.4 Switch Factory Settings
All DIP switches off
Rotary switches at 0 and 1.
Configured IP address is 192.168.1.1
Rotary Switch 1 Rotary Switch 0 IP Address
0 0 Set by DHCP
0 1 192.168.1.1
0 2 192.168.1.2
... ... ...
0 F 192.168.1.15
1 0 192.168.1.16
... ... ...
1 F 192.168.1.31
2 0 192.168.1.32
... ... ...
F F 192.168.1.255

2 Specifications and Settings
12

3 Installation Standards
13
3 Installation Standards
3.1 Mechanical Installation/Dimensions
The Sigma-7Siec servo interface is based on the Sigma-7S
EtherCAT servo amplifier. As such, it has the same envelope and
mechanical installation directions. Please refer to section 2.3 of the
Sigma-7S EtherCAT (CoE) Communications Reference Product
Manual (document number SIEPS90000155)

3 Installation Standards
14
3.2 Installing Multiple SERVOPACKS in a Con-
trol Panel
Provide the following intervals between the SERVOPACKs and
spaces around the SERVOPACKs.
The space required on the right side of a SERVOPACK (when
looking at the SERVOPACK from the front) depends on the
SERVOPACK models. Refer to the following table.
Install cooling fansabove the SERVOPACKsso that hot
spotsdo not occur around the SERVOPACKs. Provide
sufficient intervalsand spacesasshown in the following
figure to enable cooling by the fansand natural convec-
tion.
SERVOPACK Model Space on
Right Side
Cooling Fan Installation
Conditions
10 mm above SERVO-
PACK’s Top Surface
SGD7S-
R70A, R90A, 1R6A, 2R8A,
3R8A, 5R5A, 7R6A, R70F,
R90F, 2R1F, 2R8F 1 mm min. Air speed: 1.0 m/s min.
120A, 180A, 200A, 330A,
470A, 550A, 590A, 780A 10 mm min. Air speed: 1.0 m/s min.
Important
Fan
30 mm min. This distance depends
on the model.
30 mm min.
Fan
40 mm min.
40 mm min.
SERVOPACK SERVOPACK SERVOPACK SERVOPACK

4 Inputs and Outputs
15
4 Inputs and Outputs
4.1 Input Signals
Default settings are provided in parentheses
Note: If forward drive prohibition or reverse drive prohibition isused, the SERVOPACK isstopped
by software controls. If the application doesnot satisfy the safety requirements, add external
safety circuitsasrequired.
Signal Pin
No. Name Function
/SI1
(P-OT) 7General-purpose Sequence
Input 1 (Forward Drive Prohibit
Input) You can allocate the input signal to use with
a parameter.
(Stops Servomotor drive (to prevent over-
travel) when the moving part of the machine
exceeds the range of movement.)
/SI2
(N-OT) 8General-purpose Sequence
Input 2 (Reverse Drive Prohibit
Input)
/SI3 9General-purpose Sequence
Input 3 You can allocate the input signal to use with
parameters.
(Used for general-purpose input.)
/SI4
(/EXT1) 10 External latch signal 1 input (General purpose input 4)
You can allocate the input signals to use with
parameters.
/SI5
(/EXT2) 11 External latch signal 2 input (General purpose input 5)
/SI6
(/EXT3) 12 External latch signal 3 input (General purpose input 6)
/SI0 13 General-purpose Sequence
Input 0 You can allocate the input signal to use with
a parameter.
(Used for general-purpose input.)
+24VIN 6Sequence Input Signal Power
Supply Input
Inputs the sequence input signal power sup-
ply.
Allowable voltage range: 24 VDC ±20% The
24-VDC power supply is not provided by Yas-
kawa.
BAT+ 14 Battery for Absolute Encoder (+) These are the pins to connect the absolute
encoder backup battery.
Do not connect these pins if you use the
Encoder Cable with a Battery Case.
BAT- 15 Battery for Absolute Encoder (-)
TH 5Linear Servomotor Overheat
Protection Input Inputs the overheat protection signal from a Linear Servomotor.

4 Inputs and Outputs
16
4.2 Output Signals
Default settings are provided in parentheses.
Signal Pin
No. Name Function
ALM+ 3Servo Alarm Output Turns OFF (opens) when an error is detected.
ALM- 4
/SO1+
(/BK+) 1General-purpose
Sequence Output 1
(Brake Output)
You can allocate the output signal to use with a parameter.
(Controls the brake. The brake is released when the signal
turns ON (closes).)
/SO1-
(/BK-) 2
/SO2+ 23 General-purpose
Sequence Output 2 Used for general-purpose outputs.
Set the parameters to allocate functions.
/SO2- 24
/SO3+ 25 General-purpose
Sequence Output 3
/SO3- 26
PAO 17 Encoder Divided
Pulse Output, Phase
A Output the encoder divided pulse output signals with a 90°
phase differential.
/PAO 18
PBO 19 Encoder Divided
Pulse Output, Phase
B
/PBO 20
PCO 21 Encoder Divided
Pulse Output, Phase
C Outputs the origin signal once every encoder rotation.
/PCO 22
SG 16 Signal ground This is the 0-V signal for the control circuits.
FG Shell Frame ground Connected to the frame ground if the shield of the I/O Signal
Cable is connected to the connector shell.

4 Inputs and Outputs
17
4.3 I/O Signal Connector (CN1) Pin Arrange-
ment
The following figure gives the pin arrangement of the of the I/O signal
connector (CN1) for the default settings.
The above
view is from
the direction
of the follow-
ing arrow with-
out the
connector
shell attached
.
1/SO1+
(/BK+)
General-
purpose
Sequence
Output 1 14 BAT+ Battery for
Absolute
Encoder
(+)
2/SO1-
(/BK-)
General-
purpose
Sequence
Output 1 15 BAT- Battery for
Absolute
Encoder (-)
3ALM+Servo Alarm
Output 16 SG Signal
Ground
4ALM- Servo Alarm
Output 17 PAO
Encoder
Divided
Pulse Out-
put, Phase
A
5TH
Linear
Servomo-
tor Over-
heat
Protec-
tion Input
18 /PAO
Encoder
Divided
Pulse Out-
put, Phase
A
6+24VI
N
Sequence
Input Sig-
nal Power
Supply
Input
19 PBO
Encoder
Divided
Pulse Out-
put, Phase
B
7/SI1
(P-OT)
General-
purpose
Sequence
Input 1 20 /PBO
Encoder
Divided
Pulse Out-
put, Phase
B
8/SI2
(N-OT)
General-
purpose
Sequence
Input 2 21 PCO
Encoder
Divided
Pulse Out-
put, Phase
C
9/SI3
(/DEC)
General-
purpose
Sequence
Input 3 22 /PCO
Encoder
Divided
Pulse Out-
put, Phase
C
10
/SI4
(/EXT1)
External
latch sig-
nal1input
(General
purpose
input 4)
23 /SO2+ General-
purpose
Sequence
Output 2
11
/SI5
(/EXT2)
External
latch sig-
nal 2
input
(General
purpose
input 5)
24 /SO2- General-
purpose
Sequence
Output 2
12
/SI6
(/EXT3)
External
latch sig-
nal3input
(General
purpose
input 6)
25 /SO3+ General-
purpose
Sequence
Output 3
13 /SI0 General-
purpose
Sequence
Input 0 26 /SO3- General-
purpose
Sequence
Output 3
Pin 15
Pin 1
Pin 2
Pin 12
Pin 13 Pin 26
Pin 25
Pin 14

4 Inputs and Outputs
4.4.1 Using a Rotary Servo Motor
18
4.4 I/O Signal Wiring Examples
4.4.1 Using a Rotary Servo Motor
* 1. represents twisted-pair wires.
* 2. Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case
is connected, do not connect a backup battery.
* 3. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with
double insulation or reinforced insulation.
* 4. Always use line receivers to receive the output signals.
Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,
P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2,
and /SO3 output signals.
2. If you use a 24-V brake, install a separate power supply for the 24-VDC
power supply from other power supplies, such as the one for the I/O signals
of the CN1 connector.
If the power supply is shared, the I/O signals may malfunction.
/BK+
/BK-
/SO2+
/SO2-
/SO3+
ALM+
ALM-
1
2
23
24
3
4
+24VIN
+24 V
*3
4.7 kΩ
6
8
10
9
11
12
/SI0
P-OT
N-OT
General-purpose
sequence input 0
BAT+
BAT-
13
14
15
7
/SO3-
Forward Drive Prohibit input
(prohibited when OFF)
Sequence input signal
power supply input
Battery for
absolute encoder
Backup battery
*2
2.8 V to 4.5 V
Reverse Drive Prohibit input
(prohibited when OFF)
Brake output
(released when ON)
Servo Alarm Output
(OFF for alarm)
25
26
16 SG
*1
PBO
PCO
/PBO
PAO
/PAO
/PCO
21
17
18
19
20
22
FG
CN1
*4
*4
*4
Photocoupler outputs
Max. allowable voltage: 30 VDC
Max. allowable current: 50 mA DC
Encoder Divided
Pulse Output,
Phase A
Encoder Divided
Pulse Output,
Phase B
Encoder Divided
Pulse Output,
Phase C
Applicable Line
Receiver:
SN75ALS175 or
MC3486
manufactured
by Texas
Instruments or
the equivalent
Connect shield to connector shell.
Connector
shell
SERVOPACK
Frame ground
Signal ground
/SI3
/EXT1
/EXT2
/EXT3
External latch signal 1 input
(General purpose input 4)
General-purpose
sequence input 3
External latch signal 2 input
(General purpose input 5)
External latch signal 3 input
(General purpose input 6)
+
-