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