YASKAWA E-S Series User manual

SGPSS SERVOPACK
SGMSL Servomotor
DC Power Supply Input and Contact Commands
-S Series
AC Servo Drives
PRODUCT MANUAL
MANUAL NO. SIEP S800001 13C
1
2
3
4
5
6
7
8
9
10
11
Basic Information
Selection
Installation
Wiring and Connections
Setup
Trial Operation
Operation and Functions
Tuning
Monitoring
Maintenance
Parameter List

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-S-Series AC Servo Drives (DC power supply
input and contact commands), and to design, perform trial operation of, tune, operate, and main-
tain the Servo Drives.
Read and understand this manual to ensure correct usage of the Σ-S-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
1 Basic Information Provides information required to select Servo Drives, such as information
on Servomotors and SERVOPACKs.
2 Selection
Provides information required to select SERVOPACKs, Servomotors,
cables, and peripheral devices, such as specifications, dimensional draw-
ings, and connection examples.
3Installation Provides information on installing SERVOPACKs and Servomotors in the
required locations.
4 Wiring and Connections Provides information on wiring and connecting SERVOPACKs to power
supplies and peripheral devices.
5Setup Describes the functions that must be set before you start operation. It also
describes the setting methods.
6 Trial Operation Provides information on the flow and procedures for trial operation and
convenient functions to use during trial operation.
7 Operation and Functions Provides detailed information on program table operation, homing, jog
operation, and ZONE outputs.
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 Maintenance Provides information on the meaning of, causes of, and corrections for
alarms and warnings.
11 Parameter Lists Provides information on the parameters.

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.
SERVOPACKsand Servomotors
Servo Drives

Σ-SServo Drive
(DC Power Supply
Input and Pulse
Train References)
Product Manual

Σ-S
SERVOPACK
Safety Precautions

Σ-S
Servomotor
Safety Precautions
Σ-SServo Drive
(DC Power Supply
Input and Contact
Commands)
Product Manual
(thismanual)

Engineering Tool
SigmaWin+
Online Manual

Σ-S-Series
Catalog
Servo Drives
ManualsCatalogs

v
Classification Document Name Document Number Description

Σ-S-Series
Catalog
Σ-S Series
AC Servo Drives KAEP S800001 40
Provides information on Σ-S-Series
AC Servo Drives, including features
and specifications.

Σ-S Servo Drive
(Contact Commands)
Product Manual
AC Servo Drive
Σ-S-Series
Product Manual
DC Power Supply Input and Con-
tact Commands
This manual
(SIEP S800001 13)
Provides detailed information on
selecting, designing, connecting,
setting, performing trial operation
for, tuning, and monitoring the Σ-S-
Series Servo Drives.

Σ-S Servo Drive
(Pulse Train Refer-
ences)
Product Manual
AC Servo Drive
Σ-S-Series
Product Manual
DC Power Supply Input and Pulse
Train References
SIEP S800001 49

Engineering Tool
Operating Manual
AC Servo Drives Engineering Tool
SigmaWin+
Online Manual
Σ-S Component
SIEP S800001 06
Provides detailed operating proce-
dures for the SigmaWin+ Engineer-
ing Tool for a Σ-S-Series Servo
System.

Σ-S SERVOPACK
Safety Precautions
AC SERVOPACK
Σ-S-Series
Safety Precautions
DC Power Input
TOBP C710827 00
Describes installation, wire sizes,
and inspections for Σ-S-Series
SERVOPACKs.

Σ-S Servomotor
Safety Precautions
AC Servo Drive
Rotary Servomotor
Safety Precautions
TOBP C230260 00
Describes Servomotor installation,
handling precautions, and inspec-
tions.

vi
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Te rm Meaning
Servomotor A Σ-S-Series Rotary Servomotor.
SERVOPACK A Σ-S-Series SERVOPACK.
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 con-
troller and peripheral devices.
SERVO ON Supplying power to the motor.
SERVO OFF Not supplying power to the motor.
SigmaWin+ The Engineering Tool for setting up and tuning Servo Drives or a computer in which the
Engineering Tool is installed.

vii
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
BUSY is written as /BUSY.
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
Pn100
Speed Loop Gain
Setting Range
10 to 20,000 0.1 Hz 400 Immediately
Setting Unit Default Setting When Enabled Classication
Tuning
Parameter Meaning When Enabled Classication
Pn140
n.0
(default setting) Do not perform vibration suppression.
Immediately Tuning
n.1Perform vibration suppression for a specic frequency.
n.2Reserved setting (Do not use.)
Thisisthe setting range
for the parameter.
Parameter
number 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.
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.
Parameter
number
•Parameters for Selecting Functions
Notation Examplesfor Pn008
Pn008 =
n.X
Indicatesthe rst digit from
the right in Pn008.
Pn008 =
n.1
Indicatesthat the rst digit from
the right in Pn008 isset to 1.
Pn008 =
n.X
Indicatesthe second digit
from the right in Pn008.
Pn008 =
n.1
Indicatesthat the second digit from
the right in Pn008 isset to 1.
Pn008 =
n.X
Indicatesthe third digit from
the right in Pn008.
Pn008 =
n.1
Indicatesthat the third digit from
the right in Pn008 isset to 1.
Pn008 =
n.X
Indicatesthe fourth digit from
the right in Pn008.
Pn008 =
n.1
Indicatesthat the fourth digit from
the right in Pn008 isset to 1.
n.0 0 0 0 Notation
Digit Notation Numeric Value Notation
Meaning Notation Meaning

viii
Engineering Tools Used in This Manual
This manual uses the interfaces of the SigmaWin+ for descriptions.
Trademarks
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

ix
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.

x
Safety Precautions That Must Always Be Observed
General Precautions
DANGER
Read and understand this manual to ensure the safe usage of the product.
Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.
Make sure that it is delivered to the final user of the product.
Do not remove cables or connectors while power is being supplied to the SERVOPACK.
There is a risk of electric shock, operational failure of the product, or burning.
WARNING
Always use the correct power supply specifications for the product.
There is a risk of burning, electric shock, or fire.
Connect the ground terminal on the SERVOPACK to a ground pole with a resistance of 100 Ωor
less.
There is a risk of electric shock or fire.
Do not attempt to disassemble, repair, or modify the product.
There is a risk of fire or failure.
The warranty is void for the product if you disassemble, repair, or modify it.
CAUTION
SERVOPACKs and Servomotors may be very hot while power is ON or soon after the power is
turned OFF. Implement safety measures, such as installing covers, so that hands and parts
such as cables do not come into contact with hot components.
There is a risk of burn injury.
For a 24-VDC power supply, use a power supply device with double insulation or reinforced
insulation.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of failure, damage, or electric shock.
Do not use the product in an environment that is subject to water, corrosive gases, or flamma-
ble gases, or near flammable materials.
There is a risk of electric shock or fire.
NOTICE
Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.
Install external emergency stop circuits that shut OFF the power supply and stops operation
immediately when an error occurs.
Use a Noise Filter to minimize the effects of electromagnetic interference.
Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.
Always use a Servomotor and SERVOPACK in one of the specified combinations.
Do not touch a SERVOPACK or Servomotor with wet hands.
There is a risk of product failure or electric shock.