YASKAWA E7 Drive User manual

Model: JUSP-OP05A-1-E
Digital Operator
-7-Series AC Servo Drive
Operating Manual
MANUAL NO. SIEP S800001 33F
1
2
3
4
Introduction
Parameter/Monitor Functions
Utility Functions
Parameter Copy Functions

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,
electronic, photocopying, recording, or otherwise, without the prior written
permission of Yaskawa. No patent liability is assumed with respect to the use
of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained
in this manual is subject 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 dam-
ages resulting from the use of the information contained in this publication.

iii
About this Manual
This manual describes the connection methods and provides the operating
procedures for a Digital Operator for a Σ-7-Series Servo System.
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 nec-
essary.
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
1Introduction
Describes the names of Digital Operator
parts, how to change between functions, and
the status indications.
2 Parameter/Monitor Functions Describes operating procedures for the
parameter/monitor functions.
3 Utility Functions Provides an outline of the utility functions and
describes the operating procedures for them.
4 Parameter Copy Functions Describes operating procedures for the
parameter copy functions.

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.
ManualsCatalogs
System Components

Machine
Controller
and
Servo Drive
General
Catalog

MP3300
Catalog
Machine Controllers

Σ-7-Series
Catalog
Servo Drives
Machine Controllers
SERVOPACKs: Σ-7Sand Σ-7W
SERVOPACKswith Built-in Controllers: Σ-7C
Servomotors
Other Documents

Built-in
Function
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Hardware Option
Product Manuals

Option
Module
User’s
Manuals
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
FT/EX
Product Manuals
Option
Module
User’s
Manuals
Σ-7-Series
Servomotor
Product
Manuals
Σ-7-Series
Σ-7C
SERVOPACK
Product Manuals

Σ-7-Series
Σ-7C
SERVOPACK
Troubleshooting
Manual

Enclosed
Documents

Enclosed
Documents

Built-in
Function
Manuals

Enclosed
Documents
Σ-7-Series
Peripheral
Device
Selection
Manual
Σ-7-Series
MECHATROLINK
Communications
Command
Manuals
Programming
Manuals
Distributed
I/O Module
User’s
Manuals
Σ-7-Series
Operation
Interface
Operating
Manuals
(such asthismanual)

v
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 application exam-
ples for combinations
of MP3000-Series
Machine Controllers
and Σ-7-Series AC
Servo Drives.

MP3300 Catalog
Machine Controller
MP3300 KAEP C880725 03
Provides detailed infor-
mation on MP3300
Machine Controllers,
including features and
specifications.

Σ-7-Series
Catalog
AC Servo Drives
Σ-7 Series KAEP S800001 23
Provides detailed infor-
mation on Σ-7-Series
AC Servo Drives,
including features and
specifications.

Built-in Function
Manuals
Σ-7-Series
AC Servo Drive
Σ-7C SERVOPACK
Motion Control
User’s Manual
SIEP S800002 03
Provides detailed infor-
mation on the specifi-
cations, system
configuration, and
application methods of
the Motion Control
Function Modules
(SVD, SVC4, and
SVR4) for Σ-7-Series
Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Communications
User’s Manual
SIEP C880725 12
Provides detailed infor-
mation on the specifi-
cations, system
configuration, and
communications con-
nection methods for
the Ethernet communi-
cations that are used
with MP3000-Series
Machine Controllers
and Σ-7-Series Σ-7C
SERVOPACKs.
Continued on next page.

vi

Option Module
User’s Manuals
Machine Controller
MP2000 Series
Communication
Module
User’s Manual
SIEP C880700 04
Provide detailed infor-
mation on the specifi-
cations and
communications meth-
ods for the Communi-
cations Modules that
can be mounted to
MP3000-Series
Machine Controllers
and Σ-7-Series Σ-7C
SERVOPACKs.
Machine Controller
MP2000 Series
262IF-01 FL-net
Communication
Module
User’s Manual
SIEP C880700 36
Machine Controller
MP2000 Series
263IF-01 EtherNet/IP
Communication
Module
User’s Manual
SIEP C880700 39
Machine Controller
MP2000 Series
I/O Module
User’s Manual
SIEP C880700 34
Provide detailed infor-
mation on the specifi-
cations and
communications meth-
ods for the I/O Mod-
ules that can be
mounted to MP3000-
Series Machine Con-
trollers and Σ-7-Series
Σ-7C SERVOPACKs.
Machine Controller
MP2000 Series
Analog Input/Analog
Output Module
AI-01/AO-01
User’s Manual
SIEP C880700 26
Machine Controller
MP2000 Series
Counter Module
CNTR-01
User’s Manual
SIEP C880700 27
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

vii

Enclosed
Documents
Σ-7-Series
AC Servo Drive
Σ-7S, Σ-7W, and Σ-7C
SERVOPACK
Safety Precautions
TOMP C710828 00
Provides detailed infor-
mation 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 infor-
mation for the safe
usage of Option Mod-
ules.
Σ-V-Series/Σ-V-Series
for Large-Capacity
Models/
Σ-7-Series
Installation Guide
Command Option
Module
TOBP C720829 01
Provides detailed pro-
cedures for installing
the Command Option
Module in a SERVO-
PACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity
Models/
Σ-7-Series
Installation Guide
Fully-closed Module
TOBP C720829 03
Provides detailed pro-
cedures for installing
the Fully-closed Mod-
ule 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 pro-
cedures 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 pro-
cedures 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 pro-
cedures for installing
the DeviceNet Module
in a SERVOPACK.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

viii

Σ-7-Series
Σ-7C
SERVOPACK
Product Manual
Σ-7-Series
AC Servo Drive
Σ-7C SERVOPACK
Product Manual
SIEP S800002 04
Provides detailed infor-
mation on selecting
Σ-7-Series Σ-7C
SERVOPACKs; install-
ing, connecting, set-
ting, testing in trial
operation, and tuning
Servo Drives; writing,
monitoring, and main-
taining programs; and
other information.

Σ-7-Series
Σ-7C
SERVOPACK
Troubleshooting
Manual
Σ-7-Series
AC Servo Drive
Σ-7C SERVOPACK
Troubleshooting
Manual
SIEP S800002 07
Provides detailed trou-
bleshooting information
for Σ-7-Series
Σ-7C SERVOPACKs.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

ix

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manuals
Σ-7-Series
AC Servo Drive
Σ-7S SERVOPACK
with
MECHATROLINK-4
Communications
References
Product Manual
SIEP S800002 31
Provide detailed infor-
mation on selecting
Σ-7-Series Σ-7S or
Σ-7W SERVOPACKs
and information on
installing, connecting,
setting, performing trial
operation for, tuning,
monitoring, and main-
taining the Servo
Drives.
Σ-7-Series
AC Servo Drive
Σ-7S SERVOPACK
with
MECHATROLINK-III
Communications
References
Product Manual
SIEP S800001 28
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
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

x

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manuals
Σ-7-Series
AC Servo Drive
Σ-7S SERVOPACK
Command Option
Attachable Type with
INDEXER Module
Product Manual
SIEP S800001 64
Provide detailed infor-
mation on selecting
Σ-7-Series Σ-7S or
Σ-7W SERVOPACKs
and information on
installing, connecting,
setting, performing trial
operation for, tuning,
monitoring, and main-
taining the Servo
Drives.
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
Provide detailed infor-
mation on Hardware
Options for Σ-7-Series
SERVOPACKs.
Σ-7-Series
AC Servo Drive
Σ-7W/Σ-7C
SERVOPACK with
Hardware Option
Specifications
HWBB Function
Product Manual
SIEP S800001 72
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

xi
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 infor-
mation on the FT/EX
Option 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 Application with
Special Motor,
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
Product Manual
SIEP S800001 94
Σ-7-Series
AC Servo Drive
Σ-7S SERVOPACK
with
FT/EX Specification
for Transfer and
Alignment Application
Product Manual
SIEP S800001 95
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

xii
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 Torque/Force
Assistance
for Conveyance
Application
Product Manual
SIEP S800002 09
Provide detailed infor-
mation on the FT/EX
Option for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo
Drive
Σ-7S SERVOPACK
with
FT/EX Specification
for Cutting Application
Feed Shaft Motor
Product Manual
SIEP S800002 10
Option Module
User’s Manual
AC Servo Drives
Σ-V Series/Σ-V Series
for Large-Capacity
Models/
Σ-7 Series
User’s Manual
Safety Module
SIEP C720829 06
Provides detailed infor-
mation required for the
design and mainte-
nance of a Safety Mod-
ule.
Enclosed
Documents
AC Servo Drive
Rotary Servomotor
Safety Precautions
TOBP C230260 00
Provides detailed infor-
mation for the safe
usage of Rotary Servo-
motors and Direct
Drive Servomotors.
AC Servomotor
Linear ΣSeries
Safety Precautions
TOBP C230800 00
Provides detailed infor-
mation for the safe
usage of Linear Servo-
motors.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

xiii
Σ-7-Series
Servomotor
Product Manuals
Σ-7-Series
AC Servo Drive
Rotary Servomotor
Product Manual
SIEP S800001 36
Provide detailed infor-
mation on selecting,
installing, and connect-
ing the Σ-7-Series Ser-
vomotors.
Σ-7-Series
AC Servo Drive
Linear Servomotor
Product Manual
SIEP S800001 37
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
Provides the following
information in detail for
Σ-7-Series Servo Sys-
tems.
•Cables: Models,
dimensions, wire
materials, connector
models, and connec-
tion specifications
•Peripheral devices:
Model, specifica-
tions, diagrams, and
selection (calcula-
tion) methods
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

xiv
Σ-7-Series
MECHATROLINK
Communications
Command
Manuals
Σ-7-Series
AC Servo Drive
MECHATROLINK-II
Communications
Command Manual
SIEP S800001 30
Provides detailed infor-
mation on the
MECHATROLINK-II
communications com-
mands 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 infor-
mation on the
MECHATROLINK-III
communications stan-
dard servo profile com-
mands that are used
for a Σ-7-Series Servo
System.
Σ-7-Series
AC Servo Drive
MECHATROLINK-4
Communications
Standard Servo Profile
Command Manual
SIEP S800002 32
Provides detailed infor-
mation on the
MECHATROLINK-4
communications stan-
dard servo profile com-
mands that are used
for a Σ-7- Series Servo
System.
Programming
Manuals
Machine Controller
MP3000 Series
Ladder Programming
Manual
SIEP C880725 13
Provides detailed infor-
mation on the ladder
programming specifi-
cations and instruc-
tions for MP3000-
Series Machine Con-
trollers and Σ-7-Series
Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Motion Programming
Manual
SIEP C880725 14
Provides detailed infor-
mation on the motion
programming and
sequence program-
ming specifications and
instructions for
MP3000-Series
Machine Controllers
and Σ-7-Series Σ-7C
SERVOPACKs.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

xv
Σ-7-Series
Operation
Interface
Operating
Manuals
Machine Controller
MP2000/MP3000
Series
Engineering Tool
MPE720 Version 7
User's Manual
SIEP C880761 03
Describes in detail how
to operate MPE720
version 7.
Σ-7-Series
AC Servo Drive
Digital Operator
Operating Manual
This manual
(SIEP S800001 33)
Describes the operat-
ing procedures for a
Digital Operator for a
Σ-7-Series Servo Sys-
tem.
AC Servo Drive
Engineering Tool
SigmaWin+
Operation Manual
SIET S800001 34
Provides detailed oper-
ating procedures for
the SigmaWin+ Engi-
neering Tool for a Σ-7-
Series Servo System.
Distributed
I/O Module
User’s Manual
MECHATROLINK-III
Compatible
I/O Module
User’s Manual
SIEP C880781 04
Describes the func-
tions, specifications,
operating methods,
and MECHATROLINK-
III communications for
the Remote I/O Mod-
ules for MP2000/
MP3000-Series
Machine Controllers.
MECHATROLINK-4
Compatible
I/O Module
User’s Manual
SIEP C880782 01
Describes the func-
tions, specifications,
operating methods,
and MECHATROLINK-
4 communications for
the Remote I/O Mod-
ules for MP3000-Series
Machine Controllers.
Continued from previous page.
Classification Document Name Document No. Description

xvi
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
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
(SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, or SGMMV) or a
Direct Drive Servomotor (SGM7D, SGM7E, SGM7F, SGMCV, or
SGMCS).The descriptions will specify when Direct Drive Servo-
motors are excluded.
Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT).
SERVOPACK A Σ-7-Series Servo Amplifier.
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 Engineering Tool is installed.

xvii
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.
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.
Rotary Servomotors Linear Servomotors
torque force
moment of inertia mass
rotation movement
forward rotation and reverse 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

xviii
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 (param-
eter for selecting functions).
•Parameters for Numeric Settings
Notation Example
Speed Loop Gain
(default setting)
Use the encoder asan incremental encoder.
Use the encoder according to encoder
specications.
Use the encoder asa single-turn absolute
encoder.
Pn100
Pn002
n.0
n.1
n.2
૏⟎
ㅦᐲ
Position Torque
The control methodsfor which the parametersapply are given.
Speed : Sp eed co nt ro l : Position control : Torque control
Thisisthe setting range
for the parameter.
Parameter number
Thiscolumn explainsthe
selectionsfor the function.
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
After startup Setup
Parameter
number
Setting Range
10 to 20,000 0.1 Hz 400 Immediately
Setting Unit Default Setting When Enabled Classication
Tuning
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

xix
Trademarks
•MECHATROLINK is a trademark of the MECHATROLINK Members Asso-
ciation.
•Other product names and company names are the trademarks or regis-
tered 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.
Important
Indicates definitions of difficult terms or terms that have not been previously
explained in this manual.
Term
Indicates operating or setting examples.
Example
Indicates supplemental information to deepen understanding or useful
information.
Information

xx
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 precautions 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.