YASKAWA S-7 Series User manual

MANUAL NO. TOEP C710828 00D
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
Type: SGD7S-AA
Σ-7S and Σ-7W SERVOPACK
Σ-7-Series AC Servo Drive
Safety Precautions
SGD7W-AA

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 constantly
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 responsibil-
ity for errors or omissions. Neither is any liability assumed for damages result-
ing from the use of the information contained in this publication.

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Safety Precautions
• Indicates precautions that, if not heeded, are likely to result in loss of life, seri-
ous injury, or fire.
• Indicates precautions that, if not heeded, could result in loss of life, serious
injury, or fire.
• Indicates precautions that, if not heeded, could result in relatively serious or
minor injury, or in fire.
• Indicates precautions that, if not heeded, could result in property damage.
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
WARNING
CAUTION
NOTICE

• 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 when-
ever necessary. Make sure that it is delivered to the final user of the product.
• Do not remove covers, cables, connectors, or optional devices while power is
being supplied to the SERVOPACK.
• Use a power supply with specifications (number of phases, voltage, frequency,
and AC/DC type) that are appropriate for the product.
• Connect the ground terminals on the SERVOPACK and Servomotor to ground
poles according to local electrical codes (100 or less for a SERVOPACK
with a 100-VAC or 200-VAC power supply, and 10 or less for a SERVO-
PACK with a 400-VAC power supply).
• Do not attempt to disassemble, repair, or modify the product.
• The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake
Resistors, Servomotors, and other components can 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 con-
tact with hot components.
• 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.
• The person who designs the system that uses the hard wire base block safety
function must have a complete knowledge of the related safety standards and a
complete understanding of the instructions in this document.
• Do not use the product in an environment that is subject to water, corrosive
gases, or flammable gases, or near flammable materials.
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Safety Precautions That Must Always Be Observed
General Precautions
DANGER
There is a risk of electric shock, operational failure of the product, or burning.
WARNING
There is a risk of burning, electric shock, or fire.
There is a risk of electric shock or fire.
There is a risk of fire or failure.
The warranty is void for the product if you disassemble, repair, or modify it.
CAUTION
There is a risk of burn injury.
There is a risk of electric shock.
There is a risk of failure, damage, or electric shock.
There is a risk of injury, product damage, or machine damage.
There is a risk of electric shock or fire.

• 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.
• In locations with poor power supply conditions, install the necessary protec-
tive devices (such as AC reactors) to ensure that the input power is supplied
within the specified voltage range.
• Use a Noise Filter to minimize the effects of electromagnetic interference.
• Always use a Servomotor and SERVOPACK in one of the specified combina-
tions.
• Do not touch a SERVOPACK or Servomotor with wet hands.
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NOTICE
There is a risk of damage to the SERVOPACK.
Electronic devices used near the SERVOPACK may be affected by electro-
magnetic interference.
There is a risk of product failure.

• Do not place an excessive load on the product during storage. (Follow all
instructions on the packages.)
• Do not install or store the product in any of the following locations.
• Transport the product in a way that is suitable to the mass of the product.
• Do not use the eyebolts on a SERVOPACK or Servomotor to move the
machine.
• When you handle a SERVOPACK or Servomotor, be careful of sharp parts,
such as the corners.
• Do not place an excessive load on the product during transportation. (Follow
all instructions on the packages.)
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Storage Precautions
Transportation Precautions
CAUTION
There is a risk of injury or damage.
NOTICE
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product spec-
ifications
• Locations that are subject to relative humidities that exceed product specifi-
cations
• Locations that are subject to condensation as the result of extreme changes
in temperature
• Locations that are subject to corrosive or flammable gases
• Locations that are near flammable materials
• Locations that are subject to dust, salts, or iron powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock that exceeds product specifi-
cations
• Locations that are subject to radiation
If you store or install the product in any of the above locations, the product
may fail or be damaged.
CAUTION
There is a risk of damage or injury.
There is a risk of injury.
There is a risk of injury or damage.

• Do not hold onto the front cover or connectors when you move a SERVO-
PACK.
• A SERVOPACK or Servomotor is a precision device. Do not drop it or subject
it to strong shock.
• Do not subject connectors to shock.
• If disinfectants or insecticides must be used to treat packing materials such as
wooden frames, plywood, or pallets, the packing materials must be treated
before the product is packaged, and methods other than fumigation must be
used.
Example: Heat treatment, where materials are kiln-dried to a core temperature
of 56C for 30 minutes or more.
• Do not overtighten the eyebolts on a SERVOPACK or Servomotor.
• Install the Servomotor or SERVOPACK in a way that will support the mass
given in technical documents.
• Install SERVOPACKs, Servomotors, regenerative resistors, and External
Dynamic Brake Resistors on nonflammable materials.
• Provide the specified clearances between the SERVOPACK and the control
panel as well as with other devices.
• Install the SERVOPACK in the specified orientation.
• Do not step on or place a heavy object on the product.
• Do not allow any foreign matter to enter the SERVOPACK or Servomotor.
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Installation Precautions
NOTICE
There is a risk of the SERVOPACK falling.
There is a risk of failure or damage.
There is a risk of faulty connections or damage.
If the electronic products, which include stand-alone products and products
installed in machines, are packed with fumigated wooden materials, the elec-
trical components may be greatly damaged by the gases or fumes resulting
from the fumigation process. In particular, disinfectants containing halogen,
which includes chlorine, fluorine, bromine, or iodine can contribute to the ero-
sion of the capacitors.
If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.
CAUTION
Installation directly onto or near flammable materials may result in fire.
There is a risk of fire or failure.
There is a risk of fire or failure.
There is a risk of failure, damage, or injury.
There is a risk of failure or fire.

• Do not install or store the product in any of the following locations.
• Use the product in an environment that is appropriate for the product specifi-
cations.
• A SERVOPACK or Servomotor is a precision device. Do not drop it or subject
it to strong shock.
• Always install a SERVOPACK in a control panel.
• Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with
a Cooling Fan and do not cover the outlet from the Servomotor’s cooling fan.
• Do not change any wiring while power is being supplied.
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Wiring Precautions
NOTICE
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product spec-
ifications
• Locations that are subject to relative humidities that exceed product specifi-
cations
• Locations that are subject to condensation as the result of extreme changes
in temperature
• Locations that are subject to corrosive or flammable gases
• Locations that are near flammable materials
• Locations that are subject to dust, salts, or iron powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock that exceeds product specifi-
cations
• Locations that are subject to radiation
If you store or install the product in any of the above locations, the product
may fail or be damaged.
If you use the product in an environment that exceeds product specifications,
the product may fail or be damaged.
There is a risk of failure or damage.
There is a risk of failure.
DANGER
There is a risk of electric shock or injury.

• Wiring and inspections must be performed only by qualified engineers.
• Check all wiring and power supplies carefully.
• Connect the AC and DC power supplies to the specified SERVOPACK termi-
nals.
• If you use a SERVOPACK that supports a Dynamic Brake Option, connect an
External Dynamic Brake Resistor that is suitable for the machine and equip-
ment specifications to the specified terminals.
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WARNING
There is a risk of electric shock or product failure.
Incorrect wiring or incorrect voltage application to the output circuits may
cause short-circuit failures. If a short-circuit failure occurs as a result of any of
these causes, the holding brake will not work. This could damage the machine
or cause an accident that may result in death or injury.
• Connect an AC power supply to the L1, L2, and L3 terminals and the L1C
and L2C terminals on the SERVOPACK.
• Connect a DC power supply to the B1/ and 2 terminals and the L1C
and L2C terminals on the SERVOPACK.
There is a risk of failure or fire.
There is a risk of unexpected operation, machine damage, burning, or injury
when an emergency stop is performed.
CAUTION
• Wait for six minutes after turning OFF the power supply and then make sure
that the CHARGE indicator is not lit before starting wiring or inspection work.
Do not touch the power supply terminals while the CHARGE lamp is lit after
turning OFF the power supply because high voltage may still remain in the
SERVOPACK.
There is a risk of electric shock.
• Observe the precautions and instructions for wiring and trial operation pre-
cisely as described in this document.
Failures caused by incorrect wiring or incorrect voltage application in the
brake circuit may cause the SERVOPACK to fail, damage the equipment, or
cause an accident resulting in death or injury.
• Check the wiring to be sure it has been performed correctly.
Connectors and pin layouts are sometimes different for different models.
Always confirm the pin layouts in technical documents for your model before
operation.
There is a risk of failure or malfunction.
• Connect wires to power supply terminals and motor connection terminals
securely with the specified methods and tightening torque.
Insufficient tightening may cause wires and terminal blocks to generate heat
due to faulty contact, possibly resulting in fire.
• Use shielded twisted-pair cables or screened unshielded multi-twisted-pair
cables for I/O Signal Cables and Encoder Cables.
Continued on next page.

E-8
• Observe the following precautions when wiring the SERVOPACK’s main cir-
cuit terminals.
• Turn ON the power supply to the SERVOPACK only after all wiring, includ-
ing the main circuit terminals, has been completed.
• If a connector is used for the main circuit terminals, remove the main circuit
connector from the SERVOPACK before you wire it.
• Insert only one wire per insertion hole in the main circuit terminals.
• When you insert a wire, make sure that the conductor wire (e.g., whiskers)
does not come into contact with adjacent wires.
• Install molded-case circuit breakers and other safety measures to provide pro-
tection against short circuits in external wiring.
• Whenever possible, use the Cables specified by Yaskawa.
If you use any other cables, confirm the rated current and application environ-
ment of your model and use the wiring materials specified by Yaskawa or
equivalent materials.
• Securely tighten cable connector screws and lock mechanisms.
• Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines
(e.g., the I/O Signal Cables or Encoder Cables) together or run them through
the same duct. If you do not place power lines and low-current lines in sepa-
rate ducts, separate them by at least 30 cm.
• Install a battery at either the host controller or on the Encoder Cable.
• When connecting a battery, connect the polarity correctly.
There is a risk of fire or failure.
NOTICE
Insufficient tightening may result in cable connectors falling off during opera-
tion.
If the cables are too close to each other, malfunctions may occur due to noise
affecting the low-current lines.
If you install batteries both at the host controller and on the Encoder Cable at
the same time, you will create a loop circuit between the batteries, resulting in
a risk of damage or burning.
There is a risk of battery rupture or encoder failure.
Continued from previous page.
CAUTION