YASKAWA SERVOPACK Sigma 7S Series Instructions and recipes

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 supplementary information for the following manuals.
•Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Prod-
uct Manual
•Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II Communications Refer-
ences Product Manual
•Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III Communications Refer-
ences Product Manual
•Σ-7-Series AC Servo Drive Σ-7W SERVOPACK with MECHATROLINK-III Communications Refer-
ences Product Manual
Read and understand this manual and the above manual for your SERVOPACK to ensure correct
usage of the Σ-7-Series AC Servo Drives.
Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Item This
Manual
Σ-7S SERVOPACK Product Manual
Σ -7W
SERVOPACK
Product
Manual
SERVOPACK
with Analog
Voltage/
Pulse Train
References
SERVOPACK
with MECHA-
TROLINK-II
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
Application
Functions
I/O Signal
Allocations −−6.1 6.1 6.1 6.1
Operation for
Momentary
Power
Interruptions
−−6.2 6.2 6.2 6.2
SEMI F47
Function −−6.3 6.3 6.3 6.3
Motor Maximum
Speed Setting −−6.4 6.4 6.4 6.4
Speed Control
Basic Settings for
Speed Control 1.1.1 6.5.1 −−−
Soft Start Settings −6.5.2 −−−
Speed Reference
Filter −6.5.3 −−−
Zero Clamping −6.5.4 −−−
/V-CMP (Speed
Coincidence Detec-
tion Output) Signal
−6.5.5 −−−
Operation Examples
for Changing the
Motor Direction
1.1.2 −−−−
Position Control −−6.6 −−−
Continued on next page.

iv
Application
Functions
To r q u e C o n t ro l −−6.7 −−−
Encoder Divided
Pulse Output −−6.8 6.5 6.5 −
Software Limits −−−6.6 6.6 6.5
Internal Set
Speed Control −−6.9 −−−
Selecting
Combined
Control Methods
−−6.10 −−−
Selecting Torque
Limits −−6.11 6.7 6.7 6.6
Absolute Rotary
Encoders −−6.12 6.8 6.8 6.7
Absolute Linear
Encoder −−6.13 6.9 6.9 6.8
Software Reset −−6.14 6.10 6.10 6.9
Vibration
Detection Level
Initialization
−−6.15 6.11 6.11 6.10
Motor Current
Detection Signal
Offset
Adjustment
−−6.16 6.12 6.12 6.11
Forcing the
Motor to Stop
FSTP (Forced Stop
Input) Signal 1.2.1 −−−−
Setting the FSTP
(Forced Stop Input)
Signal
1.2.2 −−−−
Stopping Method
Selection for Forced
Stops
1.2.3 −−−−
Resetting Method
for Forced Stops 1.2.4 −−−−
Continued on next page.
Continued from previous page.
Item This
Manual
Σ-7S SERVOPACK Product Manual
Σ -7W
SERVOPACK
Product
Manual
SERVOPACK
with Analog
Voltage/
Pulse Train
References
SERVOPACK
with MECHA-
TROLINK-II
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References

v
Tuning
Overview and
Flow of Tuning −−8.1 8.1 8.1 8.1
Monitoring
Methods −−8.2 8.2 8.2 8.2
Precautions to
Ensure Safe
Tuning
−−8.3 8.3 8.3 8.3
Tuning-less
Function −−8.4 8.4 8.4 8.4
Moment of
Inertia Estimation −−8.5 8.5 8.5 8.5
Autotuning
without
Host Reference
−−8.6 8.6 8.6 8.6
Autotuning with
a Host Reference −−8.7 8.7 8.7 8.7
Custom Tuning −−8.8 8.8 8.8 8.8
Anti-resonance
Control
Adjustment
Outline 2.1.1 8.9.1 8.9.1 8.9.1 8.9.1
Preparations 2.1.2 8.9.2 8.9.2 8.9.2 8.9.2
Applicable Tools 2.1.3 8.9.3 8.9.3 8.9.3 8.9.3
Operating Procedure 2.1.4 8.9.4 8.9.4 8.9.4 8.9.4
Related Parameters 2.1.5 8.9.5 8.9.5 8.9.5 8.9.5
Suppressing Differ-
ent Vibration Fre-
quencies with Anti-
resonance Control
2.1.6 −−−−
Vibration
Suppression −−8.10 8.10 8.10 8.10
Speed Ripple
Compensation
Outline 2.2.1 −−−−
Setting Up Speed
Ripple Compensa-
tion
2.2.2 −−−−
Setting Parameters 2.2.3 −−−−
Additional
Adjustment
Functions
−−8.11 8.11 8.11 8.11
Manual Tuning −−8.12 8.12 8.12 8.12
Diagnostic Tools −−8.13 8.13 8.13 8.13
Continued on next page.
Continued from previous page.
Item This
Manual
Σ-7S SERVOPACK Product Manual
Σ -7W
SERVOPACK
Product
Manual
SERVOPACK
with Analog
Voltage/
Pulse Train
References
SERVOPACK
with MECHA-
TROLINK-II
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References

vi
Monitoring
Monitoring
Product
Information
−−9.1 9.1 9.1 9.1
Monitoring
SERVOPACK
Status
−−9.2 9.2 9.2 9.2
Monitoring
Machine
Operation
Status and
Signal
Waveforms
−−9.3 9.3 9.3 9.3
Monitoring
Product Life
Items That You Can
Monitor 3.1.1 9.4.1 9.4.1 9.4.1 9.4.1
Operating Procedure 3.1.2 9.4.2 9.4.2 9.4.2 9.4.2
Preventative Mainte-
nance 3.1.3 −−−−
Mainte-
nance
Inspections and
Part
Replacement
−−12.1 12.1 12.1 12.1
Alarm Displays
List of Alarms 4.1.1 12.2.1 12.2.1 12.2.1 10.2.1
Troubleshooting
Alarms 4.1.2 12.2.2 12.2.2 12.2.2 10.2.2
Alarm Reset −12.2.3 12.2.3 12.2.3 10.2.3
Displaying Alarm
History −12.2.4 12.2.4 12.2.4 10.2.4
Clearing the Alarm
History −12.2.5 12.2.5 12.2.5 10.2.5
Resetting Alarms
Detected in Option
Module
−12.2.6 12.2.6 12.2.6 10.2.6
Resetting Motor
Typ e Al ar ms 4.1.3 −−−−
Warning Displays
List of Warnings 4.2.1 12.3.1 12.3.1 12.3.1 10.3.1
Troubleshooting
Warnings 4.2.2 12.3.2 12.3.2 12.3.2 10.3.2
Monitoring
Communica-
tions Data during
Alarms or
Warnings
−−12.4 12.4 12.4 10.4
Troubleshooting
Based on the
Operation and
Conditions of the
Servomotor
−−12.5 12.5 12.5 10.5
Continued from previous page.
Item This
Manual
Σ-7S SERVOPACK Product Manual
Σ -7W
SERVOPACK
Product
Manual
SERVOPACK
with Analog
Voltage/
Pulse Train
References
SERVOPACK
with MECHA-
TROLINK-II
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References

vii
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
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.
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 (SGM7A, SGM7J, or SGM7G) or a
Direct Drive Servomotor (SGMCS or SGMCV).
The descriptions will specify when Direct Drive Servomotors are excluded.
Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, SGLT, or SGLC).
SERVOPACK
A Σ-7-Series Σ-7S Servo Amplifier with Analog Voltage/Pulse Train References, Σ-7S Servo
Amplifier with MECHATROLINK-II Communications References, Σ-7S Servo Amplifier with
MECHATROLINK-III Communications References, or Σ-7W Servo Amplifier with MECHA-
TROLINK-III Communications References.
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 Engi-
neering Tool is installed.
Rotary Servomotors Linear Servomotors
torque force
moment of inertia mass
rotation movement
forward rotation and reverse rotation 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

viii
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Application Functions
1
1.1 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 Basic Settings for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.1.2 Operation Examples for Changing the Motor Direction. . . . . . . . . . . . . . . . .1-8
1.2 Forcing the Motor to Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.2.1 FSTP (Forced Stop Input) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10
1.2.2 Setting the FSTP (Forced Stop Input) Signal . . . . . . . . . . . . . . . . . . . . . . .1-11
1.2.3 Stopping Method Selection for Forced Stops. . . . . . . . . . . . . . . . . . . . . . .1-14
1.2.4 Resetting Method for Forced Stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15
Tuning
2
2.1 Anti-Resonance Control Adjustment . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.1.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.1.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.1.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.1.5 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.1.6 Suppressing Different Vibration Frequencies with Anti-resonance Control . .2-5
2.2 Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.2.2 Setting Up Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.2.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11
Monitoring
3
3.1 Monitoring Product Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.1 Items That You Can Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.1.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.1.3 Preventative Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
Maintenance
4
4.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.1.2 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.1.3 Resetting Motor Type Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

ix
4.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 List of Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.2 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Revision History

This chapter describes the application functions that you
can set before you start servo system operation. It also
describes the setting methods.
1.1 Speed Control . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 Basic Settings for Speed Control . . . . . . . . . . . . 1-2
1.1.2 Operation Examples for Changing the Motor
Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.2 Forcing the Motor to Stop . . . . . . . . . . . . . 1-10
1.2.1 FSTP (Forced Stop Input) Signal . . . . . . . . . . . . 1-10
1.2.2 Setting the FSTP (Forced Stop Input) Signal . . . 1-11
1.2.3 Stopping Method Selection for Forced Stops . . 1-14
1.2.4 Resetting Method for Forced Stops . . . . . . . . . 1-15
Application
Functions
1