YASKAWA SGDV-OSA01A User manual

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AC Servo Drive
Safety Module
USER’S Manual
Type：
SGDV-OSA01A
SGDV-OSA01A000FT900
Supplement for using with ∑-7S / ∑-7W SERVOPACK
( 400V-Input Power models )
Remarks
Distribution
Section in charge
Servo Drives Power Technology Sect.
Servo Drives Technology Dept.
Moton Control Division
Approve
Check
Draw
(M-Gi-S2)
T.Kubo
---
(M-Gi-S1)
K.Ando
June 25, 2016
Document No.

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Copyright © 2016 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 responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.

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About this Manual
This manual provides information required for designing and maintaining the Safety Module for Σ-7 (400V input
power models) SERVOPACKs.
In case of usingΣ-V Series, Large-Capacity Σ-V Series, and Σ-7 Series SERVOPACKs (100V or 200V-Power
input models), please refer to following manual.
Name
Number
AC Servo Drives
∑-V Series /∑-V Series for Large-Capacity Models /∑-7 Series
AC Servo Drives USER’S MANUAL
Safety Module, Model : SGDV-OSA01A
SIEP C720829 06
Be sure to refer to this manual and perform design and maintenance to select devices correctly.
Keep this manual in a location where it can be accessed for reference whenever required.
■IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
・Indicates important information that should be memorized, as well as precautions, such as
alarm displays, that do not involve potential damage to equipment.

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◆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.
■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).
Note
All Axes is only for SGD7W model.

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Related Manuals
・Manuals Related to the ∑-7S / ∑-7W SERVOPACKs with 400 V-Input Power
Refer to the following manuals as required.
Name
Selecting
Models and
Peripheral
Devices
Ratings and
Specifi-
cations
System
Design
Panels and
Wiring
Trial
Operation
Trial
Operation
and Servo
Adjustment
Mainte-
nance and
Inspection
∑-7-Series AC Servo Drive
∑-7S SERVOPACK with 400 V-Input
Power and MECHATROLINK-III
Communications References
RJ-45 Connectors Product Manual
（SIEP S800002 14）
✓
✓
✓
✓
✓
✓
✓
∑-7-Series AC Servo Drive
∑-7S SERVOPACK with 400 V-Input
Power and CoE Communications References
Product Manual
（SIEP S800001 80）
✓
✓
✓
✓
✓
✓
✓
∑-7-Series AC Servo Drive
∑-7W SERVOPACK with 400 V-Input
Power and MECHATROLINK-III
Communications References
RJ-45 Connectors Product Manual
（SIEP S800002 20）
✓
✓
✓
✓
✓
✓
✓
∑-7-Series AC Servo Drive
∑-7W SERVOPACK with 400 V-Input
Power and CoE Communications References
Product Manual
（SIEP S800001 19）
✓
✓
✓
✓
✓
✓
✓
Σ-7-Series AC Servo Drive
Rotary Servomotor with 400 V-Input Power
Product Manual
（SIEP S800001 86）
✓
✓
✓
✓
✓
Σ-7-Series AC Servo Drive
Linear Servomotor with 400 V-Input Power
Product Manual
（SIEP S800001 81）
✓
✓
✓
✓
✓
Σ-7-Series AC Servo Drive
Digital Operator Operating Manual
（SIEP S800001 33）
✓
✓
AC Servo Drive
Engineering Tool SigmaWin+
Operation Manual
（SIET S800001 34）
✓
✓
Σ-7-Series AC Servo Drive
MECHATROLINK-III Communications
Standard Servo Profile Command Manual
（SIEP S800001 31）
✓
✓
✓
AC Servo Drives Rotary Servomotors
Safety Precautions
（TOBP C230260 00）
✓
✓
AC Servo Drives Linear Servomotors
Safety Precautions
（TOBP C230800 00）
✓
✓
Σ-V Series/Σ-V Series for Large-
Capacity Models/Σ-7 Series
Option Module Safety Precautions
（TOBP C720829 00）
✓
Σ-V Series AC SERVOPACK
Safety Module with FT900 Specification
Installation Guide
（TOBP C720829 09）
✓
ΣSeries Digital Operator
Safety Precautions
（TOBP C730800 00）
✓

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■Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this
manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and
systems.
Indicates precautions that, if not heeded, could possibly result in loss of
life or serious injury.
Indicates precautions that, if not heeded, could result in relatively serious
or minor injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious
consequences if not heeded.
Indicates prohibited actions that must not be performed. For example,
this symbol would be used to indicate that fire is prohibited as follows:
Indicates compulsory actions that must be performed. For example, this
symbol would be used as follows to indicate that grounding is compulsory:

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Safety Precautions
These safety precautions are very important. Read them before performing any procedures such as checking
products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to
always observe these precautions thoroughly.
•Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
•Before starting operation with a machine connected, make sure that an emergency stop can be applied
at any time.
Failure to observe this warning may result in injury or damage to the product.
•Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
•Do not remove the cover of the power supply terminal block while the power is ON.
Failure to observe this warning may result in electric shock.
•After the power is turned OFF or after a voltage resistance test, do not touch terminals while the
CHARGE lamp is ON.
Residual voltage may cause electric shock.
•Follow the procedures and instructions provided in this manual for trial operation.
Failure to do so may result not only in faulty operation and damage to equipment, but also in personal
injury.
•The multi-turn serial data output range for the Σ-V Series, Large-Capacity Σ-V Series, and Σ-7
Series absolute position detecting system is different from that of earlier systems with 15-bit and 12-
bit encoders. In particular, change the system to configure the ΣSeries infinite-length positioning
system with the Σ-V Series, Large-Capacity Σ-V Series, or Σ-7 Series.
•The multi-turn limit value need not be changed except for special applications.
Changing it inappropriately or unintentionally can be dangerous.
•If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the
SERVOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect parameter value is set, an incorrect value will be set in the
encoder.
The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected,
resulting in a dangerous situation where the machine will move to unexpected positions.
•Do not remove the front cover, cables, connectors, or optional items from the upper front of the
SERVOPACK while the power is ON.
Failure to observe this warning may result in electric shock.
•Do not damage, press, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.
•Provide an appropriate stopping device on the machine side to ensure safety.
The holding brake on a servomotor with a brake is not a braking device for ensuring safety.
Failure to observe this warning may result in injury.
•Connect the ground terminal according to local electrical codes (100 Ωor less for a SERVOPACK
with a 100 V, 200 V power supply, 10 Ωor less for a SERVOPACK with a 400 V power supply).
Improper grounding may result in electric shock or fire.

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•Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
•Engineers designing a mechanical system using the safety functions of the Safety Module must
have complete knowledge of the relative safety standards and a full understanding of the safety
functions of the Safety Module.
Improper use may result in injury or damage to the product.
•When creating a safety design for a mechanical system using the safety functions of the Safety
Module, always perform risk assessment of the system to identify residual risks.
Improper use may result in injury or damage to the product.
•The dynamic brake is not a safety-related part of a control system. Create the safety design of the
mechanical system in such a way that any trouble in the dynamic brake function does not create a
hazard when the safety functions of the Safety Module operate.
Improper use may result in injury or damage to the product.
•Connect device conforming to the relative safety standards to the connector for Safety Request Input
Signals.
Improper use may result in injury or damage to the product.
•The safety functions of the Safety Module are not for emergency stopping. To use the safety
functions for emergency stopping, separately shut OFF the power supply from the electromechanical
section to the motor.
Improper use may result in injury or damage to the product.
•The safety functions of the Safety Module are not for shutting OFF the power supply to the
SERVOPACK and do not provide electrical isolation. Be sure to separately shut OFF the power supply to
the SERVOPACK when performing maintenance or inspection of the SERVOPACK.
Failure to observe this warning may result in electric shock.
•Be sure to check the safety-related parameters before using the safety functions of the Safety
Module.
Improper use may result in injury or damage to the product.
•If the Safety Module or SERVOPACK is changed when starting the servo system or during maintenance
or inspection, be sure to check the operation of the safety functions in the actual application after
performing wiring.
Improper use may result in injury or damage to the product.
•If the HWBB function of the SERVOPACK is not used, the safety function jumper connector shall be
connected to the connector (CN8) of the SERVOPACK. However if the safety jumper connector is
connected unintentionally, the safety functions may not operate properly, which may result in injury or
damage to the product.

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■Storage and Transportation
•Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
•Locations subject to direct sunlight
•Locations subject to ambient operating temperatures outside the range specified in the
storage/installation temperature conditions
•Locations subject to humidity outside the range specified in the storage/installation humidity conditions
•Locations subject to condensation as the result of extreme changes in temperature
•Locations subject to corrosive or flammable gases
•Locations subject to dust, salts, or iron dust
•Locations subject to exposure to water, oil, or chemicals
•Locations subject to shock or vibration
•Do not hold the product by the cables, motor shaft or detector while transporting it.
Failure to observe this caution may result in injury or malfunction.
•Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
•If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets,
or plywood, 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.
If the electronic products, which include stand-alone products and products installed in machines, are
packed with fumigated wooden materials, the electrical 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 erosion of the capacitors.
■Installation
•Never use the product in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
•Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
•Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or
fire.
•Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
•Provide the specified clearances between the SERVOPACK and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
•Do not apply any strong impact.
Failure to observe this caution may result in malfunction.

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■Wiring
•Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
•Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connection.
Failure to observe this caution may result in injury or fire.
•Securely connect the main circuit power supply terminal screws, control power supply terminal screws,
and servomotor connection terminal screws.
Failure to observe this caution may result in fire.
•Do not bundle or run the main circuit cables together with the input/output signal cables or the encoder
cables in the same duct. Keep them separated by at least 30 cm.
Failure to observe this caution may result in malfunction.
•Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for input/output signal cables
and the encoder cables.
•I/O signal cables must be no longer than 3 m, encoder cables must be no longer than 50 m, and control
power supply cables for the SERVOPACK with a 400 V power supply (+24 V, 0 V) must be no longer
than 10 m.
•Do not touch the power terminals while the CHARGE lamp is ON after turning power OFF because high
voltage may still remain in the SERVOPACK.
Make sure the CHARGE lamp is OFF first before starting an inspection.
•Observe the following precautions when wiring main circuit terminal blocks of the SERVOPACK.
•Remove the detachable main circuit terminal blocks from the SERVOPACK prior to wiring.
•Insert only one main power line per opening in the main circuit terminals.
•Make sure that no part of the core wire comes into contact with (i.e., short-circuit) adjacent wires.
•Install a battery at either the host controller or the SERVOPACK, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit
between the batteries.
•Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
•Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
•Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
•Take appropriate and sufficient countermeasures for each form of potential interference when installing
systems in the following locations.
•Locations subject to static electricity or other forms of noise
•Locations subject to strong electromagnetic fields and magnetic fields
•Locations subject to possible exposure to radioactivity
•Locations close to power supplies
Failure to observe this caution may result in damage to the product.
•Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, the SERVOPACK, the servomotor, or cause an
explosion.
Wiring or inspection must be performed by a technical expert.
•Use a 24-VDC power supply with double insulation or reinforced insulation.

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■Operation
•Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution so may result in fire or malfunction.
•Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to
avoid accidents.
Failure to observe this caution may result in injury.
•During trial operation, confirm that the holding brake works correctly. Furthermore, secure system
safety against problems such as signal line disconnection.
•Before starting operation with a machine connected, change the settings to match the parameters of
the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or
malfunction.
•Do not frequently turn power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows when power
is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and
fuses to deteriorate, resulting in unexpected problems.
•When using JOG operations (Fn002), search operations (Fn003), or EasyFFT operations (Fn206),
the dynamic brake function does not work for reverse overtravel or forward overtravel. Take
necessary precautions.
•When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling
due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when
overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
•When not using turning-less function, set to the correct moment of inertia ratio (Pn103).
Setting to an incorrect moment of inertia ratio may cause machine vibration.
•Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or
soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
•Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
•When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in damage to the product, fire, or injury.
•Do not use the brake of the servomotor for braking.
Failure to observe this caution may result in malfunction.
•An alarm or warning may be generated if communications are executed with the host controller during
operation using the digital operator.
If an alarm or warning is generated, the process currently being executed may be aborted and the
system may stop.

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■Maintenance and Inspection
•Do not disassemble the SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
•Do not change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
•When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK
parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.
■Disposal
•When disposing of the products, treat them as ordinary industrial waste.
■General Precautions
Observe the following general precautions
to ensure safe application.
•The products shown in illustrations in this manual are sometimes shown without covers or protective
guards.
Always replace the cover or protective guard as specified first, and then operate the products in
accordance with the manual.
•The drawings presented in this manual are typical examples and may not match the product you
received.
•If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or
one of the offices listed on the back of this manual.

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Warranty
(1) Details of Warranty
■Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from
the time of delivery to the location specified by the customer or 18 months from the time of shipment from the
Yaskawa factory, whichever is sooner.
■Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product
reaching the end of its service life and replacement of parts that require replacement or that have a limited
service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs
or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment
from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
(2) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program
execution of the programs provided by the user or by a third party for use with programmable Yaskawa
products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer
Purchasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,
nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights
or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

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(3) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply
if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment
used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety
measures to minimize hazards in the event of failure.
•Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions
or environments not described in product catalogs or manuals
•Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems,
medical equipment, amusement machines, and installations subject to separate industry or government
regulations
•Systems, machines, and equipment that may present a risk to life or property
•Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or
systems that operate continuously 24 hours a day
•Other systems that require a similar high degree of safety
4. Never use the product for an application involving serious risk to life or property without first ensuring that
the system is designed to secure the required level of safety with risk warnings and redundancy, and that the
Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for
reference.
Check the functionality and safety of the actual devices and equipment to be used before using the product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.
(4) Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the
actual specifications before purchasing a product.

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Harmonized Standards
■North American Safety Standards (UL)
Model
UL * Standards
SERVOPACK
SGD7S, SGD7W
UL61800-5-1
∗Underwriters Laboratories Inc.
Note: Applicable when the Safety Module is attached to the SERVOPACKs for use with the MECHATROLINK-III communications reference,
the CoE communication reference type of ∑-7 SERVOPACK with 400 V-Input Power model.
■European Directives
Model
European Directives
Harmonized Standards
SERVOPACK
SGD7S, SGD7W
Machinery Directive
2006/42/EC
EN ISO13849-1: 2015
EMC Directive
2004/108/EC
EN 55011 group 1, class A
EN 61000-6-2
EN 61000-6-4
EN 61800-3
Low Voltage Directive
2006/95/EC
EN 50178
EN 61800-5-1
Note: Applicable when the Safety Module is attached to the SERVOPACKs for use with the MECHATROLINK-III communications reference,
the CoE communication reference type of ∑-7 SERVOPACK with 400 V-Input Power model.
■Safety Standards
Model
Safety Standards
Standards
SERVOPACK
SGD7S, SGD7W
Safety of Machinery
EN ISO13849-1: 2015
Functional Safety
IEC 61508 series
IEC 62061
IEC 61800-5-2
EMC
IEC 61326-3-1
Note: Applicable when the Safety Module is attached to the SERVOPACKs for use with the MECHATROLINK-III communications reference,
the CoE communication reference type of ∑-7 SERVOPACK with 400 V-Input Power model.

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■Safe Performance
(1) Safe Performance：CN8□of SERVOPACK (SGD7S:CN8, SGD7W:CN8A/CN8B)
Items
Standards
Performance Level
Safety Integrity Level
IEC 61508
SIL3
IEC 62061
SILCL3
Probability of dangerous failure per hour
IEC 61508
IEC 62061
PFH = 4.40×10-9 [1/h]
(4.40% of SIL3)
Performance Level
EN ISO 13849-1
PL e (Category 3)
Mean time to dangerous failure of each channel
EN ISO 13849-1
MTTFd: High
Average diagnostic coverage
EN ISO 13849-1
DCavg: Medium
Stop category
IEC 60204-1
Stop category 0
Safety function
IEC 61800-5-2
STO
Mission time
IEC 61508
10 years
Hardware Fault Tolerance
IEC 61508
HFT = 1
Subsystem
IEC 61508
B
Note : Safe performance of SERVOPACK’s the CN8□safety function (STO)
This specification is applied when to use HWBB-input from the CN8□of SERVOPACK.
(2) Safe Performance：Safety Module
Items
Standards
Performance Level
Safety Integrity Level
IEC 61508
SIL2
IEC 62061
SILCL2
Probability of dangerous failure per hour
IEC 61508
IEC 62061
PFH = 3.3×10-7 [1/h]
(3.3% of SIL2)
Performance Level
EN ISO 13849-1
PL d (Category 2)
Mean time to dangerous failure of each channel
EN ISO 13849-1
MTTFd: High
Average diagnostic coverage
EN ISO 13849-1
DCavg: Medium
Safety function
IEC 61800-5-2
STO/SS1/SS2/SLS
Mission time
IEC 61508
10 years
Hardware Fault Tolerance
IEC 61508
HFT = 1
Subsystem
IEC 61508
B
Note : Safe performance of the Safety Module Safety function A (CN21) and Safety function B (CN22)
Safe Performance with a combination the SERVOPACK and the Safety Module
SERVOPACK
Safety Module
(1)Safe Performance :
SERVOPACK CN8□(*1)
(2)Safe Performance :
Safety Module (*1)
SGD7S (400V)
SGDV-OSA01A
CN8 : Not apply (*3)
Apply
SGDV-OSA01A000FT900
CN8 : Apply
Apply
SGD7W (400V)
Axis A(*2)
SGDV-OSA01A
Apply
Apply
Axis B(*2)
－
CN8B : Apply
－
SGD7W (400V)
Axis A
SGDV-OSA01A000FT900
CN8A : Apply
Apply
Axis B
－
CN8B : Apply
－
*1：Refer to “■Safe Performance”for the details of the safe performance.
*2：When the Safety Module is attached to the SGD7W, the Safety Module operates for Axis A only.
*3：A safety jumper connector shoud be connected for not applied CN8□.

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Description of Technical Terms
The following table shows the meanings of terms used in this manual.
Term
Meaning
Servomotor
Σ-V Series/Σ-7 Series: SGMJV, SGMAV, SGMVV, SGMPS, SGMGV, SGMSV, or
SGMCS (Direct Drive) servomotor
Σ-7 Series: SGM7J, SGM7A, SGM7P, or SGM7G servomotor
Linear ΣSeries: SGLGW, SGLFW, SGLTW, or SGLC servomotor
SERVOPACK
Σ-7 Series SGD7S or SGD7W SERVOPACK
Servo Drive
A set including a servomotor and SERVOPACK (i.e., a servo amplifier)
Servo System
A servo control system that includes the combination of a servo drive with a host
controller and peripheral devices
M-III communications
reference model
SGD7S SERVOPACK with a MECHATROLINK-III communications reference interface
CoE communications
reference model
SGD7S SERVOPACK with a CoE(CANOpen Over EtherCAT) communications
reference interface
Safety Option Module
Generic term for an Option Module that provides safety functions and is mounted on
a SGD7S SERVOPACK
Safety Module
The option module that provides safety functions specified in this manual.
Digital Operator
Handy type operator connected to SERVOPACKs
Servo ON
Power to motor ON
Servo OFF
Power to motor OFF
BaseBlock (BB)
Power supply to motor is turned OFF by shutting OFF the base current to the power
transistor that supplies power to the motor.
Hardwire BaseBlock Function
(HWBB)
Safety function in the SERVOPACK
This is the safety function that is equivalent to the Safe Torque Off function defined
in IEC 61800-5-2.
Safe Torque Off (STO)
This is one of safety functions defined in IEC 61800-5-2.
This is the safety function that shuts OFF power supply to the motor.
Safe Stop 1 (SS1)
This is one of safety functions defined in IEC 61800-5-2.
This is the safety function that starts deceleration of the motor and executes the
STO function after a specified time has passed.
Safe Stop 2 (SS2)
This is one of safety functions defined in IEC 61800-5-2.
This is the safety function that starts deceleration of the motor and prevents the
motor from stopping at a distance greater than the allowable deviation from the
specified position after a specified time has passed.
Safely-Limited Speed (SLS)
This is one of safety functions defined in IEC 61800-5-2.
This is the safety function that prevents the motor speed from exceeding the
specified speed.

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Term
Meaning
Safe BaseBlock Function
(SBB function)
This is one of safety functions in the Safety Module.
This is the safety function that is equivalent to the Safe Torque Off function defined
in IEC 61800-5-2.
Safe BaseBlock with Delay
Function (SBB-D function)
This is one of safety functions in the Safety Module.
This is the safety function that is equivalent to the Safe Stop 1 function defined in
IEC 61800-5-2.
Safe Position Monitor with
Delay Function
(SPM-D function)
This is one of safety functions in the Safety Module.
This is the safety function that is equivalent to the Safe Stop 2 function defined in
IEC 61800-5-2.
Safely Limited Speed with
Delay Function
(SLS-D function)
Stopping function in the Safety Module.
This is the safety function that is equivalent to the Safely-Limited Speed function
defined in IEC 61800-5-2.
Safe (HWBB) state
The Safety Module is shutting OFF power supply to the motor by executing the
HWBB function of SGDV/SGD7S or SGD7W SERVOPACK.
Safe State
Safe state depends on safety functions used.
SBB function
Safe (HWBB) state
SBB-D function
Safe (HWBB) state
SPM-D function
When monitoring positions or in a safe (HWBB) state
SLS-D function
When monitoring constant-speed operation or in a safe (HWBB)
state
Deceleration Monitoring
The Safety Module is monitoring deceleration operation of the motor.
Position Monitoring
The Safety Module is monitoring distance that the motor moved.
Constant-speed Monitoring
The Safety Module is monitoring constant-speed operation of the motor.
Safety-related Module
Parameter
Parameter related to the safety functions of the Safety Module.
Safety-related Servo
Parameter
These parameters contain the information related to the safety functions of
SERVOPACKs and servomotors, and are managed by the Safety Module.
System Reset
Reset the servo system by shutting OFF the power or executing software reset
(Fn030).
Parameter Recalculation
Recalculation of parameter by CONFIG command via MECHATROLINK-III or by the
request from the Command Option Module.
Proof Test
Scheduled tests defined in IEC 61508-4.
This is the test that is used to detect the failure of the safety-related system.
Axis A
Axis B
In this manual, the axes are called axis A and axis B.
However, they are displayed as “axis 1,”“axis 2,”“AXIS#00,”or “AXIS#01”
on the Engineering Tool.

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Outline of this manual
Following contents are described in each content.
When to use this product, you should refer both this manual and shown manual at following table.
Content
This manual
AC Servo Drives
∑-V Series/∑-V Series for Large-
Capacity Models/∑-7 Series
USER’S MANUAL Safety Module
Model: SGDV-OSA01A
SIEP C720829 06
Checking Products
Checking Products on Delivery
1.1
1,1
Nameplate (Ratings) and Model Designation
1.2
1.2
Nameplate Location
-
1.3
Specifications
Overview
2.1
2.1
Specifications
2.2
2.2
Part Names
-
2.3
Internal Block Diagram
2.3
2.4
SERVOPACK
Installation
SERVOPACK Installation Environment and
Harmonized Standards
-
3.1
SERVOPACK Installation
-
3.2
EMC Installation Conditions
3.1
3.3
Wiring and Connection
System Configuration Diagram
-
4.1
I/O Signal Connections
-
4.2
Precautions and Basic
Settings Required
before Starting
Operation
Safety Precautions for Using the Safety
Module
-
5.1
Risk Assessment
-
5.2
Limitations
-
5.3
Basic Settings Required before Starting
Operation
-
5.4
Checking the Operation
5.1
5.5
Safety Functions
Overview
-
6.1
Common Items
-
6.2
Safe BaseBlock Function (SBB Function)
-
6.3
Safe BaseBlock with Delay Function (SBB-D
Function)
-
6.4
Safe Position Monitor with Delay Function
(SPM-D Function)
-
6.5
Safely Limited Speed with Delay Function
(SLS-D Function)
-
6.6
Order of Priority of Safety Functions
-
6.7
Application Example of Safety Functions
-
6.8
Setting Parameters
Types of Parameters
-
7.1
Safety-related Module Parameters
-
7.2
Safety-related Servo Parameters
-
7.3
Utility Functions
List of Utility Functions
-
8.1
Safety Option Module Access Mode Setting
(Fn040)
-
8.2
Safety-related Module Parameter Setting
(Fn041)
-
8.3
Safety-related Servo Parameter Updating
(Fn042)
-
8.4
Safety Option Module Initializing Parameter
Setting (Fn043)
-
8.5
Safety Option Module Setup Alarm Clear
(Fn044)
-
8.6
Related Utility Functions
-
8.7

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Content
This manual
AC Servo Drives
∑-V Series/∑-V Series for Large-
Capacity Models/∑-7 Series
USER’S MANUAL Safety Module
Model: SGDV-OSA01A
SIEP C720829 06
Monitor Mode
Overview
9.1
9.1
Monitoring from the Panel Operator and
Digital Operator
9.2
9.2
Monitoring Over the Network
-
9.3
Active Mode Function
Overview
-
10.1
Basic Functions
10.1
10.2
Settings
-
10.3
Returning Method
-
10.4
Exceptional Operation
-
10.5
Related SERVOPACK Functions
-
10.6
Troubleshooting
List of Alarms
-
11.1
Troubleshooting of Alarms
11.2
11.2
Appendix
Safety-related Module Parameters
12.1
12.1
Safety-related Servo Parameters
-
12.2
Parameters Related Active Mode Function
12.3
12.3
Device Combinations
12.4
12.4