YASKAWA SGM7D-30F User manual

Model: SGD7S-AF82, -00AF83
-7S SERVOPACK with
FT/EX Specification
for Application with Special Motor,
SGM7D Motor
-7-Series AC Servo Drive
Product Manual
MANUAL NO. SIEP S800001 91D
1
2
3
4
Maintenance
Parameter Lists
Basic Information on
SERVOPACKs
SERVOPACK Ratings and
Specifications

Copyright © 2015 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 describes the SGM7D motor drive application option for the Σ-7-Series AC Servo
Drive Σ-7S SERVOPACKs for special motors.
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 necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table.
When you drive an SGM7D motor with a Σ-7-Series AC Servo Drive Σ-7S SERVOPACK for applica-
tion with special motors, use this manual together with the relevant Σ-7-Series product manual.
FT82 SERVOPACKs
Item
This
Man-
ual
Σ-7S SERVO-
PACK with Analog
Voltage/Pulse Train
References Prod-
uct Manual (Man-
ual No.: SIEP
S800001 26)
Σ-7S SERVO-
PACK with
MECHATROLINK-
II Communica-
tions References
Product Manual
(Manual No.: SIEP
S800001 27)
Σ-7S SERVO-
PACK with
MECHATROLINK-
III Communica-
tions References
Product Manual
(Manual No.: SIEP
S800001 28)
Σ-7S SERVO-
PACK Command
Option Attachable
Typ e w i t h
INDEXER Module
Product Manual
(Manual No.: SIEP
S800001 64)
Basic
Informa-
tion on
SERVO-
PACKs
The Σ-7 Series – 1.1 1.1 1.1 1.1
Product Introduction 1.1––––
Interpreting the
Nameplates – 1.2 1.2 1.2 1.3
Part Names – 1.3 1.3 1.3 1.4
Model Designations 1.2––––
Combinations of
SERVOPACKs and
Servomotors
1.3––––
Functions – 1.6 1.6 1.6 1.8
SigmaWin+ 1.5––––
Combining the SERVO-
PACKs with MP-Series
Machine Controllers
and the MPE720 Engi-
neering Tool
1.6––––
Selecting
a SERVO-
PACK
Ratings 2.1––––
SERVOPACK
Overload Protection
Characteristics
– 2.1.2 2.1.2 2.1.2 2.1.2
Specifications 2.3.1––––
Block Diagrams – 2.2 2.2 2.2 2.2
External Dimensions – 2.3 2.3 2.3 2.3
Examples of
Standard
Connections between
SERVOPACKs and
Peripheral Devices
– 2.4 2.4 2.4 2.4
SERVOPACK Installation – Chapter 3 Chapter 3 Chapter 3 Chapter 3
Wiring and Connecting
SERVOPACKs – Chapter 4 Chapter 4 Chapter 4 Chapter 4
Continued on next page.

iv
Basic Functions That Require
Setting before Operation – Chapter 5 Chapter 5 Chapter 5 Chapter 5
Application Functions – Chapter 6 Chapter 6 Chapter 6 Chapter 6
Trial Operation and Actual
Operation – Chapter 7 Chapter 7 Chapter 7 Chapter 7
Tuning – Chapter 8 Chapter 8 Chapter 8 Chapter 8
Monitoring – Chapter 9 Chapter 9 Chapter 9 Chapter 9
Fully-Closed Loop Control – Chapter 10 Chapter 10 Chapter 10 Chapter 10
Safety Function – Chapter 11 Chapter 11 Chapter 11 Chapter 11
Settings for the INDEXER Module ––––Chapter12
Operation with Digital I/O ––––Chapter13
Operations with Serial
Command Communications ––––Chapter14
Mainte-
nance
Inspections and Part
Replacement – 12.1 12.1 12.1 15.1
Alarm Displays
3.1.1,
3.2.1,
3.3.1,
3.4.1
––––
List of Alarms
3.1.2,
3.2.2,
3.3.2,
3.4.2
––––
Troubleshooting
Alarms
3.1.3,
3.2.3,
3.3.3,
3.4.3
––––
INDEXER
Module Alarm
Displays and
Troubleshooting
3.4.4––––
Resetting Alarms – 12.2.3 12.2.3 12.2.3 15.2.4
Displaying the
Alarm History – 12.2.4 12.2.4 12.2.4 15.2.5
Clearing the Alarm
History – 12.2.5 12.2.5 12.2.5 15.2.6
Resetting Alarms
Detected in Option
Modules
– 12.2.6 12.2.6 12.2.6 15.2.7
Resetting Motor
Typ e A l a r m s – 12.2.7 12.2.7 12.2.7 15.2.8
Warning Displays
3.1.4,
3.2.4,
3.3.4,
3.4.5
––––
List of Warnings
3.1.5,
3.2.5,
3.3.5,
3.4.6
––––
Troubleshooting
Warnings
3.1.6,
3.2.6,
3.3.6,
3.4.7
––––
INDEXER Module
Error Displays and
Troubleshooting
3.4.8––––
Continued on next page.
Continued from previous page.
Item
This
Man-
ual
Σ-7S SERVO-
PACK with Analog
Voltage/Pulse Train
References Prod-
uct Manual (Man-
ual No.: SIEP
S800001 26)
Σ-7S SERVO-
PACK with
MECHATROLINK-
II Communica-
tions References
Product Manual
(Manual No.: SIEP
S800001 27)
Σ-7S SERVO-
PACK with
MECHATROLINK-
III Communica-
tions References
Product Manual
(Manual No.: SIEP
S800001 28)
Σ-7S SERVO-
PACK Command
Option Attachable
Typ e w i t h
INDEXER Module
Product Manual
(Manual No.: SIEP
S800001 64)

v
Mainte-
nance
Monitoring
Communications Data
during Alarms or
Warnings
– – 12.4 12.4 –
Troubleshooting Based
on the
Operation and
Conditions of the
Servomotor
3.1.7,
3.2.7,
3.3.7,
3.4.9
––––
Panel Displays and Panel
Operator Procedures –Chapter13–––
List of
Parame-
ters
Parameter
Configuration ––––16.1
Parameter Lists
4.1,
4.2,
4.3.1,
4.4
––––
List of
MECHATROLINK-III
Common Parameters
4.3.2––––
Parameter
Recording Table – 14.2 13.2 13.3 16.3
Appendix – Chapter 15 Chapter 14 Chapter 14 Chapter 17
Continued from previous page.
Item
This
Man-
ual
Σ-7S SERVO-
PACK with Analog
Voltage/Pulse Train
References Prod-
uct Manual (Man-
ual No.: SIEP
S800001 26)
Σ-7S SERVO-
PACK with
MECHATROLINK-
II Communica-
tions References
Product Manual
(Manual No.: SIEP
S800001 27)
Σ-7S SERVO-
PACK with
MECHATROLINK-
III Communica-
tions References
Product Manual
(Manual No.: SIEP
S800001 28)
Σ-7S SERVO-
PACK Command
Option Attachable
Typ e w i t h
INDEXER Module
Product Manual
(Manual No.: SIEP
S800001 64)

vi
FT83 SERVOPACKs
Item
This
Man-
ual
Σ-7S SERVOPACK with
Analog Voltage/Pulse Train
References Product Manual
(Manual No.: SIEP S800001 26)
Σ-7S SERVOPACK with
FT/EX Specification for Indexing
Applications Product Manual
(Manual No.: SIEP S800001 84)
Basic
Information on
SERVOPACKs
The Σ-7 Series –1.1 –
Product Introduction 1.1 – –
Interpreting the Nameplates –1.2 –
Part Names –1.3 –
Model Designations 1.2 – –
Combinations of SERVOPACKs and
Servomotors 1.3 – –
Functions –1.6 –
SigmaWin+ 1.5 – –
Combining the SERVOPACKs with
MP-Series Machine Controllers and
the MPE720 Engineering Tool
1.6 – –
Selecting a
SERVOPACK
Ratings 2.1 – –
SERVOPACK Overload Protection
Characteristics –– 2.2
Specifications 2.3.2 – –
Block Diagrams –2.2 –
External Dimensions –2.3 –
Examples of Standard Connections
between SERVOPACKs and
Peripheral Devices
–2.4 –
SERVOPACK Installation –Chapter3 –
Wiring and
Connecting
SERVOPACKs
Wiring Precautions –4.1 –
Basic Wiring Diagrams –– 3.1
Wiring the Power Supply to the
SERVOPACK –4.3 –
Wiring Servomotors –4.4 –
I/O Signal Connections –– 3.2
Connecting Safety Function Signals –4.6 –
Connecting the Other Connectors –4.7 –
Basic Functions That Require Setting before Operation –Chapter5 –
Application Functions –Chapter6 –
Trial Operation
and Actual
Operation
Flow of Trial Operation –7.1 –
Inspections and Confirmations
before Trial Operation –7.2 –
Trial Operation of Servomotor
without a Load –7.3 –
Trial Operation Example –– 4.1
Trial Operation from the Host
Controller for the Servomotor
without a Load
–7.4 –
Trial Operation with the Servomotor
Connected to the Machine –7.5 –
Convenient Function to Use during
Trial Operation –7.6 –
Tuning –Chapter8 –
Monitoring
Monitoring Product Information –9.1 –
Monitoring SERVOPACK Status –– 5.1
Monitoring Machine Operation
Status and Signal Waveforms –– 5.2
Monitoring Product Life –9.4 –
Fully-Closed Loop Control –Chapter10 –
Safety Function –Chapter11 –
Continued on next page.

vii
Setting
Control Method Selection –– 6.1
I/O Signal Allocations –– 6.2
Moving Mode and Coordinate Set-
tings –– 6.3
Settings for References –– 6.4
Origin Settings –– 6.5
Operation with
Digital I/O
Operation Functions –– 7.1
Origin Return –– 7.2
Program Table Operation –– 7.3
Jog Speed Table Operation –– 7.4
ZONE Outputs –– 7.5
Maintenance
Inspections and Part Replacement – 12.1 –
Alarm Displays 3.5.1 – –
List of Alarms 3.5.2 – –
Troubleshooting Alarms 3.5.3 – –
INDEXER Module Alarm Dis-
plays and Troubleshooting 3.5.4 – –
Resetting Alarms –12.2.3 –
Displaying the Alarm History –12.2.4 –
Clearing the Alarm History –12.2.5 –
Resetting Alarms Detected in
Option Modules –12.2.6 –
Resetting Motor Type Alarms –12.2.7 –
Warning Displays 3.5.5 – –
List of Warnings 3.5.6 – –
Troubleshooting Warnings 3.5.7 – –
INDEXER Warning Displays and
Troubleshooting 3.5.8 – –
Troubleshooting Based on the Oper-
ation and Conditions of the Servo-
motor
3.5.9 – –
Panel Displays and Panel Operator Procedures –Chapter13 –
List of Parame-
ters
Parameter Configurations –– 9.1
List of Parameters 4.5 – –
Parameter Recording Table – 14.2 –
Appendix
Examples of Connections to Host
Controllers – 15.1 –
Corresponding SERVOPACK and
SigmaWin+ Function Names –– 10.1
Operation of Digital Operator –– 10.2
Continued from previous page.
Item
This
Man-
ual
Σ-7S SERVOPACK with
Analog Voltage/Pulse Train
References Product Manual
(Manual No.: SIEP S800001 26)
Σ-7S SERVOPACK with
FT/EX Specification for Indexing
Applications Product Manual
(Manual No.: SIEP S800001 84)

viii
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
Σ-7-Series
Operation
Interface
Operating
Manuals
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
Option
Module
User’s
Manual
Σ-7-Series
Servomotor
Product
Manuals
Σ-7-Series
Σ-7C
SERVOPACK
Product Manual

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
Manual
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
FT/EX
Product Manuals
(such asthismanual)

ix
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 applica-
tion examples for combinations of
MP3000-Series Machine Control-
lers and Σ-7-Series AC Servo
Drives.

MP3300 Catalog
Machine Controller
MP3300 KAEP C880725 03
Provides detailed information on
MP3300 Machine Controllers,
including features and specifica-
tions.

Σ-7-Series Catalog
AC Servo Drives
Σ-7 Series KAEP S800001 23
Provides detailed information 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 information on
the specifications, system configu-
ration, and application methods of
the Motion Control Function Mod-
ules (SVD, SVC4, and SVR4) for Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Communications
User’s Manual
SIEP C880725 12
Provides detailed information on
the specifications, system configu-
ration, and communications con-
nection methods for the Ethernet
communications that are used with
MP3000-Series Machine Control-
lers and Σ-7-Series Σ-7C SERVO-
PACKs.

Option Module
User’s Manuals
Machine Controller
MP2000 Series
Communication Module
User’s Manual
SIEP C880700 04
Provide detailed information on the
specifications and communica-
tions methods for the Communica-
tions Modules that can be mounted
to MP3000-Series Machine Con-
trollers 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 information on the
specifications and communica-
tions methods for the I/O Modules
that can be mounted to MP3000-
Series Machine Controllers 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.

x

Enclosed Documents
Σ-7-Series AC Servo Drive
Σ-7S and Σ-7W SERVOPACK
Safety Precautions
TOMP C710828 00
Provides detailed information 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 information for
the safe usage of Option Modules.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Command Option Module
TOBP C720829 01
Provides detailed procedures for
installing the Command Option
Module in a SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Fully-closed Module
TOBP C720829 03
Provides detailed procedures for
installing the Fully-closed Module 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 procedures 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 procedures 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 procedures for
installing the DeviceNet Module in a
SERVOPACK.

Σ-7-Series
Σ-7C SERVOPACK
Product Manual
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Product Manual
SIEP S800002 04
Provides detailed information on
selecting Σ-7-Series Σ-7C SERVO-
PACKs; installing, connecting, set-
ting, testing in trial operation, and
tuning Servo Drives; writing, moni-
toring, and maintaining 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 troubleshooting
information for Σ-7-Series Σ-7C
SERVOPACKs.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

xi

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 28
Provide detailed information on
selecting Σ-7-Series SERVO-
PACKs and information on install-
ing, connecting, setting, performing
trial operation for, tuning, monitor-
ing, and maintaining the Servo
Drives.
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
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with INDEXER Module
Product Manual
SIEP S800001 64
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 Specifica-
tions
Dynamic Brake
Product Manual
SIEP S800001 73
Provide detailed information on
Hardware Options for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo Drive
Σ-7W/Σ-7C SERVOPACK with
Hardware Option Specifica-
tions
HWBB Function
Product Manual
SIEP S800001 72
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 Index-
ing Application
Product Manual
SIEP S800001 84
Provide detailed information on the
FT/EX Option for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification for Track-
ing 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
This manual
(SIEP S800001 91)
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Press and Injection
Molding Application
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
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
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 details information
required for the design and mainte-
nance of a Safety Module.
Enclosed Documents
AC Servo Drive
Rotary Servomotor
Safety Precautions
TOBP C230260 00
Provides detailed information for
the safe usage of Rotary Servomo-
tors and Direct Drive Servomotors.
AC Servomotor
Linear ΣSeries
Safety Precautions
TOBP C230800 00
Provides detailed information for
the safe usage of Linear Servomo-
tors.
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 information on
selecting, installing, and connecting
the Σ-7-Series Servomotors.
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, wir-
ing materials, connector models,
and connection specifications
•Peripheral devices: Models,
specifications, diagrams, and
selection (calculation) methods
Σ-7-Series
MECHATROLINK
Communications
Command Manuals
Σ-7-Series AC Servo Drive
MECHATROLINK-II
Communications
Command Manual
SIEP S800001 30
Provides detailed information on
the MECHATROLINK-II communi-
cations commands 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 information on
the MECHATROLINK-III communi-
cations standard 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 information on
the ladder programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Motion Programming
Manual
SIEP C880725 14
Provides detailed information on
the motion programming and
sequence programming specifica-
tions 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

xiv
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
SIEP S800001 33
Describes the operating proce-
dures for a Digital Operator for a
Σ-7-Series Servo System.
AC Servo Drive
Engineering Tool
SigmaWin+
Operation Manual
SIET S800001 34
Provides detailed operating proce-
dures for the SigmaWin+ Engineer-
ing 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 functions, specifica-
tions, operating methods, and
MECHATROLINK-III communica-
tions for the Remote I/O Modules
for MP2000/MP3000-Series
Machine Controllers.
Continued from previous page.
Classification Document Name Document No. Description

xv
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 Direct Drive Servomotor.
SERVOPACK A Σ-7-Series Σ-7S 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 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.

xvi
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).
•Parameters for Numeric Settings
Notation Example
Engineering Tools Used in This Manual
This manual uses the interfaces of the SigmaWin+ for descriptions.
Pn100
Speed Loop Gain
Setting Range
10 to 20,000 0.1 Hz 400 Immediately
Setting Unit Default Setting When Enabled Classication
Tuning
(default setting)
Use the encoder according to encoder specications.
Use the encoder asan incremental encoder.
Use the encoder asa single-turn absolute encoder.
Thisisthe setting range
for the parameter.
Parameter
number
Thiscolumn explainsthe
selectionsfor the function.
Position Torque
The control methodsfor which the parametersapply are given.
Speed : Speed control : Position control : Torque control
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
Pn002
n.0
After restart Setup
n.1
n.2
Parameter
number
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

xvii
Trademarks
•QR code is a trademark of Denso Wave Inc.
•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

xviii
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.

xix
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 covers, cables, connectors, or optional devices while power is being supplied to
the SERVOPACK.
There is a risk of electric shock, operational failure of the product, or burning.
WARNING
Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC
type) that are appropriate for the product.
There is a risk of burning, electric shock, or fire.
Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according
to local electrical codes (100 Ωor less for a SERVOPACK with a 100-VAC or 200-VAC power
supply, and 10 Ωor less for a SERVOPACK with a 400-VAC power supply).
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
The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servo-
motors, 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 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.
There is a risk of electric shock.
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.
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.
There is a risk of injury, product damage, or machine damage.
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.

xx
Storage Precautions
Transportation Precautions
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.
In locations with poor power supply conditions, install the necessary protective devices (such as
AC reactors) to ensure that the input power is supplied within the specified voltage range.
There is a risk of damage to the SERVOPACK.
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.
CAUTION
Do not place an excessive load on the product during storage. (Follow all instructions on the
packages.)
There is a risk of injury or damage.
NOTICE
Do not install or store the product in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed product specifications
•Locations that are subject to relative humidities that exceed product specifications
•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 specifications
•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
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.
There is a risk of damage or injury.
When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners.
There is a risk of injury.
Do not place an excessive load on the product during transportation. (Follow all instructions on
the packages.)
There is a risk of injury or damage.