YASKAWA Sigma-7-Series User manual

Model: SGD7S-20AF84
SGD7S-30AF84
-7S SERVOPACK with
FT/EX Specification for
Transfer and Alignment Application
with Special Motor, SGM7D Motor
-7-Series AC Servo Drive
Product Manual
MANUAL NO. SIEP S800002 28C
Basic Information on SERVOPACKs
SERVOPACK Ratings and Specifications
Triggers at Preset Positions
Rotational Coordinate System
Maintenance
Parameter Lists
1
2
3
4
5
6

Copyright © 2017 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 transfer and alignment application option and the SGM7D motor drive
application option for Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs.
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 use the transfer and alignment application option for Σ-7-Series SERVOPACKs, use this
manual and the relevant manual given in the following table.
Item This Manual
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK Product Manual
SERVOPACKs
with
MECHATROLIN
K-III Communi-
cations
References
(Manual No.:
SIEP S800001
28)
SERVOPACKs
with
MECHATROLIN
K-III Communi-
cations
References and
RJ-45 Connec-
tors (Manual
No.: SIEP
S800001 62)
Basic Informa-
tion on SERVO-
PACKs
The
Σ -7 Series –1.1
Product Introduction 1.1 –
Interpreting the Nameplate – 1.2
Part Names – 1.3
Model Designations – 1.4
Combinations of SERVOPACKs and Servomo-
tors –1.5
Functions 1.4 –
SigmaWin+ 1.5 –
Selecting a
SERVOPACK
Ratings 2.1 –
SERVOPACK Overload Protection Characteris-
tics 2.2 –
Specifications 2.3 –
Block Diagrams – 2.2
External Dimensions – 2.3
Examples of Standard Connections between
SERVOPACKs and Peripheral Devices –2.4
SERVOPACK Installation – Chapter 3
Wiring and Connecting SERVOPACKs – Chapter 4
Basic Functions That Require Setting before Operation – Chapter 5
Application Functions – Chapter 6
Trial Operation and Actual Operation – Chapter 7
Tuning – Chapter 8
Continued on next page.

iv
Monitoring
Monitoring Product Information – 9.1
Monitoring SERVOPACK Status – 9.2
Monitoring Machine Operation Status and Sig-
nal Waveforms –9.3
Monitoring Product Life – 9.4
Fully-Closed Loop Control – Chapter 10
Safety Functions – Chapter 11
Triggers at Pre-
set Positions
Outline 3.1 –
Settings for Triggers at Preset Positions 3.2 –
Forced Stop Setting for Triggers at Preset
Positions 3.3 –
Rotational Coor-
dinate System
Outline 4.1 –
Setup Procedure 4.2 –
Maintenance
Inspections and Part Replacement – 12.1
Alarm Displays 5.1 –
List of Alarms 5.2 –
Troubleshooting Alarms 5.3 –
Warning Displays 5.4 –
List of Warnings 5.5 –
Troubleshooting Warnings 5.6 –
Troubleshooting Based on the Operation and
Conditions of the Servomotor 5.7 –
Parameter Lists
Interpreting the Parameter Lists 6.1 –
List of Servo Parameters 6.2 –
List of MECHATROLINK-III Common Parame-
ters 6.3 –
Appendices – Chapter 14
Continued from previous page.
Item This Manual
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK Product Manual
SERVOPACKs
with
MECHATROLIN
K-III Communi-
cations
References
(Manual No.:
SIEP S800001
28)
SERVOPACKs
with
MECHATROLIN
K-III Communi-
cations
References and
RJ-45 Connec-
tors (Manual
No.: SIEP
S800001 62)

v
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following
figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer
to these documents as required.
ManualsCatalogs
System Components

Machine
Controller
and
Servo Drive
General
Catalog

MP3300
Catalog
Machine Controllers

Σ-7-Series
Catalog
Servo Drives
Machine Controllers
SERVOPACKs: Σ-7Sand Σ-7W
SERVOPACKswith Built-in Controllers: Σ-7C
Servomotors
Other Documents

Built-in
Function
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manuals

Option
Module
User’s
Manuals
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
FT/EX
Product Manuals
(thismanual)
Option
Module
User’s
Manuals
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
Engineering
Tool
Operation
Manuals
Σ-7-Series
MECHATROLINK
Communications
Command
Manuals
Programming
Manuals
Distributed
I/O Module
User’s
Manuals

Σ-7-Series
Σ-7S/Σ-7W/Σ-7C
SERVOPACK
Hardware Option
Product Manuals

vi
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.

vii

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

viii

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 Σ -7S and
Σ -7W SERVOPACKs; installing,
connecting, setting, testing in trial
operation, tuning, monitoring, and
maintaining Servo Drives; and other
information.
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/Σ-7C
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
Provides 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
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
Provides 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
SIEP S800001 91
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

ix
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 Press and Injection
Molding Application
Product Manual
SIEP S800001 94
Provides 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 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
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Three-Point Latching
for Conveyance Application
Product Manual
SIEP S800002 17
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Semi-/Fully-Closed Loop
Control Online Switching
for Conveyance Application
Product Manual
SIEP S800002 27
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with FT/EX
Specification for Transfer and
Alignment Application with
Special Motor, SGM7D Motor
Product Manual
This manual
(SIEP S800002 28)
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
FT/EX Specification
for Gantry Applications
Product Manual
SIEP S800002 29
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.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

x
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.
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 Describes the peripheral devices
for a Σ-7-Series Servo System.
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