YASKAWA Sigma-7 SGD7S Series User manual

Table of contents
1 General.................................................................................................................. 14
1.1 About this Manual........................................................................................... 14
1.2 Outline of Manual........................................................................................... 14
1.3 Related Documents........................................................................................ 16
1.4 Using This Manual.......................................................................................... 21
1.5 Safety Precautions......................................................................................... 25
1.5.1 Safety Information....................................................................................... 25
1.5.2 Safety Precautions That Must Always Be Observed................................... 25
1.6 Warranty......................................................................................................... 36
1.7 Compliance with UL Standards, EU Directives, and Other Safety Stand-
ards................................................................................................................. 38
2 Basic Information on SERVOPACKs.................................................................. 42
2.1 Overview......................................................................................................... 42
2.2 The Σ-7 Series................................................................................................ 42
2.3 Introduction to PROFINET.............................................................................. 42
2.3.1 Overview...................................................................................................... 42
2.3.2 Data Types.................................................................................................. 42
2.3.3 Data Ranges................................................................................................ 43
2.4 Interpreting the Nameplate............................................................................. 43
2.5 Part Names..................................................................................................... 44
2.6 Model Designations........................................................................................ 46
2.6.1 Interpreting SERVOPACK Model Numbers................................................. 46
2.6.2 Interpreting Servomotor Model Numbers.................................................... 46
2.7 Combinations of SERVOPACKs and Servomotors........................................ 48
2.7.1 Combinations of Rotary Servomotors and SERVOPACKs.......................... 48
2.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs................. 49
2.7.3 Combinations of Linear Servomotors and SERVOPACKs.......................... 51
2.8 Functions........................................................................................................ 54
3 Selecting a SERVOPACK..................................................................................... 58
3.1 Overview......................................................................................................... 58
3.2 Ratings and Specifications............................................................................. 58
3.2.1 Ratings........................................................................................................ 58
3.2.2 SERVOPACK Overload Protection Characteristics..................................... 59
3.2.3 Specifications.............................................................................................. 61
3.3 Block Diagrams.............................................................................................. 66
3.4 External Dimensions....................................................................................... 69
3.4.1 Front Cover Dimensions and Connector Specifications.............................. 69
3.4.2 SERVOPACK External Dimensions............................................................ 70
3.5 Examples of Standard Connections between SERVOPACKs and Peripheral
Devices........................................................................................................... 73
4 SERVOPACK Installation..................................................................................... 75
4.1 Overview......................................................................................................... 75
4.2 Installation Precautions.................................................................................. 75
4.3 Mounting Types and Orientation..................................................................... 75
4.4 Mounting Hole Dimensions............................................................................. 77
4.5 Mounting Interval............................................................................................ 79
4.5.1 Installing One SERVOPACK in a Control Panel.......................................... 79
4.5.2 Installing More Than One SERVOPACK in a Control Panel....................... 79
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4.6 Monitoring the Installation Environment......................................................... 80
4.7 Derating Specifications................................................................................... 81
4.8 EMC Installation Conditions........................................................................... 81
5 Wiring and Connecting SERVOPACKs............................................................... 84
5.1 Overview......................................................................................................... 84
5.2 Wiring and Connecting SERVOPACKs.......................................................... 84
5.2.1 General Precautions.................................................................................... 84
5.2.2 Countermeasures against Noise................................................................. 87
5.2.3 Grounding.................................................................................................... 90
5.3 Basic Wiring Diagrams................................................................................... 91
5.4 Wiring the Power Supply to the SERVOPACK............................................... 92
5.4.1 Overview...................................................................................................... 92
5.4.2 Terminal Symbols and Terminal Names...................................................... 92
5.4.3 Wiring Procedure for Main Circuit Connector.............................................. 96
5.4.4 Power ON Sequence................................................................................... 97
5.4.5 Power Supply Wiring Diagrams................................................................... 98
5.4.6 Wiring Regenerative Resistors.................................................................. 103
5.4.7 Wiring Reactors for Harmonic Suppression.............................................. 106
5.5 Wiring Servomotors...................................................................................... 107
5.5.1 Terminal Symbols and Terminal Names.................................................... 107
5.5.2 Pin Arrangement of Encoder Connector (CN2)......................................... 107
5.5.3 Wiring the SERVOPACK to the Encoder................................................... 108
5.5.4 Wiring the SERVOPACK to the Holding Brake.......................................... 114
5.6 Connecting I/O Signals................................................................................. 116
5.6.1 I/O Signal Connector (CN1) Names and Functions................................... 116
5.6.2 I/O Signal Connector (CN1) Pin Arrangement........................................... 118
5.6.3 I/O Signal Wiring Examples....................................................................... 120
5.6.4 I/O Circuits................................................................................................. 122
5.7 Connecting Safety Function Signals............................................................. 124
5.7.1 Overview.................................................................................................... 124
5.7.2 Pin Arrangement of Safety Function Signals (CN8).................................. 124
5.7.3 I/O Circuits................................................................................................. 124
5.8 Connecting PROFINET Communications Cables........................................ 127
5.8.1 Overview.................................................................................................... 127
5.8.2 PROFINET Connectors (RJ45)................................................................. 127
5.8.3 Ethernet Communications Cables............................................................. 128
5.9 Connecting the Other Connectors................................................................ 128
5.9.1 Serial Communications Connector (CN502)............................................. 128
5.9.2 Computer Connector (CN7)....................................................................... 129
5.9.3 Analog Monitor Connector (CN5).............................................................. 129
6 Basic Functions That Require Setting before Operation................................ 131
6.1 Overview....................................................................................................... 131
6.2 Manipulating SERVOPACK Parameters (Pn)..................................... 131
6.2.1 Overview.................................................................................................... 131
6.2.2 Classifications of SERVOPACK Parameters............................................. 131
6.2.3 Notation for SERVOPACK Parameters..................................................... 132
6.2.4 Setting Methods for SERVOPACK Parameters......................................... 133
6.2.5 Write Prohibition Setting for SERVOPACK Parameters............................ 135
6.2.6 Initializing SERVOPACK Parameter Settings............................................ 140
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6.3 Power Supply Type Settings for the Main Circuit and Control Circuit........... 142
6.3.1 Overview.................................................................................................... 142
6.3.2 AC Power Supply Input/DC Power Supply Input Setting........................... 143
6.3.3 Single-phase AC Power Supply Input/Three-phase AC Power Supply
Input Setting.............................................................................................. 144
6.4 Automatic Detection of Connected Motor..................................................... 144
6.5 Motor Direction Setting................................................................................. 145
6.6 Setting the Linear Encoder Pitch.................................................................. 146
6.7 Writing Linear Servomotor Parameters........................................................ 148
6.8 Selecting the Phase Sequence for a Linear Servomotor.............................. 154
6.9 Polarity Sensor Setting................................................................................. 156
6.10 Polarity Detection....................................................................................... 157
6.10.1 Overview.................................................................................................. 157
6.10.2 Restrictions.............................................................................................. 157
6.10.3 Using the Servo ON Command (Enable Operation Command) to Per-
form Polarity Detection............................................................................ 158
6.10.4 Using a Tool Function to Perform Polarity Detection............................... 158
6.11 Overtravel and Related Settings................................................................. 160
6.11.1 Overview.................................................................................................. 160
6.11.2 Overtravel Signals................................................................................... 161
6.11.3 Setting to Enable/Disable Overtravel....................................................... 161
6.11.4 Motor Stopping Method for Overtravel..................................................... 162
6.11.5 Overtravel Warnings................................................................................ 163
6.11.6 Overtravel Release Method Selection..................................................... 165
6.11.7 Overtravel Status..................................................................................... 166
6.11.8 Overtravel Operation by Mode................................................................. 167
6.12 Holding Brake............................................................................................. 167
6.12.1 Overview.................................................................................................. 167
6.12.2 Brake Operating Sequence..................................................................... 168
6.12.3 /BK (Brake) Signal................................................................................... 169
6.12.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped. 170
6.12.5 Output Timing of /BK (Brake) Signal When the Servomotor Is Oper-
ating......................................................................................................... 171
6.13 Motor Stopping Methods for Servo OFF and Alarms................................. 172
6.13.1 Overview.................................................................................................. 172
6.13.2 Stopping Method for Servo OFF.............................................................. 174
6.13.3 Servomotor Stopping Method for Alarms................................................ 174
6.14 Motor Overload Detection Level................................................................. 176
6.14.1 Overview.................................................................................................. 176
6.14.2 Detection Timing for Overload Warnings (A.910).................................... 176
6.14.3 Detection Timing for Overload Alarms (A.720)........................................ 177
6.15 Setting Unit Systems.................................................................................. 178
6.15.1 Overview.................................................................................................. 178
6.15.2 Setting the Position Reference Unit......................................................... 178
6.15.3 Setting the Speed Reference Unit........................................................... 185
6.15.4 Setting the Acceleration Reference Unit.................................................. 186
6.16 Resetting the Absolute Encoder................................................................. 186
6.16.1 Overview.................................................................................................. 186
6.16.2 Precautions on Resetting........................................................................ 187
6.16.3 Preparations............................................................................................ 187
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6.16.4 Applicable Tools....................................................................................... 187
6.16.5 Operating Procedure............................................................................... 188
6.17 Setting the Origin of the Absolute Encoder................................................ 190
6.17.1 Absolute Encoder Origin Offset............................................................... 190
6.17.2 Setting the Origin of the Absolute Linear Encoder.................................. 191
6.18 Setting the Regenerative Resistor Capacity............................................... 194
7 Application Functions........................................................................................ 196
7.1 Overview....................................................................................................... 196
7.2 I/O Signal Allocations................................................................................... 196
7.2.1 Overview.................................................................................................... 196
7.2.2 Input Signal Allocations............................................................................. 196
7.2.3 Output Signal Allocations.......................................................................... 198
7.2.4 ALM (Servo Alarm) Signal......................................................................... 199
7.2.5 /WARN (Warning) Signal........................................................................... 200
7.2.6 /TGON (Rotation Detection) Signal........................................................... 200
7.2.7 /S-RDY (Servo Ready) Signal................................................................... 201
7.2.8 /V-CMP (Speed Coincidence Detection) Signal........................................ 202
7.2.9 /COIN (Positioning Completion) Signal..................................................... 203
7.2.10 /NEAR (Near) Signal............................................................................... 205
7.2.11 Speed Limit during Torque Control.......................................................... 207
7.3 Operation for Momentary Power Interruptions............................................. 208
7.4 SEMI F47 Function....................................................................................... 209
7.5 Setting the Motor Maximum Speed.............................................................. 212
7.6 Encoder Divided Pulse Output..................................................................... 213
7.6.1 Overview.................................................................................................... 213
7.6.2 Encoder Divided Pulse Output Signals...................................................... 213
7.6.3 Setting for the Encoder Divided Pulse Output........................................... 218
7.7 Software Limits............................................................................................. 221
7.8 Selecting Torque Limits................................................................................ 221
7.8.1 Overview.................................................................................................... 221
7.8.2 Internal Torque Limits................................................................................ 222
7.8.3 External Torque Limits............................................................................... 223
7.8.4 /CLT (Torque Limit Detection) Signal......................................................... 227
7.9 Absolute Encoders....................................................................................... 227
7.9.1 Overview.................................................................................................... 227
7.9.2 Connecting an Absolute Encoder.............................................................. 229
7.9.3 Structure of the Position Data of the Absolute Encoder............................ 229
7.9.4 Output Ports for the Position Data from the Absolute Encoder................. 230
7.9.5 Reading the Position Data from the Absolute Encoder............................. 230
7.9.6 Transmission Specifications...................................................................... 232
7.9.7 Calculating the Current Position in Machine Coordinates......................... 232
7.9.8 Multiturn Limit Setting................................................................................ 233
7.9.9 Multiturn Limit Disagreement Alarm (A.CC0)............................................ 235
7.10 Absolute Linear Encoders.......................................................................... 239
7.10.1 Overview.................................................................................................. 239
7.10.2 Connecting an Absolute Linear Encoder................................................. 240
7.10.3 Structure of the Position Data of the Absolute Linear Encoder............... 240
7.10.4 Output Ports for the Position Data from the Absolute Linear Encoder.... 240
7.10.5 Reading the Position Data from the Absolute Linear Encoder................ 241
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7.10.6 Transmission Specifications.................................................................... 242
7.10.7 Calculating the Current Position in Machine Coordinates....................... 243
7.11 Software Reset........................................................................................... 244
7.11.1 Overview.................................................................................................. 244
7.11.2 Preparations............................................................................................ 244
7.11.3 Applicable Tools....................................................................................... 244
7.11.4 Operating Procedure............................................................................... 245
7.12 Initializing the Vibration Detection Level..................................................... 246
7.12.1 Overview.................................................................................................. 246
7.12.2 Preparations............................................................................................ 247
7.12.3 Applicable Tools....................................................................................... 248
7.12.4 Operating Procedure............................................................................... 248
7.12.5 Related Parameters................................................................................. 251
7.13 Adjusting the Motor Current Detection Signal Offset.................................. 252
7.13.1 Overview.................................................................................................. 252
7.13.2 Automatic Adjustment.............................................................................. 252
7.13.3 Manual Adjustment.................................................................................. 255
7.14 Forcing the Motor to Stop........................................................................... 258
7.14.1 Overview.................................................................................................. 258
7.14.2 FSTP (Forced Stop Input) Signal............................................................ 258
7.14.3 Stopping Method Selection for Forced Stops.......................................... 258
7.14.4 Resetting Method for Forced Stops......................................................... 260
7.15 Overheat Protection.................................................................................... 261
7.15.1 Overview.................................................................................................. 261
7.15.2 Connecting the Overheat Protection Input (TH) Signal........................... 261
7.15.3 Overheat Protection Selections............................................................... 261
8 Trial Operation and Actual Operation............................................................... 263
8.1 Overview....................................................................................................... 263
8.2 Flow of Trial Operation................................................................................. 263
8.2.1 Flow of Trial Operation for Rotary Servomotors........................................ 263
8.2.2 Flow of Trial Operation for Linear Servomotors......................................... 264
8.3 Inspections and Confirmations before Trial Operation................................. 267
8.4 Trial Operation for the Servomotor without a Load....................................... 267
8.4.1 Overview.................................................................................................... 267
8.4.2 Preparations.............................................................................................. 268
8.4.3 Applicable Tools......................................................................................... 269
8.4.4 Operating Procedure................................................................................. 269
8.5 Trial Operation with PROFINET Communications....................................... 272
8.6 Trial Operation with the Servomotor Connected to the Machine.................. 274
8.6.1 Overview.................................................................................................... 274
8.6.2 Precautions................................................................................................ 274
8.6.3 Preparations.............................................................................................. 275
8.6.4 Operating Procedure................................................................................. 275
8.7 Convenient Function to Use during Trial Operation..................................... 276
8.7.1 Overview.................................................................................................... 276
8.7.2 Program Jogging....................................................................................... 277
8.7.3 Origin Search............................................................................................. 284
8.7.4 Test without a Motor.................................................................................. 288
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9 Tuning.................................................................................................................. 295
9.1 Overview....................................................................................................... 295
9.2 Overview and Flow of Tuning....................................................................... 295
9.2.1 Overview.................................................................................................... 295
9.2.2 Tuning Functions....................................................................................... 296
9.2.3 Diagnostic Tool.......................................................................................... 298
9.3 Monitoring Methods...................................................................................... 298
9.4 Precautions to Ensure Safe Tuning.............................................................. 299
9.4.1 Overview.................................................................................................... 299
9.4.2 Overtravel Settings.................................................................................... 299
9.4.3 Torque Limit Settings................................................................................. 300
9.4.4 Setting the Position Deviation Overflow Alarm Level................................ 300
9.4.5 Vibration Detection Level Setting.............................................................. 302
9.4.6 Setting the Position Deviation Overflow Alarm Level at Servo ON............ 302
9.5 Tuning-less Function.................................................................................... 303
9.5.1 Overview.................................................................................................... 303
9.5.2 Application Restrictions............................................................................. 304
9.5.3 Operating Procedure................................................................................. 304
9.5.4 Troubleshooting Alarms............................................................................. 307
9.5.5 Parameters Disabled by Tuning-less Function.......................................... 307
9.5.6 Automatically Adjusted Function Setting................................................... 308
9.5.7 Related Parameters................................................................................... 308
9.6 Estimating the Moment of Inertia.................................................................. 308
9.6.1 Overview.................................................................................................... 308
9.6.2 Outline....................................................................................................... 309
9.6.3 Restrictions................................................................................................ 309
9.6.4 Applicable Tools......................................................................................... 310
9.6.5 Operating Procedure................................................................................. 310
9.7 Autotuning without Host Reference.............................................................. 321
9.7.1 Overview.................................................................................................... 321
9.7.2 Outline....................................................................................................... 322
9.7.3 Restrictions................................................................................................ 323
9.7.4 Applicable Tools......................................................................................... 324
9.7.5 Operating Procedure................................................................................. 324
9.7.6 Troubleshooting Problems in Autotuning without a Host Reference......... 333
9.7.7 Automatically Adjusted Function Settings................................................. 334
9.7.8 Related Parameters................................................................................... 337
9.8 Autotuning with a Host Reference................................................................ 339
9.8.1 Overview.................................................................................................... 339
9.8.2 Outline....................................................................................................... 339
9.8.3 Restrictions................................................................................................ 339
9.8.4 Applicable Tools......................................................................................... 340
9.8.5 Operating Procedure................................................................................. 340
9.8.6 Troubleshooting Problems in Autotuning with a Host Reference.............. 348
9.8.7 Automatically Adjusted Function Settings................................................. 349
9.8.8 Related Parameters................................................................................... 349
9.9 Custom Tuning............................................................................................. 350
9.9.1 Overview.................................................................................................... 350
9.9.2 Outline....................................................................................................... 350
9.9.3 Preparations.............................................................................................. 351
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9.9.4 Applicable Tools......................................................................................... 351
9.9.5 Operating Procedure................................................................................. 351
9.9.6 Automatically Adjusted Function Settings................................................. 363
9.9.7 Tuning Example for Tuning Mode 2 or 3................................................... 363
9.9.8 Related Parameters................................................................................... 364
9.10 Anti-Resonance Control Adjustment.......................................................... 365
9.10.1 Overview.................................................................................................. 365
9.10.2 Outline..................................................................................................... 365
9.10.3 Preparations............................................................................................ 366
9.10.4 Applicable Tools....................................................................................... 366
9.10.5 Operating Procedure............................................................................... 366
9.10.6 Related Parameters................................................................................. 371
9.10.7 Suppressing Different Vibration Frequencies with Anti-resonance Con-
trol............................................................................................................ 372
9.11 Vibration Suppression................................................................................. 374
9.11.1 Overview.................................................................................................. 374
9.11.2 Outline..................................................................................................... 374
9.11.3 Preparations............................................................................................ 375
9.11.4 Applicable Tools....................................................................................... 375
9.11.5 Operating Procedure............................................................................... 375
9.11.6 Setting Combined Functions.................................................................... 379
9.11.7 Related Parameters................................................................................. 379
9.12 Speed Ripple Compensation...................................................................... 380
9.12.1 Overview.................................................................................................. 380
9.12.2 Outline..................................................................................................... 380
9.12.3 Setting Up Speed Ripple Compensation................................................. 380
9.12.4 Setting Parameters.................................................................................. 387
9.13 Additional Adjustment Functions................................................................ 388
9.13.1 Overview.................................................................................................. 388
9.13.2 Gain Switching......................................................................................... 389
9.13.3 Friction Compensation............................................................................. 394
9.13.4 Gravity Compensation............................................................................. 396
9.13.5 Current Control Mode Selection.............................................................. 398
9.13.6 Current Gain Level Setting...................................................................... 399
9.13.7 Speed Detection Method Selection......................................................... 399
9.13.8 Speed Feedback Filter............................................................................ 399
9.13.9 Backlash Compensation.......................................................................... 400
9.14 Manual Tuning............................................................................................ 405
9.14.1 Overview.................................................................................................. 405
9.14.2 Tuning the Servo Gains........................................................................... 406
9.14.3 Compatible Adjustment Functions........................................................... 419
9.15 Diagnostic Tools......................................................................................... 424
9.15.1 Mechanical Analysis................................................................................ 424
9.15.2 Easy FFT................................................................................................. 426
10 Monitoring........................................................................................................... 433
10.1 Overview..................................................................................................... 433
10.2 Monitoring Product Information.................................................................. 433
10.2.1 Items That Can Be Monitored.................................................................. 433
10.2.2 Operating Procedures............................................................................. 433
10.3 Monitoring SERVOPACK Status................................................................ 434
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10.3.1 Servo Drive Status................................................................................... 434
10.3.2 Monitoring Status and Operations........................................................... 435
10.3.3 I/O Signal Monitor.................................................................................... 437
10.4 Monitoring Machine Operation Status and Signal Waveforms................... 438
10.4.1 Overview.................................................................................................. 438
10.4.2 Items That You Can Monitor.................................................................... 438
10.4.3 Using the SigmaWin+.............................................................................. 439
10.4.4 Using the Analog Monitors...................................................................... 441
10.5 Monitoring Product Life............................................................................... 448
10.5.1 Items That You Can Monitor.................................................................... 448
10.5.2 Operating Procedure............................................................................... 450
10.5.3 Preventative Maintenance....................................................................... 451
10.6 Alarm Tracing............................................................................................. 452
10.6.1 Overview.................................................................................................. 452
10.6.2 Data for Which Alarm Tracing Is Performed............................................ 452
10.6.3 Applicable Tools....................................................................................... 452
11 Fully-Closed Loop Control................................................................................ 454
11.1 Overview..................................................................................................... 454
11.2 Fully-Closed System................................................................................... 454
11.3 SERVOPACK Commissioning Procedure................................................... 455
11.4 Parameter and Object Settings for Fully-closed Loop Control.................... 456
11.4.1 Overview.................................................................................................. 456
11.4.2 Control Block Diagram for Fully-Closed Loop Control............................. 457
11.4.3 Setting the Motor Direction and the Machine Movement Direction.......... 458
11.4.4 Setting the Number of External Encoder Scale Pitches.......................... 459
11.4.5 Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Sig-
nals.......................................................................................................... 460
11.4.6 External Absolute Encoder Data Reception Sequence........................... 461
11.4.7 Setting Unit Systems............................................................................... 461
11.4.8 Alarm Detection Settings......................................................................... 461
11.4.9 Analog Monitor Signal Settings................................................................ 462
11.4.10 Setting to Use an External Encoder for Speed Feedback..................... 463
11.5 Monitoring an External Encoder................................................................. 463
11.5.1 Overview.................................................................................................. 463
11.5.2 Option Module Required for Monitoring................................................... 463
11.5.3 Related Parameters................................................................................. 463
11.5.4 Block Diagrams........................................................................................ 464
12 Safety Functions................................................................................................. 466
12.1 Overview..................................................................................................... 466
12.2 Introduction to the Safety Functions........................................................... 466
12.2.1 Safety Functions...................................................................................... 466
12.2.2 Precautions for Safety Functions............................................................. 467
12.3 Hard Wire Base Block (HWBB and SBB)................................................... 467
12.3.1 Overview.................................................................................................. 467
12.3.2 Risk Assessment..................................................................................... 468
12.3.3 Hard Wire Base Block (HWBB) State...................................................... 469
12.3.4 Resetting the HWBB State...................................................................... 470
12.3.5 Recovery Method.................................................................................... 470
12.3.6 Detecting Errors in HWBB Signal............................................................ 471
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12.3.7 HWBB Input Signal Specifications........................................................... 471
12.3.8 Operation without a Host Controller........................................................ 472
12.3.9 /S-RDY (Servo Ready Output) Signal..................................................... 472
12.3.10 /BK (Brake Output) Signal..................................................................... 473
12.3.11 Stopping Methods.................................................................................. 473
12.3.12 ALM (Servo Alarm) Signal..................................................................... 473
12.4 EDM1 (External Device Monitor)................................................................ 474
12.4.1 Overview.................................................................................................. 474
12.4.2 EDM1 Output Signal Specifications......................................................... 474
12.5 Applications Examples for Safety Functions.............................................. 475
12.5.1 Overview.................................................................................................. 475
12.5.2 Connection Example............................................................................... 475
12.5.3 Failure Detection Method........................................................................ 475
12.5.4 Procedure................................................................................................ 476
12.6 Validating Safety Functions........................................................................ 476
12.7 Connecting a Safety Function Device........................................................ 476
12.8 Safety Module Safety Functions................................................................. 477
12.8.1 Overview.................................................................................................. 477
12.8.2 Safety Base Block with Delay (SBB-D)................................................... 477
12.8.3 Safe Position Monitor with Delay (SPM-D).............................................. 478
12.8.4 Safe Speed Limit with Delay (SLS-D)...................................................... 479
12.8.5 Active Mode Function.............................................................................. 480
13 PROFINET Communication............................................................................... 484
13.1 General....................................................................................................... 484
13.2 PROFINET Slave Information.................................................................... 484
13.3 Application and Communication Relationship (AR, CR)............................. 485
13.4 Drive Units (DU) and Drive Objects (DO)................................................... 485
13.5 Identification and Maintenance Function (I&M).......................................... 488
13.6 Telegrams................................................................................................... 490
13.6.1 Supported Telegrams.............................................................................. 490
13.6.2 Standard Speed Telegram (ST1)............................................................. 490
13.6.3 Standard Speed Telegram (ST2)............................................................. 491
13.6.4 Standard Position Telegram (ST7).......................................................... 492
13.6.5 Standard Position Telegram (ST9).......................................................... 492
13.6.6 YASKAWA Telegram (Telegram 100)...................................................... 493
13.6.7 Free Configurable Telegram (Telegram 999)........................................... 495
13.7 IO Data Signals.......................................................................................... 497
14 PROFIdrive Drive Profile.................................................................................... 499
14.1 Device Control............................................................................................ 499
14.2 Modes of Operation.................................................................................... 501
14.3 PROFIdrive Position Mode......................................................................... 502
14.3.1 Overview.................................................................................................. 502
14.3.2 MDI Submode.......................................................................................... 504
14.3.3 Program Submode.................................................................................. 507
14.3.4 Modulo Positioning.................................................................................. 509
14.4 Homing Function......................................................................................... 511
14.5 PROFIdrive Velocity Mode......................................................................... 513
14.6 Profile Torque Mode................................................................................... 515
14.7 Torque Limits.............................................................................................. 515
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14.8 Digital Inputs and Outputs.......................................................................... 516
14.9 Touch Probe Function................................................................................. 517
14.10 Fully-closed Loop Control......................................................................... 519
14.11 Get/Set SERVOPACK Parameter Functionality........................................ 520
15 Object Dictionary................................................................................................ 522
15.1 Overview..................................................................................................... 522
15.2 Object Dictionary List.................................................................................. 522
15.3 General Objects.......................................................................................... 527
15.4 Communication Objects............................................................................. 533
15.5 Manufacturer Specific Objects.................................................................... 537
15.6 Device Control............................................................................................ 543
15.7 PROFIdrive Position Mode......................................................................... 555
15.8 Homing Function........................................................................................ 564
15.9 Position Control Function........................................................................... 567
15.10 PROFIdrive Velocity Mode....................................................................... 569
15.11 Profile Torque Mode.................................................................................. 572
15.12 Touch Probe Function............................................................................... 574
15.13 Digital Inputs/Outputs............................................................................... 577
16 Maintenance........................................................................................................ 579
16.1 Overview..................................................................................................... 579
16.2 Inspections and Part Replacement............................................................. 579
16.2.1 Overview.................................................................................................. 579
16.2.2 Inspections.............................................................................................. 579
16.2.3 Guidelines for Part Replacement............................................................. 579
16.2.4 Replacing the Battery.............................................................................. 580
16.3 PROFINET Alarm Mechanism.................................................................... 582
16.3.1 General.................................................................................................... 582
16.3.2 PROFINET Alarm Structure.................................................................... 582
16.3.3 Fault Buffer Mechanism........................................................................... 584
16.4 Alarm Displays............................................................................................ 585
16.4.1 Overview.................................................................................................. 585
16.4.2 List of Alarms........................................................................................... 586
16.4.3 Troubleshooting Alarms........................................................................... 594
16.4.4 Resetting Alarms..................................................................................... 630
16.4.5 Displaying the Alarm History................................................................... 630
16.4.6 Clearing the Alarm History....................................................................... 632
16.4.7 Resetting Alarms Detected in Option Modules........................................ 633
16.4.8 Resetting Motor Type Alarms.................................................................. 636
16.5 Warning Displays........................................................................................ 637
16.5.1 General.................................................................................................... 637
16.5.2 List of Warnings....................................................................................... 638
16.5.3 Troubleshooting Warnings....................................................................... 640
16.6 Troubleshooting Based on the Operation and Conditions of the Servo-
motor.......................................................................................................... 646
17 Parameter and Object Lists............................................................................... 660
17.1 Overview..................................................................................................... 660
17.2 List of Parameters...................................................................................... 660
17.2.1 Interpreting the Parameter Lists.............................................................. 660
17.2.2 List of Parameters................................................................................... 661
Sigma-7 Series SERVOPACKs
Table of contents
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17.3 Object List................................................................................................... 730
17.4 PROFINET Parameter Request Error Codes............................................. 749
17.5 Parameter Recording Table........................................................................ 752
18 Appendices......................................................................................................... 759
18.1 Overview..................................................................................................... 759
18.2 Interpreting Panel Displays......................................................................... 759
18.2.1 Overview.................................................................................................. 759
18.2.2 Interpreting Status Displays..................................................................... 759
18.2.3 Alarm and Warning Displays................................................................... 759
18.2.4 Hard Wire Base Block Active Display...................................................... 759
18.2.5 Overtravel Display................................................................................... 760
18.2.6 Forced Stop Display................................................................................ 760
18.2.7 PROFINET Communications Indicators.................................................. 760
18.3 Corresponding SERVOPACK and SigmaWin+ Function Names............... 761
18.3.1 Overview.................................................................................................. 761
18.3.2 Corresponding SERVOPACK Utility Function Names............................. 761
18.3.3 Corresponding SERVOPACK Monitor Display Function Names............. 763
19 Revision history.................................................................................................. 767
Sigma-7 Series SERVOPACKs Table of contents
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1 General
1.1 About this Manual
This manual provides information required to select Σ-7S SERVOPACKs with PROFINET
Communications References for Σ-7-Series AC Servo Drives, and to design, perform trial
operation of, tune, operate, and maintain the Servo Drives.
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.
1.2 Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Chapter Chapter Title Contents
1 Basic Information on SER-
VOPACKs
Provides information required to select SER-
VOPACKs, such as SERVOPACK models and
combinations with Servomotors.
2 Selecting a SERVOPACK Provides information required to select SER-
VOPACKs, such as specifications, block dia-
grams, dimensional drawings, and connection
examples.
3 SERVOPACK Installation Provides information on installing SERVO-
PACKs in the required locations.
4 Wiring and Connecting
SERVOPACKs
Provides information on wiring and connecting
SERVOPACKs to power supplies and periph-
eral devices.
5 Basic Functions That
Require Setting before
Operation
Describes the basic functions that must be set
before you start Servo System operation. It
also describes the setting methods.
6 Application Functions Describes the application functions that you
can set before you start Servo System opera-
tion. It also describes the setting methods.
7 Trial Operation and Actual
Operation
Provides information on the flow and proce-
dures for trial operation and convenient func-
tions to use during trial operation.
8 Tuning Provides information on the flow of tuning,
details on tuning functions, and related oper-
ating procedures.
9 Monitoring Provides information on monitoring SERVO-
PACK product information and SERVOPACK
status.
10 Fully-Closed Loop Control Provides detailed information on performing
fully-closed loop control with the SERVOPACK.
11 Safety Functions Provides detailed information on the safety
functions of the SERVOPACK.
Sigma-7 Series SERVOPACKs
General
Outline of Manual
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Chapter Chapter Title Contents
12 PROFINET Communica-
tions
Provides basic information on PROFINET com-
munications.
13 PROFIdrive Drive Profile Provides detailed information on the PROFI-
drive drive profile.
14 Object Dictionary Provides an overview and details on the object
dictionary.
15 Maintenance Provides information on the meaning of,
causes of, and corrections for alarms and
warnings.
16 Parameter and Object Lists Provides information on parameters and
objects.
17 Appendices Provides information on interpreting panel dis-
plays and tables of corresponding SERVO-
PACK and SigmaWin+ function names.
Sigma-7 Series SERVOPACKs General
Outline of Manual
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1.3 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.
Manuals Catalogs
System Components

Machine
Controller
and
Servo Drive
General
Catalog

MP3300
Catalog
Machine Controllers

S-7-Series
Catalog
Servo Drives
Machine Controllers
SERVOPACKs: S-7S and S-7W
SERVOPACKs with Built-in Controllers: S-7C
Servomotors
Other Documents

Built-in
Function
Manuals

S-7-Series
S-7S
SERVOPACK
Product
Manuals
(such as this manual)

S-7-Series
S-7S/S-7W
SERVOPACK
Hardware Option
Product Manuals

Option
Module
User’s
Manuals
S-7-Series
S-7S/S-7W
SERVOPACK
FT/EX
Product Manuals
Option
Module
User’s
Manual
S-7-Series
Servomotor
Product
Manuals
S-7-Series
S-7C
SERVOPACK
Product Manual

S-7-Series
S-7C
SERVOPACK
Troubleshooting
Manual

Enclosed
Documents

Enclosed
Documents

Built-in
Function
Manuals

Enclosed
Documents
S-7-Series
Peripheral
Device
Selection
Manual
S-7-Series
Operation
Interface
Operating
Manuals
S-7-Series
MECHATROLINK
Communications
Command
Manuals
Programming
Manuals
Distributed
I/O Module
User’s
Manual
Fig. 1: Related Documents Sigma 7 Series
Sigma-7 Series SERVOPACKs
General
Related Documents
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Classification Document Name Document No. Description
1
Machine Controller
and Servo Drive Gen-
eral Catalog
Machine Controller and AC Servo
Drive Solutions Catalog
KAEP S800001 22 Describes the features and appli-
cation examples for combinations
of MP3000-Series Machine Con-
trollers and Σ-7-Series AC Servo
Drives.
2
MP3300 Catalog
Machine Controller MP3300 KAEP C880725 03 Provides detailed information on
MP3300 Machine Controllers,
including features and specifica-
tions.
3
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 specifica-
tions.
4
Built-in Function Man-
uals
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
Modules (SVD, SVC4, and SVR4)
for Σ- 7-Series Σ-7C SERVO-
PACKs.
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
Controllers and Σ-7-Series Σ-7C
SERVOPACKs.
5
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 Controllers and Σ-7-
Series Σ-7C SERVOPACKs.
Machine Controller MP2000
Series 262IF-01 FL-net Communi-
cation Module User’s Manual
SIEP C880700 36
Machine Controller MP2000
Series 263IF-01 EtherNet/IP Com-
munication 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
6
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 SER-
VOPACKs.
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.
Sigma-7 Series SERVOPACKs General
Related Documents
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Classification Document Name Document No. Description
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.
7
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 SER-
VOPACKs; installing, connecting,
setting, testing in trial operation,
and tuning Servo Drives; writing,
monitoring, and maintaining pro-
grams; and other information.
8
Σ -7-Series Σ-7C
SERVOPACK Trou-
bleshooting 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.
9
Σ -7-Series Σ-7S
SERVOPACK Product
Manuals
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK Command Option
Attachable Type with INDEXER
Module Product Manual
SIEP S800001 64 Provide detailed information on
selecting Σ-7-Series SERVO-
PACKs and information on instal-
ling, connecting, setting, per-
forming trial operation for, tuning,
monitoring, and maintaining the
Servo Drives.
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-7S
SERVOPACK with PROFINET
Communications References
Product Manual
This manual (SIEP
YEUOC7P 02)
10
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 Hard-
ware Option Specifications
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 Specifications HWBB
Function Product Manual
SIEP S800001 72
Sigma-7 Series SERVOPACKs
General
Related Documents
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Classification Document Name Document No. Description
11
Σ-7-Series Σ-7S/Σ-7W
SERVOPACK FT/EX
Product Manuals
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK with FT/EX Specifi-
cation for Indexing 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 Specifi-
cation for Tracking Application
Product Manual
SIEP S800001 89
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK with FT/EX Specifi-
cation for Application with Special
Motor, SGM7D Motor Product
Manual
SIEP S800001 91
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK with FT/EX Specifi-
cation for Press and Injection
Molding Application Product
Manual
SIEP S800001 94
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK with FT/EX Specifi-
cation for Transfer and Alignment
Application Product Manual
SIEP S800001 95
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK with FT/EX Specifi-
cation for Torque/Force Assis-
tance for Conveyance Application
Product Manual
SIEP S800002 09
Σ-7-Series AC Servo Drive Σ-7S
SERVOPACK with FT/EX Specifi-
cation for Cutting Application Feed
Shaft Motor Product Manual
SIEP S800002 10
12
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 main-
tenance of a Safety Module.
13
Enclosed Documents
AC Servo Drive Rotary Servo-
motor Safety Precautions
TOBP C230260 00 Provides detailed information for
the safe usage of Rotary Servo-
motors and Direct Drive Servomo-
tors.
AC Servomotor Linear Σ Series
Safety Precautions
TOBP C230800 00 Provides detailed information for
the safe usage of Linear Servomo-
tors.
14
Σ-7-Series Servo-
motor Product Man-
uals
Σ-7-Series AC Servo Drive Rotary
Servomotor Product Manual
SIEP S800001 36 Provide detailed information on
selecting, installing, and con-
necting the Σ-7-Series Servomo-
tors.
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
Sigma-7 Series SERVOPACKs General
Related Documents
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Classification Document Name Document No. Description
15
Σ-7-Series Peripheral
Device Selection
Manual
Σ-7-Series AC Servo Drive Periph-
eral Device Selection Manual
SIEP S800001 32 Provides the following information
in detail for Σ-7-Series Servo Sys-
tems.
nCables: Models, dimensions,
wiring materials, connector
models, and connection speci-
fications
nPeripheral devices: Models,
specifications, diagrams, and
selection (calculation)
methods
16
Σ-7-Series MECHA-
TROLINK Communi-
cations Command
Manuals
Σ-7-Series AC Servo Drive
MECHATROLINK-II Communica-
tions 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 Communica-
tions Standard Servo Profile Com-
mand Manual
SIEP S800001 31 Provides detailed information on
the MECHATROLINK-III communi-
cations standard servo profile
commands that are used for a
Σ-7- Series Servo System.
17
Programming Man-
uals
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.
18
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+ Engi-
neering Tool for a Σ-7-Series
Servo System.
19
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.
Sigma-7 Series SERVOPACKs
General
Related Documents
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 20