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Sigma-7 SGD7S Series
YASKAWA Sigma-7 SGD7S Series User Manual
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Table of Contents
SIEP YEUOC7P 02 SGD7S TM PROFINET 200 V, 1, en_GB_7
1
Table of contents
3
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 Standards
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
3.4.2.1 Base-mounted SERVOPACKs
70
3.4.2.2 Rack-mounted SERVOPACKs
71
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
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
5.4.5.1 Using Only One SERVOPACK
98
5.4.5.2 Using More Than One SERVOPACK
102
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
5.5.3.1 When Using an Absolute Encoder
108
5.5.3.2 When Using an Incremental Encoder or Batteryless Absolute Encoder
110
5.5.3.3 When Using an Absolute Linear Encoder
110
5.5.3.4 When Using an Incremental Linear Encoder
112
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
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 Perform 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 Operating
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
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
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
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
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 Control
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
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) Signals
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
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
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
16.4.2.1 Overview
586
16.4.2.2 List of the PROFINET Module Alarms
586
16.4.2.3 List of the SERVOPACK Alarms
588
16.4.3 Troubleshooting Alarms
594
16.4.3.1 Overview
594
16.4.3.2 Troubleshooting of the PROFINET Module Alarms
594
16.4.3.3 Troubleshooting of the SERVOPACK Alarms
596
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
16.5.2.1 Overview
638
16.5.2.2 List of the PROFINET Module Warnings
638
16.5.2.3 List of the SERVOPACK Warnings
638
16.5.3 Troubleshooting Warnings
640
16.5.3.1 Overview
640
16.5.3.2 Troubleshooting of the PROFINET Module Warnings
640
16.5.3.3 Troubleshooting of the SERVOPACK Warnings
640
16.6 Troubleshooting Based on the Operation and Conditions of the Servomotor
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
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
SIEP YEUOC7P 02 SGD7S TM PROFINET 200 V Cover Page Back
768
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YASKAWA Sigma-7 SGD7S Series Specifications
General
Brand
YASKAWA
Model
Sigma-7 SGD7S Series
Category
Servo Drives
Language
English
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