YASKAWA SGD7S-1R9D Product Manual page 7

 Technical Terms Used in This Manual
The following terms are used in this manual.
Term
A Σ-7-Series Rotary Servomotor or Linear Servomotor
Servomotor
A Σ-7-Series Rotary Servomotor (SGM7J, SGM7A, or SGM7G).
Rotary Servomotor
A Σ-7-Series Linear Servomotor (SGLF or SGLT).
Linear Servomotor
A Σ-7-Series Σ-7S servo amplifier with EtherCAT Communications References.
SERVOPACK
Servo Drive The combination of a Servomotor and SERVOPACK.
A servo control system that includes the combination of a Servo Drive with a host controller
Servo System
and peripheral devices.
servo ON Supplying power to the motor.
servo OFF Not supplying power to the motor.
A command that is used to turn ON the servo (i.e., supply power to the motor) when bit 3 of
Servo ON command controlword (6040 hex) is changed to 1 (ON) while the control power supply and main circuit
(Enable Operation power supply are ON.
command) Refer to the following section for details.
A command that is used to turn OFF the servo (i.e., power not supplied to the motor) when
Servo OFF command bit 3 of controlword (6040 hex) is changed to 0 (OFF) while the control power supply and
(Disable Operation main circuit power supply are ON.
command) Refer to the following section for details.
Shutting OFF the power supply to the motor by shutting OFF the base current to the power
base block (BB)
transistor in the SERVOPACK.
A state in which the motor is stopped and is in a position loop with a position reference of 0.
servo lock
One of the cables that connect to the main circuit terminals, including the Main Circuit Power
Main Circuit Cable
Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engi-
SigmaWin+
neering Tool is installed.
 Differences in Terms for Rotary Servomotors and Linear Servomotors
There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.
This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you
need to interpret the terms as given in the following table.
Rotary Servomotors
torque
moment of inertia
rotation
forward rotation and reverse rotation
CW and CCW pulse trains
rotary encoder
absolute rotary encoder
incremental rotary encoder
-1
unit: min
unit: N·m
Using This Manual
13.1 Device Control (page 13-3)
13.1 Device Control (page 13-3)
forward movement and reverse movement
forward and reverse pulse trains
absolute linear encoder
incremental linear encoder
Meaning
Linear Servomotors
force
mass
movement
linear encoder
unit: mm/s
unit: N
vii