Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with FT/EX Specification for Indexing Application Product Manual Model: SGD7S-00F79 Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications Wiring and Connecting SERVOPACKs Trial Operation Monitoring Settings Operation with Digital I/O Maintenance Parameter Lists Appendices MANUAL NO.
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
Page 3: About This Manual
About this Manual This manual describes the Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs for indexing applica- tions. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary. Outline of Manual The contents of the chapters of this manual are described in the following table.
Page 4 Continued from previous page. Σ-7S SERVOPACKs This Item Analog Voltage/Pulse Train Manual References Product Manual Flow of Trial Operation Inspections and Confirmations before Trial Operation Trial Operation for the Servomotor without a Load Trial Operation and Trial Operation Example Actual Operation Trial Operation from the Host Controller for the Servomotor without a Load Trial Operation with the Servomotor Con-...
Page 5 Continued from previous page. Σ-7S SERVOPACKs This Item Analog Voltage/Pulse Train Manual References Product Manual Examples of Connections to Host Controllers 15.1 Corresponding SERVOPACK and SigmaWin+ Appendices 10.1 Function Names Operation of Digital Operator 10.2...
Page 6: Related Documents
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. y tem Component Machine Controller...
Page 7 Classification Document Name Document No. Description Describes the features and applica-  Machine Controller and tion examples for combinations of Machine Controller and AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control- Servo Drive lers and Σ-7-Series AC Servo Solutions Catalog General Catalog Drives.
Page 8: Trial Operation
Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Provides detailed information for Σ-7S and Σ-7W SERVOPACK the safe usage of Σ-7-Series TOMP C710828 00 Safety Precautions SERVOPACKs. Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Provides detailed information for Σ-7-Series TOBP C720829 00 the safe usage of Option Modules.
Page 9: Monitoring
Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III SIEP S800001 28 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II SIEP S800001 27 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Provide detailed information on...
Page 10 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with This manual FT/EX Specification for Index- (SIEP S800001 84) ing Application Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Track- SIEP S800001 89 ing Application Product Manual...
Page 11 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7-Series Describes the peripheral devices Peripheral Device SIEP S800001 32 for a Σ-7-Series Servo System. Peripheral Device Selection Manual Selection Manual Σ-7-Series AC Servo Drive Provides detailed information on MECHATROLINK-II the MECHATROLINK-II communi- SIEP S800001 30...
Page 12: Using This Manual
Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor. Servomotor A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P, Rotary Servomotor or SGM7G) or a Direct Drive Servomotor (SGM7E, SGM7F, SGMCV, or SGMCS).
Page 13  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BK is written as /BK. ...
Page 14  Trademarks • QR code is a trademark of Denso Wave Inc. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
Page 15: Safety Precautions
Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
Page 16  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
Page 17 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
Page 18 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
Page 19 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
Page 20  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
Page 21  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
Page 22 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
Page 23  Troubleshooting Precautions DANGER  If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper- ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
Page 24 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.
Page 25: Warranty
• Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
Page 26 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
Page 27: Compliance With Ul Standards, Eu Directives, And Other Safety Standards
Compliance with UL Standards, EU Directives, and Other Safety Standards Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards. ...
Page 28  European Directives Product Model EU Directive Harmonized Standards Machinery Directive EN ISO13849-1: 2015 2006/42/EC EN 55011 group 1 class A EN 61000-6-2 EMC Directive EN 61000-6-4 2014/30/EU EN 61800-3 (Category C2, Second SERVOPACKs SGD7S environment) Low Voltage Directive EN 50178 2014/35/EU EN 61800-5-1 RoHS Directive...
Page 29  Safety Standards Product Model Safety Standards Standards EN ISO13849-1: 2015 Safety of Machinery IEC 60204-1 IEC 61508 series SERVOPACKs SGD7S Functional Safety IEC 62061 IEC 61800-5-2 IEC 61326-3-1  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061 SILCL3 IEC 61508...
Page 30: Table Of Contents
Contents About this Manual ..........iii Outline of Manual .
Page 31 Trial Operation Trial Operation Example ....... 4-2 Monitoring Monitoring SERVOPACK Status ......5-2 5.1.1 Monitoring Status and Operations .
Page 32 Program Table Operation ......7-9 7.3.1 Types of Operation ..........7-9 7.3.2 I/O Signals Related to Program Table Operation.
Page 33 Appendices 10.1 Corresponding SERVOPACK and SigmaWin+ Function Names . .10-2 10.1.1 Corresponding SERVOPACK Utility Function Names ....10-2 10.1.2 Corresponding SERVOPACK Monitor Display Function Names ..10-3 10.2 Operation of Digital Operator .
Page 34 Basic Information on SERVOPACKs This chapter provides basic information, including an intro- duction to the product, and describes how to interpret model numbers and combinations with Servomotors. Product Introduction ....1-2 1.1.1 Main Features .
Page 35: Product Introduction
1.1 Product Introduction 1.1.1 Main Features Product Introduction The SERVOPACKs described in this manual are for positioning and contain a built-in INDEXER. 1.1.1 Main Features This section describes the main features. • You can achieve high-speed, high-precision positioning without using a motion controller. A host controller can be easily connected through digital I/O signals.
Page 36: Model Designations
1.2 Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers - R70 14th 1 t+2nd+ rd 5th+6th 8th+9th+10th 11th+12th+1 th Σ-7- erie digit digit digit digit digit digit digit Σ-7 ERVOPACK Maximum Applicable Hardware Option 1 t+2nd+ rd digit 4th digit 8th+9th+10th digit...
Page 37: Combinations Of Servopacks And Servomotors
1.3 Combinations of SERVOPACKs and Servomotors Combinations of SERVOPACKs and Servomotors Refer to the following manuals for information on combinations with Σ-7-Series Servomotors. Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36) Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37) Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38)
Page 38: Functions
1.4 Functions Functions This section lists the functions provided by SERVOPACKs. Refer to this manual and the follow- ing manuals for details on the functions. Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26) •...
Page 39: Trial Operation For The Servomotor Without A Load -
1.4 Functions Continued from previous page. Function CLR (Position Deviation Clear Input) Signal Function and Settings Reference Pulse Input Multiplication Switching /COIN (Positioning Completion) Signal /NEAR (Near) Signal Reference Pulse Inhibition and Settings Torque Control Basic Settings for Torque Control Torque Reference Filter Settings Speed Limit during Torque Control /VLT (Speed Limit Detection) Signal...
Page 40: Homing
1.4 Functions • Functions for Inspection and Maintenance Function Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Motor Monitoring Product Information Monitoring Product Life Alarm History Display • Operation with Digital I/O Function Homing Positioning Operations with a Program Table Registration Constant Speed Operations with a Jog Speed Table ZONE Outputs...
Page 41: Sigmawin
1.5 SigmaWin+ SigmaWin+ To use the SigmaWin+, a model information file for the SERVOPACK must be added to Sig- maWin+ version 7. Contact your Yaskawa representative for the model information file.
Page 42: Servopack Ratings And Specifications
SERVOPACK Ratings and Specifications This chapter provides information required to select SERVOPACKs, such as specifications. Ratings ......2-2 SERVOPACK Overload Protection Characteristics .
Page 43: Ratings
2.1 Ratings Ratings Three-Phase, 200 VAC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A Maximum Applicable Motor Capac- 0.05 0.75 ity [kW] Continuous Output Current [Arms] 0.66 0.91 11.6 18.5 19.6 32.9 Instantaneous Maximum Output 16.9 Current [Arms] Power Supply...
Page 44 2.1 Ratings Model SGD7S- 470A 550A 590A 780A Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] 46.9 54.7 58.6 78.0 Instantaneous Maximum Output Current [Arms] Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz Main Circuit Input Current [Arms] Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz...
Page 45 2.1 Ratings 270 VDC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A Maximum Applicable Motor Capacity [kW] 0.05 0.75 Continuous Output Current [Arms] 0.66 0.91 11.6 Instantaneous Maximum Output Current [Arms] 11.0 16.9 17.0 28.0 Power Supply 270 VDC to 324 VDC, -15% to +10% Main Circuit Input Current [Arms] Power Supply...
Page 46: Servopack Overload Protection Characteristics
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.
Page 47: Specifications
2.3 Specifications Specifications The product specifications are given below. Item Specification Control Method IGBT-based PWM control, sine wave current drive Serial encoder: 20 bits or 24 bits (incremental encoder/ With Rotary absolute encoder) Servomotor 22 bits (absolute encoder) • Absolute linear encoder (The signal resolution depends on Feedback the absolute linear encoder.) With Linear...
Page 48: Program Table Operation
2.3 Specifications Continued from previous page. Item Specification Allowable voltage range: 5 VDC ±5% Fixed Input Number of input points: 1 Signals Input signal: SEN (Absolute Data Request) signal Number of input points: 1 Input method: Line driver or open collector Input Signals •...
Page 49 2.3 Specifications Continued from previous page. Item Specification Allowable voltage range: 5 VDC to 30 VDC Fixed Number of output points: 1 Output Output signal: ALM (Servo Alarm) signal Allowable voltage range: 5 VDC to 30 VDC Number of output points: 6 (A photocoupler output (isolated) is used for three of the outputs.) (An open-collector output (non-isolated) is used for the...
Page 50 2.3 Specifications Continued from previous page. Item Specification Built-in (An external resistor must be connected to the SGD7S-470A to -780A.) Regenerative Processing Refer to the following catalog for details. Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32) Stopping with dynamic brake, deceleration to a stop, or Overtravel (OT) Prevention coasting to a stop for the P-OT (Forward Drive Prohibit) or...
Page 51 2.3 Specifications Continued from previous page. Item Specification Feedforward 0% to 100% Compensation Output Signal Positioning Com- 0 to 1,073,741,824 reference units pleted Width Setting Refer- One of the following is selected: ence Sign + pulse train, CW + CCW pulse trains, and two-phase Pulse pulse trains with 90°...
Page 52: Wiring And Connecting Servopacks
Wiring and Connecting SERVOPACKs This chapter provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices. Basic Wiring Diagrams ....3-2 I/O Signal Connections ....3-4 3.2.1 I/O Signal Connector (CN1) Names and Functions .
Page 53: Basic Wiring Diagrams
3.1 Basic Wiring Diagrams Basic Wiring Diagrams This section provide the basic wiring diagrams. Refer to the reference sections given in the dia- grams for details. ERVOPACK Main circuit Motor terminal terminal 1FLT PG5V PG0V (For ervo alarm di play) ervo power ervo power Analog Monitor...
Page 54 You can enable this function with a parameter setting. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. Refer to the following manual if you use a safety function device.
Page 55: I/O Signal Connections
3.2 I/O Signal Connections 3.2.1 I/O Signal Connector (CN1) Names and Functions I/O Signal Connections 3.2.1 I/O Signal Connector (CN1) Names and Functions The following table gives the pin numbers, names, and functions of the I/O signal pins for the default settings.
Page 56 Sequence Input supply. Allowable voltage range: 24 VDC ±20% − +24VIN Signal Power Supply Input The 24-VDC power supply is not provided by Yaskawa. Absolute Data Inputs the overheat protection signal from a − 4 (2) Request Input Linear Servomotor. Control...
Page 57 3.2 I/O Signal Connections 3.2.1 I/O Signal Connector (CN1) Names and Functions Output Signals Default settings are given in parentheses. Control Reference Signal Pin No. Name Function Method Page ALM+ Servo Alarm Turns OFF (opens) when an error is − Output detected.
Page 58: I/O Signal Connector (Cn1) Pin Arrangement
3.2 I/O Signal Connections 3.2.2 I/O Signal Connector (CN1) Pin Arrangement 3.2.2 I/O Signal Connector (CN1) Pin Arrangement The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings. General- Signal /SO1- purpose General- Ground...
Page 59: I/O Circuits
3.2 I/O Signal Connections 3.2.3 I/O Circuits 3.2.3 I/O Circuits Sequence Input Circuits This section describes CN1 connector terminals 15-14 (Homing Deceleration Switch Input). The wiring specifications for CN1 connector terminals 15-14 and 40 to 47 are different. Wire the terminals according to the information described in this section (Sequence Input Cir- cuits).
Page 60 3.2 I/O Signal Connections 3.2.3 I/O Circuits This section describes CN1 connector terminals 40 to 47. The circuits are connected through relay or open-collector transistor circuits. If you connect through a relay, use a low-current relay. If you do not use a low-current relay, a faulty contact may result. Examples for Relay Circuits Examples for Open-Collector Circuits ERVOPACK...
Page 61: Trial Operation
Trial Operation This chapter gives the flow and operating procedures for trial operation. Trial Operation Example ....4-2...
Page 62: Trial Operation Example
4.1 Trial Operation Example Trial Operation Example A trial operation example for digital I/O is given below. Refer to the following chapter for information on operation with digital I/O. Chapter 7 Operation with Digital I/O Confirm that the wiring is correct, and then connect the I/O signal connector (CN1 con- nector).
Page 63 Monitoring This chapter provides information on monitoring SERVO- PACK product information and SERVOPACK status. Monitoring SERVOPACK Status ..5-2 5.1.1 Monitoring Status and Operations ... 5-2 5.1.2 I/O Signal Monitor .
Page 64: Monitoring Servopack Status
5.1 Monitoring SERVOPACK Status 5.1.1 Monitoring Status and Operations Monitoring SERVOPACK Status 5.1.1 Monitoring Status and Operations Monitor Items The items that you can monitor on the Status Monitor Window and Motion Monitor Window are listed below. • Status Monitor Window Monitor Items •...
Page 65 5.1 Monitoring SERVOPACK Status 5.1.1 Monitoring Status and Operations • Motion Monitor Window Monitor Items • Current Alarm State • Input Reference Pulse Speed • Error Monitor • Deviation Counter (Position Deviation) • Position Reference Current Position • Cumulative Load •...
Page 66: I/O Signal Monitor
5.1 Monitoring SERVOPACK Status 5.1.2 I/O Signal Monitor 5.1.2 I/O Signal Monitor Use the following procedure to check I/O signals. Select the Servo Drive’s Button from the workspace of the Main Window of the Sig- maWin+. Select Wiring Check in the Menu Dialog Box. The Wiring Check Dialog Box will be displayed.
Page 67: Monitoring Machine Operation Status And Signal Waveforms
5.2 Monitoring Machine Operation Status and Signal Waveforms Monitoring Machine Operation Status and Signal Waveforms To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a memory recorder. This section describes how to trace data and I/O with the SigmaWin+. Refer to the following manual for detailed operating procedures for the SigmaWin+.
Page 68 5.2 Monitoring Machine Operation Status and Signal Waveforms • I/O Tracing Trace Objects • ALM (Servo Alarm Output Signal) • /S-ON (Servo ON Input Signal) • /COIN (Positioning Completion Output • /P-CON (Proportional Control Input Sig- Signal) nal) • /V-CMP (Speed Coincidence Detection •...
Page 69: Settings
Settings This chapter describes settings that are made according to the machine. Control Method Selection ....6-2 I/O Signal Allocations ....6-3 6.2.1 Input Signal Allocations .
Page 70: Control Method Selection
6.1 Control Method Selection Control Method Selection To perform operation with the program table or jog speed table, set Pn000 (Control Method Selection) to n.1.   Pn000 = n. Control Method Outline Reference Commands from the program table and ...
Page 71: I/O Signal Allocations
6.2 I/O Signal Allocations 6.2.1 Input Signal Allocations I/O Signal Allocations Functions are allocated to the pins on the I/O signal connector (CN1) in advance. You can change the allocations and the polarity for some of the connector pins. Function allocations and polarity settings are made with parameters.
Page 72 6.2 I/O Signal Allocations 6.2.1 Input Signal Allocations Continued from previous page. Input Signal Input Signal Name Parameter  /SEL4 Pn632 = n. Program Step Selection Input 4   /JOGP Pn632 = n. Forward Jog Input   /JOGN Pn632 = n.
Page 73: Output Signal Allocations
6.2 I/O Signal Allocations 6.2.2 Output Signal Allocations  Input Signals That Can Be Allocated to CN1-14 and CN1-15 Input Signal Input Signal Name Parameter Setting  Clear Pn634 = n.  /DEC Homing Deceleration Switch Pn634 = n.  /RGRT Registration Pn634 = n.
Page 74 6.2 I/O Signal Allocations 6.2.2 Output Signal Allocations Output signals are allocated as shown in the following table. Refer to Interpreting the Output Signal Allocation Tables and change the allocations accord- ingly. Interpreting the Output Signal Allocation Tables The e column give the parameter etting to u e. ignal are allocated to CN1 pin according to the etting .
Page 75 6.2 I/O Signal Allocations 6.2.2 Output Signal Allocations Continued from previous page. CN1 Pin No. Output Signal Name Output Disabled 25 and 27 and 29 and and Parameter Signal (Not Used) Programmable Output 3 /POUT3 0 (default setting) Pn635 = n.X Programmable Output 4 /POUT4 0 (default setting)
Page 76: Moving Mode And Coordinate Settings
6.3 Moving Mode and Coordinate Settings 6.3.1 When the Coordinates are the Linear Type Moving Mode and Coordinate Settings Use the following parameters to set the moving mode and the coordinates. When Classifica- Parameter Meaning Enabled tion n.0 [default Sets coordinates to linear type. setting] Sets coordinates to rotary type.
Page 77: When The Coordinates Are The Rotary Type
6.3 Moving Mode and Coordinate Settings 6.3.2 When the Coordinates are the Rotary Type 6.3.2 When the Coordinates are the Rotary Type For a rotary table or other equipment with rotational coordinates, set Pn637 = n.X to 1 (shortest path), 2 (always forward), or 3 (always reverse). Set the last rotational coordinate in Pn638 (End Point of Rotational Coordinates) and the first rotational coordinate in Pn63A (Start- ing Point of Rotational Coordinates).
Page 78: Settings For References
6.4 Settings for References 6.4.1 Motor Speed Settings for References 6.4.1 Motor Speed For program table operation, the positioning speed is registered in SPD and the registration speed is registered in RSPD. For jog speed table operation, the jog speed is registered in JSPD.
Page 79: Smoothing
6.4 Settings for References 6.4.3 Smoothing 6.4.3 Smoothing Smoothing allows you to apply a filter to the position reference to produce smoother Servomo- tor acceleration and deceleration. Note: Smoothing does not affect the travel distance. The following parameters are related to smoothing. Average Position Reference Movement Time Setting Range Setting Unit...
Page 80: Origin Settings
6.5 Origin Settings 6.5.1 When Using an Absolute Encoder Origin Settings It is necessary to define a reference position to operate a device or machine. This is done with origin settings. The origin settings depend on whether an absolute encoder or an incremental encoder is used. 6.5.1 When Using an Absolute Encoder If you use an absolute encoder, it is not necessary to set the origin every time the power supply...
Page 81: When Using An Incremental Encoder
6.5 Origin Settings 6.5.2 When Using an Incremental Encoder When using a rotary type coordinate (Pn637 ≠ 0), set the results in Pn63C after perform- n. ing the following calculations so that the following relationships are satisfied: Pn63A ≤ Pn63C ≤ Pn638.
Page 82: Operation With Digital I/O
Operation with Digital I/O This chapter provides detailed information on homing, positioning with a program table, registration, constant speed operation with a jog speed table, and ZONE out- puts. Operation Functions ....7-3 Homing .
Page 83: Zone Outputs
ZONE Outputs ..... . 7-53 7.5.1 ZONE Table and ZONE Signals ... . .7-53 7.5.2 Parameters Related to ZONE Signals .
Page 84: Operation Functions
7.1 Operation Functions Operation Functions The following five operation functions are provided. • Homing Homing is used to define the machine origin when the power supply is turned ON to equip- ment that uses an incremental encoder. Homing is not required for equipment that uses an absolute encoder because the positional relationship between the origin of the absolute encoder and the machine origin is set in a parameter.
Page 85: Homing
7.2 Homing 7.2.1 I/O Signals Related to Homing Homing Homing is used to define the machine origin when the power supply is turned ON to equipment that uses an incremental encoder. Turn OFF (mode 1) the /MODE 0/1 (Mode Switch Input) sig- nal to enable performing homing.
Page 86: Parameters Related To Homing
7.2 Homing 7.2.2 Parameters Related to Homing 7.2.2 Parameters Related to Homing  Parameter That Specifies the Homing Method Specify the homing method with Pn642 = n.X. Classifica- Parameter Meaning When Enabled tion n.0 The current position when the power supply is (default setting) turned ON is the origin.
Page 87 7.2 Homing 7.2.2 Parameters Related to Homing  Parameter That Specifies the Homing Creep Speed The following parameter sets the homing creep speed. Operation details, such as changing to this speed, depends on the homing method. Homing Creep Speed Default Classifica- Setting Range Setting Unit...
Page 88: Homing Procedures
7.2 Homing 7.2.3 Homing Procedures 7.2.3 Homing Procedures Homing will start when the /HOME signal turns ON. Homing will be stopped if the /HOME sig- nal turns OFF. If the /HOME signal turns ON while homing is stopped, homing will be restarted from where it was stopped.
Page 89 7.2 Homing 7.2.3 Homing Procedures Using Only the /DEC Signal for Homing (Pn642 = n.2)  Turn ON the /HOME signal. Homing starts. The motor will rotate in the direction specified in Pn643 = n.X (Homing Direction) at the speed specified in Pn646 (Approach Speed). ...
Page 90: Program Table Operation
7.3 Program Table Operation 7.3.1 Types of Operation Program Table Operation With program table operation, you can register (program) positioning patterns in a table in advance and then use commands from the host controller to specify the operation patterns to perform operation.
Page 91 7.3 Program Table Operation 7.3.1 Types of Operation Registration Operation If an external trigger signal (/RGRT) is input during travel (i.e., during positioning) toward a tar- get position that is specified as the target position (POS) in the program table, the motor will move the registration distance (RDST) that is specified in the program table.
Page 92: I/O Signals Related To Program Table Operation
7.3 Program Table Operation 7.3.2 I/O Signals Related to Program Table Operation 7.3.2 I/O Signals Related to Program Table Operation The following I/O signals are related to program table operation. Input Signals Related to Program Table Operation Input Signal Description Reference ON: Mode 0 (program table operation) /MODE 0/1...
Page 93: Program Table Configuration
7.3 Program Table Operation 7.3.3 Program Table Configuration 7.3.3 Program Table Configuration The program table is a table that contains programming. You can enter up to 256 program steps. The configuration of the program table is shown below. Each line in the table is called a pro- gram step.
Page 94: Settings In The Program Table
7.3 Program Table Operation 7.3.4 Settings in the Program Table 7.3.4 Settings in the Program Table Item Name Meaning Setting Procedure The /SEL0 to /SEL4 signals are Numbers are used to identify the program Program step used to specify the program STEP steps in the program table.
Page 95: Sigmawin+ Procedures
7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures • If you specify new positioning during positioning, an E53E (Movement Reference Duplication) error will occur and program table operation will be stopped. To restart, first turn ON the /PGM- RES signal to cancel program table operation. •...
Page 96 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures  Program Table Editing Dialog Box           Item Description Saves the program table currently displayed on the SigmaWin+ in a file on the  Save Button computer.
Page 97 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures  Editing Procedures The following two ways are used to edit the program table. Note: The method that is used depends on the item. • Items That Are Entered Directly Click the cell to edit the item. Enter the setting directly. •...
Page 98 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures • Target position Display in Program Selected Item Description Table Absolute position Use this setting to specify the target position directly. A ± Position Use this setting to specify the relative position (travel Relative distance I ±...
Page 99 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures Using Registration Clear the selection of the No registration Check Box and enter the registration absolute distance. Not Using Registration Select the No registration Check Box. Click the OK Button. This concludes the setting procedure. ...
Page 100 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures Set the acceleration and deceleration rates. The Same as previous step Check Boxes are selected by default. To use different values from the previous step, clear the selections of the Same as previous step Check Boxes and enter the values directly.
Page 101 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures  POUT (Output Signal) Specify the signals to output immediately after program step execution is started. Note: If you want to output the signal at the end of the step, specify POUT as POS = “-” in the next step. Double-click the cell to edit.
Page 102 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures Set the condition and the wait time. • Condition Display in Pro- Selected Item Description gram Table Positioning complete The step ends when the /COIN (Positioning Comple- [default setting] tion Output) signal turns ON (closes). The step ends when the /NEAR signal width is NEAR entered.
Page 103 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures  NEXT Specify the operation to perform after execution of the current program step is completed. Double-click the cell to edit. The Next Step Dialog Box will be displayed. Executing a Next Step Clear the selection of the END Check Box and set a value between 0 and 255 for the next step number.
Page 104 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures Writing the Program Table You can write the edited program table to SERVOPACK RAM to operate the SERVOPACK according to the program table. 1. Make sure that the system is in SERVO OFF state when you write the program table. 2.
Page 105 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures Saving the Program Table  Saving the Program Table to Flash Memory in the SERVOPACK To prevent the program table from being deleted when the power supply to the SERVOPACK is turned OFF, you must save it to flash memory in the SERVOPACK. The program table that is saved in the flash memory is automatically loaded each time the power supply is turned ON.
Page 106 7.3 Program Table Operation 7.3.5 SigmaWin+ Procedures  Saving the Program Table to a Computer File You can save the program table to a file on the computer. Use computer files to back up pro- gram tables. Click the Save Button. The Save As Dialog Box will be displayed.
Page 107: State Transitions
7.3 Program Table Operation 7.3.6 State Transitions You can use the Import Button to load the program table saved in a file to the SERVO- Information PACK. This concludes the saving procedure. 7.3.6 State Transitions Program table operation can be in any of three states: Canceled, operating, or stopped. Canceled /PGMRE / TART- TOP...
Page 108: Program Table Operation Examples
7.3 Program Table Operation 7.3.7 Program Table Operation Examples 7.3.7 Program Table Operation Examples This section provides the following 12 examples to show the timing of the I/O signals related to program table operation. In the following examples, it is assumed that homing has been completed to define the origin. Refer to the following section for a timing chart from when the power supply to the equipment is turned ON until homing is completed when an incremental encoder is used.
Page 109 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Specifying the Program Steps to Execute One at a Time In this example, the program table contains steps 0 to 4, but only program steps 3 and 4 are executed. Step 3 performs relative positioning for 100,000 reference units at a speed of 15,000,000 refer- ences units/min.
Page 110 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Specifying the Next Step to Execute in the NEXT Setting In this example, repeated positioning is performed using program steps 0 and 1. Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000,000 refer- ences units/min.
Page 111 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Specifying the Number of Times to Execute a Program Step In this example, program step 0 is executed and then step 1 is executed three times. Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000,000 refer- ences units/min.
Page 112 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Pausing Program Table Operation This example shows how to turn OFF the /START-STOP signal to temporarily stop program table operation and then turn ON the /START-STOP signal to execute the remainder of the step.
Page 113 7.3 Program Table Operation 7.3.7 Program Table Operation Examples As described below, operation is restarted even when the /START-STOP signal is turned ON even during deceleration after the /START-STOP signal is turned OFF. • Operating Procedure  Turn ON the /MODE 0/1 signal to change to mode 0. ...
Page 114 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Outputting POUT Signals for the Specified Time This example shows how to output the POUT signals in the next step for the specified length of time after completing positioning for a program step. Positioning is registered for steps 0, 2, and 4.
Page 115 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Specifying SEL Signals as Events In this example, SEL signals are specified as the end conditions for the program steps. Step 0 ends 2 seconds after the /SEL0 signal turns ON after positioning is completed. Step 1 ends 2 seconds after the /SEL1 signal turns ON after positioning is completed.
Page 116 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Combining Positioning with Constant-Speed Operation This example shows how to perform operation that combines constant-speed operation and positioning when the target position (POS) is set to INFINITE. Step 0 performs operation for 2 seconds with no target position (infinite length = INFINITE) at a speed of 15,000,000 reference units/min.
Page 117 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Performing Registration This example shows how to use the /RGRT signal during execution of a program step to change to the specified speed and perform positioning for the specified distance. Step 0 performs positioning for a travel distance (RDST) of 100,000 reference units when the / RGRT signal turns ON.
Page 118 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Pausing Registration This example shows how to turn OFF the /START-STOP signal to temporarily stop registration operation and then turn ON the /START-STOP signal to restart registration operation. The program table for this positioning is shown below. PGM- RDST RSPD...
Page 119 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Turning ON the /RGRT Signal While Program Table Operation Is Stopped This example shows what happens when the /RGRT signal is turned ON while program table operation is stopped after turning OFF the /START-STOP signal. In this case, registration oper- ation is performed when the /START-STOP signal is turned ON.
Page 120 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Using Consecutive Stops You can use consecutive stops to set the target position to infinite (+/-INFINITE) and then per- form positioning from constant-speed operation to a specified absolute position within the rota- tional coordinates without stopping.
Page 121 7.3 Program Table Operation 7.3.7 Program Table Operation Examples • Operation Pattern and Related Signal Timing tep 0 tep 1 peed Operation Pattern Time Mode 0 (Program Table Operation) /MODE 0/1 1 m min. / TART- TOP* 1 m min. / EL0 to / EL4* /COIN...
Page 122 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Resetting Program Table Operation In this example, program operation is reset during repeated operation of program steps 0 and 1 and then the program step is specified and operation is restarted from the canceled state. Note: “Canceled”...
Page 123: Event Examples
7.3 Program Table Operation 7.3.8 EVENT Examples 7.3.8 EVENT Examples This section provides examples of the settings and operations for the EVENT end conditions for program steps. • I • IT2000 Reference peed Motor peed peed peed /COIN /COIN t = 2000 m •...
Page 124: Output Response Times After /Start-Stop Turns On
7.3 Program Table Operation 7.3.9 Output Response Times after /START-STOP Turns ON 7.3.9 Output Response Times after /START-STOP Turns ON The response times for starting the motor, the /COIN signal, and the /POUT0 to /POUT4 sig- nals when the /START-STOP signal is turned ON to start program table operation are shown below.
Page 125: Jog Speed Table Operation
7.4 Jog Speed Table Operation 7.4.1 Input Signals Related to Jog Operation Jog Speed Table Operation You can perform jog operation from the SigmaWin+, or you can use the /JOGP and /JOGN input signals to perform jog operation. Jog operation is performed at the specified jog speed. 7.4.1 Input Signals Related to Jog Operation The following signals are used for jog operation: /MODE 0/1, /JOGP, /JOGN, and /JOG0 to /...
Page 126: Jog Speed Table And Speed Selection Signals
7.4 Jog Speed Table Operation 7.4.3 Jog Speed Table and Speed Selection Signals 7.4.3 Jog Speed Table and Speed Selection Signals You can register up to eight jog speeds in the jog speed table. The /JOG0 to /JOG2 (Jog Speed Selection) signals are used to specify the jog speeds that are registered in the jog speed table.
Page 127: Sigmawin+ Procedures
7.4 Jog Speed Table Operation 7.4.4 SigmaWin+ Procedures 7.4.4 SigmaWin+ Procedures You use the SigmaWin+ to edit, write, and save the jog speed table. Use the following flow. Editing the Jog Speed Table on page 7-46 Editing the Jog peed Table Writing the Jog Speed Table on page 7-47 Writing the Jog peed Table Saving the Jog Speed Table on page 7-48...
Page 128 7.4 Jog Speed Table Operation 7.4.4 SigmaWin+ Procedures Continued from previous page. Item Description  Comment Button Lets you add a comment.  Import Button Imports a jog speed table from a file saved on the computer to the SigmaWin+. ...
Page 129 7.4 Jog Speed Table Operation 7.4.4 SigmaWin+ Procedures This concludes the writing procedure. Saving the Jog Speed Table  Saving the Jog Speed Table to Flash Memory in the SERVOPACK To prevent the jog speed table from being deleted when the power supply to the SERVOPACK is turned OFF, you must save it to flash memory in the SERVOPACK.
Page 130 7.4 Jog Speed Table Operation 7.4.4 SigmaWin+ Procedures Click the OK Button. This concludes the saving procedure.  Saving the Jog Speed Table to a Computer File You can save the jog speed table to a file on the computer. Use computer files to back up jog speed tables.
Page 131 7.4 Jog Speed Table Operation 7.4.4 SigmaWin+ Procedures You can use the Import Button to load the jog speed table saved in a file to the SERVO- Information PACK. This concludes the saving procedure. 7-50...
Page 132: Jog Speed Table Operation Example
7.4 Jog Speed Table Operation 7.4.5 Jog Speed Table Operation Example 7.4.5 Jog Speed Table Operation Example This example shows how to perform operation by using the /JOG0 to /JOG2 (Jog Speed Selection) signals to specify the jog speeds that are registered in the jog speed table. J PD6 peed J PD2...
Page 133: Timing Of Signal Changes
7.4 Jog Speed Table Operation 7.4.6 Timing of Signal Changes 7.4.6 Timing of Signal Changes The timing of the /MODE 0/1 and /JOGP signals, the /MODE 0/1 and /JOGN signals, and the /HOME, /JOGP, and /JOGN signals is shown below. To start jog operation, turn OFF the /MODE 0/1 signal, wait for at least 1 ms, and then turn ON /JOGP or /JOGN signal.
Page 134: Zone Outputs
7.5 ZONE Outputs 7.5.1 ZONE Table and ZONE Signals ZONE Outputs You can use ZONE signals to output a ZONE number to indicate when the current value is within a registered zone. The ZONE signals (/Z0 to /Z2) are assigned to output signals /POUT0 to /POUT2 on CN1. 7.5.1 ZONE Table and ZONE Signals You can register the desired zones in the ZONE table.
Page 135: Parameters Related To Zone Signals
7.5 ZONE Outputs 7.5.2 Parameters Related to ZONE Signals ZONE Table Settings and ZONE Numbers The relationship between the ZONE table settings and the ZONE numbers is shown below. • ZONE N ≤ ZONE P The ZONE signals for the corresponding ZONE number is output if the current value is between ZONE N and ZONE P, inclusive (the shaded part in the following figure).
Page 136: Sigmawin+ Procedures
7.5 ZONE Outputs 7.5.3 SigmaWin+ Procedures 7.5.3 SigmaWin+ Procedures You use the SigmaWin+ to edit, write, and save the ZONE table. Use the following flow. Editing the ZONE Table on page 7-55 Editing the ZONE Table Writing the ZONE Table on page 7-57 Writing the ZONE Table Saving the ZONE Table on page 7-59 aving the ZONE Table...
Page 137 7.5 ZONE Outputs 7.5.3 SigmaWin+ Procedures Name Description  Save Button Saves the currently displayed settings to a computer file.  Print Button Prints the currently displayed settings. Sets the ranges for ZONE outputs.  Setting Area Select the cell and enter the value directly. ...
Page 138 7.5 ZONE Outputs 7.5.3 SigmaWin+ Procedures Writing the ZONE Table You can write the edited ZONE table to SERVOPACK RAM to operate the SERVOPACK according to the program. 1. Make sure that the system is in SERVO OFF state when you write the ZONE table. 2.
Page 139 7.5 ZONE Outputs 7.5.3 SigmaWin+ Procedures This concludes the writing procedure. 7-58...
Page 140 7.5 ZONE Outputs 7.5.3 SigmaWin+ Procedures Saving the ZONE Table  Saving the ZONE Table to Flash Memory in the SERVOPACK To prevent the ZONE table from being deleted when the power supply to the SERVOPACK is turned OFF, you must save it to flash memory in the SERVOPACK. The ZONE table that is saved in the flash memory is automatically loaded each time the power supply is turned ON.
Page 141: Maintenance
Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. Alarm Displays ..... . 8-2 8.1.1 List of Alarms .
Page 142: Alarm Displays
8.1 Alarm Displays 8.1.1 List of Alarms Alarm Displays If an error occurs in the SERVOPACK, the status is displayed as described below.  Status Display The alarm number will be displayed. Refer to the following manual for details. SERVOPACK Panel Display Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)
Page 143 8.1 Alarm Displays 8.1.1 List of Alarms List of Alarms Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method Parameter Checksum There is an error in the parameter data in A.020 Gr.1 the SERVOPACK.
Page 144 8.1 Alarm Displays 8.1.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method A.400 Overvoltage The main circuit DC voltage is too high. Gr.1 A.410 Undervoltage...
Page 145 8.1 Alarm Displays 8.1.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method The internal temperature of motor is too A.861 Motor Overheated Gr.1 high.
Page 146 8.1 Alarm Displays 8.1.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method Out of Range of The travel distance exceeded the setting A.C53 Motion for Polarity Gr.1...
Page 147: List Of Alarms 8
8.1 Alarm Displays 8.1.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method Safety Option Module Detection of the safety option module A.E71 Gr.1 failed.
Page 148: Troubleshooting Alarms
8.1 Alarm Displays 8.1.2 Troubleshooting Alarms 8.1.2 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yas- kawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
Page 149 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be A failure occurred in (An internal pro- faulty. Replace the SER- – – the SERVOPACK. gram error VOPACK.
Page 150 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jog operation went below the setting Check to see if the Decrease the setting of range when the elec- the electronic gear ratio detection conditions tronic gear ratio...
Page 151 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The motor parameter file was not written to Check to see if the Write the motor parame- the linear encoder. motor parameter file ter file to the linear (This applies only was written to the lin-...
Page 152 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits There is a short-circuit across cable phases U, The cable may be short-...
Page 153 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A heavy load was Check to see if the Reduce the load applied applied while the Ser- operating conditions to the Servomotor. Or, vomotor was stopped –...
Page 154 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Pn600 (Regenerative Resistor Capacity) is not set to 0 and an Connect an External External Regenerative Check to see if an Regenerative Resistor, or Resistor is not con- External Regenerative...
Page 155 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the power supply volt- Measure the power voltage exceeded the age within the specified – supply voltage. specified range.
Page 156 External Regenera- following and check the setting of tive Resistor is not SERVOPACKs: Pn600. required, set Pn600 to 0. SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, or -2R8F. The SERVOPACK may be A failure occurred in – faulty. Replace the SER- –...
Page 157 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the AC/DC power Measure the power voltage exceeded the supply voltage within the – supply voltage. specified range. specified range.
Page 158 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- – motor wiring is not Servomotor.
Page 159 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are contact in the motor correctly wired.
Page 160 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- perature is too high.
Page 161 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove foreign matter A.7Ab: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
Page 162 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- – occurs, the Servomotor or –...
Page 163 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature – the Servomotor is too Servomotor to 40°C or around the Servomotor.
Page 164 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the external – – the external encoder. encoder. A.8A1: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter –...
Page 165 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and A.bF5: A failure occurred in ON again. If an alarm still – –...
Page 166 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Fine-tune the mounting of Check the voltage of The linear encoder the scale head. Or, the linear encoder sig- – signal level is too low. replace the linear nal.
Page 167 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Pitch) Check the linear and Pn080 = n.X The parameter set- encoder specifications (Motor Phase Selection) tings are not correct.
Page 168 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON under the follow- A.C52: ing circumstances. Execute polarity detec- Polarity • When an absolute tion (with the SigmaWin+ –...
Page 169 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the the encoder connector.
Page 170 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating tion.
Page 171 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly encoder. faulty contact.
Page 172 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- is not wired correctly external encoder.
Page 173 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Make sure that there are The Servomotor U, V, Check the wiring of the no faulty contacts in the and W wiring is not Servomotor’s Main Cir- –...
Page 174 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Install the external encoder in the opposite The motor direction Check the motor direc- direction, or change the and external encoder tion and the external setting of Pn002 = installation orientation...
Page 175 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The output signal circuits or devices for /HWBB1 The delay between and /HWBB2 or the SER- activation of the VOPACK input signal cir- /HWBB1 and Measure the time delay cuits may be faulty.
Page 176 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name FL-1 System Alarm FL-2 System Alarm Turn the power supply to FL-3 the SERVOPACK OFF and System Alarm A failure occurred in ON again.
Page 177 8.1 Alarm Displays 8.1.2 Troubleshooting Alarms Detection Conditions • Rotary Servomotor If either of the following conditions is detected, an alarm will occur. Encoder re olution Pn20E  1/   Rated motor peed [min Pn210 610 Encoder re olution Pn20E ...
Page 178: Indexer Alarm Displays And Troubleshooting
8.1 Alarm Displays 8.1.3 INDEXER Alarm Displays and Troubleshooting 8.1.3 INDEXER Alarm Displays and Troubleshooting INDEXER alarms and corrections for them are given in the following table. Servo- motor Error Alarm Alarm Alarm Name Meaning Corrective Action Number Number Stop Reset Method The program table...
Page 179 8.1 Alarm Displays 8.1.3 INDEXER Alarm Displays and Troubleshooting Continued from previous page. Servo- motor Error Alarm Alarm Alarm Name Meaning Corrective Action Number Number Stop Reset Method The JOG speed table stored in flash JOG Speed memory was not •...
Page 180: Warning Displays
8.2 Warning Displays 8.2.1 List of Warnings Warning Displays Warnings are displayed to warn you before an alarm occurs. If a warning occurs in the SERVO- PACK, the status is displayed as described below. If a warning for the INDEXER (E41E to E63E) occurs, the warning number will be displayed on the panel of the SERVOPACK for 2 seconds.
Page 181 8.2 Warning Displays 8.2.1 List of Warnings Continued from previous page. Warning Code Output Warning Warning Name Meaning Number /ALO1 /ALO2 /ALO3 Internal Temperature Warning 1 (Control The surrounding temperature of the control PCB is A.912 abnormal. Board Temperature Error) Internal Temperature Warning 2 (Power The surrounding temperature of the power PCB is...
Page 182: Troubleshooting Warnings
8.2.2 Troubleshooting Warnings 8.2.2 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Possible Cause Confirmation...
Page 183 8.2 Warning Displays 8.2.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The wiring is not correct or there is Make sure that the Servo- a faulty contact in Check the wiring. motor and encoder are cor- –...
Page 184 8.2 Warning Displays 8.2.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status –...
Page 185 8.2 Warning Displays 8.2.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The power supply Set the power supply volt- voltage exceeded Measure the power age within the specified – the specified supply voltage. range.
Page 186 One of the con- A.9b0: Replace the part. Contact sumable parts has Preventative Mainte- – your Yaskawa representa- – reached the end tive for replacement. nance Warning of its service life. A warning Use the SigmaWin+ to A.9F9:...
Page 187: Indexer Warning Displays And Troubleshooting
8.2 Warning Displays 8.2.3 INDEXER Warning Displays and Troubleshooting 8.2.3 INDEXER Warning Displays and Troubleshooting INDEXER warning displays and corrections for them are given in the following table. Alarm Error No. Error Name Meaning Corrective Action Number While writing data to the flash memory, a failure occurred during one of the following operation.
Page 188 8.2 Warning Displays 8.2.3 INDEXER Warning Displays and Troubleshooting Continued from previous page. Alarm Error No. Error Name Meaning Corrective Action Number • Check the tar- get position specification. • Check the for- ward software limit in Pn638. • Check the Mov- ing Mode (rota- tional/linear coordinates)
Page 189 8.2 Warning Displays 8.2.3 INDEXER Warning Displays and Troubleshooting Continued from previous page. Alarm Error No. Error Name Meaning Corrective Action Number • Check the tar- get position specification. • Check the posi- tioning range The Moving Mode is set to rotational coor- set with Pn638 Position Refer- dinates (i.e., Pn637 is not set to n.0)
Page 190 8.2 Warning Displays 8.2.3 INDEXER Warning Displays and Troubleshooting Continued from previous page. Alarm Error No. Error Name Meaning Corrective Action Number • Turn the servo ON when the motor is stopped. • The motor is rotating during servo ON •...
Page 191 8.2 Warning Displays 8.2.3 INDEXER Warning Displays and Troubleshooting Continued from previous page. Alarm Error No. Error Name Meaning Corrective Action Number Change the set- An attempt was made to perform program ting of Pn000 = Control Method table operation, jog speed table operation, A.9F9 E64E n.X to a...
Page 192: Troubleshooting Based On The Operation And Conditions Of The Servomotor
8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Problem Possible Cause Confirmation Correction...
Page 193 8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn ON the /HWBB1 and /HWBB2 input sig- nals. If you are not The safety input signals Check the /HWBB1 and using the safety func- (/HWBB1 or /HWBB2) were –...
Page 194 8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power A failure occurred in the SER- supply to the servo – – VOPACK. system. Replace the SERVOPACK.
Page 195 8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Replace the Servomo- The bearings are defective. Check for noise and –...
Page 196 8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference There is variation in the FG Turn OFF the power sup- Properly ground the potential because of the ply to the servo system. machines to separate influence of machines on the Check to see if the...
Page 197 8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo Perform autotuning The servo gains are not bal- gains have been cor- without a host refer- –...
Page 198 8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Implement counter- There is a SERVOPACK Check to see if there is measures against noise pulse counting error due to noise interference on the...
Page 199 8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check the Encoder Cable to see if is satisfies speci- Noise interference occurred Use cables that satisfy fications.
Page 200 8.3 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check to see if vibration from the machine occurred. Reduce machine vibra- The encoder was subjected Check the Servomotor...
Page 201: Parameter Lists
Parameter Lists This chapter provides information on the parameters. Parameter Configurations ....9-2 List of Parameters ....9-3 9.2.1 Interpreting the Parameter Lists .
Page 202: Parameter Configurations
9.1 Parameter Configurations Parameter Configurations Parameters are comprised of the types shown in the following table. Type Parameter No. Parameter No. Select basic and application functions such as Function Selection Pn000 to Pn081 the type of control mode or the stop method Parameters when an alarm occurs.
Page 203: List Of Parameters
9.2 List of Parameters 9.2.1 Interpreting the Parameter Lists List of Parameters 9.2.1 Interpreting the Parameter Lists The type of motor to which the parameter applie . All: The parameter i u ed for both Rotary ervomotor and Linear ervomotor . Rotary: The parameter i u ed for only Rotary ervomotor .
Page 204 9.2 List of Parameters 9.2.2 List of Parameters 9.2.2 List of Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameters • Parameters not given in this manual • Parameters that are not valid for the Servomotor that you are using, as given in the parameter table Parameter Setting Setting...
Page 205 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After – 0000 Setup – Selections 1 1142 restart Motor Stopping Method for Servo OFF and Group 1 Alarms Reference Stop the motor by applying the dynamic brake.
Page 206 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After – 0000h – Setup – Selections 2 4213 restart Applicable Speed/Position Control Option (T-REF Input Allocation)
Page 207 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h Immedi- – 0002 Setup Selections 6 105F ately Analog Monitor 1 Signal Selection Motor speed (1 V/1,000 min Motor speed (1 V/1,000 mm/s) Speed reference (1 V/1,000 min...
Page 208 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h Immedi- – 0000 Setup Selections 7 105F ately Analog Monitor 2 Signal Selection Motor speed (1 V/1,000 min Motor speed (1 V/1,000 mm/s) Speed reference (1 V/1,000 min...
Page 209 Reserved parameter (Do not change.) Current Control Mode Selection Reference Use current control mode 1. • SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A,   -3R8A, -5R5A, and -7R6A: Use current control mode 1. • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, Pn009 -470A, -550A, -590A, and -780A: Use current control mode 2.
Page 210 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After – – 0001 Setup Selections A 0044 restart Motor Stopping Method for Group 2 Alarms Reference Apply the dynamic brake or coast the motor to a stop (use the...
Page 211 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After – 0000 – Setup Selections C 0131 restart Applicable Function Selection for Test without a Motor Motors...
Page 212 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Σ-V Compatible Func- 0000h After – 0000 – Setup – tion Switch 2111 restart ...
Page 213 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- Pn109 Feedforward 0 to 100 Tuning ately Feedforward Filter Time Immedi- Pn10A 0 to 6,400 0.01 ms...
Page 214: 9.2 List Of Parameters
9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Automatic Gain Switch- 0000h Immedi- – 0000 Tuning ing Selections 1 0052 ately Gain Switching Selection Use manual gain switching.
Page 215 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- Immedi- Pn144 trol Bias in the Reverse 0 to 10,000 0.1% 1000 Tuning...
Page 216 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Filter -1,000 to Immedi- Pn164 Time Constant 1 0.01 ms Tuning 1,000 ately Correction...
Page 217 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Position Control Refer- 0000h After – 0000 Setup – ence For Selections 2236 restart Reference Pulse Form...
Page 218 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 1 scale Number of External 4 to pitch/ After Pn20A 32768 Rotary Setup Encoder Scale Pitches 1,048,576...
Page 219 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Soft Start Deceleration Immedi- Pn306 0 to 10,000 1 ms Setup Time ately Speed Reference Filter Immedi-...
Page 220 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Speed Limit during Immedi- Pn407 0 to 10,000 10000 Rotary Setup 1 min Torque Control ately Torque-Related Func-...
Page 221 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000h Immedi- – 0000 Setup tion Selections 2 1111 ately Notch Filter Selection 3 ...
Page 222 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Release Time for Torque Immedi- Pn425 Limit at Main Circuit 0 to 1,000 1 ms Setup ately...
Page 223 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- Pn502 Rotation Detection Level 1 to 10,000 Rotary Setup 1 min ately Speed Coincidence Immedi-...
Page 224 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8801h Setup – FFF2h restart Input Signal Allocation Mode Reference Use the sequence input signal terminals with the default alloca-...
Page 225 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8868h Setup – FFFFh restart N-OT (Reverse Drive Prohibit) Signal Allocation Reference Enable reverse drive when CN1-40 input signal is ON (closed).
Page 226 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup – FFFFh restart /SPD-D (Motor Direction) Signal Allocation Reference Active when CN1-40 input signal is ON (closed).
Page 227 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 0888h – Setup – FFFFh restart Applicable /ZCLAMP (Zero Clamping Input) Signal Allocation...
Page 228 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal 0000h to After – 2011h Setup – Selections 1 6666h restart /COIN (Positioning Completion Output) Signal Allocation Reference...
Page 229 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000 Output Signal After – 0000h Setup – Selections 3 0666 restart /NEAR (Near Output) Signal Allocation Reference Disabled (the above signal output is not used).
Page 230 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal 0000h to After – 0000h Setup – Selections 4 0666h restart ...
Page 231 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup – FFFFh restart SEN (Absolute Data Request Input) Signal Allocation Reference Active when CN1-40 input signal is ON (closed).
Page 232 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup – FFFFh restart FSTP (Forced Stop Input) Signal Allocation Reference Enable drive when CN1-40 input signal is ON (closed).
Page 233 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Motor-Load Position 1 refer- 0 to Immedi- Pn51B Deviation Overflow ence 1000 Rotary Setup 1,073,741,824...
Page 234 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Rotary: 1 min Program Jog Operation Direct Immedi- Pn533 1 to 10,000 Rotary Setup Movement Speed...
Page 235 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 6221h Setup – FFFFh restart /MODE 0/1 (Mode Switch Input) Signal Allocation Reference Mode 0 is used when CN1-40 input signal is ON (closed).
Page 236 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8543h Setup – FFFFh restart /SEL0 (Program Step Selection Input 0) Signal Allocation Reference Active when CN1-40 input signal is ON (closed).
Page 237 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 5438h Setup – FFFFh restart /SEL4 (Program Step Selection Input 4) Signal Allocation Reference Active when CN1-40 input signal is ON (closed).
Page 238 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup – FFFFh restart /JOG1 (Jog Speed Table Selection Input 1) Signal Allocation Reference Active when CN1-40 input signal is ON (closed).
Page 239 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000h to After – 0654h Setup – tions 10 6666h restart /POUT0 (Programmable Output 0) Signal Allocation...
Page 240 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000h to After Moving Mode – 0000h Setup – 0003h restart Moving Mode Reference Use linear coordinates.
Page 241 9.2 List of Parameters 9.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000h to Immedi- Homing Direction – 0000h – – 0001h ately Homing Direction Reference When the /HOME signal turns ON, homing is performed in the ...
Page 242: Appendices
Appendices The appendix provides information on compatibility between SERVOPACK functions and SigmaWin+ functions, Digital Operator procedures, and a table of corresponding parameter numbers. 10.1 Corresponding SERVOPACK and SigmaWin+ Function Names . . 10-2 10.1.1 Corresponding SERVOPACK Utility Function Names ....... 10-2 10.1.2 Corresponding SERVOPACK Monitor Display Function Names .
Page 243: Corresponding Servopack And Sigmawin+ Function Names
10.1 Corresponding SERVOPACK and SigmaWin+ Function Names 10.1.1 Corresponding SERVOPACK Utility Function Names 10.1 Corresponding SERVOPACK and SigmaWin+ Function Names This section gives the names and numbers of the utility functions and monitor display functions used by the SERVOPACKs and the names used by the SigmaWin+. 10.1.1 Corresponding SERVOPACK Utility Function Names SigmaWin+ SERVOPACK...
Page 244: Corresponding Servopack Monitor Display Function Names
10.1 Corresponding SERVOPACK and SigmaWin+ Function Names 10.1.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Menu Bar Function Name Fn No. Function Name Button Fn000 Display Alarm History Alarm Display Alarms Fn006 Clear Alarm History Reset Motor Type Alarm Fn021 Reset Motor Type Alarm...
Page 245 10.1 Corresponding SERVOPACK and SigmaWin+ Function Names 10.1.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Menu Bar Name [Unit] Un No. Name [Unit] Button Input Reference Pulse Counter [ref- Un00C Input Reference Pulse Counter [reference units] erence units] Feedback Pulse Counter [encoder Un00D...
Page 246 10.1 Corresponding SERVOPACK and SigmaWin+ Function Names 10.1.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Menu Bar Name [Unit] Un No. Name [Unit] Button Polarity Sensor Signal Monitor Un011 Polarity Sensor Signal Monitor Status Effective Gain Monitor (gain settings 1 = 1, gain Active Gain Monitor Un014 Monitor...
Page 247: Operation Of Digital Operator
10.2 Operation of Digital Operator 10.2.1 Overview 10.2 Operation of Digital Operator 10.2.1 Overview Connect the digital operator to the SERVOPACK, and turn ON the power to the SERVOPACK. The initial display appears, and then the Parameter/Monitoring Function screen appears. Press key to change the function.
Page 248: Operation Of Utility Functions
10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions  : The article of the table  : The table number  : The table settings Note: The line beneath POS000 shows that this indication is flashing. This line does not appear on the actual screen.
Page 249 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions Continued from previous page. Possi- Fn No. Function ble/Not Remarks and Reference Possible Program Table Edit/Save (Fn060)  Fn060 Program table edit/save on page 10-8 ZONE Table Edit/Save (Fn061)  Fn061 ZONE table edit/save on page 10-13...
Page 250 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions Continued from previous page. Step Display after Operation Keys Operation Move the cursor using the keys and keys (or the keys) to select the article and program step of the program table to be edited.
Page 251 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions  Details on How to Set Table Settings Details on the setting method for step 5 in Editing Program Table on page 10-8 are shown below.  POS: Target Position Change positioning Change target position Move cursor...
Page 252 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions  ACC: Acceleration Move cursor Change acceleration If the value becomes less than 1, “:” is displayed. Note: Refer to the following section for details on the acceleration rate. 7.3.4 Settings in the Program Table on page 7-13 ...
Page 253 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions  LOOP: Number of Executions Move cursor Change number of executions Note: Refer to the following section for details on the number of executions. 7.3.4 Settings in the Program Table on page 7-13 ...
Page 254 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions ZONE Table Edit/Save (Fn061) This function edits and saves ZONE tables. Saving a ZONE table to flash memory after editing it ensures that the data will be retained even after the control power has been turned OFF. ...
Page 255 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions  Method for Moving the Cursor The values within the frames in the figure below are the ZONE table numbers displayed at the digital operator. ZONE Number ZONE P ZONE N ZONE Number ZONE P ZONE N...
Page 256 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions Continued from previous page. Step Display after Operation Keys Operation When saving to flash memory has been completed – normally, the display returns to the ZONE table editing screen. Press the key to return to the Utility Function Mode main menu.
Page 257 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions Continued from previous page. Step Display after Operation Keys Operation Press the key to enter the setting. The cursor returns to the JOG speed table number side. Repeat steps 3 to 6 to set the JOG speed table. On completing the setting of all the JOG speed ...
Page 258 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions Program Table Initialization (Fn063) This function initializes the program tables and restores the default settings.  Preparation The following conditions must be met to initialize the program table. • The write-prohibited setting (Fn010) must not be set to write-protect parameters. •...
Page 259 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions ZONE Table Initialization (Fn064) This function initializes ZONE tables and restores the default settings.  Preparation The following conditions must be met to initialize ZONE tables. • The write-prohibited setting (Fn010) must not be set to write-protect parameters. •...
Page 260 10.2 Operation of Digital Operator 10.2.2 Operation of Utility Functions JOG Speed Table Initialization (Fn065) This function initializes JOG speed tables and restores the default settings.  Preparation The following conditions must be met to initialize JOG speed tables. • The write-prohibited setting (Fn010) must not be set to write-protect parameters. •...
Page 261: Panel Operator
10.3 Panel Operator 10.3.1 Panel Operator Key Names and Functions 10.3 Panel Operator 10.3.1 Panel Operator Key Names and Functions The Panel Operator consists of a panel display and Panel Operator keys. You can use the Panel Operator to set parameters, display status, execute utility functions, and monitor SERVOPACK operation.
Page 262: Status Displays
10.3 Panel Operator 10.3.3 Status Displays You can change the setting of Pn52F (Monitor Display at Startup) to display the Monitor Dis- Information play Mode instead of the Status Display Mode after the power supply is turned ON. Set Pn52F to the Un number of the monitor display to display after the power supply is turned ON.
Page 263 10.3 Panel Operator 10.3.3 Status Displays • Interpreting Codes Display Meaning Display Meaning Base Block Active Indicates that the servo is Safety Function OFF. Indicates that the SERVOPACK is in the hard wire base block state due to a Operation in Progress safety function.
Page 264 Index Index - - - - - - - - - - - - - - - - - - - - - - - 7-44 JOG speed table - - - - - - - - - - - - - - - 10-15 editing JOG speed tables - - - - - - - - - - - - - - - - - - - 7-45 jog speed selection...
Page 265 Index - - - - - - - - - - - - - - - - - - - - - 7-26 state transitions - - - - - - - - - - - - - - - - - - - - - 7-13 warning Target position INDEXER module warning displays and...
Page 266 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 84B <1> Revision number Published in Japan November 2015 Date of publication Rev. Date of Publication Section Revised Contents August 2017...
Page 267 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 http://www.yaskawa.com.br...

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YASKAWA SGD7S-R70A Product Manual

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