YASKAWA Sigma-7-Series Product Manual
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YASKAWA Sigma-7-Series Product Manual

With ft/ex specification for transfer and alignment application with special motor, sgm7d motor
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-7-Series AC Servo Drive
-7S SERVOPACK with
FT/EX Specification for
Transfer and Alignment Application
with Special Motor, SGM7D Motor
Product Manual
Model: SGD7S-20AF84
SGD7S-30AF84
MANUAL NO. SIEP S800002 28C
Basic Information on SERVOPACKs
SERVOPACK Ratings and Specifications
Triggers at Preset Positions
Rotational Coordinate System
Maintenance
Parameter Lists
1
2
3
4
5
6

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Summary of Contents for YASKAWA Sigma-7-Series

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with FT/EX Specification for Transfer and Alignment Application with Special Motor, SGM7D Motor Product Manual Model: SGD7S-20AF84 SGD7S-30AF84 Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications Triggers at Preset Positions Rotational Coordinate System Maintenance Parameter Lists 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 transfer and alignment application option and the SGM7D motor drive application option for Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.
  • Page 4 Continued from previous page. Σ Σ -7-Series AC Servo Drive SERVOPACK Product Manual SERVOPACKs SERVOPACKs with with MECHATROLIN MECHATROLIN K-III Communi- Item This Manual K-III Communi- cations cations References and References RJ-45 Connec- (Manual No.: tors (Manual SIEP S800001 No.: SIEP S800001 62) Monitoring Product Information –...

  • Page 5: 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 6 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 7 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 8 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 Analog Voltage/Pulse Train...
  • Page 9 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification SIEP S800001 94 for Press and Injection Molding Application Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification SIEP S800001 95 for Transfer and Alignment Application Product Manual...
  • Page 10 Continued from previous page. Classification Document Name Document No. Description AC Servo Drive Provides detailed information for Rotary Servomotor TOBP C230260 00 the safe usage of Rotary Servomo- Safety Precautions tors and Direct Drive Servomotors. Enclosed Documents AC Servomotor Provides detailed information for Linear Σ...
  • Page 11 Continued from previous page. Classification Document Name Document No. Description Machine Controller MP2000/MP3000 Series Describes in detail how to operate Engineering Tool SIEP C880761 03 MPE720 version 7. MPE720 Version 7 User’s Manual Σ-7-Series AC Servo Drive Describes the operating proce- Σ-7-Series Digital Operator SIEP S800001 33...

  • 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 Direct Drive Servomotor. Servomotor A Σ-7-Series Σ-7S Servo Amplifier with MECHATROLINK-III 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.
  • 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. • MECHATROLINK is a trademark of the MECHATROLINK Members Association. • 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  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061 SILCL3 Mission Time IEC 61508 10 years 20 years PFH = 4.04 × 10 PFH = 4.05 × 10 IEC 61508 Probability of Dangerous Failure per Hour IEC 62061 [1/h] (4.04% of SIL3) [1/h] (4.05% of SIL3)

  • Page 29: Table Of Contents

    Contents About this Manual..........iii Outline of Manual .
  • Page 30 Triggers at Preset Positions Outline ..........3-2 3.1.1 Line-Driver Output Specifications .
  • Page 31 Parameter Lists Interpreting the Parameter Lists ......6-2 6.1.1 Interpreting the Servo Parameter List ......6-2 6.1.2 Interpreting the MECHATROLINK-III Common Parameter List .
  • Page 32 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 Model Designations .

  • Page 33: Product Introduction

    1.1 Product Introduction Product Introduction The SERVOPACKs described in this manual were developed to drive SGM7D motors and pro- vide the following two functions. Function Description Triggers at Preset Triggers at preset positions are signals that are output when a moving part of a machine passes a preset reference position.

  • Page 34: Model Designations

    1.2 Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers - 2R8 14th 5th+6th 1 t+2nd+ rd 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 Voltage...

  • Page 35: Interpreting Direct Drive Servomotor Model Numbers

    1.2 Model Designations 1.2.2 Interpreting Direct Drive Servomotor Model Numbers 1.2.2 Interpreting Direct Drive Servomotor Model Numbers GM7D - 1 t+2nd Direct Drive digit digit digit digit digit digit ervomotor : GM7D 1 t+2nd digit Rated Torque 4th digit erial Encoder Code pecification Code...

  • Page 36: Combinations Of Servopacks And Servomotors

    1.3 Combinations of SERVOPACKs and Servomotors Combinations of SERVOPACKs and Servomotors SERVOPACK Model Direct Drive Servomotor Model Capacity SGD7S- SGM7D-30F 188 W SGM7D-58F 364 W 120A SGM7D-90F 565 W SGM7D-1AF 691 W SGM7D-01G 16 W 2R8A and 2R8F SGM7D-05G 63 W SGM7D-08G 101 W SGM7D-18G...

  • Page 37: Functions

    1.4 Functions 1.4.1 SERVOPACK Functions Functions This section lists the functions provided by SERVOPACKs. Refer to the following manuals for details on the functions. Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28) Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References and RJ-45 Connectors Product Manual (Manual No.: SIEP S800001 62) Functions in bold boxes in the functions tables are restricted if the above SERVOPACKs are used.
  • Page 38 1.4 Functions 1.4.1 SERVOPACK Functions • Functions Related to the Host Controller Functions Electronic Gear Setting I/O Signal Allocations ALM (Servo Alarm) Signal /WARN (Warning) Signal /TGON (Rotation Detection) Signal Servo Ready Output (/S-RDY) Signal /V-CMP (Speed Coincidence Detection) Signal /COIN (Positioning Completion) Signal /NEAR (Near) Signal Speed Limit during Torque Control...

  • Page 39: Function Application Restrictions

    1.4 Functions 1.4.2 Function Application Restrictions • Functions for Inspection and Maintenance Functions Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Motor Monitoring Product Information Monitoring Product Life Displaying the Alarm History Alarm Tracing 1.4.2 Function Application Restrictions The following functional restrictions apply when you use the FT84 SERVOPACK.

  • Page 40: Sigmawin

    1.5 SigmaWin+ SigmaWin+ To use the SigmaWin+, a model information file for the SERVOPACK must be added to Sig- maWin+ version 7.22 or higher. Add the FT84 model information file to SigmaWin+ to use the SigmaWin+.

  • Page 41: Combining The Servopacks With Mp-Series Machine Controllers And The Mpe720 Engineering Tool

    1.6 Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool If you combine the SERVOPACK with an MP-Series Machine Controller or the MPE720 Engi- neering Tool, it will be recognized as a SERVOPACK with standard specifications. To use the parameters that have been added or changed for the SERVOPACKs described in this manual, use the SigmaWin+.

  • Page 42: Servopack Ratings And Specifications

    SERVOPACK Ratings and Specifications This chapter provides information required to select SERVOPACKs, such as specifications. Ratings ......2-2 2.1.1 Three-Phase, 200 VAC .

  • Page 43: Ratings

    2.1 Ratings 2.1.1 Three-Phase, 200 VAC Ratings This section gives the ratings of SERVOPACKs. 2.1.1 Three-Phase, 200 VAC Model SGD7S- 2R8A 120A Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] 11.6 Instantaneous Maximum Output Current [Arms] 200 VAC to 240 VAC, -15% to +10%, Power Supply Main 50 Hz/60 Hz...

  • Page 44: Single-Phase, 100 Vac

    2.1 Ratings 2.1.3 Single-Phase, 100 VAC 2.1.3 Single-Phase, 100 VAC SGD7S- 2R8F Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] Instantaneous Maximum Output Current [Arms] Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz Main Circuit Input Current [Arms]* Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz...

  • Page 45: 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 46: Specifications

    2.3 Specifications 2.3.1 SERVOPACK with MECHATROLINK-III Communications References Specifications 2.3.1 SERVOPACK with MECHATROLINK-III Communications References Item Specification Drive Method IGBT-based PWM control, sine wave current drive Feedback Serial encoder: 24 bits (incremental encoder/absolute encoder) -5°C to 55°C (With derating, usage is possible between 55°C and 60°C.) Surrounding Air Tem- Refer to the following manual for derating specifications.

  • Page 47: Triggers At Preset Positions

    2.3 Specifications 2.3.1 SERVOPACK with MECHATROLINK-III Communications References Continued from previous page. Item Specification High-speed outputs for triggers at preset Line-driver outputs positions Number of input points: 1 Overheat Protection Input Input voltage range: 0 V to +5 V Allowable voltage range: 24 VDC ±20% Number of input points: 7 (Input method: Sink inputs or source inputs) Input Signals...
  • Page 48 2.3 Specifications 2.3.1 SERVOPACK with MECHATROLINK-III Communications References Continued from previous page. Item Specification Communications Pro- MECHATROLINK-III tocol 03h to EFh (maximum number of slaves: 62) Station Address MECHATR Settings The rotary switches (S1 and S2) are used to set the station address. OLINK-III Baud Rate 100 Mbps...

  • Page 49: Servopack With Mechatrolink-Iii Communications References And Rj-45 Connectors

    2.3 Specifications 2.3.2 SERVOPACK with MECHATROLINK-III Communications References and RJ-45 Connectors 2.3.2 SERVOPACK with MECHATROLINK-III Communications References and RJ-45 Connectors Item Specification Drive Method IGBT-based PWM control, sine wave current drive Feedback Serial encoder: 24 bits (incremental encoder/absolute encoder) -5°C to 55°C (With derating, usage is possible between 55°C and 60°C.) Surrounding Air Tem- Refer to the following manual for derating specifications.
  • Page 50 2.3 Specifications 2.3.2 SERVOPACK with MECHATROLINK-III Communications References and RJ-45 Connectors Continued from previous page. Item Specification High-speed outputs for triggers at preset Line-driver outputs positions Number of input points: 1 Overheat Protection Input Input voltage range: 0 V to +5 V Allowable voltage range: 24 VDC ±20% Number of input points: 7 (Input method: Sink inputs or source inputs)
  • Page 51 2.3 Specifications 2.3.2 SERVOPACK with MECHATROLINK-III Communications References and RJ-45 Connectors Continued from previous page. Item Specification Communications Pro- MECHATROLINK-III tocol 03h to EFh (maximum number of slaves: 62) Station Address MECHATR Settings The rotary switches (S1 and S2) are used to set the station address. OLINK-III Baud Rate 100 Mbps...
  • Page 52 Triggers at Preset Positions This chapter describes triggers at preset positions. Outline ......3-2 3.1.1 Line-Driver Output Specifications .
  • Page 53 3.1 Outline Outline Triggers at preset positions are signals that are output when a moving part of a machine passes preset reference positions. You can use this function to set signal outputs for up to 32 positions. The following image shows the operation of triggers at preset positions. Output po ition for Output po ition for peed...

  • Page 54: 3.1 Outline

    3.1 Outline 3.1.1 Line-Driver Output Specifications 3.1.1 Line-Driver Output Specifications Compared with a photocoupler, a line driver is capable of more precise output, and it is suitable for applications with no margin for output signal delays or variations. Item Specification Number of Output Position Settings 32 positions Range of Output Position Settings...

  • Page 55: I/O Signal Connector (Cn1) Pin Arrangement

    3.1 Outline 3.1.3 I/O Signal Connector (CN1) Pin Arrangement 3.1.3 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. When you use line-driver high-speed outputs, wire the outputs to CN1-17 and CN1-18 and to CN1-21 and CN1-22.

  • Page 56: Settings For Triggers At Preset Positions

    3.2 Settings for Triggers at Preset Positions 3.2.1 Setting Table Details Settings for Triggers at Preset Positions You can output triggers at preset positions with the SigmaWin+ or with MEM_WR commands based on the following setting table. There are two types of setting tables: one for high-speed outputs from line drivers and one for normal outputs from photocouplers.
  • Page 57 3.2 Settings for Triggers at Preset Positions 3.2.1 Setting Table Details Continued from previous page. Digit Name Setting Description Disable. (The signal is not output.) Output the signal from the CN1-17 and CN1-18 output terminals. Output the signal from the CN1-21 and CN1-22 output terminals. Output Terminals and Signal Logic Output the reverse signal from the CN1-17 and CN1-18 output...

  • Page 58: Setting Triggers At Preset Positions

    3.2 Settings for Triggers at Preset Positions 3.2.2 Setting Triggers at Preset Positions  Output Position Compensation Set the compensation distance in reference units from the reference position set in the out- put position setting. Size Setting Range Setting Unit Default Setting When Enabled Classification -2,147,483,648 to...
  • Page 59 3.2 Settings for Triggers at Preset Positions 3.2.2 Setting Triggers at Preset Positions Normal Output Setting Method This section describes the procedure to execute normal outputs with the MEM_WR command. Step Operation Set the following output signal selections 1 to 4. •...

  • Page 60: Setting Trigger Outputs At Preset Positions With The Sigmawin

    3.2 Settings for Triggers at Preset Positions 3.2.3 Setting Trigger Outputs at Preset Positions with the SigmaWin+ 3.2.3 Setting Trigger Outputs at Preset Positions with the SigmaWin+ This section provides the setting procedure to execute triggers at preset positions from the Sig- maWin+.
  • Page 61 3.2 Settings for Triggers at Preset Positions 3.2.3 Setting Trigger Outputs at Preset Positions with the SigmaWin+ Click the High-Speed Output Settings Tab. If the Normal Output Settings Tab is clicked, the following dialog box will be displayed. Information Set the items for the Output Setting 1 to 32 to use. Refer to the following section for details on the settings of the items.

  • Page 62: Making Settings With The Mem_Wr Command

    3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command 3.2.4 Making Settings with the MEM_WR Command High-Speed Output Settings When you set the high-speed outputs with the MEM_WR command, set the parameters based on the following table. Output Output Output...
  • Page 63 3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command Normal Output Settings When you set the normal outputs with the MEM_WR command, set the parameters based on the following table. Output Output Output Output Output Position Name Reserved...
  • Page 64 3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command Setting Details for the Write Memory (MEM_WR: 1Eh) Com- mand  Data Format Phases in which the Command Common Asynchronous 2, 3 command command Command can be Executed Classification Σ-7-Series MECHATROLINK-III...
  • Page 65 3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command  Command Parameters The details of MODE/DATA_TYPE are described below. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 MODE DATA_TYPE MODE = 1: Volatile memory, 2: Non-volatile memory (Non-volatile memory can be selected only for common parameters) DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported SIZE:...
  • Page 66 3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command Continued from previous page. Step Description Setting Example ADDRESS = 0x80004002 Execute preparation process 3 for writing MODE/DATA_TYPE = 0x12 to non-volatile memory. SIZE = 0x0001 DATA = 0x0002 ADDRESS = 0x80004002 MODE/DATA_TYPE = 0x12...

  • Page 67: Forced Stop Setting For Triggers At Preset Positions

    3.3 Forced Stop Setting for Triggers at Preset Positions Forced Stop Setting for Triggers at Preset Positions You can force-stop triggers at preset positions by setting bit 30 in the SVCMD_IO output area to 1. This method can also be used to temporarily stop triggers at preset positions, such as during origin return operations.

  • Page 68: Rotational Coordinate System

    Rotational Coordinate System Outline ......4-2 Setup Procedure ..... 4-3 4.2.1 Setting the Rotational Coordinate System .

  • Page 69: Outline

    4.1 Outline Outline You can set the range of the rotational coordinate system for position data (command position (CPOS) and feedback position (APOS)) from the host controller in SERVOPACK parameters. The coordinates will be in the range that is set with Pn87C (First Rotational Coordinate) and Pn87A (Last Rotational Coordinate).

  • Page 70: Setup Procedure

    4.2 Setup Procedure 4.2.1 Setting the Rotational Coordinate System Setup Procedure The following table gives the procedure for making settings for the rotational coordinate sys- tem. Step Description Set the first rotational coordinate (Pn87C) and last rotational coordinate (Pn87A). Set the multiturn limit to match the machine rotational coordinate system. (This step is necessary only for an absolute encoder.) Turn the power supply OFF and ON again, or send the Setup Device command (CONFIG: 04h) from the host controller.

  • Page 71: Setting The Multiturn Limit

    4.2 Setup Procedure 4.2.2 Setting the Multiturn Limit 4.2.2 Setting the Multiturn Limit When you use an absolute encoder, set the multiturn limit to match the rotational coordinate system that is used by the system. When you use a rotational coordinate system, you must set the multiturn limit. Refer to the following manual for details on setting the multiturn limit.

  • Page 72: Setting The Moving Method Of The Rotational Coordinate System

    4.2 Setup Procedure 4.2.4 Setting the Moving Method of the Rotational Coordinate System • If the offset is greater than the setting of Pn87A (Last Rotational Coordinate): Pn808 = Offset − (Pn87A − Pn87C + 1) • If the offset is between Pn87C and Pn87A, inclusive: Pn808 = Offset If the settings of the parameters are not in the correct relationship (i.e., Pn87C ≤...
  • Page 73 4.2 Setup Procedure 4.2.4 Setting the Moving Method of the Rotational Coordinate System Example of Absolute Positioning Operation Positioning is performed by moving the axis from the current position to the target position. The following figure gives an example of a positioning operation in which the axis is moved for- ward from the current position to target position 1 and then moved in reverse to target position 2.

  • Page 74: Servo Commands To Use

    4.2 Setup Procedure 4.2.5 Servo Commands to Use 4.2.5 Servo Commands to Use The following table gives the servo command required to use the rotational coordinate system. Refer to the following manual for details on servo commands. Σ -7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP S800001 31) Servo Operation...
  • Page 75 4.2 Setup Procedure 4.2.5 Servo Commands to Use Movement Direction after Changing to Position Control during Speed Control, Torque Control, or Constant-Speed Control When you change to position control (POSING or EX_POSING) during speed control (VELCTRL), torque control (TRQCTRL), or constant-speed control (FEED or EX_FEED), the ...
  • Page 76 4.2 Setup Procedure 4.2.5 Servo Commands to Use External Input Constant-Speed Feeding and External Input Positioning If you enable the rotational coordinate system and execute external input constant-speed feed- ing (EX_FEED) or external input positioning (EX_POSING), positioning is performed within the range of the rotational coordinate system to external input positioning position P3 after latching is performed for the external input positioning signal.
  • Page 77 4.2 Setup Procedure 4.2.5 Servo Commands to Use Calculation Example 1 for the External Input Positioning Position P3 in the Rotational Example Coordinate System The following conditions are used in this example. • First rotational coordinate (Pn87C): 0, Last rotational coordinate (Pn87A): 3,599 •...
  • Page 78 4.2 Setup Procedure 4.2.5 Servo Commands to Use  When External Positioning Final Travel Distance Is Positive For forward movement, positioning is performed with forward movement (in the same direction) after latching the position. For reverse movement, positioning is performed with forward movement (in the opposite direc- tion) after latching the position.

  • Page 79: Monitoring

    4.2 Setup Procedure 4.2.6 Monitoring 4.2.6 Monitoring Monitoring with Servo Commands The monitor data, which is output within the range of the rotational coordinate system (Pn87A to Pn87C), are listed below. Refer to the following manual for servo command details. Σ...
  • Page 80 4.2 Setup Procedure 4.2.6 Monitoring Monitoring with the Digital Operator Display the monitor data in Monitor Mode to monitor values on the Digital Operator. The monitor data, which is output within the range of the rotational coordinate system (Pn87A to Pn87C), are listed below. Un No.

  • Page 81: Maintenance

    Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. Alarm Displays ..... . 5-2 List of Alarms .

  • Page 82: Alarm Displays

    5.1 Alarm Displays Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. However, if no alarm number appears on the panel display, this indicates a SERVOPACK sys- tem error. Replace the SERVOPACK. If there is an alarm, the display will change in the following order.

  • Page 83: List Of Alarms

    5.2 List of Alarms List of Alarms The list of alarms gives the alarm name, alarm meaning, alarm stopping method, and alarm reset possibility in order of the alarm numbers. Servomotor Stopping Method for Alarms Refer to the following manual for information on the stopping method for alarms. Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28) Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References and RJ-45 Connectors Prod-...
  • Page 84 5.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method An overcurrent flowed through the power trans- A.100 Overcurrent Detected Gr.1 former or the heat sink overheated. Motor Overcurrent The current to the motor exceeded the allowable A.101...
  • Page 85 5.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The input voltage (temperature) for the overheat A.862 Overheat Alarm protection input (TH) signal exceeded the setting Gr.1 of Pn61B (Overheat Alarm Level).
  • Page 86 5.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Multiturn Limit Disagree- Different multiturn limits have been set in the A.CC0 Gr.1 encoder and the SERVOPACK. ment Reception Failed Error in Receiving data from the Feedback Option Mod-...
  • Page 87 5.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Feedback Option Module A.E72 Detection of the Feedback Option Module failed. Gr.1 Detection Failure Unsupported Safety An unsupported Safety Option Module was con- A.E74 Gr.1 nected.

  • Page 88: Troubleshooting Alarms

    5.3 Troubleshooting Alarms Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause...
  • Page 89 5.3 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 90 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.044: The setting of the Fully-Closed Module Make sure that the setting Semi-Closed/ Fully-Closed does not match the Check the setting of of the Fully-closed Mod- setting of Pn002 = Pn002 = n.X.
  • Page 91 5.3 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 across Servomotor There is a short-circuit The cable may be short- phases U, V, and W, or...
  • Page 92 5.3 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 93 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Pn600 (Regenerative Resistor Capacity) is Connect an External not set to 0 and an Check to see if an Regenerative Resistor, or External Regenerative External Regenerative set Pn600 (Regenerative Resistor is not con-...
  • Page 94 5.3 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. range. Change the regenerative The external regener- Check the operating...
  • Page 95 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name If you are using the regen- The regenerative erative resistor built into resistor was discon- Measure the resistance the SERVOPACK, replace nected when the of the regenerative the SERVOPACK.
  • Page 96 5.3 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 went below age within the specified – supply voltage. the specified range. range.
  • Page 97 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Reduce the load so that the moment of inertia ratio The Servomotor A.521: is within the allowable vibrated considerably Check the waveform of Autotuning Alarm value.
  • Page 98 5.3 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 99 5.3 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 – inside the SERVOPACK.
  • Page 100 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and The encoder malfunc- ON again. If an alarm still – – tioned. occurs, the Servomotor A.840: may be faulty.
  • Page 101 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding tem- Reduce the surrounding Measure the surround- perature around the air temperature of the ing temperature around – Servomotor is too Servomotor to 40°C or the Servomotor.
  • Page 102 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.8A2: A failure occurred in Replace the external External Incre- – – mental Encoder the external encoder. encoder. Sensor Error The external absolute A.8A3: encoder may be faulty.
  • Page 103 5.3 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.bF3: A failure occurred in ON again. If an alarm still – – the SERVOPACK. occurs, the SERVOPACK System Alarm 3 may be faulty.
  • Page 104 5.3 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 failure occurred in ON again. If an alarm still – – the encoder. occurs, the Servomotor may be faulty.
  • Page 105 5.3 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 106 5.3 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. wired. Use a shielded twisted- The specifications of pair wire cable or a...
  • Page 107 5.3 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 108 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position Position Devia- the setting of Pn526 Pn526 (Excessive Position deviation while the tion Overflow...
  • Page 109 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the setting of the station address of the Check rotary switches The station address is host controller, and reset S1 and S2 to see if the outside of the setting rotary switches S1 and S2 station address is...
  • Page 110 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove the cause of The MECHATROLINK Check the setting of the transmission cycle fluctu- transmission cycle MECHATROLINK trans- – ation at the host control- A.E61: fluctuated.
  • Page 111 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the Safety Option the Safety Option – – A.E74: Module. Module. Unsupported Safety Option An unsupported Refer to the catalog of Connect a compatible Module Safety Option Module...
  • Page 112 5.3 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. If an alarm still –...

  • Page 113: Warning Displays

    5.4 Warning Displays Warning Displays If a warning occurs in the SERVOPACK, a warning number will be displayed on the panel dis- play. Warnings are displayed to warn you before an alarm occurs. 5-33...

  • Page 114: List Of Warnings

    5.5 List of Warnings List of Warnings The list of warnings gives the warning name and warning meaning in order of the warning num- bers. Warning Warning Name Meaning Resetting Number The position deviation exceeded the percentage set Position Deviation A.900 with the following formula: Required.
  • Page 115 5.5 List of Warnings Continued from previous page. Warning Warning Name Meaning Resetting Number Command Warning 2 Automatically A.95b (Unsupported Com- An unsupported command was sent. reset.* mand) Command Warning 4 There was command interference, particularly latch Automatically A.95d (Command Interfer- command interference.

  • Page 116: Troubleshooting Warnings

    5.6 Troubleshooting Warnings 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...
  • Page 117 5.6 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 118 5.6 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 the SERVOPACK installa- high.
  • Page 119 5.6 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. range. There is insuffi- cient external Change the regenerative...
  • Page 120 5.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The battery con- A.930: nection is faulty or Check the battery con- Correct the battery connec- Absolute Encoder a battery is not nection. tion. Battery Error (The connected.
  • Page 121 5.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Change the setting of Pn850 or the LT_MOD data for the LTMOD_ON com- A.94E: Check the command mand sent by the host con- A latch mode error Data Setting Warn- that caused the warn- troller to an appropriate...
  • Page 122 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. Refer to the following manual for details. Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28)

  • Page 123: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    5.7 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 124 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference • Turn ON the FSTP signal. • If you will not use the function to force the The FSTP (Forced Stop motor to stop, set Pn516 Check the FSTP signal.
  • Page 125 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Reduce the load so that The Servomotor the moment of inertia ratio vibrated considerably or mass ratio is within the while performing the Check the waveform of the allowable value, or...
  • Page 126 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power supply Replace the Encoder Noise interference to the servo system. occurred because the Cable and correct the Check the Encoder Cable to –...
  • Page 127 5.7 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 The servo gains are not Perform autotuning with- gains have been correctly balanced. out a host reference.
  • Page 128 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power supply to the servo system. Check to see if vibration Reduce machine vibra- The encoder was sub- from the machine occurred.
  • Page 129 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference If another signal is allo- There is a mistake in Check to see if the P-OT cated in Pn50A the allocation of the P- signal is allocated in Pn50A =n.X, allocate the P-...
  • Page 130 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power supply to the servo system. Check to see if vibration Reduce machine vibra- The encoder was sub- from the machine occurred.

  • Page 131: Parameter Lists

    Parameter Lists This chapter provides information on the parameters. Interpreting the Parameter Lists ..6-2 6.1.1 Interpreting the Servo Parameter List ..6-2 6.1.2 Interpreting the MECHATROLINK-III Common Parameter List .

  • Page 132: Interpreting The Parameter Lists

    6.1 Interpreting the Parameter Lists 6.1.1 Interpreting the Servo Parameter List Interpreting the Parameter Lists 6.1.1 Interpreting the Servo Parameter List “After restart” indicates parameters that will be effective after one of the following is executed. • The power supply is turned OFF and ON again. •...

  • Page 133: List Of Servo Parameters

    6.2 List of Servo Parameters List of Servo 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 134 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0011h Rotary Setup – Selections 2 4213h restart MECHATROLINK Command Position and Speed Control Option Reference Reserved setting (Do not use.) ...
  • Page 135 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to Immedi- – 0000h Rotary Setup Selections 7 105Fh ately Analog Monitor 2 Signal Selection Motor speed (1 V/1,000 min Speed reference (1 V/1,000 min Torque reference (1 V/100% rated torque)
  • Page 136 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0010h Rotary Tuning Selections 9 0121h restart  Reserved parameter (Do not change.) Current Control Mode Selection Use current control mode 1.
  • Page 137 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0000h Rotary Setup Selections B 1121h restart Operator Parameter Display Selection ...
  • Page 138 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0000h Rotary Setup Selections F 2011h restart Preventative Maintenance Warning Selection ...
  • Page 139 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Gain Application Selec- 0000h to – 0000h Rotary – Setup tions 5334h When Mode Switching Selection Enabled Use the internal torque reference as the condition (level setting: Pn10C).
  • Page 140 6.2 List of Servo 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 to Immedi- – 0000h Rotary Tuning ing Selections 1 0052h ately Gain Switching Selection Use manual gain switching.
  • Page 141 6.2 List of Servo 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- Pn143 trol Bias in the Forward 0 to 10,000 0.1% 1000 Rotary Tuning ately...
  • Page 142 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Damp- Immedi- Pn163 0 to 300 Rotary Tuning ing Gain ately Anti-Resonance Filter -1,000 to Immedi- Pn164 Time Constant 1 Cor-...
  • Page 143 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Fully-closed Control 0000h to After – 0000h Rotary Setup Selections 1003h restart  Reserved parameter (Do not change.) ...
  • Page 144 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000h to Immedi- – 0000h Rotary Setup Selections 0002h ately Vibration Detection Selection Do not detect vibration.
  • Page 145 6.2 List of Servo 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 to – 0000h Rotary – Setup tion Selections 1111h When Notch Filter Selection 1 Enabled ...
  • Page 146 6.2 List of Servo 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 to Immedi- – 0000h Rotary Setup tion Selections 2 1111h ately Notch Filter Selection 3 ...
  • Page 147 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque Feedforward Immedi- Pn426 Average Movement 0 to 5,100 0.1 ms Rotary Setup ately Time Speed Ripple Compen- Immedi- Pn427...
  • Page 148 6.2 List of Servo 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 – 1881h Rotary Setup FFF2h restart  Reserved parameter (Do not change.) ...
  • Page 149 6.2 List of Servo 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 – 8882h Rotary Setup FFFFh restart N-OT (Reverse Drive Prohibit) Signal Allocation Enable reverse drive when CN1-13 input signal is ON (closed).
  • Page 150 6.2 List of Servo 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 – 0000h Rotary Setup tions 1 6666h restart /COIN (Positioning Completion Output) Signal Allocation Disabled (the above signal output is not used).
  • Page 151 6.2 List of Servo 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 – 0000h Rotary Setup tions 3 0666h restart /NEAR (Near Output) Signal Allocation Disabled (the above signal output is not used).
  • Page 152 6.2 List of Servo 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 – 6543h Rotary Setup FFFFh restart /DEC (Origin Return Deceleration Switch Input) Signal Allocation Active when CN1-13 input signal is ON (closed).
  • Page 153 6.2 List of Servo 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 – 0000h Rotary Setup tions 4 0666h restart  Reserved parameter (Do not change.) ...
  • Page 154 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 1 refer- Positioning Completed 0 to Immedi- Pn522 ence Rotary Setup Width 1,073,741,824 ately unit 1 refer- 1 to 107374...
  • Page 155 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Analog Monitor 1 Offset -10,000 to Immedi- Pn550 0.1 V Rotary Setup Voltage 10,000 ately Analog Monitor 2 Offset -10,000 to Immedi-...
  • Page 156 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000h to Immedi- – 1040h Rotary Setup – trols 1FF3h ately MECHATROLINK Communications Check Mask for Debugging Do not mask.
  • Page 157 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence -1,073,741,823 1 refer- 107374 Immedi- Pn804 Forward Software Limit ence Rotary Setup 1823 ately 1,073,741,823 unit -1,073,741,823 1 refer-...
  • Page 158 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Monitor 0000h to Immedi- – 0000h Rotary Setup Selections 7777h ately IO12 Signal Mapping Do not map.
  • Page 159 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 1 Selec- 0000h to Immedi- – 0000h Rotary Setup tion FFFFh ately Setting Monitor High-Speed Monitor Region 0000h...
  • Page 160 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 2 Selec- 0000h to Immedi- – 0000h Rotary Setup tion FFFFh ately Pn825 0000h to The settings are the same as those for the Option Monitor 1 Selection.
  • Page 161 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 1D1Ch Rotary Setup 1F1Fh restart V_PPI Allocation (Option) Allocate bit 0 to V_PPI.
  • Page 162 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 0000h Rotary Setup 1F1Ch restart BANK_SEL1 Allocation (Option) Allocate bits 0 to 3 to BANK_SEL1.
  • Page 163 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 0000h Rotary Setup 1D1Fh restart  Reserved parameter (Do not change.) ...
  • Page 164 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear 1 to Pn83C Rotary Setup ence Deceleration Constant 2 20,971,520 ately units/s...
  • Page 165 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Latch Sequence 5 to 8 0000h to Immedi- – 0000h Rotary Setup Settings 3333h ately Latch Sequence 5 Signal Selection Phase C ...
  • Page 166 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Input Signal 0000h to Immedi- – 0000h Rotary Setup Monitor Allocations 2 1717h ately Input Signal Monitor Allocation for CN1-8 (SVCMD_IO) ...
  • Page 167 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Output Sig- 0000h to Immedi- nal Monitor Allocations – 0000h Rotary Setup 1717h ately Output Signal Monitor Allocation for CN1-1 and CN1-2 (SVCMD_IO) Allocate bit 24 (IO_STS1) to CN1-1/CN1-2 output signal monitor.
  • Page 168 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Rotational Coordinate 0000h to Immedi- – 0000h Rotary Setup 4.2.4 Function Switch 0003h ately Movement Method for Rotational Coordinates Absolute positioning ...
  • Page 169 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pn902 to Parameter Bank Mem- 0000h to After – Rotary Setup Pn910 ber Definition 08FFh restart Parameter Bank Data Pn920 to...

  • Page 170: List Of Mechatrolink-Iii Common Parameters

    6.3 List of MECHATROLINK-III Common Parameters List of MECHATROLINK-III Common Parameters The following table lists the common MECHATROLINK-III parameters. These common parame- ters are used to make settings from the host controller via MECHATROLINK communications. Do not change the settings with the Digital Operator or any other device. Parameter Setting Unit Default...
  • Page 171 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Electronic Gear Ratio 1 to After – Rotary (Numerator) 1,073,741,824 restart PnA42 Electronic Gear Ratio 1 to After –...
  • Page 172 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Speed Base Unit *3, *4 Selection (Set the value of n After from the following -3 to 3 –...
  • Page 173 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Supported Unit Sys- 0601011F – – Rotary – tems (read only) Speed Units Bit 0 Reference units/s (1: Enabled) Bit 1 Reference units/min (1: Enabled)
  • Page 174 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication × 500h reference units/s Origin Return Creep 0h to Immedi- Rotary con- Speed 3FFFFFFFh ately PnB0A verted to...
  • Page 175 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SEL_MON (CMN1) Immedi- 0000h to 0009h – Rotary Monitor Selection 1 ately 0000h TPOS (target position in reference coordinate system) 0001h IPOS (reference position in reference coordinate system) 0002h...
  • Page 176 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SEL_MON (CMN2) Immedi- 0h to 9h – Rotary Monitor Selection 2 ately PnB14 0000h to The settings are the same as those for SEL_MON Monitor Selection 1.
  • Page 177 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Servo Status Field Enable/Disable – 0FFF3F33h Rotary – Selections (read only) Bit 0 CMD_PAUSE_CMP (1: Enabled) Bit 1 CMD_CANCEL_CMP (1: Enabled) Bit 2 and 3...
  • Page 178 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Input Bit Enable/Dis- able Selections (read – – FF0FFEFEh Rotary – only) Bit 0 Reserved (0: Disabled).
  • Page 179 Index Index - - - - - - - - - - - - - - - - - - - - - - - -xii Main Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 multiturn limit - - - - - - - - - - - - - - - 4-4 absolute encoder origin offset...
  • Page 180 Index storage humidity SERVOPACK with MECHATROLINK-III - - - - - - - - - - - - - - - 2-5 communications references SERVOPACK with MECHATROLINK-III communications references and RJ-45 - - - - - - - - - - - - - - - - - - - - - - - - 2-8 connectors storage temperature SERVOPACK with MECHATROLINK-III...

  • Page 181: Revision History

    Revision History The date of publication, revision number, and Web revision number of the manual are given on the bottom right of the back cover. Refer to the following example. MANUAL NO. SIEP S800002 28A <0> Revision number Published in Japan July 2017 Date of publication Date of Rev.
  • Page 182 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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Sigma-7 sgd7s-20a f84 seriesSigma-7s servopackSigma-7 sgd7s-30a f84 series

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