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AC Servo Drive
Safety Module
USER'S Manual
Type：
SGDV-OSA01A
SGDV-OSA01A000FT900
Supplement for using with ∑-7S / ∑-7W SERVOPACK
Remarks
( 400V-Input Power models )
Distribution
Section in charge
Servo Drives Power Technology Sect.
Servo Drives Technology Dept.
Moton Control Division
Approve
Check
(M-Gi-S2)
---
T.Kubo
Document No.
900-200-100
Draw
(M-Gi-S1)
K.Ando
June 25, 2016
1/57
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Table of Contents
Related Manuals for YASKAWA SGDV-OSA01A
Summary of Contents for YASKAWA SGDV-OSA01A
- Page 1 AC Servo Drive Safety Module USER’S Manual Type： SGDV-OSA01A SGDV-OSA01A000FT900 Supplement for using with ∑-7S / ∑-7W SERVOPACK ( 400V-Input Power models ) Remarks Distribution Section in charge Servo Drives Power Technology Sect. Servo Drives Technology Dept. Moton Control Division...
- Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
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Page 3: About This Manual
SIEP C720829 06 AC Servo Drives USER’S MANUAL Safety Module, Model : SGDV-OSA01A Be sure to refer to this manual and perform design and maintenance to select devices correctly. Keep this manual in a location where it can be accessed for reference whenever required. - Page 4 ◆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. ■Notation for Parameters The notation depends on whether the parameter requires a numeric setting (parameter for numeric setting) or requires the selection of a function (parameter for selecting functions).
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Page 5: Related Manuals
Related Manuals ・ Manuals Related to the ∑-7S / ∑-7W SERVOPACKs with 400 V-Input Power Refer to the following manuals as required. Selecting Trial Ratings and Mainte- Models and System Panels and Trial Operation Name Specifi- nance and Peripheral Design Wiring Operation and Servo... - Page 6 ■ Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
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Page 7: Safety Precautions
Safety Precautions These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly. • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury. - Page 8 • Installation, disassembly, or repair must be performed only by authorized personnel. Failure to observe this warning may result in electric shock or injury. • Engineers designing a mechanical system using the safety functions of the Safety Module must have complete knowledge of the relative safety standards and a full understanding of the safety functions of the Safety Module.
- Page 9 ■Storage and Transportation • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight • Locations subject to ambient operating temperatures outside the range specified in the storage/installation temperature conditions •...
- Page 10 ■Wiring • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connection. Failure to observe this caution may result in injury or fire.
- Page 11 ■Operation • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution so may result in fire or malfunction. • Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.
- Page 12 • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
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Page 13: Warranty
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. 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 14 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
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Page 15: Harmonized Standards
Harmonized Standards ■North American Safety Standards (UL) Model UL * Standards SERVOPACK SGD7S, SGD7W UL61800-5-1 ∗ Underwriters Laboratories Inc. Note: Applicable when the Safety Module is attached to the SERVOPACKs for use with the MECHATROLINK-III communications reference, the CoE communication reference type of ∑-7 SERVOPACK with 400 V-Input Power model. - Page 16 Safe Performance with a combination the SERVOPACK and the Safety Module SERVOPACK Safety Module (1)Safe Performance : (2)Safe Performance : SERVOPACK CN8□ (*1) Safety Module (*1) SGD7S (400V) SGDV-OSA01A CN8 : Not apply (*3) Apply SGDV-OSA01A000FT900 CN8 : Apply Apply SGD7W (400V) Axis A(*2)
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Page 17: Description Of Technical Terms
Description of Technical Terms The following table shows the meanings of terms used in this manual. Term Meaning Σ-V Series/Σ-7 Series: SGMJV, SGMAV, SGMVV, SGMPS, SGMGV, SGMSV, or SGMCS (Direct Drive) servomotor Servomotor Σ-7 Series: SGM7J, SGM7A, SGM7P, or SGM7G servomotor Linear Σ... - Page 18 Term Meaning This is one of safety functions in the Safety Module. Safe BaseBlock Function This is the safety function that is equivalent to the Safe Torque Off function defined (SBB function) in IEC 61800-5-2. This is one of safety functions in the Safety Module. Safe BaseBlock with Delay This is the safety function that is equivalent to the Safe Stop 1 function defined in Function (SBB-D function)
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Page 19: Outline Of This Manual
When to use this product, you should refer both this manual and shown manual at following table. AC Servo Drives ∑-V Series/∑-V Series for Large- Capacity Models/∑-7 Series Content This manual USER’S MANUAL Safety Module Model: SGDV-OSA01A SIEP C720829 06 Checking Products Checking Products on Delivery Nameplate (Ratings) and Model Designation Nameplate Location Specifications... - Page 20 AC Servo Drives ∑-V Series/∑-V Series for Large- Capacity Models/∑-7 Series Content This manual USER’S MANUAL Safety Module Model: SGDV-OSA01A SIEP C720829 06 Monitor Mode Overview Monitoring from the Panel Operator and Digital Operator Monitoring Over the Network Active Mode Function Overview 10.1...
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Page 21: Table Of Contents
2.2.3. Safety functions specifications of applicable SERVOPACK ......................28 2.3. Part Names ............................................29 2.4. Internal Block Diagram ........................................31 2.4.1. SGD7S-□□□D□0□ + SGDV-OSA01A ..............................31 2.4.2. SGD7S-□□□D□0□ + SGDV-OSA01A000FT900 ........................32 2.4.3. SGD7W-□□□D□0□ + SGDV-OSA01A .............................. 33 2.4.4. SGD7W-□□□D□0□ + SGDV-OSA01A000FT900 ........................34 3. -
Page 22: Checking Products
Safety Module with FT900 Specification Installation Guide. 3. Treatment of the connector (CN8□) of the SERVOPACK The handling of CN8□ of the SERVOPACK by combination of the Safety Module is as follows. Safety Module SGDV-OSA01A SGDV-OSA01A000FT900 SERVOPACK SGD7S (400V) Not available (*1) -
Page 23: Nameplate (Ratings) And Model Designation
1.2. Nameplate (Ratings) and Model Designation ■ Nameplate (Ratings) Example ・SGDV-OSA01A ・SGDV-OSA01A000FT900 900-200-100 23/57... - Page 24 ■ Model Designation S G D V - O S A 0 1 A 0 0 0 F T 9 0 0 Series 10～14 digits : FＴ Specification SGDV ∑-V Series 00000 Stantard FT900 FT900 specification 1st + 2nd digits: Module Type Code Module 7+8+9 digits : Hardware Option...
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Page 25: Specifications
2. Specifications 2.1. Overview The Safety Module is an Option Module that is connected to a Σ-V Series, Large-Capacity Σ-V Series, or Σ-7 Series SERVOPACK. By using the Hard Wire BaseBlock function of the SERVOPACK, the following four safety functions, which are defined in functional safety standards, can be achieved. Function Remarks Safe BaseBlock Function... -
Page 26: Specifications
2.2. Specifications 2.2.1. Applicable SERVOPACK ■SGDV-OSA01A In addition to the SERVOPACKs that are listed in the manual of the Safety Module, following SERVOPACKs can be applied. ・∑-7S SERVOPACK with 400 V-Input Power model Applicable Model Specification Servomotor Rotational motor SGD7S-□□□D20... -
Page 27: Specifications Of Safety Module
2.2.2. Specifications of Safety Module SGDV-OSA01A Applicable Safety Module SGDV-OSA01A000FT900 Placement Attached to the SERVOPACK Power Power Supply Method Supplied from the control power supply of the SERVOPACK. Specification Surrounding Air/Storage 0°C to +55℃/ -20°C to +85℃ Temperature Ambient/Storage 90% RH or less (with no condensation) -
Page 28: Safety Functions Specifications Of Applicable Servopack
Max. 8 ms Proof Test Interval 10 years In addition, when using SGDV-OSA01A, SERVOPACK CN8 is not available. In this case, connect the Safety-jumper connector to the CN8. 2.2.3.2. ∑-7W SERVOPACK with 400 V-Input Power model When using the combination of the ∑-7W SERVOPACK with 400 V-Input Power model... -
Page 29: Part Names
2.3. Part Names The following figure shows the part names of the Safety Module. ■ Σ-7S (400V input power models) I/O connector for the Safety Function B (CN22) I/O connector for the Safety Function A (CN21) （Top view of theΣ-7S (400V input power models)） Nameplate（Component code）... - Page 30 ■ Σ-7W (400V input power models) I/O connector for the Safety Function B (CN22) I/O connector for the Safety Function A (CN21) Nameplate（Component code） （Top view of theΣ-7W (400V input power models)） Nameplate（Model no.) Module cover Nameplate（Ratings） （Direction of the nameplate） （Side view of theΣ-7W (400V input power models)）...
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Page 31: Internal Block Diagram
2.4. Internal Block Diagram 2.4.1. SGD7S-□□□D□0□ + SGDV-OSA01A This figure shows a typical internal block diagram. The CN8 of the SERVOPACK is not available. Connect the jumper-connector to the CN8. 900-200-100 31/57... -
Page 32: Sgd7S-□□□D□0□ + Sgdv-Osa01A000Ft900
2.4.2. SGD7S-□□□D□0□ + SGDV-OSA01A000FT900 This figure shows in case of using the CN8 of the SERVOPACK. If the CN8 is not used (i.e. connected the jumper connector ), its internal block diagram is same as chapter 2.4.1. 900-200-100 32/57... -
Page 33: Sgd7W-□□□D□0□ + Sgdv-Osa01A
2.4.3. SGD7W-□□□D□0□ + SGDV-OSA01A SERVOPACK CN8A is not available. The safety jumper connector should be connected to CN8A. 900-200-100 33/57... -
Page 34: Sgd7W-□□□D□0□ + Sgdv-Osa01A000Ft900
2.4.4. SGD7W-□□□D□0□ + SGDV-OSA01A000FT900 This figure shows in case of using the CN8A of the SERVOPACK. If the CN8A is not used (i.e. connected the jumper connector ), its internal block diagram is same as chapter 2.4.3. 900-200-100 34/57... -
Page 35: Servopack Installation
The EMC installation conditions that are given here are the conditions that were used to pass testing criteria at Yaskawa. The EMC level may change under other conditions, such as the actual installation structure and wiring conditions. These Yaskawa products are designed to be built into equipment. Therefore, you must implement EMC measures and confirm compliance for the final equipment. - Page 36 ■三相 400V ・SGD7W-□□□D□0□ + SGDV-OSA01A Symbol Cable Name Specification ① I/O Signal Cable Shielded cable ② Safety Function Device Cable Shielded cable ③ Servomotor Main Circuit Cable Shielded cable ④ Encoder Cable Shielded cable ⑤ Main Circuit Power Cable Shielded cable ⑥...
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Page 37: Sgdv-Osa01A000Ft900
3.1.2. SGDV-OSA01A000FT900 This wiring example shows in case of using SGDV-OSA01A000FT900 and applicable SERVOPACK, and the HWBB signal is connected to the CN8 of the SERVOPACK. If you do not use the CN8 of the SERVOPACK, you shall connect the jumper connector to the CN8. In that case, the wiring is same as the chapter 3.1.1 . - Page 38 ■ Three-Phase, 400 VAC ・SGD7W-□□□D□0□ + SGDV-OSA01A000FT900 Symbol Cable Name Specification ① I/O Signal Cable Shielded cable ② Safety Function Device Cable Shielded cable ③ Servomotor Main Circuit Cable Shielded cable ④ Encoder Cable Shielded cable ⑤ Main Circuit Power Cable Shielded cable ⑥...
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Page 39: Wiring And Connection
Check the operation of the safety functions with reference to a list shown below. 安全機能の動作確認 Combination of the Safety Module SERVOPACK HWBB(CN8) 安全機能 A 安全機能 B Not required SGD7S-□□□D□0□ (Not available) SGDV-OSA01A Not required CN8A (Not available) SGD7W-□□□D□0□ ✓ ✓ CN8B ✓ SGD7S-□□□D□0□ ✓... - Page 40 ■HWBB function (CN8A/CN8B) ： SGD7W-□□□D□0□ 信号名 記号 論理 HWBB Input signal 1 HWBB_□1 HWBB Input signal 2 HWBB_□2 External Device Monitor Output EDM_□ Signal 1 □：CN8A=A, CN8B=B Note : 1. EDMA, EDMB signal outputs are in unstable condition right after control power for SERVOPACK turns ON (Max. 10 seconds).
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Page 41: Safety Functions
6. Safety Functions Refer to the manual of the Safety Module because the Safety functions of the Safety Module are same regardless of the Safety module model. In addition, in case of using the combination of the SERVOPACK and SGDV-OSA01A000FT900, when using HWBB function of the CN8□, refer to SERVOPACK’s manual about HWBB function. -
Page 42: Monitoring From The Panel Operator And Digital Operator
9.2. Monitoring from the Panel Operator and Digital Operator 9.2.1. Safety I/O Signal Monitor（Un015） ■When using with SGDV-OSA01A All digits are always shown as being ON(low level) ( * In this case, monitor is not enabled). ■When using the combination of SGD7S-□□□D□0□ and SGDV-OSA01A000FT900 The safety I/O signal monitor (Un015) is displayed as shown below. - Page 43 ・SGD7W-□□□D□0□：Axis A A condition of HWBB input signal Indication of Un015 A condition of SGDV-OSA01A000FT900 to SERVOPACK CN8A (Axis A) Safety function A Safety function B /HWBB-A1 input /HWBB-A2 input 2nd digit 1st digit ON (low) ON (low) ON (low) OFF (high) 安全機能非実行...
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Page 44: Active Mode Function
10. Active Mode Function The Active Mode Function is available for Σ-7S (400V) and Axis A of Σ-7W (400V). The specification of monitoring Active mode function is different from the other SERVOPACKs because ∑ -7S SERVOPACK with 400 V-Input Power model has five output signals in the CN1. - Page 45 ■Active Mode ON Signal Allocations(∑-7W SERVOPACK with 400 V-Input Power model, using Σ-7S-compatible I/O signal allocations） Cn1 Pin No. Output Signal Names Output Disabled Aixs A： Axis B： Axis A： Axis B： and Parameters Signal (Not Used) 1 (2) 23(24) 25(26) 27(28) Active Mode ON Signal...
- Page 46 (2) MECHATROLINK-III I/O Signal Monitor (SVCMD_IO) Field If the Active Mode ON Signal is allocated to CN1 in a SERVOPACK with MECHATROLINK-III communications, the operating state of the Active Mode Function can be monitored in IO1 to IO8 in the I/O signal monitor (SVCMD_IO) field.
- Page 47 Details SVCMD_IO (I/O signal monitor) Bit Position Allocation Remarks Allocation of bit position for monitoring the CN1-29, 30 output signal. － Pn86A.0 0 ～ 7 Same settings for the CN1-1, 2 output signal － Enables or disables the allocated bit position for monitoring the CN1-29, 30 －...
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Page 48: Troubleshooting
11. Troubleshooting All alarms of the Safety Module are same regardless of the Safety Module model. In addition, when using the combination of ∑-7S / ∑-7W SERVOPACK with 400 V-Input Power model and the Safety Module, troubleshooting against several alarms are different. For alarms that are not described in this chapter, refer to the manual of the Safety Module. -
Page 49: Appendix
12. Appendix 12.1. Safety-related Module Parameters Parameter Setting Factory Name Units When Enabled Range Setting Pc00 Safety Function Selection Switch n.0002 After resetting the system Safety Function A Selection No safety function Safe BaseBlock Function (SBB function) Pc00.1 Safe BaseBlock with Delay Function (SBB-D function) Factory setting Safe Position Monitor with Delay Function (SPM-D function) Safely Limited Speed with Delay Function (SLS-D function) - Page 50 Parameter Setting Factory Name Units When Enabled Range Setting Reserved (Do not change.) Pc02～Pc0F * When using SGDV-OSA01A000FT900, Pc0A is displayed on the digital operator. In addition, it is not displayed on SigmaWin+. However, do not change it regardless of the display conditions. * Factory setting of reserved parameter is zero.
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Page 51: Safety-Related Servo Parameters
12.2. Safety-related Servo Parameters Safety-related Servo Parameters are same regardless of the Safety Module models. Refer to the manual of the Safety Module. 12.3. Parameters Related Active Mode Function 12.3.1. ∑-7S Parameter Factory SIZE Name Setting Range Units When Enabled Setting After resetting the Output Signal... - Page 52 Parameter Factory SIZE Name Setting Range Units When Enabled Setting Constant of Rotational motor ： Deceleration Pn622 1 ～ 30000 10000 Immediately Linear motor : for Safety Function A mm/s Rotational motor ： Constant of Deceleration Pn623 1 ～ 30000 10000 Immediately Linear motor :...
- Page 53 12.3.2. ∑-7W Parameter Factory SIZE Name Setting Range Units When Enabled Setting After resetting the Output Signal system or － － 0000 Selection 7 recalculating parameters Active Mode ON Signal Mapping Digit Disabled (the above signal output is not used). Pn518 Axis A: Output the signal from the CN1-1 and CN1-2 output terminals.
- Page 54 Parameter Factory SIZE Name Setting Range Units When Enabled Setting After resetting the Application Switch for system or － － 0000 Safety Function recalculating parameters Selection of Active Mode for Safety Function A Digit Disabled Enabled Pn621 2 ～ F Reserved (Do not change.) Selection of Active Mode for Safety Function B Digit...
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Page 55: Device Combinations
12.4. Device Combinations The models of SERVOPACKs, rotational servomotors and serial converter units listed here can be used in combination with the Safety Module SGDV-OSA01A and SGDV-OSA01A000FT900. 12.4.1. List of applicable SERVOPACKs ■Applicable SERVOPACKs to SGDV-OSA01A The models of SERVOPACKs that listed on the manual of the Safety Module and listed here can be used in combination with SGDV-OSA01A. -
Page 56: Servomotors
12.4.2. Servomotors The models of rotational servomotors that listed on the manual of the Safety Module and listed here can be used in combination with SGDV-OSA01A and SGDV-OSA01A000FT900. Rotational Servomotor Models SGM7J-02D□F SGM7J Models SGM7J-04D□F (Medium Inertia, High Speed), SGM7J-08D□F Rated motor speed:3,000 min SGM7J-15D□F... -
Page 57: Revision History
Revision History Rev. No. Draw Approve Date Revised Content <0> K.Ando T.Kubo 25 June, 2016 First edition Revision : Front cover : Title Revision : About this manual Addition : Capter2, Part Names Revision : Capter4, Wiring and connection <1> K.Ando T.Kubo 13 Sep, 2016...