Page 3 Sigma-7 Series SERVOPACKs Table of contents Table of contents General........................14 1.1 About this Manual................... 14 1.2 Outline of Manual................... 14 1.3 Related Documents..................16 1.4 Using This Manual..................21 1.5 Safety Precautions..................25 1.5.1 Safety Information..................25 1.5.2 Safety Precautions That Must Always Be Observed........25 1.6 Warranty......................
Page 4 Sigma-7 Series SERVOPACKs Table of contents 4.6 Monitoring the Installation Environment............80 4.7 Derating Specifications................... 81 4.8 EMC Installation Conditions................81 Wiring and Connecting SERVOPACKs............... 84 5.1 Overview......................84 5.2 Wiring and Connecting SERVOPACKs............84 5.2.1 General Precautions..................84 5.2.2 Countermeasures against Noise..............87 5.2.3 Grounding....................
Page 5 Sigma-7 Series SERVOPACKs Table of contents 6.3 Power Supply Type Settings for the Main Circuit and Control Circuit... 142 6.3.1 Overview....................142 6.3.2 AC Power Supply Input/DC Power Supply Input Setting......143 6.3.3 Single-phase AC Power Supply Input/Three-phase AC Power Supply Input Setting....................
Page 6 Sigma-7 Series SERVOPACKs Table of contents 6.16.4 Applicable Tools..................187 6.16.5 Operating Procedure................188 6.17 Setting the Origin of the Absolute Encoder..........190 6.17.1 Absolute Encoder Origin Offset............... 190 6.17.2 Setting the Origin of the Absolute Linear Encoder........191 6.18 Setting the Regenerative Resistor Capacity..........194 Application Functions..................
Page 7 Sigma-7 Series SERVOPACKs Table of contents 7.10.6 Transmission Specifications..............242 7.10.7 Calculating the Current Position in Machine Coordinates....... 243 7.11 Software Reset................... 244 7.11.1 Overview....................244 7.11.2 Preparations.................... 244 7.11.3 Applicable Tools..................244 7.11.4 Operating Procedure................245 7.12 Initializing the Vibration Detection Level............. 246 7.12.1 Overview....................
Page 8 Sigma-7 Series SERVOPACKs Table of contents Tuning........................295 9.1 Overview....................... 295 9.2 Overview and Flow of Tuning............... 295 9.2.1 Overview....................295 9.2.2 Tuning Functions..................296 9.2.3 Diagnostic Tool..................298 9.3 Monitoring Methods..................298 9.4 Precautions to Ensure Safe Tuning.............. 299 9.4.1 Overview....................
Page 9 Sigma-7 Series SERVOPACKs Table of contents 9.9.4 Applicable Tools..................351 9.9.5 Operating Procedure................. 351 9.9.6 Automatically Adjusted Function Settings..........363 9.9.7 Tuning Example for Tuning Mode 2 or 3........... 363 9.9.8 Related Parameters................... 364 9.10 Anti-Resonance Control Adjustment............365 9.10.1 Overview....................365 9.10.2 Outline.....................
Page 10 Sigma-7 Series SERVOPACKs Table of contents 10.3.1 Servo Drive Status................... 434 10.3.2 Monitoring Status and Operations............435 10.3.3 I/O Signal Monitor..................437 10.4 Monitoring Machine Operation Status and Signal Waveforms....438 10.4.1 Overview....................438 10.4.2 Items That You Can Monitor..............438 10.4.3 Using the SigmaWin+................
Page 11 13.6.3 Standard Speed Telegram (ST2)............. 491 13.6.4 Standard Position Telegram (ST7)............492 13.6.5 Standard Position Telegram (ST9)............492 13.6.6 YASKAWA Telegram (Telegram 100)............493 13.6.7 Free Configurable Telegram (Telegram 999)........... 495 13.7 IO Data Signals..................497 PROFIdrive Drive Profile..................499 14.1 Device Control....................
Page 12 Sigma-7 Series SERVOPACKs Table of contents 14.8 Digital Inputs and Outputs................516 14.9 Touch Probe Function................. 517 14.10 Fully-closed Loop Control................. 519 14.11 Get/Set SERVOPACK Parameter Functionality........520 Object Dictionary....................522 15.1 Overview..................... 522 15.2 Object Dictionary List.................. 522 15.3 General Objects..................527 15.4 Communication Objects................
Page 13 Sigma-7 Series SERVOPACKs Table of contents 17.3 Object List....................730 17.4 PROFINET Parameter Request Error Codes..........749 17.5 Parameter Recording Table................ 752 Appendices......................759 18.1 Overview..................... 759 18.2 Interpreting Panel Displays................. 759 18.2.1 Overview....................759 18.2.2 Interpreting Status Displays..............759 18.2.3 Alarm and Warning Displays..............
Page 14 Sigma-7 Series SERVOPACKs General Outline of Manual General 1.1 About this Manual This manual provides information required to select Σ-7S SERVOPACKs with PROFINET Communications References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune, operate, and maintain the Servo Drives. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.
Page 15 Sigma-7 Series SERVOPACKs General Outline of Manual Chapter Chapter Title Contents PROFINET Communica- Provides basic information on PROFINET com- tions munications. PROFIdrive Drive Profile Provides detailed information on the PROFI- drive drive profile. Object Dictionary Provides an overview and details on the object dictionary.
Page 16 Sigma-7 Series SERVOPACKs General Related Documents 1.3 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. System Components Machine Controllers...
Page 17 Sigma-7 Series SERVOPACKs General Related Documents Classification Document Name Document No. Description Machine Controller and AC Servo KAEP S800001 22 Describes the features and appli- Drive Solutions Catalog cation examples for combinations Machine Controller of MP3000-Series Machine Con- and Servo Drive Gen- trollers and Σ-7-Series AC Servo eral Catalog Drives.
Page 18 Sigma-7 Series SERVOPACKs General Related Documents Classification Document Name Document No. Description Σ-V-Series/Σ-V-Series for Large- TOBP C720829 01 Provides detailed procedures for Capacity Models/ Σ-7-Series installing the Command Option Installation Guide Command Module in a SERVOPACK. Option Module Σ-V-Series/Σ-V-Series for Large- TOBP C720829 03 Provides detailed procedures for Capacity Models/ Σ-7-Series...
Page 19 Sigma-7 Series SERVOPACKs General Related Documents Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SIEP S800001 84 Provide detailed information on SERVOPACK with FT/EX Specifi- the FT/EX Option for Σ-7-Series Σ-7-Series Σ-7S/Σ-7W cation for Indexing Application SERVOPACKs. SERVOPACK FT/EX Product Manual Product Manuals...
Page 20 Sigma-7 Series SERVOPACKs General Related Documents Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Periph- SIEP S800001 32 Provides the following information eral Device Selection Manual in detail for Σ-7-Series Servo Sys- Σ-7-Series Peripheral tems. Device Selection Manual Cables: Models, dimensions, wiring materials, connector models, and connection speci-...
Page 21 Sigma-7 Series SERVOPACKs General Using This Manual 1.4 Using This Manual Technical Terms and The following tables show the meaning of the terms and abbreviations used in this Abbreviations Used in manual. This Manual General SERVOPACK-related Terms Term Meaning Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.
Page 22 Sigma-7 Series SERVOPACKs General Using This Manual Term Description Cyclic communication Communication in which parameter/process data objects are sent cyclically at pre-defined intervals. Discovery Control Protocol. A protocol that allows the IO- Controller to find every PROFINET IO-Device on a subnet. Fault Event that leads to tripping of the device.
Page 23 Sigma-7 Series SERVOPACKs General Using This Manual Abbreviation Description TPZD Transmitted Process data Status word Differences in Terms for There are differences in the terms that are used for Rotary Servomotors and Linear Ser- Rotary Servomotors and vomotors. Linear Servomotors This manual primarily describes Rotary Servomotors.
Page 24 Sigma-7 Series SERVOPACKs General Using This Manual Parameters for Selecting Functions This is when any This is the parameter change made to classiﬁcation. the parameter will become effective. Parameter number Parameter Meaning When Enabled Classiﬁcation † †† Use the encoder according to encoder speciﬁcations. (default setting) Pn002 Use the encoder as an incremental encoder.
Page 25 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed 1.5 Safety Precautions 1.5.1 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.
Page 26 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed WARNING! – Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC type) that are appropriate for the product. There is a risk of burning, electric shock, or fire. –...
Page 27 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed NOTICE! – Do not attempt to use a SERVOPACK or Servomotor that is dam- aged or that has missing parts. – Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.
Page 28 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed Transportation Precau- tions CAUTION! – Transport the product in a way that is suitable to the mass of the product. – Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.
Page 29 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed Installation Precautions CAUTION! – Install the Servomotor or SERVOPACK in a way that will support the mass given in technical documents. – Install SERVOPACKs, Servomotors, and Regenerative Resistors on nonflammable materials.
Page 30 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed Wiring Precautions DANGER! Do not change any wiring while power is being supplied. There is a risk of electric shock or injury. WARNING! – Wiring and inspections must be performed only by qualified engineers.
Page 31 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed CAUTION! – Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE indi- cator is not lit before starting wiring or inspection work.
Page 32 Safety Precautions > Safety Precautions That Must Always Be Observed NOTICE! – Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and appli- cation environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.
Page 33 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed CAUTION! – Design the system to ensure safety even when problems, such as broken signal lines, occur. For example, the P-OT and N-OT signals are set in the default settings to operate on the safe side if a signal line breaks.
Page 34 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed 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 35 Sigma-7 Series SERVOPACKs General Safety Precautions > Safety Precautions That Must Always Be Observed NOTICE! Discharge all static electricity from your body before you operate any of the buttons or switches inside the front cover of the SERVO- PACK. There is a risk of equipment damage. Troubleshooting Precau- tions DANGER!
Page 36 Warranty Scope Yaskawa shall replace or repair a defective product free of charge if a defect attribut- able to Yaskawa occurs during the above warranty period. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.
Page 37 Warranty 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. – Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.
Page 38 Sigma-7 Series SERVOPACKs General Compliance with UL Standards, EU Directives, and Other Safety Standards 1.7 Compliance with UL Standards, EU Directives, and Other Safety Standards Certification marks for the standards for which the product has been certified by certifica- tion bodies are shown on nameplate. Products that do not have the marks are not certi- fied for the standards.
Page 39 Sigma-7 Series SERVOPACKs General Compliance with UL Standards, EU Directives, and Other Safety Standards European Directives Fig. 6: CE, TÜV Süd Functional Safety and TÜV Süd Production monitored Type Tested logos Product Model EU Directive Harmonized Stand- ards SERVOPACKs SGD7S Machinery Directive EN ISO13849-1: 2006/42/EC...
Page 40 Sigma-7 Series SERVOPACKs General Compliance with UL Standards, EU Directives, and Other Safety Standards Product Model EU Directive Harmonized Stand- ards Linear Servomotors SGLG EMC Directive EN 55011 group 1, 2004/108/EC class A SGLF SGLFW2 EN 61000-6-2 SGLT EN 61000-6-4 Low Voltage Direc- EN 60034-1 tive 2006/95/EC...
Page 41 Sigma-7 Series SERVOPACKs General Compliance with UL Standards, EU Directives, and Other Safety Standards Safety Standards Product Model Safety Standards Standards SERVOPACKs SGD7S Safety of Machinery EN ISO13849-1: 2015 IEC 60204-1 Fig. 7: TÜV Süd Functional Safety Functional Safety IEC 61508 series IEC 62061 IEC 61800-5-2 IEC 61326-3-1...
Page 42 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Introduction to PROFINET > Data Types Basic Information on SERVOPACKs 2.1 Overview This chapter provides information required to select SERVOPACKs, such as SERVO- PACK models and combinations with Servomotors. 2.2 The Σ-7 Series The Σ-7-series SERVOPACKs are designed for applications that require frequent high- speed and high-precision positioning.
Page 43 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Interpreting the Nameplate Code Data Type Coding Range (decimal) UDINT Unsigned 32-bit integer 0 to 4,294,967,295 Floating Point – Visible String – Octet String – Normalised value 16 bit – Normalised value 32 bit –...
Page 44 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Part Names 2.5 Part Names With Front Cover Open Main circuit terminals (on side of SERVOPACK) Motor terminals Fig. 9: Part Names SGD7S-1R6A Name Description Reference Front Cover − − Input Voltage − −...
Page 45 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Part Names Name Description Reference Communications Status Indicators Indicate the status of PROFINET communica- – tions. PROFINET Communications Con- Connect to PROFINET devices. Ä Chap. 5.8.2 nectors (Input: CN6A, Output: ‘PROFINET Connectors CN6B) (RJ45)’...
Page 46 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Model Designations > Interpreting Servomotor Model Numbers 2.6 Model Designations 2.6.1 Interpreting SERVOPACK Model Numbers SGD7S - 120 5th+6th 1st+2nd+3rd 8th+9th+10th digit digit 6-7-Series digits digits digits 6-7S SERVOPACKs Maximum Applicable Hardware Options 1st+2nd+3rd digits 4th digit 8th+9th+10th digits...
Page 47 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Model Designations > Interpreting Servomotor Model Numbers Direct Drive Servomotors SGM †† - 02 1st+2nd Series digit digit digit digit digit digits Series 5th digit 1st+2nd digits Rated Torque Design Revision Order 6-7 Series Servomotors Code Specification 3rd digit...
Page 48 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Combinations of SERVOPACKs and Servomotors > Combinations of Rotary Servomotors and SERVOPACKs 2.7 Combinations of SERVOPACKs and Servomotors 2.7.1 Combinations of Rotary Servomotors and SERVOPACKs Rotary Servomotor Model Capacity SERVOPACK Model SGD7S- SGMMV (Low Inertia, Ultrasmall SGMMV-A1A 11 W R90A or R90F...
Page 49 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Combinations of SERVOPACKs and Servomotors > Combinations of Direct Drive Servomotors and SERVOPACKs Rotary Servomotor Model Capacity SERVOPACK Model SGD7S- SGM7G-09A 850 W 7R6A SGM7G-13A 1.3 kW 120A SGM7G-20A 1.8 kW 180A SGM7G-30A 330A 2.9 kW SGM7G-44A...
Page 50 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Combinations of SERVOPACKs and Servomotors > Combinations of Direct Drive Servomotors and SERVOPACKs Direct Drive Servomotor Model Rated Instanta- SERVO- Torque neous PACK [Nm] Maximum Model Torque SGD7S- [Nm] SGM7F-07A 2R8A or 2R8F SGM7F-04B SGM7F-10B SGM7F-14B...
Page 51 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Combinations of SERVOPACKs and Servomotors > Combinations of Linear Servomotors and SERVOPACKs Direct Drive Servomotor Model Rated Instanta- SERVO- Torque neous PACK [Nm] Maximum Model Torque SGD7S- [Nm] SGMCS-25D SGMCS-16E 5R5A SGMCS-35E SGMCS (Medium SGMCS-45M 7R6A Capacity, With Core,...
Page 52 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Combinations of SERVOPACKs and Servomotors > Combinations of Linear Servomotors and SERVOPACKs Linear Servomotor Model Rated Instanta- SERVO- Force [N] neous PACK Maximum Model Force [N] SGD7S- SGLGW-40A253C 2R8A, 2R8F SGLGW-40A365C 3R8A SGLGW-60A140C 1R6A, 2R1F SGLGW-60A253C...
Page 53 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Combinations of SERVOPACKs and Servomotors > Combinations of Linear Servomotors and SERVOPACKs Linear Servomotor Model Rated Instanta- SERVO- Force [N] neous PACK Maximum Model Force [N] SGD7S- SGLTW-50A170H 5R5A SGLTW-50A320H 1800 120A SGLTW-80A400B 1300 5000 330A...
Page 54 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Functions 2.8 Functions This section lists the functions provided by SERVOPACKs. Refer to the reference pages for details on the functions. Functions Related to the Machine Function Reference Power Supply Type Settings for the Main Circuit Ä...
Page 55 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Functions Function Reference Ä Chap. 7.7 ‘Software Limits’ Software Limits page 221 Multiturn Limit Setting Ä Chap. 7.9.8 ‘Multiturn Limit Setting’ page 233 Ä Chap. 7.13 ‘Adjusting the Adjustment of Motor Current Detection Signal Offset Motor Current Detection Signal Offset’...
Page 56 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Functions Function Reference Ä Chap. 7.2.9 ‘/COIN (Posi- /COIN (Positioning Completion) Signal tioning Completion) Signal’ page 203 Ä Chap. 7.2.10 ‘/NEAR (Near) /NEAR (Near) Signal Signal’ page 205 Speed Limit during Torque Control Ä...
Page 57 Sigma-7 Series SERVOPACKs Basic Information on SERVOPACKs Functions Function Reference Ä Chap. 9.14.2 ‘Tuning the Servo Model Following Control Gains’ page 406 Compatible Adjustment Functions Ä Chap. 9.14.3 ‘Compatible Adjustment Functions’ page 419 Ä Chap. 9.15.1 ‘Mechanical Anal- Mechanical Analysis ysis’...
Page 58 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Ratings and Specifications > Ratings Selecting a SERVOPACK 3.1 Overview This chapter provides information required to select SERVOPACKs, such as specifica- tions, block diagrams, dimensional drawings, and connection examples. 3.2 Ratings and Specifications 3.2.1 Ratings This section gives the ratings and specifications of SERVOPACKs.
Page 59 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Ratings and Specifications > SERVOPACK Overload Protection Characteristics Single-Phase, 200 VAC Model SGD7S- 120A Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] 11.6 Instantaneous Maximum Output Current [Arms] Main Circuit Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz Input Current [Arms] Control Power Supply...
Page 60 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 61 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Ratings and Specifications > Specifications 3.2.3 Specifications Item Specification Control Method IGBT-based PWM control, sine wave current drive Feedback With Rotary Servomotor Serial encoder: 20 bits or 24 bits (incremental encoder/absolute encoder) 22 bits (absolute encoder) With Linear Servomotor Absolute linear encoder (The signal resolution depends on the absolute linear encoder.)
Page 62 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Ratings and Specifications > Specifications Item Specification ±0.01% of rated speed max. (for a load fluctuation of 0% to Coefficient of Speed Fluctuation 100%) 0% of rated speed max. (for a voltage fluctuation of ±10%) ±0.1% of rated speed max.
Page 63 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Ratings and Specifications > Specifications Item Specification Output Signals /COIN (Positioning Completion) signal /V-CMP (Speed Coincidence Detection) signal /TGON (Rotation Detection) signal /S-RDY (Servo Ready) signal /CLT (Torque Limit Detection) signal /VLT (Speed Limit Detection) signal /BK (Brake) signal /WARN (Warning) signal /NEAR (Near) signal...
Page 64 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Ratings and Specifications > Specifications Item Specification Identification & Maintenance func- I&M0-3 tions Topology recognition LLDP, SNMP V1, MIB2 LED indicator Red (ERR), Green (RUN), 2x PROFINET (Link/Activity) Node type IO-Device Acyclic parameter access Base Mode Parameter Access (Read/Write Record) Cyclic messaging Set of pre-defined Standard telegram: ST1, ST2, ST7, ST8, ST9...
Page 65 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Ratings and Specifications > Specifications Item Specification Analog Monitor (CN5) Number of points: 2 Output voltage range: ±10 VDC (effective linearity range: ±8 V) Resolution: 16 bits Accuracy: ±20 mV (Typ) Maximum output current: ±10 mA Settling time (±1%): 1.2 ms (Typ) Dynamic Brake (DB) Activated when a servo alarm or overtravel (OT) occurs, or when...
Page 66 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Block Diagrams 3.3 Block Diagrams SGD7S-R70A, -R90A, and Servomotor -1R6A Varistor Main circuit power supply Dynamic brake circuit Temperature Gate drive Current Voltage Voltage Relay Gate drive sensor sensor overcurrent protection sensor drive sensor Varistor Control Analog...
Page 67 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Block Diagrams SGD7S-3R8A, -5R5A, and -7R6A Servomotor Varistor Main circuit power supply Dynamic brake circuit Voltage Relay Temperature Gate drive Current Voltage Gate drive drive sensor overcurrent protection sensor sensor sensor Varistor Control Control power power supply...
Page 68 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK Block Diagrams Servomotor Varistor Main circuit power supply Overheat/overcurrent Dynamic protection brake circuit Relay Voltage Temperature Current Voltage Gate drive sensor sensor sensor drive sensor Varistor Control Analog Analog monitor Control voltage output power converter power supply...
Page 69 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK External Dimensions > Front Cover Dimensions and Connector Specifications 3.4 External Dimensions 3.4.1 Front Cover Dimensions and Connector Specifications The front cover dimensions and panel connector section are the same for all models. Refer to the following figures and table. Front Cover Dimensions CN502 Front...
Page 70 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK External Dimensions > SERVOPACK External Dimensions 3.4.2 SERVOPACK External Dimensions 3.4.2.1 Base-mounted SERVOPACKs Three-phase, 200 VAC: 2×M4 SGD7S-R70A, -R90A, and -1R6A Exterior 10 ±0.5 (mounting pitch) Ground terminals 2 × M4 Mounting Hole Diagram (75) Approx.
Page 71 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK External Dimensions > SERVOPACK External Dimensions Three-phase, 200 VAC: SGD7S-120A 2×M4 Exterior 20 ±0.5 (mounting pitch) Ground terminals 2 × M4 (75) Mounting Hole Diagram Approx. mass: 1.0 kg Unit: mm Fig. 26: External Dimensions Base-mounted SERVOPACKs - Three-phase, 200 VAC: SGD7S-120A 3.4.2.2 Rack-mounted SERVOPACKs...
Page 72 Sigma-7 Series SERVOPACKs Selecting a SERVOPACK External Dimensions > SERVOPACK External Dimensions Three-phase, 200 VAC: SGD7S-2R8A 2 × M4 Exterior Ground (25) 18 24.5 terminals 2 × M4 (75) Mounting Hole Diagram Approx. mass: 1.0 kg Unit: mm Fig. 28: External Dimensions Rack-mounted SERVOPACKs - Three-phase, 200 VAC: SGD7S-2R8A Three-phase, 200 VAC: 18.5...
Page 73 The pin layout of the main circuit connector depends on the voltage. *2. External Regenerative Resistors are not provided by Yaskawa. *3. The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the holding brake specifications.
Page 74 *1. This example is for a SERVOPACK with a three-phase, 200-VAC power supply input. The pin layout of the main circuit connector depends on the voltage. *2. External Regenerative Resistors are not provided by Yaskawa. | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 75 Sigma-7 Series SERVOPACKs SERVOPACK Installation Mounting Types and Orientation SERVOPACK Installation 4.1 Overview This chapter provides information on installing SERVOPACKs in the required locations. 4.2 Installation Precautions Refer to the following section for the ambient installation conditions. Ä Chap. 3.2.3 ‘Specifications’ page 61 Installation Near Sources of Heat Implement measures to prevent temperature increases caused by radiant or convec- tion heat from heat sources so that the ambient temperature of the SERVOPACK...
Page 76 Sigma-7 Series SERVOPACKs SERVOPACK Installation Mounting Types and Orientation Rack-mounted SERVO- Rack PACK SERVOPACK Airﬂow Fig. 34: Rack Mounting of the SERVOPACK | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 77 Sigma-7 Series SERVOPACKs SERVOPACK Installation Mounting Hole Dimensions 4.4 Mounting Hole Dimensions Use mounting holes to securely mount the SERVOPACK to the mounting surface. To mount the SERVOPACK, you will need to prepare a screwdriver that is longer than the depth of the SERVOPACK. Fig.
Page 78 200A, 120A 008 330A 238.5 100 ±0.5 5 100 ±0.5 M5 ±0.5 470A, A special attachment is required. Contact your Yaskawa representative for details. 550A, 590A, 780A | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 79 Sigma-7 Series SERVOPACKs SERVOPACK Installation Mounting Interval > Installing More Than One SERVOPACK in a Control Panel 4.5 Mounting Interval 4.5.1 Installing One SERVOPACK in a Control Panel Provide the following spaces around the SERVOPACK. 40 mm min. 30 mm min. 30 mm min.
Page 80 Sigma-7 Series SERVOPACKs SERVOPACK Installation Monitoring the Installation Environment SERVOPACK model Space on Cooling Fan Installation Right Side Conditions 10 mm above SERVO- PACK’s Top Surface SGD7S- R70A, R90A, 1R6A, 2R8A, 1 mm min. Air speed: 1.0 m/s min. 3R8A, 5R5A, 7R6A, R70F, R90F, 2R1F, 2R8F 120A, 180A, 200A, 330A, 10 mm min.
Page 81 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.
Page 82 Sigma-7 Series SERVOPACKs SERVOPACK Installation EMC Installation Conditions Three-Phase, 200 VAC Shield box Brake power supply SERVOPACK Brake U, V, and W Power supply: Noise L1, L2, and L3 Three-phase, 200 VAC filter Servomotor L1C and L2C Surge absorber Encoder Clamp Host controller CN6A and CN6B...
Page 83 Sigma-7 Series SERVOPACKs SERVOPACK Installation EMC Installation Conditions Single-Phase, 200 VAC Shield box Brake power supply SERVOPACK Brake U, V, and W Power supply: Noise L1 and L2 Single-phase, 200 VAC filter Servomotor L1C and L2C Surge absorber Encoder Clamp Host controller CN6A and CN6B Clamp...
Page 84 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring and Connecting SERVOPACKs > General Precautions Wiring and Connecting SERVOPACKs 5.1 Overview This chapter provides information on wiring and connecting SERVOPACKs to power sup- plies and peripheral devices. 5.2 Wiring and Connecting SERVOPACKs 5.2.1 General Precautions Wiring Precautions DANGER!
Page 85 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring and Connecting SERVOPACKs > General Precautions CAUTION! – Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE indi- cator is not lit before starting wiring or inspection work.
Page 86 To ensure safe, stable application of the servo system, observe the following precautions when wiring. Use the Cables specified by Yaskawa. Design and arrange the system so that each cable is as short as possible. Refer to the following manual or catalog for information on the specified cables.
Page 87 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring and Connecting SERVOPACKs > Countermeasures against Noise 5.2.2 Countermeasures against Noise The SERVOPACK is designed as an industrial device. It therefore pro- vides no measures to prevent radio interference. The SERVOPACK uses high-speed switching elements in the main circuit.
Page 88 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring and Connecting SERVOPACKs > Countermeasures against Noise SERVOPACK Noise Filter Servomotor (FG) 200 VAC 2.0 mm min. 2.0 mm min. Operation relay sequence User signal generators *3 *2 Noise Filter power supply 2.0 mm min.
Page 89 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring and Connecting SERVOPACKs > Countermeasures against Noise Separate the Noise Filter ground wire from the output lines. Do not place the Noise Filter ground wire, output lines, and other signal lines in the same duct or bundle them together.
Page 90 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring and Connecting SERVOPACKs > Grounding Control panel SERVOPACK Noise Filter SERVOPACK Ground Grounding plate Fig. 46: Grounding Noise Filter 5.2.3 Grounding Implement grounding measures as described in this section. Implementing suitable grounding measures will also help prevent malfunctions, which can be caused by noise. Observe the following precautions when wiring the ground cable.
Page 91 *2. Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. *3. The 24-VDC power supply is not provided by YASKAWA. Use a 24-VDC power supply with double insulation or reinforced insulation.
Page 92 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Terminal Symbols and Terminal Names *5. Always use line receivers to receive the output signals. – You can use parameters to change the functions allocated to the / SI0, /SI6, P-OT, N-OT, /EXT1, /EXT2, and /DEC input signals and the /SO1, /SO2, and /SO3 output signals.
Page 93 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Terminal Symbols and Terminal Names Three-Phase, 200-VAC Power Supply Input Terminal Sym- Terminal Name Specifications and Reference bols L1, L2, L3 Main circuit power Three-phase, 200 VAC to 240 VAC, -15% supply input terminals for to +10%, 50 Hz/60 Hz AC power supply input...
Page 94 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Terminal Symbols and Terminal Names Single-Phase, 200-VAC Power Supply Input Terminal Sym- Terminal Name Specifications and Reference bols L1, L2 Main circuit power Single-phase, 200 VAC to 240 VAC, -15% supply input terminals for to +10%, 50 Hz/60 Hz AC power supply input...
Page 95 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Terminal Symbols and Terminal Names DC Power Supply Input Terminal Sym- Terminal Name Specifications and Reference bols L1C, L2C Control power supply AC power supply terminals Single-phase, 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz...
Page 96 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Wiring Procedure for Main Circuit Connector 5.4.3 Wiring Procedure for Main Circuit Connector Required Items Required Item Remarks Spring Opener or Flat- Spring Opener blade Screwdriver SERVOPACK accessory (You can also use model 1981045-1 from Tyco Elec- tronics Japan G.K.)
Page 97 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Power ON Sequence Insert the conductor into the wire insertion hole. Then, remove the Spring Opener or flatblade screwdriver. Make all other connections in the same way. When you have completed wiring, attach the connectors to the SERVOPACK.
Page 98 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Power Supply Wiring Diagrams Design the power ON sequence so that main circuit power supply is turned OFF when an ALM (Servo Alarm) signal is output. Make sure that the power supply specifications of all parts are suitable for the input power supply.
Page 99 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Power Supply Wiring Diagrams Wiring Example for Three- R S T Phase, 200-VAC Power SERVOPACK Supply Input: SGD7S-470A, -550A, -590A, and -780A 1FLT (For servo alarm +24 V display) Servo power...
Page 100 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Power Supply Wiring Diagrams Wiring Example for DC R S T Power Supply Input: SGD7S-R70A, -R90A, -1R6A, -2R8A, -3R8A, SERVOPACK -5R5A, -7R6A, -120A, 1FLT -180A, and -200A AC/DC AC/DC +24 V...
Page 101 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Power Supply Wiring Diagrams Wiring Example for DC R S T Power Supply Input: SGD7S-330A, -470A, -550A, -590A, and -780A SERVOPACK 1FLT AC/DC 1TRy AC/DC +24 V (For servo alarm display)
Page 102 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Power Supply Wiring Diagrams Wiring Example for Single- Phase, 100-VAC Power SERVOPACK Supply Input: SGD7S- R70F, -R90F, -2R1F, or -2R8F 1FLT +24 V (For servo alarm display) Servo power Servo power...
Page 103 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Wiring Regenerative Resistors Power supply R S T 1FLT SERVOPACK 2FLT Servomotor Relay terminal +24 V ALM+ (For servo alarm display) ALM Servo power Servo power SERVOPACK 3FLT Servomotor...
Page 104 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Wiring Regenerative Resistors WARNING! Be sure to wire Regenerative Resistors correctly. Do not connect and B2. Doing so may result in fire or damage to the Regenerative Resistor or SERVOPACK.
Page 105 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring the Power Supply to the SERVOPACK > Wiring Regenerative Resistors Connect the External Regenerative Resistor between the B1/ and B2 terminals. Enlarged View Fig. 61: Connecting the External Regenerative Resistor between the B1/ and B2 termi- nals Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resist-...
Page 106 B2 terminals on the SERVOPACK Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistance) as required. When using the Yaskawa-recommended Regenerative Resistor Unit, use the default settings for Pn600 and Pn603. If you use any other external regenerative resistor, set Pn600 and Pn603 according to the specifications of the regenerative resistor.
Page 107 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Pin Arrangement of Encoder Connector (CN2) Refer to the following figures to connect reactors. SERVOPACK with Three-Phase, 200- SERVOPACK with Single-Phase, 100- VAC Power Supply Input VAC Power Supply Input SERVOPACK SERVOPACK DC Reactor...
Page 108 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Wiring the SERVOPACK to the Encoder Pin No. Signal Function Serial data (+) Serial data (-) Shell Shield – * No wiring is required for an incremental encoder or a batteryless absolute encoder. When Using a Direct Drive Servomotor Pin No.
Page 109 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Wiring the SERVOPACK to the Encoder Wiring Example When SERVOPACK Installing a Battery on the Absolute encoder Host Controller PG5V PG0V BAT(+) Battery BAT(-) Connector shell (Shell) Fig. 63: Wiring Example When Installing a Battery on the Host Controller *1 The absolute encoder pin numbers for wiring the connector depend on the Servo- motor that you use.
Page 110 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Wiring the SERVOPACK to the Encoder Required Component Specifications Schottky Diode Reverse Voltage: Vr ³ 40 V Forward Voltage: Vf £ 0.37 V Reverse current: Ir £ 5 μA Junction temperature: Tj ³ 125 °C Resistor Resistance: 22 Ω...
Page 111 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Wiring the SERVOPACK to the Encoder Connections to Linear Absolute linear encoder from Mitutoyo Corporation Encoder from Mitutoyo SERVOPACK Corporation PG5V PG0V Connector Connector shell shell Shield Fig. 68: Absolute Linear Encoder from Mitutoyo Corporation represents a shielded twisted-pair cable.
Page 112 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Wiring the SERVOPACK to the Encoder Connections to Absolute Absolute linear encoder from Fagor Automation S. Coop. Linear Encoder from SERVOPACK Fagor Automation S. Coop. PG5V PG0V Connector Connector shell shell Shield Fig.
Page 113 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Wiring the SERVOPACK to the Encoder Connections to Linear Linear encoder from Encoder from Renishaw Serial Converter Unit Renishaw PLC SERVOPACK /COS /SIN /REF PG5V PG0V Connector Connector shell shell Connector Shield Connector...
Page 114 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Wiring the SERVOPACK to the Holding Brake Linear encoder Interpolator SERVOPACK Head Cable from Magnescale Co., Ltd. PG5V PG0V Connector Connector shell shell Shield Fig. 75: Incremental Linear Encoder from Magnescale Co., Ltd - SL700, SL710, SL720, SL730, and SQ10 represents a shielded twisted-pair cable.
Page 115 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Wiring Servomotors > Wiring the SERVOPACK to the Holding Brake Relay Circuit Example SERVOPACK 5 VDC to 30 VDC Emergency stop Photocoupler Fig. 77: Relay Circuit Example – You can change the output signal allocation of the /BK signal. Refer to the following section for details.
Page 116 Signal Power input signal power Supply Input supply. Allowable voltage range: 24 VDC ±20% The 24- VDC power supply is not provided by Yaskawa. BAT+ Battery for Absolute These are the pins to Encoder (+) connect the absolute encoder backup battery.
Page 117 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting I/O Signals > I/O Signal Connector (CN1) Names and Functions Signal Name Function Reference Do not connect these BAT- Battery for Absolute pins if you use the Encoder (-) Encoder Cable with a Battery Case.
Page 118 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting I/O Signals > I/O Signal Connector (CN1) Pin Arrangement Signal Name Function Reference Ä Chap. Encoder Divided Outputs the origin signal 7.10.2 Pulse Output, once every encoder rota- /PCO ‘Con- Phase C tion.
Page 119 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting I/O Signals > I/O Signal Connector (CN1) Pin Arrangement Signal Specification Signal Specification +24VIN Sequence Input Encoder Divided Signal Power Pulse Output, Supply Input Phase B /SI1 (P-OT) General-purpose /PBO Encoder Divided Sequence Input 1 Pulse Output, Phase B...
Page 120 *2 Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. *3 The 24-VDC power supply is not provided by YASKAWA. Use a 24-VDC power supply with double insulation or reinforced insulation.
Page 121 Fig. 82: I/O Signal Wiring Example - Linear Servomotor represents twisted-pair wires. *2 The 24-VDC power supply is not provided by YASKAWA. Use a 24-VDC power supply with double insulation or reinforced insulation. *3 Always use line receivers to receive the output signals.
Page 122 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting I/O Signals > I/O Circuits 5.6.4 I/O Circuits Sequence Input Circuits Photocoupler Input Circuits This section describes CN1 connector terminals 6 to 13. Examples for Relay Circuits Examples for Open-Collector Circuits SERVOPACK SERVOPACK 4.7 k 4.7 k...
Page 123 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting I/O Signals > I/O Circuits Sequence Output Circuits Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit failures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work.
Page 124 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting Safety Function Signals > I/O Circuits 5.7 Connecting Safety Function Signals 5.7.1 Overview This section describes the wiring required to use a safety function. Refer to the following chapter for details on the safety function. Ä...
Page 125 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting Safety Function Signals > I/O Circuits Input Signal Connection Example SERVOPACK 24-V power supply Switch 4.7 k /HWBB1+ 4 Fuse 4.7 k /HWBB1- 4.7 k /HWBB2+ Use a switch that has low-current contacts. 4.7 k /HWBB2- Input (HWBB) Signal Specifications...
Page 126 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting Safety Function Signals > I/O Circuits EDM1 Output Signal Specifications Type Signal Pin No. Output Status Meaning Output EDM1 CN8-8 Both the /HWBB1 and / HWBB2 signals are operating CN8-7 normally. The /HWBB1 signal, the / HWBB2 signal, or both are not operating.
Page 127 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting PROFINET Communications Cables > PROFINET Connectors (RJ45) 5.8 Connecting PROFINET Communications Cables 5.8.1 Overview Connect the PROFINET Communications Cables to the CN6A and CN6B connectors. PROFINET Controller Fig. 84: Connecting PROFINET Communications Cables The length of the cable between stations (L1, L2, ...
Page 128 RS-422 cable on the SERVOPACK. Communications Unit Fig. 85: Connecting a JUSP-JC001-1 Communications Unit to CN502 Communications Unit Item Description Inquiries Your Yaskawa representative Order Number JUSP-JC001-1 | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 129 & AC Servo Drive Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Use the YASKAWA-specified cables. Operation will not be dependable due to low noise resistance with any other cable. Refer to the catalog for details on the Computer Cable.
Page 130 Sigma-7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting the Other Connectors > Analog Monitor Connector (CN5) * The measuring instrument is not provided by YASKAWA. Refer to the following section for information on the monitoring methods for an analog monitor.
Page 131 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Classifications of SERVOPACK Parameters Basic Functions That Require Setting before Operation 6.1 Overview This chapter describes the basic functions that must be set before you start servo system operation.
Page 132 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Notation for SERVOPACK Parameters Fig. 87: Setup Wizard of the SigmaWin+ Tuning Parameters Normally the user does not need to set the tuning parameters individually. Use the various SigmaWin+ tuning functions to set the related tuning parameters to increase the response even further for the conditions of your machine.
Page 133 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Setting Methods for SERVOPACK Parameters Parameters for Numeric The control methods for which the parameters apply are given. Settings Speed : Speed control Position : Position control Torque : Torque control Parameter number...
Page 134 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Setting Methods for SERVOPACK Parameters Fig. 90: Select Edit Parameters in the Menu Dialog Box of SigmaWin+ Change the setting of the parameter. – For a parameter for a numeric setting, input the numeric setting. –...
Page 135 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Write Prohibition Setting for SERVOPACK Parameters Fig. 92: Enable the Settings Message in SigmaWin+ To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again.
Page 136 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Write Prohibition Setting for SERVOPACK Parameters Tool Function Reference Digital Operator Fn010 & Σ-7-Series Digital Oper- ator Operating Manual (Manual No.: SIEP S800001 33) Ä ‘Operating Procedure’ SigmaWin+ Setup - Write Prohibited Setting...
Page 137 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Write Prohibition Setting for SERVOPACK Parameters Fig. 95: Write Prohibition Setting - OK Button - SigmaWin+ To enable the new setting, turn the power supply to the SERVOPACK OFF and ON again.
Page 138 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Write Prohibition Setting for SERVOPACK Parameters SigmaWin+ Digital Operator When Reference Writing Is Menu SigmaWin+ Fn No. Utility Func- Prohibited Dialog Box Function tion Name Button Name Fn00F...
Page 139 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Write Prohibition Setting for SERVOPACK Parameters SigmaWin+ Digital Operator When Reference Writing Is Menu SigmaWin+ Fn No. Utility Func- Prohibited Dialog Box Function tion Name Button Name Ä...
Page 140 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Initializing SERVOPACK Parameter Settings SigmaWin+ Digital Operator When Reference Writing Is Menu SigmaWin+ Fn No. Utility Func- Prohibited Dialog Box Function tion Name Button Name Fn01F Display Ser- Can be exe-...
Page 141 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Manipulating SERVOPACK Parameters (Pn) > Initializing SERVOPACK Parameter Settings To enable the new settings, turn the power supply to the SERVOPACK OFF and ON again after you complete the operation. Preparations Check the following settings before you initialize the SERVOPACK parameter settings.
Page 142 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Power Supply Type Settings for the Main Circuit and Control Circuit > Overview Fig. 97: Dialog box SigmaWin+ - The SERVOPACK parameters will be returned to the default settings. Click the OK Button. Fig.
Page 143 If you use a DC power supply input with any of the following SERVO- PACKs, externally connect an inrush current limiting circuit and use the power ON and OFF sequences recommended by Yaskawa: SGD7S-330A, -470A, -550A, -590A, or -780A. There is a risk of equipment damage.
Page 144 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Automatic Detection of Connected Motor 6.3.3 Single-phase AC Power Supply Input/Three-phase AC Power Supply Input Setting Some models of Three-phase 200-VAC SERVOPACKs can also operate on a single- phase 200-VAC power supply. You can use a single-phase, 200-V power supply input with the following models.
Page 145 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Motor Direction Setting If an encoder is not connected, e.g., for a test without a motor, you can specify a Rotary Servomotor or a Linear Servomotor in Pn000 =  (Rotary/Linear Startup Selection When Encoder Is Not Con- nected).
Page 146 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting the Linear Encoder Pitch Parameter Forward/ Motor Direction and Encoder Divided Pulse Applicable Reverse Refer- Outputs Overtravel ence Signal (OT) Reverse refer- N-OT (Reverse Torque reference Encoder Divided Pulse Outputs ence Drive Prohibit) Time...
Page 147 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting the Linear Encoder Pitch Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK. Scale Pitch A linear encoder has a scale for measuring lengths (positions).
Page 148 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Writing Linear Servomotor Parameters 6.7 Writing Linear Servomotor Parameters If you connect a linear encoder to the SERVOPACK without going through a Serial Con- verter Unit, you must use the SigmaWin+ to write the motor parameters to the linear encoder.
Page 149 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Writing Linear Servomotor Parameters Tool Function Reference Digital Operator You cannot write Linear Servomotor parameters from the Digital Operator. SigmaWin+ Setup - Motor Parameter Ä ‘Operating Procedure’ Scale Write page 149 Operating Procedure Use the following procedure to write the motor parameters to the linear encoder.
Page 150 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Writing Linear Servomotor Parameters Select the motor parameter file that you prepared and click the Open Button. Fig. 102: Open motor parameter file | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 151 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Writing Linear Servomotor Parameters Confirm that the motor parameter file information that is displayed is suitable for your motor, and then click the Next Button. Fig. 103: Confirm the motor parameter file information ð...
Page 152 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Writing Linear Servomotor Parameters Click the Write Button. Fig. 104: Motor parameter scale write - Scale write Click the Yes Button. Fig. 105: Scale write - The content of the set motor parameter file is written in the scale ð...
Page 153 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Writing Linear Servomotor Parameters Click the Complete Button. Fig. 106: Motor parameter scale write - Scale write - Complete | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 154 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Selecting the Phase Sequence for a Linear Servomotor Click the OK Button. Fig. 107: Motor parameter scale write - Caution Turn the power supply to the SERVOPACK OFF and ON again. ð...
Page 155 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Selecting the Phase Sequence for a Linear Servomotor Related Parameters Parameter Meaning When Enabled Classification Pn080 n.0 Set a phase-A lead as a After restart Setup (default phase sequence of U, V, setting) and W.
Page 156 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Polarity Sensor Setting If the feedback pulse counter counts up, set a phase-A lead as a phase sequence of U, V, and W (Pn080 = n.0). If the feedback pulse counter counts down, set a phase-B lead as a phase sequence of U, V, and W (Pn080 = n.1).
Page 157 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Polarity Detection > Restrictions 6.10 Polarity Detection 6.10.1 Overview If you use a Linear Servomotor that does not have a polarity sensor, then you must detect the polarity. Detecting the polarity means that the position of the electrical phase angle on the elec- trical angle coordinates of the Servomotor is detected.
Page 158 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Polarity Detection > Using a Tool Function to Perform Polarity Detection Preparations Check the following settings before you execute polarity detection. Not using a polarity sensor must be specified (Pn080 = n.1). The servo must be OFF.
Page 159 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Polarity Detection > Using a Tool Function to Perform Polarity Detection Tool Function Reference Digital Operator Fn080 & Σ-7-Series Digital Oper- ator Operating Manual (Manual No.: SIEP S800001 33) Ä Chap. 6.10.4 ‘Using a SigmaWin+ Setup - Polarity Detection Tool Function to Perform...
Page 160 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Overtravel and Related Settings > Overview Click the Start Button. ð Polarity detection will be executed. Fig. 112: Polarity Detection - Start This concludes the polarity detection procedure. 6.11 Overtravel and Related Settings 6.11.1 Overview Overtravel is a function of the SERVOPACK that forces the Servomotor to stop in...
Page 161 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Overtravel and Related Settings > Setting to Enable/Disable Overtravel CAUTION! – To prevent accidents that may result from contact faults or disconnec- tions, use normally closed limit switches. Do not change the default settings of the polarity of the overtravel signals (P-OT and N-OT).
Page 162 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Overtravel and Related Settings > Motor Stopping Method for Overtravel Parameter Meaning When Enabled Classification Pn50A n.1 The forward overtravel After restart Setup (default function is enabled and setting) the P-OT (Forward Drive Prohibit) signal is input from CN1-7.
Page 163 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Overtravel and Related Settings > Overtravel Warnings Emergency Stop Torque Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn406 0 to 800 Immediately Setup (applies to Speed Control and Position Control) * Set a percentage of the motor rated torque.
Page 164 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Overtravel and Related Settings > Overtravel Warnings – The occurrence of an A.9A0 warning will not stop the motor or have any effect on host controller motion operations. The next step (e.g., the next motion or command) can be executed even if an overtravel warning exists.
Page 165 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Overtravel and Related Settings > Overtravel Release Method Selection – Warnings are detected for overtravel in the same direction as the ref- erence. – Warnings are not detected for overtravel in the opposite direction from the reference.
Page 166 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Overtravel and Related Settings > Overtravel Status When Pn022 Is Set to n.0 Machine coordinate Inactive Active Inactive P-OT signal N-OT signal Inactive Active Inactive Statusword (6041h bit11) Normal Only reverse Only forward Motor status Normal operation...
Page 167 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Holding Brake > Overview 6.11.8 Overtravel Operation by Mode Operation Mode Operation PROFIdrive Profile Posi- If an overtravel signal is input, the positioning operation tion mode to the current target position will be canceled and, after the motor stops, target reached in statusword will be reset.
Page 168 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Holding Brake > Brake Operating Sequence 6.12.2 Brake Operating Sequence You must consider the brake release delay time and the brake operation delay time to determine the brake operation timing, as described below. –...
Page 169 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Holding Brake > /BK (Brake) Signal Model Voltage Time Required to Time Required to Release Brake Brake [ms] [ms] SGM7G-03 to -20 SGM7G-30 to -44 SGM7G-55 to -1A SGM7G-1E Linear Servomotors: The brake delay times depend on the brake that you use. Set the parameters related to /BK signal output timing according to the delay times for the brake that you will actually use.
Page 170 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Holding Brake > Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped Parameter Connector Pin Meaning When Clas- Ena- sifica- bled tion + Pin - Pin Pn50F n.0 −...
Page 171 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Holding Brake > Output Timing of /BK (Brake) Signal When the Servomotor Is Operating Power supply to the Servomotor will be stopped immediately when an alarm occurs, regardless of the setting of this parameter. The machine moving part may move due to gravity or an external force before the brake is applied.
Page 172 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Motor Stopping Methods for Servo OFF and Alarms > Overview The brake operates when either of the following conditions is satisfied: When the Motor Speed Goes below the Level Set in Pn507 for a Rotary Servomotor or in Pn583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped Controlword Enable...
Page 173 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Motor Stopping Methods for Servo OFF and Alarms > Overview Motor Stopping Method Meaning Stopping by Applying the Dynamic Brake The electric circuits are internally con- nected to stop the Servomotor quickly. Coasting to a Stop The motor stops naturally due to friction during operation.
Page 174 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Motor Stopping Methods for Servo OFF and Alarms > Servomotor Stopping Method for Alarms To minimize the coasting distance of the Servomotor to come to a stop when an alarm occurs, zero-speed stopping is the default method for alarms to which it is applicable.
Page 175 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Motor Stopping Methods for Servo OFF and Alarms > Servomotor Stopping Method for Alarms Pn001 = n.X (Motor Stopping Method for Servo OFF and Group 1 Alarms) Pn00A = n.X (Motor Stopping Method for Group 2 Alarms) Pn00B = n.X...
Page 176 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Motor Overload Detection Level > Detection Timing for Overload Warnings (A.910) – The setting of Pn00A is ignored if Pn00B is set to n.  0  or  1  . ...
Page 177 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Motor Overload Detection Level > Detection Timing for Overload Alarms (A.720) Overload detection time Detection curve for Detection curve for overload alarms overload warnings when Pn52B = 50% Detection curve for overload warnings when Pn52B = 20% (default setting) 100% 200%...
Page 178 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting Unit Systems > Setting the Position Reference Unit The gray areas in the above graph show where A.710 and A.720 alarms occur. Refer to the relevant manual given below for a diagram that shows the relationships between the Servomotor heat dissipation conditions (heat sink size, surrounding air tem- perature, and derating).
Page 179 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting Unit Systems > Setting the Position Reference Unit Refer to the following section for information on Position User Unit (2301h). Ä Chap. 15.5 ‘Manufacturer Specific Objects’ page 537 The minimum unit of the position data that is used to move a load is called the reference unit.
Page 180 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting Unit Systems > Setting the Position Reference Unit Rotary Servomotors In this example, the following machine configuration is used to move the workpiece 10 Workpiece Resolution: Ball screw lead: 6 mm 16,777,216 (24 bits) When the Electronic Gear Is Not Used When the Electronic Gear Is Used...
Page 181 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting Unit Systems > Setting the Position Reference Unit SGM7M - ††††††† Speciﬁcation Code Encoder Resolution 20-bit multiturn absolute encoder 1,048,576 SGM7J, SGM7A, SGM7P, SGM7G - ††††††† Speciﬁcation Code Encoder Resolution 24-bit batteryless multiturn absolute encoder 16,777,216 24-bit multiturn absolute encoder...
Page 182 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting Unit Systems > Setting the Position Reference Unit Type of Manufacturer Linear Encoder Model Linear Model of Serial Con- Resolu- Resolution Linear Encoder verter Unit or Model tion Encoder of Head with Interpo- Pitch [μm] lator...
Page 183 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting Unit Systems > Setting the Position Reference Unit Type of Manufacturer Linear Encoder Model Linear Model of Serial Con- Resolu- Resolution Linear Encoder verter Unit or Model tion Encoder of Head with Interpo- Pitch [μm] lator...
Page 184 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting Unit Systems > Setting the Position Reference Unit Linear encoder pitch = Distance for one cycle of the analog voltage feedback signal from the linear encoder Linear encoder pitch Fig.
Page 185 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting Unit Systems > Setting the Speed Reference Unit Step Description Machine Configuration Linear 0.02 mm (20 μm) Encoder Pitch Reference 0.001 mm (1 μm) Unit Electronic 1 (Pm) × Gear Ratio* 20 (Pm) Position User...
Page 186 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Resetting the Absolute Encoder > Overview 6.15.4 Setting the Acceleration Reference Unit Set the acceleration reference unit [Acc. Unit] in Acceleration User Unit (2303h). £ 2 The query of validity is Max. Motor Acceleration (2313h) If the setting range is exceeded, an A.A20 alarm (Parameter Setting Error) will occur.
Page 187 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Resetting the Absolute Encoder > Applicable Tools When you want to reset the multiturn data in the absolute encoder When the Servomotor has been replaced CAUTION! The multiturn data will be reset to a value between -2 and +2 rotations when the absolute encoder is reset.
Page 188 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Resetting the Absolute Encoder > Operating Procedure Tool Function Reference Digital Operator Fn008 Σ-7-Series Digital Operator Operating Manual (Manual No.: SIEP S800001 33) Ä Chap. 6.16.5 ‘Operating SigmaWin+ Setup - Absolute Encoder Reset Procedure’...
Page 189 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Resetting the Absolute Encoder > Operating Procedure Click the Execute setting Button. Fig. 136: Absolute Encoder - Setup AXIS #00 - Execute Setting ð The current alarm code and name will be displayed in the Alarm name Box. Click the Continue Button.
Page 190 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting the Origin of the Absolute Encoder > Absolute Encoder Origin Offset Click the OK Button. The absolute encoder will be reset. When Resetting Fails ð If you attempted to reset the absolute encoder when the servo was ON in the SERVOPACK, the following dialog box will be displayed and processing will be canceled.
Page 191 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting the Origin of the Absolute Encoder > Setting the Origin of the Absolute Linear Encoder Index Sub- Name Data Access Data Ranges Default Saving to index Type Value EEPROM 607Ch 0 Home DINT RW...
Page 192 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting the Origin of the Absolute Encoder > Setting the Origin of the Absolute Linear Encoder Tool Function Reference Digital Operator Fn020 & Σ-7-Series Digital Oper- ator Operating Manual (Manual No.: SIEP S800001 33) Ä...
Page 193 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting the Origin of the Absolute Encoder > Setting the Origin of the Absolute Linear Encoder Click the Execute Button. Fig. 142: Set Origin AXIS#00 Click the Continue Button. Fig. 143: Set Origin - Caution ð...
Page 194 Sigma-7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting the Regenerative Resistor Capacity Click the OK Button. Fig. 144: Set Origin - Caution 2 Turn the power supply to the SERVOPACK OFF and ON again. If you use a Linear Servomotor that does not have a polarity sensor, perform polarity detection.
Page 195 An A.320 alarm will be displayed if the setting is not suitable. – The default setting of 0 specifies that the SERVOPACK’s built-in regenerative resistor or Yaskawa’s Regenerative Resistor Unit is being used. – When an External Regenerative Resistor is used at the normal rated load ratio, the resistor temperature increases to between 200°C and...
Page 196 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > Input Signal Allocations Application Functions 7.1 Overview This chapter describes the application functions that you can set before you start servo system operation. It also describes the setting methods. 7.2 I/O Signal Allocations 7.2.1 Overview Functions are allocated to the pins on the I/O signal connector (CN1) in advance.
Page 197 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > Input Signal Allocations Parameter Pin No. Description Setting A reverse signal (a signal with “/” before the signal abbrevia- tion, such as the / P-CL signal) is active when the contacts are ON (closed).
Page 198 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > Output Signal Allocations 7.2.3 Output Signal Allocations You can allocate the desired output signals to pins 1, 2, and 23 to 26 on the I/O signal connector (CN1). You set the allocations in the following parameters: Pn50E, Pn50F, Pn510, and Pn514.
Page 199 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > ALM (Servo Alarm) Signal Output Signal Name Output CN1 Pin No. Disabled (Not and Parameter Signals Used) 1 and 2 23 and 25 and Near Pn510 = n.X NEAR 0 (default set- ting) Preventative Mainte- 0 (default set-...
Page 200 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > /TGON (Rotation Detection) Signal Alarm Reset Methods Refer to the following section for information on the alarm reset methods. Ä Chap. 16.4.4 ‘Resetting Alarms’ page 630 7.2.5 /WARN (Warning) Signal Both alarms and warnings are generated by the SERVOPACK. Alarms indicate errors in the SERVOPACK for which operation must be stopped immediately.
Page 201 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > /S-RDY (Servo Ready) Signal You must allocate the /TGON signal to use it. Use Pn50E = n.  X  (/ TGON (Rotation Detection Output) Signal Allocation) to allocate the signal to a connector pin. Refer to the following section for details. Ä...
Page 202 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > /V-CMP (Speed Coincidence Detection) Signal Type Signal Connector Pin Signal Status Meaning Output /S-RDY Must be allo- ON (closed) Ready to cated. receive Servo ON command (Enable Opera- tion command). OFF (open) Not ready to receive Servo ON command...
Page 203 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > /COIN (Positioning Completion) Signal Rotary Servomotors Speed Coincidence Signal Detection Width Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn503 0 to 100 Immediately Setup 1 min (applies to Speed Control) The signal is output when the difference between the reference speed and motor speed is equal or less than the setting.
Page 204 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > /COIN (Positioning Completion) Signal The /COIN signal is output when the difference between the reference position output by the host controller and the current position of the Servomotor (i.e., the position deviation as given by the value of the deviation counter) is equal to or less than the setting of the positioning completed width (Pn522).
Page 205 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > /NEAR (Near) Signal Setting the Output Timing You can add a reference input condition to the output conditions for the /COIN signal to of the /COIN (Positioning change the signal output timing. Completion Output) Signal If the position deviation is always low and a narrow positioning completed width is used, change the setting of Pn207 = n.X...
Page 206 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > /NEAR (Near) Signal Type Signal Connector Pin Signal Status Meaning Output /NEAR Must be allo- ON (closed) The Servomotor cated. has reached a point near to positioning completion. OFF (open) The Servomotor has not reached a point near to posi-...
Page 207 Sigma-7 Series SERVOPACKs Application Functions I/O Signal Allocations > Speed Limit during Torque Control 7.2.11 Speed Limit during Torque Control You can limit the speed of the Servomotor to protect the machine. When you use a Servomotor for torque control, the Servomotor is controlled to output the specified torque, but the motor speed is not controlled.
Page 208 Sigma-7 Series SERVOPACKs Application Functions Operation for Momentary Power Interruptions Internal Speed Limiting Set the speed limit for the motor in Pn407 (Speed Limit during Torque Control) or Pn480 (Speed Limit during Force Control). Also set Pn408 = n.X (Speed Limit Selection) to specify using the maximum motor speed or the overspeed alarm detection speed as the speed limit.
Page 209 Sigma-7 Series SERVOPACKs Application Functions SEMI F47 Function Momentary Power Interruption Hold Time Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn509 20 to 50,000 1 ms Immediately Setup (applies to Speed Control, Position Control and Torque Control) If the momentary power interruption time is equal to or less than the setting of Pn509, power supply to the motor will be continued.
Page 210 Sigma-7 Series SERVOPACKs Application Functions SEMI F47 Function Execution Sequence This function can be executed either with the host controller or with the SERVOPACK. Use Pn008 = n.X (Function Selection for Undervoltage) to specify whether the func- tion is executed by the host controller or by the SERVOPACK. The default setting (Pn008 = n.0) disables detection of an A.971 warning (Under- voltage).
Page 211 Sigma-7 Series SERVOPACKs Application Functions SEMI F47 Function Main circuit power interruption time Main circuit input power supply The output torque is limited to suppress the 280 V drop in the main circuit bus voltage. Main circuit 200 V The main circuit bus voltage bus voltage increases when the main SERVOPACK...
Page 212 Sigma-7 Series SERVOPACKs Application Functions Setting the Motor Maximum Speed – This function handles momentary power interruptions for the voltage and time ranges stipulated in SEMI F47. An uninterruptible power supply (UPS) is required as a backup for momentary power interrup- tions that exceed these voltage and time ranges.
Page 213 Sigma-7 Series SERVOPACKs Application Functions Encoder Divided Pulse Output > Encoder Divided Pulse Output Signals To protect the machine by stopping machine operation with an alarm when the set speed is reached or exceeded To limit the speed so that the load is driven beyond the allowable moment of inertia Refer to relevant manual from the following list for the relationship between the speed and the allowable moment of inertia.
Page 214 Sigma-7 Series SERVOPACKs Application Functions Encoder Divided Pulse Output > Encoder Divided Pulse Output Signals Rotary Servomotor SERVOPACK Host controller Serial Conversion of data Dividing serial data to circuit pulses (Pn212) Fig. 153: Encoder Signal Output - Rotary Servomotor Linear Servomotors SERVOPACK Host controller Linear...
Page 215 Sigma-7 Series SERVOPACKs Application Functions Encoder Divided Pulse Output > Encoder Divided Pulse Output Signals The output position of the origin signal (Ref) will depend on the direction of movement for some models of incremental linear encoders from Renishaw PLC. In that case, the phase-C pulse of the SERVOPACK is output at two positions.
Page 216 Sigma-7 Series SERVOPACKs Application Functions Encoder Divided Pulse Output > Encoder Divided Pulse Output Signals Precautions on Setting the Phase-C Pulse Output Selection (Pn081 =  X)  1 (Output phase-C pulses in both the for- – If you set Pn081 to n. ward and reverse directions), the width of the phase-C pulse output may be narrower than the width of the phase-A pulse.
Page 217 Sigma-7 Series SERVOPACKs Application Functions Encoder Divided Pulse Output > Encoder Divided Pulse Output Signals Encoder count-up direction The SERVOPACK records the position where the phase-C pulse was output for movement Origin detection in the forward direction, and the phase-C position pulse is also output for reverse movement.
Page 218 Sigma-7 Series SERVOPACKs Application Functions Encoder Divided Pulse Output > Setting for the Encoder Divided Pulse Output The encoder’s phase-C pulse is not output when the origin detection position is passed for the first time in the reverse direction after the power supply is turned ON. However, after the origin detection position is passed in the forward direction and the encoder’s phase-C pulse it output, it will then also be output when the origin detection point is passed in the reverse direction.
Page 219 Sigma-7 Series SERVOPACKs Application Functions Encoder Divided Pulse Output > Setting for the Encoder Divided Pulse Output Setting of the Setting Encoder Resolution Upper Limit of Number of Increment Servomotor 20 bits 22 bits 24 bits Encoder Speed for Set (1,048,576 (4,194,304 (16,777,21...
Page 220 Sigma-7 Series SERVOPACKs Application Functions Encoder Divided Pulse Output > Setting for the Encoder Divided Pulse Output Encoder Divided Pulse If you will use a Linear Servomotor, set the encoder output resolution (Pn281). Output When Using a Linear Servomotor Encoder Output Resolution Setting Setting Unit Default Set- When Ena-...
Page 221 Sigma-7 Series SERVOPACKs Application Functions Selecting Torque Limits > Overview Pulse Output Example When Pn281 = 20 (20-edge output (5-pulse output) per linear encoder pitch) Phase A Phase B Linear encoder pitch Fig. 164: Pulse Output Example - Pn281 7.7 Software Limits You can set limits in the software for machine movement that do not use the overtravel signals (P-OT and N-OT).
Page 222 Sigma-7 Series SERVOPACKs Application Functions Selecting Torque Limits > Internal Torque Limits If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the maximum torque of the Servomotor. 7.8.2 Internal Torque Limits If you use internal torque limits, the maximum output torque will always be limited to the specified Forward Torque Limit (Pn402) and Reverse Torque Limit (Pn403).
Page 223 Sigma-7 Series SERVOPACKs Application Functions Selecting Torque Limits > External Torque Limits Reverse Force Limit Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn484 0 to 800 Immediately Setup (applies to Speed Control, Position Control and Force Control) * Set a percentage of the rated motor force.
Page 224 Sigma-7 Series SERVOPACKs Application Functions Selecting Torque Limits > External Torque Limits Type Signal Connector Pin Signal Status Meaning Input /P-CL Must be allo- ON (closed) Applies the for- cated. ward external torque limit. The torque is limited to the smaller of the settings of Pn402 Pn404.
Page 225 Sigma-7 Series SERVOPACKs Application Functions Selecting Torque Limits > External Torque Limits Forward Torque Limit Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn402 0 to 800 Immediately Setup (applies to Speed Control, Position Control and Torque Control) Reverse Torque Limit Setting Setting Unit Default Set-...
Page 226 Sigma-7 Series SERVOPACKs Application Functions Selecting Torque Limits > External Torque Limits Forward External Force Limit Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn404 0 to 800 Immediately Setup (applies to Speed Control, Position Control and Force Control) Reverse External Force Limit Setting Setting Unit Default Set-...
Page 227 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Overview /P-CL signal /N-CL signal Pn402 Pn402 Speed Speed Pn404 Torque Torque Pn403 Pn403 Pn402 Pn402 Speed Speed Pn404 Pn405 Pn405 Torque Torque Pn403 Pn403 7.8.4 /CLT (Torque Limit Detection) Signal This section describes the /CLT signal, which indicates the status of limiting the motor output torque.
Page 228 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Overview There are four types of encoders for Rotary Servomotors. The usage of the encoder is specified in Pn002 = n.X. SERVOPACKs with software version 0023 or higher support batteryless absolute encoders. Refer to the following section for encoder models.
Page 229 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Structure of the Position Data of the Absolute Encoder Parameter Settings When Using a Batteryless Multiturn Absolute Encoder Parameter Meaning When Enabled Classification Pn002 n.0 Use the encoder as a batteryless multiturn (default setting) absolute encoder.
Page 230 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Reading the Position Data from the Absolute Encoder 7.9.4 Output Ports for the Position Data from the Absolute Encoder You can read the position data of the absolute encoder from the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.
Page 231 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Reading the Position Data from the Absolute Encoder Control power supply Main circuit power supply ALM signal No alarm /S-RDY signal Controlword Disable Operation Enable Operation (6040h) Statusword S3: Switched on S4: Operation (6041h) Power not supplied.
Page 232 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Calculating the Current Position in Machine Coordinates 7.9.6 Transmission Specifications The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal are given in the following table. The PAO signal sends only the multiturn data. Refer to the following section for the timing of sending the position data from the absolute encoder.
Page 233 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Multiturn Limit Setting Origin (reference position) Current position Machine coordinate ±0 Value of multiturn data M × R Fig. 170: Calculating the Coordinate Value of the Present Position from the Origin of the Machine The current position P in the machine coordinate system is calculated as follows:...
Page 234 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Multiturn Limit Setting For example, consider a machine that moves the turntable shown in the following dia- gram in only one direction. Turntable Gear Servomotor Fig. 171: Turntable Application Example Because the turntable moves in only one direction, the upper limit to the number of rota- tions that can be counted by an absolute encoder will eventually be exceeded.
Page 235 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Multiturn Limit Disagreement Alarm (A.CC0) The data will change as shown below when this parameter is set to anything other than the default setting. If the Servomotor operates in the reverse direction when the multiturn data is 0, the multiturn data will change to the value set in Pn205.
Page 236 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Multiturn Limit Disagreement Alarm (A.CC0) Tool Function Operating Procedure Ref- erence Digital Operator Fn013 & Σ-7-Series Digital Oper- ator Operating Manual (Manual No.: SIEP S800001 33) SigmaWin+ Setup - Multiturn Limit Ä ‘Operating Procedure’ Setting page 236 Operating Procedure...
Page 237 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Multiturn Limit Disagreement Alarm (A.CC0) Change the setting. Fig. 174: Multiturn Limit Setting Change Click the Writing into the Servopack Button. Click the OK Button. Fig. 175: Multiturn Limit Setting - Confirmation of Change Procedure Turn the power supply to the SERVOPACK OFF and ON again.
Page 238 Sigma-7 Series SERVOPACKs Application Functions Absolute Encoders > Multiturn Limit Disagreement Alarm (A.CC0) Click the Continue Button. Fig. 176: Multiturn Limit Setting - Warning Click the Writing into the Motor Button. Fig. 177: Multiturn Limit Setting - Writing into the Servomotor ð...
Page 239 Sigma-7 Series SERVOPACKs Application Functions Absolute Linear Encoders > Overview Click the OK Button. Fig. 178: Multiturn Limit Setting - Cycle Control Power Warning This concludes the procedure to set the multiturn limit. 7.10 Absolute Linear Encoders 7.10.1 Overview The absolute linear encoder records the current position of the stop position even when the power supply is OFF.
Page 240 Sigma-7 Series SERVOPACKs Application Functions Absolute Linear Encoders > Output Ports for the Position Data from the Absolute Linear Encoder Parameter Settings When Using an Absolute Linear Encoder Parameter Meaning When Enabled Classification Pn002 n.0 Use the encoder as an absolute linear encoder.
Page 241 Sigma-7 Series SERVOPACKs Application Functions Absolute Linear Encoders > Reading the Position Data from the Absolute Linear Encoder Signal Status Signal Contents When Using an Absolute Linear Encoder First signal Upper 16-bit data (with sign) Lower 20-bit data (pulse train) During normal operation Incremental pulses First signal...
Page 242 Sigma-7 Series SERVOPACKs Application Functions Absolute Linear Encoders > Transmission Specifications Control power supply Main circuit power supply ALM output signal No alarm /S-RDY signal Controlword Disable Operation Enable Operation (6040h) Statusword S3: Switched on S4: Operation (6041h) Power not supplied. Power supplied.
Page 243 Sigma-7 Series SERVOPACKs Application Functions Absolute Linear Encoders > Calculating the Current Position in Machine Coordinates + or − 0 to 9 0 to 9 Upper 15 bits 0 to 9 of position data 0 to 9 0 to 9 Fig.
Page 244 Sigma-7 Series SERVOPACKs Application Functions Software Reset > Applicable Tools Symbol Meaning ’ Lower 20 bits of the position data of the origin Current position in machine coordinate system 1048576 (=2 The above formulas also apply in reverse movement mode (Pn000 = ...
Page 245 Sigma-7 Series SERVOPACKs Application Functions Software Reset > Operating Procedure Tool Function Operating Procedure Reference Digital Operator Fn030 & Σ-7-Series Digital Operator Operating Manual (Manual No.: SIEP S800001 33) SigmaWin+ Setup - Software Ä Chap. 7.11.4 ‘Operating Procedure’ Reset page 245 7.11.4 Operating Procedure Use the following procedure to perform a software reset.
Page 246 Sigma-7 Series SERVOPACKs Application Functions Initializing the Vibration Detection Level > Overview Click the Execute Button. Fig. 185: Software Reset Common for the Unit Click the OK Button to end the software reset operation. All settings including parameters will have been re-calculated. When you finish this operation, disconnect the SigmaWin+ from the SERVOPACK, and then connect it again.
Page 247 Sigma-7 Series SERVOPACKs Application Functions Initializing the Vibration Detection Level > Preparations Parameter Meaning When Enabled Classification Pn310 n.0 Do not detect vibration. (default setting) n.1 Output a warning (A.911) Immediately Setup if vibration is detected. n.2 Output an alarm (A.520) if vibration is detected.
Page 248 Sigma-7 Series SERVOPACKs Application Functions Initializing the Vibration Detection Level > Operating Procedure 7.12.3 Applicable Tools The following table lists the tools that you can use to initialize the vibration detection level and the applicable tool functions. Tool Function Operating Procedure Reference Digital Operator Fn01B &...
Page 249 Sigma-7 Series SERVOPACKs Application Functions Initializing the Vibration Detection Level > Operating Procedure Select Pn311: Vibration Detection Sensitivity and Pn310: Vibration Detection Selections and then click the Detection Start Button. A setting execution standby mode will be entered. Fig. 189: Initialize Vibration Detection Level AXIS#00 - Detection Start | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 250 Sigma-7 Series SERVOPACKs Application Functions Initializing the Vibration Detection Level > Operating Procedure Click the Execute Button. Fig. 190: Initialize Vibration Detection Level AXIS#00 - Execute | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 251 Sigma-7 Series SERVOPACKs Application Functions Initializing the Vibration Detection Level > Related Parameters ð The newly set vibration detection level will be displayed and the value will be saved in the SERVOPACK. Fig. 191: Initialize Vibration Detection Level AXIS#00 - Setting Result This concludes the procedure to initialize the vibration detection level.
Page 252 Sigma-7 Series SERVOPACKs Application Functions Adjusting the Motor Current Detection Signal Offset > Automatic Adjustment Parameter Name Setting Changes Automatic Changes Pn311 Vibration Detection Sen- Allowed sitivity Pn312 Vibration Detection Level Not allowed Pn384 Vibration Detection Level Not allowed 7.13 Adjusting the Motor Current Detection Signal Offset 7.13.1 Overview...
Page 253 Sigma-7 Series SERVOPACKs Application Functions Adjusting the Motor Current Detection Signal Offset > Automatic Adjustment Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Adjust the Motor Current Detection Signal Offsets in the Menu Dialog Box.
Page 254 Sigma-7 Series SERVOPACKs Application Functions Adjusting the Motor Current Detection Signal Offset > Automatic Adjustment Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Signal Offsets Dialog Box. Fig. 193: Adjust the Motor Current Detection Signal Offsets - Automatic Adjustment | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 255 Sigma-7 Series SERVOPACKs Application Functions Adjusting the Motor Current Detection Signal Offset > Manual Adjustment Click the Adjust Button. ð The values that result from automatic adjustment will be displayed in the New Boxes. Fig. 194: Adjust the Motor Current Detection Signal Offsets - Adjust This concludes the procedure to automatically adjust the motor current detection signal offset.
Page 256 Sigma-7 Series SERVOPACKs Application Functions Adjusting the Motor Current Detection Signal Offset > Manual Adjustment The offset does not use a parameter, so it will not change even if the parameter settings are initialized. Preparations Always check the following before you manually adjust the motor current detection signal offset.
Page 257 Sigma-7 Series SERVOPACKs Application Functions Adjusting the Motor Current Detection Signal Offset > Manual Adjustment Click the Manual Adjustment Tab in the Adjust the Motor Current Detection Signal Offsets Dialog Box. Fig. 196: Adjust the Motor Current Detection Signal Offsets - Manual Adjustment Set the Channel Box in the Motor Current Detection Offset Area to U-phase.
Page 258 Sigma-7 Series SERVOPACKs Application Functions Forcing the Motor to Stop > Stopping Method Selection for Forced Stops 7.14 Forcing the Motor to Stop 7.14.1 Overview You can force the Servomotor to stop for a signal from the host controller or an external device.
Page 259 Sigma-7 Series SERVOPACKs Application Functions Forcing the Motor to Stop > Stopping Method Selection for Forced Stops Parameter Meaning When Enabled Classification Pn00A n.0 Apply the dynamic brake or coast the motor to a stop (use the stopping method set in Pn001 = n.X).
Page 260 Sigma-7 Series SERVOPACKs Application Functions Forcing the Motor to Stop > Resetting Method for Forced Stops Stopping the Servomotor To specify the Servomotor deceleration time and use it to stop the Servomotor, set Pn30A by Setting the Decelera- (Deceleration Time for Servo OFF and Forced Stops). tion Time for Servo OFF and Forced Stops (Pn30A) Deceleration Time for Servo OFF and Forced Stops...
Page 261 Overview Overheat protection detects an A.93B warning (Overheat Warning) and an A.862 alarm (Overheat Alarm) by monitoring the overheat protection input signal (TH) from a Yaskawa SGLFW2 Linear Servomotor or from a sensor attached to the machine. SERVOPACKs with software version 0023 or higher support overheat protection.
Page 262 Sigma-7 Series SERVOPACKs Application Functions Overheat Protection > Overheat Protection Selections Using Overheat Protection To use the overheat protection in a YASKAWA Linear Servomotor (SGLFW2), set Pn61A in the YASKAWA Linear to n.1. Servomotor An A.93B warning (Overheat Warning) will be detected if the overheat protection input (TH) signal from the YASKAWA SGLFW2 Linear Servomotor exceeds the warning tem- perature.
Page 263 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Flow of Trial Operation > Flow of Trial Operation for Rotary Servomotors Trial Operation and Actual Operation 8.1 Overview This chapter provides information on the flow and procedures for trial operation and con- venient functions to use during trial operation.
Page 264 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Flow of Trial Operation > Flow of Trial Operation for Linear Servomotors Trial Operation with PROFINET Communications CN6A, to host controller To power CN1, to host supply controller Secure the motor ﬂange to the machine.
Page 265 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Flow of Trial Operation > Flow of Trial Operation for Linear Servomotors Setting Parameters in the SERVOPACK Step No. of Param- Description Remarks Reference eter to Set Pn282 Linear Set this parameter only Ä...
Page 266 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Flow of Trial Operation > Flow of Trial Operation for Linear Servomotors Trial Operation Trial Operation for the Servomotor without a Load To power supply Fig. 202: Trial Operation for Linear Servomotors - Step 1 Ä...
Page 267 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Trial Operation for the Servomotor without a Load > Overview 8.3 Inspections and Confirmations before Trial Operation To ensure safe and correct trial operation, check the following items before you start trial operation.
Page 268 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Trial Operation for the Servomotor without a Load > Preparations 8.4.2 Preparations Confirm the following conditions before you jog the Servomotor. The parameters must not be write prohibited. The main circuit power supply must be ON. There must be no alarms.
Page 269 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Trial Operation for the Servomotor without a Load > Operating Procedure Soft Start Deceleration Time Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn306 0 to 10,000 1 ms Immediately Setup (applies to Speed Control)
Page 270 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Trial Operation for the Servomotor without a Load > Operating Procedure Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select JOG Operation in the Menu Dialog Box. ð...
Page 271 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Trial Operation for the Servomotor without a Load > Operating Procedure Check the jogging speed and then click the Servo ON Button. Fig. 207: JOG Operation - JOG Speed Setting ð The display in the Operation Area will change to Servo ON. To change Information the speed, click the Edit Button and enter the new speed.
Page 272 In this example, operation in PROFIdrive Position Mode is described. The default positioning mode is relative positioning. For PROFINET communication, the YASKAWA telegram 100 is used. The configuration of the PLC is not part of the description below. The drive has to be configured with module "Telegram 100".
Page 273 Set the Telegram Selection (PNU 922) to Telegram 100. The parameter is only accepted after a restart. Ä Chap. 13.6.6 ‘YASKAWA Telegram (Telegram 100)’ page 493 Set the Modes of Operation (6060h) to PROFIdrive Position Mode. Refer to the following section for details on modes of operation.
Page 274 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Trial Operation with the Servomotor Connected to the Machine > Precautions Set Target Position (607Ah), Profile Velocity (6081h), Profile Acceleration (6083h), and Profile Deceleration (6084h), and then manipulate Controlword (STW1) (6040h) to start positioning. Change the values of the objects in the cyclic data (PZDs).
Page 275 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Trial Operation with the Servomotor Connected to the Machine > Operating Procedure If you will use a holding brake, observe the following precautions during trial operation. Before you check the operation of the brake, implement measures to prevent the machine from falling due to gravity and to prevent vibration from being caused by an external force.
Page 276 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Overview Turn OFF the power supplies to the SERVOPACK. ð The control power supply and main circuit power supply will turn OFF. Couple the Servomotor to the machine. CN6A, to host CN6A, to host controller...
Page 277 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Program Jogging 8.7.2 Program Jogging You can use program jogging to perform continuous operation with a preset operation pattern, travel distance, movement speed, acceleration/deceleration time, waiting time, and number of movements.
Page 278 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Program Jogging Setting of Setting Operation Pattern Pn530 n.2 (Waiting time → For- Number of movements (Pn536) Number of movements (Pn536) ward by travel dis- tance) ×...
Page 279 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Program Jogging Rotary Servomotors Program Jogging-Related Selections Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn530 0000 to 0005 − 0000 Immediately Setup...
Page 280 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Program Jogging Direct Drive Servomotors Program Jogging-Related Selections Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn530 0000 to 0005 − 0000 Immediately Setup...
Page 281 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Program Jogging Linear Servomotors Program Jogging-Related Selections Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn530 0000 to 0005 − 0000 Immediately Setup...
Page 282 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Program Jogging Applicable Tools The following table lists the tools that you can use to perform program jogging and the applicable tool functions. Tool Function Operating Procedure Reference Digital Operator...
Page 283 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Program Jogging Set the operating conditions, click the Apply Button, and then click the Run Button. ð A graph of the operation pattern will be displayed. Fig.
Page 284 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Origin Search Click the Servo ON Button and then the Execute Button. The program jogging operation will be executed. Fig. 212: JOG Program - Servo ON - Execute CAUTION! Be aware of the following points if you cancel the program jogging opera- tion while the Servomotor is operating.
Page 285 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Origin Search Use an origin search when it is necessary to align the origin within one rotation with the machine origin. The following speeds are used for origin searches. Rotary Servomotors: 60 min Direct Drive Servomotors: 6 min Linear Servomotors: 15 mm/s...
Page 286 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Origin Search Read the warnings and then click the OK Button. Fig. 214: Origin Search - Warning | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 287 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Origin Search Click the Servo ON Button. Fig. 215: Origin Search - Servo ON | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 288 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Test without a Motor Click the Forward Button or the Reverse Button. An origin search will be performed only while you hold down the mouse button. The motor will stop when the origin search has been completed.
Page 289 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Test without a Motor Use Pn00C = n.X to enable or disable the test without a motor. Parameter Meaning When Enabled Classification Pn00C n.0 Disable tests without a (default motor.
Page 290 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Test without a Motor External Information That Is Source of Information Encoder Con- Used nection Status Connected External encoder infor- Information in the external encoder that is mation connected Resolution...
Page 291 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Test without a Motor Parameter Meaning When Enabled Classification Pn00C n.0 Use 13 bits as encoder (default resolution for tests setting) without a motor. n.1...
Page 292 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Test without a Motor SigmaWin+ Digital Operator Executable? Reference Menu Dialog SigmaWin+ Function Fn No. Utility Function Motor Motor Box Button Name Name Not Con- Con- nected nected...
Page 293 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Test without a Motor SigmaWin+ Digital Operator Executable? Reference Menu Dialog SigmaWin+ Function Fn No. Utility Function Motor Motor Box Button Name Name Not Con- Con- nected nected...
Page 294 Sigma-7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation > Test without a Motor SigmaWin+ Digital Operator Executable? Reference Menu Dialog SigmaWin+ Function Fn No. Utility Function Motor Motor Box Button Name Name Not Con- Con- nected nected...
Page 295 Sigma-7 Series SERVOPACKs Tuning Overview and Flow of Tuning > Overview Tuning 9.1 Overview This chapter provides information on the flow of tuning, details on tuning functions, and related operating procedures. 9.2 Overview and Flow of Tuning 9.2.1 Overview Tuning is performed to optimize response by adjusting the servo gains in the SERVO- PACK.
Page 296 Sigma-7 Series SERVOPACKs Tuning Overview and Flow of Tuning > Tuning Functions Start of Tuning Initial Confirmations to Ensure Safe Tuning Precautions to Ensure Safe Tuning Perform the tuning-less function. Response acceptable? Estimate the moment of inertia. Perform autotuning with or without a host reference. Results acceptable? Perform custom tuning.
Page 297 Sigma-7 Series SERVOPACKs Tuning Overview and Flow of Tuning > Tuning Functions Tuning Func- Outline Applicable Reference tion Control Methods Tuning-less This automatic adjustment func- Speed control Ä Chap. 9.5 Function tion is designed to enable stable or position con- ‘Tuning-less operation without servo tuning.
Page 298 Sigma-7 Series SERVOPACKs Tuning Monitoring Methods Tuning Func- Outline Applicable Reference tion Control Methods Anti-resonance This function effectively sup- Speed control Ä Chap. 9.10 Control Adjust- presses continuous vibration. or position con- ‘Anti-Reso- ment trol nance Control Adjustment’ page 365 Ä...
Page 299 Sigma-7 Series SERVOPACKs Tuning Precautions to Ensure Safe Tuning > Overtravel Settings Check the adjustment results with the following response waveforms. Position Control Item Unit Rotary Servomotor Linear Servomotor Torque reference Feedback speed mm/s Position reference speed mm/s Position deviation Reference units Speed Control Item...
Page 300 Sigma-7 Series SERVOPACKs Tuning Precautions to Ensure Safe Tuning > Setting the Position Deviation Overflow Alarm Level 9.4.3 Torque Limit Settings You can limit the torque that is output by the Servomotor based on calculations of the torque required for machine operation. You can use torque limits to reduce the amount of shock applied to the machine when problems occur, such as collisions or interference.
Page 301 Sigma-7 Series SERVOPACKs Tuning Precautions to Ensure Safe Tuning > Setting the Position Deviation Overflow Alarm Level *4. The underlined coefficient “× (1.2 to 2)” adds a margin to prevent an A.d00 alarm (Position Deviation Overflow) from occurring too frequently. If you set a value that satisfies the formula, an A.d00 alarm (Position Deviation Overflow) should not occur during normal operation.
Page 302 Sigma-7 Series SERVOPACKs Tuning Precautions to Ensure Safe Tuning > Setting the Position Deviation Overflow Alarm Level at Servo ON Related Warnings Warning Warning Name Warning Meaning Number A.900 Position Devia- This warning occurs if the position deviation tion Overflow exceeds the specified percentage (Pn520 ×...
Page 303 Sigma-7 Series SERVOPACKs Tuning Tuning-less Function > Overview Linear Servomotors Speed Limit Level at Servo ON Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn584 0 to 10,000 1 mm/s 10,000 Immediately Setup (applies to Position Control) Related Alarms Alarm Number Alarm Name Alarm Meaning...
Page 304 Sigma-7 Series SERVOPACKs Tuning Tuning-less Function > Operating Procedure 9.5.2 Application Restrictions The following application restrictions apply to the tuning-less function. Function Executable* Remarks Vibration Detection Level Initiali- ü – zation Moment of Inertia Estimation × Disable the tuning-less function (Pn170 = n.0) before you execute moment of inertia estima- tion.
Page 305 Sigma-7 Series SERVOPACKs Tuning Tuning-less Function > Operating Procedure Parameter Meaning When Enabled Classification n.0 Use for speed control. (default setting) n.1 Use for speed control and use host controller for position control. When you enable the tuning-less function, you can select the tuning-less type. Normally, set Pn14F to n.2...
Page 306 Sigma-7 Series SERVOPACKs Tuning Tuning-less Function > Operating Procedure Click the Button to adjust the tuning-less level setting. Increase the tuning-less level setting to increase the response. Decrease the tuning-less level setting to suppress vibration. The default response level setting is 4. Tuning-less Level Description Remarks...
Page 307 Sigma-7 Series SERVOPACKs Tuning Tuning-less Function > Parameters Disabled by Tuning-less Function Tuning-less Load Level Parameter Meaning When Enabled Classification Pn170 n.0 Tuning-less load level 0 n.1 Tuning-less load level 1 (default Immediately Setup setting) n.2 Tuning-less load level 2 9.5.4 Troubleshooting Alarms An A.521 alarm (Autotuning Alarm) will occur if a resonant sound occurs or if excessive vibration occurs during position control.
Page 308 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Overview 9.5.6 Automatically Adjusted Function Setting You can also automatically adjust notch filters. Normally, set Pn460 to n.1 (Adjust automatically) (default setting). Vibration is auto- matically detected and a notch filter is set. Set Pn460 to n.0...
Page 309 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Restrictions 9.6.2 Outline The moment of inertia during operation is automatically calculated by the SERVOPACK for round-trip (forward and reverse) operation. A reference from the host controller is not used. The moment of inertia ratio (i.e., the ratio of the load moment of inertia to the motor moment of inertia) is a basic parameter for adjusting gains.
Page 310 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure The gain selection switch must be set to manual gain selection (Pn139 = n.0). The first gains must be selected. The test without a motor function must be disabled (Pn00C = n.0). There must be no alarms or warnings.
Page 311 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Click the Execute Button. Fig. 226: Tuning - Warning | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 312 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Click the Execute Button. Fig. 227: Tuning - Execute Moment of Inertia Ratio Identification | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 313 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Set the conditions as required. Fig. 228: Tuning - Condition Setting AXIS#00 ð 1 - Speed Loop Setting Area Make the speed loop settings in this area. If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
Page 314 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Operate the Servomotor to measure the load moment of inertia of the machine in comparison with the rotor moment of inertia. Set the operation mode, reference pattern (maximum acceleration rate, maximum speed, and maximum travel distance), and speed loop-related parameters.
Page 315 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure CAUTION! – The travel distance is the distance for one operation in the forward or reverse direction. During multiple operations, the operation starting position may move in one direction or the other.
Page 316 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Click the Start Button. Fig. 230: Tuning - Reference Transmission Dialog Box ð 1 - Start Button The reference conditions will be transferred to the SERVOPACK. A progress bar will show the progress of the transfer.
Page 317 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Click the Servo On Button. Fig. 231: Tuning - Operation/Measurement Dialog Box Click the Forward Button. The Servomotor shaft will rotate in the forward direction and the measurement will start.
Page 318 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Click the Reverse Button. Fig. 232: Tuning - Operation/Measurement Dialog Box - Reverse Button ð The Servomotor shaft will rotate in the reverse direction and the measurement will start. After the measurement and data transfer have been completed, the Forward Button will be displayed in color.
Page 319 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Repeat steps 9 to 11 until the Next Button is enabled. Measurements are performed from 2 to 7 times and then verified. The number of measurements is displayed in upper left corner of the dialog box. A progress bar at the bottom of the dialog box will show the progress of the transfer each time.
Page 320 Sigma-7 Series SERVOPACKs Tuning Estimating the Moment of Inertia > Operating Procedure Click the Writing Results Button. Fig. 235: Tuning - Write Results AXIS#00 ð 1 - Identified Moment of Inertia Ratio Box The moment of inertia ratio that was found with operation and measurements is displayed here.
Page 321 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Overview Click the OK Button. Fig. 236: Tuning - Software Reset Function Information Click the Execute Button. Fig. 237: Tuning - Software Reset Common for the Unit - Execute Button ð If the setting of the moment of inertia ratio (Pn103) was changed, the new value will be saved and the Tuning Dialog Box will be displayed again.
Page 322 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Outline – Autotuning without a host reference performs adjustments based on the setting of the speed loop gain (Pn100). Therefore, precise adjust- ments cannot be made if there is vibration when adjustments are started.
Page 323 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Restrictions Direct Drive Servo- You can set the desired travel distance. motors The default setting is for a value equivalent to 0.3 rotations. Linear Servomotors You can set the desired travel distance in increments of 1,000 reference units.
Page 324 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure When proportional control is used When mode switching is used Note: If you specify moment of inertia estimation, mode switching will be disabled and PI control will be used while the moment of inertia is being calculated. Mode switching will be enabled after moment of inertia estimation has been completed.
Page 325 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure CAUTION! If you specify not estimating the moment of inertia, set the moment of inertia ratio (Pn103) correctly. If the setting greatly differs from the actual moment of inertia ratio, normal control of the machine may not be pos- sible, and vibration may result.
Page 326 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure Select the No Reference Input Option in the Autotuning Area and then click the Autotuning Button. Fig. 240: Tuning AXIS#00 - Autotuning - No Reference Input | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 327 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure ð When the following dialog box is displayed, click the OK Button and then verify and confirm that the correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio). Fig.
Page 328 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure Set the conditions in the Switching the load moment of inertia (load mass) iden- tification Box, the Mode selection Box, the Mechanism selection Box, and the Distance Box, and then click the Next Button. Fig.
Page 329 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure 1: Standard Standard gain adjustment is performed. In addition to gain adjustment, notch filters and anti-resonance control are automatically adjusted. 2: For positioning Tuning is performed for positioning applications. In addition to gain adjust- ment, model following control, notch filters, anti-resonance control, and vibration suppression are automatically adjusted.
Page 330 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure Click the Servo ON Button. Fig. 243: Autotuning - Automatic Setting AXIS#00 - Servo ON | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 331 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure Click the Start tuning Button. Fig. 244: Autotuning - Automatic Setting AXIS#00 - Start tuning | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 332 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Operating Procedure Confirm safety around moving parts and click the Yes Button. Fig. 245: Autotuning - Warning - Check safety ð The Servomotor will start operating and tuning will be executed. Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration.
Page 333 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Troubleshooting Problems in Autotuning without a Host Reference This concludes the procedure to perform autotuning without a host reference. 9.7.6 Troubleshooting Problems in Autotuning without a Host Reference The following tables give the causes of and corrections for problems that may occur in autotuning without a host reference.
Page 334 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Automatically Adjusted Function Settings When an Error Occurs Possible Cause Corrective Action during Calculation of Moment of Inertia The SERVOPACK started calculating the Increase the setting of the speed loop moment of inertia but the calculation was gain (Pn100).
Page 335 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Automatically Adjusted Function Settings Parameter Meaning When Enabled Classification Pn460 n.0 Do not adjust the first stage notch filter auto- matically during execu- tion of autotuning without a host reference, auto- tuning with a host refer- ence, and custom tuning.
Page 336 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Automatically Adjusted Function Settings Parameter Meaning When Enabled Classification Pn160 n.0 Do not adjust anti-reso- nance control automati- cally during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.
Page 337 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Related Parameters Mode Selection Settings Friction Compensation 1: Standard Based on the setting of Pn408 = n.X (Friction Compensation Function Selec- tion)* 2: For position control Adjusted with friction compensation. 3: For position control (emphasis on over- shooting) Parameter Meaning...
Page 338 Sigma-7 Series SERVOPACKs Tuning Autotuning without Host Reference > Related Parameters Parameter Name Automatic Changes Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn103 Moment of Inertia Ratio Pn121 Friction Compensation Gain Pn123 Friction Compensation Coefficient Pn124 Friction Compensation Frequency Correction Pn125...
Page 339 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Restrictions 9.8 Autotuning with a Host Reference 9.8.1 Overview This section describes autotuning with a host reference. Autotuning with a host reference makes adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when adjustments are started.
Page 340 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Operating Procedure When the travel distance for the reference from the host controller is equal to or lower than the setting of the positioning completed width (Pn522) Rotary Servomotors: When the movement speed for the reference from the host con- troller is equal to or lower than the setting of the rotation detection level (Pn502) Linear Servomotors: When the movement speed for the reference from the host con- troller is equal to or lower than the setting of the zero speed level (Pn581)
Page 341 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Operating Procedure Select Tuning in the Menu Dialog Box. ð The Tuning Dialog Box will be displayed. Click the Cancel Button to cancel tuning. Click the Execute Button. Fig. 248: Tuning - Warning | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 342 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Operating Procedure Select the Position reference input Option in the Autotuning Area and then click the Autotuning Button. Fig. 249: Tuning AXIS#00 - Autotuning - Position Reference Input | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 343 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Operating Procedure ð When the following dialog box is displayed, click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio). Fig.
Page 344 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Operating Procedure Set the conditions in the Mode selection Box and the Mechanism selection Box, and then click the Next Button. If you select the Start tuning using the default settings Check Box in the Tuning parameters Area, the tuning parameters will be returned to the default settings before tuning is started.
Page 345 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Operating Procedure If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guide- lines.
Page 346 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Operating Procedure Input the correct moment of inertia ratio and click the Next Button. Fig. 253: Autotuning - Moment of Inertia Ratio Setting First confirm safety around moving parts.Turn ON the servo, enter a reference from the host controller, and then click the Start tuning Button.
Page 347 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Operating Procedure Click the Yes Button. Fig. 255: Autotuning - Warning - Check safety ð Tuning will be executed. Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration.
Page 348 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Troubleshooting Problems in Autotuning with a Host Reference This concludes the procedure to perform autotuning with a host reference. 9.8.6 Troubleshooting Problems in Autotuning with a Host Reference The following tables give the causes of and corrections for problems that may occur in autotuning with a host reference.
Page 349 Sigma-7 Series SERVOPACKs Tuning Autotuning with a Host Reference > Related Parameters Overshoot Detection Level Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn561 0 to 100 Immediately Setup (applies to Speed Control, Position Control and Torque Control) 9.8.7 Automatically Adjusted Function Settings These function settings are the same as for autotuning without a host reference.
Page 350 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Outline Parameter Name Automatic Changes Pn146 Vibration Suppression 1 Frequency B Pn147 Model Following Control Speed Feedforward Compen- sation Pn160 Anti-Resonance Control-Related Selections Pn161 Anti-Resonance Frequency Pn163 Anti-Resonance Damping Gain Yes: The parameter is automatically set. No: The parameter is not automatically set, but the setting is read during execution.
Page 351 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure CAUTION! Vibration or overshooting may occur during custom tuning. To ensure safety, make sure that you can perform an emergency stop at any time. 9.9.3 Preparations Check the following settings before you execute custom tuning. The test without a motor function must be disabled (Pn00C = n.0).
Page 352 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure Select Tuning in the Menu Dialog Box. ð The Tuning Dialog Box will be displayed. Click the Cancel Button to cancel tuning. Click the Execute Button. Fig. 257: Tuning - Warning | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 353 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure Click the Advanced adjustment Button. Fig. 258: Tuning AXIS#00 - Autotuning - Position Reference Input | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 354 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure ð When the following dialog box is displayed, click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio). Fig. 259: Tuning - Warning - The Moment of Inertia Ratio has never been changed from the default setting Click the Custom tuning Button.
Page 355 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure Set the Tuning mode Box and Mechanism selection Box, and then click the Next Button. Fig. 261: Custom Tuning - Mode selection AXIS#00 ð 1 - Tuning mode Box 0: Set servo gains with priority given to stability. This setting gives priority to stability and preventing overshooting.
Page 356 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guide- lines. 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt.
Page 357 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure Turn ON the servo, enter a reference from the host controller, and then click the Start tuning Button. Fig. 263: Custom Tuning - Tuning Mode 0 or 1 - Start Tuning | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 358 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure Fig. 264: Custom Tuning - Tuning Mode 2 or 3 - Start Tuning | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 359 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure Use the Buttons to change the tuning level. Click the Back Button during tuning to restore the setting to its original value. The tuning level will return to the value from before when custom tuning was started. Fig.
Page 360 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure Increase the tuning level until overshooting occurs. Fig. 266: Custom Tuning - Tuning Mode 2 or 3 - Changing the tuning level Tuning Mode 2 or 3 Increase the feedforward level until overshooting occurs and then increase the feedback level until overshooting is eliminated.
Page 361 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure When tuning has been completed, click the Completed Button. The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dialog Box. Fig. 267: Custom Tuning - Completed - Return to Autotuning This concludes the procedure to set up custom tuning.
Page 362 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Operating Procedure Fig. 268: Custom Tuning - Automatic Setting Auto-setting Cancel Buttons The automatically set notch filter frequencies or the anti-resonance control frequencies may not always suppress vibration. Click the Cancel Button to reset the notch filter fre- quencies or the anti-resonance control frequencies to the values from just before these frequencies were set automatically.
Page 363 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Tuning Example for Tuning Mode 2 or 3 Ä Chap. 9.11 ‘Vibration Suppression’ page 374 Autotuning with a Host Reference You can perform autotuning with a host reference. Refer to the following section for details.
Page 364 Sigma-7 Series SERVOPACKs Tuning Custom Tuning > Related Parameters Step Measurement Display Exam- Operation ples The graph shows overshooting that occurred when the feedforward level was increased even more after step 3. In this state, overshooting occurs, but the posi- tioning settling time is shorter.
Page 365 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Outline Parameter Name Automatic Changes Pn143 Model Following Control Bias in the Forward Direction Pn144 Model Following Control Bias in the Reverse Direction Pn145 Vibration Suppression 1 Frequency A Pn146 Vibration Suppression 1 Frequency B Pn147 Model Following Control Speed Feedforward Compen- sation...
Page 366 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Operating Procedure – Anti-resonance control adjustment detects vibration frequencies between 100 Hz and 1,000 Hz. If the vibration frequency is not within this range, use custom tuning with tuning mode 2 selected to auto- matically set a notch filter or use vibration suppression.
Page 367 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Operating Procedure CAUTION! Before you execute anti-resonance control adjustment, check the infor- mation provided in the SigmaWin+ operating manual. Observe the following precautions. – Make sure that you can perform an emergency stop at any time. Parameters will be set automatically when anti-resonance control adjustment is executed.
Page 368 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Operating Procedure Click the Anti-res Ctrl Adj Button. The rest of the procedure depends on whether you know the vibration frequency. Fig. 269: Custom Tuning - Adjust AXIS#00 - Anti-res Ctrl Adj | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 369 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Operating Procedure If you do not know the vibration frequency, click the Auto Detect Button. If you know the vibration frequency, click the Manual Set Button. To Automatically Detect the Vibration Frequency The frequency will be set.
Page 370 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Operating Procedure Use the Buttons in the Adjustment Area to change the settings. Click the Reset Button during tuning to restore the setting to its original value. The tuning level will return to the value from before when custom tuning was started. To Automatically Detect the Vibration Frequency Change the setting of the damping gain.
Page 371 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Related Parameters When the adjustment has been completed, click the Finish Button. The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dialog Box. Fig.
Page 372 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Suppressing Different Vibration Frequencies with Anti-resonance Control 9.10.7 Suppressing Different Vibration Frequencies with Anti-resonance Control When you use anti-resonance control and increase the control gain, for some mecha- nism, vibration can occur at a higher frequency than the frequency for which vibration was suppressed.
Page 373 Sigma-7 Series SERVOPACKs Tuning Anti-Resonance Control Adjustment > Suppressing Different Vibration Frequencies with Anti-resonance Control Anti-Resonance Filter Time Constant 1 Correction Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn164 -1,000 to 0.01 ms Immediately Tuning 1,000 (applies to Speed Control, Position Control and Torque Control) Anti-Resonance Filter Time Constant 2 Correction...
Page 374 Sigma-7 Series SERVOPACKs Tuning Vibration Suppression > Outline 9.11 Vibration Suppression 9.11.1 Overview This section describes vibration suppression. 9.11.2 Outline You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is effective for vibration frequencies for which notch filters and anti-resonance control adjustment are not effective.
Page 375 Sigma-7 Series SERVOPACKs Tuning Vibration Suppression > Operating Procedure Residual Vibration Detection Width Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn560 1 to 3,000 0.1% Immediately Setup (applies to Position Control) As a guideline, change the setting 10% at a time. If the setting of this parameter is lowered, the detection sensitivity will be increased.
Page 376 Sigma-7 Series SERVOPACKs Tuning Vibration Suppression > Operating Procedure Click the Vib Suppress Button. Fig. 275: Custom Tuning - Adjust AXIS#00 - Vib Suppress | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 377 Sigma-7 Series SERVOPACKs Tuning Vibration Suppression > Operating Procedure Click the Import Button or click Button to manually adjust the set fre- quency. When you click the Import Button, the residual vibration frequency in the Servo- motor is read as the set frequency. (The frequency can be read only when the residual vibration frequency is between 1.0 and 100.0.) Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequen-...
Page 378 Sigma-7 Series SERVOPACKs Tuning Vibration Suppression > Operating Procedure Click the Set Button. No settings related to vibration suppression are changed during operation. If the Servomotor does not stop within approximately 10 seconds after changing the setting, an update timeout will occur. The setting will be automatically returned to the previous value.
Page 379 Sigma-7 Series SERVOPACKs Tuning Vibration Suppression > Related Parameters This concludes the procedure to set up vibration suppression. 9.11.6 Setting Combined Functions You can also use the feedforward function when you execute vibration suppression. In the default settings, feedforward (Pn109), the speed feedforward input (VFF), and the torque feedforward input (TFF) are disabled.
Page 380 Sigma-7 Series SERVOPACKs Tuning Speed Ripple Compensation > Setting Up Speed Ripple Compensation Parameter Name Automatic Changes Pn14A Vibration Suppression 2 Frequency Pn14B Vibration Suppression 2 Correction Yes: The parameter is automatically set. No: The parameter is not automatically set, but the setting is read during execution. 9.12 Speed Ripple Compensation 9.12.1...
Page 381 Sigma-7 Series SERVOPACKs Tuning Speed Ripple Compensation > Setting Up Speed Ripple Compensation Applicable Tools The following table lists the tools that you can use to set up speed ripple compensation and the applicable tool functions. Tool Function Operating Procedure Reference Digital Operator You cannot set up speed ripple compensation from the Digital Operator.
Page 382 Sigma-7 Series SERVOPACKs Tuning Speed Ripple Compensation > Setting Up Speed Ripple Compensation Click the OK Button. Fig. 279: Ripple Compensation - Warning ð – Click the Cancel Button to cancel ripple compensation. The Main Window will return. – If write protection is set, the following dialog box will be dis- played.
Page 383 Sigma-7 Series SERVOPACKs Tuning Speed Ripple Compensation > Setting Up Speed Ripple Compensation Click the Edit Button. Fig. 281: Ripple Compensation AXIS#00 - Edit Enter the jogging speed in the Input Value Box and click the OK Button. Fig. 282: Ripple Compensation AXIS#00 - Jogging Speed | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 384 Sigma-7 Series SERVOPACKs Tuning Speed Ripple Compensation > Setting Up Speed Ripple Compensation Click the Servo ON Button. Fig. 283: Ripple Compensation AXIS#00 - Servo ON Button | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 385 Sigma-7 Series SERVOPACKs Tuning Speed Ripple Compensation > Setting Up Speed Ripple Compensation Click the Forward Button or the Reverse Button. Measurement operation is started. The Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or Reverse Button and the speed ripple will be measured. The feedback speed and torque reference graph will be displayed in the Ripple Compensation Dialog Box during jogging.
Page 386 Sigma-7 Series SERVOPACKs Tuning Speed Ripple Compensation > Setting Up Speed Ripple Compensation After writing has been completed, click the OK Button. Fig. 286: Ripple Compensation - Writing completed Dialog Box Click the Forward Button or the Reverse Button. Verification operation is started. The Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or Reverse Button.
Page 387 Sigma-7 Series SERVOPACKs Tuning Speed Ripple Compensation > Setting Parameters This concludes the setup for speed ripple compensation. 9.12.4 Setting Parameters Ä ‘Operating Pro- The function is enabled when you perform the operating procedure on cedure’ page 381. To cancel speed ripple compensation, use Pn423 = n.0 (Disable speed ripple compensation) to disable it.
Page 388 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Overview Speed reference/ feedback speed Setting of Pn427 or Pn49F (Ripple Compensation Time Enable Speed) Ripple Disabled Enabled Disabled Enabled Disabled compensation Fig. 288: Speed Ripple Compensation Enable Speed Speed Ripple Compensa- The speed ripple compensation value is specific to each Servomotor.
Page 389 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Gain Switching Function Applicable Control Methods Reference Ä Chap. 9.13.5 Current Control Mode Position control, speed control, or torque Selection control ‘Current Control Mode Selection’ page 398 Ä Chap. 9.13.6 Current Gain Level Set- Position control or speed control ting ‘Current Gain...
Page 390 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Gain Switching Gain Switching Combina- Selected Speed Loop Speed Loop Position Torque Ref- Friction tions Gains Gain Integral Loop Gain erence Compensa- Time Con- Filter tion Gain stant Gain Set- Speed Loop Speed Loop Position First Stage...
Page 391 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Gain Switching Parameter Position For Control When Ena- Classifica- Control Methods Other bled tion Gain Than Position Switching Control (No Condition A Switching) n.2 /NEAR Gain settings 1 (Near) signal used. n.3 /NEAR Gain settings 2 (Near) signal used.
Page 392 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Gain Switching You can use gain switching for either PI control or I-P control (Pn10B =  0  or  1  ). Related Parameters Speed Loop Gain Setting Setting Unit Default Set- When Ena- Classifica- Range...
Page 393 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Gain Switching Second Speed Loop Integral Time Constant Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn105 15 to 51,200 0.01 ms 2,000 Immediately Tuning (applies to Speed Control and Position Control) Second Position Loop Gain Setting Setting Unit Default Set-...
Page 394 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Friction Compensation Gain Switching Waiting Time 1 Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn135 0 to 65,535 1 ms Immediately Tuning (applies to Position Control) Gain Switching Waiting Time 2 Setting Setting Unit Default Set- When Ena-...
Page 395 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Friction Compensation Friction Compensation Gain Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn121 10 to 1,000 Immediately Tuning (applies to Speed Control and Position Control) Second Friction Compensation Gain Setting Setting Unit Default Set- When Ena-...
Page 396 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Gravity Compensation Step Operation Set the following parameters related to friction compensation to their default settings. Friction Compensation Gain (Pn121): 100 Second Friction Compensation Gain (Pn122): 100 Friction Compensation Coefficient (Pn123): 0 Friction Compensation Frequency Correction (Pn124): 0 Friction Compensation Gain Correction (Pn125): 100 Note: Always use the default settings for the Friction Compensation Frequency...
Page 397 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Gravity Compensation Servomotor Holding brake When the brake is released, the gravity compensation torque prevents the moving part from moving due to gravity. Moving part of machine Fig. 291: Gravity Compensation - Holding Brake Released A timing chart for when the moving part is raised then lowered is provided below.
Page 398 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Current Control Mode Selection Set Pn475 to n.1 (Enable gravity compensation). To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again. Use SigmaWin+ or an analog monitor to find the torque reference value when the motor is stopped with the servo ON.
Page 399 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Speed Feedback Filter 9.13.6 Current Gain Level Setting You can set the current gain level to reduce noise by adjusting the parameter for current control inside the SERVOPACK according to the speed loop gain (Pn100). The noise level can be reduced by decreasing the current gain level (Pn13D) from its default setting of 2,000% (disabled).
Page 400 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Backlash Compensation Speed Feedback Filter Time Constant Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn308 0 to 65,535 0.01 ms Immediately Setup (0.00 ms to (0.00 ms) 655.35 ms) (applies to Speed Control and Position Control) 9.13.9...
Page 401 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Backlash Compensation Example When Pn231 = 6553.6 [reference units] and position reference unit (Numerator/Denomi- nator) = 1/1: 6,553.6 × 1 = 6,553.6 [pulses] ð The backlash compensation will be 6,553 encoder pulses. Backlash Compensation Setting Setting Unit Default Set-...
Page 402 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Backlash Compensation Backlash Compensation Time Constant Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn233 0 to 65,535 0.01 ms Immediately Setup (applies to Position Control) Changes to the settings are applied when there is no reference pulse input and the Servomotor is stopped.
Page 403 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Backlash Compensation Operation When the Servo Is ON The backlash compensation value (Pn231) is added in the backlash compensation direction when the servo is ON (i.e., while power is supplied to the motor) and a refer- ence is input in the same direction as the backlash compensation direction (Pn230.0 = n.X).
Page 404 Sigma-7 Series SERVOPACKs Tuning Additional Adjustment Functions > Backlash Compensation Operation When the Servo Is OFF Backlash compensation is not applied when the servo is OFF (i.e., when power is not supplied to motor). Therefore, the reference position (Position Demand Value (6062h)) is moved by only the backlash compensation value.
Page 405 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Overview Displayed Value Unit Specification Feedback Pulse Counter Encoder pulses Displays the number of pulses from the actually driven motor encoder. Fully-Closed Feedback External encoder resolution Displays the number of Pulse Counter pulses of the actually driven external encoder.
Page 406 Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage ﬁrst torque reference ﬁlter time constant (Pn401) Fig. 298: Tuning the Servo Gains In order to manually tune the servo gains, you must understand the configuration and characteristic of the SERVOPACK and adjust the servo gains individually.
Page 407 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains Tuning Procedure Step Description Example (for Position Control or Speed Control) Adjust the first stage first torque reference filter time constant (Pn401) so that vibration does not occur. Increase the position loop gain (Pn100) and reduce the speed loop integral time constant (Pn101) as far as possible within the range that does not cause machine vibration.
Page 408 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains For machines for which a high position loop gain (Pn102) cannot be set, overflow alarms can occur during high-speed operation. If that is the case, you can increase the setting of the following parameter to increase the level for alarm detection.
Page 409 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains Speed Loop Integral Time Constant To enable response to even small inputs, the speed loop has an integral element. The integral element becomes a delay factor in the Servo System. If the time constant is set too high, overshooting will occur, positioning settling time will increase, and the response characteristic will suffer.
Page 410 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains (applies to Speed Control, Position Control and Torque Control) Second Stage Second Torque Reference Filter Q Value Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn410 50 to 100 0.01...
Page 411 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains Frequency [Hz] d = 1.0 (notch ﬁlter disabled) d = 0.5 d = 0.7 d = 0.3 d = 0.1 d = 0 (default setting) Fig. 303: Notch Filter Frequency Characteristics - Filter Depth The above notch filter frequency characteristics are based on calculated values and may be different from actual characteristics.
Page 412 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains First Stage Notch Filter Frequency Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn409 50 to 5,000 1 Hz 5,000 Immediately Tuning (applies to Speed Control, Position Control and Torque Control) First Stage Notch Filter Q Value Setting Setting Unit Default Set-...
Page 413 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains Third Stage Notch Filter Frequency Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn417 50 to 5,000 1 Hz 5,000 Immediately Tuning (applies to Speed Control, Position Control and Torque Control) Third Stage Notch Filter Q Value Setting Setting Unit Default Set-...
Page 414 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains Fifth Stage Notch Filter Frequency Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn41D 50 to 5,000 1 Hz 5,000 Immediately Tuning (applies to Speed Control, Position Control and Torque Control) Fifth Stage Notch Filter Q Value Setting Setting Unit Default Set-...
Page 415 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains If you use the torque reference filter, second torque reference filter, and notch filters together, the interference between the filters and the speed loop gain will be superim- posed. Allow leeway in the adjustments. The following adjusted value guidelines require that the setting of Pn103 (Moment of Inertia Ratio) is correctly set for the actual machine.
Page 416 Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage ﬁrst torque reference ﬁlter time constant (Pn401) mKp: Model following control gain (Pn141)
Page 417 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains Step Description Friction compensation must also be used. Set the friction compensation parameters. Refer to the following section for the setting procedure. Ä Chap. 9.13.3 ‘Friction Compensation’ page 394 Adjust the servo gains.
Page 418 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Tuning the Servo Gains Parameter Function When Enabled Classification n.1 Perform vibration sup- pression for a specific frequency. n.2 Perform vibration sup- pression for two specific frequencies. Model Following Control Gain The model following control gain determines the response characteristic of the Servo System.
Page 419 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Compatible Adjustment Functions Model Following Control Bias in the Forward Direction Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn143 0 to 10,000 0.1% 1,000 Immediately Tuning (applies to Position Control) Model Following Control Bias in the Reverse Direction Setting Setting Unit Default Set-...
Page 420 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Compatible Adjustment Functions Feedforward The feedforward function applies feedforward compensation to position control to shorten the positioning time. Pn10A Pn109 Feedforward Filter Differential Feedforward Time Constant Position reference pulses Position loop gain (Kp) Feedback pulses Fig.
Page 421 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Compatible Adjustment Functions Parameter Mode Switching Parameter That Sets When Classifi- Selection the Level Enabled cation Rotary Linear Servo- Servo- motor motor Pn10B n. Use the internal Pn10C 0 torque reference (default as the condition. setting) n....
Page 422 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Compatible Adjustment Functions Mode Switching Level for Position Deviation Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn10F 0 to 10,000 1 reference Immediately Tuning unit (applies to Position Control) Linear Servomotors Mode Switching Level for Force Reference Setting...
Page 423 Sigma-7 Series SERVOPACKs Tuning Manual Tuning > Compatible Adjustment Functions Speed reference Motor speed Speed Time Torque reference +Pn10C Torque reference 0 - Pn10C PI control PI control Fig. 308: Torque Reference as the Mode Switching Condition Using the Speed Reference as the Mode Switching Condition Rotary Servomotors When the speed reference equals or exceeds the speed set for the mode switching level for a speed reference (Pn10D), the speed loop is changed to P control.
Page 424 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Mechanical Analysis Speed reference Motor speed Speed Time Motor acceleration +Pn182 Acceleration 0 - Pn182 PI control PI control Fig. 312: Acceleration as the Mode Switching Condition - Linear Using the Position Deviation as the Mode Switching Condition When the position deviation equals or exceeds the value set for the mode switching level for position deviation (Pn10F), the speed loop is changed to P control.
Page 425 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Mechanical Analysis SERVOPACK Motor speed Motor speed Computer Servomotor Support Software Reference that Reference that causes vibration causes vibration Fig. 314: Mechanical Analysis The Servomotor is used to cause machine vibration and then the speed frequency char- acteristics for the motor torque are measured.
Page 426 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Easy FFT Fig. 315: Mechanical Analysis - Frequency Characteristics 1 - Toolbar 2 - START Button Click the START Button to start analysis. 3 - Measurement and Notch Filter Setting Tab Pages Measurement Tab Page: Displays detailed information on the results of analysis. Notch Filter Setting Tab Page: Displays the notch filter frequencies.
Page 427 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Easy FFT CAUTION! Use Easy FFT when the servo gain is low, such as in the initial stage of servo tuning. If you execute Easy FFT after you increase the gain, the machine may vibrate depending on the machine characteristics or gain balance.
Page 428 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Easy FFT Click the OK Button. Fig. 317: Easy FFT - Warning | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 429 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Easy FFT Click the Servo ON Button. Fig. 318: Easy FFT - Servo ON | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 430 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Easy FFT Select the instruction (reference) amplitude and the rotation direction in the Meas- urement condition Area, and then click the Start Button. ð The Servomotor shaft will rotate and measurements will start. Fig.
Page 431 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Easy FFT Check the results in the Measurement result Area and then click the Measure- ment complete Button. Fig. 320: Easy FFT - Measurement result | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 432 Sigma-7 Series SERVOPACKs Tuning Diagnostic Tools > Easy FFT Click the Result Writing Button if you want to set the measurement results in the parameters. Fig. 321: Easy FFT - Result writing ð This concludes the procedure to set up Easy FFT. Related Parameters The following parameters are automatically adjusted or used as reference when you exe- cute Easy FFT.
Page 433 Sigma-7 Series SERVOPACKs Monitoring Monitoring Product Information > Operating Procedures Monitoring 10.1 Overview This chapter provides information on monitoring SERVOPACK product information and SERVOPACK status. 10.2 Monitoring Product Information 10.2.1 Items That Can Be Monitored The items that can be monitored in the SigmaWin+ Product Information Window are listed below.
Page 434 Sigma-7 Series SERVOPACKs Monitoring Monitoring SERVOPACK Status > Servo Drive Status Fig. 322: Read Product Information With the Digital Operator, you can use Fn011, Fn012, and Fn01E to mon- itor this information. Refer to the following manual for the differences in the monitor items compared with the SigmaWin+.
Page 435 Sigma-7 Series SERVOPACKs Monitoring Monitoring SERVOPACK Status > Monitoring Status and Operations 10.3.2 Monitoring Status and Operations Monitor Items The items that can be monitored on the Status Monitor Window and Motion Monitor Window are listed below. Status Monitor Window Monitor Items Internal Status Input Signal Status...
Page 436 Sigma-7 Series SERVOPACKs Monitoring Monitoring SERVOPACK Status > Monitoring Status and Operations Motion Monitor Window Monitor Items Current Alarm State Target Position (TPOS) Motor Speed Latched Position 1 (LPOS1) Speed Reference Latched Position 2 (LPOS2) Internal Torque Reference Latched Position 3 (LPOS3) Angle of Rotation 1 (number of Target Speed (TSPD) encoder pulses from origin within one...
Page 437 Sigma-7 Series SERVOPACKs Monitoring Monitoring SERVOPACK Status > I/O Signal Monitor Fig. 324: Monitor You can flexibly change the contents that are displayed in the Monitor Window. Refer to the following manual for details. & Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) 10.3.3 I/O Signal Monitor...
Page 438 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Items That You Can Monitor Click the Monitor Mode Button. Fig. 325: Wiring Check AXIS#00 Input signal status Output signal status ð You can also use the above window to check wiring. –...
Page 439 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Using the SigmaWin+ Rotary Servomotors SERVOPACK Speed feedforward Torque feedforward Torque reference Speed Speed reference Position command speed reference Speed Position ampliﬁer Active gain Torque reference conversion deviation Position loop Position Backlash...
Page 440 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Using the SigmaWin+ Operating Procedure Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Trace in the Menu Dialog Box. ð...
Page 441 Connect a measuring instrument, such as a memory recorder, to the analog monitor con- nector (CN5) on the SERVOPACK to monitor analog signal waveforms. The measuring instrument is not provided by Yaskawa. Refer to the following section for details on the connection.
Page 442 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Using the Analog Monitors Line Color Signal Parameter Setting White Analog monitor 1 Pn006 = n.XX Analog monitor 2 Pn007 = n.XX Black (2 lines) – Parameter Description Monitor Signal Output Unit Remarks...
Page 443 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Using the Analog Monitors Parameter Description Monitor Signal Output Unit Remarks n.09 Speed Feedforward Rotary Ser- vomotor: 1 V/1,000 – Linear Ser- vomotor: 1 V/1,000 mm/s n.0A Torque Feedforward 1 V/100% rated –...
Page 444 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Using the Analog Monitors Analog Monitor 2 Offset Voltage Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn551 -10,000 to 0.1 V Immediately Setup 10,000 (applies to Speed Control, Position Control and Torque Control) Analog Monitor 1 Magnification...
Page 445 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Using the Analog Monitors Adjustment Example Offset Adjustment Gain Adjustment Analog monitor output voltage Analog monitor output voltage 1 [V] Gain adjustment Offset adjustment Motor speed Motor speed 1000 [min -1 ] Offset Adjustment Item...
Page 446 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Using the Analog Monitors Preparations Confirm the following condition before you adjust the analog monitor output: The parameters must not be write prohibited. Applicable Tools You can use the following tools to adjust analog monitor outputs. The function that is used is given for each tool.
Page 447 Sigma-7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms > Using the Analog Monitors Click the Zero Adjustment or Gain Adjustment Tab. Fig. 331: Adjust the Analog Monitor Output AXIS#00 | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 448 Sigma-7 Series SERVOPACKs Monitoring Monitoring Product Life > Items That You Can Monitor While watching the analog monitor, use the +1 and -1 Buttons to adjust the offset. There are two channels: CH1 and CH2. If necessary, click the down arrow on the Channel Box and select the channel.
Page 449 Sigma-7 Series SERVOPACKs Monitoring Monitoring Product Life > Items That You Can Monitor Monitor Item Description Built-in Fan Service Life Prediction The unused status of the SERVOPACK is treated as the 100% value. The value decreases each time the main circuit power supply is turned ON and each time the servo is turned OFF.
Page 450 Sigma-7 Series SERVOPACKs Monitoring Monitoring Product Life > Operating Procedure 10.5.2 Operating Procedure Use the following procedure to display the installation environment and service life predic- tion monitor dialog boxes. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
Page 451 Sigma-7 Series SERVOPACKs Monitoring Monitoring Product Life > Preventative Maintenance A value of 100% indicates that the SERVOPACK has not yet been used. The percentage decreases as the SERVOPACK is used and reaches 0% when it is time to replace the SERVOPACK. 10.5.3 Preventative Maintenance You can use the following functions for preventative maintenance.
Page 452 Sigma-7 Series SERVOPACKs Monitoring Alarm Tracing > Applicable Tools You must allocate the /PM signal to use it. Use Pn514 = n.  X (/PM (Preventative Maintenance Output) Signal Allocation) to allocate the signal to connector pins. Refer to the following section for details. Ä...
Page 453 Sigma-7 Series SERVOPACKs Monitoring Alarm Tracing > Applicable Tools Tool Function Operating Procedure Reference Panel Operator You cannot display alarm tracing data from the Panel Operator. Digital Operator You cannot display alarm tracing data from the Digital Operator. SigmaWin+ Alarm − Alarm &...
Page 454 Unit* External Encoder Cable* External encoder (Not provided by Yaskawa.) Fig. 334: Fully-Closed System - Rotary Servomotor The connected devices and cables depend on the type of external linear encoder that is used. | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 455 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control SERVOPACK Commissioning Procedure Refer to the following section for details on connections that are not shown above, such as connections to power supplies and peripheral devices. Ä Chap. 3.5 ‘Examples of Standard Connections between SERVO- PACKs and Peripheral Devices’...
Page 456 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Parameter and Object Settings for Fully-closed Loop Control > Overview Step Description Operation Required Parameter and Controlling Object Settings Device Check the external encoder. Set the parameters related to Pn002 = n.X – fullyclosed loop control and (External Encoder Items to Check move the machine with your...
Page 457 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Parameter and Object Settings for Fully-closed Loop Control > Control Block Diagram for Fully-Closed Loop Control Parameter and Setting Position Speed Torque Reference Object to Set Control Control Control Ä Chap. 11.4.4 ‘Setting Pn20A Number of external scale pitches ü...
Page 458 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Parameter and Object Settings for Fully-closed Loop Control > Setting the Motor Direction and the Machine Movement Direction You can use either an incremental or an absolute encoder. If you use an  1  (Use the absolute encoder as absolute encoder, set Pn002 to n.
Page 459 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Parameter and Object Settings for Fully-closed Loop Control > Setting the Number of External Encoder Scale Pitches Parameter Name Description When Ena- Classifica- bled tion n.2 Reserved parameter (Do not change.) n.3 External encoder moves in reverse direction for CCW motor rotation.
Page 460 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Parameter and Object Settings for Fully-closed Loop Control > Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Sig- nals Related Parameters Number of External Scale Pitches Setting Setting Unit Default Set- When Ena- Classifica- Range ting...
Page 461 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Parameter and Object Settings for Fully-closed Loop Control > Alarm Detection Settings Related Parameters Encoder Output Resolution Setting Setting Unit Default Set- When Ena- Classifica- Range ting bled tion Pn281 1 to 4,096 1 edge/pitch After restart Setup (applies to Position Control)
Page 462 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Parameter and Object Settings for Fully-closed Loop Control > Analog Monitor Signal Settings Pn52A (Multiplier per One Set the coefficient of the deviation between the motor and the external encoder per motor Fully-closed Rotation) rotation.
Page 463 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Monitoring an External Encoder > Related Parameters 11.4.10 Setting to Use an External Encoder for Speed Feedback For fully-closed loop control, you normally set a parameter to specify using the motor encoder speed (Pn22A = n.0). If you will use a Direct Drive Servomotor and a high-resolution external encoder, set the parameter to specify using the speed of the external encoder (Pn22A = n.1).
Page 464 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Monitoring an External Encoder > Block Diagrams Parameter Meaning When Enabled Classification Pn00E n.0 Do not use the external (default encoder monitor. setting) n.1 Use CCW as the forward direction. n.2 Reserved setting (Do not After startup Setup use.)
Page 465 Sigma-7 Series SERVOPACKs Fully-Closed Loop Control Monitoring an External Encoder > Block Diagrams Target position Multiplier (607Ah) Position [inc] [Pos unit] Position user unit Software position (2301h:0 / limit function 2301h:1) limit (607Dh) Proﬁle velocity Position Multiplier (6081h) demand Velocity [inc/ms] [Vel unit] internal...
Page 466 Sigma-7 Series SERVOPACKs Safety Functions Introduction to the Safety Functions > Safety Functions Safety Functions 12.1 Overview This chapter provides detailed information on the safety functions of the SERVOPACK. 12.2 Introduction to the Safety Functions 12.2.1 Safety Functions Safety functions are built into the SERVOPACK to reduce the risks associated with using the machine by protecting workers from the hazards of moving machine parts and other- wise increasing the safety of machine operation.
Page 467 Sigma-7 Series SERVOPACKs Safety Functions Hard Wire Base Block (HWBB and SBB) > Overview Refer to the following section for information on the safety function and safety parame- ters. Ä Chap. 1.7 ‘Compliance with UL Standards, EU Directives, and Other Safety Standards’ page 38 Products that display the TÜV mark on the nameplate have met the safety standards.
Page 468 Sigma-7 Series SERVOPACKs Safety Functions Hard Wire Base Block (HWBB and SBB) > Risk Assessment For safety function signal connections, the input signal is the 0-V common and the output signal is a source output. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for the safety func- tion are defined as follows: ON: The state in which the relay contacts are closed or the transistor is...
Page 469 Sigma-7 Series SERVOPACKs Safety Functions Hard Wire Base Block (HWBB and SBB) > Hard Wire Base Block (HWBB) State The Servomotor will move if an external force is applied to it (for example, gravity on a vertical axis). Implement measures to hold the Servomotor, such as installing a sep- arate mechanical brake.
Page 470 Sigma-7 Series SERVOPACKs Safety Functions Hard Wire Base Block (HWBB and SBB) > Recovery Method 12.3.4 Resetting the HWBB State Normally, after the Shutdown command is received and power is no longer supplied to the Servomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVOPACK will enter the HWBB state.
Page 471 Sigma-7 Series SERVOPACKs Safety Functions Hard Wire Base Block (HWBB and SBB) > HWBB Input Signal Specifications The following utility functions execute the Servo ON command (Enable Operation com- mand). Utility Function No. Function Name Fn002 Fn003 Origin Search Fn004 Jog Program Fn00E Autotune Motor Current Detection Signal Offset...
Page 472 Sigma-7 Series SERVOPACKs Safety Functions Hard Wire Base Block (HWBB and SBB) > /S-RDY (Servo Ready Output) Signal 8 ms max. /HWBB1 OFF (motor current ON (normal /HWBB2 shut-OFF request) operation) SERVOPACK Normal operating status HWBB state Status Fig. 346: HWBB Input Signal Specifications –...
Page 473 Sigma-7 Series SERVOPACKs Safety Functions Hard Wire Base Block (HWBB and SBB) > ALM (Servo Alarm) Signal /HWBB1 OFF (motor current ON (normal ON (normal /HWBB2 shut-OFF request) operation) operation) Enable Controlword (6040h) Shutdown Operation Operating SERVOPACK HWBB state BB state Status Status /S-RDY (Servo...
Page 474 Sigma-7 Series SERVOPACKs Safety Functions EDM1 (External Device Monitor) > EDM1 Output Signal Specifications 12.4 EDM1 (External Device Monitor) 12.4.1 Overview The EDM1 (External Device Monitor) signal is used to monitor failures in the HWBB. Con- nect the monitor signal as a feedback signal, e.g., to the Safety Unit. To meet performance level e (PLe) in EN ISO 13849-1 and SIL3 in IEC 61508, the EDM1 signal must be monitored by the host controller.
Page 475 Sigma-7 Series SERVOPACKs Safety Functions Applications Examples for Safety Functions > Failure Detection Method 12.5 Applications Examples for Safety Functions 12.5.1 Overview This section provides examples of using the safety functions. 12.5.2 Connection Example In the following example, a Safety Unit is used and the HWBB operates when the guard is opened.
Page 476 Sigma-7 Series SERVOPACKs Safety Functions Connecting a Safety Function Device 12.5.4 Procedure Request is received to open the guard. If the Servomotor is operating, a stop command is received from the host controller, the Servomotor stops, and the servo is turned OFF. The guard is opened.
Page 477 Sigma-7 Series SERVOPACKs Safety Functions Safety Module Safety Functions > Safety Base Block with Delay (SBB-D) Remove the Safety Jumper Connector from the connector for the safety function device (CN8). Enlarged View Hold the Safety Jumper Connector between your Safety Jumper ﬁngers and remove it.
Page 478 Sigma-7 Series SERVOPACKs Safety Functions Safety Module Safety Functions > Safe Position Monitor with Delay (SPM-D) OFF (Safety function Safety request execution requested.) input signal Monitored Velocity actual speed value (606Ch) Set time Deceleration Safe (HWBB) SBB-D activation status monitoring state Controlword Shutdown...
Page 479 Sigma-7 Series SERVOPACKs Safety Functions Safety Module Safety Functions > Safe Speed Limit with Delay (SLS-D) Operation Example for OFF (Safety function Safety request SPM-D execution requested.) input signal Monitored speed Velocity actual value Monitored travel distance (606Ch) Set time Deceleration Position SPM-D activation status...
Page 480 Sigma-7 Series SERVOPACKs Safety Functions Safety Module Safety Functions > Active Mode Function Operation Example for OFF (Safety function Safety request SLS-D execution requested.) input signal Monitored Velocity actual value speed (606Ch) Set time Deceleration Constant speed SLS-D activation status monitoring monitored.
Page 481 Sigma-7 Series SERVOPACKs Safety Functions Safety Module Safety Functions > Active Mode Function OFF (Safety function Safety request operation requested.) input signal Velocity actual Internal deceleration reference value (606Ch) Pn622 or Pn623 Pn624 Controlword Enable operation Enable operation Shutdown (6040h) Statusword Switch on Ready to...
Page 482 Sigma-7 Series SERVOPACKs Safety Functions Safety Module Safety Functions > Active Mode Function Operation by Operation Operation Mode Operation Mode When Stopped for the Active Mode Function Profile position Profile position operation is canceled and statusword (6041h) mode changes as given below. Bit 08 = 1: Active Mode Function operating.
Page 483 Sigma-7 Series SERVOPACKs Safety Functions Safety Module Safety Functions > Active Mode Function Recovery Procedure After detecting that bit 8 in statusword (6041h) is 1 (Active Mode Function oper- ating) or that bit 15 is 1 (safety function operating), set bit 8 in controlword (6040h) to 1 (stop axis according to halt option code (605Dh)).
Page 484 Markup Language file) is available for configuring the PROFINET IO-Controller and IO- Supervisor. The XML-based file contains general information about PROFINET communi- cation settings when setting up the SERVOPACK. The GSDML-file consists of two files: GSDML-V.-Yaskawa-SGD7S-AC0-yyyymmdd.xml GSDML-0111-0251-Yaskawa-SGD7S-AC0_N.bmp | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 485 Sigma-7 Series SERVOPACKs PROFINET Communication Drive Units (DU) and Drive Objects (DO) 13.3 Application and Communication Relationship (AR, CR) Every data exchange between an IO-Controller and an IO-Device is embedded into an application relationship (AR). These ARs are used to define communication relationships (CR) with different characteristics for the transfer of parameters, cyclic exchange of data and handling of alarms: Record Data CR for the acyclic parameter data exchanger...
Page 486 Sigma-7 Series SERVOPACKs PROFINET Communication Drive Units (DU) and Drive Objects (DO) PROFIdrive Device Controller P-Device Supervisor 1...n Drive Unit (DU) 1...n Drive Object (DO) Aggregation - consists out of Generalisation - is sub-class of Relationship - has a relation to Fig.
Page 487 Sigma-7 Series SERVOPACKs PROFINET Communication Drive Units (DU) and Drive Objects (DO) Alarm Queue Cyclic Data Acyclic Data Clock Exchange Exchange Synchronous Operation Signal Exception Transmit Transmit Write Read Master Clock setpoint actual parameter parameter sync information values values cyclically cyclically Alarm DO I/O...
Page 488 I&M 0 Data Content Size Description Comment Header 6 bytes Vendor ID 2 bytes PROFINET Vendor ID YASKAWA (0111h) Order ID 20 bytes - Serial number 16 bytes Serial number of the SGD7S-C0 SERVOPACK Hardware revision 2 bytes Revision of the hard-...
Page 489 Sigma-7 Series SERVOPACKs PROFINET Communication Identification and Maintenance Function (I&M) I&M 1 Data Content Size Description Header 6 bytes Function 32 bytes Description of the function or purpose of the module or device (Example: "Pressure sensor 7"). The string is padded to th maximum length. Location 22 bytes Description of the location (Example: "Pro-...
Page 490 Supported Telegrams The SERVOPACK supports PROFIdrive standard telegrams for speed mode and position mode. Further on, a YASKAWA manufacturer specific telegram can be selected. It is also possible to configure the cyclic communication. See the following table for details. Telegram...
Page 491 Sigma-7 Series SERVOPACKs PROFINET Communication Telegrams > Standard Speed Telegram (ST2) PZD 1 Controlword 1 (STW1) Statusword 1 (ZSW1) PZD 2 Speed Setpoint A Speed Actual Value A (NSOLL_A) (NIST_A) Related objects Object Index Pn No. Units, Scaling Info (hex) STW1 6040h ZSW1...
Page 492 Sigma-7 Series SERVOPACKs PROFINET Communication Telegrams > Standard Position Telegram (ST9) 13.6.4 Standard Position Telegram (ST7) Operating mode PNU 930 0002h (PROFIdrive position mode) (Program submode) 80FFh (Pole detection mode) Modes of Operation (6060h, -2 (PROFIdrive position mode) (Program sub- 6061h) mode) -1 (Pole detection mode)
Page 493 Sigma-7 Series SERVOPACKs PROFINET Communication Telegrams > YASKAWA Telegram (Telegram 100) PZD 9 MDI Deceleration (MDI_DEC) PZD 10 MDI Mode (MDI_MOD) Related objects Object Index Pn No. Units, Scaling Info (hex) STW1 6040h ZSW1 6041h STW2 2503h ZSW2 2504h XIST_A 6064h Pos.
Page 494 Sigma-7 Series SERVOPACKs PROFINET Communication Telegrams > YASKAWA Telegram (Telegram 100) PZD 4 Modes of Operation Modes of Operation Dis- play PZD 5 Target Position Position Actual Value (MDI_TARPOS) (XIST_A) PZD 6 PZD 7 Target Velocity Velocity Actual Value PZD 8...
Page 495 Sigma-7 Series SERVOPACKs PROFINET Communication Telegrams > Free Configurable Telegram (Telegram 999) Object Index Pn No. Units, Scaling Info (hex) Profile Acceler- 6083h Acc. unit Used for PROFI- ation drive position mode (MDI submode) and PROFIdrive velocity mode Profile Deceler- 6084h Acc.
Page 496 Sigma-7 Series SERVOPACKs PROFINET Communication Telegrams > Free Configurable Telegram (Telegram 999) Example Current telegram configuration: Standard telegram 1 (ST1) New telegram configuration: Free configurable telegram (with changed mapping) Sequence to change telegram configuration and mapping of the free configurable telegram: –...
Page 497 Sigma-7 Series SERVOPACKs PROFINET Communication IO Data Signals PZD 1 Controlword 1 (STW1) Statusword 1 (ZSW1) PZD 2 to PZD 16 Freely selectable Freely selectable 13.7 IO Data Signals The following table provides an overview of the values to be used for the free configu- rable telegram 999.
Page 498 Sigma-7 Series SERVOPACKs PROFINET Communication IO Data Signals Signal Significance Abbreviation TPZD / Data Normalization Interconnec- RPZD (**) Type (*) tion parameter Normalized (Not normal- ized) Velocity Actual Value TPZD DINT 606Ch Target Torque RPZD 6071h Torque Demand TPZD 6074h Torque Actual Value TPZD 6077h...
Page 499 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Device Control PROFIdrive Drive Profile 14.1 Device Control The device control of the SERVOPACK can be used to carry out all the motion functions in the corresponding modes. The state machine is controlled through the Controlword STW1 (6040h).
Page 500 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Device Control Related Objects Index (hex) 6040h Controlword 1 (STW1) RPZD – UINT 6041h Statusword 1 (ZSW1) TPZD – – UINT 605Ah Quick Stop Option Code 2 (Slow down on quick stop – ramp) 605Dh Halt Option Code 3 (Slow down on max.
Page 501 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Modes of Operation 14.2 Modes of Operation The SERVOPACK supports the following modes of operation: PROFIdrive Profile Position mode PROFIdrive Profile Velocity mode Profile Torque Mode Pole Detection mode Related Objects Index (hex) 6060h Modes of Operation RPZD 0 (no operation mode)
Page 502 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > Overview 14.3 PROFIdrive Position Mode 14.3.1 Overview The PROFIdrive position mode is used to start positioning to the target position with the profile velocity, the profile acceleration and the profile deceleration. The following figure shows the block diagram of the PROFIdrive position mode.
Page 503 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > Overview Extended State diagram of The following figure shows the state diagram of the Profile Position mode. This state dia- the Position Mode gram is only valid in state "S4: Operation" of the General State Diagram. Start Homing Procedure (Edge) S41: BASIC STATE: S4: Operation (ZSW1 bit 10, 13 = true)
Page 504 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > MDI Submode PROFIdrive Position This SERVOPACK supports both submodes “Manual Data Input” (MDI) and “Program”. Submodes “MDI” and “Program” DO IO Data SATZANW STW1 AKTSATZ XIST_A (task select) (start, stop) Motion programs Program control interface Program...
Page 505 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > MDI Submode The signal Acceleration defines the acceleration of the motion at the beginning of the path, while the signal Deceleration defines the deceleration at the end of the path (inde- pendent of the absolute motion direction).
Page 506 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > MDI Submode Index (hex) 606Ch Velocity Actual Value TPZD Vel. units DINT 6063h Position Actual Internal TPZD DINT Value 6064h Position Actual Value TPZD Pos. units DINT 6062h Position Demand Value TPZD Pos.
Page 507 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > Program Submode Index (hex) Min. Position Range 80000000h Pos. units DINT Limit Max. Position Range 7FFFFFFFh Pos. units DINT Limit 14.3.3 Program Submode The motion controller for Program submode consists out of the position closed loop con- trol, the path interpolation, the program interpreter and the program storage (see figure below).
Page 508 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > Program Submode Index (hex) 0 to Target Position Value Pos. units UDINT 2612h Traversing Block Profile Velocity 0 to Profile Velocity Value Vel. units UDINT 2613h Traversing Block Profile Acceleration 0 to Profile Acceleration Acc.
Page 509 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > Modulo Positioning Index (hex) 6067h Position Window Pos. units UINT 6068h Position Window Time UINT 6065h Following Error Window Pos. units UINT 6066h Following Window Timeout 60F4h Following Error Actual TPZD Pos.
Page 510 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Position Mode > Modulo Positioning This is where modulo positioning comes into its own. The term "modulo" is borrowed from mathematics: The modulo finds the rest after dividing two numbers. A simple example: (9 mod 4) is equal to 1, because if 9 is divided by 4, the remainder is 1.
Page 511 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Homing Function Target Position in Range (2401h): 0 to 3599 Actual Position in Range (2402h): 0 to 3599 Linear Applications (e.g. Linear Applications where movement is typically in one direction only may e.g. be per- Conveyor Belts) formed by Modulo Positioning functions: Always positive direction (2400h|00 = 2)
Page 512 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Homing Function Related Objects Index (hex) 6040h Controlword 1(STW1) RPZD UINT 6041h Statusword 1 (ZSW1) TPZD UINT 607Ch Home Offset Pos. units DINT 6098h Homing Method RPZD SINT 6099h Homing Speeds Speed during search for Vel.
Page 513 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Velocity Mode 14.5 PROFIdrive Velocity Mode In the PROFIdrive velocity mode, the speed is output in accordance with the profile accel- eration and profile deceleration, until it reaches the target velocity. The following figure shows the block diagram of the PROFIdrive velocity mode. 607Fh NSOLL_A (2505h) N2[0x4000 =...
Page 514 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile PROFIdrive Velocity Mode Index (hex) 6063h Position Actual Internal TPZD DINT Value 6064h Position Actual Value TPZD Pos. units DINT 607Fh Max. Profile Velocity Max. motor Vel. units UDINT speed 6083h Profile Acceleration RPZD Acc.
Page 515 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Torque Limits 14.6 Profile Torque Mode In the Profile Torque Mode, the torque is output up to the Target Torque according to the Torque Slope setting. The following figure shows the block diagram of the Profile Torque Mode. Torque Target Torque (6071h) Demand...
Page 516 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Digital Inputs and Outputs Torque control Torque 0x60E0 0x60E1 0x6072 Positive torque Negative torque Max torque limit value limit value Position Position Speed Torque Motor demand control control control value Fig. 369: Torque Limits Related Objects Index (hex)
Page 517 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Touch Probe Function 14.9 Touch Probe Function The SERVOPACK provides two fast touch probe inputs. The Touch Probe function allows the user to record the actual position of the connected motor at the time of a digital trigger event (e.g.
Page 518 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Touch Probe Function Touch Probe 1 Latch – Latch control object: 60B8h (bits 0 to 7) – Latch status object: 60B9h (bits 0 to 7) – The latched position is always stored in Touch Probe 1 Position Value (60BAh). –...
Page 519 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Fully-closed Loop Control 60B8h bit 0 (bit 8) 60B8h bit 4 (bit 12) Latching started. Latching started. 60B9h bit 0 (bit 8) 60B9h bit 1 (bit 9) 60BAh Latched position 1 Latched position 3 (60BCh) Probe input Fig.
Page 520 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Get/Set SERVOPACK Parameter Functionality Setting Parameters The basic setting procedure for the related parameters is given in the following table. Step Description Parameter Setting Set the speed feedback method to Fully-closed Control Selections use during fully-closed loop control. (Pn22A) Set the motor rotation direction.
Page 521 Sigma-7 Series SERVOPACKs PROFIdrive Drive Profile Get/Set SERVOPACK Parameter Functionality Related Objects Index (hex) 2102h Set Parameter - Parameter Identify FFFFh UINT 2103h Set Parameter - Parameter Value DINT | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 522 Sigma-7 Series SERVOPACKs Object Dictionary Object Dictionary List Object Dictionary 15.1 Overview This chapter provides tables of the objects that are supported by a PROFINET SERVO- PACK. Each object is described. 15.2 Object Dictionary List The following table lists the dictionary objects. Functional Object Name Index...
Page 523 Sigma-7 Series SERVOPACKs Object Dictionary Object Dictionary List Functional Object Name Index Index Refer to Classification (hex) (dec) (dec) Ä ‘Fault Situation Counter’ Fault Situation Counter page 536 Ä ‘Number List of Defined Param- Number List of Defined Parameter 980 to eter’...
Page 524 Sigma-7 Series SERVOPACKs Object Dictionary Object Dictionary List Functional Object Name Index Index Refer to Classification (hex) (dec) (dec) Ä ‘Actual Position in Range’ Actual Position in Range 2402h page 555 Ä ‘Traversing Block Selection (SAT- Traversing Block Selection (SAT- 2532h ZANW) ZANW)’...
Page 525 Sigma-7 Series SERVOPACKs Object Dictionary Object Dictionary List Functional Object Name Index Index Refer to Classification (hex) (dec) (dec) Ä ‘Position Actual Value’ Position Actual Value 6064h page 567 Ä ‘Following Error Window’ Following Error Window 6065h page 567 Following Error Time Out 6066h Ä...
Page 526 Sigma-7 Series SERVOPACKs Object Dictionary Object Dictionary List Functional Object Name Index Index Refer to Classification (hex) (dec) (dec) Ä ‘Touch Probe Status’ page 575 Touch Probe Status 60B9h Touch Probe 1 Position Value 60BAh Ä ‘Touch Probe 1 Position Value’ page 576 Ä...
Page 527 Drive Unit Identification Array UINT[5] Data Description Sub- Contents Value Comments index Manufacturer 0111h YASKAWA Vendor ID Drive Unit type 0251h In this area, the type (ID) of the SERVO- [Sigma-7 PACK is stored. 200 V] 0252h [Sigma-7 400 V] Version (Software) xxyy (decimal) 0201 ð...
Page 528 Sigma-7 Series SERVOPACKs Object Dictionary General Objects Drive Reset Reset of whole drive unit. Name Data Type Access PDO Map- Value Saving to (dec) ping EEPROM Drive Reset UINT 0 to 1 (default: 0) Data Description Parameter value Meaning Initial status (or status after a reset) Power-on reset (initiation) The reset is possible using the optional parameter PNU 972 in the following manner: The reset is initiated by write accessing PNU 972 = 1.
Page 529 Sigma-7 Series SERVOPACKs Object Dictionary General Objects Base Mode Parameter Description of the features of the Base Mode Parameter Access service. Access Service Identifica- tion Name Data Type Access PDO Map- Value Saving to (dec) ping EEPROM Base Mode Parameter Array UINT Access Service Identifica- tion...
Page 530: Table Of Contents
Array UINT Data Description Sub- Contents Value Comments index Manufacturer 0111h YASKAWA Vendor ID DO type 0000h Version (Software) xxyy (decimal) 0201 --> Version 2.1 Firmware date yyyy (decimal) 2019 --> Year 2019 (year) Firmware date (day/ ddmm (decimal) 1501 --> 15th of January...
Page 531 Sigma-7 Series SERVOPACKs Object Dictionary General Objects Load Device Parameter Set the whole DU parameter set to default values. Name Data Type Access PDO Map- Value Saving to (dec) ping EEPROM Load Device Parameter Set UINT 0 to 1 (default: 0) Data Description Parameter value Meaning...
Page 532 Sigma-7 Series SERVOPACKs Object Dictionary General Objects Name of Station This read only parameter contains the Name of Station for the PROFINET IO Network Interface, which is related to this Drive Unit. This is an additional service parallel to the standard PROFINET IO mechanism, which makes the Name of Station also accessible via PROFIdrive Parameter Access.
Page 533 Standard telegram 7: positioning interface (program submode) Standard telegram 9: positioning interface (program plus MDI submode) YASKAWA telegram 100 Free configurable telegram 999 If PNU 922 is changed to 0, the previous setting of P915[x], P916[x] is kept and the sig- nals configuration is allowed by setting P915[x], P916[x] with the desired signals.
Page 534 Sigma-7 Series SERVOPACKs Object Dictionary Communication Objects List of All Parameters for Using parameter 923 [Signal number], an assignment is made between the signal num- Signals bers and the associated manufacturer-specific parameter numbers. The array index is the number of the signal. Array indices 1 to 99 consist of the standard signals defined in the profile array indices 100 to 65535 containing the device-specific signals if they are defined.
Page 535 Sigma-7 Series SERVOPACKs Object Dictionary Communication Objects PROFIdrive Operating This is used to designate the operating mode. Depending on the type of device this Mode parameter is preset by the manufacturer. All numerical values with bit 15 (MSB) = 1 des- ignate manufacturer-specific modes.
Page 536 Sigma-7 Series SERVOPACKs Object Dictionary Communication Objects Fault Situation Counter Sum of all of the fault situations since the last reset. If this parameter is set to 0 (write), the complete fault buffer is deleted. Name Data Type Access PDO Map- Value Saving to (dec)
Page 537 Sigma-7 Series SERVOPACKs Object Dictionary Manufacturer Specific Objects 15.5 Manufacturer Specific Objects Get Parameter - Parameter The parameter number for Get Parameter Procedure. Identify Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 2100h Get Parameter - Parameter UINT UINT Identify...
Page 538 Sigma-7 Series SERVOPACKs Object Dictionary Manufacturer Specific Objects Set Parameter - Parameter The parameter number for Set Parameter Procedure. Identify Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 2102h Set Parameter - Parameter UINT UINT Identify (default: FFFFh) Setting Servo parameter.
Page 539 Sigma-7 Series SERVOPACKs Object Dictionary Manufacturer Specific Objects User Parameter Configura- tion Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 2300h User Parameter Configura- UDINT 0 to 1 tion (default: 1) Data Description Description Value Description User Unit Setting User Unit set- ting enable...
Page 540 Sigma-7 Series SERVOPACKs Object Dictionary Manufacturer Specific Objects Position User Unit Number of encoder counts for One user position unit. Position User Unit = (Numerator / Denominator) [inc]. (Default setting for Position User Unit: 1 [inc]) Name Data Type Access PDO Map- Value Saving to...
Page 541 Sigma-7 Series SERVOPACKs Object Dictionary Manufacturer Specific Objects Acceleration User Unit Number of encoder counts increments per s for One user acceleration unit Acceleration User Unit = (Numerator / Denominator) × 10,000 [inc/s²]. (Default setting for Acceleration User Unit: 10,000 [inc/s²]). Name Data Type Access...
Page 542 Sigma-7 Series SERVOPACKs Object Dictionary Manufacturer Specific Objects Max. Motor Torque This object specifies the maximum torque of the motor based on the value read from the driver during initialization. Name Data Type Access PDO Mapping Value Saving to Units (hex) EEPROM 2314h...
Page 543 Sigma-7 Series SERVOPACKs Object Dictionary Device Control 15.6 Device Control Error Code This object provides the alarm/warning code of the last error which occurred in device. Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 603Fh Error Code UINT –...
Page 544 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Bit No PROFIdrive Pro- Explanation file Data Descrip- Status Description tion Enable Operation 1 - Enable To be set for transition S3 ð S4. Change Operation to servo drive state “SERVO_ON”. 0 - Disable The ramp down phase is determined on Operation setting of Sigma-7 parameter Pn001.0.
Page 545 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Command Bit of the PROFIdrive Profile Controlword (6040h) Bit 10 Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Disable Operation – Enable Operation – Fault Acknowledgement (Reset) 0 ð 1 – –...
Page 546 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Profile Torque Mode Bit No Value Definition Reserved (Always 0) Reserved (Always 0) Reserved (Always 0) The motion shall be executed or continued Axis shall be stopped according to the Halt Option Code (605Dh) Not supported (Always 0) Not supported (Always 0) Statusword (ZSW1)
Page 547 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Bit No PROFIdrive Profile Explanation Data Description 11 to Operation mode specific Refer to Notes below Safety Active It becomes 1 (active) when a motor is stopped by the hardwired base block function (HWBB) or Safety function is active by Safety Option Card.
Page 548 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Positive torque limit value Negative torque limit value STW1 bit 13 = 0 STW1 bit 13 = 1 STW1 bit 12 = 0 STW1 bit 12 = 1 Pn402 (Pn482) Pn402 (Pn482) Pn403 (Pn483) Pn403 (Pn483) Positive Torque Pn404...
Page 549 Sigma-7 Series SERVOPACKs Object Dictionary Device Control PROFIdrive Profile velocity mode Bit No Value Definition Speed error out of tolerance range Speed error within tolerance range Details: The difference between the "Target Velocity" (60FFh) and the "Velocity Actual Value" (606Ch) is within the "Velocity Window" (606Dh) longer than the "Velocity Window Time"...
Page 550 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Quick Stop Option Code The parameter quick stop option code determines what action should be taken if the Quick Stop Function is executed by controlword 1 (STW1). It determines also the quick stop function in case of SS1 or SS2 Safety requested event, but this is not available in case of SERVOPACK Active Mode Function is enabled.
Page 551 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Halt Option Code In PROFIdrive velocity mode the halt option code determines the action during reset ramp generator bit 4 in Controlword. In PROFIdrive position mode the halt option code determines the action during reject traversing task bit 4 in Controlword. Name Data Type Access...
Page 552 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Modes of Operation The parameter modes of operation switches the actually chosen operation mode. Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 6060h Modes of Operation -3 to 4 (default: 0) Data Description Value...
Page 553 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Modes of Operation Dis- The Modes of Operation Display shows the current mode of operation. The meaning of play the returned value corresponds to that of the Modes of Operation option code (6060h). Name Data Type Access...
Page 554 Sigma-7 Series SERVOPACKs Object Dictionary Device Control Statusword 2 (ZSW2) The Statusword 2 indicates the current state of the drive. No bits are latched. The Status- word 2 consists of bits for: the current state of the drive, the operating state of the mode and manufacturer specific options.
Page 555 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode 15.7 PROFIdrive Position Mode Position Range Limit Des- ignation Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 2400h Position Range Limit Desig- UINT 0 to 3 nation (default: 0) Data Description Value Position Range limit designation for:...
Page 556 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode Traversing Block Selec- Traversing block selection. tion (SATZANW) Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 2532h Traversing Block Selection UINT RPZD (SATZANW) Data Description Bits Description 0 to 9 Number of the motion record in the program storage intended to start (value range: 0 to 1023).
Page 557 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode MDI Acceleration The MDI acceleration is the normalized value to parameter 6083h (Profile Acceleration). (MDI_ACC) The interpretation of this value is: FFFFh => 100% of 60C5h (Max. Acceleration). Name Data Type Access PDO Map- Value Saving to...
Page 558 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode Traversing Block Task Sets the influence of the task for the traversing block. Mode Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 2610h Traversing Block Task Mode Array 0 to UDINT[64] 1(default: 0)
Page 559 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode Traversing Block Profile The profile acceleration for the traversing block is given in user defined acceleration units. Acceleration Name Data Type Access PDO Map- Value Saving to Units (hex) ping EEPROM 2613h Traversing Array Acc.
Page 560 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode Position Range Limit This object shall indicate the configured maximal and minimal position range limits. It shall limit the numerical range of the input value. On reaching or exceeding these limits, the input value shall wrap automatically to the other end of the range. Wrap-around of the input value may be prevented by setting software position limits as defined in Software Position Limit object (607Dh).
Page 561 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode Software Position Limit Software Position Limit contains the sub-parameters 'Min. Position Limit' and 'Max. Posi- tion Limit'. These parameters define the absolute position limits for the position demand value and the position actual value. Every new target position must be checked against these limits.
Page 562 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode Profile Velocity The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion. The profile velocity is given in user defined speed units.
Page 563 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Position Mode Max. Acceleration This object indicates the configured maximal acceleration. It is used to limit the accelera- tion to an acceptable value in order to prevent the motor and the moved mechanics from being destroyed.
Page 564 Sigma-7 Series SERVOPACKs Object Dictionary Homing Function 15.8 Homing Function Home Offset The home offset object is the difference between the zero position for the application and the machine home position (found during homing), it is measured in position units. Name Data Type Access...
Page 565 Sigma-7 Series SERVOPACKs Object Dictionary Homing Function Value Definition Description 3 to 4 Homing on the positive home switch and index pulse Index pulse Home switch 5 to 6 Homing on the negative home switch and index pulse Index pulse Home switch 7 to 16 Other method (Skipped Not supported...
Page 566 Sigma-7 Series SERVOPACKs Object Dictionary Homing Function Value Definition Description 33 to Homing on index pulse Index pulse Homing on the current Supported position 36 to Reserved No effect Note: The index pulse is recognized as the encoder zero signal (phase-C). Homing Speeds This entry in the object dictionary defines the speeds used during homing and is given in user velocity units.
Page 567 Sigma-7 Series SERVOPACKs Object Dictionary Position Control Function 15.9 Position Control Function Position Demand Value This object provides the demanded position value in user position units. Name Data Type Access PDO Map- Value Saving to Units (hex) ping EEPROM 6062h Position DINT TPZD...
Page 568 Sigma-7 Series SERVOPACKs Object Dictionary Position Control Function Position Window The position window defines a symmetrical range of accepted positions relatively to the target position. If the actual value of the position encoder is within the position window, this target position is regarded as reached. Name Data Type Access...
Page 569 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Velocity Mode 15.10 PROFIdrive Velocity Mode Speed Setpoint A The speed setpoint A is the normalized value to parameter 60FFh (Target Velocity). (NSOLL_A) Name Data Type Access PDO Map- Value Saving to Units (hex) ping EEPROM 2505h...
Page 570 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Velocity Mode Velocity Demand Value The output value of the trajectory generator may be corrected by the output value of the position control function. It is then provided as a demand value for the velocity controller and given in the velocity units.
Page 571 Sigma-7 Series SERVOPACKs Object Dictionary PROFIdrive Velocity Mode Target Velocity The target velocity is the input for the trajectory generator and the value is given in velocity units. Name Data Type Access PDO Map- Value Saving to Units (hex) ping EEPROM 60FFh Target Velocity...
Page 572 Sigma-7 Series SERVOPACKs Object Dictionary Profile Torque Mode 15.11 Profile Torque Mode Target Torque This parameter is the input value for the torque controller in Profile Torque Mode. Name Data Type Access PDO Map- Value Saving to Units (hex) ping EEPROM 6071h Target Torque...
Page 573 Sigma-7 Series SERVOPACKs Object Dictionary Profile Torque Mode Torque Slope This parameter describes the rate of change of torque. Name Data Type Access PDO Map- Value Saving to Units (hex) ping EEPROM 6087h Torque Slope UDINT RPZD 0.1%/s* 0 to (2 –1) (default: 0) * The rated motor torque is 100%.
Page 574 Sigma-7 Series SERVOPACKs Object Dictionary Touch Probe Function 15.12 Touch Probe Function Touch Probe Function This object indicates the configured function of the touch probe. Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 60B8h Touch Probe Function UINT RPZD UINT...
Page 575 Sigma-7 Series SERVOPACKs Object Dictionary Touch Probe Function Touch Probe Status This object provides the status of the touch probe. Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 60B9h Touch Probe Status UINT TPZD UINT (default: 0) Bit 0 to 7 for touch probe 1, bit 8 to 15 for touch probe 2.
Page 576 Sigma-7 Series SERVOPACKs Object Dictionary Touch Probe Function Touch Probe 1 Position This object provides the position value of the touch probe 1. The value is given in user- Value defined position units. Name Data Type Access PDO Map- Value Saving to Units (hex)
Page 577 Sigma-7 Series SERVOPACKs Object Dictionary Digital Inputs/Outputs 15.13 Digital Inputs/Outputs Digital Inputs This index defines simple digital inputs for drives. Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 2521h Digital Inputs UINT TPZD Bits of Digital Inputs (2521h) Bits Data Descrip- Explanation...
Page 578: Manufacturer
Sigma-7 Series SERVOPACKs Object Dictionary Digital Inputs/Outputs Digital Outputs This index defines simple digital outputs for drives. Name Data Type Access PDO Map- Value Saving to (hex) ping EEPROM 2522h Digital Outputs UINT RPZD UINT (default: 0) Bits of Digital Outputs (2522h) Bits Data Descrip- Explanation...
Page 579 Sigma-7 Series SERVOPACKs Maintenance Inspections and Part Replacement > Guidelines for Part Replacement Maintenance 16.1 Overview This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. 16.2 Inspections and Part Replacement 16.2.1 Overview This section describes inspections and part replacement for SERVOPACKs. 16.2.2 Inspections Perform the inspections given in the following table at least once every year for the SER-...
Page 580 20°C When any standard replacement period is close to expiring, contact your YASKAWA rep- resentative. After an examination of the part in question, we will determine whether the part should be replaced. The parameters of any SERVOPACKs that are sent to YASKAWA for part replacement are reset to the factory settings before they are returned to you.
Page 581 Sigma-7 Series SERVOPACKs Maintenance Inspections and Part Replacement > Replacing the Battery Control power supply Normal status Alarm 5 s max. Battery voltage When displaying an alarm is speciﬁed: monitored Pn008 = n.†††0 When displaying a warning is speciﬁed: Battery voltage monitored Pn008 = n.†††1 Fig.
Page 582 Sigma-7 Series SERVOPACKs Maintenance PROFINET Alarm Mechanism > PROFINET Alarm Structure Remove the old battery and mount a new battery. Absolute Encoder Cable SERVOPACK connector Mount a lithium battery. Battery Case Lithium battery (JUSP-BA01-E) (JZSP-BA01) Fig. 377: Encoder Cable with a Battery Case - Mount a New Battery Close the cover of the Battery Case.
Page 583 Sigma-7 Series SERVOPACKs Maintenance PROFINET Alarm Mechanism > PROFINET Alarm Structure A PROFINET Alarm Notification Protocol Data Unit (PDU) is made of a generic diag- nosis header followed by a variable number of diagnosis blocks. The header specifies the submodule associated with the diagnosis and the type of the diagnosis blocks. When a fault or alarm situation occurs in the drive, the PROFINET communication inter- face will send an alarm notification (structure see table below), which the master station has to acknowledge.
Page 584 Sigma-7 Series SERVOPACKs Maintenance PROFINET Alarm Mechanism > Fault Buffer Mechanism Fault classes Alarm Notification PDU mechanism When warning situation has changed Alarm Application Service Element (ASE) AlarmType = Diagnosis Warning mechanism ChannelErrorType Mapping onto Channel PROFIdrive ChannelProperties.Specifier Diagnosis diagnosis Data ChannelProperties.Maintenance objects...
Page 585 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Overview PNU 947 Sub- Fault number index 1C90 1D00 Actual xxxx fault situation 1A20 1410 yyyy Fault situation n - 1 Fault max. 8 x 8 entries, situation last unacknowledged fault situation = n n - 7 Fig.
Page 586 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > List of Alarms Statusword (6041h) Bit 3 (fault) in the statusword will change to 1. (Bit 3 is 0 during normal operation.) Error Code (603Fh) A current alarm code is stored in object error code (603Fh). Example: 1A20h Emergency message The IO-Controller is notified of any alarm that occurs.
Page 587 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > List of Alarms Alarm Code Alarm Name Alarm Meaning Servomotor Stop- Alarm ping Method Reset Pos- sible? A.A12 Abnormal Communication Abnormal communication transition Fault Reaction (1A12h) Transition to Link Down or Controller in Stop Option Code (6085h) mode during Operation Enable state.
Page 588 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > List of Alarms 16.4.2.3 List of the SERVOPACK Alarms The following alarm table gives the alarm name, alarm meaning, alarm stopping method, and alarm reset possibility in order of the alarm codes. Servomotor Stopping Refer to the following section for information on the stopping method for alarms.
Page 589 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > List of Alarms Alarm Code Alarm Name Alarm Meaning Servomotor Stop- Alarm ping Method Reset Pos- sible? A.080 Linear Encoder Pitch Setting The setting of Pn282 (Linear Gr.1 (1080h) Error Encoder Pitch) has not been changed from the default setting.
Page 590 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > List of Alarms Alarm Code Alarm Name Alarm Meaning Servomotor Stop- Alarm ping Method Reset Pos- sible? A.720 Continuous Overload The Servomotor was operating con- Gr.1 (1720h) tinuously under a torque that exceeded the rating. A.730 Dynamic Brake Overload When the dynamic brake was...
Page 591 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > List of Alarms Alarm Code Alarm Name Alarm Meaning Servomotor Stop- Alarm ping Method Reset Pos- sible? A.8A1 External Encoder Module An error occurred in the Serial Con- Gr.1 (18A1h) Error verter Unit. A.8A2 External Incremental An error occurred in the external...
Page 592 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > List of Alarms Alarm Code Alarm Name Alarm Meaning Servomotor Stop- Alarm ping Method Reset Pos- sible? A.C53 Out of Range of Motion for The travel distance exceeded the Gr.1 (1C53h) Polarity Detection setting of Pn48E (Polarity Detection Range).
Page 593 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > List of Alarms Alarm Code Alarm Name Alarm Meaning Servomotor Stop- Alarm ping Method Reset Pos- sible? A.d10 Motor-Load Position Devia- There was too much position devia- Gr.2 (1d10h) tion Overflow tion between the motor and load during fully-closed loop control.
Page 594 16.4.3.1 Overview The causes of and corrections for the alarms are given in the following tables. Contact your YASKAWA representative if you cannot solve a problem with the correction given in the tables. 16.4.3.2 Troubleshooting of the PROFINET Module Alarms...
Page 595 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction If after several power cycles the problem still exists, replace the PROFINET SERVO- PACK module. A.A47 Parameter The loading of SERVOPACK infor- Check the parameter Correct the parameter (1A47h) Loading Error...
Page 596 Troubleshooting of the SERVOPACK 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. | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 597 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 6.2.6 A.020 Parameter The power supply Measure the power Set the power supply (1020h) Checksum Error voltage suddenly supply voltage. voltage within the ‘Initializing SER- (There is an...
Page 598 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference The power supply was Check the timing of The SERVOPACK – shut OFF while setting shutting OFF the may be faulty. a utility function. power supply.
Page 599 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 8.7 A.042 Parameter The speed of program Check to see if the Increase the setting (1042h) Combination jogging went below detection condi- of Pn533 or Pn585.
Page 600 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 6.6 A.080 Linear Encoder The setting of Pn282 Check the setting of Correct the setting of (1080h) Pitch Setting (Linear Encoder Pitch) Pn282.
Page 601 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference The regenerative pro- Check the regenera- Recheck the oper- cessing capacity was tive load ratio in the ating conditions and exceeded. SigmaWin+ Motion load.
Page 602 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference There is a short-circuit Check for short-cir- The SERVOPACK or ground fault inside cuits across the Ser- may be faulty. the SERVOPACK. vomotor connection Replace the SERVO- terminals U, V, and...
Page 603 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 6.18 Pn600 (Regenerative Check to see if an Connect an External Resistor Capacity) is External Regenera- Regenerative ‘Setting the set to a value other tive Resistor is con- Resistor, or if a Regenerative...
Page 604 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 6.18 The setting of Pn603 Check to see if a Correct the setting of (Regenerative Resist- Regenerative Pn603. ‘Setting the ance) is smaller than Resistor is con- Regenerative...
Page 605 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.400 Overvoltage The power supply Measure the power Set the AC/DC – (1400h) (Detected in the voltage exceeded the supply voltage. power supply voltage main circuit specified range.
Page 606 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference The SERVOPACK – Replace the SERVO- – fuse is blown out. PACK and connect a reactor to the DC Reactor terminals 1 and 2) on the SERVOPACK.
Page 607 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 7.12 The vibration detec- Check that the vibra- Set a suitable vibra- tion level (Pn312 or tion detection level tion detection level ‘Initializing the Pn384) is not suitable.
Page 608 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A failure occurred in – The SERVOPACK – the SERVOPACK. may be faulty. Replace the SERVO- PACK. A.730 Dynamic Brake The Servomotor was Check the operation Implement measures –...
Page 609 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference There was an exces- Use the accumulated Reconsider the load – sive load or operation load ratio to check and operating condi- was performed that the load during oper- tions.
Page 610 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.7A3 Internal Temper- A failure occurred in – The SERVOPACK – (17A3h) ature Sensor the SERVOPACK. may be faulty. Error (An error Replace the SERVO- occurred in the PACK.
Page 611 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 6.16 A.820 Encoder A failure occurred in – When Using an (1820h) Checksum the encoder. Absolute ‘Resetting the Alarm (Detected Encoder Absolute at the encoder.)
Page 612 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference An error occurred in – The linear encoder is – reading data from the not mounted within linear encoder. an appropriate toler- ance.
Page 613 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A failure occurred in – Turn the power – the SERVOPACK. supply to the SER- VOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty.
Page 614 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A failure occurred in – Turn the power – the Serial Converter supply to the SER- Unit. VOPACK OFF and ON again. If the alarm still occurs, the Serial Converter Unit may be faulty.
Page 615 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.890 Encoder Scale A failure occurred in – The linear encoder – (1890h) Error the linear encoder. may be faulty. Replace the linear encoder.
Page 616 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.bF0 System Alarm 0 A failure occurred in – Turn the power – (1bF0h) the SERVOPACK. supply to the SER- VOPACK OFF and ON again.
Page 617 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.bF7 System Alarm 7 A failure occurred in – Turn the power – (1bF7h) the SERVOPACK. supply to the SER- VOPACK OFF and ON again.
Page 618 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 6.8 The count-up direction Check the setting of Change the setting of the linear encoder Pn080 = n.X of Pn080 = ‘Selecting the does not match the (Motor Phase...
Page 619 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference There is noise on the Check to make sure Implement appro- – scale signal. that the frame priate countermeas- grounds of the Serial ures against noise Converter Unit and for the Linear...
Page 620 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference The linear encoder Check the linear If the linear encoder – resolution is too low. encoder scale pitch scale pitch is 100 μm to see if it is within or higher, the SER- 100 μm.
Page 621 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.C80 Encoder Clear A failure occurred in – Turn the power – (1C80h) Error or Multi- the encoder. supply to the SER- turn Limit Set- VOPACK OFF and ting Error...
Page 622 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference Ä Chap. 5.2.3 A.C91 Encoder Com- Noise entered on the Check the condition Check the Encoder (1C91h) munications signal lines because of the Encoder Cable Cable to see if it is ‘Grounding’...
Page 623 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A failure occurred in – Turn the power – the SERVOPACK. supply to the SER- VOPACK OFF and ON again. If the alarm still occurs, the SERVOPACK may be faulty.
Page 624 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A failure occurred in – Turn the power – the SERVOPACK. supply to the SER- VOPACK OFF and ON again. If the alarm still occurs, the SERVOPACK may be faulty.
Page 625 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.CF2 Timer Stopped Noise entered the – Correct the wiring – (1CF2h) Error in Feed- cable between the around the Serial back Option Serial Converter Unit Converter Unit, e.g., Module Com-...
Page 626 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.d02 Position Devia- If position deviation – Optimize the setting (1d02h) tion Overflow remains in the devia- of Pn520. Or, set Alarm for Speed tion counter, the set- Pn529 or Pn584 to Limit at Servo...
Page 627 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A failure occurred in – Replace the SERVO- the SERVOPACK. PACK. A.E71 Safety Option There is a faulty con- Check the connec- Correctly connect the –...
Page 628 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference A.Eb1 Safety Function The delay between Measure the time The output signal cir- – (1Eb1h) Signal Input activation of the / delay between the / cuits or devices for / Timing Error HWBB1 and /HWBB2...
Page 629 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Troubleshooting Alarms Alarm Code Alarm Name Possible Cause Confirmation Correction Reference System Alarm A failure occurred in – Turn the power – FL-1 the SERVOPACK. supply to the SER- System Alarm FL-2 VOPACK OFF and ON again.
Page 630 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Displaying the Alarm History *3. The SERVOPACK will fail if the External Regenerative Resistor or Regenerative Resistor Unit is connected while the jumper is connected between the B2 and B3 termi- nals. *4. These alarms are not stored in the alarm history. They are only displayed on the panel display.
Page 631 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Displaying the Alarm History Operating Procedure Use the following procedure to display the alarm history. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Display Alarm in the Menu Dialog Box. The Alarm Display Dialog Box will be displayed.
Page 632 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Clearing the Alarm History For 24-hour, 365-day operation, measurements are possible for approximately 13 years. This concludes the procedure to display the alarm history. 16.4.6 Clearing the Alarm History You can clear the alarm history that is recorded in the SERVOPACK. The alarm history is not cleared when alarms are reset or when the SERVOPACK main circuit power is turned OFF.
Page 633 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Resetting Alarms Detected in Option Modules Click the Clear Button. Fig. 384: Alarm Display - Clear Alarm History ð The alarm history will be cleared. This concludes the procedure to reset the alarm history. 16.4.7 Resetting Alarms Detected in Option Modules If any Option Modules are attached to the SERVOPACK, the SERVOPACK detects the...
Page 634 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Resetting Alarms Detected in Option Modules – This operation is the only way to reset alarms for Option Modules. The alarms are not reset when you reset other alarms or when you turn OFF the power supply to the SERVOPACK. –...
Page 635 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Resetting Alarms Detected in Option Modules Select the Clear Check Box for the Option Modules from which to clear alarms and then click the Execute Button. Fig. 385: Reset Option Module Configuration Error AXIS#00 Click the OK Button.
Page 636 Sigma-7 Series SERVOPACKs Maintenance Alarm Displays > Resetting Motor Type Alarms Click the OK Button. Fig. 387: Reset Option Module Configuration Error - Caution - Clearing Detection Results - OK Button Step 2 Turn the power supply to the SERVOPACK OFF and ON again. This concludes the procedure to reset alarms detected in Option Modules.
Page 637 Sigma-7 Series SERVOPACKs Maintenance Warning Displays > General Tool Function Reference Digital Operator Fn021 & Σ-7-Series Digital Oper- ator Operating Manual (Manual No.: SIEP S800001 33) Ä ‘Operating Procedure’ SigmaWin+ Alarm − Reset Motor Type Alarm page 637 Operating Procedure Use the following procedure to reset Motor Type alarm.
Page 638 Sigma-7 Series SERVOPACKs Maintenance Warning Displays > List of Warnings The next section provides a list of warnings and the causes of and corrections for warn- ings. 16.5.2 List of Warnings 16.5.2.1 Overview The object Error Code (603Fh) provides the error code of the last alarm/ warning which occurred in the drive device.
Page 639 Sigma-7 Series SERVOPACKs Maintenance Warning Displays > List of Warnings Warning Code Warning Name Meaning A.920 (1920h) Regenerative Overload This warning occurs before an A.320 alarm (Regenerative Overload) occurs. If the warning is ignored and operation is continued, an alarm may occur.
Page 640 16.5.3.1 Overview 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. 16.5.3.2 Troubleshooting of the PROFINET Module Warnings...
Page 641 Sigma-7 Series SERVOPACKs Maintenance Warning Displays > Troubleshooting Warnings Warning Warning Name Possible Cause Confirmation Correction Reference Code A.901 Position Devia- The position deviation – Optimize the setting – (1901h) tion Overflow when the servo was of Pn528 (Position Alarm at Servo turned ON exceeded Deviation Overflow the percentage set...
Page 642 Sigma-7 Series SERVOPACKs Maintenance Warning Displays > Troubleshooting Warnings Warning Warning Name Possible Cause Confirmation Correction Reference Code Ä Chap. 4.6 A.912 Internal Temper- The surrounding tem- Check the sur- Decrease the sur- (1912h) ature Warning 1 perature is too high. rounding tempera- rounding tempera- ‘Monitoring the...
Page 643 Sigma-7 Series SERVOPACKs Maintenance Warning Displays > Troubleshooting Warnings Warning Warning Name Possible Cause Confirmation Correction Reference Code Ä Chap. 4.3 The SERVOPACK Check the SERVO- Install the SERVO- installation orientation PACK installation PACK according to ‘Mounting Types is not correct or there conditions.
Page 644 Sigma-7 Series SERVOPACKs Maintenance Warning Displays > Troubleshooting Warnings Warning Warning Name Possible Cause Confirmation Correction Reference Code A.923 SERVOPACK The fan inside the Check for foreign Remove foreign – (1923h) Built-in Fan SERVOPACK matter inside the matter from the SER- Stopped stopped.
Page 645 Sigma-7 Series SERVOPACKs Maintenance Warning Displays > Troubleshooting Warnings Warning Warning Name Possible Cause Confirmation Correction Reference Code Ä Chap. 9.12 – Set Pn423 to n.1 (Do not ‘Speed Ripple detect A.942 Compensation’ alarms). However, page 380 changing the setting may increase the speed ripple.
Page 646 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Warning Warning Name Possible Cause Confirmation Correction Reference Code Ä Chap. 6.11.5 A.9A0 Overtravel Overtravel was Check the status of Even if an overtravel (19A0h) (Overtravel detected while the the overtravel signals signal is not shown...
Page 647 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference The wiring for the Ser- Check the wiring con- Turn OFF the power – vomotor Main Circuit ditions. supply to the servo Cables or Encoder system.
Page 648 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference Ä Chap. 10.3.3 ‘I/O The safety input sig- Check the /HWBB1 Turn ON the /HWBB1 nals (/HWBB1 or / and /HWBB2 input and /HWBB2 input Signal Monitor’...
Page 649 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference Ä Chap. 6.8 The count-up direction Check the directions. Change the setting of of the linear encoder Pn080 = n.X ‘Selecting the Phase does not match the (Motor Phase Selec-...
Page 650 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference The dynamic brake Check the moment of Turn OFF the power − resistor is discon- inertia, motor speed, supply to the servo nected.
Page 651 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference There is a vibration Turn OFF the power Consult with the – source at the driven supply to the servo machine manufac- machine.
Page 652 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference The Encoder Cable Turn OFF the power Correct the cable – was subjected to supply to the servo layout so that no excessive noise inter- system.
Page 653 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference The setting of Pn102 Check the setting of Set Pn102 to an – (Position Loop Gain) Pn102. The default appropriate value. is too high.
Page 654 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference Noise interference Turn OFF the power Rotary Servomo- – occurred because the supply to the servo tors: The Encoder Encoder Cable is too system.
Page 655 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference The encoder was sub- Turn OFF the power Reduce machine – jected to excessive supply to the servo vibration. Improve the vibration or shock.
Page 656 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference The P-OT/N-OT (For- Check for fluctuation Eliminate fluctuation – ward Drive Prohibit or in the external power from the external Reverse Drive Pro- supply (+24 V) voltage power supply (+24 V)
Page 657 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference Noise interference Turn OFF the power Rotary Servomo- – occurred because the supply to the servo tors: The Encoder Encoder Cable is too system.
Page 658 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference The encoder was sub- Turn OFF the power Reduce machine – jected to excessive supply to the servo vibration. Improve the vibration or shock.
Page 659 Sigma-7 Series SERVOPACKs Maintenance Troubleshooting Based on the Operation and Conditions of the Servomotor Problem Possible Cause Confirmation Correction Reference There is an overload Check the load status If the Servomotor is – on the Servomotor. with a monitor. overloaded, reduce the load or replace the Servo Drive with a SERVOPACK and...
Page 660 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > Interpreting the Parameter Lists Parameter and Object Lists 17.1 Overview This chapter provides information on parameters and objects. 17.2 List of Parameters 17.2.1 Interpreting the Parameter Lists Param- Size Name Setting Setting...
Page 661 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters If there are differences in the parameters for Rotary Servomotor and Linear Servomotor, information is provided for both. – Top row: For Rotary Servomotors – Bottom row: For Linear Servomotors n.X...
Page 662 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Rotation Direction Selection Reference Movement Direction Selection Use CW as the forward direction. (Reverse Rota- tion Mode) Use the direction in which the linear encoder counts down as the forward direction.
Page 663 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Main Circuit Power Supply AC/DC Input Selection Reference Ä Chap. 6.3 Input AC power as the main circuit power supply using the L1, L2, and L3 terminals (do not use ‘Power Supply shared converter).
Page 664 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X External Encoder Usage Applicable Reference Motors Ä Chap. 11.4.3 Do not use an external encoder. Rotary ‘Setting the The external encoder moves in the Motor Direction forward direction for CCW motor rota- and the tion.
Page 665 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.XX Analog Monitor 1 Signal Selection Torque feedforward (1 V/100% rated torque) Force feedforward (1 V/100% rated force) Active gain (1st gain: 1 V, 2nd gain: 2 V) Completion of position reference distribution (completed: 5 V, not completed: 0 V) External encoder speed (1 V/1,000 min...
Page 666 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.XX Analog Monitor 2 Signal Selection Position reference speed (1 V/1,000 mm/s) Reserved setting (Do not use.) Load-motor position deviation (0.01 V/reference unit) Positioning completion (positioning completed: 5 V, positioning not completed: 0 V) Speed feedforward (1 V/1,000 min Speed feedforward (1 V/1,000 mm/s)
Page 667 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Function Selection for Undervoltage Reference Ä Chap. 7.4 Do not detect undervoltage. ‘SEMI F47 Detect undervoltage warning and limit torque at Function’ host controller. page 209 Detect undervoltage warning and limit torque with Pn424 and Pn425 (i.e., only in the SERVOPACK).
Page 668 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn00A Application 0000h to – 0001h After Setup Function...
Page 669 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn00B Application 0000h to – 0000h After Setup Function...
Page 670 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Function Selection for Test without a Motor Applicable Motors Disable tests without a motor. Enable tests without a motor. n.X Encoder Resolution for Tests without a Motor Applicable Motors Use 13 bits.
Page 671 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn00F Application 0000h to – 0000h After Setup –...
Page 672 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Reserved parameter (Do not change.) n.X Reserved parameter (Do not change.) Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled...
Page 673 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn081 Application 0000h to – 0000h After Setup Ä...
Page 674 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn102 Position Loop 10 to 0.1/s Immedi- Tuning Ä...
Page 675 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn109 Feedforward 0 to 100 Immedi- Tuning Ä...
Page 676 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Speed Loop Control Method When Ena- Reference bled Ä Chap. 9.14 PI control After Restart ‘Manual Tuning’ I-P control page 405 Reserved settings (Do not use.) n.X...
Page 677 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn10F Mode 0 to 1 refer- Immedi- Tuning Ä...
Page 678 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn123 Friction Com- 0 to 100 Immedi- Tuning Ä...
Page 679 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn135 Gain 0 to 1 ms Immedi- Tuning Ä...
Page 680 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Reserved parameter (Do not change.) n.X Reserved parameter (Do not change.) Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled...
Page 681 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Speed Feedforward (VFF)/Torque Feedforward (TFF) Reference Selection Ä Chap. 9.7.6 Do not use model following control and speed/ torque feedforward together. ‘Trouble- shooting Prob- Use model following control and speed/torque lems in Auto- feedforward together.
Page 682 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn145 Vibration 10 to 0.1 Hz Immedi- Tuning Ä...
Page 683 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn14A Vibration 10 to 0.1 Hz Immedi- Tuning Ä...
Page 684 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn160 Anti-Reso- 0000h to – 0010h Immedi- Tuning –...
Page 685 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn162 Anti-Reso- 1 to 1,000 1% Immedi- Tuning Ä...
Page 686 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn166 Anti-Reso- 0 to 1,000 1% Immedi- Tuning Ä...
Page 687 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn181 Mode 0 to 1 mm/s Linear Immedi- Tuning...
Page 688 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X /COIN (Positioning Completion Output) Signal Output Reference Timing Ä Chap. 7.2.9 ‘/ Output when the absolute value of the position deviation is the same or less than the setting of COIN (Posi- Pn522 (Positioning Completed Width).
Page 689 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn212 Number of 16 to 1 P/Rev 2048 Rotary After...
Page 690 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Backlash Compensation Direction Compensate forward references. Compensate reverse references. n.X Reserved parameter (Do not change.) n.X Reserved parameter (Do not change.) n.X Reserved parameter (Do not change.) Param- Size Name...
Page 691 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn282 Linear 0 to 0.01 μm Linear After Setup...
Page 692 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn30A Deceleration 0 to 1 ms Immedi- Setup Ä...
Page 693 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn311 Vibration 50 to 500 Immedi- Tuning Ä...
Page 694 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn383 Jogging 0 to 1 mm/s Linear Immedi- Setup...
Page 695 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn402 Forward 0 to 800 Rotary Immedi- Setup Ä...
Page 696 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn407 Speed Limit 0 to 10000 Rotary Immedi- Setup...
Page 697 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Friction Compensation Function Selec- When Ena- Reference tion bled Ä Chap. 9.13.3 Disable friction compensation. Immedi- ately ‘Friction Com- Enable friction compensation. pensation’ page 394 Param- Size Name...
Page 698 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn40D Second 50 to 0.01 Immedi- Tuning Ä...
Page 699 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn416 Torque- 0000h to – 0000h Immedi- Tuning Ä...
Page 700 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn419 Third Stage 0 to 1,000 0.001 Immedi- Tuning Ä...
Page 701 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn41E Fifth Stage 50 to 0.01 Immedi- Tuning Ä...
Page 702 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Reserved parameter (Do not change.) Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Ä...
Page 703 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn456 Sweep 1 to 800 Immedi- Tuning Ä...
Page 704 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Reserved parameter (Do not change.) Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Ä...
Page 705 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn481 Polarity 10 to 0.1 Hz Linear Immedi- Tuning...
Page 706 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn486 Polarity 0 to 100 1 ms Linear Immedi- Tuning...
Page 707 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn498 Polarity 0 to 30 1 deg Linear Immedi- Tuning...
Page 708 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn506 Brake Refer- 0 to 50 10 ms Immedi- Setup...
Page 709 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Reserved parameter (Do not change.) n.X Reserved parameter (Do not change.) n.X Reserved parameter (Do not change.) n.X P-OT (Forward Drive Prohibit) Signal Allocation Reference Enable forward drive when CN1-13 input signal is Ä...
Page 710 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X N-OT (Reverse Drive Prohibit) Signal Allocation Reference Ä Chap. 6.11.2 Enable reverse drive when CN1-13 input signal is ON (closed). ‘Overtravel Sig- nals’ page 161 Enable reverse drive when CN1-7 input signal is ON (closed).
Page 711 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X /P-CL (Forward External Torque Limit Input) Signal Reference Allocation The signal is always active. The signal is always inactive. Active when CN1-13 input signal is OFF (open). Active when CN1-7 input signal is OFF (open).
Page 712 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n. X /V-CMP (Speed Coincidence Detection Output) Signal Reference Allocation Ä Chap. 7.2.8 0 to The allocations are the same as the /COIN (Posi- tioning Completion) signal allocations. ‘/V-CMP (Speed Coinci- dence Detec-...
Page 713 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X /BK (Brake Output) Signal Allocation Reference Ä Chap. 6.12 0 to The allocations are the same as the /CLT (Torque Limit Detection Output) signal allocations. ‘Holding Brake’...
Page 714 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn511 Input Signal 0000h to – 8543h After Setup...
Page 715 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X /EXT1 (Probe 1 Latch Input) Signal Allocation The signal is always inactive. The signal is always inactive. The signal is always inactive. Active when CN1-10 input signal is OFF (open). Active when CN1-11 input signal is OFF (open).
Page 716 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Reserved parameter (Do not change.) Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn514 Output Signal 0000h to...
Page 717 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X FSTP (Forced Stop Input) Signal Allocation Reference Enable drive when CN1-10 input signal is ON (closed). Enable drive when CN1-11 input signal is ON (closed). Enable drive when CN1-12 input signal is ON (closed).
Page 718 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn51B Motor-Load 0 to 1 refer- 1000 Rotary Immedi-...
Page 719 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn524 Near Signal 1 to 1 refer- 10737418 Immedi- Setup...
Page 720 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn52A Multiplier per 0 to 100 Rotary Immedi- Setup...
Page 721 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters n.X Program Jogging Operation Pattern (Waiting time in Pn535 → Forward by travel distance in Pn531) × Number of movements in Pn536 (Waiting time in Pn535 → Reverse by travel distance in Pn531) × Number of movements in Pn536 (Waiting time in Pn535 →...
Page 722 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn534 Program Jog- 2 to 1 ms Immedi- Setup Ä...
Page 723 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn551 Analog Mon- -10,000 to 0.1 V Immedi- Setup Ä...
Page 724 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn55A Power Con- 1 to 1,440 1 min Immedi- Setup −...
Page 725 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn582 Speed Coin- 0 to 100 1 mm/s Linear Immedi-...
Page 726 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Pn587 Polarity 0000h to – 0000h Linear Immedi- Setup...
Page 727 Overheat Protection Selections Disable overheat protection. Use overheat protection in the YASKAWA Linear Servomotor. Monitor a negative voltage input from a sensor attached to the machine and use overheat protection. Monitor a positive voltage input from a sensor attached to the machine and use overheat protection.
Page 728 Sigma-7 Series SERVOPACKs Parameter and Object Lists List of Parameters > List of Parameters Param- Size Name Setting Setting Default Appli- When Classifi- Refer- eter No. Range Unit Setting cable Enabled cation ence Motors Overheat 0 to 500 0.01 V Immedi- Setup Ä...
Page 729 & Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual (Manual No.: SIEP S800001 73) *7. The SGLFW2 is the only YASKAWA Linear Servomotor that supports this function. *8. Enabled only when Pn61A is set to n.2 or n.3.
Page 730 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List 17.3 Object List VOR = Valid On Reset Access: – RO = Read Only – RW = Read and Write PZDO mapping: – No = Cannot be mapped – RPZD = May be mapped into PNU 915 and PNU 916 –...
Page 731 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Sub- Name Data Access PDO Saving to Default Lower Upper Param- (dec) index Type Map- EEPROM Value Limit Limit eter No. ping Actual value PZD 7 Actual value PZD 8 Actual value PZD 9 Actual value PZD 10 Actual value PZD 11 Actual value PZD 12...
Page 732 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Subindex Name Data Access PDO Saving to Default (dec) Type Map- EEPROM Value ping Actual Traversing Block (AKTSATZ) 2533h Target Position (MDI_TARPOS) 607Ah Profile Velocity (MDI_VELOCITY) 6081h MDI Acceleration (MDI_ACC) 2536h MDI Deceleration (MDI_DEC) 2537h MDI Mode (MDI_MOD)
Page 733: Version (Software)
Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Subindex Name Data Access PDO Saving to Default (dec) Type Map- EEPROM Value ping PROFIdrive Operating Mode UINT 8000h Subindex Name Data Access PDO Saving to Default (dec) Type Map- EEPROM Value ping Fault Message Counter...
Page 734: Profidrive Do Type Class (Structure)
Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Subindex Name Data Access PDO Saving to Default (dec) Type Map- EEPROM Value ping Profile Identification Number Profile number OS[1] Profile version OS[1] Subindex Name Data Access PDO Saving to Default Lower Upper (dec)
Page 735 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Sub- Name Data Access PDO Saving to Default Lower Upper Param- (dec) index Type Map- EEPROM Value Limit Limit eter No. ping Transfer in Non- UINT volatile Memory (global) Sub- Name Data Access PDO Saving to...
Page 736 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Lower Upper Param- (hex) index Type Map- EEPROM Value Limit Limit eter No. ping 2301h Position User Unit Numerator UDINT 7FFF FFFFh Denominator UDINT 7FFF...
Page 737 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Lower Upper Param- (hex) index Type Map- EEPROM Value Limit Limit eter No. ping 2503h 0 Controlword 2 UINT RPZD FFFFh (STW2) Index Sub- Name...
Page 738 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Lower Upper Param- (hex) index Type Map- EEPROM Value Limit Limit eter No. ping 2522h 0 Digital Outputs UINT RPZD FFFFh (A_DIGITAL) Index Sub- Name...
Page 739 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Lower Upper Unit Param- (hex) index Type Map- EEPROM Value Limit Limit eter No. ping 2611h Traversing Block Target Position 0 to Target DINT 8000...
Page 740 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Param- (hex) index Type Map- EEPROM Value eter No. ping 6041h 0 Statusword (ZSW1) UINT TPZD Index Sub- Name Data Access PDO Saving to Default Lower...
Page 741 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Unit Param- (hex) index Type Map- EEPROM Value eter No. ping 6063h 0 Position Actual Internal Value DINT TPZD Incre- ment Index Sub- Name Data...
Page 742 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Unit Param- (hex) index Type Map- EEPROM Value eter No. ping 606Ch 0 Velocity Actual Value DINT TPZD Pos. unit Index Sub- Name Data Access PDO...
Page 743 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Unit Param- (hex) index Type Map- EEPROM Value eter No. ping 6077h 0 Torque Actual Value TPZD 0.1% Index Sub- Name Data Access PDO Saving to Default...
Page 744 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Lower Upper Unit Param- (hex) index Type Map- EEPROM Value Limit Limit eter No. ping 607Fh 0 Max. Pro- UDINT Max. Max. Vel.
Page 745 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Lower Upper Unit Param- (hex) index Type Map- EEPROM Value Limit Limit eter No. ping 6087h 0 Torque UDINT RPZD 7FFF 0.1%/s Slope FFFFh Index...
Page 746 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Unit Param- (hex) index Type Map- EEPROM Value eter No. ping 60BAh Touch Probe 1 Position Value DINT TPZD Pos. unit Index Sub- Name Data...
Page 747 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Lower Upper Unit Param- (hex) index Type Map- EEPROM Value Limit Limit eter No. ping 60E0h 0 Positive RPZD Max. Max. 0.1% Torque Motor Motor...
Page 748 Sigma-7 Series SERVOPACKs Parameter and Object Lists Object List Index Sub- Name Data Access PDO Saving to Default Value (dec) index Type Map- EEPROM ping 61001 0 to 3 Name of Station OS[4] (Yes) 0.0.0.0 Index Sub- Name Data Access PDO Saving to Default Value (dec)
Page 749 Sigma-7 Series SERVOPACKs Parameter and Object Lists PROFINET Parameter Request Error Codes 17.4 PROFINET Parameter Request Error Codes The following table shows the PROFIdrive parameter request error codes. Error Meaning Used at Impermissible Access to unavailable parameter parameter number Parameter value Change access to a parameter value that cannot be cannot be changed changed...
Page 750 Sigma-7 Series SERVOPACKs Parameter and Object Lists PROFINET Parameter Request Error Codes Error Meaning Used at Request cannot be Access is temporarily not possible for reasons that executed because are not specified in detail Error cause: of operating mode Attempt to implement mapping when the map- ping is not enabled.
Page 751 Sigma-7 Series SERVOPACKs Parameter and Object Lists PROFINET Parameter Request Error Codes Error Meaning Used at Value impermissible Change access with a value that is within limits but is not permissible for other long- term reasons (parameter with defined single values) Error cause: The command in the controlword is not allowed.
Page 752 Sigma-7 Series SERVOPACKs Parameter and Object Lists Parameter Recording Table 17.5 Parameter Recording Table Use the following table to record the settings of the parameters. Param- Default Name When Ena- eter No. Setting bled Pn000 0000h Basic Function Selections 0 After restart Pn001 0010h...
Page 753 Sigma-7 Series SERVOPACKs Parameter and Object Lists Parameter Recording Table Param- Default Name When Ena- eter No. Setting bled Pn121 Friction Compensation Gain Immediately Pn122 Second Friction Compensation Immediately Gain Pn123 Friction Compensation Coefficient Immediately Pn124 Friction Compensation Frequency Immediately Correction Pn125 Friction Compensation Gain Cor-...
Page 754 Sigma-7 Series SERVOPACKs Parameter and Object Lists Parameter Recording Table Param- Default Name When Ena- eter No. Setting bled Pn163 Anti-Resonance Damping Gain Immediately Pn164 Anti-Resonance Filter Time Con- Immediately stant 1 Correction Pn165 Anti-Resonance Filter Time Con- Immediately stant 2 Correction Pn166 Anti-Resonance Damping Gain 2 Immediately...
Page 755 Sigma-7 Series SERVOPACKs Parameter and Object Lists Parameter Recording Table Param- Default Name When Ena- eter No. Setting bled Pn316 10000 Maximum Motor Speed After restart Pn324 Moment of Inertia Calculation Immediately Starting Level Pn383 Jogging Speed Immediately Pn384 Vibration Detection Level Immediately Pn385 Maximum Motor Speed...
Page 756 Sigma-7 Series SERVOPACKs Parameter and Object Lists Parameter Recording Table Param- Default Name When Ena- eter No. Setting bled Pn41F Fifth Stage Notch Filter Depth Immediately Pn423 0000h Speed Ripple Compensation Selec- tions Pn424 Torque Limit at Main Circuit Voltage Immediately Drop Pn425...
Page 757 Sigma-7 Series SERVOPACKs Parameter and Object Lists Parameter Recording Table Param- Default Name When Ena- eter No. Setting bled Pn506 Brake Reference-Servo OFF Delay Immediately Time Pn507 Brake Reference Output Speed Immediately Level Pn508 Servo OFF-Brake Command Immediately Waiting Time Pn509 Momentary Power Interruption Hold Immediately...
Page 758 Sigma-7 Series SERVOPACKs Parameter and Object Lists Parameter Recording Table Param- Default Name When Ena- eter No. Setting bled Pn535 Program Jogging Waiting Time Immediately Pn536 Program Jogging Number of Move- Immediately ments Pn550 Analog Monitor 1 Offset Voltage Immediately Pn551 Analog Monitor 2 Offset Voltage Immediately...
Page 759 Sigma-7 Series SERVOPACKs Appendices Interpreting Panel Displays > Hard Wire Base Block Active Display Appendices 18.1 Overview The appendix provides information on interpreting panel displays, and tables of corre- sponding SERVOPACK and SigmaWin+ function names. 18.2 Interpreting Panel Displays 18.2.1 Overview You can check the Servo Drive status on the panel display of the SERVOPACK.
Page 760 Sigma-7 Series SERVOPACKs Appendices Interpreting Panel Displays > PROFINET Communications Indicators Status Display Not lit. Not lit. Not lit. Not lit. Fig. 389: Hard Wire Base Block Active Display 18.2.5 Overtravel Display If overtravel has occurred, the display will change in the following order. •...
Page 761 Sigma-7 Series SERVOPACKs Appendices Corresponding SERVOPACK and SigmaWin+ Function Names > Corresponding SERVOPACK Utility Function Names Red LED (BF) states Red LED (BF) State Description No error The device is ready to communicate Error Communication error occurs, Run mode cyclic communication has been interrupted and no connection established.
Page 762 Sigma-7 Series SERVOPACKs Appendices Corresponding SERVOPACK and SigmaWin+ Function Names > Corresponding SERVOPACK Utility Function Names SigmaWin+ SERVOPACK Menu Function Name Fn No. Function Name Dialog Button Multiturn Limit Setting Fn013 Multiturn Limit Setting after Multi- turn Limit Disagreement Alarm Reset Option Module Config- Fn014 Reset Option Module Configura-...
Page 763 Sigma-7 Series SERVOPACKs Appendices Corresponding SERVOPACK and SigmaWin+ Function Names > Corresponding SERVOPACK Monitor Display Function Names 18.3.3 Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Menu Name [Unit] Name [Unit] Dialog Button Motion Un000 Motor Speed [min Motor Speed [min Monitor Un001 Speed Reference [min Speed Reference [min...
Page 764 Sigma-7 Series SERVOPACKs Appendices Corresponding SERVOPACK and SigmaWin+ Function Names > Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Menu Name [Unit] Name [Unit] Dialog Button Dynamic Brake Resistor Un00B Power Consumed by DB Resist- Power Consumption [%] ance [%] (percentage of process- able power at DB activation: dis- played in cycles of 10 seconds) Input Reference Pulse...
Page 765 Sigma-7 Series SERVOPACKs Appendices Corresponding SERVOPACK and SigmaWin+ Function Names > Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Menu Name [Unit] Name [Unit] Dialog Button Active Gain Monitor Un014 Effective Gain Monitor (gain set- tings 1 = 1, gain settings 2 = 2) Safety I/O Signal Monitor Un015 Safety I/O Signal Monitor Input...
Page 766 Sigma-7 Series SERVOPACKs Appendices Corresponding SERVOPACK and SigmaWin+ Function Names > Corresponding SERVOPACK Monitor Display Function Names This applies to the following motors. The display will show 0 for all other models. SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, SGM7E, SGM7F, and SGMCV | | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |...
Page 767 Sigma-7 Series SERVOPACKs Revision history Revision history The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP YEUOC7P 02A Published in Germany April 2019 19-04 Manual version Date of publication Date of original publication Revision number Date of publi-...
Page 768 Specifications are subject to change without notice for ongoing product modifications and improvements. © 2010-2019 YASKAWA ELECTRIC CORPORATION YASKAWA EUROPE GmbH SIEP YEUOC7P 02A...

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YASKAWA Sigma-7 SGD7S Series Technical Manual

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Page 530: Table Of Contents

Page 578: Manufacturer

Page 733: Version (Software)

Page 734: Profidrive Do Type Class (Structure)

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