YASKAWA S-7 Series Manual
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YASKAWA S-7 Series Manual

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Σ-7-Series AC Servo Drive
Σ
Σ
-7S and
-7W SERVOPACK
Safety Precautions
Type: SGD7S-
A
A
SGD7W-
A
A
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
MANUAL NO. TOEP C710828 00D

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Summary of Contents for YASKAWA S-7 Series

  • Page 1 Σ-7-Series AC Servo Drive Σ Σ -7S and -7W SERVOPACK Safety Precautions Type: SGD7S- SGD7W- To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. MANUAL NO. TOEP C710828 00D...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 3: Safety Information

    Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly.
  • Page 4  Safety Precautions That Must Always Be Observed  General Precautions DANGER • Read and understand this manual to ensure the safe usage of the product. • Keep this manual in a safe, convenient place so that it can be referred to when- ever necessary.
  • Page 5 NOTICE • Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts. • Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs. • In locations with poor power supply conditions, install the necessary protec- tive devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
  • Page 6  Storage Precautions CAUTION • Do not place an excessive load on the product during storage. (Follow all instructions on the packages.) There is a risk of injury or damage. NOTICE • Do not install or store the product in any of the following locations. •...
  • Page 7 NOTICE • Do not hold onto the front cover or connectors when you move a SERVO- PACK. There is a risk of the SERVOPACK falling. • A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.
  • Page 8 NOTICE • Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product spec- ifications • Locations that are subject to relative humidities that exceed product specifi- cations •...
  • Page 9 WARNING • Wiring and inspections must be performed only by qualified engineers. There is a risk of electric shock or product failure. • Check all wiring and power supplies carefully. Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit failures.
  • Page 10 • Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environ- ment of your model and use the wiring materials specified by Yaskawa or equivalent materials. • Securely tighten cable connector screws and lock mechanisms.
  • Page 11  Operation Precautions WARNING • An SGD7-B SERVOPACK has the specifica- tions that were registered by the customer with the MechatroCloud service. Confirm the registered specifications before you attempt to use the SERVO- PACK. If you just turn ON the power supply to the SERVOPACK, unexpected opera- tion may occur, and machine damage or personal injury may occur.
  • Page 12 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 oper- ate on the safe side if a signal line breaks. Do not change the polarity of this type of signal.
  • Page 13 Continued from previous page. NOTICE • An alarm or warning may occur if communications are performed with the host controller while the SigmaWin+ or Digital Operator is operating. If an alarm or warning occurs, it may interrupt the current process and stop the system.
  • Page 14  Troubleshooting Precautions DANGER • If the safety device (molded-case circuit breaker or fuse) installed in the power supply line operates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
  • Page 15 We will update the document number of the document and issue revisions when changes are made. • Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibil- ity for damages or losses that are caused by modified products.

  • Page 16: 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 17: Suitability For Use

     Suitability for Use • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

  • Page 18: Product Confirmation

    Use a screwdriver to check for any loose Are there any loose screws? screws. If you discover any problems with the above items, contact your Yaskawa rep- resentative immediately.  Nameplate WARNING • An SGD7-B SERVOPACK has the specifica- tions that were registered by the customer with the MechatroCloud service.

  • Page 19: Installation

    2 Installation Installation When you install a SERVOPACK, refer to Chapter 3 SERVOPACK Installation in the product manual for your SERVOPACK. The installation conditions are given in the following table. Item Specification Surrounding -5C to +55C Air  (With derating , usage is possible between 55C and 60C.) Temperature Storage ...

  • Page 20: Installation In A Control Panel

    2 Installation *2. Refer to the following section for derating specifications.  Derating Specifications on page 19 Observe the following precautions when you install the SERVOPACK.  Installation in a Control Panel • Design the size of the control panel, the SERVOPACK installation location, and the cooling method so that the temperature around the SERVOPACK meets the environmental conditions given on the previous page.

  • Page 21: Derating Specifications

    2 Installation  Derating Specifications If you use the SERVOPACK at a surrounding air temperature of 55C to 60C or at an altitude of 1,000 m to 2,000 m, you must apply the derating rates given in the following graphs. Note: If you combine a -7-Series SERVOPACK with a -V-Series Option Mod- ule, you cannot exceed a surrounding air temperature of 55°C or an altitude of 1,000 m even with derating.
  • Page 22 2 Installation  -7W SERVOPACKs • SGD7W-1R6A, -2R8A, -5R5A, and -7R6A 100% 100% 100% -5°C 55°C 60°C 1000 m 2000 m -5°C 55°C 60°C 1000 m 2000 m Surrounding air temperature Altitude Surrounding air temperature and altitude E-20...

  • Page 23: Wiring Precautions

    3 Wiring Wiring 3.1 Wiring Precautions Before you attempt to perform any wiring, read and understand the safety pre- cautions that are given at the beginning of this document to help prevent bodily injury and equipment damage. Also observe the following precautions. •...
  • Page 24 3 Wiring Continued from previous page. Terminal Sym- Terminal Name Specification bols • SGD7S-R70A, -R90A, -1R6A, and  -2R8A If the regenerative capacity is insuffi- cient, connect an External Regenera- tive Resistor between B1/ and B2. Obtain an External Regenerative Resis- tor separately.
  • Page 25 3 Wiring Continued from previous page. Terminal Sym- Terminal Name Specification bols These terminals are provided only on SERVOPACKs that support the Dynamic Brake Option. These terminals are used to connect an External Dynamic Brake Resistor for a -7S SERVOPACK. Obtain Dynamic Brake Resis- D1 and D2 tor terminals...
  • Page 26 3 Wiring Continued from previous page. Terminal Sym- Terminal Name Specification bols • SGD7S-R70A, -R90A, -1R6A, and  -2R8A If the regenerative capacity is insuffi- cient, connect an External Regenera- tive Resistor between B1/ and B2. Obtain an External Regenerative Resis- tor separately.
  • Page 27 3 Wiring Continued from previous page. Terminal Sym- Terminal Name Specification bols These terminals are provided only on Dynamic Brake Resis- SERVOPACKs that support the Dynamic D1A and tor terminals for axis Brake Option. These terminals are used to connect an External Dynamic Brake Resistor for a -7W SERVOPACK.
  • Page 28 • If you use a DC power supply input with any of the following SERVOPACKs, 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.
  • Page 29 3 Wiring Continued from previous page. Terminal Sym- Terminal Name Specification bols UA, VA, and Servomotor terminals These are the -7W connection terminals for axis A for the Servomotor Main Circuit Cable UB, VB, and Servomotor terminals (power line). for axis B These terminals are provided only on SERVOPACKs that support the Dynamic Brake Option.

  • Page 30: Using An Ac Power Supply

    3 Wiring 3.3 Molded-Case Circuit Breakers and Fuses Using an AC Power Supply Use a molded-case circuit breaker and fuse to protect the power supply line. They protect the power line by shutting OFF the circuit when overcurrent is detected. Select these devices based on the information in the following tables. Note: The following tables provide the net values of the current capacity and inrush current.
  • Page 31 3 Wiring Continued from previous page. Power Rated Maxi- Current Capacity Inrush Current Supply Voltage Main mum Ap- SERVO- Capacity Circuit plicable PACK Main Control Control Main Power Motor Ca- Model: Circuit Power Power Fuse MCCB SERVO- Circuit Supply pacity SGD7S- [Arms] Supply...

  • Page 32: Using A Dc Power Supply

    *3. If you use a DC power supply input with any of the following SERVOPACKs, 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....
  • Page 33 3 Wiring  -7W SERVOPACKs Power Current Capacity Inrush Current External Fuse Main SERVO- Supply Control Control Circuit PACK Capacity per Main Main Current Voltage Power Power Power Model: SERVO- Circuit Circuit Order Number Rating Rating Supply Supply Supply SGD7W- PACK [Arms] [A0-p]...
  • Page 34 3 Wiring 3.4 Wire Sizes and Tightening Torques SERVOPACK Main Circuit Wires This section describes the main circuit wires for SERVOPACKs. These specifications are based on IEC/EN 61800-5-1, UL 61800-5-1, and CSA C22.2 No.274. 1. To comply with UL standards, use UL-compliant wires. 2.
  • Page 35 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Screw Wire Size Torque Model: Symbols Size [Nm] SGD7S- L1, L2, and L3 AWG16 (1.25 mm – – U, V, and W* – – AWG16 (1.25 mm L1C and L2C –...
  • Page 36 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Screw Wire Size Torque Model: Symbols Size [Nm] SGD7S- L1, L2, and L3 AWG16 (1.25 mm – – U, V, and W* – – AWG16 (1.25 mm L1C and L2C –...
  • Page 37 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Screw Wire Size Torque Model: Symbols Size [Nm] SGD7S- L1, L2, and L3 AWG8 (8.0 mm 2.2 to 2.4 U, V, and W* 2.2 to 2.4 AWG6 (14 mm L1C and L2C 2.2 to 2.4 AWG16 (1.25 mm 470A...
  • Page 38 3 Wiring  -7S SERVOPACKs for Use with Single-Phase,  200-VAC Power Supplies SERVO- Tightening PACK Terminal Sym- Screw Wire Size Torque Model: bols Size [Nm] SGD7S- L1 and L2 – – AWG16 (1.25 mm U, V, and W* – –...
  • Page 39 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Sym- Screw Wire Size Torque Model: bols Size [Nm] SGD7S- L1 and L2 1.0 to 1.2 AWG14 (2.0 mm U, V, and W* 1.0 to 1.2 AWG14 (2.0 mm 120A L1C and L2C 1.0 to 1.2 AWG16 (1.25 mm...
  • Page 40 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Screw Wire Size Torque Model: Symbols Size [Nm] SGD7S- – – U, V, and W AWG16 (1.25 mm L1C and L2C – – AWG16 (1.25 mm 2R8A – – AWG16 (1.25 mm 1.2 to 1.4 AWG14 (2.0 mm ) or larger...
  • Page 41 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Screw Wire Size Torque Model: Symbols Size [Nm] SGD7S- 1.0 to 1.2 U, V, and W AWG10 (5.5 mm L1C and L2C 1.0 to 1.2 AWG16 (1.25 mm 180A 1.0 to 1.2 AWG10 (5.5 mm 1.2 to 1.4 AWG14 (2.0 mm...
  • Page 42 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Screw Wire Size Torque Model: Symbols Size [Nm] SGD7S- 2.7 to 3.0 U, V, and W AWG3 (30 mm L1C and L2C 2.7 to 3.0 AWG16 (1.25 mm 780A 2.7 to 3.0 AWG3 (30 mm 2.7 to 3.0 AWG14 (2.0 mm...
  • Page 43 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Screw Wire Size Torque Model: Symbols Size [Nm] SGD7W- L1, L2, and L3 AWG14 (2.0 mm – – UA, VA, WA, UB, VB, and – – AWG16 (1.25 mm 5R5A L1C and L2C –...
  • Page 44 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Sym- Screw Wire Size Torque Model: bols Size [Nm] SGD7W- L1 and L2 – – AWG14 (2.0 mm UA, VA, WA, UB, VB, and – – AWG16 (1.25 mm 2R8A L1C and L2C –...
  • Page 45 3 Wiring Continued from previous page. SERVO- Tightening PACK Terminal Screw Wire Size Torque Model: Symbols Size [Nm] SGD7W- UA, VA, WA, UB, VB, and – – AWG16 (1.25 mm L1C and L2C – – 2R8A AWG16 (1.25 mm – –...
  • Page 46 3 Wiring  Dynamic Brake Resistor Terminals:  -7S/-7W SERVOPACKs These terminals are used if you use a SERVOPACK that supports a Dynamic Brake Option and connect an External Dynamic Brake Resistor. Ter- Tighten- minal Screw SERVOPACK Models Wire Size ing Torque Sym- Size...

  • Page 47: Wire Types

    3 Wiring  Wire Types The following table shows the wire sizes and allowable currents for three bun- dled leads. Allowable Current at Surrounding Air HIV Specifications* Temperatures [Arms] Nominal Cross- Configuration sectional Area 30C 40C 50C [Wires/mm 7/0.4 1.25 7/0.45 7/0.6 7/0.8...

  • Page 48: Maintenance And Inspection

    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 default settings before they are returned to you.
  • Page 49 4 Maintenance and Inspection Continued from previous page. Standard Replace- Part Remarks ment Period 100,000 power ON Frequency of turning ON the power sup- Relays operations ply: Approx. once an hour 3 years without Surrounding air temperature without Battery power supplied power supplied: 20C E-47...
  • Page 50 For a Servomotor and SERVOPACK combination to comply with the EMC Directive, ferrite cores, Noise Filters, Surge Absorbers, and possibly other devices must be used. These Yaskawa products are designed to be built into equipment. Therefore, you must implement EMC measures and confirm com- pliance for the final equipment.
  • Page 51 5 Conditions for Compliance with EC Directives 5.2 Conditions for Compliance with the Low Voltage Directive The products have been tested according to IEC/EN 61800-5-1 and EN 50178, and they comply the Low Voltage Directive. To comply with the Low Voltage Directive, the equipment or machine in which you use the products must meet the following conditions.
  • Page 52 6 Conditions for Compliance with UL/cUL Standards Conditions for Compliance with UL/cUL Standards The products have been tested according to the following standards and they comply the UL/cUL standards. To comply with the UL/cUL standards, the equipment or machine in which you use the products must meet the following conditions.
  • Page 53 6 Conditions for Compliance with UL/cUL Standards Wiring the Main Circuit Terminals Wire the main circuit terminals according to the National Electrical Code (NEC/NFPA70) of the United States. However, -7W SERVOPACKs are suit- able for the Motor Group Installation defined in UL 61800-5-1. ...
  • Page 54 6 Conditions for Compliance with UL/cUL Standards Installing Branch Circuit Protection and Short-Circuit Current Rating To provide protection for short-circuit accidents in internal circuits, always connect molded-case circuit breakers or Fuses on the input side of the SERVO- PACK as branch circuit protective devices. Use UL-listed molded-case circuit breakers and UL-recognized fuses.
  • Page 55 6 Conditions for Compliance with UL/cUL Standards Continued from previous page. Maximum Cur- Maximum Maximum Cur- rent Current rent SERVOPACK Rated Output Rating of Rating of Rating of Time Model: SGD7S- Current [Arms] Molded-Case Non-Time Delay Fuse Circuit Breaker Delay Fuse 120A008 (single-phase 11.6...
  • Page 56 6 Conditions for Compliance with UL/cUL Standards  Short-Circuit Current Rating (SCCR): 42,000 Arms (Sine Wave) • -7S SERVOPACKs Voltage Rating of Current Rating of SERVOPACK Semiconductor Semiconductor Semiconductor Fuse Model: SGD7S- Fuse Model* Fuse R70A R90A FWH-35B 1R6A 2R8A 3R8A 5R5A 7R6A...
  • Page 57 NEC/NFPA70 (Article 430, Chapter X, 430.126). When used with a Yaskawa SGM Servomotor, external overtemperature protection may not be needed because the motor is rated for continuous torque from 0 to the rated speed.
  • Page 58 7 Precautions for Korean Radio Waves Act (한국 전파법에 관한 주의사항) Precautions for Korean Radio Waves Act ( 한국 전파법에 관한 주의사항 ) These products confirm to broadcast and communications equipment for busi- ness use (Class A) and are designed for use in locations other than in ordinary houses.
  • Page 59 8 Crimp Terminals and Insulating Sleeves Crimp Terminals and Insulating Sleeves If you use crimp terminals for wiring, use insulating sleeves. Do not allow the crimp terminals to come close to adjacent terminals or the case. To comply with UL standards, you must use UL-compliant closed-loop crimp terminals and insulating sleeves for the main circuit terminals.
  • Page 60 8 Crimp Terminals and Insulating Sleeves Continued from previous page. Crimp Insulat- Crimp- Terminal ing Sleeve ing Tool Main Tighten- Crimp Model Model SERVOPACK Recom- Circuit Screw Terminal Model: mended From Termi- Size Torque Horizon- SGD7S- Wire Size Tokyo  nals tal Width From J.S.T.
  • Page 61 8 Crimp Terminals and Insulating Sleeves Continued from previous page. Crimp Insulat- Crimp- Terminal ing Sleeve ing Tool Main Tighten- Crimp Model Model SERVOPACK Recom- Circuit Screw Terminal Model: mended From Termi- Size Torque Horizon- SGD7S- Wire Size Tokyo  nals tal Width From J.S.T.
  • Page 62 8 Crimp Terminals and Insulating Sleeves -7S SERVOPACKs for Use with Single-Phase, 200- VAC Power Supplies Crimp Insulat- Crimp- Terminal ing Sleeve ing Tool Main Tighten- Crimp Model Model SERVOPACK Recom- Circuit Screw Terminal Model: mended From Termi- Size Torque Horizon- SGD7S- Wire Size...
  • Page 63 8 Crimp Terminals and Insulating Sleeves -7W SERVOPACKs for Use with Single-Phase, 200- VAC Power Supplies Crimp Insulat- Crimp- Terminal ing Sleeve ing Tool Main Tighten- Crimp Model Model SERVOPACK Recom- Circuit Screw Terminal Model: mended From Termi- Size Torque Horizon- SGD7W- Wire Size...
  • Page 64 8 Crimp Terminals and Insulating Sleeves Continued from previous page. Crimp Insulat- Termi- Crimp- ing Tool Sleeve Tighten- Crimp Dynamic Recom- Model Model Screw Terminal SERVOPACK Models Brake mended Size Torque Horizon- From Terminals Wire Size  tal Width From J.S.T. Mfg. Tokyo Co., Ltd.
  • Page 65 8 Crimp Terminals and Insulating Sleeves  Crimp Terminal Dimensional Drawing  Crimp Terminal Models:  R1.25-4, 2-M4, R2-4, R2-5, R2-6, 5.5-S4, R5.5-5, and R5.5-6 dia. Crimp Dimensions (mm) Terminal dia. D dia. dia. Model R1.25-4 15.8 2-M4 14.4 R2-4 16.8 R2-5 16.8...
  • Page 66 8 Crimp Terminals and Insulating Sleeves  Crimp Terminal Models:  8-4NS, R8-5, R8-6, R14-5, 22-S5, R22-6, and 38-S6 dia. Crimp Dimensions (mm) Terminal dia. D dia. dia. Model 8-4NS 21.8 R8-5 23.8 R8-6 12.0 R14-5 29.8 13.3 10.5 22-S5 30.0 12.0 12.0...

  • Page 67: Servopack Overload Protection Characteristics

    Note: The above overload protection characteristics do not mean that you can per- form continuous duty operation with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque or the effective force within the continuous duty zone of the torque-motor speed characteristics or the force-motor speed characteristics of the Servomotor.
  • Page 68 10 Capacitor Discharge Time Capacitor Discharge Time Do not touch the power supply terminals within the capacitor discharge time given in the following table after turning OFF the power supply because high voltage may still remain in the SERVOPACK. After the CHARGE indicator goes out, use a tester to check the voltage on the DC bus line (between terminals B1/ 2) and confirm that it is safe to proceed before starting wiring or inspection work.
  • Page 69 10 Capacitor Discharge Time -7S SERVOPACKs Discharge Time SERVOPACK Model: AC Power DC Power SGD7S- Supply Input Supply Input R70A 6 min (60 ms 6 min R90A 6 min (60 ms 6 min 1R6A 6 min (60 ms 6 min 2R8A 6 min (70 ms 6 min...

  • Page 70: Revision History

    Revision History The revision dates and numbers of the revised manuals are given at the right bot- tom of the back cover. MANUAL NO. TOMP C710828 00B <1> Revision number Published in Japan July 2014 Date of publication   Date of Rev.
  • Page 71 Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br...

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