Page 1 AC Servo Drives  Series  Series for Large-Capacity Models  Series USER’S MANUAL Safety Module Model: SGDV-OSA01A Checking Products Specifications SERVOPACK Installation Wiring and Connection Precautions and Basic Settings Required before Starting Operation Safety Functions Setting Parameters Utility Functions Monitor Mode Active Mode Function Troubleshooting...
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Page 3 About this Manual This manual provides information required for designing and maintaining the Safety Module for Σ-V Series, Large-Capacity Σ-V Series, and Σ-7 Series SERVOPACKs. Be sure to refer to this manual and perform design and maintenance to select devices correctly. Keep this manual in a location where it can be accessed for reference whenever required.
Page 4 Related Manuals  Manuals Related to the Σ-V Series Refer to the following manuals as required. Selecting Trial Ratings and Mainte- Models and System Panels and Trial Operation Name Specifi- nance and Peripheral Design Wiring Operation and Servo cations Inspection Devices Adjustment Σ-V Series Product...
Page 5 (cont’d) Selecting Trial Ratings and Mainte- Models and System Panels and Trial Operation Name Specifi- nance and Peripheral Design Wiring Operation and Servo cations Inspection Devices Adjustment Σ-V Series User’s Manual Design and Maintenance Linear Motor MECHATROLINK-III    ...
Page 6  Manuals Related to the Large-Capacity Σ-V Series Selecting Trial Ratings and Mainte- Models and System Panels and Trial Operation Name Specifi- nance and Peripheral Design Wiring Operation and Servo cations Inspection Devices Adjustment Large-Capacity Σ-V Series    (KAEPS 800000 86) Σ-V Series User’s Manual For Use with Large-...
Page 7 (cont’d) Selecting Trial Ratings and Mainte- Models and System Panels and Trial Operation Name Specifi- nance and Peripheral Design Wiring Operation and Servo cations Inspection Devices Adjustment Σ-V Series User’s Manual Operation of Digital   Operator (SIEP S800000 55) SigmaWin+ Online Manual Σ-V Component ...
Page 8  Manuals Related to the Σ-7 Series Selecting Trial Ratings and Mainte- Models and System Panels and Trial Operation Name Specifi- nance and Peripheral Design Wiring Operation and Servo cations Inspection Devices Adjustment Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with ...
Page 9 (cont’d) Selecting Trial Ratings and Mainte- Models and System Panels and Trial Operation Name Specifi- nance and Peripheral Design Wiring Operation and Servo cations Inspection Devices Adjustment Σ-7-Series AC Servo Drive MECHATROLINK-III    Communications Standard Servo Profile Command Manual (SIEP S800001 31) Σ-7-Series AC Servo Drive...
Page 10  Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro- vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
Page 11 Safety Precautions These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly. WARNING • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.
Page 12 WARNING • Installation, disassembly, or repair must be performed only by authorized personnel. Failure to observe this warning may result in electric shock or injury. • Engineers designing a mechanical system using the safety functions of the Safety Module must have complete knowledge of the relative safety standards and a full understanding of the safety functions of the Safety Module.
Page 13  Storage and Transportation CAUTION • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight • Locations subject to ambient operating temperatures outside the range specified in the storage/installation temperature conditions •...
Page 14  Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.
Page 15  Operation CAUTION • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution so may result in fire or malfunction. • Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.
Page 16 • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
Page 17 6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
Page 18 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
Page 19 Compliance with UL Standards, EU Directives, UK Regulations, and Other Safety Standards  North American Safety Standards (UL) Product Model UL Standards (UL File No.) SGDV UL508C (E147823) SERVOPACKs UL 61800-5-1 (E147823), SGD7S CSA C22.2 No.274 Note: Applicable when the Safety Module is attached to the SERVOPACKs for use with the analog voltage and pulse train reference, with the MECHATROLINK-II/-III/-4 communications reference, with the MECHATROLINK-III com- munications reference, and with the command option attachable type.
Page 20  UK Conformity Assessed (UKCA) Product Model UK Regulations Designated Standards Supply of Machinery (Safety) Regulations EN ISO13849-1: 2015 S.I. 2008/1597 EN 55011 group 1, class A Electromagnetic Compatibility EN 61000-6-2 Regulations EN 61000-6-4 S.I. 2016/1091 EN 61800-3 (Category C2, Second environment) SGDV Electrical Equipment (Safety) Regulations...
Page 21  Safety Standards Product Model Safety Standards Standards EN ISO13849-1: 2015 Safety of Machinery IEC 60204-1 IEC 61508 series SGDV Functional Safety IEC 62061 IEC 61800-5-2 IEC 61326-3-1 SERVOPACKs EN ISO13849-1: 2015 Safety of Machinery EN 60204-1 EN 61508 series SGD7S Functional Safety EN 62061...
Page 22 Description of Technical Terms The following table shows the meanings of terms used in this manual. Term Meaning Σ-V Series/Σ-7 Series: SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, SGMCV (Direct Drive) or SGMCS (Direct Drive) servomotor Σ-V Series for Large-Capacity Models: SGMVV servomotor Servomotor Σ-7 Series: SGM7J, SGM7A, SGM7P, SGM7G, SGM7D (Direct Drive), SGM7E (Direct Drive), or SGM7F (Direct Drive) servomotor...
Page 23 (cont’d) Term Meaning This is one of safety functions in the Safety Module. Safe BaseBlock with Delay This is the safety function that is equivalent to the Safe Stop 1 function defined in IEC Function (SBB-D function) 61800-5-2. This is one of safety functions in the Safety Module. Safe Position Monitor with Delay Function This is the safety function that is equivalent to the Safe Stop 2 function defined in IEC...
Page 24 CONTENTS About this Manual ............iii Related Manuals .
Page 25 Chapter 5 Precautions and Basic Settings Required before Starting Operation . .5-1 5.1 Safety Precautions for Using the Safety Module ..... . 5-2 5.2 Risk Assessment .
Page 26 Chapter 7 Setting Parameters........7-1 7.1 Types of Parameters ......... . . 7-2 7.2 Safety-related Module Parameters.
Page 27 Chapter 10 Active Mode Function .......10-1 10.1 Overview ..........10-2 10.2 Basic Functions .
Page 28 Checking Products This chapter describes how to check products upon delivery. 1.1 Checking Products on Delivery ....... . . 1-2 1.2 Nameplate (Ratings) and Model Designation .
Page 29 1 Checking Products Checking Products on Delivery  When the Safety Module is Not Connected to the SERVOPACK Check the nameplate (ratings) to confirm that the product is the one that was ordered. For the nameplate (ratings), refer to 1.2 Nameplate (Ratings) and Model Designation. Σ...
Page 30 1.2 Nameplate (Ratings) and Model Designation Nameplate (Ratings) and Model Designation  Nameplate (Ratings) Example Application Module model number Name Certification/Standards Marks Manufacturing number  Model Designation SGDV – OS A01 A 6th digit: Design Revision Order Series Σ-V Series SGDV 3rd + 4th + 5th digits: Interface Specifications Interface...
Page 31 Specifications This chapter gives an overview and describes the specifications of the Safety Module. 2.1 Overview ..........2-2 2.2 Specifications .
Page 32: Overview
2 Specifications Overview The Safety Module is an Option Module that is connected to a Σ-V Series, Large-Capacity Σ-V Series, or Σ-7 Series SERVOPACK. By using the Hard Wire BaseBlock function of the SERVOPACK, the following four safety functions, which are defined in functional safety standards, can be achieved. Function Remarks Safe BaseBlock Function...
Page 33: Specifications
2.2 Specifications Specifications This table lists the general specifications of the Safety Module. SGDV-01 (analog voltage and pulse train reference models) SGDV-11 (M-II communications reference models) Rotational motor SGDV-E1 (command option attachable type) SGDV-21 Σ-V Series (M-III communications reference models) /Σ-V Series for Large-Capacity SGDV-05...
Page 34 2 Specifications (cont’d) Safety Functions Function names of Safety Module (IEC61800-5-2) Safe Torque Off (STO) Safe BaseBlock Function (SBB function) Safe BaseBlock with Delay Function Safe Stop 1 (SS1) (SBB-D function) Stopping Methods Safe Position Monitor with Delay Function Safe Stop 2 (SS2) (SPM-D function) 　...
Page 35: Part Names
2.3 Part Names Part Names The following figure shows the part names of the Safety Module. I/O connector for the Safety Function A (CN21) I/O connector for the Safety Function B (CN22) Note: For the names of the SERVOPACK parts, refer to the manual for your SERVOPACK.
Page 36: Internal Block Diagram
2 Specifications Internal Block Diagram This figure shows a typical internal block diagram. Block A Safety function Power module Block B...
Page 37: Table Of Contents
SERVOPACK Installation This chapter describes how to install the SERVOPACK. 3.1 SERVOPACK Installation Environment and Harmonized Standards ..3-2 3.1.1 Installation Environment ..........3-2 3.1.2 Installation Conditions for Harmonized Standards .
Page 38: Servopack Installation Environment And Harmonized Standards
3 SERVOPACK Installation 3.1.1 Installation Environment SERVOPACK Installation Environment and Harmonized Standards SERVOPACK installation environment and harmonized standards are as follows. 3.1.1 Installation Environment  Surrounding air temperature: 0 to 55°C  Ambient humidity: 90% RH or less (with no condensation) ...
Page 39: Servopack Installation
3.2 SERVOPACK Installation SERVOPACK Installation 3.2.1 Orientation The SERVOPACK is available in models that are base-mounted, models that are rack-mounted, and models that are duct-ventilated. In any case, mount the SERVOPACK with a vertical orientation. Firmly secure the SERVOPACK to the mounting surface, using either two or four mounting holes depending on the SERVOPACK capacity.
Page 40: Installation Standards
3 SERVOPACK Installation 3.2.2 Installation Standards 3.2.2 Installation Standards Observe the standards for mounting SERVOPACKs in control panels, including those for the mounting SERVOPACKs side by side in one control panel as shown in the following illustration. • SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the wall, with the front panel (the side with the panel operator display) facing out.
Page 41 3.2 SERVOPACK Installation • Inside the Control Panel The conditions inside the control panel should be the same as the environmental conditions of the SERVO- PACK. Refer to 3.1.1 Installation Environment. • Σ-7 Series When multiple SERVOPACKs are installed close together in an enclosed space, natural convection may provide insufficient air circulation to distribute heat uniformly through the space, resulting in the air sur- rounding the SERVOPACKs to locally exceed the surrounding air temperature range.
Page 42: Emc Installation Conditions
SERVOPACK are described. Refer to this section for other SERVOPACK models such as the rack-mounted types as well. This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other condi- tions.
Page 43: Σ-V Series
3.3 EMC Installation Conditions 3.3.1 Σ-V Series (1) SGDV-0 (Analog Voltage and Pulse Train Reference Models)  Single-phase 100 V • SGDV-F0A ( = R70, R90, 2R1, 2R8) + SGDV-OSA01A Shield box Brake power supply One turn SERVOPACK Brake U, V, W Power supply: Noise L1, L2...
Page 44 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A0B ( = R70, R90, 1R6, 2R8) + SGDV-OSA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 Three-phase filter 200 VAC Servomotor L1C, L2C Surge...
Page 45 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-A0A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge...
Page 46 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A0A ( = 120) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C absorber...
Page 47 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-A0A ( = 180, 200, 330) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C absorber...
Page 48 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A0A ( = 470, 550, 590, 780) + SGDV-OSA01A Shield box Brake power Cooling fan supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor Surge L1C, L2C...
Page 49 3.3 EMC Installation Conditions  Three-phase 400 V • SGDV-D0A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OSA01A Shield box Power supply: Brake power Noise Single-phase supply filter 200 VAC Surge SERVOPACK absorber Control Brake power U, V, W 24 V, 0 V supply 24 VDC*...
Page 50 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 400 V • SGDV-D0A ( = 210, 260, 280, 370) + SGDV-OSA01A Shield box Power supply: Brake power Noise Single-phase supply filter 200 VAC Surge SERVOPACK absorber Control Brake power U, V, W 24 V, 0 V supply 24 VDC*...
Page 51 3.3 EMC Installation Conditions (2) SGDV-1 (M-II Communications Reference Models)  Single-phase 100 V • SGDV-F1A ( = R70, R90, 2R1, 2R8) + SGDV-OSA01A Shield box Brake power supply One turn SERVOPACK Brake U, V, W Power supply: Noise L1, L2 filter Single-phase 100 VAC Servomotor...
Page 52 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A1B ( = R70, R90, 1R6, 2R8) + SGDV-OSA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 Three-phase filter 200 VAC Servomotor Surge L1C, L2C...
Page 53 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-A1A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge...
Page 54 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A1A ( = 120) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C absorber...
Page 55 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-A1A ( = 180, 200, 330) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C absorber...
Page 56 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A1A ( = 470, 550, 590, 780) + SGDV-OSA01A Shield box Brake power Cooling fan supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor Surge L1C, L2C...
Page 57 3.3 EMC Installation Conditions  Three-phase 400 V • SGDV-D1A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OSA01A Shield box Power supply: Brake power Noise Single-phase supply filter 200 VAC Surge SERVOPACK absorber Control Brake power U, V, W 24 V, 0 V supply 24 VDC*...
Page 58 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 400 V • SGDV-D1A ( = 210, 260, 280, 370) + SGDV-OSA01A Shield box Power supply: Brake power Noise Single-phase supply filter 200 VAC Surge SERVOPACK absorber Control Brake power U, V, W 24 V, 0 V supply 24 VDC*...
Page 59 3.3 EMC Installation Conditions (3) SGDV-2 (M-III Communications Reference Models)  Single-phase 100 V • SGDV-F2A ( = R70, R90, 2R1, 2R8) + SGDV-OSA01A Shield box Brake Power Supply One turn SERVOPACK Brake U, V, W Noise Power supply: L1, L2 filter Single-phase 100 VAC Servomotor...
Page 60 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A2B ( = R70, R90, 2R6, 2R8) + SGDV-OSA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 Three-phase filter Servomotor 200 VAC Surge L1C, L2C absorber...
Page 61 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-A2A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OSA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge...
Page 62 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A2A ( = 120) + SGDV-OSA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C absorber...
Page 63 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-A2A ( = 180, 200, 330) + SGDV-OSA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C absorber...
Page 64 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-A2A ( = 470, 550, 590, 780) + SGDV-OSA01A Shield box Brake Power Cooling fan Supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor Surge L1C, L2C...
Page 65 3.3 EMC Installation Conditions  Three-phase 400 V • SGDV-D2A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OSA01A Shield box Power supply: Brake Power Single-phase Supply 200 VAC SERVOPACK Control Brake Surge Noise power U, V, W 24 V, 0 V absorber supply filter...
Page 66 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 400 V • SGDV-D2A ( = 210, 260, 280, 370) + SGDV-OSA01A Shield box Power supply: Brake Power Single-phase Supply 200 VAC SERVOPACK Control Brake Surge Noise U, V, W power 24 V, 0 V absorber supply filter...
Page 67 3.3 EMC Installation Conditions (4) SGDV-EA (Command Option Attachable Type)  Single-phase 100 V • SGDV-FEA ( = R70, R90, 2R1, 2R8) + SGDV-OSA01A Shield box Brake power supply One turn SERVOPACK Brake U, V, W Power supply: Noise L1, L2 filter Single-phase 100 VAC Servomotor...
Page 68 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-AEA ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn...
Page 69 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-AEA ( = 120) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 Three-phase 200 VAC filter Servomotor One turn Surge L1C, L2C absorber Encoder Safety...
Page 70 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 200 V • SGDV-AEA ( = 180, 200, 330) + SGDV-OSA01A Shield box Brake power supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C...
Page 71 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-AEA ( = 470, 550, 590, 780) + SGDV-OSA01A Shield box Brake power Cooling fan supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor Surge L1C, L2C...
Page 72 3 SERVOPACK Installation 3.3.1 Σ-V Series  Three-phase 400 V • SGDV-DEA ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OSA01A Shield box Power supply: Brake power Noise Single-phase supply filter 200 VAC Surge SERVOPACK absorber Control Brake power U, V, W 24 V, 0 V supply...
Page 73 3.3 EMC Installation Conditions  Three-phase 400 V • SGDV-DEA ( = 210, 260, 280, 370) + SGDV-OSA01A Shield box Power supply: Brake power Noise Single-phase supply filter 200 VAC Surge SERVOPACK absorber Control Brake power U, V, W 24 V, 0 V supply 24 VDC* Servomotor...
Page 74: Σ-V Series For Large-Capacity Models
3 SERVOPACK Installation 3.3.2 Σ-V Series for Large-Capacity Models 3.3.2 Σ-V Series for Large-Capacity Models (1) SGDV-0 (Analog Voltage and Pulse Train Reference Models)  Three-phase 200 V • SERVOPACK: SGDV-H0A ( = 121, 161, 201) + SGDV-OSA01A • Converter: SGDV-COAAA ( = 2B, 3G) Shield box One turn Power supply:...
Page 75 3.3 EMC Installation Conditions  Three-phase 400 V • SERVOPACK: SGDV-J0A ( = 750, 101, 131) + SGDV-OSA01A • Converter: SGDV-COADA ( = 3Z, 5E) Shield box One turn Power supply: Noise L1,L2,L3 Three-phase 400 VAC filter Surge Converter absorber CN101 Power supply: Noise...
Page 76 3 SERVOPACK Installation 3.3.2 Σ-V Series for Large-Capacity Models (2) SGDV-1 (M-II Communications Reference Models)  Three-phase 200 V • SERVOPACK: SGDV-H1A ( = 121, 161, 201) + SGDV-OSA01A • Converter: SGDV-COAAA ( = 2B, 3G) Shield box One turn Power supply: Noise L1,L2,L3...
Page 77 3.3 EMC Installation Conditions  Three-phase 400 V • SERVOPACK: SGDV-J1A ( = 750, 101, 131) + SGDV-OSA01A • Converter: SGDV-COADA ( = 3Z, 5E) Shield box One turn Power supply: Noise L1,L2,L3 Three-phase 400 VAC filter Surge Converter absorber CN101 Power supply: Noise...
Page 78 3 SERVOPACK Installation 3.3.2 Σ-V Series for Large-Capacity Models (3) SGDV-2 (M-III Communications Reference Models)  Three-phase 200 V • SERVOPACK: SGDV-H2A ( = 121, 161, 201) + SGDV-OSA01A • Converter: SGDV-COAAA ( = 2B, 3G) Shield box One turn Power supply: Noise L1,L2,L3...
Page 79 3.3 EMC Installation Conditions  Three-phase 400 V • SERVOPACK: SGDV-J2A ( = 750, 101, 131) + SGDV-OSA01A • Converter: SGDV-COADA ( = 3Z, 5E) Shield box One turn Power supply: Noise L1,L2,L3 Three-phase 400 VAC filter Surge Converter absorber CN101 Power supply: Noise...
Page 80 3 SERVOPACK Installation 3.3.2 Σ-V Series for Large-Capacity Models (4) SGDV-EA (Command Option Attachable Type)  Three-phase 200 V • SERVOPACK: SGDV-HEA ( = 121, 161, 201) + SGDV-OSA01A • Converter: SGDV-COAAA ( = 2B, 3G) Shield box One turn Power supply: Noise L1,L2,L3...
Page 81 3.3 EMC Installation Conditions  Three-phase 400 V • SERVOPACK: SGDV-JEA ( = 750, 101, 131) + SGDV-OSA01A • Converter: SGDV-COADA ( = 3Z, 5E) Shield box One turn Power supply: Noise L1,L2,L3 Three-phase 400 VAC filter Surge Converter absorber CN101 Power supply: Noise...
Page 82: Series
3 SERVOPACK Installation 3.3.3 Σ-7 Series 3.3.3 Σ-7 Series (1) SGD7S-A0 (Analog Voltage and Pulse Train Reference Models)  Three-phase 200 V • SGD7S-A00A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6, 120, 180, 200, 330, 470, 550, 590, 780) + SGDV-OSA01A Shield box Brake power supply Motor Flange...
Page 83 3.3 EMC Installation Conditions (2) SGD7S-A1 (M-II Communications Reference Models)  Three-phase 200 V • SGD7S-A10A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6, 120, 180, 200, 330, 470, 550, 590, 780) + SGDV-OSA01A Shield box Brake power supply Motor Flange SERVOPACK Brake...
Page 84 3 SERVOPACK Installation 3.3.3 Σ-7 Series (3) SGD7S-A2 (M-III Communications Reference Models)  Three-phase 200 V • SGD7S-A20A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6, 120, 180, 200, 330, 470, 550, 590, 780) + SGDV-OSA01A Shield box Brake power supply Motor Flange SERVOPACK Brake...
Page 85 3.3 EMC Installation Conditions (4) SGD7S-A4 (M-4 Communications Reference Models)  Three-phase 200 V • SGD7S-A40A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6, 120, 180, 200, 330, 470, 550, 590, 780) + SGDV-OSA01A Shield box Brake power supply Motor Flange SERVOPACK Brake...
Page 86: Other Precautions
3 SERVOPACK Installation 3.3.4 Other Precautions 3.3.4 Other Precautions (1) Attachment Methods of Ferrite Cores One turn Two turn Cable Cable Ferrite core Ferrite core (2) Recommended Ferrite Core  Σ-V Series Cable Name Ferrite Core Model Manufacturer Motor main circuit cable ESD-SR-250 NEC TOKIN Corp.
Page 87 3.3 EMC Installation Conditions (4) Fixing the Cable Fix and ground the cable shield using a piece of conductive metal. • Example of Cable Clamp Cable Shield (cable sheath stripped) Host controller side Fix and ground the cable shield using a piece of conductive metal. Ground plate Cable clamp...
Page 88 Wiring and Connection This chapter describes an example of how a system is configured using the Safety Module and how the I/O signals are connected. For details on the main circuit, encoders, and regenerative resistors, refer to the manual for SERVOPACK being used.
Page 89: System Configuration Diagram
4 Wiring and Connection 4.1.1 Σ-V Series System Configuration Diagram System Configuration Diagram An example of system configuration using SERVOPACK for MECHATROLINK-II communications refer- ence is shown below. 4.1.1 Σ-V Series System Configuration Diagram Power supply Three-phase 200 VAC R S T Molded-case circuit breaker (MCCB)
Page 90: Series System Configuration Diagram
4.1 System Configuration Diagram 4.1.2 Σ-7 Series System Configuration Diagram Power supply Three-phase 200 VAC R S T Molded-case circuit breaker (MCCB) Protects the power supply line by shutting the Connect to the circuit OFF when MECHATROLINK-II. overcurrent is detected. SGD7S- Digital Noise filter...
Page 91: I/O Signal Connections
4 Wiring and Connection 4.2.1 Terminal Layout I/O Signal Connections This section describes the names and functions of I/O connectors (CN21 and CN22) for the Safety Functions A and B. 4.2.1 Terminal Layout (1) I/O Connector for Safety Function A (CN21) Reference Signal Pin No.
Page 92: Electrical Specifications And Connections Of Input Circuit
4.2 I/O Signal Connections 4.2.2 Electrical Specifications and Connections of Input Circuit This section describes the characteristics of the input signals assigned to the CN21 and CN22 connectors on the Safety Module. (1) Specifications Name Signal Pin No. Input Status Meaning The SERVOPACK is operating nor- CN21-4...
Page 93: Electrical Specifications And Connections Of Output Circuit
4 Wiring and Connection 4.2.3 Electrical Specifications and Connections of Output Circuit 4.2.3 of Output Circuit Electrical Specifications and Connections This section describes the characteristics of the output signals assigned to the CN21 and CN22 connectors on the Safety Module. (1) Specifications Name Signal...
Page 94 Precautions and Basic Settings Required before Starting Operation This chapter describes information that is required before starting operation. Be sure to read the following safety precautions, risk assessment information, limitations, and basic settings before starting operation, and use the Safety Module after properly understanding all of this information.
Page 95: Safety Precautions For Using The Safety Module
5 Precautions and Basic Settings Required before Starting Operation Safety Precautions for Using the Safety Module Carefully read the following important precautions and observe them when using the Safety Module. WARNING • Installation, disassembly, or repair must be performed only by authorized personnel. Failure to observe this precaution may result in electric shock or injury.
Page 96: Risk Assessment
5.2 Risk Assessment Risk Assessment When using the Safety Module, be sure to perform risk assessment of the servo system in advance. Make sure that the safety level of the standards is met. For details about the standards, refer to Compliance with UL Stan- dards, EU Directives, UK Regulations, and Other Safety Standards at the front of this manual.
Page 97: Limitations
5 Precautions and Basic Settings Required before Starting Operation 5.3.1 Limitations on Lower Limit of Encoder Output Pulses Limitations When the Safety Module is used, use of Pn212 or Pn281 to control the encoder’s output pulses, test without the motor function, and the external encoder of the SERVOPACK will be restricted. 5.3.1 Limitations on Lower Limit of Encoder Output Pulses When the Safety Module is used, the lower limit for the encoder’s output pulses is restricted.
Page 98 5.3 Limitations • Monitoring Speed Margin The monitoring speed margin is added to the monitoring speed of the safety function according to the detec- tion accuracy of motor speed. The Safety Module performs speed monitoring using a monitoring speed to which this monitoring speed mar- gin was added.
Page 99 5 Precautions and Basic Settings Required before Starting Operation 5.3.1 Limitations on Lower Limit of Encoder Output Pulses  Linear Servomotors Pn281: Encoder Output Resolution [edge/pitch] 5 × Pn282 (Linear Scale Pitch) [μm/pitch] Lower limit of Pn281 [edge/pitch] ≥ Pn385 (Motor Max. Speed) [mm/s] Lower Limit of Encoder Output Resolution Lower Limit of Encoder Motor Max.
Page 100: Limitations On The Use Of The Test Without Motor Function
5.3 Limitations 5.3.2 Limitations on the Use of the Test without Motor Function The test without motor function of the SERVOPACK cannot be used together with the safety functions of the Safety Module. When using the safety functions, disable the test without motor function of the SERVOPACK being used.
Page 101: Basic Settings Required Before Starting Operation
5 Precautions and Basic Settings Required before Starting Operation Basic Settings Required before Starting Operation The basic functions that must be set before starting operation are given below. Step Item Reference Disabling the external encoder Disabling the test without motor function Rotational Motor rotation direction servomotor...
Page 102: Checking The Operation
5.5 Checking the Operation Checking the Operation When starting the system or replacing a SERVOPACK for maintenance or inspection purposes, make sure that the relevant External Device Monitor Output Signal turns ON when the redundant Safety Request Input Sig- nals turn OFF. Failure of the safety functions can be detected by monitoring the Safety Request Input Signals and the Exter- nal Device Monitor Output Signals.
Page 103 Safety Functions This chapter describes the Safety Functions of the Safety Module. 6.1 Overview ..........6-2 6.2 Common Items .
Page 104: Overview
6 Safety Functions Overview The Safety Module is equipped with four functions to provide machine safety. These functions reduce risks during usage of the machine by protecting people from hazardous operations of movable machine parts. The stopping function that is defined in functional safety standards can be achieved with these four functions. The Safety Module provides the following four safety functions.
Page 105: Common Items
6.2 Common Items Common Items 6.2.1 Selecting a Safety Function The Safety Module has two safety functions with the same features and these functions can be allocated sepa- rately. Either or both of these safety functions can be used. The setup parameters of safety functions are as follows: Parameter Setting Factory...
Page 106: Safety Request Input Signals
6 Safety Functions 6.2.2 Safety Request Input Signals 6.2.2 Safety Request Input Signals (1) Safety Request Input Signals Safety Request Input Signals initiate the execution of the safety functions. Safety functions are executed when a Safety Request Input Signal is input. To improve safety, two Safety Request Input Signal channels are allocated to each safety function.
Page 107 6.2 Common Items (4) Error Detection for Safety Request Input Signals The Safety Module monitors the state of redundant Safety Request Input Signals allocated to each safety func- tion to detect errors. The process of error detection is as follows: 1.
Page 108 6 Safety Functions 6.2.2 Safety Request Input Signals  Alarms The following alarms occur if an error is detected in the Safety Request Input Signals. To cancel an alarm, remove the cause of the alarm, and then reset the system. Alarm Alarm No.
Page 109: External Device Monitor Output Signals
6.2 Common Items 6.2.3 External Device Monitor Output Signals These signals are output when the following two conditions are met: • The safety function is operating normally. • No malfunction occurs in the safety function. If a malfunction occurs in the safety function when the safety function is operating, this signal will not be out- put.
Page 110 6 Safety Functions 6.2.3 External Device Monitor Output Signals (2) Selecting Output Conditions The output conditions of the External Device Monitor Output Signals can be selected by using the parameters. Parameter Setting Factory Name Units When Enabled Range Setting EDM Signal Output Selection After resetting the Pc01 –...
Page 111 6.2 Common Items (3) Output Delay Time The output delay time of the External Device Monitor Output Signals is shown below. Operation Timing Not met Not met Output Conditions External Device Monitor Output Signals td: Output delay time of the External Device Monitor Output Signal (40 ms max.) ...
Page 112: Operations After Alarms And Resetting Systems, And While Recalculating Parameters
6 Safety Functions 6.2.4 Operations After Alarms and Resetting Systems, and While Recalculating Parameters 6.2.4 Operations After Alarms and Resetting Systems, and While Recalculating Parameters The Safety Module operates in a different manner after the system is reset, an alarm occurs, or while parame- ters are recalculated.
Page 113: Validating Safety Functions
6.2 Common Items 6.2.5 Validating Safety Functions When you commission the system, replace a SERVOPACK or Safety Module for maintenance or inspection purposes, or change the parameter settings of a Safety Module, you must always perform the following valida- tion test on the safety function after completing the wiring. (It is recommended that you keep the confirmation results as a record.) •...
Page 114: Safe Baseblock Function (Sbb Function)
6 Safety Functions 6.3.1 Basic Operation Safe BaseBlock Function (SBB Function) 6.3.1 Basic Operation The Safe BaseBlock Function (hereafter called the SBB function) operates based on Safe Torque Off (STO) function that is defined in IEC 61800-5-2. This function shuts OFF the power supply to the motor by execut- ing the HWBB function of the SERVOPACK according to the safety request input state.
Page 115: Exceptional Operation
6.3 Safe BaseBlock Function (SBB Function) (2) Returning Timing  When the Servo ON Command Is Not Input Operation Timing Returning conditions Not met Servo ON command SERVOPACK state HWBB state BB state td: Delay time (40 ms max.)  When the Servo ON Command Is Input When the safety request input status is ON, the SBB function stops operating.
Page 116: Related Servopack Functions
6 Safety Functions 6.3.5 Related SERVOPACK Functions (2) While Recalculating Parameters When parameters are being recalculated, the SBB function is executed according to the Safety Request Input Signal after recalculation of parameters. For details on how to return to normal operation from the HWBB state, refer to 6.3.3 Returning Method. Operation Timing Parameter recalculation request ON (Servo ON...
Page 117 6.3 Safe BaseBlock Function (SBB Function) (3) Zero-speed Stopping  When the SBB Function is Turned ON (Operating) while Zero-speed Stopping When the SBB function is turned ON while zero-speed stopping (during a GR2 alarm), zero-speed stopping is canceled and the motor is stopped according to the method specified in parameter Pn001.0 (Application Func- tion Select Switch).
Page 118 6 Safety Functions 6.3.5 Related SERVOPACK Functions (5) Servo Ready Signal When the SBB function is operating, the Servo Ready Signal turns OFF (i.e., the servo cannot be turned ON) during operation of the SBB function. After returning from the HWBB state, the Servo Ready Signal turns ON (i.e., the servo can be turned ON).
Page 119 6.3 Safe BaseBlock Function (SBB Function) (8) Relationship with MECHATROLINK-III Commands If the SERVOPACK changes to the HWBB state during the execution of any of the following MECHATROLINK-III commands, a command warning will occur. A command warning will also occur if a MECHATROLINK-III command now being executed is canceled with the CMD_CANCEL (cancellation of move command) control bit.
Page 120: Safe Baseblock With Delay Function (Sbb-D Function)
6 Safety Functions 6.4.1 Basic Operation Safe BaseBlock with Delay Function (SBB-D Function) 6.4.1 Basic Operation The Safety BaseBlock with Delay Function (hereafter called the SBB-D function) operates based on the Safe Stop 1 (SS1) function that is defined in IEC 61800-5-2. This function monitors the deceleration operation (deceleration monitoring) of the motor according to the safety request input state until the time period speci- fied in the parameter elapses, and then shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK.
Page 121 6.4 Safe BaseBlock with Delay Function (SBB-D Function) Operation Timing OFF (Safety Function Safety request Execution Request) input state A Monitoring speed Alarm Motor speed Set Time SBB-D function Deceleration Safe (HWBB) Standby monitoring operation state state Power supply to Supplied Shut OFF motor...
Page 122: Settings
6 Safety Functions 6.4.2 Settings 6.4.2 Settings To use the SBB-D function, make the settings for using the SBB-D function of either Safety Function A or Safety Function B in the parameters. For details on the settings of the safety functions, refer to 6.2.1 Selecting a Safety Function.
Page 123: Related Servopack Functions
6.4 Safe BaseBlock with Delay Function (SBB-D Function) 6.4.5 Related SERVOPACK Functions The SERVOPACK functions and operations related to the safe (HWBB) state after deceleration monitoring are the same as that for the SBB function. These are listed below. For details, refer to 6.3.5 Related SERVO- PACK Functions.
Page 124: Safe Position Monitor With Delay Function (Spm-D Function)
6 Safety Functions 6.5.1 Basic Operation Safe Position Monitor with Delay Function (SPM-D Function) 6.5.1 Basic Operation The Safe Position Monitor with Delay Function (hereafter called the SPM-D function) operates based on the Safe Stop 2 (SS2) function that is defined in IEC 61800-5-2. This function monitors the deceleration operation (deceleration monitoring) of the motor according to the safety request input state until the time period speci- fied in the parameter elapses, and then switches to position monitoring and monitors the distance that the motor moved to make sure it is within the allowable range.
Page 125 6.5 Safe Position Monitor with Delay Function (SPM-D Function) Operation Timing Safety request OFF (Safety Function Execution Request) input state Alarm Distance for monitoring Motor position Set Time Reference position SPM-D function Deceleration Safe (HWBB) Standby Position monitoring monitoring state operation state Power supply Supplied...
Page 126: Settings
6 Safety Functions 6.5.2 Settings 6.5.2 Settings To use the SPM-D function, make the settings for using the SPM-D function of either Safety Function A or Safety Function B in the parameters. For details on selecting the safety functions, refer to 6.2.1 Selecting a Safety Function.
Page 127: Related Servopack Functions
6.5 Safe Position Monitor with Delay Function (SPM-D Function) 6.5.5 Related SERVOPACK Functions The SERVOPACK functions and operations related to the operation of the SPM-D function are same as that for the SBB-D function. There are listed below. For details, refer to 6.4.5 Related SERVOPACK Functions. •...
Page 128: Safely Limited Speed With Delay Function (Sls-D Function)
6 Safety Functions 6.6.1 Basic Operation Safely Limited Speed with Delay Function (SLS-D Function) 6.6.1 Basic Operation The Safely Limited Speed with Delay Function (hereafter called the SLS-D function) operates based on Safely-Limited Speed (SLS) that is defined in IEC 61800-5-2. This function monitors the deceleration opera- tion (deceleration monitoring) of the motor according to the safety request input state until the time period specified in the parameter elapses, and then monitors the motor speed to make sure it is within the allowable range (within a constant speed range).
Page 129 6.6 Safely Limited Speed with Delay Function (SLS-D Function)  Operation during Deceleration Monitoring and Constant-speed Monitoring • Alarms The operation when the motor speed exceeds the monitoring speed during deceleration monitoring and con- stant-speed monitoring is the same as the operation during deceleration monitoring of the SBB-D function. ...
Page 130: Settings
6 Safety Functions 6.6.2 Settings 3. Information on the Monitoring Speed Margin (S A monitoring speed margin (S ) that takes into account the speed detection accuracy is added to the monitor- ing speed during deceleration monitoring and during constant speed monitoring. For the value of the monitoring speed margin, refer to 5.3.1 Limitations on Lower Limit of Encoder Output Pulses.
Page 131: Exceptional Operation
6.6 Safely Limited Speed with Delay Function (SLS-D Function) 6.6.4 Exceptional Operation (1) After Resetting the System After the system is reset, if the Safety Request Input Signal turns OFF (Safety Function Execution Request) when the S-RDY signal turns OFF, the Safety Module performs constant-speed monitoring instead of deceler- ation monitoring.
Page 132: Order Of Priority Of Safety Functions
6 Safety Functions Order of Priority of Safety Functions Safety functions can be set individually for Safety Function A and Safety Function B. Two safety functions may be executed under the following two conditions: • If one of the two safety functions is changed to the safe (HWBB) state, the other function will also be changed to the safe (HWBB) state.
Page 133 6.7 Order of Priority of Safety Functions  Reference Position When the SPM-D Function Is Set for Both Safety Functions When the SPM-D function is set for Safety Function A and Safety Function B, the motor position set in the safety function that is the first to reach the position monitoring state is treated as the reference position of Safety Function A and Safety Function B.
Page 134 6 Safety Functions Application Example of Safety Functions An application example of the safety functions is described below. (1) Connection Example A connection example in which a Safety Module is used and the safety functions are set to operate under the following conditions is described here.
Page 135 6.8 Application Example of Safety Functions (2) Operation Example  Safety Function A <When Door Switch Is Closed> The X1 signal of the Safety Controller is OFF and the S14 and the S24 signals are ON. Signals /SRI-A1 and /SRI-A2 both are ON and Safety Function A (SLS-D function) does not operate. Normal operation is exe- cuted.
Page 136 6 Safety Functions  Safety Function B <When the Emergency Stop Switch Is Not Pressed> The X1 signal of the Safety Controller is OFF and the S14 and the S24 signals are ON. Signals /SRI-B1 and /SRI-B2 are both ON and Safety Function B (SBB-D function) does not operate. Normal operation is exe- cuted.
Page 137 Setting Parameters This chapter describes the parameters related to the safety functions of the Safety Module. For the parameters of the SERVOPACK, refer to the manual for your SERVOPACK. 7.1 Types of Parameters ......... 7-2 7.2 Safety-related Module Parameters .
Page 138: Types Of Parameters
7 Setting Parameters Types of Parameters To operate the Safety Module, the parameters must be set according to the servo system being used. There are two types of Safety Module parameters, as described in the following table. Parameters Overview These parameters are used to set safety functions. These parameters are used Safety-related Module Parameters only for the Safety Module.
Page 139: Safety-Related Module Parameters
7.2 Safety-related Module Parameters Safety-related Module Parameters 7.2.1 Overview The safety-related module parameters are used to set the safety functions of the Safety Module. The safety- related module parameters are listed in the following table. Parameter No. Name Pc00 Safety Function Selection Switch Pc01 EDM Signal Output Selection Switch Pc10...
Page 140: Operation Procedures
7 Setting Parameters 7.2.2 Operation Procedures 7.2.2 Operation Procedures The procedures for referencing, editing, and initializing the safety-related module parameters are given in this section. (1) Referencing Parameters Start Display the Utility Function Main Menu. Utility Function Fn041 Reference: 8.3 Safety-related Module Enter a parameter number.
Page 141 7.2 Safety-related Module Parameters (2) Editing Parameters Start Utility Function Fn040 Change the access Reference: 8.2 Safety Option Module Access Mode Setting mode to Edit Mode. (Fn040). Utility Function Fn041 Change the setting Reference: 8.3 Safety-related Module Parameter Setting (Fn041). of the parameter.
Page 142 7 Setting Parameters 7.2.2 Operation Procedures (3) Initializing Parameters Start Utility Function Fn040 Change the access mode Reference: 8.2 Safety Option Module Access Mode Setting (Fn040). to Edit Mode. Utility Function Fn043 Change the parameters to Reference: 8.5 Safety Option Module Initializing the factory settings.
Page 143: Safety-Related Servo Parameters
7.3 Safety-related Servo Parameters Safety-related Servo Parameters 7.3.1 Overview Safety-related servo parameters contain information about the safety functions of the SERVOPACK and servomotor and are managed by the Safety Module. This information is maintained in the SERVOPACK, but it is also managed in the Safety Module with different parameter numbers. To change a safety-related servo parameter, change the corresponding SERVOPACK parameter, and then update the parameters with the utility function Fn042.
Page 144: Operation Procedures
7 Setting Parameters 7.3.2 Operation Procedures 7.3.2 Operation Procedures The procedures for referencing and updating the safety-related servo parameters are given in this section. The safety-related servo parameters cannot be edited. (1) Referencing Parameters Start Display the Utility Function Main Menu. Utility Function Fn041 Reference: 8.3 Safety-related Module Enter a parameter number.
Page 145 7.3 Safety-related Servo Parameters (2) Updating Parameters Start Change the SERVOPACK param- For details, refer to the user's manual of the eter that corresponds to the safety- SERVOPACK being used. related servo parameter, or change the connected servomotor. Either reset the system or recalculate the parameter.
Page 146 Utility Functions This chapter describes the utility functions related to the Safety Module. For details on the utility functions of the SERVOPACK, refer to the manual for your SERVOPACK. 8.1 List of Utility Functions ........8-2 8.2 Safety Option Module Access Mode Setting (Fn040) .
Page 147 8 Utility Functions List of Utility Functions When the Safety Module is connected to the SEROVOPACK, the following utility functions can be used. These functions are used when operating the parameters of the safety Module and referring the informations related to the Safety Module. Function Function Reference...
Page 148: Safety Option Module Access Mode Setting (Fn040)
8.2 Safety Option Module Access Mode Setting (Fn040) Safety Option Module Access Mode Setting (Fn040) 8.2.1 Overview To change the parameters of the Safety Module, the access mode must be changed to Edit Mode. The access mode can be switched using this function. ...
Page 149 8 Utility Functions 8.2.2 Operation Procedures (2) Operating from the Panel Operator The procedure for operating from the panel operator is shown below. Step Display After Operation Keys Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to display “Fn040.”...
Page 150: Safety-Related Module Parameter Setting (Fn041)
8.3 Safety-related Module Parameter Setting (Fn041) Safety-related Module Parameter Setting (Fn041) 8.3.1 Overview This function is used to change the safety-related module parameters.  Preparation Before setting the safety-related module parameters check the following: • The servo must be OFF. •...
Page 151: Operation Procedures
8 Utility Functions 8.3.2 Operation Procedures 8.3.2 Operation Procedures (1) Operating from the Digital Operator The procedure for operating from the digital operator is shown below. Step Display After Operation Keys Operation − F U N C T I O N − Press the Key to display the main menu of utility F n 0 4 0 S O M M o d e S e t...
Page 152 8.3 Safety-related Module Parameter Setting (Fn041) (2) Operating from the Panel Operator The procedure for operating from the panel operator is shown below. Step Display After Operation Keys Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to display “Fn041.”...
Page 153: Safety-Related Servo Parameter Updating (Fn042)
8 Utility Functions 8.4.1 Overview Safety-related Servo Parameter Updating (Fn042) 8.4.1 Overview The settings of SERVOPACK parameters related to the safety functions are managed in the Safety Module. These parameters are called safety-related servo parameters. This function is used to copy the settings of SERVOPACK parameters related to the safety functions to safety- related servo parameters maintained in the Safety Module.
Page 154 8.4 Safety-related Servo Parameter Updating (Fn042) (cont’d) Step Display After Operation Keys Operation Press the Key to update the safety-related servo parameter. When the parameter has been updated, “DONE” flashes in the status display for approx. one second, and the display returns to the parameter check screen. Repeat the operation in Step 3 to 4 and update all the mismatched parameters.
Page 155 8 Utility Functions 8.4.2 Operation Procedures (2) Operating from the Panel Operator The procedure for operating from the panel operator is shown below. Step Display After Operation Keys Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to display “Fn042.”...
Page 156 8.4 Safety-related Servo Parameter Updating (Fn042) (cont’d) Step Display After Operation Keys Operation Press the DATA/SHIFT Key for at least one second to display the screen on the left. MODE/SET DATA/ Press the DATA/SHIFT Key for at least one second to display the screen on the left.
Page 157: Safety Option Module Initializing Parameter Setting (Fn043)
8 Utility Functions 8.5.1 Overview Safety Option Module Initializing Parameter Setting (Fn043) 8.5.1 Overview This function initializes the parameters of the Safety Module to the factory settings. This function is used if the Safety Module parameters are to be initialized to the factory settings from the current settings, or if consis- tency of parameters cannot be achieved due to a memory error in the Safety Module.
Page 158 8.5 Safety Option Module Initializing Parameter Setting (Fn043) (cont’d) Step Display After Operation Keys Operation − F U N C T I O N − F n 0 4 1 S O M P r m E d i t Press the Key to return to the main menu of F n 0 4 2 S O M P r m U p d...
Page 159: Safety Option Module Setup Alarm Clear (Fn044)
8 Utility Functions 8.6.1 Overview Safety Option Module Setup Alarm Clear (Fn044) 8.6.1 Overview This function clears the cause of the Safety Module: Confirmation Alarm (A.EC0). This alarm occurs in the following cases: • The system was reset or parameters were recalculated after the combination of the SERVOPACK and Safety Module was changed.
Page 160: Operation Procedures
8.6 Safety Option Module Setup Alarm Clear (Fn044) 8.6.2 Operation Procedures Operating from the Digital Operator The procedure for operating from the digital operator is shown below. Step Display After Operation Keys Operation − F U N C T I O N − A .
Page 161 8 Utility Functions 8.6.2 Operation Procedures (2) Operating from the Panel Operator The procedure for operating from the panel operator is shown below. Step Display After Operation Keys Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to display “Fn044.”...
Page 162: Related Utility Functions
8.7 Related Utility Functions Related Utility Functions When using the Safety Module, the following information about the Safety Module is added to the utility functions used in the SERVOPACK. For details on these functions, refer to the manual of your SERVOPACK. 8.7.1 Software Version Display (Fn012) This function is used to check the software version of the Safety Module.
Page 163 Monitor Mode This chapter describes the monitor mode that is used when a Safety Module is connected to the SERVOPACK. 9.1 Overview ..........9-2 9.1.1 List of Monitor Modes .
Page 164: Overview
9 Monitor Mode 9.1.1 List of Monitor Modes Overview The Monitor Mode is used to display the operating status of the SERVOPACK or Safety Module. When a Safety Module is connected to the SERVOPACK, the items related to the Safety Module are added to the mon- itor mode displays of the SERVOPACK.
Page 165: Status Display
9.1 Overview 9.1.2 Status Display The operating status of the safety functions can be checked from the digital operator, or panel operator dis- plays. A safety function has the following operating states: • Deceleration monitoring • Safe state • Safe (HWBB) state (1) Displaying the Status on the Digital Operator When a digital operator is connected, the SERVOPACK status is displayed at the top left of the display screen.
Page 166 9 Monitor Mode 9.1.2 Status Display (2) Displaying the Status on the Panel  Deceleration Monitoring During deceleration monitoring, the panel display is as shown below. SERVOPACK Display Flashing Analog voltage and pulse train reference model • M-II communications reference model Flashing •...
Page 167: Monitoring From The Panel Operator And Digital Operator
9.2 Monitoring from the Panel Operator and Digital Operator Monitoring from the Panel Operator and Digital Operator This section describes the contents displayed when information related to the safety functions is checked on the panel operator and digital operator. For details on how to perform operations with the panel operator and Digital Operator, refer to the following manuals: •...
Page 168: Safety Module System Status (Un018)
9 Monitor Mode 9.2.3 Safety Module System Status (Un018) (cont’d) Parameter Display Name Unit Attribute – Safety Function B − HWBB HWBB function is operating. Reserved – – The operating status of one safety function is affected by the operating status of the other safety function. The relationship between the operating status of the safety functions and the monitor display is described below.
Page 169: Time Until Arrival At Safety Speed (Un019 And Un01A)
9.2 Monitoring from the Panel Operator and Digital Operator 9.2.4 Time until Arrival at Safety Speed (Un019 and Un01A) This monitor mode displays the time period until the motor reaches a safe speed after the safety request signal is input. Parameter Name Unit...
Page 170: Active Mode Reference Speed (Un01B)
9 Monitor Mode 9.2.5 Active Mode Reference Speed (Un01B) 9.2.5 Active Mode Reference Speed (Un01B) This monitor mode displays the internal speed reference of the SERVOPACK that uses the Active Mode Func- tion. Parameter Name Unit Remarks Rotational motor: Active Mode Reference Un01B Initial display after system reset: 0 Speed...
Page 171: Monitoring Over The Network
9.3 Monitoring Over the Network Monitoring Over the Network In a SERVOPACK for use with MECHATROLINK-II/-III/-4 communications reference, monitoring can be performed via MECHATROLINK-II/-III/-4 communications. In a SERVOPACK for use with the Command Option Module, monitoring can be performed over the field network of the Command Option Module. How- ever, a function for acquiring the monitor information of the Safety Module must be installed in the Command Option Module.
Page 172 9 Monitor Mode 9.3.2 SERVOPACK for Use with MECHATROLINK-III Communications Reference 9.3.2 SERVOPACK for Use with MECHATROLINK-III Communications Reference MECHATROLINK-III Communications Reference SERVOPACKs has multiple fields that can monitor the I/O signals of the Safety Module and operating status of the safety functions via MECHATROLINK-III com- munications.
Page 173 9.3 Monitoring Over the Network  Monitor Information The displayed contents of the monitor fields are shown in the following table. Name Display Contents Safety Request Input Signal A1 0 = OFF, 1 = ON Safety Request Input Signal A2 0 = OFF, 1 = ON Safety Request Input Signal B1 0 = OFF, 1 = ON...
Page 174 9 Monitor Mode 9.3.3 SERVOPACK for Use with MECHATROLINK-4 Communications Reference 9.3.3 SERVOPACK for Use with MECHATROLINK-4 Communications Reference MECHATROLINK-4 Communications Reference SERVOPACKs has multiple fields that can monitor the I/O signals of the Safety Module and operating status of the safety functions via MECHATROLINK-4 communi- cations.
Page 175 9.3 Monitoring Over the Network  Monitor Information The displayed contents of the monitor fields are shown in the following table. Name Display Contents Safety Request Input Signal A1 0 = OFF, 1 = ON Safety Request Input Signal A2 0 = OFF, 1 = ON Safety Request Input Signal B1 0 = OFF, 1 = ON...
Page 176 Active Mode Function This chapter describes the Active Mode Function, which is an additional function of the SERVOPACK available when used with the Safety Module. 10.1 Overview ..........10-2 10.2 Basic Functions .
Page 177: Overview
10 Active Mode Function 10.1 Overview Active Mode Function is used to stop the motor according to the internal deceleration reference of the SER- VOPACK that is set in the parameters, when the Safety Request Input Signal turns OFF. Independent deceler- ation references can be set for Safety Function A and Safety Function B.
Page 178: Internal Deceleration References
10.2 Basic Functions 10.2.1 Internal Deceleration References The parameters for the internal deceleration references in Active Mode Function are as follows: Operation Timing OFF (Safety Function Operation Request) Safety Request Input Signal Internal deceleration reference Pn622 or Pn623 Pn624 Active Mode ON Signal Parameter Setting Factory...
Page 179: Position Error Level For Releasing Active Mode
10 Active Mode Function 10.2.3 Position Error Level for Releasing Active Mode 10.2.3 Position Error Level for Releasing Active Mode The Position Error Level for Releasing Active Mode prevents the motor from moving unexpectedly when position control is used as the control method and Active Mode Function is canceled. Besides the position reference from the host controller, Active Mode Function controls the motor based on the deceleration reference from the SERVOPACK.
Page 180: Speed Reference Level For Releasing Active Mode
10.2 Basic Functions 10.2.4 Speed Reference Level for Releasing Active Mode The Speed Reference Level for Releasing Active Mode is used to prevent the sudden operation of the motor when Active Mode Function is canceled in speed control mode. Besides the speed reference from the host controller, Active Mode Function controls the motor based on the deceleration reference from the SERVO- PACK.
Page 181: Monitoring Active Mode Function
10 Active Mode Function 10.2.5 Monitoring Active Mode Function 10.2.5 Monitoring Active Mode Function Whether Active Mode Function is operating can be monitored by the following methods: • All SERVOPACKs: Allocating the Active Mode output signal (/ACT_MOD) to CN1. • M-II communications reference model: Using the I/O monitor (IO_MON) field. •...
Page 182 10.2 Basic Functions (2) MECHATROLINK-II I/O Monitor (IO_MON) Field If the Active Mode ON Signal is allocated to CN1 in a SERVOPACK with MECHATROLINK-II Communi- cations Reference, the operating state of Active Mode Function can be monitored in the I/O monitor field. The allocation of monitor information and information on the I/O monitor (IO_MON) field are given below.
Page 183 10 Active Mode Function 10.2.5 Monitoring Active Mode Function (3) MECHATROLINK-III I/O Signal Monitor (SVCMD_IO) Field If the Active Mode ON Signal is allocated to CN1 in a SERVOPACK with MECHATROLINK-III communi- cations, the operating state of the Active Mode Function can be monitored in IO1 to IO8 in the I/O signal monitor (SVCMD_IO) field.
Page 184 10.2 Basic Functions (cont’d) Details SVCMD_IO (I/O signal monitor) Bit Position Allocation Remarks Σ-V Series and Σ-7 Series Σ-7S: Allocation of bit position for monitoring the CN1-25 (26) output signal. – Large-Capacity Σ-V Series: Allocation of bit position for monitoring the CN1-29 (30) output signal. Pn869.0 Σ-V Series: Same settings for the CN1-1 (2) output signal...
Page 185 10 Active Mode Function 10.2.5 Monitoring Active Mode Function (4) MECHATROLINK-4 I/O Signal Monitor (SVCMD_IN) Field If the Active Mode ON Signal is allocated to CN1 in a SERVOPACK with MECHATROLINK-4 communica- tions, the operating state of the Active Mode Function can be monitored in IO_STS1 to IO_STS8 in the I/O signal monitor (SVCMD_IN) field.
Page 186 10.2 Basic Functions  Monitor Information Name Description Value I/O Status OFF (Output transistor is open.) Monitors the CN1 output signal ON (Output transistor is closed.) Indicates the status of the CN1 output signal. D24 to D31 IO_STS1 to IO_STS8 Use any of the Pn868 and Pn869 to allocate bit positions for monitoring the CN1 output signal.
Page 187: Settings
10 Active Mode Function 10.3 Settings This section describes the setup parameters of Active Mode Function. Parameter Setting Factory Name Units When Enabled Range Setting After resetting the sys- Application Switch for Safety – – 0000 tem or are recalculat- Function ing parameters Selection of Active Mode for Safety Function A...
Page 188: Returning Method
10.4 Returning Method 10.4 Returning Method 10.4.1 Returning Conditions When the motor stops due to the operation of Active Mode Function, Active Mode Function can be canceled to return to the normal operation when all of the following conditions are met. •...
Page 189 10 Active Mode Function 10.4.2 SERVOPACK for Use with Analog Voltage and Pulse Train Reference (2) Position Control Mode Operation Timing OFF (Safety Function Operation Request) Safety Request Input Signal Host controller reference Internal deceleration reference Deceleration Pn625 to a stop Active Mode ON Signal Host controller Operating...
Page 190: Servopack For Use With Mechatrolink-Ii Communications Reference
10.4 Returning Method 10.4.3 SERVOPACK for Use with MECHATROLINK-II Communications Reference (1) Speed Control Mode Operation Timing OFF (Safety Function Operation Request) Safety Request Input Signal Host controller reference Internal deceleration reference Deceleration Pn625 to a stop Active Mode ON Signal Host controller Operating Standby Operating...
Page 191 10 Active Mode Function 10.4.3 SERVOPACK for Use with MECHATROLINK-II Communications Reference (2) Position Control Mode Operation Timing OFF (Safety Function Operation Request) Safety Request Input Signal Host controller reference Internal deceleration reference Deceleration Pn625 to a stop Active Mode ON Signal Host controller Operating Standby Operating...
Page 192: Servopack For Use With Mechatrolink-Iii Communications Reference
10.4 Returning Method 10.4.4 SERVOPACK for Use with MECHATROLINK-III Communications Reference (1) Speed Control Mode Operation Timing OFF (Safety Function Operation Request) Safety Request Input Signal Host controller reference Internal deceleration reference Deceleration Pn625 to a stop Active Mode ON Signal Host controller Operating Standby Operating...
Page 193: Servopack For Use With Mechatrolink-Iii Communications Reference
10 Active Mode Function 10.4.4 SERVOPACK for Use with MECHATROLINK-III Communications Reference (2) Position Control Mode Operation Timing Safety Request Input Signal OFF (Safety Function Operation Request) Host controller reference Internal deceleration reference Deceleration Pn625 to a stop Active Mode ON Signal Host controller Operating Standby Operating...
Page 194: Servopack For Use With Mechatrolink-4 Communications Reference
10.4 Returning Method 10.4.5 SERVOPACK for Use with MECHATROLINK-4 Communications Reference (1) Speed Control Mode Operation Timing OFF (Safety Function Operation Request) Safety Request Input Signal Host controller reference Internal deceleration reference Deceleration Pn625 to a stop Active Mode ON Signal Host controller Operating Standby Operating...
Page 195: Servopack For Use With Command Option Module
10 Active Mode Function 10.4.6 SERVOPACK for Use with Command Option Module (2) Position Control Mode Operation Timing Safety Request Input Signal OFF (Safety Function Operation Request) Host controller reference Internal deceleration reference Deceleration Pn625 to a stop Active Mode ON Signal Host controller Operating Standby Operating...
Page 196: Exceptional Operation
10.5 Exceptional Operation 10.5 Exceptional Operation  After Resetting the System After the system is reset in Active Mode Function, Active Mode Function stops and the servo system is restarted.  While Recalculating Parameters When parameters are being recalculated in Active Mode Function, Active Mode Function stops. For SERVOPACKs with the MECHATROLINK-III communications reference or the MECHATROLINK-4 communications reference, however, a command warning will be issued and parameters will not be recalcu- lated if recalculation of parameters is attempted with the CONFIG command during a servo ON state.
Page 197: Related Servopack Functions
10 Active Mode Function 10.6.1 Utility Functions 10.6 Related SERVOPACK Functions The SERVOPACK functions related to the operation of the Active Mode Function are described below. For details, refer to the manual for your SERVOPACK. • Utility functions • Overtravel •...
Page 198: Overtravel
10.6 Related SERVOPACK Functions 10.6.2 Overtravel If the overtravel function is operated in Active Mode Function, the SERVOPACK operations change as fol- lows: • The internal deceleration reference of Active Mode Function is stopped and the overtravel function is used to slow the motor.
Page 199 Troubleshooting This chapter describes the alarms that can occur in the Safety Module and the methods of clearing these alarms. For details on the alarms that occur in the SERVOPACK and the methods of clearing the alarms, refer to the manual of your SERVOPACK. 11.1 List of Alarms .
Page 200 11 Troubleshooting 11.1 List of Alarms A list of alarms occurring in the Safety Module is shown below. Alarm Alarm Alarm Name Alarm Details Code Reset Safety Option Module A.E71 The Safety Option Module could not be detected. Detection Failure Safety Option Module A Safety Option Module that is not supported by the SER- A.E74...
Page 201 11.2 Troubleshooting of Alarms 11.2 Troubleshooting of Alarms Refer to the following table to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.
Page 202 11 Troubleshooting (cont’d) Alarm Alarm Name Cause Investigative Action Corrective Action • Restart the system. • Make improvements in the EMC installation An error occurred in the environment. system of the Safety – • Replace the Safety Module. Module. • Replace the SERVO- PACK.
Page 203 11.2 Troubleshooting of Alarms (cont’d) Alarm Alarm Name Cause Investigative Action Corrective Action The set value of decelera- tion waiting monitoring Check the set values of speed does not conform Set the appropriate val- Pc12 and Pc62, and also to the maximum speed of ues.
Page 204 11 Troubleshooting (cont’d) Alarm Alarm Name Cause Investigative Action Corrective Action When either Safety Request Input Signal B1 • Check the state of the or B2 was turned OFF, • Correct the wiring. I/O signal correspond- the other signal did not •...
Page 205 11.2 Troubleshooting of Alarms (cont’d) Alarm Alarm Name Cause Investigative Action Corrective Action The settings of a safety- related servo parameter • Check the safety- maintained in the Safety • Execute Fn042 related servo parame- Module do not match the (Safety-related Servo ters maintained in the settings of the corre-...
Page 206 Appendix This chapter describes three parameters and also devices that can be used with the Safety Module. For the parameters of the SERVOPACK, refer to the manual for your SERVO- PACK. 12.1 Safety-related Module Parameters ......12-2 12.2 Safety-related Servo Parameters .
Page 207: Safety-Related Module Parameters
12 Appendix 12.1 Safety-related Module Parameters This section contains a tables of Safety Module parameters. Note: Do not change the following parameters from the factory settings. • Reserved parameters • Parameters not described in this manual Parameter Setting Factory Name Units When Enabled Range...
Page 208 12.1 Safety-related Module Parameters (cont’d) Parameter Setting Factory Name Units When Enabled Range Setting Pc10 Deceleration Waiting Time A 0 to 10000 10 ms After resetting the system Pc11 Deceleration Monitoring Time A 0 to 10000 10 ms After resetting the system Limited Speed A on Waiting for 0 to 10000 Rotational motor: min Pc12...
Page 209: Safety-Related Servo Parameters
12 Appendix 12.2 Safety-related Servo Parameters This section contains a tables of parameters. Note: Do not change the following parameters from the factory settings. • Reserved parameters • Parameters not described in this manual Parameter Setting Factory Name Units When Enabled Range Setting Motor Setting Switch...
Page 210 12.2 Safety-related Servo Parameters (cont’d) Parameter Setting Factory Name Units When Enabled Range Setting Pc5B to Reserved (Do not change.) Pc5F Pc60 Encoder Resolution – After resetting the system Rotational motor: pulse/rev Encoder Output Pulses/ Pc61 – 2048 After resetting the system Encoder Output Resolution Linear motor: edge/pitch Rotational motor: min...
Page 211: Parameters Related Active Mode Function
12 Appendix 12.3 Parameters Related Active Mode Function Parameter Factory Name Setting Range Units When Enabled Setting After resetting the Output Signal Selection 7 – – 0000 system or recalculating parameters Active Mode ON Signal Mapping Disabled <Σ-V Series and Σ-7 Series Σ-7S> •...
Page 212 12.3 Parameters Related Active Mode Function (cont’d) Parameter Factory Name Setting Range Units When Enabled Setting Rotational motor: Motor Stop Detection Pn624 0 to 10000 Immediately Level for Active Mode Linear motor: mm/s Pn625 Active Mode Hold Time 0 to 10000 10 ms Immediately Position Error Level for...
Page 213: Device Combinations
12 Appendix 12.4.1 SERVOPACKs 12.4 Device Combinations Only the models of SERVOPACKs, rotational servomotors and serial converter units listed here can be used in combination with the Safety Module. 12.4.1 SERVOPACKs SERVOPACK Models SGDV-01A Rotational motor SGDV-01B SGDV-COAA Analog voltage and pulse train reference model SGDV-05A Linear motor SGDV-05B...
Page 214 12.4 Device Combinations (cont’d) Rotational Servomotor Models SGMPS-01A SGMPS-02A SGMPS (Medium inertia, small capacity, flat type) SGMPS-04A 3000 min SGMPS-08A SGMPS-15A SGMGV-03A SGMGV-05A SGMGV-09A SGMGV-13A SGMGV-20A SGMGV-30A SGMGV-44A SGMGV-55A SGMGV-75A SGMGV-1AA SGMGV SGMGV-1EA (Medium inertia, medium capacity) SGMGV-03D 1500 min SGMGV-05D SGMGV-09D SGMGV-13D...
Page 215 12 Appendix 12.4.2 Servomotors (cont’d) Rotational Servomotor Models SGMCV-04B SGMCV-10B SGMCV-14B SGMCV-08C SGMCV (Direct Drive, small capacity, coreless inner rotor) SGMCV-17C SGMCV-25C SGMCV-16D SGMCV-35D SGMCS-02B SGMCS-05B SGMCS-07B SGMCS-04C SGMCS-10C SGMCS SGMCS-14C (Direct Drive, small capacity, coreless inner rotor) SGMCS-08D SGMCS-17D SGMCS-25D SGMCS-16E SGMCS-35E...
Page 216 12.4 Device Combinations (cont’d) Rotational Servomotor Models SGM7A-A5A SGM7A-01A SGM7A-C2A SGM7A-02A SGM7A-04A SGM7A-06A SGM7A-08A SGM7A (Low inertia, small capacity) SGM7A-10A 6000 min SGM7A-15A SGM7A-20A SGM7A-25A SGM7A-30A SGM7A-40A SGM7A-50A SGM7A-70A SGM7P-01A SGM7P-02A SGM7P (Medium inertia, small capacity) SGM7P-04A 6000 min SGM7P-08A SGM7P-15A SGM7G-03A SGM7G-05A...
Page 217 12 Appendix 12.4.2 Servomotors (cont’d) Rotational Servomotor Models SGM7D-30F SGM7D-58F SGM7D-90F SGM7D-1AF SGM7D-01G SGM7D-05G SGM7D-08G SGM7D-18G SGM7D-24G SGM7D-34G SGM7D-45G SGM7D-03H SGM7D-28I SGM7D-70I SGM7D SGM7D-1ZI (Direct Drive, outer rotor with core) SGM7D-1CI SGM7D-2BI SGM7D-2DI SGM7D-06J SGM7D-09J SGM7D-18J SGM7D-20J SGM7D-38J SGM7D-02K SGM7D-06K SGM7D-08K SGM7D-06L SGM7D-12L...
Page 218: Serial Converter Units
12.4 Device Combinations (cont’d) Rotational Servomotor Models SGM7F-02A SGM7F-05A SGM7F-07A SGM7F-04B SGM7F-10B SGM7F SGM7F-14B (Direct Drive, small capacity, inner rotor with core) SGM7F-08C SGM7F-17C SGM7F-25C SGM7F-16D SGM7F-35D SGM7F-45M SGM7F-80M SGM7F-80N SGM7F (Direct Drive, medium capacity, inner rotor with core) SGM7F-1AM SGM7F-1EN SGM7F-2ZN Σ...
Page 219 Index Index input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 electrical specifications - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 input signal for Safety Function A - - - - - - - - - - - - - - - - - - - - - - 4-4...
Page 220 Index Safe BaseBlock with Delay Function - - - - - - - - - - - - - - - xxiii, 6-18 SERVOPACK installation - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 3-3 basic operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 environment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 exceptional operation - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20...
Page 221 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP C720829 06A <0>-1 WEB revision number Revision number Published in Japan June 2011 Date of publication Date of Rev.
Page 222 Date of Rev. Rev. Section Revised Content Publication June 2012 <1> Preface, 2.2, 3.3.3, Addition: MECHATROLINK-III information Chapter 4, 6.3.5, 6.4.5, 6.5.4, 6.5.5, 6.6.4, 6.6.5, 9.1.2(2), 9.3.2, 10.2.5, 10.4.4, 12.3, 12.4.1 3.3.1, 3.3.2 Addition: EMC installation conditions for SGDV-B with SGDV-OSA01A Safety Module Revision: Illustration of CD 9.2.6, 9.2.8...
Page 223 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 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 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 www.yaskawa.com.br...

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YASKAWA E-V Series User Manual

2 Specifications

3 Servopack Installation

4 Wiring and Connection

5 Precautions and Basic Settings Required before Starting Operation

6 Safety Functions

7 Setting Parameters

8 Utility Functions

9 Monitor Mode

10 Active Mode Function

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