YASKAWA SGD7S-xxxDA0 series Manuals

YASKAWA SGD7S-xxxDA0 series Manuals

Manuals and User Guides for YASKAWA SGD7S-xxxDA0 series. We have 1 YASKAWA SGD7S-xxxDA0 series manual available for free PDF download: Product Manual

YASKAWA SGD7S-xxxDA0 series Product Manual

YASKAWA SGD7S-xxxDA0 series Product Manual (636 pages)

S-7-Series AC Servo Drive; S-7S SERVOPACK with 400V-Input Power and EtherCAT (CoE) Communications References

Brand: YASKAWA | Category: Controller | Size: 10 MB

Table of Contents

About this Manual

3
- Table of Contents
  3
- Servopacks
  22
Basic Information on Servopacks

24
- Wiring and Connecting
  25
- Wiring and Settings for the Dynamic Brake
  26
- Application Functions
  28
- Trial Operation and Actual Operation
  29
- Cia402 Drive Profile
  33
- Ethercat Communications
  33
- Object Dictionary
  34
- Maintenance
  35
  - The Σ-7 Series
    37
  - Introduction to Ethercat
    38
    
    Canopen over Ethercat OSI Model
    38
    
    Introduction to Canopen
    38
    
    Coe Terminology
    39
    
    Sending and Receiving Data in Ethercat (Coe) Communications
    39
    
    Data Ranges
    40
    
    Data Types
    40
  - Interpreting the Nameplate
    41
  - Part Names
    42
  - Model Designations
    44
    
    Interpreting SERVOPACK Model Numbers
    44
    
    Interpreting Servomotor Model Numbers
    45
  - Combinations of Servopacks and Servomotors
    46
    
    Combinations of Rotary Servomotors and Servopacks
    46
    
    Combinations of Linear Servomotors and Servopacks
    47
  - Functions
    48
Selecting a Servopack

50
Servopack Installation

69
Wiring and Connecting Servopacks

77
- Wiring and Connecting Servopacks
  
  79
  - General Precautions
    79
  - Countermeasures against Noise
    81
  - Grounding
    84
- Basic Wiring Diagrams
  
  85
- Wiring the Power Supply to the SERVOPACK
  
  87
- Wiring Servomotors
  
  95
- Connecting I/O Signals
  
  104
- Connecting Safety Function Signals
  
  111
  - Pin Arrangement of Safety Function Signals (CN8)
    111
  - I/O Circuits
    111
- Connecting Ethercat Communications Cables
  
  113
  - Ethercat Connectors (RJ45)
    113
  - Ethernet Communications Cables
    114
- Connecting the Other Connectors
  
  115
Wiring and Settings for the Dynamic Brake

116
Basic Functions that Require Setting before Operation

141
Application Functions

196
- I/O Signal Allocations
  
  199
  - Input Signal Allocations
    199
  - Output Signal Allocations
    200
  - ALM (Servo Alarm) Signal
    202
  - WARN (Warning) Signal
    202
  - TGON (Rotation Detection) Signal
    203
  - S-RDY (Servo Ready) Signal
    203
  - V-CMP (Speed Coincidence Detection) Signal
    204
  - COIN (Positioning Completion) Signal
    205
  - NEAR (Near) Signal
    206
  - Speed Limit During Torque Control
    207
- Operation for Momentary Power Interruptions
  
  209
- SEMI F47 Function
  
  210
- Setting the Motor Maximum Speed
  
  212
- Encoder Divided Pulse Output
  
  213
- Software Limits
  
  220
- Selecting Torque Limits
  
  221
  - Internal Torque Limits
    221
  - External Torque Limits
    222
  - CLT (Torque Limit Detection) Signal
    225
- Absolute Encoders
  
  226
- Absolute Linear Encoders
  
  235
- Software Reset
  
  239
  - Preparations
    239
  - Applicable Tools
    239
  - Operating Procedure
    240
- Initializing the Vibration Detection Level
  
  241
  - Preparations
    241
  - Applicable Tools
    241
  - Operating Procedure
    242
  - Related Parameters
    244
- Adjusting the Motor Current Detection Signal Offset
  
  245
  - Automatic Adjustment
    245
  - Automatic Adjustment
    247
  - Manual Adjustment
    248
- Forcing the Motor to Stop
  
  250
- ZONE Outputs (FT64 Specification)
  
  253
  - ZONE Table and ZONE Signals
    253
  - ZONE Table Settings
    254
  - ZONE Output Application Example
    257
- Overheat Protection
  
  258
  - Connecting the Overheat Protection Input (TH) Signal
    258
  - Overheat Protection Selections
    258
Trial Operation and Actual Operation

260
- Trial Operation and
  260
- Flow of Trial Operation
  
  261
  - Flow of Trial Operation for Rotary Servomotors
    261
  - Flow of Trial Operation for Linear Servomotors
    263
- Inspections and Confirmations before Trial Operation
  
  265
- Trial Operation for the Servomotor Without a Load
  
  266
  - Preparations
    266
  - Applicable Tools
    267
  - Operating Procedure
    267
- Trial Operation with Ethercat (Coe) Communications
  
  269
- Trial Operation with the Servomotor Connected to the Machine
  
  270
  - Precautions
    270
  - Preparations
    270
  - Operating Procedure
    271
- Convenient Function to Use During Trial Operation
  
  272
  - Program Jogging
    272
  - Origin Search
    278
  - Test Without a Motor
    280
Tuning

284
- Overview and Flow of Tuning
  
  287
  - Tuning Functions
    288
  - Diagnostic Tool
    289
- Monitoring Methods
  
  290
- Precautions to Ensure Safe Tuning
  
  291
- Tuning-Less Function
  
  295
  - Application Restrictions
    295
  - Operating Procedure
    296
  - Troubleshooting Alarms
    297
  - Parameters Disabled by Tuning-Less Function
    298
  - Automatically Adjusted Function Setting
    298
  - Related Parameters
    298
- Estimating the Moment of Inertia
  
  299
  - Outline
    299
  - Restrictions
    299
  - Applicable Tools
    300
  - Operating Procedure
    300
- Autotuning Without Host Reference
  
  306
  - Outline
    306
  - Restrictions
    307
  - Applicable Tools
    308
  - Operating Procedure
    308
  - Troubleshooting Problems in Autotuning Without a Host Reference
    312
  - Automatically Adjusted Function Settings
    314
  - Related Parameters
    316
- Autotuning with a Host Reference
  
  317
  - Outline
    317
  - Restrictions
    318
  - Applicable Tools
    318
  - Operating Procedure
    319
  - Troubleshooting Problems in Autotuning with a Host Reference
    322
  - Automatically Adjusted Function Settings
    322
  - Related Parameters
    323
- Custom Tuning
  
  324
  - Outline
    324
  - Preparations
    324
  - Applicable Tools
    325
  - Operating Procedure
    325
  - Automatically Adjusted Function Settings
    331
  - Tuning Example for Tuning Mode 2 or 3
    331
  - Related Parameters
    332
- Anti-Resonance Control Adjustment
  
  333
  - Outline
    333
  - Preparations
    333
  - Applicable Tools
    334
  - Operating Procedure
    334
  - Related Parameters
    336
  - Suppressing Different Vibration Frequencies with Anti-Resonance Control
    336
- Vibration Suppression
  
  338
  - Outline
    338
  - Preparations
    339
  - Applicable Tools
    339
  - Operating Procedure
    339
  - Setting Combined Functions
    341
  - Related Parameters
    341
- Speed Ripple Compensation
  
  342
  - Outline
    342
  - Setting up Speed Ripple Compensation
    342
  - Setting Parameters
    346
- Additional Adjustment Functions
  
  348
  - Gain Switching
    348
  - Friction Compensation
    351
  - Gravity Compensation
    352
  - Current Control Mode Selection
    353
  - Current Gain Level Setting
    354
  - Speed Detection Method Selection
    354
  - Speed Feedback Filter
    354
  - Backlash Compensation
    355
- Manual Tuning
  
  360
  - Tuning the Servo Gains
    360
  - Compatible Adjustment Functions
    370
- Diagnostic Tools
  
  374
  - Mechanical Analysis
    374
  - Easy FFT
    376
Monitoring 10

380
- 10
  
  381
  - Monitoring Product Information
    
    381
    
    Items that You Can Monitor
    381
    
    Operating Procedures
    381
  - Monitoring SERVOPACK Status
    
    382
    
    Monitoring Status and Operations
    382
    
    Servo Drive Status
    382
    
    I/O Signal Monitor
    384
  - Monitoring Machine Operation Status and Signal Waveforms
    
    385
    
    Items that You Can Monitor
    385
    
    Using the Sigmawin
    386
    
    Using a Measuring Instrument
    388
  - Monitoring Product Life
    
    392
    
    Items that You Can Monitor
    392
    
    Operating Procedure
    393
    
    Preventative Maintenance
    394
  - Alarm Tracing
    
    395
    
    Applicable Tools
    395
    
    Data for Which Alarm Tracing Is Performed
    395
Fully-Closed Loop Control 11

396
- 11
  
  397
  - Fully-Closed System
    
    397
  - SERVOPACK Commissioning Procedure
    
    398
  - Parameter and Object Settings for Fully-Closed Loop Control
    
    400
    
    Control Block Diagram for Fully-Closed Loop Control
    400
    
    External Absolute Encoder Data Reception
    400
    
    Loop Control
    400
    
    Pitches
    400
    
    Sequence
    400
    
    Setting the Motor Direction and the Machine Movement Direction
    401
    
    Setting the Number of External Encoder Scale Pitches
    401
    
    Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output)
    402
    
    Signals
    402
    
    Alarm Detection Settings
    403
    
    External Absolute Encoder Data Reception Sequence
    403
    
    Setting Unit Systems
    403
    
    Analog Monitor Signal Settings
    404
    
    Setting to Use an External Encoder for Speed Feedback
    404
  - Monitoring an External Encoder
    
    405
    
    Block Diagrams
    405
    
    Option Module Required for Monitoring
    405
    
    Related Parameters
    405
Safety Functions

407
- 12
  
  408
  - Introduction to the Safety Functions
    
    408
    
    Safety Functions
    408
    
    Precautions for Safety Functions
    409
  - Hard Wire Base Block (HWBB and SBB)
    
    410
    
    Risk Assessment
    410
    
    Hard Wire Base Block (HWBB) State
    411
    
    Resetting the HWBB State
    412
    
    Detecting Errors in HWBB Signal
    413
    
    Recovery Method
    413
    
    HWBB Input Signal Specifications
    414
    
    Operation Without a Host Controller
    414
    
    BK (Brake Output) Signal
    415
    
    S-RDY (Servo Ready Output) Signal
    415
    
    ALM (Servo Alarm) Signal
    416
    
    Stopping Methods
    416
  - EDM1 (External Device Monitor)
    
    417
    
    EDM1 Output Signal Specifications
    417
  - Applications Examples for Safety Functions
    
    418
    
    Connection Example
    418
    
    Failure Detection Method
    418
    
    Procedure
    419
  - Validating Safety Functions
    
    420
  - Connecting a Safety Function Device
    
    421
Ethercat Communications 13

422
- 13
  
  423
  - Ethercat Slave Information
    
    423
  - Ethercat State Machine
    
    424
  - Ethercat (Coe) Communications Settings
    
    426
    
    Application Example
    426
    
    Device Recognition with Station Aliases
    426
    
    Normal Device Recognition Process at Startup
    426
  - PDO Mappings
    
    427
    
    Default PDO Mappings
    428
    
    Setting Procedure for PDO Mappings
    428
  - Synchronization with Distributed Clocks
    
    429
  - Emergency Messages
    
    432
Cia402 Drive Profile 14

433
- 14
  
  435
  - Device Control
    
    435
    
    Bits in Statusword (6041H)
    436
    
    Related Objects
    436
    
    State Machine Control Commands
    436
  - Modes of Operation
    
    437
    
    Dynamic Mode Changes
    437
    
    Related Objects
    437
  - Position Control Modes
    
    438
    
    Profile Position Mode
    438
    
    Profile Position Mode
    439
    
    Interpolated Position Mode
    441
    
    Cyclic Synchronous Position Mode
    444
    
    Cyclic Synchronous Position Mode
    445
  - Homing
    
    446
    
    Homing Method (6098H)
    446
    
    Related Objects
    446
  - Velocity Control Modes
    
    449
    
    Profile Velocity Mode
    449
    
    Cyclic Synchronous Velocity Mode
    450
  - Torque Control Modes
    
    451
    
    Profile Torque Mode
    451
    
    Cyclic Sync Torque Mode
    452
Object Dictionary 15

458
- 15
  
  460
- 16
  
  508
- 17
  
  573
- 18
  
  623
  - Torque Limits
    
    453
    
    Digital I/O Signals
    454
    
    Related Objects
    455
    
    Touch Probe
    455
    
    Example of Execution Procedure for a Touch Probe
    456
    
    Fully-Closed Loop Control
    457
    
    Object Dictionary List
    460
    
    General Objects
    462
    
    Sync Manager Communications Objects
    470
    
    Manufacturer-Specific Objects
    474
    
    Device Control
    478
    
    Profile Position Mode
    486
    
    Homing Mode
    488
    
    Position Control Function
    490
    
    Interpolated Position Mode
    492
    
    Cyclic Synchronous Position Mode
    498
    
    Profile Velocity/Cyclic Synchronous Velocity Mode
    499
    
    Profile Torque/Cyclic Synchronous Torque Mode
    500
    
    Torque Limit Function
    501
    
    Touch Probe Function
    502
    
    Dual Encoder Feedback
    506
    
    Guidelines for Part Replacement
    508
    
    Inspections
    508
    
    Inspections and Part Replacement
    508
    
    Replacing the Battery
    509
    
    Alarm Displays
    511
    
    List of Alarms
    511
    
    Troubleshooting Alarms
    517
    
    Resetting Alarms
    548
    
    Displaying the Alarm History
    549
    
    Clearing the Alarm History
    550
    
    Resetting Alarms Detected in Option Modules
    551
    
    Resetting Motor Type Alarms
    552
    
    List of Warnings
    554
    
    Warning Displays
    554
    
    Troubleshooting Warnings
    555
    
    Troubleshooting Based on the Operation and Conditions of the Servomotor
    561
    
    Parameter and Object Lists
    572
    
    Interpreting the Parameter Lists
    573
    
    List of Parameters
    573
    
    List of Parameters
    574
    
    Appendices
    622
    
    Alarm and Warning Displays
    623
    
    Forced Stop Display
    623
    
    Hard Wire Base Block Active Display
    623
    
    Interpreting Panel Displays
    623
    
    Interpreting Status Displays
    623
    
    Overtravel Display
    623
    
    Ethercat Communications Indicators
    624
    
    Corresponding SERVOPACK and Sigmawin+ Function Names
    626
    
    Corresponding SERVOPACK Utility Function Names
    626
    
    Corresponding SERVOPACK Monitor Display Function Names
    627

Advertisement

Advertisement

Related Products

YASKAWA Categories

Controller DC Drives Servo Drives Robotics Control Unit

More YASKAWA Manuals