YASKAWA Sigma-7-Series Bedienungsanleitung

Model: SGD7S-20AF84

SGD7S-30AF84

-7S SERVOPACK with

FT/EX Specification for

Transfer and Alignment Application

with Special Motor, SGM7D Motor

-7-Series AC Servo Drive

Product Manual

MANUAL NO. SIEP S800002 28C

Basic Information on SERVOPACKs

SERVOPACK Ratings and Specifications

Triggers at Preset Positions

Rotational Coordinate System

Maintenance

Parameter Lists

retrieval system, or transmitted, in any form, or by any means, mechanical, elec-

tronic, photocopying, recording, or otherwise, without the prior written permission

of Yaskawa. No patent liability is assumed with respect to the use of the informa-

tion contained herein. Moreover, because Yaskawa is constantly striving to

improve its high-quality products, the information contained in this manual is sub-

ject to change without notice. Every precaution has been taken in the preparation

of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or

omissions. Neither is any liability assumed for damages resulting from the use of

the information contained in this publication.

iii

About this Manual

This manual describes the transfer and alignment application option and the SGM7D motor drive

application option for Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs.

Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.

Keep this manual in a safe place so that it can be referred to whenever necessary.

Outline of Manual

The contents of the chapters of this manual are described in the following table.

When you use the transfer and alignment application option for Σ-7-Series SERVOPACKs, use this

manual and the relevant manual given in the following table.

Item This Manual

Σ-7-Series AC Servo Drive Σ-7S

SERVOPACK Product Manual

SERVOPACKs

with

MECHATROLIN

K-III Communi-

cations

References

(Manual No.:

SIEP S800001

28)

SERVOPACKs

with

MECHATROLIN

K-III Communi-

cations

References and

RJ-45 Connec-

tors (Manual

No.: SIEP

S800001 62)

Basic Informa-

tion on SERVO-

PACKs

The

-7 Series –1.1

Product Introduction 1.1 –

Interpreting the Nameplate – 1.2

Part Names – 1.3

Model Designations – 1.4

Combinations of SERVOPACKs and Servomo-

tors –1.5

Functions 1.4 –

SigmaWin+ 1.5 –

Selecting a

SERVOPACK

Ratings 2.1 –

SERVOPACK Overload Protection Characteris-

tics 2.2 –

Specifications 2.3 –

Block Diagrams – 2.2

External Dimensions – 2.3

Examples of Standard Connections between

SERVOPACKs and Peripheral Devices –2.4

SERVOPACK Installation – Chapter 3

Wiring and Connecting SERVOPACKs – Chapter 4

Basic Functions That Require Setting before Operation – Chapter 5

Application Functions – Chapter 6

Trial Operation and Actual Operation – Chapter 7

Tuning – Chapter 8

Continued on next page.

Monitoring

Monitoring Product Information – 9.1

Monitoring SERVOPACK Status – 9.2

Monitoring Machine Operation Status and Sig-

nal Waveforms –9.3

Monitoring Product Life – 9.4

Fully-Closed Loop Control – Chapter 10

Safety Functions – Chapter 11

Triggers at Pre-

set Positions

Outline 3.1 –

Settings for Triggers at Preset Positions 3.2 –

Forced Stop Setting for Triggers at Preset

Positions 3.3 –

Rotational Coor-

dinate System

Outline 4.1 –

Setup Procedure 4.2 –

Maintenance

Inspections and Part Replacement – 12.1

Alarm Displays 5.1 –

List of Alarms 5.2 –

Troubleshooting Alarms 5.3 –

Warning Displays 5.4 –

List of Warnings 5.5 –

Troubleshooting Warnings 5.6 –

Troubleshooting Based on the Operation and

Conditions of the Servomotor 5.7 –

Parameter Lists

Interpreting the Parameter Lists 6.1 –

List of Servo Parameters 6.2 –

List of MECHATROLINK-III Common Parame-

ters 6.3 –

Appendices – Chapter 14

Continued from previous page.

Item This Manual

Σ-7-Series AC Servo Drive Σ-7S

SERVOPACK Product Manual

SERVOPACKs

with

MECHATROLIN

K-III Communi-

cations

References

(Manual No.:

SIEP S800001

28)

SERVOPACKs

with

MECHATROLIN

K-III Communi-

cations

References and

RJ-45 Connec-

tors (Manual

No.: SIEP

S800001 62)

Other Documents



Built-in

Function

Manuals



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

Product

Manuals



Option

Module

User’s

Manuals

Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

FT/EX

Product Manuals

(thismanual)

Option

Module

User’s

Manuals

Σ-7-Series

Servomotor

Product

Manuals

Σ-7-Series

Σ-7C

SERVOPACK

Product

Manual



Σ-7-Series

Σ-7C

SERVOPACK

Troubleshooting

Manual



Enclosed

Documents



Enclosed

Documents



Built-in

Function

Manuals



Enclosed

Documents

Σ-7-Series

Peripheral

Device

Selection

Manual

Σ-7-Series

Engineering

Tool

Operation

Manuals

Σ-7-Series

MECHATROLINK

Communications

Command

Manuals

Programming

Manuals

Distributed

I/O Module

User’s

Manuals



Σ-7-Series

Σ-7S/Σ-7W/Σ-7C

SERVOPACK

Hardware Option

Product Manuals

Classification Document Name Document No. Description



Machine Controller and

Servo Drive

General Catalog

Machine Controller and

AC Servo Drive

Solutions Catalog

KAEP S800001 22

Describes the features and applica-

tion examples for combinations of

MP3000-Series Machine Control-

lers and Σ-7-Series AC Servo

Drives.



MP3300 Catalog

Machine Controller

MP3300 KAEP C880725 03

Provides detailed information on

MP3300 Machine Controllers,

including features and specifica-

tions.



Σ-7-Series Catalog

AC Servo Drives

Σ-7 Series KAEP S800001 23

Provides detailed information on Σ-

7-Series AC Servo Drives, including

features and specifications.



Built-in Function Manuals

Σ-7-Series AC Servo Drive

Σ-7C SERVOPACK

Motion Control

User’s Manual

SIEP S800002 03

Provides detailed information on

the specifications, system configu-

ration, and application methods of

the Motion Control Function Mod-

ules (SVD, SVC4, and SVR4) for Σ-

7-Series Σ-7C SERVOPACKS.

Machine Controller

MP3000 Series

Communications

User’s Manual

SIEP C880725 12

Provides detailed information on

the specifications, system configu-

ration, and communications con-

nection methods for the Ethernet

communications that are used with

MP3000-Series Machine Control-

lers and Σ-7-Series Σ-7C SERVO-

PACKs.



Option Module

User’s Manuals

Machine Controller

MP2000 Series

Communication Module

User’s Manual

SIEP C880700 04

Provide detailed information on the

specifications and communica-

tions methods for the Communica-

tions Modules that can be mounted

to MP3000-Series Machine Con-

trollers and Σ-7-Series Σ-7C

SERVOPACKs.

Machine Controller

MP2000 Series

262IF-01 FL-net

Communication Module

User’s Manual

SIEP C880700 36

Machine Controller

MP2000 Series

263IF-01 EtherNet/IP

Communication Module

User’s Manual

SIEP C880700 39

Machine Controller

MP2000 Series

I/O Module

User’s Manual

SIEP C880700 34

Provide detailed information on the

specifications and communica-

tions methods for the I/O Modules

that can be mounted to MP3000-

Series Machine Controllers and Σ-

7-Series Σ-7C SERVOPACKs.

Machine Controller

MP2000 Series

Analog Input/Analog Output

Module AI-01/AO-01

User’s Manual

SIEP C880700 26

Machine Controller

MP2000 Series

Counter Module CNTR-01

User’s Manual

SIEP C880700 27

Continued on next page.

vii



Enclosed Documents

Σ-7-Series AC Servo Drive

Σ-7S and Σ-7W SERVOPACK

Safety Precautions

TOMP C710828 00

Provides detailed information for

the safe usage of Σ-7-Series

SERVOPACKs.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Safety Precautions

Option Module

TOBP C720829 00 Provides detailed information for

the safe usage of Option Modules.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

Command Option Module

TOBP C720829 01

Provides detailed procedures for

installing the Command Option

Module in a SERVOPACK.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

Fully-closed Module

TOBP C720829 03

Provides detailed procedures for

installing the Fully-closed Module in

a SERVOPACK.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

Safety Module

TOBP C720829 06

Provides detailed procedures for

installing the Safety Module in a

SERVOPACK.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

INDEXER Module

TOBP C720829 02

Provides detailed procedures for

installing the INDEXER Module in a

SERVOPACK.

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

Installation Guide

DeviceNet Module

TOBP C720829 07

Provides detailed procedures for

installing the DeviceNet Module in a

SERVOPACK.



Σ-7-Series

Σ-7C SERVOPACK

Product Manual

Σ-7-Series AC Servo Drive

Σ-7C SERVOPACK

Product Manual

SIEP S800002 04

Provides detailed information on

selecting Σ-7-Series Σ-7C SERVO-

PACKs; installing, connecting, set-

ting, testing in trial operation, and

tuning Servo Drives; writing, moni-

toring, and maintaining programs;

and other information.



Σ-7-Series

Σ-7C SERVOPACK

Troubleshooting

Manual

Σ-7-Series AC Servo Drive

Σ-7C SERVOPACK

Troubleshooting Manual

SIEP S800002 07

Provides detailed troubleshooting

information for Σ-7-Series Σ-7C

SERVOPACKs.

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

viii



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

MECHATROLINK-III

Communications References

Product Manual

SIEP S800001 28

Provide detailed information on

selecting

-7-Series

-7S and

-7W SERVOPACKs; installing,

connecting, setting, testing in trial

operation, tuning, monitoring, and

maintaining Servo Drives; and other

information.

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

MECHATROLINK-II

Communications References

Product Manual

SIEP S800001 27

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

Analog Voltage/Pulse Train

References

Product Manual

SIEP S800001 26

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK

Command Option Attachable

Type with INDEXER Module

Product Manual

SIEP S800001 64

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK

Command Option Attachable

Type with DeviceNet Module

Product Manual

SIEP S800001 70

Σ-7-Series AC Servo Drive

Σ-7W SERVOPACK with

MECHATROLINK-III

Communications References

Product Manual

SIEP S800001 29



Σ-7-Series

Σ-7S/Σ-7W/Σ-7C

SERVOPACK with

Hardware Option

Specifications

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S/Σ-7W SERVOPACK with

Hardware Option Specifica-

tions

Dynamic Brake

Product Manual

SIEP S800001 73

Provides detailed information on

Hardware Options for Σ-7-Series

SERVOPACKs.

Σ-7-Series AC Servo Drive

Σ-7W/Σ-7C SERVOPACK with

Hardware Option Specifica-

tions HWBB Function

Product Manual

SIEP S800001 72

Σ-7-Series

Σ-7S/Σ-7W SERVOPACK

FT/EX

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification for Index-

ing Application

Product Manual

SIEP S800001 84

Provides detailed information on

the FT/EX Option for Σ-7-Series

SERVOPACKs.

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification for Track-

ing Application

Product Manual

SIEP S800001 89

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Application with

Special Motor,

SGM7D Motor

Product Manual

SIEP S800001 91

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

Σ-7-Series

Σ-7S/Σ-7W SERVOPACK

FT/EX

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Press and Injection

Molding Application

Product Manual

SIEP S800001 94

Provides detailed information on

the FT/EX Option for Σ-7-Series

SERVOPACKs.

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Transfer and Alignment

Application

Product Manual

SIEP S800001 95

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Torque/Force Assistance

for Conveyance Application

Product Manual

SIEP S800002 09

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Cutting Application

Feed Shaft Motor

Product Manual

SIEP S800002 10

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Three-Point Latching

for Conveyance Application

Product Manual

SIEP S800002 17

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Semi-/Fully-Closed Loop

Control Online Switching

for Conveyance Application

Product Manual

SIEP S800002 27

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with FT/EX

Specification for Transfer and

Alignment Application with

Special Motor, SGM7D Motor

Product Manual

This manual

(SIEP S800002 28)

Σ-7-Series AC Servo Drive

Σ-7W SERVOPACK with

FT/EX Specification

for Gantry Applications

Product Manual

SIEP S800002 29

Option Module

User’s Manual

AC Servo Drives

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

User’s Manual

Safety Module

SIEP C720829 06

Provides details information

required for the design and mainte-

nance of a Safety Module.

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

Enclosed Documents

AC Servo Drive

Rotary Servomotor

Safety Precautions

TOBP C230260 00

Provides detailed information for

the safe usage of Rotary Servomo-

tors and Direct Drive Servomotors.

AC Servomotor

Linear ΣSeries

Safety Precautions

TOBP C230800 00

Provides detailed information for

the safe usage of Linear Servomo-

tors.

Σ-7-Series

Servomotor

Product Manuals

Σ-7-Series AC Servo Drive

Rotary Servomotor

Product Manual

SIEP S800001 36

Provide detailed information on

selecting, installing, and connecting

the Σ-7-Series Servomotors.

Σ-7-Series AC Servo Drive

Linear Servomotor

Product Manual

SIEP S800001 37

Σ-7-Series AC Servo Drive

Direct Drive Servomotor

Product Manual

SIEP S800001 38

Σ-7-Series

Peripheral Device

Selection Manual

Σ-7-Series AC Servo Drive

Peripheral Device

Selection Manual

SIEP S800001 32 Describes the peripheral devices

for a Σ-7-Series Servo System.

Σ-7-Series

MECHATROLINK

Communications

Command Manuals

Σ-7-Series AC Servo Drive

MECHATROLINK-II

Communications

Command Manual

SIEP S800001 30

Provides detailed information on

the MECHATROLINK-II communi-

cations commands that are used

for a Σ-7-Series Servo System.

Σ-7-Series AC Servo Drive

MECHATROLINK-III

Communications

Standard Servo Profile

Command Manual

SIEP S800001 31

Provides detailed information on

the MECHATROLINK-III communi-

cations standard servo profile com-

mands that are used for a Σ-7-

Series Servo System.

Programming

Manuals

Machine Controller

MP3000 Series

Ladder Programming

Manual

SIEP C880725 13

Provides detailed information on

the ladder programming specifica-

tions and instructions for MP3000-

Series Machine Controllers and Σ-

7-Series Σ-7C SERVOPACKs.

Machine Controller

MP3000 Series

Motion Programming

Manual

SIEP C880725 14

Provides detailed information on

the motion programming and

sequence programming specifica-

tions and instructions for MP3000-

Series Machine Controllers and Σ-

7-Series Σ-7C SERVOPACKs.

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

Dieses Handbuch passt für folgende Modelle

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