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YASKAWA SERVOPACK Sigma 7C Series, Product Manual

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YASKAWA SERVOPACK Sigma 7C Series Product Manual Download Page 49

2.2  Block Diagrams

 2.2.3  SGD7C-1R6A and -2R8A

2-9

2

S

electing a 

S

ER

VOP

ACK

2.2.3

SGD7C-1R6A and -2R8A

L1

L2

L

3

Main 
circuit 
power 

s

upply

1

2

+

−

B2

B

3

B1/

Gate drive

Dynamic 

brake circuit

UA

VA

WA

UB

VB

WB

I/O

CN1

CN2B

CN2A

+

−

Control 

power 

s

upply

L1C

L2C

CN7

S

tatu

s

 di

s

play

CHARGE

M

ENC

M

ENC

S

ervomotor for 

axi

s

 B

S

ervomotor for

axi

s

 A

-

-

-

+

Dynamic 

brake circuit

Gate drive 

overcurrent 

protection

Proce

ss

or 

(PWM control, po

s

ition/

s

peed calculation

s

, etc.)

Control 
power 

s

upply

Gate drive 

overcurrent 

protection

S

afety function 

s

ignal

CN8

Fan

Vari

s

tor

I/O 

s

ignal

s

Computer

Temperature 

s

en

s

or

Current 

s

en

s

or

Current 

s

en

s

or

Voltage 

s

en

s

or

Relay drive

Voltage 

s

en

s

or

Vari

s

tor

Summary of Contents for SERVOPACK Sigma 7C Series

Page 1: ...7C 700 7W 7C SERVOPACK with Hardware Option Specifications HWBB Function 7 Series AC Servo Drive Product Manual Selecting a SERVOPACK SERVOPACK Installation Safety Functions Maintenance Appendices Basic Information on SERVOPACKs Wiring and Connecting SERVOPACKs ...

Page 2: ... 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 li...

Page 3: ...e Σ 7 Series AC Servo Drives Keep this manual and the above manuals in a safe place so that they can be referred to whenever necessary Finding Information Information on these SERVOPACKs is provided in different manuals Use the following table to find what information is provided in this manual and what information is provided in the other manuals given in the table Σ 7 Series Σ 7W SERVOPACK with ...

Page 4: ... Supply to the SERVOPACK 4 3 3 5 Wiring Servomotors 4 4 3 4 I O Signal Connections 4 5 3 6 3 7 Connecting Safety Function Signals 4 3 Connecting MECHATROLINK Com munications Cables 4 6 3 8 Connecting the Other Connectors 4 7 3 9 Basic Functions That Require Setting before Operation Chapter 5 Application Functions Chapter 6 Preparations Chapter 4 Device Specific Settings Chapter 5 Trial Operation a...

Page 5: ...s of the Servo motor Troubleshooting Problems Related to the HWBB Function 6 2 Troubleshooting other problems 10 5 Parameter Lists Chapter 11 Chapter 11 Appendices Interpreting Panel Displays Panel Display during the HWBB State 7 1 Other Panel Dis play 12 1 Corresponding SERVOPACK and SigmaWin Function Names Corresponding SERVOPACK Util ity Function Names 12 2 1 Corresponding Monitor Display Funct...

Page 6: ...omotors Other Documents Built in Function Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK Product Manuals Σ 7 Series Σ 7S Σ 7W Σ 7C SERVOPACK Hardware Option Product Manuals this manual Option Module User s Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK FT EX Product Manuals 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 Trouble...

Page 7: ...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 ...

Page 8: ...d 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 installi...

Page 9: ...nications 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 Hardw...

Page 10: ...n 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 Comm...

Page 11: ...Series Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a Σ 7 Series Servo System Distributed I O Module User s Manuals MECHATROLINK III Compatible I O Module User s Manual SIEP C880781 04 Describes the functions specifica tions operating methods and MECHATROLINK III communica tions...

Page 12: ...on reference of 0 HWBB An abbreviation for hard wire base block which is a safety function that is designed to shut OFF the current to the motors with a hardwired circuit Main Circuit Cable One of the cables that connect to the main circuit terminals including the Main Circuit Power Supply Cable Control Power Supply Cable and Servomotor Main Circuit Cable SigmaWin The Engineering Tool for setting ...

Page 13: ...names and company names are the trademarks or registered trademarks of the respective company TM and the mark do not appear with product or company names in this manual Visual Aids The following aids are used to indicate certain types of information for easier reference Rotary Servomotors Linear Servomotors torque force moment of inertia mass rotation movement forward rotation and reverse rotation...

Page 14: ...mation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in loss of life serious injury or fire WARNING Indicates precautions that if not heeded could result in loss of life serious injury or fire CAUTION Indicates precautions that if not heeded could result in ...

Page 15: ...y by an experienced technician There is a risk of electric shock or injury Before connecting the machine and starting operation make sure that an emergency stop pro cedure has been provided and is working correctly There is a risk of injury Do not touch anything inside the SERVOPACK There is a risk of electric shock CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Brake Res...

Page 16: ...Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative humidities that exceed product specifications Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Locations that are near flammable...

Page 17: ...packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors Do not overtighten the eyebolts on a SERVOPACK or Servomotor If you use a tool to overtighten the eyebolts...

Page 18: ...w any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failure Never install the SERVOPACK in an atmosphere containing halogen fluorine chlorine bromine or iodine There is a risk of failure or damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock o...

Page 19: ...ACK before you wire it Insert only one wire per insertion hole in the main circuit terminals When you insert a wire make sure that the conductor wire e g whiskers does not come into con tact with adjacent wires Install molded case circuit breakers and other safety measures to provide protection against short circuits in external wiring There is a risk of fire or failure In places with poor power s...

Page 20: ...is a risk of battery rupture or encoder failure WARNING Before starting operation with a machine connected change the settings of the switches and parameters to match the machine Unexpected machine operation failure or personal injury may occur if operation is started before appropriate settings are made Do not radically change the settings of the parameters There is a risk of unstable operation m...

Page 21: ...mic brake for any application other than an emergency stop There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of unexpected operation machine damage burning or injury Implement interlock signals and other safety circuits external to the SERVOPACK to ensure safety in the overall system even if the following conditions occur SERVOPACK failure or errors ca...

Page 22: ...erates safely There is a risk of injury or device damage The linear interpolation for the Helical Interpolation MCW and MCC instructions can be used for both linear axes and rotary axes However depending on how the linear axis is taken the path of helical interpolation will not be a helix Check to confirm the paths of the axis when this instruction is used in programs to ensure that the system ope...

Page 23: ...p the system After you complete trial operation of the machine and facilities use the MPE720 or the Sig maWin to create a backup file of the SERVOPACK parameters You can use them to reset the parameters after SERVOPACK replacement If you do not copy backed up parameter settings normal operation may not be possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment dama...

Page 24: ... and ensure safety before you reset an alarm There is a risk of injury or machine damage Always insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply If a magnetic contactor is not connected when the SERVOPACK fails a large current may flow ...

Page 25: ...of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without notice for product improvements specifications changes and improvements to the manual itself We will update the document number of the document and issue revisions when changes are made Any and all qual...

Page 26: ...ered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that aris...

Page 27: ... property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety wi...

Page 28: ...rican Safety Standards UL File No SERVOPACKs SGD7W 700 SGD7C 700 UL 61800 5 1 CSA C22 2 No 274 Product Model European Directive Harmonized Standards SERVOPACKs SGD7W 700 SGD7C 700 Machinery Directive 2006 42 EC EN ISO13849 1 2015 EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Low Voltage Directive 2006 95 EC EN 50178 EN 61800 5 1 Product Model Safety Standa...

Page 29: ...H 4 04 10 9 1 h 4 04 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCavg Medium Stop Category IEC 60204 1 Stop category 0 Safety Function IEC 61800 5 2 STO Mission Time IEC 61508 10 years Hardware Fault Tolerance IEC 61508 HFT 1 Subsystem IEC 61508 B ...

Page 30: ... 1 4 1 Σ 7W 1 7 1 4 2 Σ 7C 1 8 Selecting a SERVOPACK 2 2 1 General Specifications 2 2 2 1 1 Σ 7W 2 2 2 1 2 Σ 7C 2 5 2 2 Block Diagrams 2 7 2 2 1 SGD7W 1R6A and 2R8A 2 7 2 2 2 SGD7W 5R5A and 7R6A 2 8 2 2 3 SGD7C 1R6A and 2R8A 2 9 2 2 4 SGD7C 5R5A and 7R6A 2 10 2 3 External Dimensions 2 11 2 3 1 Front Cover Dimensions and Connector Specifications 2 11 2 3 2 SERVOPACK External Dimensions 2 13 2 4 Exa...

Page 31: ...B Input Signal Specifications 5 9 5 2 7 HWBB Input Signal Waveform Trace 5 9 5 2 8 Operation without a Host Controller 5 10 5 2 9 S RDY Servo Ready Output Signal 5 10 5 2 10 BK Brake Output Signal 5 11 5 2 11 Stopping Methods 5 11 5 2 12 ALM Servo Alarm Signal 5 11 5 3 EDM1 External Device Monitor 5 12 5 3 1 EDM1 Output Signal Specifications 5 12 5 4 HWBB Function Application Example 5 13 5 4 1 Co...

Page 32: ...Interpreting Panel Displays 7 2 7 1 1 Panel Display during the HWBB State 7 2 7 2 Corresponding SERVOPACK and SigmaWin Function Names 7 3 7 2 1 Corresponding SERVOPACK Monitor Display Function Names 7 3 Index Revision History ...

Page 33: ...VOPACKs that have the HWBB function 1 1 SERVOPACKs with HWBB Function 1 2 1 2 Interpreting the Nameplate 1 3 1 3 Part Names 1 4 1 3 1 Σ 7W 1 4 1 3 2 Σ 7C 1 5 1 4 Model Designations 1 7 1 4 1 Σ 7W 1 7 1 4 2 Σ 7C 1 8 Basic Information on SERVOPACKs 1 ...

Page 34: ...RVOPACKs with HWBB Function 1 2 1 1 SERVOPACKs with HWBB Function Some SERVOPACKs are equipped with an HWBB function Refer to the following chapter for details on the HWBB function Chapter 5 Safety Functions ...

Page 35: ...3 1 Basic Information on SERVOPACKs 1 2 Interpreting the Nameplate The following basic information is provided on the nameplate Degree of protection SERVOPACK model Order number Serial number Surrounding air temperature BTO information ...

Page 36: ...erminals Axis A UA VA and WA Axis B UB VB and WB The connection terminals for the Servomotor Main Circuit Cable power line Ground Terminal The ground terminals to prevent electric shock Always connect this terminal MECHATROLINK III Com munications Connector CN6A and CN6B Connects to MECHATROLINK III compatible devices Serial Communications Con nector CN3 Connects to the Digital Operator a peripher...

Page 37: ...ription Reference Front Cover Input Voltage Nameplate Indicates the SERVOPACK model and ratings Model The model of the SERVOPACK QR Code The QR code that is used by the MechatroCloud service CHARGE Lit while the main circuit power is being supplied Note Even if you turn OFF the main circuit power supply this indi cator will be lit as long as the internal capacitor remains charged Do not touch the ...

Page 38: ...der Connectors Axis A CN2A Axis B CN2B Rotary Servomotor Connects to the encoder in the Ser vomotor Linear Servomotor Connects to a Serial Converter Unit or linear encoder Servo Section Indicators Show the status of the control power supply Servo Section Display for Axis A Displays the servo status with a seven segment display Servo Section Display for Axis B Controller Section Displays Show the e...

Page 39: ...VOPACKs with cus tomized specifications Refer to the following catalog for details on the BTO specification AC Servo Drives Σ 7 Series Manual No KAEP S800001 23 SGD7W 1R6 A 20 A 700 Σ 7 Series Σ 7W SERVOPACKs 4th digit 1st 2nd 3rd digits 5th 6th digits 8th 9th 10th digits 7th digit Maximum Applicable Motor Capacity per Axis A 200 VAC Voltage Code Specification 1R6 1 2R8 1 5R5 1 2 7R6 0 2 kW 0 4 kW...

Page 40: ...ce is used for both Rotary Servomotors and Linear Servomotors Voltage 1R6 1 2R8 1 5R5 1 2 7R6 0 2 kW 0 4 kW 0 75 kW 1 0 kW Code 1st 2nd 3rd digits Maximum Applicable Motor Capacity per Axis Hardware Option Specification Bus connection references Code MA 5th 6th digits Interface 3 SGD7C 1R6 A A MA 7th digit 5th 6th digits 4th digit 1st 2nd 3rd digits 001 8th 9th 10th digits 8th 9th 10th digits A 7t...

Page 41: ...2 2 1 2 Σ 7C 2 5 2 2 Block Diagrams 2 7 2 2 1 SGD7W 1R6A and 2R8A 2 7 2 2 2 SGD7W 5R5A and 7R6A 2 8 2 2 3 SGD7C 1R6A and 2R8A 2 9 2 2 4 SGD7C 5R5A and 7R6A 2 10 2 3 External Dimensions 2 11 2 3 1 Front Cover Dimensions and Connector Specifications 2 11 2 3 2 SERVOPACK External Dimensions 2 13 2 4 ExamplesofStandardConnectionsbetweenSERVOPACKsandPeripheralDevices 2 15 2 4 1 Σ 7W 2 15 2 4 2 Σ 7C 2 1...

Page 42: ...on Resistance 4 9 m s2 Shock Resistance 19 6 m s2 Degree of Protection IP20 Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications Σ 7 Series Σ 7W SERVOPACK with MECHATROLINK I...

Page 43: ... Ready signal CLT Torque Limit Detection signal VLT Speed Limit Detection signal BK Brake signal WARN Warning signal NEAR Near signal A signal can be allocated and the positive and negative logic can be changed Communi cations RS 422A Communi cations CN3 Inter faces Digital Operator JUSP OP05A 1 E and personal computer with Sig maWin 1 N Commu nications Up to N 15 stations possible for RS 422A por...

Page 44: ...m output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occurs or when the power supply to the main circuit or servo is OFF Regenerative Processing Built in Overtravel OT Prevention Stopping with dynamic brake deceleration to a stop or coasting to a stop for the P OT Forward Drive Prohibit or N OT Reverse Drive Pro hibit signal Protective Fu...

Page 45: ...n Resistance 4 9 m s2 Shock Resistance 19 6 m s2 Protection Class IP20 Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no excessive dust salts or iron dust Altitude 1 000 m max Note With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications Σ 7 Series Σ 7C SERVOPACK Product M...

Page 46: ...ction signal TGON Rotation Detection signal S RDY Servo Ready signal CLT Torque Limit Detection signal VLT Speed Limit Detection signal BK Brake signal WARN Warning signal NEAR Near signal A signal can be allocated and the positive and negative logic can be changed Communi cations USB Com munica tions CN7 Interface Personal computer with SigmaWin Commu nica tions Standard Conforms to USB2 0 standa...

Page 47: ... VB WB I F I O CN5 CN1 CN6B CN6A CN2B CN2A L1C L2C CN7 CN3 CHARGE M ENC M ENC Servomotor for axis B Servomotor for axis A MECHATROLINK III communications I O signals Status display Processor PWM control position speed calculations etc Control power supply Digital Operator Computer Current sensor Dynamic brake circuit Gate drive Analog voltage converter Analog monitor output Voltage sensor Voltage ...

Page 48: ...Processor PWM control position speed calculations etc Control power supply Digital Operator Computer Current sensor Dynamic brake circuit Gate drive Analog voltage converter Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Gate drive overcurrent protection Temperature sensor Main circuit power supply Control power supply Fan Gate drive overcurrent protection Curren...

Page 49: ...ower supply L1C L2C CN7 Status display CHARGE M ENC M ENC Servomotor for axis B Servomotor for axis A Dynamic brake circuit Gate drive overcurrent protection Processor PWM control position speed calculations etc Control power supply Gate drive overcurrent protection Safety function signal CN8 Fan Varistor I O signals Computer Temperature sensor Current sensor Current sensor Voltage sensor Relay dr...

Page 50: ...rive overcurrent protection CHARGE M ENC M ENC Servomotor for axis B Servomotor for axis A Gate drive Dynamic brake circuit Dynamic brake circuit Gate drive overcurrent protection Control power supply Processor PWM control position speed calculations etc Safety function signal CN8 I O signals Computer Varistor Temperature sensor Current sensor Voltage sensor Relay drive Voltage sensor Varistor Fan...

Page 51: ...Front Cover Dimensions The front cover dimensions are the same for all models Connector Specifications Note The above connectors or their equivalents are used for the SERVOPACKs Connector No Model Number of Pins Manufacturer CN1 10236 59A3MB 36 3M Japan Limited CN2A CN2B 3E106 2230KV 6 3M Japan Limited CN3 HDR EC14LFDTN SLD PLUS 14 Honda Tsushin Kogyo Co Ltd CN6A CN6B 1981386 1 8 Tyco Electronics ...

Page 52: ...ions Note The above connectors or their equivalents are used for the SERVOPACKs Connector No Model Number of Pins Manufacturer CN1 10236 59A3MB 36 3M Japan Limited CN2A CN2B 3E106 2230KV 6 3M Japan Limited CN6 1981386 1 8 Tyco Electronics Japan G K CN7 2172034 1 5 Tyco Electronics Japan G K CN8 1981080 1 8 Tyco Electronics Japan G K CN12 26 51024KB13 1 8 UDE Corp CN13 10250 52A3PL 50 3M Japan Limi...

Page 53: ...R6A 3 M4 160 168 5 5 70 65 8 70 168 4 17 40 26 76 180 CN8 Exterior 160 0 5 mounting pitch 60 0 5 mounting pitch Mounting Hole Diagram Ground terminals 3 M4 Two sets of terminals Unit mm Approx mass 1 6 kg 100 3 M4 160 168 5 5 100 95 8 168 CN8 76 180 4 17 26 40 Exterior 160 0 5 mounting pitch 90 0 5 mounting pitch Mounting Hole Diagram Ground terminals 3 M4 Unit mm Approx mass 2 3 kg Two sets of te...

Page 54: ...terior 160 5 5 100 90 0 5 mounting pitch 160 0 5 mounting pitch 168 Mounting Hole Diagram Unit mm Approx mass 2 0 kg 168 Ground terminals 3 M4 screws CN8 Two sets of terminals Mounting Hole Diagram 135 76 26 180 4 M4 Exterior 4 17 160 168 5 5 135 160 0 5 mounting pitch 125 0 5 mounting pitch Ground terminals 3 M4 screws Unit mm Approx mass 2 8 kg 168 CN8 Two sets of terminals ...

Page 55: ...s may malfunction SERVOPACK R S T CN3 CN6 CN5 CN7 CN1 CN2A CN2B Safety Function Device Cable CN8 Holding brake power supply unit 2 Magnetic Contactor Wires required for a Servomotor with a Brake External Regenerative Resistor 1 Noise Filter Molded case circuit breaker Magnetic Contactor I O Signal Cable Power supply Three phase 200 VAC Battery Case Used for an absolute encoder Computer Computer Ca...

Page 56: ...ative Resistor Noise Filter Molded case circuit breaker Magnetic Contactor I O Signal Cable SERVOPACK Power supply Three phase 200 VAC Computer Computer Cable External Regenerative Resistor Cable Control Power Supply Cable Digital Operator Digital Operator cable Host controller Analog Monitor Cable SERVOPACK main circuit wires Engineering Tool To next MECHATROLINK III station MECHATROLINK III Comm...

Page 57: ... Molded case circuit breaker Magnetic Contactor Power supply Three phase 200 VAC External Regenerative Resistor Cable Control Power Supply Cable Ground cable SERVOPACK main circuit wires Encoder Cable for axis B Battery Case Used for an absolute encoder Rotary Servomotor for axis A Rotary Servomotor for axis B Direct Drive Servomotor for axis A When Using a Direct Drive Servomotor Direct Drive Ser...

Page 58: ...c Contactor Power supply Three phase 200 VAC External Regenerative Resistor Cable Control Power Supply Cable Ground cable SERVOPACK main circuit wires Linear encoder Sensor Cable Linear Encoder Cable Serial Converter Unit Serial Converter Unit Cable Linear Servomotor for axis B Linear Servomotor for axis A Linear encoder Sensor Cable Linear Encoder Cable Serial Converter Unit Serial Converter Unit...

Page 59: ...This chapter provides the EMC installation conditions for SERVOPACKs that have the HWBB function 3 1 EMC Installation Conditions 3 2 3 1 1 Σ 7W 3 2 3 1 2 Σ 7C 3 3 SERVOPACK Installation 3 ...

Page 60: ...N 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 and EN 61800 3 category C2 second environment Parts that are indicated by or are unique to the SERVOPACKs with the HWBB func tion 3 1 1 Σ 7W Three Phase 200 VAC Symbol Cable Name Specification I O Signal Cable Shielded cable Motor Main Circuit Cable for axis A Shielded cable Encoder Cable for axis A Shielded cable Continued on next page Safety func...

Page 61: ...Name Specification I O Signal Cable CN1 Shielded cable Motor Main Circuit Cable for axis A Shielded cable Encoder Cable for axis A Shielded cable Continued on next page PE PE Shield box MECHATROLINK III slave device Brake power supply Brake power supply SERVOPACK Power supply Three phase 200 VAC Noise filter Surge absorber Clamp Clamp Clamp Clamp Clamp Clamp Clamp Clamp Clamp Brake Servomotor Enco...

Page 62: ...ncoder Cable for axis B Shielded cable Main Circuit Power Cable Shielded cable MECHATROLINK III Communications Cable Shielded cable Ethernet Cable Shielded cable I O Signal Cable CN13 Shielded cable Safety Function Device Cable Shielded cable Continued from previous page Code Cable Name Specification ...

Page 63: ...ies and peripheral devices 4 1 Wiring and Connecting SERVOPACKs 4 2 4 2 Basic Wiring Diagrams 4 5 4 2 1 Σ 7W 4 5 4 2 2 Σ 7C 4 6 4 3 Connecting the HWBB Function Signal 4 8 4 3 1 Safety Function Connector CN8 Pin Arrangement 4 8 4 3 2 I O Circuits 4 8 Wiring and Connecting SERVOPACKs 4 ...

Page 64: ...wer supply because high voltage may still remain in the SERVOPACK There is a risk of electric shock Observe the precautions and instructions for wiring and trial operation precisely as described in this document Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPACK to fail damage the equipment or cause an accident resulting in death or in...

Page 65: ...ternal devices based on the following criteria Mechanical strength Noise interference Wiring distance Signal voltage Separate the I O signal cables for control circuits from the power cables both inside and outside the control panel to reduce the influence of noise from the power cables If the I O signal lines and power lines are not separated properly malfunction may occur CAUTION Steel separator...

Page 66: ...not isolated through a transformer or other device Always use a molded case circuit breaker 1QF or fuse to protect the servo sys tem from accidents involving different power system voltages or other accidents Install an earth leakage breaker The SERVOPACK does not have a built in ground fault protec tive circuit To configure a safer system install a ground fault detector against overloads and shor...

Page 67: ...1 SI10 EXT_B1 SI05 EXT_A2 SI11 EXT_B2 SI06 EXT_A3 SI12 EXT_B3 BAT_A BAT_B BAT_A BAT_B 17 35 18 36 3 9 SO4 29 30 1 3 SO5 SO5 31 32 15 16 SG 4 General purpose sequence inputs 1 and 7 Forward Drive Prohibit input OFF to prohibit drive General purpose sequence inputs 4 and 10 External Latch Input 1 ON for latch General purpose sequence inputs 3 and 9 Origin Return Deceleration Switch input ON at limit...

Page 68: ...kW 1 4 10 6 12 5 11 7 13 8 14 SI01 P OT_A SI07 P OT_B SI02 N OT_A SI08 N OT_B SI03 DEC_A SI09 DEC_B SI04 EXT_A1 SI10 EXT_B1 SI05 EXT_A2 SI11 EXT_B2 SI06 EXT_A3 SI12 EXT_B3 BAT_A BAT_B BAT_A BAT_B 17 35 18 36 3 9 SO4 29 30 SO5 SO5 31 32 15 16 SG Continued on next page 1 SERVOPACK Servo power ON Servo power OFF Sequence Input Signal Power Supply Input 1 3 Signal ground Servo Alarm Output OFF for ala...

Page 69: ...P S800002 04 2 If you use a 24 V brake install a separate power supply for the 24 VDC power supply from other power supplies such as the one for the I O signals of the CN1 connector If the power supply is shared the I O signals may malfunction 3 Default settings are given in parentheses FG CN13 Continued from previous page 25 DI_COM1 17 DI_00 45 DI_07 1 2 PA PA 0 V 5 V FG 26 27 PB PB 3 GND 28 GND ...

Page 70: ...en the signal is OFF 4 HWBB1 5 HWBB2 Hard Wire Base Block Input 2 6 HWBB2 7 EDM1 External Device Monitor Output Turns ON when the HWBB1 and the HWBB2 signals are input and the SER VOPACK enters a base block state 8 EDM1 For HWBB function signal connections the input signal is the 0 V common and the output signal is a source output This is opposite to other signals described in this manual To avoid...

Page 71: ... closed Does not activate the HWBB function normal operation OFF open Activates the HWBB function motor current shut OFF request Item Characteristics Remarks Internal Imped ance 4 7 kΩ Operating Voltage Range 24 V 20 Maximum Delay Time 8 ms Time from HWBB1 and HWBB2 signals turning OFF until HWBB function is activated Type Signal Pin No Output Sta tus Meaning Output EDM1 CN8 8 CN8 7 ON Both the HW...

Page 72: ...2 6 HWBB Input Signal Specifications 5 9 5 2 7 HWBB Input Signal Waveform Trace 5 9 5 2 8 Operation without a Host Controller 5 10 5 2 9 S RDY Servo Ready Output Signal 5 10 5 2 10 BK Brake Output Signal 5 11 5 2 11 Stopping Methods 5 11 5 2 12 ALM Servo Alarm Signal 5 11 5 3 EDM1 External Device Monitor 5 12 5 3 1 EDM1 Output Signal Specifications 5 12 5 4 HWBB Function Application Example 5 13 5...

Page 73: ...use injury The Servomotor will move if there is an external force e g gravity on a vertical axis even when the HWBB function is operating Use a separate means such as a mechanical brake that satisfies the safety requirements Incorrect use of the safety function may cause injury While the HWBB function is operating the motor may move within an electric angle of 180 or less as a result of a SERVOPAC...

Page 74: ...efore you execute these functions Polarity detection Jogging Program jogging Origin searches Moment of inertia estimation Automatic adjustment Speed ripple compensation EasyFFT 2 For HWBB function signal connections the input signal is the 0 V common and the output sig nal is a source output This is opposite to other signals described in this manual To avoid con fusion the ON and OFF status of sig...

Page 75: ...ervomotor moves The rotational angle or travel distance depends on the type of Servomotor as follows Rotary Servomotor 1 6 rotation max rotational angle calculated at the motor shaft Direct Drive Servomotor 1 20 rotation max rotational angle calculated at the motor shaft Linear Servomotor 50 mm max The HWBB function does not shut OFF the power to the SERVOPACK or electrically isolate it Implement ...

Page 76: ...for axis A SERVOPACK status for axis A MECHATROLINK III commands for axis B SV_ON command status for axis B ESTP command input signal monitor for axis B SERVOPACK status for axis B Motion commands and other commands SV_OFF command SMON command and other commands Motion commands and other commands SV_OFF command SMON command and other commands ON normal operation OFF motor current shut OFF request ...

Page 77: ...A SERVOPACK status for axis A MECHATROLINK III commands for axis B SV_ON command status for axis B ESTP command input signal monitor for axis B SERVOPACK status for axis B 0 1 0 1 SMON command and other commands SMON command and other commands OFF motor current shut OFF request HWBB state HWBB state 1 0 1 0 Motion commands and other commands Motion commands and other commands ON normal operation O...

Page 78: ... 7W SERVOPACK with MECHATROLINK III commands If you use a Σ 7C SERVOPACK you will need to use Controller Section commands instead of MECHA TROLINK III commands Important HWBB1 HWBB2 MECHATROLINK III commands for axis A SV_ON command status for axis A ESTP command input signal monitor for axis A SERVOPACK status for axis A MECHATROLINK III commands for axis B SV_ON command status for axis B ESTP co...

Page 79: ... to normal operating status After stopping or canceling the motion command using the sequence of commands to return to the HWBB state is recommended HWBB1 HWBB2 MECHATROLINK III commands for axis A SV_ON command status for axis A ESTP command input signal monitor for axis A SERVOPACK status for axis A MECHATROLINK III commands for axis B SV_ON command status for axis B ESTP command input signal mo...

Page 80: ...f the input signals by using monitor displays Refer to the following manual for your SERVOPACK for details Σ 7 Series Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 29 Σ 7 Series Σ 7C SERVOPACK Product Manual Manual No SIEP S800002 04 5 2 7 HWBB Input Signal Waveform Trace You can trace the following input signals with the I O trace function of...

Page 81: ...is used in this example The same operation is performed for axis A and axis B Applicable Functions Resetting the HWBB State Jogging Origin search Program jogging Automatic adjust ment without host reference EasyFFT Adjustment of motor current detection signal offset HWBB1 HWBB2 SERVOPACK status for axis A Function execution mode for axis A Function execution mode for axis B SERVOPACK status for ax...

Page 82: ... in the HWBB state CAUTION The brake signal is not a safety related element You must design the system so that a haz ardous condition does not occur even if the brake signal fails in the HWBB state Also if a Servomotor with a Brake is used keep in mind that the brake in the Servomotor is used only to prevent the moving part from being moved by gravity or an external force and it cannot be used to ...

Page 83: ...nship between the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 signal circuit can be achieved by using the four status of the EDM1 signal in the following table A failure can be detected by checking the failure status e g when the power supply is turned ON 5 3 1 EDM1 Output Signal Specifications If an HWBB function is requested by turning OFF the two HWBB input sig...

Page 84: ...s a source output Connect the EDM1 so that the current flows from EMD1 to EMD1 5 4 2 Failure Detection Method If a failure occurs e g the HWBB1 or the HWBB2 signal remains ON the Safety Unit is not reset when the guard is closed because the EDM1 signal remains OFF Therefore starting is not possible and a failure is detected In this case the following must be considered an error in the external dev...

Page 85: ...ating a stop command is received from the host controller the motor stops and the servo is turned OFF The guard is opened The worker leaves the guarded area after completing work The guard is closed The servo is turned ON by the host controller The HWBB1 and HWBB2 signals turn OFF and the HWBB function operates Working inside the guard is enabled ...

Page 86: ...FF status of the HWBB1 and HWBB2 signals If the ON OFF status of the signals do not coincide with the display the following must be considered an error in the external device disconnection of the external wiring short circuit ing in the external wiring or a failure in the SERVOPACK Find the cause and correct the problem Refer to the following manual for your SERVOPACK for details on the monitor Σ ...

Page 87: ...nction device CN8 2 Connect the safety function device to the connector for the safety function device CN8 Note If you do not connect a safety function device leave the Safety Jumper Connector connected to the connec tor for the safety function device CN8 If the SERVOPACK is used without the Safety Jumper Connector connected to CN8 no current will be supplied to the Servomotor and no motor torque ...

Page 88: ...ns for alarms that are related to the HWBB function 6 1 Alarm Displays 6 2 6 1 1 Alarms Related to the HWBB Function 6 2 6 1 2 Troubleshooting Alarms Related to the HWBB Function 6 3 6 2 Troubleshooting Based on the Operation and Conditions of the Servomotor 6 4 Maintenance 6 ...

Page 89: ...re related to the HWBB function Servomotor Stopping Method for Alarms Refer to the following manual for your SERVOPACK for information on the stopping method for alarms Σ 7 Series Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 29 Σ 7 Series Σ 7C SERVOPACK Product Manual Manual No SIEP S800002 04 Alarm Reset Possibility Yes You can use an alarm ...

Page 90: ...ig nals for the HWBB function was ten sec ond or longer Measure the time delay between the HWBB1 and HWBB2 signals The output signal circuits or devices for HWBB1 and HWBB2 or the SER VOPACK input signal cir cuits may be faulty Alternatively the input sig nal cables may be discon nected Check to see if any of these items are faulty or have been dis connected page 5 1 A failure occurred in the SERV...

Page 91: ...ation on the causes of and cor rections for other problems Σ 7 Series Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 29 Σ 7 Series Σ 7C SERVOPACK Troubleshooting Manual Manual No SIEP S800002 07 Problem Possible Cause Confirmation Correction Reference Servomotor Does Not Start The safety input signals HWBB1 or HWBB2 were not turned ON Check the...

Page 92: ... function and tables of corresponding SERVOPACK and SigmaWin function names 7 1 Interpreting Panel Displays 7 2 7 1 1 Panel Display during the HWBB State 7 2 7 2 Corresponding SERVOPACK and SigmaWin Function Names 7 3 7 2 1 Corresponding SERVOPACK Monitor Display Function Names 7 3 Appendices 7 ...

Page 93: ...e Refer to the following manual for other panel displays Σ 7 Series Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 29 7 1 1 Panel Display during the HWBB State You can check the Servo Drive status on the panel display of the SERVOPACK During the HWBB state the display will be changed in the following order The Σ 7C SERVOPACKs do not have a pane...

Page 94: ...manual for the the compatibility with other monitor display names Σ 7 Series Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 29 7 2 1 Corresponding SERVOPACK Monitor Display Function Names If All Axes is given below the Un number the monitor display applies to both axes The total value for all axes or the contents for all axes are displayed on t...

Page 95: ...9 HWBB function 5 3 application examples 5 13 HWBB input signal waveform trace 5 9 precautions 5 2 verification test 5 15 HWBB function signal 4 8 HWBB input circuits 4 8 HWBB state 5 4 resetting 5 7 L Linear Servomotor xii M Main Circuit Cable xii MPE720 xii R risk assessment 5 4 Rotary Servomotor xii S Servo Drive xii servo lock xii servo OFF xii servo ON xii Servo System xii Servomotor xii SERV...

Page 96: ...Publication Rev No Section Revised Contents July 2016 1 Front cover Revision Format Preface Revision EN ISO13849 1 2008 AC 2009 changed to EN ISO13849 1 2015 All chapters Addition Σ 7C Back cover Revision Address and format March 2015 First edition MANUAL NO SIEP S800001 72B 1 Published in Japan July 2016 Revision number Date of publication ...

Page 97: ...099 Fax 66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA E...

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