YASKAWA SGM7J-A5A, Technical Supplement

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SERVOPACKs

-7S Single-axis EtherCAT Communications Reference SERVOPACKs
461
SER
VOP
A
CKs
EtherCAT
Communica-
tions
Applicable Communica-
tions Standards
IEC 61158 Type 12, IEC 61800-7 CiA402 Drive Profile
Physical Layer 03100BASE-TX (IEEE 802.3)
Communications Con-
nectors CN6A (RJ45): EtherCAT signal input connector
CN6B (RJ45): EtherCAT signal output connector
Cable
Category 5, 4 shielded twisted pairs
* The cable is automatically detected with AUTO MDIX.
Sync Manager
SM0: Mailbox output, SM1: Mailbox input, SM2: Process data output, and SM3: Pro-
cess data input
FMMU
FMMU 0: Mapped in process data output (RxPDO) area.
FMMU 1: Mapped in process data input (TxPDO) area.
FMMU 2: Mapped to mailbox status
EtherCAT Commands
(Data Link Layer) APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, and FRMW (APRW,
FPRW, BRW, and LRW commands are not supported.)
Process Data Assignments can be changed with PDO mapping
Mailbox (CoE)
Emergency messages, SDO requests, SDO responses, and SDO information
(TxPDO/RxPDO and remote TxPDO/RxPDO are not supported.)
Distributed Clocks
Free-Run Mode and DC Mode (Can be switched.)
Applicable DC cycles: 125 s to 4 ms in 125-s increments
Slave Information Inter-
face
256 bytes (read-only)
Indicators
EtherCAT communications in progress: Link/Activity x 2
EtherCAT communications status: RUN x 1
EtherCAT error status: ERR x 1
CiA402 Drive Profile
• Homing Mode
•
Profile Position Mode
•
Interpolated Position Mode
•
Profile Velocity Mode
•
Profile Torque Mode
•
Cyclic Synchronous Position Mode
•
Cyclic Synchronous Velocity Mode
•
Cyclic Synchronous Torque Mode
•
Touch Probe Function
•
Torque Limit Function
Analog Monitor (CN5)
Number of points: 2
Output voltage range:

10 VDC (effective linearity range:

8 V)
Resolution: 16 bits
Accuracy:

20 mV (Typ)
Maximum 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
Built-In Regenerative Resistor (page 565)
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 Prohibit) signal
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Safety Func-
tions
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Applicable
Standards
*3
ISO13849-1 PLe (Category 3), IEC61508 SIL3
Option Module Fully-Closed Modules
Continued from previous page.
Item Specification