YASKAWA SGM7J-A5A, Technical Supplement

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SERVOPACKs

-7W Two-axis EtherCAT Communications Reference SERVOPACKs
483
SER
VOP
A
CKs
*1. The coefficient of speed fluctuation for load fluctuation is defined as follows:
*2. . Always perform risk assessment for the system and confirm that the safety requirements are met.
EtherCAT
Communi-
cations
Applicable Communi-
cations Standards
IEC 61158 Type 12, IEC 61800-7 CiA402 Drive Profile
Physical Layer 100BASE-TX (IEEE 802.3)
Communications
Connectors 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
μ s to 4 ms in 125- μ s increments
Slave Information
Interface
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
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
Functions
Inputs
/HWBB_A1, /HWWB_A2, /HWWB_B1 and /HWBB_B2: Base block signals for Power
Modules
Outputs EDM_A and EDM_B: Monitor the status of built-in safety circuits (fixed outputs).
Applicable Standards ISO13849-1 PLe (Category 3), IEC61508 SIL3
Option Module Option Module Safety
Continued from previous page.
Item Specification
× 100% Coefficient of speed fluctuation = No-load motor speed - Total-load motor speed
Rated motor speed