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iii

About this Manual

This manual describes the following two types of SERVOPACKs that are equipped with the HWBB
safety function.

•

-7-Series AC Servo Drive

-7W SERVOPACK with MECHATROLINK-III Communications Refer-

ences HWBB Option Specifications (SGD7W-



700)

•

-7-Series AC Servo Drive

-7C SERVOPACKs (SGD7C-



700)

It describes the specifications of

-7W/

-7C SERVOPACKs that are different from the

-7W/

-7C

SERVOPACKs that do not have the HWBB function.

Refer to the following manuals for your SERVOPACK for other product information.

-7-Series

-7W SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP

S800001 29)

-7-Series

-7C SERVOPACK Product Manual (Manual No.: SIEP S800002 04)

-7-Series

-7C SERVOPACK Troubleshooting Manual (Manual No.: SIEP S800002 07)

Read and understand this manual and the above manual to ensure correct usage of the

-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.

-7-Series

-7W SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001

29)

-7-Series

-7C SERVOPACK Product Manual (Manual No.: SIEP S800002 04)

Item

This

Manual

-7W SERVOPACK

with MECHATROLINK-III

Communications Refer-

ences Product Manual

(Manual No.:

SIEP S800001 29)

-7C SERVOPACK

Product Manual

(Manual No.:

SIEP S800002 04)

Basic
Information on
SERVOPACKs

The

-7 Series

−

1.1

SERVOPACKs with HWBB Function

1.1

−

Interpreting the Nameplate

1.2

−

Part Names

1.3

−

Model Designa-
tions

Interpreting
SERVOPACK
Model Numbers

1.4

−

Interpreting Servo-
motor Model Num-
bers

−

1.4.2

Combinations of SERVOPACKs and
Servomotors

−

1.5

1.11

Functions

−

1.6

1.13

Continued on next page.

Содержание SERVOPACK Sigma 7W Series

Страница 1: ...C 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 Basi...

Страница 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...

Страница 3: ...ies 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 differe...

Страница 4: ...r 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...

Страница 5: ...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 Dis...

Страница 6: ...llers 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals 7 Series 7S 7W 7C SERVOPACK Hardware Option Product Manuals this manual Option Module User s Man...

Страница 7: ...ailed 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 7 Series...

Страница 8: ...ed procedures for installing the Safety Module in a SERVOPACK V Series V Series for Large Capacity Models 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for in...

Страница 9: ...ommunications References Product Manual SIEP S800001 29 7 Series 7S 7W 7C SERVOPACK with Hardware Option Specifications Product Manuals 7 Series AC Servo Drive 7S 7W SERVOPACK with Hardware Option Spe...

Страница 10: ...Manual SIEP S800001 32 Describes the peripheral devices for a 7 Series Servo System 7 Series MECHATROLINK Communications Command Manuals 7 Series AC Servo Drive MECHATROLINK II Communications Command...

Страница 11: ...ies 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 7 Series Servo System Distri...

Страница 12: ...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 ca...

Страница 13: ...ames 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 a...

Страница 14: ...ation 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 los...

Страница 15: ...y 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 workin...

Страница 16: ...ocations 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...

Страница 17: ...acked 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...

Страница 18: ...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 a...

Страница 19: ...CK 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 adjac...

Страница 20: ...s 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 ope...

Страница 21: ...c 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...

Страница 22: ...rates 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 dependi...

Страница 23: ...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 parameter...

Страница 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...

Страница 25: ...f 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 not...

Страница 26: ...red 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 whi...

Страница 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...

Страница 28: ...ican 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 2...

Страница 29: ...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 Me...

Страница 30: ...s 1 7 1 4 1 7W 1 7 1 4 2 7C 1 8 Selecting a SERVOPACK 2 2 1 General Specifications 2 2 2 1 1 7W 2 2 2 1 2 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...

Страница 31: ...nput 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...

Страница 32: ...nterpreting 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...

Страница 33: ...SERVOPACKs 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 7W 1 4 1 3 2 7C 1 5 1 4 Model Designations 1 7 1 4 1 7W 1 7 1 4...

Страница 34: ...VOPACKs 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 Fun...

Страница 35: ...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 Surroundi...

Страница 36: ...inals 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 th...

Страница 37: ...tion 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 w...

Страница 38: ...r 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...

Страница 39: ...VOPACKs with cus tomized specifications Refer to the following catalog for details on the BTO specification AC Servo Drives 7 Series Manual No KAEP S800001 23 SGD7W 1R6 A 20 A 700 7 Series 7W SERVOPAC...

Страница 40: ...e 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 Op...

Страница 41: ...2 2 1 2 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...

Страница 42: ...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...

Страница 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 b...

Страница 44: ...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 Processi...

Страница 45: ...sistance 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 sa...

Страница 46: ...ion 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...

Страница 47: ...B 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...

Страница 48: ...rocessor 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 Volta...

Страница 49: ...wer 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 calcul...

Страница 50: ...ive 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...

Страница 51: ...ont 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 Numbe...

Страница 52: ...ns 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 Limi...

Страница 53: ...A 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...

Страница 54: ...rior 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...

Страница 55: ...ay 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...

Страница 56: ...ive 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 Contro...

Страница 57: ...lded 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 fo...

Страница 58: ...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 Se...

Страница 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 7W 3 2 3 1 2 7C 3 3 SERVOPACK Installation 3...

Страница 60: ...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 7W Three Phase...

Страница 61: ...e 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...

Страница 62: ...oder 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 Saf...

Страница 63: ...lies and peripheral devices 4 1 Wiring and Connecting SERVOPACKs 4 2 4 2 Basic Wiring Diagrams 4 5 4 2 1 7W 4 5 4 2 2 7C 4 6 4 3 Connecting the HWBB Function Signal 4 8 4 3 1 Safety Function Connector...

Страница 64: ...er 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 thi...

Страница 65: ...ernal 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 insid...

Страница 66: ...t 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 acc...

Страница 67: ...I10 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...

Страница 68: ...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...

Страница 69: ...00002 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...

Страница 70: ...hen 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 bas...

Страница 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 k Operating Voltag...

Страница 72: ...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 Sign...

Страница 73: ...se 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...

Страница 74: ...fore 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 sign...

Страница 75: ...e Servomotor 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 S...

Страница 76: ...or 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...

Страница 77: ...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 othe...

Страница 78: ...7W SERVOPACK with MECHATROLINK III commands If you use a 7C SERVOPACK you will need to use Controller Section commands instead of MECHA TROLINK III commands Important HWBB1 HWBB2 MECHATROLINK III comm...

Страница 79: ...n 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 S...

Страница 80: ...us of the input signals by using monitor displays Refer to the following manual for your SERVOPACK for details 7 Series 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manu...

Страница 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 re...

Страница 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 Als...

Страница 83: ...ship 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 failu...

Страница 84: ...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 res...

Страница 85: ...ting 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 Th...

Страница 86: ...N OFF 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 e...

Страница 87: ...ction 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 connecte...

Страница 88: ...s 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 Troubleshootin...

Страница 89: ...e 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 7 Series 7W SERVOPACK with MECHA...

Страница 90: ...g 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 sign...

Страница 91: ...ormation on the causes of and cor rections for other problems 7 Series 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 29 7 Series 7C SERVOPACK Troub...

Страница 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 Fu...

Страница 93: ...ate Refer to the following manual for other panel displays 7 Series 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 29 7 1 1 Panel Display during the...

Страница 94: ...manual for the the compatibility with other monitor display names 7 Series 7W SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 29 7 2 1 Corresponding SE...

Страница 95: ...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...

Страница 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 7C Back cover Revisi...

Страница 97: ...99 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 co...

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