YASKAWA SGM7D-30F Manual de usuario

Model: SGD7S-AF82, -00AF83

-7S SERVOPACK with

FT/EX Specification

for Application with Special Motor,

SGM7D Motor

-7-Series AC Servo Drive

Product Manual

MANUAL NO. SIEP S800001 91D

Maintenance

Parameter Lists

Basic Information on

SERVOPACKs

SERVOPACK Ratings and

Specifications

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 SGM7D motor drive application option for the Σ-7-Series AC Servo

Drive Σ-7S SERVOPACKs for special motors.

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 drive an SGM7D motor with a Σ-7-Series AC Servo Drive Σ-7S SERVOPACK for applica-

tion with special motors, use this manual together with the relevant Σ-7-Series product manual.

FT82 SERVOPACKs

Item

This

Man-

ual

Σ-7S SERVO-

PACK with Analog

Voltage/Pulse Train

References Prod-

uct Manual (Man-

ual No.: SIEP

S800001 26)

Σ-7S SERVO-

PACK with

MECHATROLINK-

II Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 27)

Σ-7S SERVO-

PACK with

MECHATROLINK-

III Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 28)

Σ-7S SERVO-

PACK Command

Option Attachable

Typ e w i t h

INDEXER Module

Product Manual

(Manual No.: SIEP

S800001 64)

Basic

Informa-

tion on

SERVO-

PACKs

The Σ-7 Series – 1.1 1.1 1.1 1.1

Product Introduction 1.1––––

Interpreting the

Nameplates – 1.2 1.2 1.2 1.3

Part Names – 1.3 1.3 1.3 1.4

Model Designations 1.2––––

Combinations of

SERVOPACKs and

Servomotors

1.3––––

Functions – 1.6 1.6 1.6 1.8

SigmaWin+ 1.5––––

Combining the SERVO-

PACKs with MP-Series

Machine Controllers

and the MPE720 Engi-

neering Tool

1.6––––

Selecting

a SERVO-

PACK

Ratings 2.1––––

SERVOPACK

Overload Protection

Characteristics

– 2.1.2 2.1.2 2.1.2 2.1.2

Specifications 2.3.1––––

Block Diagrams – 2.2 2.2 2.2 2.2

External Dimensions – 2.3 2.3 2.3 2.3

Examples of

Standard

Connections between

SERVOPACKs and

Peripheral Devices

– 2.4 2.4 2.4 2.4

SERVOPACK Installation – Chapter 3 Chapter 3 Chapter 3 Chapter 3

Wiring and Connecting

SERVOPACKs – Chapter 4 Chapter 4 Chapter 4 Chapter 4

Continued on next page.

Basic Functions That Require

Setting before Operation – Chapter 5 Chapter 5 Chapter 5 Chapter 5

Application Functions – Chapter 6 Chapter 6 Chapter 6 Chapter 6

Trial Operation and Actual

Operation – Chapter 7 Chapter 7 Chapter 7 Chapter 7

Tuning – Chapter 8 Chapter 8 Chapter 8 Chapter 8

Monitoring – Chapter 9 Chapter 9 Chapter 9 Chapter 9

Fully-Closed Loop Control – Chapter 10 Chapter 10 Chapter 10 Chapter 10

Safety Function – Chapter 11 Chapter 11 Chapter 11 Chapter 11

Settings for the INDEXER Module ––––Chapter12

Operation with Digital I/O ––––Chapter13

Operations with Serial

Command Communications ––––Chapter14

Mainte-

nance

Inspections and Part

Replacement – 12.1 12.1 12.1 15.1

Alarm Displays

3.1.1,

3.2.1,

3.3.1,

3.4.1

––––

List of Alarms

3.1.2,

3.2.2,

3.3.2,

3.4.2

––––

Troubleshooting

Alarms

3.1.3,

3.2.3,

3.3.3,

3.4.3

––––

INDEXER

Module Alarm

Displays and

Troubleshooting

3.4.4––––

Resetting Alarms – 12.2.3 12.2.3 12.2.3 15.2.4

Displaying the

Alarm History – 12.2.4 12.2.4 12.2.4 15.2.5

Clearing the Alarm

History – 12.2.5 12.2.5 12.2.5 15.2.6

Resetting Alarms

Detected in Option

Modules

– 12.2.6 12.2.6 12.2.6 15.2.7

Resetting Motor

Typ e A l a r m s – 12.2.7 12.2.7 12.2.7 15.2.8

Warning Displays

3.1.4,

3.2.4,

3.3.4,

3.4.5

––––

List of Warnings

3.1.5,

3.2.5,

3.3.5,

3.4.6

––––

Troubleshooting

Warnings

3.1.6,

3.2.6,

3.3.6,

3.4.7

––––

INDEXER Module

Error Displays and

Troubleshooting

3.4.8––––

Continued on next page.

Continued from previous page.

Item

This

Man-

ual

Σ-7S SERVO-

PACK with Analog

Voltage/Pulse Train

References Prod-

uct Manual (Man-

ual No.: SIEP

S800001 26)

Σ-7S SERVO-

PACK with

MECHATROLINK-

II Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 27)

Σ-7S SERVO-

PACK with

MECHATROLINK-

III Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 28)

Σ-7S SERVO-

PACK Command

Option Attachable

Typ e w i t h

INDEXER Module

Product Manual

(Manual No.: SIEP

S800001 64)

Mainte-

nance

Monitoring

Communications Data

during Alarms or

Warnings

– – 12.4 12.4 –

Troubleshooting Based

on the

Operation and

Conditions of the

Servomotor

3.1.7,

3.2.7,

3.3.7,

3.4.9

––––

Panel Displays and Panel

Operator Procedures –Chapter13–––

List of

Parame-

ters

Parameter

Configuration ––––16.1

Parameter Lists

4.1,

4.2,

4.3.1,

4.4

––––

List of

MECHATROLINK-III

Common Parameters

4.3.2––––

Parameter

Recording Table – 14.2 13.2 13.3 16.3

Appendix – Chapter 15 Chapter 14 Chapter 14 Chapter 17

Continued from previous page.

Item

This

Man-

ual

Σ-7S SERVO-

PACK with Analog

Voltage/Pulse Train

References Prod-

uct Manual (Man-

ual No.: SIEP

S800001 26)

Σ-7S SERVO-

PACK with

MECHATROLINK-

II Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 27)

Σ-7S SERVO-

PACK with

MECHATROLINK-

III Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 28)

Σ-7S SERVO-

PACK Command

Option Attachable

Typ e w i t h

INDEXER Module

Product Manual

(Manual No.: SIEP

S800001 64)

FT83 SERVOPACKs

Item

This

Man-

ual

Σ-7S SERVOPACK with

Analog Voltage/Pulse Train

References Product Manual

(Manual No.: SIEP S800001 26)

Σ-7S SERVOPACK with

FT/EX Specification for Indexing

Applications Product Manual

(Manual No.: SIEP S800001 84)

Basic

Information on

SERVOPACKs

The Σ-7 Series –1.1 –

Product Introduction 1.1 – –

Interpreting the Nameplates –1.2 –

Part Names –1.3 –

Model Designations 1.2 – –

Combinations of SERVOPACKs and

Servomotors 1.3 – –

Functions –1.6 –

SigmaWin+ 1.5 – –

Combining the SERVOPACKs with

MP-Series Machine Controllers and

the MPE720 Engineering Tool

1.6 – –

Selecting a

SERVOPACK

Ratings 2.1 – –

SERVOPACK Overload Protection

Characteristics –– 2.2

Specifications 2.3.2 – –

Block Diagrams –2.2 –

External Dimensions –2.3 –

Examples of Standard Connections

between SERVOPACKs and

Peripheral Devices

–2.4 –

SERVOPACK Installation –Chapter3 –

Wiring and

Connecting

SERVOPACKs

Wiring Precautions –4.1 –

Basic Wiring Diagrams –– 3.1

Wiring the Power Supply to the

SERVOPACK –4.3 –

Wiring Servomotors –4.4 –

I/O Signal Connections –– 3.2

Connecting Safety Function Signals –4.6 –

Connecting the Other Connectors –4.7 –

Basic Functions That Require Setting before Operation –Chapter5 –

Application Functions –Chapter6 –

Trial Operation

and Actual

Operation

Flow of Trial Operation –7.1 –

Inspections and Confirmations

before Trial Operation –7.2 –

Trial Operation of Servomotor

without a Load –7.3 –

Trial Operation Example –– 4.1

Trial Operation from the Host

Controller for the Servomotor

without a Load

–7.4 –

Trial Operation with the Servomotor

Connected to the Machine –7.5 –

Convenient Function to Use during

Trial Operation –7.6 –

Tuning –Chapter8 –

Monitoring

Monitoring Product Information –9.1 –

Monitoring SERVOPACK Status –– 5.1

Monitoring Machine Operation

Status and Signal Waveforms –– 5.2

Monitoring Product Life –9.4 –

Fully-Closed Loop Control –Chapter10 –

Safety Function –Chapter11 –

Continued on next page.

vii

Setting

Control Method Selection –– 6.1

I/O Signal Allocations –– 6.2

Moving Mode and Coordinate Set-

tings –– 6.3

Settings for References –– 6.4

Origin Settings –– 6.5

Operation with

Digital I/O

Operation Functions –– 7.1

Origin Return –– 7.2

Program Table Operation –– 7.3

Jog Speed Table Operation –– 7.4

ZONE Outputs –– 7.5

Maintenance

Inspections and Part Replacement – 12.1 –

Alarm Displays 3.5.1 – –

List of Alarms 3.5.2 – –

Troubleshooting Alarms 3.5.3 – –

INDEXER Module Alarm Dis-

plays and Troubleshooting 3.5.4 – –

Resetting Alarms –12.2.3 –

Displaying the Alarm History –12.2.4 –

Clearing the Alarm History –12.2.5 –

Resetting Alarms Detected in

Option Modules –12.2.6 –

Resetting Motor Type Alarms –12.2.7 –

Warning Displays 3.5.5 – –

List of Warnings 3.5.6 – –

Troubleshooting Warnings 3.5.7 – –

INDEXER Warning Displays and

Troubleshooting 3.5.8 – –

Troubleshooting Based on the Oper-

ation and Conditions of the Servo-

motor

3.5.9 – –

Panel Displays and Panel Operator Procedures –Chapter13 –

List of Parame-

ters

Parameter Configurations –– 9.1

List of Parameters 4.5 – –

Parameter Recording Table – 14.2 –

Appendix

Examples of Connections to Host

Controllers – 15.1 –

Corresponding SERVOPACK and

SigmaWin+ Function Names –– 10.1

Operation of Digital Operator –– 10.2

Continued from previous page.

Item

This

Man-

ual

Σ-7S SERVOPACK with

Analog Voltage/Pulse Train

References Product Manual

(Manual No.: SIEP S800001 26)

Σ-7S SERVOPACK with

FT/EX Specification for Indexing

Applications Product Manual

(Manual No.: SIEP S800001 84)

viii

Other Documents



Built-in

Function

Manuals



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

Product

Manuals



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

Hardware Option

Product Manuals



Option

Module

User’s

Manuals

Option

Module

User’s

Manual

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

MECHATROLINK

Communications

Command

Manuals

Programming

Manuals

Distributed

I/O Module

User’s

Manual

Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

FT/EX

Product Manuals

(such asthismanual)

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.



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

Este manual sirve para los siguientes modelos

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