YASKAWA SGD7S-1R9D - User Manual

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-7-Series AC Servo Drive

Model: SGD7S-DA0

-7S SERVOPACK with

400V-Input Power and

EtherCAT (CoE) Communications References

Product Manual

MANUAL NO. SIEP S800001 80G

Selecting a SERVOPACK

SERVOPACK Installation

Application Functions

Tuning

Monitoring

Fully-Closed Loop Control

Safety Functions

EtherCAT Communications

CiA402 Drive Profile

Object Dictionary

Maintenance

Parameter and Object Lists

Appendices

Basic Functions That Require

Setting before Operation

Wiring and Connecting

SERVOPACKs

Trial Operation and

Actual Operation

Basic Information on

SERVOPACKs

Main Page

Table of Contents24
Basic Information on24
The Σ-7 Series37
Introduction to Ethercat38
- Introduction to Canopen38
- Canopen over Ethercat OSI Model38
- Sending and Receiving Data in Ethercat (Coe) Communications39
- Coe Terminology39
- Data Types40
- Data Ranges40
Interpreting the Nameplate41
Part Names42
Model Designations44
- Interpreting SERVOPACK Model Numbers44
- Interpreting Servomotor Model Numbers45
Combinations of Servopacks and Servomotors46
- Combinations of Rotary Servomotors and Servopacks46
- Combinations of Linear Servomotors and Servopacks47
Functions48
- Selecting a SERVOPACK50
Ratings and Specifications52
- SERVOPACK Overload Protection Characteristics52
- Specifications53
Block Diagrams57
- Servopacks Without Built-In Servomotor Brake Control57
- Servopacks with Built-In Servomotor Brake Control60
External Dimensions63
- Front Cover Dimensions and Connector Specifications63
- SERVOPACK External Dimensions65
- SERVOPACK External Dimensions66
Examples of Standard Connections between Servopacks and Peripheral Devices67
- SERVOPACK Installation69
Installation Precautions70
Mounting Types and Orientation71
Mounting Hole Dimensions72
Mounting Interval73
- Installing One SERVOPACK in a Control Panel73
- Installing more than One SERVOPACK in a Control Panel73
Monitoring the Installation Environment74
EMC Installation Conditions75
- Wiring and Connecting Servopacks76
Wiring and Connecting Servopacks78
- General Precautions78
- Countermeasures against Noise80
- Grounding83
Basic Wiring Diagrams84
Wiring the Power Supply to the SERVOPACK86
- Terminal Symbols and Terminal Names86
- Connector Wiring Procedure88
- Power on Sequence89
- Power Supply Wiring Diagrams90
- Wiring Regenerative Resistors93
- Wiring DC Reactors93
Wiring Servomotors94
- Terminal Symbols and Terminal Names94
- Pin Arrangement of Encoder Connector (CN2)94
- Wiring the SERVOPACK to the Encoder95
- Wiring the SERVOPACK to the Encoder96
- Wiring the SERVOPACK to the Holding Brake100
Connecting I/O Signals103
- I/O Signal Connector (CN1) Names and Functions103
- I/O Signal Connector (CN1) Pin Arrangement105
- I/O Signal Wiring Examples106
- I/O Circuits108
Connecting Safety Function Signals110
- Pin Arrangement of Safety Function Signals (CN8)110
- I/O Circuits110
Connecting Dynamic Brake Resistors112
- Terminal Symbols and Terminal Names112
- Connecting a Dynamic Brake Resistor112
Connecting Ethercat Communications Cables114
- Ethercat Connectors (RJ45)114
- Ethernet Communications Cables115
Connecting the Other Connectors116
- Serial Communications Connector (CN3)116
- Computer Connector (CN7)116
- Analog Monitor Connector (CN5)116
Manipulating SERVOPACK Parameters (Pn)119
- Classifications of SERVOPACK Parameters119
- Setting Methods for SERVOPACK Parameters121
- Write Prohibition Setting for SERVOPACK Parameters123
- Initializing SERVOPACK Parameter Settings126
Power Supply Type Settings for the Main Circuit128
Automatic Detection of Connected Motor129
Motor Direction Setting130
Setting the Linear Encoder Pitch131
Writing Linear Servomotor Parameters132
Selecting the Phase Sequence for a Linear Servomotor136
Polarity Sensor Setting138
Polarity Detection139
- Restrictions139
- Using the Servo on Command (Enable Operation Command) to Perform Polarity Detection140
- Using a Tool Function to Perform Polarity Detection141
Overtravel and Related Settings142
- Overtravel Signals142
- Setting to Enable/Disable Overtravel143
- Motor Stopping Method for Overtravel143
- Overtravel Warnings145
- Overtravel Release Method Selection146
- Overtravel Status147
- Overtravel Operation by Mode147
Holding Brake148
- Brake Operating Sequence148
- BK (Brake) Signal148
- BK (Brake) Signal149
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped150
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating150
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating151
- Built-In Brake Relay Usage Selection152
Motor Stopping Methods for Servo off and Alarms153
- Stopping Method for Servo off154
- Servomotor Stopping Method for Alarms154
Motor Overload Detection Level156
- Detection Timing for Overload Warnings (A.910)156
- Detection Timing for Overload Warnings156
- Detection Timing for Overload Alarms (A.720)157
Setting Unit Systems158
- Setting the Position Reference Unit158
- Setting the Speed Reference Unit163
Resetting the Absolute Encoder165
- Precautions on Resetting165
- Applicable Tools165
- Operating Procedure166
Setting the Origin of the Absolute Encoder168
- Absolute Encoder Origin Offset168
- Setting the Origin of the Absolute Linear Encoder168
Setting the Regenerative Resistor Capacity171
Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor172
Application Functions173
I/O Signal Allocations176
- Input Signal Allocations176
- Output Signal Allocations177
- ALM (Servo Alarm) Signal179
- WARN (Warning) Signal179
- TGON (Rotation Detection) Signal180
- S-RDY (Servo Ready) Signal180
- V-CMP (Speed Coincidence Detection) Signal181
- COIN (Positioning Completion) Signal182
- NEAR (Near) Signal183
- Speed Limit During Torque Control184
Operation for Momentary Power Interruptions186
SEMI F47 Function187
Setting the Motor Maximum Speed189
Encoder Divided Pulse Output190
- Encoder Divided Pulse Output Signals190
- Setting for the Encoder Divided Pulse Output195
- Setting for the Encoder Divided Pulse Output196
Software Limits197
Selecting Torque Limits198
- Internal Torque Limits198
- External Torque Limits199
- CLT (Torque Limit Detection) Signal202
Absolute Encoders203
- Connecting an Absolute Encoder203
- Structure of the Position Data of the Absolute Encoder204
- Output Ports for the Position Data from the Absolute Encoder204
- Reading the Position Data from the Absolute Encoder205
- Transmission Specifications206
- Calculating the Current Position in Machine Coordinates207
- Multiturn Limit Setting208
- Multiturn Limit Disagreement Alarm (A.CC0)209
Absolute Linear Encoders212
- Connecting an Absolute Linear Encoder212
- Output Ports for the Position Data from the Absolute Linear Encoder213
- Linear Encoder213
- Reading the Position Data from the Absolute Linear Encoder214
- Transmission Specifications214
- Calculating the Current Position in Machine Coordinates215
Software Reset216
- Preparations216
- Applicable Tools216
- Operating Procedure217
Initializing the Vibration Detection Level218
- Preparations218
- Applicable Tools218
- Operating Procedure219
- Related Parameters221
Adjusting the Motor Current Detection Signal Offset222
- Automatic Adjustment222
- Automatic Adjustment224
- Manual Adjustment225
Forcing the Motor to Stop227
- FSTP (Forced Stop Input) Signal227
- Stopping Method Selection for Forced Stops227
- Resetting Method for Forced Stops229
ZONE Outputs (FT64 Specification)230
- ZONE Table and ZONE Signals230
- ZONE Table Settings231
- ZONE Output Application Example234
- Trial Operation and Actual Operation235
Flow of Trial Operation236
- Flow of Trial Operation for Rotary Servomotors236
- Flow of Trial Operation for Linear Servomotors238
Inspections and Confirmations before Trial Operation240
Trial Operation for the Servomotor Without a Load241
- Preparations241
- Applicable Tools241
- Operating Procedure242
Trial Operation with Ethercat (Coe) Communications244
Trial Operation with the Servomotor Connected to the Machine245
- Precautions245
- Preparations245
- Operating Procedure246
Convenient Function to Use During Trial Operation247
- Program Jogging247
- Origin Search253
- Test Without a Motor255
- Monitoring258
- Tuning259
Overview and Flow of Tuning262
- Tuning Functions263
- Diagnostic Tool264
Monitoring Methods265
Precautions to Ensure Safe Tuning266
- Overtravel Settings266
- Torque Limit Settings266
- Setting the Position Deviation Overflow Alarm Level266
- Vibration Detection Level Setting268
- Setting the Position Deviation Overflow Alarm Level at Servo on269
Tuning-Less Function270
- Application Restrictions270
- Operating Procedure271
- Troubleshooting Alarms272
- Parameters Disabled by Tuning-Less Function273
- Automatically Adjusted Function Setting273
- Related Parameters273
Estimating the Moment of Inertia274
- Outline274
- Restrictions274
- Applicable Tools275
- Operating Procedure275
Autotuning Without Host Reference281
- Outline281
- Restrictions282
- Applicable Tools283
- Operating Procedure283
- Troubleshooting Problems in Autotuning Without a Host Reference287
- Automatically Adjusted Function Settings289
- Related Parameters291
Autotuning with a Host Reference292
- Outline292
- Restrictions293
- Applicable Tools293
- Operating Procedure294
- Troubleshooting Problems in Autotuning with a Host Reference297
- Automatically Adjusted Function Settings297
- Related Parameters298
Custom Tuning299
- Outline299
- Preparations299
- Applicable Tools300
- Operating Procedure300
- Automatically Adjusted Function Settings306
- Tuning Example for Tuning Mode 2 or 3306
- Related Parameters307
Anti-Resonance Control Adjustment308
- Outline308
- Preparations308
- Applicable Tools309
- Operating Procedure309
- Related Parameters311
- Suppressing Different Vibration Frequencies with Anti-Resonance Control311
Vibration Suppression313
- Outline313
- Preparations314
- Applicable Tools314
- Operating Procedure314
- Setting Combined Functions316
- Related Parameters316
Speed Ripple Compensation317
- Outline317
- Setting up Speed Ripple Compensation317
- Setting Parameters321
Additional Adjustment Functions323
- Gain Switching323
- Friction Compensation326
- Current Control Mode Selection327
- Current Gain Level Setting328
- Speed Detection Method Selection328
- Speed Feedback Filter328
- Backlash Compensation329
Manual Tuning334
- Tuning the Servo Gains334
- Compatible Adjustment Functions344
Diagnostic Tools348
- Mechanical Analysis348
  - Easy FFT350
Monitoring Product Information355
- Items that You Can Monitor355
- Operating Procedures355
Monitoring SERVOPACK Status356
- Servo Drive Status356
- Monitoring Status and Operations356
- I/O Signal Monitor358
Monitoring Machine Operation Status and Signal Waveforms359
- Items that You Can Monitor359
- Using the Sigmawin360
- Monitoring Machine Operation Status and Signal Waveforms360
- Using a Measuring Instrument362
Monitoring Product Life366
- Items that You Can Monitor366
- Operating Procedure367
- Preventative Maintenance368
Alarm Tracing369
- Data for Which Alarm Tracing Is Performed369
- Applicable Tools369
Fully-Closed System371
SERVOPACK Commissioning Procedure372
Parameter and Object Settings for Fully-Closed Loop Control374
- Control Block Diagram for Fully-Closed Loop Control374
- External Absolute Encoder Data Reception374
- Setting the Motor Direction and the Machine Movement Direction375
- Setting the Number of External Encoder Scale Pitches375
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output)376
  - Signals376
- External Absolute Encoder Data Reception Sequence377
- Setting Unit Systems377
- Alarm Detection Settings377
- Sequence377
- Analog Monitor Signal Settings378
- Setting to Use an External Encoder for Speed Feedback378
Monitoring an External Encoder379
- Option Module Required for Monitoring379
- Related Parameters379
- Block Diagrams379
Introduction to the Safety Functions382
- Safety Functions382
- Precautions for Safety Functions383
Hard Wire Base Block (HWBB and SBB)384
- Risk Assessment384
- Hard Wire Base Block (HWBB) State385
- Resetting the HWBB State386
- Recovery Method387
- Detecting Errors in HWBB Signal387
- HWBB Input Signal Specifications388
- Operation Without a Host Controller388
- S-RDY (Servo Ready Output) Signal389
- BK (Brake Output) Signal389
- Stopping Methods390
- ALM (Servo Alarm) Signal390
EDM1 (External Device Monitor)391
- EDM1 Output Signal Specifications391
Applications Examples for Safety Functions392
- Connection Example392
- Failure Detection Method392
- Procedure393
Validating Safety Functions394
Connecting a Safety Function Device395
Ethercat Communications396
Ethercat Slave Information397
Ethercat State Machine398
Ethercat (Coe) Communications Settings400
- Normal Device Recognition Process at Startup400
  - Application Example400
  - Device Recognition with Station Aliases400
PDO Mappings401
- Setting Procedure for PDO Mappings402
- Default PDO Mappings402
Synchronization with Distributed Clocks403
Emergency Messages406
Cia402 Drive Profile407
Device Control409
- State Machine Control Commands410
- Bits in Statusword (6041 Hex)410
- Related Objects410
Modes of Operation411
- Related Objects411
- Dynamic Mode Changes411
Position Control Modes412
- Profile Position Mode412
- Profile Position Mode413
- Interpolated Position Mode415
- Cyclic Synchronous Position Mode418
- Cyclic Synchronous Position Mode419
Homing420
- Related Objects420
- Homing Method (6098 Hex)420
Velocity Control Modes423
- Profile Velocity Mode423
- Cyclic Synchronous Velocity Mode424
Torque Control Modes425
- Profile Torque Mode425
- Cyclic Sync Torque Mode426
Torque Limits427
Digital I/O Signals428
Touch Probe429
- Related Objects429
- Example of Execution Procedure for a Touch Probe430
Fully-Closed Loop Control431
Object Dictionary432
Object Dictionary List434
General Objects436
PDO Mapping Objects440
Sync Manager Communications Objects444
Manufacturer-Specific Objects448
Device Control452
Profile Position Mode460
Homing Mode462
Position Control Function464
Interpolated Position Mode466
Cyclic Synchronous Position Mode472
Profile Velocity/Cyclic Synchronous Velocity Mode473
Profile Torque/Cyclic Synchronous Torque Mode474
Torque Limit Function475
Touch Probe Function476
Dual Encoder Feedback480
- Maintenance481
Inspections and Part Replacement482
- Inspections482
- Guidelines for Part Replacement482
- Replacing the Battery483
Alarm Displays485
- List of Alarms485
- Troubleshooting Alarms491
- Resetting Alarms519
- Displaying the Alarm History520
- Clearing the Alarm History521
- Resetting Alarms Detected in Option Modules522
- Resetting Motor Type Alarms523
Warning Displays525
- List of Warnings525
- Troubleshooting Warnings526
Troubleshooting Based on the Operation and Conditions of the Servomotor531
- Parameter and Object Lists542
- Appendices589

Brand	YASKAWA
Model	SGD7S-1R9D
Category	Servo Drives
Language	English

YASKAWA SGD7S-1R9D - User Manual

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YASKAWA SGD7S-1R9D Specifications

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