YASKAWA SGD7S

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2.2 Block Diagrams

2.2.3 SGD7S-3R8A, -5R5A, and -7R6A

2-12

2.2.3

SGD7S-3R8A, -5R5A, and -7R6A

B1/ B2 B3

L1C

L2C

CN3

CN2

ENC

A/D

I/O

CN1

CN5

CHARGE

CN7 CN8

CN11 CN12

Processor

(PWM control, position/

speed calculations, etc.)

Control

power

supply

Digital Operator ComputerOption Module Option Module

Current

sensor

Dynamic

brake circuit

Servomotor

Gate drive

Analog

voltage

converter

Encoder divided

pulse output

Analog monitor

output

Voltage

sensor

Voltage

sensor

Varistor

Relay

drive

Gate drive

overcurrent protection

Temperature

sensor

Safety function signals

Main

circuit

power

supply

Control

power

supply

−

Reference pulse input

Reference voltage

input

I/O signals

Fan

Panel Operator

Main Page

Table of Contents26
Basic Information on26
The Σ-7 Series39
Interpreting the Nameplate40
Part Names41
Model Designations43
- Interpreting SERVOPACK Model Numbers43
- Interpreting Servomotor Model Numbers44
Combinations of Servopacks and Servomotors45
- Combinations of Rotary Servomotors and Servopacks45
- Combinations of Direct Drive Servomotors and Servopacks46
- Combinations of Linear Servomotors and Servopacks47
- Combinations of Linear Servomotors and Servopacks48
Functions49
- Selecting a SERVOPACK52
Ratings and Specifications53
- Ratings53
- SERVOPACK Overload Protection Characteristics56
- Specifications57
Block Diagrams62
- SGD7S-R70A, -R90A, and -1R6A62
- Sgd7S-2R8A62
- SGD7S-3R8A, -5R5A, and -7R6A63
- Sgd7S-120A64
- SGD7S-180A and -200A65
- Sgd7S-330A66
- SGD7S-470A and -550A67
- SGD7S-590A and -780A68
- SGD7S-R70F, -R90F, and -2R1F68
- Sgd7S-2R8F69
External Dimensions70
- Front Cover Dimensions and Connector Specifications70
- SERVOPACK External Dimensions71
Examples of Standard Connections between Servopacks and Peripheral Devices77
SERVOPACK Installation79
Installation Precautions80
Mounting Types and Orientation81
Mounting Hole Dimensions82
Mounting Interval84
- Installing One SERVOPACK in a Control Panel84
- Installing more than One SERVOPACK in a Control Panel84
Monitoring the Installation Environment85
Derating Specifications86
EMC Installation Conditions87
- Wiring and Connecting Servopacks88
Wiring and Connecting Servopacks90
- General Precautions90
- Countermeasures against Noise92
- Grounding95
Basic Wiring Diagrams96
Wiring the Power Supply to the SERVOPACK98
- Terminal Symbols and Terminal Names98
- Wiring Procedure for Main Circuit Connector101
- Power on Sequence102
- Power Supply Wiring Diagrams103
- Wiring Regenerative Resistors109
- Wiring Reactors for Harmonic Suppression111
Wiring Servomotors112
- Terminal Symbols and Terminal Names112
- Pin Arrangement of Encoder Connector (CN2)112
- Wiring the SERVOPACK to the Encoder113
- Wiring the SERVOPACK to the Encoder114
- Wiring the SERVOPACK to the Holding Brake119
I/O Signal Connections120
- I/O Signal Connector (CN1) Names and Functions120
- I/O Signal Connector (CN1) Pin Arrangement123
- I/O Signal Wiring Examples124
- I/O Circuits130
Connecting Safety Function Signals135
- Pin Arrangement of Safety Function Signals (CN8)135
- I/O Circuits135
Connecting the Other Connectors137
- Serial Communications Connector (CN3)137
- Computer Connector (CN7)137
- Analog Monitor Connector (CN5)137
Manipulating Parameters (Pn)141
- Parameter Classification141
- Notation for Parameters142
- Parameter Setting Methods143
- Write Prohibition Setting for Parameters145
- Initializing Parameter Settings148
Control Method Selection150
Power Supply Type Settings for the Main Circuit and Control Circuit151
- AC Power Supply Input/DC Power Supply Input Setting151
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting152
Automatic Detection of Connected Motor153
Functions and Settings for the /S-ON (Servo ON) Signal154
- Function of the /S-ON (Servo ON) Signal154
- Setting to Keep the Servo on and Supply Power to the Motor Continuously154
Motor Direction Setting155
Setting the Linear Encoder Pitch156
Writing Linear Servomotor Parameters157
Selecting the Phase Sequence for a Linear Servomotor162
Polarity Sensor Setting164
Polarity Detection165
- Restrictions165
- Using the /S-ON (Servo ON) Signal to Perform Polarity Detection166
- Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection167
  - Detection167
  - Using a Tool Function to Perform Polarity Detection168
Overtravel and Related Settings169
- Overtravel Signals170
- Setting to Enable/Disable Overtravel170
- Motor Stopping Method for Overtravel171
- Overtravel Warnings172
Holding Brake174
- Brake Operating Sequence174
- BK (Brake) Signal175
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped176
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating177
Motor Stopping Methods for Servo off and Alarms179
- Stopping Method for Servo off180
- Servomotor Stopping Method for Alarms180
Motor Overload Detection Level182
- Detection Timing for Overload Warnings (A.910)182
- Detection Timing for Overload Warnings182
- Detection Timing for Overload Alarms (A.720)183
Electronic Gear Settings184
- Electronic Gear Ratio Settings185
- Electronic Gear Ratio Setting Examples188
Resetting the Absolute Encoder189
- Precautions on Resetting189
- Preparations189
- Applicable Tools190
- Operating Procedure190
Setting the Origin of the Absolute Encoder192
- Setting the Origin of the Absolute Linear Encoder192
Setting the Regenerative Resistor Capacity195
- Application Functions196
I/O Signal Allocations199
- Input Signal Allocations199
- Output Signal Allocations202
- ALM (Servo Alarm) Signal204
- ALO1 to ALO3 (Alarm Code) Signals204
- WARN (Warning) Signal205
- TGON (Rotation Detection) Signal205
- S-RDY (Servo Ready) Signal206
Operation for Momentary Power Interruptions207
SEMI F47 Function208
Setting the Motor Maximum Speed210
Speed Control211
- Basic Settings for Speed Control211
- Soft Start Settings218
- Speed Reference Filter218
- Zero Clamping219
- V-CMP (Speed Coincidence Detection) Signal221
- Operation Examples for Changing the Motor Direction222
Position Control224
- Basic Settings for Position Control225
- CLR (Position Deviation Clear) Signal Function and Settings227
- Reference Pulse Input Multiplication Switching228
- Smoothing Settings230
- COIN (Positioning Completion) Signal231
- NEAR (Near) Signal232
- Reference Pulse Inhibition Function233
Torque Control234
- Basic Settings for Torque Control234
- Adjusting the Torque Reference Offset235
- Torque Reference Filter Settings239
- Speed Limit During Torque Control239
Encoder Divided Pulse Output241
- Encoder Divided Pulse Output Signals241
- Setting for the Encoder Divided Pulse Output246
Internal Set Speed Control248
- Input Signals for Internal Set Speed Control248
- Setting the Control Method to Internal Set Speed Control249
- Settings for Internal Set Speed Control249
- Changing Internal Set Speeds with Input Signals250
Selecting Combined Control Methods252
- Setting Pn000 = N.X252
Selecting Torque Limits257
- Internal Torque Limits257
- External Torque Limits258
- Limiting Torque with an Analog Reference261
Absolute Encoders267
- Connecting an Absolute Encoder268
- Structure of the Position Data of the Absolute Encoder268
- Encoder268
- Output Ports for the Position Data from the Absolute Encoder269
- Reading the Position Data from the Absolute Encoder270
- Encoder270
- Transmission Specifications274
- Calculating the Current Position in Machine Coordinates275
Absolute Linear Encoders281
- Connecting an Absolute Linear Encoder281
- Structure of the Position Data of the Absolute Linear Encoder281
- Output Ports for the Position Data from the Absolute Linear Encoder282
- Reading the Position Data from the Absolute Linear Encoder283
- Transmission Specifications287
- Calculating the Current Position in Machine Coordinates288
- Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder289
Software Reset290
- Preparations290
- Applicable Tools290
- Operating Procedure290
Initializing the Vibration Detection Level292
- Preparations292
- Applicable Tools293
- Operating Procedure293
- Related Parameters295
Adjusting the Motor Current Detection Signal Offset296
- Automatic Adjustment296
- Manual Adjustment298
Forcing the Motor to Stop300
- FSTP (Forced Stop Input) Signal300
- Stopping Method Selection for Forced Stops300
- Stops300
- Resetting Method for Forced Stops302
- Trial Operation and Actual Operation303
Flow of Trial Operation304
- Flow of Trial Operation for Rotary Servomotors304
- Flow of Trial Operation for Linear Servomotors306
Inspections and Confirmations before Trial Operation308
Trial Operation for the Servomotor Without a Load309
- Preparations309
- Applicable Tools310
- Operating Procedure310
Trial Operation from the Host Controller for the Servomotor Without a Load313
- Preparing the Servomotor for Trial Operation313
- Trial Operation for Speed Control315
- Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control316
- Trial Operation for Position Control317
Trial Operation with the Servomotor Connected to the Machine319
- Precautions319
- Preparations320
- Operating Procedure320
- Maintenance321
Convenient Function to Use During Trial Operation322
- Program Jogging322
- Origin Search327
- Test Without a Motor329
- Tuning334
Overview and Flow of Tuning337
- Tuning Functions338
- Diagnostic Tool339
Monitoring Methods340
Precautions to Ensure Safe Tuning341
- Overtravel Settings341
- Torque Limit Settings341
- Setting the Position Deviation Overflow Alarm Level341
- Vibration Detection Level Setting343
- Setting the Position Deviation Overflow Alarm Level at Servo on344
Tuning-Less Function345
- Application Restrictions345
- Operating Procedure346
- Troubleshooting Alarms347
- Parameters Disabled by Tuning-Less Function348
- Automatically Adjusted Function Setting348
- Related Parameters348
Estimating the Moment of Inertia349
- Outline349
- Restrictions350
- Applicable Tools350
- Operating Procedure351
Autotuning Without Host Reference357
- Outline357
- Restrictions358
- Applicable Tools359
- Operating Procedure359
- Troubleshooting Problems in Autotuning Without a Host Reference364
- Automatically Adjusted Function Settings365
- Related Parameters367
Autotuning with a Host Reference368
- Outline368
- Restrictions368
- Applicable Tools369
- Operating Procedure369
- Troubleshooting Problems in Autotuning with a Host Reference373
- Automatically Adjusted Function Settings374
- Related Parameters374
Custom Tuning375
- Outline375
- Preparations375
- Applicable Tools376
- Operating Procedure376
- Automatically Adjusted Function Settings382
- Tuning Example for Tuning Mode 2 or 3382
- Related Parameters383
Anti-Resonance Control Adjustment384
- Outline384
- Preparations384
- Applicable Tools385
- Operating Procedure385
- Related Parameters387
- Suppressing Different Vibration Frequencies with Anti-Resonance Control387
Vibration Suppression389
- Outline389
- Preparations390
- Applicable Tools390
- Operating Procedure390
- Setting Combined Functions392
- Related Parameters392
Speed Ripple Compensation393
- Outline393
- Setting up Speed Ripple Compensation393
- Setting Parameters397
Additional Adjustment Functions399
- Gain Switching399
- Gain Switching400
- Friction Compensation403
- Current Control Mode Selection405
- Current Gain Level Setting405
- Speed Detection Method Selection406
- Speed Feedback Filter406
- Proportional Control (P Control)406
Manual Tuning408
- Tuning the Servo Gains408
- Compatible Adjustment Functions418
Diagnostic Tools424
- Mechanical Analysis424
- Easy FFT426
- Monitoring430
Monitoring Product Information431
- Items that You Can Monitor431
- Operating Procedures432
Monitoring SERVOPACK Status433
- Servo Drive Status433
- Monitoring Status and Operations434
- I/O Signal Monitor436
Monitoring Machine Operation Status and Signal Waveforms437
- Items that You Can Monitor437
- Using the Sigmawin438
- Using a Measuring Instrument439
Monitoring Product Life444
- Items that You Can Monitor444
- Operating Procedure445
- Preventative Maintenance446
Alarm Tracing447
- Data for Which Alarm Tracing Is Performed447
- Applicable Tools447
Fully-Closed System449
SERVOPACK Commissioning Procedure450
Parameter Settings for Fully-Closed Loop Control452
- Control Block Diagram for Fully-Closed Loop Control452
- Setting the Motor Direction and the Machine Movement Direction453
- Loop Control453
- Setting the Number of External Encoder Scale Pitches454
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals454
- Setting the Number of External Encoder Scale454
- External Absolute Encoder Data Reception Sequence455
- Electronic Gear Setting455
- Alarm Detection Settings455
- External Absolute Encoder Data Reception455
- Analog Monitor Signal Settings457
- Setting to Use an External Encoder for Speed Feedback457
Introduction to the Safety Functions459
- Safety Functions459
- Precautions for Safety Functions459
Hard Wire Base Block (HWBB)460
- Risk Assessment460
- Hard Wire Base Block (HWBB) State461
- Resetting the HWBB State461
- Detecting Errors in HWBB Signal462
- HWBB Input Signal Specifications462
- Operation Without a Host Controller462
- S-RDY (Servo Ready Output) Signal463
- BK (Brake Output) Signal463
- Stopping Methods463
- Settings to Clear the Position Deviation464
- ALM (Servo Alarm) Signal and ALO1, ALO2, and ALO3464
  - (Alarm Code Output) Signals464
EDM1 (External Device Monitor)465
- EDM1 Output Signal Specifications465
Applications Examples for Safety Functions466
- Connection Example466
- Failure Detection Method466
- Procedure467
Validating Safety Functions468
Connecting a Safety Function Device469
Inspections and Part Replacement471
- Inspections471
- Guidelines for Part Replacement471
- Replacing the Battery472
Alarm Displays474
- List of Alarms474
- Troubleshooting Alarms481
- Resetting Alarms509
- Displaying the Alarm History510
- Clearing the Alarm History511
- Resetting Alarms Detected in Option Modules512
- Resetting Motor Type Alarms514
Warning Displays515
- List of Warnings515
- Troubleshooting Warnings516
Troubleshooting Based on the Operation and Conditions of the Servomotor521
Panel Operator534
- Panel Operator Key Names and Functions534
- Changing Modes534
- Status Displays535
Parameter (Pn) Operations on the Panel Operator537
- Setting Parameters that Require Numeric Settings537
- Setting Parameters that Require Selection of Functions538
Monitor Display (Un) Operations on the Panel Operator539
- Basic Monitor Display Operations539
- Input Signal Monitor (Un005)539
- Output Signal Monitor (Un006)540
- Safety Input Signal Monitor (Un015)541
- Upper Limit Setting Monitor for Maximum Motor Speed/Upper Limit Setting for Encoder Output Resolution (Un010)542
- Polarity Sensor Signal Monitor (Un011)542
Utility Function (Fn) Operations on the Panel Operator543
- Display Alarm History (Fn000)543
- Jog (Fn002)544
- Origin Search (Fn003)545
- Jog Program (Fn004)546
- Initialize Parameters (Fn005)547
- Clear Alarm History (Fn006)547
- Reset Absolute Encoder (Fn008)548
- Autotune Analog (Speed/Torque) Reference Offset (Fn009)549
- Manually Adjust Speed Reference Offset (Fn00A)549
- Manually Adjust Speed Reference Offset549
- Manually Adjust Torque Reference Offset (Fn00B)550
- Manually Adjust Torque Reference Offset550
- Adjust Analog Monitor Output Offset (Fn00C)551
- Adjust Analog Monitor Output Gain (Fn00D)551
- Adjust Analog Monitor Output Offset551
- Autotune Motor Current Detection Signal Offset (Fn00E)552
- Autotune Motor Current Detection Signal Offset552
- Manually Adjust Motor Current Detection Signal Offset (Fn00F)553
- Write Prohibition Setting (Fn010)554
- Display Servomotor Model (Fn011)555
- Display Software Version (Fn012)556
- Multiturn Limit Setting after Multiturn Limit Disagreement Alarm (Fn013)557
- Reset Option Module Configuration Error (Fn014)558
- Initialize Vibration Detection Level (Fn01B)558
- Reset Option Module Configuration Error558
- Display SERVOPACK and Servomotor Ids (Fn01E)559
- Display Servomotor ID from Feedback Option Module (Fn01F)559
- Set Absolute Linear Encoder Origin (Fn020)559
- Display SERVOPACK and Servomotor Ids559
- Resetting Motor Type Alarms (Fn021)560
- Software Reset (Fn030)560
- Polarity Detection (Fn080)560
- Tuning-Less Level Setting (Fn200)561
- Advanced Autotuning Without Reference (Fn201)562
- Advanced Autotuning with Reference (Fn202)562
- One-Parameter Tuning (Fn203)562
- Advanced Autotuning Without Reference562
- Advanced Autotuning with Reference562
- Adjust Anti-Resonance Control (Fn204)563
- Vibration Suppression (Fn205)563
- Easy FFT (Fn206)563
- Parameter Lists565
List of Parameters566
- Interpreting the Parameter Lists566
- List of Parameters567
Parameter Recording Table598
Appendices605
Examples of Connections to Host Controllers606
- Example of Connections to Yokogawa Electric's F3YP2-0P Positioning Module for Position Control607
- Example of Connections to Yokogawa Electric's F3NC3-0N Positioning Module for Position Control608
- Example of Connections to an OMRON Position Control Unit609
- Example of Connection to Mitsubishi's QD75D Positioning Module for Position Control610
Corresponding SERVOPACK and Sigmawin+ Function Names611
- Corresponding SERVOPACK Utility Function Names611
- Corresponding SERVOPACK Monitor Display Function Names612

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