FT/EX Specification for Torque/Force Assistance for ...

1 Model: SGD7S- 00 F77 , - 20 F77 -7S SERVOPACK with FT/EX Specification for Torque/Force Assistance for Conveyance Application -7-Series AC Servo DriveProduct ManualMANUAL NO. SIEP S800002 09 CBasic Information on SERVOPACKsSERVOPACK Ratings andSpecifications1234567 Torque/Force AssistanceMaintenanceParameter ListsWiring and Connecting SERVOPACKsReference PulseMultiplier SelectionCopyright 2016 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a 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.

2 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. iiiAbout this ManualThis manual describes Torque/Force Assistance of -7-Series AC Servo Drive -7S SERVOPACKs for conveyance and understand this manual to ensure correct usage of the -7-Series AC Servo this manual in a safe place so that it can be referred to whenever of ManualThe contents of the chapters of this manual are described in the following you use the SERVOPACK, read this manual and the relevant product manual given in the fol-lowing Manual -7S SERVOPACK with Analog Voltage/Pulse Tr a i n R e f e re n c e s Product Manual (Manual No.)

3 : SIEP S800001 26) -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28)Basic Information on SERVOPACKsThe -7 Series Interpreting the Name-plate Names Combinations of SERVO-PACKs and Servomotors SigmaWin+ Combining the SERVO-PACKs with MP-Series Machine Controllers and the MPE720 Engineering To o Selecting a SERVOPACK Overload Protection Block Diagrams Dimensions of Standard Connections between SERVOPACKs and Peripheral Devices Installation Chapter 3 Chapter 3 Continued on next page. ivWiring and Connecting SERVOPACKsWiring Precautions Wiring Diagrams the Power Supply to the SERVOPACK Signal Safety Func-tion Signals MECHA-TROLINK Communica-tions Cables the Other Connectors Serial Com-munications Cables for Torque/Force Basic Functions That Require Setting before Operation Chapter 5 Chapter 5 Application Functions Chapter 6 Chapter 6 Trial Operation and Actual Operation Chapter 7 Chapter 7 Tuning Chapter 8 Chapter 8 MonitoringMonitoring Product Infor-mation SERVOPACK Status Servo Drive Status Status and , , Signal Monitor Machine Oper-ation Status and Signal Waveforms Product Life Loop Control Chapter 10 Chapter 10 Safety Functions Chapter 11 Chapter 11 Torque/Force , Setup.

4 Reference Pulse Multi-plier Setup Operating Continued on next from previous Manual -7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26) -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28) vMaintenanceInspections and Part Replacement , List of , Tro u b l e -shooting , Resetting Alarms the Alarm History the Alarm History Alarms Detected in Option Mod-ules Motor Type Alarms , List of , Tro u b l e -shooting , Monitoring Communica-tions Data during Alarms or Warnings Based on the Operation and Condi-tions of the , Parameter ListsList of , List of MECHATROLINK-III Common Parameter Recording Ta b l , Appendices Chapter 15 Chapter 14 Continued from previous Manual -7S SERVOPACK with Analog Voltage/Pulse Tr a i n R e f e re n c e s Product Manual (Manual No.)

5 : SIEP S800001 26) -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28) viRelated DocumentsThe relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as Machine Controller and Servo DriveGeneral Catalog MP3300 CatalogMachine Controllers -7-Series Catalog Servo DrivesMachine ControllersSERVOPACKs: -7S and -7 WSERVOPACKs with Built-in Controllers: -7 CServomotorsOther Documents Built-in Function Manuals -7-Series -7S/ -7W SERVOPACK Product Manuals -7-Series -7S/ -7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals -7-Series -7S/ -7W SERVOPACK FT/EX Product Manuals(such as this manual)

6 Option Module User s Manual -7-Series Servomotor Product Manuals -7-Series -7 CSERVOPACK Product Manual -7-Series -7 CSERVOPACKT roubleshooting Manual Enclosed Documents Enclosed Documents Built-in Function Manuals Enclosed Documents -7-Series Peripheral Device Selection Manual -7-Series MECHATROLINK Communications Command ManualsProgramming ManualsDistributed I/O Module User s Manual -7-Series Operation InterfaceOperating Manuals viiClassificationDocument NameDocument Machine Controller and Servo DriveGeneral CatalogMachine Controller and AC Servo Drive Solutions CatalogKAEP S800001 22 Describes the features and applica-tion examples for combinations of MP3000-Series Machine Control-lers and -7-Series AC Servo Drives. MP3300 CatalogMachine ControllerMP3300 KAEP C880725 03 Provides detailed information on MP3300 Machine Controllers, including features and specifica-tions.

7 -7-Series CatalogAC Servo Drives -7 SeriesKAEP S800001 23 Provides detailed information on -7-Series AC Servo Drives, including features and specifications. Built-in Function Manuals -7-Series AC Servo Drive -7C SERVOPACK Motion Control User s ManualSIEP 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 -7-Series -7C Controller MP3000 Series Communications User s ManualSIEP 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 -7-Series -7C SERVO-PACKs. Option Module User s ManualsMachine Controller MP2000 Series Communication Module User s ManualSIEP 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 -7-Series -7C Controller MP2000 Series 262IF-01 FL-net Communication Module User s ManualSIEP C880700 36 Machine Controller MP2000 Series 263IF-01 EtherNet/IP Communication Module User s ManualSIEP C880700 39 Machine Controller MP2000 Series I/O Module User s ManualSIEP 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 -7-Series -7C Controller MP2000 Series

8 Analog Input/Analog Output Module AI-01/AO-01 User s ManualSIEP C880700 26 Machine Controller MP2000 Series Counter Module CNTR-01 User s ManualSIEP C880700 27 Continued on next page. viii Enclosed Documents -7-Series AC Servo Drive -7S and -7W SERVOPACK Safety PrecautionsTOMP C710828 00 Provides detailed information for the safe usage of -7-Series SERVOPACKs. -V-Series/ -V-Series for Large-Capacity Models/ -7-SeriesSafety PrecautionsOption ModuleTOBP C720829 00 Provides detailed information for the safe usage of Option Modules. -V-Series/ -V-Series for Large-Capacity Models/ -7-SeriesInstallation GuideCommand Option ModuleTOBP C720829 01 Provides detailed procedures for installing the Command Option Module in a SERVOPACK. -V-Series/ -V-Series for Large-Capacity Models/ -7-SeriesInstallation GuideFully-closed ModuleTOBP C720829 03 Provides detailed procedures for installing the Fully-closed Module in a SERVOPACK.

9 -V-Series/ -V-Series for Large-Capacity Models/ -7-SeriesInstallation GuideSafety ModuleTOBP C720829 06 Provides detailed procedures for installing the Safety Module in a SERVOPACK. -V-Series/ -V-Series for Large-Capacity Models/ -7-SeriesInstallation GuideINDEXER ModuleTOBP C720829 02 Provides detailed procedures for installing the INDEXER Module in a SERVOPACK. -V-Series/ -V-Series for Large-Capacity Models/ -7-SeriesInstallation GuideDeviceNet ModuleTOBP C720829 07 Provides detailed procedures for installing the DeviceNet Module in a SERVOPACK. -7-Series -7C SERVOPACK Product Manual -7-Series AC Servo Drive -7C SERVOPACK Product ManualSIEP S800002 04 Provides detailed information on selecting -7-Series -7C SERVO-PACKs; installing, connecting, set-ting, testing in trial operation, and tuning Servo Drives; writing, moni-toring, and maintaining programs; and other information.

10 -7-Series -7C SERVOPACK Troubleshooting Manual -7-Series AC Servo Drive -7C SERVOPACK Troubleshooting ManualSIEP S800002 07 Provides detailed troubleshooting information for -7-Series -7C on next from previous NameDocument ix -7-Series -7S/ -7W SERVOPACK Product Manuals -7-Series AC Servo Drive -7S SERVOPACK with MECHATROLINK-III Communications References Product ManualSIEP S800001 28 Provide detailed information on selecting -7-Series SERVO-PACKs and information on install-ing, connecting, setting, performing trial operation for, tuning, and mon-itoring the Servo Drives. -7-Series AC Servo Drive -7S SERVOPACK with MECHATROLINK-II Communications References Product ManualSIEP S800001 27 -7-Series AC Servo Drive -7S SERVOPACK with Analog Voltage/Pulse Train References Product ManualSIEP S800001 26 -7-Series AC Servo Drive -7S SERVOPACK Command Option Attachable Type with INDEXER ModuleProduct ManualSIEP S800001 64 -7-Series AC Servo Drive -7S SERVOPACK Command Option Attachable Type with DeviceNet ModuleProduct ManualSIEP S800001 70 -7-Series AC Servo Drive -7W SERVOPACK with MECHATROLINK-III Communications References Product ManualSIEP S800001 29 -7-Series -7S/ -7W SERVOPACK with Hardware Option Specifications Product Manuals -7-Series AC Servo Drive -7S/ -7W SERVOPACK withHardware Option Specifica-tionsDynamic Brake Product