YASKAWA SGD7S-xxxDA0 series Product Manual

Contents

viiUsing This Manual Technical Terms Used in This ManualThe following terms are used in this manual. Differences in Terms for Rotary Servomotors and Linear ServomotorsThere are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, youneed to interpret the terms as given in the following table.Term MeaningServomotor A Σ-7-Series Rotary Servomotor or Linear ServomotorRotary Servomotor A Σ-7-Series Rotary Servomotor (SGM7J, SGM7A, or SGM7G).Linear Servomotor A Σ-7-Series Linear Servomotor (SGLF or SGLT).SERVOPACK A Σ-7-Series Σ-7S servo amplifier with EtherCAT Communications References.Servo Drive The combination of a Servomotor and SERVOPACK.Servo System A servo control system that includes the combination of a Servo Drive with a host controllerand peripheral devices.servo ON Supplying power to the motor.servo OFF Not supplying power to the motor.Servo ON command(Enable Operationcommand)A command that is used to turn ON the servo (i.e., supply power to the motor) when bit 3 ofcontrolword (6040h) is changed to 1 (ON) while the control power supply and main circuitpower supply are ON.Refer to the following section for details.14.1 Device Control (page 14-3)Servo OFF command(Disable Operationcommand)A command that is used to turn OFF the servo (i.e., power not supplied to the motor) whenbit 3 of controlword (6040h) is changed to 0 (OFF) while the control power supply and maincircuit power supply are ON.Refer to the following section for details.14.1 Device Control (page 14-3)base block (BB) Shutting OFF the power supply to the motor by shutting OFF the base current to the powertransistor in the SERVOPACK.servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0.Main Circuit Cable One of the cables that connect to the main circuit terminals, including the Main Circuit PowerSupply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.SigmaWin+ The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engi-neering Tool is installed.Rotary Servomotors Linear Servomotorstorque forcemoment of inertia massrotation movementforward rotation and reverse rotation forward movement and reverse movementCW and CCW pulse trains forward and reverse pulse trainsrotary encoder linear encoderabsolute rotary encoder absolute linear encoderincremental rotary encoder incremental linear encoderunit: min -1 unit: mm/sunit: N·m unit: N