SGD7S EtherCAT

For Sigma-5 (SGDV) and Sigma-7 100/200V (SGD7S-***F, SGD7S-***A):

There should be nothing connected to the CN8 connection when using the Safety Option Module (SGDV-OSA01A).

If the safety function jumper is plugged into the CN8, alarms (A.E74 or A.EB3) will occur. Please remove it before commissioning the SERVOPACK.

For more information, please refer to the Sigma-5 & Sigma-7 Safety Module User Manual (SIEPC72082906).

Note: When using the Sigma-7 400V FT900 Safety Option Module (SGDV-OSA01A000FT900) the CN8 connection is active and can be used for STO. See SRV-E7PQJT

For Sigma-7 400V (SGD7*-***D):

The safety function jumper must remain in CN8 (in the case of dual-axis, in CN8A).

If the safety function jumper is removed from CN8, or if the safety jumper does not exist when the SERVOPACK is powered on, A.EB3 occurs. Please insert the safety function jumper before commissioning the SERVOPACK.

For more information, please refer to the Sigma-5 & Sigma-7 Safety Module User Manual (SIEPC72082906).

Note: When using the Sigma-7 400V FT900 Safety Option Module (SGDV-OSA01A000FT900) the CN8 connection is active and can be used for STO. See SRV-E7PQJT

Pn001 must be set.  See attached document for details.

First, decide if the drive should be in "Operation Enabled" state or "Switch On Disabled" state after the stop is commanded.

If the drive should be in "Operation Enabled" (servo enabled), then use the Halt command (described below, option A).

If the drive should be in "Switch On Disabled" (servo disabled), then use the Quick Stop command (option B).

Option A:

To use the Halt command:

• First, set up the halt method, in object 605Dh, as "3".
• Second, set the torque limit to maximum for the application.
• Then, issue Halt (bit 8) of the Controlword for the stop.

Note: Higher values for torque limit will produce faster stopping.

Option B:

To use the Quick Stop Command:

• First, set up the stop method, in object 605Ah, as "3".
• Second, set the torque limit to maximum for the application.
• Then, issue the Quick Stop command (with the Controlword) for the stop.

Note: Higher values for torque limit will produce faster stopping.

Another method other than stopping, is to command motion in the opposite direction before commanding Quick Stop or Halt.

Refer to Yaskawa.com FAQ# SRV-76V18C for torque limit options.

As described in the user's manual (Doc# SIEPS80000155), The PDO mapping objects (indexes 1600h to 1603h and 1A00h to 1A03h) and the Sync Manager PDO assignment objects (index 1C12h and 1C13h) can be written only in Pre-Operational state.

To set the SERVOPACK in Pre-Operational state, refer to the documentation of the EtherCAT master that is communicating to the EtherCAT SERVOPACK.

The color code documentation can be found in the Sigma-5 Series Product Catalog (YEA-KAEPS80000042) or the Sigma-7 Peripheral Device Selection Manual (SIEPS80000132).

The attached PDF has an image of the color code for the cable as shown in the Sigma-5 Series Product Catalog.