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Bologna, 10 marzo 2015
Bologna, 10 marzo 2015
YASKAWA SIGMA 7
NEW GENERATION & NEW BENCHMARK
Italo Holguin Scacco
Manager Mechatronics Applications
ZF Italia
Bologna, 10 marzo 2015
Introducing Σ-7 Series
Bologna, 10 marzo 2015
Σ-7 SERVOPACK
•
•
•
•
•
•
•
•
SIL 3 for STO, PL-e, CAT 3
Embedded EtherCAT, MECHATROLINK, (ProfiNET)
Speed frequency response: 3.1kHz
Fastest’s world servo-loop: 31 microseconds (8 MHz)
One amplifier for Linear & Rotary Motors
Advanced Safety functions SS1, SS2, SLS
Feedback options
Ripple compensation, vibration suppression, etc.
Preeminent Performance
Bologna, 10 marzo 2015
Position, Speed and Torque loop are synchronous
with serial encoder : 31 microseconds = 8 MHz
Speed frequency characteristic： 1600 Hz(Σ-V）⇒ 3.1kHz（Σ-7）
・Instruction
generation
・Compensation
instruction
generation
↑
New control
technology
Torque Ref. , Torque Feed Forward
Speed Ref. , Speed Feed Forward ＋
Speed ＋ Speed
Filter Position ＋ Position
Ref. - Control
Ref.
- Control
Motor
＋ Torque
Ref.
Difference
Filter
Current
Control
Current Feedback
Position Feedback
Encoder resolution：20 bit (Σ-V) ⇒
Servo-loop: 62.5 usec (Σ-V) ⇒
Power
Conver
sion
M
Encoder
PG
24 bit (Σ-7)
31 msec（Σ-7）
5
Introducing Σ-7 Series
Bologna, 10 marzo 2015
Σ-7 motor
24-bit high-resolution encoder installed
Downsizing up to 20% compared with Sigma 5
High efficiency, low heat generation
Bologna, 10 marzo 2015
•
•
Ultimate system performance
•
Speed frequency response reaches 3.1kHz.
•
Repeated positioning precision: ±10nm, speed control precision: 1% at 100min-1,
Torque control resolution: 0.01%
•
Vibration suppression command.
•
Enhanced vibration suppression function, improved efficiency of tuning-less function
•
Ripple compensation function
Ultimately easy to use
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Overview of Σ-7 Amplifier
Performance & Features
Improved usability of tuning function
Ultimate environmental performance
•
Supports all environmental conditions in the world
(Supports AC240V voltage input, 2000m altitude, max. temperature increase to 60°C
etc.)
•
Energy-saving (Two-axis amplifier can utilize the regenerative power more
effectively)
Bologna, 10 marzo 2015
•
Ultimate safety and security
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In compliance with safety standards
(One-axis amplifier has STO embedded and Σ-V Safety module is available)
Ultimate support
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Overview of Σ-7 Amplifier
Performance & Features
Lifetime prediction, temperature monitoring, energy consumption monitoring
Ultimate lineup
•
One-axis amplifier (50W - 15kW)
•
Small-capacity two-axis amplifier (200W x 2 - 1kW x 2)
•
Any amplifier is able to drive both rotational motor and linear motor
Ultimate compatibility
•
One-axis amplifier is installation compatible with Σ-V
•
Connectors and parameters are compatible with Σ-V
Bologna, 10 marzo 2015
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Ultimate system performance
•
Small-size (80% of Σ-V)
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24-bit high-resolution encoder installed to improve absolute precision
•
Maximum torque: 350% (Small-capacity)
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Improved rigidity of motor shaft (Small- and middle-capacity)
Ultimate environmental performance
•
Efficiency improved by 2% and environment load reduced
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Supports IP67 (SGM7G, SGM7J, SGM7A [5kW])
Ultimate safety and security
•
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Encoder with temperature protection installed helps to prevent overheat
(prevents encoder failure)
Ultimate lineup
•
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Overview of Σ-7 Servomotor
Performance & Features
Three series of middle-inertia, low-inertia and flat type
Ultimate compatibility
•
Flange installation compatible with old models
Σ-7 Tuning-less
Ultimate Usability
Bologna, 10 marzo 2015
No gain adjustment! Yaskawa’s original tuning-less function has developed further
in efficiency and usability!
Conventional case
Solution
Vibration arises,
though servo tuning
is awkward…
With tuning-free function, you
can get:
· smooth device runs at
maximum load-inertia ratio
30 (equivalent to speed loop
gain 70Hz)
Creaking noise!
Previous speed
response curve
Running
noiselessly
· stable operations even if
load varies
Speed response curve
after applying tuning-less
function
Stabilization control
High stability, no
troublesome tuning work!
(at load-inertia ratio 30)
Bologna, 10 marzo 2015
Σ-7 Series Tunning-less
Control
Tuning-less control is improved
When the inertia moment ratio is less than 30, tuning-less control can suppress the vibration even if the
load varies.
It is especially effective for trial operation where response is not required.
Σ-7 amplifier provides higher gain of tuning-less control than that of Σ-V.
Settling time is shortened by around 50%!
Σ-V
Σ-7
Allowable inertia moment
ratio
Max. 30
Max. 30
Control gain
(Max. value)
Speed loop gain equivalent
to 40Hz
Speed loop gain equivalent to 70Hz
Settling time is shortened by 50%!
Bologna, 10 marzo 2015
Vibration Suppressing
Function of Σ-7 Series
Usually, machine vibration gets worse when the axes moves at high acceleration.
Σ-7 servo enhances the vibration suppressing function to help reduce the vibration much
more than the previous products.
•
Notch filter
Suppresses vibration at high frequencies of over 500Hz
Σ-V: Two filters → Σ-7: Five filters
•
Anti-resonance function
Suppresses vibration at frequencies from several hundred Hz to 1kHz
Σ-V: Suppression at one frequency → Σ-7: Suppression at two frequencies
•
Vibration suppressing function
Suppressing low frequencies under several tens Hz
Σ-V: Suppresses vibration at one frequency → Σ-7: Suppresses vibration at two frequencies
In addition, auto-tuning function can automatically adjust the above functions.
Bologna, 10 marzo 2015
Σ-7 Friction Model
Compensation Function
Effective for preventing falling when operation starts and suppressing
vibration of a low-rigidity machine.
•
User can specify the friction coefficient of the mechanism system directly.
•
This function can compensate the coulomb friction, viscosity friction and external force like gravity of a
mechanical system.
•
Unlike the Σ-V’s friction compensation function (called as “disturbance observer”), the new function of
Σ-7 has no correction delay since it compensates the friction of the mechanism system. Hence, it can
be expected to effectively prevent falling at the start of operation and suppress the vibration of a low rigidity machine.
Bologna, 10 marzo 2015
Σ-7 Series Ripple
Compensation Function
Effective for reducing the speed ripple caused by motor cogging even if the
machine has low-rigidity and high speed loop gain cannot be increased.
•
User can specify the friction coefficient of the
mechanism system directly.
•
This function can compensate the coulomb friction,
viscosity friction and external force like gravity of a
mechanical system.
•
Unlike the Σ-V’s friction compensation function (called
as “disturbance observer”), the new function of Σ-7 has
no correction delay since it compensates the friction of
the mechanism system. Hence, it can be expected to
effectively prevent falling at the start of operation and
suppress the vibration of a low-rigidity machine.
Lifetime Prediction Function
Bologna, 10 marzo 2015
Lifetime prediction function helps to find parts that are close to the end of
their lifespans, contributing to preventive maintenance.
SigmaWin+ Ver.6.00
Installation environment monitor
Workspace
Project of device 1
Servopack 1
Rotational axis 1
Linear axis 1
Rotational axis 2
Servopack 2
Rotational axis 3
•
•
•
Estimates the remaining service life of
parts (such as cooling fan, main-circuit
capacitor, inrush relay, DB relay, etc.)
according to total operating times and
relay on count.
Monitors the temperature of servo
amplifier and motor.
Users can also check the status by using
SigmaWin+, digital operator or optional
monitor.
Servopack
User monitor
40%
Lifetime monitor
Main circuit
condenser
Cooling fan
Inrush protection
relay
100
100
100
0
0
0
Speed command
Feedback speed
Servo ready
Auto monitor
Motor
20%
Status monitor Action monitor
DB relay
100
0
Unit
Axis#1
Axis#2
Axis#3
Axis#4
min-1
min-1
-
500
500
500
500
－
－
－
－
－
－
I/O signal
Lifetime Announce
A warning mark is shown next to the
item that is close to the end of its
service life. By clicking the mark, the
lifetime prediction will start.
Allarm Handling
Bologna, 10 marzo 2015
This function can display the trace waveform when an alarm sounds,
helping users to promptly troubleshoot the issue.
Alarm Trace
A.710 Overload (high load)
SigmaWin+ Ver.6.00
アラーム発生日時
Rotational
axis 1
Workspace
Project of device 1
Servopack 1
Rotational axis 1
Linear axis 1
Rotational axis 2
Servopack 2
Rotational axis 3
A.710 Overload (high load)
トルク指令
Clear
Trace
フィードバック速度
速度指令
Time when alarm occurs
History
位置指令速度
Alarm diagnosis
位置偏差
Operation beyond the overload protection characteristics.
モータ負荷位置間偏差
Incorrect wiring or contact fault of servomotor and encoder.
Alarm Announce
主回路母線電圧
・・・・・・
Excessive load was applied during operation because the servomotor was
not driven due to mechanical problems.
A warning mark is shown Monitor data at the time when alarm occurs
next to the item on which an
Alarm Trace
error has occurred.
To display the trace data that
By clicking the mark, the
is saved by amplifier
alarm function will start.
automatically at the time of
Unit
Axis#1
Axis#2
Axis#3
Axis#4
the alarm
occurring.
12345678
－
－
Column 1
Column 1
Column 1
Column 1
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
テキスト
Total operation time
s
Alarm history
Alarm history
ああああああああああああああああああああ
ああああああああああ
履歴クリア
Overload (high load)
2013/07/07 11:11:11
過負荷（瞬時最大）
2013/07/07 11:11:11
過負荷（瞬時最大）
2013/07/07 11:11:11
過負荷（瞬時最大）
Auto monitor
User monitor
Status monitor Action monitor
I/O signal
2013/07/07 11:11:11
過負荷（瞬時最大）
2013/07/07 11:11:11
過負荷（瞬時最大）
2013/07/07 11:11:11
(*) Window design and correlative specifications is subject to change.
アラーム
トレース
アラーム
トレース
アラーム
トレース
アラーム
トレース
アラーム
トレース
アラーム
トレース
Yaskawa Mechatro-Cloud
Bologna, 10 marzo 2015
With new SigmaTouch, users can manage the product information by reading the QR code
(serial no.) through smartphone (app available on Google Play)
(1) Product code
(2) Serial Number
Type code
Serial Number
(*) Window design and correlative specifications is subject to change.
Yaskawa Mechatro-Cloud
Bologna, 10 marzo 2015
QR Code – Cloud System
QR Code – Cloud System
Yaskawa Mechatro-Cloud
Bologna, 10 marzo 2015
QR Code – Yaskawa MechatroCloud. Sigma Touch
Energy Consumption Monitor
Bologna, 10 marzo 2015
Users can get the energy consumption information of Σ-7 system via MP, and then
make decision for shifting peak energy and factory power selection by using the
information.
MP (host device) collects the information of energy consumption
per unit time and total energy consumption for every Servo pack,
and displays the energy consumption in driving the entire device in
the unit that the user specifies.
Instantaneous
power P[W]
Reset released
or power on
Power
consumption[W]
•
Power
consumption
W(n-2) [Wh]
Power
consumption
W(n-1) [Wh]
Power
consumption
W(n) [Wh]
Pn55A
Pn55A
Accumulated power
consumption
W [Wh]
Time
Pn55A
User can monitor the overall energy
consumption of the device and the
instantaneous consumption of each axis.
Σ-7 Series 200V Line-Up
Bologna, 10 marzo 2015
Σ-7S
◆One-axis amplifier: Model Σ-7S
Capacity: AC200V: 50W-15kW
I/F: Pulse-train reference/Analog voltage
MECHATROLINK-Ⅱ, MECHATROLINK-Ⅲ,
EtherCAT
Safety: STO SIL3, Pl-e Cat3
Σ-7W
◆Dual-axis amplifier: Model Σ-7W
Capacity: AC200V: 2 x 200W; 2 x 1kW
I/F: MECHATROLINK-Ⅲ,
Safety: STO SIL3, Pl-e Cat 3
Σ-7 motor
◆Rotative Servo motors 200V
Low-inertia
Model SGM7A : 50W -7k
Middle-inertia Model SGM7J : 50W -750W
Middle-inertia Model SGM7G : 300W-15kW
Bologna, 10 marzo 2015
External dimensions of
Σ-7 Servomotors
Downsizing: Σ-7 servo motor has been downsized to 80% - 87% of Σ-V (while
providing installation compatibility with Σ-Ⅴ)
● SGM7J, SGM7A
□40 (50, 100, 150W)
● SGM7J, SGM7A
□60 (200, 400, 600W)
Can be installed in a narrow space!
● SGM7J, SGM7A
□80 (750, 1000W)
Σ-7 External Dimensions 200V
Bologna, 10 marzo 2015
■ Σ-7S (one-axis amplifier)
MECHATROLINK-III communication type,
200W x 2 axes
170mm
170mm
MECHATROLINK-III communication
type, 200W
■ Σ-7W (two-axis amplifier)
40mm
(*) Special mounting hole is provided to be
compatible with one-axis amplifier
70mm
The size of our two-axis amplifier is only
80% of two one-axis amplifiers
Σ-7 Installation Compatibility
Bologna, 10 marzo 2015
Σ-7 series models are installation compatible with the same capacity models of Σ-V
series. Therefore, users can easily upgrade to the new model.
In addition, the shape of resin cover has been changed so that drivers for fastening
screws can be easily inserted.
•
Installation compatible with the same capacity model of Σ-V series
•
Shape of resin cover has been changed so that the driver for fastening screws can be
easily inserted.
•
The heat sink beside the lower mounting holes has been enlarged downward.
(Mounting holes are kept at the same place as Σ-V series)
Σ-V upper
mounting hole
Σ-7 upper
mounting hole
Σ-V lower
mounting hole
Σ-7 lower
mounting hole
Σ-7S Specifications Overview
Bologna, 10 marzo 2015
■ Node No.
■ One-axis Servo Σ-7S
· Σ-7 full spec performance
· High efficiency
· Analog pulse and M-II/III
· Supports DC bus connection
· No fan under 400W
160
■ MECHATROLINK-III
■ Power
connector
Control
■ Digital operator
Main circuit
Regeneration
■ USB
140
40
For reference: 200V/100W
Model
Capacity
Size
SGD7S-R70A□□A
50W, 100W, 200W
40(W) x 160(H) x 140(D) mm
SGD7S-2R8A□□A
400W
40(W) x 160(H) x 170(D) mm
SGD7S-3R8A□□A
500W, 750W, 1kW
70(W) x 160(H) x 180(D) mm
SGD7S-120A□□A
1.5kW
90(W) x 160(H) x 180(D) mm
SGD7S-180A□□A
2kW, 3kW
100(W) x 180(H) x 180(D) mm
SGD7S-330A□□A
5kW
110(W) x 250(H) x 210(D) mm
SGD7S-470A□□A
6kW, 7.5kW
170(W) x 350(H) x 210(D) mm
SGD7S-590A□□A
11kW, 15kW
260(W) x 450(H) x 274(D) mm
■ I/O
■ Safety
■ Encoder
■ Motor
(*) 100V/400V input models are under discussion
(*) Optional card is supported only in full-closed input.
Other cards will be released in the near future.
Σ-7W Specifications Overview
Bologna, 10 marzo 2015
■ Small-capacity two-axis Servo Σ-7W
160
70
■ Node No. (*1)
· Same functionality as Σ-7
· Response frequency equivalent
■ Power
to Σ-V
connector
· Energy-saving, space-saving
(Installation width is decreased by
Control
25%)
Main circuit
· Supporting M-III
Regeneration
· Two-axis supporting by
SigmaSize+
· Available motor types referring to
180 the table below
· FAN equipped in all models
■ MECHATROLINK-III
■ Digital operator (*2)
■ USB
■ I/O
For reference: 200V/200W (two-axis model)
■ Encoder (two axes)
Model
Capacity
Size
SGD7W-1R6A□□A
200W + 200W
50W,100W
70(W) x 160(H) x 180(D)mm
SGD7W-2R8A□□A
400W + 400W
70(W) x 160(H) x 180(D)mm
SGD7W-5R5A□□A
750W + 750W
90(W) x 160(H) x 180(D)mm
SGD7W-7R6A□□A
1kW + 1kW
90(W) x 160(H) x 180(D)mm
(*3)
■ Motor (two axes)
(*1): Sub-address is used as node no.
(*2): Digital operator can be used by switching
between the two axes.
(*3): Insertion error detection function is under
development
(*): If an error occurs on one axis, the other axis
can work normally as long as the error does not
affect the common part of the two axes.
Σ-7 200V Motor
Specification Overview
Bologna, 10 marzo 2015
Middle-inertia Middle-inertia (flat)
Low-inertia
Middle-inertia
High-speed
S
p
e
c
i
f
i
c
a
t
i
o
n
s
Low-speed
SGM7A
Σ-7 motor model
SGM7J
SGM7P
Current motor model
SGMJV
SGMPS
SGMAV
SGMSV
SGMGV
0.05 - 0.75
(7 models)
0.1 - 1.5
(5 models)
0.05 - 1.0
(8 models)
1.5 - 7.0
(7 models)
0.3 - 15
(11 models)
Rated output
[kW]
Rated speed
[min ]
Max. speed
[min ]
-1
SGM7G
3000
1500
6000
6000
6000
6000
3000(under 7.5kW)
2000(11,15kW)
350%
300%
350%
300%
235 - 312%
Size of motor flange
□40 - □80
same as SGMJV
□60 - □120
same as SGMPS
□40 - □80
same as SGMAV
□100,130
same as SGMSV
□90 - □220
same as SGMGV
Average motor size
85% of SGMJV same as SGMPS 85% of SGMAV same as SGMSV same as SGMGV
-1
Max. torque (Rated torque rate)
Protection structure
IP67
Connector direction
Drawing cables in both
load side direction and
the reverse direction
Encoder resolution
IP65
same as SGMPS
IP67 (7kw meets IP22)
Drawing cables in both
load side direction and
the reverse direction
same as SGMSV
24bit INC (One-rotation ABS) / Multi-rotation ABS
same as SGMGV
(*1)
< Cables can drawn out
in both load side and the
Σ-7 Compatibility
Bologna, 10 marzo 2015
Ensuring compatibility with previous products! It is easy to upgrade to new products and make
devices work more efficiently!
Size & Installation
Parameter & Software
Installation compatible with MP2000 series
Same
size
Controller
MP2000
Series
Upgrade
MP3300
Same
size
MP2000 Amplifier
Installation compatible with Σ-V series. And
the shape is improved for inserting the
screws easier.
Amplifier
Installation compatible with Σ-V series
Motor
Σ-V 200W □60
Σ-7 200W □60
MP3000 Amplifier
Σ-V parameter compatible mode is
available. User can also convert the
parameters of Σ-V to the corresponding
ones of Σ-7 at one time by using the
converter provided in SigmaWin+.
Σ-7 400V Product Line-Up
Bologna, 10 marzo 2015
Product Highlight 2015 - A new „European Style“ Servo System
Σ-7S 400V
◆One-axis amplifier: Model Σ-7S
Capacity: AC400V: 500W-15kW
I/F: MECHATROLINK-Ⅱ, MECHATROLINK-,Ⅲ
EtherCat, Profinet, + Sigma 5 IF Cards
Servo drive
Safety: STO PL-e, SIL3 + Advanced Safety module
Feedback options
Σ-7W 400V
◆Two-axis integrated amplifier: Model Σ-7W
Capacity: AC400V: 750W x 2 – 3 kW x 2
I/F: MECHATROLINK-Ⅲ, EtherCAT, ProfiNET
Safety: STO PL-e, SIL 3
400V
Σ-7 motor 400V
◆Rotational servomotor
Low-inertia Model SGM7A : 400W - 7kW
Middle-inertia Model SGM7J : 200W - 1,5 kW
Middle-inertia Model SGM7G : 450W - 15kW
Σ-7 400V Book-style
Bologna, 10 marzo 2015
Σ-7 Series 400V Features
Bologna, 10 marzo 2015
Product Highlight 2015 - A new „European Style“ Servo System
Amplifier
 New size => Book style, “Side by Side” mounting
 Embedded Fieldbus Ethercat/ProfiNet,
 Single and Double axis amplifier,
 Safety SIL3, PL-e, CAT3,
 European connectors (for input and output )
 Daisy chain connection, for 24V DC, and DC Power input
 UL specified components
Motors
 100% Sigma 5 compatible with new cables
 European connectors (M12, M17, M23, and M40)
 Higher Speed for applications like Packaging or other applications
• => improved speed torque characteristic
• SGM7A 6000rpm
 Compact motor Design => high torque, small size
Bologna, 10 marzo 2015
Σ-7S 400V
Dimensions& Mounting
Σ-7S 400V
Dimension
D ： 250mm
Power
Height Width
Type
[kW]
[mm] [mm]
Depth
[mm]
Volume
[dm³]
0.50
1R9D
300
80
250
6.0
1.00
3R5D
300
80
250
6.0
1.50
5R4D
300
80
250
6.0
2.00
8R4D
300
80
250
6.0
3.00
120D
300
80
250
6.0
H ： 300mm
W ： 80mm
Mounting
up to 3.0 kW
“Side by Side”
Σ-7S 400V Structure
Bologna, 10 marzo 2015
Connectors for Main Power, EtherCAT
Network, I/O, Encoder, USB, etc.
Connectors for
digital operator
(Maintenance)
Option units for,
other Network,
Advanced Safety &
Encoder
Power Connectors for
motor, brake, braking
resistor
Metal sheet for
Motor cable
shielding
Σ-7S 400V Options
Bologna, 10 marzo 2015
Fan unit
Fan
(□40mm)
Compatible with Sigma 5 option units
Σ-7 400V Motor features
Bologna, 10 marzo 2015
New Motor Series with one connector system
Low inertia
SGM7A Model: 400 W ～7 kW
Medium inertia
SGM7J Model: 200 W ～1,5 kW
Medium inertia
SGM7G Model: 450 W ～15 kW
• Flange compatible with Sigma 5
• Improved Max speed up to 6000 rpm
• Improved speed torque characteristics fits to the
applications
• European, IP 67 with new connectors
(reduce number of cable and connectors)
• Single turn absolute encoder as standard (optional multi
turn absolute)
Bologna, 10 marzo 2015
Bologna, 10 marzo 2015