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Yaskawa SGD7S Series Servo Drives: Difference between revisions

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updated EtherCAT edition manual links
 
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== Specifications ==
== Specifications ==
=== Analog voltage/pulsetrain ===
Part numbers of the form SGD7S-xxxx00xxxxxxx:


* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=46 Page 46] (1-6 in the PDF) shows the model number scheme
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=46 Page 46] (1-6 in the PDF) shows the model number scheme
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=57 Page 57] (2-2 in the PDF) shows the per-model specifications
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=57 Page 57] (2-2 in the PDF) shows the per-model specifications
=== MECHATROLINK-III ===
Part numbers of the form SGD7S-xxxx30xxxxxxx:
For 200V models?:
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000162&cmd=documents&documentName=SIEP_S800001_62H.pdf#page=42 Page 42] (1-5 in the PDF) shows the model number scheme
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000162&cmd=documents&documentName=SIEP_S800001_62H.pdf#page=52 Page 52] (2-2 in the PDF) shows the per-model specifications
For 400V models?:
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000214&cmd=documents&documentName=SIEPS80000214.pdf#page=39 Page 39] (1-6 in the PDF) shows the model number scheme
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000214&cmd=documents&documentName=SIEPS80000214.pdf#page=47 Page 47] (2-2 in the PDF) shows the per-model specifications
=== EtherCAT ===
Part numbers of the form SGD7S-xxxxA0xxxxxxx:
* [https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/EtherCATs/Sigma-7_200V_AC_Servo_Drive_EtherCAT_Product_manual_SIEP_S800001_55.pdf#page=49 Page 49] (1-10 in the PDF) shows the model number scheme
* [https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/EtherCATs/Sigma-7_200V_AC_Servo_Drive_EtherCAT_Product_manual_SIEP_S800001_55.pdf#page=61 Page 61] (2-2 in the PDF) shows the per-model specifications


== Wiring ==
== Wiring ==
=== Analog voltage/pulsetrain ===


* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=102 Page 102] (4-9 in the PDF) shows the wiring overview
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=102 Page 102] (4-9 in the PDF) shows the wiring overview
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=118 Page 118] (4-25 in the PDF) shows the "CN2" encoder connector pinout
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=128 Page 128] (4-35 in the PDF) shows the "CN1" I/O signal connector pinout
=== MECHATROLINK-III ===
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000214&cmd=documents&documentName=SIEPS80000214.pdf#page=80 Page 80] (4-9 in the PDF) shows the wiring overview
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000214&cmd=documents&documentName=SIEPS80000214.pdf#page=90 Page 90] (4-19 in the PDF) shows the "CN2" encoder connector pinout
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000214&cmd=documents&documentName=SIEPS80000214.pdf#page=100 Page 100] (4-29 in the PDF) shows the "CN1" I/O signal connector pinout
=== EtherCAT ===
* [https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/EtherCATs/Sigma-7_200V_AC_Servo_Drive_EtherCAT_Product_manual_SIEP_S800001_55.pdf#page=104 Page 104] (4-10 in the PDF) shows the wiring overview
* [https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/EtherCATs/Sigma-7_200V_AC_Servo_Drive_EtherCAT_Product_manual_SIEP_S800001_55.pdf#page=121 Page 121] (4-27 in the PDF) shows the "CN2" encoder connector pinout
* [https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/EtherCATs/Sigma-7_200V_AC_Servo_Drive_EtherCAT_Product_manual_SIEP_S800001_55.pdf#page=131 Page 131] (4-37 in the PDF) shows the "CN1" I/O signal connector pinout


== Software ==
== Software ==
Line 18: Line 59:
[https://www.yaskawa.com/products/motion/sigma-7-servo-products/software-tools/sigmawin-plus-7 SigmaWin+ Ver. 7 - Yaskawa]
[https://www.yaskawa.com/products/motion/sigma-7-servo-products/software-tools/sigmawin-plus-7 SigmaWin+ Ver. 7 - Yaskawa]


[https://www.yaskawa.com/delegate/getAttachment?documentId=SigmaWinPlus_Ver.7&cmd=documents&documentName=SigmaWinPlus_Ver.7.40.zip SigmaWinPlus_Ver.7.40.zip] (584,054,866 bytes, MD5: 2ba9722b4b542c1a96227ea22d7d01fb, SHA1: b8e36fabc6f219ee35f61c0820d0cd780b8c91f2, SHA256: 424ee4c5be3678272d9bea4a06c8ef66666c3f989015b5cc5a439e6d4cc7e480)
[https://www.yaskawa.eu.com/products/motion-control/Sigma-7 Sigma-7 series] (Software Downloads at bottom of page)
 
[https://mobile.yaskawa.com/delegate/getAttachment?documentId=TN.SIGMA7.01&cmd=documents&documentName=TN.SIGMA7.01.pdf How to Install SigmaWin+ Version 7 USB Driver (TN.SIGMA7.01, Rev. 2, 2019-08-13)] (mentions JZSP-CVS06-02-E "CN7" USB cable)
 
[https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/Supplementary_Manual/SGD7_Peripheral_Devices_EN_SIEP_S800001_32k_10_2.pdf#page=245 Page 245] (10-14 in the PDF) of the "Σ-7-Series AC Servo Drive Peripheral Device Selection Manual" has the USB cable part number.
 
NOTE: the SigmaWin+ V7.43 usage notes says that Windows 7 support was dropped, so you may need to use V7.42 or earlier (V7.40 is on the Wayback Machine)...
 
{| class="wikitable"
! Filename
! Size
! MD5
! SHA1
! SHA256
|-
| [https://www.yaskawa.com/delegate/getAttachment?documentId=SigmaWinPlus_Ver.7&cmd=documents&documentName=SigmaWinPlus_Ver.7.43.zip SigmaWinPlus_Ver.7.43.zip]
| 638,877,488 bytes
| d32f091d25f874883e66eebaa4c5ded5
| 6d97c906ae3901d5dc477a8328a1caa77120a740
| 8ad21a3036ed4dd3d0e83c36ba8dd12ee0694d5d1bd231c7c4be9c01bb00d5db
|-
| [https://www.yaskawa.eu.com/Global%20Assets/Downloads/software/motion/SigmaWinPlus_Ver.7.42.zip SigmaWinPlus_Ver.7.42.zip]
| 651,087,319 bytes
| 6cb4c0142e2b4cd06e38f81d7e5d664b
| 744e94d4f0a3d04b1bc94474afce11a2d292c64d
| 597d1515788b96b7e0c077a072033043f1f1f0389af23c5ac001c93aabbfbaf7
|
|-
| SigmaWinPlus_Ver.7.41.zip?
|
|
|
|
|-
| <del>[https://www.yaskawa.com/delegate/getAttachment?documentId=SigmaWinPlus_Ver.7&cmd=documents&documentName=SigmaWinPlus_Ver.7.40.zip SigmaWinPlus_Ver.7.40.zip]</del>
| 584,054,866 bytes
| 2ba9722b4b542c1a96227ea22d7d01fb
| b8e36fabc6f219ee35f61c0820d0cd780b8c91f2
| 424ee4c5be3678272d9bea4a06c8ef66666c3f989015b5cc5a439e6d4cc7e480
|}
 
The software's installer may refuse to run claiming that Microsoft .NET Framework 4.5 is required. The software itself claims to require .NET Framework 4.6.2.
 
NOTE: The .NET Framework 4.8.1 installer doesn't support Windows 7!
 
[https://dotnet.microsoft.com/en-us/download/dotnet-framework/thank-you/net481-web-installer Download .NET Framework 4.8.1 Web Installer] (web downloading installer)
 
[https://dotnet.microsoft.com/en-us/download/dotnet-framework/thank-you/net481-offline-installer Download .NET Framework 4.8.1 Offline Installer] (offline installer)
 
[https://support.microsoft.com/en-us/topic/the-net-framework-4-6-2-offline-installer-for-windows-9dce3874-a9e5-9b11-289d-5594824aafe0 The .NET Framework 4.6.2 offline installer for Windows - Microsoft Support]
 
[https://www.microsoft.com/en-us/download/details.aspx?id=30653 Download Microsoft .NET Framework 4.5 from Official Microsoft Download Center] (web downloading installer)
 
[https://www.microsoft.com/en-us/download/details.aspx?id=42642 Download Microsoft .NET Framework 4.5.2 (Offline Installer) for Windows Vista SP2, Windows 7 SP1, Windows 8, Windows 8.1, Windows Server 2008 SP2, Windows Server 2008 R2 SP1, Windows Server 2012 and Windows Server 2012 R2 from Official Microsoft Download Center] (offline installer)
 
Interestingly, the installer ZIP file contains the "NDP462-KB3151800-x86-x64-AllOS-ENU.exe" Microsoft .NET Framework 4.6.2 offline installer inside of it (with a slightly different size / checksum?)...
 
On Windows 7, you may also need to update the trusted root certificates:
 
[https://support.microsoft.com/en-us/topic/support-for-urgent-trusted-root-updates-for-windows-root-certificate-program-in-windows-a4ac4d6c-7c62-3b6e-dfd2-377982bf3ea5 Support for urgent Trusted Root updates for Windows Root Certificate Program in Windows - Microsoft Support]
 
And also install the the "Update for Universal C Runtime in Windows":
 
[https://support.microsoft.com/en-us/topic/update-for-universal-c-runtime-in-windows-322bf30f-4735-bb94-3949-49f5c49f4732 Update for Universal C Runtime in Windows - Microsoft Support]
 
{| class="wikitable"
! Filename
! Size
! MD5
! SHA1
! SHA256
|-
| [https://download.microsoft.com/download/6/e/4/6e483240-dd87-40cd-adf4-0c47f5695b49/NDP481-Web.exe NDP481-Web.exe]
| 1,459,232 bytes
| f89c491569e9d0864661353d79192584
| 0227b77ec1575e6dfa8cc1b81c2152cabddc2d2b
| a9e29f446af0db54a4f20de0749db25907fde06999c2e25e9eca52528dce3142
|-
| [https://download.microsoft.com/download/6/e/4/6e483240-dd87-40cd-adf4-0c47f5695b49/NDP481-x86-x64-AllOS-ENU.exe NDP481-x86-x64-AllOS-ENU.exe]
| 77,656,720 bytes
| 618f5e5b80aa5f19860d6a8af4168e53
| fc675b7be72f0720e06075071940d9a23a714336
| fa7a3403087bfdcefd6c95dba4ff8ed2c37bcde465bef5e760d10c73cfc31d60
|-
| [https://download.visualstudio.microsoft.com/download/pr/8e396c75-4d0d-41d3-aea8-848babc2736a/80b431456d8866ebe053eb8b81a168b3/ndp462-kb3151800-x86-x64-allos-enu.exe ndp462-kb3151800-x86-x64-allos-enu.exe]
| 62,000,832 bytes
| 9fa38b5449fbb7cca1c4a622446f6110
| 053abdc5b421f50292149f7302f6a1a373cc2d5c
| b4cbb4bc9a3983ec3be9f80447e0d619d15256a9ce66ff414ae6e3856705e237
|-
| [https://download.microsoft.com/download/B/A/4/BA4A7E71-2906-4B2D-A0E1-80CF16844F5F/dotNetFx45_Full_setup.exe dotNetFx45_Full_setup.exe]
| 1,005,568 bytes
| 9e8253f0a993e53b4809dbd74b335227
| f6ba6f03c65c3996a258f58324a917463b2d6ff4
| e434828818f81e6e1f5955e84caec08662bd154a80b24a71a2eda530d8b2f66a
|-
| [https://download.microsoft.com/download/E/2/1/E21644B5-2DF2-47C2-91BD-63C560427900/NDP452-KB2901907-x86-x64-AllOS-ENU.exe NDP452-KB2901907-x86-x64-AllOS-ENU.exe]
| 69,999,448 bytes
| ee01fc4110c73a8e5efc7cabda0f5ff7
| 89f86f9522dc7a8a965facce839abb790a285a63
| 6c2c589132e830a185c5f40f82042bee3022e721a216680bd9b3995ba86f3781
|}


NOTE: the following URL must be copied and pasted, a hyperlink isn't possible due to the usage of square brackets in the URL conflicting with MediaWiki's syntax
NOTE: the following URL must be copied and pasted, a hyperlink isn't possible due to the usage of square brackets in the URL conflicting with MediaWiki's syntax


<nowiki>https://www.yaskawa.com/delegate/getAttachment?documentId=SigmaWinPlus_Ver.7&cmd=documents&documentName=SigmaWin+%20Ver.%207.40%20Usage%20Notes%20[ReadMe%20file].pdf</nowiki>
<nowiki>https://www.yaskawa.com/delegate/getAttachment?documentId=SigmaWinPlus_Ver.7&cmd=documents&documentName=SigmaWin+%20Ver.%207.43%20Usage%20Notes%20[ReadMe%20file].pdf</nowiki>
 
SigmaWin+ Version 7 Usage Notes (SigmaWinPlus_Ver.7, Revision 7.43, January 2023)
 
<del><nowiki>https://www.yaskawa.com/delegate/getAttachment?documentId=SigmaWinPlus_Ver.7&cmd=documents&documentName=SigmaWin+%20Ver.%207.40%20Usage%20Notes%20[ReadMe%20file].pdf</nowiki></del>
 
SigmaWin+ Version 7 Usage Notes (SigmaWinPlus_Ver.7, Revision 7.42, June 2022)
 
https://docplayer.net/storage/117/227463549/1689756159/-j93SP0szxBOxVYGg4E12Q/227463549.pdf


SigmaWin+ Version 7 Usage Notes (SigmaWinPlus_Ver.7, Revision 7.40, September 2021)
SigmaWin+ Version 7 Usage Notes (SigmaWinPlus_Ver.7, Revision 7.40, September 2021)


[https://www.yaskawa.com/delegate/getAttachment?documentId=TN.SIGMA7.01&cmd=documents&documentName=TN.SIGMA7.01.pdf How to Install SigmaWin+ Version 7 USB Driver (TN.SIGMA7.01, Revision 2, August 13th 2019)]
[https://www.yaskawa.com/delegate/getAttachment?documentId=TN.SIGMA7.01&cmd=documents&documentName=TN.SIGMA7.01.pdf How to Install SigmaWin+ Version 7 USB Driver (TN.SIGMA7.01, Revision 2, August 13th 2019)]
== Parameters ==
=== Analog voltage/pulsetrain ===
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=585 Page 585] (14-2 in the PDF) shows the list of parameters
=== MECHATROLINK-III ===
For 200V models?:
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000162&cmd=documents&documentName=SIEP_S800001_62H.pdf#page=484 Page 484] (13-2 in the PDF) shows the list of parameters
For 400V models?:
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000214&cmd=documents&documentName=SIEPS80000214.pdf#page=496 Page 496] (14-2 in the PDF) shows the list of parameters
=== EtherCAT ===
* [https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/EtherCATs/Sigma-7_200V_AC_Servo_Drive_EtherCAT_Product_manual_SIEP_S800001_55.pdf#page=580 Page 580] (16-2 in the PDF) shows the list of parameters
== Alarm Codes ==
=== Analog voltage/pulsetrain ===
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf#page=489 Page 489] (12-5 in the PDF) shows the list of alarm codes
=== MECHATROLINK-III ===
For 200V models?:
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000162&cmd=documents&documentName=SIEP_S800001_62H.pdf#page=420 Page 420] (12-5 in the PDF) shows the list of alarm codes
For 400V models?:
* [https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000214&cmd=documents&documentName=SIEPS80000214.pdf#page=429 Page 429] (13-5 in the PDF) shows the list of alarm codes
=== EtherCAT ===
* [https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/EtherCATs/Sigma-7_200V_AC_Servo_Drive_EtherCAT_Product_manual_SIEP_S800001_55.pdf#page=518 Page 518] (15-5 in the PDF) shows the list of alarm codes
== Replacement Parts ==
=== CN1 I/O Connector ===
Cable side connector:
* [https://www.digikey.com/en/products/detail/3m/10150-3000PE/773867 3M 10150-3000PE] (solder cup connector)
* [https://www.digikey.com/en/products/detail/3m/10350-52F0-008/480446 3M 10350-52F0-008] (backshell w/ hooks)
* [https://www.digikey.com/en/products/detail/3m/10350-52A0-008/1091881 3M 10350-52A0-008] (backshell w/ screws)
Mates with the drive's PCB mounted connector:
3M 10250-59A3MB
=== CN2 Encoder Connector ===
Cable side connector:
[https://www.digikey.com/en/products/detail/molex/0551000670/2405412 Molex 0551000670 | DigiKey]
[https://www.amazon.com/gp/product/B09KPRPMPP/ GELRHONR IEEE 1394 SM-6P Plug, 55100-0670 Male Connector JZSP-CMP9-1-E 6-Pin Encoder Plug, Suitable for 54280-0609 Yaskawa Panasonic Servo CN3 Connector | Amazon]
Mates with the drive's PCB mounted connector:
[https://www.digikey.com/en/products/detail/3m/3E106-0220KV/2051154 3M 3E106-0220KV | DigiKey]
=== CN3 Serial Communications Connector ===
Cable side connector:
* [https://www.digikey.com/en/products/detail/3m/10114-3000PE/773862 3M 10114-3000PE] (solder cup connector)
* [https://www.digikey.com/en/products/detail/3m/10314-52A0-008/1091844 3M 10314-52A0-008] (backshell w/ screws)
Mates with the drive's PCB mounted connector:
Honda HDR-EC14LFDTN-SLD-PLUS
=== CN5 Analog Monitor Cable ===
TODO
=== CN7 USB Cable ===
JZSP-CVS06-02-E
Mates with the drive's PCB mounted connector:
[https://www.digikey.com/en/products/detail/te-connectivity-amp-connectors/2172034-1/5592056 TE 2172034-1 | DigiKey]
=== CN8 Safety Functions Connector ===
TODO cable side connector
Mates with the drive's PCB mounted connector:
[https://www.digikey.com/en/products/detail/te-connectivity-amp-connectors/1981080-1/2327498 TE 1981080-1 | DigiKey]


== Online Resources ==
== Online Resources ==


[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (SIEP S800001 26O)]
[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000126&cmd=documents&documentName=sieps80000126o_17_1.pdf Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (SIEP S800001 26O)]
<del>[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000155&cmd=documents&documentName=Sigma-7S%20EtherCAT%20Manual_SIEP_S800001_55O.pdf Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with EtherCAT (CoE) Communications References Product Manual (SIEP S800001 55O)]</del> (dead link)
[https://web.archive.org/web/20220122233813if_/https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000155&cmd=documents&documentName=Sigma-7S%20EtherCAT%20Manual_SIEP_S800001_55O.pdf Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with EtherCAT (CoE) Communications References Product Manual (SIEP S800001 55O)] (Wayback Machine)
[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000155&cmd=documents&documentName=Sigma-7S%20EtherCAT%20Manual_SIEP_S800001_55R.pdf Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with EtherCAT (CoE) Communications References Product Manual (SIEP S800001 55R)]
[https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/EtherCATs/Sigma-7_200V_AC_Servo_Drive_EtherCAT_Product_manual_SIEP_S800001_55.pdf Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with EtherCAT (CoE) Communications References Product Manual (SIEP S800001 55R)] (Yaskawa.eu copy)
[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000162&cmd=documents&documentName=SIEP_S800001_62H.pdf Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III Communications References RJ-45 Connectors Product Manual (SIEP S800001 62H)]
[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000214&cmd=documents&documentName=SIEPS80000214.pdf Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with 400 V-Input Power and MECHATROLINK-III Communications References RJ-45 Connectors Product Manual (SIEP S800002 14L)]


[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000132&cmd=documents&documentName=sieps80000132k_10_1.pdf Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (SIEP S800001 32K)]
[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000132&cmd=documents&documentName=sieps80000132k_10_1.pdf Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (SIEP S800001 32K)]
[https://www.yaskawa.eu.com/Global%20Assets/Downloads/Technical_Documentation/Servo_Drives/Sigma7_Series/S7_Servopack/Supplementary_Manual/SGD7_Peripheral_Devices_EN_SIEP_S800001_32k_10_2.pdf Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (SIEP S800001 32K)] (direct link)


[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000133&cmd=documents&documentName=sieps80000133f_6_1.pdf Σ-7-Series AC Servo Drive Digital Operator Operating Manual (SIEP S800001 33F)]
[https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000133&cmd=documents&documentName=sieps80000133f_6_1.pdf Σ-7-Series AC Servo Drive Digital Operator Operating Manual (SIEP S800001 33F)]
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