(For Rotary Servomotors) (For Linear Servomotors) SGDV - R70 A 01 B Voltage Interface 100 VAC 200 VAC 400 VAC V (Three Phase)

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1 MECHATROLINK-III Communications Reference Type s SGDV- (For Rotary Servomotors) SGDV- (For Linear Servomotors) Designations SGDV - R70 A 0 B Options vseries SGDV Code Base-mounted, varbish(standard) Single-phase, 00VAC Input (model: SGDV-0A0A008000) Design Revision Code B Standard Voltage Interface Code Code F A 00 VAC 00 VAC MECHATROLINK-III communications Reference Type (for rotary servomotors) Current D 400 VAC MECHATROLINK-III communications Reference Type (for linear servomotors) Code 00 V (Single Phase) 00 V (Three Phase) 400 V (Three Phase) Code Code Applicable Servomotor Max. Capacity kw Applicable Servomotor Max. Capacity kw Applicable Servomotor Max. Capacity kw R R70* 0.0 R9 0. R90 0. R90* 0. R.0 R 0. R6* 0. R4. R8 0.4 R8* 0.4 8R4.0 R R* R ** NOTE: Shaded items are non-stock * These amplifiers can be powered with single or three-phase. 90 ** SGDV-0A A008000, a special version of the.kw 780 amplifier can be used for single-phase operation.

2 Features Real-time communications MECHATROLINK-III communications enable high-speed control for 6 stations at a transmission speed of 00 Mbps in a transmission cycle from μs to 4 ms (user setting). Such a high transmission speed allows real-time transmission of various data required for control. Cost savings The 6 stations can be connected to a single MECHATROLINK-III transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. High-precision motion control The SGDV when connected to the host controller in the MECHATROLINK-III network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings Single-phase 00 V : SGDV- R70F R90F RF R8F Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Main Circuit Control Circuit Single-phase 00 to VAC+0% to -% 0/60 Hz Single-phase 00 to VAC+0% to -% 0/60 Hz Three-phase 00 V : SGDV- R70A R90A R6A R8A R8A RA 7R6A 0A 80A 00A 0A 470A 0A 90A 780A Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Main Circuit Control Circuit Three-phase 00 to 0 VAC+0% to -% 0/60 Hz Single-phase 00 to 0 VAC+0% to -% 0/60 Hz Three-phase 400 V : SGDV- R9D RD R4D 8R4D 0D 70D 0D 60D 80D 70D Applicable Servomotor Max. Capacity kw Overload Characteristics Detecting time (s) Continuous Output Current Arms Max. Output Current Arms Main Circuit SGMJV Torque reference(percent of rated torque) (%) Detecting time (s) SGMAV-0, 04, 06, 08 0 SGMPS SGMAV-A, 0, C Torque reference(percent of rated torque) (%) Three-phase 80 to 480 VAC+0% to -% 0/60 Hz Control Circuit 4 VDC ±% Detecting time (s) Rated torque Approx. SGMGV-44A, -A, -7A SGMGV-0A, -0A, -09A, -A -0A, -0A, -AA, -EA SGMGV- D SGMSV- Rated torque + Max. torque Max. torque MECHATROLINK-III Type s Note: Overload characteristics shown above do not guarantee continuous duty of 00% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. 4

3 Items Control Method Feedback Rotary Servomotors With Linear Servomotors Surrounding Air/Storage Temperature Ambient/Storage Humidity IGBT PWM control, sine-wave driven Serial encoder: -bit (incremental encoder) : 7-bit (incremental/absolute encoder) : 0-bit (incremental/absolute encoder) Serial converter unit or linear scale Surrounding air temperature: 0 to + C, Storage temperature: - 0 to + 8 C 90%RH or less (no condensation) Operating Conditions Vibration/Shock Resistance Vibration resistance: 4.9 m/s, Shock resistance: 9.6 m/s Protection class: IP0, pollution degree: Do not use s in the following locations: Protection Class/Pollution Degree Locations subject to corrosive or flammable gasses Locations subject to exposure to water, oil, or chemicals Locations subject to dust, including iron dust, and salts Do not use s in the following locations: Others Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity Altitude Applicable Standards (Pending) Configuration Speed Control Range 000 m or less UL08C EN078, EN0/A group classa, EN , EN6800-, EN6800--, EN94-, IEC608- to 4 Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated :000 (The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load.) Performance Communications Display Analog Monitor Dynamic Brake (DB) Protective Functions Utility Functions Load Fluctuation 0% to 00% load: ± 0.0% max. (at rated speed) Speed Voltage Fluctuation Rated voltage : ± 0% : 0% (at rated speed) Regulation * Temperature Fluctuation ± C : ± 0.% max. (at rated speed) Torque Control Tolerance (Repeatability) ± % Soft Start Time Setting 0 to 0 s (can be set individually for acceleration and deceleration.) Interface Digital operator (JUSP-OP0A--E), personal computer (can be connected with SigmaWin+) RS-4A Communications :N communications RS-4A port: N= max. available Axis address setting Set by parameters USB Interface Personal computer (can be connected with SigmaWin+.) Communications Communications Standard Compliant with USB. standard ( Mbps) CHARGE indicator Number of points: Output voltage: ± 0 VDC (linearity effective range ± 8 V) Resolution: 6 bit Accuracy: ± 0 mv (Typ) Max. output current: ± 0 ma Settling time (±%):. ms (Typ) Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF. Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Gain adjustment, alarm history, JOG operation, origin search, etc. Regenerative Processing Overtravelling (OT) Prevention Safety Functions Option Module *: Speed regulation is defined as follows: Input Output Applicable Standards (Pending) * 00 VAC model: External regenerative resistor (optional) 00 VAC SGDV-R70A, -R90A, -R6A, -R8A: External regenerative resistor (optional) 00 VAC SGDV-470A, -0A, -90A, -780A: External regenerative resistor unit (optional) 00 VAC models other than shown above: Built-in regenerative resistor 400 VAC SGDV-0D, -60D, -80D, -70D: External regenerative resistor unit (optional) 400 VAC models other than shown above: Built-in regenerative resistor Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop /HWBB, /HWBB: Baseblock signal for power module EDM: Status monitor (fixed output) of built-in safety circuit EN94 category, IEC608 SIL Fully-closed option module Speed regulation = No-load motor speed - Total load motor speed 00% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *: Perform risk assessment for the system and confirm that the safety requirements for the standards are fulfilled before using the HWBB function.

4 MECHATROLINK-III Type s SGDV- / Rotary Servomotors Items I/O Signal Panel Operator MECHATROLINK Communications Command Method Encoder Output Pulses Sequence Input Sequence Output Fixed Input Input Signals which can be allocated Fixed Output Output Signals which can be allocated Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. SEN signal Number of Channels 7 channels Signal allocations and positive/negative logics can be modified. Homing deceleration switch signal (/DEC), external latch signal (/EXT to ), Function forward run prohibited (P-OT), reverse run prohibited (N-OT), forward current limit (/P-CL), reverse current limit (/N-CL) Servo alarm (ALM) Number of Channels channels Signal allocations and positive/negative logics can be modified. Positioning completion (/COIN), speed coincidence detection Function (/V-CMP), servomotor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), speed limit detection (/VLT), brake (/BK), warning (/WARN), NEAR (/NEAR) 7-segment -digit LED (red), LED for MECHATROLINK Communications (green) Rotary switch: 6 positions, DIP switch: 4 poles MECHATROLINK-III 00 Mbps μs, 0 μs, 00 μs,70 μs, ms to 4 ms (increments of 0. ms) Display Switch Communications Protocol Transmission Speed Transmission Cycle Number of Words for Can be switched between 6-bytes/station, -bytes/station and 48-bytes/station. Link Transmission Station Address 0H to EFH (max. number of slaves: 6) Position control, speed control, and torque control through Performance MECHATROLINK communications MECHATROLINK commands Command Input (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) Linear Servomotors Items Encoder Output Pulses Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Fixed Input SEN signal Number of Channels 7 channels Sequence Input Input Signals which Signal allocations and positive/negative logics can be modified. can be allocated Function Homing deceleration switch signal (/DEC), external latch signal (/EXT to ), forward run prohibited (P-OT), reverse run prohibited (N-OT), I/O Signal forward current limit (/P-CL), reverse current limit (/N-CL) Fixed Output Servo alarm (ALM) Number of Channels channels Sequence Output Output Signals which Signal allocations and positive/negative logics can be modified. Positioning completion (/COIN), speed coincidence detection can be allocated Function (/V-CMP), servomotor movement detection (/TGON), servo ready (/S-RDY), force limit detection (/CLT), speed limit detection (/VLT), brake (/BK), warning (/WARN), NEAR (/NEAR) Panel Operator Display 7-segment -digit LED (red), LED for MECHATROLINK Communications (green) Switch Rotary switch: 6 positions, DIP switch: 4 poles Communications Protocol MECHATROLINK-III Transmission Speed 00 Mbps MECHATROLINK Transmission Cycle μs, 0 μs, 00 μs,70 μs, ms to 4 ms (increments of 0. ms) Communications Number of Words for Link Transmission Can be switched between 6-bytes/station, -bytes/station and 48-bytes/station. Station Address 0H to EFH (max. number of slaves: 6) Position control, speed control, and force control through Performance MECHATROLINK communications Command Method MECHATROLINK commands Command Input (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) MECHATROLINK-III Type s 6

5 Power Supply Capacities and Power Losses The following table shows 's power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity kw SGDV- Power Supply Capacity kva Output Current Arms Main Circuit Power Loss W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss W Signal-phase 00 V Single-phase 00 V Three-phase 00 V Three-phase 400 V 0.0 R70F R90F RF R8F R70A R90A R6A R8A RA.9. ) A R70A R90A R6A R8A R8A RA R6A A A A A A (80) * A A (0) * A R9D RD R4D R4D D D D (80) * D D (0) *4 0 70D *: For the optional JUSP-RA04-E regenerative resistor unit. *: For the optional JUSP-RA0-E regenerative resistor unit. *: For the optional JUSP-RA8-E regenerative resistor unit *4: For the optional JUSP-RA9-E regenerative resistor unit. Notes: SGDV-R70F, -R90F, -RF, -R8F, -R70A, -R90A, -R6A, and -R8A s do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). SGDV-470A, -0A, -90A, -780A, -0D, -60D, -80D, -70D s do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional).. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead or short bar that is short-circuiting the main circuit terminal B and B. (SGDV-R8A, -RA, -7R6A, -0A, -80A, -00A, -0A, or 400-V class s.) Install an external regenerative resistor (optional). 7

6 MECHATROLINK-III Type s SGDV- / External Dimensions Units: mm Base-mounted s () Single-phase 00 VAC, : SGDV-R70F A, -R90F A, and -RF A 60 Two Terminals CN CN ±0. -M4 Screw Holes -M4 Screws ±0. Approx. Mass:.0 kg () Single-phase 00 VAC, : SGDV-R8F A 60 Two Terminals CN CN 0 Cooling Fan 60 0±0. -M4 Screw Holes -M4 Screws ±0. 70 Approx. Mass:. kg () Three-phase 00 VAC, : SGDV-R70A B, -R90A B, and -R6A B 60 Two Terminals -M4 Screws 40 CN CN ± M4 Screw Holes MECHATROLINK-III Type s Approx. Mass: 0.9 kg 8

7 External Dimensions Units: mm (4) Three-phase 00 VAC, : SGDV-R8A B 60 Two Terminals CN CN ±0. -M4 Screw Holes -M4 Screws ±0. Approx. Mass:.0 kg () Three-phase 00 VAC, : SGDV-R8A A, -RA A, and -7R6A A 60 Two Terminals CN CN 0 Cooling Fan 60 0±0. -M4 Screw Holes -M4 Screws ±0. 70 Approx. Mass:. kg (6) Three-phase 00 VAC, : SGDV-0A A 60 Two Terminals CN CN ±0. 4-M4 Screw Holes -M4 Screws ±0. 90 Approx. Mass:.4 kg 9

8 MECHATROLINK-III Type s SGDV- / External Dimensions Units: mm (7) Three-phase 00 VAC, : SGDV-80A A and -00A A 80 CN CN ±0. 4-M4 Screw Holes -M4 Screws ±0. 00 Approx. Mass:.8 kg (8) Three-phase 00 VAC, : SGDV-0A A 0 CN CN ±0. 4-M Screw Holes -M4 Screws 0 Cooling Fan 0 00±0. 0 Approx. Mass: 4.6 kg (9) Three-phase 400 VAC, : SGDV-R9D A, -RD A, and -R4D A 60 Two Terminals -M4 Screws 0 CN CN ±0. 4-M4 Screw Holes 00±0. 0 Approx. Mass:.7 kg MECHATROLINK-III Type s 60

9 External Dimensions Units: mm (0) Three-phase 400 VAC, : SGDV-8R4D A and -0D A 0 CN CN ±0. 4-M Screw Holes -M4 Screws ±0. 0 Approx. Mass:.7 kg () Three-phase 400 VAC, : SGDV-70D A 0 CN CN ±0. 4-M Screw Holes 0 ±0. Approx. Mass:.6 kg Connectors for Base-mounted s Port Pin Manufacturer CN 06-APL 6 Sumitomo M Ltd. CN Molex Japan Co., Ltd. HDR-EC4LFDTN-SLE-PLUS 4 Honda Tsushin Kogyo Co., Ltd Tyco Electronics AMP K.K Tyco Electronics AMP K.K. MNC-KH00 ADVANCED-CONNECTEK INC Tyco Electronics AMP K.K. Note: The connectors above or their equivalents are used for s. 6

10 REF ALARM YASKAWA SERVO SERVO DIGITAL OPERATOR MECHATROLINK-III Type s SGDV- / REF ALARM SVON YASKAWA READ WRITE SERVO SERVO DIGITAL OPERATOR Selecting Cables Cables for CN CN CN6 (MECHATROLINK-III Communications Reference Type s) CN CN6 Cable for Analog Monitor Digital Operator Converter Cable MECHATROLINK- Communication Cable Connect to the MECHATROLINK- Digital Operator CN Connection Cable for Personal Computer Cable for I/O Signals SVON READ WRITE LED Indicator for External Device Safety Cable Name Length Order No. Details Soldered Connector Kit JZSP-CSI9--E () CN Cables for I/O Signals Connector Terminal Converter Unit Cable with Loose wire at One End 0. m SBK-U-VBA-A m SBK-U-VBA-0 m SBK-U-VBA-0 m JZSP-CSI0--E m JZSP-CSI0--E m JZSP-CSI0--E Terminal Block and 0. m Connection Cable () () With Connection Cable ( m) Digital Operator JUSP-OP0A--E (4) Digital Operator Converter Cable* Cable with Connectors at Both Ends 0. m JZSP-CVS0-A-E () 04 JZSP-CVS0-A-E Connection Cables for Personal Computer MECHATROLINK-III Communication Cable CN Cables for Analog Monitor Cables for Safety Functions Cables with Connectors at Both Ends (Without Ferrite Core) Cables with Connectors at Both Ends (With Ferrite Core)* Cable with Loose Wire at One End Cable with Connectors at Both Ends. m JZSP-CVS06-0-E (6) 0. to 0 m 0 to 7 m JEPMC-W60- -E (7) JEPMC-W60- -E (8) 0. to JEPMC-W604- -E (9) 0 m End m JZSP-CA0-E (0) Cables with m JZSP-CVH0-0-E () Connector * Connector kit *4 Contact Tyco Electronics AMP K.K. Product name : Industrial Mini I/O D-shape Type Plug Connector Kit : 09- * : A converter cable is required to use series digital operators (model: JUSP-OP0A) for series s. * : Currently in pre-release. Will be available soon. * : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use s with the Safe Jumper Connector (model: JZSP-CVH0-E) connected. *4 : Use the connector kit when you make cables yourself. JZSP-CVS06-0-E MECHATROLINK-III Type s 6

11 Selecting Cables Units: mm () Connector Kit for CN Use the following connector and cable to assemble the cable. The CN connector kit includes one case and one connector. Connector Kit JZSP-CSI9--E 06-A0-008* set Case Connector Qty Qty PE* (Soldered) Dimensional Drawings of Case * : Manufactured by Sumitomo M Ltd Cable Size Item Cable Use twisted-pair or twisted-pair shielded wire. Dimensional Drawings of Connector Applicable Wires Cable Finished Diameter AWG4,6,8,0 6 dia. max..4.7 Pin No. Pin No.4 Pin No. Pin No Pin No. Pin No. Pin No. Pin No..7.8 Pin No () Connector Terminal Converter Unit for CN (SBK-U-VBA-xx) Pin No SBK-U-VBA-xx Function Chart for SGDV Servo Amplifier Pin No. SGDV Mechatrolink-II type / SGDV Option type Signal Function /BK+ (/SO+) Brake interlock output (+) (General purpose output (+)) /BK- (/SO-) Brake interlock output (-) (General purpose output (-)) ALM+ Servo alarm output (+) 4 ALM- Servo alarm output (-) VIN Control power supply for sequence signal input 7 P-OT (/SI) Forward run prohibited input (General purpose input ) 8 N-OT (/SI) Reverse run prohibited input (General purpose input ) 9 /DEC (/SI) Zero-point return deceleration switch input (General purpose input ) 0 /EXT (/SI4) External latch signal input (General purpose input 4) /EXT (/SI) External latch signal input (General purpose input ) /EXT (/SI6) External latch signal input (General purpose input 6) /SI0 General purpose input 0 4 BAT (+) Battery (+) input BAT (-) Battery (-) input 6 SG Signal ground 7 PAO Phase-A pulse output (+) 8 /PAO Phase-A pulse output (-) 9 PBO Phase-B pulse output (+) 0 /PBO Phase-B pulse output (-) PCO Phase-C pulse output (+) /PCO Phase-C pulse output (-) /SO+ General purpose output (+) 4 /SO- General purpose output (-) /SO+ General purpose output (+) 6 /SO- General purpose output (-) Note: General purpose input and output signals are shown with their default signals assigned - signal assignment may have been changed by parameter 6

12 MECHATROLINK-III Type s SGDV- / Selecting Cables Units: mm 7. () Cable with Loose Wires at One End for CN Dimensional Drawings of Cable (4) Digital Operator (: JUSP-OP0A--E) 70 End Connector EL (by Sumitomo M Ltd.) Shell 06-A0-008 JZSP-CSI0--E JZSP-CSI0--E JZSP-CSI0--E Cable (Ivory) SSRFPVV-SB AWG#8 P UL076 VW-SC 4 L (6. Dia.) Cable Length m m m Dia. Wire Markers -M Screws, Depth (For mounting digital operator) Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0- -E Cable Pin No End Wire Marking Signal Color /SO+ /SO ALM+ ALM +4VIN P-OT N-OT /DEC /EXT /EXT /EXT /S0 BAT + BAT SG PAO /PAO PBO /PBO PCO /PCO /SO+ /SO /SO+ /SO Blue Blue Pink Pink Green Green Orange Orange Gray Gray Blue Blue Pink Green Green Pink Orange Orange Gray Gray Blue Blue Pink Pink Green Green Color Dots Host Controller End Lead Marker Represents twisted-pair wires. () Digital Operator Converter Cable for (: JZSP-CVS0-A-E) A converter cable is required to use series digital operators (model: JUSP-OP0A) for series s. REF Dimensional Drawings ALARM SVON SERVO READ YASKAWA WRITE DIGITAL OPERATOR SERVO Nameplate Connector: HDR-E4MAG+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E4LPA(Honda Tsushin Kogyo Co., Ltd.) 7 (.7) (9.) (9) () (4. Dia) Connector (4-pole) 04-60PL (Sumitomo M Ltd.) Cover FA4806 (Yasco Components Co., Ltd.) JZSP-CVS0-A-E (8) () Connector (4-pole) HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover HDR-E4LPA (Honda Tsushin Kogyo Co., Ltd.) MECHATROLINK-III Type s 64

13 Selecting Cables Units: mm (6) Connection Cable for Personal Computer for (: JZSP-CVS06-0-E) Dimensional Drawings, to 0 JZSP-CVS06-0-E (00) () IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. (7) MECHATROLINK-III Communications Cable for CN6 (: JEPMC-W60- -E) Dimensional Drawings Cables with Connectors at Both Ends (Without Ferrite Core) L (8) MECHATROLINK-III Communications Cable for CN6 (: JEPMC-W60- -E) Dimensional Drawings Cables with Connectors at Both Ends (With Ferrite Core) L Cable Length (L) Cable Length (L) JEPMC-W60-A-E 0. m JEPMC-W60-0-E 0 m JEPMC-W60-A-E 0. m JEPMC-W60-0-E 0 m JEPMC-W60-0-E m JEPMC-W60-0-E 0 m JEPMC-W60-0-E m JEPMC-W60-0-E 0 m JEPMC-W60-0-E m JEPMC-W60-7-E 7 m JEPMC-W60-04-E 4 m JEPMC-W60-0-E m JEPMC-W60-0-E 0 m JEPMC-W60-0-E 0 m JEPMC-W60-0-E 0 m JEPMC-W60-0-E 0 m (9) MECHATROLINK-III Communications Cable for CN6 (: JEPMC-W604- -E) Dimensional Drawings Cable with Loose Wire at One End JEPMC-W604-A-E L JEPMC-W604-0-E JEPMC-W604-0-E JEPMC-W604-0-E JEPMC-W604-0-E JEPMC-W604-0-E JEPMC-W604-0-E Cable Length (L) 0. m m m m 0 m 0 m 0 m IMPORTANT Use a MECHATROLINK-III communications cable specified by Yaskawa. When using other cables, noise resistance may be reduced, and operation cannot be guaranteed. 6

14 Selecting Cables Units: mm (0) Cable for Analog Monitor for CN (: JZSP-CA0-E) Dimensional Drawings Socket DF-4DS-C* Contact DF-48SCF* White * : Manufactured by Hirose Electric Corporation. View from Cable End Pin No. Cable Color Signal Standard Settings Analog Monitor Motor speed : V/000 min- White Analog Monitor Torque reference : V/00% rated torque, 4 ( cables) GND(0V) Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. () Cable with Connector for (: JZSP-CVH0-0-E) Dimensional Drawings () Pin No. Signal Lead Color Marking Color Not used (0) (8) Not used Connector Kit 09- (Tyco Electronics AMP K.K.) () /HWBB White 4 /HWBB+ White /HWBB Gray 6 /HWBB+ Gray 7 EDM Orange 8 EDM+ Orange MECHATROLINK-III Type s 66