AC Servo Drives

Σ -II Series
SGMVH/SGDM/SGDH
USER'S MANUAL
SGMVH Servomotor
SGDM/SGDH SERVOPACKs

Outline 1
Selections 2
Servomotor Specifications and 3
Dimensional Drawings
SERVOPACK Specifications and 4
Dimensional Drawings

CN3
O
P
E
R
A
POWER CN8
Specifications and Dimensional Drawings of
Cables and Peripheral Devices
5
T
O
R
MODE/SET DATA/
CN3 CN5

Wiring 6
7
SERVOPACK

CN1
S G D H - ＊＊＊＊
YASKAWA CN2 Digital Operator/Panel Operator
DC DC
480 460 440 400 380 0
V V V V V V
DU DV DW B1 B2 24N 24P

Operation 8
CHARGE

Adjustments 9
Inspection, Maintenance,
and Troubleshooting 10
Appendix 11

MANUAL NO. SIEP S800000 59A

Copyright © 2008 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
About this Manual

„ Intended Audience
This manual is intended for the following users.
• Those selecting Σ-II Series servo drives or peripheral devices for Σ-II Series servo drives.
• Those wanting to know about the ratings and characteristics of Σ-II Series servo drives.
• Those designing Σ-II Series servo drive systems.
• Those installing or wiring Σ-II Series servo drives.
• Those performing trial operation or adjustments of Σ-II Series servo drives.
• Those maintaining or inspecting Σ-II Series servo drives.

„ Description of Technical Terms

The terms in this manual are defined as follows:
• Servomotor or motor = Σ-II Series SGMVH servomotor.
• SERVOPACK = Σ-II Series SGDM/SGDH amplifier.
• Servo drive = A set including a servomotor and servo amplifier.
• Servo system = A servo control system that includes the combination of a servo drive with a host
controller and peripheral devices.
• Parameter number = Numbers that the user inputs toward the SERVOPACK.

iii
 „ Quick access to your required information
Read the chapters marked with 9 to get the information required for your purpose.
SERVOPACKs,
Ratings and Panel Trial Operation
Servomotors, System Inspection and
Chapter Character- Configura-tion and Servo
and Peripheral Design Maintenance
istics and Wiring Adjustment
Devices
Chapter 1
9
Outline
Chapter 2
9
Selections
Chapter 3
Servomotor Specifications 9 9 9 9
and Dimensional Drawings
Chapter 4
SERVOPACK Specifications 9 9 9 9
and Dimensional Drawings
Chapter 5
Specifications and
Dimensional Drawings of 9 9 9 9
Cables and Peripheral
Devices
Chapter 6
9 9 9
Wiring
Chapter 7
Digital Operator/Panel 9 9
Operator
Chapter 8
9
Operation
Chapter 9
9
Adjustments
Chapter 10
Inspection, Maintenance, 9
and Troubleshooting
Chapter 11
9 9 9 9
Appendix

■ Visual Aids
The following aids are used to indicate certain types of information for easier reference.

IMPORTANT • Indicates important information that should be memorized, including precautions such as alarm dis-
plays to avoid damaging the devices.

INFO • Indicates supplemental information.

EXAMPLE • Indicates application examples.

• Indicates definitions of difficult terms or terms that have not been previously explained in this man-
TERMS
ual.

iv
■ Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
• S-ON　=　/S-ON
• P-CON　=　/P-CON
■ Related Manuals
Refer to the following manuals as required.

Manual Name Manual Number Contents

Σ-II Series SGM†H/SGDH TOE-S800-34 Provides detailed information on the operating method
Digital Operator Operation Manual of JUSP-OP02A-2 type Digital Operator (option
device).
Σ-II Series SERVOPACKs SIE-S800-35 Describes the using and the operating methods on soft-
Personal Computer Monitoring Software ware that changes the local personal computer into the
Operation Manual monitor equipment for the Σ-II Series servomotor.
Σ-II Series SGDH SIE-C718-5 Provides detailed information on the fully closed con-
Fully Closed Interface Unit trol of the JUSP-FC100 interface unit.
User’s Manual
Type: JUSP-FC100
Σ-II Series SGDH MECHATROLINK SIE-C718-4 Provides detailed information on MECHATROLINK
Application Module User’s Manual communications.
Type: JUSP-NS100
Σ-II Series SGDH MECHATROLINK-II SIEPC71080001 Provides detailed information on MECHATROLINK-II
Application Module User’s Manual communications.
Type: JUSP-NS115
Σ-II Series SGDH SIE-C718-6 Provides detailed information on DeviceNet communi-
DeviceNet Application Module cations.
User’s Manual
Type: JUSP-NS300
Σ-II Series SGDH PROFIBUS-DP SIE-C718-8 Provides detailed information on PROFIBUS-DP
Application Module User’s Manual communications.
Type: JUSP-NS500

v
 Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.

WARNING Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.

CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

PROHIBITED Indicates prohibited actions that must not be performed. For example, this symbol

would be used as follows to indicate that fire is prohibited: .

MANDATORY Indicates compulsory actions that must be performed. For example, this symbol would

be used as follows to indicate that grounding is compulsory: .

vi
Notes for Safe Operation

Read this manual thoroughly before checking products on delivery, storage and transportation, installation,
wiring, operation and inspection, and disposal of the AC servo drive.

WARNING
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
Failure to observe this warning may result in injury.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for trial operation precisely as described in this
manual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• The multiturn limit value must be changed only for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter
Pn205 in the SERVOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the
encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be
detected, resulting in a dangerous situation where the machine will move to unexpected positions.
• Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
• Provide an appropriate stopping device on the machine side to ensure safety.
A holding brake for a servomotor with brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting momentary power loss to
avoid an unexpected restart.
Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Do not modify products.
Failure to observe this warning may result in injury or damage to products.
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.

vii
 „ Checking on Delivery

CAUTION
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.

„ Storage and Transportation

CAUTION
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or
plywood, the packing materials must be treated before the product is packaged, and methods other than
fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed with
fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from
the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or
iodine can contribute to the erosion of the capacitors.

„ Installation

CAUTION
• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.

viii
„ Installation（cont’d）

CAUTION
• Provide the specified clearances between the SERVOPACK and the control panel or with
other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
Failure to observe this caution may result in malfunction.

„ Wiring

WARNING
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
• Use the thermal protector built into the servomotor according to either of the two following methods.
SGMVH servomotors are cooled by a fan. If the fan is defective or power to the fan is disconnected, heat from the
motor may result in burns or fire.
Method 1:
• Wire the output from the thermal protector to the host controller and turn OFF the servo when the thermal
protector operates.
Main circuit
magnetic
contactors
Main circuit Thermal
M protector
power supply SERVOPACK

PG

Servo OFF
Host Controller

Method 2:
• Wire the thermal protector to the operating circuit of the main circuit magnetic contactors or the host
controller and turn OFF the main circuit magnetic contactor when the thermal protector operates.
Main circuit
magnetic
contactors
Main circuit Thermal
power supply M protector
SERVOPACK

PG

Host controller or operating circuit

of main circuit magnetic contactors
To main circuit
magnetic contactors

ix
 CAUTION
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminals and motor output terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG)
feedback lines.
The maximum length is 3 m for reference input lines and is 20 m for PG feedback lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses
to deteriorate, resulting in unexpected problems.
• Install the battery at either the host controller or the SERVOPACK.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies including power supply lines.
Failure to observe this caution may result in damage to the product.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery or cause it to explode.

x
„ Operation

CAUTION
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid
any unexpected accidents.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters of the
machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point
search mode using parameter Fn003.
• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due
to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at
occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in injury.
• Do not use the servo brake of the servomotor for ordinary braking.
Failure to observe this caution may result in malfunction.
• Do not turn the Servo ON or OFF unless necessary.
Failure to observe this caution may cause internal parts to deteriorate.

xi
 „ Maintenance and Inspection

CAUTION
• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new
SERVOPACK before resuming operation.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble the servomotor.
Failure to observe this caution may result in electric shock or injury.

„ Disposal

CAUTION
• When disposing of the products, treat them as ordinary industrial waste.

„ General Precautions
Note the following to ensure safe application.
• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace
the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as a next
edition.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall
not be liable for any damages or troubles resulting from unauthorized modification.

xii
CONTENTS
About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii

1 Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.2.1 Three-phase, 200 V Series- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Three-phase, 400 V Series- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3.1 North American Safety Standards (UL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2 CE Marking- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

2 Selections
2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.3 Σ-II Series SERVOPACKs and Applicable Servomotor - - - - - - - - - - - - - - - - - - - 2-4
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4.1 Cables for SGMVH Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - 2-9
2.5.4 Regenerative Resistor Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.5.5 Dynamic Brake (DB) Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.5.6 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

3 Servomotor Specifications and Dimensional Drawings

3.1 Ratings and Specifications of SGMVH (1500 min-1) - - - - - - - - - - - - - - - - - - - - - 3-2

3.2 Ratings and Specifications of SGMVH (800 min-1) - - - - - - - - - - - - - - - - - - - - - - 3-6

3.3 Mechanical Specifications of Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.3.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.3.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.3.3 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.4 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.5 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.6 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

xiii
 3.3.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1) - - - - - - - - - - - - - 3-16

3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1) - - - - - - - - - - - - - - 3-22

4 SERVOPACK Specifications and Dimensional Drawings

4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.2 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3

4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7
4.3.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8
4.3.3 Three-phase 400 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9
4.3.4 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9
4.3.5 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.3.6 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.4 SERVOPACK’s Power Supply Capacities and Power Losses - - - - - - - - - - - - - 4-11

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4-12
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14

4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16

4.6.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.6.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
4.6.3 Three-phase 400 V, 22 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
4.6.4 Three-phase 400 V, 30 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.6.5 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.6.6 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.6.7 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.1 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Wiring Cables to Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2
5.1.2 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3
5.1.3 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4

5.2 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2.1 Encoder Cable with Connectors on Both Ends - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6
5.2.2 Cable with Loose Wire at Encoder End- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-7

5.3 Connectors and Cables for Encoder Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8

xiv
 5.4 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.5 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.5.1 Cables for Connecting Personal Computers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.5.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
5.5.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.5.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
5.5.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.5.6 Absolute Encoder Battery- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
5.5.7 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19
5.5.8 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
5.5.9 Surge Absorber - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.5.10 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.5.11 Dynamic Brake (DB) Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.5.12 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5.13 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.5.14 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
5.5.15 MECHATROLINK Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.5.16 DeviceNet Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.5.17 PROFIBUS-DP Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43
5.5.18 Fully-closed Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44

6 Wiring
6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - - - - - - 6-8
6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.3 I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.3.1 Example of I/O Signal Connection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.2 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.3.3 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.3.4 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14

6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17

6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
6.4.3 Using More Than One SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.4.4 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24

xv
 7 Digital Operator/Panel Operator
7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3
7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4
7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-5

7.2 Operation in Utility Function Mode (Fn†††) - - - - - - - - - - - - - - - - - - - - - - - - - 7-7

7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-7
7.2.2 Alarm Traceback Data Display (Fn000)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-8
7.2.3 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9
7.2.4 Parameter Settings Initialization (Fn005)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10
7.2.5 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) - - 7-12
7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F) - - - - - - - - - - - - - - - - - 7-15
7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - - - - - - - 7-17
7.2.9 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
7.2.10 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19
7.2.11 Application Module Detection Results Clear (Fn014) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20

7.3 Operation in Parameter Setting Mode (Pn†††)- - - - - - - - - - - - - - - - - - - - - - 7-21

7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27

7.4 Operation in Monitor Mode (Un†††) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29

7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29

8 Operation
8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-6
8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - -8-9
8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - - - - - - - - - - - - - - - - - - 8-15
8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16

8.2 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17

8.3 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.2 Switching the Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19
8.3.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
8.3.4 Setting for Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
8.3.5 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-26
8.3.6 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27

8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28

8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29
8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30

xvi
 8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.6 Absolute Encoder Reception Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33
8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred - - - - - - - - - - - - 8-37

8.5 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - - - - - 8-38

8.5.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-38
8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39
8.5.3 Adjusting Offset- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-45
8.5.8 Speed Coincidence Output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48

8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49

8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
8.6.2 Setting the Electronic Gear- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54
8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57
8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-58
8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
8.6.8 Reference Pulse Input Multiplication Switching Function - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61

8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63

8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.7.4 Limiting Servomotor Speed during Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-66

8.8 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - - 8-68
8.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-68
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69

8.9 Limiting Torque- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71

8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)- - - - - - - - - - - - - - - - - - - - - 8-72
8.9.3 Torque Limiting Using an Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-73
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference - - - - - - - - - - 8-74
8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75

8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76

8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76

xvii
 8.11 Other Output Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - - - - - - - 8-77
8.11.2 Warning Output (/WARN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.3 Servomotor running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79

9 Adjustments
9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2

9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4

9.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-4
9.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5
9.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5
9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6
9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6

9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7

9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7
9.4.2 Torque Feed-forward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7
9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-8
9.4.4 Proportional Control Operation (Proportional Operation Reference)- - - - - - - - - - - - - - - - - - - -9-9
9.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
9.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16

9.5 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20

10 Inspection, Maintenance, and Troubleshooting

10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.1.3 Alarm Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - - - 10-5
10.1.4 Warning Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - 10-6
10.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-7
10.1.6 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16

10.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20

10.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21

xviii
11 Appendix
11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Selection Example for Speed Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4

11.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7

11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 - - - - - - - - - - - - - - - - 11-7
11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01 - - - - - - - - - - - - - - - - - - 11-8
11.2.3 Example of Connection to OMRON’s Motion Control Unit - - - - - - - - - - - - - - - - - - - - - - - - 11-9
11.2.4 Example of Connection to OMRON’s Position Control Unit - - - - - - - - - - - - - - - - - - - - - - -11-10
11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning
Unit (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-11
11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit
(SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-12

11.3 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13

11.3.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-13
11.3.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-14

11.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29

INDEX

Revision History

xix
 1
Outline

1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Examples of Servo System Configurations - - - - - - - - - - - - - 1-3

1.2.1 Three-phase, 200 V Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Three-phase, 400 V Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3.1 North American Safety Standards (UL) - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

Outline
1

1-1
 1 Outline
1.1.1 Check Items

1.1 Checking Products

The following procedure is used to check the AC servo drives of Σ-ΙΙ Series products on delivery.

1.1.1 Check Items

Check the following items when Σ-ΙΙ Series products are delivered.
Check Items Comments
Are the delivered products the ones Check the model numbers marked on the nameplates on the servomo-
that were ordered? tor and SERVOPACK. (Refer to the descriptions of model numbers in
the following section.)
Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned smoothly by hand.
smoothly? Servomotors with brakes, however, cannot be turned manually.
Is there any damage? Check the overall appearance, and check for damage or scratches that
may have occurred during shipping.

If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.

1.1.2 Servomotors

Rated output
Servomotor model

AC SERVO MOTOR
TYPE SGMVH - 2BDCA ENCODER
kw 22 N. m 140 UTMAH- B12BDYR11
-1
min
1500 A 58 17 bit
RATING CONT.

SER.NO. K7A500 101 - 004

DATE
9708
YASKAWA ELECTRIC CORPORATION
JAPAN

SGMVH
servomotor Manufacturing date
Serial number
Rated rotation speed

1.1.3 SERVOPACKs
SERVOPACK model
SERVOPACK
MODEL SGDH - 3ZDEB
AC - INPUT AC - OUTPUT
VOLTS 380 - 480 VOLTS 0 - 480
POWER CN8
Hz 50/60 PHASE 3
O
P
E
R
A
T
PHASE 3 AMPS 175
O
R
CN3
MODE/ SET DATA/
CN5
AMPS 145 kW (HP) 30.0 (40.2)
S / N R7C303 - 221 - 4
ෂ‫ޓ‬㒾
WARNING
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 SERVOPACK
YASKAWA ELECTRIC
SGDH- 㧖㧖㧖㧖
MADE IN JAPAN
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ!
May cause
electric shock.

YASKAWA
Disconnect all power
and wait 5 min.
before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

480 460 440 400 380 0

V V V V V V
DUDVDWB1 B2 DC DC
24N 24P
CHARGE

- +1 +2 L1/R L2/S L3/T U V W

Serial number Output power

Σ-II Series SGDM and SGDH Applicable power supply
SERVOPACKs

1-2
 1.2 Examples of Servo System Configurations

1.2 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.

1.2.1 Three-phase, 200 V Series

CN1
Molded-case circuit Connect the SGDM/SGDH SERVOPACK
breaker (MCCB) Host controller to a Yaskawa or an other manufacturer’s
host controller.
Used to protect power
supply line. Power supply
Three-phase 200 VAC
Noise filter R S T
Used to eliminate exter-
nal noise from power
supply line. 
Magnetic contactor * MP900/MP2000 Series
Turns the servo ON or
OFF.
SGDM/SGDH SERVOPACK CN3
Brake power supply Digital Operator
Used for SGMVH
servomotor with brake. Allows the user to set parameters or
operation reference and display
LPSE-2H01
operation status or alarm status.
(For 200 V input)

Dynamic Brake (DB)

Unit
Used if dynamic brake
function is required for the
SERVOPACK. O
POWER CN8

CN3 P
E
R
A
T
O
R
MODE/ SET DATA/
CN5

Hand-held type
CN3


* Use a surge absorber
SERVOPACK
SGDH- 㧖㧖㧖㧖 (JUSP-OP02A-2)
YASKAWA
for the magnetic contactor.
1-meter cable included

CN2
CN1 Personal computer
- +1 +2 L1/R L2/S L3/T U V W

Cable model:
JZSP-CMS01 to 03

DU DV DW DBON DB24

U V W

Outline
B1 B2
 

L2/S
L3/T L1C/r
1
L1/R L3C/t

 DB24
DU DV DW
DBON

Regenerative 
Resistor Unit
Brake power supply Dynamic Brake Unit

Power supply for

cooling fan

Note: The Dynamic Brake (DB) Unit DBON and

DB24 terminals can be used with SERVO- SGMVH
PACKs of 37 kW or more only. servomotor

1-3
 1 Outline
1.2.2 Three-phase, 400 V Series

1.2.2 Three-phase, 400 V Series

CN1
Host controller Connect the SGDH SERVOPACK to a
Yaskawa or an other manufacturer’s
Molded-case circuit host controller.
breaker (MCCB) Power supply
Used to protect power Three-phase 400 VAC
supply line.
R S T
Noise filter
Used to eliminate exter-
nal noise from power 
supply line.
MP900/MP2000 Series
Magnetic contactor *
Turns the servo ON or
OFF. CN3
Brake power supply Digital Operator
Used for SGMVH SGDH SERVOPACK Allows the user to set parameters or
servomotor with brake. operation reference and display
LPSE-2H01 operation status or alarm status.
(For 200 V input)

Power transformer
Used to switch between
200 V to 400 V.

Dynamic Brake (DB) 219'4 %0

Unit 
1
CN3 2

Hand-held type
'
4
#
6
1
4
/1&'5'6 &#6#
%0 %0

Used if dynamic brake (JUSP-OP02A-2)

function is required for the
1-meter cable included
SERVOPACK.

5'4812#%-
5 ) & *  㧖㧖㧖㧖
Personal computer
* Use a surge absorber ;#5-#9# CN2
Cable model:
CN1
for the magnetic contactor. JZSP-CMS01 to 03
&% &%
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
%*#4)'


DU DV DW DBON DB24

380 to 480V
0V U V W
B1 B2
 

L1/R L3/T DC24P

L2/S DC24N

 DU DV DW
DB24
DBON

Regenerative 
Resistor Unit
Brake power supply Dynamic Brake Unit

DC power
+
supply
(24 VDC) - Power supply for
cooling fan

Note: The Dynamic Brake (DB) Unit DBON and

DB24 terminals can be used with SERVO-
PACKs of 37 kW or more only. SGMVH
servomotor

1-4
 1.3 Applicable Standards

1.3 Applicable Standards

1.3.1 North American Safety Standards (UL)

UL∗3 Standards
Model Voltage∗1 Capacity∗2
(UL File No.)
SERVOPACK SGDH 400 V 22 kW to 55 kW UL508C(E147823)
Servomotor SGMVH 400 V 22 kW to 55 kW UL1004(E165827)
* 1. 200 V SERVOPACKs and servomotors have not obtained certification showing compliance
with UL standards.
* 2. 75 kW SERVOPACKs and servomotors have not obtained certification showing compliance
with UL standards.
* 3. Underwriters Laboratories Inc.

1.3.2 CE Marking
The SGDH SERVOPACK and SGMVH servomotor have not obtained certification showing compliance with CE
marking, but, the following models comply with its standards.

Low Voltage EMC Directive (compliant)

Model Voltage∗ Capacity∗ Directive
(compliant) EMI EMS
EN50082-2
EN55011
SERVOPACK SGDH 400 V 22 kW to 55 kW EN50178 or
class A group 1

Outline
EN61000-6-2
EN50082-2
EN55011
Servomotor SGMVH 400 V 22 kW to 55 kW –∗ class A group 1
or
EN61000-6-2
1
* A low voltage directive-compliant model is in development.
Note: Because SERVOPACKs and servomotors are built-in type, reconfirmation is required after
being installed in the final product.

1-5
 2
Selections

2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - 2-3
2.3 Σ-II Series SERVOPACKs and Applicable Servomotor - - - - - 2-4
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4.1 Cables for SGMVH Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - 2-8
2.5.3 Noise Filters, Magnetic Contactors, and Brake Power
Supply Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.5.4 Regenerative Resistor Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9

Selections
2.5.5 Dynamic Brake (DB) Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.5.6 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2-1
 2 Selections

2.1 Servomotor Model Designations

1st +
2nd 3rd 4th 5th 6th 7th
digits digit digit digit digit digit

SGMVH − 2B A 2 B 2 N
7th digit: Brake and Oil Seal
Code Specifications
N Standard (without options)
1st + 2nd digits: 3rd digit:
Rated Output Voltage 1 With dust seal
(kW) A:200V,D:400V S With oil seal
Code Rated Output A D B With 90-VDC brake
2B 22   C With 24-VDC brake

3Z 30   D With oil seal and 90-VDC brake

 E With oil seal and 24-VDC brake

3G 37 
F With dust seal and 90-VDC brake
4E 45 − 
G With dust seal and 24-VDC brake
5E 55 − 
7E 75 −  6th digit: Shaft End, Mounting Method
: Available Code ‫ޓޓ‬Specifications Remarks
− : Not available
2 Flange-mounted, straight without key Standard

4th digit: Serial Encoder Flange-mounted, straight with key

6 and shaft end tap (×1)
Code ‫ޓޓ‬Specifications Remarks
K Foot-mounted, straight without key Option
2 17-bit absolute encoder Standard
Foot-mounted, straight with key
3 20-bit absolute encoder Option L and shaft end tap (×1)
C 17-bit incremental encoder Standard
5th digit: Rated Speed
Code Specifications
B 1500 min-1
D 800 min-1

(1) Available Models

1st + 2nd digits: 5th digit: Rated Speed With With
Mounting Method With Oil Rated Rated
Rated Output (kW) B: 1500 min-1, D: 800 min-1 Brake Brake
Seal and Speed Output
Rated Flange- Foot- Dust Seal Foot- (min-1) (kW) Flange-
Code B D mounted
Output mounted mounted mounted
2B 22       22 
3Z 30       30 
3G 37       37 
1500
4E 45       45 
5E 55       55 
7E 75       75 
22 
: Available
− : Not available 30 
800
37 
45 

2-2
 2.2 SERVOPACK Model Designations

2.2 SERVOPACK Model Designations

Select the SERVOPACK according to the applied servomotor.
1st +
2nd 3rd 4th 5th
digits digit digit digit

SGDM - 2B A D B
1st + 2nd digits (kW) 5th digit: Applicable Servomotor Model
Code Rated Output Code Specificatioins
2B 22 SGMVH
B
Servomotor
3Z 30
3G 37
4th digit: Model
Code Specificatioins
3rd digit: Power Supply
Voltage A: 200 V D For torque, speed and position control
Code A
2B 
3Z 
3G 
: Available

1st +
2nd 3rd 4th 5th
digits digit digit digit

SGDH - 2B A E B
1st + 2nd digits (kW)

Selections
Code Rated Output 5th digit: Applicable Servomotor Model
2B 22
Code Specificatioins
3Z 30 SGMVH
3G 37
B
Servomotor 2
4E 45
5E 55
9Z 75 4th digit: Model
Code Specificatioins

3rd digit: Power Supply Voltage E For torque, speed and position control
A: 200 V, D: 400 V
Code A D
2B  Δ
3Z  Δ
3G  Δ
4E  
5E  
9Z  
: Available
Δ : Option
 : Not available

2-3
 2 Selections

2.3 Σ-II Series SERVOPACKs and Applicable Servomotor

SERVOPACK
Servomotor
SGDM- SGDH-
SGMVH-
200 V 200 V 400 V
2B† 2BADB 2BAEB 2BDEB
3Z† 3ZADB 3ZAEB 3ZDEB
3G† 3GADB 3GAEB 3GDEB
1500 min-1
4ED – – 4EDEB
5ED – – 5EDEB
7ED – – 9ZDEB
2B† 2BADB 2BAEB 2BDEB
3Z† 3ZADB 3ZAEB 3ZDEB
800 min-1
3G† 3GADB 3GAEB 3GDEB
4ED – – 4EDEB
Note: †=A: 200 V, D: 400 V
Be sure to match the voltage ratio on the servomotor and the SERVOPACK.

2-4
 2.4 Selecting Cables

2.4 Selecting Cables

2.4.1 Cables for SGMVH Servomotor

219'4 %0

1
2
'
4
#
6
1
4
/1&'5'6 &#6#
%0 %0

ෂ‫ޓ‬㒾
WARNING
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 5'4812#%-
5 ) & *  㧖㧖㧖㧖
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ
May cause
electric shock.

;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

&% &%
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
%*#4)'

1
   .4 .5 .6 7 8 9

Refer-
Name Length Type Specifications ence
3m JZSP-CMP23-03
SERVOPACK Encoder
5m JZSP-CMP23-05
Cable with loose end end

Selections
wire at encoder 10 m JZSP-CMP23-10 5.2.2
end 15 m JZSP-CMP23-15
20 m JZSP-CMP23-20
3m JZSP-CMP21-03
5m JZSP-CMP21-05 SERVOPACK Encoder 2
Cable with a end end 5.2.1
10 m JZSP-CMP21-10
straight plug
15 m JZSP-CMP21-15
20 m JZSP-CMP21-20
c CN2 3m JZSP-CMP22-03
Encoder 5m JZSP-CMP22-05 SERVOPACK Encoder
Cable Cable with an end end
10 m JZSP-CMP22-10 5.2.1
L-shaped plug
15 m JZSP-CMP22-15
20 m JZSP-CMP22-20
5m JZSP-CMP29-05
10 m JZSP-CMP29-10
15 m JZSP-CMP29-15
50 m max.
Cables 20 m JZSP-CMP29-20 5.3
30 m JZSP-CMP29-30
40 m JZSP-CMP29-40
50 m JZSP-CMP29-50
dMain Not available.
Circuit Cables −
For details, refer to chapter 5.
Cable

2-5
 2 Selections
2.5.1 Special Options

2.5 Selecting Peripheral Devices

2.5.1 Special Options

 Digital operator

 Connection cable
for digital operator Personal
computer

 Connection cable
for personal computer

219'4 %0

1
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 I/O signal cable Host controller

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and wait 5 min.
before servicing.

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Use proper
grounding techniques.

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Battery for absolute encoder

POWER CN8

Analog monitor cable

MODE/SET DATA/ CN5

CN3

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NS100 NS115 NS300 FC100 NS500
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MECHATROLINK-I MECHATROLINK-II DeviceNet Fully-closed PROFIBUS-DP

application application application application application
module module module module module
(NS100) (NS115) (NS300) (FC100) (NS500)

2-6
 2.5 Selecting Peripheral Devices

Refer-
Name Length Type Specifications
ence
Terminal block and 0.5 m connection
cable
Connector terminal block
JUSP-TA50PG 5.5.4
converter unit
c CN1
I/O Signal
Cables Cable with 1m JZSP-CKI01-1 Loose wires at host controller end
loose wires at 2m JZSP-CKI01-2 5.4.1
one end 3m JZSP-CKI01-3
With connection cable (1 m)

d Digital Operator JUSP-OP02A-2

1m JZSP-CMS00-1 Required only when the digital oper- 5.5.2

ator model: JUSP-OP02A-1 for Σ-I
e CN3 series is used.
Connection Cable for Digital 1.5m JZSP-CMS00-2
SERVOPACK Operator
Operator end end
2m JZSP-CMS00-3

D-Sub 25-pin (For PC98)

SERVOPACK Personal
2m JZSP-CMS01 end computer end

D-Sub 9-pin (For DOS/V)

f CN3 Personal
SERVOPACK 5.5.1
Connection Cable for Personal 2m JZSP-CMS02 end computer end
Computer

Half-pitch 14-pin (For PC 98)

Selections
SERVOPACK Personal
2m JZSP-CMS03 end computer end

g CN5 1m
JZSP-CA01 or SERVOPACK end Monitor end
5.5.3
Analog Monitor Cable DE9404559
2
JZSP-BA01-1

To connect to a host controller,

h CN8 3.6 V, 2000 mAh, manufactured by 5.5.6
Battery for Absolute Encoder Toshiba Battery Co., Ltd.
ER6VC3

MECHATROLINK-I application
JUSP-NS100 5.5.15
module (NS100)
MECHATROLINK-II application
JUSP-NS115 5.5.15
module (NS115)
DeviceNet application module
⑦ Application Module ∗ JUSP-NS300 5.5.16
(NS300)
Fully-closed application module
JUSP-FC100 5.5.18
(FC100)
PROFIBUS-DP
JUSP-NS500 5.5.17
application module (NS500)
* For details, refer to the manuals of each application module.

2-7
 2 Selections
2.5.2 Molded-case Circuit Breaker and Fuse Capacity

2.5.2 Molded-case Circuit Breaker and Fuse Capacity

Select a input fuse or molded-case circuit breaker that comply with UL standard.

Power Supply Inrush Current (A)

Current Capacity of the
Capacity per
SERVOPACK Model Molded-case Circuit Breaker Main Circuit Control Circuit
SERVOPACK
and the Fuse (A)∗2 Power Supply Power Supply
(kVA)∗1
SGDM-2BADB
36.7 150 300 30
SGDH-2BAEB
SGDM-3ZADB
50.1 200 300 30
SGDH-3ZAEB
SGDM-3GADB
61.8 225 600 30
SGDH-3GAEB
SGDH-2BDEB 36.7 100 140
SGDH-3ZDEB 50.1 150 565
SGDH-3GDEB 61.8 150 565
(10)*3
SGDH-4EDEB 75.2 225 1130
SGDH-5EDEB 91.9 225 1130
SGDH-9ZDEB 125.3 300 170

* 1. Nominal value at the rated load.

* 2. Cutoff characteristics (25°C): 200% for two seconds min. and 700% for 0.01 seconds min.
* 3. The values will vary, depending on the 24 VDC control power supply used.
Note: Do not use a fast-acting fuse. Because the SERVOPACK’s power supply is a capacitor
input type, a fast-acting fuse may blow when the power is turned ON.

2-8
 2.5 Selecting Peripheral Devices

2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units

SERVOPACK Model Recommended Noise Filter Magnetic Contactor Brake Power Supply Unit
SGDM-2BADB FN258L-130-35 SC-N6 (125A)
SGDH-2BAEB
SGDM-3ZADB FN258L-180-07 SC-N8 (180A)
SGDH-3ZAEB
SGDM-3GADB FN359P-250-99 SC-N10 (220A)
SGDH-3GAEB
FN258L-180-07 SC-N6 (125A) c24 VDC brake (provided by a
SGDH-2BDEB
customer)
FN258L-180-07 SC-N8 (180A)
SGDH-3ZDEB d90 VDC brake
FN258L-180-07 SC-N8 (180A) • LPDE-1H01 for 100 VAC input
SGDH-3GDEB • LPSE-2H01 for 200 VAC input

FN359P-250-99 SC-N10 (220A)

SGDH-4EDEB

FN359P-250-99 SC-N10 (220A)

SGDH-5EDEB

FN359P-300-99 SC-N11 (300A)

SGDH-9ZDEB

Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors accord-
ing to the total capacity.
2. The following table shows the manufacturers of each device.

Peripheral Device Manufacturer

Noise Filter Schaffner Electronic
Magnetic Contactor Fuji Electric Co., Ltd.
Brake Power Supply
Yaskawa Controls Co., Ltd.
Unit

Selections
2.5.4 Regenerative Resistor Units

SERVOPACK SGDM- 2BADB 3ZADB 3GADB −

Model SGDH- 2BAEB 3ZAEB 3GAEB 2BDEB 3ZDEB 3GDEB 4EDEB 5EDEB 9ZDEB
2
Regenerative JUSP- RA08 RA09 RA11 RA12 RA13 RA14 RA15 RA16 RA25
Resistor Unit
Model
Resistance (Ω) 2.4 1.8 1.6 9 6.7 5 4 3.8 2.1
Resistance 2400 4800 4800 3600 3600 4800 6000 7200 16800
Capacity (W)
Allowable Load Moment of 1830 2490 2875 1830 2490 2875 5355 6450 9020
Inertia (×10-4kg·m2)
Allowable Duty 2% ED at maximum speed and torque deceleration.

2-9
 2 Selections
2.5.5 Dynamic Brake (DB) Units

2.5.5 Dynamic Brake (DB) Units

Externally attach a dynamic brake resistor to the SERVOPACK to dissipate regenerative energy when using the
dynamic brake function. The dynamic brake resistor does not need to be installed if the dynamic brake function is
not required.

Dynamic Brake SERVOPACK Model Resistance DB Contactor and

(DB) Unit Model Specifications Surge Absorption Unit
SGDM- SGDH-
(Star Wiring )
JUSP–DB01 Built into the
2BADB, 3ZADB 2BAEB, 3ZAEB 180 W, 0.3 Ω
SERVOPACK
JUSP–DB02 Built into Dynamic Brake
3GADB 3GAEB 180 W, 0.3 Ω
Unit
JUSP–DB03 Built into the
− 2BDEB, 3ZDEB 180 W, 0.8 Ω
SERVOPACK
JUSP–DB04 Built into Dynamic Brake
− 3GDEB 180 W, 0.8 Ω
Unit
JUSP–DB05 Built into Dynamic Brake
− 4EDEB 180 W, 0.8 Ω
Unit
JUSP–DB06 Built into Dynamic Brake
− 5EDEB 300 W, 0.8 Ω
Unit
JUSP–DB12 Built into Dynamic Brake
− 9ZDEB 600 W, 0.9 Ω
Unit
Use the dynamic brake unit under the following conditions. Contact your Yaskawa representative before using
the unit under conditions more severe than those specified below.
• Allowable load moment of inertia: 5 times the load moment of inertia
• Allowable duty: Less than one DB stop per hour at maximum rotation speed

2-10
 2.5 Selecting Peripheral Devices

2.5.6 Thermal Relays

Dynamic Brake Thermal Relay Thermal Relay Thermal Relay Manufacturer

(DB) Unit and Model Current Range Current
Regenerative
Resistor
Unit Model
JUSP-DB01
TR-N3H/3 9 A 9 to 13 A 10 A
JUSP-DB02
JUSP-DB03
JUSP-DB04 TR-N3H/3 7 A 7 to 11 A 7A
JUSP-DB05
JUSP-DB06 TR-N3H/3 7 A 7 to 11 A 9A
JUSP-DB12 TR-N3H/3 9 A 9 to 13 A 12 A
JUSP-RA08 TR-N3H/3 12 A 12 to 18 A 14 A
JUSP-RA09 TR-N3H/3 18 A 18 to 26 A 23 A Fuji Electric Co., Ltd.
JUSP-RA11 TR-N3H/3 18 A 18 to 26 A 24 A
JUSP-RA12 TR-N3H/3 7 A 7 to 11 A 9A
JUSP-RA13 TR-N3H/3 9 A 9 to 13 A 10 A
JUSP-RA14 TR-N3H/3 12 A 12 to 18 A 14 A
JUSP-RA15 TR-N3H/3 12 A 12 to 18 A 17 A
JUSP-RA16 TR-N3H/3 18 A 18 to 26 A 19 A
JUSP-RA25 TR-N3H/3 34 A 34 to 50 A 40 A

Selections
2

2-11
 3
Servomotor Specifications and
Dimensional Drawings

3.1 Ratings and Specifications of SGMVH (1500 min-1) - - - - - - - 3-2

3.2 Ratings and Specifications of SGMVH (800 min-1) - - - - - - - - 3-6

Servomotor Specifications and Dimensional Drawings

3.3 Mechanical Specifications of Servomotors - - - - - - - - - - - - - - 3-9
3.3.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - 3-9
3.3.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.3.3 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.4 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.5 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.6 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.4 Dimensional Drawings of SGMVH

Servomotors (1500 min-1) - - - - - - - - - - - - - - - - - - - - - - - - 3-16
3.5 Dimensional Drawings of SGMVH
Servomotors (800 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - 3-22

3-1
 3 Servomotor Specifications and Dimensional Drawings

3.1 Ratings and Specifications of SGMVH (1500 min-1)

(1) Ratings and Specifications

• Time Rating: Continuous • Thermal Class: F

• Vibration Class: V15 • Withstand Voltage:
• Insulation Resistance: 500 VDC, 200 V Servomotors: 1500 VAC for one minute
10 MΩ min. 400 V Servomotors: 1800 VAC for one minute
• Surrounding Air Temperature: 0 to 40°C • Enclosure: Totally enclosed, cooled separately, IP44
• Excitation: Permanent magnet • Ambient Humidity: 20% to 80% (no condensation)
• Mounting: Flange-mounted (standard) • Drive Method: Timing belt or coupling
Foot-mounted (semi-standard)

(a) 200 V Class

Voltage Class 200 V
Servomotor Model SGMVH- 2BA†B 3ZA†B 3GA†B
Rated Output ∗ kW 22 30 37
Rated Torque ∗ N·m 140 191 236
Stall Torque ∗ N·m 140 191 236
Instantaneous
N·m 350 478 589
Peak Torque ∗
Rated Current ∗ Arms 88 120 152
Instantaneous
Arms 240 350 460
Max. Current ∗
Rated Speed ∗ min-1 1500
∗ min-1 2000
Max. Speed
Torque
N·m/Arms 1.72 1.72 1.68
Constant
Rotor Moment ×10-4
366 498 595
of Inertia J kg·m2
Rated Power
kW/s 536 733 933
Rate ∗
Rated Angular
rad/s2 3827 3536 3960
Acceleration ∗
Note: Refer to the next page for the notes.

3-2
 3.1 Ratings and Specifications of SGMVH (1500 min-1)

(b) 400 V Class

Voltage Class 400 V
Servomotor Model SGMVH- 2BD†B 3ZD†B 3GD†B 4ED†B 5ED†B 7ED†B
Rated
kW 22 30 37 45 55 75
Output ∗
Rated
N·m 140 191 236 286 350 477
Torque ∗
Stall
N·m 140 191 236 286 350 477
Torque ∗
Instantaneous
Peak N·m 350 478 589 715 875 1193
Torque ∗
Rated
Arms 44 60 76 102 117 150
Current ∗
Instantaneous
Max. Arms 120 170 230 280 340 450
Current ∗
Rated Speed ∗ min-1 1500
∗
Max. Speed min-1 2000

Servomotor Specifications and Dimensional Drawings

Torque
N·m/Arms 3.44 3.44 3.36 3.09 3.15 3.35
Constant
Rotor Moment ×10-4
366 498 595 1071 1290 1804
of Inertia J kg·m2
Rated Power
kW/s 536 733 933 767 950 1265
Rate ∗
Rated Angular
rad/s2 3827 3536 3960 2675 2715 2645
Acceleration ∗
* These items and torque-motor speed characteristics quoted in combination with SGDM/SGDH
SERVOPACK are at an armature winding temperature of 20°C.
Note: These characteristics are values with the following iron plate (heat sink) attached for
cooling.
SGMVH-2B, 3Z and 3G: 650 × 650 × 35 mm
SGMVH-4E, 5E and 7E: 740 × 520 × 27 mm

3-3
 3 Servomotor Specifications and Dimensional Drawings

(2) Torque-Motor Speed Characteristics (200 V class)

SGMVH-2BA
B SGMVH-3ZA
B
2000 2000

1500 1500
Motor Motor
speed speed
(min-1) 1000 (min-1) 1000
A B A B
500 500

0 0
0 100 200 300 400 0 200 400 600

Torque (Nm) Torque (Nm)

SGMVH-3GA
B
2000

Motor 1500
speed
(min-1) 1000

A B
500

A: Continuous Duty Zone B: Intermittent Duty Zone

0
0 200 400 600
Torque (Nm)

3-4
 3.1 Ratings and Specifications of SGMVH (1500 min-1)

(3) Torque-Motor Speed Characteristics (400 V class)

SGMVH-2BD
B SGMVH-3ZD
B
2000 2000

Motor 1500 Motor 1500

speed speed
(min-1) 1000 (min-1) 1000
A B AA B
500 500

0 0
0 100 200 300 400 0 200 400 600
Torque (Nm) Torque (Nm)
SGMVH-3GD
B SGMVH-4ED
B
2000 2000

Motor 1500 Motor 1500

speed speed
(min-1) 1000 (min-1)
1000

Servomotor Specifications and Dimensional Drawings

A B AA BB
500 500

0 0
0 200 400 600 0 200 400 600 800
Torque (Nm) Torque (Nm)

SGMVH-5ED
B SGMVH-7ED
B
2000 2000

Motor 1500 Motor 1500

speed speed
(min-1) (min-1) 1000
1000
AA BB A B
500 500
A: Continuous Duty Zone

0 B: Intermittent Duty Zone

0
0 300 600 900 0 400 800 1200
3
Torque (Nm) Torque (Nm)

3-5
 3 Servomotor Specifications and Dimensional Drawings

3.2 Ratings and Specifications of SGMVH (800 min-1)

(1) Ratings and Specifications
• Time Rating: Continuous • Thermal Class: F
• Vibration Class: V15 • Withstand Voltage:
• Insulation Resistance: 500 VDC, 10 MΩ min. 200 V Servomotors: 1500 VAC for one minute
• Surrounding Air Temperature: 0 to 40°C 400 V Servomotors: 1800 VAC for one minute
• Excitation: Permanent magnet • Enclosure: Totally enclosed, cooled separately, IP44
• Mounting: Flange-mounted (standard) • Ambient Humidity: 20% to 80% (no condensation)
Foot-mounted (semi-standard) • Drive Method: Timing belt or coupling
(a) 200 V Class
Voltage Class 200 V
Servomotor Model
2BA†D 3ZA†D 3GA†D
SGMVH-
Rated Output ∗ kW 22 30 37
∗ N·m 262 358 442
Rated Torque
∗ N·m 262 358 442
Stall Torque
Instantaneous Peak Torque ∗ N·m 526 752 930
Rated Current ∗ Arms 104 150 195
Instantaneous Max. Current ∗ Arms 240 340 460
Rated Speed ∗ min-1 800
Max. Speed ∗ min-1 1300
Torque Constant N·m/Arms 2.73 2.50 2.34
Rotor Moment of Inertia J x10-4 kg·m2 705 1290 1564
∗ kW/s 979 994 1248
Rated Power Rate
∗ rad/s2 3726 2777 2824
Rated Angular Acceleration
Note: Refer to the next page for the notes.

3-6
 3.2 Ratings and Specifications of SGMVH (800 min-1)

(b) 400 V Class

Voltage Class 400 V
Servomotor Model
2BD†D 3ZD†D 3GD†D 4ED†D
SGMVH-
Rated Output ∗ kW 22 30 37 45
Rated Torque ∗ N·m 262 358 442 537
Stall Torque ∗ N·m 262 358 442 537
∗ N·m 526 752 930 1182
Instantaneous Peak Torque
∗ Arms 52 75 98 110
Rated Current
∗ Arms 120 170 230 280
Instantaneous Max. Current
∗ min-1 800
Rated Speed
∗
Max. Speed min-1 1300
Torque Constant N·m/Arms 5.46 5.00 4.68 5.21
Rotor Moment of Inertia J x10-4 kg·m2 705 1290 1564 1804
Rated Power Rate ∗ kW/s 979 994 1248 1600
Rated Angular Acceleration ∗ rad/s2 3726 2777 2824 2978

Servomotor Specifications and Dimensional Drawings

* These items and torque-motor speed characteristics quoted in combination with SGDM/SGDH
SERVOPACK are at an armature winding temperature of 20°C.
Note: These characteristics are values with the following iron plates (heat sinks) attached for
cooling.
SGMVH-2B: 650 × 650 × 35 mm
SGMVH-3Z, 3G and 4E: 740 × 520 × 27 mm

3-7
 3 Servomotor Specifications and Dimensional Drawings

(2) Torque-Motor Speed Characteristics (200 V class)

SGMVH-2BA
D SGMVH-3ZA
D
1500 1500

Motor 1000 Motor 1000

speed speed
(min-1) A B (min-1) A B
500 500

0 0
0 200 400 600 0 200 400 600 800
Torque (Nm) Torque (Nm)

SGMVH-3GA
D
1500

Motor 1000
speed
(min-1) A B
500
A: Continuous Duty Zone
B: Intermittent Duty Zone
0
0 400 800 1200
Torque (Nm)

(3) Torque-Motor Speed Characteristics (400 V class)

SGMVH-2BD
D SGMVH-3ZD
D
2000 2000

1500
Motor Motor 1500
speed speed
(min-1) 1000 (min-1) 1000
A B A B
A B
500 500

0 0
0 200 400 600 0 200 400 600 800
Torque (Nm) Torque (Nm)

SGMVH-3GD
D SGMVH-4ED
D
2000 2000

1500 1500
Motor Motor
speed speed
(min-1) 1000 (min-1) 1000
A B A B
A B A B
500 500
A: Continuous Duty Zone

0 B: Intermittent Duty Zone

0
0 400 800 1200 0 400 800 1200
Torque (Nm) Torque (Nm)

3-8
 3.3 Mechanical Specifications of Servomotors

3.3 Mechanical Specifications of Servomotors

3.3.1 Precautions on Servomotor Installation
Servomotors can be installed either horizontally or vertically.
The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is
installed incorrectly or in an inappropriate location. Always observe the following installation instructions.

CAUTION
• Do not connect the servomotor directly to a commercial power line. This
Do not connect
will damage the servomotor.
The servomotor cannot operate without the proper SERVOPACK.

Store the servomotor within the following temperature range if it is stored with the power cable discon-
Storage nected.

Servomotor Specifications and Dimensional Drawings

Temperature
Surrounding air temperature during storage: -20 to 60°C
and Humidity
Ambient humidity during storage: 80%RH or less (with no condensation)
Installation Site Servomotors are designed for indoor use. Install the servomotor in environments that satisfy the follow-
ing conditions.
• Free of corrosive or explosive gases.
• Well-ventilated and free of dust and moisture.
• Surrounding air temperature of 0 to 40°C
• Relative humidity of 20% to 80% with no condensation.
• Facilitates inspection and cleaning
Alignment Alignment Accuracy Align the shaft of the servomotor with the shaft of the
Measure this distance at four equipment, and then couple the shafts. Install the servo-
different positions on the motor so that alignment accuracy falls within the range
circumference. The difference
between the maximum and described on the left.
minimum measurements must be Vibration may occur and damage the bearings and the
0.06 mm or less.
(Turn together with coupling.) encoder if the shafts are not correctly aligned.
Connect the servomotor to a machine in a way that pre-
vents the application of concentric loads or rotary unbal-
anced loads on the motor shaft.

When installing, do not hit

the shafts with a hammer
Alignment Accuracy etc., as impacts may result
Measure this distance at four in malfunction.
different positions on the
circumference. The difference
between the maximum and
minimum measurements must be
0.05 mm or less.
(Turn together with coupling.)

Orientation Servomotors can be installed either horizontally or vertically.

3-9
 3 Servomotor Specifications and Dimensional Drawings
3.3.1 Precautions on Servomotor Installation

Handling Oil If the servomotor is used in a location that is subject to

and Water water drops, make sure of the servomotor protective
specifications (except for through shaft section).
Flange
If the servomotor is used in a location that is subject to
Through shaft section: water or oil mist, use a servomotor with an oil seal to
This refers to the gap where seal the through shaft section.
the shaft protrudes from
the end of the motor.
Precautions on Using Servomotor With Oil Seal
• The oil surface must be under the oil seal lip.
Shaft
• Use an oil seal in favorably lubricated condition.
• When using a servomotor with its shaft pointed
upward, be sure that oil will not stay in the oil seal
lips.
Cable Stress Make sure there are no bends or tension on the power lines.
Especially be careful to wire signal line cables so that they are not subject to stress because the core
wires are very thin at only 0.2 to 0.3 mm.
Connectors Observe the following precautions:
• Make sure there is no foreign matters such as dust and metal chips in the connector before connect-
ing.
• When the connectors are connected to the motor, be sure to connect the end of servomotor main cir-
cuit cables before connecting the encoder cable’s end.
If the encoder cable’s end is connected first, the encoder may be damaged because of the voltage dif-
ferences between frame grounds.
• Make sure of the pin arrangement.
• Do not apply shock to resin connectors. Otherwise, they may be damaged.
• When handling a servomotor with its cables connected, hold the servomotor or the connectors.
Otherwise, the cables will be damaged.
• When bending cables are used, wiring must be performed so that excessive stress will not be applied
to the connector section. Failure to observe this caution may damage the connector.

IMPORTANT 1. Before starting installation, thoroughly remove the anticorrosive paint that coats the end of the motor
shaft.
Anticorrosive
paint is
coated here.

2. Vibration from improper alignment of shafts will damage the bearings.

3. Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder
mounted on the opposite end of the shaft may be damaged.

3-10
 3.3 Mechanical Specifications of Servomotors

Wring the Motor • Connect the servomotor power lines (U, V, and W) to the servomotor terminal block (M10) in the ser-
Terminal Box vomotor terminal box. Connect the ground wire to the ground bolt (M10) in the terminal box.
• The servomotor has a built-in thermostat. Wire the thermostat leads (l, lb) to the terminal block (M4)
in the servomotor’s terminal box.
• Terminal Box
• 22 kW to 37 kW (1500 min-1) • 45 kW to 75 kW (1500 min-1)
• 22 kW (800 min-1) • 30 kW to 45 kW (800 min-1)
Terminal block
Ground bolt
Terminal block for thermostat
for motor leads
Plate 236 (5) Plate
230 Ground bolt

7
U

220
D
8
236
249
V

9
W
1
1b

Terminal block
Terminal block for motor leads

(5)
for thermostat
Plate Motor lead exit Plate
Motor lead exit
φ61 φ61
Symbol Terminal Terminal Screw Symbol Terminal Terminal Screw
U,V,W Motor M10 U,V,W Motor M10
Ground M10 Ground M10
1,1b Thermostat M4 1,1b Thermostat M4

Servomotor Specifications and Dimensional Drawings

Unitsmm

Wiring the Wire the servomotor fan leads U(A), V(B), and W(C) so that the direction of air flows according to the
Servomotor following diagram. If the air flows in the opposite direction, change the wiring of any of the two phases
Fan U, V, and W.

Servomotor
Direction of
cooling air
Protecting the The servomotor fan has a built-in thermal protector, as shown in the following diagram, that operates at
Servomotor 140°C ±5%. To protect the servomotor fan from overcurrent, use with a 2-A no-fuse breaker.
Fan

U
V

Installing the To maximize the cooling capacity of the servomotor fan, install the fan at least 200 mm from the inlet
Servomotor side of the servomotor as shown in the following diagram.
Fan
3

Cooling air
Servomotor

200 mm min.

3-11
 3 Servomotor Specifications and Dimensional Drawings
3.3.1 Precautions on Servomotor Installation

Encoder-end Absolute Encoder

Connector
MA B
Specifications L T N C Receptacle: 97F3102E20-29P
PD
K Applicable plug㧔purchased by a customer.㧕
J S RE Plug: JA06A-20-29S-J1-EB
HG F Cable clamp: JL04-2022CKE㧔

A - K -
B - L -
C DATA+ M -
D DATA- N -
E - P -
F - R -
G 0V S BATT-
H +5VDC T BATT+
J FG㧔Frame ground㧕

Incremental Encoder

/ # $
. 6 0 % Receptacle: 97F3102E20-29P
2 & Applicable plug㧔purchased by a customer.㧕
-
, 5 4 ' Plug: JA06A-20-29S-J1-EB
* ) ( Cable clamp: JL04-2022CKE㧔

A - K -
B - L -
C DATA+ M -
D DATA- N -
E - P -
F - R -
G 0V S -
H +5VDC T -
J FG㧔Frame ground㧕

Fan Connector
D A A Fan terminal㧔㨁㧕
Specifications B Fan terminal㧔㨂㧕
CB C Fan terminal㧔㨃㧕
D
Receptacle: CE05-2A18-10PD-B
Applicable plug㧔purchased by a customer.㧕
Plug: CE05-6A18-10SD-B-BSS
Cable clamp: CE3057-10A-
㧔D265㧕

3-12
 3.3 Mechanical Specifications of Servomotors

3.3.2 Allowable Radial and Thrust Loads

The following table shows the allowable loads applied to the SGMVH servomotor shaft end.
Design the mechanical system so radial and thrust loads applied to the servomotor shaft end during operation
falls within the ranges shown in the following table.
Note that even when using a servomotor below the allowable radial load, the following imbalance or the loads
may damage the bearings.
• The imbalance of parts that are connected to the shaft end
• Rotating loads generated by unmatched concentricity, when the bearing is attached to the extended shaft
end.

(1) 1500 min-1 Series

Servomotor Model Allowable Radial Load Allowable Thrust LR
SGMVH- Fr [N] Load [mm]
Fs [N]
2BA†B, 2BD†B 5880 2156 100
3ZA†B, 3ZD†B 6272 2156 100
3GA†B, 3GD†B 7448 2156 100
4ED†B 7840 2156 100
5ED†B 8428 2156 110

Servomotor Specifications and Dimensional Drawings

7ED†B 10100 2156 120
Note: Allowable radial and thrust loads shown above are the maximum values that could be
applied to the shaft end from motor torque or other loads.

(2) 800 min-1 Series

Servomotor Model Allowable Radial Load Allowable Thrust LR
SGMVH- Fr [N] Load [mm]
Fs [N]
2BA†D, 2BD†D 7448 2156 100
3ZA†D, 3ZD†D 8428 2156 110
3GA†D, 3GD†D 8428 2156 110
4ED†D 10100 2156 120
Note: Allowable radial and thrust loads shown above are the maximum values that could be
applied to the shaft end from motor torque or other loads.
LR

Fr 3

Fs

3-13
 3 Servomotor Specifications and Dimensional Drawings
3.3.3 Mechanical Tolerance

3.3.3 Mechanical Tolerance

The following table shows tolerances for the servomotor’s output shaft and installation area. For more details on
tolerances, refer to the dimensional drawing of the individual servomotor.

Tolerance T. I. R. (Total Indicator Reading) Reference Diagram

A Perpendicularity between the flange face and output shaft A : 0.05
B Mating concentricity of the flange O.D. B : 0.025

C Run-out at the end of the shaft C : 0.03

3.3.4 Direction of Servomotor Rotation

Positive rotation of the servomotor is counterclockwise when viewed from the load.

Positive direction

3.3.5 Impact Resistance

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts:
• Impact acceleration: 490 m/s2
• Impact occurrences: 2
Vertical

Horizontal shaft

Impact applied to the servomotor

3.3.6 Vibration Resistance

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration accelera-
tion in three directions: Vertical, side to side, and front to back. The amount of vibration the servomotor endures
will vary depending on the application. Check the vibration acceleration being applied to your servomotor for
each application.
• Vibration acceleration: 24.5 m/s2
Vertical
Front to back

Side to side Horizontal shaft

Impact applied to the servomotor

3-14
 3.3 Mechanical Specifications of Servomotors

3.3.7 Vibration Class

The vibration class 1for the servomotors at rated motor speed is as follows.
• Vibration class: V15

Position for measuring vibration

Servomotor Specifications and Dimensional Drawings

3

1 Vibration Class
TERMS
A vibration class of V15 indicates a total vibration amplitude of 15 μm maximum on the servomotor during rated rotation.

3-15
 3 Servomotor Specifications and Dimensional Drawings

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

(1) 22 kW (-2BA…B, -2BD…B)
Opening for motor lead when
terminal box plate is replaced.
658 ‫غ‬250
518 140 (Flange)
230 94 45 45
Encoder 144 116
0.05 A a
connector 20 5 b
b
a
Fan connector φ0.05 A

+0.011
+0.030

167
φ3

65
φ60

00

φ2
Cooling air

-0.046

250
0
φ230
‫غ‬250

d d Hanging bolt
c 0.03 c
Motor lead exit 149 (Encoder, fan) available
φ61 163 (Motor lead exit)
147 4-φ13.5
48 353 220

Units: mm
Approx. mass: 95 kg

• Shaft End Specifications

Specifications Shaft End
Straight, without key 140

R1.6
140

Straight, with key and 140

tap * 0
5 18 -0.043

7
11 -0.110

110
0

R1.6
140 M20 screw depth 40

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-16
 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

(2) 30 kW (-3ZA…B, -3ZD…B)

Opening for motor lead when
terminal box plate is replaced.
704
564 140
250
230 140 (Flange)

Encoder 190 116 45 45

0.05 A
connector 20 5
b a b
Fan connector a φ0.05 A

φ60 +0.011
+0.030

167
φ3

6 5
00

φ2
Cooling air

-0.046
0

250
φ230

250

d d
c 0.03 Hanging bolt
Motor lead exit 149 (Encoder, fan) c available
φ61
193 4-φ13.5 163 (Motor lead exit)
48 399 220

Units: mm

Servomotor Specifications and Dimensional Drawings

Approx. mass: 110 kg

• Shaft End Specifications

Specifications Shaft End
Straight, without key 140

R1.6
140

Straight, with key and 140

tap * 0
5 18 -0.043

7
11 -0.110

110
0

3
R1.6
140 M20 screw depth 40

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-17
 3 Servomotor Specifications and Dimensional Drawings

(3) 37 kW (-3GA…B, -3GD…B)

Opening for motor lead when
terminal box plate is replaced.
250
744 (Flange)
604 140 45 45

Encoder 230 180

0.05 A a b
connector 230 116
b a 20 5
Fan connector φ0.05 A

φ65 +0.011
+0.030

167
φ3

65
0

φ2
0
Cooling air

φ230 -0.046

250
0

250

d d Hanging bolt
c 0.03 149 (Encoder, fan) c available
Motor lead exit
φ61 233 4-φ13.5 163 (Motor lead exit)
48 439 220

Units: mm
Approx. mass: 120 kg

• Shaft End Specifications

Specifications Shaft End
Straight, without key 140

R1.2
140

Straight, with key and 140

tap * 0
5 18 -0.043

7
11 -0.110

110
0

R1.2
140 M20 screw depth 40

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-18
 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

(4) 45 kW (-4ED…B)
797
280
652 145 (Flange)
236 222 Opening for motor lead 30 30
Fan connector 437 35 when terminal box plate
0.05 A is replaced.
30 5 b
b a
a φ0.05 A
Encoder connector

+0.011
φ75 +0.030

210
φ3

00
5
Cooling air

φ3
0
φ250 -0.046
0

220

300

0.03 d c
c
d Motor lead exit 174 (Encoder, fan) Hanging bolt
4-φ17.5
φ61 277
201 (Motor lead exit) available
48 487
258

Units: mm
Approx. mass: 165 kg

• Shaft End Specifications

Servomotor Specifications and Dimensional Drawings

Specifications Shaft End
Straight, without key 145
5

R2.5
140

Straight, with key and 145

tap * 0
5 20 -0.052

5
-0.110

110
0

7.5
12

R2.5
140
M20 screw depth 40 3

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-19
 3 Servomotor Specifications and Dimensional Drawings

(5) 55 kW (-5ED…B)
842
280
697 145 (Flange)
236 267 Opening for motor lead 30 30
482 35 when terminal box plate
Fan connector 0.05 A is replaced.
30 5 b
b a
Encoder connector a φ0.05 A

φ75 +0.011
+0.030

210
00
φ3
5

φ3
Cooling air

0
φ250 -0.046

220
0

300

0.03 c
d
c
d 174 (Encoder, fan) Hanging bolt
Motor lead exit 4-φ17.5
φ61 322 201 (Motor lead exit) available
48 532 258

Units: mm
Approx. mass: 185 kg

• Shaft End Specifications

Specifications Shaft End
Straight, without key 145
5

R2.5
140

Straight, with key and 145

tap * 5 20
0
-0.052

5
-0.110

110
0

7.5
12

R2.5
M20 screw depth 40
140

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-20
 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

(6) 75 kW (-7ED…B)
973
280
798 175 (Flange)
236 357 Opening for motor lead 30 30
Fan connector 0.05 A when terminal box plate
572 35
is replaced. b
b Encoder 30 5 φ0.05 A a
connector a

φ85 +0.013
+0.035

210
φ3
5 0 00
Cooling air φ3

φ250 -0.046

220
0

300

0.03 d c
c Hanging bolt
d Motor lead exit 174 (Encoder, fan)
4-φ17.5 available
φ61 412 201 (Motor lead exit)
48 622 258

Units: mm
Approx. mass: 225 kg

• Shaft End Specifications

Specifications Shaft End

Servomotor Specifications and Dimensional Drawings

Straight, without key 175
5

R2.5
170

Straight, with key and 175

tap * 5 22
0
-0.052
14 -0.110

5 140
0

R2.5
170 M20screw depth 40

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-21
 3 Servomotor Specifications and Dimensional Drawings

3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)

(1) 22 kW (-2BA…D, -2BD…D)
Opening for motor lead when
terminal box plate is replaced.
794
250
654 140 (Flange)
230 230 45 45
Encoder 280 116
0.05 A a
connector 20 5 b
b
Fan connector a φ0.05 A

φ65 +0.011
+0.030

167
φ3

56
0

φ2
Cooling air

0
-0.046

250
0
φ230

250

d d Hanging bolt
c 0.03 149 (Encoder, fan) c available
Motor lead exit
φ61 283 4-φ13.5 163 (Motor lead exit)
48 489 220

Units: mm
Approx. mass: 135 kg

• Shaft End Specifications

Specifications Shaft End
Straight, without key 140
5
7

R1.2
140

Straight, with key and 140

tap * 5 0
18 -0.043
-0.110

7
110
0
11

R1.2
M20 screw depth 40
140

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-22
 3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)

(2) 30 kW (-3ZA…D, -3ZD…D)

842
280
697 145 (Flange)
236 267 Opening for motor lead 30 30
482 35 when terminal box plate
Fan connector 0.05 A is replaced.
30 5 b
b Encoder a
connector a φ0.05 A

φ75 +0.011
+0.030

210
φ3

00
Cooling air

φ3
0
-0.046

220
0
φ250

300

0.03 d c
c
d Motor lead exit 174 (Encoder, fan) Hanging bolt
4-φ17.5
φ61 322 201 (Motor lead exit) available
48 532 258

Units: mm
Approx. mass: 185 kg

• Shaft End Specifications

Servomotor Specifications and Dimensional Drawings

Specifications Shaft End
Straight, without key 145
5

R2.5
140

Straight, with key and 145

tap * 5 20
0
-0.052
12 -0.110

5
110
0

7.5

R2.5
M20 screw depth 40
140

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type). 3

3-23
 3 Servomotor Specifications and Dimensional Drawings

(3) 37 kW (-3GA…D, -3GD…D)

892
280
747 145 (Flange)
Opening for motor lead
236 317 30 30
when terminal box plate
532 35
Fan connector 0.05 A is replaced.
30 5 b
b Encoder a
connector a φ0.05 A

φ75 +0.011
+0.030

210
φ3

00
5

φ3
Cooling air

0
φ250 -0.046

220
0

300

d c
0.03
c
d Motor lead exit 174 (Encoder, fan) Hanging bolt
φ61 372 4-φ17.5
201 (Motor lead exit) available
48 582 258

Units: mm
Approx. mass: 205 kg

• Shaft End Specifications

Specifications Shaft End
Straight, without key 145
5

R2.5
140

Straight, with key and 145

tap * 5 20
0
-0.052
-0.110

5
110
0

7.5
12

R2.5
M20 screw depth 40
140

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-24
 3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)

(4) 45 kW (-4ED…D)
973
798 175
280
Opening for motor lead (Flange)
236 357
0.05 A when terminal box plate
Fan connector 572 35 30 30
is replaced.
b 30 5 φ0.05 A a b
Encoder
connector a

210
φ3

φ85 +0.013
+0.035
5 0 0 0
Cooling air φ3

φ250 -0.046

220
0

300

Motor lead exit 0.03 d c

φ61 c
d 412 174 (Encoder, fan) Hanging bolt
48 622 available
4-φ17.5 201 (Motor lead exit)
258
Units: mm
Approx. mass: 225 kg

• Shaft End Specifications

Servomotor Specifications and Dimensional Drawings

Specifications Shaft End
Straight, without key 175
5

R2.5
170

Straight, with key and 175

tap * 22
0
5 -0.052
14 -0.110

5
140
0

R2.5 M20 screw depth 40

170

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3

3-25
 4
SERVOPACK Specifications and
Dimensional Drawings

4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - 4-2

SERVOPACK Specifications and Dimensional Drawings

4.1.1 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.2 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - 4-3

4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - 4-7
4.3.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - 4-7
4.3.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.3 Three-phase 400 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - 4-9
4.3.4 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.5 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - 4-10
4.3.6 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.4 SERVOPACK’s Power Supply Capacities and Power Losses 4-11

4.5 SERVOPACK Overload Characteristics and Allowable Load
Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4
4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - 4-16
4.6.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - 4-16
4.6.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
4.6.3 Three-phase 400 V, 22 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
4.6.4 Three-phase 400 V, 30 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.6.5 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.6.6 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - 4-20
4.6.7 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4-1
 4 SERVOPACK Specifications and Dimensional Drawings
4.1.1 Three-phase 200 V

4.1 SERVOPACK Ratings and Specifications

CAUTION
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
range.
An incorrect input power supply may result in damage to the SERVOPACK. If the voltage exceeds these values, use
a step-down transformer so that the voltage will be within the specified range.

4.1.1 Three-phase 200 V

The value of the input power supply voltage is maximum 253 Vrms.
SERVOPACK SGDM- 2BADB 3ZADB 3GADB
Model SGDH- 2BAEB 3ZAEB 3GAEB
Max. Applicable Servomotor Capacity (kW) 22 30 37
Continuous Output Current (Arms) 110 148 195
Max. Output Current (Arms) 240 340 460
Input Power Supply Main Circuit Three-phase 200 to 230 VAC +10% to -15%, 50/60 Hz
Control Circuit Single-phase 200 to 220 VAC +10% to -15%, 50 Hz
Single-phase 200 to 230 VAC +10% to -15%, 60 Hz
Configuration Base-mounted

4.1.2 Three-phase 400 V

The value of the input power supply voltage is maximum 528 Vrms.
SERVOPACK Model SGDH- 2BDEB 3ZDEB 3GDEB 4EDEB 5EDEB 9ZDEB
Max. Applicable Servomotor Capacity (kW) 22 30 37 45 55 75
Continuous Output Current (Arms) 52.2 75 98 127 150 210
Max. Output Current (Arms) 120 170 230 280 340 580
Input Power Supply Main Circuit Three-phase 380 to 480 VAC +10% to -15%, 50/60 Hz
Control Circuit 24 VDC ±15%
For Control Actuator Single-phase 380 to 480 VAC, 50/60 Hz, 150 VA
Configuration Base-mounted

4-2
 4.1 SERVOPACK Ratings and Specifications

4.1.3 SERVOPACK Ratings and Specifications

Basic Control Method Three-phase full-wave rectification IGBT-PWM (sine-wave driven)
Specifi- Feedback Serial encoder: 17-bit (incremental/absolute)
cations
Condi- Ambient/Storage Temperature ∗1 0 to +55°C/-20 to +85°C
tions
Ambient/Storage Humidity 90% RH or less (with no condensation)
Vibration/Shock Resistance 4.9 m/s2/19.6 m/s2
Speed Perfor- Speed Control Range 1:5000 (The lowest speed of the speed control range is the speed at which
and mance the servomotor will not stop with a rated torque load.)
Torque Speed Load Regulation 0 to 100% load: ±0.01% or less (at rated speed)
Control Regula- Voltage Regulation Rated voltage ±10%: 0% (at rated speed)
Modes
tion ∗2 Temperature Regula- 25 ± 25°C: ±0.1% or less (at rated speed)
tion
Frequency Characteristics 100 Hz (at JL = JM)
Torque Control Tolerance ±2%
(Repeatability)
Soft Start Time Setting 0 to 10 s (Can be set individually for acceleration and deceleration.)
Input Speed Reference Voltage ∗3 ±6 VDC (Variable setting range: ±2 to ±10 VDC) at rated speed, input
Signals Reference voltage: maximum ±12 V (servomotor forward rotation with positive
Input reference)
Input Impedance About 14 kΩ

SERVOPACK Specifications and Dimensional Drawings

Circuit Time Constant About 47 μs
Torque Reference Voltage ∗3 ±3 VDC (Variable setting range: ±1 to ±10 VDC) at rated torque, input
Reference voltage: maximum ±12 V (positive torque reference with positive
Input reference)
Input Impedance About 14 kΩ
Circuit Time Constant About 47 μs
Contact Rotation Direction With P control signal
Speed Selection
Reference Speed Selection With forward/reverse external torque limit signal (speed 1 to 3 selection),
servomotor stops or another control method is used when both are OFF.
Position Perfor- Bias Setting 0 to 450 min-1 (setting resolution: 1 min-1)
Control mance
Feed Forward Compensation 0 to 100% (setting resolution: 1%)
Modes
Positioning Completed Width 0 to 250 reference units (setting resolution: 1 reference unit)
Setting
Input Reference Type Sign + pulse train, 90° phase difference 2-phase pulse train (phase A +
Signals Pulse phase B), or CCW + CW pulse train
Form Line driver (+5 V level), open collector (+5 V or +12 V level)
Frequency Maximum 500/200 kpps (line driver/open collector)
Control Signal Clear signal (input pulse form identical to reference pulse)
4
Built-in Open Collector Power +12 V (1kΩ resistor built in)
Supply ∗4
I/O Position Output Form Phase-A, -B, -C line driver
Signals Phase-S line driver (only with an absolute encoder)
Frequency Dividing Any
Ratio
Sequence Input Signal allocation can Servo ON, P control (or Control mode switching, forward/reverse motor
be modified. rotation by internal speed setting, zero clamping, reference pulse prohib-
ited), forward run prohibited (P-OT), reverse run prohibited (N-OT),
alarm reset, forward external torque limit, and reverse external torque
limit (or internal speed selection)
Sequence Output Fixed Output Servo alarm, 3-bit alarm codes
Signal allocation can Select three signals from the following: Positioning completed (speed
be modified. coincidence), servomotor rotation detection, servo ready, torque limit,
speed limit, brake interlock, warning, NEAR signal.

4-3
 4 SERVOPACK Specifications and Dimensional Drawings
4.1.3 SERVOPACK Ratings and Specifications

Internal Dynamic Brake Operated at main power OFF, servo alarm, servo OFF or overtravel.
Func- Overtravel Stop Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or coast to a
tions stop
Electronic Gear 0.01 ≤ B/A ≤ 100
Protection Overcurrent, overvoltage, low voltage, overload, regeneration error, main
circuit detection section error, heat sink overheated, no power supply,
overflow, overspeed, encoder error, overrun, CPU error, parameter error
LED Display Charge, Power, five 7-segment LEDs × 5 digits (built-in Digital Operator
functions)
CN5Analog Monitoring Analog monitor connector built in for monitoring speed, torque and other
reference signals.
Speed: 1 V/1000 min-1
Torque: 1 V/ rated torque
Position error pulses: 0.05 V/1 reference units or 0.05 V/100 reference
units
Communications Connected Devices Digital Operator (hand-held model), RS-422A port such as for a personal
computer (RS-232C ports under certain conditions)
1:N Communications Up to N = 14 for RS-422A ports
Axis Address Setting Set with parameters.
Functions Status display, parameter setting, monitor display, alarm trace-back dis-
play, JOG operations, speed/torque reference signal and other drawing
functions
Others Reverse rotation connection, zero-point search, automatic servomotor ID,
DC reactor connection terminal for harmonic suppressions
* 1. Use the SERVOPACK within the surrounding air temperature range. When enclosed in a control
panel, internal temperatures must not exceed the ambient temperature range.
* 2. Speed regulation is defined as follows:
No-load motor speed – Total load motor speed
Speed reguration = × 100%
Rated motor speed
The motor speed may change due to voltage variations or amplifier drift and changes in processing
resistance due to temperature variation. The ratio of speed changes to the rated speed represent speed
regulation due to voltage and temperature variations.
* 3. Forward is clockwise viewed from the non-load side of the servomotor. (Counterclockwise viewed
from the load and shaft end)
* 4. The built-in open collector power supply is not electrically insulated from the control circuit in the
SERVOPACK.

4-4
 4.2 SERVOPACK Installation

4.2 SERVOPACK Installation

The SGDM/SGDH SERVOPACKs can be mounted on a base. Incorrect installation will cause problems. Always
observe the following installation instructions.

WARNING
• After voltage resistance test, wait at least five minutes before servicing the product. (Refer to “Voltage Resis-
tance Test” on the following page.)
Failure to observe this warning may result in electric shock.
• Connect the main circuit wires, control wires, and main circuit cables of the motor correctly.
Incorrect wiring will result in failure of the SERVOPACK.

Storage Store the SERVOPACK within the following temperature range if it is stored with the power cable discon-
nected.
Temperature: -20 to 85°C
Humidity: 90% RH or less (with no condensation)
Installation Site Installation in a Control Panel
Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPACK
does not exceed 55°C.
Installation Near a Heating Unit

SERVOPACK Specifications and Dimensional Drawings

Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convec-
tion so the temperature around the SERVOPACK does not exceed 55 °C.
Installation Near a Source of Vibration
Install a vibration isolator on the SERVOPACK to avoid subjecting it to vibration.
Installation at a Site Exposed to Corrosive Gas
Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the elec-
tronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive
gas.
Other Situations
Do not install the SERVOPACK in hot, humid locations or locations subject to water, cutting oil, excessive
dust, iron powder, and radioactivity in the air.
Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure.
120 mm min.

50 mm min.
(ventilation exhaust) Air flow

POWER CN8

O
P
E
R
A
T
O
R
MODE/ SET DATA/
CN3 CN5

4
ෂ‫ޓ‬㒾
WARNING
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 SERVOPACK
SGDH- 㧖㧖㧖㧖
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ!
May cause
electric shock.

YASKAWA
Disconnect all power
and wait 5 min.
before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

480 460 440 400 380 0

V V V V V V
DUDVDWB1 B2 DC DC
24N 24P
CHARGE

- +1 +2 L1/R L2/S L3/T U V W

120 mm min.

50 mm min.
50 mm min.

50 mm min. (ventilation intake) Air flow

4-5
 4 SERVOPACK Specifications and Dimensional Drawings

Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.

Fan Fan 120 mm

min.

219'4 %0 219'4 %0 219'4 %0 219'4 %0

1 1 1 1
2 2 2 2
' ' ' '
4 4 4 4
# # # #
6 6 6 6
1 1 1 1
4 4 4 4
/1&'5'6 &#6# /1&'5'6 &#6# /1&'5'6 &#6# /1&'5'6 &#6#
%0 %0 %0 %0 %0 %0 %0 %0

ෂ‫ޓ‬㒾 ෂ‫ޓ‬㒾 ෂ‫ޓ‬㒾 ෂ‫ޓ‬㒾

WARNING WARNING

5'4812#%- 5'4812#%-
WARNING WARNING
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 5'4812#%- ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 5'4812#%- ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5

5 ) & *  㧖㧖㧖㧖 5 ) & *  㧖㧖㧖㧖

ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ

5 ) & *  㧖㧖㧖㧖 5 ) & *  㧖㧖㧖㧖

ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ
May cause May cause May cause May cause
electric shock. electric shock. electric shock. electric shock.

;#5-#9# ;#5-#9# ;#5-#9# ;#5-#9#

Disconnect all power Disconnect all power Disconnect all power Disconnect all power
and wait 5 min. and wait 5 min. and wait 5 min. and wait 5 min.
before servicing. before servicing. before servicing. before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ ᔅߕࠕ㧙ࠬ✢ࠍ ᔅߕࠕ㧙ࠬ✢ࠍ ᔅߕࠕ㧙ࠬ✢ࠍ

ធ⛯ߖࠃ ធ⛯ߖࠃ ធ⛯ߖࠃ ធ⛯ߖࠃ
Use proper Use proper Use proper Use proper
grounding techniques. grounding techniques. grounding techniques. grounding techniques.

&% &% &% &% &% &% &% &%

     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
%*#4)' %*#4)' %*#4)' %*#4)'

   .4 .5 .6 7 8 9    .4 .5 .6 7 8 9    .4 .5 .6 7 8 9    .4 .5 .6 7 8 9

100 mm min. 120 mm

50 mm min.
min.

SERVOPACK Orientation
Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward.
Cooling
As shown in the figure above, allow sufficient space around each SERVOPACK for cooling by cooling fans
or natural convection.
Side-by-side Installation
When installing SERVOPACKs side by side as shown in the figure above, allow at least 100 mm between
and at least 120 mm above and below each SERVOPACK. Allow the space for eyebolts on both sides of the
SERVOPACK.
Environmental Conditions in the Control Panel
Surrounding Air Temperature:0 to 55°C
Humidity: 90% RH or less
Vibration: 4.9 m/s2
Condensation and Freezing: None
Surrounding Air Temperature for Long-term Reliability: 45°C or less
Voltage Conduct voltage resistance tests under the following conditions.
Resistance Test • Voltage: 1500 Vrms AC for one minute
• Braking current: 100 mA
• Frequency: 50 or 60 Hz
• Voltage applied points
200 V series: Between the ground terminals and the point where terminals L1C/r, L3C/t, L1/R, L2/S, L3/T
are connected.
400 V series: Between the ground terminals and the point where terminals 480 V, 460 V, 440 V, 400 V, 380 V,
0 V, L1/R, L2/S, L3/T are connected.

4-6
 4.3 SERVOPACK Internal Block Diagrams

4.3 SERVOPACK Internal Block Diagrams

4.3.1 Three-phase 200 V, 22 kW, 30 kW Models
Regenerative resistor (option) DB resistor (option)
Three-phase B1 B2 DU
200 to 230 VAC R1 DV
(50/60 Hz) +1 DW
TRM1 to MC2 R S T
+2 MC1
1QF TRM6 From
detection U V W
200 TRM7 circuit
FIL VAC C1 to 200 VAC FAN
MC1 U U
+ C4
DCCT1
- V V
1KM L1/R M
From detection DCCT2
circuit W W
L2/S
R DCCT3
CHARGE
L3/T FU1 to 3
S
SA1 to SA3
T
-

L1C/r 3PWB
+5V 2PWB
㨪‫ ޓ‬ DC/DC Drive circuit Current sensor
Power for
L3C/t converter drive
㨪‫ޓ‬

SERVOPACK Specifications and Dimensional Drawings

Sensor circuit
200 VAC

FAN1 to FAN2
1CN 2CN
Control input
PG
Position/speed calculation circuit
Digital operator
3CN
(personal computer)
Servomotor
Power OFF Power ON 1KM

1KM Surge absorber

(5Ry) Open during servo alarm

4-7
 4 SERVOPACK Specifications and Dimensional Drawings
4.3.2 Three-phase 200 V, 37 kW Model

4.3.2 Three-phase 200 V, 37 kW Model

DB unit
Regenerative resistor (option) (option)
DB resistor
(option)
Three-phase B1 B2
R2
200 to 230 VAC
R1
(50/60 Hz)
+1
MC1 TRM1 to R S T
1QF +2 TRM6
U V W
200 TRM7
VAC C1 to
DU DV DW From detection FAN
FIL circuit U U
MC1 + C4
DCCT1
1KM
- V V
L1/R From detection M
DCCT2
circuit W W
L2/S
R DCCT3
CHARGE
L3/T FU1 to 3
S
SA1 to SA3
T
-

L1C/r 3PWB
+5V 2PWB
㨪‫ ޓ‬ DC/DC Drive circuit Current sensor
converter Power for
L3C/t 㨪‫ޓ‬ drive

Sensor circuit
200 VAC

FAN1 to FAN2
1CN 2CN
Control input
PG
Position/speed calculation circuit
Digital operator
3CN
(personal computer)
Servomotor
Power ON
Power OFF 1KM

1KM Surge absorber

(5Ry) Open during servo alarm

4-8
 4.3 SERVOPACK Internal Block Diagrams

4.3.3 Three-phase 400 V, 22 kW, 30 kW Models

Regenerative resistor

MC2
DU Dynamic
B1 B2 Regenerative resistor
+1 brake
DC reactor unit connection terminals DV
unit
connection +2 connection
terminals DW
C64
terminals
R1 MC2

C65 DM1 to DM3 TRM1 to TRM6

SA1 to SA3 MC1
L1/R C1 to C4
R
Varistor Varistor

Varistor

DBON DB24
+ + + DCCT1
Main circuit power MC1 - - - TRM7
U U
input terminals L2/S 200 VAC
S DCCT2 Motor
(380 to 480 VAC) CHARGE V V
+ + + connection
- - -
FU1 DCCT3 terminals
L3/T W W
T
FU4
C61 to C63
Ground terminal
-
Main circuit Voltage sensor
Relay drive Voltage sensor Gate drive
minus terminal gate drive 43CN
DB24
DBON

2PCB
Voltage sensor Interface

DC24P +5V

Control power 1PCB CN2

+ +24V
input terminals DC/DC Thermostat 1 Thermostat 2
- PG
(24 VDC) converter Current sensor
DC24N +15V
CN8
Battery

480V 215V 1 ASIC (PWM control, etc.)

2 FAN1 Panel operator CN1
460V PG output
Control power 3
input terminals 440V 4 Reference pulse
200 VAC input
(380 to 480 VAC) 400V 3PCB
CN10

SERVOPACK Specifications and Dimensional Drawings

A/D Speed/torque
380V CPU
reference input
(Position/speed calculation, etc.)
0V
I/O Sequence input
(Option unit)
E 0 D/A
600V 4A

Ground terminal CN5 CN3

Analog monitor Digital operator

4.3.4 Three-phase 400 V, 37 kW Model

Regenerative resistor

KM
DU
B1 B2 Regenerative resistor
DC reactor +1
unit connection terminals DV
connection R2
+2
terminals DW
C64 R1 KM

C65 DM1 to DM3 TRM1 to TRM6

SA1 to SA3 MC1
L1/R C1 to C4
R
Varistor Varistor

Varistor

DBON DB24
+ + + DU DV DW DCCT1
Main circuit power MC1 - - - TRM7
U U
input terminals L2/S 200 VAC
S DCCT2 Motor
(380 to 480 VAC) CHARGE V V
+ + + connection
- - -
FU1 DCCT3 terminals
L3/T W W
T
FU4
C61 to C63
Ground terminal
Main circuit -
minus terminal Relay drive Voltage sensor Voltage sensor Gate drive
gate drive 43CN
DB24

4
DBON

2PCB
Voltage sensor Interface

DC24P +5V
Control power 1PCB CN2
+ +24V
input terminals DC/DC Thermostat 1 Thermostat 2 Current sensor PG
(24 VDC) - converter
DC24N +15V
CN8
Battery

480V 215V 1 ASIC (PWM control, etc.)

2 FAN1 Panel operator CN1
460V PG output
3
Control power 440V 4 FAN2 Reference pulse
input terminals 5 input
(380 to 480 VAC) 400V 3PCB
6 CN10 A/D Speed/torque
200 VAC
380V CPU reference input
(Position/speed calculation, etc.)
0V
I/O Sequence input
(Option unit)
E 0 D/A
600V 4A

Ground terminal
CN5 CN3

Analog monitor Digital operator

4-9
 4 SERVOPACK Specifications and Dimensional Drawings
4.3.5 Three-phase 400 V, 45 kW, 55 kW Models

4.3.5 Three-phase 400 V, 45 kW, 55 kW Models

Regenerative resistor

KM
DU
B1 B2 Regenerative resistor
DC reactor +1
unit connection terminals DV
connection R2
+2
terminals DW
C64 R1 KM

C65 DM1 to DM3 TRM1 to TRM6

SA1 to SA3 MC1
L1/R C1 to C4
R
Varistor Varistor

Varistor

DBON DB24
+ + + DU DV DW DCCT1
MC1 - - - TRM7
U U
Main circuit power L2/S 200 VAC
input terminals S DCCT2 Motor
CHARGE V V
(380 to 480 VAC) + + + connection
- - - DCCT3 terminals
L3/T FU1
T W W
FU4
C61 to C63
Ground terminal
Main circuit -
Relay drive Voltage sensor Voltage sensor Gate drive
minus terminal gate drive 43CN
DB24
DBON

2PCB
Voltage sensor Interface

DC24P +5V

Control power 1PCB CN2

+ DC/DC +24V
input terminals Thermostat 1 Thermostat 2 Current sensor
- converter PG
(24 VDC)
DC24N +15V
CN8
Battery

480V 215V 1 ASIC (PWM control, etc.)

2 FAN1 Panel operator CN1
460V PG output
3
Control power 440V 4 FAN2 Reference pulse
input terminals 5 input
400V 3PCB
(380 to 480 VAC) 6 CN10 A/D Speed/torque
200 VAC CPU
380V reference input
(Position/speed calculation, etc.)
0V
I/O Sequence input
(Option unit)
E 0 D/A
600V 4A

Ground terminal CN5 CN3

Analog monitor Digital operator

4.3.6 Three-phase 400 V, 90 kW Model

Regenerative resistor
KM
DU
B1 B2 DV
Regenerative resistor DW
+1 unit connection terminals
DC reactor
connection +2
terminals R1
TRM1 to TRM12
DM1 to DM6
L1/R SA1 to SA3 MC1 C1 to C6 TRM13
R DU DV DW DBON DB24
+ + + U DCCT1 U
Main circuit power 200 VAC MC1 - - -
L2/S Motor
input terminals S V DCCT2 V
CHARGE
+ + +
connection
(380 to 480 VAC) terminals
- - -
L3/T W DCCT3 W
T
FU2 FU1
- Ground terminal
Main circuit
minus terminal Voltage sensor
Relay drive Voltage sensor
gate drive
Gate drive
2PCB
Voltage sensor
Interface

DC24P +5 V
Control power + DC/DC +24 V
input terminals Thermostat 1PCB
DC24N - converter +15 V
(24 VDC) Current sensor
CN2
PG

CN8
480 V Battery
ASIC (PWM control, etc.)
FAN1
460 V
CN1
Panel operator PG output
440 V
Control power
Reference pulse
input terminals
400 V FAN2
input
(380 to 480 VAC)
CPU Speed/torque
380 V 3PCB A/D
reference input
CN10 (Position/speed
calculation, etc.) I/O Sequence input
0V
200 VAC D/A
FU5 (Option unit)

Ground terminal

CN5 CN3

Analog monitor Digital operator

4-10
 4.4 SERVOPACK’s Power Supply Capacities and Power Losses

4.4 SERVOPACK’s Power Supply Capacities and Power Losses

The following table shows SERVOPACK’s power supply capacities and power losses at the rated output.

Output Control
Total
Current Main Circuit Circuit
Main Circuit Power SERVOPACK Power
(Effective Power Loss Power
Supply Model Loss
Value) W Loss
W
A W
Three-phase 200 VAC SGDM-2BADB 110 670 742
72
SGDM-3ZADB 148 980 1052
SGDM-3GADB 195 1700 120 1820
SGDH-2BAEB 110 670 742
72
SGDH-3ZAEB 148 980 1052
SGDH-3GAEB 195 1700 120 1820
Three-phase 400 VAC SGDH-2BDEB 52.2 650 770
SGDH-3ZDEB 72 970 1090
SGDH-3GDEB 90 1140 1260
120
SGDH-4EDEB 127 1440 1560
SGDH-5EDEB 150 1720 1840
SGDH-9ZDEB 210 2500 2620

SERVOPACK Specifications and Dimensional Drawings

4-11
 4 SERVOPACK Specifications and Dimensional Drawings
4.5.1 Overload Characteristics

4.5 SERVOPACK Overload Characteristics and Allowable Load

Moment of Inertia
4.5.1 Overload Characteristics
SERVOPACKs have a built-in overload protective function that protects the SERVOPACKs and servomotors
from overload. Allowable power for the SERVOPACKs is limited by the overload protective function as shown
in the figure below.
The overload detection level is set under hot start1 conditions at a servomotor surrounding air temperature of
40°C.
10000

1000

Operating time (s) 100

10

1
Rated current + Maximum current
Rated current Approx. Maximum current
2

Motor current

1 Hot Start
TERMS
A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally
saturated.

4-12
 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

4.5.2 Starting and Stopping Time

The motor starting time (tr) and stopping time (tf) under a constant load are calculated using the following for-
mulas. Motor viscous torque and friction torque are ignored.
2 π  nM (JM + JL)
Starting time: tr = [s]
60  (TPM - TL)

2 π  nM (JM + JL)
Stopping time: tf = [s]
60  (TPM + TL)

nM: Motor speed (min-1)

JM: Motor rotor moment of inertia (kgxm2)
JL: Load converted to shaft moment of inertia (kgxm2)
TPM: Instantaneous peak motor torque when combined with a SERVOPACK (Nxm)
TL: Load torque (Nxm)

Calculate the torque from the motor current using servomotor torque constant × motor current (effective value).
The following figure shows the motor torque and motor speed timing chart.

SERVOPACK Specifications and Dimensional Drawings

TPM

Motor torque
TL

(current amplitude) Time

tr tf
TPM
nM

Motor speed Time

4-13
 4 SERVOPACK Specifications and Dimensional Drawings
4.5.3 Load Moment of Inertia

4.5.3 Load Moment of Inertia

The larger the load moment of inertia, the worse the movement response of the load.
The size of the load moment of inertia (JL) allowable when using a servomotor is limited to within 5 times the
moment of inertia of each servomotor (JM).
An overvoltage alarm is likely to occur during deceleration if the load moment of inertia exceeds the 5 times of
load moment of inertia. Take one of the following steps if this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
If the alarm cannot be cleared, contact your Yaskawa Application Engineering Department.

(1) Allowable Load Moment of Inertia at the Motor Shaft

The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.
Allowable Load Moment of Inertia
Servomotor Model
（×10-4 kg·m2 ）
SGMVH-2BA†B 1830
SGMVH-3ZA†B 2490
SGMVH-3GA†B 2975
SGMVH-2BD†B 1830
1500 min-1 Series SGMVH-3ZD†B 2490
SGMVH-3GD†B 2975
SGMVH-4ED†B 5355
SGMVH-5ED†B 6450
SGMVH-7ED†B 9020
SGMVH-2BA†D 3525
SGMVH-3ZA†D 6450
SGMVH-3GA†D 7820
800 min-1 Series SGMVH-2BD†D 3525
SGMVH-3ZD†D 6450
SGMVH-3GD†D 7820
SGMVH-4ED†D 9020

4-14
 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

(2) Overhanging Loads

A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. Fig.
4.1 shows a typical example of such a load.
• DO NOT use the servomotor with the Vertical Axis Motor Drive without Counterweight

Servomotor

• DO NOT use the servomotor with the Feeding Motor Drive

Tension

SERVOPACK Specifications and Dimensional Drawings

Servomotor
Servomotor rotated repeatedly at a
constant speed to maintain the tension. Servomotor

Fig. 4.1 Examples of Overhanging Loads

• Never operate servomotors with an overhanging load. Doing so will cause the SERVOPACKs’ regenerative
IMPORTANT
brake to be applied continuously and the regenerative energy of the load may exceed the allowable range
causing damage to the SERVOPACK.
• The regenerative brake capacity of the SGDH SERVOPACKs is rated for short-term operation approxi-
mately equivalent to the time it takes to decelerate to a stop.

4-15
 4 SERVOPACK Specifications and Dimensional Drawings
4.6.1 Three-phase 200 V, 22 kW, 30 kW Models

4.6 SERVOPACK Dimensional Drawings

4.6.1 Three-phase 200 V, 22 kW, 30 kW Models
(1) SGDM-2BADB, -3ZADB
12.5

589 Ventilation
500

167 24.5
475

CN3
14.5×2=29
112

13 103 47 54
DU DV DW B1 B2

L1C/r L3C/t CN1 CN2

59

-
63
57
+1 +2 L1/R L2/S L3/T U V W
18
12.5

40 40
70 45×8=360 70 174
25 450 25 285
500 359
Units: mm
Approx.mass: 55 kg

(2) SGDH-2BAEB, -3ZAEB

12.5

589 Ventilation
500

167 24.5
475

CN3
05

14.5×2=29
112
CN6A
13 103 47 54 CN6B
CN4
DU DV DW B1 B2

L1C/r L3C/t CN1 CN2

59

-
63
57

+1 +2 L1/R L2/S L3/T U V W

18
12.5

40 40
70 45×8=360 70 174
25 450 25 285
500 359
Units: mm
Approx.mass: 55 kg

4-16
 4.6 SERVOPACK Dimensional Drawings

4.6.2 Three-phase 200 V, 37 kW Model

(1) SGDM-3GADB
12.5

639 Ventilation
500
475

CN3
167 24.5
14.5×2=29
112
86 8 13 155 47 54
&$ &$
CN1 CN2
10  DU DV DW B1 B2

L1C/r L3C/t

63
57

   .4 .5 .6 7 8 9

57
12.5

18

SERVOPACK Specifications and Dimensional Drawings

20 40 203
95 45×8=360 95 285
25 500 25 359
550 Units: mm
Approx.mass: 60 kg

(2) SGDH-3GAEB
12.5

639 Ventilation

167 24.5
475
500

14.5×2=29 CN3 4
05

112
86 8
CN6A
13 155 47 54
CN1 CN2 CN6B
DB DB
CN4
ON 24 DU DV DW B1 B2

.%T .%V
- +1 +2 L1/R L2/S L3/T U V W
63
57

57
12.5

18

20 40 203

95 45˜8=360 95 285

25 500 25 359

550 㧔20㧕 Units: mm

Approx.mass: 60 kg

4-17
 4 SERVOPACK Specifications and Dimensional Drawings
4.6.3 Three-phase 400 V, 22 kW Model

4.6.3 Three-phase 400 V, 22 kW Model

(1) SGDH-2BDEB
12.5

459 Ventilation

CN3
475
500

NS100

12 CN6A

142
167
12×4=48 CN6B
107 46.5 74
CN4
57 5×8=40
CN1 CN2

480460440400380 0 DU DV DW B1 B2 DC DC

116
V V V V V V 24N 24P
65

- +1 +2 L1/R L2/S L3/T U V W

12.5

15

47 152
8

64 24.5×8=196
20 128 215
25 320 㧔25㧕
370 302
306
348
Units: mm
Approx.mass: 40 kg

4-18
 4.6 SERVOPACK Dimensional Drawings

4.6.4 Three-phase 400 V, 30 kW Model

(1) SGDH-3ZDEB
459 Ventilation
12.5

CN3
475
500

NS100

12
186
14.5 CN6A

142
151
12×2=24 46.5 74 CN6B
107
× =
57 8 5 40 CN4
CN1 CN2

480 460 440 400 380 0 DC DC

V V V V V V DU DV DW B1 B2 24N 24P

116

SERVOPACK Specifications and Dimensional Drawings

65

− +1 +2 L1/R L2/S L3/T U V W

15

27×8=216 152
8

52 20 47
12.5

25 320 (25) 128 215

370 302
306
348
Units: mm
Approx.mass: 40 kg

4-19
 4 SERVOPACK Specifications and Dimensional Drawings
4.6.5 Three-phase 400 V, 37 kW Model

4.6.5 Three-phase 400 V, 37 kW Model

(1) SGDH-3GDEB
Ventilation
12.5

589

1 2 3 4

12
294
CN3
NS100
475

14.5
259
12×2=24 CN6A

142
215
CN6B
8
197 46.5 74
149 8×5=40 CN4
CN1 CN2
40 25
DB DB DC DC
480 460 440 400 380 0
V V V V V V ON 24 DU DV DW B1 B2 24N 24P

116
17.5
65
56.5

- +1 +2 L1/R L2/S L3/T U V W

12.5

70 45×8=360 174
25 450 㧔25㧕 128 215
500 302
306
348
Units: mm
Approx.mass: 60 kg

4.6.6 Three-phase 400 V, 45 kW, 55 kW Models

(1) SGDH-4EDEB, -5EDEB
12.5

639 Ventilation

1 2 3 4
475

12
353 CN3 NS100

19
311
12×2=24 CN6A
142

265
8 CN6B
247 46.5 74
199 8×5=40 CN4
CN1 CN2
40 25
DC DC
480 460 440 400380 0 DB DB DU DV DW B1 B2
116

V V V V V V ON 24 24N 24P
17.5
56.5
65

- +1 +2 L1/R L2/S L3/T U V W

12.5

122 45×8=360 204

25 500 㧔25㧕 128 215
302
550
306
348
Units: mm
Approx.mass: 65 kg

4-20
 4.6 SERVOPACK Dimensional Drawings

4.6.7 Three-phase 400 V, 90 kW Model

(1) SGDH-9ZDEB
4×M12 mounting holes
611

1060
1100

SERVOPACK Specifications and Dimensional Drawings

395
20

24 450 24
498
Units: mm
Approx.mass: 130 kg

4-21
 5
Specifications and Dimensional
Drawings of Cables and
Peripheral Devices

Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.1 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - 5-2
5.1.1 Wiring Cables to Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.3 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - 5-6
5.2.1 Encoder Cable with Connectors on Both Ends - - - - - - - - - - - - - - - - - 5-6
5.2.2 Cable with Loose Wire at Encoder End - - - - - - - - - - - - - - - - - - - - - - 5-7
5.3 Connectors and Cables for Encoder Signals - - - - - - - - - - - - 5-8
5.4 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - 5-10
5.4.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.5 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.5.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - - 5-13
5.5.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
5.5.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.5.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - 5-16
5.5.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.5.6 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
5.5.7 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - 5-19
5.5.8 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
5.5.9 Surge Absorber - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.5.10 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.5.11 Dynamic Brake (DB) Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5
5.5.12 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5.13 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - 5-39
5.5.14 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
5.5.15 MECHATROLINK Application Module - - - - - - - - - - - - - - - - - - - - - 5-41
5.5.16 DeviceNet Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.5.17 PROFIBUS-DP Application Module - - - - - - - - - - - - - - - - - - - - - - - 5-43
5.5.18 Fully-closed Application Module - - - - - - - - - - - - - - - - - - - - - - - - - 5-44

5-1
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.1.1 Wiring Cables to Main Circuit Terminals

5.1 SERVOPACK Main Circuit Wire Size

IMPORTANT 1. Wire sizes were selected for three cables per bundle at 40°C surrounding air temperature with the rated
current.
2. Use cable with a minimum withstand voltage of 600 V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cables under high surrounding air or panel temperatures where normal vinyl cables
will rapidly deteriorate.
5. Use cables within the allowable moment of inertia.
6. Do not use cables under continuous regenerative state.

5.1.1 Wiring Cables to Main Circuit Terminals

Use the following UL-certified copper cables (rated 75°C, 600 V) and round crimped terminals (UL standard
compliant) when connecting cables to main circuit terminals. Crimp the terminal with the recommended crimp-
ing tool. Yaskawa recommends the crimped terminals manufactured by J.S.T. Mfg. Co., Ltd.
Cable Size Terminal Screw Crimped Terminal Tightening Torque
mm2 Size Type Nxm
(AWG)
1.25 M3.5 R1.25-3.5 0.8 to 0.88
(16) M4 R1.25-4 1.2 to 1.5
2 M4 R2-4 1.2 to 1.5
(14) M5 R2-5 2.0 to 2.5
3.5/5.5 M4 R5.5-4 1.2 to 1.5
(12/10) M5 R5.5-5 2.0 to 2.5
M6 R5.5-6 4.0 to 4.6
8 M4 8-4 1.2 to 1.5
(8) M5 R8-5 2.0 to 2.5
14 M5 R14-5 2.0 to 2.5
(6) M8 R14-8 9.0 to 11.0
22 M6 R22-6 4.0 to 4.6
(4) M8 R22-8 9.0 to 11.0
M10 R22-10 17.5 to 20.5
30/38 M6 38-6 4.0 to 4.6
(3/2) M8 R38-8 9.0 to 11.0
M10 R38-10 17.5 to 20.5
50/60 M8 R60-8 9.0 to 11.0
(1/0/2/0) M10 R60-10 17.5 to 20.5
80
M10 R80-10 17.5 to 20.5
(3/0)

5-2
 5.1 SERVOPACK Main Circuit Wire Size

5.1.2 Three-phase 200 V

SERVOPACK Applicable Cable Recommended
Model Terminal Tightening Torque Range Cable Size
Terminal Symbol
SGDM-††ADB Screw Size Nxm mm2 mm2
SGDH-††AEB (AWG) (AWG)
L1/R, L2/S, L3/T 30 to 80 30
M10 17.5 to 20.5
-, +1, +2 (3 to 3/0) (3)
30 to 60 38
U, V, W M8 9.0 to 11.0
(3 to 2/0) (2)
0.75 to 2 1.25
L1C/r, L3C/t M4 1.2 to 1.5
(18 to 14) (16)
2B
14 to 38 14
B1, B2 M8 9.0 to 11.0
(6 to 2) (6)
3.5 to 8 3.5
DU, DV, DW M5 2.0 to 2.5
(12 to 8) (12)
30 to 60 38
M8 9.0 to 11.0

Specifications and Dimensional Drawings of Cables and Peripheral Devices

(3 to 2/0) (2)
L1/R, L2/S, L3/T 30 to 80 50
M10 17.5 to 20.5
-, +1, +2 (3 to 3/0) (1/0)
30 to 60 60
U, V, W M8 9.0 to 11.0
(3 to 2/0) (2/0)
0.75 to 2 1.25
L1C/r, L3C/t M4 1.2 to 1.5
(18 to 14) (16)
3Z
14 to 38 14
B1, B2 M8 9.0 to 11.0
(6 to 2) (6)
3.5 to 8 3.5
DU, DV, DW M5 2.0 to 2.5
(12 to 8) (12)
30 to 60 60
M8 9.0 to 11.0
(3 to 2/0) (2/0)
L1/R, L2/S, L3/T 30 to 80 60
M10 17.5 to 20.5
-, +1, +2 (3 to 3/0) (2/0)
30 to 80 80
U, V, W M10 17.5 to 20.5
(3 to 3/0) (3/0)
0.75 to 2 1.25
L1C/r, L3C/t M4 1.2 to 1.5
(18 to 14) (16)
14 to 38 22
3G B1, B2 M8 9.0 to 11.0
(6 to 2) (4)
3.5 to 8 5.5
DU, DV, DW M5 2.0 to 2.5
(12 to 8) (10)
0.75 to 2 1.25
DBON, DB24 M3.5 0.8 to 0.88
(18 to 14) (16)

M8 9.0 to 11.0
30 to 60 60 5
(3 to 2/0) (2/0)

5-3
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.1.3 Three-phase 400 V

5.1.3 Three-phase 400 V

Applicable Cable Recommended
SERVOPACK Range Cable Size
Terminal Tightening Torque
Model Terminal Symbol
Screw Size Nxm mm2 mm2
SGDH-††DEB
(AWG) (AWG)
L1/R, L2/S, L3/T 14 to 38 14
M8 9.0 to 11.0
-, +1, +2 (6 to 2) (6)
14 to 38 14
U, V, W M8 9.0 to 11.0
(6 to 2) (6)
0.75 to 2 1.25
DC24P, DC24N M4 1.2 to 1.5
(18 to 14) (16)
2 to 5.5 5.5
2B B1, B2 M4 1.2 to 1.5
(14 to 10) (10)
0 V, 380 V, 400 V 0.75 to 2 1.25
M3.5 0.8 to 0.88
440 V, 460 V, 480 V (18 to 14) (16)
2 to 5.5 2
DU, DV, DW M4 1.2 to 1.5
(14 to 10) (14)
14 to 38 14
M8 9.0 to 11.0
(6 to 2) (6)
L1/R, L2/S, L3/T 14 to 38 14
M8 9.0 to 11.0
-, +1, +2 (6 to 2) (6)
14 to 38 22
U, V, W M8 9.0 to 11.0
(6 to 2) (4)
0.75 to 2 1.25
DC24P, DC24N M4 1.2 to 1.5
(18 to 14) (16)
8 to 14 8
3Z B1, B2 M5 2.0 to 2.5
(8 to 6) (8)
0 V, 380 V, 400 V 0.75 to 2 1.25
M3.5 0.8 to 0.88
440 V, 460 V, 480 V (18 to 14) (16)
2 to 5.5 2
DU, DV, DW M4 1.2 to 1.5
(14 to 10) (14)
22 to 38 22
M8 9.0 to 11.0
(4 to 2) (4)
L1/R, L2/S, L3/T 22 to 80 22
M10 17.5 to 20.5
-, +1, +2 (4 to 3/0) (4)
30 to 80 30
U, V, W M10 17.5 to 20.5
(3 to 3/0) (3)
0.75 to 2 1.25
DC24P, DC24N M4 1.2 to 1.5
(18 to 14) (16)
8 to 14 8
B1, B2 M5 2.0 to 2.5
(8 to 6) (8)
3G
0 V, 380 V, 400 V 0.75 to 2 1.25
M3.5 0.8 to 0.88
440 V, 460 V, 480 V (18 to 14) (16)
0.75 to 5.5 3.5
DU, DV, DW M5 1.2 to 1.5
(18 to 10) (12)
0.75 to 2 1.25
DBON, DB24 M3.5 0.8 to 0.88
(18 to 14) (16)
30 to 38 30
M8 9.0 to 11.0
(3 to 2) (3)

5-4
 5.1 SERVOPACK Main Circuit Wire Size

Applicable Cable Recommended

SERVOPACK Range Cable Size
Terminal Tightening Torque
Model Terminal Symbol
Screw Size Nxm mm2 mm2
SGDH-††DEB
(AWG) (AWG)
L1/R, L2/S, L3/T 30 to 80 30
M10 17.5 to 20.5
-, +1, +2 (3 to 3/0) (3)
30 to 80 38
U, V, W M10 17.5 to 20.5
(3 to 3/0) (2)
0.75 to 2 1.25
DC24P, DC24N M4 1.2 to 1.5
(18 to 14) (16)
14 to 22 14
B1, B2 M6 4.0 to 4.6
(6 to 4) (6)
4E
0 V, 380 V, 400 V 0.75 to 2 1.25
M3.5 0.8 to 0.88
440 V, 460 V, 480 V (18 to 14) (16)
2 to 5.5 3.5
DU, DV, DW M4 1.2 to 1.5
(14 to 10) (12)
0.75 to 2 1.25

Specifications and Dimensional Drawings of Cables and Peripheral Devices

DBON, DV24 M3.5 0.8 to 0.88
(18 to 14) (16)
38 to 50 38
M8 9.0 to 11.0
(2 to 1/0) (2)
L1/R, L2/S, L3/T 30 to 80 38
M10 17.5 to 20.5
-, +1, +2 (3 to 3/0) (2)
30 to 80 50
U, V, W M10 17.5 to 20.5
(3 to 3/0) (1/0)
0.75 to 2 1.25
DC24P, DC24N M4 1.2 to 1.5
(18 to 14) (16)
14 to 22 14
B1, B2 M6 4.0 to 4.6
(6 to 4) (6)
5E
0 V, 380 V, 400 V 0.75 to 2 1.25
M3.5 0.8 to 0.88
440 V, 460 V, 480 V (18 to 14) (16)
2 to 5.5 3.5
DU, DV, DW M4 1.2 to 1.5
(14 to 10) (12)
0.75 to 2 1.25
DBON, DB24 M3.5 0.8 to 0.88
(18 to 14) (16)
50 to 60 50
M8 9.0 to 11.0
(1/0 to 2/0) (1/0)
L1/R, L2/S, L3/T 30 to 80 80
M10 17.5 to 20.5
-, +1, +2 (6 to 3/0) (3/0)
30 to 80 50
U, V, W M10 17.5 to 20.5
(6 to 3/0) (1/0)
0.75 to 2 1.25
DC24P, DC24N M4 1.2 to 1.5
(18 to 14) (16)
30 to 50 30
5
B1, B2 M8 9.0 to 11.0
(3 to 1/0) (3)
9Z
0 V, 380 V, 400 V 0.75 to 2 1.25
M3.5 0.8 to 0.88
440 V, 460 V, 480 V (18 to 14) (16)
5.5 to 14 5.5
DU, DV, DW M6 4.0 to 4.6
(10 to 6) (10)
0.75 to 2 1.25
DBON, DB24 M3.5 0.8 to 0.88
(18 to 14) (16)
50 to 60 50
M8 9.0 to 11.0
(1/0 to 2/0) (1/0)

5-5
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.2.1 Encoder Cable with Connectors on Both Ends

5.2 Encoder Cables for CN2 Connector

When assembling the encoder cable, refer to 5.3 Connectors and Cables for Encoder Signals.

5.2.1 Encoder Cable with Connectors on Both Ends

(1) Cable With a SERVOPACK Connector and Encoder Straight Plug

Cable Length
Cable Type Dimensional Drawing
(L)
JZSP-CMP21-03 3m SERVOPACK end Encoder end
㧸
JZSP-CMP21-05 5m Finished dimension
φ6.5 mm
JZSP-CMP21-10 10 m
Crimped connector MS3106B20́29S
JZSP-CMP21-15 15 m (Molex Japan Co., Ltd.) (DDK Ltd.)
MS3057́12A
JZSP-CMP21-20 20 m Cable clamp

(2) Cable With a SERVOPACK Connector and Encoder L-shaped Plug

Cable Length
Cable Type Dimensional Drawing
(L)
JZSP-CMP22-03 3m SERVOPACK end Encoder end
L
JZSP-CMP22-05 5m Finished dimension
φ6.5 mm
JZSP-CMP22-10 10 m
Crimped connector MS3108B20́29S
JZSP-CMP22-15 15 m (Molex Japan Co., Ltd.) (DDK Ltd.)
MS3057́12A
JZSP-CMP22-20 20 m Cable clamp

5-6
 5.2 Encoder Cables for CN2 Connector

5.2.2 Cable with Loose Wire at Encoder End

(1) Cable Type
Cable Length
Cable Type Dimensional Drawing
(L)
JZSP-CMP23-03 3m SERVOPACK end Encoder end
L 60 mm
JZSP-CMP23-05 5m 1
Finished dimension 2
10 m φ6.5 mm
JZSP-CMP23-10 3
4
JZSP-CMP23-15 15 m Crimped connector
5
6
(Molex Japan Co., Ltd.)
JZSP-CMP23-20 20 m Wire markers

(2) Encoder-end Connector

Contact Yaskawa Controls Co., Ltd.

Plug Cable Clamp

Connector on
(Manufactured by DDK Ltd.) (Manufactured by

Specifications and Dimensional Drawings of Cables and Peripheral Devices

Servomotor
Type Model DDK Ltd.)
Straight MS3106B20-29S
MS3102A20-29P MS3057-12A
L-shaped MS3108B20-29S

Cable Cable
Plug clamp Cable Plug clamp Cable

(3) Encoder Plug Connector Pin Arrangement

M A
L N B
T P C
K
J S R D
E
H G F

Absolute Encoder Connection Specifications Incremental Encoder Connection Specifications

Pin No. Signal Lead Color Pin No. Signal Lead Color
A − − A − −
B − − B − −
C PS Blue C PS Blue
D /PS White/blue D /PS White/blue
E − − E − −
F − − F − −
5
G PG0V Inner shield G PG0V Inner shield
H PG5V Red H PG5V Red
J FG (Frame ground) Outer shield J FG (Frame ground) Outer shield
K − − K − −
L − − L − −
M − − M − −
N − − N − −
P − − P − −
R − − R − −
S BAT(−) White/orange S − −
T BAT(+) Orange T − −

5-7
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.3 Connectors and Cables for Encoder Signals

(1) Cable Type

Cable Type Cable Length

JZSP-CMP29-05 5m
JZSP-CMP29-10 10 m
JZSP-CMP29-15 15 m
JZSP-CMP29-20 20 m
JZSP-CMP29-30 30 m
JZSP-CMP29-40 40 m
JZSP-CMP29-50 50 m

(2) SERVOPACK-end Connector for CN2

Units: mm
Model Manufacturer Dimensional Drawing

Plug connector (Soldered)

18.4

Molex Japan Co.,

11

JZSP-CMP9-1
Ltd.
33
37.4

(3) Encoder-end Connector

Connector on Encoder-end Connector Type

Servomotor Straight Plug * L-shaped Plug * Cable Clamp *
MS3102A20-29P MS3106B20-29S MS3108B20-29S MS3057-12A

* Manufactured by DDK Ltd.

5-8
 5.3 Connectors and Cables for Encoder Signals

(4) Encoder Cable Specifications

Cable Type JZSP-CMP29-††

Basic T/20276-SP (SP)
Specifications AWG26 × 2P, AWG16 × 1P
Finished
φ7.0 mm
Dimension

Red
Internal Configuration
and Lead Colors Orange Blue

Orange/ Blue/
white white

Specifications and Dimensional Drawings of Cables and Peripheral Devices

Yaskawa Standard
Specifications 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m
(Standard Length)

(5) Encoder Plug Connector Pin Arrangement

M A
L N B
T P C
K
D
J S R E
H G F

Absolute Encoder Connection Specifications Incremental Encoder Connection Specifications

Pin No. Signal Lead Color Pin No. Signal Lead Color
A − − A − −
B − − B − −
C PS Blue C PS Blue
D /PS White/blue D /PS White/blue
E − − E − −
F − − F − −
G PG0V Inner shield G PG0V Inner shield
H PG5V Red H PG5V Red
J FG (Frame ground) Outer shield J FG (Frame ground) Outer shield
K − − K − −
L − − L − −
M − − M − − 5
N − − N − −
P − − P − −
R − − R − −
S BAT(−) White/orange S − −
T BAT(+) Orange T − −

5-9
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.4.1 Standard Cables

5.4 I/O Signal Cables for CN1 Connector

5.4.1 Standard Cables
For the connection diagram, refer to 5.4.3 Connection Diagram.
(1) Cable Types

Cable Type Cable Length (L)

JZSP-CKI01-1 1m
JZSP-CKI01-2 2m
JZSP-CKI01-3 3m

(2) Dimensional Drawing

SERVOPACK end Sleeve F2 (black)

Connector: 10150-6000EL(50P)∗
Shell: 10350-52A0-008∗
Cable (black)
SSRFPVV-SB AWG#28 × 25P
φ2.8 mm
UL20276 VW-1SC
wire markers

L
100 +100 mm

* Manufactured by Sumitomo 3M Ltd.

5.4.2 Connector Type and Cable Size

Use the following connector and wire when assembling the cable. The CN1 connector includes a set of case and
a connector.
Case Connector
Connector Type
Type Qty Type Qty
JZSP-CKI9 10350-52A0-008∗ 1 set 10150-3000VE* 1

* Manufactured by Sumitomo 3M Ltd.

(1) Dimensional Drawing of Case

17.0
14.0

41.1 18.0
46.5
39.0
23.8

52.4
5.7

12.7
Units: mm

5-10
 5.4 I/O Signal Cables for CN1 Connector

(2) Dimensional Drawing of Connector

2.54
1.27

2.3

5.1

19.3
(6.6)
(2.9)
㧟㧹

41.1 12.7
Pin No. 1

Specifications and Dimensional Drawings of Cables and Peripheral Devices

9.1
7.5

1.27 15q
Pin No. 26 30.48
Units: mm
36.7

(3) Cable Size

Item Specifications
Cable Use twisted-pair or twisted-pair shielded wire.
Applicable Wires AWG24, 26, 28, 30
Finished Dimension φ16 mm or less

5-11
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.4.3 Connection Diagram

5.4.3 Connection Diagram

SERVOPACK end Host controller end
Lead Marking
Pin No. Signal Lead
Color Color Dots Marker No.
1 SG Orange Red 1 1
2 SG Gray Red 1 2
3 PL1 Orange Black 1 3
4 SEN Gray Black 1 4
5 V-REF White Red 1 5
6 SG White Black 1 6
7 PULS Yellow Red 1 7
8 /PULS Yellow Black 1 8
9 T-REF Pink Red 1 9
10 SG Pink Black 1 10
11 SIGN Orange Red 2 11
12 /SIGN Orange Black 2 12
13 PL2 Gray Red 2 13
14 /CLR White Red 2 14
15 CLR White Black 2 15
16 − Gray Black 2 16
17 − Yellow Red 2 17
18 PL3 Yellow Black 2 18
19 PCO Pink Red 2 19
20 /PCO Pink Black 2 20
21 BAT(+) Orange Red 3 21
22 BAT(-) Orange Black 3 22
23 − Gray Red 3 23
24 − Gray Black 3 24
25 /V-CMP+ White Red 3 25
26 /V-CMP- White Black 3 26
27 /TGON+ Yellow Red 3 27
28 /TGON- Yellow Black 3 28
29 /S-RDY+ Pink Red 3 29
30 /S-RDY- Pink Black 3 30
31 ALM+ Orange Red 4 31
32 ALM- Orange Black 4 32
33 PAO Gray Red 4 33
34 /PAO Gray Black 4 34
35 PBO White Red 4 35
36 /PBO White Black 4 36
37 ALO1 Yellow Red 4 37
38 ALO2 Yellow Black 4 38
39 ALO3 Pink Red 4 39
40 /S-ON Pink Black 4 40
41 /P-CON Orange Red 5 41
42 P-OT Orange Black 5 42
43 N-OT Gray Red 5 43
44 /ALM-RST Gray Black 5 44
45 /P-CL White Red 5 45
46 /N-CL White Black 5 46
47 +24VIN Yellow Red 5 47
48 PSO Pink Red 5 48
49 /PSO Pink Black 5 49
50 − Yellow Black 5 50

Case Shield represents twisted-pair wires.

5-12
 5.5 Peripheral Devices

5.5 Peripheral Devices

5.5.1 Cables for Connecting Personal Computers
(1) For 25-pin Connector Cable for NEC PC-98 Series PC
(a) Cable Type: JZSP-CMS01
(b) Dimensional Drawing

Personal computer end SERVOPACK end

Half-pitch connector
D-sub connector (25-pin) Plug: 10114-3000VE Personal computer end
17JE-23250-02㧔D8A㧕 SERVOPACK end
Shell: 10314-52A0-008
(DDK Ltd.) (Sumitomo 3M Ltd.) Signal Pin No. Pin No. Signal
38 2000±50 39 RXD 3 2 /TXD
TXD 2 4 /RXD
14 1 0V 7 14 0V
8 1 RTS 4 − −
47

CTS 5 − −
Cable type: 14 7
FG 1 Case FG

Specifications and Dimensional Drawings of Cables and Peripheral Devices

25 13 AWG26˜3C UL2464 Shield wire

2˜M2.6 screws 2˜M2.6 screws Units: mm

(2) D-sub, 9-pin Connector Cable for IBM PC Compatible

(a) Cable Type: JZSP-CMS02
(b) Dimensional Drawing

SERVOPACK end
Personal computer end Half-pitch connector
Personal computer end SERVOPACK end
D-sub connector (9-pin) Plug: 10114-3000VE
17JÉ13090́02㧔D8A㧕 Shell: 10314-52A0-008 Signal Pin No. Pin No. Signal
(DDK Ltd.) (Sumitomo 3M Ltd.) RXD 2 2 /TXD
38 2000±50 39 TXD 3 4 /RXD
0V 5 14 0V
6 1 − −
8 1 RTS 7
29.5
32

CTS 8 − −
9 5 Cable type: 14 7
FG Case Case FG
AWG26 × 3C UL2464 Shield wire
2 × M2.6 screws 2 × M2.6 screws Units: mm

(3) 14-pin Half-pitch Connector Cable for NEC PC-98 Series PC

(a) Cable Type: JZSP-CMS03
(b) Dimensional Drawing

Personal computer end SERVOPACK end 5

Personal computer end SERVOPACK end
Half-pitch connector Half-pitch connector
Plug: 101143000VE Plug: 101143000VE Signal Pin No. Pin No. Signal
Shell: 1031452F0008 Shell: 1031452A0008 RXD 1 2 /TXD
(Sumitomo 3M Ltd.) (Sumitomo 3M Ltd.) TXD 9 4 /RXD
39 2000±50 39 RTS 10 − −
5 CTS 4 − −
GND 14 14 0V
8 1 8 1
29.5

FG 12
29.5

Case FG
Label Shield wire
14 7 Cable: 14 7 FG Case
AWG26 × 3C UL2464
2 × M2.6 screws Units: mm

5-13
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.2 Digital Operator

5.5.2 Digital Operator

(1) Model JUSP-OP02A-2 with a 1m-connection Cable

219'4 %0

Digital Operator
1
2
'
4
#
6
1
4
/1&'5'6 &#6#
%0 %0

ෂ‫ޓ‬㒾
WARNING
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 5'4812#%-
5 ) & *  㧖㧖㧖㧖
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ
May cause
electric shock.

;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

&% &%
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
%*#4)'

   .4 .5 .6 7 8 9

(2) Dimensional Drawing

63 18.5
50 7
2 × φ4.5 mounting holes
125

135

YASKAWA
(8)

26

39

29.5 Units: mm

(3) Other Types of the Applicable Connection Cables: JZSP-CMS00-†

* Order your cable from Yaskawa Controls Co., Ltd. in the following cases.
• When you need a longer cable than the cable supplied with the digital operator.
• When you need additional cables.

Digital Operator end SERVOPACK end

Cable Type Cable Length
30 L 39 (L)
8 1
JZSP-CMS00-1 1m
2 1
17.3

29.5

10 9 11 7 JZSP-CMS00-2 1.5 m
JZSP-CMS00-3 2m
20.2

Units: mm

5-14
 5.5 Peripheral Devices

5.5.3 Cables for Analog Monitor

(1) Cable Type: JZSP-CA01 (DE9404559)
Connect the specified cables to CN5 connector for monitoring the analog monitor signals. For details, refer to
9.5 Analog Monitor.

Cable for Analog Monitor

219'4 %0

1
2
'
4
#
6
1
4
/1&'5'6 &#6#
%0 %0

ෂ‫ޓ‬㒾
WARNING
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 5'4812#%-
5 ) & *  㧖㧖㧖㧖
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ
May cause
electric shock.

;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

&% &%
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
%*#4)'

   .4 .5 .6 7 8 9

Note: Specify the cable type either JZSP-CA01 or DE9404559 when ordering the cable for analog moni-
tor.

Specifications and Dimensional Drawings of Cables and Peripheral Devices

(2) Dimensional Drawing
Socket: DF11-4DS-2C∗ Black
Connector: DF11-2428SCF∗ Black
3 4
1 2
1000 +20
-0‫ޓ‬mm
White
Red
Viewed from the cable

* Manufactured by Hirose Electric Corporation.

(3) Specifications

Pin No. Cable Color Signal Monitoring Item

1 Red Analog Monitor 2 Motor speed: 1V/1000 min-1
2 White Analog Monitor 1 Torque reference: 1V/100% rated torque
3 and 4 Black (2 cables) GND (0 V) −
Note: The above monitoring items are the factory settings. The monitoring items can be changed by set-
ting the parameter Pn003. Refer to 9.5 Analog Monitor.

5-15
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.4 Connector Terminal Block Converter Unit

5.5.4 Connector Terminal Block Converter Unit

(1) Model: JUSP-TA50PG
The connection between the connector terminal block converter and the SERVOPACK is shown below.

SERVOPACK
219'4 %0

1
2
'
4
#

+50
6
1
4

mm
/1&'5'6 &#6#
%0

Attached cable length: 500

%0

-0
CN1
ෂ‫ޓ‬㒾
WARNING
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 5'4812#%-
5 ) & *  㧖㧖㧖㧖
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ
May cause
electric shock.

;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

&% &%
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
%*#4)'

   .4 .5 .6 7 8 9

Connector terminal block converter unit
model: JUSP-TA50PG
1 16
1 19 32
33 50
1 49

2 50

(2) Dimensional Drawings of Terminal Block

Terminal
block (50P) Connector plug (50P)
7
15.5

15.5
M3.5 screw MR-50RMD2 7
29.5

1 16
29.5

1 19 32
33 50
45

45
1 49

2 50

2×φ3.5
2×M3 screw holes
3.5 247.5 3.5 247.5 3.5
3.5
(62)

With terminal block

43.5

cover removed
20.5
2

Can be fixed on DIN rail

Units: mm

(3) Dimensional Drawing of Cable

Connector terminal block converter unit

SERVOPACK end connector (50P) end connector (50P)
10150-6000EL(Sumitomo 3M Ltd.) MRP-50F01 (Honda Tsushin Kogyo Co., Ltd.)
Shell Case
10350-52AO-008 (Sumitomo 3M Ltd.) MR-50L (Honda Tsushin Kogyo Co., Ltd.)
Cable (black)
AWG#2825P
UL20276 VW-1SC

+50
500 0
Units: mm

5-16
 5.5 Peripheral Devices

5.5.5 Brake Power Supply Unit

(1) Model: LPSE-2H01, LPDE-1H01
Contact Yaskawa Controls Co., Ltd.
• 200 V input: LPSE-2H01
• 100 V input: LPDE-1H01

(2) Specifications
• Rated output voltage: 90 VDC
• Maximum output current: 1.0 ADC
• Lead wire length: 500 mm each
• Maximum surrounding air temperature: 60°C
• Lead wires: Color coded. Refer to the table below.
AC Input End Brake End
100 V 200 V
Blue/White Yellow/White Red/Blue

Specifications and Dimensional Drawings of Cables and Peripheral Devices

(3) Dimensional Drawing
50
30

25
2 Mounting holes φ3
(Spot facing φ5.5
and 4 long㧕
20

Nameplate

Lead wire 11 Units: mm

(4) Internal Circuits

The brake power supply circuit can be opened and closed either on AC or DC side. However, if the wiring dis-
tance on DC side is too long, the brake circuit may not operate normally due to the influence of switching noises.
When switching the circuit on AC side, install a surge absorber model CR50500BL (sold as spark quencher) for
the brake power supply near the brake coil to reduce the influence of switching noises.
When switching the circuit on DC side, the influence of the switching noise is minimal, even without installing a
surge absorber. However, the surge voltage at switching may damage the brake coil. Install a surge absorber
near the brake coil to prevent the damage to the brake coil in addition to the built-in surge absorber.
(a) Internal Circuit for 200 VAC
Brake Power Supply Model: LPSE-2H01
5
Yellow Red

AC side Surge absorber Surge absorber DC (Brake) side

Diode No polarity
180 to 230 V
White Black

5-17
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.6 Absolute Encoder Battery

(b) Internal Circuit for 100 VAC

Brake Power Supply Model: LPDE-1H01

Diode bridge
Blue Red

Surge Surge DC (Brake) side

AC side absorber absorber No polarity
90 to 120 V
White Black

„ Brake Power Supply Unit for the 24 VDC

The brake power supply unit for the 24 VDC is not provided by Yaskawa. When using the servomotor with a 24-VDC
brake, the brake power supply unit is to be provided by the customer.

5.5.6 Absolute Encoder Battery

When using an absolute encoder, a backup battery is required to prevent the position data from being lost at
power OFF. Install one of the following absolute encoder batteries.
There are two types of battery: Battery to be mounted on the SERVOPACK and battery to be connected to the
host controller.

PROHIBITED
• Install the absolute encoder battery on either the SERVOPACK or the host controller.
Installing the batteries both on the SERVOPACK and host controller configures a loop in the circuit between two bat-
teries, which damages the circuit.

(1) Battery Mounted on SERVOPACK

(a) Model
JZSP-BA01-1

(b) Dimensional Drawing

Lithium battery ER3V
3.6 V 1000 mAh
Manufactured by Toshiba Battery Co., Ltd.

̆
2‫ޓ‬Black
14.5
17

㧗
‫ޓ‬Red Connector

26 50±5

Units: mm

(2) Battery Connected to the Host Controller

When connecting the battery to the host controller, select the battery in accordance with the specifications of the
host controller.
Use the battery ER6 VC3 or the equivalent:
3.6 V, 2000 mAh manufactured by Toshiba Battery Co., Ltd.

5-18
 5.5 Peripheral Devices

5.5.7 Molded-case Circuit Breaker (MCCB)

If selecting a molded-case circuit breaker, observe the following precautions.

IMPORTANT „ Circuit Breakers

• Select a breaker for inverters.
• High-frequency current leaks from the servomotor armature because of switching operations inside the
SERVOPACK.

(1) Maximum Input Current

• The instantaneous maximum output of SERVOPACK is 3 times of the rated output for maximum 3 sec-
onds. Accordingly, select a circuit breaker whose operating time is 5 seconds or more at 300% of SER-
VOPACK rated current.
The general-purpose and low-speed acting molded-case circuit breakers are applicable.
• The power supply capacity per SERVOPACK when using a servomotor is described in 2.6.2 Molded-case
Circuit Breaker and Fuse Capacity. Select a circuit breaker with the capacity larger than the effective
load current (when using multiple SERVOPACKs) calculated from the total power supply capacity.

Specifications and Dimensional Drawings of Cables and Peripheral Devices

• The power consumption of other controllers must be considered when selecting a circuit breaker.

(2) Inrush Current

• Refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity for SERVOPACK inrush current.
• The allowable inrush current for a low-speed acting circuit breaker is approximately 10 times of the rated
current for 0.02 seconds.
• When turning ON multiple SERVOPACKs simultaneously, select a molded-case circuit breaker with the
allowable current for 20 ms larger than the total inrush current shown in 2.6.2 Molded-case Circuit
Breaker and Fuse Capacity.

5-19
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.8 Noise Filter

5.5.8 Noise Filter

The noise filters model FN manufactured by Schaffner Electronic are recommended. Contact Yaskawa Controls
Co., Ltd.
Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.5.3
Noise Filters, Magnetic Contactors, and Brake Power Supply Units.
Refer to 6.1.2 Typical Main Circuit Wiring Examples for the connection method.
(1) Model: FN258L-130-35

F
E

G
A

Dimensional Drawings
D C

B
O
J

A 439 ± 1.5
B 240
C 110 ± 0.8
D 400 ± 1.2
External Dimensions
E 414
(mm)
F 80
G 6.5
J 3
O M10
Specifications 480 VAC, 130 A
Three- SGDM-2BADB
Applicable
phase
SERVOPACK SGDH-2BAEB
200 V

5-20
 5.5 Peripheral Devices

(2) Model: FN258L-180-07

F
E

G
A

Dimensional Drawings
D H C
L

B
B

O
A 438±1.5
B 240
C 110±0.8

Specifications and Dimensional Drawings of Cables and Peripheral Devices

D 400±1.2
E 413
External Dimensions F 80
(mm) G 6.5
H 500
J 4
L 15
O M10
P 50 (mm2)
Specifications 480 VAC, 180 A
Three- SGDM-3ZADB
phase
SGDH-3ZAEB
Applicable 200 V
SERVOPACK Three- SGDH-2BDEB
phase SGDH-3ZDEB
400 V SGDH-3GDEB

5-21
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.9 Surge Absorber

(3) Model: FN359P-250-99, FN359P-300-99

±
45q5q

160 ± 1

64 ± 2
516 ± 1.5

564 ± 1.5
External Dimensions
27 ± 0.2 100 ± 0.5 8 × M5
(mm) mounting holes

40 ± 0.3 60 ± 0.5 60 ± 0.5

275 ± 0.5

220 ± 0.5
300 ± 1

250 ± 1
φ9 ± 0.2

3 ± 0.2
210 ± 0.5 210 ± 0.5

M12
64 ± 1

Model FN359P-250-99 FN359P-300-99

Specifications AC480 V, 250 A AC480 V, 300 A
Three- SGDM-3GADB
phase −
SGDH-3GAEB
Applicable 200 V
SERVOPACK Three- SGDH-4EDEB
phase SGDH-9ZDEB
SGDH-5EDEB
400 V

5.5.9 Surge Absorber

When using a servomotor with holding brake, install a surge absorber near the brake coil to prevent the power
supply noises. The surge absorber handled by Okaya Electric Industries Co., Ltd. is recommended.
(a) Model: CR50500BL (sold as Spark Quencher)
(b) Specifications

Power supply: 250 VAC

Capacitance: 0.5 μF ± 20%
Resistance: 50 Ω(1/2 W) ± 30%

5-22
 5.5 Peripheral Devices

5.5.10 Regenerative Resistor Unit

(1) Model
Refer to the following table to install the regenerative resistor unit according to the SERVOPACK model require-
ments.
SERVOPACK Model Regenerative Resistor Unit Allowable
Model Resistance Resistance Power Loss
（Ω） Capacity（W） （W）
SGDM-2BADB
JUSP-RA08 2.4 2400 480
SGDH-2BAEB
SGDM-3ZADB
JUSP-RA09 1.8 4800 960
SGDH-3ZAEB
SGDM-3GADB
JUSP-RA11 1.6 4800 960
SGDH-3GAEB
SGDH-2BDEB JUSP-RA12 9 3600 720
SGDH-3ZDEB JUSP-RA13 6.7 3600 720

Specifications and Dimensional Drawings of Cables and Peripheral Devices

SGDH-3GDEB JUSP-RA14 5 4800 960
SGDH-4EDEB JUSP-RA15 4 6000 1200
SGDH-5EDEB JUSP-RA16 3.8 7200 1440
SGDH-9ZDEB JUSP-RA25 2.1 16800 3360

(2) Mounting
To cool the regenerative resistor by fan or natural convection, provide at least 70 mm of space on each side and at
least 200 mm of space both above and below.
Up

Mounting
200 min.

direction
200 min.

70 min. 70 min.

Units: mm
5

5-23
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.10 Regenerative Resistor Unit

(3) Dimensional Drawings

(a) JUSP-RA08 Regenerative Resistor Unit
4 × φ7 mounting holes

500
400

B1 B2

298 260
328 Power line insertion hole
358 (φ17, with rubber bushing)
Units: mm
Approx. mass: 14.0 kg

(b) JUSP-RA09 Regenerative Resistor Unit

4 × φ7 mounting holes
500
400

B1 B2

488 260
518 Power line insertion hole
(φ17, with rubber bushing)
548
Units: mm
Approx. mass: 21.0 kg

5-24
 5.5 Peripheral Devices

(c) JUSP-RA11 Regenerative Resistor Unit

4 × M5 mounting holes

485
500
37

B1 B2

216 49

45
348 242

7.5
77
Power line insertion hole 425

Specifications and Dimensional Drawings of Cables and Peripheral Devices

(φ33, with rubber bushing) 484
M8 main circuit terminals

Units: mm
Approx. mass: 20.5 kg

(d) JUSP-RA12 Regenerative Resistor Unit

4 × M5 mounting holes

485
500

34 24 38
B1B2
60

45
49
7.5

348
Power line insertion hole
200
259
5
(φ33, with rubber bushing)
M4 main circuit terminals

Units: mm
Approx. mass: 14 kg

5-25
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.10 Regenerative Resistor Unit

(e) JUSP-RA13 Regenerative Resistor Unit

4 × M5 mounting holes

485
500
37 29 34
B1 B2

59
45 49
348 200

7.5
Power line insertion hole 259
(φ33, with rubber bushing)
M5 main circuit terminals

Units: mm
Approx. mass: 14 kg

(f) JUSP-RA14 Regenerative Resistor Unit

4 × M5 mounting holes

500
485

37

B1B2

231
79

29
45
348 242
7.5

Power line insertion hole 425

(φ33, with rubber bushing) 484
M5 main circuit terminals

Units: mm
Approx. mass: 20 kg

5-26
 5.5 Peripheral Devices

(g) JUSP-RA15 Regenerative Resistor Unit

4 × M5 mounting holes

485
500
35.5

B1 B2

224

78.5

Specifications and Dimensional Drawings of Cables and Peripheral Devices

38
45 242

7.5
348
Power line insertion hole 425
(φ33, with rubber bushing) 484
M6 main circuit terminals

Units: mm
Approx. mass: 21.5 kg

(h) JUSP-RA16 Regenerative Resistor Unit

4 × M5 mounting holes

500
485

35.5
B1 B2

224
78.5

38
45
348 242 5
7.5

Power line insertion hole 425

(φ33, with rubber bushing) 484
M6 main circuit terminals

Units: mm
Approx. mass: 23.5 kg

5-27
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.10 Regenerative Resistor Unit

(i) JUSP-RA25 Regenerative Resistor Unit

6 × M5 mounting holes

485
500
106
255 512 27x2=54

7.5
281 500 500
348 1081
Power line insertion hole
(φ33, with rubber bushing)
Units: mm
M8 main circuit terminals Approx. mass: 45 kg

(4) Connections
Connect the Regenerative Resister Unit to the SGDM/SGDH SERVOPACKs as shown in the following diagram.
SGDM/SGDH
SERVOPACK Regenerative Resistor Unit

B1 B1

B2 B2

5-28
 5.5 Peripheral Devices

5.5.11 Dynamic Brake (DB) Unit

Externally attach a dynamic brake resistor to the SERVOPACK to dissipate regenerative energy when using the
dynamic brake function. The dynamic brake resistor does not need to be installed if the dynamic brake function is
not required.
(1) Specifications
The following Dynamic Brake Units are required according to the SERVOPACK model.

Dynamic Brake SERVOPACK Model Resistance DB Contactor and

(DB) Unit Model Specifications Surge Absorption Unit
SGDM- SGDH-
(Star Wiring )
JUSP-DB01 2BADB, 3ZADB 2BAEB, 3ZAEB 180 W, 0.3 Ω Built into the SERVOPACK
JUSP-DB02 3GADB 3GAEB 180 W, 0.3 Ω Built into Dynamic Brake Unit
JUSP-DB03 − 2BDEB, 3ZDEB 180 W, 0.8 Ω Built into the SERVOPACK
JUSP-DB04 − 3GDEB 180 W, 0.8 Ω Built into Dynamic Brake Unit
JUSP-DB05 − 4EDEB 180 W, 0.8 Ω Built into Dynamic Brake Unit

Specifications and Dimensional Drawings of Cables and Peripheral Devices

JUSP-DB06 − 5EDEB 300 W, 0.8 Ω Built into Dynamic Brake Unit
JUSP-DB12 − 9ZDEB 600 W, 0.9 Ω Built into Dynamic Brake Unit

(2) Mounting
To cool the regenerative resistor by fan or natural convection, provide at least 70 mm of space on each side and at
least 200 mm of space both above and below.
Up

Mounting
200 min.

direction
200 min.

70 min. 70 min.

Units: mm

5-29
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.11 Dynamic Brake (DB) Unit

(3) Dimensional Drawings

(a) JUSP-DB01 Dynamic Brake Unit
4 × φ7 mounting holes

350
290

DU DV DW

110 255
130 Power line insertion hole
(φ17, with rubber bushing)
150
Units: mm
Approx. mass: 5.0 kg

(b) JUSP-DB02 Dynamic Brake Unit

4 × M5 mounting holes
400
385

M3.5 control
circuit terminals

M5 main
circuit terminals DU DV DW
DB DB
ON 24

187
71.5

187
73

259
7.5

75
Power line insertion hole
(φ33, with rubber bushing) 124

Units: mm
Approx. mass: 6.0 kg

5-30
 5.5 Peripheral Devices

(c) JUSP-DB03 Dynamic Brake Unit

4 × M5 mounting holes

385
400
DUDV DW
M4 main
184 circuit terminals

73

Specifications and Dimensional Drawings of Cables and Peripheral Devices

187

7.5
259
75
Power line insertion hole 124
(φ33, with rubber bushing)

Units: mm
Approx. mass: 5.0 kg

(d) JUSP-DB04 Dynamic Brake Unit

4 × M5 mounting holes 400
385

M3.5 control
circuit terminals

DB DB
DU DVDW ON 24

M4 main
184 circuit terminals
73

187
5
7.5

259
75
Power line insertion hole 124
(φ33, with rubber bushing)
Units: mm
Approx. mass: 6.0 kg

5-31
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.11 Dynamic Brake (DB) Unit

(e) JUSP-DB05 Dynamic Brake Unit

4 × M5 mounting holes

400
385
M3.5 control
circuit terminals

DB DB
DU DV DW
ON 24

M4 main
184 circuit terminals

73
187

7.5
259
75
Power line insertion hole
(φ33, with rubber bushing) 124

Units: mm
Approx. mass: 6.0 kg

(f) JUSP-DB06 Dynamic Brake Unit

4 × M5 mounting holes
490
475

M3.5 control
circuit terminals

M4 main DU DV DW
DB DB
ON 24

circuit terminals
184
73

187
259
7.5

75
Power line insertion hole
(φ33, with rubber bushing) 124

Units: mm
Approx. mass: 7.0 kg

5-32
 5.5 Peripheral Devices

(g) JUSP-DB12 Dynamic Brake Unit

4 × M5 mounting holes

7.5
485
500
50

7.5
298 24.5 225 24.5
348 274

Specifications and Dimensional Drawings of Cables and Peripheral Devices

Power line insertion hole
(φ33, with rubber bushing) Units: mm
Approx. mass: 16 kg

(4) Connections
(a) Using a Yaskawa Dynamic Brake Unit
• SGDM-2BADB, -3ZADB SERVOPACKs
SGDH-2BAEB, -3ZAEB SERVOPACKs
SGDH-2BDEB, -3ZDEB SERVOPACKs
The dynamic brake contactor and surge absorption unit are built into the SERVOPACK. Connect the DU,
DV, and DW terminals and the Frame Ground ( ) on the dynamic brake unit, as sown in the following
diagram.
SERVOPACK Dynamic Brake Unit

DU DU

DV DV

DW DW

5-33
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.11 Dynamic Brake (DB) Unit

• SGDM-3GADB SERVOPACK
SGDH-3GAEB, SERVOPACK
SGDH-3GDEB, -4EDEB , -5EDEB , -9ZDEB SERVOPACKs
The dynamic brake contactor and surge absorption unit are not built into the SERVOPACK.
The dynamic brake contactor and surge absorption unit are built into the dynamic brake unit. Connect the
DU, DV, and DW terminals and the frame ground ( ) on the dynamic brake unit, and also connect the
terminals DBON and DB24 for dynamic brake contactor control, as shown in the following diagram.
SERVOPACK Dynamic Brake Unit

DU DU

DV DV

DW DW

DBON DBON

DB24 DB24

(b) Using Dynamic Brake Resistors Prepared by the Customer

• SGDM-2BADB, -3ZADB SERVOPACKs
SGDH-2BAEB, 3ZAEB, SERVOPACKs
SGDH-2BDEB, -3ZDEB, SERVOPACKs
The dynamic brake contactor and surge absorption unit are built into the SERVOPACK. Connect the
dynamic brake resistors only, as shown in the following diagram.
SERVOPACK

Dynamic Brake
resistors
DU

DV

DW

Note: Connect dynamic brake resistors with the following resistance specifications.
200-V SERVOPACKs: Higher than 0.3 Ω
400-V SERVOPACKs: Higher than 0.8 Ω

5-34
 5.5 Peripheral Devices

• SGDM-3GADB SERVOPACK
SGDH-3GAEB SERVOPACK
SGDH-3GDEB, -4EDEB, -5EDEB, -9ZDEB SERVOPACKs
Connect a dynamic brake contactor and surge absorption unit, as shown in the following diagram.
SERVOPACK Dynamic brake Dynamic brake
contactor resistors
DU

DV

DW

DBON

DB24

Specifications and Dimensional Drawings of Cables and Peripheral Devices

Main circuit
surge absorption unit

Coil surge
absorption unit

Note: Connect dynamic brake resistors with the following resistance specifications.

Voltage SERVOPACK Model Dynamic Brake Resistors

200 V SGDM-3GADB, SGDH-3GAEB Higher than 0.3 Ω
SGDH-3GDEB, 4EDEB, 5EDEB Higher than 0.8 Ω
400 V
SGDH-9ZDEB Higher than 0.9 Ω

Use the following dynamic brake contactor and surge absorption unit.

SERVOPACK Model Name Model Manufacturer

SGDM-3GADB SC-4-1/G
Contactor
SGDH-3GAEB 24-VDC coil
SGDH-3GDEB Front Connection SZ-ZM1
Main Circuit Surge Fuji Electric Co., Ltd.
SGDH-4EDEB
SGDH-5EDEB Absorption Unit* Side Connection SZ-ZM2
Coil Surge Absorption Unit SZ-Z4
SD-N50
Contactor
24-VDC coil
Mitsubishi Electric
SGDH-9ZDEB
Main Circuit Surge Absorption Unit* UN-SA33 Co., Ltd.
5
Coil Surge Absorption Unit UN-SA721

* The main circuit surge absorption unit is available as a front-connection type or a side-connection type.

5-35
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.12 Thermal Relays

5.5.12 Thermal Relays

Connect a thermal relay to the SERVOPACK to protect the regenerative resistor and dynamic brake resistor from
heat damage when operating under extreme conditions.
(1) Models
Select the appropriate thermal relay from the following list according to regenerative resistor unit and dynamic
brake unit model.

Dynamic Brake Thermal Relay Thermal Relay Thermal Relay Manufacturer

(DB) Unit and Model Current Range Current
Regenerative
Resistor
Unit Model
JUSP-DB01
TR-3N/3 9 A 9 to 13 A 10 A
JUSP-DB02
JUSP-DB03
JUSP-DB04 TR-3N/3 7 A 7 to 11 A 7A
JUSP-DB05
JUSP-DB06 TR-3N/3 7 A 7 to 11 A 9A
JUSP-DB12 TR-3N/3 9 A 9 to 13 A 12 A
JUSP-RA08 TR-3N/3 12 A 12 to 18 A 14 A
JUSP-RA09 TR-3N/3 18 A 18 to 26 A 23 A Fuji Electric Co., Ltd.
JUSP-RA11 TR-3N/3 18 A 18 to 26 A 24 A
JUSP-RA12 TR-3N/3 7 A 7 to 11 A 9A
JUSP-RA13 TR-3N/3 9 A 9 to 13 A 10 A
JUSP-RA14 TR-3N/3 12 A 12 to 18 A 14 A
JUSP-RA15 TR-3N/3 12 A 12 to 18 A 17 A
JUSP-RA16 TR-3N/3 18 A 18 to 26 A 19 A
JUSP-RA25 TR-3N/3 34A 34 to 50 A 40 A

(2) Dimensional Drawings

The following dimensional drawings are for a TR-3N thermal relay.
88
93
79.5 20 15.3 Reset switch
61.5

M6
Main
64.5 terminals
7 60 M3.5 Auxiliary terminal

2 × M4
40

Units: mm
mounting holes Approx. mass: 0.3 kg

Mounting Hole Dimensions

5-36
 5.5 Peripheral Devices

(3) Internal Connection Diagram

The following connection diagram is for a TR-3N thermal relay.
(NO) (NC)
1 3 5 97 95

2 4 6 98 96
(NO) (NC)

(4) Connections
Connect the thermal relay as shown in the following diagram.
When the thermal relay operates, the auxiliary contact turns OFF or ON. Therefore, configure a sequence so that
the main power supply or the servomotor turns OFF when the auxiliary contact turns OFF or ON.
(a) Connecting to a Regenerative Resistor Unit

Specifications and Dimensional Drawings of Cables and Peripheral Devices

Auxiliary contact To host controller

SGDM/SGDH B1 B2
SERVOPACK

Regenerative
B1 Resistor Unit

Thermal relay
B2

(b) Connecting to a Dynamic Brake Unit

Auxiliary contact
SGDM/SGDH To host controller
SERVOPACK

DV
DV

DU
DU

DW
DW

Thermal relay 5
Dynamic Brake Unit

5-37
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.12 Thermal Relays

(5) Selecting a Thermal Relay

When preparing the dynamic brake resistor and regenerative resistor separately, select a thermal relay by calcu-
lating the setting current of the thermal relay according to the value and capacity of the resistor being used, as
shown in the following equation.

Setting current = Resistance capacity (W) × 0.2

Resistance value (Ω)

Example for a JUSP-RA08

Setting current = 2000 (W) × 0.2 14 A

2.4 (Ω)

Select a thermal relay that has operating characteristics equivalent to those of the recommended product.
Refer to the following diagrams for the operating characteristics of the recommended thermal relays.

Cold Start Characteristics (Ambient Temperature of 20°C) Hot Start Characteristics (Ambient Temperature of 20°C)
Minutes Minutes
60 60
50 50
40 40
30 30
20 20
Operating time
Operating time

10 10
8 8
6 6
5 5
4 4
3 Rated at 18 to 26 A min. 3 Rated at 18 to 26 A min.
2 2
Seconds Seconds
60 60
50 50
40 40
30 30
20 20

10 10
8 8
6 6
5 5
4 4
3 3
2 Rated at 12 to 18 A max. 2 Rated at 12 to 18 A max.

1 1
0.8 0.8
0.6 0.6
0.5 0.5
0.4 0.4
0.3 0.3
1 2 3 4 5 6 7 8 9 10 15 1 2 3 4 5 6 7 8 9 10 15
Multiplier of setting current xln [A] Multiplier of setting current xln [A]

5-38
 5.5 Peripheral Devices

5.5.13 Variable Resistor for Speed and Torque Setting

(1) Model: 25HP-10B
The multiturn type winding variable resistors with dial MD10-30B4 are manufactured by Sakae Tsushin Kogyo
Co., Ltd. Contact Yaskawa Controls Co., Ltd.

(2) Dimensional Drawings

Panel
11.5±1
25 HP Helicolumn Panel driling diagram
φ7.5 hole
φ2.5 hole
φ25±1
21 max.

2 3 1 φ31±1 10

14.5±1

Specifications and Dimensional Drawings of Cables and Peripheral Devices

MD multi-dial
24±1
Units: mm
37.5±1
4.5

(3) Example of Connection to an External Power Supply

1.8 kΩ (1/2 W) min. SERVOPACK
25HP-10B
2 kΩ
3 CN1
2 5 V-REF
(9) (T-REF)
12V
1
6
SG
(10)

5-39
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.14 Encoder Signal Converter Unit

5.5.14 Encoder Signal Converter Unit

The encoder signal converter unit (the trade name “Receiver Unit”) converts encoder signal output from the line
driver to open-collector or voltage-pulse output.
A socket model 11PFA is required to use a Receiver Unit.
(1) Model: LRX-01 / A†
Contact Yaskawa Controls Co., Ltd.

(2) Specifications

Specifications Receiver Unit

LRX-01/A1 LRX-01/A2 LRX-01/A3 LRX-01/A4
Power Supply 12 VDC ±10 %, 100 mA 5 VDC ±5 %, 100 mA
Balanced line driver input (RS-422)
 

Input Signals

Voltage pulse Open collector Voltage pulse Open collector

output output output output
Output Signals            

RS-422

YASKAW
A Input Signal
Differential voltage ≥ 0.3 V, built-in terminator 100 Ω
Level
H: 10 V min. L: 0.5 V min. H: 3 V min. L: 0.5 V min.
Output Signal (1 mA) (30 mA) (1 mA) (30 mA)
Level L: 0.5 V max. Withstand L: 0.5 V max. Withstand
(30 mA) voltage: 50 V (30 mA) voltage: 50 V
Surrounding Air
0 to + 60°C
Temperature
IC Used Receiver IC: AM26LS32C or the equivalent
Response
100 kHz
Frequency

(3) Dimensional Drawings

The socket is optional.
Receiver unit and socket Socket Type 11PFA
11-M3.5˜7
129 SEMS screws
100 29 7.8
4
2Ǿ4.5 hole
4
81 max.

18 max.
35.4
80

5
35.4

50 40r0.2
Receiver unit Socket

51 max. 33.5 max.

Units: mm

5-40
 5.5 Peripheral Devices

5.5.15 MECHATROLINK Application Module

(1) Model : JUSP-NS100 (for MECHATROLINK-I communications)
: JUSP-NS115 (for MECHATROLINK-I/II communications)
(2) Specifications
Details
Item
JUSP-NS100 JUSP-NS115
SGDH-†††EB models
Applicable SERVOPACK All SGDH-†††EB models
(except for 90 kW model)
Installation Method Mounted on the SGDH SERVOPACK side: CN10.
Basic Power Supply Method Supplied from the SERVOPACK control power supply.
Specifications Power Consumption 2W
MECHA-
Baud Rate/ 10Mbps/500μs or more (4Mbps/2ms
TROLINK Com- 4 Mbps / 2 ms
Transmission Cycle when using MECHATROLINK-I)
munications
Positioning using MECHA- Positioning using MECHA-
Operation Specification

Specifications and Dimensional Drawings of Cables and Peripheral Devices

TROLINK-I communications. TROLINK-I/II communications.
MECHATROLINK-I MECHATROLINK-I/II
communications communications
Command Format Commands: Motion commands (posi- Commands: Motion commands (posi-
Reference Input tion, speed), Interpola- tion, speed), Interpolation
tion commands, commands, Parameter
Parameter read/write, read/write, Monitor out-
Monitor output put
Acceleration/
Position Control Linear first/second-step, asymmetric, exponential, S-curve
Deceleration Method
Functions
Fully-closed Control Impossible
Forward/reverse run prohibited, Zero point return deceleration LS
Signal Allocation Changes
Input Signals External latch signals 1, 2, 3
Possible
Forward/reverse external torque limit
Position Data Latch
Position data latching is possible using phase C, and external signals 1, 2, 3
Function
Parameters damage, Parameter setting errors, Communications errors,
Protection
Internal Functions WDT errors
A: Alarm A: Alarm
LED Indicators R: MECHATROLINK-I R: MECHATROLINK-I/II
Communicating Communicating

(3) Dimensional Drawings (JUSP-NS100/NS115)

FG terminal (24)
M4
(100)

Connector
to SERVOPACK
5
(2)

NS100
S
W
1
A
R
S
CN6A W
2

C
N
6
Nameplate
142

CN6B
C
N
6
B

CN4
C
N
4

20 128
Units: mm
Approx. mass: 0.2 kg

5-41
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.16 DeviceNet Application Module

5.5.16 DeviceNet Application Module

(1) Model: JUSP-NS300
(2) Specifications

Item Details
Applicable SERVOPACK All SGDH-†††EB models
Installation Method Mounted on the SGDH SERVOPACK side: CN10.
Basic Power Supply Method Supplied from the SERVOPACK control power supply.
Specifications Power Consumption 1.3 W
DeviceNet Baud Rate Setting Select from 125 kbps, 250 kbps, or 500 kbps using a rotary switch.
Communications Node Address Setting Select the address from 0 to 63 using the rotary switches.
Operation Specifications Positioning using DeviceNet communications.
DeviceNet communications
Command Format
Reference Input Commands: Motion commands (position, speed), and Parameter
read/write
Acceleration/
Position Control Linear first/second-step, asymmetric, exponential, S-curve
Deceleration Method
Functions
Fully Closed Control Possible
Fixed Allocation to SER- Forward/reverse run prohibited, Zero point signal, External position-
Input Signals
VOPACK CN1 Connector ing signal, Zero point return deceleration limit switch
Position Data Latch Position data latching is possible using phase C, zero point signals,
Function and external signals.
Parameters damage, Parameter setting errors, Communications error,
Internal Functions Protection
etc.
MS: Module Status
LED Indicators
NS: Network Status

(3) Dimensional Drawings

FG terminal (24)
M4
(100)

Connector
to SERVOPACK

CN11 NS300
7

8
6

9 X
0 1
5

4
3 10
2
7

8
6

9 X
0 1
5

4
3 1
2
7

8
6

9 D
0 1
5

4 R
2

C
N
11

CN6 M
S
N
S

Nameplate
142

CN4

20 133

Units: mm
Approx. mass: 0.2 kg

5-42
 5.5 Peripheral Devices

5.5.17 PROFIBUS-DP Application Module

(1) Model: JUSP-NS500
(2) Specifications

Item Details
Applicable SERVOPACk All SGDH-†††EB models
Installation Method Mounted on the SGDH SERVOPACK side: CN10.
Basic Power Supply Method Supplied from the SERVOPACK control power supply.
Specifications Power Consumption 1.3 W
The baud rate is automatically set by the Master between 9.6 kbps
PROFIBUS-DP Baud Rate Setting
and 12 Mbps.
Communications
Station Address Setting Select the address from 0 to 7D (0 to 125) using the rotary switches.
Operation Specifications Positioning using PROFIBUS-DP communications
PROFIBUS-DP communications
Command Format
Reference Input Commands: Motion commands (position, speed), Parameter read/

Specifications and Dimensional Drawings of Cables and Peripheral Devices

write
Acceleration/
Position Control Linear first/second-step, asymmetric, exponential, S-curve
Deceleration Method
Functions
Fully Closed Control Possible
Fixed Allocation to SER- Forward/reverse run prohibited, Zero point return deceleration LS,
Input Signals VOPACK CN1 Connector Zero point signal, External positioning signal
NS500 Module Emergency stop signal
SERVOPACK CN1
Servo alarm, Brake interlock, Servo ready, Positioning completion
Output Signals Connector∗
NS500 Module Notch 1, notch 2
Position Data Latch Position data latching is possible using phase C, zero point signals,
Function and external signals.
Parameters damage, Parameter setting errors, Communications
Internal Functions Protection
errors, etc.
ERR: Module Error
LED Indicators
COMM: Communications Status
* The allocation of the output signals for brake interlock, servo ready, or positioning completion
can be changed using parameter settings.

(3) Dimensional Drawings

(24)
FG terminal
M4
(100)

Connector
to SERVOPACK
5
CN11 NS500
7

8
6

9 X
0 1
5

4
3 10
2
7

8
6

9 X
0 1
5

4
3 1
2

D
R

C
N
11

CN6
Nameplate
142

CN4

20 133
Units: mm
Approx. mass: 0.2 kg

5-43
 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.18 Fully-closed Application Module

5.5.18 Fully-closed Application Module

(1) Model: JUSP-FC100
(2) Specifications

Item Details
Applicable SERVOPACK All SGDH-†††EB models
Installation Method Mounted on the SGDH SERVOPACK side: CN10.
Basic Power Supply Method Supplied from the SERVOPACK control power supply.
Specifications Power Consumption 0.5 W or less
Fully-closed Encoder Pulse 5 V differential line-driver output (complies with EIA Standard
Output Form RS-422A)
Fully-closed Encoder Pulse
Fully Closed 90° Phase difference 2-phase differential pulse (phase A, phase B)
Signal Form
System
Specifications Maximum Receivable Fre-
1 Mbps
quency for SERVOPACK
Power Supply for Fully-
To be prepared by customer.
closed Encoder
Protection Detecting fully-closed encoder disconnection
Internal Functions
LED Indicators Setting with the parameters

(3) Dimensional Drawings

(24)
FG terminal
M4
(100)

Connector
To SERVOPACK

FC100

Nameplate
142

CN4

20 128
Units: mm
Approx. mass: 0.2 kg

5-44
 6
Wiring

6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - 6-2
6.1.2 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.2.1 Connecting an Encoder (CN2) and
Output Signals from the SERVOPACK (CN1) - - - - - - - - - - - - - - - - - 6-8
6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - 6-9

6.3 I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.3.1 Example of I/O Signal Connection - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.2 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - 6-11
6.3.3 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - 6-12
6.3.4 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14

6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17

6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
6.4.3 Using More Than One SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.4.4 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24

Wiring

6-1
 6 Wiring
6.1.1 Names and Functions of Main Circuit Terminals

6.1 Wiring Main Circuit

This section describes typical examples of main circuit wiring, functions of main circuit terminals, and the power
ON sequence.

CAUTION
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa-
rated by at least 300 mm.
Failure to observe this caution may result in malfunction.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG) feed-
back lines.
The maximum length is 3 m for reference input lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when the
power is turned ON. Frequently turning the power ON and OFF causes main power devices such as capacitors and
fuses to deteriorate, resulting in unexpected problems.

6.1.1 Names and Functions of Main Circuit Terminals

(1) SERVOPACK main circuit terminal functions and descriptions
Main
External Terminal Circuit
Terminal Symbol Functions
Name Voltage
(V)
L1/R, L2/S, Main circuit power 200 Three-phase 200 to 230 VAC+10%, -15% (50/60 Hz)
L3/T supply input terminal 400 Three-phase 380 to 480 VAC+10%,-15% (50/60 Hz)
U, V, W Servomotor −
Connects to the servomotor.
connection terminals
L1C/r, L3C/t Control circuit power 200 Single-phase 200 to 220 VAC+10%, -15% (50 Hz)
supply input terminal
Single-phase 200 to 230 VAC+10%, -15% (60 Hz)
DC24P, DC24N 400 24 VDC (±15%)
− Connects to the power supply ground terminals and servo-
Ground terminals
motor ground terminal.
B1, B2 Regenerative resistor −
Connects to the regenerative resistor.
connection terminal
0 V, 380 V, Input terminal for 400
Single-phase 380 to 480 VAC (50/60 Hz)
400 V, 440 V, actuator control
Power input terminals for the fan or contactor.
460 V, 480 V
DU, DV, DW Dynamic brake unit −
Connects the dynamic brake unit.
connection terminal
DBON, DB24 Dynamic brake unit − Connects to the DBON and DB24 terminals of the dynamic
connection terminal brake unit (only when using 37 kW or more SERVO-
PACK).

6-2
 6.1 Wiring Main Circuit

(2) Servomotor terminal names and description

Main
External Terminal Circuit
Terminal Symbol Functions
Name Voltage
(V)
U, V, W SERVOPACK − Connects to the U, V and W terminals of the
connection terminal SERVOPACK.
U (A), 200 Three-phase 200 to 230 VAC+10%, -15% (50/60 Hz)
V (B), Fan terminal 400
W (C) Three-phase 380 to 480 VAC+10%,-15% (50/60 Hz)
A, B Brake power supply −
connection terminal
(only when using Connects the brake power supply.
servomotors with
brakes)
1, 1b − Used to detect overheating of the servomotor and to open
Thermal protector the thermal protector circuit. Use a sequence that turns the
terminal SERVOPACK’s main circuit power supply OFF or the
servo OFF when the thermal protector circuit opens.

Wiring

6-3
 6 Wiring
6.1.2 Typical Main Circuit Wiring Examples

6.1.2 Typical Main Circuit Wiring Examples

(1) Three-phase 200 V, 22 kW and 30 kW SERVOPACKs
Three-phase W(C)
200 to 230 VAC +10
-15
% (50/60 Hz)
V(B)
R S T U(A)
Regen- SERVOPACK
1QF erative SGDM-

ADB
Resistor SGDH-

AEB DB Unit
Fan
B1 DU
DV
FIL
B2 DW
Thermal
protector
U 1
U
V V
M
W 1b
W
L1C/r FG
L3C/t
1KM CN2 PG
L1/R
L2/S
L3/T
(Alarm lamp)
CN1 1Ry
1Ry 1PL ALM+ 31 +24V
Main circuit
OFF ON 1KM
power 1Ry

ALM- 1D 0 24V
32
FG
1MC 1SA

1QF : Circuit breaker (for inverters) 1PL : Lamp for display

FIL : Noise filter 1SA : Surge absorber
1KM : Contactor 1D : Flywheel diode
1Ry : Relay

6-4
 6.1 Wiring Main Circuit

(2) Three-phase 200 V, 37 kW SERVOPACK

Three-phase W(C)
200 to 230 VAC +10
-15
% (50/60 Hz)
V(B)
R S T U(A)
Regen- SERVOPACK
1QF erative SGDM-

ADB
Resistor SGDH-

AEB DB Unit
B1 Fan
DU
DV
FIL
B2 DW
DB24 Thermal
protector
DBON
U 1
U
V V
M
W 1b
W
L1C/r FG
L3C/t
1KM CN2 PG
L1/R
L2/S
L3/T
(Alarm lamp)
CN1 1Ry
1Ry 1PL ALM+ 31 +24V
Main circuit OFF ON
power 1Ry 1KM

ALM- 1D 0 24V
32
FG
1KM 1SA

1QF : Circuit breaker (for inverters) 1PL : Lamp for display

FIL : Noise filter 1SA : Surge absorber
1KM : Contactor 1D : Flywheel diode
1Ry : Relay

Wiring

6-5
 6 Wiring
6.1.2 Typical Main Circuit Wiring Examples

(3) Three-phase 400 V, 22 kW and 30 kW SERVOPACKs

Three-phase W(C)
380 to 480 VAC +10
-15
% (50/60 Hz) V(B)
R S T U(A)

Regen- SERVOPACK
1QF erative SGDH-

DEB DB Unit
Prepared by customer Resistor Fan
B1 DU
Control power
FIL
DV
supply
24 VDC B2 DW
− + Thermal
380 to 480 V protector
U 1
U
0V V V
M
W 1b
W
DC24P FG
DC24N
1KM CN2 PG
L1/R
L2/S
L3/T
(Alarm lamp) CN1 1Ry
1Ry 1PL ALM+ 31 +24V
Main circuit OFF ON
power 1Ry 1KM

ALM - 1D 0 24V
32
FG
1KM 1SA

1QF : Circuit breaker (for inverters) 1PL : Lamp for display

FIL : Noise filter 1SA : Surge absorber
1KM : Contactor 1D : Flywheel diode
1Ry : Relay

6-6
 6.1 Wiring Main Circuit

(4) Three-phase 400 V, 37 kW to 90 kW SERVOPACKs

Three-phase W(C)
+10
380 to 480 VAC -15 % V(B)
R S T U(A)

SERVOPACK
1QF SGDH-

DEB DB Unit
Prepared by customer Fan
B1 DU
Control power
FIL supply DV
24 VDC B2 DW
− + DB24 Thermal
DBON protector
380 to 480 VU U 1
V V
0V M
W 1b
W
DC24P FG
DC24N
1KM CN2 PG
L1/R
L2/S
L3/T
(Alarm lamp) CN1
1Ry 1Ry
1PL ALM+ 31 +24V
Main circuit OFF ON
1Ry 1KM
power
ALM - 1D 0 24V
32
FG
1KM 1SA

1QF : Circuit breaker (for inverters) 1PL : Lamp for display

FIL : Noise filter 1SA : Surge absorber
1KM : Contactor 1D : Flywheel diode
1Ry : Relay

IMPORTANT „Designing a Power ON Sequence

Note the following points when designing the power ON sequence.
• Design the power ON sequence so that main circuit power supply is turned OFF when a servo alarm signal
is output. See the previous circuit figure.
• Hold the power ON button for at least two seconds. The SERVOPACK will output (1Ry is OFF) a servo
alarm signal for two seconds or less when power is turned ON. This is required in order to initialize the
SERVOPACK.

Power supply 2.0 s max.

Wiring

Servo alarm (ALM)

output signal
• Select the power supply specifications for the parts in accordance with the input power supply.
6

6-7
 6 Wiring
6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)

6.2 Wiring Encoders

The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servo-
motor model. Refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details.

6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK
(CN1)
(1) Incremental Encoders
SERVOPACK

CN1
Incremental 1-33 PAO
∗2
encoder 1-34 /PAO
1-35 PBO
CN2
∗1 1-36 /PBO
C Blue 2-5 1-19 PCO
D White/blue 2-6 1-20 /PCO

PG

H Red 2-1 1-1 SG

PG5 V 0V
G 2-2 0V
PG0 V
Inner
shield
J
Outer Connector Connector
shield shell shell

Customer end

* 1. : represents twisted-pair wires.

* 2. Applicable line receiver: SN75175 manufactured by Texas Instruments or the equivalent.

6-8
 6.2 Wiring Encoders

(2) Absolute Encoders

SERVOPACK
CN1
1-33 PAO
∗2
Absolute encoder 1-34 /PAO
CN2 1-35 PBO
∗1 1-36 /PBO
C Blue 2-5 1-19 PCO
D White/blue 2-6 1-20 /PCO
1-48 PSO
1-49 /PSO

PG T Orange 2-3 1-21 BAT(+) +

S White/orange 2-4 1-22 BAT(–) Battery
–

1-4 SEN
+5 V
1-2 SG
H Red 2-1
PG5 V 1-1 SG
G 2-2 0V
PG0 V 0V
Inner
shield
J
Outer Connector Connector
shield shell shell

Customer end

* 1. : represents twisted-pair wires.

* 2. Applicable line receiver: SN75175 manufactured by Texas Instruments or the equivalent.

6.2.2 Encoder Connector (CN2) Terminal Layout

PG power supply PG power supply

1 PG5V 2 PG 0 V
+5 V 0V
Battery (+) Battery (-)
3 BAT (+) 4 BAT (-)
(For an absolute encoder) (For an absolute encoder)
5 PS PG serial signal input 6 /PS PG serial signal input
SHELL Shield −
Wiring

6-9
 6 Wiring
6.3.1 Example of I/O Signal Connection

6.3 I/O Signal Connections

6.3.1 Example of I/O Signal Connection
SGDM/SGDH SERVOPACK
Speed reference ∗2
∗1
±2V to ±10V V -REF 5
LPF 37 ALO1
/rated motor Alarm code output
SG Max. operating voltage:
speed 6 38 ALO2
30 VDC
∗2 A/D Max. operating current:
Torque reference T -REF 9 39 ALO3 20 mA DC
±1V to ±10V LPF
/rated torque SG 10

PULS PULS 7 150 Ω Photocoupler

CW
Phase A /PULS 8
33 PAO
SIGN SIGN 11 150 Ω
34 /PAO
CCW
Phase B /SIGN 12
PG dividing ratio output
35 PBO Applicable line receiver
CLR 15 150 Ω SN75175 or MC3486
CLR 36 /PBO
manufactured by Texas
/CLR 14 Instruments
19 PCO
+12 V
1 kΩ 20 /PCO
PL1 3
Power supply for
Open collector PL2 13
reference ∗4 48 PSO Amount of phase-S rotation
PL3 18
49 /PSO Serial data output
Applicable line receiver
BAT (+) SN75175 or MC3486
21 1 SG manufactured by Texas
∗ +
Backup battery 3 -
Instruments
BAT (- ) 22
2.8 to 4.5 V
SEN 4
+5 V
∗
SEN signal input 3 SG 2
0V

+24VIN 47 Photocoupler
25 /V-CMP+ Speed coincidence detection:
+
+24 V (/COIN+) ON when speed coincides.
Servo ON - /S-ON 40 26 /V-CMP-- (Positioning completed:
(Servo ON when ON) (/COIN-- ) ON when positioning completes.)

P control /P-CON 41
(P control when ON) 27 /TGON+ Running output
(ON when the motor speed
exceeds the settings.)
Forward run prohibited N-OT 43 28 /TGON--
(Prohibited when OFF) 29 /S-RDY+ Servo ready output
(ON when ready)
P-OT 42 30 /S-RDY--
Reverse run prohibited
(Prohibited when OFF) 31 ALM+ Servo alarm output
(OFF for an alarm)
Alarm reset /ALM-RST 44 32 ALM -
(Reset when ON) Photocoupler output
Max. operating voltage:
/N-CL 46 30 VDC
Reverse external torque Max. operating current:
limit (Limit when ON) 50 mA DC
/P-CL 45
Forward external torque
limit (Limit when ON) Connector
shell

FG Connect shield to
connector shell.

* 1. represents twisted-pair wires.

* 2. The time constant for the primary filter is 47 μs.
* 3. Connect a backup battery when using an absolute encoder.
* 4. Enabled when using the absolute encoder.

6-10
 6.3 I/O Signal Connections

6.3.2 I/O Signal Connector (CN1) Terminal Layout

The following diagram shows the terminal layout and the signals that are preset before shipping.
Pin
Signal
Num- Function
Name Speed coinci-
ber /V-CMP-
1 SG GND 26 dence detec-
(/COIN-)
Running sig- tion output
2 SG GND 27 /TGON+
Open-collec- nal output
Running
3 PL1 tor reference 28 /TGON-
4 signal output
SEN signal power supply Servo ready
SEN 29 /S-RDY+
input output
Speed refer- Servo ready
5 V-REF 30 /S-RDY-
6 ence input output
Servo alarm
SG GND 31 ALM+
output
Reference Servo alarm
7 PULS 32 ALM-
8 pulse input PG dividing output
Reference
/PULS 33 PAO pulse output
pulse input PG dividing
Torque refer- Phase A
9 T-REF 34 /PAO pulse output
10 ence input PG dividing
Phase A
SG GND 35 PBO pulse output
PG dividing
Reference Phase B
11 SIGN 36 /PBO pulse output
12 sign input
Reference Alarm code Phase B
/SIGN 37 ALO1
sign input Open-collec- output
Alarm code
13 PL2 tor reference 38 ALO2
14 output
power supply Alarm code
/CLR Clear input 39 ALO3
output
Servo ON
15 CLR Clear input 40 /S-ON
16 input
P control
− − 41 /P-CON
input
Forward run
17 − − 42 P-OT
Open-collec- prohibit input
Reverse run
18 PL3 tor reference 43 N-OT
PG dividing prohibit input
power supply /ALM- Alarm reset
19 PCO pulse output 44
20 Forward RST input
PG dividing Phase C
external
/PCO pulse output 45 /P-CL Reverse
torque limit
Phase C external
21 BAT (+) Battery (+) input 46 /N-CL
torque limit
22 +24V External input input
BAT (-) Battery (-) 47
IN power supply
Phase-S
23 − − 48 PSO
24 signal output
Phase-S
− − 49 /PSO
Speed coinci- signal output
Wiring

25 /V-CMP+ 50
dence detec- − −
(/COIN+)
tion output
Notes: 1. Do not use unused terminals for relays.
2. Connect the shield of the I/O signal cable to the connector shell. 6
Connect to the FG (frame ground) at the SERVOPACK-end connector.
3. The functions allocated to the following input and output signals can be changed by using the
parameters.
• Input signals: /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL
• Output signals: /TGON, /S-RDY, and /V-CMP (/COIN)
• The above output signals can be changed to /CLT, /VLT, /BK, /WARN, and /NEAR.

6-11
 6 Wiring
6.3.3 I/O Signal (CN1) Names and Functions

6.3.3 I/O Signal (CN1) Names and Functions

(1) Input Signals
Refer-
Signal Name Pin No. Function
ence
/S-ON 40 Servo ON: Turns ON the servomotor when the gate block in the inverter is released. 8.3.1
Function selected by parameter. −
Proportional control Switches the speed control loop from PI (proportional/ 8.5.2
reference integral) to P (proportional) control when ON. 9.4.4
With the internally set speed selection: Switch the rotation
Direction reference 8.8.2
direction.

Position ↔ speed
/P-CON 41 Control mode
Position ↔ torque Enables control mode switching. 8.10.2
switching
Torque ↔ speed

Speed control with zero-clamp function: Reference

Zero-clamp reference 8.5.6
speed is zero when ON.
Position control with reference pulse stop: Stops reference
Reference pulse block 8.6.7
pulse input when ON.
Forward run
Common P-OT 42 prohibited Overtravel prohibited: Stops servomotor when movable part
8.3.3
N-OT 43 Reverse run travels beyond the allowable range of motion.
prohibited
Function selected by parameter. −
Forward external
torque limit ON
/P-CL 45 External torque limit function enabled when ON. 8.9.2
46 Reverse external
/N-CL
torque limit ON
Internal speed With the internally set speed selection: Switches the 8.8.2
switching internal speed settings. 8.10.2
/ALM-RST 44 Alarm reset: Releases the servo alarm state. 8.11.1
Control power supply input for sequence signals: Users must provide the +24 V
+24VIN 47 power supply. 6.3.4
Allowable voltage fluctuation range: 11 to 25 V
SEN 4 (2) Initial data request signal when using an absolute encoder. 8.4.1
BAT (+) 21 Connecting pin for the absolute encoder backup battery. 6.2.1
BAT (-) 22 Do not connect when a battery is connected to the host controller. 8.4.3
Speed reference speed input: ±2 to ±10 V/rated motor speed (Input gain can be
Speed V-REF 5 (6) 8.5.2
modified using a parameter.)
Torque reference input: ±1 to ±10 V/rated motor torque (Input gain can be modified
Torque T-REF 9 (10) 8.7.2
using a parameter.)
PULS 7 Input mode is set from the following pulses.
Reference pulse input
/PULS 8 • Sign + pulse string
for line driver and open 8.6.1
SIGN 11 • CCW/CW pulse
12 collector
/SIGN • Two-phase pulse (90° phase differential)
Position CLR 15 Positional error pulse clear input: Clears the positional error pulse during position
8.6.1
/CLR 14 control.
PL1 3
+12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are 6.3.4
PL2 13
open-collector outputs (+12 V power supply is built into the SERVOPACK). 8.6.3
PL3 18
Note: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input
signals can be changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation.
3. The voltage input range for speed and torque references is a maximum of ±12 V.

6-12
 6.3 I/O Signal Connections

(2) Output Signals

Signal Name Pin No. Function Reference
ALM+ 31
Servo alarm: Turns OFF when an error is detected. 8.11.1
ALM- 32
Detection during servomotor rotation: Detects when the servomotor is rotating
/TGON+ 27
at a speed higher than the motor speed setting. Detection speed can be set by using 8.11.3
/TGON- 28
the parameters.
/S-RDY+ 29 Servo ready: ON if there is no servo alarm when the control/main circuit power
8.11.4
/S-RDY- 30 supply is turned ON.
PAO 33 (1)
Phase-A signal Converted two-phase pulse (phases A and B) encoder output
/PAO 34
signal and zero-point pulse (phase C) signal: RS-422 or the
PBO 35
Common Phase-B signal equivalent
/PBO 36 8.4.6
(Proper line receiver is SN75175 manufactured by Texas
PCO 19 8.5.7
Phase-C signal Instruments or the equivalent corresponding to MC3486.)
/PCO 20
PSO 48 With an absolute encoder: Outputs serial data corresponding
Phase-S signal
/PSO 49 to the number of revolutions (RS-422 or the equivalent)
ALO1 37
Alarm code output: Outputs 3-bit alarm codes.
ALO2 38 8.11.1
39 (1) Open-collector: 30 V and 20 mA rating maximum
ALO3
Connected to frame ground if the shield wire of the I/O signal cable is connected
FG Shell −
to the connector shell.
/V-CMP+ 25 Speed coincidence (output in Speed Control Mode): Detects whether the motor
Speed 8.5.8
/V-CMP- 26 speed is within the setting range and if it matches the reference speed value.
Positioning completed (output in Position Control Mode): Turns ON when the
/COIN+ 25 number of positional error pulses reaches the value set. The setting is the number of
Position 8.6.5
/COIN- 26 positional error pulses set in reference units (input pulse units defined by the elec-
tronic gear).
/CLT 8.3.4
Reserved terminals
/VLT 8.6.6
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by
/BK − 8.7.4
using the parameters. /CLT, /VLT, /BK, /WARN, and /NEAR signals can also be
/WARN 8.9.5
changed.
/NEAR 8.11.2
Reserved
16
17
Terminals not used
− 23 −
24 Do not connect relays to these terminals.
50
Notes: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the
parameters. /CLT, /VLT, /BK, /WARN, and /NEAR signals can also be changed.
Wiring

6-13
 6 Wiring
6.3.4 Interface Circuit

6.3.4 Interface Circuit

This section shows examples of SERVOPACK I/O signal connection to the host controller.
(1) Interface for Reference Input Circuits
(a) Analog Input Circuit
CN1 connector terminals, 5-6: Speed reference input and 9-10: Torque reference input are explained below.
Analog signals are either speed or torque reference signals at the impedance below.
• Reference speed input: About 14 kΩ
• Reference torque input: About 14 kΩ
The maximum allowable voltages for input signals is ±12 V.

Analog Voltage Input Circuit Analog Voltage Input Circuit (D/A)

SERVOPACK SERVOPACK
1.8 kΩ (1/2 W)min. Host controller
3 V-REF or V-REF or
12 V 25HP-10B 2 T-REF T-REF
2 kΩ 1 About 14 kΩ D/A
SG SG About 14 kΩ

0V 0V

(b) Position Reference Input Circuit

CN1 connector terminals, 7-8: Reference pulse input, 11-12: Reference code input and 15-14: Clear input are
explained below.
An output circuit for the reference pulse and position error pulse clear signal at the host controller can be either
line-driver or open-collector outputs. The following shows by type.

Line-driver Output Circuit

Host controller SERVOPACK
150 Ω 4.7 kΩ

Applicable line driver

SN75174 manufactured
by Texas Instruments
or the equivalent

2.8 V ≤ (H level) - (L level) ≤ 3.7 V

Open-collector Output, Example 2:
Open-collector Output, Example 1:
Using 12-V Power Supply Built into SERVOPACK,
Power Supply Provided by User
Non-insulated Input
Host controller SERVOPACK
Vcc
Host controller SERVOPACK
R1
i 150 Ω 4.7 kΩ PL1, PL2, PL3 terminals

1.0 kΩ +12 V
VF
150 Ω
Tr1
About
9 mA
VF = 1.5 to 1.8 V
Use the examples below to set pull-up resistor R1 so the input
current, i, falls between 7 mA and 15 mA.
1.5 V max.
Application Examples 0V
when ON
R1 = 2.2 kΩ with a R1 = 1 kΩ with a R1 = 180 Ω with a
Vcc of 24 V ±5% Vcc of 12 V ±5% Vcc of 5 V ±5%

6-14
 6.3 I/O Signal Connections

(2) Sequence Input Circuit Interface

CN1 connector terminals 40 to 47 is explained below.
The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low-
current relay otherwise a faulty contact will result.
Relay Circuit Example Open-collector Circuit Example

SERVOPACK SERVOPACK

24 VDC +24VIN 3.3 kΩ 24 VDC +24VIN 3.3 kΩ

/S-ON, etc. /S-ON, etc.

Note: The 24 VDC external power supply capacity must be 50 mA minimum.

(3) Output Circuit Interface

There are three types of SERVOPACK output circuits:
(a) Line Driver Output Circuit
CN1 connector terminals, 33-34: phase-A signal, 35-36: phase-B signal and 19-20: phase-C signal are
explained below.
Encoder serial data converted to two-phase (phases A and B) pulse output signals (PAO, /PAO, PBO, /PBO),
zero-point pulse signals (PCO, /PCO), and the amount of phase-S rotation signal are output via line-driver
output circuits. Normally, the SERVOPACK uses this output circuit in speed control to comprise the position
control system at the host controller. Connect the line-driver output circuit through a line receiver circuit at
the host controller.

Wiring

6-15
 6 Wiring
6.3.4 Interface Circuit

(b) Open-collector Output Circuit

CN1 connector terminals 37 to 39: Alarm code output are explained below.
Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Con-
nect an open-collector output circuit through a photocoupler, relay circuit, or line receiver circuit.

Photocoupler Circuit Example Relay Circuit Example

5 to 12 VDC
SERVOPACK SERVOPACK
Photocoupler 5 to 24 VDC
Relay

0V 0V
0V

Line Receiver Circuit Example

SERVOPACK 5 to 12 VDC

0V 0V

Note: The maximum allowable voltage and current capacities for open-collector output circuits
are as follows:
• Voltage: 30 VDC
• Current: 20 mA DC

(c) Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence out-
put signal circuits. Connect a photocoupler output circuit through a relay circuit or line receiver circuit.

Relay Circuit Example Line Receiver Circuit Example

SERVOPACK
5 to 24 VDC SERVOPACK 5 to 12 VDC
Relay

0V 0V

Note: The maximum allowable voltage and current capacities for photocoupler output circuits
are as follows:
• Voltage: 30 VDC
• Current: 50 mA DC

6-16
 6.4 Others

6.4 Others
6.4.1 Wiring Precautions
To ensure safe and stable operation, always observe the following wiring precautions.

IMPORTANT 1. For wiring for reference inputs and encoders, use the specified cables. Refer to 5 Specifications and
Dimensional Drawings of Cables and Peripheral Devices for details.
Use cables as short as possible.
2. For a ground wire, use as thick a cable as possible (2.0 mm2 or thicker).
• At least class-3 ground (100 Ω max.) is recommended.
• Ground to one point only.
• If the servomotor is insulated from the machine, ground the servomotor directly.
3. Do not bend or apply tension to cables.
The conductor of a signal cable is very thin (0.2 to 0.3 mm), so handle the cables carefully.
4. Use a noise filter to prevent noise interference.
(For details, refer to 6.4.2 Wiring for Noise Control.)
• If the equipment is to be used near private houses or may receive noise interference, install a noise filter on
the input side of the power supply line.
• Because the SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise
interference.
5. To prevent malfunction due to noise, take the following actions:
• Position the input reference device and noise filter as close to the SERVOPACK as possible.
• Always install a surge absorber in the relay, solenoid and magnetic contactor coils.
• The distance between a power line (such as a power supply line or servomotor cable) and a signal line must
be at least 300 mm. Do not put the power and signal lines in the same duct or bundle them together.
• Do not share the power supply with an electric welder or electrical discharge machine. When the SERVO-
PACK is placed near a high-frequency generator, install a noise filter on the input side of the power supply
line.
6. Use a molded-case circuit breaker (QF) or fuse to protect the power supply line from high voltage.
• The SERVOPACK connects directly to a commercial power supply without a transformer, so always use a
QF or fuse to protect the SERVOPACK from accidental high voltage.
7. The SERVOPACKs do not have built-in ground protection circuits. To configure a safer system, install
an earth leakage breaker for protection against overloads and short-circuiting, or install an earth leakage
breaker combined with a wiring circuit breaker for ground protection.

Wiring

6-17
 6 Wiring
6.4.2 Wiring for Noise Control

6.4.2 Wiring for Noise Control

(1) Wiring Example
The SERVOPACK uses high-speed switching elements in the main circuit. It may receive “switching noise”
from these high-speed switching elements if the processing of wiring or grounding around the SERVOPACK is
not appropriate. To prevent this, always wire and ground the SERVOPACK correctly.
The SGDH SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as pos-
sible by installing a noise filter in the appropriate place.
The following is an example of wiring for noise control.
When using a noise filter, follow the precautions in (3) Using Noise Filters.

SGDM/SGDH
Noise filter SERVOPACK
Servomotor
L1/R U
2LF V M
200 to 230 L2/S (FG)
VAC W
L3/T
2
3.5 mm
min. ∗1 L1C/r CN2
(Casing) PG
L3C/t

2.0 mm2
Operation relay min.
sequence
Signal generation
circuit (provided by
customer)

∗2

AVR
1LF (Ground) 3.5 mm2
min.
2
2 mm min.
2 ∗1
(Casing) (Casing) (Casing) 3.5 mm‫ޓ‬min.
Wires of 3.5 mm 2
or more ∗1 (Casing)
(Ground plate)

Ground: Ground to an independent ground

(at least class-3 grounding (100 Ω max).)

* 1. For ground wires connected to the casing, use a thick wire with a thickness of
at least 3.5 mm (preferably, plain stitch copper wire).
* 2. : represents twisted-pair wires.

6-18
 6.4 Others

SGDH Servomotor
Noise filter SERVOPACK
L1/R U
M
380 to 480 2LF L2/S V (FG)
VAC W
L3/T
2 + DC24P
3.5 mm 24 VDC
- DC24N
min. ∗1 CN2 PG
380 to 480 V
(Casing)
0V

2.0 mm
Operation relay min.
sequence
Signal generation
circuit (provided by
customer)

∗2

AVR
1LF (Ground) 3.5 mm2
min.
2
2 mm min.
(Casing) (Casing) (Casing) 3.5 mmmin.∗1

Wires of 3.5 mm
or more ∗1
(Casing)
(Ground plate)

Ground: Ground to an independent ground

(at least class-3 grounding (100 Ω max).)

* 1. For ground wires connected to the casing, use a thick wire with a thickness of
at least 3.5 mm (preferably, plain stitch copper wire).
* 2. : represents twisted-pair wires.

(2) Correct Grounding

(a) Grounding the Motor Frame
Always connect servomotor frame terminal FG to the SERVOPACK ground terminal . Also be sure to
ground the ground terminal .
If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK
power unit through servomotor stray capacitance. The above grounding is required to prevent the adverse
effects of switching noise.

(b) Noise on the Reference Input Line

If the reference input line receives noise, ground the 0 V line (SG) of the reference input line. If the main cir-
Wiring

cuit wiring for the motor is accommodated in a metal conduit, ground the conduit and its junction box.
For all grounding, ground at one point only.

6-19
 6 Wiring
6.4.2 Wiring for Noise Control

(3) Using Noise Filters

Use an inhibit type noise filter to prevent noise from the power supply line. The following table lists recom-
mended noise filters for each SERVOPACK model.
Install a noise filter on the power supply line for peripheral equipment as necessary.
Recommended Noise Filters
Voltage SERVOPACK Model
Model Specifications Manufacturer
SGDM-2BADB
FN258L-130-35 480 VAC, 130 A
SGDH-2BAEB
Three-phase SGDM-3ZADB
FN258L-180-07 480 VAC, 180 A
200 V SGDH-3ZAEB
SGDM-3GADB
FN359P-250-99 480 VAC, 250 A
SGDH-3GAEB
Schaffner
SGDH-2BDEB FN258L-180-07 480 VAC, 180 A
SGDH-3ZDEB FN258L-180-07 480 VAC, 180 A
Three-phase SGDH-3GDEB FN258L-180-07 480 VAC, 180 A
400 V SGDH-4EDEB FN359P-250-99 480 VAC, 250 A
SGDH-5EDEB FN359P-250-99 480 VAC, 250 A
SGDH-9ZDEB FN359P-300-99 A480 VAC, 300 A

„Precautions when using noise filter

IMPORTANT
Always observe the following installation and wiring instructions. Incorrect use of a noise filter halves its
benefits.
1. Do not put the input and output lines in the same duct or bundle them together.

Incorrect Correct

Noise Noise
filter filter

Box Box

Noise Noise
filter filter

Box Box

Separate these circuits

6-20
 6.4 Others

2. Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines, and other signal lines in the same duct or
bundle them together.

Incorrect Correct

Noise Noise
filter filter

The ground wire

can be close to
input lines.

Box Box

3. Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.

Incorrect Correct

Noise Noise
filter filter
SERVOPACK SERVOPACK SERVOPACK SERVOPACK

Shielded Thick and

ground wire short

Box Box

4. When grounding a noise filter inside a unit:

If a noise filter is located inside a unit, connect the noise filter ground wire and the ground wires from other
devices inside the unit to the ground plate for the unit first, then ground these wires.

Unit
SERVOPACK
Wiring

Noise
filter

SERVOPACK
6

Ground
Box

6-21
 6 Wiring
6.4.3 Using More Than One SERVOPACK

6.4.3 Using More Than One SERVOPACK

The following diagram is an example of the wiring when more than one SERVOPACK is used.
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay
1Ry to operate.
When the alarm occurs, the ALM output signal transistor is turned OFF.
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise
filter that has enough capacity for the total power capacity (load conditions) of those servos. For details, refer to
2.5.2 Molded-case Circuit Breaker and Fuse Capacity.
(1) Three-phase 200 VAC: SGDM-††ADB/SGDH-††AEB
Power supply
R S T
Three-phase 200 to 230 VAC

Power
QF Power ON
OFF
1RY 1KM

1KM
Noise
filter 1SA

1KM
L1/R SERVOPACK
L2/S Servomotor
L3/T

L1C/r M
L3C/t

+24V
CN1
1RY
31 ALM+

32 ALM -

L1/R SERVOPACK
L2/S Servomotor
L3/T

L1C/r M
L3C/t

CN1
31 ALM+

32 ALM -

L1/R SERVOPACK
L2/S Servomotor
L3/T

L1C/r M
L3C/t

CN1
31 ALM+

32 ALM -
0V

Note: Wire the system, so that the phase-S power supply will be the ground phase.

6-22
 6.4 Others

(2) Three-phase 400 VAC: SGDH-††DEB

Power supply
R S T
Three-phase 380 to 480 VAC

Power
QF Power ON
OFF 1KM
1Ry

1KM
FIL
1SA

1KM
L1/R SERVOPACK Servomotor
L2/S
L3/T

DC24P M
DC24N

+
DC24 V - +24 V
1Ry CN1
31 ALM+

32 ALM -

L1/R SERVOPACK
L2/S Servomotor
L3/T

DC24P M
DC24N

CN1
31 ALM+

32 ALM -

SERVOPACK
L1/R
L2/S Servomotor
L3/T

DC24P M
DC24N

CN1
31 ALM+

32 ALM -

0V

Note: Wire the system, so that the phase-S power supply will be the ground phase.
Wiring

6-23
 6 Wiring
6.4.4 Extending Encoder Cables

6.4.4 Extending Encoder Cables

Standard encoder cables have a maximum length of 20 m. If a longer cable is required, prepare an extension
cable as described below. The maximum allowable cable length is 50 m.
For the encoder cable specifications, refer to 5.3 Connectors and Cables for Encoder Signals.
Name Type Specifications

SERVOPACK- Plug for encoder

JZSP-CMP9-1
end connector kit connector (CN2)
L-shaped plug

MS3108B20-29S

Straight plug
Servomotor-end
Encoder connector MS3106B20-29S
connector kit

Cable clamp

MS3057-12A

JZSP-CMP29-30 50 m max.
Cables JZSP-CMP29-40
JZSP-CMP29-50

Maximum length: 50 m

6-24
 7
Digital Operator/Panel Operator

7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - 7-2

7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5

7.2 Operation in Utility Function Mode (Fn†††) - - - - - - - - - - - - 7-7

7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
7.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - 7-8
7.2.3 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.2.4 Parameter Settings Initialization (Fn005) - - - - - - - - - - - - - - - - - - - - 7-10
7.2.5 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 7-11
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor
Output (Fn00C, Fn00D) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E,
Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.2.8 Password Setting (Protects Parameters from Being Changed)
(Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.2.9 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
7.2.10 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - 7-19
7.2.11 Application Module Detection Results Clear (Fn014) - - - - - - - - - - - 7-20

Digital Operator/Panel Operator

7.3 Operation in Parameter Setting Mode (Pn†††) - - - - - - - - 7-21
7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27

7.4 Operation in Monitor Mode (Un†††) - - - - - - - - - - - - - - - - 7-29

7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29

7-1
 7 Digital Operator/Panel Operator
7.1.1 Connecting the Digital Operator

7.1 Functions on Digital Operator/Panel Operator

This section describes the basic operations of the digital operator (hereinafter called the digital operator) and the
panel operator (hereinafter called the panel operator) for setting the operating conditions. Set parameters and
JOG operation, and display status using these operators. For the operation of the digital operator (model: JUSP-
OP02A-2), refer to Σ-II Series SGM†H/SGDH Digital Operator Operation Manual (TOE-S800-34).

7.1.1 Connecting the Digital Operator

Two types of digital operators are available. One is a built-in operator that has a panel indicator and switches
located on the front panel of the SERVOPACK. This type of digital operator is also called a panel operator. The
other one is a hand-held operator (JUSP-OP02A-2 digital operator), which can be connected to the SERVO-
PACK with connector CN3 of the SERVOPACK.
There is no need to turn OFF the SERVOPACK to connect this hand-held operator to the SERVOPACK. Refer to
the following illustrations to connect the digital operator to the SERVOPACK.
Panel Operator

Digital Operator
JUSP-OP02A-2
POWER CN8

MODE/SET DATA/ CN5 BATTERY

. . . . . CN3
DIGITAL
SERVOPACK OPERATOR
JUSP-OP02A
ALARM DSPL
RESET SET

JOG DATA
SVON ENTER

219'4 %0

1
2
'
4
#
6
1
4
/1&'5'6 &#6#
%0 %0

YASKAWA

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WARNING
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5 ) & *  㧖㧖㧖㧖
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ
May cause
electric shock.

;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

A dedicated cable is used to

connect the digital operator
&% &%
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
%*#4)'

to the SERVOPACK.
   .4 .5 .6 7 8 9 SERVOPACK

IMPORTANT If the digital operator is connected to the SERVOPACK, the panel operator does not display anything.

7-2
 7.1 Functions on Digital Operator/Panel Operator

7.1.2 Key Names and Functions

Key names and functions for the digital operator and the panel operator are explained below.
Set parameters and JOG operation, and display status using the panel operator.
Key
Function
Digital Operator Panel Operator
To reset the servo alarm.
+
ALARM Note 1. The servo alarm can be reset by /ALM-RST (CN1-44)
Digital Operator RESET
Press simultaneously input signal.
(RESET Key)
2. The servo alarm need not be reset if the control power
supply is turned OFF.
To select a basic mode, such as the status display mode, utility
DSPL
SERVOPACK
DIGITAL
OPERATOR
JUSP-OP02A
SET function mode, parameter setting mode, or monitor mode.
ALARM DSPL
(DSPL/SET Key) MODE/SET Can be also used to set the data.
RESET SET
(MODE/SET Key)
JOG DATA
SVON ENTER

DATA
To display parameter setting and set value.
ENTER
YASKAWA
(DATA/ENTER Key) DATA/
(DATA/SHIFT Key)

Press the UP Key to increase the set value.

For JOG operation, this key is used as Forward Run Start Key.
(UP Key)
(UP Key)

Panel Operator Press the DOWN Key to decrease the set value.
For JOG operation, this key is used as Reverse Run Start Key.
(DOWN Key)
(DOWN Key)

− Press the RIGHT Key to shift to the next digit on the right.
MODE/SET DATA/

(RIGHT Key)

Press the LEFT or DATA/SHIFT Key to shift to the next digit on

the left.
(LEFT Key) DATA/
(DATA/SHIFT Key)

JOG
Press the SVON or MODE/SET Key to perform servo ON/OFF
SVON in the JOG operation with the operator.
(SVON Key) MODE/SET
(MODE/SET Key)

Digital Operator/Panel Operator

IMPORTANT When an alarm occurs, remove the cause, and then reset the alarm. Refer to 10.1 Troubleshooting.

7-3
 7 Digital Operator/Panel Operator
7.1.3 Basic Mode Selection and Operation

7.1.3 Basic Mode Selection and Operation

The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor
Mode.
Select a basic mode to display the operation status, set parameters and operation references.
The basic mode is selected in the following order.
(1) Using the Digital Operator
Turn ON the power
Press DSPL/SET Key.
A basic mode is selected in the following order.

Status Display Mode (Refer to 7.1.4)

DSPL
Press SET
.

DATA
Press ENTER . Fn

: Utility Function Mode

(Refer to 7.2)
DSPL
Repeat Press SET
.

DATA
Press ENTER . Pn

: Parameter Setting Mode

(Refer to 7.3)
DSPL
Press SET
.

Press DATA
ENTER . Pn

: Monitor Mode
(Refer to 7.4)
DSPL
Press SET
.

Press DATA/ENTER Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/ENTER Key to display the contents of selected parameter number
in the selected mode. (Refer to each operation instruction described later.)

(2) Using the Panel Operator

Turn ON the power
Press MODE/SET Key.
A basic mode is selected in the following order.

Status Display Mode (Refer to 7.1.4)

Press .
MODE/SET

Press for more than one second. Fn

: Utility Function Mode (Refer to 7.2)

DATA/
(DATA/SHIFT)
Repeat Press .
MODE/SET

Press for more than one second. Pn

: Parameter Setting Mode (Refer to 7.3)

DATA/
(DATA/SHIFT)
Press .
MODE/SET

Press for more than one second. Un

: Monitor Mode (Refer to 7.4)

DATA/
(DATA/SHIFT)
Press .
MODE/SET

Press DATA/SHIFT Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/SHIFT Key for more than one second to display the contents of selected
parameter number in the selected mode. (Refer to each operation instruction described later.)

7-4
 7.1 Functions on Digital Operator/Panel Operator

7.1.4 Status Display

Bit data Code

(1) Bit Data and Meanings

Speed or Torque Control Mode Position Control Mode
Item
Bit Data Meaning Bit Data Meaning
c Control Lit when SERVOPACK control power is Control Lit when SERVOPACK control power sup-
Power ON ON. Power ON ply is ON.
d Baseblock Lit for baseblock. Not lit when servo is ON. Baseblock Lit for baseblock. Not lit when servo is ON.

e Speed Lit when the difference between the motor Positioning Lit if error between position reference and
Coincidence speed and reference speed is the same as or Completion actual motor position is below preset value.
(/V-CMP) less than the value set in Pn503. (Factory (/COIN) Not lit if error between position reference
setting is 10 min-1.) and actual motor position exceeds preset
∗ Always lit in torque control mode. value.
Preset value: Set in Pn500 (Factory setting
is 7 reference units.)
f Servomotor Lit if motor speed exceeds preset value. Servomotor Lit if motor speed exceeds preset value.
Rotation Not lit if motor speed is below preset value. Rotation Not lit if motor speed is below preset value.
Detection Preset value: Set in Pn502 (Factory setting Detection Preset value: Set in Pn502 (Factory setting
(/TGON) is 20 min-1.) (/TGON) is 20 min-1.)
g Speed Lit if input speed reference exceeds preset Reference Lit if reference pulse is input.
Reference value. Pulse Input Not lit if no reference pulse is input.
Input Not lit if input speed reference is below pre-
set value.
Preset value: Set in Pn502 (Factory setting
is 20 min-1.)
h Torque Lit if input torque reference exceeds preset Error Counter Lit when error counter clear signal is input.
Reference value. Clear Signal Not lit when error counter clear signal is not
Input Not lit if input torque reference is below Input input.
preset value.

Digital Operator/Panel Operator

Preset value: 10% of rated torque
i Power Ready Lit when main circuit power supply is ON Power Ready Lit when main circuit power supply is ON
and normal. and normal.
Not lit when main circuit power supply Not lit when main circuit power supply
power is OFF. power is OFF.

7-5
 7 Digital Operator/Panel Operator
7.1.4 Status Display

(2) Codes and Meanings

Code Meaning
Baseblock
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
CN1-42 (P-OT) is OFF.
Reverse Run Prohibited
CN1-43 (N-OT) is OFF.
Alarm Status
Displays the alarm number.

7-6
 7.2 Operation in Utility Function Mode (Fn†††)

7.2 Operation in Utility Function Mode (Fn†††)

7.2.1 List of Utility Function Modes
This section describes how to apply the basic operations using the panel operator to run and adjust the motor.
The following table shows the parameters in the utility function mode.
Parameter
Function Remarks
No.
Fn000 Alarm traceback data display −
Fn001 Not used for the SERVOPACKs of 22 kW or more. √
Fn002 JOG mode operation −
Fn003 Zero-point search mode −
Fn004 Reserved −
Fn005 Parameter setting initialization √
Fn006 Alarm traceback data clear √
Fn007 Not used for the SERVOPACKs of 22 kW or more. −
Fn008 Absolute encoder multiturn reset and encoder alarm reset √
Fn009 Automatic tuning of speed and torque reference offset √
Fn00A Manual adjustment of speed reference offset √
Fn00B Manual adjustment of torque reference offset √
Fn00C Manual zero-adjustment of analog monitor output √
Fn00D Manual gain-adjustment of analog monitor output √
Fn00E Automatic offset-adjustment of motor current detection signal √
Fn00F Manual offset-adjustment of motor current detection signal √
Fn010 Password setting (protects parameters from being changed) −
Fn011 Motor models display −
Fn012 Software version display −
Fn013 Multiturn limit setting change when a Multiturn Limit Disagreement Alarm √
(A.CC) occurs
Fn014 Application module detection results clear −

Note: When the parameters marked with “√” in remarks column or in Pn††† are set for Password Set-
ting (Fn010), the indication shown below appears and such parameters cannot be changed.
Blinks for

Digital Operator/Panel Operator

one second

7-7
 7 Digital Operator/Panel Operator
7.2.2 Alarm Traceback Data Display (Fn000)

7.2.2 Alarm Traceback Data Display (Fn000)

The alarm traceback display can display up to 10 previously occurred alarms. The alarm data is displayed on
Fn000, which is stocked in the alarm traceback data. The data can be cleared using an utility function mode
“Alarm Traceback Data Clear.” For details, refer to 7.2.5 Alarm Traceback Data Clear (Fn006).
The alarm traceback data is not cleared on alarm reset or when the SERVOPACK power is turned OFF. This does
not adversely affect operation.

Alarm Sequence Number Alarm Code

The higher the number, See the alarm
the older the alarm data is. table.

The following alarm are operator-related alarms which are not recorded in the traceback data.

Display Description
Digital operator transmission error 1

Digital operator transmission error 2

Refer to 10.1 Troubleshooting for alarm number and contents.

INFO 1. Alarm traceback data will not be updated when the same alarm occurs repetitively.
2. The display “A.--” means no alarm occurs.

Follow the procedure below to confirm alarms which have been generated.
Display after
Step Digital Operator Panel Operator Description
Operation
1 Press the DSPL/SET or MODE/SET Key to select “Alarm
DSPL
Traceback Data Display (Fn000).” If a number other than
SET
Fn000 is displayed, press UP Key or DOWN Key to set
(DSPL/SET Key) MODE/SET
(MODE/SET Key) Fn000.
Note: The enabled digit blinks.
2 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key
ENTER for more than one second.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) The latest alarm data is displayed.
(Press at least 1 s.)

3 Press the UP Key to display the data for a previous alarm.

(To display one newer alarm data, press DOWN Key.)
(UP Key)
(UP Key) Note: The higher the digit on the far left, the older the
alarm data is.
4 Press the UP Key to display value in order.
Note: “A.--” means no alarm occurs.
(UP Key)
(UP Key)

5 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key
ENTER for more than one second. The display will return to
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Fn000.
(Press at least 1 s.)

7-8
 7.2 Operation in Utility Function Mode (Fn†††)

7.2.3 Zero-point Search Mode (Fn003)

CAUTION
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point
search mode operations using Fn003.
The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the
encoder and to clamp at the position.
This mode is used when the motor shaft needs to be aligned to the machine.
Execute the zero-point search without connecting the motor shaft with the machine.

For aligning the motor

shaft with the machine

The speed for executing the zero-point search is 60 min-1.

The following conditions must be met to perform the zero-point search operation.
• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
• Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the servo has been set to
always be ON.
Follow the procedure below to execute the zero-point search.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select
SET the utility function mode.
MODE/SET
(DSPL/SET Key)
(MODE/SET Key)
2 Press the UP or DOWN Key to select the Fn003.
Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
Key for more than one second, and the display will

Digital Operator/Panel Operator

ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) be as shown on the left.
(Press at least 1 s.)

4 JOG
Press the SVON or MODE/SET Key.
SVON
The servo turns ON.
MODE/SET
(SVON Key) (MODE/SET Key)

5 When the parameter is set to Pn000.0 = 0 (default),

pressing the UP Key will rotate the motor in the for-
ward direction. Pressing the DOWN Key will rotate
the motor in the reverse direction. When the parame-
ter is set to Pn000.0 = 1, the rotation direction of the
motor is reversed.
6 When the motor zero-point search is completed, the
display blinks.
7
Display blinks.
At this moment, the motor is servo-locked at the
zero-point pulse position.
7 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Fn003 display appears again.
(Press at least 1 s.)
The motor will be servo OFF status.

7-9
 7 Digital Operator/Panel Operator
7.2.4 Parameter Settings Initialization (Fn005)

INFO Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals cannot be input during the zero-point search
operation.

7.2.4 Parameter Settings Initialization (Fn005)

This function is used when returning to the factory settings after changing parameter settings.
Pressing the DSPL/SET or MODE/SET Key during servo ON does not initialize the parameter settings.
After initialization, turn OFF the power supply and then turn ON again.

IMPORTANT Initialize the parameter settings with the servo OFF.

Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)

2 Press the UP or DOWN Key to select Fn005.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left.
(Press at least 1 s.)

4 Press the DSPL/SET or MODE/SET Key. Then, the

DSPL
SET
parameters will be initialized.
MODE/SET
(DSPL/SET Key) (MODE/SET Key)
During initialization, the display shown on the left
blinks.
5 End of initialization When the initialization of parameter setting com-
pletes, the display shown on the left blinks for about
one second.
6 After about one The display changes from “donE” to the display
second shown on the left.

7 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn005.
(Press at least 1 s.)

7-10
 7.2 Operation in Utility Function Mode (Fn†††)

7.2.5 Alarm Traceback Data Clear (Fn006)

This function clears the alarm traceback data, which stores the alarms generated in the SERVOPACK.
After having cleared data, “A.--” (No alarm) is set to all the alarm traceback data.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn006.
Note: The enabled digit blinks.

3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left.
(Press at least 1 s.)

4 DSPL
Press the DSPL/SET or MODE/SET Key to clear the
SET
alarm traceback data.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
The display shown on the left blinks for about one sec-
ond when the data is cleared.
5 After about one second The display changes from “donE” to the display
shown on the left.

6 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn006.
(Press at least 1 s.)

Digital Operator/Panel Operator

7-11
 7 Digital Operator/Panel Operator
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)

7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output
(Fn00C, Fn00D)
Motor speed, torque reference, and position error can be monitored through the analog monitor output. Refer to
9.5 Analog Monitor.
Use the manual zero adjustment function to compensate for the output voltage drift or the zero point drift caused
by noise entering the monitor system. The gain adjustment function can be changed to match the sensitivity of
the measuring system.
Monitor output voltage

Gain adjustment

Zero adjustment

Setting Unit
Zero Setting Range: ± 2V → 17 mV/LSB
Gain Setting Range: 50% to 150% → 0.4 %/LSB

The output voltage of the analog monitor is ±8 V max. The output voltage will be limited to ±8 V if ±8 V is exceeded.
INFO

7-12
 7.2 Operation in Utility Function Mode (Fn†††)

(1) Manual Zero adjustment of Analog Monitor Output (Fn00C)

Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
SET Press the DSPL/SET or MODE/SET Key to select the
(DSPL/SET Key) MODE/SET utility function mode.
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn00C.
Note: The enabled digit blinks.

3
DATA Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
DATA Key for more than one second, and the display shown
(DATA/ENTER Key) (DATA/SHIFT Key)
on the left appears.
(Press at least 1 s.)

4 Press the LEFT or RIGHT or DATA/SHIFT Key for

less than one second to display the output data of
DATA
(DATA/SHIFT Key) analog monitor.
(Press less than 1 s.)

5 Press the UP or DOWN Key to perform the zero

adjustment of analog monitor.

6 Press the LEFT or RIGHT or DATA/SHIFT Key for

DATA less than one second.
(DATA/SHIFT Key)
(Press less than 1 s.) The display shown on the left appears.
7 DSPL
SET
Press the DSPL/SET or MODE/SET Key.
(DSPL/SET Key) MODE/SET The display shown on the left appears.
(MODE/SET Key)
8 Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second to display the output data of
DATA
(DATA/SHIFT Key) analog monitor.
(Press less than 1 s.)

9 Press the UP or DOWN Key to perform the zero

adjustment of analog monitor.

10 Press the LEFT or RIGHT Key or DATA/SHIFT Key

DATA for less than one second.

Digital Operator/Panel Operator

(DATA/SHIFT Key)
(Press less than 1 s.) The display shown on the left appears.
11 When the zero adjustment of analog monitor output
DATA completes, press the DATA/ENTER Key once, or
ENTER
DATA DATA/SHIFT Key for more than one second. The
(DATA/ENTER Key) (DATA/SHIFT Key)
display returns to the utility function mode display
(Press at least 1 s.)
Fn00C.

7-13
 7 Digital Operator/Panel Operator
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)

(2) Manual Gain adjustment of Analog Monitor Output (Fn00D)

Display after
Step Digital Operator Panel Operator Description
Operation
DSPL
Press the DSPL/SET or MODE/SET Key to select the
1 SET

(DSPL/SET Key) MODE/SET utility function mode.

(MODE/SET Key)

Press the UP or DOWN Key to select Fn00D.

2
Note: The enabled digit blinks.

DATA Press the DATA/ENTER Key once, or DATA/SHIFT

ENTER
3 DATA Key for more than one second, and the display shown
(DATA/ENTER Key) (DATA/SHIFT Key)
on the left appears.
(Press at least 1 s.)

Press the LEFT or RIGHT or DATA/SHIFT Key for

4 DATA less than one second to display the gain coefficient of
(DATA/SHIFT Key) analog monitor.
(Press less than 1 s.)

Press the UP or DOWN Key to adjust the gain coeffi-

5
cient of analog monitor.

Press the LEFT or RIGHT or DATA/SHIFT Key for

6 DATA less than one second.
(DATA/SHIFT Key)
(Press less than 1 s.) The display shown on the left appears.

DSPL
Press the DSPL/SET or MODE/SET Key.
7 SET

(DSPL/SET Key) MODE/SET The display shown on the left appears.

(MODE/SET Key)

Press the LEFT or RIGHT or DATA/SHIFT Key for

8 DATA less than one second to display the gain coefficient of
(DATA/SHIFT Key) analog monitor.
(Press less than 1 s.)

Press the UP or DOWN Key to adjust the gain coeffi-

9
cient of analog monitor.

Press the LEFT or RIGHT Key or DATA/SHIFT Key

10 DATA for less than one second.
(DATA/SHIFT Key)
(Press less than 1 s.) The display shown on the left appears.
When the gain coefficient of analog monitor adjust-
DATA
ment completes, press the DATA/ENTER Key once,
11
ENTER
DATA or DATA/SHIFT Key for more than one second.
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.) The display returns to the utility function mode dis-
play Fn00D.

7-14
 7.2 Operation in Utility Function Mode (Fn†††)

7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F)

Motor current detection offset adjustment has performed at Yaskawa before shipping. Basically, the user need not
perform this adjustment.
Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by cur-
rent offset. This section explains automatic offset-adjustment and manual offset adjustment.
(1) Automatic Offset Adjustment of Motor Current Detection Signal (Fn00E)

IMPORTANT 1. Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other
SERVOPACKs.
2. Automatic adjustment is possible only while power is supplied to the main circuit and the servo is OFF.

Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn00E.
Note: The enabled digit blinks.

3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left.
(Press at least 1 s.)

4 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
The offset will be automatically adjusted.
(DSPL/SET Key) MODE/SET
(MODE/SET Key) When the adjustment completes, the display shown on
the left blinks for about one second.
5 After about one second The display changes from “donE” to the display shown
on the left.

6 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn00E.
(Press at least 1 s.)

Digital Operator/Panel Operator

7-15
 7 Digital Operator/Panel Operator
7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F)

(2) Manual Offset Adjustment of Motor Current Detection Signal (Fn00F)

The adjusting range of the motor current detection offset is -512 to +511.
To adjust the offset, perform the automatic adjustment (Fn00E) first.
And if the torque ripple is still big after the automatic adjustment, perform the manual adjustment.

IMPORTANT If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
When performing manual adjustments, run the motor at a speed of approximately 100 min-1, and adjust the
operator until the torque monitor ripple is minimized. (Refer to 9.5 Analog Monitor.) Adjust the phase-U
and phase-V offsets alternately several times until these offsets are well balanced.

Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn00F.
Note: The enabled digit blinks.

3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left (phase U).
(Press at least 1 s.)

4 Press the LEFT or RIGHT or DATA/SHIFT Key for

less than one second to display the phase-U offset
DATA
(DATA/SHIFT Key) amount.
(Press less than 1 s.)

5 Press the UP or DOWN Key to adjust the offset. Care-

fully adjust the offset while monitoring the torque ref-
erence monitor signal.
6 Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second.
DATA
(DATA/SHIFT Key) The display shown on the left appears.
(Press less than 1 s.)

7 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
The display shown on the left appears (phase V).
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
8 Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second to display the phase-V offset
DATA
(DATA/SHIFT Key) amount.
(Press less than 1 s.)

9 Press the UP or DOWN Key to adjust the offset. Care-

fully adjust the offset while monitoring the torque ref-
erence monitor signal.
10 Press the LEFT or RIGHT Key or DATA/SHIFT Key
for less than one second.
DATA
(DATA/SHIFT Key) The display shown on the left appears.
(Press less than 1 s.)

11 DATA
When the offset adjustment completes, press the
ENTER
DATA/ENTER Key once, or DATA/SHIFT Key for
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) more than one second.
(Press at least 1 s.)
The display returns to the utility function mode dis-
play Fn00F.

7-16
 7.2 Operation in Utility Function Mode (Fn†††)

7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010)

The write prohibited setting is used for preventing accidental changes of the parameter. All the parameters
Pn††† and some of Fn††† become write prohibited by setting values. Refer to 7.2.1 List of Utility Function
Modes for details.

Setting values are as follows:

• “0000”: Write permitted (Releases write prohibited mode.)
• “0001”: Write prohibited (Parameters become write prohibited from the next power ON.)

Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn010.
Note: The enabled digit blinks.

3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left.
(Press at least 1 s.)

4 Press the UP or DOWN Key to set a value:

“0000”: Write permitted, “0001”: Write prohibited

5 DSPL
Press the DSPL/SET or MODE/SET Key to register
SET
the value.
(DSPL/SET Key) MODE/SET
(MODE/SET Key) When the value is registered, the display shown on the
left blinks for about one second.
Note: If a value other than “0000” and “0001” is
set, “Error” blinks for about one second,
and the previous setting is displayed.
6 After about one second The display changes from “donE” to “P.000†.”

7 Press the DATA/ENTER Key once, or DATA/SHIFT

Digital Operator/Panel Operator

DATA
ENTER
Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn010.
(Press at least 1 s.)

7-17
 7 Digital Operator/Panel Operator
7.2.9 Motor Models Display (Fn011)

7.2.9 Motor Models Display (Fn011)

This mode is used for motor maintenance such as checking the connected servomotor model, voltage, capacity,
encoder type, or encoder resolution. Set the parameter Fn011 to select the motor model check mode. If the SER-
VOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.

Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn011.
Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

Key for more than one second to display the servomotor
model and voltage code.

DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.) Motor Voltage Motor Type
Data Model Data Model
00 100VAC, 140VDC 17 SGMVH (1500 min-1)
01 200VAC, 280VDC 19 SGMVH (800 min-1)
02 400VAC, 560VDC

4 Press the DSPL/SET or MODE/SET Key to display the

servomotor capacity.
DSPL
SET

(DSPL/SET Key) MODE/SET

(MODE/SET Key)
Motor capacity in units of 10 W
The above example indicates 100 W.
5 Press the DSPL/SET or MODE/SET Key, and the
encoder type and resolution code will be displayed.

DSPL
SET

(DSPL/SET Key) MODE/SET Encoder Type Encoder Resolution

(MODE/SET Key)
Data Type Data Resolution
00 Incremental 13 13-bit
01 Absolute encoder 16 16-bit
17 17-bit
20 Reserved
6 Press the DSPL/SET or MODE/SET Key to display the
SERVOPACK’s code for custom orders.
DSPL
Note: The display “y.0000” means standard model.
SET

(DSPL/SET Key) MODE/SET

(MODE/SET Key)

Code for custom orders

7 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn011.
(Press at least 1 s.)

7-18
 7.2 Operation in Utility Function Mode (Fn†††)

7.2.10 Software Version Display (Fn012)

Set the Fn012 to select the software-version check mode to check the SERVOPACK and encoder software ver-
sion.
Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn012.
Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER
Key for more than one second to display the SERVO-
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) PACK software version.
(Press at least 1 s.)

4 DSPL
Press the DSPL/SET or MODE/SET Key to display the
SET encoder software version.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
5 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode Fn012.
(Press at least 1 s.)

Digital Operator/Panel Operator

7-19
 7 Digital Operator/Panel Operator
7.2.11 Application Module Detection Results Clear (Fn014)

7.2.11 Application Module Detection Results Clear (Fn014)

The alarm A.E7 (application module detection error) occurs when turning ON the power for the first time when
the SERVOPACK is used without application module after the SERVOPACK has been used with application
module.
Clearing application module detection results is performed as using the SERVOPACK individually without
operating the application module detection.
Restarting again after performing the following operation will clear and reset the alarm A.E7. Then, the opera-
tion of SERVOPACK without application module is enabled.

IMPORTANT Because the parameter is set for the SERVOPACK with an application module, change the setting or initial-
ize the parameter value (Fn005 of utility function mode) as required.

Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select
SET
the utility function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select the Fn014.
Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/

DATA
ENTER
SHIFT Key for more than one second, and the dis-
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) play will be as shown on the left.
(Press at least 1 s.)

4 Press the DSPL/SET or MODE/SET Key, and the

display will be as shown on the left to clear the
application module detection.
DSPL
Blinks
SET

(DSPL/SET Key) MODE/SET

(MODE/SET Key)

5 The display changes from “donE” to the display

After about one second shown on the left.

6 Press the DATA/ENTER Key once, or DATA/

DATA
ENTER
SHIFT Key for more than one second to return to
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) the utility function mode.
(Press at least 1 s.)

7-20
 7.3 Operation in Parameter Setting Mode (Pn†††)

7.3 Operation in Parameter Setting Mode (Pn†††)

Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires
value setting and the other requires function selection. These two types use different setting methods.

With value setting, a parameter is set to a value within the specified range of the parameter. With function selec-
tion, the functions allocated to each digit of the seven-segment LED panel indicator (five digits) can be selected.

7.3.1 Setting Parameters

(1) Value Setting Parameters
(a) Types of Value Setting Parameters
Refer to 11.3.2 List of Parameters.

(b) Example of Changing Value Setting Parameter

The parameter settings can be used for changing parameter data. Before changing the data, check the permit-
ted range of the parameter.
EXAMPLE The example below shows how to change parameter Pn100 (speed loop gain) from “40” to “100.”

Display after
Step Digital Operator Panel Operator Description
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
parameter setting mode. If a parameter other than
(DSPL/SET Key) Pn100 is displayed, press the UP or DOWN Key to
MODE/SET
(MODE/SET Key) select Pn100.
Note: The enabled digit blinks.
2 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second. The current data of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn100 is displayed.
(Press at least 1 s.)

3 Press the LEFT or RIGHT Key or DATA/SHIFT Key to

select the digit to be set.
DATA/
(DATA/SHIFT Key)

4 Press the UP or DOWN Key to change the data.

Keep pressing UP or DOWN Key until “00100” is dis-

Digital Operator/Panel Operator

played.
5 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second. The value blinks and is
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) saved.
(Press at least 1 s.)

6 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER
Key for more than one second to return to the display of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn100. The data for the speed loop gain (Pn100) is
(Press at least 1 s.) changed from “40” to “100.”

7-21
 7 Digital Operator/Panel Operator
7.3.1 Setting Parameters

(c) Parameter Indications

In this manual, the parameter is explained with using the following format.
Applicable control mode for the parameter
Speed : Speed control, internally set speed control

Positoin : Position control

The number of the The name of the Torque : Torque control

parameter parameter

Pn406 Emergency Stop Torque Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 1% 800 Immediately

This section shows the This section shows the This section shows the This section shows if
range of the parameter minimum setting unit SERVOPACK's parameter the setting is validated
settings. The maximum (the setting value). with factory setting. "immediately" or "after
value can be set even if restart" when changing
the parameter is combined the parameter.
with the other sepecified
motor.

The following alarm shows the setting value of the parameter.

Decimal display in five digits

(2) Function Selection Parameters

(a) Types of Function Selection Parameters
Refer to 11.3.2 List of Parameters.

IMPORTANT If the parameters with “After restart” in “Setting Validation” column in the table are changed, turn OFF the
main circuit and control power supply and ON again to validate new setting.
• Pn10B.1 requires the power to be reset as mentioned above.

Parameter Factory Setting

Category Name
No. Setting Validation
Function Selection Pn000 Function Selection Basic Switches 0000 After restart
Parameter Pn001 Function Selection Application Switches 0000 After restart
Pn002 Function Selection Application Switches 0000 After restart
Pn003 Function Selection Application Switches 0002 Immediately
Servo Gain Related Pn10B Gain Application Switches 0000 After restart/
Parameter Immediately
Position Control Related Pn200 Position Control References Selection Switches 0000 After restart
Parameter Pn207 Position Control Function Switches 0000 After restart
Sequence Related Pn50A Input Signal Selections 2100 After restart
Parameter Pn50B Input Signal Selections 6543 After restart
(Input Signal Selection) 8888 After restart
Pn50C Input Signal Selections
Pn50D Input Signal Selections 8888 After restart
Sequence Related Pn50E Output Signal Selections 3211 After restart
Parameter Pn50F Output Signal Selections 0000 After restart
(Output Signal Selection) Pn510 Output Signal Selections 0000 After restart
Pn512 Output Signal Reversal Setting 0000 After restart

7-22
 7.3 Operation in Parameter Setting Mode (Pn†††)

(b) Example of Changing Function Selection

The procedure to change the setting of control method selection (Pn000.1) of the function selection basic
switches (Pn000) from speed control to position control is shown below.
Display after Digital
Step Panel Operator Description
Operation Operator
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
parameter setting mode. If a parameter other than Pn000
(DSPL/SET Key) is displayed, press the UP or DOWN Key to select the
MODE/SET
(MODE/SET Key) Pn100.
Note: The enable digit blinks.
2 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second. The current data of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn000 is displayed.
(Press at least 1 s.)

3 Press the LEFT or RIGHT or DATA/SHIFT Key to

select the first digit of current data.
DATA/
(DATA/SHIFT Key)

4 Press the UP Key once to change to “n.0010.”

(Set the control method to position control.)
(UP Key) (UP Key)

5 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER
Key for more than one second. The value blinks and is
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) saved.
(Press at least 1 s.)

6 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER
Key for more than one second to return to the display
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn000. The control method is changed to position con-
(Press at least 1 s.) trol.
7 To enable the change in the setting of function selection basic switches (Pn000), turn OFF the power and ON again.

Digital Operator/Panel Operator

7-23
 7 Digital Operator/Panel Operator
7.3.2 Input Circuit Signal Allocation

(c) Parameter Indications

Each digit of the function selection parameters is defined as the hexadecimal display. The parameter display
example shows how parameters are displayed in digits for set values.

1st digit
2nd digit
3rd digit
4th digit
For the hexadecimal display only

• Pn000.0 or n.xxx†: Indicates the value for the 1st digit of parameter Pn000.
• Pn000.1 or n.xx†x: Indicates the value for the 2nd digit of parameter Pn000.
• Pn000.2 or n.x†xx: Indicates the value for the 3rd digit of parameter Pn000.
• Pn000.3 or n.†xxx: Indicates the value for the 4th digit of parameter Pn000.
For details on each digit of the parameter, see 11.3.2 List of Parameters.

Parameter Meaning
Pn50A n.2 Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting).
n.8 Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed).

The number of the This blank shows the setting

parameter value of the function selection,
as well as the state condition This section explains the
on the panel operator and the details of the function selection.
digital operator (JUSP-OP02A-2).

7.3.2 Input Circuit Signal Allocation

Each input signal is allocated to a pin of the input connector CN1 by setting the parameter.
The following table shows detailed allocation.
(1) Factory Setting (Pn50A.0 = 0)
The factory setting for the input signal allocation is as follows.
means factory setting.

Pn50A:

Pn50B:

7-24
 7.3 Operation in Parameter Setting Mode (Pn†††)

(2) Changing the Allocation (Pn50A.0 = 1)

Set the parameter in accordance with the relation between the signal to be used and the input connector pin.
After having changed the parameter, turn OFF the power and ON again to enable the parameters.
means factory setting.
Connection Not
Required
Signal Name Valid- CN1 Input Pin Allocation
Input (SERVOPACK judges
ity the connection)
Signal
Level
Parameter Setting Always Always
40 41 42 43 44 45 46
Allocation ON OFF
Servo ON L /S-ON 0 1 2 3 4 5 6
7 8
Pn50A.1 = n.xx†x H S-ON 9 A B C D E F
Proportional Operation L /P-CON 0 1 2 3 4 5 6
Reference 7 8
Pn50A.2 = n.x†xx H P-CON 9 A B C D E F
Forward Run H P-OT 0 1 2 3 4 5 6
Prohibited 7 8
Pn50A.3 = n.†xxx L /P-OT 9 A B C D E F
Reverse Run H N-OT 0 1 2 3 4 5 6
Prohibited 7 8
Pn50B.0 = n.xxx† L /N-OT 9 A B C D E F

Alarm Reset L /ALM-RST 0 1 2 3 4 5 6

− 8
Pn50B.1 = n.xx†x H ALM-RST 9 A B C D E F
Forward External L /P-CL 0 1 2 3 4 5 6
Torque Limit 7 8
Pn50B.2 = n.x†xx H P-CL 9 A B C D E F
Reserve External L /N-CL 0 1 2 3 4 5 6
Torque Limit 7 8
Pn50B.3 = n.†xxx H N-CL 9 A B C D E F
Internally Set Speed L /SPD-D 0 1 2 3 4 5 6
Selection 7 8
Pn50C.0 = n.xxx† H SPD-D 9 A B C D E F
Internally Set Speed L /SPD-A 0 1 2 3 4 5 6
Selection 7 8
Pn50C.1 = n.xx†x H SPD-A 9 A B C D E F
Internally Set Speed L /SPD-B 0 1 2 3 4 5 6
Selection 7 8
Pn50C.2 = n.x†xx H SPD-B 9 A B C D E F

Digital Operator/Panel Operator

Control Method L /C-SEL 0 1 2 3 4 5 6
Selection 7 8
Pn50C.3 = n.†xxx H C-SEL 9 A B C D E F

Zero Clamp L /ZCLAMP 0 1 2 3 4 5 6

7 8
Pn50D.0 = n.xxx† H ZCLAMP 9 A B C D E F
Reference Pulse Inhibit L /INHIBIT 0 1 2 3 4 5 6
7 8
Pn50D.1 = n.xx†x H INHIBIT 9 A B C D E F
Gain Changeover L /G-SEL 0 1 2 3 4 5 6
7 8
Pn50D.2 = n.x†xx H G-SEL 9 A B C D E F

1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting
IMPORTANT
“Polarity Reversal,” the machine may not move to the specified safe direction at occurrence of failure
7
such as signal line disconnection. If such setting is absolutely necessary, confirm the operation and
observe safety precautions.
2. When two or more signals are allocated to the same input circuit, the input signal level will be applied to
all the allocated signal.

7-25
 7 Digital Operator/Panel Operator
7.3.2 Input Circuit Signal Allocation

(3) Allocating Input Signals

EXAMPLE The procedure to replace Servo ON (/S-ON) signal allocated to CN1-40 and Forward External Torque Limit
(/P-CL) allocated to CN1-45 is shown below.
Before After
Pn50A:
Pn50B:
Display after Digital
Step Panel Operator Description
Operation Operator
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET “value setting parameter” mode. If a parameter other
(DSPL/SET Key) MODE/SET than Pn50A is displayed, press the UP or DOWN Key to
(MODE/SET Key)
set Pn50A.
Note: The enabled digit blinks.
2 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second to display the current data
DATA
(DATA/SHIFT Key) of Pn50A.
(DATA/ENTER Key)
(Press at least 1 s.) (/S-ON is allocated to CN1-40.)
3 Press the UP Key to set to “1.”
(Sequence input signals can be freely set.)
(UP Key) (UP Key)

4 Press the LEFT or RIGHT Key or DATA/SHIFT Key to

select the second digit from the right. Press the UP key
DATA/ to set to “5.”
(DATA/SHIFT Key)
(Changes the allocation of /S-ON from CN1-40 to CN1-
45.)
5 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
Key for more than one second. The value blinks and is
DATA
ENTER
(DATA/SHIFT Key) saved.
(DATA/ENTER Key) (Press at least 1 s.) At the moment, the CN1-45 operates with OR logic for
/S-ON and /P-CL.
6 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second to return to the display
DATA
(DATA/SHIFT Key) Pn50A.
(DATA/ENTER Key)
(Press at least 1 s.)

7 Press the UP Key to set Pn50B.

Note: The enabled digit blinks.
(UP Key)
(UP Key)

8 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER
Key for more than one second to display the current data
DATA
(DATA/SHIFT Key) of Pn50B.
(DATA/ENTER Key)
(Press at least 1 s.) (/P-CL is allocated to CN1-45.)
9 Press the LEFT or RIGHT Key or DATA/SHIFT Key to
select the third digit from the right. Press the DOWN
DATA/ Key to set to “0.”
(DATA/SHIFT Key)
(Changes the allocation of /P-CL from CN1-45 to CN1-
40.)
10 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second. The value blinks and is
DATA
(DATA/SHIFT Key) saved.
(DATA/ENTER Key)
(Press at least 1 s.)

11 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER
Key for more than one second to return to the display
DATA/ Pn50B. /S-ON is allocation to CN1-45, and /P-CL is
(DATA/ENTER Key) (DATA/SHIFT Key)
allocated to CN1-40.
12 Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B).

7-26
 7.3 Operation in Parameter Setting Mode (Pn†††)

7.3.3 Output Circuit Signal Allocation

Functions can be allocated to the following sequence output signals. After having changed the parameter, turn
OFF the power and ON again to enable the parameters.
means factory setting.
CN1 Pin No. 25/(26) 27/(28) 29/(30)
Pn512=n.xxx† Pn512=n.xx†x Pn512=n.x†xx
Parameter Setting Remark
Allocation 1 1 1
0 0 0
(reverse) (reverse) (reverse)
Positioning 0 Invalid L:
Completion 1 L H Valid output signal: Low level
(/COIN) 2 L H H:
Pn50E.0 = n.xxx† 3 L H Valid output signal: High level
Speed Coinci- 0 Invalid Invalid:
dence Detection 1 L H Do not use the output signal.
(/V-CMP) 2 L H
Pn50E.1 = n.xx†x 3 L H
Servomotor 0 Invalid „ Factory Setting
Rotation Detection 1 L H
Pn50E:
(/TGON) 2 L H
Pn50E.2 = n.x†xx 3 L H Pn50F:
Servo Ready 0 Invalid Pn510:
(/S-RDY) 1 L H
Pn512:
Pn50E.3 = n.†xxx 2 L H
3 L H Note:
Torque Limit 0 Invalid The output signals for Positioning
Detection 1 L H Completion Signal and Speed Coin-
(/CLT) cidence Detection Signal differ
2 L H
depending on the control method.
Pn50F.0 = n.xxx† 3 L H
Speed Limit 0 Invalid
Detection 1 L H
(/VLT) 2 L H
Pn50F.1 = n.xx†x 3 L H
Brake Interlock 0 Invalid

Digital Operator/Panel Operator

(/BK) 1 L H
Pn50F.2 = n.x†xx 2 L H
3 L H
Warning 0 Invalid
(/WARN) 1 L H
Pn50F.3 = n.†xxx 2 L H
3 L H
Near 0 Invalid
(/NEAR) 1 L H
Pn510.0 = n.xxx† 2 L H
3 L H
7

IMPORTANT 1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic.
2. The signals not detected are considered as “Invalid.” For example, Positioning Completion (/COIN) Sig-
nal in speed control mode is “Invalid.”

7-27
 7 Digital Operator/Panel Operator
7.3.3 Output Circuit Signal Allocation

• Allocating Output Signals

EXAMPLE The procedure to replace Servomotor Rotation Detection (/TGON) signal allocated to CN1-27 (28) with
factory setting to “Invalid” and allocate Brake Interlock (/BK) signal to CN1-27 (28) is shown below.

Before After
Pn50E:
Pn50F:

Display after Digital Panel

Step Description
Operation Operator Operator
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
“value setting parameter” mode. If a parameter other
(DSPL/SET Key) MODE/SET than Pn50E is displayed, press the UP or DOWN Key to
(MODE/SET Key)
select Pn50E.
Note: The enabled digit blinks.
2 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second to display the current data
DATA
(DATA/SHIFT Key) of Pn50E.
(DATA/ENTER Key)
(Press at least 1 s.)
(/TGON is allocated to CN1-27 (28).)
3 Press the LEFT Key or RIGHT or DATA/SHIFT Key to
select the third digit from the right. Press the DOWN
DATA/
(DATA/SHIFT Key)
Key to set “0.”
(Sets /TGON “Invalid.”)
4 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) The value blinks and is saved.
(Press at least 1 s.)

5 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second to return to the display
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn50E.
(Press at least 1 s.)

6 Press the UP Key to set Pn50F.

Note: The enabled digit blinks.
(UP Key) (UP Key)

7 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second to display the current data
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) of Pn50F.
(Press at least 1 s.)
(/BK is set to “Invalid.”)
8 Press the LEFT or RIHGT Key or DATA/SHIFT Key to
select the third digit from the right. Press the UP Key to
DATA/
(DATA/SHIFT Key)
set “2.”
(Allocates /BK to CN1-27 (28).)
9 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second. The value blinks and is
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) saved.
(Press at least 1 s.)

10 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second to return to the display
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn50F.
(Press at least 1 s.) /TGON is set as “Invalid” and /BK is allocated to CN1-
27 (28).
11 Turn OFF the power and ON again to enable the changes of output signal selection (Pn50E and Pn50F).

7-28
 7.4 Operation in Monitor Mode (Un†††)

7.4 Operation in Monitor Mode (Un†††)

The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal
status.
The monitor mode can be selected during motor operation.

7.4.1 List of Monitor Modes

(1) Contents of Monitor Mode Display
Parameter
Content of Display Unit
No.
Un000 Actual motor speed min-1
Un001 Input speed reference (Valid only in speed control mode) min-1
Un002 Internal torque reference ( in percentage to the rated torque) %
Un003 Rotation angle 1 (16-bit decimal code) Number of pulses
from the zero-point
Un004 Rotation angle 2 (Angle from the zero-point (electrical angle)) deg
Un005 Input signal monitor *1 −
Un006 Output signal monitor *1 −
Un007 Input reference pulse speed (valid only in position control mode) min-1
Un008 Error counter value (amount of position error) (valid only in position control mode) reference unit
Un009 Accumulated load rate (value for the rated torque as 100 %. Displays effective torque in 10-s %
cycle.)
Un00A Regenerative load rate (value for the processable regenerative power as 100 %. Displays regen- %
erative power consumption in 10-s cycle.)
Un00B Power consumed by DB resistance %
(Value for the processable power when dynamic brake is applied as 100 %. Displays power
consumed by DB resistance in 10-s cycle.)
Un00C Input reference pulse counter (32-bit hexadecimal code) −
(valid only in position control mode) *2
Un00D Feedback pulse counter (Data as four times of the encoder pulse number: 32-bit hexadecimal −
code) *2
* 1. Refer to (2) Sequence I/O Signal Monitor Display.
* 2. Refer to (4) Monitor Display of Reference Pulse Counter and Feedback Pulse Counter.

Digital Operator/Panel Operator

7-29
 7 Digital Operator/Panel Operator
7.4.1 List of Monitor Modes

(2) Sequence I/O Signal Monitor Display

The following section describes the monitor display for sequence I/O signals.
(a) Input Signal Monitor Display
The status of input signal allocated to each input terminal is displayed:
When the input is in OFF (open) status, the top segment (LED) is lit.
when the input is in ON (short-circuited) status, the bottom segment (LED) is lit.

Top: OFF (H level)

Bottom: ON (L level)
87 6 54 3 2 1 Number

Refer to 7.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals.

Display LED
Input Terminal Name Factory Setting
Number
1 CN1-40 /S-ON
2 CN1-41 /P-CON
3 CN1-42 P-OT
4 CN1-43 N-OT
5 CN1-44 /ALM-RST
6 CN1-45 /P-CL
7 CN1-46 /N-CL
8 CN1-4 SEN

EXAMPLE • When /S-ON signal is ON (Servo ON at L level)

The bottom segment

of number 1 is lit.
87 6 5 4 3 2 1

• When /S-ON signal is OFF

The top segment of

number 1 is lit.
87 6 5 4 3 2 1

• When P-OT signal operates (Operates at H level)

The top segment of
number 3 is lit.

87 6 5 4 3 2 1

7-30
 7.4 Operation in Monitor Mode (Un†††)

(b) Output Signal Monitor Display

The status of output signal allocated to each output terminal is displayed:
When the output is in OFF (open) status, the top segment (LED) is lit.
When the output is in ON (short-circuited) status, the bottom segment is lit.

Top: OFF (H level)

Bottom: ON (L level)
7 6 5 4 3 2 1 Number

Refer to 7.3.3 Output Circuit Signal Allocation for the relation between output terminals and signals.

Display LED Output Terminal

Factory Setting
Number Name
1 CN1-31, -32 ALM
2 CN1-25, -26 /COIN or /V-CMP
3 CN1-27, -28 /TGON
4 CN1-29, -30 /S-RDY
5 CN1-37 ALO1
6 CN1-38 ALO2
7 CN1-39 ALO3
Note: For the detail of output terminals, refer to 7.3.3 Output Circuit Signal Allocation.
Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indi-
cate various output signals.
These segments ON for L level and OFF for H level.

EXAMPLE • When ALM signal operates (alarm at H level.)

The top segment of
number 1 is lit.
765 4 321

(3) Operation in Monitor Mode

The example below shows how to display the contents of monitor number Un000 when the servomotor rotates at
1500 min-1.

Digital Operator/Panel Operator

Display after Digital Panel
Step Description
Operation Operator Operator
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET
monitor mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select the monitor num-
ber to be displayed. The display shows the example of
the data of Un000.
3 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second to display the data of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Un000.
(Press at least 1 s.)
7
4 Press the DATA/ENTER Key once, or DATA/SHIFT
DATA
ENTER
Key for more than one second to return to the display
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) of monitor number.
(Press at least 1 s.)

7-31
 7 Digital Operator/Panel Operator
7.4.1 List of Monitor Modes

(4) Monitor Display of Reference Pulse Counter and Feedback Pulse Counter
The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal.
Display after Digital Panel
Step Description
Operation Operator Operator
1 DSPL
Press the DSPL/SET or MODE/SET Key to select
SET
the monitor mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select “Un00C” or
“Un00D.”

3 Press the DATA/ENTER Key once, or DATA/

DATA
ENTER
SHIFT Key for more than one second to display the
DATA
(DATA/SHIFT Key)
data of the selected monitor number.
(DATA/ENTER Key)
The upper 16-bit data (Press at least 1 s.)

4 Press the UP or DOWN Key to display the lower

16-bit data.

The lower 16-bit data

5 Press both UP and DOWN Keys simultaneously

+ while the display on the left appears to clear the 32-
bit counter data.
(Press simultaneouly) Press simultaneously
(The display shown on the left is of the lower 16-bit
data.)
6 Press the DATA/ENTER Key once, or DATA/
DATA
ENTER
SHIFT Key for more than one second to return to
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) the display of monitor number.
(Press at least 1 s.)

When the control power supply is turned ON, reference pulse and feedback pulse will be “0.” The counter
value increases by forward references, and decreases by reverse references.
Displays the pulse number from 0 to 4294967295 in sequence. If one pulse is decreased from 0, the digital
operator and the panel operator display 4294967295 and then decrease from this pulse number. Also, if one
pulse in increased from 4294967295, the digital operator and the panel operator display 0 and increase from
this pulse number.
The feedback pulse will be 65536 pulse/rev, when using the 16-bit encoder. The feedback pulse will be
131071 pulse/rev, when using the 17-bit encoder.

7-32
 8
Operation

8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - 8-6
8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - 8-9
8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - 8-15
8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - 8-16

8.2 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17

8.3 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - 8-18
8.3.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.2 Switching the Servomotor Rotation Direction - - - - - - - - - - - - - - - - - 8-19
8.3.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - 8-20
8.3.4 Setting for Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
8.3.5 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - 8-26
8.3.6 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - 8-27

8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28

8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29
8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.6 Absolute Encoder Reception Sequence - - - - - - - - - - - - - - - - - - - - - 8-33
8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement
(A.CC) Occurred - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37
Operation

8.5 Operating Using Speed Control with Analog Reference - - - 8-38

8.5.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-38
8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39
8.5.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43 8
8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-45
8.5.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48

8-1
 8 Operation

8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 8-49

8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54
8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57
8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - 8-58
8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - 8-60
8.6.8 Reference Pulse Input Multiplication Switching Function - - - - - - - - - 8-61

8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - 8-63

8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.7.4 Limiting Servomotor Speed during Torque Control - - - - - - - - - - - - - - 8-66

8.8 Operating Using Speed Control with an Internally Set Speed 8-68
8.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-68
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - 8-69

8.9 Limiting Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71

8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - 8-71
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) - - - - 8-72
8.9.3 Torque Limiting Using an Analog Voltage Reference - - - - - - - - - - - - 8-73
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage
Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-74
8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - 8-75

8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - 8-76

8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76

8.11 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77

8.11.1 Servo Alarm Output (ALM) and Alarm Code Output
(ALO1, ALO2, ALO3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
8.11.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.3 Servomotor running Output Signal (/TGON) - - - - - - - - - - - - - - - - - 8-78
8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79

8-2
 Operation

8-3
8
 8 Operation

8.1 Trial Operation

Make sure that all wiring has been completed prior to trial operation.
Perform the following three types of trial operation in order. Instructions are given for speed control mode (stan-
dard setting) and position control mode. Unless otherwise specified, the standard parameters for speed control
mode (factory setting) are used.
(1)Trial Operation for Servomotor without Load (Refer to 8.1.1.)
„ Purpose
The servomotor is operated without connecting the shaft to
the machine in order to confirm that the following wiring is
correct.
1
2
'
219'4 %0 • Power supply circuit wiring
4

• Servomotor wiring
#
6
1
4
/1&'5'6 &#6#
%0 %0

ෂ‫ޓ‬㒾
WARNING
• Encoder wiring
ᗵ㔚ߩᕟࠇ޽ࠅ
5'4812#%-

• Servomotor’s rotation direction and motor speed

ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5

5 ) & *  㧖㧖㧖㧖
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ
May cause
electric shock.

;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

&% &%
     
8 8 8 8 8 8
&7 &8 &9 $ $ 0 2
%*#4)'

   .4 .5 .6 7 8 9

From power
supply

Check the wiring

(2)Trial Operation for Servomotor with Host Reference (Refer to 8.1.2.)

„ Purpose
The servomotor is operated without connecting the shaft to
the machine in order to confirm that the following wiring is
219'4 %0
correct.
• I/O signal wiring between the SERVOPACK and the host
1
2
'
4
#
6
1
4
/1&'5'6 &#6#
%0 %0

controller.
• Servomotor’s rotation direction, motor speed, and number
ෂ‫ޓ‬㒾
WARNING
ᗵ㔚ߩᕟࠇ޽ࠅ
ㅢ㔚ਛ෸߮㔚Ḯࠝࡈᓟ5 5'4812#%-
5 ) & *  㧖㧖㧖㧖
ಽ㑆‫┵ޔ‬ሶㇱߦ⸅ࠆߥ
May cause
electric shock.

;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.

of rotations
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.

&% &%
      &7 &8 &9 $ $

• Operation of the brake, overtravel, and other protective

8 8 8 8 8 8 0 2
%*#4)'

   .4 .5 .6 7 8 9

functions.

Connect the CN1 connector

(3)Trial Operation for the Servomotor and Machine Combined (Refer to 8.1.3.)
„ Purpose
The servomotor is connected to the machine and trial opera-
tion is performed. The SERVOPACK is adjusted to match the
Servomotor machine characteristics.
• The servomotor’s rotation direction, motor speed, and
machine travel distance.
• Set the necessary parameters.
Connect to the machine

8-4
 8.1 Trial Operation

Step Item Description Reference

Install the servomotor and SERVOPACK according to the installation conditions.
Installation −
1 (Do not connect the servomotor to the machine because the servomotor will be oper-
and mounting
ated first under a no-load condition for checking.)

Connect the power supply circuit (refer to 6.1.2), servomotor wiring (U, V, W), I/O
Wiring and signal wiring (CN1), and encoder wiring (CN2). During (1) Trial Operation for Ser-
2 −
connections vomotor without Load, however, disconnect the CN1 connector (refer to 8.1.1).

Turn ON the power. Check the panel operator to make sure that the SERVOPACK is
Turn ON the −
3 running normally. If using a servomotor equipped with an absolute encoder, perform
power.
the setup for the absolute encoder (refer to 8.4.5.).

Execute jog
4 mode Execute jog mode operation with the servomotor alone under a no-load condition. Jog Operation
operation.

Connect input
5 Connect the input signals (CN1) necessary for trial operation. −
signals.

Use the internal monitor function to check the input signals.

Check input
6 Turn ON the power, and check the emergency stop, brake, overtravel, and other pro- −
signals.
tective functions for correct operation.

Input the ser- Host

7 Input the servo ON signal, and turn ON the servomotor.
vo ON signal. Reference

Input Input the reference for the control mode being used, and check the servomotor for Host
8
reference. correct operation. Reference

Turn OFF the power, and then connect the servomotor to the machine.
Check protec-
9 If using a servomotor with an absolute encoder, set up the absolute encoder and make −
tive operation.
the initial settings for the host controller to match the machine’s zero position.
Operation

Set Using the same procedure as you did to input a reference in step 8, operate the servo-
Host
10 necessary motor from the host controller and set the parameter so that the machine’s travel
Reference
parameters. direction, travel distance, and travel speed all correspond to the reference.

8
The servomotor can now be operated. Adjust the servo gain if necessary. Refer to
Host
11 Operation 9.1 Autotuning.
Reference
If a problem occurs, refer to 10 Inspection, Maintenance, and Troubleshooting.

8-5
 8 Operation
8.1.1 Trial Operation for Servomotor without Load

8.1.1 Trial Operation for Servomotor without Load

CAUTION
• Release the coupling between the servomotor and the machine, and secure only the servomotor without a
load.
To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings
and belts disconnected).
In this section, confirm the cable connections of the main circuit power supply, motor and encoder except the
connection to host controller. Incorrect wiring is generally the reason why servomotors fail to operate properly
during the trial operation.
Confirm the wiring, and then conduct the trial operation for servomotor without load.
The operation and the display are the same both for the panel operator and optional digital operator (JUSP-
OP02A-2).
Step Description Check Method and Remarks
Secure the servomotor.
Secure the mounting plate
of the servomotor to the Follow 3.3.1 Precautions on Servomotor Installation and secure
equipment. the servomotor mounting plate to the machine in order to prevent
1 the servomotor from moving during operation.
Do not connect anything
to the shaft Do not connect the servomotor shaft to the machine. The servomo-
(no-load conditions). tor may tip over during rotation.

Check the power supply circuit, servomotor, and encoder

wiring.

With the CN1 connector not connected, check the power supply
219'4 %0

1
2
'
4
#
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cuit. Refer to 2.4 Selecting Cables for motor and encoder cables.
From power
supply
Check the wiring

Turn ON the control power supply and main circuit power

supply.
If the power is correctly supplied, the panel operator display on the
Normal Display front panel of the SERVOPACK will appear as shown on the left.
The display on the left indicates that Forward Run Prohibited (P-
OT) and Reverse Run Prohibited (N-OT). For details, refer to
3 7.1.4 Status Display.
If an alarm display appears, the power supply circuit, servomotor
Alternate display
wiring, or encoder wiring is incorrect. If an alarm is displayed, turn
Example of Alarm Display OFF the power, find the problem, and correct it.
Refer to 10.1 Troubleshooting.

Refer to 8.3.4 Setting for Holding Brakes and 8.4.5 Absolute

Release the brake before driving the servomotor when a
Encoder Setup (Fn008).
servomotor with brake is used.
4 Absolute Encoder Setup (Fn008) operation can be omitted when
When using an absolute encoder, encoder setup is required
setting the Pn002 to n.†1†† (uses absolute encoder as an incre-
before running the servomotor.
mental encoder) only during trial operation.

8-6
 8.1 Trial Operation

Step Description Check Method and Remarks

Operate with the panel operator.

SERVOPACK

219'4 %0
Panel Operator Use the panel operator to operate the servomotor with utility func-
1
2
'

tion Fn002 (Jog Mode Operation).

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Check that the servomotor rotates in the forward direction by UP

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The operation is completed when the operation is performed as

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described below and the alarm display does not appear. Complete
   .4 .5 .6 7 8 9
the Fn002 (Jog Mode Operation) and turn OFF the power.
For operation method of the digital operator and the panel operator,
refer to 7.1 Functions on Digital Operator/Panel Operator.
The servomotor speed can be changed using the Pn304 (JOG
Speed). The factory setting for jog speed is 500 min-1.

• JOG Mode Operation (Fn002)

Display after Panel
Step Digital Operator Description
Operation Operator
1 DSPL
SET Press the DSPL/SET or MODE/SET Key to select the utility
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
function mode.

2
Press the UP or DOWN Key to select Fn002.
Note: The digit that can be set will blink.

3 Press the DATA/ENTER Key once, or DATA/SHIFT Key for

DATA more than one second.
ENTER
DATA/ The display shown at the left will appear, and the servomotor
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.) will enter JOG operation mode. The servomotor can be operated
with the panel operator in this condition.
4 JOG
SVON Press the SVON or MODE/SET Key. This will turn ON the
(SVON Key)
MODE/SET power to the servomotor.
(MODE/SET Key)

5 Forward
running Press the UP Key (forward) or DOWN Key (reverse). The servo-
Reverse motor will operate as long as the key is pressed.
running

6 Press the DSPL/SET or MODE/SET Key. This will turn OFF the
Operation

DSPL
SET
power to the servomotor. The power will remain OFF even if the
(DSPL/SET Key) MODE/SET SVON or DATA/SHIFT Key is pressed for more than one sec-
(MODE/SET Key)
ond.
7
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
8
DATA
ENTER
DATA/ more than one second to return to the Fn002 display of the utility
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.) function mode.

8-7
 8 Operation
8.1.1 Trial Operation for Servomotor without Load

The servomotor’s rotation direction depends on the setting of parameter Pn000.0 (Direction Selection). The example on
INFO the previous page describes operation with Pn000.0 in the factory setting.

Pn304 JOG Speed Speed

Setting Range Setting Unit Factory Setting Setting Validation
0 to 10000 1 min -1 500 Immediately
Sets the utility function Fn002 (Jog Mode Operation) to the reference value of motor speed.
The motor can be operated using only the digital operator without reference from the host controller. The follow-
ing conditions are required to perform jog mode operation.
1. The servo on (/S-ON) input signal is OFF (H level). Refer to 8.3.1 Setting the Servo ON Signal.
2. Pn50A is not set to n.††7† (Sets signal ON) with the external input signal allocation. Refer to 7.3.2
Input Circuit Signal Allocation.
Pay attention that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid
during jog mode operation. For the jog mode operation procedures, refer to pages 8-6 and 8-7.

8-8
 8.1 Trial Operation

8.1.2 Trial Operation for Servomotor without Load from Host Reference
Check that the servomotor move reference or I/O signals are correctly set from the host controller to the SERVO-
PACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the SERVO-
PACK operation settings are correct. This is final check before connecting the servomotor to the machine.
(1) Servo ON Command from the Host
The following circuits are required: External input signal circuit or equivalent.

Speed Control
Position Control
(Standard Setting)
[Pn000=n.††1†]
[Pn000=n.††0†]

CN1
CN1 47
47 +24V
+24V /S-ON
/S-ON 40
40
P-OT 42
P-OT 42
N-OT 43
N-OT 43
PULS 7
V-REF 5
SIGN 11
0V
0V

Change the SEN signal (CN1-4) to the H level when an absolute encoder is used.

Operation

8-9
 8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference

Step Description Check Method and Remarks

Configure an input signal circuit necessary for servo ON. Satisfy the following conditions:
Connect the I/O signal connectors (CN1) in the circuit on 1. Servo ON (/S-ON) input signal can be input.
the previous page or equivalent to input the signal neces-
2. Forward Run Prohibited (P-OT) and Reverse Run Prohibited
sary for servo ON. Then turn OFF the power and connect
(N-OT) input signals are turned ON (L level). (Forward run
the CN1 to the SERVOPACK.
and reverse run are prohibited.)
3. Reference input (0V reference or 0 pulse) is not input.
To omit the external wiring, the input terminal function can be set
1 219'4 %0
to “Always ON” or “Always OFF” using the input signal allocation
function of parameter. Refer to 7.3.2 Input Circuit Signal Alloca-
1
2
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When the absolute encoder is used, Fn008 (Absolute Encoder

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Connect the CN1

Setup) operation and the SEN signal wiring can be omitted when
connector setting the Pn002 to n.†1†† (uses absolute encoder as an incre-
mental encoder) only during trial operation.
The input signal setting is not correct if the display is not the same
as on the left. Check the input signal using the Un005 (input signal
monitor) from the panel operator.

Un005 =

Check input signal wiring in monitor mode using the digital opera-
tor. Refer to 7.4.1 List of Monitor Modes.
Turn ON the power and make sure that the panel operator Turn ON and OFF each signal line to see if the LED monitor bit
display is as shown below. display on the digital operator changes as shown below.
Input signal LED display
2
P-OT /P-CON
N-OT /S-ON
Top lights when input
signal is OFF (high level).
Un005 =
Bottom lights when input
signal is ON (low level).
/ALM-RST
/P-CL
/N-CL
SEN

If an absolute encoder is being used, the servo will not turn ON

when the servo ON signal (/S-ON) is input unless the SEN signal is
also ON.
When the SEN signal is checked in monitor mode, the top of the
LED will light because the SEN signal is high when ON.
Input the /S-ON signal, then make sure that the display of
the panel operator is as shown below. If an alarm display appears, correct it according to 10.1 Trouble-
shooting. If there is noise in the reference voltage during speed
3 control, the horizontal line (−) at the far left edge of the panel oper-
ator display may blink. Also the servomotor may turn very slowly.
Refer to 6.4 Others and take a preventive measure.

8-10
 8.1 Trial Operation

(2) Operating Procedure in Speed Control Mode (Pn000 = n.††0†)

The following circuit is required: External input signal circuit or equivalent.
SERVOPACK
CN1
47
+24V
/S-ON
40

P-OT 42

N-OT 43

+ V-REF
0V 5
VE
6

VE: Max. voltage (12 V)

Step Description Check Method and Remarks

1 Check the power and input signal circuits again, and
check that the speed reference input (voltage Refer to the above figure for input signal circuit.
between the V-REF and SG) is 0 V.
2 If the servomotor rotates at extremely slow speed,
Turn ON the servo ON (/S-ON) input signal. refer to 8.5.3 Adjusting Offset, and use the reference
voltage offset to keep the servomotor from moving.
3 Generally increase the speed reference input voltage
The factory setting is 6 V/rated rotation speed.
between V-REF and SG from 0 V.
4 Check the speed reference input to the SERVO- Refer to 7.1.3 Basic Mode Selection and Operation for
PACK (Un000 [min-1]). how it is displayed.
5 Refer to 7.1.3 Basic Mode Selection and Operation for
Check the servomotor speed value (Un000 [min-1]). how it is displayed.
6 Change the speed reference input voltage and check
Check that the Un001 and Un000 values in steps 4
that Un001 and Un000 values are equal for multiple
and 5 are equal.
speed references.
7 Refer to the following equation to change the Pn300
(speed reference input gain).
Un001=(voltage between V-REF) [V] × Pn300 [3000
min-1/6V]
Check the speed reference input gain and motor
rotation direction. To change the motor rotation direction without chang-
ing polarity for speed reference input voltage, refer to
8.3.2 Switching the Servomotor Rotation Direction.
Perform the operation from step 2 again after the
motor rotation direction is changed.
8 When the speed reference input is set to 0 V and
servo OFF status enters, the trial operation for ser- −
Operation

vomotor without load is completed.

8-11
 8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference

„ When Position Control is configured at the Host

INFO
Analog speed
reference

Host SERVOPACK M

Trial operation for

Position control Speed control servomotor without load

When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the oper-
ations below, following the operations in (2) Operating Procedure in Speed Control Mode (Pn000 = n.††0†) on the pre-
vious page.

Step Description Check Method and Remarks

9 Check the input signal circuit again, and check that
the speed reference input (voltage between the V- Refer to the above figure for input signal circuit.
REF and SG) is 0 V.
10 If the servomotor rotates at extremely slow speed,
Turn ON the servo ON (/S-ON) input signal. refer to 8.5.3 Adjusting Offset, and use the reference
voltage offset to keep the servomotor from moving.
11 Send the command for the number of motor rotation
easy to check (for example, one motor revolution) Refer to 7.1.3 Basic Mode Selection and Operation for
from the host controller in advance, and check the how it is displayed.
sent number of rotation and actual number of rota- Un003 (rotation angle 1)[pulse]: The number of pulses
tion by visual inspection and the Un003 (rotation from the zero point.
angle1)[pulse].
12 If the sent number of rotation and actual number of
Refer to 8.5.7 Encoder Signal Output for how to set.
rotation in step 11 are not equal, correctly set the
Pn201 (PG divider) [P/Rev]: The number of encoder
Pn201 (PG divided ratio) outputting the encoder
pulses per revolution
pulse from the SERVOPACK.
13 When the speed reference input is set to 0 V and
servo OFF status enters, the trial operation for posi- −
tion control with the host controller is completed.

8-12
 8.1 Trial Operation

(3) Operating Procedure in Position Control Mode (Pn000 = n.††1†)

The following circuit is required: External input signal circuit or equivalent.
SERVOPACK
CN1
47
+24V
/S-ON 40
P-OT 42
N-OT 43
CLR∗ 15
PULS 7
Pulse reference

/PULS 8
Reference pulse
according to SIGN 11
parameter /SIGN 12
Pn200.0 setting
∗ CLR signal is not connected.

Step Description Check Method and Remarks

1 Match the reference pulse form with the pulse out- Set the reference pulse with Pn200=n.†††×. Refer
put form from the host controller. to 8.6.1 (2) Setting a Reference Pulse Form.
2 Set the reference unit and electronic gear ration so Set the electronic gear ratio with Pn202/Pn203. Refer
that it coincides with the host controller setting. to 8.6.2 Setting the Electronic Gear.
3 Turn ON the power and the servo ON (/S-ON) input
−
signal.
4 Send the pulse reference for the number of motor
rotation easy to check (for example, one motor revo- Set the motor speed of several 100 min-1 for the refer-
lution) and with slow speed from the host controller ence pulse speed because such speed is safe.
in advance.
5 Check the number of reference pulses input to the
Refer to 7.1.3 Basic Mode Selection and Operation for
SERVOPACK by the changed amount before and
how it is displayed.
after the Un00C (input reference pulse counter)
Un00C (input reference pulse counter) [pulse]
[pulse] was executed.
6 Check the actual number of motor rotation [pulse] Refer to 7.1.3 Basic Mode Selection and Operation for
by the changed amount before and after the Un003 how it is displayed.
(rotation angle 1) [pulse] was executed. Un003 (rotation angle 1) [pulse]
7 Check that steps 5 and 6 satisfy the following equa-
tion: −
Un003=Un00C × (Pn202/Pn203)
8 Check the input pulse polarity and input reference
Check that the motor rotation direction is the same
pulse form. Refer to 8.6.1 (2) Setting a Reference
as the reference.
Pulse Form.
9 Input the pulse reference with the large number of
motor rotation from the host controller to obtain the Set the motor speed of several 100 min-1 for the refer-
constant speed. ence pulse speed because such speed is safe.
10 Check the reference pulse speed input to the SER- Refer to 7.1.3 Basic Mode Selection and Operation for
VOPACK using the Un007 (input reference pulse how it is displayed.
Operation

speed) [min-1]. Un007 (input reference pulse speed) [min-1]

The number of Un007 (input reference pulses) can be obtained from the following equation.

Pn202 1
Un007(input reference pulse speed) input reference pulse pulses/S × 60 × ×
Pn203 213(8192)
8
Reference input ppm Electronic Encoder
gear ratio pulse ∗
* The encoder pulse differs depending on the model of the servomotor used.
11 Refer to 7.1.3 Basic Mode Selection and Operation for
Check the motor speed using the Un000 (motor
how it is displayed.
speed) [min-1].
Un000 (motor speed) [min-1]

8-13
 8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference

Step Description Check Method and Remarks

12 Check that the Un007 and Un000 values in steps 9
−
and 10 are equal.
13 To change the motor rotation direction without chang-
ing input reference pulse form, refer to 8.3.2 Switching
Check the motor rotation direction. the Servomotor Rotation Direction.
Perform the operation from step 9 again after the
motor rotation direction is changed.
14 When the pulse reference input is stopped and servo
OFF status enters, the trial operation for servomotor
−
without load and using position control with the host
controller is completed.

8-14
 8.1 Trial Operation

8.1.3 Trial Operation with the Servomotor Connected to the Machine

WARNING
• Follow the procedure below for trial operation precisely as given.
Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also
cause an accident resulting death or injury.
Follow the procedures below to perform the trial operation.
Step Description Check Method and Remarks
Refer to 8.3 Setting Common Basic Functions.
When a servomotor with brake is used, take advance
Turn ON the power and make the settings for measures to prevent vibration due to gravity acting on
1 mechanical configuration related to protective the machine or external forces before checking the
functions such as overtravel and brake. brake operation. Check that both servomotor and
brake operations are correct. For details, refer to 8.3.4
Setting for Holding Brakes.
Refer to 8.5 Operating Using Speed Control with Ana-
log Reference, 8.6 Operating Using Position Control,
2 Set the necessary parameters for control mode used.
and 8.7 Operating Using Torque Control for control
mode used.
Connect the servomotor to the machine with cou-
3 Refer to 3.3.1 Precautions on Servomotor Installation.
pling, etc., while the power is turned OFF.
Check that the SERVOPACK is servo OFF status Refer to 8.3 Setting Common Basic Functions.
and then turn ON the power to the machine (host For steps 4 to 8, take advance measures for emergency
4
controller). Check again that the protective function stop so that the servomotor can stop safely when an
in step 1 operates normally. error occurs during operation.
Perform trial operation with the servomotor con-
Check that the trial operation is completed with as the
nected to the machine, following each section in
5 trial operation for servomotor without load. Also
8.1.2 Trial Operation for Servomotor without Load
check the settings for machine such as reference unit.
from Host Reference.
Check the settings of parameters for control mode Check that the servomotor rotates matching the
6
used set in step 2 again. machine operating specifications.
Refer to 9.1 Autotuning.
The servomotor will not be broken in completely dur-
Adjust the servo gain and improve the servomotor
7 ing the trial operation. Therefore, let the system run
response characteristics, if necessary.
for a sufficient amount of additional time to ensure that
it is properly broken in.
Write the parameters set for maintenance in 11.4
Parameter Recording Table.
8 −
Then the trial operation with the servomotor con-
nected to the machine is completed.
Operation

8-15
 8 Operation
8.1.4 Servomotor with Brakes

8.1.4 Servomotor with Brakes

Holding brake operation of the servomotor with brake can be controlled with the brake interlock output (/BK)
signal of the SERVOPACK.
When checking the brake operation, take advance measures to prevent vibration due to gravity acting on the
machine or external forces. Check the servomotor operation and holding brake operation with the servomotor
separated from the machine. If both operations are correct, connect the servomotor and perform trial operation.
For wiring on a servomotor with brakes and parameter settings, refer to 8.3.4 Setting for Holding Brakes.

8.1.5 Position Control by Host Controller

As described above, be sure to separate the servomotor and machine before performing trial operation of the ser-
vomotor without a load. Refer to the following table, and check the servomotor operation and specifications in
advance.

Analog
speed
reference
Host SERVOPACK M
controller

Trial operation for

Position control Speed control servomotor without load.

Reference from
Reference
the Host Check Item Check Method Review Items
Section
Controller
Check motor speed as follows:
• Use the motor speed monitor
JOG Operation
(Un000) on the panel operator.
(Constant Check the parameter setting at
• Run the servomotor at low speed. 8.5.1
Reference Speed Motor Speed Pn300 to see if reference speed
Input from Input a reference speed of 60 min-1 gain is correct.
Host Controller) for example to check to see if the
servomotor makes one revolution
per second.
Input a reference equivalent to one Check the parameter setting at
Simple
No. of motor rotation motor rotation and visually check to Pn201 to see if the number of PG 8.5.7
Positioning
see if the shaft makes one revolution. dividing pulses is correct.
Whether the servomo- Check to see if the servomotor stops
Overtravel
tor stops rotating when P-OT and N-OT signals are Review P-OT and N-OT wiring if
(P-OT and 8.3.3
when P-OT and N-OT input during continuous servomotor the servomotor does not stop.
N-OT Used)
signals are input operation.

8-16
 8.2 Control Mode Selection

8.2 Control Mode Selection

The control modes supported by the SGDM/SGDH SERVOPACKs are described below.
Reference
Parameter Control Mode
Section
Pn000 n.††0† Speed Control (Analog voltage speed reference)
(Factory Controls servomotor speed by means of an analog voltage speed reference. Use
setting) in the following instances.
8.5
• To control speed
• For position control using the encoder feedback division output from the
SERVOPACK to form a position loop in the host controller.
n.††1† Position Control (Pulse train reference)
Controls the position of the servomotor by means of a pulse train position ref-
erence. 8.6
Controls the position with the number of input pulses, and controls the speed
with the input pulse frequency. Use when positioning is required.
n.††2† Torque Control (Analog voltage reference)
Controls the servomotor’s output torque by means of an analog voltage torque 8.7
reference. Use to output the required amount of torque for operations such as
pressing.
n.††3† Speed Control (Internally set speed selection)
Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL (/
SPD-B) to control the speed as set in advance in the SERVOPACK. Three 8.8
operating speeds can be set in the SERVOPACK. (In this case, an analog ref-
erence is not necessary.)
n.††4†
　　x These are switching modes for using the four control methods described above
　　x in combination. Select the control method switching mode that best suits the 8.10
application.
　　x
n.††B†

Operation

8-17
 8 Operation
8.3.1 Setting the Servo ON Signal

8.3 Setting Common Basic Functions

8.3.1 Setting the Servo ON Signal
This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
(1) Servo ON signal (/S-ON)
Connector Pin
Type Name Setting Meaning
Number
ON (low level) Servomotor power ON. Servomotor can be operated.
CN1-40
Input /S-ON OFF (high
(Factory setting) Servomotor power OFF. Servomotor cannot be operated.
level)
„ IMPORTANT
Always input the servo ON signal before inputting the input reference to start or stop the servomotor. Do not input the input
reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal elements and lead to malfunc-
tion.
A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to 7.3.2 Input Circuit Signal
Allocation.

(2) Enabling/Disabling the Servo ON Signal

A parameter can be always used to set a parameter servo ON condition. This eliminates the need to wire /S-ON,
but care must be taken because the SERVOPACK can operate as soon as the power is turned ON.
Parameter Meaning
Pn50A n.††0† Inputs the /S-ON signal from the input terminal CN1-40. (Factory setting)
n.††7† Constantly enables the /S-ON signal.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
• When the parameter is set to constantly “enable” the signal, resetting an alarm can only be done by turning the power
OFF and ON. (Alarm reset is disabled.)

8-18
 8.3 Setting Common Basic Functions

8.3.2 Switching the Servomotor Rotation Direction

The rotation direction of the servomotor can be switched without changing the reference pulse to the SERVO-
PACK or the reference voltage polarity.
This causes the travel direction (+, -) of the shaft reverse. The output signal polarity such as encoder pulse output
and analog monitor signal from the SERVOPACK does not change.
The standard setting for “forward rotation” is counterclockwise as viewed from the drive end.
Reference
Parameter Name
Forward Reference Reverse Reference
Pn000 n.†††0 Analog monitor Analog monitor
torque reference

Standard setting
Forward Reverse
(CCW = For- (CCW) Rotation speed (CW)
ward)
(Factory setting) Encoder pulse division output Encoder pulse division output

PAO PAO Phase A advanced

PBO Phase B advanced PBO

n.†††1 Analog monitor Analog monitor

Reverse Rotation Reverse Forward

Mode (CW) (CCW)
(CW = Forward) Encoder pulse division output Encoder pulse division output

PAO PAO Phase A advanced

PBO Phase B advanced PBO

The direction of P-OT and N-OT change. For Pn000 = n.†††0 (standard setting), counterclockwise is P-OT. For Pn000
= n.†††1 (Reverse Rotation Mode), clockwise is P-OT.

Operation

8-19
 8 Operation
8.3.3 Setting the Overtravel Limit Function

8.3.3 Setting the Overtravel Limit Function

The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion
and turn ON a limit switch.
(1) Connecting the Overtravel Signal
To use the overtravel function, connect the following overtravel limit switch input signal terminals.
Connector Pin
Type Name Setting Meaning
Number
CN1-42 ON (low level) Forward rotation allowed. Normal operation status.
Input P-OT
(Factory setting) OFF (high level) Forward rotation prohibited. Forward overtravel.
CN1-43 ON (low level) Reverse rotation allowed. Normal operation status.
Input N-OT
(Factory setting) OFF (high level) Reverse rotation prohibited. Reverse overtravel.
Connect limit switches as shown below to prevent damage to
Motor forward rotation direction
the devices during linear motion.
Rotation in the opposite direction is possible during overtravel. SERVOPACK
Servomotor
For example, reverse rotation is possible during forward over- Limit Limit CN1
P-OT
travel. switch switch 42

N-OT
43

„ IMPORTANT
When the servomotor stops due to overtravel during position control, the position error pulses are held. A clear signal
(CLR) input is required to clear the error pulses.

CAUTION
When using the servomotor on a vertical axis, the workpiece may fall in the overtravel condition.
To prevent this, always set the zero clamp after stopping with Pn001 = n.††1†.
Refer to (3) Selecting the Motor Stop Method When Overtravel is Used in this section.

(2) Enabling/Disabling the Overtravel Signal

A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the over-
travel input signal.
Parameter Meaning
Pn50A n.2††† Inputs the Forward Run Prohibited (P-OT) signal from CN1-42. (Factory setting)
n.8††† Disables the Forward Run Prohibited (P-OT) signal. (Allows constant forward rotation.)
Pn50B n.†††3 Inputs the Reverse Run Prohibited (N-OT) signal from CN1-43. (Factory setting)
n.†††8 Disables the Reverse Run Prohibited (N-OT) signal. (Allows constant reverse rotation.)
• Applicable control methods: Speed control, position control, and torque control
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
* A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 7.3.2 Input Cir-
cuit Signal Allocation.

8-20
 8.3 Setting Common Basic Functions

(3) Selecting the Motor Stop Method When Overtravel is Used

This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the motor is operating.
Mode After
Parameter Stop Mode Meaning
Stopping
Pn001 n.††00 Holding Rapidly stops the servomotor by using dynamic
Dynamic Brake braking (DB), then keeps it in Dynamic Brake Mode
Stop by dynamic Mode after the servomotor stops.
n.††01 brake Rapidly stops the servomotor by using dynamic
braking (DB), then puts it into Coast (power OFF)
Coast Mode.
n.††02 Coast to a stop
Coasts to a stop, then places it into Coast (power
OFF) Mode.
n.††1† Decelerates the servomotor with emergency stop
Zero Clamp torque (Pn406), then places it into Zero Clamp (Ser-
volock) Mode.
Decelerate to stop
n.††2† Decelerates the servomotor with emergency stop
Coast torque (Pn406), then places it into Coast (power
OFF) Mode.
• In each setting, only the servomotor stopping method can be selected during torque control. After the servomotor stops, it
maintains the coasting to a stop status regardless of the setting.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
• During n.††02 Coast Mode, SERVOPACK can be resumed using the servo ON signal.

„ TERMS
• Stop by dynamic brake: Stops by using the dynamic brake.
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
• Decelerate to stop: Stops by using deceleration (braking) torque.
• Zero Clamp Mode: A mode forms a position loop by using the position reference zero.

* For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 8.3.5 Selecting the Stopping
Method After Servo OFF.

(4) Setting the Stop Torque for Overtravel

Pn406 Emergency Stop Torque Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 % 800 Immediately
• This sets the stop torque for when the overtravel signal (P-OT, N-OT) is input.
• The setting unit is a percentage of the rated torque (the rated torque is 100%).
• The value large enough to be the motor maximum torque, 800% is set as the factory setting for emergency stop torque.
However, the actual output emergency stop torque is determined by motor ratings.
Operation

8-21
 8 Operation
8.3.4 Setting for Holding Brakes

8.3.4 Setting for Holding Brakes

The holding brake is used when a SERVOPACK controls a vertical axis. In other words, a servomotor with
brake prevents the movable part from shifting due to gravity when the SERVOPACK power goes OFF. (Refer to
8.1.4 Servomotor with Brakes.)

Vertical Shaft Shaft with External Force Applied

Servomotor
External
Holding brake force Servomotor

Prevents the servomotor

from shifting when
the power is OFF.
Prevents the servomotor from
shifting due to external force.

There is a delay in the braking operation. Set the following ON/OFF timing. The timing can be easily set using
the brake interlock output signal.
SERVOPACK control OFF ON
power
SERVOPACK main OFF ON
power *1
OFF ON
Servo ON

OFF ON
Holding brake power

Brake contact part Brake release

(lining) *2 *2 *6
200 ms to 1.0 second
0V
Speed reference

Motor speed
*4 t1
t0
*3 *5
t0+t1
200 ms or more

* 1. The servo ON signal and holding brake power supply may be turned ON simultaneously.
* 2. The operation delay time of the brake depends on the model. For details, refer to Table 8.1 Brake Operation Delay Time.
* 3. Allow a period of 200 ms before the speed reference is input after the brake power supply is turned ON.
* 4. The servomotor stop time is shown by t0. Refer to Table 8.2 Calculation Method for Servomotor Stop Time for the
calculation of t0.
* 5. Always turn OFF the brake power supply after the servomotor comes to a stop. Usually, set t0+t1 to 1 or 2 seconds.
* 6. Turn OFF the servo ON signal 0.2 to 1.0 second after the brake power supply is turned OFF.
Table 8.1 Brake Operation Delay Time

Model Brake Open Time Brake Operation Time

Voltage
1500 min-1 800 min-1 (ms) (ms)
90V
SGMVH-2B, 3Z – 500 max. 150 max.
24V
90V
SGMVH-3G SGMVH-2B 500 max. 150 max.
24V
90V
SGMVH-4E, 5E SGMVH-3Z 550 max. 320 max.
24V
90V
SGMVH-7E SGMVH-3G 700 max. 320 max.
24V
Note: The above operation delay time is an example when the power supply is turned ON
and OFF on the DC side.
Be sure to evaluate the above times on the actual equipment before using the application.

8-22
 8.3 Setting Common Basic Functions

Table 8.2 Calculation Method for Servomotor Stop Time

Using SI Units Conventional Method

t0 = (JM + JL) × NM × 2π (sec) t0 = (GD2M + GD2L) × NM (sec)

(TP + TL) 60 375 × (TP + TL)

JM : Rotor moment of inertia (kgxm2) GD2M : Motor GD2 (kgfxm2)

JL : Load moment of inertia (kgxm2) GD2L : Load inertia GD2 (kgfxm2)

NM : Motor rotational speed (min-1) NM : Motor rotational speed (r/min)

TP : Motor deceleration torque (Nxm) TP : Motor deceleration torque (kgfxm)
TL : Load torque (Nxm) TL : Load torque (kgfxm)

IMPORTANT 1. The brake built into the servomotor with brakes is a deenergization brake, which is used only to hold and
cannot be used for braking. Use the holding brake only to hold a stopped motor. Brake torque is at least
120% of the rated motor torque.
2. When operating using only a speed loop, turn OFF the servo and set the input reference to 0 V when the
brake is applied.
3. When forming a position loop, do not use a mechanical brake while the servomotor is stopped because
the servomotor enters servolock status.

(1) Wiring Example

Use the SERVOPACK contact output signal /BK and the brake power supply to form a brake ON/OFF circuit.
The following diagram shows a standard wiring example.
Servomotor
SERVOPACK with brake
Power supply
R L1/R U
S L2/S V
T L3/T M
W
L1C/r
L2C/t
CN1 CN2 PG
BK-RY (/BK+) ∗
+24V
BK
(/BK-) ∗
Surge absorber

BK-RY Blue or Brake power supply

yellow Red
White AC DC Black

BK-R Y: Brake control relay

Brake power supply Input voltage 200-V models: LPSE-2H01
Input voltage 100-V models: LPDE-1H01
Operation

Surge absorber model: CR50500BL (sold as Spark Quencher

manufactured by Okaya Electric Industries
Co., Ltd.)
∗ are the output terminals allocated with Pn50F.2.

8-23
 8 Operation
8.3.4 Setting for Holding Brakes

(2) Brake Interlock Output (/BK)

Connector Pin
Type Name Setting Meaning
Number
ON (low level) Releases the brake.
Output /BK Must be allocated
OFF (high level) Applies the brake.
This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with the
factory settings. The output signal must be allocated (with Pn50F). It does not need to be connected for servomotors with-
out a brake.

„ IMPORTANT
The /BK signal is not output during overtravel, or when there is no power to the servomotor.

(3) Allocating Brake Interlock Output Signals (/BK)

The brake interlock output signal (/BK) is not used with the factory settings. The output signal must be allocated.
Connector Pin Number
Parameter Meaning
+ Terminal - Terminal
Pn50F n.†0†† − − The /BK signal is not used. (Factory setting)
n.†1†† CN1-25 CN1-26 The /BK signal is output from output terminal CN1-25, 26.
n.†2†† CN1-27 CN1-28 The /BK signal is output from output terminal CN1-27, 28.
n.†3†† CN1-29 CN1-30 The /BK signal is output from output terminal CN1-29, 30.
„ IMPORTANT
When set to the factory setting, the brake interlock output signal (/BK) is invalid. When multiple signals are allocated to
the same output terminal, the signals are output with OR logic. To output the /BK output signal alone, disable the other
output signals or set them to output terminals other than the one allocated to the /BK output signal. For the allocation of
SERVOPACK output signals other than /BK output signal, refer to 7.3.3 Output Circuit Signal Allocation.

(4) Setting the Brake ON Timing after the Servomotor Stops

With the standard setting, the /BK signal is output at the same time as the servo is turned OFF. The servo OFF
timing can be changed with a parameter.
Pn506 Delay Time from Brake Reference Until Servo OFF Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 50
10 ms 0 Immediately
(0 to 500 ms)
• When using the servomotor to control a vertical axis, the
machine movable part may shift slightly depending on the brake /S-ON
(CN1-40) Servo ON Servo OFF
ON timing due to gravity or an external force. By using this
parameter to delay turning the servo OFF, this slight shift can be /BK output Brake released Brake held
eliminated.
• This parameter changes the brake ON timing while the servomo- Power to motor Power to motor No power to motor
tor is stopped.
For details on brake operation while the servomotor is operating, Pn506
refer to (5) Setting the Brake ON Timing When Servomotor Run-
ning in this section.
„ IMPORTANT
The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter.
The machine movable part may shift due to gravity or external force during the time until the brake operates.

8-24
 8.3 Setting Common Basic Functions

(5) Setting the Brake ON Timing When Servomotor Running

The following parameters can be used to change the /BK signal output conditions when a stop reference is output
during servomotor operation due to the servo OFF or an alarm occurring.
Pn507 Brake Reference Output Speed Level Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 -1 100 Immediately
1 min
Pn508 Timing for Brake Reference Output during Motor Operation Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

10 to 100 50
10 ms Immediately
(100 to 1000 ms) (500 ms)
/BK Signal Output Conditions When Servo-
motor Running /S-ON input Servo ON Servo OFF
Or alarm or
The /BK output signal goes to high level (brake power OFF
ON) when either of the following conditions is
satisfied:
Pn507 (Motor stopped by applying
• When the motor speed falls below the level set Motor speed DB or by coasting.)
in Pn507 after the servo OFF. Pn001.0

• When the time set in Pn508 is exceeded after

the servo OFF.
/BK output Brake released Brake held

Pn508

„ IMPORTANT
• The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed.
• Allocate the running output signal (/TGON) and the brake interlock output signal (/BK) to different terminals.
• If the brake interlock output signal (/BK) and running output signal (/TGON) are allocated to the same output terminal,
the /TGON signal will go to low level at the speed at which the movable part drops on the vertical axis, which means that
the /BK output signal will not go to high level even if the conditions of this parameter are met. (This is because signals are
output with OR logic when multiple signals are allocated to the same output terminal.) For output signal allocations, refer
to 7.3.3 Output Circuit Signal Allocation.

Operation

8-25
 8 Operation
8.3.5 Selecting the Stopping Method After Servo OFF

8.3.5 Selecting the Stopping Method After Servo OFF

The stopping method when the power to the SERVOPACK turns OFF can be selected.
Mode After
Parameter Stop Mode Meaning
Stopping
Pn001 n.†††0 Stops the servomotor by dynamic braking (DB),
Dynamic Brake then holds it in Dynamic Brake Mode. (Factory set-
Stop by dynamic ting)
brake
n.†††1 Coast
Stops the servomotor by dynamic braking (DB),
then places it into Coast (power OFF) Mode.
n.†††2 Coast to a stop Coast
Stops the servomotor by coasting, then places it
into Coast (power OFF) Mode.
These parameters are valid under the following conditions:
• When the /S-ON input signal is OFF (Servo OFF).
• When an alarm occurs.
• When main circuit power supply is OFF.
Similar to the Coast Mode, the n.†††0 setting (which stops the servomotor by dynamic braking and then holds it in
Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very low speed.

„ TERMS
• Stop by dynamic brake: Stops by using the dynamic brake.
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.

„ IMPORTANT
The SERVOPACK is forced to stop by dynamic braking, regardless of the settings of this parameter, when the main cir-
cuit power supply or control power supply turns OFF.
If the servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply or the
control power supply turns OFF, arrange the sequence externally so the servomotor wiring will be interrupted.

IMPORTANT The dynamic brake (DB)1 is an emergency stop function.

If the servomotor is frequently started and stopped by turning the power ON/OFF or using the servo ON sig-
nal (/S-ON), the DB circuit will also be repeatedly operated, degrading the SERVOPACK’s internal ele-
ments. Use the speed input reference and position reference to control the starting and stopping of the
servomotor.

1
Dynamic brake (DB) SERVOPACK Servomotor
TERMS
A common method for quickly stopping a servomotor. The servomotor is stopped
by short-circuiting the servomotor circuit. This function is built into the SERVO-
PACK.

8-26
 8.3 Setting Common Basic Functions

8.3.6 Instantaneous Power Loss Settings

Determines whether to continue operation or turn the servo OFF when the power supply voltage to the SERVO-
PACK main circuit is instantaneously interrupted.
Pn509 Instantaneous Power Cut Hold Time Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

20 to 1000 1 ms 20 Immediately
In power loss detection, the status of the main circuit power supply is detected and OFF status is ignored so servomotor
operation will continue if the servomotor turns back ON within the time set in parameter Pn509.

Instantaneous power interruption

In the following instances, however, the parameter setting
will be invalid. Power
• If an insufficient voltage alarm (A.41) occurs during a supply OFF time t
power loss with a large servomotor load. voltage
• When control is lost (equivalent to normal power OFF Operation
operation) with loss of the control power supply. continued
Pn509 > t Servo ON

„ IMPORTANT
The maximum setting for the hold time during a power
loss is 1,000 ms, but the hold time for the SERVOPACK Pn509 < t Servo ON Servo OFF
control power supply is about 100 ms. The hold time for
the main circuit power supply depends on the SERVO-
PACK output.
To continue SERVOPACK operation for a power loss that is longer than this, provide an uninterruptible power supply.

Operation

8-27
 8 Operation

8.4 Absolute Encoders

WARNING
• The output range of multiturn data for the Σ-II series absolute detection system differs from that for conven-
tional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the con-
ventional type is to be configured with the Σ-II series, be sure to make the following system modification.
If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host con-
troller. Consequently, operation can be performed without zero point return operation immediately after the
power is turned ON.

SGMVH-†††2† servomotor: With 17-bit absolute encoder

SGMVH-†††3† servomotor: With 20-bit absolute encoder (optional)

Absolute position
detected continuously zero point return operation

Absolute encoder

Output Range
Absolute Encoder
Resolution of Multiturn Action when Limit Is Exceeded
Type
Data
• When the upper limit (+99999) is exceeded in the forward direc-
12-bit -99999 to tion, the multiturn data is 0.
Σ-I Series
15-bit + 99999 • When the lower limit (-99999) is exceeded in the reverse direc-
tion, the multiturn data is 0.
• When the upper limit (+32767) is exceeded in the forward direc-
16-bit
-32768 to tion, the multiturn data is -32768.*
Σ-II Series 17-bit
+ 32767 • When the lower limit (-32768) is exceeded in the reverse direc-
20-bit
tion, the multiturn data is +32767.*
* The action differs when the Multiturn Limit Setting (Pn205) is changed. Refer to 8.4.7 Multiturn Limit
Setting.

8-28
 8.4 Absolute Encoders

8.4.1 Interface Circuits

The following diagram shows the standard connections for a an absolute encoder mounted to a servomotor. The
connection cables and wiring pin numbers depend on the servomotor. For details, refer to chapter 5 Specifica-
tions and Dimensional Drawings of Cables and Peripheral Devices.

Host controller SERVOPACK

∗1
CN1 CN2
+5 V SEN 4 Encoder
7406 SG 2 ∗1
0V BAT (+)
BAT(+) 21 3 ∗2
+
Battery - BAT(-) 22 4 BAT (-)
Serial interface Line receiver PAO
circuit 33 5 PS
R /PAO 34
UP PA PBO
Up/down Edge 35 /PS
counter detection R /PBO
36 6 PG
DOWN PB PCO
19 PG5 V
R /PCO
20 1
Clear PC PSO
48 PG0 V
Serial interface
R /PSO 2
circuit PS 49 Connector
shell
SG 1
0V Shield (shell)

Applicable line receiver: Texas Instruments’s SN75175 or the equivalent

Terminating resistance R: 220 to 470 Ω

* 1. : Represents twisted-pair wires.

* 2. For wiring pin numbers, refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices.

• SEN Signal Connection

Connector
Type Name Setting Meaning
Pin Number
OFF (low level) Input when power is turned ON
Input SEN CN1-4
ON (high level) Input at absolute data request
• This input signal is required to output absolute data SERVOPACK
Host controller
from the SERVOPACK. CN1
+5V
• When the SERVOPACK main circuit power supply SEN 4 100 Ω
turns OFF, input the SEN signal at a low level.
High level:
• Let at least three seconds elapse after turning ON the About 1 mA 0.1 μ
7406 or equivalent 2 4.7 kΩ
power before changing the SEN signal to high level.
0V SG 0V
• When the SEN signal changes from low level to high
level, the multiturn data and initial incremental
pulses are output. We recommend a PNP transistor.
Until these operations have been completed, the ser- Signal levels
vomotor cannot be turned ON regardless of the status High: 4.0 V min. Low: 0.8 V max.
of the servo ON signal (/S-ON).
• The panel operator display will also remain “b.b”.
Refer to 8.4.6 Absolute Encoder Reception Sequence.
„ IMPORTANT
Operation

Maintain the high level for at least 1.3 seconds when the SEN
signal is turned OFF and then ON, as shown in the figure on the SEN signal
right.
OFF ON (high level) OFF ON

1.3 s min.
8

15 ms min.

8-29
 8 Operation
8.4.2 Selecting an Absolute Encoder

8.4.2 Selecting an Absolute Encoder

An absolute encoder can also be used as an incremental encoder.
Parameter Meaning
Pn002 n.†0†† Use the absolute encoder as an absolute encoder. (Factory setting)
n.†1†† Use the absolute encoder as an incremental encoder.
• The SEN signal and back-up battery are not required when using the absolute encoder as an incremental encoder.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.

8.4.3 Handling Batteries

In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backed
up by a battery.

PROHIBITED
• Install the battery at either the host controller or the SERVOPACK.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.

Battery
Manufacturer
Installation Yaskawa Model* Specifications Manufacturer
Model
Location
Lithium battery
Host controller − ER6VC3 Toshiba Battery Co., Ltd.
3.6 V, 2000 mAh
Lithium battery
SERVOPACK JZSP-BA01-1 ER3V Toshiba Battery Co., Ltd.
3.6 V, 1000 mAh
* For Yaskawa model, a connector is included with a battery.

(1) Battery Provided for SERVOPACK

Connector for battery (CN8)

POWER
For mounting battery
CN8

MODE/SET DATA/ CN5 BATTERY

CN3

219'4 %0

1
2
'
4
#
6
1
4
/1&'5'6 &#6#
%0 %0

(2) Installing the Battery at the Host Controller

Prepare the battery according to the specifications of the host controller. Use the battery with the model number
ER6VC3 (3.6 V, 2000 mAh made by Toshiba Battery Co., Ltd.) or the equivalent.

8-30
 8.4 Absolute Encoders

8.4.4 Replacing Batteries

The SERVOPACK will generate an absolute encoder battery alarm (A.83) when the battery voltage drops below
about 2.7 V. This alarm is output, however, only when the SERVOPACK power is turned ON. If the voltage
drops while the SERVOPACK power is ON, the SERVOPACK will not generate the alarm.
• Battery Replacement Procedure
1. Replace the battery with only the SERVOPACK control power supply turned ON.
2. After replacing the battery, turn OFF the SERVOPACK power to cancel the absolute encoder battery
alarm (A.83).
3. Turn ON the SERVOPACK power back again. If it operates without any problems, the battery replace-
ment has been completed.

IMPORTANT If the SERVOPACK control power supply is turned OFF and the battery is disconnected (which includes
disconnecting the encoder cable), the absolute encoder data will be deleted. The absolute encoder must
be setup again. Refer to 8.4.5 Absolute Encoder Setup (Fn008).

Operation

8-31
 8 Operation
8.4.5 Absolute Encoder Setup (Fn008)

8.4.5 Absolute Encoder Setup (Fn008)

Setting up (initializing) the absolute encoder is necessary in the following cases.
• When starting the machine for the first time
• When an encoder backup error alarm (A.81) is generated
• When an encoder checksum error alarm (A.82) is generated
• When the multiturn data of the absolute encoder is to be 0.
Use a built-in type digital operator in the SERVOPACK or a digital operator for setup.

IMPORTANT 1. Encoder setup operation is only possible when the servo is OFF.
2. If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the
setup (initializing). They cannot be canceled with the SERVOPACK alarm reset input signal (/ALM-
RST).
• Encoder backup error alarm (A.81)
• Encoder checksum error alarm (A.82)
Any other alarms that monitor the inside of the encoder should be canceled by turning OFF the power.

Display after Digital Panel

Step Description
Operation Operator Operator
1 Alarm generated
2 DSPL
SET Press the DSPL/SET or MODE/SET Key to select the utility func-
(DSPL/SET Key) MODE/SET tion mode.
(MODE/SET Key)

3
Press the UP or DOWN Key to select parameter Fn008.
Note: The digit that can be set will blink.

4
DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
ENTER
DATA/ more than one second.
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.) The display will be as shown at the left.

5 Continue pressing the UP Key until PGCL5 is displayed.

Note: If there is a mistake in the key operation, “nO_OP” will
blink for about one second. The panel operator or digital
operator will return to the utility function mode.
6 DSPL
Press the DSPL/SET or MODE/SET Key. This will clear the mul-
SET
MODE/SET
titurn data of the absolute encoder.
(DSPL/SET Key)
(MODE/SET Key) When completed, “donE” will blink for about one second.
7
About one second later After “donE” is displayed, “PGCL5” will be displayed again.

8 Press the DATA/ENTER Key once, or DATA/SHIFT Key for

DATA
ENTER
DATA/ more than one second to return to the Fn008 display of the utility
(DATA/ENTER Key) (DATA/SHIFT Key)
function mode.
(Press at least 1 s.)

9 Turn OFF the power, and then turn it ON again to make the setting valid.

8-32
 8.4 Absolute Encoders

8.4.6 Absolute Encoder Reception Sequence

The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host
controller is shown below.
(1) Outline of Absolute Signals
The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the
PAO, PBO, PCO, and PSO signals as shown below.
SERVOPACK

Dividing PAO
PS
PG Conversion circuit PBO
from serial data (Pn201)
into pulse
PCO

Data PSO
conversion

Signal Name Status Meaning

PAO Serial data
At initial status
Initial incremental pulse
At normal status Incremental pulse
PBO At initial status Initial incremental pulse
At normal status Incremental pulse
PCO Always Zero point pulse
PSO Always Rotation count serial data

(2) Absolute Encoder Transmission Sequence and Contents

1. Set the SEN signal at high level.
2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down
counter to zero.
3. Receive eight bytes of serial data.
4. The system enters a normal incremental operation state about 25 ms after the last serial data is received.

SEN signal Rotation count serial data

Initial incre-
PAO Undefined mental pulse Incremental pulse
(Phase A) (Phase A)
Initial incre-
PBO Undefined Initial incre- Incremental pulse
mental pulse
mental pulse (Phase B) (Phase B)
PSO Undefined 60 ms min. Rotation count serial data
10 ms
max. 90 ms typ. 1 to 3 ms
260 ms max. 25 ms max.
50 ms
Operation

Approx.15 ms

• Serial data: Indicates how many turns the motor shaft has made from the reference position (position spec-
ified at setup).
• Initial incremental pulse: Outputs pulses at the same pulse rate as when the motor shaft rotates from the 8
origin to the current position at about 1250 min-1 (for 17 bits when the dividing pulse is at the factory set-
ting).

8-33
 8 Operation
8.4.6 Absolute Encoder Reception Sequence

Reference position (setup) Current position

Coordinate -1 0 +1 +2 +3
value
0 +1 +2 +3
Value M
M×R PO

PE
PS PM

Final absolute data PM is calculated by following formula.

PE Current value read by encoder
PE = M × R + P O M Multiturn data (rotation count data)
PM = PE - PS PO Number of initial incremental pulses
Absolute data read at setup (This is saved and controlled by the host
Use the following for reverse rotation PS controller.)
mode (Pn000.0 = 1). PS = MS × R + PS'
PE = -M × R + PO
Ms Multiturn data read at setup
PM = PE - PS
PS' Number of initial incremental pulses read at setup
PM Current value required for the user’s system.
Number of pulses per encoder revolution (pulse count after dividing,
R
value of Pn201)

(3) Detailed Signal Specifications

(a) PAO Serial Data Specifications
The number of revolutions is output in five digits.
Data Transfer Method Start-stop Synchronization (ASYNC)
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
Data format 8 characters, as shown below.

"P" "+" or "- " "CR"

"0" to "9"

0 00 0 0 1 0 1 0 1
Data Stop bit
Start bit Even parity

Notes: 1. Data is “P+00000” (CR) or “P-00000” (CR) when the number of revolutions is zero.
2. The revolution range is “+32767” to “-32768.” When this range is exceeded, the data changes
from “+32767” to “-32678” or from “-32678” to “+32767.” When changing multiturn limit, the
range changes. For details, refer to 8.4.7 Multiturn Limit Setting.

8-34
 8.4 Absolute Encoders

(b) PSO Serial Data Specifications

The number of revolutions is always output in five digits and seven digits (absolute position within one revo-
lution).

Data Transfer Method Start-stop Synchronization (ASYNC)

Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
Data format 13 characters, as shown below.

No. of revolutions: 0 to 9 Absolute position within

one revolution: 0 to 9
+ or - ̉ CR
P

0 00 0 0 10 1 0 1
Data Stop bit
Start bit Even parity

Note: 1. The absolute position data within one revolution is the value before divided.
2. The absolute position data increases during forward rotation. (The reverse rotation mode is
invalid.)

(c) Incremental Pulses and Zero-Point Pulses

Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first
divided by the frequency divider inside the SERVOPACK and then output.
For details, refer to 8.5.7 Encoder Signal Output.

Forward rotation Reverse rotation

Phase A Phase A
Phase B
Phase B
Phase C Phase C
t t

(4) Transferring Alarm Contents

When an absolute encoder is used, SEN signals can be utilized to transfer the alarm detection contents from PAO
outputs to the host controller as serial data.
For alarm list, refer to 10.1.1 Alarm Display Table.
Operation

Low
SEN Signal level
High level Error detection

Panel Operator
(Digital Operator) 8
Display or Overspeed

PAO
Serial Data
Incremental pulse ALM51 CR
Serial Data

8-35
 8 Operation
8.4.7 Multiturn Limit Setting

8.4.7 Multiturn Limit Setting

WARNING
• The multiturn limit value must be changed only for special applications. Changing it inappropriately or unin-
tentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter Pn205 to be sure
that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The alarm
will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting a dangerous situation
where the machine will move to unexpected positions and machine break and personal accident will occur.
The parameter for the multiturn limit setting sets the upper limit for the multiturn data from the encoder into
Pn002 = n†0†† when using an absolute encoder. When the rotation amount exceeds this setting, the encoder
rotation amount returns to 0.
Pn205 Multiturn Limit Setting Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 65535 1 Rev 65535 After restart
This parameter is valid when Pn002 = n†0†† (when the absolute encoder is used).
The range of the multiturn data will vary when this parameter is set to anything other than the factory setting.
Factory Setting (=65535) Without Factory Setting (≠65535)

Reverse Pn205 setting value

Reverse
+32767 Forward direction Forward direction
direction direction

Multiturn 0 Multiturn
data data

0
-32768 No. of revolutions No. of revolutions
„ When Set to Anything Other than the Factory Setting Position detection
(≠65535)
When the motor rotates in the reverse direction with the multiturn (Revolution counter)
data at 0, the multiturn data will change to the setting of Pn205.
When the motor rotates in the forward direction with the multiturn Detection amount
data at the Pn205 setting, the multiturn data will change to 0.
Set the Pn205 to (the desired multiturn data -1).
Position (Absolute encoder)
Travel distance/motor = 1 revolution

• Encoder Multiturn Limit Disagreement

If the Pn205 value is changed from the factory setting and the power is turned OFF then ON, an alarm will be dis-
played.
Alarm
Alarm Name Alarm Code Outputs Meaning
Display
ALO1 ALO2 ALO3 Different multiturn limits have been set
A.CC Multiturn Limit Disagreement
ON (L) OFF (H) ON (L) in the encoder and SERVOPACK.
When the alarm is displayed, be sure to change the multiturn limit value within the encoder.

8-36
 8.4 Absolute Encoders

8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred
Perform the following operation using the digital operator or panel operator.
This operation can only be done when the A.CC alarm is generated.
Display after Digital Panel
Step Description
Operation Operator Operator
1 DSPL
SET Press the DSPL/SET or MODE/SET Key to select the utility func-
(DSPL/SET Key) MODE/SET tion mode.
(MODE/SET Key)

2 Press the LEFT/RIGHT or UP/DOWN Key or the UP or DOWN

Key to set the parameter Fn013.
*The digit that can be set will blink.
3
DATA
ENTER Press the DATA/ENTER Key once, or DATA/SHIFT Key for
DATA/
(DATA/ENTER Key) (DATA/SHIFT Key) more than one second. The display on the left will appear.
(Press at least 1 s.)

4 Press the DSPL/SET or MODE/SET Key. The multiturn limit set-

DSPL
SET
ting in the absolute encoder will be changed.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
When the setting is completed, “donE” will blink for about one
second.
5
About one second later After “donE” is displayed, “PGSEt” will be displayed again.

6
DATA Press the DATA/ENTER Key once, or DATA/SHIFT Key for
ENTER
DATA/ more than one second to return to the Fn013 display of the utility
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.) function mode.

7 Turn OFF the power, and then turn it ON again to make the setting valid.

Operation

8-37
 8 Operation
8.5.1 Setting Parameters

8.5 Operating Using Speed Control with Analog Reference

8.5.1 Setting Parameters
Parameter Description
Pn000 n.††0† Control mode selection: Speed control (analog reference) (factory setting)

Pn300 Speed Reference Input Gain Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

1.50 to 3000 0.01 V/Rated 600
Immediately
(150 to 30.00 V/rated speed) speed (6 V/rated speed)
Sets the analog voltage level for the speed reference (V-REF) necessary to operate the
Reference
servomotor at the rated speed.
Speed Set this
(min -1) slope.
„ EXAMPLE
Pn300=600: 6-V input is equivalent to the rated speed of the servomotor Reference
(factory setting). Voltage (V)

Pn300=1000: 10-V input is equivalent to the rated speed of the servomotor.

Pn300=200: 2-V input is equivalent to the rated speed of the servomotor.

8-38
 8.5 Operating Using Speed Control with Analog Reference

8.5.2 Setting Input Signals

(1) Speed Reference Input
Input the speed reference to the SERVOPACK using the analog voltage reference to control the servomotor speed
in proportion to the input voltage.
Signal Connector Pin
Type Name
Name Number
V-REF CN1-5 Speed Reference Input
Input
SG CN1-6 Signal Ground for Speed Reference Input
The above inputs are used for speed control (analog voltage reference). (Pn000.1 = 0, 4, 7, 9, or A)
Pn300 is used to set the speed reference input gain. Refer to 8.5.1 Setting Parameters.
„ Input Specifications
• Input range: ±2 VDC to ±10 VDC/rated speed
• Maximum allowable input voltage: ±12 VDC
• Setting Example
Pn300 = 600: Rated speed at ±6 V
Actual examples are shown below.
Rated motor speed
Factory setting
Speed Reference Rotation
-12 -8 -4 Motor Speed
Input Direction
4 8 12
Input voltage (V) +6 V Forward Rated motor speed
Rated motor speed +1 V Forward 1/6 rated motor speed
The slope is set in Pn300. -3 V Reverse 1/2 rated motor speed

Parameter Pn300 can be used to change the voltage input range.

„ Input Circuit Example Connect V-REF and SG to the speed reference output terminals on
• Always use twisted-pair wire to control noise. the host controller when using a host controller, such as a program-
• Recommended variable resistor: Model 25HP- mable controller, for position control.
10B manufactured by Sakae Tsushin Kogyo Co., SERVOPACK
Host controller
Ltd. CN1
Speed reference V-REF 5
SERVOPACK output terminals SG 6
1.8 kΩ 1/2 W min.
CN1
V-REF 5
+12 V 2 kΩ PAO 33
Feedback /PAO 34
SG 6 pulse input PBO 35
terminals /PBO 36

: represents twisted-pair wires.

(2) Proportional Control Reference (/P-CON)

Signal Connector
Type Setting Description
Name Pin Number
ON (low level)Operates the SERVOPACK with proportional control.
Input /P-CON CN1-41 Operates the SERVOPACK with proportional integral
Operation

OFF (high level)

control.
/P-CON signal selects either the PI (proportional integral) or P (proportional) Speed Control Mode.
Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift.
Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops
when the servomotor is stopped. 8
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 7.3.2 Input Circuit
Signal Allocation.

8-39
 8 Operation
8.5.3 Adjusting Offset

8.5.3 Adjusting Offset

When using the speed control, the servomotor may rotate slowly even if 0 V is specified as the analog voltage
reference. This happens if the host controller or external circuit has a slight offset (in the units of mV) in the ref-
erence voltage. Adjustments can be done manually or automatically by using the panel operator or digital opera-
tor. Refer to 7.2 Operation in Utility Function Mode (Fn†††).
The automatic adjustment of the analog (speed, torque) reference offset (Fn009) automatically measures the
amount of the offset and adjusts the reference voltage.
The SERVOPACK automatically adjusts the offset when the host controller or external circuit has the offset in
the reference voltage.

Reference Reference
voltage voltage Offset automatically
adjusted in SERVOPACK.

Offset
Speed Speed
reference reference
Automatic
offset
adjustment

After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the speed reference offset manual adjustment mode (Fn00A). Refer to 8.5.3 (2) Manual
Adjustment of the Speed Reference Offset.

8-40
 8.5 Operating Using Speed Control with Analog Reference

(1) Automatic Adjustment of the Speed Reference Offset

The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with
a host controller and the error pulse is changed to zero at the servomotor stop due to servolock. Use the speed ref-
erence offset manual adjustment (Fn00A) described in the next section for a position loop.
The zero-clamp speed control function can be used to force the motor to stop while the zero speed reference is
given. Refer to 8.5.6 Using the Zero Clamp Function.

The speed reference offset must be automatically adjusted with the servo OFF.
IMPORTANT

Adjust the speed reference offset automatically in the following procedure.

Display after Digital Panel
Step Description
Operation Operator Operator
1 SERVOPACK Servomotor

Host
0-V speed Turn OFF the SERVOPACK, and input the 0-V reference voltage
reference
controller from the host controller or external circuit.
Slow rotation
Servo OFF (Servo ON)

2 DSPL
SET
Press the DSPL/SET or MODE/SET Key to select the utility
(DSPL/SET Key) MODE/SET function mode.
(MODE/SET Key)

3 Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWN

Key to select parameter Fn009.
*The digit that can be set will blink.
4
DATA
ENTER Press the DATA/ENTER Key once, or DATA/SHIFT Key for
DATA/
(DATA/ENTER Key) (DATA/SHIFT Key) more than one second. “rEF_o” will be displayed.
(Press at least 1 s.)

5 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
MODE/SET
The reference offset will be automatically adjusted.
(DSPL/SET Key)
(MODE/SET Key) When completed, “donE” will blink for about one second.
6 After “donE” is displayed, “rEF_o” will be displayed again.
About one second later

7 DATA Press the DATA/ENTER Key once, or DATA/SHIFT Key for

ENTER
DATA/ more than one second to return to the Fn009 display of the utility
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.) function mode.

Operation

8-41
 8 Operation
8.5.3 Adjusting Offset

(2) Manual Adjustment of the Speed Reference Offset

Use the speed reference offset manual adjustment (Fn00A) in the following situations:
• If a loop is formed with the host controller and the position error pulse is to be zero when servolock is
stopped.
• To deliberately set the offset to some value.
• To check the offset data set in the speed reference offset automatic adjustment mode.
This function operates in the same way as the reference offset automatic adjustment mode (Fn009), except that
the amount of offset is directly input during the adjustment.
The offset setting range and setting units are as follows:
Speed Reference

Offset adjustment
range Offset Adjustment Range: ±15000
(Speed Reference: ±750 mV)

Offset setting unit Analog

Offset Setting Unit
Input
Speed Reference: 1 = 0.05 mV
Voltage

Adjust the speed reference offset manually in the following procedure.

Display after Digital Panel
Step Description
Operation Operator Operator
1 Press the DSPL/SET or MODE/SET Key to select the utility
DSPL
SET
MODE/SET
function mode.
(DSPL/SET Key) (MODE/SET Key)

2
Press the UP or DOWN Key to select parameter Fn00A.
*The digit that can be set will blink.

3 Press the DATA/ENTER Key once, or DATA/SHIFT Key for

DATA
ENTER more than one second. The display will be as shown at the left.
DATA/
(DATA/ENTER Key) (DATA/SHIFT Key) The manual adjustment mode for the speed reference offset will
(Press at least 1 s.)
be entered.
4
Turn ON the servo ON (/S-ON) signal. The display will be as
Servo ON
shown at the left.

5
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less
DATA/
(DATA/SHIFT Key) than one second to display the speed reference offset amount.
(Press less than 1 s.)

6
Press the UP or DOWN Key to adjust the amount of offset.

7 Press the LEFT or RIGHT Key or MODE/SET Key for less than
one second. The display will appear momentarily as shown at the
MODE/SET left, and “donE” will blink and the offset will be set. After the
(MODE/SET Key)
(Press less than 1 s.) setting is completed, the display will return to the display as
shown at the left.
8
DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
ENTER
DATA/ more than one second to return to the Fn00A display of the utility
(DATA/ENTER Key) (DATA/SHIFT Key)
(Press at least 1 s.) function mode.

8-42
 8.5 Operating Using Speed Control with Analog Reference

8.5.4 Soft Start

The soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent rate of
acceleration and deceleration.
Pn305 Soft Start Acceleration Time Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 1 ms 0 Immediately
Pn306 Soft Start Deceleration Time Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 1 ms 0 Immediately
The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally
set speeds. Set both Pn305 and Pn306 to “0” for normal speed control.
Set these parameters as follows:
• Pn305: The time interval from the time the motor starts until the motor maximum speed is reached.
• Pn306: The time interval from the time the motor is operating at the motor maximum speed until it stops.
Maximum speed of Servomotor

After soft start

Before soft start

Pn305 Pn306

8.5.5 Speed Reference Filter

Pn307 Speed Reference Filter Time Constant Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 65535 0.01 ms 40 Immediately
This smoothens the speed reference by applying a 1st-order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will slow down response.

8.5.6 Using the Zero Clamp Function

(1) Zero Clamp Function
The zero clamp function is used for systems where the host controller does not form a position loop for the speed
reference input. When the zero clamp signal (/ZCLAMP) is ON, a position loop is formed inside the SERVO-
PACK as soon as the input voltage of the speed reference (V-REF) drops below the motor speed level in the zero
clamp level (Pn501). The servomotor ignores the speed reference and then quickly stops and locks the servomo-
tor.
The servomotor is clamped within ±1 pulse of when the zero clamp function is turned ON, and will still return to
the zero clamp position even if it is forcibly rotated by external force.
A speed reference below
the Pn501 setting is ignored.
ࡇ࠲࠶!
Stops precisely!
Operation

Speed
Host controller reference
V-REF
219'4 %0

1
2
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4
#
6
1

Zero clamp
4
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May cause
electric shock.
Disconnect all power
and wait 5 min.
before servicing.

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ធ⛯ߖࠃ
Use proper
grounding techniques.
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8-43
 8 Operation
8.5.6 Using the Zero Clamp Function

(2) Parameter Setting

Parameter Meaning
Pn000 n.††A† Control mode selection: Speed control (analog voltage reference) ⇔ Zero clamp
Zero Clamp Conditions
Zero clamp is performed with Pn000 = n.††A† when the following two conditions are satisfied:
• /P-CON (/ZCLAMP) is ON (low level).
• Speed reference (V-REF) drops below the setting of Pn501.
SERVOPACK V-REF speed reference
Speed
CN1
V-REF 5 Preset value
Speed reference
for zero clamping
/P-CON 41 Pn501
Zero clamp
(/ZCLAMP)
Time
Closed (ON)
/P-CON (/ZCLAMP) input Open (OFF)
Zero clamp is performed. OFF OFF
ON ON ON

Pn501 Zero Clamp Level Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 1 min-1 10 Immediately
Sets the motor speed at which the zero clamp is performed if zero clamp speed control (Pn000 = n.††A†) is selected.
Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used.

(3) Input Signal Setting

Connector Pin
Type Signal Name Setting Meaning
Number
ON (low level) Zero clamp function ON (enabled)
/P-CON CN1-41
OFF (high level) Zero clamp function OFF (disabled)
Input
ON (low level) Zero clamp function ON (enabled)
/ZCLAMP Must be allocated
OFF (high level) Zero clamp function OFF (disabled)
This is the input signal for the zero clamp operation.
Either /P-CON or /ZCLAMP can be used to switch the zero clamp.
To use the /ZCLAMP signal, allocation of the input signal is required.
Refer to 7.3.2 Input Circuit Signal Allocation for more details.
„ IMPORTANT
When the /ZCLAMP signal is allocated, the zero clamp operation will be used even for speed control Pn000 = n.††0†.

8-44
 8.5 Operating Using Speed Control with Analog Reference

8.5.7 Encoder Signal Output

Encoder feedback pulses processed inside the SERVOPACK can be output externally.
Signal Connector
Type Name
Name Pin Number
PAO CN1-33 Encoder output phase A
Output
/PAO CN1-34 Encoder output phase /A
PBO CN1-35 Encoder output phase B
Output
/PBO CN1-36 Encoder output phase /B
PCO CN1-19 Encoder output phase C (zero-point pulse)
Output
/PCO CN1-20 Encoder output phase /C (zero-point pulse)

These outputs explained here.

SERVOPACK Host controller

Encoder CN1 Phase A (PAO)

CN2 * Note: The width of the zero-point pulse varies
Serial data Frequency depending on the setting of the dividing ratio
PG Phase B (PBO)
dividing
circuit Phase C (PCO) (Pn201). The width of zero-point pulse and
phase A are identical.

* Even in reverse rotation mode (Pn000.0 = 1), the dividing 1 output phase form is the same as that for the standard setting
(Pn000.0 = 0).
„ Output Phase Form

Forward rotation (phase B leads by 90˚) Reverse rotation (phase A leads by 90˚

90˚ 90˚

Phase A Phase A

Phase B Phase B

Phase C Phase C
t t

The following signals are added when using an absolute encoder.

Signal Connector
Type Name
Name Pin Number
SEN CN1-4 SEN Signal Input
SG CN1-2 Signal Ground
Input
BAT (+) CN1-21 Battery (+)
BAT (-) CN1-22 Battery (-)
Output SG∗ CN1-1 Signal Ground
Operation

* SG (CN1-1, 2): Connect to 0 V on the host controller.

IMPORTANT If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the servomotor twice or
more before starting a zero point return. If the configuration prevents the servomotor from rotating the ser-
vomotor or more, perform a zero point return at a motor speed of 600 min-1 or below. If the motor speed is
8
faster than 600 min-1, the phase-C pulse output may not be output correctly.

1 Dividing
TERMS The dividing means that the divider converts data into the number of pulses based on the pulses of the encoder installed on
the servomotor, and outputs it. The setting unit is the number of pulses/revolution.

8-45
 8 Operation
8.5.7 Encoder Signal Output

• Pulse Dividing Ratio Setting

The upper limit of PG dividing ratio (Pn201) is 16384 [P/R] that is decided for 16-bit encoder. However,
SGMVH servomotors are equipped with 17-bit encoder as standard and 20-bit encoder as an option. There-
fore, the parameter Pn212 is added to adapt the dividing pulse setting for 20-bit encoder.
For the PG dividing ratio setting, either the existing Pn210 or the newly added Pn212 can be used.
Select Pn201 or Pn212 by the switch for parameters. The factory setting is Pn201.
• Dividing pulse is set in the resolution 16-bit or less, use Pn201.
• Dividing pulse is set in the resolution 17-bit or more, use Pn212.
For the setting method of dividing ratio for 17-bit or more resolution, refer to (2) Setting PG dividing ratio of
5-digit or more.
(1) Related Parameters
Parameter Description
Pn207 n.†0†† Uses the parameter Pn201 (For 16-bit or less) as the dividing ratio (Factory setting).
n.†1†† Uses the parameter Pn212 (For 17-bit or more) as the dividing ratio.

Pn201 PG Dividing Ratio (For 16-bit or less) Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation
16 to 16384 1 P/rev 16384 After restart
Pn212 PG Dividing Ratio (For 17-bit or more) Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
16 to 1073741824 1 P/rev 2048 After restart
„ Output Example
Pn201=16 (when 16 pulses are output per revolution)
Preset value: 16
PAO
PBO
1 revolution

The setting range of Pn212 differs depending on the encoder used.

The upper limit of dividing output frequency is 1.4 Mpps because of the restrictions on the hardware. Therefore,
setting a high number of pulses limits the motor speed.
The following table shows the setting conditions when Pn212 is used.

Encoder Resolution Number of Encoder Pulses Setting Range (P/R)

(Bits) per Revolution (P/R)
17 32768 16 to 32768
20 262144 16 to 262144

For settings higher than 16384 P/R, pulses must be set in the following increments.

PG Dividing Ratio Increments Motor Speed Upper Limit (min-1)

Setting (P/R) (P/R)
16 to 16384 1-pulse No limit
16386 to 32768 2-pulse 82 × 10 6/set value
32772 to 65536 4-pulse
65544 to 131072 8-pulse
131088 to 262144 16-pulse
The setting error alarm A.09 (dividing ratio setting error) will occur if the setting is outside the allowable range
or does not satisfy the setting conditions. The overspeed alarm A.51 will occur if the motor speed exceeds the
upper limit.
When setting the pulse dividing ratio using a digital operator or panel operator, the display of the number of
pulses is skipped to not increment by 2 to 16 pulses and the upper limit will not increment above the resolution of
mounted encoder.

8-46
 8.5 Operating Using Speed Control with Analog Reference

When Pn212 is set without connecting a servomotor to the SERVOPACK, the upper limit is automatically set to
230 (=1073741824: the maximum output value of the SERVOPACK) since the encoder resolution of the servo-
motor is unknown.
Therefore, it is recommended to set Pn212 after connecting a servomotor.

(2) Setting PG dividing ratio of 5-digit or more

The following table shows a procedure to set Pn212 by a digital operator or a panel operator.
Proce- Display After Hand-held
Panel Operator Description
dure Operation digital operator
Press DSPL/SET or MODE/SET Key to select the utility
DSPL
1 SET function mode.
(DSPL/SET Key) MODE/SET
(MODE/SET Key)
Press Up or Down Cursor Key to select the parameter
Pn212.
2 Press Left or Right Cursor Key to select the digit. The
enabled digit blinks.
Press Up or Down Cursor Key to change the value.
Press DATA/ENTER Key or DATA/SHIFT key for more
DATA
than one second to display the lower 5 digits of the current
DATA/
3 ENTER
(DATA/SHIFT Key) PG dividing ratio setting value.
(DATA/ENTER Key)
(Press at least
1 s.)

Press Left or Right Cursor Key once, or DATA/SHIFT Key

for more than one second to select the digit. The enable
digit blinks.
Press Up or Down Cursor Key to change the value.
4 Pressing Left or Right Cursor Key or DATA SHIFT Key
DATA/ when the left-end or right-end digit is blinking displays
(DATA/SHIFT Key) another 5 digits.
(Press at least
1 s.)

Press Left or Right Cursor Key or DATA/SHIFT Key for

more then one second to select the digit. The enabled digit
blinks.
Press Up or Down Cursor Key to change the value.
5 Pressing Left or Right Cursor Key or DATA/SHIFT Key
DATA/ when the left-end or right-end digit is blinking displays
(DATA/SHIFT Key)
(Press at least another 5 digits.
1 s.) Repeat the steps 4 and 5 to change the data.

DATA/ENTER Key once, or DATA/SHIFT Key for more

DATA
DATA/
than one second.
6 ENTER
(DATA/SHIFT Key) The display returns to Pn212.
(DATA/ENTER Key) (Press at least
1 s.)

INFO When the password setting (write prohibited setting) is enabled, the setting can be read only by pressing Left or Right
Operation

Cursor Key or DATA/SHIFT Key.

8-47
 8 Operation
8.5.8 Speed Coincidence Output

8.5.8 Speed Coincidence Output

The speed coincidence (/V-CMP) output signal is output when the actual motor speed during speed control is the
same as the speed reference input. The host controller uses the signal as an interlock.
Signal Connector
Type Setting Meaning
Name Pin Number
CN1-25, 26 ON (low level) Speed coincides.
Output /V-CMP
(Factory setting) OFF (high level) Speed does not coincide.
This output signal can be allocated to another output terminal with parameter Pn50E.
Refer to 7.3.3 Output Circuit Signal Allocation for details.

Pn503 Speed Coincidence Signal Output Width Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 100 1 min-1 10 Immediately
The /V-CMP signal is output when the difference between the speed
reference and actual motor speed is the same as the pn503 setting or Motor speed
less.
„ EXAMPLE Pn503

The /V-CMP signal turns ON at 1900 to 2100 min-1 if the Pn503 param-
eter is set to 100 and the reference speed is 2000 min-1. Reference speed

/V-CMP is output in
this range.

/V-CMP is a speed control output signal. When the factory setting is used and the output terminal allocation is not per-
formed with the Pn50E, this signal is automatically used as the positioning completed signal /COIN for position control,
and it is always OFF (high level) for torque control.

8-48
 8.6 Operating Using Position Control

8.6 Operating Using Position Control

8.6.1 Setting Parameters
Set the following parameters for position control using pulse trains.
(1) Control Mode Selection
Parameter Meaning
Pn000 n.††1† Control mode selection: Position control (pulse train reference)

(2) Setting a Reference Pulse Form

Signal Connector
Type Name
Name Pin Number
PULS CN1-7 Reference Pulse Input
/PULS CN1-8 Reference Pulse Input
Input
SIGN CN1-11 Reference Code Input
/SIGN CN1-12 Reference Code Input
Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.
Input
Reference Pulse Forward Rotation Reverse Rotation
Parameter Pulse
Form Reference Reference
Multiplier
Pn200 n.†††0 Sign + pulse train PULS PULS
(Positive logic) − (CN1-7) (CN1-7)
SIGN H SIGN
(Factory setting) L
(CN1-11) (CN1-11)

n.†††1 CW pulse + CCW PULS PULS

L (CN1-7)
pulse − (CN1-7)
SIGN SIGN
(Positive logic) (CN1-11) (CN1-11) L

n.†††2 Two-phase pulse ×1 90° 90°

train with 90° phase ×2
PULS PULS
n.†††3 (CN1-7) (CN1-7)
differential SIGN SIGN
n.†††4 (Positive logic) ×4 (CN1-11) (CN1-11)

n.†††5 PULS PULS

Sign + pulse train (CN1-7) (CN1-7)
−
(Negative logic) SIGN L SIGN
H
(CN1-11) (CN1-11)

n.†††6 CW pulse + CCW PULS PULS

(CN1-7) H (CN1-7)
pulse −
SIGN SIGN H
(Negative logic) (CN1-11) (CN1-11)

n.†††7 Two-phase pulse ×1 90 90

train with 90° phase ×2
PULS PULS
n.†††8 (CN1-7) (CN1-7)
differential SIGN SIGN
n.†††9 (Negative logic) ×4 (CN1-11) (CN1-11)

The input pulse multiplier can be set for the

Operation

Forward rotation Reverse rotation

2-phase pulse train with 90° phase differen-
tial reference pulse form. PULS
(CN1-7)
SIGN
(CN1-11)
×1 8
Internal Motor movement
×2 reference pulses
processing
×4

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 8 Operation
8.6.1 Setting Parameters

(3) Clear Signal Form Selection

Signal Connector
Type Name
Name Pin Number
CLR CN1-15 Clear Input
Input
/CLR CN1-14 Clear Input
The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter
Pn200.1. Select according to the specifications of the machine or host controller.
Parameter Description Timing
Pn200 n.††0† Clears at high level.
Position error pulses do not accumulate while the CLR Clears at
signal is at high level. (CN1-15) high level
(Factory setting)
n.††1†
CLR High
Clears at the rising edge. (CN1-15)
Clears here just once.

n.††2† Clears at low level.

Position error pulses do not accumulate while the CLR
signal is at low level. (CN1-15) Clears at low level

n.††3† CLR Low

Clears at the falling edge. (CN1-15)

Clears here just once.

The following are executed when the clear operation is enabled.
• The SERVOPACK error counter is set to 0.
• Position loop operation is disabled.
→ Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to drift
in the speed loop.

If the clear signal (CLR) is not wired and Pn200 is set to n.††2†, the position-error pulse is always cleared.
So, if a pulse-train reference is input, the servomotor will not operate.

(4) Clear Operation Selection

This parameter determines when the error pulse should be cleared according to the condition of the SERVO-
PACK, in addition to the clearing operation of the clear signal (CLR). Either of three clearing modes can be
selected with Pn200.2
Parameter Description
Pn200 n.†0†† Clear the error pulse at the CLR signal input during the baseblock. (Factory setting)
“During the baseblock” means when the /S-ON signal or the main circuit power supply is
OFF, or an alarm occurs.
n.†1†† Do not clear the error pulse. Clear only with the CLR signal.
n.†2†† Clear the error pulse when an alarm occurs or the CLR signal is input.

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 8.6 Operating Using Position Control

8.6.2 Setting the Electronic Gear

(1) Number of Encoder Pulses
SGMVH-

(Servomotor model)

Motor Model No. of Encoder Pulses

Encoder Specifications Encoder Type (P/Rev)
Incremental
C 17 bits 32768
encoder
2 Absolute 17 bits 32768
3 encoder 20 bits 262144

Note: For details on reading servomotor model numbers, refer to 2.1 Servomotor Model Designations.

The number of bits representing the resolution of the applicable encoder is not the same as the number of encoder signal
INFO
pulses (phases A and B). The number of bits representing the resolution is equal to the number of encoder pulses × 4 (mul-
tiplier).

(2) Electronic Gear

The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be
set to any value. One reference pulse from the host controller, i.e., the minimum position data unit, is called a ref-
erence unit.

When the Electronic Gear When the Electronic Gear Is Used

Is Not Used Workpiece Workpiece
Reference unit:
: 1 μm

No. of encoder pulses: 2048 P/Rev

Ball screw pitch: 6 mm No. of encoder pulses: 2048 P/Rev
Ball screw pitch: 6 mm

To move a workpiece 10 mm: To move a workpiece 10 mm using reference units:

1 revolution is 6 mm. Therefore, The reference unit is 1 μm. Therefore,
10 ÷ 6 = 1.6666 revolutions To move the workpiece 10 mm (10000 μm),
2048 × 4 pulses is 1 revolution. Therefore, 1 pulse = 1 μm, so
1.6666 × 2048 × 4 = 13653 pulses 10000/1=10000 pulses.
13653 pulses are input as reference pulses. Input 10000 pulses per 10 mm of workpiece
The equation must be calculated at the movement.
host controller.

Operation

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 8 Operation
8.6.2 Setting the Electronic Gear

(3) Related Parameters

Pn202 Electronic Gear Ratio (Numerator) Position

Setting Range Setting Unit Factory Setting Setting Validation

1 to 65535 − 4 After restart
Pn203 Electronic Gear Ratio (Denominator) Position

Setting Range Setting Unit Factory Setting Setting Validation

1 to 65535 − 1 After restart
If the deceleration ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor and
n is the rotation of the load shaft,
B Pn202 No. of encoder pulses × 4 m
Electronic gear ratio: = = ×
A Pn203 Travel distance per load n
shaft revolution (reference units)

* If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range. Be careful not to change the electronic gear ratio (B/A).
„ IMPORTANT
Electronic gear ratio setting range: 0.01 ≤ Electronic gear ratio (B/A) ≤ 100
If the electronic gear ratio is outside this range, the SERVOPACK will not operate properly. In this case, modify the load
configuration or reference unit.

(4) Procedure for Setting the Electronic Gear Ratio

Use the following procedure to set the electronic gear ratio.
Step Operation Description
1 Check machine specifications. Check the deceleration ratio, ball screw pitch, and pulley diameter.
2 Check the number of encoder pulses. Check the number of encoder pulses for the servomotor used.
Determine the reference unit from the host controller, considering the
3 Determine the reference unit used.
machine specifications and positioning accuracy.
Calculate the number of reference units necessary to turn the load
Calculate the travel distance per load shaft
4 shaft one revolution based on the previously determined reference
revolution.
units.
5 Calculate the electronic gear ratio. Use the electronic gear ratio equation to calculate the ratio (B/A).
6 Set parameters. Set parameters using the calculated values.

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 8.6 Operating Using Position Control

(5) Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.
Load Configuration
Ball Screw Disc Table Belt and Pulley
Reference Unit: 0.02 mm
Reference unit: 0.001 mm Reference unit: 0.1°
Load shaft
Step Operation Load shaft
Deceleration
ratio: Deceleration
ratio
13-bit encoder Ball screw 3:1 Pully diameter:
2:1
pitch: 6 mm Load shaft 100 mm
13-bit encoder
16-bit encoder

Rotation angle per revolution: Pulley diameter: 100 mm

Check machine x Ball screw pitch: 6 mm
1 360° (pulley circumference: 314 mm)
specifications. x Deceleration ratio: 1/1
Deceleration ratio: 3/1 x Deceleration ratio: 2/1
Check the number
2 13-bit: 2048 P/Rev 13-bit: 2048 P/Rev 16-bit: 16384 P/Rev
of encoder pulses.
Determine the ref- 1 Reference unit: 0.001 mm
3 1 Reference unit: 0.1° 1 Reference unit: 0.02 mm
erence unit used. (1 μm)
Calculate the travel
4 distance per load 6 mm/0.001 mm=6000 360°/0.1°=3600 314 mm/0.02 mm=15700
shaft revolution.
Calculate the elec- B 2048 × 4 1 B 2048 × 4 3 B 16384 × 4 2
5 = × = × = ×
tronic gear ratio. A 6000 1 A 3600 1 A 15700 1
Pn202 8192 Pn202 24576 Pn202 131072∗
6 Set parameters.
Pn203 6000 Pn203 3600 Pn203 15700
Reduce the fraction (both numerator and denominator) since the calculated result will not be within the setting
range. For example, reduce the numerator and denominator by four to obtain Pn201=32768, Pn203=3925 and
complete the settings.

(6) Electronic Gear Ratio Equation

Servomotor
n
Reference pulse + Pitch = P (mm/rev)
B Position Speed
loop loop
A -
Δ (mm/P) m

×4
Δ (mm/P): Reference unit PG (P/rev)
PG (P/Rev): Encoder pulses
P (mm/Rev): Ball screw pitch
m : Deceleration ratio
n
n×P ( B )
× = 4 × PG × m
Δ A
Operation

Set A and B with the following parameters.

4 × PG × m × Δ 4 × PG m
( B )= = × A 㧦Pn203 B 㧦Pn202
A n×P P n
Δ

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 8 Operation
8.6.3 Position Reference

8.6.3 Position Reference

The servomotor positioning is controlled by inputting a pulse train reference.
The pulse train output form from the host controller corresponds to the following:
• Line-driver Output
• +24V Open-collector output
• +12V Open-collector output
• +5V Open-collector output

„Precautions for Open-collector Output

IMPORTANT
When the open-collector output is used, input signal noise margin lowers. When a position error caused by
the noise occurs, change the parameter as follows:
Parameter Description
Pn200 n.1††† Reference input filter for open-collector signal

(1) Input/Output Signal Timing Example

Servo ON ON
Release
t1 ≤ 30 ms
Baseblock t1 t2
t2 ≤ 6 ms
H
(When parameter Pn506 is set to 0.)
CN1-11
H t3 ≥ 40 ms
Sign + pulse train t3
L
CN1-7

H
L
PAO
H t4, t5, t6 ≤ 2 ms
Encoder pulses L t7 ≥ 20 μs
PBO
t5
/COIN t4 t6
ON ON
CLR
t7

Note: 1. The interval from the time the servo ON signal is turned ON until a reference pulse is input must
be at least 40 ms, otherwise the reference pulse may not be received by the SERVOPACK.
2. The error counter clear signal must be ON for at least 20 μs.
Table 8.3 Reference Pulse Input Signal Timing
Reference Pulse Signal Form Electrical Specifications Remarks

Sign and pulse train input t1 t2 t1，t2 ≤ 0.1 μs Sign (SIGN)

SIGN t7
(SIGN and PULS signal) t3 t3，t7 ≤ 0.1 μs H = Forward
Maximum reference frequency: PULS t4 t4，t5，t6 ＞ 3 μs reference
τ t5 t6
500 kpps T τ ≥ 1.0 μs L = Reverse
Forward Reverse
(For open-collector output: 200 kpps) reference reference (τ/T) × 100 ≤ 50% reference

t1
CW pulse and CCW pulse T t1，t2 ≤ 0.1 μs
Maximum reference frequency: t3 ＞ 3 μs
CCW τ −
500 kpps t2
τ ≥ 1.0 μs
(For open-collector output: 200 kpps) CW Forward t3 Reverse (τ/T) × 100 ≤ 50%
reference reference

t1 t2
Two-phase pulse train with 90° Switching of
phase differential (phase A and Phase A the input pulse
phase B) t1，t2 ≤ 0.1 μs multiplier
Phase B
Maximum reference frequency τ τ ≥ 1.0 μs mode is done
×1 input pulse multiplier: 500 kpps T
(τ/T) × 100 = 50% with parameter
×2 input pulse multiplier: 400 kpps Forward reference Reverse reference Pn200.0 set-
×4 input pulse multiplier: 200 kpps Phase B leads Phase B lags ting.
phase A by 90 ° phase A by 90 °

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 8.6 Operating Using Position Control

(2) Connection Example

(a) Connection Example for Line-driver Output
Applicable line driver: SN75174 manufactured by Texas Instruments Inc., or MC3487 or the equivalent
Host controller SERVOPACK
Line CN1
driver
∗
PULS 7 150 Ω Photocoupler

/PULS 8

SIGN 11 150 Ω

/SIGN 12

CLR 15 150 Ω

/CLR 14

* : Represents twisted-pair wires.

(b) Connection Example for Open-collector Output

Select the limit resistance R1 value so that the input current i will be within 7 to 15 mA.
Host controller SERVOPACK
Vcc CN1 ‫ع‬Example
R1 i ∗
PULS 7 150 Ω Photocoupler  When Vcc is +24V: R1=2.2 kΩ
 When Vcc is +12V: R1=1 kΩ
 When Vcc is +5V: R1=180 Ω
/PULS 8
Note: When the open-collector output is used,
the signal logic is as follows:
R1 i
SIGN 11 150 Ω When Tr1 is ON High level input or the equivalent
/SIGN 12 When Tr1 is OFF Low level input or the equivalent
R1 i CLR 15 150 Ω

/CLR 14

* : Represents twisted-pair wires.

Operation

8-55
 8 Operation
8.6.3 Position Reference

The SERVOPACK internal power supply can be used.

In this case, the circuit will not be isolated.

Host controller SERVOPACK

CN1
+12 V
PL1 3 1 kΩ
7 Photocoupler
PULS 150 Ω
∗ /PULS 8
Tr1
PL2 13
11
1.5 V max. SIGN
at ON /SIGN 12

PL3 18
15
CLR
/CLR 14

* : Represents twisted-pair wires.

When the open-collector output is used, input signal noise margin lowers. When a position error caused by
IMPORTANT the noise occurs, set the parameter Pn200.3 to 1.

(3) Position Control Block Diagram

A block diagram for position control is shown below.
SERVOPACK (in position control)

Pn109 Pn202 Pn10A

Pn107
Differ- Feed- B Feed-for-
ward fil-
forward A ter time Bias
ential Pn108
Pn203 constant
Bias adding
Pn200.0 width
Reference Pn204 Pn202
pulse ×1 B + Pn102
+ +
Servomotor
×2 Smoothing
A Error + Speed Current
×4 Kp M
Pn203 - counter loop loop

PG signal ×4 PG
output Pn201
Encoder
Dividing

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 8.6 Operating Using Position Control

8.6.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
(1) Selecting a Position Reference Filter
Parameter Description
Pn207 n.†††0 Acceleration/deceleration filter
n.†††1 Average movement filter
* After resetting the parameter, turn OFF the power once and turn it ON again.

(2) Filter-related Parameters

Pn204 Position Reference Acceleration/Deceleration Time Constant Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 6400 0.01 ms 0 Immediately
Pn208 Average Movement Time of Position Reference Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 6400 0.01 ms 0 Immediately
„ IMPORTANT
When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulse
input and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulse
from the host controller and input the clear signal (CLR), or turn the servo OFF to clear the error.

This function provides smooth motor operating in the following cases. The function does not affect the travel distance (i.e.,
the number of pulses).
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10× or more).

The difference between the position reference acceleration/deceleration time constant (Pn204) and the position reference
movement averaging time (Pn208) is shown below.
Acceleration/Deceleration Filter Average Movement Time Filter
Pn207=n.†††0 Pn207=n.†††1
Before filter applied
After filter applied
100%

Before filter applied

After filter applied
100% t
63.2% Pn208 Pn208
36.8% Response waveform for stepwise input
Operation

t Pn208 Before filter applied

Pn204 Pn204 After filter applied

Response waveform for stepwise input

Pn208 8

t
Response waveform for ramp reference input

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 8 Operation
8.6.5 Positioning Completed Output Signal

8.6.5 Positioning Completed Output Signal

This signal indicates that servomotor movement has been completed during position control. Use the signal as an
interlock to confirm at the host controller that positioning has been completed.
Signal Connector
Type Setting Meaning
Name Pin Number
CN1-25, 26 ON (low level) Positioning has been completed.
Output /COIN
(Factory setting) OFF (high level) Positioning is not completed.
This output signal can be allocated to an output terminal with parameter Pn50E. Refer to 7.3.3 Output Circuit Signal Allo-
cation. The factory setting is allocated to CN1-25, 26.

Pn500 Positioning Completed Width Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 250 1 reference unit 7 Immediately
The positioning completed (/COIN) signal is output when the difference
Reference
(position error pulse) between the number of reference pulses output by Motor speed
the host controller and the travel distance of the servomotor is less than Speed
the value set in this parameter.
Set the number of error pulses in reference units (the number of input Pn500
pulses defined using the electronic gear.) Error pulse
(Un008)
Too large a value at this parameter may output only a small error during
low-speed operation that will cause the /COIN signal to be output con-
tinuously. /COIN
(CN1-25)
The positioning completed width setting has no effect on final position-
ing accuracy.
/COIN is a position control signal.
When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is used for
the speed coincidence output /V-CMP for speed control, and it is always OFF (high level) for torque control.

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 8.6 Operating Using Position Control

8.6.6 Positioning Near Signal

This signal indicates that the positioning of the servomotor is near to completion, and is generally used in combi-
nation with the positioning completed (/COIN) output signal.
The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and
performs the following operating sequence after positioning has been completed to shorten the time required for
operation.
Signal Connector
Type Setting Meaning
Name Pin Number
The servomotor has reached a point near to positioning
ON (low level)
completed.
Output /NEAR Must be allocated
The servomotor has not reached a point near to posi-
OFF (high level)
tioning completed.
The output terminal must be allocated with parameter Pn510 in order to use positioning near signal. Refer to 7.3.3 Output
Circuit Signal Allocation for details.

Pn504 NEAR Signal Width Position

Setting Range Setting Unit Factory Setting Setting Validation

1 to 250 1 reference unit 7 Immediately
The positioning near (/NEAR) signal is output when the differ- Reference
ence (error) between the number of reference pulses output by Motor speed
the host controller and the travel distance of the servomotor is Speed
less than the value set in Pn504.
Set the number of error pulses in reference units (the number of Pn504 Pn500
input pulses defined using the electronic gear.) Error pulse
Normally, the setting should be larger than that for the position- 0
ing completed width (Pn500).
/NEAR

/COIN

Operation

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 8 Operation
8.6.7 Reference Pulse Inhibit Function (INHIBIT)

8.6.7 Reference Pulse Inhibit Function (INHIBIT)

(1) Description
This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor
remains locked (clamped) while pulse are inhibited.

SERVOPACK

Pn000.1

Pn000=n. 1
Reference pulse OFF +
Pn000=n. B Error
ON - counter

/P-CON /P-CON (/INHIBIT)

(/INHIBIT)
Feedback pulse

(2) Setting Parameters

Parameter Meaning
Pn000 n.††B† Control mode selection: Position control (pulse train reference) ⇔ Inhibit
„ Inhibit (INHIBIT) switching condition ON ON
/INHIBIT signal OFF
x /P-CON (/INHIBIT) signal ON (low level) (/P-CON)

Reference pulse

t1 t2
t1, t2 ≤ 0.5 ms
Input reference pulses
are not counted
during this period.

(3) Setting Input Signals

Connector Pin
Type Signal Name Setting Meaning
Number
Turns the INHIBIT function ON.
ON (low level) (Inhibits the SERVOPACK from counting refer-
CN1-41
Input /P-CON ence pulses.)
(Factory setting)
Turns the INHIBIT function OFF.
OFF (high level)
(Counts reference pulses.)
Turns the INHIBIT function ON.
ON (low level) (Inhibits the SERVOPACK from counting refer-
Must be allocated
(Input) (/INHIBIT) ence pulses.)
CN1-††
Turns the INHIBIT function OFF.
OFF (high level)
(Counts reference pulses.)
These input signals enable the inhibit function.
Either the /P-CON or the /INHIBIT signal can be used to switch the inhibit signal. The input signal must be allocated in
order to use the /INHIBIT signal. Refer to 7.3.2 Input Circuit Signal Allocation.

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 8.6 Operating Using Position Control

8.6.8 Reference Pulse Input Multiplication Switching Function

If the /PSEL signal for switching the multiplication of the position reference pulse input turns ON or OFF, the
multiplication factor can be switched from 1 to n (n = 1 to 99). And the status of this signal indicates whether the
position multiplication is switched to 1 or n.
Set Pn218.0 = 1 to enable this function, and set the multiplication in Pn217.
To change the reference pulse multiplication, the position reference pulse must be set to 0. Otherwise, the opera-
tion cannot be guaranteed.
(1) Related Parameters
Parameters Description
Pn218 n.†††0 Reference pulse input multiplication switching function: Disabled (Factory setting)
n.†††1 Reference pulse input multiplication switching function: Enabled
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.

Pn217 Reference Pulse Input Multiplication Position

Setting Range Setting Unit Factory Setting Setting Validation
1 to 99 ×1 1 Immediately

(2) Timing Chart for Reference Pulse Input Multiplication Switching

Enable
Reference pulse
input switching
(/PSEL) Disable

Enable
Reference pulse
input switcing
(/PSELA) Disable

4ms or less 4ms or less

Internal processing ×1 ×n ×1
(n=Pn217)

(3) Input Signal Selection

Connector Pin
Signal Name Setting Meaning
Number
Signal allocation not ON (low level) Enabled when the /PSEL signal turns ON.
/PSEL
required OFF (high level) Disabled when the /PSEL signal turns OFF.
The /PSEL signal is the input signal that switches the multiplication factor of the reference pulse input to the value
set in Pn217.
This signal must be allocated in parameter Pn513.0 as shown in the following table. Refer to 7.3.2 Input Circuit
Signal Allocation for more information on how to allocate input signals. After setting Pn217, turn OFF the power
supplies for the main circuit and the control and then turn ON again.
Operation

8-61
 8 Operation
8.6.8 Reference Pulse Input Multiplication Switching Function

Parameter Description
Pn513 n.†††0 Input signal from CN1-40 is ON (high level): Enabled
n.†††1 Input signal from CN1-41 is ON (high level): Enabled
n.†††2 Input signal from CN1-42 is ON (high level): Enabled
n.†††3 Input signal from CN1-43 is ON (high level): Enabled
n.†††4 Input signal from CN1-44 is ON (high level): Enabled
n.†††5 Input signal from CN1-45 is ON (high level): Enabled
n.†††6 Input signal from CN1-46 is ON (high level): Enabled
n.†††7 Sets the signal ON.
n.†††8 Sets the signal OFF. (Factory setting)
n.†††9 Input signal from CN1-40 is OFF (low level): Enabled
n.†††A Input signal from CN1-41 is OFF (low level): Enabled
n.†††B Input signal from CN1-42 is OFF (low level): Enabled
n.†††C Input signal from CN1-43 is OFF (low level): Enabled
n.†††D Input signal from CN1-44 is OFF (low level): Enabled
n.†††E Input signal from CN1-45 is OFF (low level): Enabled
n.†††F Input signal from CN1-46 is OFF (low level): Enabled
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.

(4) Output Signal Selection

The /PSELA signal is the output signal that indicates if switching for reference pulse input multiplication is
enabled by /PSEL signal or not.
Connector Pin
Signal Name Setting Meaning
Number
Signal allocation not ON (low level) Enabled when the /PSEL signal turns ON.
/PSELA
required OFF (high level) Disabled when the /PSEL signal turns OFF.

The /PSELA signal can’t be used with the factory setting. Allocate the /PSELA output signal.
Parameter Meaning
Pn510 n.†0†† Disabled (/PSELA output signal is not used.)
n.†1†† Outputs the /PSELA signal from the CN1-25, 26 output terminal.
n.†2†† Outputs the /PSELA signal from the CN1-27, 28 output terminal
n.†3†† Outputs the /PSELA signal from the CN1-29, 30 output terminal.
For the factory settings, the pins CN1-25 to CN1-30 are allocated for other output signals. If multiple signals are allocated
to the same output terminal, signals are output with OR logic. To enable only the /PSELA output signal, allocate the other
signals to other output terminals or disable the other signals.
Refer to 7.3.3 Output Circuit Signal Allocation for the allocation of output signals.

Note: After changing the setting, turn OFF the power and ON again to enable the new setting.

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 8.7 Operating Using Torque Control

8.7 Operating Using Torque Control

8.7.1 Setting Parameters
The following parameters must be set for torque control operation with analog voltage reference.
Parameter Meaning
Pn000 n.††2† Control mode selection: Torque control (analog voltage reference)

Pn400 Torque Reference Input Gain Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

10 to 100
0.1V/rated torque 30 Immediately
(1.0 to 10.0 V/rated torque)
This sets the analog voltage level for the torque reference (T-REF) that is
Reference torque
necessary to operate the servomotor at the rated torque.
Rated torque
„ EXAMPLE
Reference voltage (V)
Pn400 = 30: The servomotor operates at the rated torque with 3-V input
(factory setting). This reference voltage is set.
Pn400 = 100: The servomotor operates at the rated torque with 10-V input.
Pn400 = 20: The servomotor operates at the rated torque with 2-V input.

8.7.2 Torque Reference Input

By applying a torque reference determined by the analog voltage reference to the SERVOPACK, the servomotor
torque can be controlled in proportion with the input voltage.
Signal Connector
Type Name
Name Pin Number
T-REF CN1-9 Torque Reference Input
Input
SG CN1-10 Signal Ground for Torque Reference Input
Used during torque control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The torque reference gain is set in Pn400. For setting details, refer to 8.7.1 Setting Parameters.
„ Input Specifications
300
• Input range: ±1 to ±10VDC/rated torque Reference torque (%)
200
• Max. allowable input voltage: ±12 VDC
100
• Factory setting - 12 -8 -4
Pn400 = 30: Rated torque at 3 V Factory setting 0 34 8 12
+3-V input: Rated torque in forward direction - 100
Input voltage (V)

+9-V input: 300% rated torque in forward direction - 200

-0.3-V input: 10% rated torque in reverse direction Set the slope
- 300
The voltage input range can be changed with parameter Pn400. with Pn400.

„ Input Circuit Example SERVOPACK

470 Ω 1/2 W min.
Use twisted-pair wires as a countermeasure against noise.
Operation

Variable resistor example: Model 25HP-10B manufactured by Sakae +12 V

CN1
T-REF 9
Tsushin Kogyo Co., Ltd. 2 kΩ
SG 10

8
INFO „ Checking the Internal Torque Reference
1. Checking the internal torque reference with the panel operator:
Use the Monitor Mode (Un002). Refer to 7.4 Operation in Monitor Mode (Un†††).
2. Checking the internal torque reference with an analog monitor:
The internal torque reference can also be checked with an analog monitor. Refer to 9.5 Analog Monitor.

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 8 Operation
8.7.3 Adjusting the Reference Offset

8.7.3 Adjusting the Reference Offset

(1) Automatic Adjustment of the Torque Reference Offset
When using torque control, the servomotor may rotate slowly even when 0 V is specified as the analog reference
voltage. This occurs when the host controller or external circuit has a slight offset (measured in mV) in the refer-
ence voltage. In this case, the reference offset can be adjusted automatically and manually using the panel oper-
ator or digital operator.
The automatic adjustment of analog (speed, torque) reference offset (Fn009) automatically measures the offset
and adjusts the reference voltage.
The SERVOPACK performs the following automatic adjustment when the host controller or external circuit has
an offset in the reference voltage.

Reference voltage Reference voltage

Offset automatically
adjusted in SERVOPACK.
Offset
Torque Torque
reference Automatic reference
offset
adjustment

After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the manual adjustment of torque reference offset (Fn00B).
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock.
Use the torque reference offset manual adjustment (Fn00B).

IMPORTANT The analog reference offset must be automatically adjusted with the servo OFF.

Use the following procedure for automatic adjustment of the torque reference offset.
Display after Digital Panel
Step Description
Operation Operator Operator
1 SERVO- Servo-
0-V speed PACK motor
reference or
torque Turn OFF the SERVOPACK, and input the 0-V reference voltage
Host reference from the host controller or external circuit.
controller
Servo OFF Slow rotation
(Servo ON)

2 DSPL
SET Press the DSPL/SET or MODE/SET Key to select the utility
(DSPL/SET Key) MODE/SET function mode.
(MODE/SET Key)

3 Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWN

Key to select parameter Fn009.
*The digit that can be set will blink.
4
DATA
ENTER
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key) more than one second. “rEF_o” will be displayed.
(Press at least 1 s.)

5 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
MODE/SET
The reference offset will be automatically adjusted.
(DSPL/SET Key)
(MODE/SET Key) When completed, “donE” will blink for about one second.
6 After “donE” is displayed, “rEF_o” will be displayed again.
About one second later

7 Press the DATA/ENTER Key once, or DATA/SHIFT Key for

DATA
ENTER
DATA/ more than one second to return to the Fn009 display of the utility
(DATA/ENTER Key) (DATA/SHIFT Key)
function mode.
(Press at least 1 s.)

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 8.7 Operating Using Torque Control

(2) Manual Adjustment of the Torque Reference Offset

Manual adjustment of the torque reference offset (Fn00B) is used in the following cases.
• If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.
• To deliberately set the offset to some value.
• Use this mode to check the offset data that was set in the automatic adjustment mode of the torque refer-
ence offset.
This mode operates in the same way as the automatic adjustment mode (Fn009), except that the amount of offset
is directly input during the adjustment.
The offset adjustment range and setting units are as follows:
Torque Reference

Offset Adjustment
Range
Offset Adjustment Range: -128 to +127
(Torque reference: -1881.6 mV to +1866.9 mV)
Offset Setting Unit Analog
Offset Setting Unit
Input
Voltage Torque reference: 1 = 14.7 mV

Use the following procedure to manually adjust the torque reference offset.
Display after Digital Panel
Step Description
Operation Operator Operator
1 DSPL
SET Press the DSPL/SET or MODE/SET Key to select the utility
(DSPL/SET Key) MODE/SET function mode.
(MODE/SET Key)

2 Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key

to select parameter Fn00B.
*The digit that can be set will blink.

3 Press the DATA/ENTER Key once, or DATA/SHIFT Key for

DATA
ENTER more than one second. The display will be as shown at the left.
DATA/
(DATA/ENTER Key) (DATA/SHIFT Key) The manual adjustment mode for the torque reference offset will
(Press at least 1 s.)
be entered.
4
Turn ON the servo ON (/S-ON) signal. The display will be as
Servo ON
shown at the left.

5
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
DATA/
(DATA/SHIFT Key) one second to display the torque reference offset amount.
(Less than 1 s.)

6
Press the UP or DOWN Key to adjust the amount of offset.
Operation

7
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
DATA/
(DATA/SHIFT Key) one second to return to the display shown on the left.
(Less than 1 s.)

8
DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key for 8
ENTER
DATA/ more than one second to return to the Fn00B display of the utility
(DATA/ENTER Key) (DATA/SHIFT Key)
function mode.
(Press at least 1 s.)

8-65
 8 Operation
8.7.4 Limiting Servomotor Speed during Torque Control

8.7.4 Limiting Servomotor Speed during Torque Control

During torque control, the servomotor is controlled to output the specified torque, which means that the servomo-
tor speed is not controlled. Accordingly, when an excessive reference torque is set for the mechanical load
torque, it will prevail over the mechanical load torque and the servomotor speed will greatly increase.
This function serves to limit the servomotor speed during torque control to protect the machine.
With No Speed Limit With Speed Limit
Danger of damage due to
Motor speed Motor speed
excessive machine speed.
Maximum speed
Safe operation with
speed limit.
Speed limit

(1) Speed Limit Mode Selection (Torque Limit Option)

Parameter Description
Pn002 n.††0† Uses the value set in Pn407 as the speed limit (internal speed limit function).
n.††1† Uses V-REF (CN1-5, 6) as an external speed limit input. Applies a speed limit using the input
voltage of V-REF and the setting in Pn300 (external speed limit function).

(2) Internal Speed Limit Function

Pn407 Speed Limit During Torque Control Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 1 min-1 10000 Immediately
Sets the servomotor speed limit value during torque control.
The setting in this parameter is enabled when Pn002 = n.††0†.
The servomotor’s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the ser-
vomotor used.

(3) External Speed Limit Function

Signal Connector
Type Name
Name Pin Number
V-REF CN1-5 External Speed Limit Input
Input
SG CN1-6 Signal Ground
Inputs an analog voltage reference as the servomotor speed limit value during torque control.
The smaller value is enabled, the speed limit input from V-REF or the Pn407 (Speed Limit during Torque Control) when
Pn002 = n.††1†.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.

Pn300 Speed Reference Input Gain Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

150 to 3000
0.01 V/rated speed 600 Immediately
(1.50 to 30.0 V/rated speed)
Sets the voltage level for the speed that is to be externally limited during torque control.
With Pn300 = 600 (factory setting) and 6 V input from V-REF (CN1-5, 6), the actual motor speed is limited to the rated
speed of the servomotor used.

INFO „ The Principle of Speed Limiting

When the speed is outside of the allowable range, a torque that is proportional to the difference between the actual speed
and the speed limit is used as negative feedback to bring the speed back within the speed limit range. Accordingly, there is
a margin generated by the load conditions in the actual motor speed limit value.

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 8.7 Operating Using Torque Control

(4) Signals Output during Servomotor Speed Limit

Signal Connector
Type Setting Meaning
Name Pin Number
Must be allocated ON (low level) Servomotor speed limit being applied.
Output /VLT
CN1-†† OFF (high level) Servomotor speed limit not being applied.
This signal is output when the servomotor speed reaches the speed limit value set in Pn407 or set by the analog voltage ref-
erence.
For use, this output signal must be allocated with parameter Pn50F. For details, refer to 7.3.3 Output Circuit Signal Alloca-
tion.

Operation

8-67
 8 Operation
8.8.1 Setting Parameters

8.8 Operating Using Speed Control with an Internally Set Speed

• Internally Set Speed Selection
This function allows speed control operation by externally selecting an input signal from among three servo-
motor speed settings made in advance with parameters in the SERVOPACK. The speed control operations
within the three settings are valid. There is no need for an external speed or pulse generator.
SERVOPACK

Internally set speed

CN1 Parameter
/P-CON (/SPD-D) 41 Servomotor
SPEED1 Pn301 Speed
/P-CL (/SPD-A) 45 reference
Contact input SPEED2 Pn302 M

SPEED3 Pn303
/N-CL (/SPD-B) 46

8.8.1 Setting Parameters

Parameter Meaning
Pn000 n.††3† Control mode selection: Internally set speed control (contact reference)

Pn301 Internally Set Speed 1 Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 1 min-1 100 Immediately
Pn302 Internally Set Speed 2 Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 1 min-1 200 Immediately
Pn303 Internally Set Speed 3 Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 1 min-1 300 Immediately

Note: The maximum speed of servomotor is used whenever a speed settings for the Pn301 to Pn303
exceed the maximum speed.

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 8.8 Operating Using Speed Control with an Internally Set Speed

8.8.2 Input Signal Settings

The following input signals are used to switch the operating speed.
Signal Connector Pin
Type Meaning
Name Number
/P-CON CN1-41
Input Switches the servomotor rotation direction.
(/SPD-D) Must be allocated
/P-CL CN1-45
Input Selects the internally set speed.
(/SPD-A) Must be allocated
/N-CL CN1-46
Input Selects the internally set speed.
(/SPD-B) Must be allocated
„ Input Signal Selection
The following two types of operation can be performed using the internally set speeds:
• Operation with the /P-CON, /P-CL, and /N-CL input signals (pins allocated in factory setting)
• Operation with the /SPD-D, /SPD-A, and /SPD-B input signals
/SPD-D, /SPD-A, and /SPD-B input signals must be allocated with parameter Pn50C. Refer to 7.3.2 Input Circuit Signal
Allocation.

8.8.3 Operating Using an Internally Set Speed

Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
Input Signal
Motor Rotation
/P-CON /P-CL /N-CL Speed
Direction
(/SPD-D) (/SPD-A) (/SPD-B)
OFF (high) OFF (high) Stop at 0 of the internally set speed
OFF (high) ON (low) Pn301: Internally Set Speed 1 (SPEED1)
OFF (high) Forward
ON (low) ON (low) Pn302: Internally Set Speed 2 (SPEED2)
ON (low) OFF (high) Pn303: Internally Set Speed 3 (SPEED3)
OFF (high) OFF (high) Stop at 0 of the internally set speed
OFF (high) ON (low) Pn301: Internally Set Speed 1 (SPEED1)
ON (low) Reverse
ON (low) ON (low) Pn302: Internally Set Speed 2 (SPEED2)
ON (low) OFF (high) Pn303: Internally Set Speed 3 (SPEED3)
Note: Signal OFF = High level; Signal ON = Low level

IMPORTANT „Control Mode Switching

When Pn000.1 = 4, 5, or 6, and either /P-CL (/SPD-A) or /N-CL (SPD-B) is OFF (high level), the control
mode will switch.
Example:
When Pn000.1=5: Internally set speed selection ⇔ Position control (pulse train)

Input Signal
Speed
/P-CL (/SPD-A) /N-CL (/SPD-B)
OFF (high) OFF (high) Pulse train reference input (position control)
OFF (high) ON (low) Pn301: Internally Set Speed 1 (SPEED1)
Operation

ON (low) ON (low) Pn302: Internally Set Speed 2 (SPEED2)

ON (low) OFF (high) Pn303: Internally Set Speed 3 (SPEED3)

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 8 Operation
8.8.3 Operating Using an Internally Set Speed

• Example of Operating with Internally Set Speed Selection

The shock that results when the speed is changed can be reduced by using the soft start function.
For details on the soft start function, refer to 8.5.4 Soft Start.

Example: Operation with an Internally Set Speed and Soft Start

Servomotor speed

3rd speed
+SPEED3
Acceleration/deceleration are
+SPEED2
2nd speed done for the soft start times set in
Pn305 and Pn306.
1st speed
+SPEED1

Stop Stop
0
Stop

- SPEED1 1st speed

- SPEED2
2nd speed

- SPEED3
3rd speed

/P-CL (/SPD-A)
OFF OFF ON ON OFF OFF ON ON OFF

/N-CL (/SPD-B)
OFF ON ON OFF OFF ON ON OFF OFF

ON ON ON ON OFF OFF OFF OFF OFF

/P-CON( /SPD-D)

IMPORTANT When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start function will operate only
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output of the pulse reference from the host controller after the
positioning completed (/COIN) signal is output from the SERVOPACK.

Example: Operation with an Internally Set Speed and Soft Start ⇔ Position Control (Pulse Train Reference)
Signal Timing in Position Control

Motor speed

0 min -1

/COIN

Pulse reference
t1 t1
/P-CL (/SPD-A) OFF ON ON OFF OFF
/N-CL (/SPD-B) ON ON OFF OFF ON
Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed
t1 2 ms

Note: 1. The soft start function is used in the above figure.

2. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL (/SPD-A) and /N-CL (/SPD-B).

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 8.9 Limiting Torque

8.9 Limiting Torque

The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
Setting
Limiting Method Reference Section
Level
1 Internal torque limit 8.9.1
2 External torque limit 8.9.2
3 Torque limiting by analog voltage reference 8.9.3
4 External torque limit + Torque limiting by analog voltage reference 8.9.4

8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)

Maximum torque is always limited to the values set in the following parameters.
Pn402 Forward Torque Limit Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 1% 800 Immediately
Pn403 Reverse Torque Limit Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 1% 800 Immediately
The settings in these parameters are constantly enabled. The setting unit is a percentage of rated torque.
If the torque limit is set higher than the maximum torque of the servomotor, the maximum torque of the servomotor is used
(as is the case with the 800% factory setting).
No Internal Torque Limit
Internal Torque Limit
(Maximum Torque Can Be Output)

Pn403

t
Pn402
Speed Speed
Maximum torque Limiting torque

Too small a torque limit setting will result in insufficient torque during acceleration and deceleration.

Operation

8-71
 8 Operation
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)

8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)

This function allows the torque to be limited at specific times during machine operation, for example, during
press stops and hold operations for robot workpieces.
An input signal is used to enable the torque limits previously set in parameters.
(1) Related Parameters
Pn404 Forward External Torque Limit Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 1% 100 Immediately
Pn405 Reverse External Torque Limit Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 1% 100 Immediately
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).

(2) Input Signals

Signal Connector Pin
Type Setting Meaning Limit Value
Name Number
Forward external torque limit The value set in Pn402 or
ON (low level)
CN1-45 ON Pn404 (whichever is smaller)
Input /P-CL
(Factory Setting) Forward external torque limit
OFF (high level) Pn402
OFF
Reverse external torque limit The value set in Pn403 or
ON (low level)
CN1-46 ON Pn405 (whichever is smaller)
Input /N-CL
(Factory Setting) Reverse external torque limit
OFF (high level) Pn403
OFF
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.
When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/OFF
state of the other signals. Refer to 7.3.2 Input Circuit Signal Allocation.

(3) Changes in Output Torque during External Torque Limiting

Example: External torque limit (Pn402, Pn403) set to 800%
/P-CL (Forward External Torque Limit Input)
High level Low level

Pn403 Pn403

Torque Torque

High
0 0
level
Pn404
/N-CL Speed Speed
(Reverse Pn402 Pn402

External
Torque Limit Pn403 Pn403
Input)
Torque Torque
Pn405 Pn405
Low 0
0
level
Pn404
Speed Speed
Pn402 Pn402

Note: In this example, the servomotor rotation direction is Pn000 = n.†††0 (standard setting, CCW =
forward).

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 8.9 Limiting Torque

8.9.3 Torque Limiting Using an Analog Voltage Reference

Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the
T-REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during
torque control.
Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed
control.
SERVOPACK

Torque limit T-REF Torque reference Forward torque

value input gain
(Pn400) value (Pn402)
Speed
Speed loop
refer-
V-REF ence + gain +
Speed (Pn100) Torque
input - +
reference gain reference
Speed loop
(Pn300) integral
time
constant Reverse torque
(Pn101) value (Pn403)
Speed feedback

There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute values of both +
INFO and - voltages are input, and a torque limit value corresponding to that absolute value is applied in the forward or reverse
direction.

(1) Related Parameters

Parameter Meaning
Pn002 n.†††1 Speed control option: Uses the T-REF terminal to be used as an external torque limit input.
When n.†††2 is set, the T-REF terminal is used for torque feed-forward input, but the functions cannot be used together.

(2) Input Signals

Signal Connector
Type Name
Name Pin Number
T-REF CN1-9 Torque reference input
Input
SG CN1-10 Signal ground for torque reference input
The torque limit input gain is set at parameter Pn400. Refer to 8.7.1 Setting Parameters.
„ Input Specifications
• Input range: ±1 VDC to ±10 VDC/rated torque
• Maximum allowable input voltage: ±12 VDC
Operation

8-73
 8 Operation
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference

8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
This function can be used to combine torque limiting by an external input signal and by analog voltage reference.
Because the torque limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be
used during torque control. Use /P-CL (CN1-45) or /N-CL (CN1-46) for torque limiting by external input signal.

When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the torque limit, whichever is smaller.
SERVOPACK

/P-CL
/N-CL
Torque reference
Torque limit T-REF Forward torque
input gain
value Pn400 limit value (Pn402)
Pn404
Speed loop (/P-CL:ON)
Speed reference + +
Speed V-REF input gain gain Torque
reference Pn300 - (Pn100) +
reference
Speed loop
integral
time Reverse torque
constant Pn405
limit value (Pn403)
(Pn101) (/N-CL:ON)

Speed feedback

(1) Related Parameters

Parameter Meaning
Pn002 n.†††3 Speed control option: When /P-CL or /N-CL is enabled, the T-REF terminal is used as the
external torque limit input.
When n.†††2 is set, T-REF is used for torque feed-forward input, but the functions cannot be used together.

Pn404 Forward External Torque Limit Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 1% 100 Immediately
Pn405 Reverse External Torque Limit
Setting Range Setting Unit Factory Setting Setting Validation
0 to 800 1% 100 Immediately
* The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).

8-74
 8.9 Limiting Torque

(2) Input Signals

Signal Connector Pin
Type Name
Name Number
T-REF CN1-9 Torque reference input
Input
SG CN1-10 Signal ground for torque reference input
The torque limit input gain is set in parameter Pn400. Refer to 8.7.1 Setting Parameters.
„ Input Specifications
• Input range: ±1 VDC to ±10 VDC/rated torque
• Maximum allowable input voltage: ±12 VDC

Signal Connector Pin

Type Setting Meaning Limit Value
Name Number
The analog voltage reference
Forward external torque limit
ON (low level) limit or the value set in Pn402 or
CN1-45 ON
Input /P-CL Pn404 (whichever is smaller)
(Factory setting)
Forward external torque limit
OFF (high level) Pn402
OFF
The analog voltage reference
Reverse external torque limit
ON (low level) limit or the value set in Pn403 or
CN1-46 ON
Input /N-CL Pn405 (whichever is smaller)
(Factory setting)
Reverse external torque limit
OFF (high level) Pn403
OFF
When using the torque limiting with the external torque limit and analog voltage reference, make sure that there are no
other signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same terminal,
the signals are handled with OR logic, which affects the ON/OFF state of the other signals. Refer to 7.3.2 Input Circuit Sig-
nal Allocation.

8.9.5 Checking Output Torque Limiting during Operation

The following signal can be output to indicate that the servomotor output torque is being limited.
Signal Connector Pin
Type Setting Meaning
Name Number
ON (low level) Servomotor output torque is being limited.
Output /CLT Must be allocated
OFF (high level) Torque is not being limited.
The output terminal must be allocated with parameter Pn50F to use this output signal. Refer to 7.3.3 Output Circuit Signal
Allocation for details.

Operation

8-75
 8 Operation
8.10.1 Setting Parameters

8.10 Control Mode Selection

The methods and conditions for switching SERVOPACK control modes are described below.

8.10.1 Setting Parameters

The following combinations of control modes can be selected according to the application at hand.
Parameter Control Method
Pn000 n.††4† Internally set speed control (contact reference) ⇔ Speed control (analog voltage reference)
n.††5† Internally set speed control (contact reference) ⇔ Position control (pulse train reference)
n.††6† Internally set speed control (contact reference) ⇔ Torque control (analog voltage reference)
n.††7† Position control (pulse train reference) ⇔ Speed control (analog voltage reference)
n.††8† Position control (pulse train reference) ⇔ Torque control (analog voltage reference)
n.††9† Torque control (analog voltage reference) ⇔ Speed control (analog voltage reference)
n.††A† Speed control (analog voltage reference) ⇔ Zero clamp
n.††B† Position control (pulse train reference) ⇔ Position control (inhibit)

8.10.2 Switching the Control Mode

(1) Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6)
With the sequence input signals in the factory setting (Pn50A = n.†††0), the control mode will switch when
both /P-CL (/SPD-A) and /N-CL (/SPD-B) signals are OFF (high level).
Signal Connector
Type Setting Meaning
Name Pin Number
CN1-45
/P-CL
Input (Factory setting) OFF (high level)
(/SPD-A) Must be allocated
Switches control mode.
CN1-46
/N-CL
Input (Factory setting) OFF (high level)
(/SPD-B) Must be allocated
„ Input Signal Selection
The following two types of control mode selection are available for switching from internally set speed control:
• Switching with the /P-CL and /N-CL input signals (pins allocated in factory setting)
• Switching with the /SPD-A and /SPD-B input signals
When using /SPD-A and /SPD-B, they must be allocated with parameter Pn50C. Refer to 7.3.2 Input Circuit Signal Alloca-
tion.

(2) Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B)

Use the following signals to switch control modes. The control modes switch as shown below for each of the sig-
nal states indicated.
When changing the sequence input signal from the factory setting (Pn50A = n.†††1), allocate the /C-SEL to
an input terminal and change modes with the /C-SEL signal. In this case, input a speed reference (analog voltage
reference) for speed control, and a position reference (pulse train reference) for position control.
Signal Connector Pn000 Setting
Type Setting
Name Pin Number n.††7† n.††8† n.††9† n.††A† n.††B†
Zero
CN1-41 ON (low level) Speed Torque Speed Inhibit
Input /P-CON clamp
(Factory setting)
OFF (high level) Position Position Torque Speed Position
Zero
ON (low level) Speed Torque Speed Inhibit
Input /C-SEL Must be allocated clamp
OFF (high level) Position Position Torque Speed Position
The control mode can be switched with either /P-CON or /C-SEL.
When using the /C-SEL signal, the input signal must be allocated. Refer to 7.3.2 Input Circuit Signal Allocation.

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 8.11 Other Output Signals

8.11 Other Output Signals

The following output signals, which have no direct connection with the control modes, are used for machine pro-
tection.

8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
(1) Servo Alarm Output (ALM)
This signal is output when an error is detected in the SERVOPACK.
Signal Connector
Type Setting Meaning
Name Pin Number
CN1-31, 32 ON (low level) Normal SERVOPACK condition
Output ALM
(Factory setting) OFF (high level) SERVOPACK alarm condition
„ IMPORTANT
Always form an external circuit so this alarm output turns OFF the main circuit power supply to the SERVOPACK.

(2) Alarm Reset

Signal Connector
Type Name
Name Pin Number
/ALM-
Input CN1-44 Alarm Reset
RST
When a servo alarm (ALM) has occurred and the cause of the alarm has been eliminated, the alarm can be reset by turning
this signal (/ALM-RST) from OFF (high level) to ON (low level).
This signal can be allocated to other pin numbers with Pn50B.
For details on the procedure, refer to 7.3.2 Input Circuit Signal Allocation.
The /ALM-RST signal cannot be constantly enabled by the allocation of an external input signal. Reset the alarm by chang-
ing the signal from high level to low level. The alarm can also be reset from the panel operator or digital operator. Refer to
7.1.2 Key Names and Functions for details.

IMPORTANT 1. Some encoder-related alarms cannot be reset with the /ALM-RST signal input. To reset these alarms,
turn OFF the control power supply.
2. When an alarm occurs, always eliminate the cause before resetting the alarm. The methods for trouble-
shooting alarms are described in 10.1.5 Troubleshooting of Alarm and Warning.

(3) Alarm Code Output

Signal Connector
Type Meaning
Name Pin Number
Output ALO1 CN1-37 Alarm code output
Output ALO2 CN1-38 Alarm code output
Output ALO3 CN1-39 Alarm code output
Output SG CN1-1 Signal ground for alarm code output
These open-collector signals output alarm codes. The ON/OFF combination of these output signals indicates the type of
Operation

alarm detected by the servomotor.

Use these signals to display alarm codes at the host controller. Refer to 10.1.1 Alarm Display Table for details on alarm
code output.

8-77
 8 Operation
8.11.2 Warning Output (/WARN)

8.11.2 Warning Output (/WARN)

Signal Connector
Type Setting Meaning
Name Pin Number
ON (high level) Normal state
Output /WARN Must be allocated
OFF (low level) Warning state
This output signal displays warnings before an overload (A.71) or regenerative overload (A.32) alarm is output.
For use, the /WARN signal must be allocated with parameter Pn50F. For details, refer to 7.3.3 Output Circuit Signal Allo-
cation.

• Related Parameters
The following parameter is used to select the alarm code output.
Parameter Description
Pn001 n.0††† Outputs alarm codes alone for alarm codes ALO1, ALO2, and ALO3.
n.1††† Outputs both alarm and warning codes for alarm codes ALO1, ALO2, and ALO3, and out-
puts an alarm code when an alarm occurs.
• Refer to 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) for alarm code descriptions.
• Refer to 10.1.2 Warning Display for the ON/OFF combinations of ALO1, ALO2, and ALO3 when a warning code is out-
put.

8.11.3 Servomotor running Output Signal (/TGON)

Signal Connector
Type Setting Meaning
Name Pin Number
Servomotor is operating (Motor speed is above the set-
ON (low level)
CN1-27, 28 ting in Pn502).
Output /TGON
(Factory setting) Servomotor is not operating (Motor speed is below the
OFF (high level)
setting in Pn502).
This signal is output to indicate that the servomotor is currently operating above the setting in parameter Pn502.
The /TGON signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 7.3.3 Output Cir-
cuit Signal Allocation.
„ IMPORTANT
• If the brake interlock signal (/BK) and servomotor running output signal (/TGON) are allocated to the same output termi-
nal, the /TGON signal will go to low level at the speed at which the movable part drops on the vertical axis, which means
that the /BK signal will not go to high level. (This is because signals are output with OR logic when multiple signals are
allocated to the same output terminal.). Always allocate /TGON and /BK signals to different terminals.

• Related Parameter
Pn502 Servomotor Rotation Detection Level Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

1 to 10000 1 min-1 20 Immediately
Set the range in which the servomotor running output signal (/TGON) is output in this parameter.
When the servomotor rotation speed is above the value set in the Pn502, it is judged to be servomotor rotating and the ser-
vomotor running output signal (/TGON) is output. The servomotor running detection signal (/TGON) can also be checked
on the digital operator. For details, refer to 7.1.4 Status Display and 7.4.1 List of Monitor Modes.

8-78
 8.11 Other Output Signals

8.11.4 Servo Ready (/S-RDY) Output

Signal Connector Pin
Type Setting Meaning
Name Number
CN1-29, 30 ON (low level) Servo is ready.
Output /S-RDY
(Factory setting) OFF (high level) Servo is not ready.
This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations.
It is output when there are no servo alarms and the main circuit power supply is turned ON.
An added condition with absolute encoder specifications is that when the SEN signal is at high level, absolute data was out-
put to the host controller.
The servo ready signal condition can also be checked on the digital operator. For details, refer to 7.1.4 Status Display and
7.4.1 List of Monitor Modes.
The /S-RDY signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 7.3.3 Output Cir-
cuit Signal Allocation.

Operation

8-79
 9
Adjustments

9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4

9.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - 9-6

9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - 9-7

9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
9.4.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
9.4.4 Proportional Control Operation (Proportional Operation
Reference) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - 9-10
9.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
9.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16

9.5 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20

Adjustments

9-1
 9 Adjustments
9.1.1 Servo Gain Adjustment Methods

9.1 Autotuning
9.1.1 Servo Gain Adjustment Methods
The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in
the parameters. The parameters are designated for each function as shown in 9.1.2 List of Servo Adjustment
Functions.
The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actual
machine conditions. Select the adjustment method according to the client’s intent using 9.1.2 List of Servo
Adjustment Functions.

9.1.2 List of Servo Adjustment Functions

(1) Online Autotuning Functions
Online autotuning functions cannot be used for SERVOPACKs of 22 kW or more.

(2) Positioning Time Reduction Functions

Function Name and Description Features Valid Refer-
Related Parameters Control ence
Modes Section
Feed-forward Feed-forward compensation for the position refer- Adjustment is easy. Position 9.4.1
Pn109 ence is added to the speed reference. The system will be unstable if a
Pn10A large value is set, possibly result-
Torque feed-forward Inputs torque feed-forward to the torque reference ing in overshooting or vibration. Speed 9.4.2
Pn002 input terminal and adds to the internal torque ref-
Pn400 erence at the speed control.
Speed feed-forward Inputs speed feed-forward to the speed reference Position 9.4.3
Pn207 input terminal and adds to the internal speed refer-
Pn300 ence at the position control.
Mode Switch Switches from PI control to P control using the The setting for automatic switch- Position 9.4.5
(P/PI Switching) value of an internal servo variable in a parameter ing between PI and P control is Speed
Pn10B (torque, speed, acceleration, or position error) as a easy.
Pn10C threshold value.
Pn10D
Pn10E
Pn10F
Speed Feedback This function cannot be used for SERVOPACKs − − 9.4.8
Compensation of 22 kW or more.
Pn110
Pn111
Gain Switching Automatically switches each parameter for speed − Position 9.4.9
Pn100 loop gain (Kv), speed loop integral time constant Speed
Pn101 (Ti), and position loop gain (Kp) by external signal
Pn102 or according to condition:
Pn104 Whether position reference is specified or not, or
Pn105 Position error level, or
Pn106 AND logic of the above two determined condi-
tions.

9-2
 9.1 Autotuning

(3) Vibration Reduction Functions

Function Name and Description Features Valid Refer-
Related Parameters Control ence
Modes Section
Soft Start Converts a stepwise speed reference to a A constant acceleration/deceleration is Speed 8.5.4
Pn305 constant acceleration or deceleration for achieved for smoother operation. The
Pn306 the specified time interval. operation time is increased for the speci-
fied time.
Acceleration/ A 1st-order delay filter for the position Enables smooth operation. Position 8.6.4
Deceleration Filters reference input. The reference time increases by the filter
Pn204 delay time even after the reference input
Pn207 has been completed.
Movement Average A movement averaging filter for the posi- Enables smooth operation. Position 8.6.4
Filter tion reference input. The reference time increases by the filter
Pn207 delay time even after the reference input
Pn208 has been completed.
Speed Feedback A standard 1st-order delay filter for the The feedback speed is smoother. Position 9.4.7
Filter speed feedback. The response is delayed if a large value is Speed
Pn308 set.
Speed Reference A 1st-order delay filter for the speed refer- The speed reference is smoother. Speed 8.5.5
Filter ence. The response is delayed if a large value is
Pn307 set.
Torque Reference A 1st-order filter time constant can be set The lower the value, the better the speed Position 9.4.10
Filter for the torque reference. control response will be, but there is a Speed
Pn401 lower limit that depends on the machine Torque
conditions.
Notch Filter Notch filters can be set for the torque ref- Mainly effective for vibration between Position 9.4.10
Pn408 erence. The performances of first stage 500 and 2,000 Hz. Speed
Pn409 notch filter and second stage notch filter Instability will result if the setting is not Torque
are identical. correct.
Pn40A
Pn40B
Pn40C

Adjustments

9-3
 9 Adjustments
9.3.1 Explanation of Servo Gain

9.2 Online Autotuning

Online autotuning functions cannot be used for SERVOPACKs of 22 kW or more.
9.3 Manual Tuning
9.3.1 Explanation of Servo Gain
The block diagram for position control is as follows:
Position control loop
Speed control loop
Speed
Speed pattern
Move Speed Servomotor
reference + Position reference + + Current Electric
Error
Speed Kv Tf M
- counter
loop - control - control power
gain Kp section
Ti section converting
Time Section

Speed loop Current loop

PG
Position loop
Encoder

SERVOPACK
Host controller KpPosition Loop Gain (Pn102㧕
(provided by user) KvSpeed Loop Gain㧔Pn100㧕
TiSpeed Loop Integral Time
Constant (Pn101)
TfTorque Reference Filter Time
Constant (Pn401)

To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and
adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust
the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to
monitor the output waveform from the analog monitor.
The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermost
loop must have the highest response and the middle loop must have higher response than the outermost. If this
principle is not followed, it will result in vibration or responsiveness decreases.
The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to
adjust only position loop gain and speed loop gain.

9-4
 9.3 Manual Tuning

9.3.2 Servo Gain Manual Tuning

The SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameters
can adjust the servo responsiveness.
• Pn100: Speed loop gain (Kv)
• Pn101: Speed loop integral time constant (Ti)
• Pn102: Position loop gain (Kp)
• Pn401: Torque reference filter time constant (Tf)
For the position and speed control, the adjustment in the following procedure can increase the responsiveness.
The positioning time in position control can be reduced.
Step Explanation
1 Set correctly the moment of inertia ratio (Pn103).
2 Increase the speed loop gain (Pn100) to within the range so that the machine does not vibrate. At the
same time, decrease the speed loop integral time constant (Pn101).
3 Adjust the torque reference filter time constant (Pn401) so that no vibration occurs.
4 Repeat the steps 1 and 2. Then reduce the value for 10 to 20%.
5 For the position control, increase the position loop gain (Pn102) to within the range so that the machine
does not vibrate.
Start the manual tuning from the factory setting. Prepare measuring instruments such as memory recorder so that
the signals can be observed from the analog monitor (CN5) such as “Torque Reference” and “Motor Speed,” and
“Position Error Monitor” for the position control. (Refer to 9.5 Analog Monitor.) The servo drive supporting tool
“SigmaWin+” allows you to observe such signals. Prepare either of them.

9.3.3 Position Loop Gain

Pn102 Position Loop Gain (Kp) Position

Setting Range Setting Unit Factory Setting Setting Validation

1 to 2,000 1/s 40 Immediately
The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the posi-
tioning time decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be set
higher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid to
increase its natural vibrating frequency and allow the position loop gain to be set to a high value.

If the position loop gain (Pn102) cannot be set high in the mechanical system, an overflow alarm may occur during high
INFO
speed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.

Pn505 Overflow Level Position

Setting Range Setting Unit Factory Setting Setting Validation

1 to 32,767 256 reference units 1,024 Immediately
This parameter’s new setting must satisfy the following condition.
Max. feed speed (reference units/s) × 2.0
Pn505 ≥
Pn102
Adjustments

9-5
 9 Adjustments
9.3.4 Speed Loop Gain

9.3.4 Speed Loop Gain

Pn100 Speed Loop Gain (Kv) Speed Position

Setting Range Setting Unit Factory Setting Setting Validation

1 to 2,000 1 Hz 40 Immediately
This parameter determines the responsiveness of the speed loop. If the speed loop’s responsiveness is too low, it will delay
the outer position loop and cause overshooting and vibration of the speed reference. The SERVOPACK will be most stable
and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the
mechanical system. The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in
Pn103 has been set correctly.

Pn103 Moment of Inertia Ratio Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 20,000 1% 0 Immediately
Motor axis conversion load moment of inertia (JL)
Pn103setvalue= ×100(%)
Servomotor rotor moment of inertia (JM)

The factory setting is Pn103=0. Before adjusting the servo, determine the moment of inertia ratio with the equation above
and set parameter Pn103.

9.3.5 Speed Loop Integral Time Constant

Pn101 Speed Loop Integral Time Constant (Ti) Speed Position

Setting Range Setting Unit Factory Setting Setting Validation

15 to 51,200 0.01 ms 2,000 Immediately
(0.15 to 512.00 ms) (20.00 ms)
The speed loop has an integral element so that the speed loop can respond to minute inputs. This integral element causes a
delay in the SERVOPACK. If the time constant is set too long, overshooting will occur, which results in a longer position-
ing settling time or responsiveness decreases.
The estimated set value for Pn101 depends on the speed loop control method with Pn10B.1, as shown below.

„ Selecting the Speed Loop Control Method (PI Control or I-P Control)
INFO
Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. The
position loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can be
achieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch or
other method.

9-6
 9.4 Servo Gain Adjustment Functions

9.4 Servo Gain Adjustment Functions

9.4.1 Feed-forward Reference
Pn109 Feed-forward Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 100 1% 0 Immediately
Pn10A Feed-forward Filter Time Constant Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 6,400 0.01ms 0 Immediately
(0.00 to 64.00 ms)
Applies feed-forward compensation in position control inside
the SERVOPACK. Use this parameter to shorten positioning Differ-
ential
Pn109 Pn10A
time. Too high value may cause the machine to vibrate. For Position
ordinary machines, set 80% or less in this parameter. reference pulse + + +
Position loop
gain Kp
-
Encoder feedback pulse

9.4.2 Torque Feed-forward

Parameter Meaning
Pn002 n.†††0 Disabled
n.†††2 Uses T-REF terminal for torque feed-forward input.

Pn400 Torque Reference Input Gain Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

10 to 100 0.1 V/rated torque 30 Immediately
(1.0 to 10.0 V/rated torque)
The torque feed-forward function is valid only in speed control (analog reference).
The torque feed-forward function shortens positioning time, differentiates a speed reference at the host controller to gener-
ate a torque feed-forward reference, and inputs the torque feed-forward reference together with the speed reference to the
SERVOPACK.
Too high a torque feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti-
mum value while observing the system responsiveness.
Connect a speed reference signal line to V-REF (CN1-5 and -6) and a torque forward-feed reference to T-REF (CN1-9 and
-10) from the host controller.

Host controller SERVOPACK

T-REF (CN1-9)
Differ- KFF Pn400 Servomotor
ential V-REF (CN1-5) +
+ + +
Kp Pn300 Pn100 Current loop M
+ + +
Position
- -
reference Integration
(Pn101)
Adjustments

Speed PG
calculation
Encoder
Divider

Kp: Position loop gain

KFF: Feed-forward gain

Torque feed-forward is set using the parameter Pn400.

9
The factory setting is Pn400 = 30. If, for example, the torque feed-forward value is ±3V, then, the torque is limited to
±100% of the rated torque.
The torque feed-forward function cannot be used with torque limiting by analog voltage reference described in 8.9.3
Torque Limiting Using an Analog Voltage Reference.

9-7
 9 Adjustments
9.4.3 Speed Feed-forward

9.4.3 Speed Feed-forward

Parameter Meaning
Pn207 n.††0† Disabled
n.††1† Uses V-REF terminal for speed feed-forward input.

Pn300 Speed Reference Input Gain Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

150 to 3,000 0.01 V/rated speed 600 Immediately
(1.50 to 30.00 V/rated
speed)
The speed feed-forward function uses analog voltages and is valid only in position control.
The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position refer-
ence to generate the feed-forward reference, and inputs the feed-forward reference together with the position reference to
the SERVOPACK.
Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti-
mum value while observing the system responsiveness.
Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference
signal line to V-REF (CN1-5 and -6) from the host controller.

Host controller SERVOPACK

Differ- V-REF (CN1-5 and -6)

ential KFF Pn300 Servomotor
+ + +
Position + Current loop
Kp (Pn102) Pn100 M
reference PULS - - +
SIGN Integration
(Pn101)
Speed PG
calculation
Encoder

Kp: Position loop gain

KFF: Feed-forward gain

Speed feed-forward value is set using the parameter Pn300.

The factory setting is Pn300 = 600. If, for example, the speed feed-forward value is ±6V, then the speed is limited to the
rated speed.

9-8
 9.4 Servo Gain Adjustment Functions

9.4.4 Proportional Control Operation (Proportional Operation Reference)

If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change between
PI control and P control.
• PI control: Proportional/Integral control
• P control: Proportional control

Parameter Control Mode

Pn000 n.††0† Speed Effective in speed control or position SERVOPACK
Control control.
CN1
Input signal /P-CON (CN1-41) is used
to select PI control or P control.
n.††1† Position CN1-41 is OFF PI control P control
/P-CON 41
Control (H level).
CN1-41 is ON P control
(L level).

• When sending references from the host controller to the SERVOPACK, P control mode can be selected from the host
controller for particular operating conditions. This mode switching method can be used to suppress overshooting and
shorten the settling time. Refer to 9.4.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /P-
CON signal and switching the control mode for particular operating conditions.
• If PI control mode is being used and the speed reference has a reference offset, the servomotor may rotate very slowly
and fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the servomotor.

Adjustments

9-9
 9 Adjustments
9.4.5 Using the Mode Switch (P/PI Switching)

9.4.5 Using the Mode Switch (P/PI Switching)

Use the mode switch (P/PI switching) function in the following cases:
• To suppress overshooting during acceleration or deceleration (for speed control)
• To suppress undershooting during positioning and reduce the settling time (for position control)

Speed Overshoot

Actual motor operation

Reference

Time
Undershoot
Settling time

The mode switch function automatically switches the speed control mode from PI control mode to P control1
mode based on a comparison between the servo’s internal value and a user-set detection level.

IMPORTANT 1. The mode switch function is used in very high-speed positioning when it is necessary to use the servo-
drive near the limits of its capabilities. The speed response waveform must be observed to adjust the
mode switch.
2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/
position control. Even if overshooting or undershooting occur, they can be suppressed by setting the host
controller’s acceleration/deceleration time constant, the SERVOPACK’s Soft Start Acceleration/Deceler-
ation Time (Pn305, Pn306), or Position Reference Acceleration/Deceleration Time Constant (Pn204).

(1) Selecting the Mode Switch Setting

The SERVOPACK provides the following four mode switch settings (0 to 3). Select the appropriate mode switch
setting with parameter Pn10B.0.
Parameter
Containing
Parameter Mode Switch Selection Setting Unit
Detection
Point Setting
Pn10B n.†††0 Use a torque reference level for Percentage to the rated torque
detection point. Pn10C
(Factory Setting)
n.†††1 Use a speed reference level for
Pn10D Servomotor speed: min-1
detection point.
n.†††2 Use an acceleration level for detec- Pn10E Servomotor acceleration: 10 min-1/s
tion point.
n.†††3 Use a position error pulse for detec-
Pn10F
Reference unit
tion point.
n.†††4 Do not use the mode switch function. − −
Select a condition to execute the mode switch (P/PI switching). (Setting is validated immediately.)

1
From PI control to P control
TERMS
PI control means proportional/integral control and P control means proportional control. In short, switching “from PI
control to P control” reduces effective servo gain, making the SERVOPACK more stable.

9-10
 9.4 Servo Gain Adjustment Functions

Using the Torque Reference Level to Switch Modes (Factory Setting)

With this setting, the speed loop is switched to P
control when the value of torque reference input 
    
exceeds the torque set in parameter Pn10C. The fac-
tory default setting for the torque reference detection
point is 200% of the rated torque (Pn10C = 200).

   


  

      
„ Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.

Without Mode Switching With Mode Switching

Overshoot
Motor Motor
speed speed
Undershoot
Time Time

Using the Speed Reference Level to Switch Modes

With this setting, the speed loop is switched to P control when the value
   
of speed reference input exceeds the speed set in parameter Pn10D.  

 



 
„ Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.

Without Mode Switching With Mode Switching

Speed
reference Motor speed
Motor
speed

Long settling time

Increase speed loop gain.

Overshoot
Adjustments

Motor Motor
speed speed
Undershoot

Time Settling time

9-11
 9 Adjustments
9.4.5 Using the Mode Switch (P/PI Switching)

Using the Acceleration Level to Switch Modes

With this setting, the speed loop is switched to P
control when the motor’s acceleration rate exceeds 
    
the acceleration rate set in parameter Pn10E.

   

 
 

      
„ Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.

Without Mode Switching With Mode Switching

Overshoot
Motor Motor
speed speed
Undershoot
Time Time

Using the Error Pulse Level to Switch Modes

This setting is effective with position control only.
With this setting, the speed loop is switched to P control when  
 

the error pulse exceeds the value set in parameter Pn10F.
 
 

    
„ Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.

Without Mode Switching With Mode Switching

Speed
reference Motor speed
Motor
speed

Long settling time

Increase speed loop gain.

Overshoot

Motor Motor
speed speed
Undershoot

Time Settling time

9-12
 9.4 Servo Gain Adjustment Functions

9.4.6 Setting the Speed Bias

The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref-
erence block in the SERVOPACK.
Pn107 Bias Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 450 1 min -1 0 Immediately
Pn108 Bias Width Addition Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 250 1 Reference unit 7 Immediately

To reduce the positioning time, set these parameters Speed reference

based on the machine’s characteristics.
The Bias Width Addition (Pn108) specifies when the Bias set
Bias (Pn107) is added and the width is expressed in
error pulse units. The bias input will be added when No bias
Bias width addition
the error pulse value exceeds the width set in Pn108. (Pn108) Bias (Pn107)
Error pulse
Bias (Pn107)
Bias width addition
(Pn108)
Pn108

9.4.7 Speed Feedback Filter

Pn308 Speed Feedback Filter Time Constant Speed Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 65,535 0.01 ms 0 Immediately
(0.00 to 655.35 ms)
Sets the 1st-order filter for the speed loop’s speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.

9.4.8 Speed Feedback Compensation

Speed feedback compensation cannot be used for SERVOPACKs of 22 kW or more.

Adjustments

9-13
 9 Adjustments
9.4.9 Switching Gain Settings

9.4.9 Switching Gain Settings

Gain switching functions by the external signal, or by using automatic gain switching that is enabled only at posi-
tion control, are built into the SGDM/SGDH SERVOPACK. For example, to use different gains while the servo-
motor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains.
(1) Gain Switching Function Using an External Input Signal
(a) Gain Switching Input Signal
Type Signal Connector Pin No. Setting Meaning
Signal allocation OFF: H (high) level Gain settings 1
Input /G-SEL
required ON: L (low) level Gain settings 2
To use the input signal, the input signal must be allocated in the parameter Pn50D. Refer to 7.3.2 Input Circuit Signal Allo-
cation.

(b) Switchable Gain Combinations

Turning ON and OFF the gain switching signal /G-SEL switches the gains as follows.

Gain Switching Signal (/G-SEL) OFF (H Level) ON (L Level)

Speed loop gain Pn100 Pn104
Speed loop integral time constant Pn101 Pn105
Position loop gain Pn102 Pn106

(c) Related Parameters

Parameter Function
Pn50A n.†††1 Enables the input signal allocation for the sequence.
Set to allocate the gain switching signal (/G-SEL) to an input terminal.

Pn100 Speed Loop Gain Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation
1 to 2,000 Hz 40 Immediately
Pn101 Speed Loop Integral Time Constant Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
15 to 51,200 0.01 ms 2,000 Immediately
Pn102 Position Loop Gain Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
1 to 2,000 1/s 40 Immediately
Pn104 2nd Speed Loop Gain Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
1 to 2,000 Hz 40 Immediately
Pn105 2nd Speed Loop Integral Time Constant Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
15 to 51,200 0.01 ms 2,000 Immediately
Pn106 2nd Position Loop Gain Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
1 to 2,000 1/s 40 Immediately

9-14
 9.4 Servo Gain Adjustment Functions

(2) Automatic Gain Switching Function

The automatic gain switching function switches the gain setting between the gain setting 1 and 2 according to the
condition:
Whether position reference is specified or not, or
Position error level, or
AND logic of the above two determined conditions
The position reference of the automatic gain switching condition indicates the reference pulses from CN1.
Note that the automatic gain switching function is disabled for the control modes other than position control.
The existing gain switching function by /G-SEL signal is also available. However, it cannot be used with the
gain switching function.
When the automatic gain switching is enabled by setting 1 to 3 of Pn10B.2, the gain switching function by /G-
SEL signal is disabled.
The following flowchart shows the automatic gain switching.

Automatic gain Disabled (Pn10B.2 = 0)

switching enabled?

Enabled (Pn10B.2 = 1 to 3)

Automatic gain
switching condition

Position reference only Position reference

Position error only
(Pn10B.2 = 1) and position error
(Pn10B.2 = 2)
(Pn10.B = 3)

With position reference

or
Position
With or without With Position error ≥ Pn125 Position error ≥ Pn125
Position error reference and
position reference
Position error Without position reference
and
Without Position error < Pn125 Position error < Pn125

Gain switching timer Gain switching timer Gain switching timer Gain switching timer Gain switching timer Gain switching timer
count-up 0 clear count-up 0 clear count-up 0 clear

NO
Timer > Pn124

YES

Gain Setting 2 Gain Setting 1

End
Adjustments

9-15
 9 Adjustments
9.4.10 Torque Reference Filter

(1) Related Parameters

Parameter Meaning
Pn10B n.†0†† Automatic gain switching disabled (Factory setting)
n.†1†† Switches the gain according to the position reference condition only.
n.†2†† Switches the gain according to the position error condition only.
n.†3†† Switches the gain according to the position reference and position error condition only.
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.

Pn124 Automatic Gain Switching Timer Position

Setting Range Setting Unit Factory Setting Setting Validation
1 to 10000 1 ms 100 immediately
Pn125 Automatic Gain Switching Width Position
Setting Range Setting Unit Factory Setting Setting Validation
1 to 250 1 Reference units 7 immediately

9.4.10 Torque Reference Filter

As shown in the following diagram, the torque reference filter contains torque reference filter time constant
(Pn401) and notch filter (two stages) arrayed in series. The notch filter can be enabled and disabled using the
parameters.

Torque
function
switches
Pn408

Torque reference Notch

Torque reference filter time Torque reference
before filtering filter after filtering
constant (two stages)
Pn401

1st-order delay filter Notch filter

(1) Torque Reference Filter

If you suspect that machine vibration is being caused by the servodrive, try adjusting the filter time constant. This
may stop the vibration. The lower the value, the better the speed control response will be, but there is a lower
limit that depends on the machine conditions.
Pn401 Torque Reference Filter Time Constant Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

0 to 65,535 0.01 ms 100 Immediately
(0.00 to 655.35 ms)

9-16
 9.4 Servo Gain Adjustment Functions

(2) Notch Filter

Using the notch filter in accordance with the components of specific vibration frequency such as resonances of
ball screw can eliminate the frequency components to stop the vibration.
The performances of first stage notch filter and second stage notch filter are identical.

NO
Use First Stage Notch Filter.

YES

First Stage Notch Filter

NO
Use Second Stage Notch Filter

YES

Second Stage Notch Filter

Torque Reference Filter

(Low-pass filter)

Torque Limit

End

Adjustments

9-17
 9 Adjustments
9.4.10 Torque Reference Filter

(a) Notch Filter

The notch filter can decrease the set frequency responsiveness. The notch filter puts a notch in the gain curve at
the specific vibration frequency. The frequency components near the notch frequency can be eliminated with this
characteristic. A higher notch filter Q value produces a sharper notch and phase delay.
Q value = 0.7 Q value = 1.0

Notch filter Notch filter

100 100

0 0
Gain -100 Gain
-100
(db) (db)
-200 -200

-300 -300 2
10
2
10 3 10 4 10 10
3
10
4

Frequency (Hz) Frequency (Hz)

Notch filter Notch filter

0 0

-100 -100
Phase -200 Phase
(deg) (deg) -200
-300 -300

-400 -400 2
10
2
10 3 10 4 10 10
3
10
4

Frequency (Hz) Frequency (Hz)

(b) Related Parameters

Parameter Meaning
Pn408 n.†††0 First notch filter disabled (Factory setting)
n.†††1 Use first notch filter.
n.†0†† Second notch filter disabled (Factory setting)
n.†1†† Use second notch filter.

Pn409 First Stage Notch Filter Frequency Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation
50 to 2000 1 Hz 2000 Immediately
Pn40A First Stage Notch Filter Q Value Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
50 to 400 × 0.01 70 Immediately
Pn40B Second Stage Notch Filter Frequency Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
50 to 2000 1 Hz 2000 Immediately
Pn40C Second Stage Notch Filter Q Value Speed Position Torque
Setting Range Setting Unit Factory Setting Setting Validation
50 to 400 × 0.01 70 Immediately

9-18
 9.4 Servo Gain Adjustment Functions

IMPORTANT 1. Sufficient precautions must be taken when setting the notch frequency. Do not set the notch filter fre-
quency (Pn409, Pn40B) that is close to the speed loop’s response frequency. Set the frequency at least
four times higher than the speed loop’s response frequency. Setting the notch filter frequency too close to
the response frequency may cause vibration and damage the machine. The speed loop response fre-
quency is the value of the Speed Loop Gain (Pn100) when the Moment of Inertia Ratio (Pn103) is set to
the correct value.
2. Change the Notch Filter Frequency (Pn409, Pn40B) only when the servomotor is stopped. Vibration may
occur if the notch filter frequency is changed when the servomotor is rotating.

Adjustments

9-19
 9 Adjustments

9.5 Analog Monitor

Signals for analog voltage references can be monitored.
To monitor analog signals, connect the analog monitor cable (JZSP-CA01 or DE9404559) to the connector CN5.
The analog monitor signals can be selected by setting parameters Pn003.0 and Pn003.1.

Analog monitor cable model:

JZSP-CA01 or DE9404559
Black
POWER CN8
Black
MODE/SET DATA/ CN5 BATTERY
White

Red
CN3

219'4 %0

1
2
'
4
#
6
1
4
/1&'5'6 &#6#
%0 %0

Pin Number Line Color Signal Name Monitoring Item with Factory Setting
1 Red Analog monitor 2 Motor speed: 1 V/1000 min-1
2 White Analog monitor 1 Torque reference: 1 V/100% rated torque
3, 4 Black (2 lines) GND (0 V) −

9-20
 9.5 Analog Monitor

(1) Related Parameters

The following signals can be monitored.

(a) Pn003: Function Selections

Parameter Function
Monitor 1 Monitor 2 Monitor Signal Observation Gain Remarks
Pn003 n.†††0 n.††0† Motor speed 1 V / 1000 min -1 Factory setting for Monitor 1
n.†††1 n.††1† Speed reference 1 V / 1000 min-1 −
n.†††2 n.††2† Internal torque reference 1 V / 100% rated torque Factory setting for Monitor 2
n.†††3 n.††3† Position error ∗ 0.05 V / 1 reference unit −
n.†††4 n.††4† Position error ∗ 0.05 V / 100 reference units −
n.†††5 n.††5† Position reference speed 1 V / 1000 min-1 −
(converted to motor speed)
n.†††6 n.††6† Motor speed 1 V / 250 min-1 −
n.†††7 n.††7† Motor speed 1 V / 125 min -1 −
n.†††8 n.††8† −
n.†††9 n.††9† −
n.†††A n.††A† −
n.†††B n.††B† −
Reserved. Do not set. −
n.†††C n.††C† −
n.†††D n.††D† −
n.†††E n.††E† −
n.†††F n.††F† −
* When using speed control or torque control, the position error monitor signal is not specified.

The analog monitor output voltage is ±8 V (maximum). The output will be limited to ±8 V even if this value is exceeded
INFO in the above calculations.

Adjustments

9-21
 10
Inspection, Maintenance, and
Troubleshooting

10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.1.3 Alarm Display Table when the Application Module is Used - - - - - - - 10-5
10.1.4 Warning Display Table when the Application Module is Used - - - - - 10-6
10.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - 10-7
10.1.6 Troubleshooting for Malfunction without Alarm Display - - - - - - - - 10-16

10.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - 10-20

10.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - 10-21

Inspection, Maintenance, and Troubleshooting

10

10-1
 10 Inspection, Maintenance, and Troubleshooting
10.1.1 Alarm Display Table

10.1 Troubleshooting
10.1.1 Alarm Display Table
The relation between alarm displays and alarm code outputs is shown in Table 10.1.
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
• DB STOP: Stops the servomotor immediately using the dynamic brake.
• COAST TO A STOP: Stops naturally, with no brake, by using the friction resistance of the motor in oper-
ation.
Table 10.1 Alarm Displays and Outputs
Alarm Alarm Code Output Servo
Alarm Reset Alarm
Alarm Name Meaning
Display ALO1 ALO2 ALO3 (ALM)
Output
A.02 Parameter Breakdown EEPROM data of SERVOPACK is N/A
abnormal.
A.03 Main Circuit Encoder Error Detection data for power circuit is Available
abnormal.
A.04 Parameter Setting Error The parameter setting is outside the N/A
allowable setting range.
A.05 Combination Error SERVOPACK and servomotor capaci- Available
H H H H
ties do not match each other.
A.09 Dividing Ratio Setting Error The setting of dividing ratio (Pn212) is N/A
not acceptable (out of fixed incre-
ments), or exceeds the value for the
connected, encoder resolution.
A.0A Encoder Model Unmatched The mounted serial encoder is not sup- N/A
ported by Σ-II series SERVOPACK.
A.10 Overcurrent or Heat Sink Over- An overcurrent flowed through the N/A
heated IGBT.
L H H H
Heat sink of SERVOPACK was over-
heated.
A.30 Regeneration Error Detected Regenerative transistor or regenerative Available
resistor is faulty.
A.32 Regenerative Overload Regenerative energy exceeds regener- Available
ative resistor capacity. L L H H
A.33 Main Circuit Power The power supply to the main circuit Available
Supply Wiring Error does not match the parameter Pn001
setting.
A.40 Overvoltage * Main circuit DC voltage is excessively Available
high.
H H L H
Undervoltage* Main circuit DC voltage is excessively Available
low.
A.51 Overspeed The motor speed is excessively high. Available L H L H
A.71 Overload: High Load The motor was operating for several Available
seconds to several tens of seconds
under a torque largely exceeding rat-
ings.
A.72 Overload: Low Load The motor was operating continuously Available
under a torque largely exceeding rat-
ings.
L L L H
A.73 Dynamic Brake Overload When the dynamic brake was applied, Available
rotational energy exceeded the capac-
ity of dynamic brake resistor.
A.74 Overload of Surge The main circuit power was frequently Available
Current Limit Resistor turned ON and OFF.
A.7A Heat Sink Overheated The heat sink of SERVOPACK over- Available
heated.

10-2
 10.1 Troubleshooting

Table 10.1 Alarm Displays and Outputs (cont’d)

Alarm Alarm Code Output Servo
Alarm Reset Alarm
Alarm Name Meaning
Display ALO1 ALO2 ALO3 (ALM)
Output
A.81 Encoder Backup Error All the power supplies for the absolute N/A
encoder have failed and position data
was cleared.
A.82 Encoder Checksum Error The checksum results of encoder N/A
memory is abnormal.
A.83 Absolute Encoder Battery Error Backup battery voltage for the abso- Available
lute encoder has dropped.
A.84 Encoder Data Error Data in the encoder is abnormal. N/A
A.85 Encoder Overspeed The encoder was rotating at high N/A
speed when the power was turned ON.
H H H H
A.86 Encoder Overheated The internal temperature of encoder is N/A
too high.
A.b1 Reference Speed Input Read Error The A/D converter for reference speed Available
input is faulty.
A.b2 Reference Torque Input Read The A/D converter for reference Available
Error torque input is faulty.
A.b3 Current Detection Error The current sensor is faulty, or the ser- Available
vomotor is disconnected.
A.bF System Alarm A system error occurred in the SER- N/A
VOPACK.
A.C1 Servo Overrun Detected The servomotor ran out of control. Available
A.C8 Absolute Encoder Clear Error and The multiturn for the absolute encoder N/A
Multiturn Limit Setting Error was not properly cleared or set.
A.C9 Encoder Communications Error Communications between SERVO- N/A
PACK and encoder is not possible.
L H L H
A.CA Encoder Parameter Error Encoder parameters are faulty. N/A
A.Cb Encoder Echoback Error Contents of communications with N/A
encoder is incorrect.
A.CC Multiturn Limit Disagreement Different multiturn limits have been N/A
set in the encoder and SERVOPACK.
A.d0 Position Error Pulse Overflow Position error pulse exceeded parame- Available
L L H H
ter (Pn505).
A.F1 Power Line Open Phase One phase is not connected in the Available
main power supply.

Inspection, Maintenance, and Troubleshooting

A.F4 Main circuit MC Error The magnetic contactor of main circuit Available
is faulty.
A.F5 Servomotor Disconnection Alarm The servomotor will not operate, or Available H L H H
the power is not being supplied to the
servomotor, though the Servo ON
A.F6 command was input and the command
to the SERVOPACK was valid.
CPF00 Digital Operator Digital operator (JUSP-OP02A-2) N/A
Transmission Error fails to communicate with SERVO- Not decided
CPF01 N/A
PACK (e.g., CPU error).
A.− − Not an error Normal operation status - H H H L
* For the SERVOPACK with a capacity of 22 kW or more, alarm A.40 indicates detecting excessively
high/low voltage in the main circuit.

10

10-3
 10 Inspection, Maintenance, and Troubleshooting
10.1.2 Warning Display

10.1.2 Warning Display

The relation between warning displays and warning code outputs is shown in table 10.2.
Table 10.2 Warning Displays and Outputs
Warning Warning Code Output
Display Warning Name Meaning
ALO1 ALO2 ALO3
A.90 Excessive Position Error The position errors exceed the setting in Pn51E.
H H H
Warning
A.91 Overload This warning occurs before the overload alarms (A.71 or
A.72) occur. If the warning is ignored and operation con- L H H
tinues, an overload alarm may occur.
A.92 Regenerative Overload This warning occurs before the regenerative overload
alarm (A.32) occurs. If the warning is ignored and opera- H L H
tion continues, a regenerative overload alarm may occur.
A.93 Absolute Encoder Battery This warning occurs when the absolute encoder battery
Voltage Lowered voltage is lowered. If the warning is ignored and operation L L H
continues, an overload alarm may occur.
Note: Warning code is not output without setting Pn001 = n.1††† (Outputs both Alarm Codes and
Warning Codes.)

10-4
 10.1 Troubleshooting

10.1.3 Alarm Display Table when the Application Module is Used

The following special alarms will occur when the SGDH SERVOPACK and an application module are used
together. The relation between alarm displays and alarm code outputs is shown in Table 10.3.
Table 10.3 Alarm Displays and Outputs when the SERVOPACK and an Application Module Are Used Together
Alarm Application Module Alarm Name Meaning Alarm Code Servo
Display which Detects Alarms Output Alarm
NS NS NS NS FC ALO ALO ALO (ALM)
100 115 300 500 100 1 2 3 Output
A.C6 { { { { { Fully Closed Encoder The phase A/B of the fully closed
Phase A/B Disconnection encoder was disconnected.
Alarm
L H L H
A.C7 { { { { { Fully Closed Encoder The phase C of the fully closed
Phase C Disconnection encoder was disconnected.
Alarm
A.d1 { { { { { Motor-Load Position Error The motor-load position error over
L L H H
Over level (Pn51A) was exceeded.
A.E0 { { { { − No Application Module No application module installed.
A.E1 { { { { − Application Module Time- No response from the application
out module.
A.E2 { { { { − Watchdog Counter Error of WDC error in the application mod-
Application Module ule
A.E4 − { − − − MECHATROLINK-II Transmission cycle setting of
Transmission Cycle MECHATROLINK-II is incorrect.
Setting Error
A.E5 { { − − − Watchdog Timer Error MECHATROLINK-I/II synchroni-
zation error
A.E6 { { { − − NS100/NS115 Communi- MECHATROLINK-I/II communi-
cations Error cations error
NS300 Duplicate MAC ID Same node address already exists
Error on the DeviceNet network. H L L H
A.E7 { { { { − Application Module No application module was
Detection Error detected.
A.E9 − − { − − BUS-OFF Error Fatal communications error has
occurred in DeviceNet communi-
cations.
A.EA { { { { − SERVOPACK Malfunc- SERVOPACK is defective.
tion

Inspection, Maintenance, and Troubleshooting

A.EB { { { { − SERVOPACK Initial Initial processing failed.
Access Error
A.EC { { { { − SERVOPACK WDC Error SERVOPACK watchdog counter
error
A.ED { { { { − Command Execution Command was interrupted.
Incomplete
Note: 1. The following types of application modules are available:
NS100 (JUSP-NS100): MECHATROLINK-I application module
NS115 (JUSP-NS115): MECHATROLINK-II I/F application module
NS300 (JUSP-NS300): DeviceNet application module
NS500 (JUSP-NS500): PROFIBUS-DP application module
FC100 (JUSP-FC100): Fully-closed application module
2. For troubleshooting application module alarms, refer to relevant application module manual.
Manual numbers are described in About this Manual.
3. When mounting the NS115 module, observe the following restrictions on use. If the NS115 mod-
ule is connected to the hand-held digital operator or communications are being sent to or from
SigmaWin+ and another device (a personal computer) during execution of the following
10
MECHATROLINK-II commands, an A.ED alarm (Command execution incomplete) occurs and
the commands are not successfully sent.
PRM_RD, PRM_WR, PPRM_WR, CONFIG, ALM_RD, ALM_CLR,
SENS_ON, ADJ, ID_RD

10-5
 10 Inspection, Maintenance, and Troubleshooting
10.1.4 Warning Display Table when the Application Module is Used

10.1.4 Warning Display Table when the Application Module is Used

The following special warnings will occur when the SGDH SERVOPACK and an application module are used
together. The relation between warning displays and warning code outputs is shown in Table 10.4.
Table 10.4 Warning Displays and Outputs when the SERVOPACK and an Application Module Are Used Together
Warning Application Module Warning Name Meaning Warning Code
Servo
Display which Detects Output Alarm
Warnings (ALM)
NS NS NS NS FC ALO ALO ALO Output
100 115 300 500 100 1 2 3
A.94 { { { { − Data Setting Warning A value outside the setting range
L L H L
was set using communications.
A.95 { { { { − Command Warning A command not supported in the
product specifications was issued.
H L H L
The command reception condi-
tions were not met.
A.96 { { { − − Communications A communications error occurred
L H H L
Warning (once).
A.98 − − { { − Main Power OFF The main power supply is not
L L L L
being supplied.
A.9A − − { { − Not Completed within Positioning was not completed
L H L L
the Set Time within the set time.
Note: 1. The following types of application modules are available:
NS100 (JUSP-NS100): MECHATROLINK-I application module
NS115 (JUSP-NS115): MECHATROLINK-II application module
NS300 (JUSP-NS300): DeviceNet application module
NS500 (JUSP-NS500): PROFIBUS-DP application module
FC100 (JUSP-FC100): Fully closed application module
2. For troubleshooting application module alarms, refer to relevant application module manual.
Manual numbers are described in About this Manual on page v.
3. When mounting the NS115 module, observe the following restrictions on use. If the hand-held
digital operator is connected or the communications are being sent or from SigmaWin+ and
another device (a personal computer), the following MECHATROLINK-II commands can not
be carried out unconditionally (command warning: A.95) and the commands are not successfully
sent.
PRM_RD, PRM_WR, PPRM_WR, CONFIG, ALM_RD, ALM_CLR,
SENS_ON, ADJ, ID_RD

10-6
 10.1 Troubleshooting

10.1.5 Troubleshooting of Alarm and Warning

When an error occurs in servodrive, an alarm display such as A.†† and CPF†† or warning display such as
A.9†† appears on the panel operator. However, the display “A.--” is not an alarm. Refer to the following sec-
tions to identify the cause of an alarm and the action to be taken.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.

(1) Alarm Display and Troubleshooting

Table 10.5 Alarm Display and Troubleshooting
Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.02 Parameter Occurred when the The power supply was turned OFF while changing Set Fn005 to initialize the parameter and input the
Breakdown control power sup- the parameter setting. parameter again.
(The EEPROM ply was turned ON. The power supply was turned OFF while an alarm
data storing the was being written.
parameter is The number of times that parameters were written Replace the SERVOPACK.
incorrect.) exceeded the limit. For example, the parameter was (Recheck the parameter writing method.)
changed every scan through the host controller.
The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK.
are faulty.
A.03 Main Circuit Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Encoder Error control power sup-
ply was turned ON
or during operation
A.04 Parameter Occurred when the The incorrect parameter was being loaded. (The Set Fn005 to initialize the parameter.
Setting Error control power sup- incorrect value was rejected as an error at the digital
(The parameter ply was turned ON. operator.)
setting was out The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK.
of the allowable are faulty.
setting range.)
A.05 Combination Occurred when the The SERVOPACK and servomotor capacities do not Select the proper combination of SERVOPACK
Error control power sup- correspond to each other. and servomotor capacities.
(The SERVO- ply was turned ON. Servomotor capacity / SERVOPACK capacity ≤ 1/4
PACK and ser- or servomotor capacity / SERVOPACK capacity ≥ 4
vomotor The parameter that is written in the encoder is incor- Replace the servomotor.
capacities do not rect.
correspond.) A SERVOPACK fault occurred. Replace the SERVOPACK.
A.09 Dividing Ratio Occurred when the At Pn207.2 = 1, the setting of dividing ratio (Pn212) Correct the setting of Pn212, and turn OFF the
Setting Error control power sup- is not acceptable (out of fixed increments), or control power and turn it ON again.
ply was turned ON. exceeds the value for the connected encoder resolu-
tion.
The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK.
are faulty.

Inspection, Maintenance, and Troubleshooting

A.0A Encoder Model Occurred when the The connected serial encoder is not supported by Σ- Replace the servomotor with Σ-II series SERVO-
Unmatched control power sup- II series servo drives. PACK supported model.
ply was turned ON. A SERVOPACK fault occurred. Replace the SERVOPACK.
A.10 Overcurrent Occurred when the The overload alarm has been reset by turning OFF Change the method to reset the alarm.
(An overcurrent control power sup- the power too many times.
flowed through ply was turned ON. The connection is faulty between the SERVOPACK Replace the SERVOPACK.
the IGBT) or board and the thermostat switch.
Heat Sink The SERVOPACK fault occurred.
Overheated
Occurred when the The connection between grounding and U, V, or W Check and then correct the wiring.
main circuit power is incorrect.
supply was turned The grounding line has contact with other terminals.
ON or while the ser-
A short circuit occurred between the grounding and Repair or replace the servomotor main circuit
vomotor was run-
U, V, or W of the servomotor cable. cable.
ning.
A short circuit occurred between phases U, V, and W
of the servomotor.
A short circuit occurred between the grounding and Replace the SERVOPACK.
U, V, or W of the SERVOPACK.
A SERVOPACK fault occurred (current feedback
circuit, power transistor or board fault). 10

10-7
 10 Inspection, Maintenance, and Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning

Table 10.5 Alarm Display and Troubleshooting (cont’d)

Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.10 Overcurrent Occurred when the A short circuit occurred between the grounding and Replace the servomotor.
(An overcurrent main circuit power U, V, W of the servomotor.
flowed through supply was turned A short circuit occurred between phases U, V, and W
the IGBT) or ON or while the ser- of the servomotor.
Heat Sink vomotor was run-
Load moment of inertia was large and DB circuit Reduce the load.
Overheated ning.
fault occurred when a dynamic brake is applied dur- Reduce the motor speed at dynamic brake or
(cont’d) ing high-speed motor running. replace the SERVOPACK.
The dynamic brake was activated too frequently, so Reduce the DB operation frequency or replace the
a DB overload alarm occurred. SERVOPACK.
The overload alarm has been reset by turning OFF Change the method to reset the alarm.
the power too many times.
The overload or regenerative power exceeds the Reconsider the load and operation conditions.
regenerative resistor’s capacity.
The direction or the distance of the SERVOPACK to The surrounding air temperature for the
other devices is incorrect. SERVOPACK must be 55°C or less.
A SERVOPACK fan fault occurred. Replace the SERVOPACK.
A SERVOPACK fault occurred.
A.30 Regeneration Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Error Detected control power sup-
ply was turned ON.
Occurred when the A regenerative resistor is not connected. Check the wiring of the regenerative resistor.
main circuit power A regenerative resistor is disconnected. Replace the regenerative resistor.
supply was turned
A SERVOPACK fault occurred, such as regenerative Replace the SERVOPACK.
ON.
transistor fault.
Occurred during Check for incorrect wiring and disconnection of the Correct the wiring for the regenerative resistor.
normal operation. regenerative resistor.
The regenerative resistor is disconnected. Reconsider the load and operation conditions and
check if the regenerative energy become exces-
sive, or replace the regenerative resistor.
A SERVOPACK fault, such as regenerative transis- Replace the SERVOPACK.
tor fault, occurred.
A.32 Regenerative Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Overload control power sup-
ply was turned ON.
Occurred during The regenerative energy exceeds the allowable Select a proper regenerative resistance capacity, or
normal operation value. reconsider the load and operation conditions.
(large increase of The regenerating state continued.
regenerative resistor
temperature).
Occurred during The setting of parameter Pn600 is smaller than the Correct the set value of parameter Pn600.
normal operation regenerative resistor’s capacity.
(small increase of A SERVOPACK fault occurred. Replace the SERVOPACK.
regenerative resistor
temperature).
Occurred at servo- The regenerative energy is excessive. Select a proper regenerative resistance capacity, or
motor deceleration. reconsider the load and operation conditions.
A.33 Main Circuit Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Wiring Error control power sup- Residual voltage exists in the main circuit. Reconsider the resistance value of the regenera-
ply was turned ON. tive resistor.
Occurred when the In the DC power input mode, AC power is supplied For AC power input, Pn001.2=0.
main circuit power through L1, L2, and L3. For DC power input, Pn001.2=1.
supply was turned In the AC power input mode, DC power is supplied
ON.
through 1 and  terminals.

10-8
 10.1 Troubleshooting

Table 10.5 Alarm Display and Troubleshooting (cont’d)

Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.40 Overvoltage Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
control power sup-
ply was turned ON.
Occurred when the The AC power voltage is too high. Check the AC power voltage.
main circuit power A SERVOPACK fault occurred. Replace the SERVOPACK.
supply was turned
ON.
Occurred during Check the AC power voltage (check if there is no Check the AC power voltage.
normal operation. excessive voltage change.)
The motor speed is high and load moment of inertia Reconsider the load and operation conditions.
is excessive, resulting in insufficient regenerative Check the load moment of inertia and minus load
capacity. specifications.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred at servo- The motor speed is high, and the load moment of Reconsider the load and operation conditions.
motor deceleration. inertia is excessive.
A.40 Undervoltage Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
control power sup-
ply was turned ON.
Occurred when the The AC power supply voltage is low. Check the AC power supply voltage.
main circuit power The fuse of the SERVOPACK is blown out. Replace the SERVOPACK.
supply was turned
The inrush current limit resistor is disconnected, Reduce the number of times that the main circuit
ON.
resulting in an overload of the inrush current limit is turned ON or OFF, or replace the SERVO-
resistor. PACK.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred during The AC power supply voltage was lowered, and Check the AC power supply voltage.
normal operation. large voltage drop occurred.
A temporary power failure occurred. Check the AC power supply voltage.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.51 Overspeed Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
control power sup-
ply was turned ON.
Occurred when The order of phases U, V, and W in the servomotor Correct the servomotor wiring.
servo was ON. wiring is incorrect.
The encoder wiring is incorrect. Correct the encoder wiring.
Malfunction occurred due to noise interference in Take measures against noise for the encoder wir-
the encoder wiring. ing.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred when the The order of phases U, V, and W in the servomotor Correct the servomotor wiring.
servomotor started wiring is incorrect.
running or in a The encoder wiring is incorrect. Correct the encoder wiring.

Inspection, Maintenance, and Troubleshooting

high-speed rotation.
Malfunction occurred due to noise interference in Take measures against noise for the encoder wir-
the encoder wiring. ing.
The position or speed reference input is too large. Reduce the reference value.
The setting of the reference input gain is incorrect. Check the setting of the parameter.
A SERVOPACK fault occurred. Replace the SERVOPACK.

10

10-9
 10 Inspection, Maintenance, and Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning

Table 10.5 Alarm Display and Troubleshooting (cont’d)

Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.71 Overload Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
A.71: control power sup-
A.72
Instantaneous ply was turned ON.
Peak Load Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring.
A.72: servo was ON. is faulty.
Continuous Peak The encoder wiring is incorrect or the connection is Correct the encoder wiring, or check if the con-
Load faulty. nector is inserted securely.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring.
servomotor did not is faulty.
run by the refer- The encoder wiring is incorrect or the connection is Correct the encoder wiring, or check if the con-
ence input. faulty. nector is inserted securely.
The starting torque exceeds the maximum torque. Reconsider the load and operation conditions, or
reconsider the servomotor capacity.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred during The actual torque exceeds the rated torque. Reconsider the load and operation conditions, or
normal operation. reconsider the servomotor capacity.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.73 Dynamic Brake Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Overload control power sup-
ply was turned ON.
Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
servomotor was
running and in a sta-
tus other than servo
OFF.
Occurred when the The rotating energy at a DB stop exceeds the DB cReduce the motor speed,
servomotor was resistance capacity. dReduce the load moment of inertia, or
running in servo eReduce the number of times of the DB stop
OFF status. operation.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.74 Overload of Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Inrush Current control power sup-
Limit Resistor ply was turned ON.
Occurred during A SERVOPACK fault occurred. Replace the SERVOPACK.
operations other
than the turning
ON/OFF of the
main circuit.
Occurred at the The main circuit power supply ON/OFF operation is Reduce the number of times that main circuit’s
main circuit power repeated frequently. power supply ON/OFF operation .
supply ON/OFF A SERVOPACK fault occurred. Replace the SERVOPACK.
operation.
A.7A Heat Sink Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Overheated control power sup-
ply was turned ON.
Occurred during The load exceeds the rated load. Reconsider the load and operation conditions, or
normal operation. reconsider the servomotor capacity.
The SERVOPACK surrounding air temperature The surrounding air temperature must be 55°C or
exceeds 55°C. less.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Cooling is not sufficient by natural convection or Reconsider the installation according to the SER-
fun. VOPACK mounting instructions.

10-10
 10.1 Troubleshooting

Table 10.5 Alarm Display and Troubleshooting (cont’d)

Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.81 Encoder Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Backup Error control power sup-
ply was turned ON.
(Setting:
Pn002.2=1)
Occurred when the Alarm occurred when the power to the absolute Set up the encoder.
control power sup- encoder was initially turned ON.
ply was turned ON. The encoder cable had been disconnected once. First confirm the connection and set up the
(Setting: encoder.
Pn002.2=0)
The power from both the PG power supply (+5 V) Replace the battery or take similar measures to
and the battery power supply from the SERVO- supply power to the encoder, and set up the
PACK is not being supplied. encoder.
An absolute encoder fault occurred. If the alarm cannot be reset by setting up the
encoder again, replace the servomotor.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.82 Encoder Occurred when the A fault occurred in the encoder and was detected by Set up the encoder. If this alarm occurs fre-
Checksum control power sup- encoder self-diagnosis. quently, replace the servomotor.
Error ply was turned ON A SERVOPACK fault occurred. Replace the SERVOPACK.
or during an opera-
tion.
Occurred when the A fault occurred in the encoder and was detected by Set up the encoder. If this alarm occurs fre-
SEN signal turned encoder self-diagnosis. quently, replace the servomotor.
ON.
A.83 Absolute When the control A SERVOPACK fault occurred. Replace the SERVOPACK.
Encoder power supply was
Battery Error turned ON.
(Setting:
Pn002.2=1)
When the control The battery connection is incorrect. Reconnect the battery.
power supply was The battery voltage is lower than the specified value Replace the battery, and then turn ON the power
turned ON. (Setting: 2.7 V. to the encoder.
Pn002.2=0)
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.84 Encoder Data Occurred when the A malfunction occurred in the encoder. Turn the encoder power supply OFF and then ON
Error control power sup- again. If this alarm occurs frequently, replace the
ply was turned ON. servomotor.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred during A malfunction occurred in the encoder due to exter- Correct the wiring around the encoder by separat-
normal operation. nal noise. ing the encoder cable from the power line, or by
checking the grounding and other wiring.)
An encoder fault occurred. If this alarm occurs frequently, replace the
servomotor.

Inspection, Maintenance, and Troubleshooting

A SERVOPACK fault occurred. Replace the SERVOPACK.
A.85 Encoder Occurred when the When the encoder power supply turns ON, the ser- Turn ON the encoder power supply when the
Overspeed control power sup- vomotor runs at 200 min-1 or more. servomotor stops.
ply was turned ON.
An encoder fault occurred. Replace the servomotor.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred during An encoder fault occurred. Replace the servomotor.
normal operation. A SERVOPACK fault occurred. Replace the SERVOPACK.
A.86 Encoder Occurred when the An encoder fault occurred. Replace the servomotor.
Overheated control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
ply was turned ON.
Occurred during The surrounding air temperature around the servo- The surrounding air temperature must be 40°C or
normal operation. motor is too high. less.
The servomotor load is greater than the rated load. The servomotor load must be within the specified
range.
An encoder fault occurred. Replace the servomotor.
A SERVOPACK board fault occurred. Replace the SERVOPACK.
A.b1 Reference Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Speed Input control power sup-
ply was turned ON.
10
Read Error
Occurred during A malfunction occurred in reading section of the Clear and reset the alarm and restart the operation.
normal operation. speed reference input.
A SERVOPACK fault occurred. Replace the SERVOPACK.

10-11
 10 Inspection, Maintenance, and Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning

Table 10.5 Alarm Display and Troubleshooting (cont’d)

Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.b2 Reference Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Torque Input control power sup- A malfunction occurred in the reading section of the Clear and reset the alarm and restart the operation.
Read Error ply was turned ON. torque reference input.
Occurred during A SERVOPACK fault occurred. Replace the SERVOPACK.
normal operation.
A.b3 Current Detec- Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
tion Error control power sup-
ply was turned ON.
Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
servo was ON. The Servo ON command was input while the servo- Check to be sure the servomotor has stopped, and
motor was operating. then input the Servo ON command.
The servomotor is disconnected. Correct the servomotor wiring.
Occurred during A SERVOPACK fault occurred. Replace the SERVOPACK.
normal operation. The servomotor was disconnected. Correct the servomotor wiring.
A.bF System Alarm Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
(Program error) control power sup-
ply was turned ON.
Occurred during A program is incorrect. Replace the SERVOPACK.
normal operation. A SERVOPACK fault occurred. Replace the SERVOPACK.
A.C1 Servo Overrun Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Detected control power sup-
ply was turned ON.
Occurred when the The order of phase U, V, and W in the servomotor Correct the servomotor wiring.
servo was ON or wiring is incorrect.
during normal oper- An encoder fault occurred. Replace the servomotor.
ation.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.C8 Absolute Occurred when the An encoder fault occurred. Replace the servomotor.
Encoder Clear control power sup- A SERVOPACK fault occurred. Replace the SERVOPACK.
Error and Multi- ply was turned ON.
turn Limit Set- Occurred when an An encoder fault occurred. Replace the servomotor.
ting Error encoder alarm was A SERVOPACK fault occurred. Replace the SERVOPACK.
cleared and reset.
A.C9 Encoder Occurred when the The encoder wiring and the contact are incorrect. Correct the encoder wiring.
Communica- control power sup- Encoder cable specification is incorrect. Use the recommended cable for the encoder cable.
tions Error ply was turned ON
The wiring distance for the encoder cable is too The wiring distance must be 20m max.
or during operation.
long.
The noise interference occurred on the signal line Correct the encoder cable layout.
because the encoder cable is bent and the sheath is
damaged.
The encoder cable is bundled with a power line. Separate the encoder cable from the power line.
The FG electrical potential varies because of the Ground the machine separately from PG side FG.
influence from such machines on the servomotor
side as welders.
Noise interference occurred on the signal line from Take a measure against noise for the encoder wir-
the encoder. ing.
An encoder fault occurred. Replace the servomotor.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.CA Encoder Occurred when the An encoder fault occurred. Replace the servomotor.
Parameter control power sup- A SERVOPACK fault occurred. Replace the SERVOPACK.
Error ply was turned ON.

10-12
 10.1 Troubleshooting

Table 10.5 Alarm Display and Troubleshooting (cont’d)

Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.Cb Encoder Echo- Occurred when the The encoder wiring and contact are incorrect. Correct the encoder wiring.
back Error control power sup- Encoder cable specifications is incorrect. Use the recommended cable for the encoder cable.
ply was turned ON
The wiring distance for the encoder cable is too The wiring distance must be 20m max.
or during normal
long.
operation.
Noise interference occurred on the signal line, Correct the encoder cable layout.
because the encoder cable is bent and the sheath is
damaged.
The encoder cable is bundled with a power line or Separate the encoder cable from the power line.
near a high-current line.
The FG electrical potential varies because of the Ground the machine separately from PG side FG.
influence from such machines on the servomotor
side as welders.
Noise interference occurred on the signal line from Take measures against noise for the encoder wir-
the encoder. ing.
An encoder fault occurred. Replace the servomotor.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.CC Multiturn Limit Occurred when the The parameter settings for the SERVOPACK are Correct the setting of Pn205 (0 to 65535).
Disagreement control power sup- incorrect.
ply was turned ON. The multiturn limit value for the encoder is not set or Execute Fn013 at the occurrence of alarm.
was changed.
Occurred during A SERVOPACK fault occurred. Replace the SERVOPACK.
normal operation.
A.d0 Position Error Occurred when the The overflow level (Pn505) is incorrect. Make the value set in the Pn505 to other than 0.
Pulse Overflow control power sup- A SERVOPACK fault occurred. Replace the SERVOPACK.
ply was turned ON.
Occurred at the ser- The contact in the servomotor U, V, and W wirings Correct the servomotor wiring.
vomotor high-speed is faulty.
rotation. A SERVOPACK fault occurred. Replace the SERVOPACK.
The servomotor did Wirings of the servomotor U, V, and W are incorrect. Correct the servomotor wiring.
not run with posi- A SERVOPACK fault occurred. Replace the SERVOPACK.
tion reference input.
Normal movement, The SERVOPACK gain adjustment is improper. Increase the speed loop gain (Pn100) and position
but occurred with a loop gain (Pn102).
long distance refer- The position reference pulse frequency is too high. Adjust slowly the position reference pulse fre-
ence input. quency.
Apply the smoothing function.
Correct the electronic gear ratio.
Setting of the position error pulse overflow alarm Set the parameter Pn505 to proper value.
level (Pn505) is incorrect.

Inspection, Maintenance, and Troubleshooting

The load exceeds the rated load. Reconsider and correct the load/operation condi-
tions and servomotor capacity.
A.F1 Power Line Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Open Phase control power sup-
ply was turned ON.
Occurred when the The three-phase power supply wiring is incorrect. Correct the power supply wiring.
main circuit power The three-phase power supply is unbalanced. Check the power supply voltage.
supply was turned
A SERVOPACK fault occurred. Replace the SERVOPACK.
ON.
Occurred during The contact in three-phase power supply wiring is Correct the power supply wiring.
normal operation. faulty.
Three-phase power supply is unbalanced. Check the power supply voltage.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.F4 Main Circuit MC Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Error control/main circuit
power supply was
turned ON.
Occurred when Incorrect wiring of control power supply input ter- Correct the power supply wiring.
servo was ON. minals 380 to 480 VAC (only for 400V models)
A SERVOPACK fault occurred. Replace the SERVOPACK. 10
Occurred during A SERVOPACK fault occurred. Replace the SERVOPACK.
normal operation

10-13
 10 Inspection, Maintenance, and Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning

Table 10.5 Alarm Display and Troubleshooting (cont’d)

Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.F5 Servomotor Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Disconnection control power sup-
Alarm ply was turned ON.
A.F6 Occurred when the The servomotor power cable (U, V, W) was discon- Correct the servomotor wiring.
servo was ON. nect.
A SERVOPACK fault occurred. Replace the SERVOPACK.
CPF00 Digital Opera- Occurred when the The contact between the digital operator and the Insert securely the connector, or replace the cable.
tor Transmis- power supply was SERVOPACK is faulty.
sion Error 1 turned ON with dig- The external noise interference occurred to the digi- Do not lay the cable near noise source.
ital operator con- tal operator or cable. Install digital operator far from noise source.
nected or (The digital operator cable is near noise source.)
when connecting
CPF01 Digital Opera- digital operator with
A digital operator fault occurred. Replace the digital operator.
tor Transmis- the power supply A SERVOPACK fault occurred. Replace the SERVOPACK.
sion Error 2 was turned ON.

10-14
 10.1 Troubleshooting

(2) Warning Display and Troubleshooting

Table 10.6 Warning Display and Troubleshooting
Warning Warning Name Situation at Warning Cause Corrective Actions
Display Occurrence
A.90 Excessive Posi- Occurred at the servo- The contact in the servomotor U, V, and W wir- Correct the servomotor wiring.
tion Error Warn- motor high-speed rota- ings is faulty.
tion. A SERVOPACK fault occurred. Replace the SERVOPACK.
ing:
Warning for the The servomotor did not The contact in the servomotor U, V, and W wir- Correct the servomotor wiring.
alarm A.d0 run with position refer- ings is faulty.
ence input. A SERVOPACK fault occurred. Replace the SERVOPACK.
Normal movement, but The SERVOPACK gain adjustment is improper. Increase the speed loop gain (Pn100) and
occurred with a long position loop gain (Pn102).
distance reference The position reference pulse frequency is too Adjust slowly the position reference
input. high. pulse frequency.
Apply the smoothing function.
Correct the electronic gear ratio.
Setting of the position error pulse over flow Set the parameter Pn51E to proper value.
warning level (Pn51E) is incorrect.
The servomotor specifications do not meet the Reconsider and correct the load/operation
load conditions. conditions and servomotor capacity.
A.91 Overload: Occurs when the servo Wiring is incorrect and the contact in servomotor Correct the servomotor wiring.
Warning for the was ON. wiring is faulty.
alarms A71 and Wiring is incorrect and the contact in encoder Correct the encoder wiring.
A72 wiring is faulty.
A SERVOPACK fault occurred. Replace the SERVOPACK.
The servomotor did not Servomotor wiring is incorrect and the contact is Correct the servomotor wiring.
run with a reference faulty.
input. Encoder wiring is incorrect and the contact is Correct the encoder wiring or confirm
faulty. that the connector is inserted securely.
The starting torque exceeds the maximum torque. Reconsider the load and operation condi-
tions. Or, check the servomotor capacity.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred during nor- The effective torque exceeds the rated torque. Reconsider the load and operation condi-
mal operation. tions. Or, check the servomotor capacity.
A SERVOPACK fault occurred. Replace the SERVOPACK.
A.92 Regenerative Occurred when the con- A SERVOPACK fault occurred. Replace the SERVOPACK.
Overload: trol power supply was
Warning for the turned ON.
alarm A320 Occurred during nor- Regenerative energy exceeds the allowable value. Check the regenerative resistor capacity,
mal operation Regenerative status continues. or reconsider the load and operation con-
(Large increase of ditions.
regenerative resistor

Inspection, Maintenance, and Troubleshooting

temperature.)
Occurred during nor- The setting of parameter Pn600 is smaller than Correct the setting of parameter Pn600.
mal operation the external regenerative resistor capacity.
(Small increase of A SERVOPACK fault occurred. Replace the SERVOPACK.
regenerative resistor
temperature).
Occurred at servomo- Regenerative energy is excessive. Check the regenerative resistor capacity,
tor deceleration. or reconsider the load and operation con-
ditions.
A.93 Absolute Encoder Occurred when the con- A SERVOPACK fault occurred. Replace the SERVOPACK.
Battery Warning trol power supply was
turned ON
(Setting: Pn002.2=1).
Occurred 4 seconds or The battery connection is incorrect or faulty. Connect correctly the battery.
more after the control The battery voltage is lower than the specified Replace the battery, and turn OFF the
power supply was value 2.7 V. encoder power supply and ON again.
turned ON
A SERVOPACK fault occurred. Replace the SERVOPACK.
(Setting: Pn002.2=0).
When an absolute
encoder was used. 10

10-15
 10 Inspection, Maintenance, and Troubleshooting
10.1.6 Troubleshooting for Malfunction without Alarm Display

10.1.6 Troubleshooting for Malfunction without Alarm Display

The troubleshooting for the malfunctions that causes no alarm display is listed below.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective actions.
Table 10.7 Troubleshooting for Malfunction without Alarm Display
Inspection Corrective Actions
Symptom Cause
: Turn OFF the servo system before executing operations.
Servomotor The power supply is not ON. Check voltage between power supply termi- Correct the power circuit.
Does Not nals.
Start Wrong wiring or disconnection of Check if the connector CN1 is properly Correct the connector CN1 connection.
I/O signal connector CN1 inserted and connected.
Servomotor or encoder wiring dis- Check the wiring. Connect the wiring.
connected.
Overloaded Run under no load. Reduce load or replace with larger capacity servomotor.
Speed/position references not input Check reference input pins. Input speed/position references correctly.
Setting for Pn50A to Pn50D “Input Check settings of parameters Pn50A to Correct the settings for Pn50A to Pn50D “Input Signal
Signal Selection” is incorrect. Pn50D. Selection.”
Encoder type differs from parameter Check incremental or absolute encoder. Set parameter Pn002.2 to the encoder type being used.
setting.
/S-ON input signal stays OFF. Check settings of parameters Pn50A.0 and Correct the parameter setting and turn ON /S-ON input
Pn50A.1. signal.
/P-CON input function setting is Check parameter Pn000.1. Set parameters to match the application.
incorrect.
SEN input is turned OFF. Check the SEN signal input (when absolute Turn SEN input signal ON.
encoder is used).
Reference pulse mode selection is Check the parameter setting for the refer- Correct setting of parameter Pn200.0.
incorrect. ence pulse mode.
The error clear counter (CLR) input Check CLR input pins. Turn CLR input signal OFF.
is turned ON.
The forward run prohibited (P-OT) Check P-OT or N-OT input signal. Turn P-OT or N-OT input signal ON.
or reverse run prohibited (N-OT)
input signal is turned OFF.
A SERVOPACK fault occurred. − Replace the SERVOPACK.
Servomotor Servomotor wiring is incorrect. Check the servomotor wiring. Correct the servomotor wiring.
Moves In- Encoder wiring is incorrect. Check the encoder wiring. Correct the encoder wiring.
stantaneous-
ly, and then
Stops
Servomotor An alarm occurred while alarm reset Check /ALM-RST signal. Remove the cause of alarm. Turn alarm reset signal
Suddenly signal (/ALM-RST) was turned ON. (/ALM-RST) from ON to OFF.
Stops during
Operation
and will Not
Restart
Servomotor Wiring connection to servomotor is Check connection of power lead (phases U, Tighten any loose terminals or connectors.
Speed Unsta- defective. V, and W) and encoder connectors.
ble
Servomotor Speed control: Speed reference input Check V-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
Rotates With- is incorrect. trol method and the input are agreed. input correctly.
out Refer- Torque control: Torque reference Check T-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
ence Input input is incorrect. trol method and the input are agreed. input correctly.
Speed reference offset is error. − Adjust the SERVOPACK offset correctly.
Position control: Reference pulse Set the parameter and cheek the reference Correct the control mode selection parameter, or the
input is incorrect. pulse form. input correctly.
A SERVOPACK fault occurred. − Replace the SERVOPACK.
DB (dynamic Improper parameter setting Check the setting of parameter Pn001.0. Correct the parameter setting.
brake) Does DB resistor disconnected Check if excessive moment of inertia, Replace the SERVOPACK, and reconsider the load.
Not Operate motor overspeed, or DB frequently acti-
vated occurred.
DB drive circuit fault − Replace the SERVOPACK.

10-16
 10.1 Troubleshooting

Table 10.7 Troubleshooting for Malfunction without Alarm Display (cont’d)

Inspection Corrective Actions
Symptom Cause
: Turn OFF the servo system before executing operations.
Abnormal Mounting not secured Check if there are any loosen mounting Tighten the mounting screws.
Noise from screws.
Servomotor Check if there are misalignment of cou- Align the couplings.
plings.
Check if there are unbalanced couplings. Balance the couplings.
Defective bearings Check for noise and vibration around the If any problems, contact your Yaskawa representative.
bearings.
Vibration source on the driven Any foreign matter, damages, or deforma- Contact the machine manufacturer.
machine tion on the machine movable section.
Noise interference due to incorrect Check if the cable meets the recommended Use the specified input signal wires.
input signal wire specifications specification.
Noise interference due to long dis- The wiring distance must be 3 m max. and Shorten the wiring distance for input signal line to the
tance of input signal line the impedance a few hundreds ohm max. specified value.
Noise interference due to incorrect Check if the cable meets the recommended Use the specified encoder cable.
encoder cable specifications specification.
Noise interference due to long The wiring distance must be 20 m max. Shorten the encoder cable wiring distance to the speci-
encoder cable wiring distance fied value.
Noise due to damaged encoder cable Check if the encoder cable is not damaged Modify the encoder cable layout.
or bent.
Excessive noise to the encoder cable Check if the encoder cable is bundled with Install a surge suppressor to the encoder cable.
high-current line.
FG electrical potential varies by Check if the machine is correctly grounded. Ground the machine separately from PG side FG.
influence of such machines on the
servomotor side as welders.
SERVOPACK pulse counting error Check if there is noise interference on the Take measure against noise for the encoder wiring.
due to noise signal line from encoder.
Encoder fault − Replace the servomotor.
Servomotor Speed loop gain value (Pn100) too Factory setting: Kv=40.0 Hz* Reduce speed loop gain (Pn100) preset value.
Vibrates at high.
about 200 to Position loop gain value (Pn102) too Factory setting: Kp=40.0/s* Reduce position loop gain (Pn102) preset value.
400 Hz high
Incorrect speed loop integral time Factory setting: Ti=20.00 ms* Correct the speed loop integral time constant (Pn101)
constant (Pn101) setting setting.
When the autotuning is not used: − Correct the rotational moment of inertia ratio data
Incorrect rotational moment of iner- (Pn103).
tia ratio data
High Speed loop gain value (Pn100) too Factory setting: Kv=40.0 Hz* Reduce the speed loop gain (Pn100) preset value.
Rotation high
Speed Position loop gain value (Pn102) too Factory setting: Kp=40.0/s* Reduce the position loop gain (Pn102) preset value.

Inspection, Maintenance, and Troubleshooting

Overshoot on high
Starting and Incorrect speed loop integral time Correct the speed loop integral time constant (Pn101)
Factory setting: Ti=20.00 ms*
Stopping. constant (Pn101) setting setting.
Incorrect moment of inertia ratio − Correct the rotational moment of inertia ratio data
(Pn103) setting (Pn103).

* Refer to 9.3.2 Servo Gain Manual Tuning.

10

10-17
 10 Inspection, Maintenance, and Troubleshooting
10.1.6 Troubleshooting for Malfunction without Alarm Display

Table 10.7 Troubleshooting for Malfunction without Alarm Display (cont’d)

Inspection Corrective Actions
Symptom Cause
: Turn OFF the servo system before executing operations.
Absolute Noise interference due to improper Check if the cable meets recommended Use encoder cable with the specified specifications.
Encoder encoder cable specifications specification.
Position Noise interference because the The wiring distance must be 20 m max. The encoder cable distance must be within the specified
Difference encoder cable distance is too long. range.
Error Noise interference due to damaged Noise interference occurred to the signal Correct the encoder cable layout.
(The position encoder cable line because the encoder cable is bent or its
saved in host sheath damaged.
controller Excessive noise to the encoder cable Check if the encoder cable is bundled with a Change the encoder cable layout so that no surge is
when the high-current line. applied.
power turned FG electrical potential varies by Check if the machine is correctly grounded. Ground the machine separately from PG side FG.
OFF is dif- influence of such machines on the
servomotor side as welder.
ferent from
the position SERVOPACK pulse counting error Check if the signal line from the encoder Take measures against noise for encoder wiring.
due to noise interference receives influence from noise interference.
when the
power turned Excessive vibration and shock to the Vibration from machine occurred or servo- Reduce vibration from machine or mount securely the
encoder motor mounting such as mounting surface servomotor.
ON.) precision, fixing, and alignment is incor-
rect.
Encoder fault − Replace the servomotor.
SERVOPACK fault Check the multiturn data from SERVO- Replace the SERVOPACK.
PACK.
Host controller multiturn data read- Check the error detection at the host con- Correct the error detection section of host controller.
ing error troller.
Check if the host controller executes data Execute the multiturn data parity check.
parity check.
Check noise on the signal line between
SERVOPACK and the host controller.
Overtravel An overtravel signal is output (P-OT Check if the voltage of input signal external Connect to the external +24 V power supply.
(OT) (CN1-42) or N-OT (CN1-43)) is at power supply (+24 V) is correct.
(Movement H. Check if the overtravel limit switch (SW) Correct the overtravel limit SW.
over the zone operates properly.
specified by Check if the overtravel limit switch (SW) is Correct the overtravel limit SW wiring.
the host con- connected correctly.
troller) The overtravel signal does not oper- Check the fluctuation of the input signal Stabilize the external +24 V power supply voltage.
ate normally (P-OT or N-OT signal external power supply (+24 V) voltage.
sometimes changes). Check if the overtravel limit switch (SW) Adjust the overtravel limit SW so that it operates cor-
activate correctly. rectly.
Check if the overtravel limit switch wiring Correct the overtravel limit SW wiring.
is correct. (check for damaged cables, etc.)
Incorrect P-OT/N-OT signal selec- Check the P-OT signal selection (Pn50A.3). Correct the setting of P-OT signal selection (Pn50A.3).
tion Check the N-OT signal selection Correct the setting of N-OT signal selection (Pn50B.0).
(Pn50B.0).
Incorrect servomotor stop method Check if “coast to stop” in servo OFF status Check Pn001.0 and Pn001.1.
selection is selected.
Check if “coast to stop” in torque control Check Pn001.0 and Pn001.1.
mode is selected.
Improper overtravel position setting The distance to the position of OT (over- Correct the OT position.
travel) is too short considering the coasting
distance.
Improper encoder cable specifica- Check if the cable meets the recommended Use encoder cable with the specified specifications.
tions specifications.
Noise interference because the The wiring distance must be 20 m max. The encoder cable distance must be within the specified
encoder cable distance is too long. range.
Noise influence due to damaged Check if the encoder cable is bent or its Correct the encoder cable layout.
encoder cable sheath is damaged.
Excessive noise interference to Check if the encoder cable is bundled with a Change the encoder cable layout so that no surge is
encoder cable high-current line. applied.
FG electrical potential varies by Check if the machine is correctly grounded. Ground the machine separately from PG side FG.
influence of such machines on the
servomotor side as welders.
SERVOPACK pulse count error due Check if the signal line from the encoder is Take a measure against noise for the encoder wiring.
to noise influenced by noise.

10-18
 10.1 Troubleshooting

Table 10.7 Troubleshooting for Malfunction without Alarm Display (cont’d)

Inspection Corrective Actions
Symptom Cause
: Turn OFF the servo system before executing operations.
Overtravel Excessive vibration and shock to the Machine vibration occurred or servomotor Reduce the machine vibration or mount the servomotor
(OT) encoder mounting such as mounting surface preci- securely.
(Movement sion, fixing, alignment is incorrect.
over the zone Encoder fault − Replace the servomotor.
specified by SERVOPACK fault A SERVOPACK fault occurred. Replace the SERVOPACK.
the host con-
troller)
(cont’d)
Position error Unsecured coupling between Check if a position error occurs at the cou- Secure the coupling between the machine and servomo-
(without machine and servomotor pling between machine and servomotor. tor.
alarm) Noise interference due to improper Check if the cable meets the recommended Use input signal cable with the specified specifications.
input signal cable specifications specifications.
Noise interference because the input The wiring distance must be 3 m max. and The input signal cable distance must be within the speci-
signal cable distance is too long. the impedance several hundreds ohm max. fied range.
Encoder fault (pulse count does not − Replace the servomotor.
change)
Servomotor Surrounding air temperature too high Measure servomotor surrounding air tem- Reduce surrounding air temperature to 40°C max.
Overheated perature.
Servomotor surface dirty Check visually. Clean dust and oil from servomotor surface.
Overloaded Run under no load. Reconsider load and operation conditions or replace with
larger capacity servomotor.

Inspection, Maintenance, and Troubleshooting

10

10-19
 10 Inspection, Maintenance, and Troubleshooting
10.2.1 Servomotor Inspection

10.2 Inspection and Maintenance

10.2.1 Servomotor Inspection
The AC servomotors are brushless. Simple, daily inspection is sufficient. The inspection and maintenance fre-
quencies in Table 10.8 are only guidelines. Increase or decrease the frequency to suit the operating conditions and
environment.

IMPORTANT During inspection and maintenance, do not disassemble the servomotor. If disassembly of the servomotor is
required, contact your Yaskawa representative.

Table 10.8 Servomotor Inspections

Item Frequency Procedure Comments
Vibration and Noise Daily Touch and listen. Levels higher than normal?
Exterior According to degree Clean with cloth or compressed −
of contamination air.
Insulation Resistance At least once a year Disconnect SERVOPACK and Contact your Yaskawa repre-
Measurement test insulation resistance at 500 V. sentative if the insulation
Must exceed 10 MΩ .∗ resistance is below 10 MΩ .
Replacing Oil Seal At least once every Contact your Yaskawa represen- Applies only to servomotors
5,000 hours tative. with oil seals.
Overhaul At least once every Contact your Yaskawa represen- −
20,000 hours or 5 tative.
years
* Measure across the servomotor FG and the phase-U, phase-V, or phase-W power line.

10.2.2 SERVOPACK Inspection

For inspection and maintenance of the SERVOPACK, follow the inspection procedures in Table 10.9 at least
once every year. Other routine inspections are not required.

Table 10.9 SERVOPACK Inspections

Item Frequency Procedure Comments

Check the At least once a year Check for dust, dirt, and oil Clean with cloth or compressed air.
Appearance on the surfaces.
Loose Screws Check for loose terminal Tighten any loose screws.
block and connector
screws.

10-20
 10.2 Inspection and Maintenance

10.2.3 SERVOPACK’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid
failure, replace these parts at the frequency indicated.

Refer to the standard replacement period in the following table, contact your Yaskawa representative. After
an examination of the part in question, we will determine whether the parts should be replaced or not.

The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship-
ping. Be sure to confirm that the parameters are properly set before starting operation.
Table 10.10 Periodical Part Replacement
Part Standard Operating Conditions
Replacement
Period
Cooling Fan 4 to 5 years • Surrounding Air Temperature:
Smoothing Capacitor 7 to 8 years Annual average of 30°C
Relays − • Load Factor: 80% max.
10 years • Operation Rate: 20 hours/day
Fuses
max.
Aluminum 5 years
Electrolytic
Capacitor on Circuit
Board

Inspection, Maintenance, and Troubleshooting

10

10-21
 11
Appendix

11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - 11-2

11.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - 11-4

11.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - 11-7

11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 11-7
11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01 - 11-8
11.2.3 Example of Connection to OMRON’s Motion Control Unit - - - - - - - 11-9
11.2.4 Example of Connection to OMRON’s Position Control Unit - - - - - 11-10
11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning Unit
(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - -11-11
11.2.6 Example of Connection to MITSUBISHI’s AD75
Positioning Unit (SERVOPACK in Position Control Mode) - - - - - - 11-12

11.3 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13

11.3.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13
11.3.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-14

11.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - 11-29

Appendix

11

11-1
 11 Appendix
11.1.1 Selection Example for Speed Control

11.1 Servomotor Capacity Selection Examples

11.1.1 Selection Example for Speed Control
l

Mechanical Specifications
Linear motion Servomotor

1
Coupling
Ball screw
• Load speed: V = 15 m/min • Feeding times: n = 40 times/min
• Linear motion section mass: M = 500 kg • Feeding distance: = 0.275 m
• Ball screw length: LB = 1.4 m • Feeding time: tm = 1.2 s max.
• Ball screw diameter: DB = 0.04 m • Friction coefficient: μ = 0.2
• Ball screw lead: PB = 0.01 m • Mechanical efficiency: η = 0.9 (90%)
• Coupling mass: MC = 1 kg
• Coupling outer diameter: DC = 0.06 m

(1) Speed Diagram

V 60 60
15 t = n = 40 = 1.5 (s)
Speed
where ta = td
(m/min) a Time (s)
t tc td
60 × 60 × 0.275
tm ta = tm − V = 1.2 − 15 = 0.1 (s)
t
tc = 1.2 − 0.1 × 2 = 1.0 (s)

(2) Rotation Speed

• Load axis rotation speed
N = V = 15 = 1500 (min-1 )
PB 0.01
• Motor shaft rotation speed with the direct coupling: Gear ratio 1/R = 1/1
Therefore,
NM = N R = 1500 × 1 = 1500 (min-1 )

(3) Load torque

9.8μ M PB 9.8 × 0.2 × 500 × 0.01
TL = = = 1.73 (N m)
2πR η 2π × 1 × 0.9

(4) Load Moment of Inertia

• Linear motion section
2 2
JL1 = M
P
( 2πR )B
= 500 × ( 2π0.01× 1 ) = 12.7 × 10-4 (kg m2)

• Ball screw
JB = π ρ LB D B4 = π × 7.87 × 10-3 × 1.4 × (0.04)4 = 27.7 × 10-4 (kg m 2 )
32 32
• Coupling
JC = 1 MC DC2 = 1 × 1 × (0.06)2 = 4.5 × 10-4 (kg m2)
8 8
• Load moment of inertia at motor shaft
JL = J L1 + JB + J C = 44.9 × 10 -4 (kg m 2 )

11-2
 11.1 Servomotor Capacity Selection Examples

(5) Load Moving Power

2πNM TL 2π × 1500 × 1.73
PO = = = 272 (W)
60 60

(6) Load Acceleration Power

2 2 44.9 × 10-4
Pa = ( 2π
60
N )
M
JL
ta
=
2π
60
(× 1500 ) 0.1
= 1108 (W)

(7) Servomotor Provisional Selection

(a) Selecting Conditions
• TL ≤ Motor rated torque
• Pa + Po = (1 to 2) × Motor rated output
• NM ≤ Motor rated speed
• JL ≤ SERVOPACK allowable load moment of inertia
The followings satisfy the conditions.
• SGMGH-09A2A21 servomotor
• SGDH-10AE SERVOPACK

(b) Specifications of the Provisionally Selected Servomotor and SERVOPACK

• Rated output: 850 (W)
• Rated motor speed: 1500 (min-1)
• Rated torque: 5.39 (N⋅m)
• Instantaneous peak torque: 13.8 (N⋅m)
• Servomotor moment of inertia: 13.9 × 10-4 (kg⋅m2)
• SERVOPACK allowable load moment of inertia: 69.58 × 10-4 (kg⋅m2)

(8) Verification on the Provisionally Selected Servomotor

• Required starting torque
2πN M (J M + J L ) 2π × 1500 × (13.9 + 44.9) × 10 −4
TP = + TL = + 1.73
60ta 60 × 0.1
11 (N m) < Instantaneous peak torque Satisfactory

• Required braking torque

2πN M (J M+ J L ) 2π × 1500 × (13.9 + 44.9) × 10 −4
TS = − TL = − 1.73
60td 60 × 0.1
7.5 (Nm) < Instantaneous peak torqueSatisfactory

• Torque efficiency
2 2 2 2 2 2
Τ P  ta + TL  tc + T S  td (11) × 0.1 + (1.73) × 1.0 + (7.5) × 0.1
T rms = =
t 1.5
3.72 (Nm) < Rated torqueSatisfactory
Appendix

11

11-3
 11 Appendix
11.1.2 Selection Example for Position Control

(9) Result
The provisionally selected servomotor and SERVOPACK are confirmed to be applicable.
The torque diagram is shown below.
(N m) Torque
Speed
11

1.73
0

-7.5
0.1 1.0 0.1
1.5

11.1.2 Selection Example for Position Control

Mechanical Specifications
Linear motion Servomotor

1
Coupling
Ball screw
• Load speed: V = 15 m/min • Positioning times: n = 40 times/min
• Linear motion section mass: M = 80 kg • Positioning distance: = 0.25 m
• Ball screw length: LB = 0.8 m • Positioning time: tm = Less than 1.2 s
• Ball screw diameter: DB = 0.016 m • Electrical stop accuracy: δ = ± 0.01 mm
• Ball screw lead: PB = 0.005 m • Friction coefficient: μ = 0.2
• Coupling mass: MC = 0.3 kg • Mechanical efficiency: η = 0.9 (90%)
• Coupling outer diameter: DC =0 .03 m

(1) Speed Diagram

Reference 60 60
15 V
pulse
t = ------ = ------ = 1.5 ( s )
n 40
Speed Load
(m/min) speed Where ta = td, ts = 0.1 (s)
ta tc td ts
ta = tm − ts − 60 = 1.2 − 0.1 − 60 × 0.25 = 0.1 (s)
Time (s)
tm V 15
t
tc = 1.2 – 0.1 – 0.1 × 2 = 0.9 ( s )

(2) Rotation Speed

• Load axis rotation speed
N = V = 15 = 3000 (min-1 )
PB 0.005
• Motor shaft rotation speed with direct coupling: Gear ratio 1/R = 1/1
Therefore,
NM = N R = 3000 × 1 = 3000 (min -1)

(3) Load Torque

9.8μ M PB 9.8 × 0.2 × 80 × 0.005
TL = = = 0.139 (N m)
2πR η 2π × 1 × 0.9

11-4
 11.1 Servomotor Capacity Selection Examples

(4) Load Moment of Inertia

• Liner motion section
( 2πR ) ( 2π0.005
× 1)
P 2 2
B
JL1 = M = 80 × = 0.507 × 10-4 (kg m 2 )

• Ball screw
JB = π ρ LB DB4 = π × 7.87 × 103 × 0.8 × (0.016)4 = 0.405 × 10-4 (kg m2)
32 32
• Coupling
JC = 1 MC DC4 = 1 × 0.3 × (0.03)2 = 0.338 × 10-4 (kg m2)
8 8
• Load moment of inertia at the motor shaft
JL = JL1 JB JC = 1.25 × 10-4 (kg m2)

(5) Load Moving Power

2πNM TL 2π × 3000 × 0.139
PO = = = 43.7 (W)
60 60

(6) Load Acceleration Power

1.25 × 10 -4
( 2π N ) ( )
2 JL 2π 2
Pa = M = × 3000 = 123.4 (W)
60 ta 60 0.1

(7) Provisionally Servomotor Selection

(a) Selecting Conditions
• TL ≤ Motor rated torque
• Pa + Po = (1 to 2) × Motor rated output
• NM ≤ Motor rated speed
• JL ≤ SERVOPACK allowable load moment of inertia
The followings satisfy the conditions.
• SGMPH-02AAA21 servomotor
• SGDH-02AE SERVOPACK

(b) Specifications of Servomotor and SERVOPACK

• Rated output: 200 (W)
• Rated motor speed: 3000 (min-1)
• Rated torque: 0.637 (N⋅m)
• Instantaneous peak torque: 1.91 (N⋅m)
• Servomotor rotor moment of inertia: 0.209 × 10-4 (kg⋅m2)
• SERVOPACK allowable load moment of inertia: 3.69 × 10-4 (kg⋅m2)
• Number of encoder pulses: 2048 (P/R)
Appendix

11

11-5
 11 Appendix
11.1.2 Selection Example for Position Control

(8) Verification on Provisionally Selected Servomotor

• Required starting torque
2πN M (J M + J L ) 2π × 3000 × (0.209 + 1.25) × 10−4
TP = + TL = + 0.139
60ta 60 × 0.1
0.597 (Nm) < Instantaneous peak torqueSatisfactory

• Required braking torque

2πN M (J M+ J L ) 2π × 3000 × (0.209 + 1.25) × 10 −4
TS = − TL = − 0.139
60ta 60 × 0.1
0.319 (N m) < Instantaneous peak torque Satisfactory

• Effective torque
2 2 2 2 2 2
ΤP ta + TL tc + T S td (0.597) × 0.1 + (0.139) × 0.9 + (0.319) × 0.1
T rms = =
t 1.5
0.205 (N m) < Rated torque Satisfactory

The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient. In the
next step, their performance in position control are checked.

(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio ( AB )

As the electrical stop accuracy δ = ±0.01 mm, take the position detection unit Δ = 0.01 mm/pulse.
PB B 5 B
Δ × ( A ) = 0.01 × ( A ) = 2048 × 4
B = 2048 × 4
k= A
500

(10) Reference Pulse Frequency

vs = 1000V = 1000 × 15 = 25,000 (pps)
60 × Δ 60 × 0.01

(11) Error Counter Pulses

Position loop gain Kp = 30 (1/S)
ε = vs = 25,000 = 833 (pulse)
Kp 30

(12) Electrical Stop Accuracy

ε 833
±Δε = ± =± ± 0.17 < ± 1 (pulse) = ± 0.01 (pulse)
(SERVOPACK × NM 5000 × 3000
control range) NR 3000

The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.

11-6
 11.2 Connection to Host Controller

11.2 Connection to Host Controller

11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01
Cable for analog monitor
(JZSP-CA01) SGDM / SGDH
CN5
Analog input ground Black
4 GND
Black
3 GND
Standard analog input White Analog monitor 1
2 (torque reference monitor)
Standard analog input Red
1 Analog monitor 2
(speed reference monitor)

MP2200 / MP2300
SVA-01 SGDM/SGDH SERVOPACK
CN1/CN2 CN1
SG 1 2 SG
AO_0 (NREF) 2 5 V-REF
PA 3 33 PA
PAL 4 34 /PA
PC 5 19 PC
PCL 6 20 /PC
SG 7 6 SG
AI_0 (VTG) 8
AO_1 (TREF) 9 9 T-REF
0 V (For 24V) 10 32 ALM-
0 V (For 24V) 11
/C-SEL
DO_2 (PCON) 12 41 (Control mode switch)
/P-CL
DO_4 13 45 (Depending on the user setting)
DO_3 14 46 /N-CL
(Depending on the user setting)
DI_3 (P-OT) 15 42 P-OT
+24 V 16 47 +24V IN
DI_0 (SVALM) 17 31 ALM+
DI_2 (ZERO/HOME LS) 18
SG 19 10 SG
SEN (5V) 20 4 SEN
AI_1 (TMON) 21
㧙 22
PB 23 35 PB
PBL 24 36 /PB
SG 25 28 TGON- (/BRK-)
AI-GND 26 27 TGON+ (/BRK+)
AO-GND 27 1 SG
0 V (For 24V) 28 30 /S-RDY-
0 V (For 24V) 29
DO_1 (ALMRST) 30 44 /ALM-RST
DO_0 (SV ON) 31 40 /S-ON
DO_5 (SEN for VS866) 32
DI_4 (N-OT) 33 43 N-OT
+24 V 34
DI_1 (SRDY) 35 29 /S-RDY+
DI_5 (EXT/DEC) 36 22 BAT-
21 BAT+
Hood FG FG‫ ޓ‬Shell

Battery for absolute encoder (3.6V)

EXT/DEC input
Battery for absolute encoder (0V)
ZERO/HOME LS input
P-OT input Brake interlock output (+)
N-OT input Brake interlock output (-)
Appendix

11

11-7
 11 Appendix
11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01

11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01

MP920 Series SVA-01
manufactured by
Yaskawa SGDM/SGDH SERVOPACK

CN1 to CN4 ∗ CN1

2 NREF V-REF 5 L1C/r
1 SG SG 2 L2C/t
Control power supply
3 PA PAO 33 L1/R
4 PAL /PAO 34 L2/S
23 PB PBO 35 Main circuit power supply
L3/T
24 PBL /PBO 36
5 PC PCO 19
6 PCL /PCO 20 Servomotor
7 SG SG 6
A(1)
U
16 +24V OUT +24V-IN 47 B (2) M
V
34 C(3)
W
/S-ON 40 D (4)
31 SVON
30 ALMRST /ALM-RST 44
12 PCON /P-CON 41 CN2 PG
13 OTR N-OT 43
14 OTF P-OT 42

32 DOSEN
11 0V

20 SEN SEN 4
19 SG SG 10
28 0V /S-RDY+ 30
29 0V
17 SVALM ALM+ 31
10 0V ALM- 32
35 SVRDY /S-RDY+ 29
18 BRK /TGON+ 27
22 BAT BAT(+) 21
21 0BAT BAT(-) 22
FG

* represents twisted-pair wires.

11-8
 11.2 Connection to Host Controller

11.2.3 Example of Connection to OMRON’s Motion Control Unit

MC unit manufactured
by OMRON
C200H-MC221
(CS1W-MC221/MC421)
(CV500-MC221/MC421)
SGDM/SGDH SERVOPACK
DRV connector
24 VDC
24V input 1 L1C/r
24V input ground 2 CN1 L2C/t
Control
X -axis alarm input 3 ALM+ 31 power supply
L1/R
X-axis run reference output 4 /S-ON 40 L2/S
X-axis alarm reset output 5 /ALM-RST 44 Main circuit
L3/T
X-axis SEN signal ground 8 㧖2 SG㧖1 2 power supply
X-axis SEN signal output 9 SEN㧖1 4
X-axis feedback ground 10 SG 1 Servomotor
X-axis phase-A input 11 PAO 33
X-axis phase-/A input 12 A(1)
/PAO 34 U
X-axis phase-B input 13 /PBO 36 B(2) M
V
X-axis phase-/B input 14 PBO 35 C(3)
X-axis phase-Z input 15 W
PCO 19 D(4)
X-axis phase-/Z input 16 /PCO 20
X-axis speed reference 17 V-REF 5
Axis speed reference ground 18 SG 6
CN2 PG
FG Shell
24 V output 19 +24-IN 47
24 V output ground 20 ALM- 32

I/O connector
24 VDC
24 V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6 Battery㧖1
X-axis origin proximity input 10 BAT(+)㧖1 21
24 V input ground 14 BAT(-) 㧖1 22
2.8 to 4.5 VDC


* 1. Connect when an absolute encoder is used.

When a battery is installed in the SERVOPACK, no battery is required for CN1 (between 21 and 22).
x Battery for CN1: ER6VC3 (3.6 V, 2000 mAh)
x Battery installed in the SERVOPACK: JZSP-BA01-1 (3.6 V, 1000 mAh)
* 2. represents twisted-pair wires.

Note: 1. Only signals applicable to OMRON’s MC unit and Yaskawa’s SGDM/SGDH SERVOPACK are
shown in the diagram.
2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
The power supply and wiring must be in accordance with the power supply specifications of the
SERVOPACK to be used.
3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
4. Open the signal lines not to be used.
5. The above connection diagram shows only X-axis connection. When using another axes, make
connection to the SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connec-
tor section must be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.
Appendix

11

11-9
 11 Appendix
11.2.4 Example of Connection to OMRON’s Position Control Unit

11.2.4 Example of Connection to OMRON’s Position Control Unit

Position control unit I/O power supply

+24V + +24 V
CS1W-NC133 / 233 / 433 -
manufactured by OMRON 0 24

5V power supply for pulse output A4 5 VDC SGDM/SGDH SERVOPACK

5V GND for pulse output A3 2
4 CN1
CW(+) output A5 PULS 7 L1C/r
CW(-) output A6 /PULS 8 Control
L2C/t power supply
CCW(+) output A7 SIGN 11 L1/R
CCW(-) output A8 /SIGN 12 L2/S
CLR 15 Main circuit
Error counter reset output A11 L3/T power supply
/CLR 14
Origin input signal A16 PCO 19
Origin input common A14 /PCO 20
Servomotor
COIN+ 25
24 V power supply for output A1 /COIN- 26 A(1)
U
24 V GND for output A2 B(2) M
+24V-IN 47 V
C(3)
/S-ON 40 W
P-OT 42 D(4)
N-OT 43
/ALM-RST 44
1Ry 1 ALM+ 31 CN2 PG
ALM- 32
X-axis external interrupt input A19
X-axis origin proximity input A21
X-axis CCW limit input A23
Connector
X-axis CW limit input A22
shell 3
X-axis immediate stop input A20

* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consid-
eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Connect the shield wire to the connector shell.

* 4. represents twisted-pair wires.

Note: Only signals applicable to OMRON’s MC unit (positioning unit) and Yaskawa’s SGDM/SGDH
SERVOPACK are shown in the diagram.

11-10
 11.2 Connection to Host Controller

11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning

Unit (SERVOPACK in Speed Control Mode)
SGDM/SGDH SERVOPACK
I/O power supply
+24V + +24 V
Positioning unit AD72 -
0 24 V L1C/r
manufactured Control
L2C/t power supply
by Mitsubishi ∗2 L1/R
L2/S Main circuit
CONT
L3/T power supply
1 ON when
positioning is
2 STOP canceled.
3 DOG ON when
proximity is CN1 Servomotor
detected.
SERVO +24V-IN 47 A(1)
1 /S-ON 40 U
B (2) M
2 SV-ON 1Ry 1 V
C(3)
3 ALM+ 31 W
D (4)
READY 1Ry
4 ALM- 32
5 V-REF (T-REF) 5(9)
6 Speed reference SG 6(10) CN2 PG
ENCO ∗4
4 PBO 35
5 PULSE A /PBO 36
7 PAO 33
8 PULSE B /PAO 34 CN1
10 PCO 19 42 P-OT
11 PULSE C /PCO 20
3 0V SG 1 43 N-OT 024 V
6 0V
9 0V
Connector
shell ∗3

* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consid-
eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Pin numbers are the same both for X-axis and Y-axis.
* 3. Connect the connector wire to the connector shell.

* 4. represents twisted-pair wires.

Note: Only signals applicable to Mitsubishi’s AD72 Positioning Unit and Yaskawa’s SGDM/SGDH
SERVOPACK are shown in the diagram.

Appendix

11

11-11
 11 Appendix
11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)

11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit

(SERVOPACK in Position Control Mode)
I/O power supply SGDM/SGDH SERVOPACK
Positioning unit AD75 +24V + +24 V
manufactured by - 0 24V
Mitsubishi L1C/r
Control
L2C/t power supply
X-axis (Y-axis)
L1/R
26 L2/S
1Ry Main circuit
7 READY L3/T power supply
14 ON when
STOP positioning is
canceled. Servomotor
11 DOG ON when
CN1
proximity is A(1)
detected.
U
PCO 19 B(2) M
24 V
C(3)
25 PGO /PCO 20 W
D(4)

1Ry  PG
ALM+ 31 CN2

ALM - 32

3 PULS 7
21 PULSE /PULS 8 CN1
47 +24V
4 SIGN 11
22 SIGN /SIGN 12 40 /S-ON
2.2Kǡ CLR 15 42 P-OT
5 /CLR 14 43 N-OT 0 24V
23 CLEAR

* The ALM signal is output for about two seconds when the power is turned ON. Take this into consider-
ation when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry
to stop the main circuit power supply to the SERVOPACK.
Note: Only signals applicable to Mitsubishi’s AD75 Positioning Unit and Yaskawa’s SGDM/SGDH
SERVOPACK are shown in the diagram.

11-12
 11.3 List of Parameters

11.3 List of Parameters

11.3.1 Utility Functions List
The following list shows the available utility functions.
Parameter Function
No.
Fn000 Alarm traceback data display
Fn001 Not used for the SERVOPACKs of 22 kW or more.
Fn002 JOG mode operation
Fn003 Zero-point search mode
Fn004 Reserved (Do not change.)
Fn005 Parameter setting initialization
Fn006 Alarm traceback data clear
Fn007 Not used for the SERVOPACKs of 22 kW or more.
Fn008 Absolute encoder multiturn reset and encoder alarm reset
Fn009 Automatic tuning of analog (speed, torque) reference offset
Fn00A Manual adjustment of speed reference offset
Fn00B Manual adjustment of torque reference offset
Fn00C Manual zero-adjustment of analog monitor output
Fn00D Manual gain-adjustment of analog monitor output
Fn00E Automatic offset-adjustment of motor current detection signal
Fn00F Manual offset-adjustment of motor current detection signal
Fn010 Password setting (protects parameters from being changed.)
Fn011 Motor models display
Fn012 Software version display
Fn013 Multiturn limit value setting change when a Multiturn Limit Disagreement alarm (A.CC) occurs
Fn014 Application module detection results clear

Appendix

11

11-13
 11 Appendix
11.3.2 List of Parameters

11.3.2 List of Parameters

(1) Parameter Display
Parameter settings are displayed as shown below.

Decimal display
in five digit

Since each digit in the function selection parameters has a significant meaning, the value can only be changed for each
INFO
individual digit. Each digit displays a value within its own setting range.

(2) Definition of Display for Function Selection Parameters

Each digit of the function selection parameters has a meaning.
For example, the rightmost digit of parameter Pn000 is expressed as “Pn000.0.”

IMPORTANT 1. Each digit of the function selection parameters is defined as shown below. The following explains the
purpose of each digit of a parameter.
• Pn000.0 or n.××׆: Indicates the value for the 1st digit of parameter Pn000.
• Pn000.1 or n.×׆×: Indicates the value for the 2nd digit of parameter Pn000.
• Pn000.2 or n.׆××: Indicates the value for the 3rd digit of parameter Pn000.
• Pn000.3 or n.†×××: Indicates the value for the 4th digit of parameter Pn000.

1st digit
2nd digit
3rd digit
4th digit
Hexadecimal display
How to Display Parameters

2. After changing the parameters with “After restart” mentioned in “Setting Validation” column in the table
on the following pages, turn OFF the main circuit and control power supplies and then turn them ON
again to enable the new settings.

11-14
 11.3 List of Parameters

Parameter Factory Setting

Name Setting Range Units
No. Setting Validation
Pn000 Function Selection Basic Switches − − 0000 After restart

4th 3rd 2nd 1st

digit digit digit digit

n.
Direction Selection

0 Sets CCW as forward direction.

1 Sets CW as forward direction (Reverse Rotation Mode).
2 and 3 Reserved (Do not change.)

Control Method Selection

0 Speed control (analog reference)

1 Position control (pulse train reference)
2 Torque control (analog reference)
3 Internally set speed control (contact reference)
4 Internally set speed control (contact reference) Speed control (analog reference)
5 Internally set speed control (contact reference) Position control (pulse train reference)
6 Internally set speed control (contact reference) Torque control (analog reference)
7 Position control (pulse train reference) Speed control (analog reference)
8 Position control (pulse train reference) Torque control (analog reference)
9 Torque control (analog reference) Speed control (analog reference)
A Speed control (analog reference) Zero clamp
B Position control (pulse train reference) Position control (Inhibit)

Axis Address
0 to F Sets SERVOPACK axis address.

Reserved (Do not change)

Appendix

11

11-15
 11 Appendix
11.3.2 List of Parameters

Parameter Factory Setting

Name Setting Range Units
No. Setting Validation
Pn001 Function Selection Application Switches 1 − − 0000 After restart

4th 3rd 2nd 1st

digit digit digit digit
n.
Servo OFF or Alarm Stop Mode
0 Stops the motor by applying dynamic brake (DB).
1 Stops the motor by applying dynamic brake (DB) and then releases DB.
2 Makes the motor coast to a stop state without using the dynamic brake (DB).

Overtravel (OT) Stop Mode

0 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).
1 Sets the torque of Pn406 to the maximum value, decelerate the motor to a stop, and then sets it
to servolock state.

2 Sets the torque of Pn406 to the maximum value, decelerates the motor to a stop, and then sets it
to coasting state.

AC/DC Power Input Selection

0 Not applicable to main circuit DC power input: Input AC power supply through L1, L2, and L3
terminals.
1 Applicable to main circuit DC power input: Input DC power supply between + 1 and 㧙

Warning Code Output Selection

0 ALO1, ALO2, and ALO3 output only alarm codes.

1 ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning
codes are output, ALM signal output remains ON (normal state).

Pn002 Function Selection Application Switches 2 − − 0000 After restart

4th 3rd 2nd 1st

digit digit digit digit

n.
Speed Control Option (T-REF Terminal Allocation)
0 N/A
1 Uses T-REF as an external torque limit input.
(Refer to "8.9.3 Torque Limiting Using an Analog Voltage Reference.")

2 Uses T-REF as a torque feed forward input.

(Refer to "9.4.2 Torque Feed-forward.")

3 Uses T-REF as an external torque limit input when P-CL and N-CL are ON.
(Refer to "8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference.")

Torque Control Option (V-REF Terminal Allocation)

0 N/A
1 Uses V-REF as an external speed limit input.

Absolute Encoder Usage

0 Uses absolute encoder as an absolute encoder.

1 Uses absolute encoder as an incremental encoder.

Reserved (Do not change)

11-16
 11.3 List of Parameters

Parameter Factory Setting

Name Setting Range Units
No. Setting Validation
Pn003 Function Selection Application Switches 3 − − 0002 After restart
4th 3rd 2nd 1st
digit digit digit digit

n.
Analog Monitor 1 Torque Reference Monitor
0 Motor speed: 1 V/1000 min-1
1 Speed reference: 1 V/1000 min-1
2 Internal torque reference: 1 V/100%
3 Position error: 0.05 V/1 reference unit
4 Position error: 0.05 V/100 reference units
5 Reference pulse frequency (converted to min-1): 1 V/1000 min-1
6 Motor speed × 4: 1 V/250 min-1
7 Motor speed × 8: 1 V/125 min-1

8 to F Reserved (Do not change)

Analog Monitor 2 Speed Reference Monitor

0 to F Same as Analog Monitor 1 Torque Reference Monitor

Reserved (Do not change)

Reserved (Do not change)

Pn004 Reserved (Do not change) − − 0000 −

Pn005 Reserved (Do not change) − − 0000 −
Pn100 Speed Loop Gain 1 to 2000 1 Hz 40 Immediately
Pn101 Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately
Pn102 Position Loop Gain 1 to 2000 1/s 40 Immediately
Pn103 Moment of Inertia Ratio 0 to 20000 1% 0 Immediately
Pn104 2nd Speed Loop Gain 1 to 2000 1 Hz 40 Immediately
Pn105 2nd Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately
Pn106 2nd Position Loop Gain 1 to 2000 1/s 40 Immediately
Pn107 Bias 0 to 450 1 min-1 0 Immediately
Pn108 Bias Width Addition 0 to 250 1 reference 7 Immediately
unit
Pn109 Feed-forward 0 to 100 1% 0 Immediately
Appendix

11

11-17
 11 Appendix
11.3.2 List of Parameters

Parameter Factory Setting

Name Setting Range Units
No. Setting Validation
Pn10A Feed-forward Filter Time Constant 0 to 6400 0.01 ms 0 Immediately
Pn10B Gain-related Application Switches 0000 to 2314 − 0000 After restart/
Immediately
4th 3rd 2nd 1st
digit digit digit digit
n.
Mode Switch Selection Setting
Validation
0 Uses internal torque reference as the condition (Level setting: Pn10C) Immediately
1 Uses speed reference as the condition (Level setting: Pn10D) Immediately
2 Uses acceleration as the condition (Level setting: Pn10E) Immediately
3 Uses position error pulse as the condition (Level setting: Pn10F) Immediately
4 No mode switch function available Immediately

Speed Loop Control Method Setting

Validation
0 PI control After restart
1 IP control After restart
2 and 3 Reserved (Do not change) After restart

Automatic Gain Switching Condition Selection Setting

Validation
0 Automatic gain switching disabled (Factory setting) After restart
1 Switches the gain according to the position reference condition only. After restart
2 Switches the gain according to the position error condition only. After restart
3 Switches the gain according to the position reference and After restart
position error condition only.

Reserved (Do not change)

Pn10C Mode Switch Torque Reference 0 to 800 1% 200 Immediately

Pn10D Mode Switch Speed Reference 0 to 10000 1 min -1 0 Immediately
Pn10E Mode Switch Acceleration 0 to 3000 1 min-1/ s 0 Immediately
Pn10F Mode Switch Error Pulse 0 to 10000 1 reference 0 Immediately
unit

11-18
 11.3 List of Parameters

Parameter Factory Setting

Name Setting Range Units
No. Setting Validation
Pn110 Online Autotuning Switches *1*2 − − 0012 −
Pn111 Speed Feedback Compensation ∗1*2 1 to 500 1% 100 Immediately
Pn112 Reserved (Do not change) − − 100 −
Pn113 1000
Pn114 200
Pn115 32
Pn116 16
Pn117 100
Pn118 100
Pn119 50
Pn11A 1000
Pn11B 50
Pn11C 70
Pn11D 100
Pn11E 100
Pn11F 0
Pn120 0
Pn121 50
Pn122 0
Pn123 0
Pn124 Automatic Gain Switching Timer 1 to 10000 1 ms 100 Immediately
Pn125 Automatic Gain Switching Width 1 to 250 1 reference 7 Immediately
unit
* 1. The parameters Pn110 and Pn111 settings are disabled.
* 2. Not used for the SERVOPACKs of 22 kW or more.

Appendix

11

11-19
 11 Appendix
11.3.2 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn200 Position Control References Selection − − 0000 After restart
Switches
4th 3rd 2nd 1st
digit digit digit digit

n.
Reference Pulse Form
0 Sign + Pulse, positive logic
1 CW + CCW, positive logic
2 Phase A + Phase B ( ×1), positive logic
3 Phase A + Phase B ( ×2), positive logic
4 Phase A + Phase B ( ×4), positive logic
5 Sign + Pulse, negative logic
6 CW + CCW, negative logic
7 Phase A + Phase B ( ×1), negative logic
8 Phase A + Phase B ( ×2), negative logic
9 Phase A + Phase B ( ×4), negative logic

Error Counter Clear Signal From

0 Clears error counter when the signal is at H level.
1 Clears error counter at the rising edge of the signal.
2 Clears error counter when the signal is at L level.
3 Clears error counter at the falling edge of the signal.

Clear Operation
0 Clears error counter at the baseblock.
1 Does not clear error counter (Possible to clear error counter only with CLR signal).
2 Clears error counter when an alarm occurs.

Filter Selection
0 Reference input filter for line driver signals
1 Reference input filter for open collector signals

Pn201 PG Dividing Ratio 16 to 16384 1 P/rev 16384 After restart

(For 16-bit or less)
Pn202 Electronic Gear Ratio (Numerator) 1 to 65535 − 4 After restart
Pn203 Electronic Gear Ratio (Denominator) 1 to 65535 − 1 After restart
Pn204 Position Reference Accel/Decel Time Con- 0 to 6400 0.01 ms 0 Immediately
stant
Pn205 Multiturn Limit Setting * 0 to 65535 1 rev 65535 After restart
Pn206 Reserved (Do not change) − − 16384 −
* This setting must be changed only for special applications. Do not change this limit inappropriately or
unintentionally.

11-20
 11.3 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn207 Position Control Function Switches 0000 to 1111 − 0000 After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
Position Reference Filter Selection
0 Acceleration/deceleration filter
1 Average movement filter

Position Control Option

0 N/A
1 Uses V-REF as a speed feed-forward input.

Dividing Output Range Selection

0 Uses the parameter Pn201 (For 16-bit or less) as the dividing ratio (Factory setting).
1 Uses the parameter Pn212 (For 17-bit or more) as the dividing ratio.

Reserved (Do not change)

Pn208 Position Reference Movement Averaging 0 to 6400 0.01 ms 0 After restart

Time
Pn212 PG Dividing Ratio 16 to 1073741824 1 P/rev 2048 After restart
(For 17-bit or more)
Pn217 Reference Pulse Input Multiplication 1 to 99 ×1 1 Immediately
Pn218 Reference Pulse Multiplication Range 0000 to 0001 − 0000 After restart
Switching Function
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference Pulse Input Multiplication Range Switching Function
0 Disabled (Factory setting)
1 Enabled

Reserved (Do not change)

Reserved (Do not change)

Reserved (Do not change)

Pn300 Speed Reference Input Gain 150 to 3000 0.01V 600 Immediately
/ rated speed
Pn301 Internal Set Speed 1 0 to 10000 1 min-1 100 Immediately
Pn302 Internal Set Speed 2 0 to 10000 1 min-1 200 Immediately
Pn303 Internal Set Speed 3 0 to 10000 1 min-1 300 Immediately
Appendix

11

11-21
 11 Appendix
11.3.2 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn304 JOG Speed 0 to 10000 1 min-1 500 Immediately
Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately
Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately
Pn307 Speed Reference Filter Time Constant 0 to 65535 0.01 ms 40 Immediately
Pn308 Speed Feedback Filter Time Constant 0 to 65535 0.01 ms 0 Immediately
Pn309 Reserved (Do not change) − − 60 −
Pn400 Torque Reference Input Gain 10 to 100 0.1 V/rated 30 Immediately
torque
Pn401 Torque Reference Filter Time Constant 0 to 65535 0.01 ms 100 Immediately
Pn402 Forward Torque Limit 0 to 800 1% 800 Immediately
Pn403 Reverse Torque Limit 0 to 800 1% 800 Immediately
Pn404 Forward External Torque Limit 0 to 800 1% 100 Immediately
Pn405 Reverse External Torque Limit 0 to 800 1% 100 Immediately
Pn406 Emergency Stop Torque 0 to 800 1% 800 Immediately
Pn407 Speed Limit during Torque Control 0 to 10000 1 min-1 10000 Immediately
Pn408 Torque Function Switches 0000 to 0101 − 0000 Immediately
4th 3rd 2nd 1st
digit digit digit digit

n.
Notch Filter Selection
0 First notch filter disabled.
1 Uses first notch filter.

Reserved (Do not change)

Notch Filter Function 2

0 Second notch filter disabled.
1 Uses second notch filter.

Reserved (Do not change)

Pn409 First Stage Notch Filter Frequency 50 to 2000 1 Hz 2000 Immediately

Pn40A First Stage Notch Filter Q Value 50 to 400 ×0.01 70 Immediately
Pn40B Second Stage Notch Filter Frequency 50 to 2000 1 Hz 2000 Immediately
Pn40C Second Stage Notch Filter Q Value 50 to 400 ×0.01 70 Immediately
Pn500 Positioning Completed Width 0 to 250 1 reference 7 Immediately
unit
Pn501 Zero Clamp Level 0 to 10000 1 min-1 10 Immediately
Pn502 Rotation Detection Level 1 to 10000 1 min -1 20 Immediately
Pn503 Speed Coincidence Signal Output Width 0 to 100 1 min-1 10 Immediately
Pn504 NEAR Signal Width 1 to 250 1 reference 7 Immediately
unit
Pn505 Overflow Level 1 to 32767 256 refer- 1024 Immediately
ence units
Pn506 Brake Reference - Servo OFF Delay Time 0 to 50 10 ms 0 Immediately
Pn507 Brake Reference Output Speed Level 0 to 10000 1 min -1 100 Immediately
Pn508 Timing for Brake Reference Output during 0 to 100 10 ms 50 Immediately
Motor Operation
Pn509 Momentary Hold time 20 to 1000 1 ms 20 Immediately

11-22
 11.3 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn50A Input Signal Selections 1 − − 2100 After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
Input Signal Allocation Mode

0 Uses the sequence input signal terminals with standard allocation.∗

1 Changes the sequence input signal allocation for each signal.

/S-ON Signal Mapping

Signal Polarity: Normal; Servo ON when ON (L-level)
Signal Polarity: Reverse; Servo ON when OFF (H-level)
0 ON when CN1-40 input signal is ON (L-level).
1 ON when CN1-41 input signal is ON (L-level).
2 ON when CN1-42 input signal is ON (L-level).
3 ON when CN1-43 input signal is ON (L-level).
4 ON when CN1-44 input signal is ON (L-level).
5 ON when CN1-45 input signal is ON (L-level).
6 ON when CN1-46 input signal is ON (L-level).
7 Sets signal ON.
8 Sets signal OFF.
9 OFF when CN1-40 input signal is OFF (H-level).

A OFF when CN1-41 input signal is OFF (H-level).

B OFF when CN1-42 input signal is OFF (H-level).

C OFF when CN1-43 input signal is OFF (H-level).
D OFF when CN1-44 input signal is OFF (H-level).
E OFF when CN1-45 input signal is OFF (H-level).
F OFF when CN1-46 input signal is OFF (H-level).

/P-CON Signal Mapping (P control when ON (L-level))

0 to F Same as /S-ON

P-OT Signal Mapping (Overtravel when OFF (H-level))

0 Forward run allowed when CN1-40 input signal is ON (L-level).
1 Forward run allowed when CN1-41 input signal is ON (L-level).
2 Forward run allowed when CN1-42 input signal is ON (L-level).
3 Forward run allowed when CN1-43 input signal is ON (L-level).
4 Forward run allowed when CN1-44 input signal is ON (L-level).
5 Forward run allowed when CN1-45 input signal is ON (L-level).
6 Forward run allowed when CN1-46 input signal is ON (L-level).
7 Forward run prohibited.
8 Forward run allowed.

9 Forward run allowed when CN1-40 input signal is OFF (H-level).

A Forward run allowed when CN1-41 input signal is OFF (H-level).

B Forward run allowed when CN1-42 input signal is OFF (H-level).

C Forward run allowed when CN1-43 input signal is OFF (H-level).

D Forward run allowed when CN1-44 input signal is OFF (H-level).

E Forward run allowed when CN1-45 input signal is OFF (H-level).

Appendix

F Forward run allowed when CN1-46 input signal is OFF (H-level).

* When Pn50A.0 is set to 0 for the input signal standard allocation mode, the following modes are compatible:
Pn50A.1 = 7, Pn50A.3 = 8, and Pn50B.0 = 8.
11

11-23
 11 Appendix
11.3.2 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn50B Input Signal Selections 2 − − 6543 After restart

4th 3rd 2nd 1st

digit digit digit digit
n.
N-OT Signal Mapping (Overtravel when OFF (H-level))
0 Reverse run allowed when CN1-40 input signal is ON (L-level).
1 Reverse run allowed when CN1-41 input signal is ON (L-level).
2 Reverse run allowed when CN1-42 input signal is ON (L-level).
3 Reverse run allowed when CN1-43 input signal is ON (L-level).
4 Reverse run allowed when CN1-44 input signal is ON (L-level).
5 Reverse run allowed when CN1-45 input signal is ON (L-level).
6 Reverse run allowed when CN1-46 input signal is ON (L-level).
7 Reverse run prohibited.
8 Reverse run allowed.
9 Reverse run allowed when CN1-40 input signal is OFF (H-level).
A Reverse run allowed when CN1-41 input signal is OFF (H-level).
B Reverse run allowed when CN1-42 input signal is OFF (H-level).
C Reverse run allowed when CN1-43 input signal is OFF (H-level).
D Reverse run allowed when CN1-44 input signal is OFF (H-level).
E Reverse run allowed when CN1-45 input signal is OFF (H-level).
F Reverse run allowed when CN1-46 input signal is OFF (H-level).

/ALM-RST Signal Mapping (Alarm Reset when ON (L-level))

0 ON when CN1-40 input signal is ON (L-level).
1 ON when CN1-41 input signal is ON (L-level).
2 ON when CN1-42 input signal is ON (L-level).
3 ON when CN1-43 input signal is ON (L-level).
4 ON when CN1-44 input signal is ON (L-level).
5 ON when CN1-45 input signal is ON (L-level).
6 ON when CN1-46 input signal is ON (L-level).
7 Sets signal ON.
8 Sets signal OFF.
9 ON when CN1-40 input signal is OFF (H-level).
A ON when CN1-41 input signal is OFF (H-level).
B ON when CN1-42 input signal is OFF (H-level).
C ON when CN1-43 input signal is OFF (H-level).
D ON when CN1-44 input signal is OFF (H-level).
E ON when CN1-45 input signal is OFF (H-level).
F ON when CN1-46 input signal is OFF (H-level).

/P-CL Signal Mapping (Forward Torque Limit when ON (L-level))

0 to F Same as above

/N-CL Signal Mapping (Reverse Torque Limit when ON (L-level))

0 to F Same as above

INFO „ Input signal polarities

Signal Effective Level Voltage level Contact

ON Low (L) level 0V Close
OFF High (H) level 24 V Open

11-24
 11.3 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn50C Input Signal Selections 3 − − 8888 After restart

4th 3rd 2nd 1st

digit digit digit digit
n.
/SPD-D Signal Mapping
0 ON when CN1-40 input signal is ON (L-level).
1 ON when CN1-41 input signal is ON (L-level).
2 ON when CN1-42 input signal is ON (L-level).
3 ON when CN1-43 input signal is ON (L-level).
4 ON when CN1-44 input signal is ON (L-level).
5 ON when CN1-45 input signal is ON (L-level).
6 ON when CN1-46 input signal is ON (L-level).
7 Sets signal ON.
8 Sets signal OFF.
9 ON when CN1-40 input signal is OFF (H-level).
A ON when CN1-41 input signal is OFF (H-level).
B ON when CN1-42 input signal is OFF (H-level).
C ON when CN1-43 input signal is OFF (H-level).
D ON when CN1-44 input signal is OFF (H-level).
E ON when CN1-45 input signal is OFF (H-level).
F ON when CN1-46 input signal is OFF (H-level).

/SPD-A Signal Mapping

0 to F Same as /SPD-D

/SPD-B Signal Mapping

0 to F Same as /SPD-D

/C-SEL Signal Mapping (Control mode change when ON (L-level))

0 to F Same as /SPD-D

Appendix

11

11-25
 11 Appendix
11.3.2 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn50D Input Signal Selections 4 − − 8888 After restart

4th 3rd 2nd 1st

digit digit digit digit
n.
/ZCLAMP Signal Mapping (Zero clamp when ON (L-level))

0 ON when CN1-40 input signal is ON (L-level).

1 ON when CN1-41 input signal is ON (L-level).
2 ON when CN1-42 input signal is ON (L-level).
3 ON when CN1-43 input signal is ON (L-level).
4 ON when CN1-44 input signal is ON (L-level).

5 ON when CN1-45 input signal is ON (L-level).

6 ON when CN1-46 input signal is ON (L-level).

7 Sets signal ON.

8 Sets signal OFF.

9 ON when CN1-40 input signal is OFF (H-level).

A ON when CN1-41 input signal is OFF (H-level).
B ON when CN1-42 input signal is OFF (H-level).
C ON when CN1-43 input signal is OFF (H-level).
D ON when CN1-44 input signal is OFF (H-level).
E ON when CN1-45 input signal is OFF (H-level).
F ON when CN1-46 input signal is OFF (H-level).

/INHIBIT Signal Mapping (Reference pulse inhibit when ON (L-level))

0 to F Same as /ZCLAMP

/G-SEL Signal Mapping (Gain change when ON (L-level))

0 to F Same as /ZCLAMP

Reserved (Do not change)

Pn50E Output Signal Selections 1 − − 3211 After restart

4th 3rd 2nd 1st
digit digit digit digit
n.
Positioning Completion Signal Mapping (/COIN)

0 Disabled (the above signal is not used.)

1 Outputs the signal from CN1-25, 26 output terminal.
2 Outputs the signal from CN1-27, 28 output terminal.
3 Outputs the signal from CN1-29, 30 output terminal.

Speed Coincidence Detection Signal Mapping (/V-CMP)

0 to 3 Same as /COIN

Rotation Detection Signal Mapping (/TGON)

0 to 3 Same as /COIN

Servo Ready Signal Mapping (/S-RDY)

0 to 3 Same as /COIN

11-26
 11.3 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn50F Output Signal Selections 2 − − 0000 After restart
4th 3rd 2nd 1st
digit digit digit digit

n.
Torque Limit Detection Signal Mapping (/CLT)

0 Disabled (the above signal is not used.)

1 Outputs the signal from CN1-25, -26 output terminal.
2 Outputs the signal from CN1-27, -28 output terminal.
3 Outputs the signal from CN1-29, -30 output terminal.

Speed Limit Detection Signal Mapping (/VLT)

0 to 3 Same as /CLT

Brake Interlock Signal Mapping (/BK)

0 to 3 Same as /CLT

Warning Signal Mapping (/WARN)

0 to 3 Same as /CLT

Pn510 Output Signal Selections 3 − − 0000 After restart

4th 3rd 2nd 1st
digit digit digit digit

n.
Near Signal Mapping (/NEAR)

0 Disabled (the above signal is not used.)

1 Outputs the signal from CN1-25 or -26 terminals.
2 Outputs the signal from CN1-27 or -28 terminals.
3 Outputs the signal from CN1-29 or -30 terminals.

Reserved (Do not change)

Reference Pulse Input Multiplication Change Output Signal Mapping (/PSELA)

0 to 3 Same as /NEAR

Reserved (Do not change)

Pn511 Reserved (Do not change) − − 8888 Immediately

Pn512 Output Signal Reversal Settings − − 0000 After restart

4th 3rd 2nd 1st

digit digit digit digit
n.
Output Signal Reversal for CN1-25 or -26 Terminals
0 Output signal is not reversed.
1 Output signal is reversed.

Output Signal Reversal for CN1-27 or -28 Terminals

0 Output signal is not reversed.
1 Output signal is reversed.
Appendix

Output Signal Reversal for CN1-29 or -30 Terminals

0 Output signal is not reversed.
1 Output signal is reversed.

11
Reserved (Do not change)

11-27
 11 Appendix
11.3.2 List of Parameters

Parameter Factory Setting

Name Setting Range Unit
No. Setting Validation
Pn513 Input Signal Selections 5 − − 0088 After restart

4th 3rd 2nd 1st

digit digit digit digit
n.
Reference Pulse Input Mulitiplication Change
0 ON when CN1-40 input signal is ON (L-level).
1 ON when CN1-41 input signal is ON (L-level).
2 ON when CN1-42 input signal is ON (L-level).
3 ON when CN1-43 input signal is ON (L-level).
4 ON when CN1-44 input signal is ON (L-level).

5 ON when CN1-45 input signal is ON (L-level).

6 ON when CN1-46 input signal is ON (L-level).

7 Sets signal ON.

8 Sets signal OFF. (Factory setting)

9 ON when CN1-40 input signal is OFF (H-level).

A ON when CN1-41 input signal is OFF (H-level).
B ON when CN1-42 input signal is OFF (H-level).
C ON when CN1-43 input signal is OFF (H-level).
D ON when CN1-44 input signal is OFF (H-level).
E ON when CN1-45 input signal is OFF (H-level).
F ON when CN1-46 input signal is OFF (H-level).

Reserved (Do not change)

Reserved (Do not change)

Reserved (Do not change)

Pn51A Position Error Level Between Motor and 0 to 32767 1 reference 0 Immediately
Load unit
Pn51B Reserved (Do not change) − − 100 −
Pn51C Reserved (Do not change) − − 450 −
Pn51E Excessive Position Error Warning Level 0 to 100 1% 0 Immediately
Pn600 Regenerative Resistor Capacity ∗1 Depends on SERVO- 10 W 0 After restart
PACK Capacity ∗2
Pn601 Reserved (Do not change) − − 0 −
* 1. Normally set to “0.” When using an external regenerative resistor, set the allowable power loss (W)
of the regenerative resistor.
* 2. The upper limit is the maximum output capacity (W) of the SERVOPACK.

11-28
 11.4 Parameter Recording Table

11.4 Parameter Recording Table

Use the following table for recording parameters.
Note: Setting validation (“immediately” or “after restart”) for Pn10B differs depending on the digit. The digits vali-
dated after restart are underlined in “Factory Setting” column.

Parameter Factory Setting

Name
No. Setting Validation
Pn000 0000 Function Selection Basic Switches After restart
Pn001 0000 Function Selection Application After restart
Switches 1
Pn002 0000 Function Selection Application After restart
Switches 2
Pn003 0002 Function Selection Application After restart
Switches 3
Pn004 0000 Reserved (Do not change) Immediately
Pn005 0000 Reserved (Do not change) Immediately
Pn100 40 Hz Speed Loop Gain Immediately
Pn101 20.00 ms Speed Loop Integral Time Constant Immediately
Pn102 40 /s Position Loop Gain Immediately
Pn103 0% Moment of Inertia Ratio Immediately
Pn104 40 Hz 2nd Speed Loop Gain Immediately
Pn105 20.00 ms 2nd Loop Integral Time Constant Immediately
Pn106 40 /s 2nd Position Loop Gain Immediately
Pn107 0 min-1 Bias Immediately
Pn108 7 reference Bias Width Addition Immediately
units
Pn109 0% Feed-forward Immediately
Pn10A 0.00 ms Feed-forward Filter Time Constant Immediately
Pn10B 0000 Gain-related Application Switches After restart
/Immediately
Pn10C 200% Mode Switch Torque Reference Immediately
Pn10D 0 min -1 Mode Switch Speed Reference Immediately
Pn10E 0 min-1/s Mode Switch Acceleration Immediately
Pn10F 0 reference Mode Switch Error Pulse Immediately
units
Pn110 0012 Online Autotuning Switches After restart
Pn111 100 Speed Feedback Compensation Immediately
Pn112 100% Reserved (Do not change) Immediately
Pn113 1000 Reserved (Do not change) Immediately
Pn114 200 Reserved (Do not change) Immediately
Pn115 32 Reserved (Do not change) Immediately
Pn116 16 Reserved (Do not change) Immediately
Pn117 100% Reserved (Do not change) Immediately
Pn118 100% Reserved (Do not change) Immediately
Pn119 50 /s Reserved (Do not change) Immediately
Pn11A 1000% Reserved (Do not change) Immediately
Pn11B 50 Hz Reserved (Do not change) Immediately
Pn11C 70 Hz Reserved (Do not change) Immediately
Appendix

Pn11D 100% Reserved (Do not change) Immediately

Pn11E 100% Reserved (Do not change) Immediately
Pn11F 0 ms Reserved (Do not change) Immediately
Pn120 0 ms Reserved (Do not change) Immediately
Pn121 50 Hz Reserved (Do not change) Immediately
11

11-29
 11 Appendix

Parameter Factory Setting

Name
No. Setting Validation
Pn122 0 Hz Reserved (Do not change) Immediately
Pn123 0% Reserved (Do not change) Immediately
Pn124 100 ms Automatic Gain Switching Timer Immediately
Pn125 7 reference Automatic Gain Switching Width Immediately
units
Pn200 0000 Position Control References Selection After restart
Switches
Pn201 16384 P/rev PG Dividing Ratio After restart
(For 16-bit or less)
Pn202 4 Electronic Gear Ratio (Numerator) After restart
Pn203 1 Electronic Gear Ratio (Denominator) After restart
Pn204 0.00 ms Position Reference Accel/Decel Time Immediately
Constant
Pn205 65535 rev Multiturn Limit Setting After restart
Pn206 16384 P/rev Reserved (Do not change) −
Pn207 0000 Position Control Function Switches After restart
Pn208 0.00 ms Position Reference Movement After restart
Averaging Time
Pn212 2048 P/rev PG Dividing Ratio After restart
(For 17-bit or more)
Pn217 ×1 Reference Pulse Input Multiplication Immediately
Pn218 0000 Reference Pulse Multiplication Range After restart
Switching Function
Pn300 6.00 V/ Speed Reference Input Gain Immediately
rated speed
Pn301 100 min-1 Internal Set Speed 1 Immediately
Pn302 200 min -1 Internal Set Speed 2 Immediately
Pn303 300 min -1 Internal Set Speed 3 Immediately
Pn304 500 min -1 JOG Speed Immediately
Pn305 0 ms Soft Start Acceleration Time Immediately
Pn306 0 ms Soft Start Deceleration Time Immediately
Pn307 0.40 ms Speed Reference Filter Time Constant Immediately
Pn308 0.00 ms Speed Feedback Filter Time Constant Immediately
Pn309 60 min-1 Reserved (Do not change) Immediately
Pn400 3.0 V/ Torque Reference Input Gain Immediately
rated speed
Pn401 1.00 ms Torque Reference Filter Time Constant Immediately
Pn402 800% Forward Torque Limit Immediately
Pn403 800% Reverse Torque Limit Immediately
Pn404 100% Forward External Torque Limit Immediately
Pn405 100% Reverse External Torque Limit Immediately
Pn406 800% Emergency Stop Torque Immediately
Pn407 10000 min-1 Speed Limit during Torque Control Immediately
Pn408 0000 Torque Function Switches Immediately
Pn409 2000 Hz First Stage Notch Filter Frequency Immediately
Pn40A 0.70 First Stage Notch Filter Q Value Immediately
Pn40B 2000 Hz Second Stage Notch Filter Frequency Immediately
Pn40C 0.70 Second Stage Notch Filter Q Value Immediately
Pn500 7 reference Positioning Completed Width Immediately
units
Pn501 10 min-1 Zero Clamp Level Immediately

11-30
 11.4 Parameter Recording Table

Parameter Factory Setting

Name
No. Setting Validation
Pn502 20 min-1 Rotation Detection Level Immediately
Pn503 10 min-1 Speed Coincidence Signal Output Immediately
Width
Pn504 7 reference NEAR Signal Width Immediately
units
Pn505 1024 Overflow Level Immediately
reference
units
Pn506 0 ms Brake Reference-Servo OFF Delay Immediately
Time
Pn507 100 min-1 Brake Reference Output Speed Level Immediately
Pn508 500 ms Timing for Brake Reference Output Immediately
during Motor Operation
Pn509 20 ms Momentary Hold Time Immediately
Pn50A 2100 Input Signal Selections 1 After restart
Pn50B 6543 Input Signal Selections 2 After restart
Pn50C 8888 Input Signal Selections 3 After restart
Pn50D 8888 Input Signal Selections 4 After restart
Pn50E 3211 Output Signal Selections 1 After restart
Pn50F 0000 Output Signal Selections 2 After restart
Pn510 0000 Output Signal Selections 3 After restart
Pn511 8888 Reserved (Do not change) Immediately
Pn512 0000 Output Signal Reversal Settings After restart
Pn513 0088 Input Signal Selections After restart
Pn51A 0 Position Error Level Between Motor Immediately
reference and Load
units
Pn51B 100 Reserved (Do not change) Immediately
reference
units
Pn51C 450 min-1 Reserved (Do not change) Immediately
Pn51D 0% Excessive Position Error Warning Immediately
Level
Pn600 0W Regenerative Resistor Capacity After restart
Pn601 0W Reserved (Do not change) After restart
Appendix

11

11-31
Index

INDEX CLR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12

CLT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
CN1terminal layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
CN2 terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
COIN- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
A connecting the servomotor power lines - - - - - - - - - - - - - - - - - - 3-11
connection cable for digital operator - - - - - - - - - - - - - - - - - - - - - 2-7
absolute encoder battery - - - - - - - - - - - - - - - - - - - - - - - - -2-7, 5-18
connection to host controller - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
absolute encoder reception sequence - - - - - - - - - - - - - - - - - - - - 8-33
absolute encoders connector terminal block converter unit- - - - - - - - - - - - - - - - - - 5-16
connectors and cables for encoder signals - - - - - - - - - - - - - - - - - 5-8
handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
control method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
setup (initialization) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32 control mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
control mode switching- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
crimped terminals (UL standard compliant) - - - - - - - - - - - - - - - - 5-2
accumulated load rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
adjusting offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40 D
alarm code output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
DATA/ENTER key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
alarm display and troubleshooting- - - - - - - - - - - - - - - - - - - - - - 10-7
DATA/SHIFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
alarm display table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
deceleration ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-52
alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
designing a power ON sequence- - - - - - - - - - - - - - - - - - - - - - - - 6-7
alarm reset availability - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
DeviceNet application module - - - - - - - - - - - - - - - - - - - - - - - - 5-42
alarm traceback data
digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7, 5-14
clear (Fn006)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8
key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
alignment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
allocating input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26
disc table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
allocating output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
dividing ratio setting error - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46
allowable radial loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
DOWN key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
allowable thrust loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
DSPL/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 8-77
dynamic brake (DB) function - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
dynamic brake unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
ALO 1 to 3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
analog monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20 E
analog monitor cable- - - - - - - - - - - - - - - - - - - - - - - - - - - -2-7, 5-15 electronic gear- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
analog monitor output electronic gear ratio equation - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
manual gain adjustment (Fn00D) - - - - - - - - - - - - - - - - - - - 7-12 emergency stop torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21
manual zero adjustment (Fn00C) - - - - - - - - - - - - - - - - - - - 7-12 enabling reference pulse input multiplication switching function - 8-61
applicable standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 encoder cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
application module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7 encoder connector (CN2) terminal layout - - - - - - - - - - - - - - - - - 6-9
alarm display table when the application module is used - - - 10-5 encoder pulse dividing ratio setting- - - - - - - - - - - - - - - - - - - - - 8-46
detection results clear (Fn014) - - - - - - - - - - - - - - - - - - - - - 7-20 encoder signal converter unit - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
warning display table when the application module is used - - 10-6 encoder signal output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-45
automatic gain switching function- - - - - - - - - - - - - - - - - - - - - - 9-15 encoder-end connector specifications - - - - - - - - - - - - - - - - - - - 3-12
automatic gain switching timer - - - - - - - - - - - - - - - - - - - - - - - - 9-16 extending encoder cables - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
automatic gain switching width - - - - - - - - - - - - - - - - - - - - - - - 9-16 external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-72
B F
ball screw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53 feed forward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
BAT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 feed-forward reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-7, 5-18 forward rotation prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30 forward torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
replacing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31 frequency characteristics- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
belt and pulley - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53 fully-closed application module - - - - - - - - - - - - - - - - - - - - - - - 5-44
bias setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 fuse capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
BK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
brake power supply unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17 G
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9 grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
built-in open collector power supply - - - - - - - - - - - - - - - - - - - - - 4-3
built-in panel operator- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 H
handling oil and water - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
C hot start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
cable selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
cables for connecting personal computers- - - - - - - - - - - - - -2-7, 5-13 I
checking products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 I/O signal (CN1)
circuit time constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 connection example - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
clear signal form selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-50 names and functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12

Index-1
 Index

I/O signal cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7, 5-10 second stage notch filter frequency - - - - - - - - - - - - - - - - - 9-18
I/O signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 second stage notch filter Q value - - - - - - - - - - - - - - - - - - - 9-18
impact acceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
impact occurrences - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
O
impact resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14 online autotuning functions- - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
input circuit signal allocation - - - - - - - - - - - - - - - - - - - - - - - - - 7-24 operating using position control- - - - - - - - - - - - - - - - - - - - - - - 8-49
input impedance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 operating using speed control with an internally set speed - - - - - 8-68
input pulse form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 operating using speed control with analog reference - - - - - - - - - 8-38
input pulse frequency - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 operating using torque control - - - - - - - - - - - - - - - - - - - - - - - - 8-63
input pulse type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 operation in monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - 7-31
input signal monitor display - - - - - - - - - - - - - - - - - - - - - - - - - 7-30 output circuit interface
inspection and maintenance - - - - - - - - - - - - - - - - - - - - - - - - - 10-20 line driver output circuit - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
instantaneous power loss settings - - - - - - - - - - - - - - - - - - - - - - 8-27 open-collector output circuit - - - - - - - - - - - - - - - - - - - - - - 6-16
interface for reference input circuits photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - - 6-16
analog input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14 output circuit signal allocation- - - - - - - - - - - - - - - - - - - - - - - - 7-27
position reference input circuit- - - - - - - - - - - - - - - - - - - - - 6-14 overhanging loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
internal torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71 overload detection level - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
overload protective function - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
J overshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
JOG mode operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - 8-7 overtravel stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
JOG speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
P
L panel operator
LEFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
using an external torque limit and analog voltage reference - 8-74 PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
list of utility function modes - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 PAO serial data specifications - - - - - - - - - - - - - - - - - - - - - - - - 8-34
load moment of inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 parameter setting mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
load regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 parameter settings initialization (Fn005) - - - - - - - - - - - - - - - - - 7-10
parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
M example of changing function selection - - - - - - - - - - - - - - 7-23
magnetic contactor selection - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9 list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-13
main circuit wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4 parameter indications- - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22
manual adjustment of the torque reference offset - - - - - - - - - - - 8-65 password setting (protects parameters from being changed)
manual tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4 (Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
mating concentricity of the flange - - - - - - - - - - - - - - - - - - - - - 3-14 PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
mechanical tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14 P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
MECHATROLINK application module- - - - - - - - - - - - - - - - - - 5-41 PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
mode switch (P/PI switching) - - - - - - - - - - - - - - - - - - - - - - - - 9-10 P-CON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
MODE/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 peripheral device selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
molded-case circuit breaker - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 perpendicularity between the flange face and output shaft - - - - - 3-14
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8 PG dividing ratio (for 16-bit or less)- - - - - - - - - - - - - - - - - - - - 8-46
moment of inertia ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5 PG dividing ratio (for 17-bit or more)- - - - - - - - - - - - - - - - - - - 8-46
monitor display of feedback pulse counter - - - - - - - - - - - - - - - - 7-32 PL1 to 3- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
monitor display of reference pulse counter- - - - - - - - - - - - - - - - 7-32 position control block diagram - - - - - - - - - - - - - - - - - - - - - - - 8-56
monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29 position control by host controller - - - - - - - - - - - - - - - - - - - - - 8-16
motor current detection signal position loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
automatic offset adjustment (Fn00E)- - - - - - - - - - - - - - - - - 7-15 position reference
manual offset adjustment (Fn00F) - - - - - - - - - - - - - - - - - - 7-16 input pulse multiplier- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
motor models display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - 7-18 selecting a position reference filter- - - - - - - - - - - - - - - - - - 8-57
multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36 setting a reference pulse form - - - - - - - - - - - - - - - - - - - - - 8-49
positioning completed output signal - - - - - - - - - - - - - - - - - - - - 8-58
N positioning completed width setting - - - - - - - - - - - - - - - - - - - - - 4-3
N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13 positioning time reduction functions- - - - - - - - - - - - - - - - - - - - - 9-2
noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 P-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
noise filters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20 power consumed by dynamic brake resistance - - - - - - - - - - - - - 7-29
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9 PROFIBUS-DP application module - - - - - - - - - - - - - - - - - - - - 5-43
using noise filters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 proportional control operation (proportional operation reference) - 9-9
noise interference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17 protection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 PSEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 PSELA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-62
first stage notch filter frequency - - - - - - - - - - - - - - - - - - - - 9-18 PSO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
first stage notch filter Q value - - - - - - - - - - - - - - - - - - - - - 9-18 PULS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
notch filter function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18

Index-2
Index

Q power supply capacities - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

precautions on installation- - - - - - - - - - - - - - - - - - - - - - - - - 4-5
Q value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
R wire size- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
reference pulse form SERVOPACK inspection - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
CW pulse + CCW pulse - - - - - - - - - - - - - - - - - - - - - - - - - 8-49 SERVOPACK’s parts replacement schedule - - - - - - - - - - - - - - 10-21
sign + pulse train - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49 setting a reference pulse form - - - - - - - - - - - - - - - - - - - - - - - - 8-49
two-phase pulse train with 90° phase differential- - - - - - - - - 8-49 setting for holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
reference pulse inhibit function (INHIBIT)- - - - - - - - - - - - - - - - 8-60 setting PG dividing ratio of 5-digit or more - - - - - - - - - - - - - - - 8-47
reference pulse input multiplication- - - - - - - - - - - - - - - - - - - - - 8-61 setting the electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
reference pulse input multiplication switching function - - - - - - - 8-61 setting the overtravel limit function - - - - - - - - - - - - - - - - - - - - 8-20
reference unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51 setting the servo ON signal - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
reference voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 setting the speed bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
regenerative load rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29 SGMVH servomotors (1500 min-1)
regenerative resistor unit - - - - - - - - - - - - - - - - - - - - - - - - -2-9, 5-23 dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
replacing oil seal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20 ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
RESET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 torque-motor speed characteristics - - - - - - - - - - - - - - - - - - - 3-4
reverse rotation prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20 SGMVH servomotors (800 min-1)
reverse torque limit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71 dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
RIGHT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
rotation direction selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 torque-motor speed characteristics - - - - - - - - - - - - - - - - - - - 3-7
SIGN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
S smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57
selecting a dynamic brake unit - - - - - - - - - - - - - - - - - - - - - - - - 2-10 soft start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
selecting the speed loop control method (PI Control or IP Control) 9-6 soft start time setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
selecting the stopping method after servo OFF - - - - - - - - - - - - - 8-26 software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 7-19
SEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 S-ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
SEN signal connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29 speed coincidence output - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48
sequence I/O signal monitor display - - - - - - - - - - - - - - - - - - - - 7-30 speed control range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
sequence input circuit interface- - - - - - - - - - - - - - - - - - - - - - - - 6-15 speed feedback compensation - - - - - - - - - - - - - - - - - - - - - - - - 9-13
sequence input signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 speed feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
sequence output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 speed limit during torque control - - - - - - - - - - - - - - - - - - - - - - 8-66
servo alarm output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77 speed loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
servo gain speed loop integral time constant - - - - - - - - - - - - - - - - - - - - - - - 9-6
adjustment methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 speed reference input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
explanation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4 speed regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
servo ready output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79 S-RDY- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 8-79
servo system configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 standard replacement period - - - - - - - - - - - - - - - - - - - - - - - - 10-21
servomotor starting and stopping time - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
capacity selection examples - - - - - - - - - - - - - - - - - - - - - - - 11-2 surge absorber - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
direction of servomotor rotation - - - - - - - - - - - - - - - - - - - - 3-14 SVON key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-9 switching gain settings - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2, 9-14
model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 switching the servomotor rotation direction - - - - - - - - - - - - - - - 8-19
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
precautions on servomotor installation- - - - - - - - - - - - - - - - - 3-9
T
running output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78 temperature regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
wire size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 8-78
servomotor fan thermal relay selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10 thermal relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 through shaft section - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
protection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 torque feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
servomotor inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20 torque limiting using an analog voltage reference - - - - - - - - - - - 8-73
SERVOPACK torque reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16
allowable load moment of inertia - - - - - - - - - - - - - - - - - - - 4-12 torque reference input- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
ambient/storage temperature - - - - - - - - - - - - - - - - - - - - - - - 4-3 T-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
applicable servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 trial operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
cable types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 trial operation for servomotor with brakes - - - - - - - - - - - - - - - - 8-16
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16 trial operation for servomotor without load - - - - - - - - - - - - - - - - 8-6
installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
internal block diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 troubleshooting for malfunction without alarm display - - - - - - 10-16
model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 U
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
undershooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
overload characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
UP key- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
power losses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

Index-3
 Index

using more than one SERVOPACK - - - - - - - - - - - - - - - - - - - - 6-22

using noise filters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

V
variable resistor for speed and torque setting - - - - - - - - - - - - - - 5-39
V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
vibration class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
vibration reduction functions - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
vibration resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
vibration/shock resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
VLT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
voltage regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
voltage resistance test - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
V-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12

W
WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 8-78
warning code output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
warning display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
warning display and troubleshooting- - - - - - - - - - - - - - - - - - - 10-15
warning output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
wiring encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
wiring example for noise control - - - - - - - - - - - - - - - - - - - - - - 6-18
wiring incremental encoders - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
wiring precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
wiring the thermostat - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

Z
zero clamp function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
zero-point search mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - 7-9

Index-4
Revision History

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.‫ޓ‬SIEP S800000 59A
Published in Japan August 200808-8

Date of
publication Date of original
publication

Date of Rev.
Section Revised Content
Publication No.
August 2008 − First edition
AC Servo Drives
Σ -II Series
SGMVH/SGDM/SGDH
USER'S MANUAL

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280

YASKAWA ELECTRIC CORPORATION

YASKAWA

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2008 YASKAWA ELECTRIC CORPORATION. All rights reserved.

MANUAL NO. SIEP S800000 59A

Published in Japan August 2008 08-8
08-5-3