SigmaLogic7 Compact

Hardware Manual
 Table of Contents

Table of Contents
1 Introduction
1.1 SigmaLogic7 Compact Features - - - - - - - - - - - - - - - - -3
1.2 SigmaLogic7 Compact Appearance - - - - - - - - - - - - - - -4
1.3 Model Number Designation - - - - - - - - - - - - - - - - - - - -6
1.4 Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6
2 Specifications and Settings
2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7
2.2 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - -13
2.3 Rotary Switches - - - - - - - - - - - - - - - - - - - - - - - - - - -14
2.4 Switch Factory Settings - - - - - - - - - - - - - - - - - - - - - -14
3 Installation Standards
3.1 Mechanical Installation/Dimensions - - - - - - - - - - - - - -15
3.2 Installing Multiple SERVOPACKS in a Control Panel - -16

4 Inputs and Outputs

4.1 Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -19
4.2 Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - -21
4.3 I/O Signal Connector (CN1) Pin Arrangement - - - - - - -23
4.4 I/O Signal Wiring Examples - - - - - - - - - - - - - - - - - - -25
4.5 I/O Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -29
5 LED Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23
6 Ethernet Connectivity
6.1 Ethernet Connector Details - - - - - - - - - - - - - - - - - - - -33
6.2 Ethernet Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - -34
6.3 Ethernet Connection Examples - - - - - - - - - - - - - - - - -34

1
Table of Contents

7 Cable Diagrams
7.1 SBK-U-VBA-xx (200 V Only) - - - - - - - - - - - - - - - - - -37
7.2 JZSP-CSI02-x-E (200 V Only) - - - - - - - - - - - - - - - - -38
8 EMC Installation Conditions - - - - - - - - - - - - - - - - - - 39

2
 1 Introduction

1 Introduction
1.1 SigmaLogic7 Compact Features
The SigmaLogic7 Compact is a Sigma-7 SERVOPACK that features
built-in functionality which can be accessed by a Rockwell PLC using
EtherNet/IP protocol. Product features include:

 Easy configuration with Yaskawa's free LogicWorks software

 Add On Instructions (AOIs) are provided for use with Rockwell RSLogix
5000 software
 Ethernet (100Mbps) auto crossover switching
• EtherNet/IP
• Allow high-speed communications with PLC
 Sigma-7 servo amplifier I/O features
• 7 digital inputs
• 3 digital outputs (200 V models)
• 5 digital outputs (400 V models)

3
1 Introduction

1.2 SigmaLogic7 Compact Appearance

The following figure shows the external appearance of the SigmaLogic7
Compact servo interface.

Switches
(under cover)
LED Indicators
Main Circuit
Power Supply CN6A/B: Ethernet
Control Circuit
Power Supply CN7: USB

Regenerative
Resistor CN1: SERVOPACK I/O
Connections
CN8: HWBB
Servo Motor
Power CN2: Encoder

200V Front View

Switches
(under cover)
LED Indicators

400V Front View

4
 1 Introduction

CN101: CN6A/B: Ethernet

Main Circuit
Power Supply
CN1:
CN103: SERVOPACK I/O
DC Bus
Terminals CN8: HWBB
CN2: Encoder
CN201: Control
Circuit Power Supply CN7: USB

400V Top View

CN102: Servo
Motor Power

CN115:
Dynamic Brake

400V Bottom View

5
1 Introduction

1.3 Model Number Designation

SGD7S - 2R8 A Q0 A 000 F51

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+
-7 Series digit digit 13th digits
digits digits digits
SERVOPACK

Maximum Applicable Hardware Options

1st+2nd+3rd digits 4th digit Voltage 8th+9th+10th digits Specification
Motor Capacity
Voltage Code Spec. Voltage Code Spec. Code Specification Applicable
Code Specification
R70*1 0.05 kW 1R9 500 W A 200 VAC Models
000 Without options All models
R90*1 0.1 kW 3R5 1.0 kW F 100 VAC
1R6*1 0.2 kW 5R4 1.5 kW D 400 VAC
2R8*1 0.4 kW Three- 8R4 2.0 kW 11th+12th+13th digits FT/EX Specification
3R8 0.5 kW phase, 120 3.0 kW
400 Code Specification
5R5*1 0.75 kW 170 5.0 kW 5th+6th digits Interface
VAC
F51 Application function for SigmaLogic7
Three- 7R6 1.0 kW 210 6.0 kW Code Specification
phase, 120 1.5 kW 260 7.5 kW
SigmaLogic7
200 180 2.0 kW 280 11 kW Q0
Compact
VAC
200 3.0 kW 370 15 kW
330 5.0 kW
470 6.0 kW 7th digit Design Revision Order
550 7.5 kW
A: Global design revision
590 11 kW B: 400 V global design revision
780 15 kW
Single- R70 0.05 kW
phase, R90 0.1 kW
100 2R1 0.2 kW
VAC *1: These models can be used with either a single-phase or three-phase power supply input
2R8 0.4 kW

1.4 Accessories
System Components
Type Description Model Number Note
xx denotes cable length
CN1 Terminal Block  A5: 0.5 m
SBK-U-VBA-xx(B)
Conversion Kit  01: 1.0 m
Accessories and
 03: 3.0 m
Cables (100 V AC
and 200 VAC) x denotes cable length
CN1 Cable (Flying  A: 1.0 m
leads) JZSP-CSI02-x-E  B: 2.0 m
 C: 3.0 m
Use high quality shielded
industrial Ethernet cables
Communication Ethernet Cable Customer Supplied (Yaskawa model
JZSP-CM3RRM0-xx-E is
recommended)
Accessory
CN1 Connector JUSP-7CN001 30 Pin I/O Connector
(400 VAC)

6
 2 Specifications and Settings
2.1.1 200 V Specifications

2 Specifications and Settings

2.1 Specifications
2.1.1 200 V Specifications

Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Serial encoder: 20 bits or 24 bits (incremental encoder/
With Rotary
absolute encoder)
Servomotor
22 bits (absolute encoder)
Feedback • Absolute linear encoder (The signal resolution depends on the
With Linear absolute linear encoder.)
Servomotor • Incremental linear encoder (The signal resolution depends on
the incremental linear encoder or Serial Converter Unit.)
Surrounding Air -5°C to 55°C
Temperature (With derating, usage is possible between 55°C and 60°C.)
Storage Tempera-
-20°C to 85°C
ture
Surrounding Air
Humidity 95% relative humidity max. (with no freezing or condensation)

Storage Humidity 95% relative humidity max. (with no freezing or condensation)

Vibration
Resistance 4.9 m/s2

Shock Resistance 19.6 m/s2

Environmen- Degree SERVOPACK Model: SGD7S-

tal Conditions
Degree of R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
IP20
Protection 7R6A, 120A, R70F, R90F, 2R1F, 2R8F
180A, 200A, 330A, 470A, 550A, 590A,
IP10
780A

• Must be no corrosive or flammable gases.

Pollution Degree • Must be no exposure to water, oil, or chemicals.
• Must be no dust, salts, or iron dust.
1,000 m or less. (With derating, usage is possible between 1,000
Altitude
m and 2,000 m.)
Do not use the SERVOPACK in the following locations: Locations
Others subject to static electricity noise, strong electromagnetic/magnetic
fields, or radioactivity
Compliance with UL Standards, EU Directives and Other Safety
Applicable Standards
Standards

Mounting SERVOPACK Model: SGD7S-

Base-mounted All Models
Mounting R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
Rack-mounted 7R6A, 120A, 180A, 200A, 330A, R70F,
R90F, 2R1F, 2R8F
Duct-ventilated 470A, 550A, 590A, 780A

7
2 Specifications and Settings
2.1.1 200 V Specifications

(cont?d)
Item Specification
Speed Control 1:5000 (At the rated torque, the lower limit of the speed control
Range range must not cause the Servomotor to stop.)
±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)
Coefficient of 0% of rated speed max. (for a voltage fluctuation of ±10%)
Speed Fluctuation
±0.1% of rated speed max. (for a temperature fluctuation of 25°C
Performance ±25°C)
Torque Control
Precision (Repeat- ±1%
ability)
Soft Start Time 0 s to 10 s (Can be set separately for acceleration and decelera-
Setting tion.)
Encoder Divided Phase A, phase B, phase C: Line-driver output
Pulse Output Number of divided output pulses: Any setting is allowed.
Linear Servomotor Number of input points: 1
Overheat Protec- Input voltage range: 0 V to +5 V
tion Signal Input
Allowable voltage range: 24 VDC ±20%
Number of input points: 7
Input method: Sink inputs or source inputs
Input Input Signals
I/O Signals Sig- • P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Pro-
nals hibit) signals
Digital That
Input • /EXT1 External latch signal input (General purpose input)
Signals Can • /EXT2 (General Purpose Input) signal
Be • /EXT3 (General Purpose Input) signal
Allo- • /P-CL (Forward External Torque Limit) and /N-CL (Reverse
cated External Torque Limit) signals
• FSTP (Forced Stop Input) signal
A signal can be allocated and the positive and negative logic can
be changed.
Allowable voltage range: 5 VDC to 30 VDC
Fixed Number of output points: 1
Output
Output signal: ALM (Servo Alarm) signal
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 3
(A photocoupler output (isolated) is used.)
Output Signals
Digital Output • /COIN (Positioning Completion) signal
I/O Signals Output Sig- • /V-CMP (Speed Coincidence Detection) signal
Signals nals • /TGON (Rotation Detection) signal
That • /S-RDY (Servo Ready) signal
Can Be • /CLT (Torque Limit Detection) signal
Allo- • /VLT (Speed Limit Detection) signal
cated
• /BK (Brake) signal
• /WARN (Warning) signal
• /NEAR (Near) signal
A signal can be allocated and the positive and negative logic can
be changed.

8
 2 Specifications and Settings
2.1.1 200 V Specifications

(cont?d)
Item Specification
Inter- A JUSP-JC001 Communications Unit is required to connect to a
faces Digital Operator (JUSP-OP05A-1-E).
1:N
RS-422A Com-
Commu- muni-
Up to N = 15 stations possible for RS-422A port
nica-
cations
tions
(CN502) Axis
Addres
Communica- Set with parameters.
s Set-
tions ting
Inter-
Personal computer (with SigmaWin+)
USB face
Commu- Com-
nica- muni-
tions cations Conforms to USB2.0 standard (12 Mbps).
(CN7) Stan-
dard
CHARGE, PWR, CN, RUN, ERR, and L/A (A and B) indicators,
Displays/Indicators
and one-digit seven-segment display
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Analog Monitor (CN5)
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Activated when a servo alarm or overtravel (OT) occurs, or when
Dynamic Brake (DB) the power supply to the main circuit or servo is OFF.
Built-in (An external resistor must be connected to the SGD7S-
470A to -780A.)
Regenerative Processing Refer to the following manual for details.
S-7-Series AC Servo Drive Peripheral Device Selection
Manual (Manual No.: SIEP S800001 32)
Stopping with dynamic brake, deceleration to a stop, or coasting
Overtravel (OT) Prevention to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse
Drive Prohibit) signal
Overcurrent, overvoltage, low voltage, overload, regeneration
Protective Functions
error , etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Safety Func- Output EDM1: Monitors the status of built-in safety circuit (fixed output).
tions
Applicable
ISO13849-1 PLe (Category 3), IEC61508 SIL3
Standards
Fully-closed Modules and Safety Modules
Applicable Option Modules Note: You cannot use a Fully-closed Module and a Safety Mod-
ule together.

9
2 Specifications and Settings
2.1.2 400 V Specifications

2.1.2 400 V Specifications

Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Serial encoder: 24 bits
With Rotary
(incremental encoder/absolute
Servomotor encoder)
Feedback • Absolute linear encoder (The signal resolution depends on
With Linear the absolute linear encoder.)
Servomotor • Incremental linear encoder (The signal resolution depends
on the incremental linear encoder or Serial Converter Unit.)
Surrounding Air
-5°C to 55°C
Temperature*1
Storage Temperature -20°C to 85°C
Surrounding Air Humidity 95% relative humidity max. (with no freezing or condensation)
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Environ- Shock Resistance 19.6 m/s2
mental
Conditions Degree of Protection IP10
2
• Must be no corrosive or flammable gases.
Pollution Degree
• Must be no exposure to water, oil, or chemicals.
• Must be no dust, salts, or iron dust.
Altitude 1,000 m or less.
Do not use the SERVOPACK in the following locations: Loca-
Others tions subject to static electricity noise, strong electromagnetic/
magnetic fields, or radioactivity
Refer to the following section for details.
Applicable Standards Compliance with UL Standards, EU Directives, and Other
Safety Standards on page xxi
Mounting Base-mounted
1:5000 (At the rated torque, the lower limit of the speed control
Speed Control Range
range must not cause the Servomotor to stop.)
±0.01% of rated speed max. (for a load fluctuation of 0% to
100%)
Coefficient of Speed
0% of rated speed max. (for a voltage fluctuation of ±10%)
Perfor- Fluctuation*2
mance ±0.1% of rated speed max. (for a temperature fluctuation of
25°C ±25°C)
Torque Control Precision
±1%
(Repeatability)
Soft Start Time 0 s to 10 s (Can be set separately for acceleration and deceler-
Setting ation.)

10
 2 Specifications and Settings
2.1.2 400 V Specifications

Item Specification
Encoder Divided Pulse Phase A, phase B, phase C: Line-driver output
Output Number of divided output pulses: Any setting is allowed.
Linear Servomotor Over- Number of input points: 1
heat Protection Signal
Input Input voltage range: 0 V to +5 V

Allowable voltage range: 24 VDC ±20%

Number of input points: 7
Input method: Sink inputs or source inputs
Input Signals
Input • P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Pro-
Signals hibit) signals
Digital Input That Can • /EXT1 External latch signal input (General purpose input)
Signals • /EXT2 (General purpose input) signal
Be
Allocated • /EXT3 (General purpose input) signal
• /P-CL (Forward External Torque Limit) and /N-CL (Reverse
External Torque Limit) signals
• /SI0 and /SI3 (General-Purpose Input) signals
A signal can be allocated and the positive and negative logic
I/O Signals can be changed.
Allowable voltage range: 5 VDC to 30 VDC
Fixed Number of output points: 1
Output
Output signal: ALM (Servo Alarm) signal
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 5
(A photocoupler output (isolated) is used.)
Output Signals
• /COIN (Positioning Completion) signal
Digital Out- Output • /V-CMP (Speed Coincidence Detection) signal
put Signals Signals • /TGON (Rotation Detection) signal
That Can • /S-RDY (Servo Ready) signal
Be Allo- • /CLT (Torque Limit Detection) signal
cated • /VLT (Speed Limit Detection) signal
• /BK (Brake) signal
• /WARN (Warning) signal
• /NEAR (Near) signal
A signal can be allocated and the positive and negative logic
can be changed.
Interfaces Digital Operator (JUSP-OP05A-1-E).
1:N
RS-422A
Communi- Up to N = 15 stations possible for RS-422A port
Communi-
cations
cations
(CN502) Axis
Address Set with parameters.
Communi-
Setting
cations
Personal computer (with SigmaWin+)
Interface The software version of the SigmaWin+ must be version 7.11 or
USB Com- higher.
munica-
tions (CN7) Communi-
cations Conforms to USB2.0 standard (12 Mbps).
Standard

11
2 Specifications and Settings
2.1.2 400 V Specifications

Item Specification
CHARGE, PWR, RUN, ERR, and L/A (A and B) indicators, and
Displays/Indicators
one-digit seven-segment display
Ethernet IP Address Setting Switches Used to configure IP address
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Analog Monitor (CN5) Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Activated when a servo alarm or overtravel (OT) occurs, or
Dynamic Brake (DB)
when the power supply to the main circuit or servo is OFF.
Built-in
Regenerative Processing
Refer to the catalog for details.
Stopping with dynamic brake, deceleration to a stop, or coast-
Overtravel (OT) Prevention ing to a stop for the P-OT (Forward Drive Prohibit) or N-OT
(Reverse Drive Prohibit) signal
Overcurrent, overvoltage, low voltage, overload, regeneration
Protective Functions
error, etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
EDM1: Monitors the status of built-in safety circuit (fixed out-
Safety Output put).
Functions
Applicable
ISO13849-1 PLe (category 3), IEC61508 SIL3
Standards*3

* 1. If you combine a -7-Series SERVOPACK with a -V-Series Option Module, the surrounding air tempera-
ture specification of the -V-Series SERVOPACKs must be used, i.e., 0°C to 55°C. Also, the applicable
surrounding range cannot be increased by derating.
* 2. The coefficient of speed fluctuation for load fluctuation is defined as follows:

Coefficient of speed fluctuation = No-load motor speed - Total-load motor speed × 100%
Rated motor speed
* 3. Always perform risk assessment for the system and confirm that the safety requirements are met.

12
 2 Specifications and Settings
2.1.2 400 V Specifications

2.2 DIP Switch Settings

1
2
DIP Switches
3
4

Rotary
Switches
(used to
set IP
address)

Rotary Switch 1 Rotary Switch 0

Setting for
Switch Name Setting Operating Mode Normal Details
Operation
User program execution
ON
1 STOP inhibited OFF Inhibits user program execution
OFF Normal operation
Firmware programming Enables servo controller firmware
ON
mode OFF programming. This mode can also be
2 SUP
performed via web UI without changing
OFF Normal operation the DIP switch.
Configuration bypass Set to ON to bypass the stored
ON
mode OFF configuration (e.g. in case of a
3 INIT
configuration problem that prevents
OFF Normal operation servo controller startup)
ON Normal operation Rotary switches used to set IP address
4 E-INIT OFF IP address is set from configuration
OFF Rotary switches ignored
settings in servo controller

13
2 Specifications and Settings
2.1.2 400 V Specifications

2.3 Rotary Switches

When DIP switch 4 (E-INIT) is OFF, the rotary switches are ignored.
The IP address is set from configuration settings stored on the servo
controller.

Rotary switches are normally used to set the IP address. This is the
case when DIP switch 4 (E-INIT) is ON
 If both rotary switches are set to 0, use DHCP.
 If either rotary switch is non zero, the last octet of the IP address is set
by the value on the switches. Note that the switch values are labeled in
hexadecimal. The IP address will be 192.168.1.x where x is 0x01 to
0xFF for a decimal value of 01 to 255.

Rotary Switch 1 Rotary Switch 0 IP Address

0 0 Set by DHCP
0 1 192.168.1.1
0 2 192.168.1.2
... ... ...
0 F 192.168.1.15
1 0 192.168.1.16
... ... ...
1 F 192.168.1.31
2 0 192.168.1.32
... ... ...
F F 192.168.1.255

2.4 Switch Factory Settings

 All DIP switches off
 Rotary switches at 0 and 1.
 Configured IP address is 192.168.1.1

14
 3 Installation Standards

3 Installation Standards
3.1 Mechanical Installation/Dimensions
The SigmaLogic7 Modbus servo interface is based on the Sigma-7S
EtherCAT servo amplifier. As such, it has the same envelope and
mechanical installation directions.

For 200V models, please refer to section 2.3 of the Sigma-7S

EtherCAT (CoE) Communications Reference Product Manual
(document number SIEPS80000155).

For 400V Models, please refer to section 2.3 of the Sigma-7S with
400V Input Power EtherCAT (CoE) Communications Reference
Product Manual (document number SIEPS80000180).

15
3 Installation Standards
3.2.1 200 V SERVOPACKS

3.2 Installing Multiple SERVOPACKS in a Con-

trol Panel
3.2.1 200 V SERVOPACKS
Provide the following intervals between the SERVOPACKs and
spaces around the SERVOPACKs.

Install cooling fans above the SERVOPACKs so that hot

spots do not occur around the SERVOPACKs. Provide
sufficient intervals and spaces as shown in the following
Important figure to enable cooling by the fans and natural convec-
tion.

Fan Fan
40 mm min.

30 mm min.
SERVOPACK

SERVOPACK

SERVOPACK

SERVOPACK

30 mm min. This distance depends 40 mm min.

on the model.

The space required on the right side of a SERVOPACK (when

looking at the SERVOPACK from the front) depends on the
SERVOPACK models. Refer to the following table.
Cooling Fan Installation
Space on Conditions
SERVOPACK Model
Right Side 10 mm above SERVO-
PACK’s Top Surface
R70A, R90A, 1R6A, 2R8A,
3R8A, 5R5A, 7R6A, R70F, 1 mm min. Air speed: 1.0 m/s min.
SGD7S- R90F, 2R1F, 2R8F
120A, 180A, 200A, 330A,
10 mm min. Air speed: 1.0 m/s min.
470A, 550A, 590A, 780A

16
 3 Installation Standards
3.2.2 400 V SERVOPACKS

3.2.2 400 V SERVOPACKS

400 V SERVOPACKS can be mounted side-by-side as shown.

Install cooling fans above the SERVOPACKs so that hot

spots do not occur around the SERVOPACKs.
Important

Fan Fan
120 mm min.

30 mm min.
SERVOPACK

SERVOPACK

SERVOPACK

SERVOPACK

30 mm min. 120 mm min.

Cooling Fan Installation Conditions

SERVOPACK Model
10 mm above SERVOPACK’s Top Surface
1R9D, 3R5D, 5R4D, 8R4D,
SGD7S- 120D, 170D, 210D, 260D, Air speed: 1.0 m/s min.
280D, 370D

17
3 Installation Standards
3.2.2 400 V SERVOPACKS

18
 4 Inputs and Outputs
4.1.1 200 V SERVOPACKS

4 Inputs and Outputs

4.1 Input Signals
4.1.1 200 V SERVOPACKS
Default settings are provided in parentheses

Pin
Signal Name Function
No.
/SI1 General-purpose Digital Input 1 You can allocate the input signal to use with
7 a parameter.
(P-OT) (Forward Drive Prohibit Input)
(Stops Servomotor drive (to prevent over-
/SI2 General-purpose Digital Input 2 travel) when the moving part of the machine
8
(N-OT) (Reverse Drive Prohibit Input) exceeds the range of movement.)
You can allocate the input signal to use with
/SI3 9 General-purpose Digital Input 3 parameters.
(Used for general-purpose input.)
/SI4 External latch signal 1 input
10
(/EXT1) (General purpose input 4)
/SI5 You can allocate the input signals to use with
11 General-purpose Digital Input 5
(/EXT2) parameters.
/SI6
12 General-purpose Digital Input 6
(/EXT3)
You can allocate the input signal to use with
/SI0 13 General-purpose Digital Input 0 a parameter.
(Used for general-purpose input.)
Inputs the Digital Input signal power supply.
+24VIN Digital Input Signal Power Sup- Allowable voltage range: 24 VDC ±20% The
6 ply Input 24-VDC power supply is not provided by Yas-
kawa.
BAT+ 14 Battery for Absolute Encoder (+) These are the pins to connect the absolute
encoder backup battery.
BAT- 15 Battery for Absolute Encoder (-) Do not connect these pins if you use the
Encoder Cable with a Battery Case.
Linear Servomotor Overheat Inputs the overheat protection signal from a
TH 5
Protection Input Linear Servomotor.
Note: If forward drive prohibition or reverse drive prohibition is used, the SERVOPACK is stopped
by software controls. If the application does not satisfy the safety requirements, add external
safety circuits as required.

19
4 Inputs and Outputs
4.1.2 400V SERVOPACKS

4.1.2 400V SERVOPACKS

Default settings are given in parentheses.
Signal Pin No. Name Function

/SI1 General-purpose Digital

7 Input 1 (Forward Drive You can allocate the input signal to use with a
(P-OT) Prohibit Input) parameter. (Stops Servomotor drive (to prevent
General-purpose Digital overtravel) when the moving part of the machine
/SI2 exceeds the range of movement.)
8 Input 2 (Reverse Drive
(N-OT) Prohibit Input)

/SI3 9 General-purpose Digital You can allocate the input signal to use with
Input 3 parameters. (Used for general-purpose input.)

/SI4 External latch signal 1

(/EXT1) 10 input(General purpose
input 4) You can allocate the input signals to use with
parameters.
/SI5 General-purpose Digital
(/EXT2) 11 Input 5
/SI6 General-purpose Digital You can allocate the input signal to use with
12
(/EXT3) Input 6 parameters.

/SI0 General-purpose Digital You can allocate the input signal to use with a
13
Input 0 parameter. (Used for general-purpose input.)

Digital Input Signal Inputs the Digital input signal power supply.
+24VIN 6 Allowable voltage range: 24 VDC ±20% The 24-
Power Supply Input
VDC power supply is not provided by Yaskawa.

BAT+ Battery for Absolute These are the pins to connect the absolute
14 Encoder (+) encoder backup battery. Do not connect these
Battery for Absolute pins if you use the Encoder Cable with a Battery
BAT- 15 Case.
Encoder (-)
Linear Servomotor
Inputs the overheat protection signal from a Lin-
TH 5 Overheat Protection
ear Servomotor.
Input

Note: If forward drive prohibition or reverse drive prohibition is used, the SERVOPACK is
stopped by software controls. If the application does not satisfy the safety requirements,
add external safety circuits as required.

20
 4 Inputs and Outputs
4.2.1 200 V SERVOPACKS

4.2 Output Signals

4.2.1 200 V SERVOPACKS
Default settings are provided in parentheses.

Pin
Signal Name Function
No.
ALM+ 3
Servo Alarm Output Turns OFF (opens) when an error is detected.
ALM- 4
/SO1+
(/BK+) 1 General-purpose Digi- You can allocate the output signal to use with a parameter.
tal Output 1 (Brake (Controls the brake. The brake is released when the signal
/SO1- Output) turns ON (closes).)
2
(/BK-)
/SO2+ 23 General-purpose Digi-
/SO2- 24 tal Output 2
Used for general-purpose outputs.
/SO3+ 25 Set the parameters to allocate functions.
General-purpose Digi-
/SO3- 26 tal Output 3
PAO 17 Encoder Divided
Pulse Output, Phase
/PAO 18 A Output the encoder divided pulse output signals with a 90°
PBO 19 Encoder Divided phase differential.
Pulse Output, Phase
/PBO 20 B
PCO 21 Encoder Divided
Pulse Output, Phase Outputs the origin signal once every encoder rotation.
/PCO 22 C
SG 16 Signal ground This is the 0-V signal for the control circuits.
Connected to the frame ground if the shield of the I/O Signal
FG Shell Frame ground
Cable is connected to the connector shell.

21
4 Inputs and Outputs
4.2.2 400 V SERVOPACKS

4.2.2 400 V SERVOPACKS

Default settings are provided in parentheses.
Pin
Signal Name Function
No.
ALM+ 3
Servo Alarm Output Turns OFF (opens) when an error is detected.
ALM- 4
/SO1+
1 You can allocate the output signal to use with a parame-
(/BK+) General-purpose
ter.
Digital Output 1
/SO1- (Controls the brake. The brake is released when the sig-
2 (Brake Output) nal turns ON (closes).)
(/BK-)
/SO2+ 23 General-purpose
/SO2- 24 Digital Output 2
/SO3+ 25 General-purpose
/SO3- 26 Digital Output 3
Used for general-purpose outputs.
/SO4+ 27 Set the parameters to allocate functions.
General-purpose
/SO4- 28 Digital Output 4
/SO5+ 29 General-purpose
/SO5- 30 Digital Output 5
PAO 17 Encoder Divided
Pulse Output, Phase
/PAO 18 A Output the encoder divided pulse output signals with a
PBO 19 Encoder Divided 90° phase differential.
Pulse Output, Phase
/PBO 20 B
SG 16 Signal ground This is the 0-V signal for the control circuits.

22
 4 Inputs and Outputs
4.3.1 200 V SERVOPACKS

4.3 I/O Signal Connector (CN1) Pin Arrange-

ment
4.3.1 200 V SERVOPACKS
The following figure gives the pin arrangement of the of the I/O signal
connector (CN1) for the default settings.
General- Battery for
/SO1+ purpose Absolute
General- 1 14 BAT+
(/BK+) Digital Battery for Encoder
/SO1- purpose Output 1 (+)
2 15 BAT- Absolute
(/BK-) Digital
Pin 1
Servo Encoder (-)
Output 1 Signal
Pin 14 3 ALM+ Alarm 16 SG
Pin 2
Encoder Ground
Output
Pin 15 Servo Divided
4 ALM- Alarm Linear 17 PAO Pulse Out-
Servomo- Encoder
Pin 12 Output put, Phase Divided
Pin 25 tor Over- A
5 TH 18 /PAO Pulse Out-
heat
Pin 13
Pin 26
Digital Encoder put, Phase
Protec-
Input Sig- Divided A
+24VI tion Input
6 nal Power 19 PBO Pulse Out-
N Encoder
Supply General- put, Phase
Input B Divided
/SI1 purpose
7 20 /PBO Pulse Out-
(P-OT) Digital Encoder
The above General- put, Phase
Input 1 Divided B
view is from /SI2 purpose
8 21 PCO Pulse Out-
the direction (N-OT) Digital put, Phase Encoder
of the follow- Input 2 General-
/SI3 purpose C Divided
ing arrow with- 9 22 /PCO Pulse Out-
out the External (/DEC) Digital
put, Phase
connector latch sig- Input 3 General- C
shell attached /SI4 nal 1 input purpose
. 10 23 /SO2+
(/EXT1) (General General- Digital Out- General-
purpose /SI5 purpose put 2 purpose
input 4) 11 (/EXT2) Digital 24 /SO2-
Digital
General- Input 5 General- Output 2
/SI6 purpose purpose
12 (/EXT3) Digital General- 25 /SO3+ Digital Out- General-
Input 6 purpose put 3 purpose
13 /SI0 Digital 26 /SO3- Digital
Input 0 Output 3

23
4 Inputs and Outputs
4.3.2 400 V SERVOPACKS

4.3.2 400 V SERVOPACKS

The following figure gives the pin arrangement of the of the I/O
signal connector (CN1) for the default settings.

No Signal Specification No Signal Specification

Battery for absolute General-purpose

15 PG BAT- 30 /SO5-
Pin Pin encoder (-) Digital Output 5
15 30
Battery for absolute General-purpose
14 PG BAT+ 29 /SO5+
encoder (+) Digital Output 5

13 /SI0 General-purpose 28 /SO4- General-purpose

Digital Input 0 Digital Output 4
Pin Pin
2 17 /SI6 General-purpose General-purpose
12 (/EXT3) Digital Input 6 27 /SO4+ Digital Output 4
Pin Pin
1 16 /SI5 General-purpose General-purpose
11 (/EXT2) Digital Input 5 26 /SO3- Digital Output 3
Top View of I/O Signal
Connector
/SI4 General-purpose General-purpose
10 (/EXT1) Digital Input 4 25 /SO3+
Digital Output 3

General-purpose General-purpose
9 /SI3 24 /SO2-
Digital Input 3 Digital Output 2

8 /SI2 General-purpose 23 /SO2+ General-purpose

(N-OT) Digital Input 2 Digital Output 2
Side View of I/O Signal
Connector
7 /SI1 General-purpose 22 /PCO Encoder divided pulse
(P-OT) Digital Input 1 output, phase C

Digital input signal Encoder divided pulse

6 +24VIN power supply input 21 PCO output, phase C

Linear Servomotor
Encoder divided pulse
5 TH overheat protection 20 /PBO
output, phase B
input
Encoder divided pulse
4 ALM- Servo alarm output 19 PBO
output, phase B
Encoder divided pulse
3 ALM+ Servo alarm output 18 /PAO output, phase A

/SO1- General-purpose Encoder divided pulse

2 17 PAO
(/BK-) Digital Output 1 output, phase A

/SO1+ General-purpose
1 16 SG Signal ground
(/BK+) Digital Output 1

24
 4 Inputs and Outputs
4.4.1 Using a Rotary Servo Motor

4.4 I/O Signal Wiring Examples

4.4.1 Using a Rotary Servo Motor

200 V SERVOPACKS
Photocoupler outputs
Max. allowable voltage: 30 VDC
Max. allowable current: 50 mA DC
SERVOPACK
CN1

Digital input signal 4.7 kΩ 3 ALM+

power supply input +24 V *3 +24VIN 6 Servo Alarm Output
P-OT 4 ALM- (OFF for alarm)
Forward Drive Prohibit input 7
(prohibited when OFF) 1 /BK+
Brake output
Reverse Drive Prohibit input N-OT 8 2 /BK- (released when ON)
(prohibited when OFF) 23 /SO2+

General-purpose /SI3 9 24 /SO2-

digital input 3 25 /SO3+

External latch signal 1 input /EXT1 10 26 /SO3-

(General purpose input 4)
17 PAO *4
Encoder Divided
/EXT2 18 /PAO Pulse Output,
General-purpose 11
Phase A Applicable Line
digital input 5
Receiver:
19 PBO *4
Encoder Divided SN75ALS175 or
General-purpose /EXT3 12 20 /PBO Pulse Output, MC3486
digital input 6 Phase B manufactured
by Texas
General-purpose 21 PCO *4
Encoder Divided Instruments or
/SI0 13
digital input 0 22 /PCO Pulse Output, the equivalent
*1
BAT+ 14 Phase C
+
Battery for
- BAT- 15
absolute encoder
Backup battery*2
2.8 V to 4.5 V 16 SG Signal ground

Connector
shell
FG Connect shield to connector shell.
Frame ground

* 1. represents twisted-pair wires.

* 2. Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case
is connected, do not connect a backup battery.
* 3. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with
double insulation or reinforced insulation.
* 4. Always use line receivers to receive the output signals.
Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,
P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2,
and /SO3 output signals.
2. If you use a 24-V brake, install a separate power supply for the 24-VDC
power supply from other power supplies, such as the one for the I/O signals
of the CN1 connector.
If the power supply is shared, the I/O signals may malfunction.

25
4 Inputs and Outputs
4.4.1 Using a Rotary Servo Motor

400 V SERVOPACKS

Photocoupler outputs
Max. allowable voltage: 30 VDC
Max. allowable current: 50 mA DC
SERVOPACK
CN1

Digital input signal 4.7 k 3 ALM+

+24 V *3 +24VIN 6 Servo Alarm Output
power supply input (OFF for alarm)
P-OT 4 ALM-
Forward Drive Prohibit input 7
(prohibited when OFF) 1 /BK+
Brake output
N-OT 2 /BK- (released when ON)
Reverse Drive Prohibit input 8
(prohibited when OFF) 23 /SO2+
/SI3 9 24 /SO2-
General-purpose
digital input 3 25 /SO3+

External latch signal 1 input /EXT1 10 26 /SO3-

(General-purpose input 4) 27 /SO4+

General-purpose /EXT2 11 28 /SO4-

digital input 5 29 /SO5+

General-purpose /EXT3 12 30 /SO5-

digital input 6
17 PAO *4
Encoder Divided
General-purpose 18 /PAO Pulse Output,
/SI0 13
digital input 0 Phase A
*1
BAT+ 14
Battery for + 19 PBO *4 Encoder Divided Applicable line receiver:
absolute encoder Pulse Output, SN75ALS175 or MC3486
- BAT- 15 20 /PBO
Backup battery*2 Phase B manufactured by Texas
2.8 V to 4.5 V Instruments or the equivalent
21 PCO *4 Encoder Divided
22 /PCO Pulse Output,
Phase C
16 SG
Signal ground

* 1. represents twisted-pair wires.

* 2. Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case
is connected, do not connect a backup battery.
* 3. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with
double insulation or reinforced insulation.
* 4. Always use line receivers to receive the output signals.
Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,
P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2,
and /SO3 output signals.
2. If you use a 24-V brake, install a separate power supply for the 24-VDC
power supply from other power supplies, such as the one for the I/O signals
of the CN1 connector. If the power supply is shared, the I/O signals may
malfunction.

26
 4 Inputs and Outputs
4.4.2 Using a Linear Servo Motor

4.4.2 Using a Linear Servo Motor

200 V SERVOPACKS
Photocoupler outputs
Max. allowable voltage: 30 VDC
Max. allowable current: 50 mA DC
SERVOPACK

CN1
Linear Servomotor overheat protection input
TH 5
Digital input signal +24 V *2 +24VIN 6 4.7 k 3 ALM+
power supply input Servo Alarm Output
P-OT 4 ALM- (OFF for alarm)
Forward Drive Prohibit input 7
(prohibited when OFF) 1 /BK+
Brake output
Reverse Drive Prohibit input N-OT 8 2 /BK- (released when ON)
(prohibited when OFF) 23 /SO2+

General-purpose /SI3 9 24 /SO2-

digital input 3 25 /SO3+

External latch signal 1 input /EXT1 10 26 /SO3-

(General-purpose input 4) *1
17 PAO *3 Encoder Divided
/EXT2 18 /PAO Pulse Output,
General-purpose 11 Phase A
digital input 5 Applicable Line Receiver:
19 PBO *3 Encoder Divided SN75ALS175 or MC3486
General-purpose /EXT3 12 20 /PBO Pulse Output, manufactured by Texas
digital input 6 Phase B Instruments or the equivalent

21 PCO *3 Encoder Divided

General-purpose /SI0 13
22 /PCO Pulse Output,
digital input 0
Phase C

16 SG

Connector
shell
FG Connect shield to connector shell.
Frame ground

* 1. represents twisted-pair wires.

* 2. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with
double insulation or reinforced insulation.
* 3. Always use line receivers to receive the output signals.
Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,
P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2,
and /SO3 output signals.
2. If you use a 24-V brake, install a separate power supply for the 24-VDC
power supply from other power supplies, such as the one for the I/O signals
of the CN1 connector.
If the power supply is shared, the I/O signals may malfunction.

27
4 Inputs and Outputs
4.4.2 Using a Linear Servo Motor

400 V SERVOPACKS
Photocoupler outputs
Max. allowable voltage: 30 VDC
Max. allowable current: 50 mA DC
SERVOPACK

CN1
TH 5
Linear Servomotor overheat 3 ALM+
protection input Servo Alarm Output
4.7 k 4 ALM- (OFF for alarm)
Digital input signal +24 V *2 +24VIN 6
power supply input 1 /BK+
P-OT 7 Brake output
Forward Drive Prohibit input
(prohibited when OFF) 2 /BK- (released when ON)
23 /SO2+
Reverse Drive Prohibit input N-OT 8
(prohibited when OFF) 24 /SO2-

/SI3 25 /SO3+
General-purpose 9
digital input 3 26 /SO3-
External latch signal 1 /EXT1 27 /SO4+
10
input (General purpose
input 4) 28 /SO4-

/EXT2 29 /SO5+
General purpose 11
digital input 5 30 /SO5-
*1
General purpose /EXT3 17 PAO *3 Encoder Divided
12
digital input 6 18 /PAO Pulse Output,
Phase A
General purpose Applicable line receiver:
/SI0 13 19 PBO *3 Encoder Divided SN75ALS175 or MC3486
digital input 0
20 /PBO Pulse Output, manufactured by Texas
Phase B Instruments or the equivalent

21 PCO *3 Encoder Divided

22 /PCO Pulse Output,
Phase C
16 SG

* 1. represents twisted-pair wires.

* 2.The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with
double insulation or reinforced insulation.
* 3. Always use line receivers to receive the output signals.
Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3,
P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2,
and /SO3 output signals.
2. If you use a 24-V brake, install a separate power supply for the 24-VDC
power supply from other power supplies, such as the one for the I/O signals
of the CN1 connector.
If the power supply is shared, the I/O signals may malfunction.

28
 4 Inputs and Outputs
4.5.1 Digital Input Circuits

4.5 I/O Circuits

4.5.1 Digital Input Circuits
 Photocoupler Input Circuits
This section describes CN1 connector terminals 6 to 13.
Examples for Open-Collector
Examples for Relay Circuits
Circuits
SERVOPACK
SERVOPACK

+24VIN 4.7 kΩ
+24VIN 4.7 kΩ
24 VDC 24 VDC
e.g., /DEC
e.g., /DEC

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

The SERVOPACK input circuits use bi-directional photocouplers.

Select either a sink circuit or source circuit according to the
specifications required by the machine.

Note: The connection examples in 4.4 I/O Signal Wiring Examples are for sink
circuit connections.

Sink Circuits Source Circuits

24 V 24 V
+ − SERVOPACK input side + − SERVOPACK input side

Photocoupler Photocoupler
Internal Internal
Switch signal Switch signal
level level
Photocoupler Photocoupler
Internal Internal
Switch signal signal
level Switch
level

Input Signal Polarity Input Signal Polarity

Internal Signal Internal Signal
Photocoupler Photocoupler
Level Level
ON Low level ON Low level
OFF High level OFF High level

29
4 Inputs and Outputs
4.5.2 Digital Output Circuits

4.5.2 Digital Output Circuits

Incorrect wiring or incorrect voltage application to the output circuits

may cause short-circuit failures.
If a short-circuit failure occurs as a result of any of these causes, the
Important holding brake will not work. This could damage the machine or cause
an accident that may result in death or injury.

 Photocoupler Output Circuits

Photocoupler output circuits are used for the ALM (Servo Alarm), /S-RDY (Servo
Ready), and other digital output signals. Connect a photocoupler output circuit to a
relay or line-receiver circuit.
Example for Relay Circuit Example for Line-Receiver Circuit
SERVOPACK 5 VDC to 30 VDC SERVOPACK
Relay 5 VDC to 30 VDC

0V

Note: The maximum allowable voltage and current range for photocoupler output circuits are
as follows:
• Maximum allowable voltage: 30 VDC
• Current range: 5 mA to 50 mA DC

 Line-Driver Output Circuits

This section describes CN1 connector terminals 17-18 (Phase-A Signal), 19-20
(Phase-B Signal), and 21-22 (Phase-C Signal).
The serial data from the encoder is converted to two-phase (phases A and B)
pulses. The resulting output signals (PAO, /PAO and PBO, /PBO) and origin pulse
signal (PCO and /PCO) are output with line-driver output circuits. Connect the line-
driver output circuits to line-receiver circuits at the host controller.

Example for Line-Receiver Circuit

SERVOPACK Host controller
Output line driver: Applicable line receiver:
SN75ALS174 or SN75ALS175 or MC3486
the equivalent manufactured by Texas Instruments
or the equivalent

220 Ω to
470 Ω

30
 5 LED Outputs

5 LED Outputs
The following indicators show the operating status of the servo
controller and error information.

ERR:
 Solid at power up
 Off when there is no error
 Solid when there is an alarm
 Blinking when there is a critical error

RUN:
 Solid when internal logic controller is booted and ready
 Blinking when internal logic controller is running a program

Ethernet Link/Activity:
 Off when CN6A/B does not have an active Ethernet connection
 Solid when CN6A/B has an active Ethernet connection
 Blinking when CN6A/B is transmitting or receiving data

31
5 LED Outputs

32
 6 Ethernet Connectivity

6 Ethernet Connectivity
The SigmaLogic7 Compact supports both 100 Mbps/100Base-TX and
10 Mbps/10Base-T connections. One single network is accessed
using both CN6A and CN6B. The same IP address is set for both
ports. The Ethernet address (MAC address) can be found on the
nameplate.

6.1 Ethernet Connector Details

Ethernet Connector Specification and Pin Array
The following table provides the Ethernet connector specifications.

Connector Number Connector Model

Name of Pins Module Side Cable Side Manufacturer
RJ-45 CAT5 RJ-45 CAT5
Ethernet 8 TE Connectivity
Socket Plug

The following table provides Ethernet connector pin array details.

Pin Number Signal Name Description

1 TXD+ Transmitted data + side
2 TXD- Transmitted data – side
Ethernet
3 RXD+ Received data + side
4 – –
5 – –
6 RXD- Received data – side
7 – –
8 – –

33
6 Ethernet Connectivity

6.2 Ethernet Cable

For the Ethernet cable, use a twisted pair cable with RJ-45
connector. Yaskawa strongly recommends the use of shielded
ethernet cables (Yaskawa model JZSP-CM3RRM0-xx-E). Ethernet
ports are capable of auto-crossover, so crossover cables are not
necessary.

6.3 Ethernet Connection Examples

Connection Example 1 (When using a Repeater Hub)
SigmaLogic7 Compact
SigmaLogic7
Compact

Station
Station

100Base-TX Up to 100m
Up to 100m
Up to 100m

100Base-TX 100Base-TX
Ethernet Switch Up to 100m Ethernet Switch

Up to 100m Up to 100m

Station Station

Specification
Cable length from node to Ethernet hub or switch 100 m or less
Cable length between Ethernet hubs or switches 100 m or less
Number of Ethernet hubs or switches between nodes Unlimited

34
 6 Ethernet Connectivity

Connection Example 2

SigmaLogic7 Compact
SigmaLogic7
Compact

100 Base-TX (up to 100m)

Station

Connection Example 3
SigmaLogic7 Compact
SigmaLogic7
Compact

Station

Core

100Base-TX
Core

100Base-TX
Ethernet Switch

Servo motor

LogicWorks

35
6 Ethernet Connectivity

 Caution
Electromagnetic interference (EMI) may interfere with Ethernet communication.
The following measures can help minimize the influence of EMI:
1. Locate Ethernet cables so that they are well-separated from power cables or
other sources of EMI
2. Yaskawa strongly recommends the use of high-quality shielded Ethernet
cables such as JZSP-CM3RRM0-xx-E
3. Attach ferrite cores to Ethernet cables that are subjected to EMI

Recommended ferrite core:

Model Manufacturer
E04SR301334 Seiwa Electric Mfg. Co., Ltd

36
 7 Cable Diagrams

7 Cable Diagrams
7.1 SBK-U-VBA-xx (200 V Only)
Terminal Block - CN1 I/O.

SBK-U-VBA-xx Function Chart for Sigma-5 or Sigma-7 Servo Amplifier

Mechatrolink-II type Servo Amplifier / Option type
Pin No.
Signal Function
1 /BK+ (/SO1+) Brake interlock output (+) (General purpose output 1 (+))
2 /BK- (/SO1-) Brake interlock output (-) (General purpose output 1 (-))
3 ALM+ Servo alarm output (+)
4 ALM- Servo alarm output (-)
5 -
6 +24VIN Control power supply for digital signal input
7 P-OT (/SI1) Forward run prohibited input (General purpose input 1)
8 N-OT (/SI2) Reverse run prohibited input (General purpose input 2)
9 /DEC (/SI3) Zero-point return deceleration switch input (General purpose input 3)
10 /EXT1 (/SI4) External latch signal 1 input (General purpose input 4)
11 /EXT2 (/SI5) External latch signal 2 input (General purpose input 5)
12 /EXT3 (/SI6) External latch signal 3 input (General purpose input 6)
13 /SI0 General purpose input 0
14 BAT (+) Battery (+) input
15 BAT (-) Battery (-) input
16 SG Signal ground
17 PAO Phase-A pulse output (+)
18 /PAO Phase-A pulse output (-)
19 PBO Phase-B pulse output (+)
20 /PBO Phase-B pulse output (-)
21 PCO Phase-C pulse output (+)
22 /PCO Phase-C pulse output (-)
23 /SO2+ General purpose output 2 (+)
24 /SO2- General purpose output 2 (-)
25 /SO3+ General purpose output 3 (+)
26 /SO3- General purpose output 3 (-)
Note: General purpose input and output signals are shown with their default signals assigned - signal
assignment may have been changed by parameter

37
7 Cable Diagrams

7.2 JZSP-CSI02-x-E (200 V Only)

Flying Lead - CN1 I/O.
SERVOPACK End
Connector 10126-6000EL (by Sumitomo 3M Ltd.)
Shell 10326-52A0-008

Cable (Ivory)
SSRFPVV-SB AWG#28 × 13P
UL20276 VW-1SC

3 Dia. Wire Markers

37.2

(6.3 Dia.)

14 L 100 -+10
0

Dimensions in mm
Model Cable Length
JZSP-CSI02-1-E 1000 mm
JZSP-CSI02-2-E 2000 mm
JZSP-CSI02-3-E 3000 mm

Host
SERVOPACK End Controller End
Wire Marking Lead
Pin No. Signal Color Color Dots Marker
1 /BK+ Blue Red 1 1
2 /BK− Blue Black 1 2
3 ALM+ Pink Red 1 3
4 ALM− Pink Black 1 4
5 – Green Red 1 5
6 +24VIN Green Black 1 6
7 P-OT Orange Red 1 7
8 N-OT Orange Black 1 8
9 /DEC Gray Red 1 9
10 /EXT1 Gray Black 1 10
11 /EXT2 Blue Red 2 11
12 /EXT3 Blue Black 2 12
13 /SI0 Pink Red 2 13
14 BAT + Pink Black 2 14
15 BAT − Green Red 2 15
16 SG Green Black 2 16
17 PAO Orange Red 2 17
18 /PAO Orange Black 2 18
19 PBO Gray Red 2 19
20 /PBO Gray Black 2 20
21 PCO Blue Red 3 21
22 /PCO Blue Black 3 22
23 /SO2+ Pink Red 3 23
24 /SO2− Pink Black 3 24
25 /SO3+ Green Red 3 25
26 /SO3− Green Black 3 26
Represents
twisted-pair
wires.

38
 8 EMC Installation Conditions

8 EMC Installation Conditions

This section gives the installation conditions that were used for EMC
certification testing.
The EMC installation conditions that are given here are the conditions
that were used to pass testing criteria at Yaskawa. The EMC level may
change under other conditions, such as the actual installation structure
and wiring conditions. These Yaskawa products are designed to be
built into equipment. Therefore, you must implement EMC measures
and confirm compliance for the final equipment.
The applicable standards are EN 55011 group 1 class A, EN
61000-6-2, EN 61000-6-4, and EN 61800-3 (category C2, second
environment).
• Three-Phase, 200 VAC
Shield box

Brake power supply

SERVOPACK

Clamp

Clamp
U, V, and W Brake
Clamp

Power supply: Noise L1, L2, and L3

Three-phase, 200 VAC filter 
 Servomotor

L1C and L2C

Surge
Clamp

absorber
CN2 Encoder


Clamp
PE
Clamp

Host controller CN6A and CN6B

 PE
CN1 CN8

Clamp Clamp
 

I/O Safety
controller function device

Symbol Cable Name Specification

 I/O Signal Cable Shielded cable
 Safety Function Device Cable Shielded cable
 Servomotor Main Circuit Cable Shielded cable
 Encoder Cable Shielded cable
 Main Circuit Power Cable Shielded cable
 Ethernet Communications Cable Shielded cable

39
8 EMC Installation Conditions

• Single-Phase, 200 VAC

Shield box

Brake power supply

SERVOPACK

Clamp

Clamp
Clamp U, V, and W Brake
Power supply: Noise L1 and L2
Single-phase, 200 VAC filter 
 Servomotor

L1C and L2C

Surge

Clamp
absorber
CN2 Encoder


Clamp
PE
Clamp

Host controller CN6A and CN6B

 PE
CN1 CN8

Clamp Clamp
 

I/O Safety
controller function device

Symbol Cable Name Specification

 I/O Signal Cable Shielded cable
 Safety Function Device Cable Shielded cable
 Servomotor Main Circuit Cable Shielded cable
 Encoder Cable Shielded cable
 Main Circuit Power Cable Shielded cable
 Ethernet Communications Cable Shielded cable

40
 8 EMC Installation Conditions

• Single-Phase, 100 VAC

Shield box

Brake power supply

SERVOPACK

Clamp

Clamp
U, V, and W Brake

Clamp
Power supply: Noise L1 and L2
Single-phase, 100 VAC filter 
 Servomotor

L1C and L2C

Surge

Clamp
absorber
CN2 Encoder


Clamp
PE
Clamp

Host controller CN6A and CN6B

 PE
CN1 CN8

Clamp Clamp
 

I/O Safety
controller function device

Symbol Cable Name Specification

 I/O Signal Cable Shielded cable
 Safety Function Device Cable Shielded cable
 Servomotor Main Circuit Cable Shielded cable
 Encoder Cable Shielded cable
 Main Circuit Power Cable Shielded cable
 Ethernet Communications Cable Shielded cable

41
8 EMC Installation Conditions

• Three-Phase, 400 VAC

Shield box

Brake power supply

SERVOPACK

Clamp

Clamp
U, V, and W Brake

Clamp
Power supply: Noise L1, L2, and L3
Three-phase, 400 VAC Filter 
 Servomotor

Surge
Absorber

Clamp
CN2 Encoder

Power supply: Clamp

PE 24 VDC

24 V, 0 V

PE
Clamp

Host controller CN6A and CN6B

CN1 CN8

Clamp Clamp

I/O Safety
controller function device

Symbol Cable Name Specification

 I/O Signal Cable Shielded cable
 Safety Function Device Cable Shielded cable
 Servomotor Main Circuit Cable Shielded cable
 Encoder Cable Shielded cable
 Main Circuit Power Supply Cable Shielded cable
 Ethernet Communications Cable Shielded cable

42
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone: 81-4-2962-5696 Fax: 81-4-2962-6138

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan
Phone: 81-3-5402-4511 Fax: 81-3-5402-4580
http://www.yaskawa.co.jp

YASKAWA AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax: 1-847-887-7310
http://www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL, LTDA.

Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brasil
Phone: 55-11-3585-1100 Fax: 55-11-3585-1187
http://www.yaskawa.com.br

YASKAWA ELECTRIC EUROPE GmbH

Hauptstrae 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

MANUAL NO. IG.SL7C.01, Rev. B-1

Published in U.S.A June 13, 2019