Yaskawa s7

-7-Series AC Servo Drive
-7S SERVOPACK with

Analog Voltage/Pulse Train References
Product Manual
Model: SGD7S-00A
Basic Information on
SERVOPACKs 1
Selecting a SERVOPACK 2
SERVOPACK Installation 3
Wiring and Connecting
SERVOPACKs 4
Basic Functions That Require
Setting before Operation 5
Application Functions 6
Trial Operation and
Actual Operation 7
Tuning 8
Monitoring 9
Fully-Closed Loop Control 10
Safety Functions 11
Maintenance 12
Panel Displays and
Panel Operator Procedures 13
Parameter Lists 14
Appendices 15
MANUAL NO. SIEP S800001 26N

Copyright © 2014 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, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject 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
This manual provides information required to select Σ-7S SERVOPACKs with Analog Voltage/Pulse
Train References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune,
operate, and maintain the Servo Drives.
Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Chapter Chapter Title Contents
Basic Information on Provides information required to select SERVOPACKs, such as
1
SERVOPACKs SERVOPACK models and combinations with Servomotors.
Provides information required to select SERVOPACKs, such as specifi-
2 Selecting a SERVOPACK cations, block diagrams, dimensional drawings, and connection exam-
ples.
Provides information on installing SERVOPACKs in the required loca-
3 SERVOPACK Installation
tions.
Wiring and Connecting Provides information on wiring and connecting SERVOPACKs to power
4
SERVOPACKs supplies and peripheral devices.
Basic Functions That Require Set- Describes the basic functions that must be set before you start servo
5
ting before Operation system operation. It also describes the setting methods.
Describes the application functions that you can set before you start
6 Application Functions
servo system operation. It also describes the setting methods.
Trial Operation and Actual Provides information on the flow and procedures for trial operation and
7
Operation convenient functions to use during trial operation.
Provides information on the flow of tuning, details on tuning functions,
8 Tuning
and related operating procedures.
Provides information on monitoring SERVOPACK product information
9 Monitoring
and SERVOPACK status.
Provides detailed information on performing fully-closed loop control
10 Fully-Closed Loop Control
with the SERVOPACK.
Provides detailed information on the safety functions of the SERVO-
11 Safety Functions
PACK.
Provides information on the meaning of, causes of, and corrections for
12 Maintenance
alarms and warnings.
Panel Displays and Panel Opera- Describes how to interpret panel displays and the operation of the
13
tor Procedures Panel Operator.
14 Parameter Lists Provides information on the parameters.
Provides host controller connection examples and tables of corre-
15 Appendices
sponding SERVOPACK and SigmaWin+ function names.
iii
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following
figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer
to these documents as required.
System Components
Machine Controllers Servo Drives

Catalogs
Machine
Controller MP3300 Σ-7-Series
and
Servo Drive Catalog Catalog
General
Catalog
Machine Controllers

SERVOPACKs with Built-in Controllers: Σ-7C
Built-in Option
Function Module
User’s
Manuals Manuals
Enclosed Σ-7-Series Built-in Σ-7-Series

Documents Σ-7C Function Σ-7C
SERVOPACK SERVOPACK
SERVOPACKs: Σ-7S and Σ-7W
Manuals
Troubleshooting
Product Manual Manual

Enclosed Σ-7-Series Σ-7-Series Σ-7-Series Option
Documents Σ-7S/Σ-7W Σ-7S/Σ-7W Σ-7S/Σ-7W Module
SERVOPACK SERVOPACK SERVOPACK
Product Hardware Option FT/EX User’s
Manuals Manual
Manuals
(such as this manual) Product Manuals Product Manuals
Servomotors
Enclosed Σ-7-Series
Documents Servomotor
Product
Manuals
Other Documents
Σ-7-Series Σ-7-Series Programming Σ-7-Series Distributed

Peripheral MECHATROLINK Manuals Operation I/O Module
Device Communications Interface
User’s
Selection Command Operating Manual
Manual Manuals Manuals
iv
Classification Document Name Document No. Description
Describes the features and applica-

Machine Controller and tion examples for combinations of
Machine Controller and
AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control-
Servo Drive
Solutions Catalog lers and Σ-7-Series AC Servo
General Catalog
Drives.
Provides detailed information on
 Machine Controller MP3300 Machine Controllers,
KAEP C880725 03
MP3300 Catalog MP3300 including features and specifica-
tions.
Provides detailed information on Σ-
 AC Servo Drives
KAEP S800001 23 7-Series AC Servo Drives, including
Σ-7-Series Catalog Σ-7 Series
features and specifications.
Σ-7-Series AC Servo Drive the specifications, system configu-
Σ-7C SERVOPACK ration, and application methods of
SIEP S800002 03
Motion Control the Motion Control Function Mod-
User’s Manual ules (SVD, SVC4, and SVR4) for Σ-
7-Series Σ-7C SERVOPACKs.
 Provides detailed information on
Built-in Function Manuals the specifications, system configu-
Machine Controller ration, and communications con-
MP3000 Series nection methods for the Ethernet
SIEP C880725 12
Communications communications that are used with
User’s Manual MP3000-Series Machine Control-
lers and Σ-7-Series Σ-7C SERVO-
PACKs.
Machine Controller
MP2000 Series
SIEP C880700 04
Communication Module
User’s Manual
Provide detailed information on the
Machine Controller
specifications and communica-
MP2000 Series
tions methods for the Communica-
262IF-01 FL-net SIEP C880700 36
tions Modules that can be mounted
Communication Module
to MP3000-Series Machine Con-
User’s Manual
trollers and Σ-7-Series Σ-7C
Machine Controller SERVOPACKs.
MP2000 Series
263IF-01 EtherNet/IP SIEP C880700 39
 Communication Module
Option Module User’s Manual
User’s Manuals Machine Controller
MP2000 Series
SIEP C880700 34
I/O Module
User’s Manual
Provide detailed information on the
Machine Controller
specifications and communica-
MP2000 Series
tions methods for the I/O Modules
Analog Input/Analog Output SIEP C880700 26
that can be mounted to MP3000-
Module AI-01/AO-01
Series Machine Controllers and Σ-
User’s Manual
Machine Controller
MP2000 Series
SIEP C880700 27
Counter Module CNTR-01
User’s Manual
Continued on next page.
v
Continued from previous page.
Σ-7-Series AC Servo Drive Provides detailed information for
Σ-7S and Σ-7W SERVOPACK TOMP C710828 00 the safe usage of Σ-7-Series
Safety Precautions SERVOPACKs.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Provides detailed information for
Σ-7-Series TOBP C720829 00
the safe usage of Option Modules.
Safety Precautions
Option Module
for Large-Capacity Models/ Provides detailed procedures for
Σ-7-Series TOBP C720829 01 installing the Command Option
Installation Guide Module in a SERVOPACK.
Command Option Module
Σ-7-Series TOBP C720829 03 installing the Fully-closed Module in
 Installation Guide a SERVOPACK.
Enclosed Documents Fully-closed Module
Σ-7-Series TOBP C720829 06 installing the Safety Module in a
Installation Guide SERVOPACK.
Safety Module
Σ-7-Series TOBP C720829 02 installing the INDEXER Module in a
INDEXER Module
Σ-7-Series TOBP C720829 07 installing the DeviceNet Module in a
DeviceNet Module
 selecting Σ-7-Series Σ-7C SERVO-
Σ-7-Series AC Servo Drive PACKs; installing, connecting, set-
Σ-7-Series
Σ-7C SERVOPACK SIEP S800002 04 ting, testing in trial operation, and
Σ-7C SERVOPACK
Product Manual tuning Servo Drives; writing, moni-
Product Manual
toring, and maintaining programs;
and other information.

Σ-7-Series Σ-7-Series AC Servo Drive Provides detailed troubleshooting
Σ-7C SERVOPACK Σ-7C SERVOPACK SIEP S800002 07 information for Σ-7-Series Σ-7C
Troubleshooting Troubleshooting Manual SERVOPACKs.
Manual
vi
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-III SIEP S800001 28
Communications References
Product Manual

MECHATROLINK-II SIEP S800001 27
Product Manual

This manual
Analog Voltage/Pulse Train Provide detailed information on
(SIEP S800001 26)
 References selecting Σ-7-Series Σ-7S and
Σ-7-Series Product Manual Σ-7W SERVOPACKs; installing,
Σ-7S/Σ-7W connecting, setting, testing in trial
SERVOPACK Σ-7-Series AC Servo Drive operation, tuning, monitoring, and
Product Manuals Σ-7S SERVOPACK maintaining Servo Drives; and
Command Option Attachable SIEP S800001 64 other information.
Type with INDEXER Module
Product Manual

Σ-7S SERVOPACK
Command Option Attachable SIEP S800001 70
Type with DeviceNet Module
Product Manual

Σ-7W SERVOPACK with
MECHATROLINK-III SIEP S800001 29
Product Manual
Σ-7S/Σ-7W SERVOPACK with
Hardware Option Specifica-
 SIEP S800001 73
tions
Σ-7-Series Dynamic Brake
Σ-7S/Σ-7W Product Manual Provide detailed information on
SERVOPACK with Hardware Options for Σ-7-Series
Hardware Option Σ-7-Series AC Servo Drive SERVOPACKs.
Specifications Σ-7W/Σ-7C SERVOPACK with
Product Manuals Hardware Option Specifica-
SIEP S800001 72
tions
HWBB Function
Product Manual
vii
FT/EX Specification for Index- SIEP S800001 84
ing Application
Product Manual
FT/EX Specification for Track- SIEP S800001 89
ing Application
Product Manual
FT/EX Specification
for Application with Special SIEP S800001 91
Motor,
SGM7D Motor
Product Manual
FT/EX Specification
SIEP S800001 94
for Press and Injection
Molding Application
Product Manual
FT/EX Specification
SIEP S800001 95
for Transfer and Alignment
Application
Σ-7-Series Product Manual Provide detailed information on the
Σ-7S/Σ-7W SERVOPACK Σ-7-Series AC Servo Drive FT/EX Option for Σ-7-Series
FT/EX Σ-7S SERVOPACK with SERVOPACKs.
Product Manuals FT/EX Specification
SIEP S800002 09
for Torque/Force Assistance
for Conveyance Application
Product Manual
FT/EX Specification
SIEP S800002 10
for Cutting Application
Feed Shaft Motor
Product Manual
FT/EX Specification
SIEP S800002 17
for Three-Point Latching
Product Manual
FT/EX Specification
for Semi-/Fully-Closed Loop SIEP S800002 27
Control Online Switching
Product Manual
Σ-7W SERVOPACK with
FT/EX Specification SIEP S800002 29
for Gantry Applications
Product Manual
AC Servo Drives
Σ-V Series/Σ-V Series
Provides detailed information
for Large-Capacity Models/
Option Module SIEP C720829 06 required for the design and mainte-
Σ-7 Series
User’s Manual nance of a Safety Module.
User’s Manual
Safety Module
viii
AC Servo Drive Provides detailed information for

Rotary Servomotor TOBP C230260 00 the safe usage of Rotary Servomo-
Safety Precautions tors and Direct Drive Servomotors.
Enclosed Documents
AC Servomotor Provides detailed information for
Linear Σ Series TOBP C230800 00 the safe usage of Linear Servomo-
Safety Precautions tors.

Rotary Servomotor SIEP S800001 36
Product Manual
Σ-7-Series AC Servo Drive Provide detailed information on

Σ-7-Series Linear Servomotor SIEP S800001 37 selecting, installing, and connecting
Servomotor Product Manual the Σ-7-Series Servomotors.
Product Manuals

Direct Drive Servomotor SIEP S800001 38
Product Manual
Provides the following information

in detail for Σ-7-Series Servo Sys-
tems.
Σ-7-Series AC Servo Drive • Cables: Models, dimensions, wir-
Σ-7-Series Peripheral Device SIEP S800001 32 ing materials, connector models,
Peripheral Device Selection Manual and connection specifications
Selection Manual • Peripheral devices: Models,
specifications, diagrams, and
selection (calculation) methods
Σ-7-Series AC Servo Drive Provides detailed information on

MECHATROLINK-II the MECHATROLINK-II communi-
SIEP S800001 30
Communications cations commands that are used
Command Manual for a Σ-7-Series Servo System.
Σ-7-Series
MECHATROLINK
Communications Σ-7-Series AC Servo Drive Provides detailed information on
Command Manuals MECHATROLINK-III the MECHATROLINK-III communi-
Communications SIEP S800001 31 cations standard servo profile com-
Standard Servo Profile mands that are used for a Σ-7-
Command Manual Series Servo System.

Machine Controller
the ladder programming specifica-
MP3000 Series
SIEP C880725 13 tions and instructions for MP3000-
Ladder Programming
Series Machine Controllers and Σ-
Manual
Programming
Manuals Provides detailed information on
Machine Controller the motion programming and
MP3000 Series sequence programming specifica-
SIEP C880725 14
Motion Programming tions and instructions for MP3000-
Manual Series Machine Controllers and Σ-
ix
Machine Controller
MP2000/MP3000 Series
Describes in detail how to operate
Engineering Tool SIEP C880761 03
MPE720 version 7.
MPE720 Version 7
User’s Manual
Σ-7-Series AC Servo Drive Describes the operating proce-

Σ-7-Series Digital Operator SIEP S800001 33 dures for a Digital Operator for a
Operation Interface Operating Manual Σ-7-Series Servo System.
Operating Manuals
AC Servo Drive Provides detailed operating proce-

Engineering Tool dures for the SigmaWin+ Engineer-
SIET S800001 34
SigmaWin+ ing Tool for a Σ-7-Series Servo
Operation Manual System.
Describes the functions, specifica-

tions, operating methods, and
MECHATROLINK-III
Distributed MECHATROLINK-III communica-
Compatible I/O Module SIEP C880781 04
I/O Module tions for the Remote I/O Modules
User’s Manual
User’s Manual for MP2000/MP3000-Series
Machine Controllers.
x
Using This Manual
 Technical Terms Used in This Manual
The following terms are used in this manual.
Term Meaning
Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.
A generic term used for a Σ-7-Series Rotary Servomotor (SGM7M, SGM7J, SGM7A, SGM7P,
Rotary Servomotor SGM7G, or SGMMV) or a Direct Drive Servomotor (SGM7E, SGM7F, SGMCV, or SGMCS).
The descriptions will specify when Direct Drive Servomotors are excluded.
Linear Servomotor A generic term used for a Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT).
SERVOPACK A Σ-7-Series Σ-7S Servo Amplifier with Analog Voltage/Pulse Train References.
Servo Drive The combination of a Servomotor and SERVOPACK.
A servo control system that includes the combination of a Servo Drive with a host controller
Servo System
and peripheral devices.
servo ON Supplying power to the motor.
servo OFF Not supplying power to the motor.
Shutting OFF the power supply to the motor by shutting OFF the base current to the power
base block (BB)
transistor in the SERVOPACK.
servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0.
One of the cables that connect to the main circuit terminals, including the Main Circuit Power
Main Circuit Cable
Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engi-
SigmaWin+
neering Tool is installed.
 Differences in Terms for Rotary Servomotors and Linear Servomotors

There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.
This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you
need to interpret the terms as given in the following table.
Rotary Servomotors Linear Servomotors
torque force
moment of inertia mass
rotation movement
forward rotation and reverse rotation forward movement and reverse movement
CW and CCW pulse trains forward and reverse pulse trains
rotary encoder linear encoder
absolute rotary encoder absolute linear encoder
incremental rotary encoder incremental linear encoder
-1 unit: mm/s
unit: min
unit: N·m unit: N
xi
 Notation Used in this Manual
 Notation for Reverse Signals
The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/)
before the signal abbreviation.
Notation Example
BK is written as /BK.
 Notation for Parameters

The notation depends on whether the parameter requires a numeric setting (parameter for numeric
setting) or requires the selection of a function (parameter for selecting functions).
• Parameters for Numeric Settings
The control methods for which the parameters apply are given.
Speed : Speed control Position : Position control Torque : Torque control
Speed Loop Gain Speed Position

Pn100
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1 Hz 400 Immediately Tuning
Parameter
number This is the minimum This is the This is when any
unit (setting increment) parameter setting change made to the This is the parameter
that you can set for parameter will classification.
This is the setting range before shipment.
for the parameter. the parameter. become effective.
• Parameters for Selecting Functions

Parameter Meaning When Enabled Classification
n.0 Use the encoder according to encoder specifications.
(default setting)
Pn002 n.1 Use the encoder as an incremental encoder. After restart Setup
n.2 Use the encoder as a single-turn absolute encoder.
Parameter The notation “n.” indicates a parameter for This column explains the
number selecting functions. selections for the function.
Each indicates the setting for one digit.
The notation shown here means that the third digit
from the right is set to 2.
Notation Example
Notation Examples for Pn002
Digit Notation Numeric Value Notation

n.0 0 0 0 Notation Meaning Notation Meaning
Pn002 = Indicates the first digit from Pn002 = Indicates that the first digit from
n.X the right in Pn002. n.1 the right in Pn002 is set to 1.
Pn002 = Indicates the second digit Pn002 = Indicates that the second digit from
n.X from the right in Pn002. n.1 the right in Pn002 is set to 1.
Pn002 = Indicates the third digit from Pn002 = Indicates that the third digit from
Pn002 = Indicates the fourth digit from Pn002 = Indicates that the fourth digit from
 Engineering Tools Used in This Manual

This manual uses the interfaces of the SigmaWin+ for descriptions.
xii
 Trademarks
• QR code is a trademark of Denso Wave Inc.
• Other product names and company names are the trademarks or registered trademarks of the
respective company. “TM” and the ® mark do not appear with product or company names in this
manual.
 Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed.

Also indicates alarm displays and other precautions that will not result in machine damage.
Important
Indicates definitions of difficult terms or terms that have not been previously explained in this
manual.
Term
Example Indicates operating or setting examples.
Information Indicates supplemental information to deepen understanding or useful information.
xiii
Safety Precautions
 Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used
to indicate safety precautions in this document. The signal words are used to classify the hazards
and the degree of damage or injury that may occur if a product is used incorrectly. Information
marked as shown below is important for safety. Always read this information and heed the precau-
tions that are provided.
DANGER
 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
 Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
 Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in
fire.
NOTICE
 Indicates precautions that, if not heeded, could result in property damage.
xiv
 Safety Precautions That Must Always Be Observed
 General Precautions
DANGER
 Read and understand this manual to ensure the safe usage of the product.
 Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.
Make sure that it is delivered to the final user of the product.
 Do not remove covers, cables, connectors, or optional devices while power is being supplied to
the SERVOPACK.
There is a risk of electric shock, operational failure of the product, or burning.
WARNING
 Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC
type) that are appropriate for the product.
There is a risk of burning, electric shock, or fire.
 Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according
to local electrical codes (100 Ω or less for a SERVOPACK with a 100-VAC or 200-VAC power
supply, and 10 Ω or less for a SERVOPACK with a 400-VAC power supply).
There is a risk of electric shock or fire.
 Do not attempt to disassemble, repair, or modify the product.
There is a risk of fire or failure.
The warranty is void for the product if you disassemble, repair, or modify it.
CAUTION
 The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servo-
motors, and other components can be very hot while power is ON or soon after the power is
turned OFF. Implement safety measures, such as installing covers, so that hands and parts
such as cables do not come into contact with hot components.
There is a risk of burn injury.
 For a 24-VDC power supply, use a power supply device with double insulation or reinforced
insulation.
There is a risk of electric shock.
 Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of failure, damage, or electric shock.
 The person who designs the system that uses the hard wire base block safety function must
have a complete knowledge of the related safety standards and a complete understanding of
the instructions in this document.
There is a risk of injury, product damage, or machine damage.
 Do not use the product in an environment that is subject to water, corrosive gases, or flamma-
ble gases, or near flammable materials.
There is a risk of electric shock or fire.
xv
NOTICE
 Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.
 Install external emergency stop circuits that shut OFF the power supply and stops operation
immediately when an error occurs.
 In locations with poor power supply conditions, install the necessary protective devices (such as
AC reactors) to ensure that the input power is supplied within the specified voltage range.
There is a risk of damage to the SERVOPACK.
 Use a Noise Filter to minimize the effects of electromagnetic interference.
Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.
 Always use a Servomotor and SERVOPACK in one of the specified combinations.
 Do not touch a SERVOPACK or Servomotor with wet hands.
There is a risk of product failure.
 Storage Precautions
CAUTION
 Do not place an excessive load on the product during storage. (Follow all instructions on the
packages.)
There is a risk of injury or damage.
NOTICE
 Do not install or store the product in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product specifications
• Locations that are subject to relative humidities that exceed product specifications
• Locations that are subject to condensation as the result of extreme changes in temperature
• Locations that are subject to corrosive or flammable gases
• Locations that are near flammable materials
• Locations that are subject to dust, salts, or iron powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock that exceeds product specifications
• Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
 Transportation Precautions
CAUTION
 Transport the product in a way that is suitable to the mass of the product.
 Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.
There is a risk of damage or injury.
 When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners.
There is a risk of injury.
 Do not place an excessive load on the product during transportation. (Follow all instructions on
the packages.)
There is a risk of injury or damage.
xvi
NOTICE
 Do not hold onto the front cover or connectors when you move a SERVOPACK.
There is a risk of the SERVOPACK falling.
 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage.
 Do not subject connectors to shock.
There is a risk of faulty connections or damage.
 If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
plywood, or pallets, 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.
 Do not overtighten the eyebolts on a SERVOPACK or Servomotor.
If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.
 Installation Precautions
CAUTION
 Install the Servomotor or SERVOPACK in a way that will support the mass given in technical
documents.
 Install SERVOPACKs, Servomotors, regenerative resistors, and External Dynamic Brake Resis-
tors on nonflammable materials.
Installation directly onto or near flammable materials may result in fire.
 Provide the specified clearances between the SERVOPACK and the control panel as well as
with other devices.
 Install the SERVOPACK in the specified orientation.
 Do not step on or place a heavy object on the product.
There is a risk of failure, damage, or injury.
 Do not allow any foreign matter to enter the SERVOPACK or Servomotor.
There is a risk of failure or fire.
xvii
NOTICE
 Do not install or store the product in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product specifications
• Locations that are subject to relative humidities that exceed product specifications
• Locations that are subject to condensation as the result of extreme changes in temperature
• Locations that are subject to corrosive or flammable gases
• Locations that are near flammable materials
• Locations that are subject to dust, salts, or iron powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock that exceeds product specifications
• Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
 Use the product in an environment that is appropriate for the product specifications.
If you use the product in an environment that exceeds product specifications, the product may fail
or be damaged.
 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage.
 Always install a SERVOPACK in a control panel.
 Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and
do not cover the outlet from the Servomotor’s cooling fan.
There is a risk of failure.
 Wiring Precautions
DANGER
 Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
 Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
 Check all wiring and power supplies carefully.
Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail-
ures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not
work. This could damage the machine or cause an accident that may result in death or injury.
 Connect the AC and DC power supplies to the specified SERVOPACK terminals.
• Connect an AC power supply to the L1, L2, and L3 terminals and the L1C and L2C terminals on the
SERVOPACK.
• Connect a DC power supply to the B1/ and 2 terminals and the L1C and L2C terminals on the
SERVOPACK.
 If you use a SERVOPACK with the Dynamic Brake Hardware Option, connect an External
Dynamic Brake Resistor that is suitable for the machine and equipment specifications to the
specified terminals.
There is a risk of unexpected operation, machine damage, burning, or injury when an emergency
stop is performed.
xviii
CAUTION
 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-
VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE
indicator is not lit before starting wiring or inspection work. Do not touch the power supply ter-
minals while the CHARGE lamp is lit because high voltage may still remain in the SERVOPACK
even after turning OFF the power supply.
 Observe the precautions and instructions for wiring and trial operation precisely as described in
this document.
Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause
the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury.
 Check the wiring to be sure it has been performed correctly.
Connectors and pin layouts are sometimes different for different models. Always confirm the pin
layouts in technical documents for your model before operation.
There is a risk of failure or malfunction.
 Connect wires to power supply terminals and motor connection terminals securely with the
specified methods and tightening torque.
Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact,
possibly resulting in fire.
 Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Sig-
nal Cables and Encoder Cables.
 The maximum wiring length is 3 m for I/O Signal Cables, and 50 m for Encoder Cables or Servo-
motor Main Circuit Cables.
 Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.
• Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit termi-
nals, has been completed.
• If a connector is used for the main circuit terminals, remove the main circuit connector from the
SERVOPACK before you wire it.
• Insert only one wire per insertion hole in the main circuit terminals.
• When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into con-
tact with adjacent wires and cause a short-circuit.
 Install molded-case circuit breakers and other safety measures to provide protection against
short circuits in external wiring.
NOTICE
 Whenever possible, use the Cables specified by Yaskawa.
If you use any other cables, confirm the rated current and application environment of your model
and use the wiring materials specified by Yaskawa or equivalent materials.
 Securely tighten cable connector screws and lock mechanisms.
Insufficient tightening may result in cable connectors falling off during operation.
 Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Sig-
nal Cables or Encoder Cables) together or run them through the same duct. If you do not place
power lines and low-current lines in separate ducts, separate them by at least 30 cm.
If the cables are too close to each other, malfunctions may occur due to noise affecting the low-cur-
rent lines.
 Install a battery at either the host controller or on the Encoder Cable.
If you install batteries both at the host controller and on the Encoder Cable at the same time, you
will create a loop circuit between the batteries, resulting in a risk of damage or burning.
 When connecting a battery, connect the polarity correctly.
There is a risk of battery rupture or encoder failure.
xix
 Operation Precautions
WARNING
 Before starting operation with a machine connected, change the settings of the switches and
parameters to match the machine.
Unexpected machine operation, failure, or personal injury may occur if operation is started before
appropriate settings are made.
 Do not radically change the settings of the parameters.
There is a risk of unstable operation, machine damage, or injury.
 Install limit switches or stoppers at the ends of the moving parts of the machine to prevent
unexpected accidents.
There is a risk of machine damage or injury.
 For trial operation, securely mount the Servomotor and disconnect it from the machine.
 Forcing the motor to stop for overtravel is disabled when the Jog, Origin Search, or Easy FFT
utility function is executed. Take necessary precautions.
There is a risk of machine damage or injury.
 When an alarm occurs, the Servomotor will coast to a stop or stop with the dynamic brake
according to the SERVOPACK Option and settings. The coasting distance will change with the
moment of inertia of the load and the resistance of the External Dynamic Brake Resistor. Check
the coasting distance during trial operation and implement suitable safety measures on the
machine.
 Do not enter the machine’s range of motion during operation.
 Do not touch the moving parts of the Servomotor or machine during operation.
CAUTION
 Design the system to ensure safety even when problems, such as broken signal lines, occur.
For example, the P-OT and N-OT signals are set in the default settings to operate on the safe
side if a signal line breaks. Do not change the polarity of this type of signal.
 When overtravel occurs, the power supply to the motor is turned OFF and the brake is released.
If you use the Servomotor to drive a vertical load, set the Servomotor to enter a zero-clamped
state after the Servomotor stops. Also, install safety devices (such as an external brake or
counterweight) to prevent the moving parts of the machine from falling.
 Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main cir-
cuit power supply or control power supply during operation before you turn OFF the servo, the
Servomotor will stop as follows:
• If you turn OFF the main circuit power supply during operation without turning OFF the servo, the
Servomotor will stop abruptly with the dynamic brake.
• If you turn OFF the control power supply without turning OFF the servo, the stopping method that is
used by the Servomotor depends on the model of the SERVOPACK. For details, refer to the manual
for the SERVOPACK.
• If you use a SERVOPACK with the Dynamic Brake Hardware Option, the Servomotor stopping meth-
ods will be different from the stopping methods used without the Option or with other Hardware
Options. For details, refer to the following manual.
Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual
(Manual No.: SIEP S800001 73)
 Do not use the dynamic brake for any application other than an emergency stop.
There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of
unexpected operation, machine damage, burning, or injury.
xx
NOTICE
 When you adjust the gain during system commissioning, use a measuring instrument to monitor
the torque waveform and speed waveform and confirm that there is no vibration.
If a high gain causes vibration, the Servomotor will be damaged quickly.
 Do not frequently turn the power supply ON and OFF. After you have started actual operation,
allow at least one hour between turning the power supply ON and OFF (as a guideline).
Do not use the product in applications that require the power supply to be turned ON and OFF
frequently.
The elements in the SERVOPACK will deteriorate quickly.
 An alarm or warning may occur if communications are performed with the host controller while
the SigmaWin+ or Digital Operator is operating.
If an alarm or warning occurs, it may interrupt the current process and stop the system.
 After you complete trial operation of the machine and facilities, use the SigmaWin+ to back up
the settings of the SERVOPACK parameters. You can use them to reset the parameters after
SERVOPACK replacement.
If you do not copy backed up parameter settings, normal operation may not be possible after a
faulty SERVOPACK is replaced, possibly resulting in machine or equipment damage.
 Maintenance and Inspection Precautions
DANGER
WARNING
CAUTION
 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-
VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE
indicator is not lit before starting wiring or inspection work. Do not touch the power supply ter-
minals while the CHARGE lamp is lit because high voltage may still remain in the SERVOPACK
even after turning OFF the power supply.
 Before you replace a SERVOPACK, back up the settings of the SERVOPACK parameters. Copy
the backed up parameter settings to the new SERVOPACK and confirm that they were copied
correctly.
If you do not copy backed up parameter settings or if the copy operation is not completed correctly,
normal operation may not be possible, possibly resulting in machine or equipment damage.
NOTICE
 Discharge all static electricity from your body before you operate any of the buttons or switches
inside the front cover of the SERVOPACK.
There is a risk of equipment damage.
xxi
 Troubleshooting Precautions
DANGER
 If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper-
ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair
or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety
device to operate.
There is a risk of fire, electric shock, or injury.
WARNING
 The product may suddenly start to operate when the power supply is recovered after a momen-
tary power interruption. Design the machine to ensure human safety when operation restarts.
CAUTION
 When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm
or turn the power supply OFF and ON again to restart operation.
There is a risk of injury or machine damage.
 If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may
suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an
alarm.
There is a risk of injury or machine damage.
 Always insert a magnetic contactor in the line between the main circuit power supply and the
main circuit power supply terminals on the SERVOPACK so that the power supply can be shut
OFF at the main circuit power supply.
If a magnetic contactor is not connected when the SERVOPACK fails, a large current may flow con-
tinuously, possibly resulting in fire.
 If an alarm occurs, shut OFF the main circuit power supply.
There is a risk of fire due to a regenerative resistor overheating as the result of regenerative transis-
tor failure.
 Install a ground fault detector against overloads and short-circuiting or install a molded-case
circuit breaker combined with a ground fault detector.
There is a risk of SERVOPACK failure or fire if a ground fault occurs.
 The holding brake on a Servomotor will not ensure safety if there is the possibility that an exter-
nal force (including gravity) may move the current position and create a hazardous situation
when power is interrupted or an error occurs. If an external force may cause movement, install
an external braking mechanism that ensures safety.
 Disposal Precautions
 When disposing of the product, treat it as ordinary industrial waste. However, local ordinances
and national laws must be observed. Implement all labeling and warnings as a final product as
required.
xxii
 General Precautions
 Figures provided in this manual are typical examples or conceptual representations. There may
be differences between them and actual wiring, circuits, and products.
 The products shown in illustrations in this manual are sometimes shown with their covers or
protective guards removed to illustrate detail. Always replace all covers and protective guards
before you use the product.
 If you need a new copy of this manual because it has been lost or damaged, contact your near-
est Yaskawa representative or one of the offices listed on the back of this manual.
 This manual is subject to change without notice for product improvements, specifications
changes, and improvements to the manual itself.
We will update the manual number of the manual and issue revisions when changes are made.
 Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies
the product in any way. Yaskawa disavows any responsibility for damages or losses that are
caused by modified products.
xxiii
Warranty
 Details of Warranty
 Warranty Period
The warranty period for a product that was purchased (hereinafter called the “delivered product”) is
one year from the time of delivery to the location specified by the customer or 18 months from the
time of shipment from the Yaskawa factory, whichever is sooner.
 Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to
Yaskawa occurs during the above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its ser-
vice life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
• Improper handling, abuse, or use in unsuitable conditions or in environments not described in
product catalogs or manuals, or in any separately agreed-upon specifications
• Causes not attributable to the delivered product itself
• Modifications or repairs not performed by Yaskawa
• Use of the delivered product in a manner in which it was not originally intended
• Causes that were not foreseeable with the scientific and technological understanding at the time
of shipment from Yaskawa
• Events for which Yaskawa is not responsible, such as natural or human-made disasters
 Limitations of Liability
• Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer
that arises due to failure of the delivered product.
• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of
program execution of the programs provided by the user or by a third party for use with program-
mable Yaskawa products.
• The information described in product catalogs or manuals is provided for the purpose of the cus-
tomer purchasing the appropriate product for the intended application. The use thereof does not
guarantee that there are no infringements of intellectual property rights or other proprietary rights
of Yaskawa or third parties, nor does it construe a license.
• Yaskawa shall not be responsible for any damage arising from infringements of intellectual prop-
erty rights or other proprietary rights of third parties as a result of using the information described
in catalogs or manuals.
xxiv
 Suitability for Use
• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations
that apply if the Yaskawa product is used in combination with any other products.
• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and
equipment used by the customer.
• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use
in the application is acceptable, use the product with extra allowance in ratings and specifica-
tions, and provide safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use
in conditions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems,
vehicle systems, medical equipment, amusement machines, and installations subject to sep-
arate industry or government regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or
electricity, or systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
• Never use the product for an application involving serious risk to life or property without first
ensuring that the system is designed to secure the required level of safety with risk warnings and
redundancy, and that the Yaskawa product is properly rated and installed.
• The circuit examples and other application examples described in product catalogs and manuals
are for reference. Check the functionality and safety of the actual devices and equipment to be
used before using the product.
• Read and understand all use prohibitions and precautions, and operate the Yaskawa product
correctly to prevent accidental harm to third parties.
 Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and
manuals may be changed at any time based on improvements and other reasons. The next edi-
tions of the revised catalogs or manuals will be published with updated code numbers. Consult
with your Yaskawa representative to confirm the actual specifications before purchasing a product.
xxv
Compliance with UL Standards, EU Directives, and Other Safety Standards
Certification marks for the standards for which the product has been certified by certification bodies
are shown on nameplate. Products that do not have the marks are not certified for the standards.
 North American Safety Standards (UL)
Product Model North American Safety Standards (UL File No.)

UL 61800-5-1 (E147823)
SERVOPACKs SGD7S
CSA C22.2 No.274
• SGM7M
• SGM7A
UL 1004-1
Rotary • SGM7J
UL 1004-6
Servomotors • SGM7P
(E165827)
• SGM7G
• SGMMV
• SGM7E
• SGM7F-A,
-B, -C, and
-D (Small-Capacity
Direct Drive UL 1004-1
Servomotors with Cores)
UL 1004-6
Servomotors • SGMCV
(E165827)
• SGMCS-B,
-C, -D, and
-E (Small-Capacity,
Coreless Servomotors)
• SGLGW*
UL 1004-1
Linear • SGLFW*
UL 1004-6
Servomotors • SGLFW2
(E165827)
• SGLTW*
* Only products with derating specifications are in compliance with the UL Standards. Estimates are available for those prod-
ucts. Contact your Yaskawa representative for details.
xxvi
 EU Directives
Product Model EU Directives Harmonized Standards

Machinery Directive
EN ISO13849-1: 2015
2006/42/EC
EN 55011 group 1, class A
EN 61000-6-2
EMC Directive
EN 61000-6-4
2014/30/EU
SERVOPACKs SGD7S EN 61800-3 (Category C2, Second
environment)
Low Voltage Directive EN 50178
2014/35/EU EN 61800-5-1
RoHS Directive
EN 50581
2011/65/EU
EMC Directive EN 61000-6-2
2004/108/EC EN 61800-3 (Category C2, Second
environment)
SGMMV
Low Voltage Directive EN 60034-1
2006/95/EC EN 60034-5
RoHS Directive
EN 50581
2011/65/EU
Rotary
Servomotors EN 55011 group 1, class A
EN 61000-6-2
EMC Directive
• SGM7M EN 61000-6-4
2014/30/EU
• SGM7J EN 61800-3 (Category C2, Second
• SGM7A environment)
• SGM7P Low Voltage Directive EN 60034-1
• SGM7G 2014/35/EU EN 60034-5
RoHS Directive
EN 50581
2011/65/EU
• SGM7E EN 61000-6-2
EMC Directive
• SGM7F EN 61000-6-4
2014/30/EU
• SGMCV EN 61800-3 (Category C2, Second
Direct Drive environment)
• SGMCS-B,
Servomotors
-C, -D, and Low Voltage Directive EN 60034-1
-E (Small-Capacity, 2014/35/EU EN 60034-5
Coreless Servomotors) RoHS Directive
EN 50581
2011/65/EU
EN 61000-6-2
EMC Directive
EN 61000-6-4
• SGLG* 2014/30/EU
EN 61800-3 (Category C2, Second
Linear • SGLF* environment)
Servomotors • SGLF2
Low Voltage Directive
• SGLT* EN 60034-1
2014/35/EU
RoHS Directive
EN 50581
2011/65/EU
* For Moving Coils, only models with “-E” at the end of model numbers are certified.
Note: 1. We declared the CE Marking based on the harmonized standards in the above table.
2. These products are for industrial use. In home environments, these products may cause electromagnetic interfer-
ence and additional noise reduction measures may be necessary.
xxvii
 Safety Standards
Product Model Safety Standards Standards

EN ISO13849-1: 2015
Safety of Machinery
IEC 60204-1
IEC 61508 series
SERVOPACKs SGD7S
Functional Safety IEC 62061
IEC 61800-5-2
EMC IEC 61326-3-1
 Safety Parameters
Item Standards Performance Level
IEC 61508 SIL3
Safety Integrity Level
IEC 62061 SILCL3
Mission Time IEC 61508 10 years 20 years
-9
Probability of Dangerous Failure per Hour
IEC 61508 PFH = 4.04×10 [1/h] PFH = 4.05×10-9 [1/h]
IEC 62061 (4.04% of SIL3) (4.05% of SIL3)
Performance Level EN ISO 13849-1 PLe (Category 3)
Mean Time to Dangerous Failure of Each Channel EN ISO 13849-1 MTTFd: High
Average Diagnostic Coverage EN ISO 13849-1 DCavg: Medium
Stop Category IEC 60204-1 Stop category 0
Safety Function IEC 61800-5-2 STO
Hardware Fault Tolerance IEC 61508 HFT = 1
Subsystem IEC 61508 B
xxviii
Contents
About this Manual. . . . . . . . . . . .................................. . . . . iii
Outline of Manual . . . . . . . . . . . .................................. . . . . iii
Related Documents . . . . . . . . . .................................. . . . . iv
Using This Manual . . . . . . . . . . .................................. . . . . xi
Safety Precautions . . . . . . . . . . .................................. . . . xiv
Warranty . . . . . . . . . . . . . . . . . . .................................. . . xxiv
Compliance with UL Standards, EU Directives, and Other Safety Standards . . xxvi
Basic Information on SERVOPACKs

1
1.1 The Σ-7 Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Interpreting the Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.4 Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.1 Interpreting SERVOPACK Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4.2 Interpreting Servomotor Model Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.5 Combinations of SERVOPACKs and Servomotors . . . . . . . . . . . 1-9

1.5.1 Combinations of Rotary Servomotors and SERVOPACKs . . . . . . . . . . . . . . 1-9
1.5.2 Combinations of Direct Drive Servomotors and SERVOPACKs . . . . . . . . . 1-10
1.5.3 Combinations of Linear Servomotors and SERVOPACKs . . . . . . . . . . . . . 1-11
1.6 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Selecting a SERVOPACK
2
2.1 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 SERVOPACK Overload Protection Characteristics. . . . . . . . . . . . . . . . . . . . 2-5
2.1.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2.2.1 SGD7S-R70A, -R90A, and -1R6A ............................... 2-11
2.2.2 SGD7S-2R8A . . . . . . . . . . . . . . . ............................... 2-11
2.2.3 SGD7S-3R8A, -5R5A, and -7R6A ............................... 2-12
2.2.4 SGD7S-120A . . . . . . . . . . . . . . . . ............................... 2-13
2.2.5 SGD7S-180A and -200A . . . . . . . ............................... 2-14
2.2.6 SGD7S-330A . . . . . . . . . . . . . . . . ............................... 2-15
2.2.7 SGD7S-470A and -550A . . . . . . . ............................... 2-16
2.2.8 SGD7S-590A and -780A . . . . . . . ............................... 2-17
2.2.9 SGD7S-R70F, -R90F, and -2R1F . ............................... 2-17
2.2.10 SGD7S-2R8F . . . . . . . . . . . . . . . . ............................... 2-18
2.3 External Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

2.3.1 Front Cover Dimensions and Connector Specifications . . . . . . . . . . . . . . . 2-19
2.3.2 SERVOPACK External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
xxix
2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices . . 2-26
SERVOPACK Installation
3
3.1 Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Mounting Types and Orientation . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3 Mounting Hole Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.4 Mounting Interval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3.4.1 Installing One SERVOPACK in a Control Panel . . . . . . . . . . . . . . . . . . . . . . .3-6
3.4.2 Installing More Than One SERVOPACK in a Control Panel . . . . . . . . . . . . . .3-6
3.5 Monitoring the Installation Environment . . . . . . . . . . . . . . . . . . 3-7
3.6 Derating Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.7 EMC Installation Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Wiring and Connecting SERVOPACKs

4
4.1 Wiring and Connecting SERVOPACKs . . . . . . . . . . . . . . . . . . . . 4-3
4.1.1 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.1.2 Countermeasures against Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
4.1.3 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8
4.2 Basic Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.3 Wiring the Power Supply to the SERVOPACK . . . . . . . . . . . . . 4-11

4.3.1 Terminal Symbols and Terminal Names . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
4.3.2 Wiring Procedure for Main Circuit Connector . . . . . . . . . . . . . . . . . . . . . . .4-14
4.3.3 Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-15
4.3.4 Power Supply Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-16
4.3.5 Wiring Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-22
4.3.6 Wiring Reactors for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . .4-24
4.4 Wiring Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.4.1 Terminal Symbols and Terminal Names . . . . . ... .... . . . . . . . . . . . . . . .4-25
4.4.2 Pin Arrangement of Encoder Connector (CN2) ... .... . . . . . . . . . . . . . . .4-25
4.4.3 Wiring the SERVOPACK to the Encoder . . . . . ... .... . . . . . . . . . . . . . . .4-26
4.4.4 Wiring the SERVOPACK to the Holding Brake ... .... . . . . . . . . . . . . . . .4-33
4.5 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34

4.5.1 I/O Signal Connector (CN1) Names and Functions . . . . . . . . . . . . . . . . . . .4-34
4.5.2 I/O Signal Connector (CN1) Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . .4-37
4.5.3 I/O Signal Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-38
4.5.4 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-44
4.6 Connecting Safety Function Signals . . . . . . . . . . . . . . . . . . . . 4-49

4.6.1 Pin Arrangement of Safety Function Signals (CN8) . . . . . . . . . . . . . . . . . . .4-49
4.6.2 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-49
xxx
4.7 Connecting the Other Connectors . . . . . . . . . . . . . . . . . . . . . . 4-51
4.7.1 Serial Communications Connector (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . 4-51
4.7.2 Computer Connector (CN7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51
4.7.3 Analog Monitor Connector (CN5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51
Basic Functions That Require Setting before Operation

5
5.1 Manipulating Parameters (Pn) . . . . . . . . . . . . . . . . . . . . . . 5-4
5.1.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . ... .... ... .... . . . . 5-4
5.1.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . ... .... ... .... . . . . 5-5
5.1.3 Parameter Setting Methods . . . . . . . . . . . . . . . . . . . ... .... ... .... . . . . 5-6
5.1.4 Write Prohibition Setting for Parameters . . . . . . . . . ... .... ... .... . . . . 5-8
5.1.5 Initializing Parameter Settings . . . . . . . . . . . . . . . . . ... .... ... .... . . . 5-12
5.2 Control Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.3 Power Supply Type Settings for the Main Circuit and Control Circuit . . 5-15
5.3.1 AC Power Supply Input/DC Power Supply Input Setting . . . . . . . . . . . . . . 5-15
5.3.2 Single-phase AC Power Supply Input/
Three-phase AC Power Supply Input Setting. . . . . . . . . . . . . . . . . . . . . . . 5-16
5.4 Automatic Detection of Connected Motor . . . . . . . . . . . . . . . . 5-17
5.5 Functions and Settings for the /S-ON (Servo ON) Signal. . . . . 5-18
5.5.1 Function of the /S-ON (Servo ON) Signal. . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.5.2 Setting to Keep the Servo ON and Supply Power to the Motor
Continuously . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.6 Motor Direction Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.7 Setting the Linear Encoder Pitch . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.8 Writing Linear Servomotor Parameters . . . . . . . . . . . . . . . . . . 5-21
5.9 Selecting the Phase Sequence for a Linear Servomotor . . . . . 5-25
5.10 Polarity Sensor Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.11 Polarity Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

5.11.1 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.11.2 Using the /S-ON (Servo ON) Signal to Perform Polarity Detection . . . . . . . 5-29
5.11.3 Using the /P-DET (Polarity Detection)
Signal to Perform Polarity Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
5.11.4 Using a Tool Function to Perform Polarity Detection . . . . . . . . . . . . . . . . . 5-31
5.12 Overtravel and Related Settings . . . . . . . . . . . . . . . . . . . . . . . 5-32

5.12.1 Overtravel Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
5.12.2 Setting to Enable/Disable Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
5.12.3 Motor Stopping Method for Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
5.12.4 Overtravel Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
xxxi
5.13 Holding Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-37
5.13.1 Brake Operating Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-37
5.13.2 /BK (Brake) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-38
5.13.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped . . .5-39
5.13.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating . .5-40
5.14 Motor Stopping Methods for Servo OFF and Alarms. . . . . . . . 5-42
5.14.1 Stopping Method for Servo OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-43
5.14.2 Servomotor Stopping Method for Alarms . . . . . . . . . . . . . . . . . . . . . . . . . .5-43
5.15 Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . 5-45

5.15.1 Detection Timing for Overload Warnings (A.910) . . . . . . . . . . . . . . . . . . . .5-45
5.15.2 Detection Timing for Overload Alarms (A.720) . . . . . . . . . . . . . . . . . . . . . .5-46
5.16 Electronic Gear Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47

5.16.1 Electronic Gear Ratio Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-48
5.16.2 Electronic Gear Ratio Setting Examples . . . . . . . . . . . . . . . . . . . . . . . . . . .5-52
5.17 Resetting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.17.1 Precautions on Resetting . . ... .... ... .... ... .... .. . . . . . . . . . . . . .5-53
5.17.2 Preparations . . . . . . . . . . . . ... .... ... .... ... .... .. . . . . . . . . . . . . .5-53
5.17.3 Applicable Tools . . . . . . . . . ... .... ... .... ... .... .. . . . . . . . . . . . . .5-54
5.17.4 Operating Procedure . . . . . ... .... ... .... ... .... .. . . . . . . . . . . . . .5-54
5.18 Setting the Origin of the Absolute Encoder . . . . . . . . . . . . . . . 5-56

5.18.1 Setting the Origin of the Absolute Linear Encoder . . . . . . . . . . . . . . . . . . .5-56
5.19 Setting the Regenerative Resistor Capacity . . . . . . . . . . . . . . 5-59
Application Functions
6
6.1 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
6.1.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-8
6.1.3 ALM (Servo Alarm) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10
6.1.4 ALO1 to ALO3 (Alarm Code) Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10
6.1.5 /WARN (Warning) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-11
6.1.6 /TGON (Rotation Detection) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-11
6.1.7 /S-RDY (Servo Ready) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12
6.2 Operation for Momentary Power Interruptions . . . . . . . . . . . . 6-13
6.3 SEMI F47 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6.4 Setting the Motor Maximum Speed . . . . . . . . . . . . . . . . . . . . . 6-16
6.5 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17

6.5.1 Basic Settings for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .6-17
6.5.2 Soft Start Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .6-24
6.5.3 Speed Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .6-24
6.5.4 Zero Clamping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .6-25
6.5.5 /V-CMP (Speed Coincidence Detection) Signal . . . . . . . . . . . . . . . . . . .. .6-27
6.5.6 Operation Examples for Changing the Motor Direction . . . . . . . . . . . . . .. .6-28
xxxii
6.6 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.6.1 Basic Settings for Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.6.2 CLR (Position Deviation Clear) Signal Function and Settings . . . . . . . . . . . 6-33
6.6.3 Reference Pulse Input Multiplication Switching . . . . . . . . . . . . . . . . . . . . 6-34
6.6.4 Smoothing Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6.6.5 /COIN (Positioning Completion) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
6.6.6 /NEAR (Near) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-38
6.6.7 Reference Pulse Inhibition Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
6.7 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-40

6.7.1 Basic Settings for Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-40
6.7.2 Adjusting the Torque Reference Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.7.3 Torque Reference Filter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45
6.7.4 Speed Limit during Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45
6.8 Encoder Divided Pulse Output . . . . . . . . . . . . . . . . . . . . . . . . . 6-47

6.8.1 Encoder Divided Pulse Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.8.2 Setting for the Encoder Divided Pulse Output . . . . . . . . . . . . . . . . . . . . . . 6-52
6.9 Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54

6.9.1 Input Signals for Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . . 6-54
6.9.2 Setting the Control Method to Internal Set Speed Control . . . . . . . . . . . . . 6-55
6.9.3 Settings for Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-55
6.9.4 Changing Internal Set Speeds with Input Signals . . . . . . . . . . . . . . . . . . . 6-56
6.10 Selecting Combined Control Methods . . . . . . . . . . . . . . . . . . . 6-58

6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6 . . . . . . 6-58
6.10.2 Setting Pn000 = n.X (Control Method Selection) to 7, 8, or 9 . . . . . . 6-61
6.10.3 Setting Pn000 = n.X (Control Method Selection) to A or B . . . . . . . . 6-61
6.11 Selecting Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-63

6.11.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-63
6.11.2 External Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
6.11.3 Limiting Torque with an Analog Reference . . . . . . . . . . . . . . . . . . . . . . . . . 6-67
6.11.4 Limiting Torque with an External Torque Limit
and an Analog Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-69
6.11.5 /CLT (Torque Limit Detection) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-72
6.12 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-73

6.12.1 Connecting an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74
6.12.2 Structure of the Position Data of the Absolute Encoder. . . . . . . . . . . . . . . 6-74
6.12.3 Output Ports for the Position Data from the Absolute Encoder . . . . . . . . . 6-75
6.12.4 Reading the Position Data from the Absolute Encoder . . . . . . . . . . . . . . . 6-76
6.12.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-80
6.12.6 Calculating the Current Position in Machine Coordinates . . . . . . . . . . . . . 6-81
6.12.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-82
6.12.8 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-82
6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . 6-84
6.13 Absolute Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-87

6.13.1 Connecting an Absolute Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 6-87
6.13.2 Structure of the Position Data of the Absolute Linear Encoder . . . . . . . . . 6-87
6.13.3 Output Ports for the Position Data from the Absolute Linear Encoder . . . . 6-88
6.13.4 Reading the Position Data from the Absolute Linear Encoder . . . . . . . . . . 6-89
6.13.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-93
6.13.6 Calculating the Current Position in Machine Coordinates . . . . . . . . . . . . . 6-94
6.13.7 Alarm Output from the Output Ports for the Position Data
from the Absolute Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-95
xxxiii
6.14 Software Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-96
6.14.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-96
6.14.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-96
6.14.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-96
6.15 Initializing the Vibration Detection Level . . . . . . . . . . . . . . . . . 6-98

6.15.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-98
6.15.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-101
6.16 Adjusting the Motor Current Detection Signal Offset . . . . . . 6-102

6.16.1 Automatic Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-102
6.16.2 Manual Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-104
6.17 Forcing the Motor to Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-106

6.17.1 FSTP (Forced Stop Input) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-106
6.17.2 Stopping Method Selection for Forced Stops . . . . . . . . . . . . . . . . . . . . . . 6-106
6.17.3 Resetting Method for Forced Stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-108
6.18 Overheat Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-109

6.18.1 Connecting the Overheat Protection Input (TH) Signal . . . . . . . . . . . . . . . 6-109
6.18.2 Overheat Protection Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-109
Trial Operation and Actual Operation

7
7.1 Flow of Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.1 Flow of Trial Operation for Rotary Servomotors . . . . . . . . . . . . . . . . . . . . . .7-2
7.1.2 Flow of Trial Operation for Linear Servomotors. . . . . . . . . . . . . . . . . . . . . . .7-4
7.2 Inspections and Confirmations before Trial Operation . . . . . . . 7-6
7.3 Trial Operation for the Servomotor without a Load . . . . . . . . . . 7-7

7.3.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7
7.3.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8
7.3.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8
7.4 Trial Operation from the Host Controller for the Servomotor without a Load . . 7-10
7.4.1 Preparing the Servomotor for Trial Operation . . . . . . . . . . . . . . . . . . . . . . .7-11
7.4.2 Trial Operation for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-13
7.4.3 Trial Operation for Position Control from the Host Controller
with the SERVOPACK Used for Speed Control . . . . . . . . . . . . . . . . . . . . . .7-14
7.4.4 Trial Operation for Position Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-15
7.5 Trial Operation with the Servomotor Connected to the Machine . . 7-17
7.5.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-17
7.5.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-18
7.6 Convenient Function to Use during Trial Operation . . . . . . . . . 7-20

7.6.1 Program Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-20
7.6.2 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-25
7.6.3 Test without a Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-27
xxxiv
Tuning
8
8.1 Overview and Flow of Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.1.1 Tuning Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.1.2 Diagnostic Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.2 Monitoring Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.3 Precautions to Ensure Safe Tuning . . . . . . . . . . . . . . . . . . . . . . 8-8

8.3.1 Overtravel Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.3.2 Torque Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.3.3 Setting the Position Deviation Overflow Alarm Level . . . . . . . . . . . . . . . . . . 8-8
8.3.4 Vibration Detection Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON . . . . . . . 8-10
8.4 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12

8.4.1 Application Restrictions. . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 8-12
8.4.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 8-13
8.4.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 8-14
8.4.4 Parameters Disabled by Tuning-less Function . . . . . . . . .... ... .... ... 8-15
8.4.5 Automatically Adjusted Function Setting . . . . . . . . . . . . .... ... .... ... 8-15
8.4.6 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 8-15
8.5 Estimating the Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . 8-16

8.5.1 Outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16
8.5.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.5.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.5.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.6 Autotuning without Host Reference . . . . . . . . . . . . . . . . . . . . . 8-24

8.6.1 Outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.6.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.6.5 Troubleshooting Problems in Autotuning without a Host Reference. . . . . . 8-31
8.6.6 Automatically Adjusted Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
8.6.7 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-34
8.7 Autotuning with a Host Reference . . . . . . . . . . . . . . . . . . . . . . 8-35

8.7.1 Outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-35
8.7.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-35
8.7.5 Troubleshooting Problems in Autotuning with a Host Reference . . . . . . . . 8-40
8.8 Custom Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-42

8.8.1 Outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-42
8.8.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-42
8.8.6 Tuning Example for Tuning Mode 2 or 3. . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49
xxxv
8.9 Anti-Resonance Control Adjustment . . . . . . . . . . . . . . . . . . . . 8-51
8.9.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
8.9.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
8.9.5 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-54
8.9.6 Suppressing Different Vibration Frequencies with
Anti-resonance Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-54
8.10 Vibration Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-56

8.10.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .8-56
8.10.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .8-57
8.10.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .8-57
8.10.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .8-57
8.10.5 Setting Combined Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .8-59
8.10.6 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .8-59
8.11 Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . 8-60

8.11.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-60
8.11.2 Setting Up Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . .8-60
8.11.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-64
8.12 Additional Adjustment Functions . . . . . . . . . . . . . . . . . . . . . . . 8-66

8.12.1 Gain Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-66
8.12.2 Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-70
8.12.3 Gravity Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-71
8.12.4 Current Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-73
8.12.5 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-73
8.12.6 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-74
8.12.7 Speed Feedback Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-74
8.12.8 Proportional Control (P Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-74
8.13 Manual Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-76

8.13.1 Tuning the Servo Gains. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-76
8.13.2 Compatible Adjustment Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-86
8.14 Diagnostic Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-92

8.14.1 Mechanical Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-92
8.14.2 Easy FFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-94
Monitoring
9
9.1 Monitoring Product Information . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 Items That You Can Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-2
9.1.2 Operating Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3
9.2 Monitoring SERVOPACK Status . . . . . . . . . . . . . . . . . . . . . . . . . 9-4

9.2.1 Servo Drive Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-4
9.2.2 Monitoring Operation, Status, and I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-5
9.2.3 I/O Signals Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7
9.3 Monitoring Machine Operation Status and Signal Waveforms . . 9-9

9.3.1 Items That You Can Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-9
9.3.2 Using the SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-10
9.3.3 Using the Analog Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-11
xxxvi
9.4 Monitoring Product Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.4.1 Items That You Can Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.4.3 Preventative Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
9.5 Alarm Tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19

9.5.1 Data for Which Alarm Tracing Is Performed . . . . . . . . . . . . . . . . . . . . . . . . 9-19
Fully-Closed Loop Control

10
10.1 Fully-Closed System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2 SERVOPACK Commissioning Procedure . . . . . . . . . . . . . . . . . 10-3
10.3 Parameter Settings for Fully-Closed Loop Control . . . . . . . . . 10-5

10.3.1 Control Block Diagram for Fully-Closed Loop Control . . . . . . . . . . . . . . . . 10-5
10.3.2 Setting the Motor Direction and the Machine Movement Direction . . . . . . 10-6
10.3.3 Setting the Number of External Encoder Scale Pitches . . . . . . . . . . . . . . . 10-7
10.3.4 Setting the PAO, PBO, and PCO
(Encoder Divided Pulse Output) Signals . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10.3.5 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . 10-8
10.3.6 Electronic Gear Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.3.7 Alarm Detection Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.3.8 Analog Monitor Signal Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10
10.3.9 Setting to Use an External Encoder for Speed Feedback . . . . . . . . . . . . 10-10
Safety Functions
11
11.1 Introduction to the Safety Functions . . . . . . . . . . . . . . . . . . . . 11-2
11.1.1 Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.2 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.2 Hard Wire Base Block (HWBB) . . . . . . . . . . . . . . . . . . . . . . . . . 11-3

11.2.1 Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... . . . .... . . . 11-3
11.2.2 Hard Wire Base Block (HWBB) State . . . . . . . . . . . . . . . . ... . . . .... . . . 11-4
11.2.3 Resetting the HWBB State . . . . . . . . . . . . . . . . . . . . . . . ... . . . .... . . . 11-4
11.2.4 Detecting Errors in HWBB Signal. . . . . . . . . . . . . . . . . . . ... . . . .... . . . 11-5
11.2.5 HWBB Input Signal Specifications. . . . . . . . . . . . . . . . . . ... . . . .... . . . 11-5
11.2.6 Operation without a Host Controller . . . . . . . . . . . . . . . . ... . . . .... . . . 11-5
11.2.7 /S-RDY (Servo Ready Output) Signal . . . . . . . . . . . . . . . . ... . . . .... . . . 11-6
11.2.8 /BK (Brake Output) Signal . . . . . . . . . . . . . . . . . . . . . . . . ... . . . .... . . . 11-6
11.2.9 Stopping Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... . . . .... . . . 11-6
11.2.10 Settings to Clear the Position Deviation . . . . . . . . . . . . . ... . . . .... . . . 11-7
11.2.11 ALM (Servo Alarm) Signal and ALO1, ALO2, and ALO3
(Alarm Code Output) Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
11.3 EDM1 (External Device Monitor) . . . . . . . . . . . . . . . . . . . . . . . 11-8

11.3.1 EDM1 Output Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
xxxvii
11.4 Applications Examples for Safety Functions . . . . . . . . . . . . . . 11-9
11.4.1 Connection Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9
11.4.2 Failure Detection Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9
11.4.3 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.5 Validating Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
11.6 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . 11-12
Maintenance
12
12.1 Inspections and Part Replacement . . . . . . . . . . . . . . . . . . . . . 12-2
12.1.1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-2
12.1.2 Guidelines for Part Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-2
12.1.3 Replacing the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-3
12.2 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5

12.2.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... . . . . .12-5
12.2.2 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . .... ... .... ... . . . . 12-12
12.2.3 Resetting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... . . . . 12-41
12.2.4 Displaying the Alarm History. . . . . . . . . . . . . . . . . .... ... .... ... . . . . 12-42
12.2.5 Clearing the Alarm History . . . . . . . . . . . . . . . . . . .... ... .... ... . . . . 12-43
12.2.6 Resetting Alarms Detected in Option Modules . . . .... ... .... ... . . . . 12-44
12.2.7 Resetting Motor Type Alarms . . . . . . . . . . . . . . . . .... ... .... ... . . . . 12-46
12.3 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-48

12.3.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-48
12.3.2 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-50
12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor . . 12-56
Panel Displays and Panel Operator Procedures

13
13.1 Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-3
13.1.1 Panel Operator Key Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . .13-3
13.1.2 Changing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-3
13.1.3 Status Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-4
13.2 Parameter (Pn) Operations on the Panel Operator . . . . . 13-6

13.2.1 Setting Parameters That Require Numeric Settings . . . . . . . . . . . . . . . . . .13-6
13.2.2 Setting Parameters That Require Selection of Functions . . . . . . . . . . . . . .13-7
13.3 Monitor Display (Un) Operations on the Panel Operator . . 13-8

13.3.1 Basic Monitor Display Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-8
13.3.2 Input Signal Monitor (Un005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-8
13.3.3 Output Signal Monitor (Un006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-9
13.3.4 Safety Input Signal Monitor (Un015) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-10
13.3.5 Upper Limit Setting Monitor for Maximum Motor Speed/
Upper Limit Setting for Encoder Output Resolution (Un010) . . . . . . . . . . . 13-11
13.3.6 Polarity Sensor Signal Monitor (Un011) . . . . . . . . . . . . . . . . . . . . . . . . . . 13-11
xxxviii
13.4 Utility Function (Fn) Operations on the Panel Operator . . 13-12
13.4.1 Display Alarm History (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-12
13.4.2 Jog (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-13
13.4.3 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-14
13.4.4 Jog Program (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-15
13.4.5 Initialize Parameters (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-16
13.4.6 Clear Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-16
13.4.7 Reset Absolute Encoder (Fn008) . . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-17
13.4.8 Autotune Analog (Speed/Torque) Reference Offset (Fn009) . . . . . .... .. 13-18
13.4.9 Manually Adjust Speed Reference Offset (Fn00A) . . . . . . . . . . . . .... .. 13-18
13.4.10 Manually Adjust Torque Reference Offset (Fn00B) . . . . . . . . . . . . .... .. 13-19
13.4.11 Adjust Analog Monitor Output Offset (Fn00C) . . . . . . . . . . . . . . . .... .. 13-20
13.4.12 Adjust Analog Monitor Output Gain (Fn00D) . . . . . . . . . . . . . . . . .... .. 13-20
13.4.13 Autotune Motor Current Detection Signal Offset (Fn00E) . . . . . . . .... .. 13-21
13.4.14 Manually Adjust Motor Current Detection Signal Offset (Fn00F) . .... .. 13-22
13.4.15 Write Prohibition Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-23
13.4.16 Display Servomotor Model (Fn011) . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-24
13.4.17 Display Software Version (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . .... .. 13-25
13.4.18 Multiturn Limit Setting after Multiturn Limit Disagreement Alarm
(Fn013) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-26
13.4.19 Reset Option Module Configuration Error (Fn014) . . . . . . . . . . . . . . . . . . 13-27
13.4.20 Initialize Vibration Detection Level (Fn01B) . . . . . . . . . . . . . . . . . . . . . . . 13-27
13.4.21 Display SERVOPACK and Servomotor IDs (Fn01E) . . . . . . . . . . . . . . . . . 13-28
13.4.22 Display Servomotor ID from Feedback Option Module (Fn01F) . . . . . . . . 13-28
13.4.23 Set Absolute Linear Encoder Origin (Fn020) . . . . . . . . . . . . . . . . . . . . . . 13-28
13.4.24 Resetting Motor Type Alarms (Fn021) . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-29
13.4.25 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-29
13.4.26 Polarity Detection (Fn080) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-29
13.4.27 Tuning-less Level Setting (Fn200) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-30
13.4.28 Advanced Autotuning without Reference (Fn201) . . . . . . . . . . . . . . . . . . 13-31
13.4.29 Advanced Autotuning with Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . 13-31
13.4.30 One-Parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-31
13.4.31 Adjust Anti-resonance Control (Fn204) . . . . . . . . . . . . . . . . . . . . . . . . . . 13-32
13.4.32 Vibration Suppression (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-32
13.4.33 Easy FFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-32
Parameter Lists
14
14.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
14.1.1 Interpreting the Parameter Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
14.1.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3
14.2 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . 14-34
xxxix
Appendices
15
15.1 Examples of Connections to Host Controllers . . . . . . . . . . . . 15-2
15.1.1 Example of Connections to MP2000/
MP3000-Series SVA-01 Motion Module . . . . . . . . . . . . . . . . . . . . . . . . . . .15-2
15.1.2 Example of Connections to Yokogawa Electric’s F3YP2-0P
Positioning Module for Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . .15-3
15.1.3 Example of Connections to Yokogawa Electric’s F3NC3-0N
15.1.4 Example of Connections to an OMRON Position Control Unit . . . . . . . . . .15-5
15.1.5 Example of Connection to Mitsubishi’s QD75D
15.2 Corresponding SERVOPACK and SigmaWin+ Function Names . .15-7

15.2.1 Corresponding SERVOPACK Utility Function Names . . . . . . . . . . . . . . . . .15-7
15.2.2 Corresponding SERVOPACK Monitor Display Function Names . . . . . . . . .15-9
Index
Revision History
xl
Basic Information on
SERVOPACKs
1
This chapter provides information required to select
SERVOPACKs, such as SERVOPACK models and combi-
nations with Servomotors.
1.1 The Σ-7 Series . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Interpreting the Nameplate . . . . . . . . . . . . . 1-3
1.3 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.4 Model Designations . . . . . . . . . . . . . . . . . . 1-6

1.4.1 Interpreting SERVOPACK Model Numbers . . . . . 1-6
1.4.2 Interpreting Servomotor Model Numbers . . . . . . 1-7
1.5 Combinations of SERVOPACKs and Servomotors . . . 1-9

1.5.1 Combinations of Rotary Servomotors and
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.5.2 Combinations of Direct Drive Servomotors
and SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . 1-10
1.5.3 Combinations of Linear Servomotors and
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.6 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.1 The Σ-7 Series
1.1 The Σ-7 Series

The Σ-7-series SERVOPACKs are designed for applications that require frequent high-speed
and high-precision positioning. The SERVOPACK will make the most of machine performance
in the shortest time possible, thus contributing to improving productivity.
The following three types of Σ-7-Series Servo Drives are available.
Type Description
Σ-7S Single-axis SERVOPACKs
Σ-7W Two-axis SERVOPACKs
Σ-7C Two-axis SERVOPACKs with Built-in Controllers
1-2
1.2 Interpreting the Nameplate
1.2 Interpreting the Nameplate

The following basic information is provided on the nameplate.
SERVOPACK model Degree of protection

Surrounding air temperature
BTO information
Order number
Serial number

1
1-3
1.3 Part Names
1.3 Part Names

With Front Cover Open

(on side of
SERVOPACK)

Main circuit 17
21
terminals
L1 L2 L3 L1C L2C B1/
18

19
11
12 20
B2 B3
13
1
14
2
15
Motor 16
terminals
U
V
W
No. Name Description Reference

 Front Cover − −
 Nameplate Indicates the SERVOPACK model and ratings. page 1-3
 Input Voltage − –
 Model The model of the SERVOPACK. page 1-6
Lit while the main circuit power is being supplied.
Note: Even if you turn OFF the main circuit power supply, this
 CHARGE indicator will be lit as long as the internal capacitor remains −
charged. Do not touch the main circuit or motor terminals
while this indicator is lit. Doing so may result in electric
shock.
The terminals depend on the main circuit power supply
 Main Circuit Terminals page 4-11
input specifications of the SERVOPACK.
Servomotor Terminals (U, V, The connection terminals for the Servomotor Main Circuit
 page 4-25
and W) Cable (power line).
The ground terminals to prevent electric shock. Always
 Ground Terminal ( ) −
connect this terminal.
 QR Code The QR code that is used by the MechatroCloud service. −
Serial Communications Con- Connects to the Digital Operator (a peripheral device) or a
 page 4-51
nector (CN3) computer (RS-422).
11 Computer Connector (CN7) A USB connector to connect a computer. page 4-51
Safety Option Module Con-
12 Connects to a Safety Option Module. −
nector
Connects to reference input signals and sequence I/O sig-
13 I/O Signal Connector (CN1) page 4-34
nals.
Feedback Option Module
14 Connects to a Feedback Option Module. −
Connector
15 Safety Connector (CN8) Connects to a safety function device. page 4-49
• Rotary Servomotor: Connects to the encoder in the Ser-
vomotor.
16 Encoder Connector (CN2) page 4-25
• Linear Servomotor: Connects to a Serial Converter Unit
or linear encoder.
17 Serial Number − −
1-4
1.3 Part Names

No. Name Description Reference
Used to display SERVOPACK status, alarm numbers, and
18 Panel Display
parameters.
page 13-3
19 Panel Operator Keys Used to set parameters.
20 Panel Operator −
Analog Monitor Connector You can use a special cable (peripheral device) to monitor
21 page 4-51
(CN5) the motor speed, torque reference, or other values.

1
1-5
1.4 Model Designations
1.4.1 Interpreting SERVOPACK Model Numbers
1.4.1 Interpreting SERVOPACK Model Numbers
SGD7S - R70 A 00 A 001 000 B

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th 14th
Σ-7-Series digits digit digits digit digits digits digit
Σ-7S
SERVOPACKs
Maximum Applicable Hardware Options

1st+2nd+3rd digits 4th digit Voltage 8th+9th+10th digits Specification
Motor Capacity
Voltage Code Specification Code Specification Applicable
Code Specification
R70*1 0.05 kW A 200 VAC Models
R90*1 0.1 kW F 100 VAC None
Without options All models
1R6*1 0.2 kW 000
2R8*1 0.4 kW 5th+6th digits Interface*3 SGD7S-R70A
to -330A
3R8 0.5 kW Rack-mounted
Code Specification SGD7S-R70F
5R5*1 0.75 kW 00 Analog voltage/pulse train reference 001 to -2R8F
Three- 7R6 1.0 kW SGD7S-470A
Duct-ventilated
Phase, 120*2 1.5 kW 7th digit Design Revision Order
to -780A
200 VAC 180 2.0 kW 002 Varnished All models
A Single-phase, 200-VAC SGD7S-120A
200 3.0 kW 008
power supply input
330 5.0 kW
SGD7S-R70A
470 6.0 kW to -2R8A
No dynamic brake
550 7.5 kW SGD7S-R70F
020*4 to -2R8F
590 11 kW
780 15 kW External dynamic SGD7S-3R8A
brake resistor to -780A
R70 0.05 kW
Single- R90 0.1 kW
Phase,
100 VAC 2R1 0.2 kW 11th+12th+13th digits FT/EX Specification
2R8 0.4 kW
Code Specification
None
None
000
14th digit BTO Specification*5

Code Specification
None None
B BTO specification
*1. You can use these models with either a single-phase or three-phase input.
*2. A model with a single-phase, 200-VAC power supply input is available as a hardware option (model: SGD7S-
120A00A008).
*3. The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
*4. Refer to the following manual for details.
Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual (Man-
ual No.: SIEP S800001 73)
*5. The BTO specification indicates if the SEVOPACK is customized by using the MechatroCloud BTO service. You
need a BTO number to order SERVOPACKs with customized specifications.
Refer to the following catalog for details on the BTO specification.
AC Servo Drives Σ-7 Series (Catalog No.: KAEP S800001 23)
1-6
1.4.2 Interpreting Servomotor Model Numbers

This section outlines the model numbers of Σ-7-series Servomotors. Refer to the relevant man-
ual in the following list for details.
Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36)
Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37)
Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38)
Rotary Servomotors
SGM - 01 A F A 2 1
1st+2nd 3rd 4th 5th 6th 7th
Series digit digit digit digit digit
digits

Series Σ-7 Series Servomotors 1st+2nd digits Rated Output 5th digit Design Revision Order
Code Specification
3rd digit Power Supply Voltage 6th digit Shaft End Specification
Low inertia , ultra-small
SGM7M capacity 200 VAC Straight
SGM7J Medium inertia, high speed With key and tap
4th digit Serial Encoder Specification With two flat seats
SGM7A Low inertia, high speed
SGM7P Medium inertia, flat 17-bit absolute encoder 7th digit Option Specification
20-bit absolute encoder
Medium inertia, low speed, 24-bit batteryless absolute encoder
SGM7G With 24-V holding brake
high torque 24-bit absolute encoder With oil seal
Low inertia, ultra-small 24-bit incremental encoder
SGMMV
capacity
Direct Drive Servomotors 1

SGM - 02 B 3 C 1 1
1st+2nd 3rd 4th 5th 6th 7th
Series digits digit digit digit digit digit
Series Σ-7 Series Servomotors 1st+2nd digits Rated Torque 5th digit Design Revision Order
Code Specification
Small capacity, coreless 3rd digit Servomotor Outer Diameter 6th digit Flange Specification
SGM7E
inner rotor
Small capacity,with core Cable drawn to load side
4th digit Serial Encoder Specification
inner rotor Cable drawn to non-load side
SGM7F
Medium capacity, with core 7th digit Option Specification
inner rotor
High mechanical precision
SGMCV Small capacity, with core
inner rotor
Small capacity, coreless
inner rotor
SGMCS
Medium capacity, with core
inner rotor
1-7
Linear Servomotors
SGL - 30 A 050 C P
1st 2nd
Series digit digit 3rd digit on
Series Σ-7 Series Servomotors 2nd digit Moving Coil/Magnetic Way

Code Specification
1st digit Servomotor Type
W
Moving Coil
Code Specification W2
G Coreless models M
Magnetic Way
F Models with F-type iron core M2
T Models with T-type iron core 3rd digit on
The specifications for the 3rd digit on depend on the Servomotor type.
1-8
1.5 Combinations of SERVOPACKs and Servomotors
1.5.1 Combinations of Rotary Servomotors and SERVOPACKs
1.5.1 Combinations of Rotary Servomotors and SERVOPACKs

SERVOPACK Model
Rotary Servomotor Model Capacity
SGD7S-
SGM7M SGM7M-A1A 11 W
(Low Inertia, Ultra- R90A or R90F
SGM7M-A2A 22 W
small Capacity),
3000 min-1 SGM7M-A3A 33 W 1R6A or 2R1F
SGM7J-A5A 50 W R70A or R70F
SGM7J-01A 100 W R90A or R90F

SGM7J SGM7J-C2A 150 W
(Medium Inertia, 1R6A or 2R1F
Small Capacity), SGM7J-02A 200 W
3,000 min-1 SGM7J-04A 400 W 2R8A or 2R8F
SGM7J-06A 600 W
5R5A
SGM7J-08A 750 W
SGM7A-A5A 50 W R70A or R70F
SGM7A-01A 100 W R90A or R90F
SGM7A-C2A 150 W
1R6A or 2R1F
SGM7A-02A 200 W
SGM7A-04A 400 W 2R8A or 2R8F
SGM7A-06A 600 W
SGM7A 5R5A
SGM7A-08A 750 W
(Low Inertia, Small 1
Capacity), SGM7A-10A 1.0 kW
120A
3,000 min-1 SGM7A-15A 1.5 kW
SGM7A-20A 2.0 kW 180A
SGM7A-25A 2.5 kW
200A
SGM7A-30A 3.0 kW
SGM7A-40A 4.0 kW
330A
SGM7A-50A 5.0 kW
SGM7A-70A 7.0 kW 550A
SGM7P-01A 100 W R90A or R90F
SGM7P SGM7P-02A 200 W 2R8A or 2R1F
(Medium Inertia,
Flat), SGM7P-04A 400 W 2R8A or 2R8F
3,000 min-1 SGM7P-08A 750 W 5R5A
SGM7P-15A 1.5 kW 120A
SGM7G-03A 300 W
3R8A
SGM7G-05A 450 W
SGM7G-09A 850 W 7R6A
SGM7G-13A 1.3 kW 120A
SGM7G SGM7G-20A 1.8 kW 180A
(Medium Inertia,
Medium Capacity), SGM7G-30A 2.9 kW*1
330A
1,500 min-1 SGM7G-44A 4.4 kW
SGM7G-55A 5.5 kW 470A
SGM7G-75A 7.5 kW 550A
SGM7G-1AA 11 kW 590A
SGM7G-1EA 15 kW 780A
SGMMV*2 SGMMV-A1A 10 W
R90A or R90F
(Low Inertia, Ultra- SGMMV-A2A 20 W
small Capacity),
3,000 min-1 SGMMV-A3A 30 W 1R6A or 2R1F
1-9
1.5.2 Combinations of Direct Drive Servomotors and SERVOPACKs
*1. 2.4 kW when using the Servomotor with a SGD7S-200A SERVOPACK.

*2. The SGMMV Servomotor is an older model. When purchasing a new Servomotor, we recommend selecting a
SGM7M Servomotor.
1.5.2 Combinations of Direct Drive Servomotors and

SERVOPACKs
Instantaneous SERVOPACK Model
Rated Torque
Direct Drive Servomotor Model Maximum Torque
[N·m] SGD7S-
[N·m]
SGM7E-02B 2 6
SGM7E-05B 5 15 2R8A or 2R1F
SGM7E-07B 7 21
SGM7E-04C 4 12
SGM7E SGM7E-10C 10 30
(Small Capacity,
SGM7E-14C 14 42
Coreless, 2R8A or 2R8F
Inner Rotor) SGM7E-08D 8 24
SGM7E-17D 17 51
SGM7E-25D 25 75
SGM7E-16E 16 48
5R5A
SGM7E-35E 35 105
SGM7F-02A 2 6
2R8A or 2R1F
SGM7F-05A 5 15
SGM7F-07A 7 21
SGM7F-04B 4 12 2R8A or 2R8F
SGM7F SGM7F-10B 10 30
(Small Capacity,
SGM7F-14B 14 42 5R5A
With Core,
Inner Rotor) SGM7F-08C 8 24 2R8A or 2R8F
SGM7F-17C 17 51 5R5A
SGM7F-25C 25 75 7R6A
SGM7F-16D 16 48 5R5A
SGM7F-35D 35 105 7R6A* or 120A
SGM7F-45M 45 135 7R6A
SGM7F-80M 80 240
SGM7F 120A
(Medium Capacity, SGM7F-80N 80 240
With Core, SGM7F-1AM 110 330 180A
Inner Rotor)
SGM7F-1EN 150 450
200A
SGM7F-2ZN 200 600
SGMCV-04B 4 12
2R8A or 2R8F
SGMCV-10B 10 30
SGMCV-14B 14 42 5R5A
SGMCV
(Small Capacity, SGMCV-08C 8 24 2R8A or 2R8F
With Core, SGMCV-17C 17 51 5R5A
Inner Rotor)
SGMCV-25C 25 75 7R6A
SGMCV-16D 16 48 5R5A
SGMCV-35D 35 105 7R6A* or 120A
1-10
1.5.3 Combinations of Linear Servomotors and SERVOPACKs

Rated Torque
Direct Drive Servomotor Model Maximum Torque
[N·m] SGD7S-
[N·m]
SGMCS-02B 2 6
SGMCS-05B 5 15 2R8A or 2R1F
SGMCS-07B 7 21
SGMCS-04C 4 12
SGMCS SGMCS-10C 10 30
(Small Capacity,
SGMCS-14C 14 42
Coreless, 2R8A or 2R8F
Inner Rotor) SGMCS-08D 8 24
SGMCS-17D 17 51
SGMCS-25D 25 75
SGMCS-16E 16 48

5R5A
SGMCS-35E 35 105
SGMCS-45M 45 135 7R6A
SGMCS-80M 80 240
SGMCS 120A
(Medium Capacity, SGMCS-80N 80 240
With Core, SGMCS-1AM 110 330 180A
Inner Rotor)
SGMCS-1EN 150 450
200A
SGMCS-2ZN 200 600
* Use derated values for this combination. Refer to the following catalog for information on derating values.
1
Rated Force
Linear Servomotor Model Maximum Force
[N] SGD7S-
[N]
SGLGW-30A050C 12.5 40 R70A or R70F
SGLGW-30A080C 25 80
R90A or R90F
SGLGW-40A140C 47 140
SGLGW-40A253C 93 280 1R6A or 2R1F
SGLG
(Coreless), Used SGLGW-40A365C 140 420 2R8A or 2R8F
with Standard- SGLGW-60A140C 70 220 1R6A or 2R1F
Force Magnetic SGLGW-60A253C 140 440 2R8A or 2R8F
Way
SGLGW-60A365C 210 660 5R5A
SGLGW-90A200C 325 1300 120A
SGLGW-90A370C 550 2200 180A
SGLGW-90A535C 750 3000 200A
SGLGW-40A140C 57 230 1R6A or 2R1F
SGLGW-40A253C 114 460 2R8A or 2R8F
SGLG
(Coreless), Used SGLGW-40A365C 171 690 3R8A
with High-Force SGLGW-60A140C 85 360 1R6A or 2R1F
Magnetic Way
SGLGW-60A253C 170 720 3R8A
SGLGW-60A365C 255 1080 7R6A
1-11

Rated Force
Linear Servomotor Model Maximum Force
[N] SGD7S-
[N]
SGLFW-20A090A 25 86
SGLFW-20A120A 40 125 1R6A or 2R1F
SGLFW-35A120A 80 220
SGLFW-35A230A 160 440 3R8A
SGLFW-50A200B 280 600 5R5A
SGLFW-50A380B
560 1200 120A
SGLFW-1ZA200B
SGLFW-1ZA380B 1120 2400 200A
SGLFW2-30A070A 45 135
1R6A or 2R1F
SGLF SGLFW2-30A120A 90 270
(With F-type Iron 180 540 3R8A
Cores) SGLFW2-30A230A*
170 500 2R8A or 2R8F
SGLFW2-45A200A 280 840 5R5A
1680 180A
SGLFW2-45A380A* 560
1500 120A
SGLFW2-90A200A1 560 1680
120A
SGLFW2-90A200AL 896 1680
SGLFW2-90A380A 1120 3360 200A
SGLFW2-90A560A 1680 5040 330A
SGLFW2-1DA380A 1680 5040 200A
SGLFW2-1DA560A 2520 7560 330A
SGLTW-20A170A 130 380 3R8A
SGLTW-20A320A 250 760 7R6A
SGLTW-20A460A 380 1140 120A
SGLTW-35A170A 220 660
5R5A
SGLTW-35A170H 300 600
SGLTW-35A320A 440 1320
SGLT 120A
SGLTW-35A320H 600 1200
(With T-type Iron
Cores) SGLTW-35A460A 670 2000
180A
SGLTW-40A400B 670 2600
SGLTW-40A600B 1000 4000 330A
SGLTW-50A170H 450 900 5R5A
SGLTW-50A320H 900 1800 120A
SGLTW-80A400B 1300 5000 330A
SGLTW-80A600B 2000 7500 550A
* The force depends on the SERVOPACK that is used with the Servomotor.
1-12
1.6 Functions
1.6 Functions
This section lists the functions provided by SERVOPACKs. Refer to the reference pages for
details on the functions.
• Functions Related to the Machine
Function Reference
Power Supply Type Settings for the Main Circuit
page 5-15
and Control Circuit
Automatic Detection of Connected Motor page 5-17
Motor Direction Setting page 5-19
Linear Encoder Pitch Setting page 5-20
Writing Linear Servomotor Parameters page 5-21
Selecting the Phase Sequence for a Linear Ser-

page 5-25
vomotor
Polarity Sensor Setting page 5-27
Polarity Detection page 5-28
Overtravel Function and Settings page 5-32
Holding Brake page 5-37
Motor Stopping Methods for Servo OFF and
page 5-42
Alarms
Resetting the Absolute Encoder page 5-53
Setting the Origin of the Absolute Encoder page 5-56
Setting the Regenerative Resistor Capacity page 5-59
Operation for Momentary Power Interruptions page 6-13
SEMI F47 Function page 6-14
Setting the Motor Maximum Speed page 6-16
1
Multiturn Limit Setting page 6-82
Adjustment of Motor Current Detection Signal
page 6-102
Offset
Forcing the Motor to Stop page 6-106
Overheat Protection page 6-109
Speed Ripple Compensation page 8-60
Current Control Mode Selection page 8-73
Current Gain Level Setting page 8-73
Speed Detection Method Selection page 8-74
Fully-Closed Loop Control page 10-1
Safety Functions page 11-1
1-13
1.6 Functions
• Functions Related to the Host Controller

Function Reference
Electronic Gear Settings page 5-47
I/O Signal Allocations page 6-5
ALM (Servo Alarm) Signal page 6-10
ALO1 to ALO3 (Alarm Code) Signals page 6-10
/WARN (Warning) Signal page 6-11
/TGON (Rotation Detection) Signal page 6-11
/S-RDY (Servo Ready) Signal page 6-12
Speed Control page 6-17
Basic Settings for Speed Control page 6-17
Speed Reference Filter page 6-24
Zero Clamping page 6-25
/V-CMP (Speed Coincidence Detection) Signal page 6-27
Position Control page 6-30
Reference Pulse Form page 6-31
CLR (Position Deviation Clear) Signal Function
page 6-33
and Settings
Reference Pulse Input Multiplication Switching page 6-34
/COIN (Positioning Completion) Signal page 6-37
/NEAR (Near) Signal page 6-38
Reference Pulse Inhibition and Settings page 6-40
Torque Control page 6-40
Basic Settings for Torque Control page 6-40
Torque Reference Filter Settings page 6-45
Speed Limit during Torque Control page 6-45
/VLT (Speed Limit Detection) Signal page 6-45
Encoder Divided Pulse Output page 6-47
Selecting Torque Limits page 6-63
Vibration Detection Level Initialization page 6-98
Alarm Reset page 12-41
Replacing the Battery page 12-3
Setting the Position Deviation Overflow Alarm
page 8-8
Level
1-14
1.6 Functions
• Functions to Achieve Optimum Motions

Function Reference
Speed Control page 6-17
Soft Start Settings page 6-24
Position Control page 6-30
Smoothing Settings page 6-36
Torque Control page 6-40
Tuning-less Function page 8-12
Autotuning without a Host Reference page 8-24
Autotuning with a Host Reference page 8-35
Custom Tuning page 8-42
Anti-Resonance Control Adjustment page 8-51
Vibration Suppression page 8-56

Gain Selection page 8-66
Friction Compensation page 8-70
Gravity Compensation page 8-71
Model Following Control page 8-83
Compatible Adjustment Functions page 8-86
Mechanical Analysis page 8-92
Easy FFT page 8-94
• Functions for Trial Operation during Setup

Function Reference
Software Reset page 6-96
Trial Operation for the Servomotor without a
page 7-7
1
Load
Program Jogging page 7-20
Origin Search page 7-25
Test without a Motor page 7-27
Monitoring Machine Operation Status and Signal
page 9-9
Waveforms
• Functions for Inspection and Maintenance

Function Reference
Write Prohibition Setting for Parameters page 5-8
Initializing Parameter Settings page 5-12
Automatic Detection of Connected Motor page 5-17
Monitoring Product Information page 9-2
Monitoring Product Life page 9-2
Alarm History Display page 12-42
Alarm Tracing page 9-19
1-15
Selecting a
SERVOPACK
2
This chapter provides information required to select
SERVOPACKs, such as specifications, block diagrams,
dimensional drawings, and connection examples.
2.1 Ratings and Specifications . . . . . . . . . . . . . 2-2

2.1.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 SERVOPACK Overload Protection
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.1.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2 Block Diagrams . . . . . . . . . . . . . . . . . . . . . 2-11

2.2.1 SGD7S-R70A, -R90A, and -1R6A ... .... ... . 2-11
2.2.2 SGD7S-2R8A . . . . . . . . . . . . . . . ... .... ... . 2-11
2.2.3 SGD7S-3R8A, -5R5A, and -7R6A ... .... ... . 2-12
2.2.4 SGD7S-120A . . . . . . . . . . . . . . . ... .... ... . 2-13
2.2.5 SGD7S-180A and -200A . . . . . . . ... .... ... . 2-14
2.2.6 SGD7S-330A . . . . . . . . . . . . . . . ... .... ... . 2-15
2.2.7 SGD7S-470A and -550A . . . . . . . ... .... ... . 2-16
2.2.8 SGD7S-590A and -780A . . . . . . . ... .... ... . 2-17
2.2.9 SGD7S-R70F, -R90F, and -2R1F . ... .... ... . 2-17
2.2.10 SGD7S-2R8F . . . . . . . . . . . . . . . ... .... ... . 2-18
2.3 External Dimensions . . . . . . . . . . . . . . . . . 2-19

2.3.1 Front Cover Dimensions and Connector
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
2.3.2 SERVOPACK External Dimensions . . . . . . . . . . 2-20
2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices . .2-26
2.1 Ratings and Specifications
2.1.1 Ratings

This section gives the ratings and specifications of SERVOPACKs.
2.1.1 Ratings
Three-Phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A
Maximum Applicable Motor Capac-
0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0
ity [kW]
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9
Instantaneous Maximum Output
2.1 3.2 5.9 9.3 11 16.9 17 28 42 56 84
Current [Arms]
Main Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
Circuit Input Current [Arms]* 0.4 0.8 1.3 2.5 3.0 4.1 5.7 7.3 10 15 25
Con- Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
trol Input Current [Arms]* 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.25 0.25 0.3
Power Supply Capacity [kVA]* 0.2 0.3 0.5 1.0 1.3 1.6 2.3 3.2 4.0 5.9 7.5
Main Circuit Power Loss
5.0 7.0 11.9 22.5 28.5 38.9 49.2 72.6 104.2 114.2 226.6
[W]
Control Circuit Power
Power 12 12 12 12 14 14 14 15 16 16 19
Loss [W]
Loss*
Built-in Regenerative
− − − − 8 8 8 12 12 12 36
Resistor Power Loss [W]
Total Power Loss [W] 17.0 19.0 23.9 34.5 50.5 60.9 71.2 97.6 136.2 146.2 281.6
Built-In Resistance [Ω] − − − − 40 40 40 20 12 12 8
Regen- Regener-
erative ative Capacity [W] − − − − 40 40 40 60 60 60 180
Resis- Resistor
tor Minimum Allowable Exter-
40 40 40 40 40 40 40 20 12 12 8
nal Resistance [Ω]
Overvoltage Category III
* This is the net value at the rated load.
2-2
2.1.1 Ratings
Model SGD7S- 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 6.0 7.5 11 15
Continuous Output Current [Arms] 46.9 54.7 58.6 78.0
Instantaneous Maximum Output Current [Arms] 110 130 140 170
Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
Main Circuit
Input Current [Arms]*1 29 37 54 73
Control
Input Current [Arms]*1 0.3 0.3 0.4 0.4
*1 10.7 14.6 21.7 29.6
Power Supply Capacity [kVA]
Main Circuit Power Loss [W] 271.7 326.9 365.3 501.4
Control Circuit Power Loss [W] 21 21 28 28
Power Loss*1 External Regenerative Resistor Unit Power
Loss [W] 180*2 350*3 350*3 350*3
Total Power Loss [W] 292.7 347.9 393.3 529.4
*2 *3 *3
Resistance [Ω] 6.25 3.13 3.13 3.13*3
External Regenera-
tive Resistor Unit Capacity [W] 880*2 1760*3 1760*3 1760*3
Minimum Allowable External Resistance [Ω] 5.8 2.9 2.9 2.9
*1. This is the net value at the rated load.
*2. This value is for the optional JUSP-RA04-E Regenerative Resistor Unit.
*3. This value is for the optional JUSP-RA05-E Regenerative Resistor Unit.
Single-Phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 5R5A 120A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.75 1.5
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 5.5 11.6
2
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9 28
Main Circuit
Input Current [Arms]* 0.8 1.6 2.4 5.0 8.7 16
Control
Input Current [Arms]* 0.2 0.2 0.2 0.2 0.2 0.25
Power Supply Capacity [kVA]* 0.2 0.3 0.6 1.2 1.9 4.0
Main Circuit Power Loss [W] 5.0 7.1 12.1 23.7 39.2 71.8
Control Circuit Power Loss [W] 12 12 12 12 14 16
Power Loss* Built-in Regenerative Resistor Power
− − − − 8 12
Loss [W]
Total Power Loss [W] 17.0 19.1 24.1 35.7 61.2 103.8
Built-In Resistance [Ω] − − − − 40 12
Regener-
ative Capacity [W] − − − − 40 60
Regenerative Resistor Resistor
Minimum Allowable External Resis-
40 40 40 40 40 12
tance [Ω]
2-3
2.1.1 Ratings
270 VDC
Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 11.0 16.9 17.0 28.0
Power Supply 270 VDC to 324 VDC, -15% to +10%
Main Circuit
Input Current [Arms]*1 0.5 1.0 1.5 3.0 3.8 4.9 6.9 11
Control
Input Current [Arms]*1 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2*2
Power Supply Capacity [kVA]*1 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2
4.4 5.9 9.8 17.5 23.0 30.7 38.7 55.8
[W]
Power Loss*1 Control Circuit Power Loss
12 12 12 12 14 14 14 15
[W]
Total Power Loss [W] 16.4 17.9 21.8 29.5 37.0 44.7 52.7 70.8
*1. This is the net value at the rated load.
*2. The value is 0.25 Arms for the SGD7S-120A00A008.
Model SGD7S- 180A 200A 330A 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 2.0 3.0 5.0 6.0 7.5 11.0 15.0
Continuous Output Current [Arms] 18.5 19.6 32.9 46.9 54.7 58.6 78.0
Instantaneous Maximum Output Current [Arms] 42.0 56.0 84.0 110 130 140 170
Main Circuit
Input Current [Arms]* 14 20 34 36 48 68 92
Control
Input Current [Arms]* 0.25 0.25 0.3 0.3 0.3 0.4 0.4
Power Supply Capacity [kVA]* 4.0 5.9 7.5 10.7 14.6 21.7 29.6
82.7 83.5 146.2 211.6 255.3 243.6 343.4
[W]
Power Loss* Control Circuit Power Loss
16 16 19 21 21 28 28
[W]
Total Power Loss [W] 98.7 99.5 165.2 232.6 276.3 271.6 371.4
Single-Phase, 100 VAC

Model SGD7S- R70F R90F 2R1F 2R8F
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4
Continuous Output Current [Arms] 0.66 0.91 2.1 2.8
Instantaneous Maximum Output Current [Arms] 2.1 3.2 6.5 9.3
Main Circuit
Input Current [Arms]* 1.5 2.5 5 10
Control
Input Current [Arms]* 0.38 0.38 0.38 0.38
Power Supply Capacity [kVA]* 0.2 0.3 0.6 1.4
Main Circuit Power Loss [W] 5.3 7.8 14.2 26.2
Power Loss* Control Circuit Power Loss [W] 12 12 12 12
Total Power Loss [W] 17.3 19.8 26.2 38.2
Regenera-
Minimum Allowable Resistance [Ω] 40 40 40 40
tive Resistor
2-4
2.1.2 SERVOPACK Overload Protection Characteristics
2.1.2 SERVOPACK Overload Protection Characteristics

The overload detection level is set for hot start conditions with a SERVOPACK surrounding air tem-
perature of 55°C.
An overload alarm (A.710 or A.720) will occur if overload operation that exceeds the overload pro-
tection characteristics shown in the following diagram (i.e., operation on the right side of the appli-
cable line) is performed.
The actual overload detection level will be the detection level of the connected SERVOPACK or Ser-
vomotor that has the lower overload protection characteristics.
In most cases, that will be the overload protection characteristics of the Servomotor.
• SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F
10000
1000
Detection time (s)
100
10
1 Instantaneous maximum output current

× 100%
100 230 Continuous output current
(Continuous output current)
SERVOPACK output current (Instantaneous maximum output current)
(continuous output current ratio) (%)
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation
with an output of 100% or higher.
For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within 2
the continuous duty zone of the torque-motor speed characteristic of the Servomotor.
• SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -470A, -550A, -590A,
and -780A
10000
1000
Detection time (s)
100
10
1 Instantaneous maximum output current

× 100%
100 200 Continuous output current
(Continuous output current) SERVOPACK output current (Instantaneous maximum output current)
(continuous output current ratio) (%)
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation
with an output of 100% or higher.
For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within
the continuous duty zone of the torque-motor speed characteristic of the Servomotor.
2-5
2.1.3 Specifications
Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Serial encoder: 17 bits (absolute encoder)
With Rotary 20 bits or 24 bits (incremental encoder/absolute
Servomotor encoder)
22 bits (absolute encoder)
Feedback
• Absolute linear encoder (The signal resolution depends on the abso-
With Linear lute linear encoder.)
Servomotor • Incremental linear encoder (The signal resolution depends on the
incremental linear encoder or Serial Converter Unit.)
-5°C to 55°C
Surrounding Air (With derating, usage is possible between 55°C and 60°C.)
Temperature*1 Refer to the following section for derating specifications.
3.6 Derating Specifications on page 3-8
Storage Temperature -20°C to 85°C
Surrounding Air
95% relative humidity max. (with no freezing or condensation)
Humidity
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Degree SERVOPACK Model: SGD7S-

Environ- R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A,
mental Degree of Protection IP20
R70F, R90F, 2R1F, 2R8F
Conditions
IP10 120A00A008, 180A, 200A, 330A, 470A, 550A, 590A, 780A
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.
1,000 m max. (With derating, usage is possible between 1,000 m and
2,000 m.)
Altitude*1 Refer to the following section for derating specifications.
3.6 Derating Specifications on page 3-8
Do not use the SERVOPACK in the following locations: Locations sub-
Others ject 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 Stan-
dards on page xxvi
Mounting SERVOPACK Model: SGD7S-

Base-mounted All Models
R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
Mounting
Rack-mounted 7R6A, 120A, 180A, 200A, 330A, R70F,
R90F, 2R1F, 2R8F
Duct-ventilated 470A, 550A, 590A, 780A
2-6

Item Specification
1:5000 (At the rated torque, the lower limit of the speed control range
Speed Control 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 ±0.1% of rated speed max. (for a temperature fluctuation of 25°C
mance ±25°C)
Torque Control Preci-
±1%
sion (Repeatability)
Soft Start Time Set-
0 s to 10 s (Can be set separately for acceleration and deceleration.)
ting
Encoder Divided Phase A, phase B, phase C: Line-driver output
Pulse Output Number of divided output pulses: Any setting is allowed.
Overheat Protection Number of input points: 1
Input Input voltage range: 0 V to +5 V
Allowable voltage range: 5 VDC ±5%
Fixed Number of input points: 1
Input (Input method: Sink inputs or source inputs)
SEN (Absolute Data Request) signal
Allowable voltage range: 24 VDC ±20%
Number of input points: 7
(Input method: Sink inputs or source inputs)
Input Signals
• /S-ON (Servo ON) signal
• /P-CON (Proportional Control) signal
• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) sig-
I/O Signals
nals
Sequence • /ALM-RST (Alarm Reset) signal
Input Input • /P-CL (Forward External Torque Limit) and /N-CL (Reverse External
Signals Signals Torque Limit) signals 2
That Can • /SPD-D (Motor Direction) signal
Be Allo- • /SPD-A and /SPD-B (Internal Set Speed Selection) signals
cated • /C-SEL (Control Selection) signal
• /ZCLAMP (Zero Clamping) signal
• /INHIBIT (Reference Pulse Inhibit) signal
• /G-SEL (Gain Selection) signal
• /P-DET (Polarity Detection) signal
• SEN (Absolute Data Request) signal
• /PSEL (Reference Pulse Input Multiplication Switch) signal
• FSTP (Forced Stop Input) signal
A signal can be allocated and the positive and negative logic can be
changed.
2-7

Item Specification
Allowable voltage range: 5 VDC to 30 VDC
Fixed Number of output points: 1
Output (A photocoupler output (isolated) is used.)
Output signal: ALM (Servo Alarm) signal
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 6
(A photocoupler output (isolated) is used for three of the outputs.)
(An open-collector output (non-isolated) is used for the other three out-
puts.)
Output Signals
Sequence • /COIN (Positioning Completion) signal
I/O Signals Output • /V-CMP (Speed Coincidence Detection) signal
Output • /TGON (Rotation Detection) signal
Signals Signals
• /S-RDY (Servo Ready) signal
That Can
Be • /CLT (Torque Limit Detection) signal
Allocated • /VLT (Speed Limit Detection) signal
• /BK (Brake) signal
• /WARN (Warning) signal
• /NEAR (Near) signal
• /PSELA (Reference Pulse Input Multiplication Switching Output) sig-
nal
• ALO1, ALO2, and ALO3 (Alarm Code) signals
A signal can be allocated and the positive and negative logic can be
changed.
Inter- Digital Operator (JUSP-OP05A-1-E) and personal computer (with Sig-
faces maWin+)
RS-422A 1:N
Communi- Commu- Up to N = 15 stations possible for RS-422A port
cations nications
(CN3) Axis
Communi-
Address Set with parameters.
cations
Setting
Interface Personal computer (with SigmaWin+)
USB
Communi- Commu-
cations nica-
Conforms to USB2.0 standard (12 Mbps).
(CN7) tions
Standard
Displays/Indicators CHARGE indicator and five-digit seven-segment display
Panel Operator Four push switches
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 the
Dynamic Brake (DB)
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 catalog for details.
Stopping with dynamic brake, deceleration to a stop, or coasting to a
Overtravel (OT) Prevention stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Pro-
hibit) signal
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
2-8

Item Specification
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Safety Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Functions Applicable Stan-
ISO13849-1 PLe (Category 3) and IEC61508 SIL3
dards*3
Fully-closed Modules and Safety Modules
Applicable Option Modules
Note: You cannot use a Fully-closed Module and a Safety Module together.
Soft Start Time Set-
0 s to 10 s (Can be set separately for acceleration and deceleration.)
ting
• Maximum input voltage: ±12 V (forward motor rotation for positive ref-
Refer- erence).
ence • 6 VDC at rated speed (default setting). Input gain setting can be
Voltage changed.
Input
Input Imped- Approx. 14 kΩ
Signal ance
Circuit
Speed Time
30 μs
Con- Con-
trol stant
Rota-
tion
Direc-
With Proportional Control signal
tion
Internal
Selec-
Set Speed
tion
Control
Speed With Forward/Reverse External Torque Limit signals (speed 1 to 3
selection).
Selec-
Servomotor stops or another control method is used when both signals
Controls
tion are OFF.

Feedforward 2
0% to 100%
Compensation
Output Signal Posi-
tioning Completed 0 to 1,073,741,824 reference units
Width Setting
Refer-
One of the following is selected:
ence
Sign + pulse train, CW + CCW pulse trains, and two-phase pulse trains
Pulse
with 90° phase differential
Form
Input
Posi- Line driver or open collector
Form
tion Ref-
• Line Driver
Con- er- Maxi-
In- Sign + pulse train or CW + CCW pulse trains: 4 Mpps
trol ence mum
put pul- Two-phase pulse trains with 90° phase differential: 1 Mpps
Input
Sig- • Open Collector
ses Fre-
nals Sign + pulse train or CW + CCW pulse trains: 200 kpps
quency
Two-phase pulse trains with 90° phase differential: 200 kpps
Input
Multiplica-
1 to 100 times
tion
Switching
Position deviation clear
Clear Signal
Line driver or open collector
2-9

Item Specification
• Maximum input voltage: ±12 V (forward torque output for positive ref-
Refer- erence).
ence
• 3 VDC at rated torque (default setting). Input gain setting can be
Voltage
changed.
Controls
Torque
Con- Input Input
Signal Imped- Approx. 14 kΩ
trol
ance
Circuit
Time 16 μs
Constant
*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO-
PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m
max. 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.
2-10
2.2 Block Diagrams
2.2.1 SGD7S-R70A, -R90A, and -1R6A
2.2 Block Diagrams
2.2.1 SGD7S-R70A, -R90A, and -1R6A

Servomotor
B1/ + B2 B3
L1 Varistor U
Main
circuit L2 + V
power −
supply L3
CHARGE
W M
-1 Dynamic
brake circuit
-2
-
Voltage Relay Voltage Temperature Gate drive Current
sensor sensor Gate drive sensor overcurrent protection sensor
drive
ENC
CN2
L1C Varistor CN5

Control +
Control Analog Analog monitor
power voltage output
power
L2C − converter CN1
supply supply Reference pulse input
Encoder divided
Processor pulse output
(PWM control, position/
speed calculations, etc.)
A/D Reference voltage
input
I/O I/O signals

Panel Operator
CN11 CN12 CN3 CN7 CN8
Option Module Option Module Digital Operator Computer Safety function signals
2
2.2.2 SGD7S-2R8A
B1/ + B2 B3 Servomotor
L1 Varistor U
Main
circuit L2 + V
power −
L3
CHARGE
W M
supply
-1 Dynamic
brake circuit
-2
-

sensor sensor Gate drive sensor overcurrent protection sensor
drive
ENC
CN2
L1C Varistor CN5

Control + Control Analog Analog monitor
voltage output
power L2C − power converter
supply
CN1
supply Reference pulse input
Encoder divided
input
I/O I/O signals

Panel Operator
2-11
2.2 Block Diagrams
2.2.3 SGD7S-3R8A, -5R5A, and -7R6A
2.2.3 SGD7S-3R8A, -5R5A, and -7R6A
B1/ + B2 B3 Fan
Servomotor
L1 Varistor U
Main +
L2 V
circuit −
power CHARGE
W M
supply L3
-1 Dynamic
brake circuit
-2
-

sensor drive sensor Gate drive sensor overcurrent protection sensor
ENC
L1C Varistor CN2

+
Control
Control
− power
power L2C supply CN5
Analog Analog monitor
supply voltage output
converter CN1
Reference pulse input
Encoder divided
speed calculations, etc.) A/D Reference voltage
input
I/O I/O signals

Panel Operator
2-12
2.2 Block Diagrams
2.2.4 SGD7S-120A
2.2.4 SGD7S-120A
• Standard Specifications: Three-Phase, 200-VAC Power Supply Input
B1/ + B2 B3 Fan
Servomotor
L1 Varistor U
Main +
L2 V
circuit −
power CHARGE
W M
supply L3
Overheat/
-1 overcurrent Dynamic
protection brake circuit
-2
-
ENC
Voltage Relay Voltage Temperature Current
drive Gate drive Gate drive sensor
sensor sensor sensor
CN2
L1C Varistor CN5
Control + voltage
power output
power L2C − converter CN1
supply
supply
Encoder divided
input
I/O I/O signals

Panel Operator

• Optional Specifications: Single-Phase, 200-VAC Power Supply Input (SERVOPACK Model: 2

SGD7S-120A00A008)
B1/ + B2 B3 Fan
Servomotor
L1 Varistor U
Main +
circuit L2 V
−
power CHARGE M
W
supply L3
-1 Overheat/overcurrent Dynamic
-2
-

drive sensor sensor sensor
sensor
ENC
CN2
L1C Varistor CN5

Control + voltage
power output
− converter CN1
power L2C supply Reference pulse input
supply Encoder divided
pulse output
Processor
A/D Reference voltage input
Panel Operator I/O I/O signals

2-13
2.2 Block Diagrams
2.2.5 SGD7S-180A and -200A
2.2.5 SGD7S-180A and -200A

B1/ + B2 B3 Fan
Servomotor
L1 Varistor U
Main +
circuit L2 V
−
power CHARGE M
W
supply L3
-1 Overheat/overcurrent
Dynamic
-2
-

drive sensor sensor sensor
sensor
ENC
CN2
L1C Varistor CN5

Control + voltage
power output
− CN1
power L2C supply
converter
supply
Encoder divided
pulse output
Processor
input
2-14
2.2 Block Diagrams
2.2.6 SGD7S-330A
2.2.6 SGD7S-330A
B1/ + B2 B3 Fan 1 Fan 2
Servomotor
L1 Varistor U
Main +
circuit L2 V
−
power CHARGE M
W
supply L3
Overheat/overcurrent
Dynamic
-1 protection brake circuit
-2
Voltage Thyristor
sensor drive
Voltage Temperature Gate drive Current

ENC
CN2
L1C Varistor CN5

Control + voltage
power output
− converter CN1
power L2C supply Reference pulse input
supply
Encoder divided
pulse output
Processor

input
2
2-15
2.2 Block Diagrams
2.2.7 SGD7S-470A and -550A
2.2.7 SGD7S-470A and -550A

B1/ + B2 Fan 1 Fan 2 Fan 3
Servomotor
L1 Varistor U
Main +
circuit L2 V
−
power CHARGE M
W
supply L3
Dynamic
1 protection brake circuit
Voltage Thyristor
sensor drive

ENC
CN2
L1C Varistor CN5

Control + voltage
power output
− CN1
power L2C supply
converter
supply
Encoder divided
pulse output
Processor
input
2-16
2.2 Block Diagrams
2.2.8 SGD7S-590A and -780A
2.2.8 SGD7S-590A and -780A

B1/ + B2 Fan 1 Fan 2 Fan 3 Fan 4
Servomotor
L1 Varistor U
Main +
circuit L2 V
−
power CHARGE M
W
supply L3
Dynamic
1 protection brake circuit
Voltage Thyristor
sensor drive

ENC
CN2
L1C Varistor CN5

Control + voltage
power output
− CN1
power L2C supply
converter
supply
Encoder divided
pulse output
Processor
input
2.2.9 SGD7S-R70F, -R90F, and -2R1F

Servomotor
B1/ + B2
Main L1 Varistor U
circuit +
power L2 − V
+
supply CHARGE M
− W
Dynamic
brake circuit
Voltage Relay Voltage Gate Temperature Gate drive Current

sensor drive sensor drive sensor overcurrent sensor
protection
ENC
CN2
L1C Varistor CN5

+ Control Analog Analog monitor
Control voltage
power converter output
power L2C − supply CN1 Reference pulse
input
supply
Processor Encoder divided
pulse output
A/D Reference
voltage input
I/O I/O signals

Panel Operator
2-17
2.2 Block Diagrams
2.2.10 SGD7S-2R8F
2.2.10 SGD7S-2R8F
Servomotor
B1/ + B2
L1 Varistor U
Main +
circuit L2 − V
+
power CHARGE M
− W
supply
Dynamic
brake circuit
Voltage Relay Voltage Gate Temperature Gate drive Current

sensor drive sensor drive sensor overcurrent sensor
protection
ENC
CN2
L1C Varistor CN5

Analog Analog monitor
+ Control voltage
Control power converter output
L2C − CN1
power supply Reference pulse input
supply Processor
Encoder divided
pulse output
input
I/O I/O signals

Panel Operator
2-18
2.3 External Dimensions
2.3.1 Front Cover Dimensions and Connector Specifications
2.3.1 Front Cover Dimensions and Connector Specifications

The front cover dimensions and panel connector section are the same for all models. Refer to
the following figures and table.
• Front Cover Dimensions
(16)
(20)
Front
cover (12
0°
CN3 )
CN7
CN1
CN8
CN2
• Connector Specifications
Connec- Number
Model Manufacturer
tor No. of Pins
CN1 10250-59A3MB 50 3M Japan Limited
CN2 3E106-0220KV 6 3M Japan Limited
CN3
HDR-EC14LFDTN-
14 Honda Tsushin Kogyo Co., Ltd. 2
SLD-PLUS
CN7 2172034-1 5 Tyco Electronics Japan G.K.
CN8 1981080-1 8 Tyco Electronics Japan G.K.
Note: The above connectors or their equivalents are used for the SERVOPACKs.
2-19
2.3.2 SERVOPACK External Dimensions
Base-mounted SERVOPACKs
• Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A
2×M4
5
Two sets of terminals
160 ±0.5 (mounting pitch)

Exterior
160
168
168
8
18 (4) 25 10 ±0.5 (mounting pitch)

Ground
terminals
2 × M4 40 (75) 140 40
Mounting Hole Diagram
Approx. mass: 0.8 kg
Unit: mm
• Three-phase, 200 VAC: SGD7S-2R8A; Single-phase, 100 VAC: SGD7S-R70F, -R90F, and -2R1F
2×M4
5
Exterior
160
168
168
8
Ground 18 (4) 5 20 ±0.5 (mounting pitch)

terminals
2 × M4 40 (75) 170 40
Unit: mm
• Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A; Single-phase, 100 VAC: SGD7S-2R8F
3×M4
5
Exterior
160
168
168
(4) 58 ±0.5 (mounting pitch)

8
18 6
Ground
terminals 70 (75) 180 70
2 × M4
Unit: mm
2-20
• Three-phase, 200 VAC: SGD7S-120A

5 80 ±0.5 (mounting pitch)
3×M4
5
Exterior
160
168
168
(4)
8
18 12.5
Ground
terminals 90 (75) 180 90
2 × M4
Unit: mm
• Three-phase, 200 VAC: SGD7S-180A and -200A; Single-phase, 200 VAC: SGD7S-120A00A008
3×M4
Exterior
188
188
180
(4)
8
Terminals 75 ±0.5 (mounting pitch)

14 × M4 Ground
2
terminals 12.5 82.5 ±0.5 (mounting pitch)
2 × M4 100 (75) 180 100
Terminal Details
Unit: mm

4×M5
Exterior
6
250 ± 0.5 (mounting pitch)
258
250
258
13×M4
(5) 84 ± 0.5
8
Terminal Details (mounting pitch)

Ground 110 (75) 210 13
terminals 110
2 × M4
Approx. Mass: 4.4 kg

Unit: mm
2-21
• Three-phase, 200 VAC: SGD7S-470A and -550A

4×M6
6
302.5 ± 0.5 (mounting pitch)
Exterior
315
315
Terminals
4×M5
Terminals
Ground 8×M5 142 ± 0.5
terminals 14 (mounting pitch)
2×M5 170 (75) 210 170

Unit: mm
7.5
4×M6
375 ± 0.5 (mounting pitch) Exterior

Terminals
4×M6
390
390
Terminals
8×M6
Ground 200 ± 0.5

terminals 30 (mounting pitch)
2×M6 260 (75) 210 260

Unit: mm
2-22
Rack-mounted SERVOPACKs
Hardware Option Code: 001
• Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A
2 36
17.5
7.5
2 × M4
7
Exterior
166 min.
195
160
195
168
Ground (2)
terminals 40 (25) 18 24.5 20
2 × M4 (75) 140 40

Unit: mm
• Three-phase, 200 VAC: SGD7S-2R8A; Single-phase, 100 VAC: SGD7S-R70F, -R90F, and -
2R1F
17.5
2 36
7.5
7
2 × M4

166 min.
Exterior
195
195
160
168
(2)
Ground (25) 18 24.5
terminals 40 20
2 × M4 (75) 170 40

Unit: mm
• Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A; Single-phase, 100 VAC:
SGD7S-2R8F
17.5
7.5
18.5 36
2 × M4
7
Exterior
166 min.
195
195
160
168
Ground (2)
terminals 36.5
2 × M4 70 (25) 18 24.5
70
(75) 180
Approx. mass:1.6 kg
Unit: mm
2-23

93
17.5
7.5
15.5 65 4 × M4
7
180±0.5 (mounting pitch)
Exterior
166 min.
195
168
160
195
(2)
13 70 50±0.5
(3) 90 (25) 18 24.5 23 (mounting pitch)
Ground (75) 180 93
terminals
2 × M4

Unit: mm

103
17.5
20.5 65 4 × M4
7.5
7
186 min.
Exterior
215
215
188
180
50±0.5
(2) (mounting pitch)
18 70 28
(3) 24.5
100 103
(75) 180
Ground
terminals Mounting Hole Diagram
2 × M4
Unit: mm

17.5
4 × M5
7.5
7
256 min.
Exterior
285
285
250
(2) 50±0.5
7
(2.5) 111 (2.5) 24.5 30.5 (mounting pitch)

116 (75) 210 (6) 116
Ground
terminals
2 × M4

Unit: mm
2-24
Duct-ventilated SERVOPACKs
Hardware Option Code: 001
4 × M6
17.5
7.5
7.5
Exterior
320 min
315
350
350
Cutout
Terminals
4 × M5
Terminals
8 × M5 170 139 (71) 8.5 145 ± 0.5
Ground (mounting pitch)
terminals (75) 210
2 × M5 4 162 min
170

Unit: mm
4 × M6
7.5
30
64

330 min
Exterior
(292.5)
390
390
Cutout
2
Terminals
4 × M6
Terminals
8 × M6 260 (75) 136 (75) 4.5 235 ± 0.5
Ground (mounting pitch)
terminals 8 244 min
2 × M6
260

Unit: mm
2-25
2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices

• Rotary Servomotors
Power supply
Three-phase, 200 VAC* 1
R S T
Molded-case
circuit breaker
Noise Filter
SERVOPACK Digital Operator
Magnetic Contactor
Analog Monitor Cable
CN5
Computer
Digital Operator cable
SERVOPACK CN3 Engineering Tool
main circuit wires
Control CN7
Power Computer Cable
Supply Cable
I/O Signal Cable Host controller

CN1
External
External Regenerative
Regenerative Resistor Cable
Resistor* 2 CN8 Safety Function Device Cable
CN2
Holding brake
power supply unit* 3
Battery Case
Ground
cable (Used for an absolute
Brake relay
encoder.)
Servomotor Encoder Cable

(Wires required for a Servomotor with a Brake) Main Circuit Cable
Servomotor Encoder Cable
Main Circuit Cable
Direct Drive Servomotor

Rotary Servomotor
*1. This example is for a SERVOPACK with a three-phase, 200-VAC power supply input. The pin layout of the main
circuit connector depends on the voltage.
*2. External Regenerative Resistors are not provided by Yaskawa.
*3. The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the hold-
ing brake specifications.
If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power sup-
plies, 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.
2-26
• Linear Servomotor
Power supply
Three-phase, 200 VAC* 1
R S T
Molded-case
circuit breaker
Noise Filter
SERVOPACK Digital Operator
Magnetic Contactor
Analog Monitor Cable
CN5
Digital Operator cable Computer

CN3
SERVOPACK Engineering Tool
main circuit wires
Control CN7
Power Computer Cable
Supply Cable
I/O Signal Cable Host controller

CN1
External
Regenerative* 2 Resistor Cable
Resistor CN8
Safety Function Device Cable

CN2
Serial Converter Unit Cable
Ground Serial Converter Unit 2

cable
Sensor Cable
Linear Encoder Cable
Linear encoder
Linear Servomotor
*1. This example is for a SERVOPACK with a three-phase, 200-VAC power supply input. The pin layout of the main
circuit connector depends on the voltage.
*2. External Regenerative Resistors are not provided by Yaskawa.
2-27
SERVOPACK
Installation
3
This chapter provides information on installing SERVO-
PACKs in the required locations.
3.1 Installation Precautions . . . . . . . . . . . . . . . . 3-2
3.2 Mounting Types and Orientation . . . . . . . . . 3-3
3.3 Mounting Hole Dimensions . . . . . . . . . . . . . 3-4
3.4 Mounting Interval . . . . . . . . . . . . . . . . . . . . 3-6

3.4.1 Installing One SERVOPACK in a Control Panel . . 3-6
3.4.2 Installing More Than One SERVOPACK
in a Control Panel . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.5 Monitoring the Installation Environment . . . 3-7
3.6 Derating Specifications . . . . . . . . . . . . . . . . 3-8
3.7 EMC Installation Conditions . . . . . . . . . . . . 3-9

3.1 Installation Precautions
3.1 Installation Precautions

Refer to the following section for the ambient installation conditions.
2.1.3 Specifications on page 2-6
 Installation Near Sources of Heat

Implement measures to prevent temperature increases caused by radiant or convection heat
from heat sources so that the ambient temperature of the SERVOPACK meets the ambient
conditions.
 Installation Near Sources of Vibration

Install a vibration absorber on the mounting surface of the SERVOPACK so that the SERVO-
PACK will not be subjected to vibration.
 Other Precautions
Do not install the SERVOPACK in a location subject to high temperatures, high humidity, water
drops, cutting oil, excessive dust, excessive dirt, excessive iron powder, corrosive gasses, or
radioactivity.
3-2
3.2 Mounting Types and Orientation
3.2 Mounting Types and Orientation

The SERVOPACKs come in the following mounting types: base-mounted, rack-mounted, and
duct-ventilated types. Regardless of the mounting type, mount the SERVOPACK vertically, as
shown in the following figures.
Also, mount the SERVOPACK so that the front panel is facing toward the operator.
Note: Prepare two to four mounting holes for the SERVOPACK and mount it securely in the mounting holes. (The
number of mounting holes depends on the capacity of the SERVOPACK.)
• Base-mounted SERVOPACK
Base
SERVOPACK
Airflow
• Rack-mounted SERVOPACK
Rack
SERVOPACK
3
Airflow
• Duct-ventilated SERVOPACK
Duct
SERVOPACK
Airflow
3-3
3.3 Mounting Hole Dimensions

Use mounting holes to securely mount the SERVOPACK to the mounting surface.
Note: To mount the SERVOPACK, you will need to prepare a screwdriver that is longer than the depth of the
SERVOPACK.
D
E F
B
C
A
G H
 Σ-7-series Mounting Hole Dimensions

Dimensions (mm) Number
Screw
SERVOPACK Model of
A B C D E F G H Size
Screws
R70A, R90A,
168 5 160±0.5 40 35 − 25 − M4 2
1R6A
2R8A, R70F,
168 5 160±0.5 40 5 − 25 − M4 2
R90F, 2R1F
3R8A, 5R5A,
168 5 160±0.5 70 6 58±0.5 64 − M4 3
7R6A, 2R8F
SGD7S- 120A 168 5 160±0.5 90 5 80±0.5 12.5 − M4 3
180A, 200A,
188 5 180±0.5 100 95 − 12.5 75±0.5 M4 3
120A008
330A 258 6 250±0.5 110 5 100±0.5 13 84±0.5 M5 4
470A, 550A 315 6 302.5±0.5 170 14 142±0.5 14 142±0.5 M6 4
590A, 780A 390 7.5 375±0.5 260 30 200±0.5 30 200±0.5 M6 4
3-4
 Σ-V-series-Compatible Mounting Hole Dimensions

If you are replacing a Σ-V-Series SERVOPACK with a Σ-7-Series SERVOPACK, you can also
use the mounting holes that were used for the Σ-V-Series SERVOPACK. Refer to the following
table.
Dimensions (mm) Number
Screw
SERVOPACK Model of
A B C D E F G H Size
Screws
R70A, R90A,
168 5 150±0.5 40 35 − 35 − M4 2
1R6A
2R8A, R70F,
168 5 150±0.5 40 5 − 35 − M4 2
R90F, 2R1F
3R8A, 5R5A,
168 5 150±0.5 70 6 58±0.5 6 − M4 3
7R6A, 2R8F
SGD7S-
120A 168 5 150±0.5 90 5 80±0.5 5 − M4 3
180A, 200A,
188 5 170±0.5 100 95 − 5 90±0.5 M4 3
120A008
330A 250 6 238.5±0.5 110 5 100±0.5 5 100±0.5 M5 4
470A, 550A, A special attachment is required. Contact your Yaskawa representative for
590A, 780A details.
3
3-5
3.4 Mounting Interval
3.4.1 Installing One SERVOPACK in a Control Panel
3.4 Mounting Interval
3.4.1 Installing One SERVOPACK in a Control Panel

Provide the following spaces around the SERVOPACK.
40 mm min.
30 mm min.
SERVOPACK
30 mm min. 40 mm min.*
* For this dimension, ignore items protruding from the main body of the SERVOPACK.
3.4.2 Installing More Than One SERVOPACK in a Control

Panel
Provide the following intervals between the SERVOPACKs and spaces around the SERVO-
PACKs.
Install cooling fans above the SERVOPACKs so that hot spots do not occur around the SERVO-
PACKs. Provide sufficient intervals and spaces as shown in the following figure to enable cooling
Important
by the fans and natural convection.
Fan Fan
40 mm min.
30 mm min.
SERVOPACK
SERVOPACK
SERVOPACK
SERVOPACK
30 mm min. This distance depends 40 mm min.*

on the model.
* For this dimension, ignore items protruding from the main body of the SERVOPACK.
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.
Space on Cooling Fan Installation Conditions
SERVOPACK Model
Right Side 10 mm above SERVOPACK’s Top Surface
R70A, R90A, 1R6A, 2R8A,
3R8A, 5R5A, 7R6A, R70F, 1 mm min. Air speed: 0.5 m/s min.
SGD7S- R90F, 2R1F, 2R8F
120A, 180A, 200A, 330A,
10 mm min. Air speed: 0.5 m/s min.
470A, 550A, 590A, 780A
3-6
3.5 Monitoring the Installation Environment
3.5 Monitoring the Installation Environment

You can use the SERVOPACK Installation Environment Monitor parameter to check the operat-
ing conditions of the SERVOPACK in the installation environment.
You can check the SERVOPACK installation environment monitor with either of the following
methods.
• Using the SigmaWin+: Life Monitor - Installation Environment Monitor - SERVOPACK
• Panel Operator or Digital Operator: Un025 (Installation Environment Monitor [%])
Implement one or more of the following actions if the monitor value exceeds 100%.
• Lower the surrounding temperature.
• Decrease the load.
Information The value of the SERVOPACK Installation Environment Monitor parameter will increase by
about 10% for each 10°C increase in the ambient temperature.
Always observe the surrounding air temperature given in the SERVOPACK environment condi-
tions. Even if the monitor value is 100% or lower, you cannot use a SERVOPACK in a location
Important that exceeds the specified surrounding air temperature.
3
3-7
3.6 Derating Specifications
3.6 Derating Specifications

If you use the SERVOPACK at a surrounding air temperature of 55°C to 60°C or at an altitude
of 1,000 m to 2,000 m, you must apply the derating rates given in the following graphs.
• SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
Surrounding air temperature Altitude Surrounding air temperature and altitude
• SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A
100% 100% 100%

80%
Effective torque
Effective torque
Effective torque
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
Surrounding air temperature Altitude Surrounding air temperature and altitude
3-8
3.7 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
absorber
Clamp
CN2 Encoder

Clamp
PE
CN1 CN8
PE
3
Clamp Clamp

Host 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
3-9
• Single-Phase, 200 VAC

Shield box
Brake power supply
SERVOPACK
Clamp
Clamp
U, V, and W Brake
Clamp
Power supply: Noise L1 and L2
Single-phase, 200 VAC
filter
Servomotor
L1C and L2C

Surge
absorber
Clamp
CN2 Encoder

Clamp
PE
CN1 CN8
PE
Clamp Clamp

Host Safety

3-10
• 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
absorber
Clamp
CN2 Encoder

Clamp
PE
CN1 CN8
PE
Clamp Clamp

Host Safety

3
3-11
Wiring and
Connecting
SERVOPACKs
4
This chapter provides information on wiring and connecting
SERVOPACKs to power supplies and peripheral devices.
4.1 Wiring and Connecting SERVOPACKs . . . . 4-3

4.1.1 General Precautions . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.2 Countermeasures against Noise . . . . . . . . . . . . . 4-5
4.1.3 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.2 Basic Wiring Diagrams . . . . . . . . . . . . . . . . 4-9
4.3 Wiring the Power Supply to the SERVOPACK . . 4-11

4.3.1 Terminal Symbols and Terminal Names . . . . . . . 4-11
4.3.2 Wiring Procedure for Main Circuit Connector . . 4-14
4.3.3 Power ON Sequence . . . . . . . . . . . . . . . . . . . . . 4-15
4.3.4 Power Supply Wiring Diagrams . . . . . . . . . . . . . 4-16
4.3.5 Wiring Regenerative Resistors . . . . . . . . . . . . . 4-22
4.3.6 Wiring Reactors for Harmonic Suppression . . . . 4-24
4.4 Wiring Servomotors . . . . . . . . . . . . . . . . . . 4-25

4.4.1 Terminal Symbols and Terminal Names . . . . . . . 4-25
4.4.2 Pin Arrangement of Encoder Connector
(CN2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.4.3 Wiring the SERVOPACK to the Encoder . . . . . . 4-26
4.4.4 Wiring the SERVOPACK to the Holding Brake . . 4-33
4.5 I/O Signal Connections . . . . . . . . . . . . . . . 4-34

4.5.1 I/O Signal Connector (CN1) Names and
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
4.5.2 I/O Signal Connector (CN1) Pin Arrangement . . 4-37
4.5.3 I/O Signal Wiring Examples . . . . . . . . . . . . . . . . 4-38
4.5.4 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44
4.6 Connecting Safety Function Signals . . . . . 4-49
4.6.1 Pin Arrangement of Safety Function Signals
(CN8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-49
4.6.2 I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-49
4.7 Connecting the Other Connectors . . . . . . . 4-51

4.7.1 Serial Communications Connector (CN3) . . . . . .4-51
4.7.2 Computer Connector (CN7) . . . . . . . . . . . . . . . .4-51
4.7.3 Analog Monitor Connector (CN5) . . . . . . . . . . . .4-51
4.1 Wiring and Connecting SERVOPACKs
4.1.1 General Precautions
DANGER
WARNING
 Check all wiring and power supplies carefully.
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 holding brake will
not work. This could damage the machine or cause an accident that may result in death or

injury.
 Connect the AC and DC power supplies to the specified SERVOPACK terminals.
• Connect an AC power supply to the L1, L2, and L3 terminals and the L1C and L2C terminals on
the SERVOPACK.
• Connect a DC power supply to the B1/ and 2 terminals and the L1C and L2C terminals on
the SERVOPACK.
 If you use a SERVOPACK with the Dynamic Brake Hardware Option, connect an External
Dynamic Brake Resistor that is suitable for the machine and equipment specifications to the
specified terminals.
There is a risk of unexpected operation, machine damage, burning, or injury when an emer-
gency stop is performed.
4-3
CAUTION
 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a
100-VAC power supply input, wait for at least nine minutes) and then make sure that the
CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the
power supply terminals while the CHARGE lamp is lit because high voltage may still remain
in the SERVOPACK even after turning OFF the power supply.
 Observe the precautions and instructions for wiring and trial operation precisely as
described in this document.
Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may
cause the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death
or injury.
 Check the wiring to be sure it has been performed correctly.
Connectors and pin layouts are sometimes different for different models. Always confirm the
pin layouts in technical documents for your model before operation.
There is a risk of failure or malfunction.
 Connect wires to power supply terminals and motor connection terminals securely with the
specified methods and tightening torque.
Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty con-
tact, possibly resulting in fire.
 Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O
Signal Cables and Encoder Cables.
 The maximum wiring length is 3 m for I/O Signal Cables, and 50 m for Encoder Cables or
Servomotor Main Circuit Cables.
 Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.
• Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit ter-
minals, has been completed.
• If a connector is used for the main circuit terminals, remove the main circuit connector from the
SERVOPACK before you wire it.
• Insert only one wire per insertion hole in the main circuit terminals.
• When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into
contact with adjacent wires.
 Install molded-case circuit breakers and other safety measures to provide protection
against short circuits in external wiring.
NOTICE
 Whenever possible, use the Cables specified by Yaskawa.
If you use any other cables, confirm the rated current and application environment of your
model and use the wiring materials specified by Yaskawa or equivalent materials.
 Securely tighten cable connector screws and lock mechanisms.
Insufficient tightening may result in cable connectors falling off during operation.
 Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O
Signal Cables or Encoder Cables) together or run them through the same duct. If you do not
place power lines and low-current lines in separate ducts, separate them by at least 30 cm.
If the cables are too close to each other, malfunctions may occur due to noise affecting the low-
current lines.
If you install batteries both at the host controller and on the Encoder Cable at the same time,
you will create a loop circuit between the batteries, resulting in a risk of damage or burning.
 When connecting a battery, connect the polarity correctly.
There is a risk of battery rupture or encoder failure.
4-4
4.1.2 Countermeasures against Noise
• Use a molded-case circuit breaker or fuse to protect the main circuit. The SERVOPACK con-
nects directly to a commercial power supply; it is not isolated through a transformer or other
device. Always use a molded-case circuit breaker or fuse to protect the servo system from
Important accidents involving different power system voltages or other accidents.
• Install an earth leakage breaker. The SERVOPACK does not have a built-in ground fault protec-
tive circuit. To configure a safer system, install a ground fault detector against overloads and
short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker.
• Do not turn the power supply ON and OFF more than necessary.
• Do not use the SERVOPACK for applications that require the power supply to turn ON and
OFF frequently. Such applications will cause elements in the SERVOPACK to deteriorate.
• After you have started actual operation, allow at least one hour between turning the power
supply ON and OFF (as a guideline).
To ensure safe, stable application of the servo system, observe the following precautions when
wiring.
• Use the cables specified by Yaskawa. Design and arrange the system so that each cable is
as short as possible.
Refer to the following manual or catalog for information on the specified cables.
Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
• The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not subject them to

excessive bending stress or tension.
The SERVOPACK is designed as an industrial device. It therefore provides no measures to pre-

vent radio interference. The SERVOPACK uses high-speed switching elements in the main circuit.
Therefore peripheral devices may be affected by switching noise.
Important If the equipment is to be used near private houses or if radio interference is a problem, take
countermeasures against noise.
The SERVOPACK uses microprocessors. Therefore, it may be affected by switching noise from
peripheral devices. 4
To prevent the noise from the SERVOPACK or the peripheral devices from causing malfunc-
tions of any devices, take the following countermeasures against noise as required.
• Install the input reference device and Noise Filter as close to the SERVOPACK as possible.
• Always install a Surge Absorber for relays, solenoids, and Magnetic Contactor coils.
• Do not place the following cables in the same duct or bundle them together. Also, separate
the cables from each other by at least 30 cm.
•Main Circuit Cables and I/O Signal Cables
•Main Circuit Cables and Encoder Cables
• Do not share the power supply with an electric welder or electrical discharge machine. If the
SERVOPACK is placed near a high-frequency generator, install Noise Filters on the input side
on the Main Circuit Power Supply Cable and Control Power Supply Cable even if the same
power supply is not shared with the high-frequency generator. Refer to the following section
for information on connecting Noise Filters.
Noise Filters on page 4-6
• Implement suitable grounding measures. Refer to the following section for information on
grounding measures.
4.1.3 Grounding on page 4-8
4-5
Noise Filters
You must attach Noise Filters in appropriate places to protect the SERVOPACK from the
adverse effects of noise. The following is an example of wiring for countermeasures against
noise.
SERVOPACK
*3
Noise Filter Servomotor
U
L1 M
V (FG)
200 VAC L2 W
L3
2.0 mm2
min. CN2 ENC
L1C
L2C CN1
2.0 mm2
min.
Operation relay sequence
User signal generators
*3 *2
Noise Filter
DC
power
supply
2.0 mm2 min.
(Grounding plate)
*1
External ground: Use a dedicated ground.
*1. For the ground wire, use a wire with a thickness of at least 2.0 mm2 (preferably, flat braided copper wire).
*2. Whenever possible, use twisted-pair wires to wire all connections marked with .
*3. Refer to the following section for precautions when using Noise Filters.
Noise Filter Wiring and Connection Precautions on page 4-7
4-6
Noise Filter Wiring and Connection Precautions

Always observe the following precautions when wiring or connecting Noise Filters.
• Separate input lines from output lines. Do not place input lines and output lines in the same
duct or bundle them together.
Incorrect Correct
Noise Noise
Filter Filter
Grounding plate Grounding plate
Noise Noise
Filter Filter

Grounding plate Grounding
plate
Separate the circuits.
• Separate the Noise Filter ground wire from the output lines. Do not place 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
It is OK if the ground
wire is close to the 4
input lines.
• Connect the Noise Filter ground wire directly to the grounding plate. Do not connect the
Noise Filter ground wire to other ground wires.
Incorrect Correct
Noise Noise
Filter Filter
SERVOPACK SERVOPACK SERVOPACK SERVOPACK
Shield ground wire
4-7
4.1.3 Grounding
• If a Noise Filter is located inside a control panel, first connect the Noise Filter ground wire and
the ground wires from other devices inside the control panel to the grounding plate for the
control panel, then ground the plate.
Control panel
SERVOPACK
Noise
Filter
SERVOPACK
Ground
Grounding plate
4.1.3 Grounding
Implement grounding measures as described in this section. Implementing suitable grounding
measures will also help prevent malfunctions, which can be caused by noise.
Observe the following precautions when wiring the ground cable.
• Ground the SERVOPACK to a resistance of 100 Ω or less.
• Be sure to ground at one point only.
• Ground the Servomotor directly if the Servomotor is insulated from the machine.
Motor Frame Ground or Motor Ground

If you ground the Servomotor through the machine, switching noise current can flow from the
main circuit of the SERVOPACK through the stray capacitance of the Servomotor. To prevent
this, always connect the FG terminal of the Servomotor Main Circuit Cable connected to the
Servomotor to the ground terminal on the SERVOPACK. Also be sure to ground the ground
terminal . Always connect the shield wire of the Encoder Cable connected to the Servomotor
to the connector case (shell).
Ground both the Moving Coil and Magnetic Way of a Linear Servomotor.
Noise on I/O Signal Cables

If noise enters the I/O Signal Cable, connect the shield of the I/O Signal Cable to the connector
shell to ground it. If the Servomotor Main Circuit Cable is placed in a metal conduit, ground the
conduit and its junction box. For all grounding, ground at one point only.
4-8
4.2 Basic Wiring Diagrams

This section provide the basic wiring diagrams. Refer to the reference sections given in the diagrams for details.
R S T SERVOPACK
1QF Main circuit Motor

terminals terminals U
3SA V M
W
1FLT 4.4 Wiring Ser-
2KM vomotors on
page 4-25
L1
L2
L3 *1
1KM CN2
L1C 5 PS
6 /PS
L2C 1 PG5V ENC
2 PG0V
(For servo alarm
display) B1/ 4.4 Wiring Ser-
1Ry
B2 vomotors on
page 4-25
1PL B3
Servo power Servo power 1
ON OFF 1KM 2
*1
CN5
1
3
1KM 1SA Ground to 2 Analog Monitors
4.3 Wiring the a resistance
Power Supply to 1KM 1Ry 2KM 4
of 100 Ω 4.7.3 Analog Moni-
the SERVOPACK tor Connector (CN5)
or less.
on page 4-11 2SA on page 4-51

*1 CN1
V-REF 5 37 ALO1
Speed reference input D/A
Maximum input voltage: ±12 V SG 6 Alarm Code Output
A/D 38 ALO2
(OFF for alarm)
39 ALO3
T-REF 9
Torque reference input *3 D/A
Maximum input voltage: ±12 V SG 10 *1
33 PAO *6 Encoder Divided
34 /PAO Pulse Output,
PULS 7 Phase A
PULS
CW
/PULS 8 35
Phase A PBO *6 Encoder Divided
36 /PBO Pulse Output,
SIGN SIGN 11 Phase B
Position Reference CCW
/SIGN 12
Phase B 19 PCO *6 Encoder Divided
CLR 15 20 /PCO Pulse Output,
CLR Phase C
/CLR 14 48 PSO *6 Absolute encoder
49 /PSO position output
BAT(+)
4
Battery for absolute + 21
encoder *2
- BAT(-) 22 1 SG
2.8 V to 4.5 V Signal ground
SEN 4 /SO1+
+5 V General-purpose sequence output 1
25 (/V-CMP+, /COIN+)
Absolute data SG 2 (Speed Coincidence Detection output:
request input *2 0V
/SO1- ON for coincidence, Positioning Completion
26 (/V-CMP-, /COIN-) output: ON for completion)
50
Overheat protection input TH /SO2+
+24 V *4
Sequence input signal 27 (/TGON+)
power supply input +24VIN 47 General-purpose sequence output 2
/SO2-
/SI0 (/S-ON) 40 28 (/TGON-) (Rotation Detection output:
General-purpose sequence input 0
ON at setting or higher)
(Servo ON input: ON to turn ON servo)
/SO3+
General-purpose sequence input 3 /SI3 (/P-CON) 41 29 (/S-RDY+)
(Proportional Control input: ON for proportional action) /SO3- General-purpose sequence output 3
30 (/S-RDY-) (Servo Ready output: ON when /
General-purpose sequence input 1 /SI1 (P-OT) 42 S-ON signal can be received)
(Forward Drive Prohibit input: OFF to prohibit drive) +24 V
43 1Ry
General-purpose sequence input 2 /SI2 (N-OT) 31 ALM+
(Reverse Drive Prohibit input: OFF to prohibit drive) 1D Servo Alarm output
/SI4 32 ALM- 0V
General-purpose sequence input 4 (/ALM-RST) 44
(Alarm Reset input: ON to reset alarm)
General-purpose sequence input 5 /SI5 (/P-CL) 45
(Forward External Torque Limit input: ON to limit)
4.5 I/O Signal Connections
General-purpose sequence input 6 /SI6 (/N-CL) 46 on page 4-34
(Reverse External Torque Limit input: ON to limit)
CN8
Switch /HWBB1+ 4
24 V
Fuse /HWBB1- 3
8
Safety *5
EDM1+ 4.6 Connecting
/HWBB2+ 6 Safety Function
7 Signals on page
EDM1- 4-49
/HWBB2- 5
0V
Connector shell
FG Connect shield to connector shell.

Frame ground
4-9
*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. You can enable this function with a parameter setting.
*4. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or
reinforced insulation.
*5. Refer to the following chapter if you use a safety function device.
Chapter 11 Safety Functions
If you do not use the safety function, insert the Safety Jumper Connector (provided as an accessory) into CN8
when you use the SERVOPACK.
*6. Always use line receivers to receive the output signals.
Note: 1. 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.
2. Default settings are given in parentheses.
4-10
4.3 Wiring the Power Supply to the SERVOPACK
4.3.1 Terminal Symbols and Terminal Names

Refer to the following manual or catalog for information on cables and peripheral devices.

Use the main circuit connector on the SERVOPACK to wire the main circuit power supply and
control circuit power supply to the SERVOPACK.
CAUTION
 Wire all connections correctly according to the following table and specified reference infor-
mation. There is a risk of SERVOPACK failure or fire if incorrect wiring is performed.
The SERVOPACKs have the following four types of main circuit power supply input specifica-
tions.

Information 1. For the single-phase, 100 VAC power supply input specification, only a single-phase AC
power supply can be connected to the control power supply terminals.
2. For the other main circuit power supply input specifications, excluding the single-phase,
100 VAC power supply input specification, a single-phase AC power supply or a DC power
supply can be connected to the control power supply terminals.
• Three-Phase, 200-VAC Power Supply Input

Terminal
Terminal Name Specifications and Reference
Symbols
Main circuit power
supply input terminals
L1, L2, L3 Three-phase, 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
for AC power supply
input
AC power
supply
Single-phase, 200 VAC to 240 VAC, -15% to +10%,
50 Hz/60 Hz
4
Control power supply
L1C, L2C L1C: 270 VDC to 324 VDC, -15% to +10%, L2C: 0 VDC
terminals DC power
or
supply
L2C: 270 VDC to 324 VDC, -15% to +10%, L1C: 0 VDC
4.3.5 Wiring Regenerative Resistors on page 4-22
 For SGD7S-R70A, -R90A, -1R6A, and -2R8A
If the regenerative capacity is insufficient, connect an External
Regenerative Resistor between B1/ and B2.
The External Regenerative Resistor is not included. Obtain it sepa-
rately.
 For SGD7S-3R8A,- 5R5A, -7R6A, -120A, -180A, -200A, and -
330A
Regenerative Resistor
B1/ , B2, B3 If the internal regenerative resistor is insufficient, remove the lead
terminals
or short bar between B2 and B3 and connect an External Regen-
erative Resistor between B1/ and B2.
rately.
 For SGD7S-470A, -550A, -590A, and -780A
Connect a Regenerative Resistor Unit between B1/ and B2.
Obtain a Regenerative Resistor Unit separately. These models do
not have a B3 terminal.
DC Reactor terminals 4.3.6 Wiring Reactors for Harmonic Suppression on page 4-24
1, 2 for power supply har- These terminals are used to connect a DC Reactor for power supply
monic suppression harmonic suppression or power factor improvement.
− None. (Do not connect anything to this terminal.)
4-11
• Single-Phase, 200-VAC Power Supply Input

Terminal
Symbols
Main circuit power
L1, L2 Single-phase, 200 VDC to 240 VDC, -15% to +10%, 50 Hz/60 Hz
for AC power supply
input
AC power Single-phase, 200 VAC to 240 VAC, -15% to +10%,
supply 50 Hz/60 Hz
terminals DC power
or
supply
 For SGD7S-R70A, -R90A, -1R6A, and -2R8A
If the regenerative capacity is insufficient, connect an External
Regenerative Resistor between B1/ and B2.
Regenerative Resistor rately.
B1/ , B2, B3
terminals  For SGD7S-5R5A and 120A0A008
If the internal regenerative resistor is insufficient, remove the lead
or short bar between B2 and B3 and connect an External Regen-
erative Resistor between B1/ and B2.
rately.
DC Reactor terminals 4.3.6 Wiring Reactors for Harmonic Suppression on page 4-24
1, 2 for power supply har- These terminals are used to connect a DC Reactor for power supply
monic suppression harmonic suppression or power factor improvement.
L3, − None. (Do not connect anything to these terminals.)
You can use a single-phase, 200-VAC power supply input with the following models.
• SGD7S-R70A, -R90A, -1R6A, -2R8A, -5R5A
If you use a single-phase, 200-VAC power supply input for the SERVOPACK’s main circuit
power supply, set parameter Pn00B to n.1 (Use a three-phase power supply input as a
single-phase power supply input). Refer to the following section for details.
5.3.2 Single-phase AC Power Supply Input/Three-phase AC Power Supply Input Setting on page 5-16
Information You do not need to change the setting of Pn00B to n.1 (Use a three-phase power sup-
ply input as a single-phase power supply input) for a SERVOPACK with a single-phase 200-
VAC power supply input (model numbers: SGD7S-120A008).
• DC Power Supply Input

Terminal
Symbols
AC power Single-phase, 200 VAC to 240 VAC, -15% to +10%,
supply 50 Hz/60 Hz
terminals DC power
or
supply
B1/ Main circuit power 270 VDC to 324 VDC, -15% to +10%
2 for DC power supply 0 VDC
input
L1, L2, L3, None. (Do not connect anything to these terminals.)
B2, B3, 1, − Note: 1. SGD7S-470A to 780A do not have a B3 terminal.
2. SGD7S-330A to 780A do not have a terminal.
If you use a DC power supply input to the SERVOPACK, make sure to set parameter Pn00E
to n.1 (DC power supply input supported) before inputting the power supply. Refer to
the following section for details.
5.3.1 AC Power Supply Input/DC Power Supply Input Setting on page 5-15
4-12
• Single-Phase, 100-VAC Power Supply Input

Terminal
Symbols
Main circuit power supply
Single-phase, 100 VAC to 120 VAC, -15% to +10%,
L1, L2 input terminals for AC
50 Hz/60 Hz
power supply input
Control power supply termi- Single-phase, 100 VAC to 120 VAC, -15% to +10%,
L1C, L2C
nals 50 Hz/60 Hz
Regenerative Resistor termi- If the regenerative capacity is insufficient, connect an External
B1, B2
nals Regenerative Resistor between B1/ and B2. The External
Regenerative Resistor is not included. Obtain it separately.
• SGD7S-R70F, -R90F, -2R1F, and -2R8F

4
4-13
4.3.2 Wiring Procedure for Main Circuit Connector
4.3.2 Wiring Procedure for Main Circuit Connector

• Required Items
Required Item Remarks
• Spring Opener
SERVOPACK accessory
Spring Opener or Flat- (You can also use model 1981045-1 from Tyco Electronics Japan G.K.)
blade Screwdriver
• Flat-blade screwdriver
Commercially available screwdriver with tip width of 3.0 mm to 3.5 mm
1. Remove the main circuit connector and motor connector from the SERVOPACK.
Enlarged View
1. Press in on
the lock.
2. Press in on the
locks to remove
Main circuit
the connectors.
connector
Locks
Servomotor connector
2. Remove the sheath from the wire to connect.
8 mm to 9 mm
3. Open the wire insertion hole on the terminal connector with the tool. There are the fol-
lowing two ways to open the insertion hole. Use either method.
Using a Spring Opener Using a Flat-blade Screwdriver
Open the insertion hole with the Spring Opener as Firmly insert a flat-blade screwdriver into the
shown in the figure. screwdriver insertion hole to open the wire inser-
tion hole.
Spring Opener
Wire
4. Insert the conductor into the wire insertion hole. Then, remove the Spring Opener or flat-
blade screwdriver.
5. Make all other connections in the same way.
6. When you have completed wiring, attach the connectors to the SERVOPACK.
4-14
4.3.3 Power ON Sequence
4.3.3 Power ON Sequence

Consider the following points when you design the power ON sequence.
• The ALM (Servo Alarm) signal is output for up to five seconds when the control power supply
is turned ON. Take this into consideration when you design the power ON sequence, and
turn ON the main circuit power supply to the SERVOPACK when the ALM signal is OFF (alarm
cleared).
Power ON
Control power supply OFF ON

ALM (Servo Alarm)
signal Alarm Alarm cleared.
Up to 5.0 s
OFF ON
/S_RDY (Servo Ready)
OFF ON
signal
/S-ON (Servo ON)

OFF ON
signal
Motor power status Power not supplied. Power supplied.

Information If the servo ON state cannot be achieved by turning ON the /S_ON signal, the /S_RDY signal
is not ON. Check the status of the /S_RDY signal. Refer to the following section for details.
6.1.7 /S-RDY (Servo Ready) Signal on page 6-12
• If you use a DC power supply input with any of the following SERVOPACKs, use the power
ON sequence shown below: SGD7S-330A, -470A, -550A, -590A, or -780A.
Control power supply OFF ON
Main circuit power supply OFF ON
Inrush current suppression

Switch: Open Switch: Closed (Resistance connected.)
resistor switch
Power not 4
Motor power status supplied. Power
supplied.
0.5 s min. Approx. 2 times switch Open switch 0.1 s or

operating time according longer after power is
to switch specifications not supplied to motor.
• Design the power ON sequence so that main circuit power supply is turned OFF when an
ALM (Servo Alarm) signal is output.
• Make sure that the power supply specifications of all parts are suitable for the input power
supply.
• Allow at least 1 s after the power supply is turned OFF before you turn it ON again.
Turn ON the control power supply before the main circuit power supply or turn ON the control
power supply and the main circuit power supply at the same time.
Turn OFF the main circuit power supply first, and then turn OFF the control power supply.
Important
WARNING
 Even after you turn OFF the power supply, a high residual voltage may still remain in the
SERVOPACK. To prevent electric shock, do not touch the power supply terminals after you
turn OFF the power. When the voltage is discharged, the CHARGE indicator will turn OFF.
Make sure the CHARGE indicator is OFF before you start wiring or inspection work.
4-15
4.3.4 Power Supply Wiring Diagrams
Using Only One SERVOPACK

• Wiring Example for Three-Phase, 200-VAC Power Supply Input: SGD7S-R70A, -R90A,
-1R6A, -2R8A, -3R8A, -5R5A, -7R6A, -120A, -180A,-200A, and -330A
R S T
SERVOPACK
1QF
3SA
1FLT
2KM
L1
L2
L3
1KM
L1C
L2C
B1/
(For servo alarm CN1 +24 V
B2
1Ry display) *1 31 ALM + 1Ry
B3
1PL 1
Servo power Servo power 2 ALM −
32 1D 0V
*2
ON OFF 1KM
1KM 1SA 1QF: Molded-case circuit breaker 1Ry: Relay

1KM 1Ry 2KM 1FLT: Noise Filter 1PL: Indicator lamp
1KM: Magnetic Contactor 1SA: Surge Absorber
(for control power supply) 2SA: Surge Absorber
2SA 2KM: Magnetic Contactor 3SA: Surge Absorber
(for main circuit power supply) 1D: Flywheel diode
*1. You do not have to connect B2 and B3 for the following models: SGD7S-R70A, SGD7S-R90A,
SGD7S-1R6A, and SGD7S-2R8A. Do not connect them.
*2. A SGD7S-330A SERVOPACK does not have a - terminal.
• Wiring Example for Three-Phase, 200-VAC Power Supply Input: SGD7S-470A, -550A,
-590A, and -780A
R S T
SERVOPACK
1QF
3SA
1FLT
2KM
L1
L2
L3
1KM
L1C
L2C
B1/
B2
1Ry display) 31 ALM + 1Ry
1PL 1
32 1D 0V
ON OFF 1KM
1KM 1SA Regenerative

1KM 1Ry 2KM Resistor Unit
1QF: Molded-case circuit breaker 1Ry: Relay

2SA 1FLT: Noise Filter 1PL: Indicator lamp
4-16
• Wiring Example for Single-Phase, 200-VAC Power Supply Input

R T
SERVOPACK
1QF
3SA
1FLT
2KM
L1
L2
L3
1KM
L1C
L2C
B1/
B2
1Ry display) * 31 ALM + 1Ry
B3
1PL 1
32 1D 0V
ON OFF 1KM
1KM 1SA
1KM 1Ry 2KM

2SA
1FLT: Noise Filter 1PL: Indicator lamp
* You do not have to connect B2 and B3 for the following models: SGD7S-R70A, SGD7S-R90A, SGD7S-
1R6A, and SGD7S-2R8A. Do not connect them.
4-17
• Wiring Example for DC Power Supply Input: SGD7S-R70A, -R90A, -1R6A, -2R8A, -3R8A,
-5R5A, -7R6A, -120A, -180A, and -200A
R S T
1QF
3SA SERVOPACK
1FLT
2KM 1FU
B1/ +
AC/DC 2FU
2
1KM
L1C
AC/DC
L2C
CN1 +24 V
L1 31 ALM + 1Ry
(For servo alarm
1Ry display) L2
L3 32 ALM - 1D 0V
1PL
B2
Servo power Servo power *
B3
ON OFF 1KM 1
1KM 1SA
1KM 1Ry 2KM
2SA 1FU: Fuse

2FU: Fuse
1FLT: Noise Filter 1PL: Indicator lamp
* You do not have to connect B2 and B3 for the following models: SGD7S-R70A, SGD7S-R90A, SGD7S-
1R6A, and SGD7S-2R8A. Do not connect them.
4-18
• Wiring Example for DC Power Supply Input: SGD7S-330A, -470A, -550A, -590A, and
-780A
R S T
1QF
3SA SERVOPACK
1FLT
2KM 1FU
B1/ +
AC/DC 1R
2
2FU
1TRy 2Ry
4SA
1KM
L1C
AC/DC
L2C
CN1 +24 V
(For servo alarm L1 31 ALM + 1Ry
1Ry display) L2

L3 32 ALM − 1D 0V
1PL
B2
Servo power Servo power
1
ON OFF 1KM
1KM 1SA +24 V

1TRy 2Ry 0V
1KM 1Ry 2KM
2SA 5SA
1QF: Molded-case circuit breaker

1FLT: Noise Filter
1KM: Magnetic Contactor
(for control power supply)
(for main circuit power supply, 4
auxiliary contact) 1SA: Surge Absorber
1FU: Fuse, positive side 2SA: Surge Absorber
2FU: Fuse, negative side 3SA: Surge Absorber
1Ry: Relay 4SA: Surge Absorber
2Ry: Relay (for inrush current 5SA: Surge Absorber
suppression resistor switch) 1D: Flywheel diode
1TRy: Timer relay 1R: External inrush current
1PL: Indicator lamp suppression resistor
4-19
• Wiring Example for Single-Phase, 100-VAC Power Supply Input:

SGD7S-R70F, -R90F, -2R1F, or -2R8F
R T
SERVOPACK
1QF
3SA
1FLT
2KM
L1
L2
1KM
L1C
L2C
B1/
B2
1Ry display) 31 ALM + 1Ry
1PL
Servo power Servo power 32 ALM − 1D 0V
ON OFF 1KM
1KM 1SA
1KM 1Ry 2KM
2SA
1Ry: Relay
1PL: Indicator lamp
1QF: Molded-case circuit breaker 1SA: Surge Absorber
1FLT: Noise Filter 2SA: Surge Absorber
1KM: Magnetic Contactor (for control power supply) 3SA: Surge Absorber
2KM: Magnetic Contactor (for main circuit power supply) 1D: Flywheel diode
4-20
Using More Than One SERVOPACK

Connect the ALM (Servo Alarm) output for these SERVOPACKs in series to operate the alarm
detection relay (1RY).
When a SERVOPACK alarm is activated, the ALM output signal transistor turns OFF.
The following diagram shows the wiring to stop all of the Servomotors when there is an alarm
for any one SERVOPACK.
More than one SERVOPACK can share a single Noise Filter. However, always select a Noise Fil-
ter that has a large enough capacity to handle the total power supply capacity of all the
SERVOPACKs. Be sure to consider the load conditions.
Power supply
R S T
1QF
3SA
1KM
1FLT

2KM
L1
SERVOPACK
2FLT L2
L3 Servomotor
Relay M
terminal Relay
terminal
L1C
+24 V
L2C CN1 1Ry
31 ALM+
(For servo alarm
1Ry display) 32 ALM− 1D
1PL
L1
Servo power Servo power L2 SERVOPACK
3FLT
ON OFF 1KM L3 Servomotor
Relay M
1KM 1SA
terminal Relay
terminal 4
L1C
2KM
1KM 1Ry
CN1
L2C 31 ALM+
2SA 32 ALM−
L1
L2 SERVOPACK
4FLT
L3 Servomotor
M
L1C
1QF: Molded-case circuit breaker 1Ry: Relay L2C

1FLT: Noise Filter 1PL: Indicator lamp CN1
2FLT: Noise Filter 1SA: Surge Absorber 31 ALM+
32 ALM−
1KM: Magnetic Contactor 1D: Flywheel diode 0V
(for control power supply)
(for main circuit power supply)
4-21
4.3.5 Wiring Regenerative Resistors

This section describes how to connect External Regenerative Resistors.
Refer to the following manual to select the capacity of a Regenerative Resistor.
WARNING
 Be sure to wire Regenerative Resistors correctly. Do not connect B1/⊕ and B2.
Doing so may result in fire or damage to the Regenerative Resistor or SERVOPACK.
Connecting Regenerative Resistors

 SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F,
-R90F, -2R1F, and -2R8F
1. Connect the External Regenerative Resistor between the B1/ and B2 terminals on the
SERVOPACK.
Enlarged View
2. Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistance).

Refer to the following section for details on the settings.
5.19 Setting the Regenerative Resistor Capacity on page 5-59
 SERVOPACK Models SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A,

-200A, and -330A
1. Remove the lead from between the B2 and B3 terminals on the SERVOPACK.
4-22
2. Connect the External Regenerative Resistor between the B1/⊕ and B2 terminals.
Enlarged View
3. Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistance).

 SERVOPACK Models SGD7S-470A, -550A, -590A, and -780A

1. Connect the R1 and R2 terminals on the Regenerative Resistor Unit to the B1/ and B2
terminals on the SERVOPACK.

4
JUSP-RA04-E JUSP-RA05-E
2. Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistance) as

required.
• When using the Yaskawa-recommended Regenerative Resistor Unit, use the default settings for
Pn600 and Pn603.
• If you use any other external regenerative resistor, set Pn600 and Pn603 according to the specifica-
tions of the regenerative resistor.
4-23
4.3.6 Wiring Reactors for Harmonic Suppression
4.3.6 Wiring Reactors for Harmonic Suppression

You can connect a reactor for harmonic suppression to the SERVOPACK when power supply
harmonic suppression is required. Refer to the following manual for details on reactors for har-
monic suppression.
Refer to the following figures to connect reactors.

SERVOPACK with Three-Phase, SERVOPACK with Single-Phase,
200-VAC Power Supply Input 100-VAC Power Supply Input
SERVOPACK Power SERVOPACK

DC Reactors Supply AC Reactors
−1 L1
L2
−2
Note: 1. Connection terminals 1 and 2 for a DC Reactor are connected when the SERVOPACK is shipped.
Remove the lead wire and connect a DC Reactor.
2. Reactors are optional products. (Purchase them separately.)
3. You cannot connect a DC Reactor to a SERVOPACK with a single-phase, 100-VAC power supply input.
4-24
4.4 Wiring Servomotors

The SERVOPACK terminals or connectors that are required to connect the SERVOPACK to a
Servomotor are given below.
Terminal/Connector
Terminal/Connector Name Remarks
Symbols
Refer to the following section for the wiring proce-
U, V, and W Servomotor terminals dure.
4.3.2 Wiring Procedure for Main Circuit Connector on
page 4-14
Ground terminal –
CN2 Encoder connector –
4.4.2 Pin Arrangement of Encoder Connector (CN2)

• When Using a Rotary Servomotor
Pin No. Signal Function
1 PG5V Encoder power supply +5 V
2 PG0V Encoder power supply 0 V
3 BAT (+)* Battery for absolute encoder (+)
4 BAT (-)* Battery for absolute encoder (-)
5 PS Serial data (+)
6 /PS Serial data (-)
Shell Shield –
* No wiring is required for an incremental encoder or a batteryless absolute encoder.
• When Using a Direct Drive Servomotor
Pin No. Signal Function 4
1 PG5V Encoder power supply +5 V
2 PG0V Encoder power supply 0 V
3 – – (Do not use.)
Shell Shield –
• When Using a Linear Servomotor
Pin No. Signal Function
1 PG5V Linear encoder power supply +5 V
2 PG0V Linear encoder power supply 0 V
Shell Shield –
4-25
4.4.3 Wiring the SERVOPACK to the Encoder
When Using an Absolute Encoder

If you use an absolute encoder, use an Encoder Cable with a JUSP-BA01-E Battery Case or
install a battery on the host controller.
Refer to the following section for the battery replacement procedure.
12.1.3 Replacing the Battery on page 12-3
• Wiring Example When Using an Encoder Cable with a Battery Case
SERVOPACK
Absolute encoder *2 U
CN2 V M
*1 PS 5 W
/PS 6
ENC
PG5V 1
PG0V 2
BAT(+) 3
BAT(-) 4
+ - Connector
Battery shell
(Shell) Encoder Cable
with a Battery Case
*1. The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use.
*2. represents a shielded twisted-pair cable.
• Wiring Example When Installing a Battery on the Host Controller

SERVOPACK
Absolute encoder *2 U
CN2 V M
*1 PS 5 W
/PS 6
ENC
PG5V 1
PG0V 2 *2
CN1
BAT(+) 3 21 BAT (+)
+ Battery
BAT(-) 4 22 BAT (-) -
Connector
shell
(Shell)
4-26
• When Installing a Battery on the Encoder Cable

Use the Encoder Cable with a Battery Case that is specified by Yaskawa.
Refer to the following manual for details.
Important Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
• When Installing a Battery on the Host Controller
Insert a diode near the battery to prevent reverse current flow.
Circuit Example Required Component Specifications
• Schottky Diode • Resistor
Reverse Voltage: Vr ≥ 40 V Resistance: 22 Ω
+ Forward Voltage: Vf ≤ 0.37 V Tolerance: ±5% max.
- Battery
Reverse current: Ir ≤ 5 μA Rated power: 0.25 W min.
Junction temperature: Tj ≥ 125℃
When Using an Incremental Encoder or Batteryless Abso-

lute Encoder
Incremental encoder SERVOPACK
or batteryless
absolute encoder
*2 CN2 U
*1 V M
PS 5
W
/PS 6

ENC
PG5V 1
PG0V 2
Connector
shell
(Shell) Shield
*1. The encoder pin numbers for wiring the connector depend on the Servomotor that you use.
4-27
When Using an Absolute Linear Encoder

The wiring depends on the manufacturer of the linear encoder.
 Connections to Linear Encoder from Dr. JOHANNES HEIDENHAIN

GmbH
Absolute linear encoder Interface Unit from
from Dr. JOHANNES Dr. JOHANNES Cable from
HEIDENHAIN GmbH HEIDENHAIN GmbH Dr. JOHANNES SERVOPACK
Head HEIDENHAIN GmbH
* CN2
PS 5
U
/PS 6 V M
W
PG5V 1
PG0V 2
Connector
Connector shell
shell
Shield
* represents a shielded twisted-pair cable.
 Connections to Linear Encoder from Mitutoyo Corporation

Absolute linear encoder
from Mitutoyo Corporation SERVOPACK
* CN2
2 PS 5
U
6 /PS 6 V M
W
1 PG5V 1
5 PG0V 2
Connector
Connector shell
shell
Shield
 Connections to Absolute Linear Encoder from Renishaw PLC

Absolute linear
encoder from
Renishaw PLC SERVOPACK
CN2
*
PS 5
U
/PS 6 V M
W
PG5V 1
PG0V 2
Connector
Connector shell
shell Shield
4-28
 Connections to Absolute Linear Encoder from Magnescale Co., Ltd.

from Magnescale Co., Ltd. SERVOPACK
CN2
*
PS 5
U
/PS 6 V M
W
PG5V 1
PG0V 2
Connector
Connector shell
shell
Shield
 Connections to Absolute Linear Encoder from Fagor Automation S.

Coop.

from Fagor Automation S. Coop. SERVOPACK
CN2
*
PS 5
U
/PS 6 V M
W
PG5V 1
PG0V 2
Connector
Connector shell
shell
Shield

4
4-29
When Using an Incremental Linear Encoder

The wiring depends on the manufacturer of the linear encoder.
 Connections to Linear Encoder from Dr. JOHANNES HEIDENHAIN

GmbH
Linear encoder from
Dr. JOHANNES
HEIDENHAIN GmbH Serial Converter Unit SERVOPACK
* CN2 CN1 * CN2
1 COS 1 2 PS 5
U
9 /COS 9 6 /PS 6 V M
W
3 SIN 3
11 /SIN 11
14 REF 14
7 /REF 7
4 5V 4 1 PG5V 1
2 0V 2 5 PG0V 2
Connector Connector
shell shell Connector
Shield Connector shell
shell
Shield
 Connections to Linear Encoder from Renishaw PLC

Linear encoder from
Renishaw PLC Serial Converter Unit SERVOPACK
* CN2 CN1 * CN2
9 COS 9 2 PS 5
U
1 /COS 1 6 /PS 6 V M
W
10 SIN 10
2 /SIN 2
3 REF 3
11 /REF 11
4 5V 4 1 PG5V 1
12 0V 12 5 PG0V 2
Connector Connector
shell shell Connector
Shield Connector shell
shell
Shield
4-30
 Connections to Linear Encoder from Magnescale Co., Ltd.

If you use a linear encoder from Magnescale Co., Ltd., the wiring will depend on the model of
the linear encoder.
 SR75 and SR85

Linear encoder from
Magnescale Co., Ltd. SERVOPACK
CN2
*
PS 5
U
/PS 6 V M
W
PG5V 1
PG0V 2
Connector
Connector shell
shell
Shield

 SL700, SL710, SL720, SL730, and SQ10
• PL101-RY, MQ10-FLA, or MQ10-GLA Interpolator
The following table gives the Linear Encoder and Interpolator combinations.
Linear Encoder Model Interpolator Model
SL700, SL710, SL720, and SL730 PL101-RY*1
MQ10-FLA*2
SQ10
MQ10-GLA*2
*1. This is the model of the Head with Interpolator.
*2. This is the model of the Interpolator.
Linear encoder Interpolator SERVOPACK
Head
*
PS 5
CN2
4
U
/PS 6 V M
Cable from
W
Magnescale Co., Ltd.
PG5V 1
PG0V 2
Connector
Connector shell
shell
Shield
4-31
 SL700, SL710, SL720, and SL730

• MJ620-T13 Interpolator
Linear encoder Interpolator SERVOPACK
Head CN2
*
5 PS 5
U
6 /PS 6 V M
Cable from
Magnescale Co., Ltd. W
12, 14, 16 PG0V 2

2
1
0V +5 V
Connector
External power supply Connector shell
shell
Shield
4-32
4.4.4 Wiring the SERVOPACK to the Holding Brake
4.4.4 Wiring the SERVOPACK to the Holding Brake
• If you use a Rotary Servomotor, select a Surge Absorber according to the brake current and
brake power supply. Refer to the following manual for details.
Important
• After the Surge Absorber is connected, check the brake operation delay time in your applica-
tion. The Surge Absorber may affect the brake operation delay time.
Configure the relay circuit to activate the holding brake for an emergency stop.
Relay Circuit Example

SERVOPACK 5 VDC to 30 VDC
Emergency stop
Photocoupler
0V
• The /BK (Brake) signal cannot be used with the default settings. You must allocate the output

signal. Refer to the following section for details.
Allocating the /BK (Brake) Signal on page 5-39
• 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.
Servomotor with
SERVOPACK Holding Brake
Power supply
L1 U
L2 V
L3 M
W
L1C
L2C
CN2 ENC 4
+24 V * BK
CN1
(/BK+) BK-RY Surge Absorber
(/BK-) 1D 0V
DC side
Brake power supply BK-RY
AC DC
BK-RY: Brake control relay

1D: Flywheel diode
* Install the surge absorber near the brake terminals on the Servomotor.
4-33
4.5.1 I/O Signal Connector (CN1) Names and Functions

The following table gives the pin numbers, names, and functions the I/O signal pins for the
default settings.
Input Signals
Default settings are given in parentheses.
Control Pin Reference
Signal Name Function
Method No. Page
You can allocate the input signal to use with
General-purpose
/SI0* a parameter.
40 Sequence Input 0 page 5-18
(/S-ON) (Controls turning the Servomotor ON and
(Servo ON Input)
OFF (supplying/not supplying power).)
You can allocate the input signal to use with
General-purpose
a parameter.
/SI3* Sequence Input 3
41 (Changes the speed control loop from PI page 8-75
(/P-CON) (Proportional
(proportional/integral) to P (proportional)
Control Input)
control when turned ON.)
General-purpose
/SI1* Sequence Input 1
42 You can allocate the input signals to use
(P-OT) (Forward Drive
Prohibit Input) with parameters.
(Stops Servomotor drive (to prevent over- page 5-32
General-purpose travel) when the moving part of the machine
/SI2* Sequence Input 2 exceeds the range of movement.)
43
(N-OT) (Reverse Drive
Prohibit Input)
General-purpose
Sequence Input 5
/SI5*
45 (Forward Exter-
(/P-CL)
nal Torque Limit You can allocate the input signals to use
Input) with parameters.
Any page 6-64
General-purpose (Activates/deactivates external torque limit-
Control Sequence Input 6 ing.)
Method /SI6*
46 (Reverse Exter-
(/N-CL)
nal Torque Limit
Input)
General-purpose
/SI4*
Sequence Input 4 You can allocate the input signal to use with
(/ALM- 44 page 12-41
(Alarm Reset a parameter. (Clears alarms.)
RST)
Input)
Inputs the sequence input signal power
Sequence Input supply.
+24VIN 47 Signal Power Allowable voltage range: 24 VDC ±20% −
Supply Input The 24-VDC power supply is not provided
by Yaskawa.
Absolute Data page 6-73
Inputs the position data request signal for
SEN 4 (2) Request Input
an absolute encoder. page 6-87
(SEN)
Battery for abso- These are the pins to connect the absolute
BAT+ 21
lute encoder (+) encoder backup battery. −
Battery for abso- Do not connect these pins if you use the
BAT- 22 Encoder Cable with a Battery Case.
lute encoder (-)
Inputs the overheat protection signal from a
Overheat Protec-
TH 50 Linear Servomotor or from a sensor page 6-109
tion Input
attached to the machine.
Speed Inputs the speed reference. Maximum input
V-REF 5 (6) Speed Reference page 6-13
Control voltage: ±12 V
4-34

Control Pin Reference
Signal Name Function
Method No. Page
PULS 7 Pulse Reference One of the following input pulse forms is set.
/PULS 8 Input • Sign + pulse train
page 6-31
Position SIGN 11 Sign of Reference • CW + CCW pulse trains
Control /SIGN 12 Input • 90° phase-differential pulses
CLR 15 Position Deviation Clears the position deviation during position
page 6-33
/CLR 14 Clear Input control.
Torque Torque Refer- Inputs the torque reference. Maximum input
T-REF 9 (10) page 6-40
Control ence Input voltage: ±12 V
* You can change the allocations. Refer to the following section for details.
6.1.1 Input Signal Allocations on page 6-5
Note: 1. Pin numbers in parentheses ( ) indicate signal grounds.
2. 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.

4
4-35
Output Signals
Default settings are given in parentheses.
Control Reference
Signal Pin No. Name Function
Method Page
ALM+ 31 Servo Alarm Turns OFF (opens) when an error is
page 6-10
ALM- 32 Output detected.
/SO2+* General-pur-
27 You can allocate the output signal to use
(/TGON+) pose Sequence
with a parameter.
Output 2 (Rota- page 6-11
/SO2-* (Turns ON (closes) when the Servomotor
28 tion Detection
(/TGON-) speed exceeds a set value.)
Output)
/SO3+* You can allocate the output signal to use
29 General-pur-
(/S-RDY+) with a parameter.
pose Sequence
(Turns ON (closes) when the SERVO- page 6-12
/SO3-* Output 3 (Servo
30 PACK is ready to acknowledge the /S-
(/S-RDY-) Ready Output)
ON (Servo ON) signal.)
PAO 33 Encoder Divided
Pulse Output,
Any /PAO 34 Phase A Output the encoder divided pulse output
Control PBO 35 Encoder Divided signals with a 90° phase differential.
Method Pulse Output,
/PBO 36 Phase B page 6-73
PCO 19 Encoder Divided page 6-87
Outputs the origin signal once every
Pulse Output,
/PCO 20 encoder rotation.
Phase C
PSO 48 Absolute
Outputs the position data of the absolute
Encoder Position
/PSO 49 encoder.
Output
ALO1* 37 (1)
Alarm Code Out-
ALO2* 38 (1) Output a 3-bit alarm code. page 6-10
put
ALO3* 39 (1)
Connected to the frame ground if the
FG Shell Frame ground shield of the I/O Signal Cable is con- −
nected to the connector shell.
/SO1+* General-pur- You can allocate the output signal to use
25
(/V-CMP+) pose Sequence with a parameter.
Speed Output 1 (Speed (Turns ON (closes) if the motor speed is
page 6-27
Control /SO1-* Coincidence within the set range and matches the ref-
26 Detection Out- erence speed value when speed control
(/V-CMP-)
put) is selected.)
/SO1+* General-pur- You can allocate the output signals to
25
(/COIN+) pose Sequence use with parameters.
Output 1 (Posi- (Turns ON (closes) if the position devia- page 6-37
/SO1-* tioning Comple- tion reaches the set value when position
26
Position (/COIN-) tion Output) control is selected.)
Control
PL1 3 Open-Collector
Power Supply Outputs the open-collector power supply
PL2 13 −
Output for Refer- for reference pulses.
PL3 18 ence Pulses
16
17
− − − Do not use these terminals. −
23
24
* You can change the allocations. Refer to the following section for details.
6.1.2 Output Signal Allocations on page 6-8
Note: Pin numbers in parentheses ( ) indicate signal grounds.
4-36
4.5.2 I/O Signal Connector (CN1) Pin Arrangement
4.5.2 I/O Signal Connector (CN1) Pin Arrangement

The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the
default settings.
General-
Signal General- 26 /SO1- purpose
1 SG
Signal Ground /SO2+ purpose (/V-CMP-) Sequence
2 SG 27 Output 1
Ground (/TGON+) Sequence
Open-Collec- Output 2
General-
Absolute tor Power
3 PL1 Supply Out- General- 28 /SO2- purpose
Data (/TGON-) Sequence
put for Refer- 29 /SO3+ purpose
4 SEN Request Output 2
ence Pulses (/S-RDY+) Sequence
Input
Output 3
(SEN) General-
Speed Refer- Servo /SO3- purpose
Signal 5 V-REF 30
6 SG ence Input 31 ALM+ Alarm (/S-RDY-) Sequence
Ground Output 3
Output
Encoder Servo
Pulse Refer-
Pulse Ref- 7 PULS Divided 32 ALM- Alarm
ence Input
8 /PULS erence 33 PAO Pulse Output
Input Output, Encoder

Phase A Divided
Torque Refer-
9 T-REF Encoder 34 /PAO Pulse
ence Input
Divided Output,
Signal Phase A
Pin 1 10 SG 35 PBO Pulse
Ground
Output, Encoder
Pin 2 Pin 26 Phase B Divided
Sign of Refer-
Sign of 11 SIGN 36 /PBO Pulse
ence Input Alarm
Pin 27
Refer- Output,
12 /SIGN 37 ALO1 Code Phase B
ence
Pin 24 Output
Pin 49 Input Open-Collec-
Pin 25 Position tor Power Alarm
13 PL2 Supply Out- Alarm 38 ALO2 Code
Pin 50 Deviation
14 /CLR put for Refer- 39 ALO3 Code Output
Clear
The above view ence Pulses Output
Input
is from the direc-
tion of the follow- General- General-
Position Devi-
ing arrow without 16 – – 15 CLR ation Clear 41
/SI3 purpose 40 /SI0
(/S-ON)
purpose
Sequence
4
the connector Input (/P-CON) Sequence
shell attached. Input 3 Input 0
Open- General-
Collector 17 – /SI1 purpose
– 42
Power General- (P-OT) Sequence
Supply /SI2 purpose Input 1
18 PL3 43
Output for Encoder (N-OT) Sequence General-
Refer- Input 2 /SI4
Divided Pulse purpose
ence 19 PCO 44 (/ALM-
Output, Sequence
Pulses RST)
Phase C Input 4
Encoder
General- General-
Divided Battery for /SI5 purpose /SI6 purpose
20 /PCO Pulse 21 BAT+ Absolute 45
(/P-CL) Sequence 46 (/N-CL) Sequence
Output, Encoder (+) Input 5 Input 6
Phase C
Battery Sequence
Absolute
for Abso- Input Sig-
Encoder
22 BAT- lute 23 – – 47 +24VIN nal Power 48 PSO
Position
Encoder Supply
Output
(-) Input
Absolute
General-pur- Encoder
24 – – 49 /PSO Overheat
/SO1+ pose Position
25 50 TH Protec-
(/V-CMP+) Sequence Output tion Input
Output 1
4-37
4.5.3 I/O Signal Wiring Examples
Speed Control with a Rotary Servomotor

SERVOPACK
*1 CN1
Speed reference V-REF 5 37 ALO1
D/A
input (max. input Alarm Code Output
SG 6 38 ALO2 (OFF for alarm)
voltage: ±12 V) A/D
Max. allowable voltage: 30 VDC
External Torque 39 ALO3 Max. allowable current: 20 mA DC
T-REF 9
Limit/Torque D/A
Feedforward *3 SG 10
(max. input 33 PAO *5 Encoder Divided
voltage: ±12 V) 34 /PAO Pulse Output,
BAT(+) 21 Phase A
Battery for absolute +
encoder *2 - BAT(-) 22
35 PBO *5 Encoder Divided
2.8 V to 4.5 V 36 /PBO Pulse Output,
Phase B Applicable Line Receiver:
SN75ALS175 or MC3486
SEN 4 manufactured by Texas
+5 V 19 PCO *5 Encoder Divided
Pulse Output, Instruments or the equivalent
Absolute Data SG 2 20 /PCO
Phase C
Request input *2 0 V
TH 50 48 PSO *5
Overheat protection input Absolute encoder
49 /PSO position output
Sequence input signal
+24 V *4 4.7 kΩ
power supply input +24VIN 47 1 SG
Signal ground
Servo ON input /S-ON 40
(servo ON when ON) 25 /V-CMP+
Speed Coincidence
Proportional Control input /P-CON 41 26 /V-CMP- Detection output
(Proportional action (ON when speed coincides)
when ON)
Forward Drive Prohibit input P-OT 42 27 /TGON+
(prohibited when OFF) Rotation Detection Output
28 /TGON- (ON when the motor
N-OT 43 speed exceeds the setting)
Reverse Drive Prohibit input Photocoupler outputs
(prohibited when OFF)
29 /S-RDY+ Max. allowable voltage: 30 VDC
Servo Ready Output Max. allowable current: 50 mA DC
Alarm Reset input /ALM-RST 44 30 /S-RDY- (ON when /S-ON signal
(reset when ON) can be received)
Forward External 45 31 ALM+
Torque Limit input /P-CL
Servo Alarm Output
(limit when ON) 32 ALM- (OFF for alarm)
Reverse External /N-CL 46
Torque Limit input
(limit when ON)
Connector
shell
Frame ground

Note: If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power sup-
4-38
Speed Control with a Linear Servomotor

SERVOPACK
CN1
*1 37
Speed reference V-REF 5 ALO1
input (max. input D/A Alarm Code Output
voltage: ±12 V) 6 38 ALO2 Max. allowable voltage: 30 VDC
SG
A/D Max. allowable current: 20 mA DC
External Force 39 ALO3
Limit/Force T-REF 9
*3 D/A
Feedforward
(max. input SG 10 33 PAO *5 Encoder Divided
voltage: ±12 V) 34 /PAO Pulse Output,
Phase A
SEN 4 36 /PBO Pulse Output,
+5 V
Absolute Data Phase B Applicable Line Receiver:
Request input *2 SG 2 SN75ALS175 or MC3486
0V 19 PCO *5 Encoder Divided manufactured by Texas
20 /PCO Pulse Output, Instruments or the equivalent
TH 50 Phase C
Overheat protection input
48 PSO *5 Absolute linear
49 /PSO encoder position
output
Sequence input signal 4.7 kΩ
power supply input +24 V *4 +24VIN 47 1 SG
Signal ground
(servo ON when ON) 25 /V-CMP+

Speed Coincidence
Proportional Control input /P-CON 41 26 /V-CMP- Detection output
(Proportional action (ON when speed coincides)
when ON)
(prohibited when OFF) Movement Detection Output
28 /TGON- (ON when value
N-OT 43 exceeds the setting)
Reverse Drive Prohibit input Photocoupler outputs
(prohibited when OFF) 29 /S-RDY+ Max. allowable voltage: 30 VDC
Alarm Reset input /ALM-RST 44 30 /S-RDY- (ON when /S-ON signal
(reset when ON) can be received)
Forward External 45 31 ALM+
Force Limit input /P-CL
Servo Alarm Output
(limit when ON) 32 ALM- (OFF for alarm)
Reverse External /N-CL 46
Force Limit input
(limit when ON)
Connector
shell 4
Frame ground

*2. Connect these when using an absolute linear encoder.
4-39
Position Control with a Rotary Servomotor

SERVOPACK
CN1
*1 PULS 7 150 Ω
PULS
CW 37 ALO1
Phase A /PULS 8 Alarm Code Output
38 ALO2 (OFF for alarm)
SIGN 11 150 Ω Max. allowable voltage: 30 VDC
Position SIGN 39 ALO3 Max. allowable current: 20 mA DC
Reference CCW
Phase B /SIGN 12
CLR 15 150 Ω
CLR 33 PAO *4 Encoder Divided
Pulse Output,
/CLR 14 34 /PAO Phase A
BAT(+) 21
Battery for absolute + 36 /PBO Pulse Output,
Phase B Applicable Line Receiver:
encoder *2 - BAT(-) 22 SN75ALS175 or MC3486
2.8 V to 4.5 V 19 PCO *4 Encoder Divided manufactured by Texas
SEN 4 Pulse Output, Instruments or the equivalent
+5 V 20 /PCO
Absolute Data Phase C
Request input *2 SG 2
48 PSO *4 Absolute Encoder
0V
49 /PSO Position output
TH 50
Overheat protection input +12 V 1.0 kΩ
3 PL1
Sequence input signal *3 4.7 kΩ
+24 V +24VIN 47 1.0 kΩ 13 PL2
power supply input Open-collector power supply
/S-ON 40 1.0 kΩ 18 PL3
output for reference pulses
Servo ON input
(servo ON when ON)
1 SG
Proportional Control input Signal ground
/P-CON 41
(Proportional action
when ON)
25 /COIN+ Positioning Completion
Forward Drive Prohibit input P-OT 42 (ON for completion)
(prohibited when OFF) 26 /COIN-
Reverse Drive Prohibit input 43

(prohibited when OFF) N-OT 27 /TGON+
Rotation Detection Output
(ON when the motor
Alarm Reset input 28 /TGON- speed exceeds the setting)
(reset when ON) /ALM-RST 44
Photocoupler outputs
Forward External 29 /S-RDY+ Max. allowable voltage: 30 VDC
Torque Limit input 45 Servo Ready Output Max. allowable current: 50 mA DC
/P-CL
(limit when ON) 30 /S-RDY- (ON when /S-ON signal
can be received)
Reverse External
Torque Limit input 46
(limit when ON) /N-CL 31 ALM+ Servo Alarm Output
(OFF for alarm)
32 ALM-
Connector
shell
Frame ground

4-40
Position Control with a Linear Servomotor

SERVOPACK
CN1
*1 PULS 150 Ω
PULS 7 37 ALO1
Reverse Alarm Code Output
Phase A /PULS 8 38 ALO2 Max. allowable voltage: 30 VDC
Max. allowable current: 20 mA DC
SIGN 11 150 Ω 39 ALO3
Position SIGN
Reference Forward
/SIGN 12
Phase B
150 Ω 33 PAO *4 Encoder Divided

CLR 15 Pulse Output,
CLR 34 /PAO Phase A
/CLR 14
36 /PBO Pulse Output, Applicable Line Receiver:
Phase B SN75ALS175 or MC3486
4 manufactured by Texas
SEN 19 PCO *4 Encoder Divided Instruments or the equivalent
Absolute Data +5 V
20 /PCO Pulse Output,
Request input *2 SG 2
Phase C
0V
48 PSO *4 Absolute linear
49 /PSO encoder position
TH 50 output
Overheat protection input +12 V 1.0 kΩ
3 PL1

Sequence input signal +24 V *3 +24VIN 47
4.7 kΩ 1.0 kΩ 13
power supply input PL2 Open-collector power supply
Servo ON input /S-ON 40 1.0 kΩ 18 PL3 output for reference pulses
(servo ON when ON)
1 SG
Signal ground
Proportional Control input /P-CON 41
when ON) 25 /COIN+
Positioning Completion
P-OT 42
Forward Drive Prohibit input (ON for completion)
26 /COIN-
Reverse Drive Prohibit input N-OT 43

27 /TGON+
(prohibited when OFF) Movement Detection Output
28 /TGON- (ON when value
Alarm Reset input 44 exceeds the setting)
/ALM-RST
(reset when ON) Photocoupler outputs
Forward External 45 Servo Ready Output Max. allowable current: 50 mA DC
/P-CL
Force Limit input /S-RDY- (ON when /S-ON signal
4
30
(limit when ON) can be received)
Reverse External 46
/N-CL 31 ALM+
Force Limit input Servo Alarm Output
(limit when ON) (OFF for alarm)
32 ALM-
Connector
shell

Frame ground

*2. Connect when using an absolute linear encoder.
4-41
Torque Control with a Rotary Servomotor

SERVOPACK
CN1
*1 V-REF
External Speed 5 37 ALO1
D/A Alarm Code Output
Limit*3
SG 6 38 ALO2 (OFF for alarm)
(max. input A/D Max. allowable voltage: 30 VDC
voltage: ±12 V)
39 ALO3 Max. allowable current: 20 mA DC
Torque reference D/A T-REF 9
input (max. input
voltage: ±12 V) SG 10
33 PAO *5 Encoder Divided
BAT(+) 21 Phase A
Battery for absolute +
encoder *2 - BAT(-) 22 35 PBO *5 Encoder Divided
2.8 V to 4.5 V 36 /PBO Pulse Output,
Applicable Line Receiver:
Phase B
SEN 4 SN75ALS175 or MC3486
+5 V 19 PCO *5 Encoder Divided manufactured by Texas
Absolute Data Instruments or the equivalent
Request input *2 SG 2 20 /PCO Pulse Output,
0V Phase C
TH 50 48 PSO *5 Absolute Encoder

Overheat protection input
49 /PSO Position output
Sequence input signal +24 V *4 47 4.7 kΩ

+24VIN
power supply input 1 SG Signal ground
(servo ON when ON) 25 /VLT+
*3
Proportional Control input Speed Limit Output
/P-CON 41 26 /VLT- (speed limit when ON)
when ON)
(prohibited when OFF) Rotation Detection Output
(ON when the motor
28 /TGON- speed exceeds the setting)
(prohibited when OFF) Photocoupler outputs
Alarm Reset input /ALM-RST 44
(reset when ON) 30 /S-RDY- (ON when /S-ON signal
can be received)
Forward External
Torque Limit input /P-CL 45 31 ALM+
(limit when ON) Servo Alarm Output
32 ALM- (OFF for alarm)
Reverse External
Torque Limit input /N-CL 46
(limit when ON)
Connector
shell
Frame ground

4-42
Torque Control with a Linear Servomotor

SERVOPACK
CN1
External Speed *1 V-REF 37 ALO1
5
Limit *3 D/A Alarm Code Output
(max. input 38 ALO2 Max. allowable voltage: 30 VDC
SG 6
voltage: ±12 V) A/D Max. allowable current: 20 mA DC
39 ALO3
Force reference D/A T-REF 9
input (max. input
voltage: ±12 V) SG 10 33 PAO *5 Encoder Divided
Phase A

36 /PBO Pulse Output, Applicable Line Receiver:
SEN 4 Phase B SN75ALS175 or MC3486
+5 V manufactured by Texas
Absolute Data
SG 2 19 PCO *5 Encoder Divided Instruments or the equivalent
Request input *2 Pulse Output,
0V 20 /PCO
Phase C
TH 50 48 PSO *5 Absolute linear

Overheat protection input encoder position
49 /PSO
output
Sequence input signal *4
power supply input
+24 V +24VIN 47 4.7 kΩ
1 SG
Signal ground

(servo ON when ON) 25 /VLT+
*3
Proportional Control input Speed Limit Output
/P-CON 41 26 /VLT- (speed limit when ON)
when ON)
Forward Drive Prohibit input P-OT 42 27 /TGON+ Movement Detection Output
(prohibited when OFF) (ON when value
28 /TGON- exceeds the setting)
Photocoupler outputs
Alarm Reset input
(reset when ON)
/ALM-RST 44 30 /S-RDY- (ON when /S-ON signal
can be received)
Forward External
Force Limit input /P-CL 45 31 ALM+
Servo Alarm Output
(limit when ON) (OFF for alarm)
32 ALM-
Reverse External
Force Limit input /N-CL 46
(limit when ON)
Connector 4
shell
Frame ground

*2. Connect when using an absolute linear encoder.
4-43
4.5.4 I/O Circuits
4.5.4 I/O Circuits
Reference Input Circuits

 Analog Input Circuits
This section describes CN1 connector terminals 5-6 (Speed Reference Input) and 9-10 (Torque
Reference Input).
The analog signals are used as either speed or torque reference signals. The input impedance
is as follows:
• Speed Reference Input: Approx. 14 kΩ
• Torque Reference Input: Approx. 14 kΩ
The maximum allowable voltage for input signals is ±12 V.
Analog Voltage Input Circuit Analog Voltage Input Circuit
(Example for D/A) (Wiring Example for Forward Operation)
SERVOPACK SERVOPACK
Host controller 1.8 kΩ (1/2 W min.)
V-REF or T-REF 25HP-10B or V-REF or T-REF

12 V the equivalent
D/A SG Approx. 14 kΩ min. 2 kΩ (1/2 W min.) SG Approx. 14 kΩ min.
0V 0V
 Position Reference Input Circuits

This section describes CN1 connector terminals 7-8 (Reference Pulse Input), 11-12 (Reference
Sign Input), and 15-14 (Clear Input).
The output circuits for the reference pulses and Position Deviation Clear signal from the host
controller can be either line-driver outputs or open-collector outputs. The following diagrams
show these by output type.
Open-Collector Output Circuits
Line-Driver Output Circuit
(12-V Power Supply in SERVOPACK)
Host controller SERVOPACK

150 Ω 4.7 kΩ PL1, PL2, or PL3 terminal
+12 V
Applicable Line Driver:
SN75ALS174 from Texas
Instruments or equivalent 150 Ω 4.7 kΩ
Approx.
2.8 V ≤ (High level − Low level) ≤ 3.7 V 9 mA
If the above formula is not satisfied, the inputs to the
SERVOPACK will be unstable. Pulses may be missed from
the Reference Pulse Input, reference inversion may occur
for the Reference Sign Input, and the Clear signal may turn ON:
OFF for the Clear signal input. 1.5 V max. 0V
4-44
4.5.4 I/O Circuits
• Precaution When Host Controller Uses Open-Collector Output with User-Supplied Power Sup-
ply
The SERVOPACK may fail depending on the relationship between the pull-up voltage (Vcc) and
Important the pull-up resistance (R1). Before you wire the circuits, confirm that the specifications of the
host controller satisfy the values shown in the following table.
Pull-Up Voltage (Vcc) Pull-Up Resistance (R1) Output Current (i)
24 V 1.8 kΩ to 2.7 kΩ
12 V max. 820 Ω to 1.5 kΩ 20 mA max.
5 V max. 180 Ω to 470 Ω
Circuit Example for Open-Collector Outputs

Vcc
R1 i
150 Ω 4.7 kΩ
Pull-up VF
Tr1
VF = 1.5 V to 1.8 V

4
4-45
4.5.4 I/O Circuits
Sequence Input Circuits

 Photocoupler Input Circuits
This section describes CN1 connector terminals 40 to 47. The circuits are connected through
relay or open-collector transistor circuits. If you connect through a relay, use a low-current
relay. If you do not use a low-current relay, a faulty contact may result.
Examples for Relay Circuits Examples for Open-Collector Circuits
SERVOPACK SERVOPACK
24 VDC +24VIN 4.7 kΩ 24 VDC +24VIN 4.7 kΩ

E.g., /S-ON E.g., /S-ON
Note: The 24-VDC external power supply capacity must be 50 mA minimum.
Information Refer to the following section for the interface for the SEN signal input circuit.
6.12.2 Structure of the Position Data of the Absolute Encoder on page 6-74
The SERVOPACK input circuits use bidirectional photocouplers. Select either a sink circuit or
source circuit according to the specifications required by the machine.
Note: The connection examples in 4.5.3 I/O Signal Wiring Examples on page 4-38 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
signal Switch signal
Switch
level level
Input Signal Polarity Input Signal Polarity

Photocoupler Internal Signal Level Photocoupler Internal Signal Level
ON Low level ON Low level
OFF High level OFF High level
4-46
4.5.4 I/O Circuits
Sequence Output Circuits

Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail-
ures.
If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work.
Important This could damage the machine or cause an accident that may result in death or injury.
 Open-Collector Output Circuits

This section describes CN1 connector terminals 37 to 39 (Alarm Code Output).
The Alarm Code (ALO1, ALO2, and ALO3) signals are output from open-collector transistor
output circuits. Connect an open-collector output circuit to a photocoupler, relay, or line-
receiver circuit.
Example for Photocoupler Circuit Example for Relay Circuit
5 VDC to 30 VDC
SERVOPACK Photocoupler SERVOPACK

5 VDC to 30 VDC
Relay
37 to 39 ALO1 to ALO3 37 to 39 ALO1 to ALO3

1 SG 1 SG
0V 0V 0V
Example for Line Receiver Circuit

SERVOPACK
5 VDC to 30 VDC
ALO1 to
37 to 39 ALO3
1 SG
0V
4
Note: The maximum allowable voltage and maximum allowable current for open-collector output circuits are as fol-
lows:
• Maximum allowable voltage: 30 VDC
• Maximum allowable current: 20 mA DC
 Photocoupler Output Circuits

Photocoupler output circuits are used for the ALM (Servo Alarm), /S-RDY (Servo Ready), and
other sequence 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
5 VDC to 30 VDC
Relay
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
4-47
4.5.4 I/O Circuits
 Line-Driver Output Circuits

This section describes CN1 connector pins 33-34 (Phase-A Signal), 35-36 (Phase-B Signal),
19-20 (Phase-C Signal) and 48-49 (Phase-S 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), origin pulse signal (PCO and /PCO), and
the absolute encoder position output signals (PSO and /PSO) 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
SG SG
4-48
4.6 Connecting Safety Function Signals
4.6.1 Pin Arrangement of Safety Function Signals (CN8)

This section describes the wiring required to use a safety function.
Refer to the following chapter for details on the safety function.
4.6.1 Pin Arrangement of Safety Function Signals (CN8)

Pin No. Signal Name Function
1 −
− (Do not use these pins because they are connected to internal circuits.)
2 −
3 /HWBB1-
Hard Wire Base Block Input 1 For a hard wire base block input. The
4 /HWBB1+
base block (motor power turned OFF)
5 /HWBB2- is in effect when the signal is OFF.
Hard Wire Base Block Input 2
6 /HWBB2+
7 EDM1- Turns ON when the /HWBB1 and the /
HWBB2 signals are input and the

External Device Monitor Output
8 EDM1+ SERVOPACK enters a base block
state.
4.6.2 I/O Circuits
For safety function signal connections, the input signal is the 0-V common and the output signal
is a source output. This is opposite to other signals described in this manual.
To avoid confusion, the ON and OFF status of signals for the safety function are defined as fol-
Important lows:
ON: The state in which the relay contacts are closed or the transistor is ON and current flows
into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no current
flows into the signal line. 4
Safety Input Circuits

Use a 0-V common to connect the safety function signals. You must connect redundant input
signals.
Input Signal Connection Example
SERVOPACK
CN8
24-V power supply
Switch
/HWBB1+ 4 4.7 kΩ
Fuse 4.7 kΩ
/HWBB1- 3
/HWBB2+ 6 4.7 kΩ
Use a switch that has
low-current contacts. 4.7 kΩ
/HWBB2- 5
0V
4-49
4.6.2 I/O Circuits
 Input (HWBB) Signal Specifications

Connector
Type Signal Status Meaning
Pin No.
ON (closed) Does not activate the HWBB (normal operation).
CN8-4
/HWBB1 Activates the HWBB (motor current shut-OFF
CN8-3 OFF (open)
request).
Inputs
ON (closed) Does not activate the HWBB (normal operation).
CN8-6
/HWBB2 Activates the HWBB (motor current shut-OFF
CN8-5 OFF (open)
request).
The input (HWBB) signals have the following electrical characteristics.

Item Characteristics Remarks
Internal Imped-
4.7 kΩ −
ance
Operating Voltage
+24 V ±20% −
Range
Maximum Delay Time from /HWBB1 and /HWBB2 signals turning
8 ms
Time OFF until HWBB is activated
Diagnostic Output Circuits

The EDM1 output signal uses a source circuit. The following figure shows a connection exam-
ple.
Host controller
SERVOPACK
CN8 24-V power supply
8 EDM1+
7 EDM1-
0V
 EDM1 Output Signal Specifications

Output Sta-
Type Signal Pin No. Meaning
tus
Both the /HWBB1 and /HWBB2 signals are operat-
ON
CN8-8 ing normally.
Output EDM1
CN8-7 The /HWBB1 signal, the /HWBB2 signal, or both
OFF
are not operating.
The electrical characteristics of the EDM1 signal are as follows:

Character-
Item Remarks
istics
Maximum Allow-
30 VDC −
able Voltage
Maximum Allow-
50 mA DC −
able Current
Maximum ON Voltage between EDM1+ and EDM1- when current is 50
1.0 V
Voltage Drop mA
Maximum Delay Time from a change in /HWBB1 or /HWBB2 until a change
8 ms
Time in EDM1
4-50
4.7 Connecting the Other Connectors
4.7.1 Serial Communications Connector (CN3)
4.7 Connecting the Other Connectors
4.7.1 Serial Communications Connector (CN3)

To use a Digital Operator or to connect a computer with an RS-422 cable, connect CN3 on the
SERVOPACK.
Refer to the following manual for the operating procedures for the Digital Operator.
Σ-7-Series Digital Operator Operating Manual (Manual No.: SIEP S800001 33)
4.7.2 Computer Connector (CN7)

To use the SigmaWin+ Engineering Tool, connect the computer on which the SigmaWin+ is
installed to CN7 on the SERVOPACK.
Refer to the following manual for the operating procedures for the SigmaWin+.
AC Servo Drive Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34)

Use the Yaskawa-specified cables. Operation will not be dependable due to low noise resistance
with any other cable.
Important
4.7.3 Analog Monitor Connector (CN5)

To use an analog monitor, connect CN5 on the SERVOPACK.
• Wiring Example
White Measuring probe

Black Black 4
Probe ground Measuring
instrument*
Connect to CN5 Black
on the SERVOPACK. White Measuring probe
Red
Red Black
Probe ground
* The measuring instrument is not provided by Yaskawa.
Refer to the following section for information on the monitoring methods for an analog monitor.
9.3 Monitoring Machine Operation Status and Signal Waveforms on page 9-9
4-51
Basic Functions That
Require Setting
before Operation
5
This chapter describes the basic functions that must be set
before you start servo system operation. It also describes
the setting methods.
5.1 Manipulating Parameters (Pn) . . . . . . 5-4

5.1.1 Parameter Classification . . . . . . . . . . . . . . . . . . . 5-4
5.1.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . 5-5
5.1.3 Parameter Setting Methods . . . . . . . . . . . . . . . . 5-6
5.1.4 Write Prohibition Setting for Parameters . . . . . . . 5-8
5.1.5 Initializing Parameter Settings . . . . . . . . . . . . . . 5-12
5.2 Control Method Selection . . . . . . . . . . . . . 5-14
5.3 Power Supply Type Settings for the Main Circuit and Control Circuit . . 5-15
5.3.1 AC Power Supply Input/DC Power Supply
Input Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.3.2 Single-phase AC Power Supply Input/
Three-phase AC Power Supply Input Setting . . 5-16
5.4 Automatic Detection of Connected Motor . . 5-17
5.5 Functions and Settings for the /S-ON (Servo ON) Signal . . 5-18
5.5.1 Function of the /S-ON (Servo ON) Signal . . . . . 5-18
5.5.2 Setting to Keep the Servo ON and Supply
Power to the Motor Continuously . . . . . . . . . . . 5-18
5.6 Motor Direction Setting . . . . . . . . . . . . . . . 5-19
5.7 Setting the Linear Encoder Pitch . . . . . . . 5-20
5.8 Writing Linear Servomotor Parameters . . . 5-21

5.9 Selecting the Phase Sequence for a Linear Servomotor . . 5-25
5.10 Polarity Sensor Setting . . . . . . . . . . . . . . . 5-27
5.11 Polarity Detection . . . . . . . . . . . . . . . . . . . 5-28

5.11.1 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-28
5.11.2 Using the /S-ON (Servo ON) Signal to Perform
Polarity Detection . . . . . . . . . . . . . . . . . . . . . . .5-29
5.11.3 Using the /P-DET (Polarity Detection)
Signal to Perform Polarity Detection . . . . . . . . .5-30
5.11.4 Using a Tool Function to Perform Polarity
Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31
5.12 Overtravel and Related Settings . . . . . . . . 5-32

5.12.1 Overtravel Signals . . . . . . . . . . . . . . . ... . . . . .5-33
5.12.2 Setting to Enable/Disable Overtravel . ... . . . . .5-33
5.12.3 Motor Stopping Method for Overtravel .. . . . . .5-34
5.12.4 Overtravel Warnings . . . . . . . . . . . . . . ... . . . . .5-35
5.13 Holding Brake . . . . . . . . . . . . . . . . . . . . . . 5-37

5.13.1 Brake Operating Sequence . . . . . . ..... . . . . .5-37
5.13.2 /BK (Brake) Signal . . . . . . . . . . . . . ..... . . . . .5-38
5.13.3 Output Timing of /BK (Brake) Signal When
the Servomotor Is Stopped . . . . . . ..... . . . . .5-39
5.13.4 Output Timing of /BK (Brake) Signal When
the Servomotor Is Operating . . . . . ..... . . . . .5-40
5.14 Motor Stopping Methods for Servo OFF and Alarms . .5-42
5.14.1 Stopping Method for Servo OFF . . . . . . . . . . . .5-43
5.14.2 Servomotor Stopping Method for Alarms . . . . . .5-43
5.15 Motor Overload Detection Level . . . . . . . . 5-45

5.15.1 Detection Timing for Overload Warnings
(A.910) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-45
5.15.2 Detection Timing for Overload Alarms (A.720) . .5-46
5.16 Electronic Gear Settings . . . . . . . . . . . . . . 5-47

5.16.1 Electronic Gear Ratio Settings . . . . . . . . . . . . . .5-48
5.16.2 Electronic Gear Ratio Setting Examples . . . . . . .5-52
5.17 Resetting the Absolute Encoder . . . . . . . . 5-53

5.17.1 Precautions on Resetting . . . . . . . . . . . . . . . . . .5-53
5.17.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . .5-53
5.17.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . .5-54
5.17.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . .5-54
5.18 Setting the Origin of the Absolute Encoder . . 5-56
5.18.1 Setting the Origin of the Absolute
Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . 5-56
5.19 Setting the Regenerative Resistor Capacity . . 5-59

5.1 Manipulating Parameters (Pn)
5.1.1 Parameter Classification

This section describes the classifications, notation, and setting methods for the parameters
given in this manual.
5.1.1 Parameter Classification

There are the following two types of SERVOPACK parameters.
Classification Meaning
Parameters for the basic settings that are
Setup Parameters
required for operation.
Parameters that are used to adjust servo
Tuning Parameters
performance.
When you edit parameters with the SigmaWin+, setup parameters and tuning parameters are
displayed.
When you edit parameters with a Panel Operator or Digital Operator, only setup parameters are
Important displayed by default. To edit tuning parameters, set Pn00B to n.1 (Display all parameters).

n.0
Display only setup parameters.
Pn00B (default setting) After restart Setup
n.1 Display all parameters.
The setting method for each type of parameter is described below.
Setup Parameters
You can use the Panel Operator, Digital Operator, or SigmaWin+ to set the setup parameters
individually.
Information We recommend that you use the Setup Wizard of the SigmaWin+ to easily set the required setup
parameters by setting the operating methods, machine specifications, and I/O signals according
to on-screen Wizard instructions.
5-4
5.1.2 Notation for Parameters
Tuning Parameters
Normally the user does not need to set the tuning parameters individually.
Use the various SigmaWin+ tuning functions to set the related tuning parameters to increase the
response even further for the conditions of your machine. Refer to the following sections for details.
8.6 Autotuning without Host Reference on page 8-24
8.7 Autotuning with a Host Reference on page 8-35
8.8 Custom Tuning on page 8-42
You can also set the tuning parameters individually to make adjustments. Refer to the following section
for details.
8.13 Manual Tuning on page 8-76
5.1.2 Notation for Parameters

There are two types of notation used for parameters that depend on whether the parameter
requires a numeric setting (parameter for numeric setting) or requires the selection of a function
(parameter for selecting a function).
• Parameters for Numeric Settings
The control methods for which the parameters apply are given.
Speed : Speed control Position : Position control Torque : Torque control

Pn100
Parameter
number This is the minimum This is the This is when any
unit (setting increment) parameter setting change made to the This is the parameter
that you can set for parameter will classification.
This is the setting range before shipment.
for the parameter. the parameter. become effective.
• Parameters for Selecting Functions

5
n.0 Use the encoder according to encoder specifications.
(default setting)
Pn002 n.1 Use the encoder as an incremental encoder. After restart Setup
n.2 Use the encoder as a single-turn absolute encoder.
Parameter The notation “n.” indicates a parameter for This column explains the
number selecting functions. selections for the function.
Each indicates the setting for one digit.
The notation shown here means that the third digit
from the right is set to 2.
5-5
5.1.3 Parameter Setting Methods

You can use the SigmaWin+, a Digital Operator, or the Panel Operator to set parameters.
Use the following procedure to set the parameters.
Setting Parameters with the SigmaWin+

1. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+.
2. Select Edit Parameters in the Menu Dialog Box.

The Parameter Editing Dialog Box will be displayed.
3. Click the cell of the parameter to edit.

If the parameter to edit is not displayed in the Parameter Editing Dialog Box, click the or Button
to display the parameter to edit.
4. Change the setting of the parameter.

1. For a parameter for a numeric setting, input the numeric setting.
Information
2. If the parameter requires selection of a function, select the function from the list of
selections.
5. Press the Enter Key.

The background of the edited parameter cell will change to green.
5-6
6. Select Edited Parameters in the Write to Servo Group.

The edited parameters are written to the SERVOPACK and the backgrounds of the cells change to
white.
7. Click the OK Button.
8. To enable changes to the settings, turn the power supply to the SERVOPACK OFF and
ON again.
5
This concludes the procedure to set the parameters.
Setting Parameters with a Digital Operator

Refer to the following manual for information on setting the parameters with a Digital Operator.
Setting Parameters with the Panel Operator

Refer to the following section for information on setting the parameters with the Panel Operator.
13.2 Parameter (Pn) Operations on the Panel Operator on page 13-6
5-7
5.1.4 Write Prohibition Setting for Parameters

You can prohibit writing parameters from the Panel Operator or the Digital Operator.
Even if you do, you will still be able to change parameter settings from the SigmaWin+.
Preparations
No preparations are required.
Applicable Tools
The following table lists the tools that you can use to change the Write Prohibition Setting and
the applicable tool functions.
Tool Function Reference
13.4.15 Write Prohibition Setting
Panel Operator Fn010 (Fn010) on page 13-23
Σ-7-Series Digital Operator Operating
Digital Operator Fn010 Manual (Manual No.: SIEP S800001
33)
SigmaWin+ Others - Write Prohibited Setting Operating Procedure on page 5-8
Operating Procedure
Use the following procedure to prohibit or permit writing parameter settings.
2. Select Write Prohibition Setting in the Menu Dialog Box.

The Write Prohibition Setting Dialog Box will be displayed.
3. Press the or for the rightmost digit and set one of the following.
0000: Writing is permitted (default setting).
0001: Writing is prohibited.
4. Click the Setting Button.
5-8

The setting will be written to the SERVOPACK.
6. To enable the new setting, turn the power supply to the SERVOPACK OFF and ON
again.
This concludes the procedure to prohibit or permit writing parameter settings.
Restrictions

If you prohibit writing parameter settings, you will no longer be able to execute some functions.
Refer to the following table.
SigmaWin+ Panel Operator or Digital Operator When
Button in Writing Is
SigmaWin+ Function Reference
Menu Fn No. Utility Function Name Prohib-
Name ited
Dialog Box
Cannot
Initialize*1 Fn005 Initializing Parameters be exe- page 5-12
cuted.
Can be
Software Reset Fn030 Software Reset page 6-96
executed.
Can be
Basic Func- Fn011 Display Servomotor Model
executed.
tions
Can be
Fn012 Display Software Version
executed.
Product Information page 9-2
Display SERVOPACK and Ser- Can be
Fn01E
vomotor IDs executed.
Display Servomotor ID from Can be
Fn01F
Feedback Option Module executed.
5
Cannot
Reset Absolute Encoder Fn008 Reset Absolute Encoder be exe- page 5-54
cuted.
Multiturn Limit Setting after Cannot
Multi-turn Limit Setup Fn013 Multiturn Limit Disagreement be exe- page 6-84
Alarm cuted.
Encoder Cannot
Search Origin*2 Fn003 Origin Search be exe- page 7-25
Setting
cuted.
Cannot
Set Absolute Linear Encoder
Zero Point Position Setting Fn020 be exe- page 5-56
Origin
cuted.
Cannot
Polarity Detection Fn080 Polarity Detection be exe- page 5-31
cuted.
5-9

Name ited
Dialog Box
Can be
Fn000 Display Alarm History page 12-42
executed.
Cannot
Display Alarm Fn006 Clear Alarm History be exe- page 12-43
Trouble- cuted.
shooting Reset Option Module Configu- Cannot
Fn014 be exe- page 12-44
ration Error
Cannot
Reset Motor Type Alarm Fn021 Reset Motor Type Alarm be exe- page 5-17
cuted.
Cannot
Jog Fn002 Jog be exe- page 7-7
cuted.
Operation
Cannot
Program JOG Operation Fn004 Jog Program be exe- page 7-7
cuted.
Tuning - Cannot
Advanced Autotuning without
Autotuning without Host Fn201 be exe- page 8-24
Reference
Reference cuted.
Tuning - Cannot
Advanced Autotuning with Ref-
Autotuning with Host Ref- Fn202 be exe- page 8-35
erence
erence cuted.
Cannot
Tuning -
Fn203 One-Parameter Tuning be exe- page 8-42
Custom Tuning
cuted.
Tuning Tuning -
Cannot
Custom Tuning -
Fn204 Adjust Anti-resonance Control be exe- page 8-51
Adjust Anti-resonance
cuted.
Control
Tuning - Cannot
Custom Tuning - Fn205 Vibration Suppression be exe- page 8-51
Vibration Suppression cuted.
Cannot
Response Level Setting Fn200 Tuning-less Level Setting be exe- page 8-16
cuted.
Cannot
Diagnostic Easy FFT Fn206 Easy FFT be exe- page 8-94
cuted.
5-10

Name ited
Dialog Box
Cannot page 6-24,
Autotune Analog (Speed/
Fn009 be exe-
Torque) Reference Offset page 6-41
cuted.
Cannot
Adjust the Speed and Manually Adjust Speed Refer-
Fn00A be exe- page 6-24
Torque Reference Offset ence Offset
cuted.
Cannot
Manually Adjust Torque Refer-
Fn00B be exe- page 6-41
ence Offset
cuted.
Cannot
Adjust Analog Monitor Output
Fn00C be exe-
Offset
Adjust the Analog Monitor cuted.
page 9-11
Others Output Cannot

Fn00D be exe-
Gain
cuted.
Autotune Motor Current Detec- Cannot
Fn00E be exe-
tion Signal Offset
Adjust the Motor Current
Cannot page 6-102
Detection Offsets Manually Adjust Motor Current
Fn00F be exe-
Detection Signal Offset
cuted.
Cannot
Initialize Vibration Detection Initialize Vibration Detection
Fn01B be exe- page 6-98
Level Level
cuted.
Can be
Write Prohibited Setting Fn010 Write Prohibition Setting page 5-8
executed.
*1. An Initialize Button will be displayed in the Parameter Editing Dialog Box.
*2. Cannot be used when connecting a Linear Servomotor.
5-11
5.1.5 Initializing Parameter Settings

You can return the parameters to their default settings.
This function will not initialize the settings of the parameters that are adjusted for the Fn009,
Fn00A, Fn00B, Fn00C, Fn00D, Fn00E, and Fn00F utility functions.
To enable the new settings, turn the power supply to the SERVOPACK OFF and ON again after
you complete the operation.
Important
Preparations
Always check the following before you initialize the parameter settings.
• The parameters must not be write prohibited.
• The servo must be OFF.
Applicable Tools
The following table lists the tools that you can use to initialize the parameter settings and the
applicable tool functions.
13.4.5 Initialize Parameters (Fn005) on
Panel Operator Fn005 page 13-16
33)
SigmaWin+ Basic Functions - Edit Parameters Operating Procedure on page 5-12
Operating Procedure
Use the following procedure to initialize the parameter settings.
1. Click the Servo Drive Button in the workspace of the Main Window of the Sig-
maWin+.
2. Select Edit Parameters in the Menu Dialog Box.

The Parameter Editing Dialog Box will be displayed.
3. Select any parameter of the axis to initialize.
5-12
4. Click the Initialize Button in the Function Group.

Click the Cancel Button to cancel initialization. The Parameter Editing Dialog Box will return.
7. Turn the power supply to the SERVOPACK OFF and ON again after the parameter set-
tings have been initialized.
This concludes the procedure to initialize the parameter settings.
5-13
5.2 Control Method Selection
5.2 Control Method Selection

You can use the SERVOPACK for speed control, position control, or torque control.
You set the control method in Pn000 = n.X (Control Method Selection).
Control Method Selection
Pn000 =
Control Method Outline Reference
n.X
The speed of the Servomotor is controlled with an
analog voltage speed reference. Use speed con-
n.0 trol in the following cases.
(default set- Speed control • To control speed page 6-17
ting) • For position control using encoder pulse outputs
from the SERVOPACK to form a position loop in
the host controller
The position of the machine is controlled with a
pulse train position reference. The position is con-
n.1 Position control trolled with the number of input pulses, and the page 6-30
speed is controlled with the input pulse frequency.
Use position control when positioning is required.
The torque output by the Servomotor is controlled
with an analog voltage torque reference. Use
n.2 Torque control page 6-40
torque control to output the required torque for
operations such as pressing.
Three internal set speeds that are preset in the
Internal set speed SERVOPACK are used as references to perform
n.3 page 6-54
control speed control. An analog reference is not neces-
sary for this control method.
Switching between
internal set speed
n.4 control and speed
control with analog
references
Switching between
internal set speed
n.5
control and position
control
Switching between These are switching methods that you can use to
internal set speed change between two of the above four control
n.6 page 6-58
control and torque methods. You can select the combination that is
control required for the application.
Switching between
n.7 position control and
speed control
Switching between
n.8 position control and
torque control
Switching between
n.9 torque control and
speed control
Switching between
speed control with
n.A analog references You can use zero clamping for speed control. page 6-25
and speed control
with zero clamping
Switching between
normal position con-
You can use reference pulse inhibition for position
n.B trol and position con- page 6-40
control.
trol with reference
pulse inhibition
5-14
5.3 Power Supply Type Settings for the Main Circuit and Control Circuit
5.3.1 AC Power Supply Input/DC Power Supply Input Setting
A SERVOPACK with a 200-VAC power supply input can be operated on either an AC power
supply input or DC power supply input to the main and control circuits. If you select an AC
power supply input, you can operate the SERVOPACK on either a single-phase power supply
input or a three-phase power supply input. This section describes the settings related to the
power supplies.
You cannot input DC power to a SERVOPACK with a single-phase, 100-VAC power supply input.
Important
5.3.1 AC Power Supply Input/DC Power Supply Input Setting

Set Pn001 = n.X (Main Circuit Power Supply AC/DC Input Selection) to specify whether
to use an AC or DC power supply input for the main circuit power supply to the SERVOPACK.
If the setting of Pn001 = n.X does not agree with the actual power supply input, an A.330
alarm (Main Circuit Power Supply Wiring Error) will occur.
Example Examples of When an A.330 Alarm (Main Circuit Power Supply Wiring Error) Occurs
• A DC power supply is connected between the B1/ and 2 terminals, but an AC power
supply input is specified (Pn001 = n.0).
• An AC power supply is input to the L1, L2, and L3 terminals, but a DC power supply is
specified (Pn001 = n.1).

n.0
Use an AC power supply input.
Pn001 (default setting) After restart Setup
n.1 Use a DC power supply input.
WARNING
 Connect the AC or DC power supplies to the specified SERVOPACK terminals.
• Connect an AC power supply to the L1, L2, and L3 terminals and the L1C and L2C terminals on
the SERVOPACK. 5
• Connect a DC power supply to the B1/ and 2 terminals and the L1C and L2C terminals on
the SERVOPACK.
 Always specify a DC power supply input (Pn001 = n.1) before you input DC power for
the main circuit power supply.
If you input DC power without specifying a DC power supply input (i.e., without setting Pn001 to
n.1), the SERVOPACK’s internal elements may burn and may cause fire or damage to the
equipment.
 With a DC power supply input, time is required to discharge electricity after the main power
supply is turned OFF. A high residual voltage may remain in the SERVOPACK after the
power supply is turned OFF. Be careful not to get an electric shock.
 Install fuses on the power supply line if you use DC power.
 The Servomotor returns regenerative energy to the power supply. If you use a SERVOPACK
with a DC power supply input, regenerative energy is not processed. Process the regenera-
tive energy at the power supply.
 If you use a DC power supply input with any of the following SERVOPACKs, externally con-
nect an inrush current limiting circuit and use the power ON and OFF sequences recom-
mended by Yaskawa: SGD7S-330A, -470A, -550A, -590A, or -780A.
There is a risk of equipment damage.
Refer to the following section for the power ON and OFF sequences.
4.3.3 Power ON Sequence on page 4-15
Refer to the following section for information on wiring the SERVOPACK.

4.3.4 Power Supply Wiring Diagrams on page 4-16
5-15
5.3.2 Single-phase AC Power Supply Input/Three-phase AC Power Supply Input Setting
5.3.2 Single-phase AC Power Supply Input/Three-phase AC

Power Supply Input Setting
Some models of Three-phase 200-VAC SERVOPACKs can also operate on a single-phase
200-VAC power supply.
• SGD7S-R70A, -R90A, -1R6A, -2R8A, and -5R5A
If you use a single-phase, 200-VAC power supply input for the SERVOPACK’s main circuit
power supply, set parameter Pn00B to n.1 (Use a three-phase power supply input as a
single-phase power supply input).
Information You do not need to change the setting of Pn00B to n.1 (Use a three-phase power sup-
ply input as a single-phase power supply input) for a SERVOPACK with a single-phase 200-
VAC power supply input (model numbers: SGD7S-120A008) or for a SERVOPACK with
a single-phase 100-VAC power supply input.

n.0
Use a three-phase power supply input.
(default setting)
Pn00B After restart Setup
Use a three-phase power supply input as
n.1
a single-phase power supply input.
1. If you use a single-phase power supply input without specifying a single-phase AC power sup-
ply (Pn00B = n.1), an A.F10 alarm (Power Supply Line Open Phase) will occur.
2. Not all SERVOPACKs can be run on a single-phase AC power supply input. If you connect a
Important single-phase AC power supply input to a SERVOPACK that does not support single-phase
power, an A.F10 alarm (Power Supply Line Open Phase) will occur.
3. If you use a single-phase 200-VAC power supply input, the torque-motor speed characteristic
of the Servomotor will not be the same as for a three-phase AC power supply input. Decide
whether to use a single-phase or three-phase AC power supply input after checking the char-
acteristics given in the Servomotor manual or catalog.
Refer to the following section for information on wiring a single-phase AC power supply input to
the SERVOPACK.
• Wiring Example for Single-Phase, 200-VAC Power Supply Input on page 4-17
5-16
5.4 Automatic Detection of Connected Motor
5.4 Automatic Detection of Connected Motor

You can use a SERVOPACK to operate either a Rotary Servomotor or a Linear Servomotor.
If you connect the Servomotor encoder to the CN2 connector on the SERVOPACK, the SER-
VOPACK will automatically determine which type of Servomotor is connected. Therefore, you
normally do not need to specify the Servomotor type.
If an encoder is not connected, e.g., for a test without a motor, you can specify a Rotary Ser-
Information
vomotor or a Linear Servomotor in Pn000 = n.X (Rotary/Linear Servomotor Startup
Selection When Encoder Is Not Connected). If you specify either a Rotary or Linear Servomo-
tor, only the parameters, monitors, alarms, and functions for the specified motor type will be
enabled.
When an encoder is not connected,
n.0
start as SERVOPACK for Rotary Servo-
(default setting)
motor.
Pn000 After restart Setup
When an encoder is not connected,
n.1 start as SERVOPACK for Linear Servo-

motor.
5-17
5.5 Functions and Settings for the /S-ON (Servo ON) Signal
5.5.1 Function of the /S-ON (Servo ON) Signal
5.5 Functions and Settings for the /S-ON (Servo ON) Signal
The /S-ON (Servo ON) signal is used to enable Servomotor operation.
This section describes the function of and settings for the /S-ON signal.
5.5.1 Function of the /S-ON (Servo ON) Signal

Type Signal Connector Pin No. Signal Status Function
Power is supplied to the Servomo-
ON (closed)
CN1-40 tor to enable operation.
Input /S-ON
(default setting) Power supply to the Servomotor is
OFF (open)
stopped and operation is disabled.
You can use Pn50A = n.X (/S-ON (Servo ON) Signal Allocation) to allocate the /S-ON sig-
nal to a different input signal terminal. Refer to the following section for details on input signal
allocation.
1. Always input the /S-ON signal before you input a speed, position, or torque reference to start
the Servomotor. Never input the reference first and then use the /S-ON signal or turn ON the
AC power supply to start the Servomotor. Doing so will degrade internal elements and may
Important cause an accident.
2. Input the /S-ON signal while the Servomotor is stopped. You cannot turn ON the servo while
the Servomotor is operating.
5.5.2 Setting to Keep the Servo ON and Supply Power to the

Motor Continuously
You can set Pn50A = n.X (/S-ON (Servo ON) Signal Allocation) to 7 (The signal is always
active) to keep the servo ON and supply power to the motor continuously.
n.0 The S-ON signal is active when CN1-40 input
(default setting) signal is ON (closed).
Pn50A After restart Setup
The signal is always active.
n.7
(The /S-ON signal is always active.)
1. If you set this parameter to keep the servo ON continuously, power will be supplied to the
motor as soon the main circuit power supply to the SERVOPACK is turned ON. If there is
already a speed, position, or torque reference input, the Servomotor or machine may perform
Important unexpected operation. Always implement safety measures.
2. If a resettable alarm occurs and operation is disabled (power is not supplied to the motor),
operation will be automatically enabled (power will be supplied to the motor) when the alarm is
reset. If you set this parameter to keep the servo ON continuously, the Servomotor or machine
may perform unexpected operation when an alarm is reset.
5-18
5.6 Motor Direction Setting
5.6 Motor Direction Setting

You can reverse the direction of Servomotor rotation by changing the setting of Pn000 =
n.X (Rotation Direction Selection) without changing the polarity of the speed or position
reference.
This causes the rotation direction of the Servomotor to change, but the polarity of the signals,
such as encoder output pulses, output from the SERVOPACK do not change. Set the appropri-
ate direction for your system.
Refer to the following section for details on the encoder divided pulse output.
6.8 Encoder Divided Pulse Output on page 6-47
The default setting for forward rotation is counterclockwise (CCW) as viewed from the load end
of the Servomotor.
Forward/Reverse Applicable
Parameter Motor Direction and Encoder Divided Pulse Outputs
Reference Overtravel Signal (OT)

+ Torque reference Encoder Divided Pulse Outputs
P-OT (For-
Forward
n.0 Time PAO ward Drive
reference
Use CCW as CCW Prohibit) signal
Motor speed PBO Phase-B lead
the forward + Encoder Divided Pulse Outputs
Torque reference
direction. N-OT
Reverse PAO Phase-A lead
(default setting) Time (Reverse Drive
reference
PBO Prohibit) signal
CW Motor speed
Pn000
+ Torque reference Encoder Divided Pulse Outputs
P-OT (For-
n.1 Forward PAO
Time ward Drive
Use CW as the reference
CW Phase-B lead
Prohibit) signal
forward direc- Motor speed PBO
tion. + Encoder Divided Pulse Outputs
Torque reference
(Reverse Rota- N-OT
Reverse PAO Phase-A lead
Time (Reverse Drive
tion Mode) reference
CCW PBO
Prohibit) signal
Motor speed
Note: The trace waveforms of the SigmaWin+ are shown in the above table for the torque reference and motor speed diagrams. If you
measure them on a measuring instrument, e.g., with an analog monitor, the polarity will be reversed.
‘
• Linear Servomotors
Before you set this parameter, make sure that Pn080 = n.X (Motor Phase Sequence 5
Selection) is set correctly.
Forward/Reverse Motor Moving Direction and Encoder Divided Pulse Applicable
Parameter
Reference Outputs Overtravel Signal (OT)
+ Force reference Encoder Divided Pulse Outputs
n.0 P-OT (For-
Use the direc- Forward PAO
Moves in the Time ward Drive
tion in which reference count-up
Motor speed
Prohibit) signal
the linear direction. PBO Phase-B lead
encoder counts + Encoder Divided Pulse Outputs

Force reference
up as the for- N-OT
Reverse Moves in the Phase-A lead
ward direction.
Time PAO (Reverse Drive
reference count-down
(default setting) Prohibit) signal
direction. Motor speed PBO
Pn000 + Force reference
Encoder Divided Pulse Outputs
n.1 P-OT (For-
Forward Time
Use the direc- Moves in the PAO ward Drive
reference
tion in which count-down Motor speed Prohibit) signal
direction. PBO Phase-B lead
the linear
encoder counts +
Force reference
Encoder Divided Pulse Outputs
down as the N-OT
Reverse Time
forward direc- Moves in the PAO Phase-A lead (Reverse Drive
reference
tion. count-up Motor speed Prohibit) signal
direction. PBO
Note: The trace waveforms of the SigmaWin+ are shown in the above table for the force reference and motor speed diagrams. If you mea-
sure them on a measuring instrument, e.g., with an analog monitor, the polarity will be reversed.
5-19
5.7 Setting the Linear Encoder Pitch
5.7 Setting the Linear Encoder Pitch

If you connect a linear encoder to the SERVOPACK through a Serial Converter Unit, you must
set the scale pitch of the linear encoder in Pn282.
If a Serial Converter Unit is not connected, you do not need to set Pn282.
Serial Converter Unit

The Serial Converter Unit converts the signal from the linear encoder into a form that can be read
by the SERVOPACK.
Term
Scale Pitch
A linear encoder has a scale for measuring lengths (positions). The length of one division on this
scale is the scale pitch.
Linear Encoder Scale Pitch Speed Position Force

Pn282 Setting Range Setting Unit Default Setting When Enabled Classification
0 to 6,553,600 0.01 μm 0 After restart Setup
You will not be able to control the Linear Servomotor if Pn282 is not set correctly. Check the
above table and always set the correct value before you operate the Linear Servomotor.
Linear Encoder
Type of Linear
Manufacturer Model Serial Converter Unit Model Pitch
Encoder
[μm]
JZDP-H003--E
LIDA48 20
Dr. JOHANNES JZDP-J003--E
HEIDENHAIN GmbH JZDP-H003--E
Incremental LIF48 4
JZDP-J003--E
JZDP-H005--E
Renishaw PLC RGH22B 20
JZDP-J005--E
The first time you supply power to the SERVOPACK, the panel display on the front of the Ser-
vomotor will display an A.080 alarm (Linear Encoder Pitch Setting Error). The A.080 alarm is
displayed because the setting of Pn282 has not been changed. The A.080 alarm will be cleared
when you change the setting of Pn282 and then turn the power supply OFF and ON again.
Linear Encoder Pitch

Information
If you do not use a Serial Converter Unit, the linear encoder pitch is automatically set. It is not
necessary to set Pn282. You can use the SigmaWin+ to check the linear encoder pitch that
was automatically set. Refer to the following section for details.
9.1 Monitoring Product Information on page 9-2
5-20
5.8 Writing Linear Servomotor Parameters

If you connect a linear encoder to the SERVOPACK without going through a Serial Converter
Unit, you must use the SigmaWin+ to write the motor parameters to the linear encoder. The
motor parameters contain the information that is required by the SERVOPACK to operate the
Linear Servomotor.
WARNING
 Check the Servomotor and linear encoder information before you write the motor parame-
ters.
If you do not write the correct motor parameters, the Servomotor may run out of control or
burning may occur, possibly resulting in equipment damage or fire.
SERVOPACK
SigmaWin+
Computer

Motor parameter file
USB
The motor parameters

are written to the linear
encoder through the
SERVOPACK.
Linear encoder
Serial number information is not included in the motor parameters. You cannot use the monitor
functions of the SERVOPACK to monitor the serial number.
Important If you attempt to monitor the serial number, ********** will be displayed.
5
Precautions
• If the encoder parameters are not written to the linear encoder, an A.CA0 alarm (Encoder
Parameter Error) will occur. Consult the manufacturer of the linear encoder.
• If the motor parameters are not written to the linear encoder, an A.CA0 alarm (Encoder
Parameter Error) will not occur, but the following alarms will occur.
A.040 (Parameter Setting Error), A.041 (Encoder Output Pulse Setting Error),
A.050 (Combination Error), A.051 (Unsupported Device Alarm),
A.550 (Maximum Speed Setting Error), A.710 (Instantaneous Overload),
A.720 (Continuous Overload), and A.C90 (Encoder Communications Error)
Applicable Tools
The following table lists the tools that you can use to write the parameters to the Linear Servo-
motor and the applicable tool functions.
Panel Operator You cannot write Linear Servomotor parameters from the Panel Operator.
Digital Operator You cannot write Linear Servomotor parameters from the Digital Operator.
Encoder Setting − Motor Parameter
SigmaWin+ Operating Procedure on page 5-22
Scale Write
5-21
Operating Procedure
Use the following procedure to write the motor parameters to the Linear Encoder.
1. Prepare the motor parameter file to write to the linear encoder.
maWin+.
3. Select Motor Parameter Scale Write in the Menu Dialog Box.
The Motor Parameter Scale Write Dialog Box will be displayed.
Click the Cancel Button to cancel writing the motor parameters to the linear encoder. The Main Win-
dow will return.
If the write is completed normally, the Motor Parameter Scale Write - File Select Dialog Box will be
displayed.
5. Click the Ref. Button.
6. Select the motor parameter file that you prepared and click the Open Button.
5-22
7. Confirm that the motor parameter file information that is displayed is suitable for your
Servomotor, and then click the Next Button.
Displays an exterior
view of the Servomotor.
Click the image to

enlarge it.

Click the Cancel Button to cancel writing the motor parameters to the linear encoder. The Main Win-
dow will return.
8. Click the Write Button.
5-23
9. Click the Yes Button.
Click the No Button to cancel writing the motor parameters to the linear encoder.
If you click the Yes Button, writing the motor parameter scale will start.
10. Click the Complete Button.
12. Turn the power supply to the SERVOPACK OFF and ON again.
This concludes the procedure to write the motor parameters.
Confirming If the Motor Parameters Have Been Written

After you write the motor parameters, you can use a monitor function to confirm that the motor
parameters are in the encoder.
If the motor parameters have not been written, no information on the Servomotor will be dis-
played.
5-24
5.9 Selecting the Phase Sequence for a Linear Servomotor

You must select the phase sequence of the Linear Servomotor so that the forward direction of
the Linear Servomotor is the same as the encoder’s count-up direction.
Before you set the Linear Servomotor phase sequence (Pn080 = n.X), check the follow-
ing items.
• Confirm that the signal from the linear encoder is being received normally.
• Make sure that the forward direction of the Linear Servomotor and the count-up direction of
the linear encoder are in the same direction.
If you do not confirm the above items before you attempt to operate the Servomotor, the Servo-
motor may not operate or it may run out of control. Always confirm these items before you oper-
Important ate the Servomotor.

Related Parameters
n.0
Set a phase-A lead as a phase sequence of U, V, and W.
n.1 Set a phase-B lead as a phase sequence of U, V, and W.
Operating Procedure
Use the following procedure to select the phase sequence for a Linear Servomotor.
1. Set Pn000 to n.0 (Set a phase-A lead as a phase sequence of U, V, and W).
This setting is to make following confirmation work easier to understand.
2. Select Monitor in the Menu Dialog Box.

The Operation Pane will be displayed so that you can check the feedback pulse counter.
To check the feedback pulse counter with the Panel Operator or Digital Operator, use Un00D (Feed-
back Pulse Counter).
3. Manually move the Moving Coil from one end to the other of the stroke and confirm that
only the correct number of feedback pulses is returned. 5
If the correct number and only the correct number of pulses is returned, the signal is being received
correctly from the linear encoder.
In this example, assume that a linear encoder with a scale pitch of 20 μm and a resolu-
Example
tion of 256 is used. If you manually move the Moving Coil 1 cm in the count-up direction
of the linear encoder, the number of feedback pulses would be as follows:
1 cm/(20 μm/256) = 128,000 pulses
Cable for Linear

Servomotor Moving Coil
If there are 128,000 pulses on the feedback pulse counter after
you manually move the Moving Coil in the direction of the cable,
you have completed the confirmation.
Note: The actual monitor display will be offset by the error in the travel distance. There is no
problem as long as the above value is close to the calculated value.
5-25
If the correct value is not displayed for the feedback pulse counter, the following condi-
Information
tions may exist. Check the situation and correct any problems.
• The linear encoder pitch is not correct.
If the scale pitch that is set in Pn282 does not agree with the actual scale pitch, the
expected number of feedback pulses will not be returned. Check the specifications of
the linear encoder.
• The linear encoder is not adjusted properly.
If the linear encoder is not adjusted properly, the output signal level from the linear
encoder will drop and the correct number of pulses will not be counted. Check the
adjustment of the linear encoder. Contact the manufacturer of the linear encoder for
details.
• There is a mistake in the wiring between the linear encoder and the Serial Converter
Unit.
If the wiring is not correct, the correct number of pulses will not be counted. Correct
the wiring.
4. Manually move the Moving Coil in the direction of the cable and check the value of the
feedback pulse counter in the Operation Pane to confirm that it is counting up.
Cable for Linear Servomotor

Moving Coil
Manually move the Moving Coil in the direction of the cable.
5. If the feedback pulse counter counts up, set a phase-A lead as a phase sequence of U,
V, and W (Pn080 = n.0).
If the feedback pulse counter counts down, set a phase-B lead as a phase sequence of
U, V, and W (Pn080 = n.1).
7. If necessary, return Pn000 = n.X (Direction Selection) to its original setting.
This concludes the procedure to set the phase sequence of the Linear Servomotor.
5-26
5.10 Polarity Sensor Setting
5.10 Polarity Sensor Setting

The polarity sensor detects the polarity of the Servomotor. You must set a parameter to specify
whether the Linear Servomotor that is connected to the SERVOPACK has a polarity sensor.
Specify whether there is a polarity sensor in Pn080 = n.X (Polarity Sensor Selection).
If the Linear Servomotor has a polarity sensor, set Pn080 to n.0 (Use polarity sensor)
(default setting).
If the Linear Servomotor does not have a polarity sensor, set Pn080 to n.1 (Do not use
polarity sensor). Turn the power supply OFF and ON again to enable the new setting.
n.0
Use polarity sensor.
n.1 Do not use polarity sensor.
If you set Pn080 to n.0 (Use polarity sensor) and the Linear Servomotor that is con-
Information
nected to the SERVOPACK does not have a polarity sensor, an A.C21 alarm (Polarity Sensor

Error) will occur when you turn the power supply OFF and ON again.
5-27
5.11 Polarity Detection
5.11.1 Restrictions

If you use a Linear Servomotor that does not have a polarity sensor, then you must detect the
polarity.
Detecting the polarity means that the position of the electrical angle phase on the electrical
angle coordinates of the Servomotor is detected. The SERVOPACK cannot control the Servo-
motor correctly unless it accurately knows the position of the electrical angle coordinate of the
Servomotor.
The execution timing and execution method for polarity detection depend on the encoder
specification as described in the following table.
Encoder Specification Polarity Detection Execution Timing Polarity Detection Execution Method
Each time the control power supply to • Use the /S-ON (Servo ON) signal.
the SERVOPACK is turned ON • Use the /P-DET (Polarity Detection)
signal.
(Even after you execute polarity detec- • Use the polarity detection function of
Incremental encoder
tion, the position of the polarity will be the SigmaWin+.
lost the next time the control power • Execute the Fn080 (Polarity Detection)
supply to the SERVOPACK is turned utility function from the Digital Opera-
OFF.) tor or Panel Operator.
Only for initial setup, or after the
SERVOPACK, linear encoder, or
• Use the polarity detection function of
Servomotor has been replaced
the SigmaWin+.
Absolute encoder • Execute the Fn080 (Polarity Detection)
(The results of polarity detection is
utility function from the Digital Opera-
stored in the absolute encoder, so the
tor or Panel Operator.
polarity position is not lost when the
control power supply is turned OFF.)
If you use a Linear Servomotor that does not have a polarity sensor, you will not be able to
Information
turn ON the servo until polarity detection has been completed.
5.11.1 Restrictions
Assumed Conditions
The Servomotor will move when you execute polarity detection. The following conditions must
be met before you start.
• It must be OK to move the Moving Coil about 10 mm.
(If polarity detection fails, the Moving Coil may move approximately 5 cm. The amount of
movement depends on conditions.)
• The linear encoder pitch must be 100 μm or less. (We recommend a pitch of 40 μm or less
for an incremental encoder.)
• As much as possible, the motor must not be subjected to an imbalanced external force. (We
recommend 5% or less of the rated force.)
• The mass ratio must be 50x or less.
• The axis must be horizontal.
• There must be friction equivalent to a few percent of the rated force applied to the guides. (Air
sliders cannot be used.)
5-28
5.11.2 Using the /S-ON (Servo ON) Signal to Perform Polarity Detection
Preparations
Always check the following before you execute polarity detection.
• Not using a polarity sensor must be specified (Pn080 = n.1).
• The main circuit power supply must be ON.
• There must be no hard wire base block (HWBB).
• There must be no alarms except for an A.C22 alarm (Phase Information Disagreement).
• The parameters must not be write prohibited. (This item applies only when using the Sig-
maWin+ or Digital Operator.)
• The test without a motor function must be disabled (Pn00C = n.0).
• There must be no overtravel.
• If the motor parameters have been written or the origin of the absolute linear encoder has
been set, the power supply to the SERVOPACK must be turned OFF and ON again after
completion of the writing or setting operation.
1. Power is supplied to the Servomotor during polarity detection. Be careful not to get an electric

shock. Also, the Moving Coil of the Linear Servomotor may greatly move during detection. Do
not approach the moving parts of the Servomotor.
Important 2. Polarity detection is affected by many factors.
For example, polarity detection may fail if the mass ratio or friction is too large or the cable ten-
sion is too strong.
5.11.2 Using the /S-ON (Servo ON) Signal to Perform Polarity

Detection
You can use the /S-ON (Servo ON) signal to perform polarity detection only with an incremental
linear encoder.
Polarity detection will be performed when you turn the control power supply to the SERVO-
PACK OFF and then ON again, and then input the /S-ON signal. As soon as polarity detection
is completed, the /S-RDY (Servo Ready) signal will turn ON.
Signal
Type Signal Connector Pin No. Meaning
Status
ON
The servo is turned ON (power is supplied to the
motor), polarity detection is performed once, and
5
CN1-40 (closed) then the servo is left ON. (The /S-RDY signal will turn
Input /S-ON ON.)
(default setting)
OFF The servo is turned OFF (power is not supplied to the
(open) motor) and operation is disabled.
/S-ON (Servo ON) signal
OFF ON
/S-RDY (Servo Ready) signal

OFF ON
Polarity detection in progress Completion of polarity detection

 Status display: P-dt  Normal operation is enabled.
Power not supplied. Power supplied.
Motor power status
5-29
5.11.3 Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection
5.11.3 Using the /P-DET (Polarity Detection) Signal to Perform

Polarity Detection
You can allocate the /P-DET (Polarity Detection) signal if you want to create a sequence on the
host computer to monitor the /S-RDY (Servo Ready) signal and output the /S-ON (Servo ON)
signal, or if you want to perform polarity detection at times other than when the /S-ON signal
turns ON.
On the falling edge of the /P-DET signal, the servo will turn ON and polarity detection will be
performed once. As soon as polarity detection is completed, the servo will turn ON and the /S-
RDY (Servo Ready) signal will turn ON. After polarity detection has been completed, it will not
be executed again even if you turn ON the /P-DET signal.
Signal
Status
ON Turns ON the servo (supplies power to the motor) and
CN1-40 (closed) enables operation.
/S-ON
(default setting) OFF Turns OFF the servo (stops power supply to the
(open) motor) and disables operation.
Input Executes polarity detection, but only on the first falling
ON
edge of the signal after the power supply is turned
(closed)
/P-DET Must be allocated. ON.
OFF
–
(open)
Note: You must allocate the /P-DET signal to use it. Use the following parameters to allocate signals.
• Pn50A = n.1 (Change the sequence input signal allocations.)
• Pn50D = n.X (/P-DET (Polarity Detection Input) Signal Allocation)
When the /P-DET (Polarity Detection) signal is set to be always active, polarity detection will auto-
matically start when the main circuit power supply is turned ON. This can result in unexpected
operation of the Servomotor. Always implement safety measures when you preform polarity
Important detection.
/P-DET (Polarity Detection) signal

OFF ON
/S-RDY (Servo Ready) signal

OFF ON
Polarity detection in progress Completion of polarity detection

 Status display: P-dt  Normal operation is enabled.
OFF ON
Power not supplied. Power supplied. Power supplied.

Motor power status
5-30
5.11.4 Using a Tool Function to Perform Polarity Detection
5.11.4 Using a Tool Function to Perform Polarity Detection
Applicable Tools
The following table lists the tools that you can use to perform polarity detection and the appli-
cable tool functions.
13.4.26 Polarity Detection (Fn080) on
Panel Operator Fn080 page 13-29
Digital Operator Fn080 Manual (Manual No.: SIEP S800001 33)
SigmaWin+ Encoder Setting - Polarity Detection Operating Procedure on page 5-31
Operating Procedure
Use the following procedure to perform polarity detection.

2. Select Polarity Detection in the Menu Dialog Box.

The Polarity Detection Dialog Box will be displayed.
3. Click the Continue Button.
Click the Cancel Button to cancel polarity detection. The Main Window will return.
4. Click the Start Button.

Polarity detection will be executed. 5
This concludes the polarity detection procedure.
5-31
5.12 Overtravel and Related Settings

Overtravel is a function of the SERVOPACK that forces the Servomotor to stop in response to a
signal input from a limit switch that is activated when a moving part of the machine exceeds the
safe range of movement.
The overtravel signals include the P-OT (Forward Drive Prohibit) and the N-OT (Reverse Drive
Prohibit) signals.
You use the P-OT and N-OT signals to stop the machine by installing limit switches at the posi-
tions where you want to stop the machine that is operated by the Servomotor.
A SERVOPACK wiring example is provided below.
Rotary Servomotors Linear Servomotors
Servomotor
Forward direction of motor
Forward direction
SERVOPACK SERVOPACK
Servomotor
Limit Limit N-OT CN1 Limit Limit CN1
switch 43 N-OT
switch switch switch 43
P-OT P-OT 42
42
Using the overtravel function is not necessary for rotating applications such as rotary tables
and conveyors. No wiring for overtravel input signals is required.
This section describes the parameters settings related to overtravel.
CAUTION
 To prevent accidents that may result from contact faults or disconnections, use normally
closed limit switches.
Do not change the default settings of the polarity of the overtravel signals (P-OT and N-OT).
 If you use a Servomotor for a vertical axis, the /BK (Brake) signal will remain ON (i.e., the
brake will be released) when overtravel occurs. This may result in the workpiece falling when
overtravel occurs. To prevent the workpiece from falling, set Pn001 to n.1 to place the
Servomotor in a zero-clamped state when it stops.
 A base block state is entered after stopping for overtravel. This may cause the Servomotor
to be pushed back by an external force on the load shaft. To prevent the Servomotor from
being pushed back, set Pn001 to n.1 to place the Servomotor in a zero-clamped state
when it stops.
5-32
5.12.1 Overtravel Signals
5.12.1 Overtravel Signals

The overtravel signals include the P-OT (Forward Drive Prohibit) and the N-OT (Reverse Drive
Prohibit) signals.
Type Signal Connector Pin No. Signal Status Meaning
ON Forward drive is enabled (actual operation).
P-OT CN1-42 Forward drive is prohibited
OFF
(forward overtravel).
Input
ON Reverse drive is enabled (actual operation).
N-OT CN1-43 Reverse drive is prohibited
OFF
(reverse overtravel).
You can operate the Servomotor in the opposite direction during overtravel by inputting a refer-
ence.
When the Servomotor stops due to overtravel during position control, the position deviation is

held.
You must input the CLR (Clear) signal to clear the position deviation.
Important Refer to the following section for information on the CLR signal.
6.6.2 CLR (Position Deviation Clear) Signal Function and Settings on page 6-33
5.12.2 Setting to Enable/Disable Overtravel

You can use Pn50A = n.X (P-OT (Forward Drive Prohibit) Signal Allocation) and Pn50B =
n.X (N-OT (Reverse Drive Prohibit) Signal Allocation) to enable and disable the overtravel
function.
You do not need to wire the overtravel input signals if you are not going to use the overtravel
function.
The forward overtravel function is enabled
n.2
and the P-OT (Forward Drive Prohibit) signal
(default setting)
Pn50A is input from CN1-42. 5
The forward overtravel function is disabled.
n.8
Forward drive is always enabled.
After restart Setup
The reverse overtravel function is enabled
n.3
and the N-OT (Reverse Drive Prohibit) signal
(default setting)
Pn50B is input from CN1-43.
The reverse overtravel function is disabled.
n.8
Reverse drive is always enabled.
You can allocate the P-OT and N-OT signals to other connector pins. Refer to the following
section for details.
5-33
5.12.3 Motor Stopping Method for Overtravel
5.12.3 Motor Stopping Method for Overtravel

You can set the stopping method of the Servomotor when overtravel occurs in Pn001 =
n.XX (Motor Stopping Method for Servo OFF and Group 1 Alarms and Overtravel Stopping
Method).
Motor Stopping Status after
Parameter When Enabled Classification
Method* Stopping
n.00
(default setting) Dynamic brake
Coasting
n.01
n.02 Coasting
Pn001 n.1 Deceleration Zero clamp After restart Setup
according to
n.2 setting of Pn406 Coasting
n.3 Deceleration Zero clamp
according to
n.4 setting of Pn30A Coasting
* You cannot decelerate a Servomotor to a stop during torque control. For torque control, the Servomotor will be
stopped with the dynamic braking or coast to a stop (according to the setting of Pn001 = n.X (Motor Stop-
ping Method for Servo OFF and Group 1 Alarms)), and then the Servomotor will enter a coasting state.
Refer to the following section for information on stopping methods other than those for over-
travel.
5.14.1 Stopping Method for Servo OFF on page 5-43
Stopping the Servomotor by Setting Emergency Stop

Torque
To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop
Torque).
If Pn001 = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the
torque set in Pn406 as the maximum torque.
The default setting is 800%. This setting is large enough to allow you to operate the Servomo-
tor at the maximum torque. However, the maximum emergency stop torque that you can actu-
ally use is the maximum torque of the Servomotor.
Emergency Stop Torque Speed Position
0 to 800 1%* 800 Immediately Setup
* Set a percentage of the motor rated torque.
Stopping the Servomotor by Setting the Deceleration Time

To specify the Servomotor deceleration time and use it to stop the Servomotor, set Pn30A
(Deceleration Time for Servo OFF and Forced Stops).
Deceleration Time for Servo OFF and Forced Stops Speed Position
Pn30A Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000 1 ms 0 Immediately Setup
If you set Pn30A to 0, the Servomotor will be stopped with a zero speed.
The deceleration time that you set in Pn30A is the time to decelerate the Servomotor from the
maximum motor speed.
5-34
5.12.4 Overtravel Warnings
Maximum speed
Operating speed
Actual deceleration time = × Deceleration time (Pn30A)
Maximum speed
Operating speed
Actual
deceleration time
Pn30A

You can set the system to detect an A.9A0 warning (Overtravel) if overtravel occurs while the
servo is ON. This allows the SERVOPACK to notify the host controller with a warning even
when the overtravel signal is input only momentarily. An alarm occurs only if overtravel occurs
while the servo is ON. An overtravel warning will not be detected when the servo is OFF, even if
overtravel occurs.
1. The occurrence of an A.9A0 warning will not stop the motor or have any affect on host control-
ler motion operations. The next step (e.g., the next motion or command) can be executed
even if an overtravel warning exists.
Important However, depending on the processing specifications and programming for warnings in the
host controller, operation may be affected when an overtravel warning occurs (e.g., motion
may stop or not stop). Confirm the specifications and programming in the host controller.
2. When overtravel occurs, the SERVOPACK will perform stop processing for overtravel. There-
fore, when an A.9A0 warning occurs, the Servomotor may not reach the target position speci-
fied by the host controller. Check the feedback position to make sure that the axis is stopped
at a safe position.
The following parameter is set for this function.

5
n.0
Do not detect overtravel warnings.
Pn00D (default setting) Immediately Setup
n.1 Detect overtravel warnings.
A timing chart for warning detection is provided below.
OFF ON
Servo ON/OFF status
Overtravel signal Disabled Enabled Disabled Enabled Disabled

(P-OT or N-OT signal)
Normal status Normal status

Overtravel warning (A.9A0)
Warning status for 1 s
A warning is not detected The warning is automatically cleared.

because the servo is OFF.
5-35
1. Warnings are detected for overtravel in the same direction as the reference.
Information
2. Warnings are not detected for overtravel in the opposite direction from the reference.
Example: A warning will not be output for a forward reference even if the N-OT signal turns
ON.
3. A warning can be detected in either the forward or reverse direction if there is no refer-
ence.
4. A warning will not be detected when the servo is turned ON even if overtravel status
exists.
5. The warning status will be held for one second after the overtravel status no longer exists
and it will then be cleared automatically.
5-36
5.13 Holding Brake
5.13.1 Brake Operating Sequence
5.13 Holding Brake

A holding brake is used to hold the position of the moving part of the machine when the
SERVOPACK is turned OFF so that moving part does not move due to gravity or an external
force. You can use the brake that is built into a Servomotor with a Brake, or you can provide
one on the machine.
The holding brake is used in the following cases.
z Vertical Axis z Shaft with External Force Applied
Servomotor
Moving part of machine
Holding brake External force Servomotor
Prevents the moving part from
falling due to gravity when the
power supply is OFF. Holding brake
Moving part of machine Prevents the moving part from

moving due to an external force.

The brake built into a Servomotor with a Brake is a de-energization brake. It is used only to hold
the Servomotor and cannot be used for braking. Use the holding brake only to hold a Servomotor
Important that is already stopped.
5.13.1 Brake Operating Sequence

You must consider the brake release delay time and the brake operation delay time to deter-
mine the brake operation timing, as described below.
Brake Release Delay Time

The time from when the /BK (Brake) signal is turned ON until the brake is actually released.
Term Brake Operation Delay Time

The time from when the /BK (Brake) signal is turned OFF until the brake actually operates.
OFF ON OFF
/S-ON (Servo ON) signal 5
Power not
supplied. Power supplied. Power not supplied.
Motor power status
*3
OFF ON OFF
/BK (Brake) signal
Brake contact section Brake applied. Brake released. Brake applied.

(lining) *1 *1
0
Position/speed reference
Motor speed
*2
*1. Rotary Servomotors: The brake delay times for Servomotors with Holding Brakes are given in the following
table. The operation delay times in the following table are examples for when the power supply is switched on
the DC side. You must evaluate the actual brake delay times on the actual equipment before using the applica-
tion.
5-37
5.13 Holding Brake
5.13.2 /BK (Brake) Signal
Brake Release Brake Operation

Model Voltage
Delay Time [ms] Delay Time [ms]
SGM7M-A1 to -A3
60
SGM7J-A5 to -04
SGM7J-06 and -08 80 100
SGM7A-A5 to -04 60
SGM7A-06 to -10 80
SGM7A-15 to -25 170
80
SGM7A-30 to -50 100
24 VDC
SGM7P-01 20
SGM7P-02 and -04 40 100
SGM7P-08 and -15 20
SGM7G-03 to -20 100 80
SGM7G-30 to -44 100
170
SGM7G-55 to -1A
80
SGM7G-1E 250
Linear Servomotors: The brake delay times depend on the brake that you use. Set the parameters related to
/BK signal output timing according to the delay times for the brake that you will actually use.
*2. Before you output a reference from the host controller to the SERVOPACK, wait for at least 50 ms plus the
brake release delay time after you turn ON the /S-ON signal.
*3. Use the following parameters to set the timing of when the brake will operate and when the servo will be turned
OFF.
• Rotary Servomotors: Pn506 (Brake Reference-Servo OFF Delay Time), Pn507 (Brake Reference Output
Speed Level), and Pn508 (Servo OFF-Brake Command Waiting Time)
• Linear Servomotors: Pn506 (Brake Reference-Servo OFF Delay Time), Pn508 (Servo OFF-Brake Command
Waiting Time), and Pn583 (Brake Reference Output Speed Level)
Connection Examples
Refer to the following section for information on brake wiring.
4.4.4 Wiring the SERVOPACK to the Holding Brake on page 4-33
5.13.2 /BK (Brake) Signal

The following settings are for the output signal that controls the brake. The /BK (Brake) signal is
not allocated by default. To use the brake, change the setting of Pn50F = n.X (/BK (Brake
Output) Signal Allocation).
The /BK signal is turned OFF (to operate the brake) when the servo is turned OFF or when an
alarm is detected. You can adjust the timing of brake operation (i.e., the timing of turning OFF
the /BK signal) with the servo OFF delay time (Pn506).
ON (closed) Releases the brake.
Output /BK Must be allocated.
OFF (open) Activates the brake.
Information The /BK signal will remain ON during overtravel. The brake will not be applied.
5-38
5.13 Holding Brake
5.13.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped
Allocating the /BK (Brake) Signal

To use the brake, you must allocate an output signal for the /BK signal.
Set the allocation for the /BK signal in Pn50F = n.X (/BK (Brake Output) Signal Alloca-
tion).
Connector Pin No. When
Parameter Meaning Classification
+ Pin - Pin Enabled
n.0
− − The /BK signal is not used.
(default setting)
The /BK signal is output from
n.1 CN1-25 CN1-26
CN1-25 and CN1-26.
Pn50F After restart Setup
n.2 CN1-27 CN1-28
CN1-27 and CN1-28.
n.3 CN1-29 CN1-30
CN1-29 and CN1-30.
1. Signals other than the /BK signal are allocated to the connector pins by default. To allocate

connector pins to the /BK signal, you must clear the allocations for the originally allocated sig-
nals.
Important Example: Allocating the /BK Signal to CN1-25 and CN1-26
By default, the /COIN (Positioning Completion) signal is allocated to CN1-25 and the /V-CMP
(Speed Coincidence Detection) signal is allocated to CN1-26. Therefore, to allocate the con-
nector pins to the /BK signal, you must change the settings of the following two parameters.
• Pn50F = n.1 (Output the /BK signal from CN1-25 and CN1-26.)
• Set Pn50E = n.XX to a value other than 1. (This clears the allocations of the /COIN and /
V-CMP signals to CN1-25 and CN1-26.)
2. If you allocate more than one signal to the same output connector pin, a logical OR of the sig-
nals is output. Allocate the /BK signal to its own output connector pin, i.e., do not use the
same output terminal for another signal.
For example, never allocate the /TGON (Rotation Detection) signal and /BK signal to the same
output connector pin. If you did so, the /TGON signal would be turned ON by the falling speed
on a vertical axis, and the brake would not operate.
5.13.3 Output Timing of /BK (Brake) Signal When the

Servomotor Is Stopped
When the Servomotor is stopped, the /BK signal turns OFF at the same time as the /S-ON sig- 5
nal turns OFF. Use the servo OFF delay time (Pn506) to change the timing to turn OFF power
supply to the motor after the /S-ON signal turns OFF.
Brake Reference-Servo OFF Delay Time Speed Position Torque
0 to 50 10 ms 0 Immediately Setup
• When the Servomotor is used to control a verti-

cal axis, the machine moving part may move
/S-ON input
slightly due to gravity or an external force. (CN1-40) ON OFF
You can eliminate this slight motion by setting ON (Brake
the servo OFF delay time (Pn506) so that /BK signal released.) OFF (Brake applied.)
power supply to the motor is stopped after the Power not
Motor power status Power supplied.
brake is applied. supplied.
• This parameter sets the timing of stopping
Pn506
power supply to the Servomotor while the Ser-
vomotor is stopped.
5-39
5.13 Holding Brake
5.13.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating
Power supply to the Servomotor will be stopped immediately when an alarm occurs, regardless
of the setting of this parameter. The machine moving part may move due to gravity or an external
Important force before the brake is applied.
5.13.4 Output Timing of /BK (Brake) Signal When the

Servomotor Is Operating
If an alarm occurs while the Servomotor is operating, the Servomotor will start stopping and the
/BK signal will be turned OFF. You can adjust the timing of /BK signal output by setting the
brake reference output speed level (Rotary Servomotors: Pn507, Linear Servomotors: Pn583)
and the Servo OFF-Brake Command Waiting Time (Pn508).
Note: If zero-speed stopping is set as the stopping method for alarms, the setting of Pn506 (Brake Reference-
Servo OFF Delay Time) is used after the motor stops.
Brake Reference Output Speed Level Speed Position Torque
0 to 10,000 -1 100 Immediately Setup
1 min
Servo OFF-Brake Command Waiting Time Speed Position Torque
Brake Reference Output Speed Level Speed Position Force
0 to 10,000 1 mm/s 10 Immediately Setup
Servo OFF-Brake Command Waiting Time Speed Position Force
The brake operates when either of the following conditions is satisfied:
• When the Motor Speed Goes below the Level Set in Pn507 for a Rotary Servomotor or in
Pn583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped
/S-ON input, alarm,
ON OFF
or power OFF
 Rotary Servomotor: Pn507

 Linear Servomotor: Pn583
Motor speed
Motor stopped with dynamic
brake or by coasting
(Pn001 = n.X)
Motor power status Power Power not supplied.
supplied.
/BK signal ON (Brake released.) OFF (Brake applied.)
Pn508
5-40
5.13 Holding Brake
5.13.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating
• When the Time Set In Pn508 Elapses after the Power Supply to the Motor Is Stopped
/S-ON input, alarm, ON OFF
or power OFF
Rotary Servomotor: Pn507
Linear Servomotor: Pn583
Motor speed Motor stopped with dynamic

brake or by coasting
(Pn001 = n.X)
Motor power status Power Power not supplied.

supplied.
/BK signal ON (Brake released.) OFF (Brake

applied.)
Pn508

The Servomotor will be limited to its maximum speed even if the brake reference output speed
level (Rotary Servomotor: Pn507, Linear Servomotor: Pn583) is higher than the maximum speed.
Important
5-41
5.14 Motor Stopping Methods for Servo OFF and Alarms

You can use the following methods to stop the Servomotor when the servo is turned OFF or an
alarm occurs.
There are the following four stopping methods.
Motor Stopping Method Meaning
Stopping by Applying the
The electric circuits are internally connected to stop the Servomotor quickly.
Dynamic Brake
Coasting to a Stop The motor stops naturally due to friction during operation.
Zero-speed Stopping The speed reference is set to 0 to stop the Servomotor quickly.
Decelerating to a Stop Emergency stop torque is used to decelerate the motor to a stop.
There are the following three conditions after stopping.

Status after Stopping Meaning
Dynamic Brake Applied The electric circuits are internally connected to hold the Servomotor.
The SERVOPACK does not control the Servomotor. (The machine will move in
Coasting
response to a force from the load.)
A position loop is created and the Servomotor remains stopped at a position
Zero Clamping
reference of 0. (The current stop position is held.)
• The dynamic brake is used for emergency stops. The dynamic brake circuit will operate fre-
quently if the power supply is turned ON and OFF or the servo is turned ON and OFF while a
reference input is applied to start and stop the Servomotor. This may result in deterioration of
Important the internal elements in the SERVOPACK. Use speed input references or position references to
start and stop the Servomotor.
• If you turn OFF the main circuit power supply or control power supply during operation before
you turn OFF the servo, the Servomotor stopping method depends on the SERVOPACK model
as shown in the following table.
Servomotor Stopping Method
SGD7S-R70A, -1R6A, -2R8A,
Condition -3R8A, -5R5A, -7R6A, -120A, SGD7S-330A, -470A, -550A,
-180A, -200A, -R70F, -R90F, -590A, or -780A
-2R1F, or -2R8F
turned OFF before turning Stopping with dynamic brake
OFF the servo
turned OFF before turning Stopping with dynamic brake Coasting to a stop
OFF the servo
• If the Servomotor must be stopped by coasting rather than with the dynamic brake when the
main circuit power supply or the control power supply is turned OFF before the servo is turned
OFF, use a SERVOPACK with the dynamic brake option.
• To minimize the coasting distance of the Servomotor to come to a stop when an alarm occurs,
zero-speed stopping is the default method for alarms to which it is applicable. However,
depending on the application, stopping with the dynamic brake may be more suitable than
zero-speed stopping.
For example, when coupling two shafts (twin-drive operation), machine damage may occur if a
zero-speed stopping alarm occurs for one of the coupled shafts and the other shaft stops with
a dynamic brake. In such cases, change the stopping method to the dynamic brake.
5-42
5.14.1 Stopping Method for Servo OFF
5.14.1 Stopping Method for Servo OFF

Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Motor Stop-
ping Method for Servo OFF and Group 1 Alarms).
Servomotor Stop- Status after Servo- Classifi-
Parameter When Enabled
ping Method motor Stops cation
n.0
Dynamic brake*
(default setting) Dynamic brake*
n.1 Coasting
n.2 Coasting Coasting
* The Servomotor will coast to a stop when the SERVOPACK is not equipped with a built-in Dynamic Brake Resistor
or an External Dynamic Brake Resistor is not connected.
Note: If Pn001 is set to n.0 (Stop the motor by applying the dynamic brake) and the Servomotor is stopped or
operates at a low speed, braking force may not be generated, just like it is not generated for coasting to a
stop.

5.14.2 Servomotor Stopping Method for Alarms
There are two types of alarms, group 1 (Gr. 1) alarms and group 2 (Gr. 2) alarms. A different
parameter is used to set the stopping method for alarms for each alarm type.
Refer to the following section to see which alarms are in group 1 and which are in group 2.
12.2.1 List of Alarms on page 12-5
Motor Stopping Method for Group 1 Alarms

When a group 1 alarm occurs, the Servomotor will stop according to the setting of Pn001 =
n.X. The default setting is to stop by applying the dynamic brake.
5.14.1 Stopping Method for Servo OFF on page 5-43
Motor Stopping Method for Group 2 Alarms

When a group 2 alarm occurs, the Servomotor will stop according to the settings of the follow-
ing three parameters. The default setting is for zero clamping.
• Pn001 = n.X (Motor Stopping Method for Servo OFF and Group 1 Alarms) 5
• Pn00A = n.X (Motor Stopping Method for Group 2 Alarms)
• Pn00B = n.X (Motor Stopping Method for Group 2 Alarms)
However, during torque control, the group 1 stopping method is always used.
If you set Pn00B to n.1 (Apply dynamic brake or coast Servomotor to a stop), you can
use the same stopping method as group 1. If you are coordinating a number of Servomotors,
you can use this stopping method to prevent machine damage that may result because of dif-
ferences in the stopping method.
The following table shows the combinations of the parameter settings and the resulting stop-
ping methods.
5-43
5.14.2 Servomotor Stopping Method for Alarms
Parameter Status after

Servomotor When
Servomotor Classification
Pn00B Pn00A Pn001 Stopping Method Enabled
Stops
n.0 Dynamic
n.0 (default setting) brake
Zero-speed stop-
(default –
n.1 ping
setting) Coasting
n.2
(default setting) Dynamic brake brake
n.1 –
n.1
Coasting
(default setting) Dynamic brake brake
n.0
n.1
Coasting
n.1 (default setting) brake
(default After restart Setup
n.1 Motor is deceler-
setting) Coasting
n.2 ated using the
torque set in
n.0 Pn406 as the
(default setting) maximum torque.
n.2 n.2 Coasting
n.1
n.2
(default setting) brake
n.3
n.1
Motor is deceler- Coasting
n.2
ated according to
n.0 setting of Pn30A.
(default setting)
n.1
n.2
Note: 1. The setting of Pn00A is ignored if Pn00B is set to n.0 or n.1.
2. The setting of Pn00A = n.X is enabled for position control and speed control. During torque control,
the setting of Pn00A = n.X will be ignored and only the setting of Pn001 = n.X will be used.
3. Refer to the following section for details on Pn406 (Emergency Stop Torque).
Stopping the Servomotor by Setting Emergency Stop Torque on page 5-34
4. Refer to the following section for details on Pn30A (Deceleration Time for Servo OFF and Forced Stops).
Stopping the Servomotor by Setting the Deceleration Time on page 5-34
5-44
5.15 Motor Overload Detection Level
5.15.1 Detection Timing for Overload Warnings (A.910)

The motor overload detection level is the threshold used to detect overload alarms and over-
load warnings when the Servomotor is subjected to a continuous load that exceeds the Servo-
motor ratings.
It is designed to prevent Servomotor overheating.
You can change the detection timing for A.910 warnings (Overload) and A.720 alarms (Contin-
uous Overload). You cannot change the detection level for A.710 alarms (Instantaneous Over-
load).
5.15.1 Detection Timing for Overload Warnings (A.910)

With the default setting for overload warnings, an overload warning is detected in 20% of the
time required to detect an overload alarm. You can change the time required to detect an over-
load warning by changing the setting of the overload warning level (Pn52B). You can increase

safety by using overload warning detection as an overload protection function matched to the
system.
The following graph shows an example of the detection of overload warnings when the over-
load warning level (Pn52B) is changed from 20% to 50%. An overload warning is detected in
half of the time required to detect an overload alarm.
Overload
detection time
Detection curve for

overload warnings Detection curve for overload alarms
when Pn52B = 50%
Detection curve for overload warnings

when Pn52B = 20% (default setting)
100% 200% Torque reference (%)
Overload Warning Level Speed Position Torque 5

Pn52B Setting Range Setting Unit Default Setting When Enabled Classification
1 to 100 1% 20 Immediately Setup
5-45
5.15.2 Detection Timing for Overload Alarms (A.720)
5.15.2 Detection Timing for Overload Alarms (A.720)

If Servomotor heat dissipation is insufficient (e.g., if the heat sink is too small), you can lower
the overload alarm detection level to help prevent overheating.
To reduce the overload alarm detection level, change the setting of Pn52C (Base Current Der-
ating at Motor Overload Detection).
Base Current Derating at Motor Overload Detection Speed Position Torque
Pn52C Setting Range Setting Unit Default Setting When Enabled Classification
10 to 100 1% 100 After restart Setup
An A.720 alarm (Continuous Overload) can be detected earlier to protect the Servomotor from
overloading.
Overload
detection time
A.720 A.710
Detection curve
for overload
alarms when
Pn52C = 100%
(default setting)
Detection curve
for overload
alarms when
Pn52C = 50%
50% 100% 200% Torque reference (%)
Note: The gray areas in the above graph show where A.710 and A.720 alarms occur.
Refer to the relevant manual given below for a diagram that shows the relationships between
the Servomotor heat dissipation conditions (heat sink size, surrounding air temperature, and
derating). You can protect the Servomotor from overloads more effectively by setting this derat-
ing value in Pn52C.
5-46
5.16 Electronic Gear Settings

The minimum unit of the position data that is used to move a load is called the reference unit.
The reference unit is used to give travel amounts, not in pulses, but rather in distances or other
physical units (such as μm or °) that are easier to understand.
The electronic gear is used to convert the travel distances that are specified in reference units
to pulses, which are required for actual movements.
With the electronic gear, one reference unit is equal to the workpiece travel distance per refer-
ence pulse input to the SERVOPACK. In other words, if you use the SERVOPACK’s electronic
gear, pulses can be read as reference units.
Note: 1. If you set an electronic gear in the host controller, normally set the electronic gear ratio in the SERVOPACK
to 1:1.
2. If you enable reference pulse input multiplication switching, the reference unit is defined as the position
data that is n times the reference pulses input from the host controller. (“n” is the reference pulse input mul-
tiplier.)
The difference between using and not using the electronic gear is shown below.

In this example, the following machine configuration is used to move the workpiece 10 mm.
Workpiece
Resolution:
Ball screw lead: 6 mm
16,777,216 (24 bits)
When the Electronic Gear Is Not Used When the Electronic Gear Is Used
To move a workpiece 10 mm: If you use reference units to
Calculate the number of revolutions. move the workpiece when one
The Servomotor will move 6 mm for each revo- reference unit is set to 1 μm,
lution, so 10/6 revolutions are required to move the travel distance is 1 μm per
10 mm. pulse.
Calculate the required number of reference To move the workpiece 10 mm
pulses. (10,000 μm), 10,000 ÷ 1 =
One revolution is 16,777,216 pulses, therefore 10,000 pulses, so 10,000
10/6 × 16,777,216 = 27,962,026.66 pulses. pulses would be input.
Input 27,962,027 pulses as the reference.
5
Calculating the number of reference pulses for each Calculating the number of ref-
reference is troublesome. erence pulses for each refer-
ence is not necessary.
5-47
5.16.1 Electronic Gear Ratio Settings
In this example, the following machine configuration is used to move the load 10 mm. We’ll
assume that the resolution of the Serial Converter Unit is 256 and that the linear encoder pitch
is 20 μm.
Linear encoder
When the Electronic Gear Is Not Used When the Electronic Gear Is Used
To move the load 10 mm: To use reference units to move the load 10 mm:
10 × 1000 ÷ 20 × 256 = 128,000 If we set the reference unit to 1 μm, the travel
pulses, so 128,000 pulses are input distance is 1 μm per pulse. To move the load 10
as the reference. mm (10,000 μm), 10,000/1 = 10,000 pulses, so
10,000 pulses would be input as the reference.
Calculating the number of reference Calculating the number of reference pulses
pulses for each reference is trouble- for each reference is not necessary.
some.

Set the electronic gear ratio using Pn20E and Pn210.
The setting range of the electronic gear depends on the setting of Pn040 = n.X (Encoder
Resolution Compatibility Selection).
• Pn040 = n.0 (Use the encoder resolution of the Servomotor.)
Important Set the electronic gear ratio within the following range.
0.001 ≤ Electronic gear ratio (B/A) ≤ 64,000
If the electronic gear ratio is outside of this range, an A.040 alarm (Parameter Setting Error) will
occur.
• Pn040 = n.1 (Use a resolution of 20 bits when connected to an SGM7J, SGM7A,
SGM7P, SGM7G, SGM7E, or SGM7F Servomotor.)
Set the electronic gear ratio within the following range.
0.001 ≤ Electronic gear ratio (B/A) ≤ 4,000
If the electronic gear ratio is outside of this range, an A.040 alarm (Parameter Setting Error) will
occur.
Electronic Gear Ratio (Numerator) Position

Pn20E Setting Range Setting Unit Default Setting When Enabled Classification
1 to 1,073,741,824 1 64 After restart Setup
Electronic Gear Ratio (Denominator) Position
1 to 1,073,741,824 1 1 After restart Setup
5-48
Calculating the Settings for the Electronic Gear Ratio

 Rotary Servomotors
If the gear ratio between the Servomotor shaft and the load is given as n/m, where n is the
number of load rotations for m Servomotor shaft rotations, the settings for the electronic gear
ratio can be calculated as follows:
B Pn20E Encoder resolution m
Electronic gear ratio = = ×
A Pn210 Travel distance per load shaft revolution (reference units) n
 Encoder Resolution
You can check the encoder resolution in the Servomotor model number.
SGM7M -
Code Specification Encoder Resolution

3 20-bit multiturn absolute encoder 1,048,576
SGM7J, SGM7A,

SGM7P, SGM7G -

6 24-bit batteryless multiturn absolute encoder 16,777,216
F 24-bit incremental encoder 16,777,216
SGM7E, SGM7F -

F 24-bit incremental encoder 16,777,216
SGMCS -

3 20-bit single-turn absolute encoder 1,048,576
D 20-bit incremental encoder 1,048,576
SGMCV -
5
E 22-bit single-turn absolute encoder 4,194,304
I 22-bit multiturn absolute encoder 4,194,304
 Linear Servomotors
You can calculate the settings for the electronic gear ratio with the following equation:
When Not Using a Serial Converter Unit
Use the following formula if the linear encoder and SERVOPACK are connected directly or if a
linear encoder that does not require a Serial Converter Unit is used.
B Travel distance per reference unit (reference units) × Linear encoder resolution
Electronic gear ratio = Pn20E =
A Pn210 Linear encoder pitch (the value from the following table)
When Using a Serial Converter Unit

B = Pn20E = Travel distance per reference unit (reference units) × Resolution of the Serial Converter Unit
Electronic gear ratio
A Pn210 Linear encoder pitch (setting of Pn282)
5-49
 Feedback Resolution of Linear Encoder

The linear encoder pitches and resolutions are given in the following table.
Calculate the electronic gear ratio using the values in the following table.
Linear
Type of Model of Serial Con-
Linear Encoder Encoder
Linear Manufacturer verter Unit or Model of Resolution Resolution
Model Pitch
Encoder Interpolator
[μm]*1
JZDP-H003--E*2 256 0.078 μm
Dr. LIDA48 20
JOHANNES JZDP-J003--E *2 4,096 0.0049 μm
HEIDENHAIN JZDP-H003--E *2 256 0.016 μm
GmbH LIF48 4
JZDP-J003--E *2 4,096 0.00098 μm
Renishaw JZDP-H005--E *2 256 0.078 μm

RGH22B 20
PLC JZDP-J005--E *2 4,096 0.0049 μm
Incremen- SR75-LF *5 80 – 8,192 0.0098 μm
tal SR75-MF 80 – 1,024 0.078 μm
SR85-LF*5 80 – 8,192 0.0098 μm
Magnescale SR85-MF 80 – 1,024 0.078 μm

Co., Ltd. *5 *5 *3
SL700 , SL710 , PL101-RY
800 8,192 0.0977 μm
SL720*5, SL730*5 MJ620-T13*4
MQ10-FLA*4
SQ10 400 8,192 0.0488 μm
MQ10-GLA*4
LIC4100 Series 20.48 EIB3391Y*4 4,096 0.005 μm
Dr. 204.8 EIB3391Y *4 4,096 0.05 μm
JOHANNES LIC2100 Series
409.6 EIB3391Y *4 4,096 0.1 μm
HEIDENHAIN
GmbH LC115 40.96 EIB3381Y *4 4,096 0.01 μm
LC415 40.96 EIB3391Y *4 4,096 0.01 μm
ST781A/ST781AL 256 – 512 0.5 μm
ST782A/ST782AL 256 – 512 0.5 μm
ST783/ST783AL 51.2 – 512 0.1 μm
Mitutoyo ST784/ST784AL 51.2 – 512 0.1 μm
Absolute Corporation ST788A/ST788AL 51.2 – 512 0.1 μm
ST789A/ST789AL 25.6 – 512 0.05 μm
ST1381 5.12 – 512 0.01 μm
ST1382 0.512 – 512 0.001 μm
EL36Y-050F 12.8 – 256 0.05 μm
EL36Y-100F 25.6 – 256 0.1 μm
EL36Y-500F 128 – 256 0.5 μm
Renishaw
PLC RL36Y-
12.8 – 256 0.05 μm
050
RL36Y-
0.256 – 256 0.001 μm
001
5-50

Linear
Type of Model of Serial Con-
Linear Encoder Encoder
Linear Manufacturer verter Unit or Model of Resolution Resolution
Model Pitch
Encoder Interpolator
[μm]*1
SR77-LF*5 80 – 8,192 0.0098 μm
SR77-MF 80 – 1,024 0.078 μm
SR87-LF *5 80 – 8,192 0.0098 μm
SR87-MF 80 – 1,024 0.078 μm
Magnescale SQ47/SQ57-
SF
Co., Ltd. 20.48 – 4,096 0.005 μm
SQ47/SQ57-
TF
SQ47/SQ57-
AF
40.96 – 4,096 0.01 μm
SQ47/SQ57-
Absolute F F
0.078 μm

L2AK208 20 – 256
L2AK211 20 – 2,048 0.0098 μm
LAK209 40 – 512 0.078 μm
LAK212 40 – 4,096 0.0098 μm
Fagor S2AK208 20 – 256 0.078 μm
Automation S.
Coop. SV2AK208 20 – 256 0.078 μm
G2AK208 20 – 256 0.078 μm
S2AK211 20 – 2,048 0.0098 μm
SV2AK211 20 – 2,048 0.0098 μm
G2AK211 20 – 2,048 0.0098 μm
*1. These are reference values for setting SERVOPACK parameters. Contact the manufacturer for actual linear
encoder scale pitches.
*2. This is the model of the Serial Converter Unit.
*3. This is the model of the Head with Interpolator.
*4. This is the model of the Interpolator.
*5. If you use an encoder pulse output with this linear encoder, the setting range of the encoder output resolution
(Pn281) is restricted. Refer to the following section for details on the encoder output resolution (Pn281).
6.8.2 Setting for the Encoder Divided Pulse Output on page 6-52
Information Resolution
You can calculate the resolution that is used inside the SERVOPACK (i.e., the travel distance per
feedback pulse) with the following formula. 5
Linear encoder pitch
Resolution (travel distance per feedback pulse) =
Resolution of Serial Converter Unit or linear encoder
The SERVOPACK uses feedback pulses as the unit to control a Servomotor.

=Distance for one cycle of the analog voltage
feedback signal from the linear encoder
5-51
5.16.2 Electronic Gear Ratio Setting Examples
5.16.2 Electronic Gear Ratio Setting Examples

Setting examples are provided in this section.
Machine Configuration
Ball Screw Rotary Table Belt and Pulley
Reference unit: 0.01° Reference unit: 0.005 mm
Reference unit: 0.001 mm Load shaft
Step Description Load shaft
Gear ratio:
1/100
Encoder: Ball screw lead: Pulley dia.:
Gear ratio:
24 bits 6 mm Load shaft 100 mm
Encoder: 24 bits 1/50
Encoder: 24 bits
• Pulley dia.: 100 mm
• Rotational angle per rev-
Machine • Ball screw lead: 6 mm (Pulley circumference:
1 olution: 360°
Specifications • Gear ratio: 1/1 314 mm)
• Gear ratio: 1/100
• Gear ratio: 1/50
2 Encoder Resolution 16,777,216 (24 bits) 16,777,216 (24 bits) 16,777,216 (24 bits)
3 Reference Unit 0.001 mm (1 μm) 0.01° 0.005 mm (5 μm)
Travel Distance per
6 mm/0.001 mm = 314 mm/0.005 mm =
4 Load Shaft Revolution 360°/0.01° = 36,000
6,000 62,800
(Reference Units)
B 16,777,216 1 B 16,777,216 100 B 16,777,216 50
5 Electronic Gear Ratio = × = × = ×
A 6,000 1 A 36,000 1 A 62,800 1
Pn20E: 16,777,216 Pn20E: 167,772,160 Pn20E: 838,860,800
6 Parameters
Pn210: 6,000 Pn210: 3,600 Pn210: 62,800
A setting example for a Serial Converter Unit resolution of 256 is given below.
Machine Configuration
Reference unit:
0.02 mm (20 m)
Step Description Forward direction
1 Linear encoder pitch 0.02 mm (20 μm)

2 Reference Unit 0.001 mm (1 μm)
B 1 (μm)
3 Electronic Gear Ratio = × 256
A 20 (μm)
Pn20E: 256
4 Setting Parameters
Pn210: 20
5-52
5.17 Resetting the Absolute Encoder
5.17.1 Precautions on Resetting

In a system that uses an absolute encoder, the multiturn data must be reset at startup. An
alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder
must be reset, such as when the power supply is turned ON.
When you reset the absolute encoder, the multiturn data is reset and any alarms related to the
absolute encoder are cleared.
Reset the absolute encoder in the following cases.
• When an A.810 alarm (Encoder Backup Alarm) occurs
• When an A.820 alarm (Encoder Checksum Alarm) occurs
• When starting the system for the first time
• When you want to reset the multiturn data in the absolute encoder
• When the Servomotor has been replaced
CAUTION

 The multiturn data will be reset to a value between -2 and +2 rotations when the absolute
encoder is reset. The reference position of the machine system will change. Adjust the refer-
ence position in the host controller to the position that results from resetting the absolute
encoder.
If the machine is started without adjusting the position in the host controller, unexpected
operation may cause personal injury or damage to the machine.
1. The multiturn data will always be zero in the following cases. It is never necessary to reset
Information
the absolute encoder in these cases. An alarm related to the absolute encoder (A.810 or
A.820) will not occur.
• When you use a single-turn absolute encoder
• When the encoder is set to be used as a single-turn absolute encoder (Pn002 =
n.2)
2. If a batteryless absolute encoder is used, an A.810 alarm (Encoder Backup Alarm) will
occur the first time the power is turned ON. After you reset the absolute encoder, the
A.810 alarm will no longer occur.
5.17.1 Precautions on Resetting 5

• You cannot use the /ALM-RST (Alarm Reset) signal from the SERVOPACK to clear the A.810
alarm (Encoder Backup Alarm) or the A.820 alarm (Encoder Checksum Alarm). Always use
the operation to reset the absolute encoder to clear these alarms.
• If an A.8 alarm (Internal Encoder Monitoring Alarm) occurs, turn OFF the power supply to
reset the alarm.
5.17.2 Preparations
Always check the following before you reset an absolute encoder.
5-53
5.17.3 Applicable Tools

The following table lists the tools that you can use to reset the absolute encoder and the appli-
13.4.7 Reset Absolute Encoder
33)
Encoder Setting − Absolute Encoder 5.17.4 Operating Procedure on page
SigmaWin+ 5-54
Reset
5.17.4 Operating Procedure

Use the following procedure to reset the absolute encoder.
1. Confirm that the servo is OFF.
3. Select Absolute Encoder Reset in the Menu Dialog Box.

The Absolute Encoder Reset Dialog Box will be displayed.
Click the Cancel Button to cancel resetting the absolute encoder. The Main Window will return.
5. Click the Execute setting Button.
The current alarm code and name will be displayed in the Alarm name Box.
5-54
Click the Cancel Button to cancel resetting the absolute encoder. The previous dialog box will return.

The absolute encoder will be reset.
When Resetting Fails

If you attempted to reset the absolute encoder when the servo was ON in the SERVOPACK, the fol-
lowing dialog box will be displayed and processing will be canceled.

Click the OK Button. The Main Window will return. Turn OFF the servo and repeat the procedure from
step 1.
When Resetting Is Successful

The following dialog box will be displayed when the absolute encoder has been reset.
The Main Window will return.
8. To enable the change to the settings, turn the power supply to the SERVOPACK OFF
and ON again.
This concludes the procedure to reset the absolute encoder.
5-55
5.18 Setting the Origin of the Absolute Encoder
5.18.1 Setting the Origin of the Absolute Linear Encoder

You can set any position as the origin in the following Linear Encoders.
• Mitutoyo Corporation
ABS ST780A Series or ST1300 Series
Models: ABS ST78A/ST78AL/ST13
• Renishaw PLC
EVOLUTE Series
Models: EL36Y-
• Renishaw PLC
RESOLUTE Series
Models: RL36Y-
1. After you set the origin, the /S-RDY (Servo Ready) signal will become inactive because the
system position data was changed. Always turn the SERVOPACK power supply OFF and ON
again.
Important 2. After you set the origin, the Servomotor phase data in the SERVOPACK will be discarded. If
you are using a Linear Servomotor without a Polarity Sensor, execute polarity detection again
to save the Servomotor phase data in the SERVOPACK.
Preparations
Always check the following before you set the origin of an absolute encoder.
Applicable Tools
The following table lists the tools that you can use to set the origin of the absolute linear
encoder and the applicable tool functions.
13.4.23 Set Absolute Linear Encoder
Panel Operator Fn020 Origin (Fn020) on page 13-28
33)
SigmaWin+ Encoder Setting - Set Origin Operating Procedure on page 5-56
Operating Procedure
Use the following procedure to set the origin of an absolute linear encoder.
2. Select Set Origin in the Menu Dialog Box.

The Set Origin Dialog Box will be displayed.
5-56

4. Click the Execute Button.

5
Click the Cancel Button to cancel setting the origin of the absolute linear encoder. The previous dia-
log box will return.
5-57
8. If you use a Linear Servomotor that does not have a polarity sensor, perform polarity
detection.
Refer to the following section for details on the polarity detection.
5.11 Polarity Detection on page 5-28
This concludes the procedure to set the origin of the absolute linear encoder.
5-58
5.19 Setting the Regenerative Resistor Capacity
5.19 Setting the Regenerative Resistor Capacity

The regenerative resistor consumes regenerative energy that is generated by the Servomotor,
e.g., when the Servomotor decelerates.
If an External Regenerative Resistor is connected, you must set Pn600 (Regenerative Resistor
Capacity) and Pn603 (Regenerative Resistance).
Refer to the following manual to select the capacity of a Regenerative Resistor.
WARNING
 If you connect an External Regenerative Resistor, set Pn600 and Pn603 to suitable values.
If a suitable value is not set, A.320 alarms (Regenerative Overload) will not be detected cor-
rectly, and the External Regenerative Resistor may be damaged or personal injury or fire may
result.
 When you select an External Regenerative Resistor, make sure that it has a suitable capac-

ity.
There is a risk of personal injury or fire.
Regenerative Resistor Capacity Speed Position Torque

Pn600 0 to SERVOPACK’s
maximum applica- 10 W 0 Immediately Setup
ble motor capacity
Regenerative Resistance Speed Position Torque
0 to 65,535 10 mΩ 0 Immediately Setup
Set the regenerative resistor capacity to a value that is consistent with the allowable capacity of
the External Regenerative Resistor. The setting depends on the cooling conditions of the Exter-
nal Regenerative Resistor.
• For self-cooling (natural convection cooling): Set the parameter to a maximum 20% of the
capacity (W) of the actually installed regenerative resistor.
• For forced-air cooling: Set the parameter to a maximum 50% of the capacity (W) of the actu-
ally installed regenerative resistor.
5
For a self-cooling 100-W External Regenerative Resistor, set Pn600 to 2 (×10 W) (100 W ×
Example
20% = 20 W).
Note: 1. An A.320 alarm will be displayed if the setting is not suitable.

2. The default setting of 0 specifies that the SERVOPACK’s built-in regenerative resistor or Yaskawa’s Regen-
erative Resistor Unit is being used.
1. When an External Regenerative Resistor is used at the normal rated load ratio, the resistor
temperature increases to between 200°C and 300°C. Always apply derating. Consult the
manufacturer for the resistor’s load characteristics.
Important 2. For safety, use an External Regenerative Resistor with a thermoswitch.
5-59
Application
Functions
6
This chapter describes the application functions that you
can set before you start servo system operation. It also
describes the setting methods.
6.1 I/O Signal Allocations . . . . . . . . . . . . . . . . . 6-5

6.1.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . 6-5
6.1.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . 6-8
6.1.3 ALM (Servo Alarm) Signal . . . . . . . . . . . . . . . . . 6-10
6.1.4 ALO1 to ALO3 (Alarm Code) Signals . . . . . . . . . 6-10
6.1.5 /WARN (Warning) Signal . . . . . . . . . . . . . . . . . . 6-11
6.1.6 /TGON (Rotation Detection) Signal . . . . . . . . . . 6-11
6.1.7 /S-RDY (Servo Ready) Signal . . . . . . . . . . . . . . 6-12
6.2 Operation for Momentary Power Interruptions . .6-13
6.3 SEMI F47 Function . . . . . . . . . . . . . . . . . . 6-14
6.4 Setting the Motor Maximum Speed . . . . . 6-16
6.5 Speed Control . . . . . . . . . . . . . . . . . . . . . . 6-17

6.5.1 Basic Settings for Speed Control . . . . . . . . . . . 6-17
6.5.2 Soft Start Settings . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.5.3 Speed Reference Filter . . . . . . . . . . . . . . . . . . . 6-24
6.5.4 Zero Clamping . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6.5.5 /V-CMP (Speed Coincidence Detection)
Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
6.5.6 Operation Examples for Changing the Motor
Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.6 Position Control . . . . . . . . . . . . . . . . . . . . . 6-30
6.6.1 Basic Settings for Position Control . . . . . . . . . .6-31
6.6.2 CLR (Position Deviation Clear) Signal Function
and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33
6.6.3 Reference Pulse Input Multiplication
Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-34
6.6.4 Smoothing Settings . . . . . . . . . . . . . . . . . . . . . .6-36
6.6.5 /COIN (Positioning Completion) Signal . . . . . . . .6-37
6.6.6 /NEAR (Near) Signal . . . . . . . . . . . . . . . . . . . . . .6-38
6.6.7 Reference Pulse Inhibition Function . . . . . . . . . .6-39
6.7 Torque Control . . . . . . . . . . . . . . . . . . . . . . 6-40

6.7.1 Basic Settings for Torque Control . . . . . . . . . . .6-40
6.7.2 Adjusting the Torque Reference Offset . . . . . . . .6-41
6.7.3 Torque Reference Filter Settings . . . . . . . . . . . .6-45
6.7.4 Speed Limit during Torque Control . . . . . . . . . . .6-45
6.8 Encoder Divided Pulse Output . . . . . . . . . 6-47

6.8.1 Encoder Divided Pulse Output Signals . . . . . . . .6-47
6.8.2 Setting for the Encoder Divided Pulse Output . .6-52
6.9 Internal Set Speed Control . . . . . . . . . . . . 6-54

6.9.1 Input Signals for Internal Set Speed Control . . .6-54
6.9.2 Setting the Control Method to Internal Set
Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . .6-55
6.9.3 Settings for Internal Set Speed Control . . . . . . .6-55
6.9.4 Changing Internal Set Speeds with Input
Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-56
6.10 Selecting Combined Control Methods . . . 6-58

6.10.1 Setting Pn000 = n.X
(Control Method Selection) to 4, 5, or 6 . . . . . . .6-58
6.10.2 Setting Pn000 = n.X
(Control Method Selection) to 7, 8, or 9 . . . . . . .6-61
6.10.3 Setting Pn000 = n.X
(Control Method Selection) to A or B . . . . . . . . .6-61
6.11 Selecting Torque Limits . . . . . . . . . . . . . . . 6-63

6.11.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . .6-63
6.11.2 External Torque Limits . . . . . . . . . . . . . . . . . . . .6-64
6.11.3 Limiting Torque with an Analog Reference . . . . .6-67
6.11.4 Limiting Torque with an External Torque Limit
and an Analog Voltage Reference . . . . . . . . . . .6-69
6.11.5 /CLT (Torque Limit Detection) Signal . . . . . . . . .6-72
6.12 Absolute Encoders . . . . . . . . . . . . . . . . . . 6-73
6.12.1 Connecting an Absolute Encoder . . . . . . . . . . . 6-74
6.12.2 Structure of the Position Data of the Absolute
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74
6.12.3 Output Ports for the Position Data from the
Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . 6-75
6.12.4 Reading the Position Data from the Absolute
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-76
6.12.5 Transmission Specifications . . . . . . . . . . . . . . . 6-80
6.12.6 Calculating the Current Position in Machine
Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-81
6.12.7 Alarm Output from Output Ports for the Position
Data from the Absolute Encoder . . . . . . . . . . . . 6-82
6.12.8 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . 6-82
6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) . . . 6-84
6.13 Absolute Linear Encoders . . . . . . . . . . . . . 6-87

6.13.1 Connecting an Absolute Linear Encoder . . . . . . 6-87
6.13.2 Structure of the Position Data of the Absolute
Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . 6-87
6.13.3 Output Ports for the Position Data from
the Absolute Linear Encoder . . . . . . . . . . . . . . . 6-88
6.13.4 Reading the Position Data from the Absolute
Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . 6-89
6.13.5 Transmission Specifications . . . . . . . . . . . . . . . 6-93
6.13.6 Calculating the Current Position in Machine
Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-94
6.13.7 Alarm Output from the Output Ports for the Position
Data from the Absolute Linear Encoder . . . . . . . 6-95
6.14 Software Reset . . . . . . . . . . . . . . . . . . . . . 6-96

6.14.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-96
6.14.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . 6-96
6.14.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . 6-96
6.15 Initializing the Vibration Detection Level . . . 6-98

6.15.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-98
6.15.4 Related Parameters . . . . . . . . . . . . . . . . . . . . 6-101
6.16 Adjusting the Motor Current Detection Signal Offset . . 6-102

6.16.1 Automatic Adjustment . . . . . . . . . . . . . . . . . . . 6-102
6.16.2 Manual Adjustment . . . . . . . . . . . . . . . . . . . . . 6-104
6.17 Forcing the Motor to Stop . . . . . . . . . . . . . . . . . . . . . . . . 6-106

6.17.1 FSTP (Forced Stop Input) Signal . . . . . . . . . . . 6-106
6.17.2 Stopping Method Selection for Forced Stops . 6-106
6.17.3 Resetting Method for Forced Stops . . . . . . . . 6-108
6.18 Overheat Protection . . . . . . . . . . . . . . . . 6-109
6.18.1 Connecting the Overheat Protection Input (TH)
Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-109
6.18.2 Overheat Protection Selection . . . . . . . . . . . . . 6-109
6.1 I/O Signal Allocations
6.1.1 Input Signal Allocations

Functions are allocated to the pins on the I/O signal connector (CN1) in advance. You can
change the allocations and the polarity for some of the connector pins. Function allocations
and polarity settings are made with parameters.
This section describes the I/O signal allocations.

Although you can use the input signals with the default settings, you can also allocate the
desired input signals to pins 40 to 46 on the I/O signal connector (CN1).
Specify the allocation method to use in Pn50A = n.X (Input Signal Allocation Mode).
Parameter Description When Enabled Classification
n.0
Use the sequence input signal terminals with
(default set-
the default allocations.
Pn50A ting) After restart Setup
Change the individual sequence input signal
n.1
allocations.
Using the Default Settings

The default settings for signal allocations are given in the following table.
If you change the control method that is set in Pn000 = n.X, the signals will be allocated
as required for the specified control method, as given in the following table.
If the control method is set to internal set speed control with contact commands (Pn000 =
3), the /P-CON signal (CN1-41) will be allocated as the /SPD-D signal, the /P-CL signal
(CN1-45) as the /SPD-A signal, and the /N-CL signal (CN1-46) as the /SPD-B signal.
Pn000 = CN1 Pin No.
Control Method Selection
n.X 40 41 42 43 44 45 46
0 Speed control
1 Position control /P-CON /P-CL /N-CL
2 Torque control
3 Internal set speed control
Switching between internal set
4 speed control and speed con- 6
trol with analog references
Switching between internal set /SPD-D /SPD-A /SPD-B
5 speed control and position
control
6 speed control and torque con-
trol /S- /ALM-
P-OT N-OT
Switching between position ON RST
7
control and speed control
Switching between position
8 /C-SEL
control and torque control
Switching between torque
9
control and speed control
Switching between speed /P-CL /N-CL
control with analog references
A /ZCLAMP
and speed control with zero
clamping
Switching between normal
position control and position
B /INHIBIT
control with reference pulse
inhibition
6-5
Changing Input Signal Allocations

• If you change the default polarity settings for the /S-ON (Servo ON), P-OT (Forward Drive Pro-
hibit), or N-OT (Reverse Drive Prohibit) signal, the main circuit power supply will not be turned
OFF and the overtravel function will not operate if there are signal line disconnections or other
Important problems. If you must change the polarity of one of these signals, verify operation and make
sure that no safety problems will exist.
• If you allocate two or more signals to the same input circuit, a logical OR of the inputs will be
used and all of the allocated signals will operate accordingly. This may result in unexpected
operation.
The input signals that you can allocate to the pins on the I/O signal connector (CN1) and the
related parameters are given in the following table.
Input Signal Input Signal Name Parameter
/S-ON Servo ON Pn50A = n.X
/P-CON Proportional Control Pn50A = n.X
P-OT Forward Drive Prohibit Pn50A = n.X
N-OT Reverse Drive Prohibit Pn50B = n.X
/ARM-RST Alarm Reset Pn50B = n.X
/P-CL Forward External Torque Limit Pn50B = n.X
/N-CL Reverse External Torque Limit Pn50B = n.X
/SPD-D Motor Direction Pn50C = n.X
/SPD-A Internal Set Speed Selection Pn50C = n.X
/SPD-B Internal Set Speed Selection Pn50C = n.X
/C-SEL Control Selection Pn50C = n.X
/ZCLAMP Zero Camping Pn50D = n.X
/INHIBIT Reference Pulse Inhibit Pn50D = n.X
/G-SEL Gain Selection Pn50D = n.X
/P-DET Polarity Detection Pn50D = n.X
SEN Absolute Data Request Pn515 = n.X
Reference Pulse Input Multiplication
/PSEL Pn515 = n.X
Switch
FSTP Forced Stop Pn516 = n.X
6-6
 Relationship between Parameter Settings, Allocated Pins, and Polari-

ties
The following table shows the relationship between the input signal parameter settings, the
pins on the I/O signal connector (CN1), and polarities.
Parameter
Pin No. Description
Setting
0 40
1 41 +24 V
2 42
3 43 A reverse signal (a signal with “/” before the signal abbreviation, such as the /
4 44 S-ON signal) is active when the contacts are ON (closed).
A signal that does not have “/” before the signal abbreviation (such as the P-
5 45
OT signal) is active when the contacts are OFF (open).
6 46
The input signal is not allocated to a connector pin and it is always active.
7 –
If the signal is processed on a signal edge, then it is always inactive.
The input signal is not allocated to a connector pin and it is always inactive.
8 –
Set the parameter to 8 if the signal is not used.
9 40
A 41 +24 V
B 42
C 43 A reverse signal (a signal with “/” before the signal abbreviation, such as the /
D 44 S-ON signal) is active when the contacts are OFF (open).
A signal that does not have “/” before the signal abbreviation (such as the P-
E 45 OT signal) is active when the contacts are ON (closed).
F 46
Note: Refer to the following section for details on input signal parameter settings.
14.1 List of Parameters on page 14-2
Example of Changing Input Signal Allocations
The following example shows reversing the P-OT (Forward Drive Prohibit) signal allocated to
CN1-42 and the /P-CL (External Torque Limit) signal allocated to CN1-45.
Pn50A = n.20 Pn50B = n.5 Before change
↓ ↓
Pn50A = n.51 Pn50B = n.2 After change 6

Refer to the following section for the parameter setting procedure.
5.1.3 Parameter Setting Methods on page 5-6
Confirming the Allocation Status of Input Signals

You can confirm the allocation status of input signals with the I/O Signal Allocations Window of
the SigmaWin+. Refer to the following section for details.
9.2.3 I/O Signals Status Monitor on page 9-7
6-7
6.1.2 Output Signal Allocations

You can allocate the desired output signals to pins 25 to 30 and 37 to 39 on the I/O signal con-
nector (CN1). You set the allocations in the following parameters: Pn50E, Pn50F, Pn510,
Pn512, Pn513, Pn514, and Pn517.
• The signals that are not detected are considered to be OFF. For example, the /COIN (Position-
ing Completion) signal is considered to be OFF during speed control.
• Reversing the polarity of the /BK (Brake) signal, i.e., changing it to positive logic, will prevent
Important the holding brake from operating if its signal line is disconnected. If you must change the polar-
ity of this signal, verify operation and make sure that no safety problems will exist.
• If you allocate more than one signal to the same output circuit, a logical OR of the signals will
be output.
Output signals are allocated as shown in the following table.

Refer to Interpreting the Output Signal Allocation Tables and change the allocations accord-
ingly.
Interpreting the Output Signal Allocation Tables
These columns give the parameter settings to use. Signals

are allocated to CN1 pins according to the settings.
Output Signal Name CN1 Pin No. Disabled

Output
and Parameter Signal 25 and 26 27 and 28 29 and 30 37 38 39 (Not Used)
Positioning
Completion /COIN 1 2 3 4 5 6 0
Pn50E = n.X
6-8
CN1 Pin No.

Output Signal Name Output Disabled
and Parameter Signal 25 and 27 and 29 and (Not Used)
37 38 39
26 28 30
Positioning Completion 1
/COIN (default 2 3 4 5 6 0
Pn50E = n.X setting)
Speed Coincidence 1
Detection /V-CMP (default 2 3 4 5 6 0
Pn50E = n.X setting)
Rotation Detection 2
/TGON 1 (default 3 4 5 6 0
Pn50E = n.X setting)
Servo Ready 3
/S-RDY 1 2 (default 4 5 6 0
Pn50E = n.X setting)
Torque Limit Detection 0
/CLT 1 2 3 4 5 6
Pn50F = n.X (default setting)
Speed Limit Detection 0
/VLT 1 2 3 4 5 6
Pn50F = n.X (default setting)
Brake 0
/BK 1 2 3 4 5 6
Pn50F = n.X (default setting)
Warning 0
/WARN 1 2 3 4 5 6
Pn50F = n.X (default setting)
Near 0
NEAR 1 2 3 4 5 6
Pn510 = n.X (default setting)
Reference Pulse Input
Multiplication Switch- 0
/PSELA 1 2 3 4 5 6
ing Output (default setting)
Pn510 = n.X
Preventative Mainte-
0
nance /PM 1 2 3 4 5 6
(default setting)
Pn514 = n.X
Alarm Code 4
ALO1 1 2 3 (default 5 6 0
Pn517 = n.X
setting)
Alarm Code 5
ALO2 1 2 3 4 (default 6 0
Pn517 = n.X setting)
Alarm Code 6
ALO3 1 2 3 4 5 (default 0
Pn517 = n.X setting)
Pn512 = n.1 Reverse polarity for

CN1-25 and CN1-26
Pn512 = n.1
Reverse polarity for CN1-27 and
CN1-28 6
0
Pn512 = n.1 Reverse polarity for CN1-29 and CN1-30 (default setting)
（）
The polarity
is not reversed
Pn512 = n.1 Reverse polarity for CN1-37 in the default
settings.
Pn513 = n.1 Reverse polarity for CN1-38
Pn513 = n.1 Reverse polarity for CN1-39
Example of Changing Output Signal Allocations

The following example shows disabling the /COIN (Positioning Completion) signal allocated to CN1-25
and CN1-26 and allocating the /BK (Brake) signal.
Pn50E = n.1 Pn50F = n.0 Before change
↓ ↓
Pn50E = n.0 Pn50F = n.1 After change
Refer to the following section for the parameter setting procedure.
5.1.3 Parameter Setting Methods on page 5-6
6-9
6.1.3 ALM (Servo Alarm) Signal
Confirming the Allocation Status of Output Signals

You can confirm the allocation status of output signals with the I/O Signal Allocations Window
of the SigmaWin+. Refer to the following section for details.
9.2.3 I/O Signals Status Monitor on page 9-7
6.1.3 ALM (Servo Alarm) Signal

This signal is output when the SERVOPACK detects an error.
Configure an external circuit so that this alarm output turns OFF the main circuit power supply to
the SERVOPACK whenever an error occurs.
Important

CN1-31 and ON (closed) Normal SERVOPACK status
Output ALM
CN1-32 OFF (open) SERVOPACK alarm
Alarm Reset Methods

Refer to the following section for information on the alarm reset methods.
12.2.3 Resetting Alarms on page 12-41
6.1.4 ALO1 to ALO3 (Alarm Code) Signals

The ALO1 to ALO3 (Alarm Code) signals report alarms and warnings that occur in the SERVO-
PACK. Use the alarm code output signals as required to display the contents of the alarm at the
host controller (e.g., HMI).
Refer to the following sections for the relationship between the alarm code output and the
alarms/warnings.
12.3.1 List of Warnings on page 12-48
ALO1 to ALO3 (Alarm Code) Signals

The ALO1 to ALO3 signals are allocated to the following output signal terminals (CN1) by
default.
Type Signal Name Pin No.
ALO1 CN1-37
ALO2 Alarm Code Output CN1-38
Output
ALO3 CN1-39
SG Signal ground for alarm code output CN1-1
You can allocate the ALO1 to ALO3 signals to connector pins other than those given above.
6-10
6.1.5 /WARN (Warning) Signal
6.1.5 /WARN (Warning) Signal

Both alarms and warnings are generated by the SERVOPACK. Alarms indicate errors in the
SERVOPACK for which operation must be stopped immediately. Warnings indicate situations
that may results in alarms but for which stopping operation is not yet necessary.
The /WARN (Warning) signal indicates that a condition exists that may result in an alarm.
ON (closed) Warning
Output /WARN Must be allocated.
OFF (open) Normal status
Note: You must allocate the /WARN signal to use it. Use Pn50F = n.X (/WARN (Warning Output) Signal Allo-
cation) to allocate the signal to a connector pin. Refer to the following section for details.
Setting the Warning Code Output

You can use the ALO1 to ALO3 (Alarm Code Output) signals to output warning codes. Use
Pn001 = n.X (Warning Code Output Selection) to set the output.
Refer to the following sections for details on the warnings.
12.3.1 List of Warnings on page 12-48

n.0 Output only alarm codes on the ALO1 to
(default setting) ALO3 terminals.
Pn001 Output both warning codes and alarm codes After restart Setup
n.1 on the ALO1 to ALO3 terminals. If there is an
alarm, the alarm code is output.
6.1.6 /TGON (Rotation Detection) Signal
The /TGON signal indicates that the Servomotor is operating.
This signal is output when the shaft of the Servomotor rotates at the setting of Pn502 (Rotation
Detection Level) or faster or the setting of Pn581 (Zero Speed Level) or faster.
The /TGON signal is allocated to CN1-27 and CN1-28 by default.
Type Signal Connector Pin No. Signal Status Servomotor Meaning
The Servomotor is
Rotary Servomotors operating at the setting 6
of Pn502 or faster.
ON (closed)
The Servomotor is
Linear Servomotors operating at the setting
of Pn581 or faster.
CN1-27 and CN1- The Servomotor operat-
Output /TGON
28 (default setting) ing at a speed that is
Rotary Servomotors
slower than the setting
of Pn502.
OFF (open)
The Servomotor is
operating at a speed
Linear Servomotors
that is slower than the
setting of Pn581.
Note: Use Pn50E = n.X (/TGON (Rotation Detection Output) Signal Allocation) to allocate the /TGON signal to
another connector pin. Refer to the following section for details.
6-11
6.1.7 /S-RDY (Servo Ready) Signal
Setting the Rotation Detection Level

Use the following parameter to set the speed detection level at which to output the /TGON sig-
nal.
Rotation Detection Level Speed Position Torque
1 min
Zero Speed Level Speed Position Force
6.1.7 /S-RDY (Servo Ready) Signal

The /S-RDY (Servo Ready) signal turns ON when the SERVOPACK is ready to accept the /S-
ON (Servo ON) input signal.
The /S-RDY signal is turned ON under the following conditions.
• Main circuit power supply is ON.
• There is no hard wire base block state.
• There are no alarms.
• If an absolute encoder is used, the SEN (Absolute Data Request) signal is ON (high level).
• If a Servomotor without a polarity sensor is used, polarity detection has been completed. *
• If an absolute encoder is used, the SERVOPACK must be ready to accept the /S-ON (Servo
ON) signal and, if the SEN signal is ON (high level), the output of the position data from the
absolute encoder to the host controller must have been completed.
* Do not include this condition if the /S-ON (Servo ON) signal is input for the first time after the control power supply
was turned ON. In that case, when the first /S-ON signal is input, polarity detection is started immediately and the
/S-RDY signal turns ON at the completion of polarity detection.
The /S-RDY signal is allocated to CN1-29 and CN1-30 by default.
ON (closed) Ready to receive the /S-ON (Servo ON) signal.
CN1-29 and CN1-
Output /S-RDY Not ready to receive the /S-ON (Servo ON) sig-
30 (default setting) OFF (open)
nal.
Note: 1. Use Pn50E = n.X (/S-RDY (Servo Ready) Signal Allocation) to allocate the /S-RDY signal to another
connector pin. Refer to the following section for details.
2. Refer to the following section for information on the hard wire base block and the /S-RDY signal.
11.2.7 /S-RDY (Servo Ready Output) Signal on page 11-6
6-12
6.2 Operation for Momentary Power Interruptions
6.2 Operation for Momentary Power Interruptions

Even if the main power supply to the SERVOPACK is interrupted momentarily, power supply to
the motor (servo ON status) will be maintained for the time set in Pn509 (Momentary Power
Interruption Hold Time).
Momentary Power Interruption Hold Time Speed Position Torque
If the momentary power interruption time is equal to or less than the setting of Pn509, power
supply to the motor will be continued. If it is longer than the setting, power supply to the motor
will be stopped. Power will be supplied to the motor again when the main circuit power supply
recovers.
Setting of Pn509 ≥ Momentary power interruption time Setting of Pn509 < Momentary power interruption time
Momentary power interruption Momentary power interruption
Main circuit Main circuit

power supply Momentary power power supply Momentary power
interruption ≤ Pn509 interruption > Pn509
Setting of Setting of
Pn509 Pn509
Pn509 Pn509
Power not
Power supply
supplied.
Motor power continued.
Power supplied. Motor power Power supplied.
status status
Power shut OFF.
Momentary power interruption Momentary power interruption
1. If the momentary power interruption time exceeds the setting of Pn509, the /S-RDY (Servo
Information
Ready) signal will turn OFF.
2. If uninterruptible power supplies are used for the control power supply and main circuit
power supply, the SERVOPACK can withstand a power interruption that lasts longer than
50,000 ms.
3. The holding time of the SERVOPACK control power supply is approximately 100 ms. If
control operations become impossible during a momentary power interruption of the con-
trol power supply, the setting of Pn509 will be ignored and the same operation will be per-
formed as for when the power supply is turned OFF normally.
6
The holding time of the main circuit power supply depends on the output from the SERVOPACK.
If the load on the Servomotor is large and an A.410 alarm (Undervoltage) occurs, the setting of
Important Pn509 will be ignored.
6-13
6.3 SEMI F47 Function

The SEMI F47 function detects an A.971 warning (Undervoltage) and limits the output current if
the DC main circuit power supply voltage to the SERVOPACK drops to a specified value or
lower because the power was momentarily interrupted or the main circuit power supply voltage
was temporarily reduced.
This function complies with the SEMI F47 standards for semiconductor manufacturing equip-
ment.
You can combine this function with the momentary power interruption hold time (Pn509) to
allow the Servomotor to continue operating without stopping for an alarm or without recovery
work even if the power supply voltage drops.
Execution Sequence
This function can be executed either with the host controller or with the SERVOPACK. Use
Pn008 = n.X (Function Selection for Undervoltage) to specify whether the function is exe-
cuted by the host controller or by the SERVOPACK.
The default setting (Pn008 = n.0) disables detection of an A.971 warning (Undervoltage).
n.0
(default set- Do not detect undervoltage.
ting)
Detect undervoltage warning and limit torque
Pn008 n.1 After restart Setup
at host controller.
Detect undervoltage warning and limit torque
n.2 with Pn424 and Pn425 (i.e., only in SERVO-
PACK).
 Execution with the Host Controller (Pn008 = n.1)

The host controller limits the torque in response to an A.971 warning (Undervoltage).
The host controller removes the torque limit after the Undervoltage warning is cleared.
Main circuit power interruption time
Main circuit input
power supply
Main circuit 280 V The output torque is limited to suppress

the drop in the main circuit bus voltage.
bus voltage 200 V
The main circuit bus voltage increases when
SERVOPACK the main circuit power supply recovers.
A.971 warning
(Undervoltage)
Torque limit starts.
Torque control
0%
The torque is limited when the
Undervoltage Undervoltage warning is received.
warning status
Host controller Torque limit
reference Torque limit ends.
0%
6-14
 Execution with the SERVOPACK (Pn008 = n.2)

The torque is limited in the SERVOPACK in response to an Undervoltage warning.
The SERVOPACK controls the torque limit for the set time after the Undervoltage warning is
cleared.
Main circuit power interruption time
Main circuit input

power supply
280 V The output torque is limited to suppress the
drop in the main circuit bus voltage.
Main circuit 200 V
bus voltage The main circuit bus voltage
increases when the main
SERVOPACK circuit power supply recovers.
A.971 warning Setting of Pn425
(Undervoltage) Torque limit starts.
Torque
Setting of Pn424
control
0%
Related Parameters
The following parameters are related to the SEMI F47 function.
Torque Limit at Main Circuit Voltage Drop Speed Position Torque
Release Time for Torque Limit at Main Circuit Voltage Drop Speed Position Torque
Momentary Power Interruption Hold Time Speed Position Torque
Note: If you will use the SEMI F47 function, set the time to 1,000 ms.
• This function handles momentary power interruptions for the voltage and time ranges stipu-
lated in SEMI F47. An uninterruptible power supply (UPS) is required as a backup for momen-
tary power interruptions that exceed these voltage and time ranges.
Important • Set the host controller or SERVOPACK torque limit so that a torque reference that exceeds the 6
specified acceleration torque will not be output when the power supply for the main circuit is
restored.
• For a vertical axis, do not limit the torque to a value that is lower than the holding torque.
• This function limits torque within the range of the SERVOPACK’s capability for power interrup-
tions. It is not intended for use under all load and operating conditions. Set the parameters
while monitoring operation on the actual machine.
• You can set the momentary power interruption hold time to increase the amount of time from
when the power supply is turned OFF until power supply to the motor is stopped. To stop the
power supply to the motor immediately, use the /S-ON (Servo ON) signal.
6-15
6.4 Setting the Motor Maximum Speed
6.4 Setting the Motor Maximum Speed

You can set the maximum speed of the Servomotor with the following parameter.
Maximum Motor Speed Speed Position Torque
0 to 65,535 1 min-1 10,000 After restart Setup
Maximum Motor Speed Speed Position Force
1 to 100 100 mm/s 50 After restart Setup
You can achieve the following by lowering the maximum speed of the Servomotor.
• If the Servomotor speed exceeds the setting, an A.510 alarm (Overspeed) will occur.
• With a Linear Servomotor, you can increase the upper limit for the setting of Pn281 (Encoder
Output Resolution). Refer to the following section for details.
6.8 Encoder Divided Pulse Output on page 6-47
Changing the setting of the parameter is effective in the following cases.

• To protect the machine by stopping machine operation with an alarm when the set speed is
reached or exceeded
• To limit the speed so that the load is driven beyond the allowable moment of inertia
Refer to relevant manual from the following list for the relationship between the speed and the
allowable moment of inertia.
• To increase the encoder output resolution and increase the position resolution managed by
the host controller (for a Linear Servomotor)
6-16
6.5 Speed Control
6.5.1 Basic Settings for Speed Control
6.5 Speed Control

There are two types of speed control: speed control with an analog voltage reference and
speed control with internal set speeds. This section describes speed control with an analog
voltage reference.
You input a speed reference into the SERVOPACK with an analog voltage to operate the Servo-
motor at the reference speed. Refer to the following section for information on speed control
with internal set speeds.
6.9 Internal Set Speed Control on page 6-54
• If you create a position loop in the host controller, you use the SERVOPACK for speed con-
trol.
• If you need to control only the speed of the Servomotor, you use the SERVOPACK for speed
control.
You set the control method in Pn000 = n.X (Control Method Selection).
Set Pn000 to n.0 to set the control method to speed control.
n.0
Pn000 Speed control with analog references After restart Setup
(default setting)

This section describes the use of the V-REF (Speed Reference Input) Signal, /SPD-D (Motor
Direction Input) Signal, speed reference input gain, and speed reference offset adjustment in
speed control with analog voltages.
V-REF (Speed Reference Input) Signal
Input the V-REF (Speed Reference Input) signal to the SERVOPACK to operate the Servomotor
at a speed that is proportional to the input voltage.
V-REF CN1-5 Speed reference input signal
Input
SG CN1-6 Signal ground for speed reference input signal
Maximum input voltage: ±12 VDC
If you will use a host controller, such as a programmable controller, for position control, connect 6
the above output pins to the speed reference output terminals on the host controller.
SERVOPACK
Host controller CN1
V-REF
5
D/A
SG 6 Approx. 14 k
0V
Note: Always use twisted-pair cables to control noise.
/SPD-D (Motor Direction Input) Signal

You can turn the /SPD-D signal ON and OFF to change the direction of the Servomotor.
Classification Signal Connector Pin No. Description
Input /SPD-D Must be allocated. Changes the Servomotor direction.
Note: You must allocate the /SPD-D signal to use it. Use Pn50C = n.X (/SPD-D (Motor Direction) Signal Allo-
6-17
6.5 Speed Control
Relation between the /SPD-D (Motor Direction Input) Signal

and V-REF (Speed Reference Input) Signal
The following graphs show the relationship between the V-REF (Speed Reference Input) signal
and the speed reference depending on whether the /SPD-D signal is ON or OFF.
Motor speed [min-1] Motor speed [min-1]
Speed reference Speed reference

voltage [V] voltage [V]
- 12 0 +12 - 12 0 +12
/SPD-D (Motor Direction Input) Signal: OFF /SPD-D (Motor Direction Input) Signal: ON
Example Speed Reference Input Example

If Pn300 is set to 600, the motor would operate at the rated speed for 6.00 V.
• For Rotary Servomotors
Speed Ref- /SPD-D Rotation Motor
For SGM7A Servomotor
erence Input Signal Direction Speed
ON Reverse Rated -3000 min-1
+6 V motor
OFF Forward speed 3000 min-1
ON Forward 1/2 of rated 1500 min-1
-3 V motor
OFF Reverse speed -1500 min-1
ON Reverse 1/6 of rated -500 min-1
+1 V motor
OFF Forward speed 500 min-1
Speed Ref- /SPD-D Rotation Movement For SGLGW-30A Linear
erence Input Signal Direction Speed Servomotor
ON Reverse Rated -1500 mm/s
+6 V motor
OFF Forward speed 1500 mm/s
ON Forward 1/2 of rated 750 mm/s
-3 V motor
OFF Reverse speed -750 mm/s
ON Reverse 1/6 of rated -250 mm/s
+1 V motor
OFF Forward speed 250 mm/s
6-18
6.5 Speed Control
Setting the Speed Reference Input Gain (Pn300)

The reference voltage for the rated motor speed is set for the speed reference input gain
(Pn300) to define the relationship between the position reference voltage and the motor speed.
Speed Reference Input Gain Speed Position Torque
Pn300
600 (rated speed
150 to 3,000 0.01 V Immediately Setup
for 6.00 V)
Motor speed [min-1]
Default setting Maximum input voltage (+12 V)
Rated motor speed
Minimum input voltage (12 V)
-30 -12 -6 Speed reference

1.5 6 12 30 voltage [V]
Setting range (1.50 V to 30.00 V)
Input range (0 V to 12 V)
Adjusting the Speed Reference Offset
With speed control, the Servomotor may sometimes rotate at a very low speed for a speed ref-
erence of 0 V (with a reference speed of 0 or when the speed reference is stopped). This
occurs because the internal reference in the SERVOPACK has a slight offset.
If the Servomotor moves at a very low speed, the offset needs to be eliminated by adjusting the
offset.
You can adjust the speed reference offset either automatically or manually.
Motor speed Motor speed
6
The offset is adjusted in the

Offset SERVOPACK.
Speed Speed Offset adjustment range:
reference reference 15,000 (speed reference: 879 mV)
Offset
voltage adjustment voltage
Offset setting unit: 8

(speed reference: 0.47 mV)
6-19
6.5 Speed Control
 Automatically Adjusting the Speed Reference Offset

To automatically adjust the speed reference offset, the amount of offset is measured and the
speed reference voltage is adjusted automatically.
The measured offset is saved in the SERVOPACK.
The offset does not use a parameter, so it will not change even if the parameter settings are
Information
initialized.
 Preparations
The following conditions must be met to automatically adjust the reference offset.
• There must not be a position loop in the host controller.
 Applicable Tools
The following table lists the tools that you can use to automatically adjust the speed reference
offset and the applicable tool functions.
Tool Function Operating Procedure Reference
13.4.8 Autotune Analog (Speed/Torque) Reference Offset
Σ-7-Series Digital Operator Operating Manual (Manual
Digital Operator Fn009 No.: SIEP S800001 33)
Others − Adjust the Speed
SigmaWin+  Operating Procedure on page 6-20
and Torque Reference Offset
 Operating Procedure
Use the following procedure to automatically adjust the speed reference offset.
1. Confirm that the servo is OFF in the SERVOPACK.
2. Input a 0-V reference voltage from the host controller or an external circuit.
Servomotor
0-V speed reference or

0-V torque reference
Host controller
Slight rotation
Servo OFF (when servo is ON)
SERVOPACK
4. Select Adjust the Speed and Torque Reference Offset in the Menu Dialog Box.
The Adjust the Speed and Torque Reference Offset Dialog Box will be displayed.
5. Click the Automatic Adjustment Tab.
6-20
6.5 Speed Control
6. Click the Adjust Button.
The value that results from automatic adjustment will be displayed in the New Box.
This concludes the procedure to automatically adjust the speed reference offset.
6
6-21
6.5 Speed Control
 Manually Adjusting the Speed Reference Offset

You can directly input a speed reference offset to adjust the speed reference. The offset is
adjusted manually in the following cases.
• When a position loop is created with the host computer and the position deviation when the
Servomotor is stopped by a servo lock is to be set to 0
• To intentionally set the offset to a desired value
• To check an offset that was set automatically
Information
initialized.
 Preparations
The following conditions must be met to manually adjust the reference offset.
 Applicable Tools
The following table lists the tools that you can use to manually adjust the speed reference offset
and the applicable tool functions.
13.4.9 Manually Adjust Speed Reference Offset (Fn00A) on
Panel Operator Fn00A page 13-18
Digital Operator Fn00A No.: SIEP S800001 33)
SigmaWin+  Operating Procedure on page 6-22
 Operating Procedure
Use the following procedure to manually adjust the speed reference offset.
Servomotor

Host controller
Slight rotation
SERVOPACK
6-22
6.5 Speed Control
4. Click the Speed Reference Tab.
5. Use the +1 and -1 Buttons to adjust the value in the Speed Reference Box to 0.
This concludes the procedure to manually adjust the speed reference offset.
6
6-23
6.5 Speed Control
6.5.2 Soft Start Settings
6.5.2 Soft Start Settings

The soft start function takes a stepwise speed reference input and applies the specified accel-
eration/deceleration rates to convert it to a trapezoidal speed reference.
You specify the acceleration/deceleration rates in Pn305 (Soft Start Acceleration Time) and
Pn306 (Soft Start Deceleration Time).
Speed reference
Motor speed
Use this function to perform smoother speed control (including internal set speed control).
Soft Start Acceleration Time Speed
Soft Start Deceleration Time Speed
Pn305: The time required for the Servomotor to accelerate from a stopped state to the maxi-
mum motor speed.
Pn306: The time required for the Servomotor to decelerate from the maximum motor speed to
a stopped state.
You can calculate the actual acceleration/deceleration times with the following formulas.
Target speed
Actual acceleration time = × Soft start acceleration time (Pn305)
Maximum speed
Target speed
Actual deceleration time = × Soft start deceleration time (Pn306)
Maximum speed
Maximum speed
Target speed
Actual Actual
acceleration deceleration
time time
Pn305 Pn306
6.5.3 Speed Reference Filter

The speed reference filter is a first order lag filter that is applied to the V-REF (Speed Reference
Input) signal.
You set the speed reference filter in Pn307 (Speed Reference Filter Time Constant).
It is normally not necessary to change this parameter. If the setting is too high, the response to
the speed reference may be slowed down. Monitor the response to the speed reference as you
set this parameter.
Speed Reference Filter Time Constant Speed Position
0 to 65,535 0.01 ms 40 Immediately Setup
6-24
6.5 Speed Control
6.5.4 Zero Clamping
6.5.4 Zero Clamping

Zero clamping is used to lock the servo when the input voltage of the V-REF (Speed Reference
Input) signal is equal to or lower than the speed set for the zero clamping level (Pn501 or
Pn580) while the /ZCLAMP (Zero Clamping) signal is ON. The SERVOPACK internally forms a
position loop, ignoring the speed reference.
Zero clamping is used for speed control in systems in which the host controller does not form a
position loop.
The Servomotor is clamped within one pulse of the position where zero clamping was applied,
and will return to the zero clamping position even if it is moved by an external force.
SERVOPACK
V-REF (Speed
Host Reference Input)
controller Signal
Held in
place.
/ZCLAMP (Zero
Clamping) signal
V-REF (Speed Reference Input) signal

Speed
Zero clamping level

(setting of Pn501 or
Time
Pn580)
/ZCLAMP ON OFF
(Zero Clamping) signal
Zero clamping Applied Released Applied Released
Adjust Pn102 (Position Loop Gain) if the Servomotor oscillates during zero clamping. If gain
selection is used, you must also adjust Pn106 (Second Position Loop Gain).
/ZCLAMP (Zero Clamping) Signal

Use the /ZCLAMP signal to enable zero clamping. 6
 When Using the Default Input Signal Allocations (Pn50A = n.0)

The /ZCLAMP signal is allocated to pin CN1-41 on the I/O signal connector by default.
Zero clamping is applied if the input voltage of the
V-REF (Speed Reference Input) signal is equal to or
ON (closed)
Input /ZCLAMP CN1-41 lower than the speed set for the zero clamping level
(Pn501 or Pn580).
OFF (open) Zero clamping is disabled.
6-25
6.5 Speed Control
6.5.4 Zero Clamping
 When Changing Input Signal Allocations (Pn50A = n.1)

You must allocate the /ZCLAMP signal. Allocate the signal with Pn50D = n.X (/ZCLAMP
(Zero Clamping Input) Signal Allocation).

Zero clamping is applied if the input voltage of the
V-REF (Speed Reference Input) signal is equal to or
ON (closed)
Input /ZCLAMP Must be allocated. lower than the speed set for the zero clamping level
(Pn501 or Pn580).
OFF (open) Zero clamping is disabled.
Enabling Zero Clamping

To enable using zero clamping, set the control method (Pn000 = n.X) to 0, 3, 4, 5, 6, 7, 9
or A. You can use zero clamping only for operation with speed control.
If Pn000 = n.X is set to 5, 6, 7, or 9, zero clamping will be disabled when the control
method is changed to any method other than speed control.
If you set the parameter to keep the /ZCLAMP always active (Pn50D = n.7) for speed con-
Information
trol, zero clamping will be applied whenever the speed reference is equal to or lower than the
speed set for the zero clamping level. In this case, using the /ZCLAMP signal is not necessary.
When
Parameter Control Method Used Input Signals Classification
Enabled
n.0 Speed control /ZCLAMP
/ZCLAMP, SPD-A,
n.3 Internal set speed control
SPD-B, SPD-D
Switching between internal set /ZCLAMP, SPD-A,
n.4 speed control and speed control SPD-B, SPD-D,
with analog references C-SEL
/ZCLAMP, SPD-A,
n.5 SPD-B, SPD-D,
speed control and position control
C-SEL
Pn000 /ZCLAMP, SPD-A, After restart Setup
n.6 SPD-B, SPD-D,
speed control and torque control
C-SEL
Switching between position con-
n.7 /ZCLAMP, C-SEL
trol and speed control
Switching between torque control
n.9 /ZCLAMP, C-SEL
and speed control
Switching between speed control
n.A with analog references and speed /ZCLAMP
control with zero clamping
 Related Parameters
You set the speed at which to apply zero clamping as the zero clamping level (Pn501 or
Pn580). If you set a value that exceeds the maximum speed of the Servomotor, the actual
speed will be limited to the maximum speed of the Servomotor.
Zero Clamping Level Speed
1 min
Zero Clamping Level Speed
6-26
6.5 Speed Control
6.5.5 /V-CMP (Speed Coincidence Detection) Signal
6.5.5 /V-CMP (Speed Coincidence Detection) Signal

The /V-CMP (Speed Coincidence Output) signal is output when the Servomotor speed is the
same as the reference speed. This signal is used, for example, to interlock the SERVOPACK
and the host controller. You can use this output signal only during speed control.
The /V-CMP signal is described in the following table.
CN1-25 and CN1-26 ON (closed) The speed coincides.
Output /V-CMP
(default setting) OFF (open) The speed does not coincide.
Note: You can use Pn50E = n.X (/V-CMP (Speed Coincidence Detection Output) Signal Allocation) to allocate
the /V-CMP signal to different output connector pins.
Refer to the following section for details on allocations.
You can set the speed detection width for the /V-CMP signal in Pn503 (Speed Coincidence
Detection Signal Output Width) for a Rotary Servomotor or in Pn582 (Speed Coincidence
Detection Signal Output Width) for a Linear Servomotor.
Speed Coincidence Detection Signal Output Width Speed
0 to 100 1 min-1 10 Immediately Setup
The signal is output when the difference between the reference speed and motor speed is
equal or less than the setting.
If Pn503 is set to 100 and the speed reference is 2,000 min-1, the signal would be output
Example
when the motor speed is between 1,900 min-1 and 2,100 min-1.
Motor speed
Pn503
Speed reference
The /V-CMP signal is output when the motor speed is in

the area between the dotted lines.
6
Speed Coincidence Detection Signal Output Width Speed
0 to 100 1 mm/s 10 Immediately Setup
The signal is output when the difference between the reference speed and motor speed is
equal or less than the setting.
If Pn582 is set to 100 and the speed reference is 2,000 mm/s the signal would be output
Example
when the motor speed is between 1,900 mm/s and 2,100 mm/s.
Motor speed
Pn582
Speed reference
The /V-CMP signal is output when the motor speed is in

the area between the dotted lines.
6-27
6.5 Speed Control
6.5.6 Operation Examples for Changing the Motor Direction

This section describes examples of using the /SPD-D (Motor Direction Input) signal in combina-
tion with zero clamping and internal set speed control.
Operation Example for Changing the Motor Direction and

Zero Clamping
This section provides an example of changing the motor direction without changing the polarity
of the speed reference voltage by using the /SPD-D (Motor Direction Input) signal.
Polarity of Analog Speed Reference Voltage
Zero Clamping Level
/ZCLAMP /SPD-D Positive or Lower ((Pn501 Negative
(Pn580))*
Rotation Direction Operating Status Rotation Direction
OFF OFF CCW Speed Control CW
OFF ON CW Speed Control CCW
Servo lock
ON OFF CCW CW
(clamped to zero)
Servo lock
ON ON CW CCW
(clamped to zero)
* Pn501 (Zero Clamping Level): Used with a Rotary Servomotor.
Pn580 (Zero Clamping Level): Used with a Linear Servomotor.
Reference voltage
Speed reference Pn501

input voltage (Pn580)
/SPD-D input signal OFF ON OFF ON
Motor speed
Pn501
SERVOPACK internal (Pn580)
speed reference
/ZCLAMP input signal

OFF ON
Zero clamping
Released Applied Released Applied Released Applied
Note: The soft start function is used for the acceleration/deceleration time of the speed reference.
6-28
6.5 Speed Control
Operation Example for Changing the Motor Direction and

Internal Set Speed Control
Even with a speed reference with the same polarity, you can change the Servomotor direction
and stop the Servomotor by changing the control mode to internal set speed control and com-
bining the /SPD-D (Motor Direction Input) signal and /C-SEL (Control Selection Input) signal.
The following operation example combines internal set speed control, the /SPD-D signal, and
the /C-SEL signal. For this example, the internal set speeds must be set to 0.
 Parameter Settings
You must make the following parameter settings to combine internal set speed control, the
/SPD-D signal, and the /C-SEL signal.
• Set Pn000 = n.X (Control Method Selection) to 4 (Switching between internal set speed
control and speed control).
• Set Pn305 (Soft Start Acceleration Time) to the required acceleration time.
• Set Pn306 (Soft Start Deceleration Time) to the required deceleration time.
• Set Pn50A = n.X (Input Signal Allocation Mode) to 1 (Change the sequence input signal
allocations).
• Set Pn50C = n.X (/SPD-D (Motor Direction) Signal Allocation) to any setting other than
7 (the signal is always active) or 8 (the signal is always inactive).
• Set Pn50C = n.X (/SPD-A (Internal Set Speed Selection Input) Signal Allocation) to 8
(the signal is always inactive).
• Set Pn50C = n.X (/SPD-B (Internal Set Speed Selection Input) Signal Allocation) to 8
(the signal is always inactive).
• Set Pn50C = n.X (/C-SEL (Control Selection Input) Signal Allocation) to any setting
other than 7 (the signal is always active) or 8 (the signal is always inactive).
Speed reference
pattern
0
Analog speed
reference
(input reference
voltage)
OFF: CCW
/SPD-D signal OFF ON OFF ON
ON: CW
OFF: Internal set speed control

/C-SEL signal ON OFF ON OFF ON OFF ON OFF
ON: Speed control
6-29
6.6 Position Control

Position control is used to input a pulse train reference from the host controller to the SERVO-
PACK to move to a target position. The position is controlled with the number of input pulses,
and the speed is controlled with the input pulse frequency. Use position control when position-
ing is required.
You set the control method to position control in Pn000 = n.X (Control Method Selection).
Pn000 n.1 Position Control After restart Setup
The control block diagrams for position control are provided below.
SERVOPACK
Torque
reference
Speed
reference
Pn109 Pn10A
Feedforward
Feedforward filter time
constant Servomotor
Refer- Refer- Elec-
Position ence ence tronic Smo- Current Power M
pulse gear Speed
reference pulse othing Deviation control control amplifier
form input B counter section
n Pn000 section Pn000
A
Position = n.X = n.X
Pn200 Pn218 Pn20E Pn216 control section
Clear = n.X Pn210 Pn217
signal input Current feedback
Speed
conversion
Pn522 (Positioning
Encoder Completed Width)
divided pulse Position
output feedback Speed feedback
Divider ENC
Pn212
/COIN
SERVOPACK
Force
reference
Speed
reference
Pn109 Pn10A
Feedforward
Feedforward filter time
constant Servomotor
Refer- Refer- Elec-
Position ence ence tronic Smo- Speed Current Power M
reference pulse pulse gear othing Deviation control control amplifier
form input B counter section section
Pn000 Pn000
n A = n.X
Pn200 Pn218 Pn20E Pn216
Position = n.X
control section
Clear signal = n.X Pn210 Pn217
input Current feedback
Speed
conversion
Pn522 (Positioning
Encoder Completed Width)
divided pulse Position
output feedback Speed feedback
Divider ENC
Pn281 Linear
encoder
/COIN
6-30
6.6.1 Basic Settings for Position Control

This section describes the reference pulse forms and input filters.
Reference Pulse Forms

To perform speed control, you must specify how the reference is input from the host controller
(i.e., the reference pulse form). You set the reference pulse form in Pn200 (Position Control Ref-
erence Form Selections).
Input
Reference Pulse
Parameter Pulse Forward Reference Reverse Reference
Form
Multiplier
PULS PULS
n.0 Sign and pulse train, (CN1-7) (CN1-7)
−
(default setting) positive logic. SIGN SIGN Low level
(CN1-11) High level (CN1-11)
CW Low level CW
CW and CCW pulse (CN1-7) (CN1-7)
n.1 −
trains, positive logic CCW CCW Low level
(CN1-11) (CN1-11)
n.2 ×1 90 90°

Phase A
n.3 90° phase-differen- ×2 Phase A
Pn200 (CN1-7)
tial pulses Phase B
n.4 ×4 Phase B (CN1-11)
PULS PULS
Sign and pulse train, (CN1-7) (CN1-7)
n.5 − SIGN
negative logic. Low level SIGN
(CN1-11) (CN1-11) High level
CW CW
High level
CW and CCW pulse (CN1-7) (CN1-7)
n.6 − CCW CCW
trains, negative logic High level
(CN1-11) (CN1-11)
Selecting an Input Filter
n.0 Use the reference input filter 1 for a line-
(default setting) driver signal. (1 Mpps max.)
Use the reference input filter for an open-col-
Pn200 n.1 After restart Setup
lector signal. (200 kpps max.)
Use reference input filter 2 for a line-driver
n.2
signal. (1 to 4 Mpps) 6
6-31
Electrical Specifications for Pulse Train Reference

The following table describes the forms for pulse train references.
Pulse Train Reference Form Electrical Specifications Remarks
Sign and pulse train
t1 t2
(SIGN and PLUS signals) SIGN
t7 SIGN is high for
Maximum reference
t3 t1, t2, t3, t7 ≤ 0.025 μs
a forward refer-
PULS t4, t5, t6 ≥ 0.5 μs
frequency: 4 Mpps t4  ence and low for
t5 t6 τ ≥ 0.125 μs
(maximum reference T a reverse refer-
Reverse T-τ ≥ 0.125 μs
frequency for open-collector Forward reference reference ence.
output: 200 kpps)
CW and CCW pulse trains t1

T
Maximum reference t1, t2 ≤ 0.025 μs
frequency: 4 Mpps t3 ≥ 0.5 μs
CCW  –
(maximum reference t2 τ ≥ 0.125 μs
frequency for open-collector CW t3 T-τ ≥ 0.125 μs
Reverse
output: 200 kpps) Forward reference reference
t1 t2
Two-phase pulse trains with
90° phase differential (phases
Phase A
A and B) t1 ≤ 0.1 μs
Maximum reference Phase B t2 ≤ 0.1 μs
 –
frequency: 1 Mpps* τ ≥ 0.5 μs
(maximum reference
T
Reverse T-τ ≥ 0.5 μs
Forward reference reference
frequency for open-collector Phase B leads Phase B lags
output: 200 kpps) phase A by 90. phase A by 90.
* The maximum reference frequency for the multipliers before multiplication are as follows:
×1 multiplier: 1 Mpps
Timing Example for Pulse Train References

The following example shows the timing of inputting the pulse train reference after the servo turns ON when
a signal and pulse train are used.
Servo ON ON
Released t1≤36 ms
Base block t1 t2 t2≤6 ms
(If Pn506 is set to 0.)
H t3≥40 ms
CN1-11
Sign and
pulse train H L
t3
CN1-7
The interval (t3) between when the servo is turned ON until the pulse train reference is input must be at least
40 ms. If the reference is input in less than 40 ms, the reference pulses may not be received by the SERVO-
PACK.
6-32
6.6.2 CLR (Position Deviation Clear) Signal Function and Settings
6.6.2 CLR (Position Deviation Clear) Signal Function and Set-

tings
The CLR (Position Deviation Clear) signal is used to clear the deviation counter in the SERVO-
PACK.
As long as the CLR signal is ON, the deviation counter will be 0, so a position loop will not be
formed.
Deviation counter
The deviation counter counts the deviation between the reference input pulses and the feedback
Term
pulses from the encoder (i.e., the accumulated pulses).
CLR (Position Deviation Clear) Signal

Type Signal Connector Pin No. Name
CLR CN1-15
Input Position deviation clear input
/CLR CN1-14
Setting the Form of the CLR (Position Deviation Clear) Sig-

nal
You set the CLR signal form to use to clear the deviation counter in Pn200 = n.X (Clear
Signal Form).
When
Parameter Reference Form Clear Timing Classification
Enabled
Clear position deviation
n.0 CLR ON
when the signal is at high
(default setting) level. (CN1-15) Cleared.
Clear position deviation CLR ON

n.1 on the rising edge of the (CN1-15)
signal. Cleared here just once.
Clear position deviation CLR OFF
n.2 when the signal is at low (CN1-15) Cleared.
level.
Clear position deviation CLR
(CN1-15)
OFF
6
n.3 on the falling edge of the
signal. Cleared here just once.
The pulse width of the CLR signal must meet the following condition.
Information
• If Pn200 = n.X is set to 0 or 2, the width of the CLR signal must be at least 250 μs to
reset the deviation counter.
• If Pn200 = n.X is set to 1 or 3, the width of the CLR signal must be at least 20 μs to
reset the deviation counter.
Setting the Clear Operation (Pn200 = n.X)

This parameter determines when the position error should be set to zero according to the con-
dition of the SERVOPACK. Set Pn200 = n.X (Clear Operation).
n.0 Clear position deviation at a base block (at
(default setting) servo OFF or when alarm occurs).
Do not clear position deviation. The position
n.1 deviation is cleared only with CLR (Clear Posi-
tion Deviation) signal.
n.2 Clear position deviation when an alarm occurs.
6-33
6.6.3 Reference Pulse Input Multiplication Switching

You can switch the input multiplier for the position reference pulses with the /PSEL (Reference
Pulse Input Multiplication Switch) signal. The number of reference pulses input to the SERVO-
PACK is multiplied by the reference pulse input multiplier. You can change the multiplier from 1
to a specified value n (n can be up to 100). You set the multiplier in Pn218 (Reference Pulse
Input Multiplier).
You can confirm if the multiplier was changed with the /PSELA (Reference Pulse Input Multipli-
cation Switching Output) signal.
This section describes the /PSEL (Reference Pulse Input Multiplication Switch) signal, the refer-
ence pulse input multiplier, and restrictions.
/PSEL (Reference Pulse Input Multiplication Switch) Signal

Use the /PSEL signal to change to the reference pulse input multiplier that is set in Pn218 (Ref-
erence Pulse Input Multiplier).
ON (closed) Enables the reference pulse input multiplier.
Input /PSEL Must be allocated. Disables the reference pulse input multiplier.
OFF (open)
The multiplier will be 1.
Note: You must allocate the /PSEL signal to use it. You can use the following parameters to allocate the signal to a
terminal.
• Pn50A = n.1 (Change the sequence input signal allocations.)
• Pn515 = n.X (/PSEL (Reference Pulse Input Multiplication Switching Input) Signal Allocation)
/PSELA (Reference Pulse Input Multiplication Switching

Output) Signal
You can confirm if the reference pulse input multiplier was changed with the /PSELA (Reference
Pulse Input Multiplication Switching Output) signal.
The reference pulse input multiplier was
ON (closed)
enabled.
Output /PSELA Must be allocated.
The reference pulse input multiplier was
OFF (open)
disabled.
Note: You must allocate the /PSELA signal to use it. You can use Pn510 = n.X (/PSELA (Reference Pulse
Input Multiplication Switching Output) Signal Allocation) to allocate the signal to a terminal. Refer to the fol-
lowing section for details.
CAUTION
 Always use the /PSELA signal to confirm that the reference pulse input multiplier has been
switched and make sure that there are no position reference pulses before you input a posi-
tion reference.
Unexpected operation may occur if position reference pulses are input before the reference
pulse input multiplier changes.
6-34
Setting the Reference Pulse Input Multiplier (Pn218)

Reference Pulse Input Multiplier Position
1 to 100 ×1 1 Immediately Setup
A timing chart for switching the reference pulse input multiplier is provided below.
Enabled
/PSEL (Reference Pulse
Input Multiplication Switch)
Signal Disabled
Enabled
/PSELA (Reference Pulse
Input Multiplication
Switching Output) Switch Disabled
4 ms max. 4 ms max.
n
Internal status 1 1
(n = Pn218)
CAUTION
 If you change the reference pulse input multiplier (Pn218), perform trial operation of the Ser-
vomotor without the machine coupled to the Servomotor shaft to confirm that no problems
will occur in operation before you couple the Servomotor to the machine.
Restrictions
The reference pulse input multiplier will not change during the following operations regardless
of the status of the /PSEL signal.
• Program jogging
• Autotuning without a reference input
6-35
6.6.4 Smoothing Settings
6.6.4 Smoothing Settings

Smoothing allows you to apply a filter to the position reference to produce smoother Servomo-
tor operation. Smoothing is effective in the following cases.
• When the host controller that outputs the references cannot perform acceleration or deceler-
ation
• When the reference pulse frequency is very low
Note: Smoothing does not affect the travel distance (i.e., the number of reference pulses).
The following parameters are related to smoothing.
Change the settings while there is no reference pulse input and the Servomotor is stopped.
Position Reference Acceleration/Deceleration Time Constant Position
Pn216
Immediately after
0 to 65,535 0.1 ms 0* Setup
the motor stops
Average Position Reference Movement Time Position
Pn217
Immediately after
0 to 10,000 0.1 ms 0* Setup
the motor stops
* The filter is disabled if you set the parameter to 0
Information Changes to the settings in Pn216 or Pn217 are not applied while the Servomotor is operat-
ing. The changes will be enabled the next time the Servomotor comes to a stop.
The difference between the position reference acceleration/deceleration time constant (Pn216)
and the average position reference movement time (Pn217) is shown below.
Position Reference Acceleration/Deceleration Filter Average Position Reference Movement Filter
Reference pulse Before filter Reference pulse Before filter
frequency frequency
After filter After filter
100%
100%
63.2%
36.8%
Time
Pn216 Pn216 Time
Pn217 Pn217
Reference pulse
Pn217 Before filter
frequency
After filter
100%
–
Pn217
Time
6-36
6.6.5 /COIN (Positioning Completion) Signal
6.6.5 /COIN (Positioning Completion) Signal

The /COIN (Positioning Completion) signal indicates that Servomotor positioning has been
completed during position control.
The /COIN signal is output when the difference between the reference position output by the
host controller and the current position of the Servomotor (i.e., the position deviation as given
by the value of the deviation counter) is equal to or less than the setting of the positioning com-
pleted width (Pn522).
Use this signal to check the completion of positioning from the host controller.
CN1-25 and CN1-26 ON (closed) Positioning has been completed.
Output /COIN
(default setting) OFF (open) Positioning has not been completed.
Note: Use Pn50E = n.X (/COIN (Positioning Completion Output) Signal Allocation) to allocate the /COIN signal
to other connector pins. Refer to the following section for details.
Setting the Positioning Completed Width

The /COIN signal is output when the difference between the reference position and the current
position (i.e., the position deviation as given by the value of the deviation counter) is equal to or
less than the setting of the positioning completed width (Pn522).
Positioning Completed Width Position
0 to 1,073,741,824 1 reference unit 7 Immediately Setup
The setting of the positioning completed width has no effect on final positioning accuracy.
Reference
Speed Motor speed
Pn522 Time
Position
deviation
Time
/COIN signal (Active when ON (closed).)

Time
Note: If the parameter is set to a value that is too large, the /COIN signal may be output when the position deviation
is low during a low-speed operation. If that occurs, reduce the setting until the signal is no longer output. 6
Setting the Output Timing of the /COIN (Positioning Com-

pletion Output) Signal
You can add a reference input condition to the output conditions for the /COIN signal to
change the signal output timing.
If the position deviation is always low and a narrow positioning completed width is used,
change the setting of Pn207 = n.X (/COIN (Positioning Completion Output) Signal Output
Timing) to change output timing for the /COIN signal.
6-37
6.6.6 /NEAR (Near) Signal
When
Parameter Description Classification
Enabled
Output the /COIN signal when the absolute value of
n.0
the position deviation is the same or less than the
(default setting) setting of Pn522 (Positioning Completed Width).
n. 1 After
Pn207 setting of Pn522 (Positioning Completed Width) and Setup
restart
the reference after the position reference filter is 0.
n. 2
setting of Pn522 (Positioning Completed Width) and
the reference input is 0.
6.6.6 /NEAR (Near) Signal

The /NEAR (Near) signal indicates when positioning completion is being approached.
The host controller receives the NEAR signal before it receives the /COIN (Positioning Comple-
tion) signal, it can start preparations for the operating sequence to use after positioning has
been completed. This allows you to reduce the time required for operation when positioning is
completed.
The NEAR signal is generally used in combination with the /COIN signal.
The Servomotor has reached a point
ON (closed)
near to positioning completion.
Output /NEAR Must be allocated.
The Servomotor has not reached a
OFF (open)
point near to positioning completion.
Note: You must allocate the /NEAR signal to use it. Use Pn510 = n.X (/NEAR (Near) Signal Allocation) to allo-
cate the signal to a connector pin. Refer to the following section for details.
/NEAR (Near) Signal Setting

You set the condition for outputting the /NEAR (Near) signal (i.e., the near signal width) in
Pn524 (Near Signal Width). The /NEAR signal is output when the difference between the refer-
ence position and the current position (i.e., the position deviation as given by the value of the
deviation counter) is equal to or less than the setting of the near signal width (Pn524).
Near Signal Width Position
1 to 1,073,741,824 1 reference unit 1,073,741,824 Immediately Setup
Speed Reference Motor speed
Position Pn524 Pn522 Time

deviation
0
Time
/NEAR signal (Active when ON (closed).)

Time
/COIN signal
(Active when ON (closed).)
Time
Note: Normally, set Pn524 to a value that is larger than the setting of Pn522 (Positioning Completed Width).
6-38
6.6.7 Reference Pulse Inhibition Function
6.6.7 Reference Pulse Inhibition Function

You can stop the SERVOPACK from counting the reference input pulses during position con-
trol. When this function is enabled, the SERVOPACK will ignore the reference pulse input.
/INHIBIT (Reference Pulse Inhibit) Signal

If you set the control method to switch between normal position control and position control
with reference pulse inhibition (Pn000 = n.B), the /INHIBIT signal is used as the Refer-
ence Pulse Inhibit signal (default setting).
 When Using the Default Input Signal Allocations (Pn50A = n.0)

CN1-41 ON (closed) Counting the reference pulses is stopped.
Input /INHIBIT
(default setting) OFF (open) The reference pulses are counted.
 When Changing Input Signal Allocations (Pn50A = n.1)

If you set Pn000 = n.X (Control Method Selection) to 1, 5, 7, 8, or B, the /INHIBIT signal
is used as the Reference Pulse Inhibit signal for reference pulse inhibition.
ON (closed) Counting the reference pulses is stopped.
Input /INHIBIT Must be allocated.
OFF (open) The reference pulses are counted.
Note: You must allocate the /INHIBIT signal to use it. Use Pn50D = n.X (/INHIBIT (Reference Pulse Inhibit
Input) Signal Allocation) to allocate the signal to a connector pin. Refer to the following section for details.
 Reference Pulse Inhibition Settings
To use reference pulse inhibition, set Pn000 = n.X (Control Method Selection) to 1, 5, 7,
8, or B.
Used Input Sig- When Classifica-
Parameter Control Method
nals Enabled tion
n.1 Position control /INHIBIT
/INHIBIT
/SPD-A
n.5 /SPD-B
speed control and position control
/SPD-D 6
/C-SEL
Pn000 Switching between position control /INHIBIT After restart Setup
n.7
and speed control /C-SEL
Switching between position control /INHIBIT
n.8
and torque control /C-SEL
Switching between normal position
n.B control and position control with /INHIBIT
reference pulse inhibition
Information Counting reference pulses can be inhibited only for position control.
6-39
6.7 Torque Control
6.7.1 Basic Settings for Torque Control
6.7 Torque Control

Torque control is performed by inputting a torque reference with an analog voltage reference to
the SERVOPACK to control the Servomotor with a torque that is proportional to the input volt-
age.
Torque control is set by setting Pn000 = n.X (Control Method Selection) to 2 (Torque con-
trol).
Pn000 n.2 Torque control After restart Setup
6.7.1 Basic Settings for Torque Control

This section describes the torque reference input signal and torque reference input gain.
T-REF (Torque Reference Input) Signal

The T-REF signal is described in the following table.
T-REF CN1-9 Torque reference input
Input
SG CN1-10 Signal ground for torque reference input
Maximum input voltage: ±12 VDC
Input Circuit Example
Example
Pn400 (Torque Reference Input Gain) is set to 3 (setting unit: V) by default.
Torque Reference Rotation
Torque
Input Direction
+3 V Forward Rated torque
+1 V Forward 1/3 rated torque
–1.5 V Reverse 1/2 rated torque
If you will use a host controller, such as a programmable controller, for torque control, con-
nect the above output pins to the analog reference output terminals on the host controller .
Always use twisted-pair cables to control noise.
SERVOPACK
Host controller CN1
T-REF 9
D/A
SG 10 Approx. 14 k
0V
Setting the Torque Reference Input Gain (Pn400)

The torque of the Servomotor is controlled in proportion to an analog voltage reference.
The reference voltage for the rated motor torque is set in Pn400 (Torque Reference Input Gain)
to define the relationship between the analog voltage reference and the motor output torque.
Torque Reference Input Gain Speed Position Torque
Pn400
30
10 to 100 0.1 V Immediately Setup
(rated torque at 3.0 V)
6-40
6.7 Torque Control
6.7.2 Adjusting the Torque Reference Offset
Output torque (%)
300
200
100 (Rated torque)
-12 -10 -3 0
Torque reference voltage (V)
Default Setting 1 3 10 12
-100
-200
-300
Setting range
(1.0 V to 10.0 V)
Input voltage range (0 V to  12 V)
Note: You can input a torque reference that exceeds the rated torque, but A.710 (Instantaneous Overload) or A.720
(Continuous Overload) alarms may occur if the reference is maintained for a long time or the motor outputs a
torque that exceeds the rated torque. Refer to the following section for details.
12.2.2 Troubleshooting Alarms on page 12-12

With torque control, the Servomotor may sometimes operate at a very low speed for a torque
reference of 0 V. This occurs because the internal reference in the SERVOPACK has a slight off-
set of a few millivolts.
If the Servomotor moves at a very low speed, the offset needs to be eliminated by adjusting the
offset.
You can adjust the torque reference offset either automatically or manually.
Output torque Output torque
Offset The offset is adjusted in the SERVOPACK.

Torque Torque Offset adjustment range: −127 to +127
reference reference (Torque reference: −1,905 mV to 1,905 mV,
Offset adjustment Offset setting unit: 15.0 mV)
voltage voltage
6
Automatically Adjusting the Torque Reference Offset

To automatically adjust the torque reference offset, the amount of offset is measured and the
torque reference voltage is adjusted automatically.
The measured offset is saved in the SERVOPACK.
Information
initialized.
 Preparations
The following conditions must be met to automatically adjust the reference offset.
• There must not be a position loop or speed loop in the host controller.
6-41
6.7 Torque Control
 Applicable Tools
The following table lists the tools that you can use to automatically adjust the torque reference
offset and the applicable tool functions.
13.4.8 Autotune Analog (Speed/Torque) Reference Off-
Panel Operator Fn009 set (Fn009) on page 13-18
SigmaWin+  Operating Procedure on page 6-42
 Operating Procedure
Use the following procedure to automatically adjust the torque reference offset.
1. Confirm that the servo is OFF in the SERVOPACK.
Servomotor

Host controller
Slight rotation
SERVOPACK
5. Click the Automatic Adjustment Tab.

6-42
6.7 Torque Control
The value that results from automatic adjustment will be displayed in the New Box.
Note: You cannot automatically adjust the reference offset if a position loop is created with the host controller. Man-
ually adjust the torque reference offset.
This concludes the procedure to automatically adjust the torque reference offset.
Manually Adjusting the Torque Reference Offset

You can directly input a torque reference offset to adjust the torque reference. The offset is
adjusted manually in the following cases.
• To intentionally set the offset to a desired value
• To check an offset that was set automatically
Information
initialized.
 Preparations
The following conditions must be met to manually adjust the reference offset.
 Applicable Tools 6
The following table lists the tools that you can use to manually adjust the torque reference off-
set and the applicable tool functions.
13.4.10 Manually Adjust Torque Reference Offset
Panel Operator Fn009 (Fn00B) on page 13-19
6-43
6.7 Torque Control
Use the following procedure to manually adjust the torque reference offset.
Servomotor

Host controller
Slight rotation
SERVOPACK
4. Click the Torque Reference Tab.
5. Use the +1 and -1 Buttons to adjust the value in the Torque Reference Box to 0.
This concludes the procedure to manually adjust the torque reference offset.
6-44
6.7 Torque Control
6.7.3 Torque Reference Filter Settings
6.7.3 Torque Reference Filter Settings

The torque reference filter is a first order lag filter that is applied to the T-REF (Torque Reference
Input) signal. The torque reference input filter is set in Pn415 (T-REF Filter Time Constant).
If the setting is too high, the response to the torque reference may be slowed down. Monitor
the response as you set this parameter.
T-REF Filter Time Constant Speed Position Torque
6.7.4 Speed Limit during Torque Control

You can limit the speed of the Servomotor to protect the machine.
When you use a Servomotor for torque control, the Servomotor is controlled to output the
specified torque, but the motor speed is not controlled. Therefore, if a reference torque is input
that is larger than the machine torque, the speed of the Servomotor may increase greatly. If that
may occur, use this function to limit the speed.
Note: The actual limit of Servomotor speed depends on the load conditions on the Servomotor.
With No Speed Limit With a Speed Limit

Danger of damage due Speed
to hazardous speed.
Speed Safe operation
Maximum speed with speed limit.
Speed limit
Time Time
/VLT (Speed Limit Detection) Signal
The signal that is output when the motor speed is being limited by the speed limit is described
in the following table.
ON (closed) The Servomotor speed is being limited.
Output /VLT Must be allocated. The Servomotor speed is not being lim- 6
OFF (open)
ited.
Note: You must allocate the /VLT signal to use it. Use Pn50F = n.X (/VLT (Speed Limit Detection) Signal Allo-
Selecting the Speed Limit

You set the speed limit to use in Pn002 = n.X (Torque Control Option). If you set Pn.002
to n.1 (Use V-REF as an external speed limit input), the smaller of the external speed limit
and the internal speed limit will be used.
n.0 Use Pn407 or Pn480 as the speed limit. (Use
(default setting) internal speed limiting.)
Pn002 Use V-REF (CN1-5 and CN1-6) as an external After restart Setup
speed limit input signal and limit the speed
n.1
with the V-REF input voltage and the setting of
Pn300. (Use external speed limiting.)
Note: If you are using a Rotary Servomotor, set Pn407 (Speed Limit during Torque Control). If you are using a Linear
Servomotor, set Pn480 (Speed Limit during Force Control).
6-45
6.7 Torque Control
6.7.4 Speed Limit during Torque Control
 Internal Speed Limiting

If you select internal speed limiting for the torque control option (Pn002 = n.0), set the
speed limit for the motor in Pn407 (Speed Limit during Torque Control) or Pn480 (Speed Limit
during Force Control).
Also set Pn408 = n.X (Speed Limit Selection) to specify using the maximum motor speed
or the overspeed alarm detection speed as the speed limit. Select the overspeed alarm detec-
tion speed to limit the speed to the equivalent of the maximum motor speed.
Use the smaller of the maximum motor speed
n.0
and the setting of Pn407 or Pn480 as the
(default setting) speed limit.
Use the smaller of the overspeed alarm detec-
n.1 tion speed and the setting of Pn407 or Pn480
as the speed limit.
Note: If you are using a Rotary Servomotor, set Pn407 (Speed Limit during Torque Control). If you are using a Linear
Servomotor, set Pn480 (Speed Limit during Force Control).
Speed Limit during Torque Control Torque
1 min
Speed Limit during Force Control Force
Note: If the parameter setting exceeds the maximum speed of the Servomotor, the Servomotor’s maximum speed
or the overspeed alarm detection speed will be used.
 External Speed Limiting

If you select external speed limiting for the torque control option (Pn002 = n.1), set the V-
REF (Speed Reference Input) signal and the speed reference input gain (Pn300).
V-REF CN1-5 External speed limit input
Input
SG CN1-6 Signal ground for external speed limit input
During torque control, the motor speed limit is controlled by the analog voltage reference.
1. If you set Pn002 to n.1, the smaller of the speed limit input with the V-REF signal
Information
and the value of Pn407 or Pn480 is used.
2. The setting of Pn300 determines the voltage level to be input as the speed limit. The polar-
ity has no effect.
3. If you set Pn300 to 6.00 (default setting) and 6 V is input to the V-REF (CN1-5 and CN1-6)
signal, the speed is limited to the rated speed of the Servomotor.

Classifica-
Pn300 Setting Range Setting Unit Default Setting When Enabled
tion
150 to 3,000 0.01 V 600 Immediately Setup
6-46
6.8 Encoder Divided Pulse Output
6.8.1 Encoder Divided Pulse Output Signals

The encoder divided pulse output is a signal that is output from the encoder and processed
inside the SERVOPACK. It is then output externally in the form of two phase pulse signals
(phases A and B) with a 90° phase differential. At the host controller, it is used as the position
feedback.
The following table describes the signals and output phase forms.

Type Signal Connector Pin No. Name Remarks
PAO CN1-33 These encoder divided pulse
Encoder Divided Pulse Output, output pins output the number
Phase A of pulses per Servomotor reso-
/PAO CN1-34 lution that is set in Pn212
(Number of Encoder Output
Pulses). The phase difference
PBO CN1-35 between phase A and phase B
is an electric angle of 90°.
These encoder divided pulse
Encoder Divided Pulse Output, output pins output pulses at the
Output
Phase B resolution that is set in Pn281
/PBO CN1-36 (Encoder Output Resolution).
The phase difference between
phase A and phase B is an
electric angle of 90°.
PCO CN1-19
Encoder Divided Pulse Output, These pins output one pulse
Phase C* every Servomotor rotation.
/PCO CN1-20
* Refer to the following section for information on the origin within one encoder rotation.
 Relation between Renishaw PLC Incremental Linear Encoders and Encoder Output Pulse Signal from the SER-
VOPACK When Using a RGS20 Scale and RGH22B Sensor Head on page 6-48
• Rotary Servomotor
SERVOPACK Host controller 6
CN2 CN1
Serial PAO
data Conversion of Dividing
ENC
serial data to circuit PBO
pulses (Pn212)
PCO
CN2 CN1
Linear
encoder
Serial data PAO
Serial Conversion of Dividing
ENC serial data to circuit PBO
Converter Unit pulses (Pn281)
PCO
6-47
Output Phase Forms

Forward rotation or movement Reverse rotation or movement
(phase B leads by 90°) (phase A leads by 90°)
90° 90°
Phase A Phase A
Phase B Phase B
Phase C Phase C
t t
Note: The pulse width of the origin within one encoder rotation depends on the setting of number of encoder output
pulses (Pn212) or the encoder output resolution (Pn281). It is the same as the width of phase A.
Even for reverse operation (Pn000 = n.1), the output phase form is the same as shown above.
If you use the SERVOPACK’s phase-C pulse output for an origin return, rotate the Servomotor
two or more rotations before you start an origin return. If the Servomotor cannot be rotated two
or more times, perform an origin return operation at a motor speed of 600 min-1 or lower. If the
Important motor speed is higher than 600 min-1, the phase-C pulse may not be output correctly.
Linear Encoder Application Precautions

The following precautions apply to the encoder output pulses when an external linear encoder
is used.
 Relation between Renishaw PLC Incremental Linear Encoders and

Encoder Output Pulse Signal from the SERVOPACK When Using a
RGS20 Scale and RGH22B Sensor Head
The output position of the origin signal (Ref) will depend on the direction of movement for some
models of incremental linear encoders from Renishaw PLC.
In that case, the phase-C pulse of the SERVOPACK is output at two positions.
For detailed specifications on the origin signal, refer to the manual for the Renishaw PLC incre-
mental linear encoder.
 When Passing the First Origin Signal (Ref) in the Forward Direction and Returning
after Turning ON the Power Supply
Machine position (forward)
No origin signal (Ref) is output by the incremental linear
encoder. However, a phase-C pulse will be output from the
Origin detection SERVOPACK when the motor moves in the reverse
position direction, because this is the same position from which a
Origin detection phase-C pulse was output when the motor moved in the
position forward direction.
Time
Power ON
The second pulse is half as
Origin signal (Ref) wide as the phase-A pulse.
Phase C
6-48
 When Passing the First Origin Signal (Ref) in the Reverse Direction and Returning
after Turning ON the Power Supply
Machine position (forward)
No origin signal (Ref) is output by the incremental linear
encoder. However, a phase-C pulse will be output from the
Origin detection SERVOPACK when the motor moves in the forward
position direction, because this is the same position from which a
phase-C pulse was output when the motor moved in the
Origin detection
reverse direction.
position
Time
Power ON
The second pulse is half as
Origin signal (Ref) wide as the phase-A pulse.
Phase C
 Precautions When Using a Linear Incremental Encoder from Magnes-

cale Co., Ltd.
 Encoder Divided Phase-C Pulse Output Selection
You can also output the encoder’s phase-C pulse for reverse movement. To do so, set Pn081
to n.1.
n.0 Output phase-C pulses only in the forward
(default setting) direction.
Output phase-C pulses in both the forward
n.1
and reverse directions.
Precautions on Setting the Phase-C Pulse Output Selection (Pn081 = n.X)

• If you set Pn081 to n.1 (Output phase-C pulses in both the forward and reverse direc-
tions), the width of the phase-C pulse output may be narrower than the width of the phase-A
Important pulse.
• There is a difference of 1/8th of the scale pitch in the phase-C detection position for the
encoder’s phase-C pulse output position between when Pn081 = n.X is set to 0 (Output
phase-C pulses only in the forward direction) and when it is set to 1 (Output phase-C pulses in
both the forward and reverse directions).
Movement in the forward direction
One linear encoder pitch

Pn081 = n.0
Origin
1/8 linear encoder pitch 6
Pn081 = n.1
Origin
6-49
Observe the following precaution if you set Pn081 to n.0 (Output phase-C pulses only in
the forward direction).
When a linear incremental encoder from Magnescale Co., Ltd. is used, the count direction of
the encoder determines how the phase-C pulse (CN1-19 and CN1-20) is output.
Note: The count direction (up or down) of the linear encoder determines whether a phase-C pulse is output. The
output of the pulse does not depend on the setting of the movement direction (Pn000 = n.1).
Encoder Model Interpolator Linear Encoder Pitch [μm]

SL710 800
PL101-RY
SL720 800
MJ620-T13
SL730 800
SR75 80
SR85 80
MQ10-FLA
SQ10 400
MQ10-GLA
 When First Passing the Origin Signal in the Forward Direction and Returning after
Turning ON the Power Supply
The encoder’s phase-C pulse (CN1-19 and CN1-20) is output when the origin detection posi-
tion is passed for the first time in the forward direction after the power supply is turned ON.
After that, the phase-C pulse is output whenever the origin detection position is passed in the
forward or reverse direction.
Encoder count-up
direction
The SERVOPACK records the position where

Origin detection the phase-C pulse was output for movement
position in the forward direction, and the phase-C
pulse is also output for reverse movement.
Time
Power ON
position
Phase-C pulse
output
 When First Passing the Origin Signal in the Reverse Direction and Returning after
Turning ON the Power Supply
The encoder’s phase-C pulse (CN1-19 and CN1-20) is not output when the origin detection
position is passed for the first time in the reverse direction after the power supply is turned ON.
However, after the origin detection position is passed in the forward direction and the encoder’s
phase-C pulse is output, it will then also be output when the origin detection point is passed in
the reverse direction.
Encoder count-up
direction
The phase-C pulse is not

Origin detection output when the detection
position position is passed in the
reverse direction.
Time
The SERVOPACK records the position where
Power ON the phase-C pulse was output for movement
position in the forward direction, and the phase-C
pulse is then output for reverse movement.
Phase-C pulse
output
6-50
 When Using a Linear Encoder with Multiple Origins and First Passing the Origin Posi-
tion in the Forward Direction and Returning after Turning ON the Power Supply
The encoder’s phase-C pulse is output when the origin detection position is passed for the first
time in the forward direction after the power supply is turned ON. After that, the phase-C pulse
is output whenever the origin detection position is passed in the forward or reverse direction.
Encoder count-up The SERVOPACK records the position where
direction the phase-C pulse was output for movement
in the forward direction, and the phase-C
pulse is also output for reverse movement.
Origin 1 detection
position
Origin 2 detection Time

position
Even after origin 1 has been passed in
Power ON the forward direction, the phase-C pulse
is not output here because origin 2 is
passed in the reverse direction.
Phase-C pulse
output Origin 1 Origin 1 Origin 2 Origin 2
 When Using a Linear Encoder with Multiple Origins and First Passing the Origin Posi-
tion in the Reverse Direction after Turning ON the Power Supply
The encoder’s phase-C pulse is not output when the origin detection position is passed for the
first time in the reverse direction after the power supply is turned ON.
However, after the origin detection position is passed in the forward direction and the encoder’s
phase-C pulse it output, it will then also be output when the origin detection point is passed in
the reverse direction.
Encoder count-up The phase-C pulse is not
direction output.
Origin 1 detection
position
Origin 2 detection
position
Origin 3 detection Time
position
Power ON
Phase-C pulse
output Origin 1 Origin 2 Origin 3 Origin 3
6-51
6.8.2 Setting for the Encoder Divided Pulse Output

This section describes the setting for the encoder divided pulse output for a Rotary Servomotor
or Linear Servomotor.
Encoder Divided Pulse Output When Using a Rotary

Servomotor
If you will use a Rotary Servomotor, set the number of encoder output pulses (Pn212).
Number of Encoder Output Pulses Speed Position Torque
16 to 1,073,741,824 1 P/Rev 2,048 After restart Setup
The number of pulses from the encoder per rotation are processed inside the SERVOPACK,
divided by the setting of Pn212, and then output.
Set the number of encoder divided output pulses according to the system specifications of the
machine or host controller.
The setting of the number of encoder output pulses is limited by the resolution of the encoder.
Encoder Resolution Upper Limit of Servo-
Setting of the Number
Setting 20 bits 22 bits 24 bits motor Speed for Set
of Encoder Output
Increment (1,048,576 (4,194,304 (16,777,216 Number of Encoder
Pulses [P/Rev]
pulses) pulses) pulses) Output Pulses [min-1]
16 to 16,384 1    6,000
16,386 to 32,768 2    3,000
32,772 to 65,536 4    1,500
65,544 to 131,072 8    750
131,088 to 262,144 16    375
262,176 to 524,288 32 –   187
524,352 to 1,048,576 64 –   93
1,048,704 to 2,097,152 128 – –  46
2,097,408 to 4,194,304 256 – –  23
Note: 1. The setting range of the number of encoder output pulses (Pn212) depends on the resolution of the Servo-
motor encoder. An A.041 alarm (Encoder Output Pulse Setting Error) will occur if the above setting condi-
tions are not met.
Correct setting example: Pn212 can be set to 25,000 [P/Rev].
Incorrect setting example: Pn212 cannot be set to 25,001 (P/Rev) because the setting increment in the
above table is not used.
2. The upper limit of the pulse frequency is approximately 1.6 Mpps. The Servomotor speed will be limited if
the setting of the number of encoder output pulses is too high.
An A.511 alarm (Encoder Output Pulse Overspeed) will occur if the upper limit of the motor speed is
exceeded.
Output example: An output example is given below for the PAO (Encoder Pulse Output Phase
A) signal and the PBO (Encoder Pulse Output Phase B) signal when Pn212 is set to 16 (16
pulses output per revolution).
Setting: 16
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
PAO signal
PBO signal
1 revolution
6-52
Encoder Divided Pulse Output When Using a Linear

Servomotor
If you will use a Linear Servomotor, set the encoder output resolution (Pn281).
Encoder Output Resolution Speed Position Force
1 to 4,096 1 edge/pitch 20 After restart Setup
Note: The maximum setting for the encoder output resolution is 4,096. Pulse output at a linear encoder resolution
of 4,096 or higher is not possible.
Set the encoder output resolution for the encoder pulse output signals (PAO, /PAO, PBO, and
/PBO) from the SERVOPACK to the host controller.
The number of feedback pulses per linear encoder pitch is divided by the setting of Pn281
(after multiplication by 4) inside the SERVOPACK and then the resulting number of pulses is
output. Set the parameter according to the system specifications of the machine or host con-
troller.
The setting range depends on the Servomotor’s maximum speed (Pn385) and the Linear
Encoder Scale Pitch (Pn282).* You can calculate the upper limit of the setting of Pn281 with the
following formula.
Linear Encoder Pitch*/100
Upper limit of Pn281 = 72
Pn385
* The value depends on whether a Serial Converter Unit is used.
Using a Serial Converter Unit Setting of Pn282

Not Using a Serial Converter Unit (when the lin- The linear encoder pitch is automatically detected by the SERVO-
ear encoder and SERVOPACK are connected PACK, so the setting of Pn282 is ignored. You can use the monitor
directly or when a linear encoder that does not functions of the SigmaWin+ to check the linear encoder pitch that
require a Serial Converter Unit is used) was automatically detected.
When the linear encoder pitch is 4 μm, the maximum motor speed is limited to 1 m/s
Information
because of the maximum response frequency of the Serial Converter Unit.
If the setting is out of range or does not satisfy the setting conditions, an A.041 alarm
(Encoder Output Pulse Setting Error) will be output. If the motor speed exceeds the upper
limit for the set encoder output resolution, an A.511 alarm (Encoder Output Pulse Overspeed)
will be output.
The upper limit of the encoder output resolution is restricted by the dividing specifications of
the Serial Converter Unit.
Setting Example
Example
Correct setting for a linear encoder pitch of 20 μm and a maximum motor speed of 5 m/s
(Pn385 = 50): Pn281 = 28 (edges/pitch)
Incorrect setting: Pn281 = 29 (edges/pitch) (An A.041 alarm would be output.)
6
Pulse Output Example
Example
When Pn281 = 20 (20-edge output (5-pulse output) per linear encoder pitch)
Phase A
Phase B
6-53
6.9 Internal Set Speed Control
6.9.1 Input Signals for Internal Set Speed Control

You can set motor speeds in three parameters in the SERVOPACK and then perform speed
control by using external input signals to select the motor speed and direction. Because the
speed is controlled with parameters in the SERVOPACK, an external pulse generator or a refer-
ence generator is not required to control the speed.
SERVOPACK
Parameters for Internal Set Speeds
CN1
Motor direction (forward/reverse)
/SPD-D signal 41 Servomotor
Pn301 Speed
Contact reference
/SPD-A signal 45 Pn302 M
inputs
Pn303
/SPD-B signal 46
Stop (internal speed of 0)
SERVOPACK
Parameters for Internal Set Speeds

CN1
Motor direction (forward/reverse)
/SPD-D signal 41 Servomotor
Pn380 Speed
Contact /SPD-A signal reference
45 Pn381 M
inputs
Pn382
/SPD-B signal 46
Stop (internal speed of 0)
6.9.1 Input Signals for Internal Set Speed Control

The following input signals are used to change the speed.
When Using the Default Input Signal Allocations

(Pn50A = n.0)
.

/SPD-D CN1-41 Changes the Servomotor direction.
Input /SPD-A CN1-45 Used to select the internal set speed.
/SPD-B CN1-46 Used to select the internal set speed.
When Changing Input Signal Allocations (Pn50A = n.1)

/SPD-D Changes the Servomotor direction.
Input /SPD-A Must be allocated. Used to select the internal set speed.
/SPD-B Used to select the internal set speed.
Note: You must allocate the /SPD-D, /SPD-A, and /SPD-B signals to use them. You can use the following parame-
ters to allocate the signal to a terminal.
• Pn50C = n.X (/SPD-D (Motor Direction) Signal Allocation)
• Pn50C = n.X (/SPD-A (Internal Set Speed Selection Input) Signal Allocation)
• Pn50C = n.X (/SPD-B (Internal Set Speed Selection Input) Signal Allocation)
6-54
6.9.2 Setting the Control Method to Internal Set Speed Control
6.9.2 Setting the Control Method to Internal Set Speed Con-

trol
Set Pn000 to n.X (Control Method Selection) to 3 to specify internal set speed control.
Pn000 n.3 Internal set speed control with contact commands After restart Setup
6.9.3 Settings for Internal Set Speed Control

The parameters that you set depend on the type of Servomotor.
Internal Set Speed 1 Speed
Pn301 Setting Range Setting Unit* Default Setting When Enabled Classification
0 to 10,000 1 min-1 100 Immediately Setup
1 min
1 min
* When a Direct Drive Servomotor is connected, the setting unit will automatically be 0.1 min -1.
Note: If you set a value that exceeds the maximum speed of the Servomotor, the actual speed will be limited to the
maximum speed of the Servomotor.
6
Note: If you set a value that exceeds the maximum speed of the Servomotor, the actual speed will be limited to the
maximum speed of the Servomotor.
6-55
6.9.4 Changing Internal Set Speeds with Input Signals

You can select the internal set speed and direction with the ON/OFF combinations of the /SPD-
D (Motor Direction) signal and the /SPD-A and /SPD-B (Internal Set Speed Selection) signals.
Input Signals Motor
Motor Speed
/SPD-D /SPD-A /SPD-B Direction
OFF OFF Stops the motor with an internal speed of 0.
Operates the motor with internal set speed 1, which
OFF ON
is set in Pn301.
OFF Forward Operates the motor with internal set speed 2, which
ON ON
is set in Pn302.
ON OFF
is set in Pn303.
OFF ON
is set in Pn301.
ON Reverse Operates the motor with internal set speed 2, which
ON ON
is set in Pn302.
ON OFF
is set in Pn303.
Input Signals Motor
Motor Speed
OFF ON
is set in Pn380.
OFF Forward Operates the motor with internal set speed 2, which
ON ON
is set in Pn381.
ON OFF
is set in Pn382.
OFF ON
is set in Pn380.
ON Reverse Operates the motor with internal set speed 2, which
ON ON
is set in Pn381.
ON OFF
is set in Pn382.
6-56
An operating example of speed control with the internal set speeds is given below. This exam-
ple combines speed control with the internal set speeds with the soft start function. The shock
that results from speed changes is reduced by using the soft start function.
Motor speed
Speed 3
+SPEED3
The acceleration/deceleration rates
Speed 2 are set in Pn305 and Pn306.
+SPEED2
Speed 1
+SPEED1
Stopped Stopped
0
Stopped
-SPEED1
Speed 1
-SPEED2
Speed 2
-SPEED3
Speed 3
/SPD-A signal
OFF OFF ON ON OFF OFF ON ON OFF
/SPD-B signal
OFF ON ON OFF OFF ON ON OFF OFF
/SPD-D signal
OFF OFF OFF OFF ON ON ON ON
6
6-57
6.10 Selecting Combined Control Methods
6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6

You can specify switching the SERVOPACK between two control methods. To combine control
methods, set Pn000 = n.X (Control Method Selection) to between 4 and B. This section
describes how to switch between the methods and the switching conditions.
Parameter Combined Control Methods When Enabled Classification
Internal set speed Speed control with
n.4 ⇔
control external references
Internal set speed
n.5 ⇔ Position control
control
Internal set speed
n.6 ⇔ Torque control
control
Speed control with
n.7 Position control ⇔
external references
n.8 Position control ⇔ Torque control
Speed control with
n.9 Torque control ⇔
external references
Speed control with Speed control with
n.A ⇔
external references zero clamping
Position control with
Normal position con-
n.B ⇔ reference pulse inhibi-
trol
tion
6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5,

or 6
The conditions for switching between internal set speed control and another control method
are given below.
When Using the Default Input Signal Allocations (Pn50A =

n.0)
You can use the /SPD-A and /SPD-B (Internal Set Speed Selection) signals to change the con-
trol method and select the internal set speed.
You can switch between speed control, position control, or torque control and internal set
speed control even while the Servomotor is operating.
Input Pins Operation for Setting of Pn000 = n.X
Motor
/SPD-D /SPD-A /SPD-B Direction n.4 n.5 n.6
(CN1-41) (CN1-45) (CN1-46)
OFF OFF Speed control Position control Torque control
Operates the motor with internal set speed 1, which is set
OFF ON
in Pn301.
OFF Forward Operates the motor with internal set speed 2, which is set
ON ON
in Pn302.
ON OFF
in Pn303.
OFF OFF Speed control Position control Torque control
OFF ON
in Pn301.
ON Reverse Operates the motor with internal set speed 2, which is set
ON ON
in Pn302.
ON OFF
in Pn303.
6-58
Input Pins Operation for Setting of Pn000 = n.X
Motor
/SPD-D /SPD-A /SPD-B Direction n.4 n.5 n.6
(CN1-41) (CN1-45) (CN1-46)
OFF OFF Speed control Position control Force control
OFF ON
in Pn380.
OFF Forward Operates the motor with internal set speed 2, which is set
ON ON
in Pn381.
ON OFF
in Pn382.
OFF OFF Speed control Position control Force control
OFF ON
in Pn380.
ON Reverse Operates the motor with internal set speed 2, which is set
ON ON
in Pn381.
ON OFF
in Pn382.
An example of operation for Pn000 = n.5 (Switching between internal set speed control
and position control) is given below. This example combines speed control with the internal set
speeds with the soft start function. The shock that results from speed changes is reduced by
using the soft start function.
Motor speed
+SPEED3
Decelerating to a stop
+SPEED2
+SPEED1
-SPEED1
-SPEED2
-SPEED3
㨪
㨪
/COIN signal
6
㨪
㨪
Reference pulses
t1
/SPD-A signal
OFF ON ON OFF OFF OFF
/SPD-B signal
ON ON OFF OFF OFF ON
Speed 1 Speed 2 Speed 3 Switching Pulses Speed 1

Reference
Internal set
Internal set speed control Position control speed control
Note: 1. Set t1 so that it is greater than 2 ms. The value of t1 is not affected by whether the soft start function is
used.
2. A maximum delay of 2 ms occurs in reading the /SPD-A and /SPD-B signals.
3. The speed is decelerated with the deceleration time set in Pn306 (Soft Start Deceleration Time), and inter-
nal set speed control is changed to position control after the Servomotor comes to a stop.
The pulse train reference is received after the switch to position control. Always wait until after position
control is started before you input the pulse train reference from the host computer. After position control is
started, the /COIN (Positioning Completion) signal is output. Use the /COIN signal to confirm that the con-
trol method has changed.
6-59

The following four signals are assigned to CN1-40 to CN1-46 on the I/O signal connector: /C-
SEL (Control Selection), /SPD-A and /SPD-B (Internal Set Speed Selection) signals, and /SPD-
D (Motor Direction) signal.
The control method is switched by turning the /C-SEL signal ON and OFF.
Control Method for Setting of Pn000 = n.X
Type Signal Connector Pin No. Setting
n.4 n.5 n.6
ON (closed) Speed control Position control Torque control
Input /C-SEL Must be allocated.
OFF (open) Internal set speed control Internal set speed control Internal set speed control
Note: You must allocate the /C-SEL signal to use it. Use Pn50C = n.X (/C-SEL (Control Selection Input) Signal
Allocation) to allocate the signal to a connector pin. Refer to the following section for details.
The operating method for internal set speed control (i.e., the /C-SEL signal is OFF) is given
below.
Input Signals Motor
Motor Speed
Operates the motor with internal set speed 1,
OFF ON
which is set in Pn301.
OFF Forward Operates the motor with internal set speed 2,
ON ON
ON OFF
OFF ON
ON Reverse Operates the motor with internal set speed 2,
ON ON
ON OFF
Input Signals Motor
Motor Speed
OFF ON
OFF Forward Operates the motor with internal set speed 2,
ON ON
ON OFF
OFF ON
ON Reverse Operates the motor with internal set speed 2,
ON ON
ON OFF
Note: You must allocate the /SPD-D, /SPD-A, and /SPD-B signals to use them. You can use the following parame-
ters to allocate the signal to a terminal.
• Pn50C = n.X (/SPD-D (Motor Direction) Signal Allocation)
• Pn50C = n.X (/SPD-A (Internal Set Speed Selection Input) Signal Allocation)
• Pn50C = n.X (/SPD-B (Internal Set Speed Selection Input) Signal Allocation)
6-60
6.10.2 Setting Pn000 = n.X (Control Method Selection) to 7, 8,

or 9
You can set Pn000 = n.X (Control Method Selection) to switch between the following
control methods.
• Switching between position control and speed control
• Switching between position control and torque control
• Switching between torque control and speed control

n.0)
Connector Control Method for Setting of Pn000 = n.X
Type Signal Signal Status
Pin No. n.7 n.8 n.9
ON (closed) Speed control Torque control Speed control
Input /C-SEL CN1-41
OFF (open) Position control Position control Torque control

Pin No. n.7 n.8 n.9
Must be allo- ON (closed) Speed control Torque control Speed control
Input /C-SEL
cated. OFF (open) Position control Position control Torque control
Note: You must allocate the /C-SEL signal to use it. Use Pn50C = n.X (/C-SEL (Control Selection Input) Signal
Allocation) to allocate the signal to a connector pin.
6.10.3 Setting Pn000 = n.X (Control Method Selection) to
A or B
You can set Pn000 = n.X (Control Method Selection) to switch between the following
control methods.
• Switching between speed control with analog references and speed control with zero clamp-
ing
• Switching between normal position control and position control with reference pulse inhibition 6

n.0)
Pin No. n.A n.B
Speed control with zero
ON (closed) –
/ZCLAMP clamping
OFF (open) Speed control –
Input CN1-41
Position control with refer-
ON (closed) –
/INHIBIT ence pulse inhibition
OFF (open) – Position control
6-61
6.10.3 Setting Pn000 = n.X (Control Method Selection) to A or B

Pin No. n.A n.B
Speed control with zero
ON (closed) –
/ZCLAMP clamping
Must be OFF (open) Speed control –
Input
allocated. Position control with refer-
ON (closed) –
/INHIBIT ence pulse inhibition
OFF (open) – Position control
Note: You must allocate the /ZCLAMP and /INHIBIT signals to use them. You can use the following parameters to
allocate the signal to a terminal.
• Pn50D = n.X (/ZCLAMP (Zero Clamping Input) Signal Allocation)
• Pn50D = n.X (/INHIBIT (Reference Pulse Inhibit Input) Signal Allocation)
6-62
6.11 Selecting Torque Limits
6.11.1 Internal Torque Limits

You can limit the torque that is output by the Servomotor.
There are four different ways to limit the torque. These are described in the following table.
Limit Method Outline Control Method Reference
The torque is always limited with the setting
Internal Torque Limits Speed control, 6.11.1
of a parameter.
position control, or
The torque is limited with an input signal torque control
External Torque Limits 6.11.2
from the host computer.
Limiting Torque with an An analog reference is used to set the Speed control or
6.11.3
Analog Reference required torque limits. position control
Limiting Torque with an The torque is limited by combining torque
Speed control or
External Torque Limit and limits for an external input signal and torque 6.11.4
position control
an Analog Reference limits for an analog reference.
Note: If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the maxi-
mum torque of the Servomotor.
6.11.1 Internal Torque Limits

If you use internal torque limits, the maximum output torque will always be limited to the speci-
fied forward torque limit (Pn402) and reverse torque limit (Pn403).
Forward Torque Limit Speed Position Torque
Reverse Torque Limit Speed Position Torque
* Set a percentage of the rated motor torque.
Note: If the setting of Pn402 or Pn403 is too low, the torque may be insufficient for acceleration or deceleration of
the Servomotor.
Without Internal Torque Limits

With Internal Torque Limits
(Output to the maximum torque is possible.)
Maximum torque Torque limit 6

Speed Speed
Pn402
t t
Pn403
6-63
6.11.2 External Torque Limits
Forward Force Limit Speed Position Force
Reverse Force Limit Speed Position Force
* Set a percentage of the rated motor force.
Note: If the setting of Pn483 or Pn484 is too low, the force may be insufficient for acceleration or deceleration of the
Servomotor.
Without Internal Torque Limits

With Internal Force Limits
(Output to the maximum force is possible.)
Maximum force Force limit

Speed Speed
Pn483
t t
Pn484

You can limit the torque only when required by the operating conditions of the machine by turn-
ing a signal ON and OFF.
You can use this for applications such as stopping on physical contact, or holding a workpiece
with a robot.
External Torque Limit Reference Signals

The /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit) signals
are used as the external torque limit reference signals. The /P-CL signal is used for the forward
torque limit and the /N-CL signal is used for the reverse torque limit.
Applies the forward external torque limit.
ON (closed) The torque is limited to the smaller of the set-
CN1-45 tings of Pn402*1 and Pn404.
Input /P-CL
(default setting)
Cancels the forward external torque limit.
OFF (open)
The torque is limited to the setting of Pn402*1.
Applies the reverse external torque limit.
ON (closed) The torque is limited to the smaller of the set-
CN1-46 tings of Pn403*2 and Pn405.
Input /N-CL
(default setting)
Cancels the reverse external torque limit.
OFF (open)
The torque is limited to the setting of Pn403*2.
*1. Pn483 is used for a Linear Servomotor.
Note: You can use the following parameters to allocate the /P-CL and /N-CL signals to other terminals.
• Pn50B = n.X (/P-CL (Forward External Torque Limit Input) Signal Allocation)
• Pn50B = n.X (/N-CL (Reverse External Torque Limit Input) Signal Allocation)
6-64
Setting the Torque Limits

The parameters that are related to setting the torque limits are given below.
If the setting of Pn402 (Forward Torque Limit), Pn403 (Reverse Torque Limit), Pn404 (Forward
External Torque Limit), or Pn405 (Reverse External Torque Limit) is too low, the torque may be
insufficient for acceleration or deceleration of the Servomotor.
Forward External Torque Limit Speed Position Torque
Reverse External Torque Limit Speed Position Torque
* Set a percentage of the rated motor torque.
If the setting of Pn483 (Forward Force Limit), Pn484 (Reverse Force Limit), Pn404 (Forward
External Force Limit), or Pn405 (Reverse External Force Limit) is too low, the force may be
insufficient for acceleration or deceleration of the Servomotor.
Forward External Force Limit Speed Position Force
Reverse External Force Limit Speed Position Force
Pn405 Setting Range Setting Unit Default Setting When Enabled Classification 6
6-65
Changes in the Output Torque for External Torque Limits

The following table shows the changes in the output torque when the internal torque limit is set
to 800%.
In this example, the Servomotor direction is set to Pn000 = n.0 (Use CCW as the forward
direction).
/P-CL signal
OFF ON
Pn402 Pn402
Speed Speed
Pn404
OFF 0 0
Torque Torque
Pn403 Pn403
/N-CL signal
Pn402 Pn402
Speed Speed
Pn404
ON 0 0
Pn405 Pn405
Torque Torque
Pn403 Pn403
In this example, the Servomotor direction is set to Pn000 = n.0 (Use the direction in
which the linear encoder counts up as the forward direction).
/P-CL signal
OFF ON
Pn483 Pn483
Speed Speed
Pn404
OFF 0 0
Force Force
Pn484 Pn484
/N-CL signal
Pn483 Pn483
Speed Speed
Pn404
ON 0 0
Pn405 Pn405
Force Force
Pn484 Pn484
6-66
6.11.3 Limiting Torque with an Analog Reference

The analog voltage on the T-REF terminals (CN1-9 and CN1-10) is used to limit the torque with
an analog reference.
The smallest of the analog reference torque reference and the torque limits for Pn402*1 and
Pn403*2 is used.
The block diagrams for limiting the torque during speed control are provided below.
SERVOPACK
Pn400 Pn415 Pn402

T-REF Forward Torque
Torque limit Torque Reference Input Gain T-REF Filter Time Constant
Limit
(Refer to 6.7.1.) (Refer to 6.7.3.)
Pn100 (Refer to 6.11.1.)
Pn300 Speed
V-REF + +
Speed Speed Reference loop gain Torque
reference input – + reference
Input Gain Pn101
Speed Loop Integral
(Refer to 6.5.1.) Time Constant
Pn403
Speed feedback Reverse Torque Limit
(Refer to 6.11.1.)
There is no polarity for the input voltage of the analog voltage reference for the torque limit.
Information
The absolute value of a positive or negative voltage is input, and a torque limit that corre-
sponds to that absolute value is applied in the forward and reverse directions.
SERVOPACK
Pn483
Pn400 Pn415
T-REF Forward Force Limit
Force limit Force reference input gain T-REF Filter Time Constant (Refer to 6.11.1.)
(Refer to 6.7.1.) (Refer to 6.7.3.)
Pn100
Pn300 Speed
V-REF + +
Speed Speed Reference loop gain Force
– + reference
reference input Input Gain Pn101
(Refer to 6.5.1.) Speed Loop Integral
Time Constant
Pn484
Speed feedback Reverse Force Limit 6
(Refer to 6.11.1.)
There is no polarity for the input voltage of the analog voltage reference for the force limit. The
Information
absolute value of a positive or negative voltage is input, and a force limit that corresponds to
the absolute value of the input voltage is applied in the forward and reverse directions.
T-REF (Torque Reference Input) Signal

The input signal that is used for torque limits with an analog voltage reference is described
below.
Input
6-67
Setting the External Torque Limit

You must set Pn002 to n.1 (Use T-REF as an external torque limit input) to use T-REF
(CN1-9 and CN1-10) as the torque limit input.
Pn002 n.1 Use T-REF as an external torque limit input. After restart Setup
Settings Related to Limiting Torque with an Analog Voltage

Reference
The parameters that are related to limiting torque with an analog voltage reference include
parameters to set the input gain of the analog voltage reference, a reference filter time con-
stant, and the internal torque limits.
Pn400
30
Force Reference Input Gain Speed Position Force
Pn400
30
(rated force at 3.0 V)
T-REF Filter Time Constant Speed Position Force
6-68
6.11.4 Limiting Torque with an External Torque Limit and an Analog Voltage Reference
6.11.4 Limiting Torque with an External Torque Limit and an

Analog Voltage Reference
The torque is limited by combining torque limits for an external input signal and torque limits for
an analog voltage reference.
When the /P-CL (Forward External Torque Limit) or /N-CL (Reverse External Torque Limit) signal
is ON, the torque will be limited by the smaller of the torque limit for the analog voltage refer-
ence or the setting of Pn404 or Pn405.
The following block diagram shows limiting the torque with an external torque limit and an ana-
log voltage reference.
SERVOPACK
Pn402
/P-CL signal Forward Torque Limit
(Refer to 6.11.1.)
/N-CL signal Pn404
Pn400 Pn415 Forward External
Torque limit T-REF Torque Reference Input Gain T-REF Filter Time Constant Torque Limit
(Refer to 6.7.1.) (/P-CL signal: ON
(Refer to 6.7.3.)
(Refer to 6.11.1.)
Pn300 Pn100
V-REF Speed Reference + + Speed
Speed Torque
Input Gain + loop gain
reference input - Pn101 reference
(Refer to 6.5.1.)
Speed Loop Integral
Time Constant Pn405 Pn403
Reverse Torque Limit
Reverse External Torque Limit
Speed feedback (Refer to 6.11.1.)
(/N-CL signal: ON) (Refer to 6.11.1.)
Note: You cannot use the torque limit of the analog voltage reference during torque control because the analog volt-
age is input with the T-REF (Torque Reference Input) signal.
SERVOPACK
Pn483
/P-CL signal Forward Force Limit
(Refer to 6.11.1.)
/N-CL signal
Pn400 Pn415 Pn404
T-REF Forward External
Force limit Force reference input gain T-REF Filter Time Constant
Torque Limit
(Refer to 6.7.1.) (Refer to 6.7.3.) (/P-CL signal: ON
Pn300 Pn100 (Refer to 6.11.1.) 6
V-REF Speed Reference + + Speed
Speed Force reference
Input Gain + loop gain
reference input - Pn101
(Refer to 6.5.1.)
Speed Loop Integral
Time Constant Pn484
Pn405
Reverse Force Limit
Reverse External Torque Limit
Speed feedback
(/N-CL signal: ON) (Refer to 6.11.1.) (Refer to 6.11.1.)
Note: You cannot use the force limit of the analog voltage reference during force control because the analog voltage
is input with the T-REF (Torque Reference Input) signal.
6-69
/P-CL (Forward External Torque Limit) Signal, /N-CL

(Reverse External Torque Limit) Signal, and T-REF (Torque
Reference Input) Signal
The input signals that are used for torque limits with an external torque limit and an analog volt-
age reference are described below.
 T-REF (Torque Reference Input) Signal

Input
 /P-CL (Forward External Torque Limit) Signal and /N-CL (Reverse

External Torque Limit) Signal
Applies the forward external torque limit.
ON (closed) The torque is limited to the smallest of the ana-
CN1-45 log reference or the setting of Pn402 or Pn404.
Input /P-CL
(default setting)
Cancels the forward external torque limit.
OFF (open)
The torque is limited to the setting of Pn402.
Applies the reverse external torque limit.
ON (closed) The torque is limited to the smallest of the ana-
CN1-46 log reference or the setting of Pn403 or Pn405.
Input /N-CL
(default setting)
Cancels the reverse external torque limit.
OFF (open)
The torque is limited to the setting of Pn403.
 /P-CL (Forward External Force Limit) Signal and /N-CL (Reverse Exter-
nal Force Limit) Signal
Applies the forward external force limit.
ON (closed) The force is limited to the smallest of the analog
CN1-45 reference or the setting of Pn483 or Pn404.
Input /P-CL
(default setting)
Cancels the forward external force limit.
OFF (open)
The force is limited to the setting of Pn483.
Applies the reverse external force limit.
ON (closed) The force is limited to the smallest of the analog
CN1-46 reference or the setting of Pn484 or Pn405.
Input /N-CL
(default setting)
Cancels the reverse external force limit.
OFF (open)
The force is limited to the setting of Pn484.
Setting the Torque Limit with the External Torque Limit and
an Analog Voltage Reference
To limit the torque with an external input signal and an analog voltage reference, you must set
Pn002 to n.3 (Use T-REF or /N_CL as the torque limit when /P_CL or /N_CL is active).
Use T-REF as the torque limit when /P_CL or
Pn002 n.3 After restart Setup
/N_CL is active.
6-70
Related Parameters
The parameters that are related to torque limits with an external torque limit and an analog volt-
age reference are described below.
With the internal torque limits, the torque is always limited. To disable to internal torque limits,
you must set the related parameters (Pn402, Pn403, Pn483, and Pn484) to the maximum val-
ues.
Pn400
30
0 to 800 * 800 Immediately Setup
1%
Forward External Torque Limit Speed Position Torque
Reverse External Torque Limit Speed Position Torque
Force Reference Input Gain Speed Position Force
Pn400
30
(rated force at 3.0 V)
0 to 800 * 30 Immediately Setup
1%
Forward External Force Limit Speed Position Force
Reverse External Force Limit Speed Position Force
T-REF Filter Time Constant Speed Position Force
6-71
6.11.5 /CLT (Torque Limit Detection) Signal
6.11.5 /CLT (Torque Limit Detection) Signal

This section describes the /CLT signal, which indicates the status of limiting the motor output
torque.
The motor output torque is being
ON (closed)
limited.
Output /CLT Must be allocated.
The motor output torque is not being
OFF (open)
limited.
Note: You must allocate the /CLT signal to use it. Use Pn50F = n.X (/CLT (Torque Limit Detection Output) Sig-
nal Allocation) to allocate the signal to a connector pin. Refer to the following section for details.
6-72
6.12 Absolute Encoders

The absolute encoder records the current position of the stop position even when the power supply is
OFF.
With a system that uses an absolute encoder, the host controller can monitor the current position.
Therefore, it is not necessary to perform an origin return operation when the power supply to the sys-
tem is turned ON.
There are four types of encoders for Rotary Servomotors. The usage of the encoder is specified in
Pn002 = n.X.
SERVOPACKs with software version 0023 or higher support batteryless absolute encoders.
Refer to the following section for encoder models.
 Encoder Resolution on page 5-49
• Parameter Settings When Using an Incremental Encoder
n.0 Use the encoder as an incremental encoder.
(default setting) A battery is not required.
Use the encoder as an incremental encoder.
Pn002 n.1 After restart Setup
A battery is not required.
Use the encoder as a single-turn absolute encoder.
n.2
• Parameter Settings When Using a Single-Turn Absolute Encoder
n.0 Use the encoder as a single-turn absolute encoder.
(default setting) A battery is not required.
n.2
• Parameter Settings When Using a Multiturn Absolute Encoder
n.0 Use the encoder as a multiturn absolute encoder.
(default setting) A battery is required.
n.2
Use the encoder as a single-turn absolute encoder. 6
• Parameter Settings When Using a Batteryless Multiturn Absolute Encoder
Use the encoder as a batteryless multiturn absolute
n.0
encoder.
(default setting)
Pn002 Use the encoder as an incremental encoder. After restart Setup
n.1
n.2
NOTICE
If you install batteries both at the host controller and on the Encoder Cable at the same time, you
will create a loop circuit between the batteries, resulting in a risk of damage or burning.
6-73
6.12.1 Connecting an Absolute Encoder
6.12.1 Connecting an Absolute Encoder

The following diagram shows the typical connections between a Servomotor with an absolute encoder,
the SERVOPACK, and the host controller.
*2
CN1
Phase A 33 PAO
Absolute encoder 34 /PAO R Phase A
Phase B 35 PBO
*1
*2 36 /PBO R Phase B
CN2
PS 5 Phase C 19 PCO
/PS 6 20 /PCO R Phase C
PSO
ENC /PSO R
Output line driver:
SN75ALS174
or the equivalent CN1
PG5 V 1 4 SEN +5 V
PG0 V 2
2 SG
1 SG
0V
BAT(+) 3
BAT(-) 4 Applicable Line Receiver: SN75ALS175 or
MC3486 manufactured
by Texas Instruments
or the equivalent
+ - *3 Connector
Battery shell
R (terminating resistance): 220 Ω to 470 Ω
(Shell) Encoder Cable Connector
with a Battery Case shell

*3. If you use an Encoder Cable with a Battery Case, do not install a battery at the host controller.
Refer to the following section for details on the typical connections.
4.4.3 Wiring the SERVOPACK to the Encoder on page 4-26
6.12.2 Structure of the Position Data of the Absolute Encoder

The position data of the absolute encoder is the position coordinate from the origin of the absolute
encoder.
The position data from the absolute encoder contains the following two items.
• The number of rotations from the origin of the encoder coordinate system (called the multiturn data)
• The position (number of pulses) within one rotation
The position data of the absolute encoder is as follows:
Position data of absolute encoder = Multiturn data × Number of pulses within one encoder rotation
(setting of Pn212)+ Position (number of pulses) within one rotation.
For a single-turn absolute encoder, the multiturn data is 0.
6-74
6.12.3 Output Ports for the Position Data from the Absolute Encoder
6.12.3 Output Ports for the Position Data from the Absolute
Encoder
You can read the position data of the absolute encoder from the PAO, PBO, and PCO (Encoder
Divided Pulse Output) signals and the PSO (Absolute Encoder Position Output) signal.
The output method and timing for the position data of the absolute encoder are different in each case.
Encoder Divided Pulse Output Port

A conceptual diagram of the connections of the PAO, PBO, and PCO (Encoder Divided Pulse Output)
signals to the host controller is provided below.
CN2 CN1 SEN
Serial PAO
ENC data Conversion of Dividing
serial data to PBO
circuit
pulses (Pn212) PCO
Signal Contents
Signal Status
When Using an Absolute Encoder
First signal Multiturn data position within one rotation (pulse train)
PAO
During normal operation Incremental pulses
First signal Position within one rotation (pulse train)
PBO
PCO Always Origin pulse
The PAO (Encoder Divided Pulse Output) signal outputs the position data from the absolute encoder
after the control power supply is turned ON. There are two methods that you can use to output the
position data from the absolute encoder: Using the SEN (Absolute Data Request) signal and not using
the SEN signal.
The position data of the absolute encoder is the current stop position. The absolute encoder outputs
the multiturn data with the specified protocol. The absolute encoder outputs the position within one
rotation as a pulse train. It then outputs pulses as an incremental encoder (incremental operation sta-
tus).
The host controller must have a reception circuit (e.g., UART) for the position data from the absolute
encoder. The pulse counter at the host controller will not count pulses when the multiturn data (com-
munications message) is input because only phase A is input. Counting starts from the position of the 6
absolute encoder within one rotation.
The output circuits for the PAO, PBO, and PCO signals use line drivers. Refer to the following section
for details on line drivers.
4.5.4 I/O Circuits on page 4-44
PSO (Absolute Encoder Position Output) Port

The PSO (Absolute Encoder Position Output) signal periodically outputs the position data from the
absolute encoder according to the specified protocol after outputting the position data from the
absolute encoder with the PAO and PBO signals has been completed. There are two methods that you
can use to output the position data from the absolute encoder: Using the SEN (Absolute Data Request)
signal and not using the SEN signal.
encoder.
The output circuit for the PSO signal uses a line driver. Refer to the following section for details on line
drivers.
6-75
6.12.4 Reading the Position Data from the Absolute Encoder

There are two methods that you can use to read the position data from the absolute encoder: Using
the SEN (Absolute Data Request) signal and not using the SEN signal.
Setting the Parameter to Specify Using or Not Using the SEN

(Absolute Data Request) Signal
 Using the SEN Signal to Read the Position Data from the Absolute
Encoder
• When Using the Default I/O Signals (Pn50A = n.0)
The setting of Pn515 = n.X (SEN (Absolute Data Request Input) Signal Allocation) is ignored.
• Allocating the SEN Signal to CN1-40 to CN1-46 on the I/O Signal Connector (Pn50A = n.1)
Set Pn515 = n.X (SEN (Absolute Data Request Input) Signal Allocation) to 0 to 6 or 9 to F.
Refer to the following section for the procedure to allocate input signals.
Information To use the default allocation of the SEN signal and to change the default settings of other I/O
signals (Pn50A = n.1), set Pn515 to n.8 (Active when 5 V is input to CN1-4).
 Reading the Position Data from the Absolute Encoder without Using the
SEN Signal
Set Pn50A to n.1 and set Pn515 to n.7 (The signal is always active).
Refer to the following sections for details on the parameters.
Connecting the SEN (Absolute Data Request) Signal

 Allocating the SEN Signal to CN1-4
Does not request the position data from the absolute
OFF (open) encoder. (This is the status after the power supply is
Input SEN CN1-4 turned ON.)
ON (closed) Requests the position data from the absolute encoder.
Circuit Example When the SEN Signal Is Allocated to CN1-4
CN1
+5 V
SEN 4 100 Ω
High level:
Approx. 1 mA
0.1 μF
Equivalent to 7406 2 4.7 kΩ
0V SG 0V
We recommend a PNP transistor.
6-76
 Allocating the SEN Signal to a General-Purpose Input

OFF (open) encoder. (This is the status after the power supply is
Input SEN CN1-40 to CN1-46 turned ON.)
ON (closed) Requests the position data from the absolute encoder.
A circuit example for when the SEN signal is allocated to CN1-40 to CN1-46 on the I/O signal
connector is provided below.
 Using the Pull-Up Power Supply in the SERVOPACK

PL1, PL2, or PL3 terminal
+12 V
150 Ω 4.7 kΩ
Approx. 9 mA
ON:
1.5 V max. 0V
 Using an External Pull-Up Power Supply

Pull-Up Voltage (Vcc) Pull-Up Resistance (R1)
24 V 1.8 kΩ to 2.7 kΩ
12 V max. 820 Ω to 1.5 kΩ
5 V max. 180 Ω to 470 Ω

Vcc
R1 i
150 Ω 4.7 kΩ
Pull-up VF
Tr1
6
VF = 1.5 V to 1.8 V
6-77
Sequence for Reading the Position Data from the Absolute

Encoder Using the SEN (Absolute Data Request) Signal
The sequence for using the SEN signal to read the position data from the absolute encoder of a Rotary
Servomotor is given below.
The multiturn data is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
Control power ON
supply*1 OFF
ON
Main circuit
power supply OFF
ALM signal
No alarm
/S-RDY signal
OFF ON
/S-ON signal
OFF ON
SEN signal*1 OFF ON
PAO signal Undefined. Multiturn data Position within one rotation Incremental pulses
(incremental pulses)
PBO signal Undefined. Position within one rotation Incremental pulses

PSO signal Undefined. Multiturn data + position

within one rotation
90 ms
5 s max. 50 ms typ. Approx. 15 ms T*2
1 ms to 3 ms
*1. When you turn OFF the control power supply, turn OFF the SEN signal.
*2. The pulse output time T for the position of the absolute encoder within one rotation depends on the setting of Pn212
(Number of Encoder Output Pulses). Refer to the following table.
Calculation of the Pulse Output Speed Calculation of the Pulse Output Time T
Setting of Pn212 for the Position of the Absolute for the Position of the Absolute
Encoder within One Rotation Encoder within One Rotation
16 to 16,384 680 × Pn212/16,384 [kpps] 25 ms max.
16,386 to 32,768 680 × Pn212/32,768 [kpps] 50 ms max.
32,722 to 65,536 680 × Pn212/65,536 [kpps] 100 ms max.
65,544 to 131,072 680 × Pn212/131,072 [kpps] 200 ms max.
131,088 to 262,144 680 × Pn212/262,144 [kpps] 400 ms max.
262,176 to 524,288 680 × Pn212/524,288 [kpps] 800 ms max.
524,352 to 1,048,576 680 × Pn212/1,048,576 [kpps] 1,600 ms max.
1,048,704 to 2,097,152 680 × Pn212/2,097,152 [kpps] 3,200 ms max.
2,097,408 to 4,194,304 680 × Pn212/4,194,304 [kpps] 6,400 ms max.
• Maintain the SEN signal at the high level for at least 1.3 seconds when you turn it OFF before you
turn it ON again, as shown in the following figure.
SEN signal
Important
OFF ON (high level) OFF ON
1.3 s min.
15 ms min.
• The SEN signal is not acknowledged while the servo is ON.
6-78

Encoder without Using the SEN (Absolute Data Request) Signal
The sequence for reading the position data from the absolute encoder of a Rotary Servomotor without
using the SEN signal is given below.
When the specified time has elapsed after the control power supply to the SERVOPACK is turned ON,
the SERVOPACK will automatically read the position data from the absolute encoder.
The position data from the absolute encoder is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
ON
Control power
supply OFF
ON
Main circuit
power supply OFF
ALM signal
No alarm
/S-RDY signal
OFF ON
/S-ON signal
OFF ON
PAO signal Undefined. Multiturn Position within one rotation Incremental pulses
data (incremental pulses)
PBO signal Undefined. Position within one rotation Incremental pulses

PSO signal Undefined. Multiturn data + position

within one rotation
90 ms
5 s max. 50 ms typ. Approx. 15 ms T*
1 ms to 3 ms
* The pulse output time T for the position of the absolute encoder within one rotation depends on the setting of Pn212
(Number of Encoder Output Pulses). Refer to the following table.
Calculation of the Pulse Output Speed Calculation of the Pulse Output Time T
Setting of Pn212 for the Position of the Absolute for the Position of the Absolute
Encoder within One Rotation Encoder within One Rotation
16 to 16,384 680 × Pn212/16,384 [kpps] 25 ms max. 6
16,386 to 32,768 680 × Pn212/32,768 [kpps] 50 ms max.
32,722 to 65,536 680 × Pn212/65,536 [kpps] 100 ms max.
65,544 to 131,072 680 × Pn212/131,072 [kpps] 200 ms max.
131,088 to 262,144 680 × Pn212/262,144 [kpps] 400 ms max.
262,176 to 524,288 680 × Pn212/524,288 [kpps] 800 ms max.
524,352 to 1,048,576 680 × Pn212/1,048,576 [kpps] 1,600 ms max.
1,048,704 to 2,097,152 680 × Pn212/2,097,152 [kpps] 3,200 ms max.
2,097,408 to 4,194,304 680 × Pn212/4,194,304 [kpps] 6,400 ms max.
6-79
6.12.5 Transmission Specifications

The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal and
the PSO (Absolute Encoder Position Output) signal are given in the following table.
The PAO signal sends only the multiturn data. The PSO signal sends the multiturn data plus the
position of the absolute encoder within one rotation.
Refer to the following section for the timing of sending the position data from the absolute encoder.
Sequence for Reading the Position Data from the Absolute Encoder Using the SEN (Absolute Data Request) Signal on
page 6-78
Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN (Absolute Data Request)
Signal on page 6-79
Item PAO signal PSO signal

Synchronization Method Start-stop synchronization (ASYNC)
Transmission Speed 9,600 bps
Start Bits 1 bit
Stop Bits 1 bit
Parity Even
Character Code ASCII, 7 bits
Data Format Refer to Data Format of PAO Signal. Refer to Data Format of PSO Signal.
Using the SEN Signal
Each time the SEN signal is input after the
control power supply is turned ON
Data Output Period 40 ms
Not Using the SEN Signal
Only once after the control power supply is
turned ON
Data Format of PAO Signal

As shown below, the message format consists of eight characters: “P,” the sign, the 5-digit multiturn
data, and “CR” (which indicates the end of the message).
P
+ or −
0 to 9
0 to 9
Multiturn
0 to 9
data (5 digits)
0 to 9
0 to 9
CR
Data Format of PSO Signal

As shown below, the message format for a Rotary Servomotor consists of 17 characters: “P,” the sign,
the 5-digit multiturn data, a comma delineator, the 8-digit position within one rotation, and “CR” (which
indicates the end of the message).
P
+ or −
0 to 9
0 to 9
Multiturn
0 to 9
data (5 digits)
0 to 9
0 to 9
,
0 to 9
0 to 9
0 to 9
0 to 9 Position within
0 to 9 one rotation
0 to 9 (8 digits)
0 to 9
0 to 9
CR
6-80
6.12.6 Calculating the Current Position in Machine Coordinates

When you reset the absolute encoder, the reset position becomes the reference position.
The host controller reads the coordinate Ps from the origin of the encoder coordinate system. The host
controller must record the value of coordinate Ps.
This section describes the reference position in the machine coordinate system.
The method to calculate the coordinate value of the present position from the origin of the machine
coordinate system is given below.
Origin (reference position) Current position
Machine coordinate
-1 ±0 +1 +2
Value of
multiturn data
M×R PO
PS PE PM
The current position PM in the machine coordinate system is calculated as follows:

PM = PE - PS
PE = M × R + PO
PS = MS × R + PS’
Setting or Unit
Symbol Meaning Encoder Divided Pulse Absolute Encoder
Output (PAO and PBO) Position Output (PSO)
Signals Signal
Position data for the current position of the Encoder output pulses
PE (encoder pulses x setting Encoder pulses
absolute encoder of Pn212)
Current position of the multiturn data of the
M − −
absolute encoder
PO Position of the current position within one rotation
Encoder output pulses
Position data of the absolute encoder when (encoder pulses x setting Encoder pulses
PS of Pn212)
absolute encoder was reset
Multiturn data of the absolute encoder when
MS − −
absolute encoder was reset
Position of the absolute encoder within one
PS’ Encoder output pulses
rotation when absolute encoder was reset (encoder pulses x setting
of Pn212)
Encoder pulses
6
PM Current position in machine coordinate system
R Number of encoder pulses per revolution Setting of Pn212 Encoder resolution
PM = PE - PS PM = PE - PS
Calculations for Reverse Rotation Mode (Pn000 = n.1) PE = -M × R + PO PE = -M × R - PO
PS = MS × R + PS PS = MS × R - PS’
Information If you are using a Rotary Servomotor, you must reset the absolute encoder. Refer to the following
section for information on resetting the absolute encoder.
5.17 Resetting the Absolute Encoder on page 5-53
6-81
6.12.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder
6.12.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder
Any alarm detected by the SERVOPACK is transmitted as alarm information to the host control-
ler with the PAO (Encoder Divided Pulse Output) signal when the SEN (Absolute Data Request)
signal turns OFF.
ALM signal
Motor power Servo ON Servo OFF (Power not supplied.)

status (Power supplied.)
Main circuit ON OFF

power supply
Control power
supply ON
SEN signal ON OFF
PAO signal Alarm information
The data format of the alarm information is shown below.

A
L
M
0 to 9 Upper two digits
0 to 9 of alarm code
.
CR
6.12.8 Multiturn Limit Setting

The multiturn limit is used in position control for a turntable or other rotating body.
For example, consider a machine that moves the turntable shown in the following diagram in
only one direction.
Turntable
n:m
Gear
Servomotor
Because the turntable moves in only one direction, the upper limit to the number of rotations
that can be counted by an absolute encoder will eventually be exceeded.
The multiturn limit is used in cases like this to prevent fractions from being produced by the
integer ratio of the number of Servomotor rotations and the number of turntable rotations.
For a machine with a ratio of n:m between the number of Servomotor rotations and the number
of turntable rotations, as shown above, the value of m minus 1 will be the setting for the multi-
turn limit setting (Pn205).
Multiturn limit (Pn205) = m − 1
If m = 100 and n = 3 (i.e., the turntable rotates three times for each 100 Servomotor rotations),
the relationship between the number of Servomotor rotations and the number of turntable rota-
tions would be as shown below.
Set Pn205 to 99.
6-82
6.12.8 Multiturn Limit Setting
Pn205 = 100 − 1 = 99
Number of table rotations

9 100
8
Number of table rotations
Multiturn data
7
6
5
Setting of Pn205 = 99
4 Multiturn data
3
2
50
1
0
100 200 300 0
Number of Servomotor rotations
Multiturn Limit Speed Position Torque

0 to 65,535 1 Rev 65,535 After restart Setup
Note: This parameter is enabled when you use an absolute encoder.
The data will change as shown below when this parameter is set to anything other than the
default setting.
• If the Servomotor operates in the reverse direction when the multiturn data is 0, the multiturn
data will change to the value set in Pn205.
• If the motor operates in the forward direction when the multiturn data is at the value set in
Pn205, the multiturn data will change to 0.
Set Pn205 to one less than the desired multiturn data.
If you change the multiturn limit in Pn205, an A.CC0 alarm (Multiturn Limit Disagreement) will be
displayed because the setting disagrees with the value in the encoder. Refer to the following
section for the procedure to change the multiturn limit settings in the encoder.
6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) on page 6-84
Default Setting Not Default Setting
+32,767
Setting of Pn205
Reverse Reverse
Forward
Forward
Multiturn data
0
Multiturn data
0 Number of
Number of
rotations rotations
-32,768
6
The multiturn data will always be 0 in the following cases. It is not necessary to reset the
Information
absolute encoder in these cases.
• When you use a single-turn absolute encoder
• When the encoder is set to be used as a single-turn absolute encoder (Pn002 = n.2)
Absolute encoder-related alarms (A.810 and A.820) will not occur.
6-83
6.12.9 Multiturn Limit Disagreement Alarm (A.CC0)

If you change the multiturn limit in Pn205 (Multiturn Limit), an A.CC0 alarm (Multiturn Limit Dis-
agreement) will be displayed because the setting disagrees with the value in the encoder.
Display Name Alarm Code Output Meaning
Multiturn Limit Dis- ALO1 ALO2 ALO3 Different multiturn limits are set in the
A.CC0
agreement ON (low) OFF (high) ON (low) encoder and SERVOPACK.
If this alarm is displayed, use the following procedure to change the multiturn limit in the
encoder to the same value as the setting of Pn205.
Applicable Tools
The following table lists the tools that you can use to set the multiturn limit and the applicable
tool functions.
13.4.18 Multiturn Limit Setting after Multiturn Limit Dis-
Panel Operator Fn013 agreement Alarm (Fn013) on page 13-26
Encoder Setting − Multi-turn
Limit Setup
Operating Procedure
Use the following procedure to adjust the multiturn limit setting.
2. Select Multiturn Limit Setting in the Menu Dialog Box.

The Multiturn Limit Setting Dialog Box will be displayed.
Click the Cancel Button to cancel setting the multiturn limit.

The Main Window will return.
6-84
4. Change the setting.
5. Click the Writing into the Servopack Button.

An A.CC0 alarm (Multiturn Limit Disagreement) will occur because setting the multiturn limit in the
Servomotor is not yet completed even though the setting has been changed in the SERVOPACK.
8. Display the Multiturn Limit Setting in the Menu Dialog Box.

6
6-85
10. Click the Writing into the servomotor Button.
Click the Re-change Button to change the setting.
This concludes the procedure to set the multiturn limit.
6-86
6.13 Absolute Linear Encoders
6.13.1 Connecting an Absolute Linear Encoder

The absolute linear encoder records the current position of the stop position even when the power
supply is OFF.
With a system that uses an absolute linear encoder, the host controller can monitor the current
position. Therefore, it is not necessary to perform an origin return operation when the power supply to
the system is turned ON.
There are three types of linear encoders for Linear Servomotors. The usage of the linear encoder is
specified in Pn002 = n.X.
Refer to the following section for linear encoder models.
 Feedback Resolution of Linear Encoder on page 5-50
• Parameter Settings When Using an Incremental Linear Encoder
n.0
Use the encoder as an incremental linear encoder.
n.1 Use the encoder as an incremental linear encoder.
• Parameter Settings When Using an Absolute Linear Encoder
n.0
Use the encoder as an absolute linear encoder.
n.1 Use the encoder as an incremental linear encoder.
6.13.1 Connecting an Absolute Linear Encoder

Refer to the following sections for information on the connections between an absolute linear encoder,
the SERVOPACK, and the host controller.
4.4.3 Wiring the SERVOPACK to the Encoder on page 4-26
4.5.3 I/O Signal Wiring Examples on page 4-38
6.13.2 Structure of the Position Data of the Absolute Linear

Encoder
6
The position data of the absolute linear encoder is the distance (number of pulses) from the origin of
the absolute linear encoder.
The position data is signed 36-bit data.
35 20 19 0
±
Upper 16 bits (with sign) Lower 20 bits
When the SERVOPACK sends the position data, it sends the upper 16-bit data (with sign) separately
from the lower 20-bit data.
6-87
6.13.3 Output Ports for the Position Data from the Absolute Linear Encoder
6.13.3 Output Ports for the Position Data from the Absolute
Linear Encoder
You can read the position data of the absolute linear encoder from the PAO, PBO, and PCO (Encoder
Divided Pulse Output) signals and the PSO (Absolute Encoder Position Output) signal.
The output method and timing for the position data of the absolute linear encoder are different in each
case.
Encoder Divided Pulse Output (PAO, PBO, and PCO) Ports

A conceptual diagram of the connections of the PAO, PBO, and PCO (Encoder Divided Pulse Output)
ports to the host controller is provided below.
CN2 CN1 SEN
Serial PAO
ENC data Conversion of Dividing
serial data to circuit PBO
pulses (Pn281) PCO
Signal Contents
Signal Status
When Using an Absolute Linear Encoder
Upper 16-bit data (with sign)
First signal
PAO Lower 20-bit data (pulse train)
First signal Lower 20-bit data (pulse train)
PBO
PCO Always Origin pulse
The PAO (Encoder Divided Pulse Output) signal outputs the position data from the absolute lin-
ear encoder after the control power supply is turned ON. The SENS_ON (Turn ON Encoder)
command is used to output the position data from the absolute linear encoder.
The position data of the absolute linear encoder is the current stop position. The absolute linear
encoder outputs the upper 16-bit data (with sign) according to the specified protocol. The absolute
encoder outputs the lower 20-bit data as a pulse train. It then outputs pulses as an incremental linear
encoder (incremental operation status).
linear encoder. The pulse counter at the host controller will not count pulses when the upper 16-bit
data (with sign) (communications message) is input because only phase A is input.
The output circuits for the PAO, PBO, and PCO signals use line drivers. Refer to the following section
for details on line drivers.
PSO (Absolute Encoder Position Output) Port

The PSO (Absolute Encoder Position Output) signal periodically outputs the position data from the
absolute encoder according to the specified protocol after outputting the position data from the
absolute encoder with the PAO and PBO signals has been completed. There are two methods that you
can use to output the position data from the absolute encoder: Using the SEN (Absolute Data Request)
signal and not using the SEN signal.
encoder.
The output circuit for the PSO signal uses a line driver. Refer to the following section for details on line
drivers.
6-88
6.13.4 Reading the Position Data from the Absolute Linear Encoder
6.13.4 Reading the Position Data from the Absolute Linear

Encoder
There are two methods that you can use to read the position data from the absolute linear encoder:
Using the SEN (Absolute Data Request) signal and not using the SEN signal.
Setting the Parameter to Specify Using or Not Using the SEN

(Absolute Data Request) Signal
 Using the SEN Signal to Read the Position Data from the Absolute Linear
Encoder
• When Using the Default I/O Signals (Pn50A = n.0)
• Allocating the SEN Signal to CN1-40 to CN1-46 on the I/O Signal Connector (Pn50A = n.1)
Information To use the default allocation of the SEN signal and to change the default settings of other I/O
signals (Pn50A = n.1), set Pn515 to n.8 (Active when 5 V is input to CN1-4).
 Reading the Position Data from the Absolute Linear Encoder without
Set Pn50A to n.1 and set Pn515 to n.7 (The signal is always active).
Refer to the following sections for details on the parameters.
Connecting the SEN (Absolute Data Request) Signal
 Allocating the SEN Signal to CN1-4
OFF (open) linear encoder. (This is the status after the power sup-
Input SEN CN1-4 ply is turned ON.) 6
Requests the position data from the absolute linear
ON (closed)
encoder.
Circuit Example When the SEN Signal Is Allocated to CN1-4
CN1
+5 V
SEN 4 100 Ω
High level:
Approx. 1 mA
0.1 μF
Equivalent to 7406 2 4.7 kΩ
0V SG 0V
We recommend a PNP transistor.
6-89
 Allocating the SEN Signal to a General-Purpose Input

OFF (open) linear encoder. (This is the status after the power sup-
Input SEN CN1-40 to CN1-46 ply is turned ON.)
Requests the position data from the absolute linear
ON (closed)
encoder.
A circuit example for when the SEN signal is allocated to CN1-40 to CN1-46 on the I/O signal
connector is provided below.
 Using the Pull-Up Power Supply in the SERVOPACK

PL1, PL2, or PL3 terminal
+12 V
150 Ω 4.7 kΩ
Approx. 9 mA
ON:
1.5 V max. 0V
 Using an External Pull-Up Power Supply

Pull-Up Voltage (Vcc) Pull-Up Resistance (R1)
24 V 1.8 kΩ to 2.7 kΩ
12 V max. 820 Ω to 1.5 kΩ
5 V max. 180 Ω to 470 Ω

Vcc
R1 i
150 Ω 4.7 kΩ
Pull-up VF
Tr1
VF = 1.5 V to 1.8 V
6-90

Linear Encoder Using the SEN (Absolute Data Request) Signal
The sequence for using the SEN signal to read the position data from the absolute linear encoder of a
Linear Servomotor is given below.
The upper 16-bit position data (with sign) are sent according to the transmission specifications.
The lower 20-bit data is output as a pulse train.
ON
Control power
supply* OFF
ON
Main circuit
power supply OFF
ALM output signal

No alarm
/S-RDY signal
OFF ON
/S-ON signal
OFF ON
SEN signal* OFF ON
PAO signal Undefined. Upper 16-bit position Lower 20-bit position data Incremental pulses
data (with sign) (incremental pulses)
PBO signal Undefined. Lower 20-bit position data Incremental pulses

PSO signal Undefined. Signed 36-bit

position data
90 ms
5 s max. 50 ms typ. Approx. 15 ms 400 ms max.
1 ms to 3 ms
* When you turn OFF the control power supply, turn OFF the SEN signal.
• Maintain the SEN signal at the high level for at least 1.3 seconds when you turn it OFF before you
turn it ON again, as shown in the following figure.
SEN signal
Important
OFF ON (high level) OFF ON

6
1.3 s min.
15 ms min.
• The SEN signal is not acknowledged while the servo is ON.
6-91

Encoder without Using the SEN (Absolute Data Request) Signal
The sequence for reading the position data from the absolute linear encoder of a Linear Servomotor
without using the SEN signal is given below.
When the specified time has elapsed after the control power supply to the SERVOPACK is turned ON,
the SERVOPACK will automatically read the position data from the absolute linear encoder.
The upper 16-bit position data (with sign) are sent according to the transmission specifications.
The lower 20-bit data is output as a pulse train.
ON
Control power
supply OFF
ON
Main circuit
power supply OFF
ALM signal
No alarm
/S-RDY signal
OFF ON
/S-ON signal
OFF ON
PAO signal Undefined. Upper 16-bit position Lower 20-bit position data Incremental pulses
data (with sign) (incremental pulses)
PBO signal Undefined. Lower 20-bit position data Incremental pulses

PSO signal Undefined. Signed 36-bit

position data
90 ms
5 s max. 50 ms typ. Approx. 15 ms 400 ms max.
1 ms to 3 ms
6-92

The position data transmission specifications for the PAO (Encoder Divided Pulse Output) sig-
nal and the PSO (Absolute Encoder Position Output) signal are given in the following table.
The PAO signal sends only the 16-bit data (with sign). The PSO signal sends the signed 36-bit
data.
Refer to the following section for the timing of sending the position data from the absolute
encoder.
Sequence for Reading the Position Data from the Absolute Linear Encoder Using the SEN (Absolute Data Request) Signal
on page 6-91
Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN (Absolute Data Request)
Signal on page 6-92
Item PAO signal PSO signal

Synchronization Method Start-stop synchronization (ASYNC)
Transmission Speed 9,600 bps
Start Bits 1 bit
Stop Bits 1 bit
Parity Even
Character Code ASCII, 7 bits
Refer to Data Format of PAO Signal on Refer to Data Format of PSO Signal on
Data Format
page 6-93. page 6-93.
Each time the SEN signal is input after the
control power supply is turned ON
Data Output Period 40 ms
Not Using the SEN Signal
Only once after the control power supply
is turned ON
Data Format of PAO Signal
As shown below, the message format consists of eight characters: “P,” the sign, the 5-digit upper 15-
bit position data, and “CR” (which indicates the end of the message).
P
+ or −
0 to 9
0 to 9
Upper 15 bits
0 to 9
of position data
0 to 9
0 to 9 6
CR
Data Format of PSO Signal

The data format for a Linear Servomotor consists of 17 characters: “P,” the sign, the 11-digit
35-bit data, and “CR” (which indicates the end of the message).
P
+ or −
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9 Position data:
0 to 9 35 bits (11 digits)
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
CR
6-93

With an absolute linear encoder, you must set the position of the origin (i.e., the origin of the
machine coordinate system).
The host controller reads the coordinate from the origin of the encoder coordinate system. The
host controller must record the value of this coordinate.
The method to calculate the coordinate value of the present position from the origin of the
machine coordinate system is given below.
The position data from the absolute linear encoder is signed 36-bit data, but the upper 16 bits
(with sign) and the lower 20 bits are output separately.
Encoder Divided Pulse Output (PAO and PBO) Signals

For the upper 16-bit data (with sign), the upper bits (16 bits, including the sign) of the current
position after dividing by the setting of Pn281 are output with serial communications according
to the transmission specifications.
For the lower 20-bit data, the lower bits (20 bits) of the current position after dividing by the
setting of Pn281 are output as a pulse train.
Absolute Encoder Position Output (PSO) Signal

For the upper 16-bit data (with sign), the upper bits (16 bits, including the sign) of the current
position after dividing by the setting of Pn281 are output with serial communications according
to the transmission specifications.
For the lower 20-bit data, the lower bits (20 bits) of the current position after dividing by the
setting of Pn281 are output as a pulse train.
Origin (reference position) Current position
Machine coordinate
Origin of absolute
linear encoder
0 1 2 3
Value of upper
16-bit data
MO × R PO
(with sign)
PS PE
MS × R PS’ PM
The current position PM in the machine coordinate system is calculated as follows:

PM = PE - PS
PE = MO × R + PO
PS = MS × R + PS’
Setting or Unit
Signals Signal
Position data for the current position of the Encoder Output Resolu-
PE Encoder pulses
absolute linear encoder tion (Pn281)
Upper 16 bits (with sign) of the position data for
MO − −
the current position of the absolute linear encoder
Lower 20 bits of the position data for the current
PO
position of the absolute linear encoder Encoder Output Resolu- Encoder pulses
tion (Pn281)
PS Position data of the origin
Upper 16 bits (with sign) of the position data of the
MS − −
origin
6-94
6.13.7 Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder

Setting or Unit
Signals Signal
PS’ Lower 20 bits of the position data of the origin
PM Encoder Output Resolu-
Current position in machine coordinate system tion (Pn281) Encoder pulses
R 1048576 (=220)
Note: The above formulas also apply in reverse movement mode (Pn000 = n.1).
Information If you are using a Linear Servomotor, you do not need to reset the absolute linear encoder to
define the origin. (Some absolute linear encoders also allow you to set any position as the origin.)
6.13.7 Alarm Output from the Output Ports for the Position
Data from the Absolute Linear Encoder
Any alarm detected by the SERVOPACK is transmitted as alarm information to the host control-
ler with the PAO (Encoder Divided Pulse Output) signal when the SEN (Absolute Data Request)
signal turns OFF.
ALM signal
Motor power Servo ON Servo OFF (Power not supplied.)

status (Power supplied.)
Main circuit ON OFF

power supply
Control power
supply ON
SEN signal ON OFF
PAO signal Alarm information
The data format of the alarm information is shown below.

A
L
M
0 to 9 Upper two digits 6
0 to 9 of alarm code
.
CR
6-95
6.14 Software Reset
6.14.1 Preparations
6.14 Software Reset

You can reset the SERVOPACK internally with the software. A software reset is used when
resetting alarms and changing the settings of parameters that normally require turning the
power supply to the SERVOPACK OFF and ON again. This can be used to change those
parameters without turning the power supply to the SERVOPACK OFF and ON again.
1. Always confirm that the servo is OFF and that the Servomotor is stopped before you start
Information
a software reset.
2. This function resets the SERVOPACK independently of the host controller. The SERVO-
PACK carries out the same processing as when the power supply is turned ON and out-
puts the ALM (Servo Alarm) signal. The status of other output signals may be forcibly
changed.
3. When you execute a software reset, the SERVOPACK will not respond for approximately
five seconds.
Before you execute a software reset, check the status of the SERVOPACK and Servomo-
tor and make sure that no problems will occur.
6.14.1 Preparations
Always check the following before you perform a software reset.
• The motor must be stopped.

The following table lists the tools that you can use to perform a software reset and the applica-
ble tool functions.
Panel Operator Fn030 13.4.25 Software Reset (Fn030) on page 13-29
Basic Functions − Soft-
SigmaWin+ 6.14.3 Operating Procedure on page 6-96
ware Reset

Use the following procedure to perform a software reset.
2. Select Software Reset in the Menu Dialog Box.

The Software Reset Dialog Box will be displayed.
6-96
6.14 Software Reset
Click the Cancel Button to cancel the software reset. The Main Window will return.
5. Click the OK Button to end the software reset operation.

All settings including parameters will have been re-calculated. When you finish this operation, discon-
nect the SigmaWin+ from the SERVOPACK, and then connect it again.
This concludes the procedure to reset the software.
6-97
6.15 Initializing the Vibration Detection Level
6.15.1 Preparations

You can detect machine vibration during operation to automatically adjust the settings of
Pn312 or Pn384 (Vibration Detection Level) to detect A.520 alarms (Vibration Alarm) and A.911
warnings (Vibration) more precisely.
This function detects specific vibration components in the Servomotor speed.
When
Enabled
n.0
Do not detect vibration.
(default setting)
Pn310 Immediately Setup
n.1 Output a warning (A.911) if vibration is detected.
n.2 Output an alarm (A.520) if vibration is detected.
If the vibration exceeds the detection level calculated with the following formula, an alarm or
warning occurs according to Pn310 (Vibration Detection Selection).
Vibration detection level (Pn312 [min-1])  Vibration detection sensitivity (Pn311 [%])
Detection level =
100
Vibration detection level (Pn384 [mm/s])  Vibration detection sensitivity (Pn311 [%])
Detection level =
100
Use this function only if A.520 or A.911 alarms are not output at the correct times when vibra-
tion is detected with the default vibration detection level (Pn312 or Pn384).
There will be discrepancies in the detection sensitivity for vibration alarms and warnings
depending on the condition of your machine. If there is a discrepancy, use the above formula to
adjust Pn311 (Vibration Detection Sensitivity).
Vibration Detection Sensitivity Speed Position Torque
50 to 500 1% 100 Immediately Tuning
1. Vibration may not be detected because of unsuitable servo gains. Also, not all kinds of
Information
vibrations can be detected.
2. Set a suitable moment of inertia ratio (Pn103). An unsuitable setting may result in falsely
detecting or not detecting vibration alarms or vibration warnings.
3. To use this function, you must input the actual references that will be used to operate your
system.
4. Execute this function under the operating conditions for which you want to set the vibra-
tion detection level.
5. Execute this function while the Servomotor is operating at 10% of its maximum speed or
faster.
6.15.1 Preparations
Always check the following before you initialize the vibration detection level.
6-98

The following table lists the tools that you can use to initialize the vibration detection level and
the applicable tool functions.
13.4.20 Initialize Vibration Detection Level (Fn01B) on
Panel Operator Fn01B page 13-27
Digital Operator Fn01B No.: SIEP S800001 33)
Others − Initialize
SigmaWin+ Vibration Detection 6.15.3 Operating Procedure on page 6-99
Level

Use the following procedure to initialize the vibration detection level.
2. Select Initialize Vibration Detection Level in the Menu Dialog Box.

The Initialize Vibration Detection Level Dialog Box will be displayed.
3. Select Pn311: Vibration Detection Sensitivity and Pn310: Vibration Detection Selec-
tions and then click the Detection Start Button.
A setting execution standby mode will be entered.
6
6-99
The newly set vibration detection level will be displayed and the value will be saved in the SERVO-
PACK.
This concludes the procedure to initialize the vibration detection level.
6-100
6.15.4 Related Parameters

The following three items are given in the following table.
• Parameters Related to this Function
These are the parameters that are used or referenced when this function is executed.
• Changes during Function Execution
Not allowed: The parameter cannot be changed using the SigmaWin+ or other tool while this
function is being executed.
Allowed: The parameter can be changed using the SigmaWin+ or other tool while this func-
tion is being executed.
• Automatic Changes after Function Execution
Yes: The parameter is automatically set or adjusted after execution of this function.
No: The parameter is not automatically set or adjusted after execution of this function.
Automatic
Parameter Name Setting Changes
Changes
Pn311 Vibration Detection Sensitivity Allowed No
Pn312 Vibration Detection Level Not allowed Yes
Pn384 Vibration Detection Level Not allowed Yes
6
6-101
6.16 Adjusting the Motor Current Detection Signal Offset
6.16.1 Automatic Adjustment

The motor current detection signal offset is used to reduce ripple in the torque. You can adjust
the motor current detection signal offset either automatically or manually.

Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.
It is normally not necessary to adjust this offset.
Execute the automatic offset adjustment if the torque ripple is too large when compared with
other SERVOPACKs.
Important
Information
initialized.
Preparations
Always check the following before you automatically adjust the motor current detection signal
offset.
• The servo must be in ready status.
Applicable Tools
The following table lists the tools that you can use to automatically adjust the offset and the
13.4.13 Autotune Motor Current Detection Signal Off-
Panel Operator Fn00E set (Fn00E) on page 13-21
Digital Operator Fn00E No.: SIEP S800001 33)
Others − Adjust the Motor
Current Detection Offsets
Operating Procedure
Use the following procedure to automatically adjust the motor current detection signal offset.
2. Select Adjust the Motor Current Detection Signal Offsets in the Menu Dialog Box.
The Adjust the Motor Current Detection Signal Offsets Dialog Box will be displayed.
6-102
4. Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Signal
Offsets Dialog Box.
The values that result from automatic adjustment will be displayed in the New Boxes.
This concludes the procedure to automatically adjust the motor current detection signal offset.
6-103
6.16.2 Manual Adjustment

You can use this function if you automatically adjust the motor current detection signal offset
and the torque ripple is still too large.
If the offset is incorrectly adjusted with this function, the Servomotor characteristics may be
adversely affected.
Observe the following precautions when you manually adjust the offset.
Important • Operate the Servomotor at a speed of approximately 100 min-1.
• Adjust the offset while monitoring the torque reference with the analog monitor until the ripple is
minimized.
• Adjust the offsets for the phase-U current and phase-V current of the Servomotor so that they
are balanced. Alternately adjust both offsets several times.
Information
initialized.
Preparations
Always check the following before you manually adjust the motor current detection signal off-
set.
Applicable Tools
The following table lists the tools that you can use to manually adjust the offset and the applica-
ble tool functions.
13.4.14 Manually Adjust Motor Current Detection Sig-
Panel Operator Fn00F nal Offset (Fn00F) on page 13-22
Σ-7-Series Digital Operator Operating Manual (Man-
Digital Operator Fn00F ual No.: SIEP S800001 33)
Others − Adjust the Motor
Current Detection Offsets
Operating Procedure
Use the following procedure to manually adjust the motor current detection signal offset.
1. Operate the Servomotor at approximately 100 min-1.
3. Select Adjust the Motor Current Detection Signal Offsets in the Menu Dialog Box.
The Adjust the Motor Current Detection Signal Offsets Dialog Box will be displayed.
6-104
5. Click the Manual Adjustment Tab in the Adjust the Motor Current Detection Signal Off-
sets Dialog Box.
6. Set the Channel Box in the Motor Current Detection Offset Area to U-phase.
7. Use the +1 and -1 Buttons to adjust the offset for phase U.
Change the offset by about 10 in the direction that reduces the torque ripple.
Adjustment range: -512 to +511
8. Set the Channel Box in the Motor Current Detection Offset Area to V-phase.
9. Use the +1 and -1 Buttons to adjust the offset for phase V.
Change the offset by about 10 in the direction that reduces the torque ripple.
10. Repeat steps 6 to 9 until the torque ripple cannot be decreased any further regardless of
whether you increase or decrease the offsets.
11. Reduce the amount by which you change the offsets each time and repeat steps 6 to 9.
This concludes the procedure to manually adjust the motor current detection signal offset.
6-105
6.17 Forcing the Motor to Stop
6.17.1 FSTP (Forced Stop Input) Signal

You can force the Servomotor to stop for a signal from the host controller or an external device.
To force the motor to stop, you must allocate the FSTP (Forced Stop Input) signal in Pn516 =
n.X. You can specify one of the following stopping methods: dynamic brake (DB), coast-
ing to a stop, or decelerating to a stop.
Note: Forcing the motor to stop is not designed to comply with any safety standard. In this respect, it is different
from the hard wire base block (HWBB).
Information Panel Display and Digital Operator Display

When a forced stop is performed, the panel display will display FST and the Digital Operator
will display FSTP.
CAUTION
 To prevent accidents that may result from contact faults or disconnections, use a normally
closed switch for the Forced Stop Input signal.
6.17.1 FSTP (Forced Stop Input) Signal

Classifica-
Signal Connector Pin No. Signal Status Description
tion
ON (closed) Drive is enabled (normal operation).
Input FSTP Must be allocated.
OFF (open) The motor is stopped.
Note: You must allocate the FSTP signal to use it. Use Pn516 = n.X (FSTP (Forced Stop Input) Signal Alloca-
tion) to allocate the FSTP signal to a connector pin. Refer to the following section for details.
6.17.2 Stopping Method Selection for Forced Stops

Use Pn00A = n.X (Stopping Method for Forced Stops) to set the stopping method for
forced stops.
When Classifi-
Parameter Description
Enabled cation
Apply the dynamic brake or coast the motor to a stop
n.0
(use the stopping method set in Pn001 = n.X).
n.1 Decelerate the motor to a stop using the torque set in
(default set- Pn406 as the maximum torque. Use the setting of Pn001
ting) = n.X for the status after stopping.
Decelerate the motor to a stop using the torque set in After
Pn00A n.2 Pn406 as the maximum torque and then let the motor restart
Setup
coast.
Decelerate the motor to a stop using the deceleration
n.3 time set in Pn30A. Use the setting of Pn001 = n.X
for the status after stopping.
Decelerate the motor to a stop using the deceleration
n.4
time set in Pn30A and then let the motor coast.
Note: You cannot decelerate a Servomotor to a stop during torque control. For torque control, the Servomotor will
be stopped with the dynamic braking or coast to a stop according to the setting of Pn001 = n.X (Motor
Stopping Method for Servo OFF and Group 1 Alarms).
6-106
6.17.2 Stopping Method Selection for Forced Stops
Stopping the Servomotor by Setting Emergency Stop

Torque (Pn406)
To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop
Torque).
If Pn00A = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the
torque set in Pn406 as the maximum torque.
The default setting is 800%. This setting is large enough to allow you to operate the Servomo-
tor at the maximum torque. However, the maximum emergency stop torque that you can actu-
ally use is the maximum torque of the Servomotor.
Emergency Stop Torque Speed Position
Stopping the Servomotor by Setting the Deceleration Time

for Servo OFF and Forced Stops (Pn30A)
To specify the Servomotor deceleration time and use it to stop the Servomotor, set Pn30A
(Deceleration Time for Servo OFF and Forced Stops).
Deceleration Time for Servo OFF and Forced Stops Speed Position
If you set Pn30A to 0, the Servomotor will be stopped with a zero speed.
The deceleration time that you set in Pn30A is the time to decelerate the Servomotor from the
maximum motor speed.
Maximum speed
Operating speed
Actual deceleration time = × Deceleration time (Pn30A)
Maximum speed
Operating speed
Actual 6
deceleration time
Pn30A
6-107
6.17.3 Resetting Method for Forced Stops
6.17.3 Resetting Method for Forced Stops

This section describes the reset methods that can be used after stopping operation for an
FSTP (Forced Stop Input) signal.
If the FSTP (Forced Stop Input) signal is OFF and the /S-ON (Servo ON Input) signal is input,
the forced stop state will be maintained even after the FSTP signal is turned ON.
Turn OFF the /S-ON signal to place the SERVOPACK in the base block (BB) state and then turn
ON the /S-ON signal again.
OFF
FSTP signal ON (normal operation) ON (normal operation)
(forced stop request)
/S-ON signal OFF

ON ON
SERVOPACK Forced stop state:

Operating state BB state Operating state
state FSTP is displayed.
6-108
6.18 Overheat Protection
6.18.1 Connecting the Overheat Protection Input (TH) Signal

Overheat protection detects an A.93B warning (Overheat Warning) and an A.862 alarm (Over-
heat Alarm) by monitoring the overheat protection input signal from a Yaskawa SGLFW2 Linear
Servomotor or from a sensor attached to the machine.
SERVOPACKs with software version 0023 or higher support overheat protection.
When you use overheat protection, you must wire the overheat protection input (TH) signal and
select overheat protection (Pn61A = n.X).
6.18.1 Connecting the Overheat Protection Input (TH) Signal

To use overheat protection, you must connect an overheat protection input (TH) signal to the
SERVOPACK. This section describes the connection methods for the overheat protection input
(TH) signal.
Using Overheat Protection in the Linear Servomotor

• If you use a Serial Converter Unit, connect the connector for the polarity sensor and thermo-
stat cable of the Linear Servomotor to the Serial Converter Unit.
• If you do not use a Serial Converter Unit, connect the thermostat cable of the Linear Servo-
motor to CN1-50 on the SERVOPACK.
Using Overheat Protection for the Machine

To use overheat protection for the machine, connect the overheat protection input (an analog
voltage input) from the sensor mounted to the machine to the CN1-50 on the SERVOPACK.
6.18.2 Overheat Protection Selection
The overheat protection function is selected with Pn61A = n.X (Overheat Protection
Selections).
n.0
Disable overheat protection.
(default setting)
Use overheat protection in the Yaskawa Linear
6
n.1
Servomotor.*
Pn61A Monitor a negative voltage input from a sensor After restart Setup
n.2 attached to the machine and use overheat pro-
tection.
Monitor a positive voltage input from a sensor
n.3 attached to the machine and use overheat pro-
tection.
* The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function.
6-109
6.18.2 Overheat Protection Selection
Using Overheat Protection in the Yaskawa Linear Servomo-

tor
To use the overheat protection in the Yaskawa Linear Servomotor (SGLFW2), set Pn61A to
n.1.
An A.93B warning (Overheat Warning) will be detected if the overheat protection input (TH) sig-
nal from the Yaskawa SGLFW2 Linear Servomotor exceeds the warning temperature.
An A.862 alarm (Overheat Alarm) will be detected if the overheat protection input (TH) signal
from the Yaskawa SGLFW2 Linear Servomotor exceeds the alarm temperature.
• If the overheat protection input signal line is disconnected or short-circuited, an A.862 alarm
will occur.
• If you set Pn61A to n.1 (Use overheat protection in the Yaskawa Linear Servomotor), the
Important parameters in the Servomotor are enabled and the following parameters are disabled.
• Overheat Alarm Level (Pn61B)
• Overheat Warning Level (Pn61C)
• Overheat Alarm Filter Time (Pn61D)
Monitoring the Machine’s Temperature and Using Overheat

Protection
Set Pn61A = n.X to 2 or 3 to use overheat protection for the machine.
Set the following parameters as required.
Overheat Alarm Level Speed Position Torque
0 to 500 0.01 V 250 Immediately Setup
Overheat Warning Level Speed Position Torque
Overheat Alarm Filter Time Speed Position Torque
Pn61D Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 1s 0 Immediately Setup
• When Pn61A is set to n.2, an A.862 alarm will occur if the overheat protection input signal
line is disconnected or short-circuited.
• When Pn61A is set to n.3, an A862 alarm will not occur if the overheat protection input signal
Important line is disconnected or short-circuited. To ensure safety, we recommend that you connect the
external circuits so that you can use a negative voltage input for the overheat protection input (an
analog voltage input).
6-110
Trial Operation and
Actual Operation
7
This chapter provides information on the flow and proce-
dures for trial operation and convenient functions to use
during trial operation.
7.1 Flow of Trial Operation . . . . . . . . . . . . . . . . 7-2

7.1.1 Flow of Trial Operation for Rotary Servomotors . . 7-2
7.1.2 Flow of Trial Operation for Linear Servomotors . . 7-4
7.2 Inspections and Confirmations before Trial Operation . . . 7-6
7.3 Trial Operation for the Servomotor without a Load . . . 7-7

7.3.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.3.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.3.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . 7-8
7.4 Trial Operation from the Host Controller for the Servomotor without a Load . . 7-10
7.4.1 Preparing the Servomotor for Trial Operation . . 7-11
7.4.2 Trial Operation for Speed Control . . . . . . . . . . . 7-13
7.4.3 Trial Operation for Position Control from the
Host Controller with the SERVOPACK Used
for Speed Control . . . . . . . . . . . . . . . . . . . . . . . 7-14
7.4.4 Trial Operation for Position Control . . . . . . . . . . 7-15
7.5 Trial Operation with the Servomotor Connected to the Machine . . 7-17
7.5.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
7.5.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
7.6 Convenient Function to Use during Trial Operation . . .7-20

7.6.1 Program Jogging . . . . . . . . . . . . . . . . . . . . . . . 7-20
7.6.2 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.6.3 Test without a Motor . . . . . . . . . . . . . . . . . . . . . 7-27
7.1 Flow of Trial Operation
7.1.1 Flow of Trial Operation for Rotary Servomotors

The procedure for trial operation is given below.
• Preparations for Trial Operation
Step Meaning Reference
Installation
Install the Servomotor and SERVOPACK
1 according to the installation conditions. First, Chapter 3 SERVOPACK Installation
operation is checked with no load. Do not
connect the Servomotor to the machine.
Wiring and Connections
Wire and connect the SERVOPACK. First,
2 Servomotor operation is checked without a Chapter 4 Wiring and Connecting SERVOPACKs
load. Do not connect the CN1 connector on
the SERVOPACK.
3 7.2 Inspections and Confirmations before Trial Operation on
Confirmations before Trial Operation page 7-6
4 Power ON −
Resetting the Absolute Encoder
5 This step is necessary only for a Servomotor 5.17 Resetting the Absolute Encoder on page 5-53
with an Absolute Encoder.
7-2
• Trial Operation
Trial Operation for the Servomotor without
a Load
To power
supply
1 7.3 Trial Operation for the Servomotor without a Load on
page 7-7
Secure the motor flange to the
machine. Do not connect the
motor shaft to the load shaft.
Trial Operation from the Host Controller for

the Servomotor without a Load
To power CN1
supply To host controller
7.4 Trial Operation from the Host Controller for the Servo-
2 motor without a Load on page 7-10

Trial Operation with the Servomotor Con-
nected to the Machine
To power CN1
3 7.5 Trial Operation with the Servomotor Connected to the
Machine on page 7-17
machine, and connect the
motor shaft to the load shaft
with a coupling or other means.
7-3
7.1.2 Flow of Trial Operation for Linear Servomotors

The procedure for trial operation is given below.
• Preparations for Trial Operation
Installation
Install the Servomotor and SERVOPACK
1 according to the installation conditions. First, Chapter 3 SERVOPACK Installation
operation is checked with no load. Do not
connect the Servomotor to the machine.
Wiring and Connections
Wire and connect the SERVOPACK. First,
2 Servomotor operation is checked without a Chapter 4 Wiring and Connecting SERVOPACKs
load. Do not connect the CN1 connector on
the SERVOPACK.
3 7.2 Inspections and Confirmations before Trial Operation
Confirmations before Trial Operation on page 7-6
4 Power ON −
Setting Parameters in the SERVOPACK
No. of Parameter to
Step Description Remarks Reference
Set
Set this parameter only if
Linear Encoder
5-1 Pn282 you are using a Serial Con- page 5-20
Scale Pitch
verter Unit.
Writing Parameters Set this parameter only if
5-2 – to the Linear Servo- you are not using a Serial page 5-21
motor Converter Unit.
Motor Phase
5 5-3 Pn080 = n.X Sequence Selec- – page 5-25
tion
Polarity Sensor
5-4 Pn080 = n.X – page 5-27
Selection
This step is necessary only
5-5 – Polarity Detection for a Linear Servomotor with page 5-28
a Polarity Sensor.
Pn50A = n.X
Overtravel Signal
5-6 and Pn50B = – page 5-32
Allocations
n.X
5-7 Pn483, Pn484 Force Control – page 6-63
Setting the Origin of the Absolute Linear 5.18.1 Setting the Origin of the Absolute Linear Encoder on
6
Encoder page 5-56
7-4
• Trial Operation
Trial Operation for the Servomotor without a
Load
To power
supply
7.3 Trial Operation for the Servomotor without a Load on

1 page 7-7
Trial Operation from the Host Controller for

the Servomotor without a Load
To power CN1
7.4 Trial Operation from the Host Controller for the Servo-

2 motor without a Load on page 7-10
Trial Operation with the Servomotor Con-

nected to the Machine
7
To power CN1
3 7.5 Trial Operation with the Servomotor Connected to the

Machine on page 7-17
7-5
7.2 Inspections and Confirmations before Trial Operation
7.2 Inspections and Confirmations before Trial Operation

To ensure safe and correct trial operation, check the following items before you start trial oper-
ation.
• Make sure that the SERVOPACK and Servomotor are installed, wired, and connected cor-
rectly.
• Make sure that the correct power supply voltage is supplied to the SERVOPACK.
• Make sure that there are no loose parts in the Servomotor mounting.
• If you are using a Servomotor with an Oil Seal, make sure that the oil seal is not damaged.
Also make sure that oil has been applied.
• If you are performing trial operation on a Servomotor that has been stored for a long period of
time, make sure that all Servomotor inspection and maintenance procedures have been com-
pleted.
Refer to the manual for your Servomotor for Servomotor maintenance and inspection infor-
mation.
• If you are using a Servomotor with a Holding Brake, make sure that the brake is released in
advance. To release the brake, you must apply the specified voltage of 24 VDC to the brake.
A circuit example for trial operation is provided below.
Servomotor with
SERVOPACK Holding Brake
Power supply
L1 U
L2 V
L3 M
W
L1C
L2C
CN2 ENC
BK
24-V power supply or brake power supply
AC DC 24 VDC
7-6
7.3 Trial Operation for the Servomotor without a Load
7.3.1 Preparations

You use jogging for trial operation of the Servomotor without a load.
Jogging is used to check the operation of the Servomotor without connecting the SERVOPACK
to the host controller. The Servomotor is moved at the preset jogging speed.
CAUTION
 During jogging, the overtravel function is disabled. Consider the range of motion of your
machine when you jog the Servomotor.
The tuning-less function is enabled as the default setting. When the tuning-less function is
enabled, gain will increase and vibration may occur if the Servomotor is operated with no load. If
Important vibration occurs, disable the tuning-less function (Pn170 = n.0).
7.3.1 Preparations
Always check the following before you execute jogging.
• There must be no alarms.

• The jogging speed must be set considering the operating range of the machine.
The jogging speed is set with the following parameters.
Jogging Speed Speed Position Torque
0 to 10,000 1 min-1 500 Immediately Setup
• Direct Drive Servomotors
Jogging Speed Speed Position Torque
0 to 10,000 0.1 min-1 500 Immediately Setup
7-7
Jogging Speed Speed Position Force
When an absolute encoder is used, you do not need to input the SEN signal. It is always
Information
active.

The following table lists the tools that you can use to perform jogging and the applicable tool
functions.
Panel Operator Fn002 13.4.2 Jog (Fn002) on page 13-13
SigmaWin+ Operation - Jog Operating Procedure on page 7-8

Use the following procedure to jog the motor.
2. Select JOG Operation in the Menu Dialog Box.

The Jog Operation Dialog Box will be displayed.
3. Read the warnings and then click the OK Button.
7-8
4. Check the jogging speed and then click the Servo ON Button.
The display in the Operation Area will change to Servo ON.
Information To change the speed, click the Edit Button and enter the new speed.
5. Click the Forward Button or the Reverse Button.

Jogging will be performed only while you hold down the mouse button.

6. After you finish jogging, turn the power supply to the SERVOPACK OFF and ON again.
This concludes the jogging procedure.

7
7-9
7.4 Trial Operation from the Host Controller for the Servomotor without a Load
Conform the following items before you start trial operation from the host controller for the Ser-
vomotor without a load.
• Make sure that the Servomotor operation reference from the host controller to the SERVO-
PACK and the I/O signals are set up properly.
• Make sure that the wiring between the host controller and SERVOPACK and the polarity of
the wiring are correct.
• Make sure that all operation settings for the SERVOPACK are correct.
The operation sequence for trial operation from the host controller for the Servomotor without a
load is given below.
Preparations
Check the connections and status of the input signal circuits.

7.4.1 Preparing the Servomotor for Trial Operation
on page 7-11
Trial Operation with Speed Control Trial Operation with Position Control
Trial Operation for Different
7.4.2 Trial Operation for Speed Control 7.4.4 Trial Operation for Position Control
on page 7-13 on page 7-15
Control Methods
Position Control from the Host Controller

7.4.3 Trial Operation for Position Control from the
Host Controller with the SERVOPACK Used for Speed
Control on page 7-14
Trial Operation with the Machine and SERVOPACK

7.5 Trial Operation with the Servomotor Connected to the Machine
on page 7-17
7-10
CAUTION
 Before you perform trial operation of the Servomotor without a load for references from the
host controller, make sure that there is no load connected to the Servomotor (i.e., that all
couplings and belts are removed from the Servomotor) to prevent unexpected accidents.
To power supply CN1

To host controller


This section provides the procedure to prepare the Servomotor for trial operation.

Preparations
Always confirm the following before you perform the procedure to prepare the Servomotor for
trial operation.
• Make sure that the preparations given in 7.1 Flow of Trial Operation on page 7-2 have been
completed.
• Make sure that the trial operation described in 7.3 Trial Operation for the Servomotor without
a Load on page 7-7 has been completed.
Operating Procedure
The following procedure assumes that the default settings are used for the I/O signals required
for trial operation. Refer to the following section for information on the default I/O signal set- 7
tings.
4.2 Basic Wiring Diagrams on page 4-9
1. Wire the I/O signals from the host controller.

4.2 Basic Wiring Diagrams on page 4-9
2. Check the following items.

 Make sure that the /S-ON (Servo ON) signal can be input.
Make sure that the P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit)
signals are ON (closed).
Setting Procedure
• Input the signal to turn ON CN1-42 and CN1-43 (closed).
• Set Pn50A to n.8 (Set the signal to always enable forward drive) and Pn50B to
n.8 (Set the signal to always enable reverse drive).
7-11
Make sure that a reference is not being input.
 If you are using a safety function, make sure that the safety function device is con-
nected to CN8.
Refer to the following section for the safety function device connection method.
4.6 Connecting Safety Function Signals on page 4-49
You can set Pn002 to n.1 (Use the encoder as an incremental encoder) to tem-
Information
porarily use an absolute encoder as an incremental encoder. This makes it possible to
perform trial operation without setting up the absolute encoder or setting the SEN sig-
nal.
3. Connect the I/O Signal Cable to the I/O signal connector (CN1).
CN1
4. Turn ON the power supplies to the SERVOPACK.

The control power and main circuit power will be supplied.
5. Confirm that the Panel Operator display is as shown below.
6. If you are using an absolute encoder, turn ON the SEN signal.

The current position will be read from the absolute encoder.
This step is not necessary if you are using an incremental encoder.
7. Check the status of the I/O signals.

• Using the SigmaWin+: Monitor - Wiring Check
• Using the Panel Operator or Digital Operator: Un005 (Input Signal Monitor)
The correct states of the input signals are given in the following table. If the actual states do not agree
with those given in the following table, correct the I/O signals.
Signal Correct State
/S-ON (Servo ON) Signal OFF
/P-CON (Proportional Control) Signal OFF
P-OT (Forward Drive Prohibit) Signal ON
N-OT (Reverse Drive Prohibit) Signal ON
/ALM-RST (Alarm Reset) Signal OFF
/P-CL (Forward External Torque Limit) Signal OFF
/N-CL (Reverse External Torque Limit) Signal OFF
• When using an absolute encoder: ON
SEN (Absolute Data Request) Signal
• When not using an absolute encoder: OFF
8. Input the /S-ON (Servo ON) signal.

The servo will turn ON.
7-12
7.4.2 Trial Operation for Speed Control
9. Confirm that the Panel Operator display is as shown below.
If the above display appears, power is being supplied to the Servomotor and the servo is ON.
If an alarm is displayed, the servo is OFF and power is not being supplied to the Servomotor. Refer to
the following section, clear the alarm, and repeat the procedure from step 4.
10. If you changed the settings of Pn50A or Pn50B in step 2, return the settings to their orig-
inal values.
This concludes the procedure to prepare the Servomotor for trial operation.
Proceed to one of the following sections according to the control method.
7.4.2 Trial Operation for Speed Control on page 7-13
7.4.4 Trial Operation for Position Control on page 7-15
7.4.2 Trial Operation for Speed Control

This section describes trial operation with speed control.
Preparations
Always confirm the following before you perform the procedure for trial operation with speed
control.

• Make sure that the procedure to prepare the Servomotor for trial operation described in 7.4.1
Preparing the Servomotor for Trial Operation on page 7-11 has been completed.
Operating Procedure
1. Adjust the speed reference input gain (Pn300).
The default setting of Pn300 is for the rated speed at 6 V. If you want to use this setting, do not adjust
Pn300 and proceed to the next step.
To change the setting of Pn300, refer to the following section.
6.5 Speed Control on page 6-17
2. Set the speed reference (V-REF, SG voltage) to 0 V from the host controller and check
the rotation of the Servomotor shaft.
If the Servomotor shaft is rotating slightly, refer to the following section and adjust the reference offset
so that the shaft does not rotate.
7
Adjusting the Speed Reference Offset on page 6-19
3. Input a low-speed, constant-speed reference from the host controller to operate the
Servomotor and visually check the motor speed.
• Rotary Servomotor example: For a speed reference of 60 min-1, the shaft should rotate at 1 rotation
per second.
• Linear Servomotor example: For a speed reference of 60 mm/s, the Moving Coil should move at 60
mm/s.
4. Gradually increase the speed reference input from the host controller starting from 0 V.
5. Confirm that the motor speed agrees with the speed reference value.
• Using the SigmaWin+: Monitor - Monitor - Status Monitor and Monitor - Monitor - Motion
Monitor
• Using the Panel Operator or Digital Operator: Un001 (Speed Reference Monitor) and Un000 (Motor
Speed Monitor)
7-13
7.4.3 Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control
6. Confirm that the Servomotor is operating in the correct direction.

If the Servomotor direction is not correct, refer to the following section and change the Servomotor
direction.
5.6 Motor Direction Setting on page 5-19
7. Gradually reduce the speed reference input from the host controller back to 0 V.
8. Turn OFF the power supplies to the SERVOPACK.
This concludes the procedure for trial operation with speed control.
Proceed to the following section if you will perform position control on the host controller.
7.4.3 Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control on page
7-14
Proceed to the following section if you will not perform position control on the host controller.
7.5 Trial Operation with the Servomotor Connected to the Machine on page 7-17
7.4.3 Trial Operation for Position Control from the Host Con-
troller with the SERVOPACK Used for Speed Control
This section describes the trial operation procedure to use the SERVOPACK for speed control
and perform position control at the host controller.
Preparations
Always confirm the following before you perform the procedure to use the SERVOPACK for
speed control and perform position control at the host controller.
• Make sure that the procedure described in 7.4.2 Trial Operation for Speed Control on page 7-
13 has been completed.
Operating Procedure
1. Turn ON the power supplies to the SERVOPACK.
2. Set Pn212 (Number of Encoder Output Pulses) or Pn281 (Encoder Output Resolution).
6.8.2 Setting for the Encoder Divided Pulse Output on page 6-52
3. Execute the following type of simple positioning from the host controller and confirm the
motion of the Servomotor.
• Rotary Servomotors: Input a reference to move the Servomotor one rotation and confirm that the
motor shaft moves one rotation.
• Linear Servomotors: Input a reference to move the Servomotor 100 mm and confirm that the Ser-
vomotor moves 100 mm either visually or with a monitor function. To use a monitor function, per-
form one of the following.
To use a monitor function, perform one of the following.
• Using the SigmaWin+: Monitor - Monitor - Motion Monitor
• Using the Panel Operator or Digital Operator: Un003 (Rotational Angle 1 [unit: encoder pulses])
If the amount of Servomotor rotation (pulses) is not correct, check the setting of Pn212 or Pn281.
4. Gradually reduce the speed reference input from the host controller back to 0 V.
This concludes the trial operation procedure for position control from the host controller with
the SERVOPACK used for speed control. Proceed to the following section.
7-14
7.4.4 Trial Operation for Position Control

This section describes the procedure for trial operation for position control.
Preparations
Always confirm the following before you perform the procedure for trial operation with position
control.
• Make sure that the procedure to prepare the Servomotor for trial operation described in 7.4.1
Preparing the Servomotor for Trial Operation on page 7-11 has been completed.
Operating Procedure
In this procedure, the electronic gear is set in the SERVOPACK and not in the host controller.
1. Turn OFF the /S-ON (Servo ON) signal from the host controller.
The servo will turn OFF.
2. Set Pn200 =n.X (Reference Pulse Form) to the reference pulse form of the host
controller.
3. Set the reference unit and set the electronic gear ratio (Pn20E and Pn210) according to
the host controller.
The new parameter settings will be enabled.
5. Input the /S-ON (Servo ON) signal from the host controller.
The servo will turn ON.

6. Input a low-speed pulse reference from the host controller.
Use a travel distance (number of reference pulses) that is easy to check (for example, the number of
pulses for one rotation).
For safety, set the number of references pulses for approximately the following motor speeds.
• Rotary Servomotors: 100 min-1
• Linear Servomotors: 100 mm/s
7. Check the number of reference pulses that are input to the SERVOPACK from the
changes in the input reference pulse counter before and after the reference.
• Using the SigmaWin+: Monitor - Monitor - Motion Monitor, Reference Pulse Counter
• Using the Panel Operator or Digital Operator: Un00C (Input Reference Pulse Counter Monitor)
8. Check the actual number of Servomotor rotations from the changes in the feedback
pulse counter before and after the reference. 7
• Using the SigmaWin+: Monitor - Monitor - Motion Monitor, Feedback Pulse Counter
• Using the Panel Operator or Digital Operator: Un00D (Feedback Pulse Counter Monitor)
9. Confirm that the changes in the input reference pulse counter and the feedback pulse
counter (i.e., the values from steps 7 and 8) satisfy the following equation.
Change in input reference pulse counter = Change in feedback pulse counter x (Pn20E/Pn210)
10. Confirm that the Servomotor shaft is rotating in the direction specified by the reference.
If the rotation direction does not agree with the reference direction, refer to the following section and
change the rotation direction.
11. Input a pulse reference for a comparatively large number of Servomotor rotations from
the host controller so that the Servomotor will operate at a constant speed.
7-15
12. Check the reference pulse speed input to the SERVOPACK with the input reference
pulse speed monitor.
• Using the SigmaWin+: Monitor - Monitor - Motion Monitor, Input Reference Pulse Speed
• Using the Panel Operator or Digital Operator: Un007 (Input Reference Pulse Speed Monitor)
The input reference pulse monitor uses the following formula.

• Rotary Servomotor with a 20-bit Encoder
Pn20E 1
Input reference pulse speed monitor = Input reference pulse speed [pulses/s]  60  
Pn210 2 20 (=1,048,576)
Reference input pulse speed/min Electronic Encoder pulse
gear ratio
Pn20E Linear encoder pitch [m] 1
Input reference pulse speed monitor = Input reference pulse speed [pulses/s]   
Pn210 Resolution 1,000
Electronic Linear encoder resolution
gear ratio
13. Check the motor speed monitor.

• Using the SigmaWin+: Monitor - Monitor - Motion Monitor, Motor Speed
• Using the Panel Operator or Digital Operator: Un000 (Motor Speed Monitor)
14. Confirm that the input reference pulse speed and the motor speed (i.e., the values from
steps 12 and 13) are the same.
15. Stop the pulse reference from the host controller.
16. Turn OFF the /S-ON (Servo ON) signal from the host controller.
The servo will turn OFF.
This concludes the procedure for trial operation with position control. Proceed to the following
section.
7-16
7.5.1 Precautions

This section provides the procedure for trial operation with both the machine and Servomotor.
7.5.1 Precautions
WARNING
 Operating mistakes that occur after the Servomotor is connected to the machine may not
only damage the machine, but they may also cause accidents resulting in personal injury.
If you disabled the overtravel function for trial operation of the Servomotor without a load, enable
the overtravel function (P-OT and N-OT signal) before you preform trial operation with the Servo-
Important motor connected to the machine in order to provide protection.
If you will use a holding brake, observe the following precautions during trial operation.
• Before you check the operation of the brake, implement measures to prevent the machine
from falling due to gravity and to prevent vibration from being caused by an external force.
• First check the Servomotor operation and brake operation with the Servomotor uncoupled
from the machine. If no problems are found, connect the Servomotor to the machine and per-
form trial operation again.

Control the operation of the brake with the /BK (Brake) signal output from the SERVOPACK.
Refer to the following sections for information on wiring and the related parameter settings.
4.4.4 Wiring the SERVOPACK to the Holding Brake on page 4-33
5.13 Holding Brake on page 5-37
Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause
the SERVOPACK to fail, damage the SERVOPACK, damage the equipment, or cause an accident
resulting in death or injury.
Important Observe the precautions and instructions for wiring and trial operation precisely as described in
this manual.
7-17
7.5.2 Preparations
7.5.2 Preparations
Always confirm the following before you perform the trial operation procedure for both the
machine and Servomotor.
• Make sure that the procedure described in 7.4 Trial Operation from the Host Controller for the
Servomotor without a Load on page 7-10 has been completed.
• Make sure that the SERVOPACK is connected correctly to both the host controller and the
peripheral devices.
• Safety Function Wiring
• If you are not using the safety function, leave the Safety Jumper Connector (provided as
an accessory with the SERVOPACK) connected to CN8.
• If you are using the safety function, remove the Safety Jumper Connector from CN8
and connect the safety function device.
• Overtravel wiring
• Brake wiring
• Allocation of the /BK (Brake) signal to a pin on the I/O signal connector (CN1)
• Emergency stop circuit wiring
• Host controller wiring
Refer to the following section and change the wiring to match the system configuration.
15.1 Examples of Connections to Host Controllers on page 15-2

1. Enable the overtravel signals.
5.12.2 Setting to Enable/Disable Overtravel on page 5-33
2. Make the settings for the protective functions, such as the safety function, overtravel,
and the brake.
4.6 Connecting Safety Function Signals on page 4-49
5.12 Overtravel and Related Settings on page 5-32
5.13 Holding Brake on page 5-37
3. Set the parameters that are required for the control method you will use.
6.5 Speed Control on page 6-17
6.6 Position Control on page 6-30
6.7 Torque Control on page 6-40

The control power supply and main circuit power supply will turn OFF.
5. Couple the Servomotor to the machine.
To power CN1 To power CN1

supplies To host controller supply To host controller

machine, and connect the
motor shaft to the load shaft
with a coupling or other means.
6. Turn ON the power supplies to the machine and host controller and turn ON the control
power supply and main circuit power supply to the SERVOPACK.
7-18
7. Check the protective functions, such as overtravel and the brake, to confirm that they
operate correctly.
Note: Enable activating an emergency stop so that the Servomotor can be stopped safely should an error
occur during the remainder of the procedure.
8. Perform trial operation according to 7.4 Trial Operation from the Host Controller for the
Servomotor without a Load on page 7-10 and confirm that the same results are obtained
as when trial operation was performed on the Servomotor without a load.
9. Check the settings of the parameters for the control method and confirm that the Servo-
motor operates according to machine operating specifications.
10. If necessary, adjust the servo gain to improve the Servomotor response characteristics.
The Servomotor and machine may not be broken in completely for the trial operation. Therefore, let
the system run for a sufficient amount of time to ensure that it is properly broken in.
11. For future maintenance, save the parameter settings with one of the following methods.
• Use the SigmaWin+ to save the parameters as a file.
• Use the Parameter Copy Mode of the Digital Operator.
• Record the settings manually.
This concludes the procedure for trial operation with both the machine and Servomotor.

7
7-19
7.6 Convenient Function to Use during Trial Operation
7.6.1 Program Jogging

This section describes some convenient operations that you can use during trial operation.
Use them as required.

You can use program jogging to perform continuous operation with a preset operation pattern,
travel distance, movement speed, acceleration/deceleration time, waiting time, and number of
movements.
You can use this operation when you set up the system in the same way as for normal jogging
to move the Servomotor without connecting it to the host controller in order to check Servomo-
tor operation and execute simple positioning operations.
Preparations
Always check the following before you execute program jogging.
• The range of machine motion and the safe movement speed of your machine must be con-
sidered when you set the travel distance and movement speed.
Additional Information
• The program jogging operation is performed with position control, but a pulse reference is not
input to the SERVOPACK.
• You can use the functions that are applicable to position control.
• The overtravel function is enabled.
• When an absolute encoder is used, you do not need to input the SEN signal. It is always
active.
• You cannot use reference pulse input multiplication switching.
Program Jogging Operation Pattern

An example of a program jogging operation pattern is given below. In this example, the Servo-
motor direction is set to Pn000 = n.0 (Use CCW as the forward direction).
Setting
Setting Operation Pattern
of Pn530
Number of movements (Pn536)
Movement Speed
(Waiting time yRotary Servomotor: Travel Travel Travel
→ Forward Pn533 distance distance distance
travel dis- yLinear Servomotor:
(Pn531) (Pn531) (Pn531)
n.0 Pn585
tance) × Speed 0
Number of
movements
Waiting time Acceleration/ Waiting time Waiting time
(Pn535) deceleration (Pn535) (Pn535)
time (Pn534)
7-20

Setting
Setting Operation Pattern
of Pn530
Speed 0
(Waiting time Movement Speed
yRotary Servomotor: Travel Travel Travel
→ Reverse Pn533 distance distance distance
by travel dis- yLinear Servomotor: (Pn531) (Pn531) (Pn531)
n.1
tance) × Pn585
Number of
movements
Waiting time Acceleration/ Waiting time Waiting time
(Pn535) deceleration (Pn535) (Pn535)
time (Pn534)
(Waiting time
→ Forward Number of movements (Pn536) Number of movements (Pn536)
by travel dis-
tance) × Acceleration/
Number of deceleration Movement Speed
Travel
Waiting time time (Pn534) Waiting time yRotary Servomotor:
movements distance (Pn535) Pn533
(Pn535) yLinear Servomotor:
n.2 → (Waiting (Pn531) Pn585
time → Speed 0
Reverse by Travel Travel Movement Speed
distance distance yRotary Servomotor:
travel dis- Acceleration Pn533
Waiting time /deceleration Waiting time (Pn531) (Pn531) yLinear Servomotor:
tance) × (Pn535) time (Pn534) (Pn535) Pn585
Number of
movements
(Waiting time
→ Reverse Number of movements (Pn536) Number of movements (Pn536)
by travel dis-

tance) × Acceleration/
deceleration
Number of Waiting time time (Pn534) Waiting time Travel Travel
Movement Speed
(Pn535) Waiting time
movements (Pn535) y Rotary Servomotor:
(Pn535) distance distance Pn533
n.3 → (Waiting (Pn531) (Pn531) y Linear Servomotor:
time → For- Speed 0
Pn585
ward by Travel Travel

Movement Speed
y Rotary Servomotor:
travel dis- distance distance
Acceleration/
Waiting time Pn533
tance) × (Pn531) (Pn531) deceleration
(Pn535) y Linear Servomotor:
Pn585
time (Pn534)
Number of
movements
(Waiting time
→ Forward
by travel dis- Movement Speed
Travel
tance → distance y Rotary Servomotor: Pn533 7
Waiting time (Pn531) y Linear Servomotor: Pn585
n.4
→ Reverse
Speed 0
by travel dis-
tance) × Travel Movement Speed
Number of distance y Rotary Servomotor: Pn533
Waiting time Waiting time (Pn531) y Linear Servomotor: Pn585
movements (Pn535) Acceleration/ (Pn535)
deceleration
time (Pn534)
(Waiting time
→ Reverse Acceleration/
by travel dis- deceleration
time (Pn534) Movement Speed
tance → Waiting time Waiting time Travel
(Pn535) (Pn535) distance yRotary Servomotor: Pn533
Waiting time
n.5 (Pn531) yLinear Servomotor: Pn585
→ Forward
by travel dis- Speed 0
tance) × Travel Movement Speed
Number of distance yRotary Servomotor: Pn533
movements (Pn531) yLinear Servomotor: Pn585
7-21
If Pn530 is set to n.0, n.1, n.4, or n.5, you can set Pn536 (Program
Information
Jogging Number of Movements) to 0 to perform infinite time operation.
You cannot use infinite time operation if Pn530 is set to n.2 or n.3.
If you perform infinite time operation from the Panel Operator or Digital Operator, press the
MODE/SET Key or JOG/SVON Key to turn OFF the servo to end infinite time operation.
Related Parameters
Use the following parameters to set the program jogging operation pattern. Do not change the
settings while the program jogging operation is being executed.
Program Jogging-Related Selections Speed Position Torque 　
0000 to 0005 − 0000 Immediately Setup
Program Jogging Travel Distance Speed Position Torque 　
1 to 1,073,741,824 1 reference unit 32,768 Immediately Setup
Program Jogging Movement Speed Speed Position Torque
1 min
Program Jogging Acceleration/Deceleration Time Speed Position Torque 　
Program Jogging Waiting Time Speed Position Torque 　
Program Jogging Number of Movements Speed Position Torque
0 to 1,000 1 time 1 Immediately Setup
• Direct Drive Servomotors

Program Jogging-Related Selections Speed Position Torque
Program Jogging Travel Distance Speed Position Torque
Program Jogging Movement Speed Speed Position Torque
0.1 min
Program Jogging Acceleration/Deceleration Time Speed Position Torque
Program Jogging Waiting Time Speed Position Torque
Program Jogging Number of Movements Speed Position Torque
7-22
Program Jogging-Related Selections Speed Position Force
Program Jogging Travel Distance Speed Position Force
Program Jogging Movement Speed Speed Position Force
Program Jogging Acceleration/Deceleration Time Speed Position Force
Program Jogging Waiting Time Speed Position Force
Program Jogging Number of Movements Speed Position Force
Applicable Tools
The following table lists the tools that you can use to perform program jogging and the applica-
ble tool functions.

Panel Operator Fn004 13.4.4 Jog Program (Fn004) on page 13-15
Σ-7-Series Digital Operator Operating Manual
Digital Operator Fn004 (Manual No.: SIEP S800001 33)
Operation - Program JOG Opera-
tion
7-23
Operating Procedure
Use the following procedure for a program jog operation.
2. Select JOG Program in the Menu Dialog Box.

The Jog Program Dialog Box will be displayed.
4. Set the operating conditions, click the Apply Button, and then click the Run Button.
A graph of the operation pattern will be displayed.
7-24
7.6.2 Origin Search
5. Click the Servo ON Button and then the Execute Button. The program jogging operation
will be executed.
CAUTION
 Be aware of the following points if you cancel the program jogging operation while the Ser-
vomotor is operating.
• If you cancel operation with the Servo OFF Button, the Servomotor will stop according to setting
of the Servo OFF stopping method (Pn001 = n.X).
• If you cancel operation with the Cancel Button, the Servomotor will decelerate to a stop and

then enter a zero-clamped state.
This concludes the program jogging procedure.
7.6.2 Origin Search

The origin search operation positions the motor to the origin within one rotation and then
clamps it there.
CAUTION 7
 Make sure that the load is not coupled when you execute an origin search.
The Forward Drive Prohibit (P-OT) signal and Reverse Drive Prohibit (N-OT) signal are disabled
during an origin search.
Use an origin search when it is necessary to align the origin within one rotation with the
machine origin. The following speeds are used for origin searches.
• Rotary Servomotors: 60 min-1
• Direct Drive Servomotors: 6 min-1
• Linear Servomotors: 15 mm/s
Servomotor Machine
To align the origin within one

rotation with the machine origin
7-25
7.6.2 Origin Search
Preparations
Always check the following before you execute an origin search.
Applicable Tools
The following table lists the tools that you can use to perform an origin search and the applica-
ble tool functions.
Panel Operator Fn003 13.4.3 Origin Search (Fn003) on page 13-14
Σ-7-Series Digital Operator Operating Man-
Digital Operator Fn003 ual (Manual No.: SIEP S800001 33)
SigmaWin+* Encoder Setting - Search Origin Operating Procedure on page 7-26
* Cannot be used when connecting a Linear Servomotor.
Operating Procedure
Use the following procedure to perform an origin search.
2. Select Search Origin in the Menu Dialog Box.

The Origin Search Dialog Box will be displayed.
4. Click the Servo ON Button.
7-26
7.6.3 Test without a Motor

An origin search will be performed only while you hold down the mouse button. The motor will stop
when the origin search has been completed.
This concludes the origin search procedure.

A test without a motor is used to check the operation of the host controller and peripheral
devices by simulating the operation of the Servomotor in the SERVOPACK, i.e., without actually
operating a Servomotor. This test allows you to check wiring, debug the system, and verify
parameters to shorten the time required for setup work and to prevent damage to the machine

that may result from possible malfunctions. The operation of the Servomotor can be checked
with this test regardless of whether the Servomotor is actually connected or not.
SERVOPACK Simulates operation

Reference Reference without a motor.
Host controller
Response Response
Use Pn00C = n.X to enable or disable the test without a motor.

7
n.0
Disable tests without a motor.
Pn00C (default setting) After restart Setup
n.1 Enable tests without a motor.
• While the test without a motor is being executed, the display on the Panel Operate will
Information
alternate between tSt and the status of the SERVOPACK.
Refer to the following section for information SERVOPACK status displays.
13.1.3 Status Displays on page 13-4
• An asterisk is displayed on the status display of the Digital Operator while a test without a
motor is being executed.
7-27
Motor Information and Encoder Information

The motor and encoder information is used during tests without a motor. The source of the
information depends on the device connection status.
Motor Connection
Information That Is Used Source of Information
Status
Motor information
• Rated motor speed
• Maximum motor speed
Connected Information in the Servomotor that is connected
Encoder information
• Encoder resolution
• Encoder type
• Setting of Pn000 = n.X (Rotary/Linear Servo-
motor Startup Selection When Encoder Is Not Con-
nected)
• Rated motor speed and maximum motor speed
Motor information
The values previously saved in the SERVOPACK will
• Rated motor speed
be used for the rated motor speed and maximum
• Maximum motor speed
motor speed.
Not connected Use the motor displays (Un020: Rated Motor Speed
and Un021: Maximum Motor Speed) to check the
values.
• Encoder resolution: Setting of Pn00C = n.X
Encoder information
(Encoder Resolution for Tests without a Motor)
• Encoder resolution
• Encoder type: Setting of Pn00C = n.X (Encoder
• Encoder type
Type Selection for Tests without a Motor)
If you use fully-closed loop control, the external encoder information is also used.
External Encoder Connection Information That Is
Source of Information
Status Used
External encoder infor- Information in the external encoder that is con-
Connected
mation nected
• Resolution • Resolution: 256
Not connected • Encoder type • Encoder type: Incremental encoder
Motor Connection
Information That Is Used Source of Information
Status
Motor information Information in the motor that is connected
Linear encoder informa-
Connected tion
• Resolution Information in the linear encoder that is connected
• Encoder pitch
• Encoder type
Setting of Pn000 = n.X (Rotary/Linear Servomotor
Motor information
Startup Selection When Encoder Is Not Connected)
Linear encoder informa- • Resolution: 256
Not connected tion • Encoder pitch: Setting of Pn282 (Linear Encoder Scale
• Resolution Pitch)
• Encoder pitch • Encoder type: Setting of Pn00C = n.X (Encoder
• Encoder type Type Selection for Tests without a Motor)
7-28
• Related Parameters
n.0 When an encoder is not connected, start as
(default setting) SERVOPACK for Rotary Servomotor.
When an encoder is not connected, start as
n.1
SERVOPACK for Linear Servomotor.
Linear Encoder Scale Pitch Speed Position Force

0 to 6,553,600 0.01 μm 0 After restart Setup

n.0 Use 13 bits as encoder resolution for tests
(default setting) without a motor.
Use 20 bits as encoder resolution for tests
n.1
without a motor.
n.2
without a motor.
Pn00C After restart Setup
n.3
without a motor.
n.0 Use an incremental encoder for tests without
(default setting) a motor.
Use an absolute encoder for tests without a
n.1
motor.
Motor Position and Speed Responses

For a test without a motor, the following responses are simulated for references from the host

controller according to the gain settings for position or speed control.
• Servomotor position
• Motor speed
• External encoder position
The load model will be for a rigid system with the moment of inertia ratio that is set in Pn103.
7-29
Restrictions
The following functions cannot be used during the test without a motor.
• Regeneration and dynamic brake operation
• Brake output signal
• Items marked with “×” in the following utility function table
Panel Operator or
SigmaWin+ Executable?
Digital Operator
Button in
Motor
Menu Motor Reference
SigmaWin+ Function Not
Dialog Fn No. Utility Function Name Con-
Name con-
Box nected
nected
*1 Fn005 Initializing Parameters   page 5-12
Initialize
Software Reset Fn030 Software Reset   page 6-96
Fn011 Display Servomotor Model  
Basic
Func- Fn012 Display Software Version  
tions Product Information Display SERVOPACK and
Fn01E   page 9-2
Servomotor IDs
Display Servomotor ID from
Fn01F  
Feedback Option Module
Reset Absolute Encoder Fn008 Reset Absolute Encoder ×  page 5-54
Multiturn Limit Setting after
Multi-turn Limit Setup Fn013 Multiturn Limit Disagreement ×  page 6-84
Encoder Alarm
Setting Search Origin*2 Fn003 Origin Search   page 7-25
Zero Point Position Set- Set Absolute Linear Encoder
Fn020 ×  page 7-25
ting Origin
Polarity Detection Fn080 Polarity Detection × × page 7-25
Fn000 Display Alarm History   page 12-42
Fn006 Clear Alarm History   page 12-43
Trouble- Display Alarm
Reset Option Module Config-
shooting Fn014   page 12-44
uration Error
Reset Motor Type Alarm Fn021 Reset Motor Type Alarm   −
Opera- Jog Fn002 Jog   page 7-7
tion Program JOG Operation Fn004 Jog Program   page 7-20
Tuning -
Advanced Autotuning with-
Autotuning without Host Fn201 × × page 8-24
out Reference
Reference
Tuning -
Advanced Autotuning with
Autotuning with Host Fn202 × × page 8-35
Reference
Reference
Tuning -
Fn203 One-Parameter Tuning × × page 8-42
Custom Tuning
Tuning
Tuning -
Custom Tuning - Adjust Anti-resonance Con-
Fn204 × × page 8-51
Adjust Anti-resonance trol
Control
Tuning -
Custom Tuning - Fn205 Vibration Suppression × × page 8-56
Vibration Suppression
Response Level Setting Fn200 Tuning-less Level Setting × × page 8-16
Diagnos-
Easy FFT Fn206 Easy FFT × × page 8-94
tic
7-30

Panel Operator or
SigmaWin+ Executable?
Digital Operator
Button in
Motor
Menu Motor Reference
SigmaWin+ Function Not
Dialog Fn No. Utility Function Name Con-
Name con-
Box nected
nected
Autotune Analog (Speed/ page 6-24,

Fn009  
Torque) Reference Offset page 6-41
Adjust the Speed and Manually Adjust Speed Refer-
Fn00A   page 6-24
Torque Reference Offset ence Offset
Manually Adjust Torque Ref-
Fn00B   page 6-41
erence Offset
Fn00C  
Adjust the Analog Moni- Offset
page 9-11
Others tor Output Adjust Analog Monitor Output
Fn00D  
Gain
Autotune Motor Current
Fn00E × 
Adjust the Motor Cur- Detection Signal Offset
page 6-102
rent Detection Offsets Manually Adjust Motor Cur-
Fn00F × 
rent Detection Signal Offset
Initialize Vibration Initialize Vibration Detection
Fn01B × × page 6-98
Detection Level Level
Write Prohibited Setting Fn010 Write Prohibition Setting   page 5-8
*1. An Initialize Button will be displayed in the Parameter Editing Dialog Box.
*2. Cannot be used when connecting a Linear Servomotor.

7
7-31
Tuning
8
This chapter provides information on the flow of tuning,
details on tuning functions, and related operating proce-
dures.
8.1 Overview and Flow of Tuning . . . . . . . . . . . 8-4

8.1.1 Tuning Functions . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.1.2 Diagnostic Tool . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.2 Monitoring Methods . . . . . . . . . . . . . . . . . . 8-7
8.3 Precautions to Ensure Safe Tuning . . . . . . . 8-8

8.3.1 Overtravel Settings . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.3.2 Torque Limit Settings . . . . . . . . . . . . . . . . . . . . . 8-8
8.3.3 Setting the Position Deviation Overflow
Alarm Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.3.4 Vibration Detection Level Setting . . . . . . . . . . . 8-10
8.3.5 Setting the Position Deviation Overflow
Alarm Level at Servo ON . . . . . . . . . . . . . . . . . . 8-10
8.4 Tuning-less Function . . . . . . . . . . . . . . . . . 8-12

8.4.1 Application Restrictions . . . . . . . . . . . . . . . . . . 8-12
8.4.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . 8-14
8.4.4 Parameters Disabled by Tuning-less Function . . 8-15
8.4.5 Automatically Adjusted Function Setting . . . . . . 8-15
8.4.6 Related Parameters . . . . . . . . . . . . . . . . . . . . . 8-15
8.5 Estimating the Moment of Inertia . . . . . . . 8-16

8.5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16
8.5.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.6 Autotuning without Host Reference . . . . . 8-24
8.6.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-24
8.6.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25
8.6.5 Troubleshooting Problems in Autotuning
without a Host Reference . . . . . . . . . . . . . . . . . .8-31
8.6.6 Automatically Adjusted Function Settings . . . . .8-32
8.6.7 Related Parameters . . . . . . . . . . . . . . . . . . . . . .8-34
8.7 Autotuning with a Host Reference . . . . . . . 8-35

8.7.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-35
8.7.2 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-35
8.7.5 Troubleshooting Problems in Autotuning
with a Host Reference . . . . . . . . . . . . . . . . . . . .8-40
8.8 Custom Tuning . . . . . . . . . . . . . . . . . . . . . . 8-42

8.8.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-42
8.8.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . .8-42
8.8.6 Tuning Example for Tuning Mode 2 or 3 . . . . . . .8-49
8.9 Anti-Resonance Control Adjustment . . . . . 8-51

8.9.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
8.9.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
8.9.6 Suppressing Different Vibration Frequencies
with Anti-resonance Control . . . . . . . . . . . . . . . .8-54
8.10 Vibration Suppression . . . . . . . . . . . . . . . . 8-56

8.10.1 Outline . . . . . . . . . . . . . . . . . . . ... . . . . . . . . . .8-56
8.10.2 Preparations . . . . . . . . . . . . . . ... . . . . . . . . . .8-57
8.10.3 Applicable Tools . . . . . . . . . . . . ... . . . . . . . . . .8-57
8.10.4 Operating Procedure . . . . . . . . ... . . . . . . . . . .8-57
8.10.5 Setting Combined Functions . . ... . . . . . . . . . .8-59
8.10.6 Related Parameters . . . . . . . . . ... . . . . . . . . . .8-59
8.11 Speed Ripple Compensation . . . . . . . . . . . 8-60

8.11.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-60
8.11.2 Setting Up Speed Ripple Compensation . . . . . .8-60
8.11.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . .8-64
8.12 Additional Adjustment Functions . . . . . . . 8-66
8.12.1 Gain Switching . . . . . . . . . . . . . . . . . .... ... . 8-66
8.12.2 Friction Compensation . . . . . . . . . . . .... ... . 8-70
8.12.3 Gravity Compensation . . . . . . . . . . . .... ... . 8-71
8.12.4 Current Control Mode Selection . . . . .... ... . 8-73
8.12.5 Current Gain Level Setting . . . . . . . . .... ... . 8-73
8.12.6 Speed Detection Method Selection . . .... ... . 8-74
8.12.7 Speed Feedback Filter . . . . . . . . . . . .... ... . 8-74
8.12.8 Proportional Control (P Control) . . . . .... ... . 8-74
8.13 Manual Tuning . . . . . . . . . . . . . . . . . . . . . . 8-76

8.13.1 Tuning the Servo Gains . . . . . . . . . . . . . . . . . . . 8-76
8.13.2 Compatible Adjustment Functions . . . . . . . . . . 8-86
8.14 Diagnostic Tools . . . . . . . . . . . . . . . . . . . . 8-92

8.14.1 Mechanical Analysis . . . . . . . . . . . . . . . . . . . . . 8-92
8.14.2 Easy FFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-94
8.1 Overview and Flow of Tuning

Tuning is performed to optimize response by adjusting the servo gains in the SERVOPACK.
The servo gains are set using a combination of parameters, such as parameters for the speed
loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio. These
parameters influence each other, so you must consider the balance between them.
The servo gains are set to stable settings by default. Use the various tuning functions to
increase the response even further for the conditions of your machine.
The basic tuning procedure is shown in the following flowchart. Make suitable adjustments
considering the conditions and operating requirements of your machine.
Start of Tuning
Initial Confirmations to Ensure Safe Tuning

8.3 Precautions to Ensure Safe Tuning on page 8-8
Perform the tuning-less function.
Yes
Response acceptable? End
No
Estimate the moment of inertia.
Perform autotuning with or without a host reference. *
Yes
Results acceptable? End
No
Perform custom tuning.
Continuous Vibration
Adjust anti-resonance control.
Residual Vibration When Positioning
Perform vibration suppression.
Yes
Results acceptable? End
No
Perform manual tuning or the additional adjustment function.
No
Results acceptable?
Yes
End
* If possible, perform autotuning with a host reference.

If a host controller is not available, set an operation pattern that is as close as possible to the host reference and
perform autotuning without a host reference.
If an operation pattern that is close to the host reference is not possible, perform autotuning with a host reference
while performing program jogging.
8-4
8.1.1 Tuning Functions
8.1.1 Tuning Functions

The following table provides an overview of the tuning functions.
Applicable Con-
Tuning Function Outline Reference
trol Methods
This automatic adjustment function is designed to
enable stable operation without servo tuning. This
Speed control or
Tuning-less Function function can be used to obtain a stable response page 8-12
position control
regardless of the type of machine or changes in the
load. You can use it with the default settings.
The moment of inertia ratio is calculated by operat-
Speed control,
Moment of Inertia ing the Servomotor a few times.
position control, page 8-16
Estimation The moment of inertia ratio that is calculated here
or torque control
is used in other tuning functions.
The following parameters are automatically
adjusted in the internal references in the SERVO-
PACK during automatic operation.
• Gains (e.g., position loop gain and speed loop
Autotuning without Speed control or
gain) page 8-24
Host Reference position control
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression
The following parameters are automatically
adjusted with the position reference input from the
host controller while the machine is in operation.
You can use this function for fine-tuning after you
perform autotuning without a host reference.
Autotuning with Host
• Gains (e.g., position loop gain and speed loop Position control page 8-35
Reference gain)
The following parameters are adjusted with the
position reference or speed reference input from
the host controller while the machine is in opera-
tion.
Speed control or
Custom Tuning • Gains (e.g., position loop gain and speed loop page 8-42
position control
gain)
Tuning
Anti-resonance This function effectively suppresses continuous Speed control or
page 8-51
Control Adjustment vibration. position control
Vibration This function effectively suppresses residual vibra-
Position control page 8-56
Suppression tion if it occurs when positioning.
8
Speed control,
Speed Ripple Com- This function reduces the ripple in the motor
position control, page 8-60
pensation speed.
or torque control
This function combines autotuning with custom Depends on the
Additional
tuning. You can use it to improve adjustment functions that you page 8-66
Adjustment Function results. use.
Speed control,
You can manually adjust the servo gains to adjust
Manual Tuning position control, page 8-76
the response.
or torque control
8-5
8.1.2 Diagnostic Tool
8.1.2 Diagnostic Tool

You can use the following tools to measure the frequency characteristics of the machine and
set notch filters.
Applicable
Diagnostic Tool Outline Reference
Control Methods
The machine is subjected to vibration to detect Speed control,
Mechanical Analysis resonance frequencies. The measurement results position control, page 8-92
are displayed as waveforms or numeric data. or torque control
The machine is subjected to vibration to detect Speed control,
Easy FFT resonance frequencies. The measurement results position control, page 8-94
are displayed only as numeric data. or torque control
8-6
8.2 Monitoring Methods
8.2 Monitoring Methods

You can use the data tracing function of the SigmaWin+ or the analog monitor signals of the
SERVOPACK for monitoring. If you perform custom tuning or manual tuning, always use the
above functions to monitor the machine operating status and SERVOPACK signal waveform
while you adjust the servo gains.
Check the adjustment results with the following response waveforms.
• Position Control
Unit
Item
Rotary Servomotor Linear Servomotor
Torque reference %
Feedback speed min-1 mm/s
Position reference speed -1 mm/s
min
Position deviation Reference units
• Speed Control
Unit
Item
Torque reference %
Reference speed -1 mm/s
min
• Torque Control
Unit
Item
Torque reference %
Tuning
8-7
8.3 Precautions to Ensure Safe Tuning
8.3.1 Overtravel Settings
CAUTION
 Observe the following precautions when you perform tuning.
• Do not touch the rotating parts of the motor when the servo is ON.
• Before starting the Servomotor, make sure that an emergency stop can be performed at any
time.
• Make sure that trial operation has been successfully performed without any problems.
• Provide an appropriate stopping device on the machine to ensure safety.
Perform the following settings in a way that is suitable for tuning.
8.3.1 Overtravel Settings

Overtravel settings are made to force the Servomotor to stop for a signal input from a limit
switch when a moving part of the machine exceeds the safe movement range.
5.12 Overtravel and Related Settings on page 5-32
8.3.2 Torque Limit Settings

You can limit the torque that is output by the Servomotor based on calculations of the torque
required for machine operation. You can use torque limits to reduce the amount of shock
applied to the machine when problems occur, such as collisions or interference. If the torque
limit is lower than the torque that is required for operation, overshooting or vibration may occur.
6.11 Selecting Torque Limits on page 6-63
8.3.3 Setting the Position Deviation Overflow Alarm Level

The position deviation overflow alarm is a protective function that is enabled when the SERVO-
PACK is used in position control.
If the alarm level is set to a suitable value, the SERVOPACK will detect excessive position devi-
ation and will stop the Servomotor if the Servomotor operation does not agree with the refer-
ence.
The position deviation is the difference between the position reference value and the actual
position.
You can calculate the position deviation from the position loop gain (Pn102) and the motor
speed with the following formula.
Motor speed [min-1] Encoder resolution*1 Pn210
Position deviation [reference units] = × ×
60 Pn102 [0.1/s]/10*2, *3 Pn20E
Motor speed [mm/s] Resolution Pn210
Position deviation [reference units] =  
Pn102 [0.1/s]/10*2, *3 Linear encoder pitch [m]/1,000 Pn20E
8-8
8.3.3 Setting the Position Deviation Overflow Alarm Level
Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units]
Maximum motor speed [min-1] Encoder resolution*1 Pn210
Pn520 > × × × (1.2 to 2)*4
60 Pn102 [0.1/s]/10*2, *3 Pn20E
Maximum motor speed [mm/s] Resolution Pn210
Pn520 > × × × (1.2 to 2)*4
Pn102 [0.1/s]/10*2, *3 Linear encoder pitch [μm]/1,000 Pn20E
*1. Refer to the following section for details.

5.16 Electronic Gear Settings on page 5-47
*2. When model following control (Pn140 = n.1) is enabled, use the setting of Pn141 (Model Following Control
Gain) instead of the setting of Pn102 (Position Loop Gain).
*3. To check the setting of Pn102 on the Digital Operator, change the parameter display setting to display all parameters
(Pn00B = n.1).
*4. The underlined coefficient “× (1.2 to 2)” adds a margin to prevent an A.d00 alarm (Position Deviation Overflow)
from occurring too frequently.
If you set a value that satisfies the formula, an A.d00 alarm (Position Deviation Overflow) should
not occur during normal operation.
If the Servomotor operation does not agree with the reference, position deviation will occur, an
error will be detected, and the Servomotor will stop.
The following calculation example uses a Rotary Servomotor with a maximum motor speed of
Pn210 1
6,000 and an encoder resolution of 16,777,216 (24 bits). Pn102 is set to 400. =
Pn20E 16
6,000 16,777,216 1
Pn520 =   2
60 400/10 16
= 2,621,440  2
= 5,242,880 (default setting of Pn520)
If the acceleration/deceleration rate required for the position reference exceeds the tracking
capacity of the Servomotor, the tracking delay will increase and the position deviation will no
longer satisfy the above formulas. If this occurs, lower the acceleration/deceleration rate so
that the Servomotor can follow the position reference or increase the position deviation over-
flow alarm level.
Related Parameters
Tuning
Position Deviation Overflow Alarm Level Position
1 to 1,073,741,823 1 reference unit 5,242,880 Immediately Setup
Position Deviation Overflow Warning Level Position 8
Related Alarms
Alarm Number Alarm Name Alarm Meaning
Position Deviation This alarm is displayed when the position deviation exceeds the set-
A.d00
Overflow ting of Pn520 (Position Deviation Overflow Alarm Level).
Related Warnings
Warning Number Warning Name Warning Meaning
Position Deviation This warning occurs if the position deviation exceeds the specified
A.900
Overflow percentage (Pn520 × Pn51E/100).
8-9
8.3.4 Vibration Detection Level Setting
8.3.4 Vibration Detection Level Setting

You can set the vibration detection level (Pn312) to more accurately detect A.520 alarms
(Vibration Alarm) and A.911 warnings (Vibration) when vibration is detected during machine
operation.
Set the initial vibration detection level to an appropriate value. Refer to the following section for
details.
6.15 Initializing the Vibration Detection Level on page 6-98
8.3.5 Setting the Position Deviation Overflow Alarm Level at

Servo ON
If the servo is turned ON when there is a large position deviation, the Servomotor will attempt to
return to the original position to bring the position deviation to 0, which may create a hazardous
situation. To prevent this, you can set a position deviation overflow alarm level at servo ON to
restrict operation.
The related parameters and alarms are given in the following tables.
Related Parameters
Position Deviation Overflow Alarm Level at Servo ON Position
1 to 1,073,741,823 1 reference unit 5,242,880 Immediately Setup
Position Deviation Overflow Warning Level at Servo ON Position
Speed Limit Level at Servo ON Position
0 to 10,000 -1 10,000 Immediately Setup
1 min
Speed Limit Level at Servo ON Position
0 to 10,000 1 mm/s 10,000 Immediately Setup
Related Alarms
Alarm Number Alarm Name Alarm Meaning
Position Deviation This alarm occurs if the servo is turned ON after the position devia-
A.d01 Overflow Alarm at tion exceeded the setting of Pn526 (Position Deviation Overflow
Servo ON Alarm Level at Servo ON) while the servo was OFF.
If position deviation remains in the deviation counter, the setting of
Position Deviation
Pn529 or Pn584 (Speed Limit Level at Servo ON) will limit the speed
Overflow Alarm for
A.d02 when the servo is turned ON. This alarm occurs if reference pulses
Speed Limit at Servo
are input and the setting of Pn520 (Position Deviation Overflow
ON
Alarm Level) is exceeded.
Refer to the following section for information on troubleshooting alarms.
8-10
8.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON
Related Warnings
Warning Number Warning Name Warning Meaning
Position Deviation
This warning occurs if the servo is turned ON while the position
A.901 Overflow Warning
deviation exceeds the specified percentage (Pn526 × Pn528/100).
at Servo ON
Tuning
8-11
8.4 Tuning-less Function
8.4.1 Application Restrictions

The tuning-less function performs autotuning to obtain a stable response regardless of the type
of machine or changes in the load. Autotuning is started when the servo is turned ON.
CAUTION
 The tuning-less function is disabled during torque control.
 The Servomotor may momentarily emit a sound the first time the servo is turned ON after
the Servomotor is connected to the machine. This sound is caused by setting the automatic
notch filter. It does not indicate a problem. The sound will not be emitted from the next time
the servo is turned ON.
 The Servomotor may vibrate if it exceeds the allowable load moment of inertia.
If that occurs, set the tuning-less load level to 2 (Pn170 = n.2) or reduce the tuning-
less rigidity level (Pn170 = n.X).
 To ensure safety, make sure that you can perform an emergency stop at any time when you
execute the tuning-less function.
8.4.1 Application Restrictions

The following application restrictions apply to the tuning-less function.
Function Executable? Remarks
Vibration Detection Level
 –
Initialization
Disable the tuning-less function (Pn170 = n.0)
Moment of Inertia Estimation ×
before you execute moment of inertia estimation.
Autotuning without Host Disable the tuning-less function (Pn170 = n.0)
×
Reference before you execute autotuning without a host reference.
Autotuning with Host Reference × –
Custom Tuning × –
Anti-Resonance Control
× –
Adjustment
Vibration Suppression × –
The tuning-less function is disabled while you execute
Easy FFT  Easy FFT and then it is enabled when Easy FFT has been
completed.
Friction Compensation × –
Gain Selection × –
The tuning-less function is disabled while you execute
Mechanical Analysis  mechanical analysis and then it is enabled when mechan-
ical analysis has been completed.
* : Yes ×: No
8-12

The tuning-less function is enabled in the default settings. No specific procedure is required.
You can use the following parameter to enable or disable the tuning-less function.
n.0 Disable tuning-less function.
n.1
Enable tuning-less function.
(default setting)
Pn170 n.0 After restart Setup
Use for speed control.
(default setting)
Use for speed control and use host controller
n.1
for position control.
When you enable the tuning-less function, you can select the tuning-less type. Normally, set
Pn14F to n.2 (Use tuning-less type 3) (default setting). If compatibility with previous mod-
els is required, set Pn14F to n.0 (Use tuning-less type 1) or n.1 (Use tuning-less
type 2).
n.0 Use tuning-less type 1.
Use tuning-less type 2. (The noise level is
n.1
Pn14F improved more than with tuning-less type 1.) After restart Tuning
n.2
Use tuning-less type 3.
(default setting)
Tuning-less Level Settings

If vibration or other problems occur, change the tuning-less levels. To change the tuning-less
levels, use the SigmaWin+.
 Preparations
Always check the following before you set the tuning-less levels.
• The tuning-less function must be enabled (Pn170 = n.1).
 Procedure
Tuning
Use the following procedure to set the tuning-less levels.
In addition to the following procedure, you can also set the parameters directly. Refer to
Related Parameters, below, for the parameters to set.
8
maWin+.
2. Select Response Level Setting in the Menu Dialog Box.

The Tuning-less Level Setting-Adj Dialog Box will be displayed.
8-13
8.4.3 Troubleshooting Alarms
3. Click the or Button to adjust the tuning-less level setting. Increase the tuning-less
level setting to increase the response. Decrease the tuning-less level setting to suppress
vibration.
The default response level setting is 4.
Tuning-less Level Description Remarks
7 Response level: High
You cannot select these levels if tuning-less type 1 or 2
6
(Pn14F = n.0 or n.1) is used.
5
4 (default setting)
3
2 −
1
0 Response level: Low
4. Click the Completed Button.

The adjustment results will be saved in the SERVOPACK.
 Tuning-less Rigidity Level
If you use tuning-less type 1 or 2 (Pn14F = n.0 or n.1), set the tuning-less level to
between 0 and 4 (Pn170 = n.0 to n.4). Do not set the tuning-less level to between
5 and 7 (Pn170 = n.5 to n.7).
n.0 Tuning-less rigidity level 0 (low rigidity)
n.1 Tuning-less rigidity level 1
Pn170 n.4 Immediately Setup
Tuning-less rigidity level 4
(default setting)
n.7 Tuning-less rigidity level 7 (high rigidity)
 Tuning-less Load Level

n.0 Tuning-less load level 0
n.1
Pn170 Tuning-less load level 1 Immediately Setup
(default setting)
n.2 Tuning-less load level 2

An A.521 alarm (Autotuning Alarm) will occur if a resonant sound occurs or if excessive vibra-
tion occurs during position control. If an alarm occurs, implement the following measures.
• Resonant Sound
Decrease the setting of Pn170 = n.X or the setting of Pn170 = n.X.
• Excessive Vibration during Position Control
Increase the setting of Pn170 = n.X or decrease the setting of Pn170 = n.X.
8-14
8.4.4 Parameters Disabled by Tuning-less Function
8.4.4 Parameters Disabled by Tuning-less Function

When the tuning-less function is enabled (Pn170 = n.1) (default setting), the parameters
in the following table are disabled.
Item Parameter Name Parameter Number
Speed Loop Gain Pn100
Second Speed Loop Gain Pn104
Speed Loop Integral Time Constant Pn101
Gain-Related Parameters Second Speed Loop Integral Time Constant Pn105
Position Loop Gain Pn102
Second Position Loop Gain Pn106
Moment of Inertia Ratio Pn103
Advanced Control-Related Friction Compensation Function Selection Pn408 = n.X
Parameters Anti-Resonance Control Selection Pn160= n.X
Gain Selection-Related Parameters Gain Switching Selection Pn139= n.X
The tuning-less function is disabled during torque control, Easy FFT, and mechanical analysis
for a vertical axis. The gain-related parameters in the above table are enabled for torque con-
trol, Easy FFT, and mechanical analysis. Of these, Pn100, Pn103, and Pn104 are enabled for
torque control.
8.4.5 Automatically Adjusted Function Setting

You can also automatically adjust notch filters.
Normally, set Pn460 to n.1 (Adjust automatically) (default setting). Vibration is automati-
cally detected and a notch filter is set.
Set Pn460 to n.0 (Do not adjust automatically) only if you do not change the setting of
the notch filter before you execute the tuning-less function.
Do not adjust the second stage notch filter
automatically when the tuning-less function is
n.0 enabled or during execution of autotuning
without a host reference, autotuning with a
host reference, and custom tuning.
Pn460 Immediately Tuning
Adjust the second stage notch filter automati-
n.1 cally when the tuning-less function is enabled
or during execution of autotuning without a
(default setting) host reference, autotuning with a host refer-
Tuning
ence, and custom tuning.
8
The following parameters are automatically adjusted when you execute the tuning-less func-
tion.
Do not manually change the settings of these parameters after you have enabled the tuning-
less function.
Parameter Name
Pn401 First Stage First Torque Reference Filter Time Constant
Pn40C Second Stage Notch Filter Frequency
Pn40D Second Stage Notch Filter Q Value
8-15
8.5 Estimating the Moment of Inertia
8.5.1 Outline

This section describes how the moment of inertia is calculated.
The moment of inertia ratio that is calculated here is used in other tuning functions. You can
also estimate the moment of inertia during autotuning without a host reference. Refer to the fol-
lowing section for the procedure.
8.6.4 Operating Procedure on page 8-26
8.5.1 Outline
The moment of inertia during operation is automatically calculated by the SERVOPACK for
round-trip (forward and reverse) operation. A reference from the host controller is not used.
The moment of inertia ratio (i.e., the ratio of the load moment of inertia to the motor moment of
inertia) is a basic parameter for adjusting gains. It must be set as accurately as possible.
Although the load moment of inertia can be calculated from the weight and structure of the
mechanisms, doing so is very troublesome and calculating it accurately can be very difficult
with the complex mechanical structures that are used these days. With moment of inertia esti-
mation, you can get an accurate load moment of inertia simply by operating the Servomotor in
the actual system in forward and reverse a few times.
The Servomotor is operated with the following specifications.
• Maximum speed: ±1,000 min-1 (can be changed)
• Acceleration rate: ±20,000 min-1/s (can be changed)
• Travel distance: ±2.5 rotations max. (can be changed)
Movement
speed
Travel distance
References
Responses
SERVOPACK Travel distance

Servomotor
Note: Execute moment of inertia estimation after jogging to
a position that ensures a suitable range of motion.
8-16
8.5.2 Restrictions
8.5.2 Restrictions
The following restrictions apply to estimating the moment of inertia.
Systems for which Execution Cannot Be Performed

• When the machine system can move only in one direction
• When the range of motion is 0.5 rotations or less
Systems for Which Adjustments Cannot Be Made

Accurately
• When a suitable range of motion is not possible
• When the moment of inertia changes within the set operating range
• When the machine has high dynamic friction
• When the rigidity of the machine is low and vibration occurs when positioning is performed
• When the position integration function is used
• When proportional control is used
Note:If you specify calculating the moment of inertia, an error will occur if the /P-CON (Proportional Control) sig-
nal changes to specify the proportional action during moment of inertia estimation.
• When mode switching is used
Note:If you specify moment of inertia estimation, mode switching will be disabled and PI control will be used
while the moment of inertia is being calculated. Mode switching will be enabled after moment of inertia esti-
mation has been completed.
• When speed feedforward or torque feedforward is input
Preparations
Always check the following before you execute moment of inertia estimation.
• The control method must not be set to torque control.
• The gain selection switch must be set to manual gain selection (Pn139 = n.0).
• The first gains must be selected.
• There must be no alarms or warnings.
Tuning
• The tuning-less function must be disabled (Pn170 = n.0).
8

The following table lists the tools that you can use to estimate the moment of inertia and the
Panel Operator You cannot estimate the moment of inertia from the Panel Operator.
Digital Operator You cannot estimate the moment of inertia from the Digital Operator.
SigmaWin+ Tuning - Tuning 8.5.4 Operating Procedure on page 8-18
8-17

Use the following procedure to estimate the moment of inertia ratio.
WARNING
 Estimating the moment of inertia requires operating the Servomotor and therefore presents
hazards. Observe the following precautions.
• Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an
emergency stop (to turn OFF the power supply) at any time. There will be movement in both
directions within the set range of movement. Check the range of movement and the directions
and implement protective controls for safety, such as the overtravel functions.
CAUTION
 Be aware of the following points if you cancel the moment of inertia estimation while the
Servomotor is operating.
• If you cancel operation with the Servo OFF Button, the Servomotor will stop according to setting
of the Servo OFF stopping method (Pn001 = n.X).
• If you cancel operation with the Cancel Button, the Servomotor will decelerate to a stop and
then enter a zero-clamped state.
maWin+.
2. Select Tuning in the Menu Dialog Box.

The Tuning Dialog Box will be displayed.
Click the Cancel Button to cancel tuning.
8-18
5. Set the conditions as required.

 




 
 Speed Loop Setting Area
Make the speed loop settings in this area.
Tuning
If the speed loop response is too bad, it will not be possible to measure the moment of
inertia ratio accurately.
The values for the speed loop response that are required for moment of inertia estimation
are set for the default settings. It is normally not necessary to change these settings. 8
If the default speed loop gain is too high for the machine (i.e., if vibration occurs), lower
the setting. It is not necessary to increase the setting any farther.
 Identification Start Level Group
This is the setting of the moment of inertia calculation starting level.
If the load is large or the machine has low rigidity, the torque limit may be applied, caus-
ing moment of inertia estimation to fail.
If that occurs, estimation may be possible if you double the setting of the start level.
 Edit Buttons
Click the button to display a dialog box to change the settings related to the speed loop
or estimation start level.
8-19
 Help Button
Click this button to display guidelines for setting the reference conditions. Make the fol-
lowing settings as required.
• Operate the Servomotor to measure the load moment of inertia of the machine in com-
parison with the rotor moment of inertia.
• Set the operation mode, reference pattern (maximum acceleration rate, maximum
speed, and maximum travel distance), and speed loop-related parameters.
• Correct measurement of the moment of inertia ratio may not be possible depending on
the settings. Set suitable settings using the measurement results as reference.
 Reference Selection Area
Either select the reference pattern for estimation processing from the box, or set the val-
ues in the Detailed Setting Group. Generally speaking, the larger the maximum acceler-
ation rate is, the more accurate the moment of inertia estimation will be.
Set the maximum acceleration range within the possible range of movement considering
the gear ratio, e.g., the pulley diameters or ball screw pitch.
 Confirm Button
Click this button to display the Reference Confirmation Dialog Box.
 Detailed Setting Area

You can change the settings by moving the bars or directly inputting the settings to cre-
ate the required reference pattern.
 Next Button
Click this button to display the Reference Transmission Dialog Box.
 Cancel Button
Click this button to return to the Tuning Dialog Box.
CAUTION
 The travel distance is the distance for one operation in the forward or reverse direction.
During multiple operations, the operation starting position may move in one direction or the
other. Confirm the possible operating range for each measurement or operation.
 Depending on the parameter settings and the moment of inertia of the machine, overshoot-
ing and undershooting may occur and may cause the maximum speed setting to be
exceeded temporarily. Allow sufficient leeway in the settings.
When Measurement Is Not Correct

Information
Estimating the moment of inertia ratio cannot be performed correctly if the torque limit is
activated. Adjust the limits or reduce the acceleration rate in the reference selection so
that the torque limit is not activated.
6. Click the Next Button.

The Reference Transmission Dialog Box will be displayed.
8-20
7. Click the Start Button.





 Start Button
The reference conditions will be transferred to the SERVOPACK. A progress bar will show
the progress of the transfer.
 Cancel Button
The Cancel Button is enabled only while data is being transferred to the SERVOPACK.
You cannot use it after the transfer has been completed.
 Back Button
This button returns you to the Condition Setting Dialog Box. It is disabled while data is
being transferred.
 Next Button
This button is enabled only when the data has been transferred correctly. You cannot use
it if an error occurs or if you cancel the transfer before it is completed.
Click the Next Button to display the Operation/Measurement Dialog Box.
 Cancel Button
This button cancels processing and returns you to the Tuning Dialog Box.

The Operation/Measurement Dialog Box will be displayed.
9. Click the Servo On Button.
Tuning
10. Click the Forward Button.

The Servomotor shaft will rotate in the forward direction and the measurement will start. After the
measurement and data transfer have been completed, the Reverse Button will be displayed in color.
8-21
11. Click the Reverse Button.
The Servomotor shaft will rotate in the reverse direction and the measurement will start. After the
measurement and data transfer have been completed, the Forward Button will be displayed in color.
12. Repeat steps 9 to 11 until the Next Button is enabled.

Measurements are performed from 2 to 7 times and then verified. The number of measurements is
displayed in upper left corner of the dialog box. A progress bar at the bottom of the dialog box will
show the progress of the transfer each time.
13. When the measurements have been completed, click the Servo On Button to turn OFF
the servo.
The Write Results Dialog Box will be displayed.
If you click the Next Button before you turn OFF the servo, the following Dialog Box will
Information
be displayed. Click the OK Button to turn OFF the servo.
8-22
15. Click the Writing Results Button.
 


 Identified Moment of Inertia Ratio Box

The moment of inertia ratio that was found with operation and measurements is dis-
played here.
 Writing Results Button
If you click this button, Pn103 (Moment of Inertia Ratio) in the SERVOPACK is set to the
value that is displayed for the identified moment of inertia ratio.
 Pn103: Moment of Inertia Ratio Box
The value that is set for the parameter is displayed here.
After you click the Writing Results Button, the value that was found with operation and
measurements will be displayed as the new setting.
 Back Button
This button is disabled.
 Cancel Button
This button will return you to the Tuning Dialog Box.
16. Confirm that the Identified Moment of Inertia Ratio Box and the Pn103: Moment of
Inertia Ratio Box show the same value and then click the Finish Button.
18. Click the Execute Button. Tuning
If the setting of the moment of inertia ratio (Pn103) was changed, the new value will be saved and the
Tuning Dialog Box will be displayed again.
This concludes the procedure to estimate the moment of inertia ratio.
8-23
8.6 Autotuning without Host Reference
8.6.1 Outline

This section describes autotuning without a host reference.
• Autotuning without a host reference performs adjustments based on the setting of the speed
loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when
adjustments are started. Make adjustments after lowering the speed loop gain (Pn100) until
Important vibration is eliminated.
• You cannot execute autotuning without a host reference if the tuning-less function is enabled
(Pn170 = n.1 (default setting)). Disable the tuning-less function (Pn170 = n.0)
before you execute autotuning without a host reference.
• If you change the machine load conditions or drive system after you execute autotuning with-
out a host reference and then you execute autotuning without a host reference with moment of
inertia estimation specified, use the following parameter settings. If you execute autotuning
without a host reference for any other conditions, the machine may vibrate and may be dam-
aged.
Pn140 = n.0 (Do not use model following control.)
Pn160 = n.0 (Do not use anti-resonance control.)
Pn408 = n.000 (Disable friction compensation, first stage notch filter, and second stage
notch filter.)
Note: If you are using the Digital Operator and the above parameters are not displayed, change
the parameter display setting to display all parameters (Pn00B = n.1) and then turn
the power supply OFF and ON again.
8.6.1 Outline
For autotuning without a host reference, operation is automatically performed by the SERVO-
PACK for round-trip (forward and reverse) operation to adjust for machine characteristics
during operation. A reference from the host controller is not used.
The following items are adjusted automatically.
• Moment of inertia ratio
• Gains (e.g., speed loop gain and position loop gain)
• Vibration suppression (only for mode 2 or 3)
Refer to the following section for details on the parameters that are adjusted.
8.6.7 Related Parameters on page 8-34
The Servomotor is operated with the following specifications.
2
Maximum speed Rated motor speed ×
3
Acceleration Rated motor torque: Approx. 100%
Note: The acceleration torque depends on the setting of the moment of inertia ratio (Pn103), and
Torque the influences of machine friction and external disturbance.
You can set the desired travel distance. The default setting
Rotary Servomotors
is for a value equivalent to 3 Servomotor shaft rotations.
You can set the desired travel distance. The default setting
Travel Distance Direct Drive Servomotors
is for a value equivalent to 0.3 rotations.
You can set the desired travel distance in increments of
Linear Servomotors
1,000 reference units. (The default setting is for 90 mm.)
8-24
8.6.2 Restrictions
Movement Rated motor speed

speed Travel
Distanc  2/3
References e
Time t
Responses
Rated motor speed
 2/3
Motor rated torque:

Approx. 100%
SERVOPACK Travel Distance
Servomotor Time t
Note: Execute autotuning without a host reference after jogging to Motor rated torque:
a position that ensures a suitable range of motion. Approx. 100%
Example of Automatic Operation Pattern
WARNING
 Autotuning without a host reference requires operating the Servomotor and therefore pres-
ents hazards. Observe the following precaution.
• Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an
emergency stop (to turn OFF the power supply) at any time. There will be movement in both
directions within the set range of movement. Check the range of movement and the directions
and implement protective controls for safety, such as the overtravel functions.
8.6.2 Restrictions
The following restrictions apply to autotuning without a host reference.
If you cannot use autotuning without a host reference because of these restrictions, use auto-
tuning with a host reference or custom tuning. Refer to the following sections for details.
Systems for Which Execution Cannot Be Performed

• When the machine system can move only in one direction
• When the range of motion is 0.5 rotations or less
Tuning
Accurately
• When a suitable range of motion is not possible 8
• When the moment of inertia changes within the set operating range
• When the machine has high friction
Note: If you specify calculating the moment of inertia, an error will occur if the /P-CON (Proportional Control) sig-
nal changes to specify the proportional action during moment of inertia estimation.
Note:If you specify moment of inertia estimation, mode switching will be disabled and PI control will be used
while the moment of inertia is being calculated. Mode switching will be enabled after moment of inertia esti-
mation has been completed.
• When speed feedforward or torque feedforward is input
• When the positioning completed width (Pn522) is too narrow
8-25
Preparations
Always check the following before you execute autotuning without a host reference.
• The tuning-less function must be disabled (Pn170 = n.0), or the tuning-less function
must be enabled (Pn170 = n.1) (default setting) and moment of inertia estimation must
be specified.
• If you execute autotuning without a host reference during speed control, set the mode to 1.
• If you start autotuning without a host reference while the SERVOPACK is in speed control
Information
for mode 2 or 3, the SERVOPACK will change to position control automatically to perform
autotuning without a host reference. The SERVOPACK will return to speed control after
autotuning has been completed.
• Reference pulse input multiplication switching is disabled during autotuning without a host
reference.

The following table lists the tools that you can use to perform autotuning without a host refer-
ence and the applicable tool functions.
Panel Operator You cannot perform autotuning without a host reference from the Panel Operator.

Use the following procedure to perform autotuning without a host reference.
CAUTION
 If you specify not estimating the moment of inertia, set the moment of inertia ratio (Pn103)
correctly. If the setting greatly differs from the actual moment of inertia ratio, normal control
of the machine may not be possible, and vibration may result.
 If you are using an MP3000-series Controller for phase control, set the mode selection to 1.
If 2 or 3 is selected for the mode, correct phase control may not be possible.
1. Confirm that the moment of inertia ratio (Pn103) is set correctly.
maWin+.
8-26
5. Select the No Reference Input Option in the Autotuning Area and then click the Auto-
tuning Button.
Information When the following dialog box is displayed, click the OK Button and then confirm that the
correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio).
Tuning
8-27
6. Set the conditions in the Switching the load moment of inertia (load mass) identifica-
tion Box, the Mode selection Box, the Mechanism selection Box, and the Distance
Box, and then click the Next Button.
• Switching the load moment of inertia (load mass)
identification Box
Specify whether to estimate the moment of inertia.
0: A moment of inertia is presumed. (default setting)
1: A moment of inertia is not presumed.
• Mode selection Box

Set the mode.
Mode Selection Description
Standard gain adjustment is per-
formed. In addition to gain adjust-
1: Standard
ment, notch filters and anti-resonance
control are automatically adjusted.
Tuning is performed for positioning
applications. In addition to gain
adjustment, model following control,
2: For positioning
notch filters, anti-resonance control,
and vibration suppression are auto-
matically adjusted.
applications with emphasis on elimi-
3: For positioning
nating overshooting. In addition to
especially to pre-
gain adjustment, notch filters, anti-
vent overshooting
resonance control, and vibration sup-
pression are automatically adjusted.
• Distance Box
Set the travel distance. • Mechanism selection Box
Movement range: -99,990,000 to Select the type according to the machine element to
+99,990,000 [reference units] drive.
Minimum setting increment for travel dis- If there is noise or if the gain does not increase, better
tance: 1,000 [reference units] results may be obtained by changing the rigidity type.
Negative values are for reverse operation Select the type according to the following guidelines.
and positive values are for forward opera-
tion from the current position. Mechanism
Description
Default settings: Selection
Rotary Servomotors: Approx. 3 rotations Tuning is performed for a mecha-
Direct Drive Servomotors: Approx. 0.3 1: Belt mechanism nism with relatively low rigidity, e.g.,
rotations a belt.
Linear Servomotors: Approx 90 mm Tuning is performed for a mecha-
Set the distance to the following values or 2: Ball screw mech- nism with relatively high rigidity, e.g.,
anism or linear a ball screw or Linear Servomotor.
higher. To ensure tuning precision, we rec- motor Use this setting if there is no other
ommend that you use approximately the appropriate setting.
default distance setting.
Tuning is performed for a mecha-
Rotary Servomotors: 0.5 rotations 3: Rigid model nism with high rigidity, e.g., a rigid
Direct Drive Servomotors: 0.05 rotations body system.
Linear Servomotors: 5 mm
• Tuning parameters Box

Specify the parameters to use for tuning.
If you select the Start tuning using the default set-
tings Check Box, the tuning parameters will be returned
to the default settings before tuning is started.
8-28
8. Click the Start tuning Button.
Tuning
8-29
9. Confirm safety around moving parts and click the Yes Button.
The Servomotor will start operating and tuning will be executed.

Vibration that occurs during tuning will be detected automatically and suitable settings will be made
for that vibration. When the settings have been completed, the indicators for the functions that were
used will light at the lower left of the dialog box.
10. When tuning has been completed, click the Finish Button.
The results of tuning will be set in the parameters and you will return to the Tuning Dialog Box.
This concludes the procedure to perform autotuning without a host reference.
8-30
8.6.5 Troubleshooting Problems in Autotuning without a Host Reference
8.6.5 Troubleshooting Problems in Autotuning without a Host

Reference
The following tables give the causes of and corrections for problems that may occur in autotun-
ing without a host reference.
 Autotuning without a Host Reference Was Not Performed

Possible Cause Corrective Action
Main circuit power supply is OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or warning.
Overtraveling occurred. Remove the cause of overtraveling.
The second gains were selected with the gain selection. Disable automatic gain switching.
The HWBB was activated. Release the HWBB.
Set the travel distance again in step 6 of the proce-
The setting of the travel distance is too small.
dure.
• Disable the tuning-less function (Pn170 =
n.0).
The settings for the tuning-less function are not correct. • Enable the tuning-less function (Pn170 =
n.1) and specify moment of inertia estima-
tion.
 When an Error Occurs during Execution of Autotuning without a Host

Reference
Error Possible Cause Corrective Action
• Increase the setting of the positioning
completed width (Pn522).
The gain adjustments Machine vibration occurs or the posi- • Change the mode from 2 to 3.
were not successfully tioning completion signal is not stable • If machine vibration occurs, suppress
completed. when the Servomotor stops. the vibration with the anti-resonance
control adjustment and the vibration
suppression function.
An error occurred during
Refer to the following section for troubleshooting information.
calculation of the
 When an Error Occurs during Calculation of Moment of Inertia on page 8-31
moment of inertia.
Positioning was not
completed within • Increase the setting of the positioning
The positioning completed width is too
approximately 10 sec- completed width (Pn522).
narrow or proportional control is being
onds after position • Turn OFF the /P-CON (Proportional
Tuning
used.
adjustment was com- Control) signal.
pleted.
 When an Error Occurs during Calculation of Moment of Inertia 8

The SERVOPACK started calculating the moment of • Increase the setting of the speed loop gain (Pn100).
inertia but the calculation was not completed. • Increase the stroke (travel distance).
Set Pn103 (Moment of Inertia Ratio) from the machine
The moment of inertia fluctuated greatly and did not
specifications and specify not estimating the moment
converge within 10 tries.
of inertia.
Double the setting of moment of inertia calculation
Low-frequency vibration was detected.
starting level (Pn324).
• If you are using the torque limit, increase the torque
limit.
The torque limit was reached.
• Double the setting of moment of inertia calculation
starting level (Pn324).
The speed control section changed to proportional
control during calculation of the moment of inertia,
Use PI control when calculating the moment of inertia.
e.g., the /P-CON (Proportional Control) signal was
input.
8-31
8.6.6 Automatically Adjusted Function Settings
 Adjustment Results Are Not Satisfactory for Position Control

You may be able to improve the adjustment results by changing the settings of the positioning
completed width (Pn522) and the electronic gear ratio (Pn20E/Pn210).
If satisfactory results are still not possible, adjust the overshoot detection level (Pn561). That
may improve the adjustment results.
• Pn561 = 100% (default setting)
This will allow tuning with overshooting that is equivalent to the positioning completed width.
• Pn561 = 0%
This will allow tuning to be performed without overshooting within the positioning completed
width, but the positioning completed width may be extended.
Overshoot Detection Level Speed Position Torque

You can specify whether to automatically adjust the following functions during autotuning.
 Automatic Notch Filters

Normally, set Pn460 to n.1 (Adjust automatically) (default setting).
Vibration will be detected during autotuning without a host reference and a notch filter will be
adjusted.
Set Pn460 to n.0 (Do not adjust automatically) only if you do not change the setting of
the notch filter before you execute this function.
Parameter Function When Enabled Classification
Do not adjust the first stage notch filter auto-
matically during execution of autotuning with-
n.0
out a host reference, autotuning with a host
reference, and custom tuning.
Adjust the first stage notch filter automatically
n.1 during execution of autotuning without a host
(default setting) reference, autotuning with a host reference,
and custom tuning.
Pn460 Do not adjust the second stage notch filter Immediately Tuning
automatically when the tuning-less function is
n.0 enabled or during execution of autotuning
without a host reference, autotuning with a
host reference, and custom tuning.
Adjust the second stage notch filter automati-
n.1 cally when the tuning-less function is enabled
or during execution of autotuning without a
(default setting) host reference, autotuning with a host refer-
 Anti-Resonance Control Adjustment

This function reduces low vibration frequencies, for which the notch filters cannot be used.
Normally, set Pn160 to n.1 (Adjust automatically) (default setting).
Vibration will be detected during autotuning without a host reference and anti-resonance con-
trol will be automatically adjusted.
Do not adjust anti-resonance control automat-
ically during execution of autotuning without a
n.0
host reference, autotuning with a host refer-
Adjust anti-resonance control automatically
n.1 during execution of autotuning without a host
and custom tuning.
8-32
 Vibration Suppression
You can use vibration suppression to suppress transitional vibration at a low frequency from 1
Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning.
Normally, set Pn140 to n.1 (Adjust automatically) (default setting).
Vibration will be detected during autotuning without a host reference and vibration suppression
control will be automatically set.
Set Pn140 = n.0 (Do not adjust automatically) only if you do not change the settings for
vibration suppression before you execute autotuning without a host reference.
Note: Autotuning without a host reference uses model following control. Therefore, it can be executed only if the
mode is set to 2 or 3.

Do not adjust vibration suppression automati-
cally during execution of autotuning without a
n.0
host reference, autotuning with a host refer-
Adjust vibration suppression automatically
n.1 during execution of autotuning without a host
and custom tuning.
 Friction Compensation
Friction compensation compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as grease, on the sliding parts of the
machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
The conditions for applying friction compensation depend on the mode selection.
Mode Selection Settings Friction Compensation
Based on the setting of Pn408 = n.X
1: Standard
(Friction Compensation Function Selection)*
2: For position control
Adjusted with friction compensation.
3: For position control (emphasis on overshooting)

n. 0
Disable friction compensation.
Pn408 (default setting) Immediately Setup
n. 1 Enable friction compensation.
Tuning
* Refer to the following section for details.
Required Parameter Settings on page 8-70
 Feedforward 8
If Pn140 is set to n.0 (Do not use model following control and speed/torque feedforward
together (default setting)) and tuning is performed with the mode selection set to 2 or 3, feed-
forward (Pn109), the speed feedforward input (V-REF), and the torque feedforward input (T-
REF) will be disabled.
To use the speed feedforward input (V-REF), the torque feedforward input (T-REF), and model
following control from the host controller in the system, set Pn140 to n.1 (Use model fol-
lowing control and speed/torque feedforward together).
n.0 Do not use model following control and
(default setting) speed/torque feedforward together.
Use model following control and speed/torque
n.1
feedforward together.
Refer to the following section for information on the torque feedforward input (T-REF) and the
speed feedforward input (V-REF).
Torque Feedforward and Speed Feedforward on page 8-87,  Speed Feedforward on page 8-88
8-33
When model following control is used with the feedforward function, it is used to make optimum
feedforward settings in the SERVOPACK. Therefore, model following control is not normally used
together with either the speed feedforward input (V-REF) or torque feedforward input (T-REF) from
Important the host controller. However, model following control can be used with the speed feedforward
input (V-REF) or torque feedforward input (T-REF) if required. An unsuitable feedforward input
may result in overshooting.

The following parameters are automatically adjusted or used as reference when you execute
autotuning without a host reference.
Do not change the settings while autotuning without a host reference is being executed.
Parameter Name Automatic Changes
Pn100 Speed Loop Gain Yes
Pn101 Speed Loop Integral Time Constant Yes
Pn102 Position Loop Gain Yes
Pn103 Moment of Inertia Ratio Yes
Pn121 Friction Compensation Gain Yes
Pn123 Friction Compensation Coefficient Yes
Pn124 Friction Compensation Frequency Correction No
Pn125 Friction Compensation Gain Correction Yes
Pn401 First Stage First Torque Reference Filter Time Constant Yes
Pn408 Torque-Related Function Selections Yes
Pn409 First Stage Notch Filter Frequency Yes
Pn40A First Stage Notch Filter Q Value Yes
Pn40C Second Stage Notch Filter Frequency Yes
Pn40D Second Stage Notch Filter Q Value Yes
Pn140 Model Following Control-Related Selections Yes
Pn141 Model Following Control Gain Yes
Pn142 Model Following Control Gain Correction Yes
Pn143 Model Following Control Bias in the Forward Direction Yes
Pn144 Model Following Control Bias in the Reverse Direction Yes
Pn145 Vibration Suppression 1 Frequency A Yes
Pn146 Vibration Suppression 1 Frequency B Yes
Pn147 Model Following Control Speed Feedforward Compensation Yes
Pn160 Anti-Resonance Control-Related Selections Yes
Pn161 Anti-Resonance Frequency Yes
Pn163 Anti-Resonance Damping Gain Yes
Pn531 Program Jogging Travel Distance No
Pn533 Program Jogging Movement Speed for Rotary Servomotor No
Pn585 Program Jogging Movement Speed for Linear Servomotor No
Pn534 Program Jogging Acceleration/Deceleration Time No
Pn535 Program Jogging Waiting Time No
Pn536 Program Jogging Number of Movements No
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
8-34
8.7 Autotuning with a Host Reference
8.7.1 Outline

This section describes autotuning with a host reference.
Autotuning with a host reference makes adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when adjustments are
Important started. Make adjustments after lowering the speed loop gain (Pn100) until vibration is eliminated.
8.7.1 Outline
Autotuning with a host reference automatically makes optimum adjustments for operation refer-
ences from the host controller.
Movement
speed
Operation Travel D
References istance
references
Responses
Host controller
Travel Distance
SERVOPACK Servomotor
CAUTION
 Because autotuning with a host reference adjusts the SERVOPACK during automatic opera-
Tuning
tion, vibration or overshooting may occur. To ensure safety, make sure that you can perform
an emergency stop at any time.
8
8.7.2 Restrictions

Accurately
Adjustments will not be made correctly for autotuning with a host reference in the following
cases. Use custom tuning.
• When the travel distance for the reference from the host controller is equal to or lower than
the setting of the positioning completed width (Pn522)
• Rotary Servomotors: When the movement speed for the reference from the host controller is
equal to or lower than the setting of the rotation detection level (Pn502)
• Linear Servomotors: When the movement speed for the reference from the host controller is
equal to or lower than the setting of the zero speed level (Pn581)
• When the time required to stop is 10 ms or less
8-35
• When the positioning completed width (Pn522) is too narrow
Refer to the following sections for details on custom tuning.
Preparations
Always check the following before you execute autotuning with a host reference.
• The servo must be in ready status.
• Position control must be selected if power is supplied to the motor (i.e., when the servo is ON).
• There must be no warnings.

The following table lists the tools that you can use to perform autotuning with a host reference
Panel Operator You cannot perform autotuning with a host reference from the Panel Operator.

Use the following procedure to perform autotuning with a host reference.
CAUTION
 If you are using an MP3000-Series Controller for phase control, set the mode selection to 1.
If 2 or 3 is selected for the mode, correct phase control may not be possible.
maWin+.
8-36
5. Select the Position reference input Option in the Autotuning Area and then click the
Autotuning Button.
Tuning
8-37
6. Set the conditions in the Mode selection Box and the Mechanism selection Box, and
then click the Next Button.
If you select the Start tuning using the default settings Check Box in the Tuning parameters Area,
the tuning parameters will be returned to the default settings before tuning is started.
• Mode selection Box

Set the mode.
Standard gain adjustment is per-
formed. In addition to gain adjust-
1: Standard ment, notch filters and anti-
resonance control are automatically
adjusted.
applications. In addition to gain
adjustment, model following control,
2: For positioning notch filters, anti-resonance control,
and vibration suppression are auto-
matically adjusted.
3: For positioning applications with emphasis on elimi-
nating overshooting. In addition to
especially to pre- gain adjustment, notch filters, anti-
vent overshooting
resonance control, and vibration sup-
pression are automatically adjusted.
• Mechanism selection Box

• Tuning parameters Box
Select the type according to the machine element to
Specify the parameters to use for tuning. drive.
If you select the Start tuning using the If there is noise or if the gain does not increase, better
default settings Check Box, the tuning results may be obtained by changing the rigidity type.
parameters will be returned to the default Select the type according to the following guidelines.
settings before tuning is started.
Mechanism
Description
Selection
1: Belt mechanism nism with relatively low rigidity, e.g.,
a belt.
2: Ball screw nism with relatively high rigidity, e.g.,
mechanism or linear a ball screw or Linear Servomotor.
motor Use this setting if there is no other
appropriate setting.
3: Rigid model nism with high rigidity, e.g., a rigid
body system.
8-38
8. Input the correct moment of inertia ratio and click the Next Button.
9. First confirm safety around moving parts. Then turn ON the servo, enter a reference
from the host controller, and click the Start tuning Button.
Tuning will be executed.
Tuning
Vibration that occurs during tuning will be detected automatically and suitable settings will be made
for that vibration. When the settings have been completed, the indicators for the functions that were
used will light at the lower left of the dialog box.
8
8-39
8.7.5 Troubleshooting Problems in Autotuning with a Host Reference
11. When tuning has been completed, click the Finish Button.
The results of tuning will be set in the parameters and you will return to the Tuning Dialog Box.
This concludes the procedure to perform autotuning with a host reference.
8.7.5 Troubleshooting Problems in Autotuning with a Host

Reference
The following tables give the causes of and corrections for problems that may occur in autotun-
ing with a host reference.
 Autotuning with a Host Reference Was Not Performed

Main circuit power supply is OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or warning.
Overtraveling occurred. Remove the cause of overtraveling.
The second gains were selected with the gain selection. Disable automatic gain switching.
The HWBB was activated. Release the HWBB.
 Troubleshooting Errors
Error Possible Cause Corrective Action
• Increase the setting of the positioning completed width
Machine vibration
The gain adjustments (Pn522).
occurs or positioning
• Change the mode from 2 to 3.
were not successfully completion is not stable
• If machine vibration occurs, suppress the vibration with
completed. when the Servomotor
the anti-resonance control adjustment and the vibration
stops.
suppression function.
Positioning was not
completed within The positioning com-
approximately 10 • Increase the setting of the positioning completed width
pleted width is too nar-
(Pn522).
seconds after posi- row or proportional
• Turn OFF the /P-CON (Proportional Control) signal.
tion adjustment was control is being used.
completed.
 Adjustment Results Are Not Satisfactory for Position Control

You may be able to improve the adjustment results by changing the settings of the positioning
completed width (Pn522) and the electronic gear ratio (Pn20E/Pn210).
If satisfactory results are still not possible, adjust the overshoot detection level (Pn561). That
may improve the adjustment results.
• Pn561 = 100% (default setting)
This will allow tuning with overshooting that is equivalent to the positioning completed width.
• Pn561 = 0%
This will allow tuning to be performed without overshooting within the positioning completed
width, but the positioning completed width may be extended.
Overshoot Detection Level Speed Position Torque
8-40

These function settings are the same as for autotuning without a host reference. Refer to the
following section.
8.6.6 Automatically Adjusted Function Settings on page 8-32

autotuning with a host reference.
Do not change the settings while autotuning with a host reference is being executed.
Pn103 Moment of Inertia Ratio No
Tuning
8
8-41
8.8 Custom Tuning
8.8.1 Outline
8.8 Custom Tuning

This section describes custom tuning.
8.8.1 Outline
You can use custom tuning to manually adjust the servo during operation using a speed or
position reference input from the host controller. You can use it to fine-tune adjustments that
were made with autotuning.
There are two adjustment methods that you can use for custom tuning.
 Tuning Mode 0 (Setting Servo Gains Giving Priority to Stability) or 1 (Setting Servo
Gains Giving Priority to Good Response)
These modes allow you to set stable control conditions for multiple servo gains by manipu-
lating only one tuning level. Automatic setting of notch filters and anti-resonance control is
provided if vibration is detected. Manual anti-resonance control adjustment is also possible
during custom tuning.
 Tuning Mode 2 (Setting Servo Gains Giving Priority to Position Control Applications)
or 3 (Setting Servo Gains Giving Priority to Preventing Overshooting in Position Con-
trol Applications)
Two tuning levels are manipulated to reduce positioning time even further and set multiple
servo gains.
Model following control is used to reduce the positioning time. If vibration is detected, notch
filters and anti-resonance control are automatically adjusted, and friction compensation is
automatically set. Manual anti-resonance control adjustment and vibration suppression are
also possible during custom tuning.
CAUTION
 Vibration or overshooting may occur during custom tuning. To ensure safety, make sure that
you can perform an emergency stop at any time.
8.8.2 Preparations
Always check the following before you execute custom tuning.
• If speed control is used, tuning mode 0 or 1 must be set.
8-42
8.8 Custom Tuning

The following table lists the tools that you can use to perform custom tuning and the applicable
tool functions.
Panel Operator You cannot perform custom tuning from the Panel Operator.
SigmaWin+ Tuning − Tuning 8.8.4 Operating Procedure on page 8-43

Use the following procedure to perform custom tuning.
WARNING
 Before you execute custom tuning, check the information provided in the SigmaWin+ oper-
ating manual.
Observe the following precautions.
• Make sure that you can perform an emergency stop at any time.
When custom tuning is started, several parameters will be overwritten with the recommended
settings, which may greatly affect the response before and after execution. Make sure that you
can perform an emergency stop at any time.
• Set the moment of inertia correctly before you execute custom tuning.
If the setting greatly differs from the actual moment of inertia, vibration may occur.
• If you change the feedforward level, the new setting will not be used immediately. It will be used
after positioning is completed.
CAUTION
 If you are using an MP3000-series Controller for phase control, set the tuning mode to 0 or
1. If 2 or 3 is selected for the tuning mode, correct phase control may not be possible.
Tuning
maWin+.
Click the Cancel Button to cancel tuning. 8
8-43
8.8 Custom Tuning
5. Click the Advanced adjustment Button.
6. Click the Custom tuning Button.
8-44
8.8 Custom Tuning
7. Set the Tuning mode Box and Mechanism selection Box, and then click the Next But-
ton.
Tuning mode Box

This setting gives priority to stability
and preventing overshooting. In addi-
0: Set servo gains
tion to gain adjustment, notch filters
with priority given
and anti-resonance control (except
to stability.
during torque control) are automatically
adjusted.
Overshooting may occur because pri-
ority is given to response. In addition to
1: Set servo gains
gain adjustment, notch filters and anti-
with priority given
resonance control (except during
to response.
torque control) are automatically
adjusted.
2: Set servo gains applications. In addition to gain adjust-
for positioning ment, notch filters, anti-resonance
application. control, and vibration suppression are
adjusted.
3: Set servo gains
applications with emphasis on elimi-
especially to pre-
nating overshooting. In addition to gain
vent overshooting
adjustment, notch filters, anti-reso-
during positioning
nance control, and vibration suppres-
application.
sion are adjusted.
• Mechanism Selection Box

Select the type according to the machine element to drive.
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity
type. Select the type according to the following guidelines.
Mechanism Selection Description

1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt.
2: Ball screw mechanism or Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw or
Linear motor Linear Servomotor. Use this setting if there is no other appropriate setting.
3: Rigid body system Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system.
Information The tuning modes that you can select depend on the SERVOPACK setting.
8. If the moment of inertia ratio is not set correctly, correct the setting and then click the
Next Button.
Tuning
8-45
8.8 Custom Tuning
9. Turn ON the servo, enter a reference from the host controller, and then click the Start
tuning Button.
Tuning Mode 0 or 1 Tuning Mode 2 or 3
10. Use the and Buttons to change the tuning level.

Click the Back Button during tuning to restore the setting to its original value. The tuning level will
return to the value from before when custom tuning was started.
Tuning Mode 0 or 1 Tuning Mode 2 or 3

Increase the tuning level until overshooting Increase the feedforward level until overshoot-
occurs. ing occurs and then increase the feedback
level until overshooting is eliminated. Repeat
these changes to make the adjustment.
Information The new feedforward level will not be

used until the positioning completed
signal is output.
11. You can set the functions to suppress vibration (notch filters, automatic anti-resonance
control setting, anti-resonance control adjustment, and autotuning with a host refer-
ence) as required.
Vibration Suppression Functions on page 8-48
8-46
8.8 Custom Tuning
12. When tuning has been completed, click the Completed Button.
The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia-
log Box.
This concludes the procedure to set up custom tuning.
Tuning
8-47
8.8 Custom Tuning
Vibration Suppression Functions

 Notch Filters and Automatic Anti-resonance Control Setting
If the vibration frequency that occurs when you increase the servo gains is at 1,000 Hz or
higher, notch filters are effective to suppress vibration. If the vibration is between 100 Hz and
1,000 Hz, anti-resonance control is effective.
 Automatic Setting
To set vibration suppression automatically, use the parameters to enable notch filters and auto-
matic anti-resonance control setting.
The notch filter frequency (stage 1 or 2) or anti-resonance control frequency that is effective for
the vibration that was detected during tuning will be automatically set.
• Auto-setting Cancel Buttons

The automatically set notch filter frequencies or the anti-resonance control frequencies
may not always suppress vibration. Click the Cancel Button to reset the notch filter fre-
quencies or the anti-resonance control frequencies to the values from just before these
frequencies were set automatically.
When they are reset, vibration detection will start again.
• Vib Detect Button
While the notch filter or automatic anti-resonance control setting function is enabled,
you can click the Vib Detect Button to manually detect vibration. When you click the
Vib Detect Button, the SERVOPACK will detect vibration at that time, and set the
notch filter frequency (stage 1 or 2) or anti-resonance control frequency that is effective
for the detected vibration. You can also perform manual vibration detection even when
the SERVOPACK does not detect vibration.
• Anti-res Ctrl Adj Button
You can use the Anti-res Ctrl Adj Button to execute the anti-resonance control adjust-
ment if fine-tuning is required. Refer to the following section.
8.9 Anti-Resonance Control Adjustment on page 8-51
• Vib Suppress Button
Click the Vib Suppress Button to suppress low and transient vibration (oscillation) of
approximately 1 Hz to 100 Hz that occurs during positioning. Refer to the following
section.
8.10 Vibration Suppression on page 8-56
 Autotuning with a Host Reference

You can perform autotuning with a host reference. Refer to the following section for details.
8-48
8.8 Custom Tuning

You cannot use vibration suppression functions at the same time. Other automatic function set-
tings are the same as for autotuning without a host reference. Refer to the following section.
8.6.6 Automatically Adjusted Function Settings on page 8-32
8.8.6 Tuning Example for Tuning Mode 2 or 3

Step Measurement Display Examples Operation
Position
deviation
The positioning time is measured after the moment of inertia

ratio (Pn103) is set correctly.
1
Reference Tuning is completed if the specifications are met.
speed
The tuning results are saved in the SERVOPACK.
Positioning
completion signal
The positioning time will be reduced if the feedforward level is

increased.
Tuning is completed if the specifications are met. The tuning
2
results are saved in the SERVOPACK.
If overshooting occurs before the specifications are met, pro-
ceed to step 3.
Overshooting will be reduced if the feedback level is

3 increased.
If the overshooting is eliminated, proceed to step 4.
The graph shows overshooting that occurred when the feed-
Tuning
forward level was increased even more after step 3. In this
state, overshooting occurs, but the positioning settling time
is shorter. Tuning is completed if the specifications are met.
The tuning results are saved in the SERVOPACK. If over-
4
shooting occurs before the specifications are met, repeat
steps 3 and 4.
8
If vibration occurs before the overshooting is eliminated, the
vibration is suppressed with the notch filters and anti-reso-
nance control.
5 − The tuning results are saved in the SERVOPACK.
8-49
8.8 Custom Tuning

custom tuning.
Do not change the settings while custom tuning is being executed.
Pn103 Moment of Inertia Ratio No
Pn145 Vibration Suppression 1 Frequency A No
Pn146 Vibration Suppression 1 Frequency B No
8-50
8.9 Anti-Resonance Control Adjustment
8.9.1 Outline

This section describes anti-resonance control.
8.9.1 Outline
Anti-resonance control increases the effectiveness of vibration suppression after custom tun-
ing.
Anti-resonance control is effective for suppression of continuous vibration frequencies from 100
to 1,000 Hz that occur when the control gain is increased. Vibration can be eliminated by set-
ting vibration frequencies through automatic detection or by manually setting them to adjust
the damping gain. Input an operation reference and execute this anti-resonance control adjust-
ment when there is vibration.
Anti-resonance control is automatically set by autotuning without a host reference or autotun-
ing with a host reference. Use anti-resonance control adjustment only if fine-tuning is required
or readjustment is required as a result of a failure to detect vibration.
Perform custom tuning if required to increase the response after performing anti-resonance
control adjustment. If the control gain is increased, e.g., when custom tuning is performed,
vibration may occur again. If that occurs, perform anti-resonance control adjustment again to
fine-tune the parameters.
CAUTION
 Related parameters will be set automatically when anti-resonance control adjustment is
executed. This may greatly affect the response before and after execution. Make sure that
you can perform an emergency stop at any time.
 Before you execute anti-resonance control adjustment, set the correct moment of inertia
ratio (Pn103). If the setting greatly differs from the actual moment of inertia ratio, normal
control of the machine may not be possible, and vibration may occur.
• Anti-resonance control adjustment detects vibration frequencies between 100 Hz and 1,000
Hz. If the vibration frequency is not within this range, use custom tuning with tuning mode 2
selected to automatically set a notch filter or use vibration suppression.
Important • Vibration reduction can be made more effective by increasing the anti-resonance damping gain
(Pn163), but the vibration may become larger if the damping gain is too high. Increase the
damping gain by approximately 0% to 200% in 10% increments while checking the effect on
Tuning
vibration. If vibration reduction is still insufficient at a gain of 200%, cancel the setting, and
lower the control gain by using a different method, such as custom tuning.
8
8.9.2 Preparations
Always check the following before you execute anti-resonance control adjustment.
8-51

The following table lists the tools that you can use to perform anti-resonance control adjust-
ment and the applicable tool functions.
Panel Operator You cannot execute anti-resonance control adjustment from the Panel Operator.

To execute anti-resonance control adjustment, an operation reference is input, and the adjust-
ment is executed while vibration is occurring.
The following methods can be used to execute anti-resonance control adjustment.
• To automatically detect the vibration frequency
• To manually set the vibration frequency
Use the following procedure to perform anti-resonance control.
CAUTION
 Before you execute anti-resonance control adjustment, check the information provided in
the SigmaWin+ operating manual.
Observe the following precautions.
• Make sure that you can perform an emergency stop at any time.
Parameters will be set automatically when anti-resonance control adjustment is executed. This
may greatly affect the response before and after execution. Make sure that you can perform an
emergency stop (to turn OFF the power supply) at any time.
• Set the moment of inertia correctly before you execute anti-resonance control adjustment.
If the setting greatly differs from the actual moment of inertia, effective vibration reduction may
not be possible.
• If you have already performed anti-resonance control adjustment and then you change the fre-
quency, the current anti-resonance control effect may be lost. Caution is particularly required
when automatically detecting the vibration frequency.
• If effective vibration reduction is not achieved even after you execute anti-resonance control
adjustment, cancel the function and lower the control gain by using a different method, such as
custom tuning.
• Perform custom tuning separately if required to increase the response after performing anti-reso-
nance control adjustment.
If the servo gain is increased, e.g., when custom tuning is performed, vibration may occur again.
If that occurs, perform anti-resonance control adjustment again to fine-tune the parameters.
8-52
1. Perform steps 1 to 8 of the procedure for custom tuning. Refer to the following section
for details.
2. Click the Anti-res Ctrl Adj Button.

The rest of the procedure depends on whether you know the vibration frequency.
3. If you do not know the vibration frequency, click the Auto Detect Button. If you know the
vibration frequency, click the Manual Set Button.
To Automatically Detect the Vibration To Manually Set the Vibration Frequency
Frequency
The frequency will be set.
4. Click the Start adjustment Button.
Tuning
5. Use the and Buttons in the Adjustment Area to change the settings.
Click the Reset Button during tuning to restore the setting to its original value. The tuning level will
return to the value from before when custom tuning was started.
8
To Automatically Detect the Vibration To Manually Set the Vibration Frequency
Frequency Change the settings of the frequency and
Change the setting of the damping gain. damping gain.
8-53
6. When the adjustment has been completed, click the Finish Button.
The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia-
log Box.
This concludes the procedure to set up anti-resonance control.

anti-resonance control adjustment.
Do not change the settings while anti-resonance control adjustment is being executed.
Pn162 Anti-Resonance Gain Correction No
Pn164 Anti-Resonance Filter Time Constant 1 Correction No
Pn165 Anti-Resonance Filter Time Constant 2 Correction No
8.9.6 Suppressing Different Vibration Frequencies with

Anti-resonance Control
When you use anti-resonance control and increase the control gain, for some mechanism,
vibration can occur at a higher frequency than the frequency for which vibration was sup-
pressed. If this occurs, you can suppress vibration for more than one frequency by adjusting
Pn166 (Anti-Resonance Damping Gain 2).
Information Guidelines for Vibration That Can Be Suppressed
Anti-resonance frequency (Pn161): fa [Hz], Another vibration frequency that occurs when the
control gain is increased: fb [Hz]
• Vibration frequencies: 100 Hz to 1,000 Hz
• Range of different vibration frequencies: 1 < (fb/fa) ≤ 3 to 4
8-54
8.9.6 Suppressing Different Vibration Frequencies with Anti-resonance Control
Required Parameter Settings

The following parameter settings are required to use anti-resonance control for more than one
vibration frequency.
When Classifi-
Enabled cation
n.0
Do not use anti-resonance control. After
Pn160 (default setting) Setup
restart
n.1 Use anti-resonance control.
Anti-Resonance Frequency Speed Position Torque

Anti-Resonance Gain Correction Speed Position Torque
1 to 1,000 1% 100 Immediately Tuning
Anti-Resonance Damping Gain Speed Position Torque
Anti-Resonance Filter Time Constant 1 Correction Speed Position Torque
-1,000 to 1,000 0.01 ms 0 Immediately Tuning
Anti-Resonance Filter Time Constant 2 Correction Speed Position Torque
-1,000 to 1,000 0.01 ms 0 Immediately Tuning
Anti-Resonance Damping Gain 2 Speed Position Torque
Adjustment Procedure for Suppressing Different Vibration

Frequencies with Anti-resonance Control
Use the following procedure to make adjustments to suppress different vibration frequencies
with anti-resonance control.
Step Operation
Use the gain adjustment and anti-resonance control.
1 Refer to the following section for details.
Tuning
If there is vibration at a higher frequency than the vibration suppressed with anti-resonance
2
control in step 1, adjust Pn166 (Anti-Resonance Damping Gain 2).
Adjust Pn166 (Anti-Resonance Damping Gain 2) while checking to see if vibration reduction is 8
effective.
3 To adjust Pn166 (Anti-Resonance Damping Gain 2), increase the setting by 10% at a time start-
ing from the value that resulted in Pn163 (Anti-Resonance Damping Gain) from the adjustment
in step 1.
If the vibration disappears, the adjustment is completed.
4 However, if the vibration does not disappear even when you adjust Pn166 (Anti-Resonance
Damping Gain 2), reduce the tuning level or feedback level until vibration does not occur.
8-55
8.10 Vibration Suppression
8.10.1 Outline

This section describes vibration suppression.
8.10.1 Outline
You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz
to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is
effective for vibration frequencies for which notch filters and anti-resonance control adjustment
are not effective.
Vibration suppression is automatically set by autotuning without a host reference or autotuning
with a host reference. Use vibration suppression only if fine-tuning is required or readjustment
is required as a result of a failure to detect vibration. To execute vibration suppression, input an
operation reference and execute the function when there is vibration.
Perform custom tuning if required to increase the response after performing vibration suppres-
sion.
CAUTION
 Related parameters will be set automatically when vibration suppression is executed. This
may greatly affect the response before and after execution. Make sure that you can perform
an emergency stop at any time.
 Before you execute vibration suppression, set the correct moment of inertia ratio (Pn103)
with autotuning without a host reference or another method. If the setting greatly differs
from the actual moment of inertia ratio, normal control of the machine may not be possible,
and vibration may occur.
• Vibration suppression detects vibration frequencies between 1 Hz and 100 Hz.

• Frequency detection will not be performed if there is no vibration in the position deviation or if
the vibration frequency is outside the range of detectable frequencies. If that is a problem, use
Important a device such as a displacement meter or vibration sensor to measure the vibration frequency.
• If an automatically detected vibration frequency is not suppressed, the actual frequency and
the detected frequency may be different. Fine-tune the detected frequency if necessary.
Items That Influence Performance

If continuous vibration occurs while the Servomotor is stopping, vibration suppression cannot
be used to suppress the vibration effectively. In this case, use anti-resonance control adjust-
ment or custom tuning.
Detection of Vibration Frequencies

Frequency detection may not be possible if vibration does not appear in the position deviation
or the vibration that results from the position deviation is too small. You can adjust the detec-
tion sensitivity by changing the setting of the residual vibration detection width (Pn560), which
is set as a percentage of the positioning completed width (Pn522). Perform the detection of
vibration frequencies again after adjusting the setting of Pn560.
Residual Vibration Detection Width Position
1 to 3,000 0.1% 400 Immediately Setup
Note: As a guideline, change the setting 10% at a time. If the setting of this parameter is lowered, the detection
sensitivity will be increased. Vibration may not be detected accurately if the setting is too small.
The vibration frequencies that are automatically detected may vary somewhat with each posi-
Information
tioning operation. Perform positioning several times and make adjustments while checking
the effect of vibration suppression.
8-56
8.10.2 Preparations
8.10.2 Preparations
Always check the following before you execute vibration suppression.
• Position control must be used.

The following table lists the tools that you can use to perform vibration suppression and the
Panel Operator You cannot execute vibration suppression from the Panel Operator.

Use the following procedure to perform vibration suppression.
1. Perform steps 1 to 8 of the procedure for custom tuning. Refer to the following section
for details.
2. Click the Vib Suppress Button.
Tuning
3. Click the Import Button or click and Button to manually adjust the set frequency.
When you click the Import Button, the residual vibration frequency in the Servomotor is read as the
set frequency. (The frequency can be read only when the residual vibration frequency is between 1.0
and 100.0.)
Frequency detection will not be performed if there is no vibration or if the vibration frequency
is outside the range of detectable frequencies. If a vibration frequency is not detected, pro-
Important vide a means of measuring the vibration frequency.
8-57
4. Click the Set Button.
No settings related to vibration suppression are changed during operation.

If the Servomotor does not stop within approximately 10 seconds after changing the setting,
Important an update timeout will occur. The setting will be automatically returned to the previous value.
If the vibration is not eliminated, use the and Buttons for the set frequency to fine-tune the
value and click the Set Button again.
Click the Reset Button during adjustment to restore the setting to its original value. The status from
before when adjustment was started will be restored.
5. When the vibration has been eliminated, click the Finish Button.
The updated value will be saved in the SERVOPACK.
Vibration suppression will be enabled in step 5. The Servomotor response, however, will change
when the Servomotor comes to a stop with no reference input.
Important
This concludes the procedure to set up vibration suppression.
8-58
8.10.5 Setting Combined Functions
8.10.5 Setting Combined Functions

You can also use the feedforward function when you execute vibration suppression.
In the default settings, feedforward (Pn109), the speed feedforward input (V-REF), and the
torque feedforward input (T-REF) are disabled.
To use the speed feedforward input (V-REF), the torque feedforward input (T-REF), and model
following control from the host controller in the system, set Pn140 to n.1 (Use model fol-
lowing control and speed/torque feedforward together).
n.0 Do not use model following control and

(default setting) speed/torque feedforward together.
Use model following control and speed/
n.1
torque feedforward together.
Refer to the following section for information on the torque feedforward input (T-REF) and the
speed feedforward input (V-REF).
Torque Feedforward and Speed Feedforward on page 8-87,  Speed Feedforward on page 8-88
When model following control is used with the feedforward function, it is used to make optimum
feedforward settings in the SERVOPACK. Therefore, model following control is not normally used
together with either the speed feedforward input (V-REF) or torque feedforward input (T-REF) from
Important the host controller. However, model following control can be used with the speed feedforward
input (V-REF) or torque feedforward input (T-REF) if required. An unsuitable feedforward input
may result in overshooting.

vibration suppression.
Do not change the settings while vibration suppression is being executed.
Pn142 Model Following Control Correction No
Tuning
Pn143 Model Following Control Bias in the Forward Direction No
Pn144 Model Following Control Bias in the Reverse Direction No
8
Pn147 Model Following Control Speed Feedforward Compensation No
Pn14A Vibration Suppression 2 Frequency No
Pn14B Vibration Suppression 2 Correction No
8-59
8.11 Speed Ripple Compensation
8.11.1 Outline

This section describes speed ripple compensation.
8.11.1 Outline
Speed ripple compensation reduces the amount of ripple in the motor speed due to torque rip-
ple or cogging torque. You can enable speed ripple compensation to achieve smoother opera-
tion. To enable it, you must set up ripple compensation on the SigmaWin+.
WARNING
 Speed ripple compensation requires operating the Servomotor and therefore presents haz-
ards. Observe the following precautions.
Confirm safety around moving parts.
This function involves automatic operation. Make sure that you can perform an emergency stop
(to turn OFF the power supply) at any time.
Execute speed ripple compensation only after adjusting the gains.

• Reset speed ripple compensation after you replace the Servomotor or SERVOPACK.
• Execute speed ripple compensation after jogging to a position that ensures a suitable range of
Important motion.
8.11.2 Setting Up Speed Ripple Compensation
Restrictions
The following restrictions apply to the setup for speed ripple compensation.
 Systems for Which Execution Cannot Be Performed

There are no restrictions.
 Systems for Which Adjustments Cannot Be Made Accurately

Systems for which there is not a suitable range of motion
 Preparations
Always check the following before you set up speed ripple compensation.
8-60
Applicable Tools
The following table lists the tools that you can use to set up speed ripple compensation and the
Panel Operator You cannot set up speed ripple compensation from the Panel Operator.
Digital Operator You cannot set up speed ripple compensation from the Digital Operator.
SigmaWin+ Diagnostic − Ripple Compensation Operating Procedure on page 8-61
Operating Procedure
Use the following procedure to set up speed ripple compensation.
maWin+.
2. Select Ripple Compensation in the Menu Dialog Box.

The Ripple Compensation Dialog Box will be displayed.
Information 1. Click the Cancel Button to cancel ripple compensation. The Main Window will return.
2. If write protection is set, the following dialog box will be displayed.
Tuning
Click the OK Button to cancel write prohibition.
8-61
4. Click the Edit Button.
5. Enter the jogging speed in the Input Value Box and click the OK Button.
8-62

Measurement operation is started.
The Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or
Reverse Button and the speed ripple will be measured.
The feedback speed and torque reference graph will be displayed in the Ripple Compensation Dialog
Box during jogging.
If the measurement time (i.e., the jogging time) for the speed ripple is too short, speed ripple
measurement will not be completed. The following dialog box will be displayed if speed rip-
ple measurement was not completed.
Important Click the OK Button and repeat the measurement.
8. After speed ripple measurement has been completed, click the Write Button.
The ripple compensation value will be written to the SERVOPACK.
9. After writing has been completed, click the OK Button.
Tuning
8-63
8.11.3 Setting Parameters

Verification operation is started.
The Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or
Reverse Button.
The waveform with speed ripple compensation applied to it will be displayed.
11. If the verification results are OK, click the Completed Button.
Information To discard the setup results, click the Reset Button.
This concludes the setup for speed ripple compensation.

The function is enabled when you perform the operating procedure on Operating Procedure on
page 8-61. To cancel speed ripple compensation, use Pn423 = n.0 (Disable speed ripple
compensation) to disable it.
When Classifi-
Enabled cation
n.0
Disable speed ripple compensation. Immedi-
ately
n.1 Enable speed ripple compensation.
If you enable speed ripple compensation, a compensation reference will be applied to reduce
ripple even when stopped at a 0 speed reference. In speed control mode, this may result in the
Servomotor moving slightly. To prevent this, set Pn423 = n.X (Speed Ripple Compensa-
tion Enable Condition Selection) and Pn427 or Pn49F (Speed Ripple Compensation Enable
Speed).
When Classifi-
Enabled cation
n.0
Speed reference After
restart
n.1 Motor Speed
8-64
• For Rotary Servomotors

Speed Ripple Compensation Enable Speed Speed Position Torque
0 to 10,000 -1 0 Immediately Tuning
1 min
• For Linear Servomotors
Speed Ripple Compensation Enable Speed Speed Position Torque
Pn49F Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000 1 mm/s 0 Immediately Tuning
Speed reference/
feedback speed
Setting of Pn427
or Pn49F
(Ripple
Compensation
Time
Enable Speed)
Ripple
compensation Disabled Enabled Disabled Enabled Disabled
Speed Ripple Compensation Warnings

The speed ripple compensation value is specific to each Servomotor. If you replace the Servo-
motor while speed ripple compensation is enabled, an A.942 warning (Speed Ripple Compen-
sation Information Disagreement) will occur to warn you.
You can use any of the following methods to clear A.942.
• Reset the speed ripple compensation value on the SigmaWin+.
• Disable speed ripple compensation (Pn423 = n.0).
• Disable detection of A.942 (Pn423 = n.1).
When Classifi-
Enabled cation
Tuning
n.0
Detect A.942 alarms. After
restart
n.1 Do not detect A.942 alarms.
8
8-65
8.12 Additional Adjustment Functions
8.12.1 Gain Switching

This section describes the functions that you can use to make adjustments after you perform
autotuning without a host reference, autotuning with a host reference, and custom tuning.
Function Applicable Control Methods Reference
Gain Switching Position control, speed control, or torque control* page 8-66
Friction Compensation Position control or speed control page 8-70
Current Control Mode Selection Position control, speed control, or torque control page 8-73
Current Gain Level Setting Position control or speed control page 8-73
Speed Detection Method Selection Position control, speed control, or torque control page 8-74
Proportional Control Position control or speed control page 8-74
* Automatic gain switching is enabled only for position control.

Two gain switching functions are available, manual selection and automatic switching. The
manual switching function uses an external input signal to select the gains, and the automatic
switching function changes the gains automatically.
You can use gain switching to shorten the positioning time by increasing the gains during posi-
tioning and suppressing vibration by decreasing the gains while stopping.
n.0
Use manual gain switching.
Pn139 (default setting) Immediately Tuning
n.2 Use automatic gain switching pattern 1.
Note: Pn139 = n.1 is a reserved setting. Do not use this setting.
Refer to the following section for gain switching combinations.
Gain Switching Combinations on page 8-66
Refer to the following sections for information on manual and automatic gain switching.
Manual Gain Switching on page 8-67 and Automatic Gain Switching on page 8-67
Gain Switching Combinations

Speed Speed Loop Model Fol- Model Follow- Friction
Selected Position Torque Refer-
Loop Integral Time lowing Con- ing Control Compensa-
Gains Loop Gain ence Filter
Gain Constant trol Gain Correction tion Gain
First Stage
Speed Speed Loop Model Fol- Model Follow- Friction
Position First Torque
Gain Set- Loop Integral Time lowing Con- ing Control Compensa-
Loop Gain Reference Fil-
tings 1 Gain Constant trol Gain* Correction* tion Gain
(Pn102) ter Time Con-
(Pn100) (Pn101) (Pn141) (Pn142) (Pn121)
stant (Pn401)
First Stage
Second Second Second Second Model Second
Second Second
Gain Set- Speed
Speed Loop Model Fol- Following Friction
Position Torque Refer-
Loop Integral Time lowing Con- Control Gain Compensa-
tings 2 Loop Gain ence Filter
Gain Constant trol Gain* Correction* tion Gain
(Pn106) Time Con-
(Pn104) (Pn105) (Pn148) (Pn149) (Pn122)
stant (Pn412)
* Gain switching for the model following control gain and the model following control gain correction is applicable
only to manual gain switching.
To enable gain switching with these parameters, a gain switching input signal must be used and the following con-
ditions must be met. If the conditions are not met, these parameters will not be changed even if the other param-
eters in the above table are changed.
• There must be no reference.
• The motor must be stopped.
8-66
Manual Gain Switching

With manual gain switching, you use the /G-SEL (Gain Selection) signal to change between
gain settings 1 and gain settings 2.
Type Signal Connector Pin No. Setting Meaning
OFF Changes the gain settings to gain settings 1.
Input /G-SEL Must be allocated.
ON Changes the gain settings to gain settings 2.
Automatic Gain Switching

Automatic gain switching is enabled only for position control. The switching conditions are
specified by using the following settings.
Switching Switching
Parameter Selected Gains Switching Time
Condition Waiting Time
Gain Switching Gain Switching
Condition A Gain settings 1 to gain set-
Waiting Time 1 Time 1
satisfied tings 2
Pn135 Pn131
Pn139 n.2
Gain Switching Gain Switching
Condition A not Gain settings 2 to gain set-
Waiting Time 2 Time 2
satisfied tings 1
Pn136 Pn132
Select one of the following settings for switching condition A.
For Control Methods
Position Control Gain When
Parameter Other Than Position Classification
Switching Condition A Enabled
Control (No Switching)
n.0 /COIN (Positioning Com-
Gain settings 1 used.
(default setting) pletion) signal ON
/COIN (Positioning Com-
n.1 Gain settings 2 used.
pletion) signal OFF
n.2 /NEAR (Near) signal ON Gain settings 1 used.
Pn139 n.3 /NEAR (Near) signal OFF Gain settings 2 used. Immediately Tuning
Position reference filter
n.4 output is 0 and reference Gain settings 1 used.
pulse input is OFF.
Position reference pulse
n.5 Gain settings 2 used.
input is ON.
Automatic Switching Pattern 1 (Pn139 = n.2)
Switching Waiting Time 1: Pn135

Condition A
Tuning
Gain settings 1: satisfied Gain Switching Time 1: Pn131 Gain settings 2:
Pn100 Pn104
Pn101 Pn105
Pn102 Pn106
Pn121 Pn122 8
Pn401 Pn412
Condition A
Switching Waiting Time 2: Pn136
not satisfied
Gain Switching Time 2: Pn132
8-67
 Relationship between the Waiting Times and Switching Times for Gain
Switching
In this example, an ON /COIN (Positioning Completion) signal is set as condition A for auto-
matic gain switching. The position loop gain is changed from the value in Pn102 (Position Loop
Gain) to the value in Pn106 (Second Position Loop Gain). When the /COIN signal turns ON, the
switching operation begins after the waiting time (Pn135). The switching operation changes the
position loop gain linearly from the gain set in Pn102 to the gain set in Pn106 over the switch-
ing time (Pn131).
Waiting Switching
time: Pn135 time: Pn131
Pn102
Position Loop Gain
Pn106
Second
Position Loop Gain
/COIN
Switching condition A satisfied.
Information You can use gain switching for either PI control or I-P control (Pn10B = n.0 or 1).
Related Parameters
Speed Loop Integral Time Constant Speed Position
15 to 51,200 0.01 ms 2,000 Immediately Tuning
Position Loop Gain Position
10 to 20,000 0.1/s 400 Immediately Tuning
First Stage First Torque Reference Filter Time Constant Speed Position Torque
0 to 65,535 0.01 ms 100 Immediately Tuning
Model Following Control Gain Position
Model Following Control Gain Correction Position
500 to 2,000 0.1% 1,000 Immediately Tuning
Friction Compensation Gain Speed Position
Second Speed Loop Gain Speed Position
Second Speed Loop Integral Time Constant Speed Position
8-68

Second Position Loop Gain Position
First Stage Second Torque Reference Filter Time Constant Speed Position Torque
Second Model Following Control Gain Position
Second Model Following Control Gain Correction Position
Second Friction Compensation Gain Speed Position
Parameters Related to Automatic Gain Switching

Gain Switching Time 1 Position
0 to 65,535 1 ms 0 Immediately Tuning
Gain Switching Time 2 Position
Gain Switching Waiting Time 1 Position
Gain Switching Waiting Time 2 Position
Related Monitoring
• SigmaWin+
You can monitor gain switching with the status monitor or with tracing.
Tuning
• Analog Monitors
Parameter Analog Monitor Monitor Name Output Value Description
Pn006
n.0B Active Gain Monitor
1V Gain settings 1 are enabled.
8
Pn007 2V Gain settings 2 are enabled.
8-69
8.12.2 Friction Compensation
8.12.2 Friction Compensation

Friction compensation is used to compensate for viscous friction fluctuations and regular load
fluctuations.
You can automatically adjust friction compensation with autotuning without a host reference,
autotuning with a host reference, or custom tuning, or you can manually adjust it with the fol-
lowing procedure.

The following parameter settings are required to use friction compensation.
n.0
Disable friction compensation.
Pn408 (default setting) Immediately Setup
n.1 Enable friction compensation.
Friction Compensation Gain Speed Position

Second Friction Compensation Gain Speed Position
Friction Compensation Coefficient Speed Position
Friction Compensation Frequency Correction Speed Position
-10,000 to 10,000 0.1 Hz 0 Immediately Tuning
Friction Compensation Gain Correction Speed Position
8-70
8.12.3 Gravity Compensation
Operating Procedure for Friction Compensation

Use the following procedure to perform friction compensation.
CAUTION
 Before you execute friction compensation, set the moment of inertia ratio (Pn103) as accu-
rately as possible. If the setting greatly differs from the actual moment of inertia, vibration
may occur.
Step Operation
Set the following parameters related to friction compensation to their default settings.
Friction compensation gain (Pn121): 100
Second friction compensation gain (Pn122): 100
1 Friction compensation coefficient (Pn123): 0
Friction compensation frequency correction (Pn124): 0
Friction compensation gain correction (Pn125): 100
Note: Always use the default settings for the friction compensation frequency correction (Pn124) and friction com-
pensation gain correction (Pn125).
Gradually increase the friction compensation coefficient (Pn123) to check the effect of friction com-
pensation.
Note: Usually, set the friction compensation coefficient (Pn123) to 95% or less.
If the effect is insufficient, increase the friction compensation gain (Pn121) by 10% increments until vibration
stops.
Effect of Adjusted Parameters

2 Pn121: Friction Compensation Gain and Pn122: Second Friction Compensation Gain
These parameters set the response to external disturbances. The higher the setting is, the better
the response will be. If the machine has a resonance frequency, however, vibration may occur if the
setting is too high.
Pn123: Friction Compensation Coefficient
This parameter sets the effect of friction compensation. The higher the setting is, the more effective
friction compensation will be. If the setting is too high, however, vibration will occur more easily.
Usually, set the value to 95% or less.
Effect of Adjustments
The following graphs show the response with and without adjustment.
Inconsistent response
because of friction
Stable response due to

Low friction friction compensation
3 Position deviation Position deviation
High friction
Tuning
Position reference speed Position reference speed
Before Friction Compensation After Friction Compensation

When the Servomotor is used with a vertical axis, gravity compensation prevents the moving
part from falling due to the machine’s own weight when the brake is released.
SERVOPACKs with software version 0023 or higher support gravity compensation.
Servomotor
Holding brake
When the brake is released, the gravity

compensation torque prevents the
moving part from moving due to gravity.
Moving part of machine
8-71
A timing chart for when the moving part is raised then lowered is provided below.
Refer to the following section for details on brake operation timing.
5.13.1 Brake Operating Sequence on page 5-37
OFF ON OFF
Power not
supplied. Power supplied. Power not supplied.
Motor power status
OFF ON OFF
/BK (Brake) signal
Brake applied. Brake released. Brake applied.

Brake contact section
(lining)
0
Position/speed reference
0
Motor speed
0
Torque reference
Gravity compensation torque (Pn476)

The following parameter settings are required to use gravity compensation.
n.0
Disable gravity compensation.
n.1 Enable gravity compensation.
Gravity Compensation Torque Speed Position Torque

-1,000 to 1,000 0.1% 0 Immediately Tuning
Operating Procedure for Gravity Compensation

Use the following procedure to perform gravity compensation.
1. Set Pn475 to n.1 (Enable gravity compensation).
2. To enable changes to the settings, turn the power supply to the SERVOPACK OFF and
ON again.
3. Use SigmaWin+ or an analog monitor to find the torque reference value when the motor
is stopped with the servo ON.
4. Set the torque reference value found in step 3 in Pn476 (Gravity Compensation Torque).
5. Turn the servo ON and OFF a few times and fine-tune Pn476 so that the moving part of
the machine does not fall.
8-72
8.12.4 Current Control Mode Selection
8.12.4 Current Control Mode Selection

Current control mode selection reduces high-frequency noise while the Servomotor is being
stopped.
The setting depends on the capacity of the SERVOPACK.
To use current control mode selection, use current control mode 2 (set Pn009 to n.1 or
n.2).
• SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, and -7R6A
n. 0
n. 1 Use current control mode 1.
Pn009 After restart Tuning
(default setting)
n. 2 Use current control mode 2 (low noise).
• SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A
n. 0 Use current control mode 1.
n. 1
Pn009 After restart Tuning
(default setting) Use current control mode 2 (low noise).
n. 2
If current control mode 2 is selected, the load ratio may increase while the Servomotor is being
stopped.
Important
8.12.5 Current Gain Level Setting

You can set the current gain level to reduce noise by adjusting the parameter for current control
inside the SERVOPACK according to the speed loop gain (Pn100). The noise level can be
reduced by decreasing the current gain level (Pn13D) from its default setting of 2,000% (dis-
abled). However, if the setting is decreased, the level of noise will be lowered, but the response
characteristic of the SERVOPACK will also be reduced. Adjust the current gain level within the
range that maintains the SERVOPACK response characteristic. This function is always disabled
during torque control (Pn000 = n.2).
Current Gain Level Speed Position
Tuning
100 to 2,000 1% 2,000 Immediately Tuning
8
If the current gain level is changed, the response characteristic of the speed loop will also
change. Servo tuning must therefore be performed again.
Important
8-73
8.12.6 Speed Detection Method Selection
8.12.6 Speed Detection Method Selection

You can use the speed detection method selection to ensure smooth Servomotor speed
changes during operation. To ensure smooth motor speed changes during operation, set
Pn009 to n.1 (Use speed detection 2).
With a Linear Servomotor, you can reduce the noise level of the running motor when the linear
encoder scale pitch is large.
n. 0
Use speed detection 1.
Pn009 (default setting) After restart Tuning
n. 1 Use speed detection 2.
If the speed detection method is changed, the response characteristic of the speed loop will also
change. Servo tuning must therefore be performed again.
Important
8.12.7 Speed Feedback Filter

You can set a first order lag filter for the speed feedback in the speed loop. This ensures
smooth changes in the feedback speed to reduce vibration. If a large value is set, it will
increase the delay and make response slower.
Speed Feedback Filter Time Constant Speed Position
Pn308
0 to 65,535 0
0.01 ms Immediately Setup
(0.00 ms to 655.35 ms) (0.00 ms)
8.12.8 Proportional Control (P Control)

You can input the /P-CON (Proportional Control) signal from the host controller to select P con-
trol.
The speed control section uses proportional-integral control (PI control) if the reference remains
at zero during speed control. The integral effect may cause the Servomotor to move. To pre-
vent that, you can change from PI control to P control.
P control is set using Pn000 = n.X and the /P-CON signal.
However, if Pn000 is set to n.A (Switching between speed control with analog references
and speed control with zero clamping), a position loop will be formed. Therefore, there is no
need to use this function. P control is used while the /P-CON signal is ON.
8-74
8.12.8 Proportional Control (P Control)
/P-CON (Proportional Control) Signal

The /P-CON signal is used to switch between P control and PI control.
Type Signal Connector Pin No. Setting Meaning
CN1-41 ON (closed) Changes to P control
Input /P-CON
(default setting) OFF (open) Changes to PI control
When Using the Default Input Signal Allocations

Example
SERVOPACK
CN1
Changing between P and PI control /P-CON 41
Note:This example uses the default input signal allocations.
Control Methods and P Control Input Signals

Changing to P control is enabled when the control method is set to speed control or position
control.
Control Method Changing to
Selection P Control
You can change to
n.0 P control with the
Speed control with analog references
(default setting) default setting (CN1-
41 = /P-CON).
You can also allocate
the /P-CON signal to
n.1 Position control with pulse train references another connector
pin.
You cannot change to
n.2 Torque control with analog references
P control.
n.3 Internal set speed control with contact commands
Switching between internal set speed control with
n.4 contact commands and speed control with analog
references
n.5 contact commands and position control with pulse
Pn000 train references
Tuning
n.6 contact commands and torque control with analog
references
Switching between position control with pulse You must allocate the
n.7 train references and speed control with analog ref- /P-CON signal to 8
erences CN1-40 to CN1-46.
Switching between position control with pulse
n.8 train references and torque control with analog ref-
erences
Switching between torque control with analog ref-
n.9
erences and speed control with analog references
Switching between speed control with analog ref-
n.A
erences and speed control with zero clamping
Switching between position control with pulse
n.B train references and position control with reference
pulse inhibition
Note: Refer to the following section for information on changing the control method.
6.10 Selecting Combined Control Methods on page 6-58
8-75
8.13 Manual Tuning
8.13.1 Tuning the Servo Gains
8.13 Manual Tuning

This section describes manual tuning.
Servo Gains
Position control loop
Speed control loop
Speed Speed
Speed pattern Movement Servomotor
reference + reference + Speed control + Current
Deviation Position Tf Power M
 counter loop gain Kp  section  control converter
Kv and Ti section
Time
Speed loop Current loop
PG
Position loop
Encoder
SERVOPACK
Host controller Kp: Position loop gain (Pn102)
(Not provided by Yaskawa) Kv: Speed loop gain (Pn100)
Ti: Speed loop integral time constant (Pn101)
Tf: First stage first torque reference filter time constant (Pn401)
In order to manually tune the servo gains, you must understand the configuration and charac-
teristic of the SERVOPACK and adjust the servo gains individually. In most cases, if you greatly
change any one parameter, you must adjust the other parameters again. To check the
response characteristic, you must prepare a measuring instrument to monitor the output wave-
forms from the analog monitor.
The SERVOPACK has three feedback systems (the position loop, speed loop, and current
loop), and the response characteristic must be increased more with the inner loops. If this rela-
tionship is not maintained, the response characteristic will suffer and vibration will occur more
easily.
A sufficient response characteristic is ensured for the current loop. There is never a need for it
to be adjusted by the user.
Outline
You can use manual tuning to set the servo gains in the SERVOPACK to increase the response
characteristic of the SERVOPACK. For example, you can reduce the positioning time for posi-
tion control.
Use manual tuning in the following cases.
• When tuning with autotuning without a host reference or autotuning with a host reference
does not achieve the desired results
• When you want to increase the servo gains higher than the gains that resulted from autotun-
ing without a host reference or autotuning with a host reference
• When you want to determine the servo gains and moment of inertia ratio yourself
You start manual tuning either from the default parameter settings or from the gain settings that
resulted from autotuning without a host reference or autotuning with a host reference.
Applicable Tools
You can monitor the servo gains with the SigmaWin+ or with the analog monitor.
8-76
8.13 Manual Tuning
Precautions
Vibration may occur while you are tuning the servo gains. We recommend that you enable
vibration alarms (Pn310 = n.2) to detect vibration. Refer to the following section for infor-
mation on vibration detection.
Vibration alarms are not detected for all vibration. Also, an emergency stop method is neces-
sary to stop the machine safely when an alarm occurs. You must provide an emergency stop
device and activate it immediately whenever vibration occurs.
Tuning Procedure Example (for Position Control or Speed

Control)
Step Description
Adjust the first stage first torque reference filter time constant (Pn401) so that vibration does not
1
occur.
Increase the Speed loop gain (Pn100) and reduce the speed loop integral time constant (Pn101) as
2
far as possible within the range that does not cause machine vibration.
3 Repeat steps 1 and 2 and return the settings about 10% to 20% from the values that you set.
For position control, increase the position loop gain (Pn102) within the range that does not cause
4
vibration.
If you greatly change any one servo gain parameter, you must adjust the other parameters
Information
again. Do not increase the setting of just one parameter. As a guideline, adjust the settings of
the servo gains by approximately 5% each. As a rule, change the servo parameters in the fol-
lowing order.
• To Increase the Response Speed

1. Reduce the torque reference filter time constant.
2. Increase the speed loop gain.
3. Decrease the speed loop integral time constant.
4. Increase the position loop gain.
• To Reduce Response Speed and to Stop Vibration and Overshooting

1. Reduce the position loop gain.
2. Increase the speed loop integral time constant.
3. Decrease the speed loop gain.
4. Increase the torque filter time constant.
Adjusted Servo Gains
Tuning
You can set the following gains to adjust the response characteristic of the SERVOPACK.
• Pn100: Speed Loop Gain
• Pn101: Speed Loop Integral Time Constant
• Pn102: Position Loop Gain 8
• Pn401: First Stage First Torque Reference Filter Time Constant
 Position Loop Gain

The position loop gain determines the response characteristic of the position loop in the
SERVOPACK. If you can increase the setting of the position loop gain, the response character-
istic will improve and the positioning time will be shortened. However, you normally cannot
increase the position loop gain higher than the inherit vibration frequency of the machine
system. Therefore, to increase the setting of the position loop gain, you must increase the rigid-
ity of the machine to increase the inherit vibration frequency of the machine.
Position Loop Gain Position
8-77
8.13 Manual Tuning
For machines for which a high position loop gain (Pn102) cannot be set, overflow alarms can
Information
occur during high-speed operation. If that is the case, you can increase the setting of the fol-
lowing parameter to increase the level for alarm detection.
Use the following condition as a guideline for determining the setting.
Maximum feed speed [reference units/s]

Pn520   2.0
Pn102 ÷ 10 (1/s)
If you use a position reference filter, transient deviation will increase due to the filter time con-
stant. When you make the setting, consider deviation accumulation that may result from the
filter.
Pn520
1 to 1 reference
5,242,880 Immediately Setup
1,073,741,823 unit
 Speed Loop Gain

This parameter determines the response characteristic of the speed loop. If the response char-
acteristic of the speed loop is low, it becomes a delay factor for the position loop located out-
side of the speed loop. This will result in overshooting and vibration in the speed reference.
Therefore, setting the speed loop gain as high as possible within the range that will not cause
the machine system to vibrate will produce a stable servo system with a good response char-
acteristic.
Speed Loop Gain Speed Position Torque
Classifica-
tion
Load moment of inertia at motor shaft (JL)

Setting of Pn103 = ×100(%)
Servomotor moment of inertia (LM)
The default setting of Pn103 (Moment of Inertia Ratio) is 100. Before you tune the servo, calcu-
late the moment of inertia ratio with the above formula and set Pn103 to the calculation result.
Moment of Inertia Ratio Speed Position Torque
Classifica-
tion
 Speed Loop Integral Time Constant

To enable response to even small inputs, the speed loop has an integral element. The integral
element becomes a delay factor in the servo system. If the time constant is set too high, over-
shooting will occur, positioning settling time will increase, and the response characteristic will
suffer.
Speed Loop Integral Time Constant Speed Position
Classifica-
tion
8-78
8.13 Manual Tuning
 Torque Reference Filter

As shown in the following diagram, the torque reference filter contains a first order lag filter and
notch filters arranged in series, and each filter operates independently.
The notch filters can be enabled and disabled with Pn408 = n.XX and Pn416 = n.XXX.
Torque-Related Torque-Related
Function Function
Selections 1 Selections 2
Pn408 Pn416
Torque First * Second stage First Second Third Fourth Fifth Torque
reference stage first second torque stage stage stage stage stage reference
before filter torque reference notch filter: notch filter: notch filter: notch filter: notch filter: after filter
reference filter: Pn409 Pn40C Pn417 Pn41A Pn41D
filter: Pn40F Pn40A Pn40D Pn418 Pn41B Pn41E
Pn401 Pn410 Pn40B Pn40E Pn419 Pn41C Pn41F
First order Second order

lag filter lag filter Notch filter Notch filter Notch filter Notch filter Notch filter
* The second stage second torque reference filter is disabled when Pn40F is set to 5,000 (default setting) and it is
enabled when Pn40F is set to a value lower than 5,000.
 Torque Reference Filter

If you suspect that machine vibration is being caused by the Servo Drive, try adjusting the
torque reference filter time constant. This may stop the vibration. The lower the value, the bet-
ter the control response characteristic will be, but there may be a limit depending on the
machine conditions.
First Stage First Torque Reference Filter Time Constant Speed Position Torque
Second Stage Second Torque Reference Filter Frequency Speed Position Torque
100 to 5,000 1 Hz 5,000* Immediately Tuning
Second Stage Second Torque Reference Filter Q Value Speed Position Torque
50 to 100 0.01 50 Immediately Tuning
* The filter is disabled if you set the parameter to 5,000.
 Notch Filters
Tuning
The notch filter can eliminate specific frequency elements generated by the vibration of sources
such as resonance of the shaft of a ball screw.
The notch filter puts a notch in the gain curve at the specific vibration frequency (called the
notch frequency). The frequency components near the notch frequency can be reduced or 8
removed with a notch filter.
Notch filters are set with three parameters for the notch filter frequency, notch filter Q value,
and notch filter depth. This section describes the notch filter Q value and notch filter depth.
8-79
8.13 Manual Tuning
• Notch filter Q Value

The setting of the notch filter Q value determines the width of the frequencies that are filtered
for the notch filter frequency. The width of the notch changes with the notch filter Q value. The
larger the notch filter Q value is, the steeper the notch is and the narrower the width of frequen-
cies that are filtered is.
The notch filter frequency characteristics for different notch filter Q values are shown below.
Q = 0.7
Q = 1.0
Frequency [Hz]
0
Attenuation [dB]
-5
Q = 0.5
-10
-15
-20
Note: The above notch filter frequency characteristics are based on calculated values and may be different from
actual characteristics.
• Notch Filter Depth
The setting of the notch filter depth determines the depth of the frequencies that are filtered for
the notch filter frequency. The depth of the notch changes with the notch filter depth. The
smaller the notch filter depth is, the deeper the notch is, increasing the effect of vibration sup-
pression. However, if the value is too small, vibration can actually increase.
The notch filter is disabled if the notch filter depth, d, is set to 1.0 (i.e., if Pn419 is set to 1,000).
The notch filter frequency characteristics for different notch filter depths are shown below.
Frequency [Hz] d = 1.0 (notch filter disabled)
0
-10
Attenuation [dB]
d = 0.5 d = 0.7
-20 d = 0.3
d = 0.1
-30
d = 0 (default setting)
-40
-50
Note: The above notch filter frequency characteristics are based on calculated values and may be different from
actual characteristics.
You can enable or disable the notch filter with Pn408 and Pn416.
n.0
Disable first stage notch filter.
(default setting)
n.1 Enable first stage notch filter.
Pn408
n.0
Disable second stage notch filter.
(default setting)
n.1 Enable second stage notch filter.
n.0
Disable third stage notch filter.
(default setting) Immediately Setup
n.1 Enable third stage notch filter.
n.0
Disable fourth stage notch filter.
Pn416 (default setting)
n.1 Enable fourth stage notch filter.
n.0
Disable fifth stage notch filter.
(default setting)
n.1 Enable fifth stage notch filter.
8-80
8.13 Manual Tuning
Set the machine vibration frequencies in the notch filter parameters.

First Stage Notch Filter Frequency Speed Position Torque
50 to 5,000 1 Hz 5,000 Immediately Tuning
First Stage Notch Filter Q Value Speed Position Torque
50 to 1,000 0.01 70 Immediately Tuning
First Stage Notch Filter Depth Speed Position Torque
Second Stage Notch Filter Frequency Speed Position Torque
Second Stage Notch Filter Q Value Speed Position Torque
Second Stage Notch Filter Depth Speed Position Torque
Third Stage Notch Filter Frequency Speed Position Torque
Third Stage Notch Filter Q Value Speed Position Torque
Third Stage Notch Filter Depth Speed Position Torque
Fourth Stage Notch Filter Frequency Speed Position Torque
Fourth Stage Notch Filter Q Value Speed Position Torque
Fourth Stage Notch Filter Depth Speed Position Torque
Tuning
Fifth Stage Notch Filter Frequency Speed Position Torque
8
Fifth Stage Notch Filter Q Value Speed Position Torque
Fifth Stage Notch Filter Depth Speed Position Torque
• Do not set notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A, and Pn41D) that are close
to the speed loop’s response frequency. Set a frequency that is at least four times the speed
loop gain (Pn100). (However, Pn103 (Moment of Inertia Ratio) must be set correctly. If the set-
Important ting is not correct, vibration may occur and the machine may be damaged.
• Change the notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A, and Pn41D) only while the
Servomotor is stopped. Vibration may occur if a notch filter frequency is changed during oper-
ation.
8-81
8.13 Manual Tuning
Guidelines for Manually Tuning Servo Gains

When you manually adjust the parameters, make sure that you completely understand the
information in the product manual and use the following conditional expressions as guidelines.
The appropriate values of the parameter settings are influenced by the machine specifications,
so they cannot be determined universally. When you adjust the parameters, actually operate
the machine and use the SigmaWin+ or analog monitor to monitor operating conditions. Even if
the status is stable while the Servomotor is stopped, an unstable condition may occur when an
operation reference is input. Therefore, input operation references and adjust the servo gains
as you operate the Servomotor.
Stable gain: Settings that provide a good balance between parameters.

However, if the load moment of inertia is large and the machine system contains
elements prone to vibration, you must sometimes use a setting that is somewhat
higher to prevent the machine from vibrating.
Critical gain: Settings for which the parameters affect each other
Depending on the machine conditions, overshooting and vibration may occur and
operation may not be stable. If the critical gain condition expressions are not met,
operation will become more unstable, and there is a risk of abnormal motor shaft
vibration and round-trip operation with a large amplitude. Always stay within the
critical gain conditions.
If you use the torque reference filter, second torque reference filter, and notch filters together,
the interference between the filters and the speed loop gain will be superimposed. Allow lee-
way in the adjustments.
The following adjusted value guidelines require that the setting of Pn103 (Moment of Inertia Ratio)
is correctly set for the actual machine.
Important
 When Pn10B = n.0 (PI Control)

Guidelines are given below for gain settings 1.
The same guidelines apply to gain settings 2 (Pn104, Pn105, Pn106, and Pn412).
• Speed Loop Gain (Pn100 [Hz]) and Position Loop Gain (Pn102 [/s])
Stable gain: Pn102 [/s] ≤ 2π × Pn100/4 [Hz]
Critical gain: Pn102 [/s] < 2π × Pn100 [Hz]
• Speed Loop Gain (Pn100 [Hz]) and Speed Loop Integral Time Constant (Pn101 [ms])
Stable gain: Pn101 [ms] ≥ 4,000/(2π × Pn100 [Hz])
Critical gain: Pn101 [ms] > 1,000/(2π × Pn100 [Hz])
• Speed Loop Gain (Pn100 [Hz]) and First Stage First Torque Reference Filter Time Constant
(Pn401 [ms])
Stable gain: Pn401 [ms] ≤ 1,000/(2π × Pn100 [Hz] × 4)
Critical gain: Pn401 [ms] < 1,000/(2π × Pn100 [Hz] × 1)
8-82
8.13 Manual Tuning
• Speed Loop Gain (Pn100 [Hz]) and Second Stage Second Torque Reference Filter Frequency
(Pn40F [Hz])
Critical gain: Pn40F [Hz] > 4 × Pn100 [Hz]
Note: Set the Second Stage Second Torque Reference Filter Q Value (Pn410) to 0.70.
• Speed Loop Gain (Pn100 [Hz]) and First Stage Notch Filter Frequency (Pn409 [Hz]) (or Sec-
ond Stage Notch Filter Frequency (Pn40C [Hz]))
Critical gain: Pn409 [Hz] > 4 × Pn100 [Hz]
• Speed Loop Gain (Pn100 [Hz]) and Speed Feedback Filter Time Constant (Pn308 [ms])
Stable gain: Pn308 [ms] ≤ 1,000/(2π × Pn100 [Hz] × 4)
Critical gain: Pn308 [ms] < 1,000/(2π × Pn100 [Hz] × 1)
 When Pn10B = n.1 (I-P Control)

Guidelines are given below for gain settings 1.
The same guidelines apply to gain settings 2 (Pn104, Pn105, Pn106, and Pn412).
For I-P control, the relationships between the speed loop integral time constant, speed loop
gain, and position loop gain are different from the relationships for PI control. The relationship
between other servo gains is the same as for PI control.
Stable gain: Pn100 [Hz] ≥ 320/Pn101 [ms]
• Position Loop Gain (Pn102 [/s]) and Speed Loop Integral Time Constant (Pn101 [ms])
Stable gain: Pn102 [/s] ≤ 320/Pn101 [ms]
Selecting the Speed Loop Control Method (PI Control or I-P Control)
Information
Usually, I-P control is effective for high-speed positioning and high-speed, high-precision pro-
cessing applications. With I-P control, you can use a lower position loop gain than for PI con-
trol to reduce the positioning time and reduce arc radius reduction. However, if you can use
mode switching to change to proportional control to achieve the desired application, then
using PI control would be the normal choice.
 Decimal Points in Parameter Settings

For the SGD7S SERVOPACKs, decimal places are given for the settings of parameters on the
Digital Operator, Panel Operator, and in the manual. For example with Pn100 (Speed Loop
Gain), Pn100 = 40.0 is used to indicate a setting of 40.0 Hz. In the following adjusted value
guidelines, the decimal places are also given.
Example
Stable gain: Pn101 [ms] ≥ 4,000/(2π × Pn100 [Hz]), therefore
If Pn100 = 40.0 [Hz], then Pn101 = 4,000/(2π × 40.0) ≈ 15.92 [ms].
Tuning
Model Following Control
You can use model following control to improve response characteristic and shorten position- 8
ing time. You can use model following control only with position control.
Normally, the parameters that are used for model following control are automatically set along
with the servo gains by executing autotuning or custom tuning. However, you must adjust them
manually in the following cases.
• When the tuning results for autotuning or custom tuning are not acceptable
• When you want to increase the response characteristic higher than that achieved by the tun-
ing results for autotuning or custom tuning
• When you want to determine the servo gains and model following control parameters yourself
8-83
8.13 Manual Tuning
The block diagram for model following control is provided below.
Speed Movement
Speed pattern Model following
reference
control
mKp, mVFF, mTFF
Time Speed Torque feedforward
feedforward
Position control loop

Speed control loop
Speed Servomotor
+ reference + +
Position Speed control Tf Current M
Deviation Power
 counter loop gain  section  control converter
Kp Kv and Ti section
Speed loop Current loop

PG
Position loop
Encoder
SERVOPACK
Host controller Kp: Position loop gain (Pn102)
(Not provided by Yaskawa) Kv: Speed loop gain (Pn100)
Ti: Speed loop integral time constant (Pn101)
Tf: First stage first torque reference filter time constant (Pn401)
mKp: Model following control gain (Pn141)
mTFF: Model following control bias in the forward direction (Pn143)
Model following control bias in the reverse direction (Pn144)
mVFF: Model following control speed feedforward compensation (Pn147)
 Manual Tuning Procedure

Use the following tuning procedure for using model following control.
Step Description
Friction compensation must also be used. Set the friction compensation parameters. Refer to the
1 following section for the setting procedure.
8.12.2 Friction Compensation on page 8-70
Adjust the servo gains. Refer to the following section for an example procedure.
Tuning Procedure Example (for Position Control or Speed Control) on page 8-77
2 Note: 1. Set the moment of inertia ratio (Pn103) as accurately as possible.
2. Refer to the guidelines for manually tuning the servo gains and set a stable gain for the position loop gain
(Pn102).
Guidelines for Manually Tuning Servo Gains on page 8-82
Increase the model following control gain (Pn141) as much as possible within the range in which
3
overshooting and vibration do not occur.
If overshooting occurs or if the response is different for forward and reverse operation, fine-tune
model following control with the following settings: model following control bias in the forward direc-
4
tion (Pn143), model following control bias in the reverse direction (Pn144), and model following con-
trol speed feedforward compensation (Pn147).
8-84
8.13 Manual Tuning
Next we will describe the following parameters that are used for model following control.
• Pn140 (Model Following Control-Related Selections)
• Pn141 (Model Following Control Gain)
• Pn143 (Model Following Control Bias in the Forward Direction)
• Pn144 (Model Following Control Bias in the Reverse Direction)
• Pn147 (Model Following Control Speed Feedforward Compensation)
 Model Following Control-Related Selections

Set Pn140 = n.X to specify whether to use model following control.
If you use model following control with vibration suppression, set Pn140 to n.1 or Pn140
= n.2. When you also perform vibration suppression, adjust vibration suppression with
custom tuning in advance.
Note: If you use vibration suppression (Pn140 = n.1 or Pn140 = n.2), always set Pn140 to n.1
(Use model following control).

n.0
Do not use model following control.
(default setting)
n.1 Use model following control.
n.0
Pn140 (default setting) Do not perform vibration suppression. Immediately Tuning
Perform vibration suppression for a specific
n.1
frequency.
Perform vibration suppression for two specific
n.2
frequencies.
 Model Following Control Gain

The model following control gain determines the response characteristic of the servo system. If
you increase the setting of the model following control gain, the response characteristic will
improve and the positioning time will be shortened. The response characteristic of the servo
system is determined by this parameter, and not by Pn102 (Position Loop Gain).
Model Following Control Gain Position
For machines for which a high model following control gain cannot be set, the size of the
Information
position deviation in model following control will be determined by the setting of the model
Tuning
following control gain. For a machine with low rigidity, in which a high model following control
gain cannot be set, position deviation overflow alarms may occur during high-speed opera-
tion. If that is the case, you can increase the setting of the following parameter to increase
the level for alarm detection.
Use the following conditional expression for reference in determining the setting.
8
Maximum feed speed [reference units/s]
Pn 520 ≥  2.0
Pn 141/10 [1/s]

Pn520
1 to 1 reference
5,242,880 Immediately Setup
1,073,741,823 unit
 Model Following Control Bias in the Forward Direction and Model Following Control Bias in
the Reverse Direction
If the response is different for forward and reverse operation, use the following parameters for
fine-tuning.
If you decrease the settings, the response characteristic will be lowered but overshooting will
be less likely to occur.
8-85
8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
Model Following Control Bias in the Forward Direction Position

Model Following Control Bias in the Reverse Direction Position
 Model Following Control Speed Feedforward Compensation

If overshooting occurs even after you adjust the model following control gain, model following
control bias in the forward direction, and model following control bias in the reverse direction,
you may be able to improve performance by setting the following parameter.
If you decrease the settings, the response characteristic will be lowered but overshooting will
be less likely to occur.
Model Following Control Speed Feedforward Compensation Position
 Model Following Control Type Selection

When you enable model following control, you can select the model following control type. Nor-
mally, set Pn14F to n.1 (Use model following control type 2) (default setting). If compati-
bility with previous models is required, set Pn14F to n.0 (Use model following control type
1).
n.0 Use model following control type 1.
Pn14F n.1 After restart Tuning
Use model following control type 2.
(default setting)

The compatible adjustment functions are used together with manual tuning. You can use these
functions to improve adjustment results. These functions allow you to use the same functions
as for Σ-III-Series SERVOPACKs to adjust Σ-7-Series SERVOPACKs.
Feedforward
The feedforward function applies feedforward compensation to position control to shorten the
positioning time.
Pn10A
Pn109
Feedforward Filter
Differential Feedforward
Time Constant
Position reference pulses + + +

Position loop gain (Kp)

Feedback pulses
Feedforward Position
Feedforward Filter Time Constant Position
Note: If you set the feedforward value too high, the machine may vibrate. As a guideline, use a setting of 80% or
less.
8-86
8.13 Manual Tuning
Torque Feedforward and Speed Feedforward

You can use the torque feedforward and speed feedforward functions to help shorten the posi-
tioning time. The reference is created from the differential of the position reference at the host
controller.
Torque feedforward:This is effective for speed control or position control. It is sent from the
host controller along with the speed reference. Connect the speed refer-
ence from the host controller to the V-REF (CN1-5 and CN1-6) signal and
the torque feedforward reference from the host controller to the T-REF
(CN1- 9 and CN1-10) signal.
Speed feedforward:This is effective only for position control. It is sent to the SERVOPACK from
the host controller along with the position reference. Connect the position
reference from the host controller to the PULS and SIGN (CN1-7,CN1 -8,
CN1-11, and CN1-12) signals and the speed feedforward reference from
the host controller to the V-REF (CN1-5 and CN1-6) signal.
 Examples of Connections to Host Controllers

 When SERVOPACK Performs Speed Control
Host controller SERVOPACK (speed control)
Pn400 Pn415 Pn426
Differ- Differ- T-REF
KFF Torque reference T-REF filter time Torque feedforward
ential ential
input gain constant average movement time
Pn002
= n.X Servomotor
Pn300 Pn307
V-REF
Position KP Speed reference Speed reference M
reference input gain filter time constant Speed Current Power
control control amplifier
section Pn000 section
= n.X
Speed
Encoder conversion Current feedback
divided pulse
output Speed feedback
Divider ENC
Kp: Position loop gain

KFF: Feedforward gain
 When SERVOPACK Performs Position Control

Host controller SERVOPACK (position control)
Pn400 Pn415 Pn426
Differ- Differ- T-REF
ential
KFF Torque reference T-REF filter time constant Torque feedforward
ential
input gain average movement time
Pn300 Pn307 Pn30C Pn002
V-REF
Differ-
ential
KFF Speed reference Speed reference Speed feedforward = n.X Servomotor
input gain filter time constant average movement time
Tuning
Refer- Reference Electronic
Position PULS, SIGN ence gear Speed Current Power M
pulse input Smoo- Deviation control amplifier
reference pulse multiplier B thing counter control
form A Pn000 section section
Position control = n.X
Pn000
Clear signal Pn200 Pn218 Pn20E Pn216 = n.X
CLR = n.X Pn210 Pn217 section
8
input
Pn522 Speed Current feedback
Encoder divided Position Positioning conversion
pulse output feedback completed width
Speed feedback ENC
Divider

KFF: Feedforward gain

COIN
8-87
8.13 Manual Tuning
 Torque Feedforward
Torque feedforward is allocated to T-REF (Pn002 = n.X) and it is set using the torque ref-
erence input gain (Pn400) and T-REF filter time constant (Pn415).
The default setting of Pn400 is 30. Therefore, if the torque feedforward value is ±3 V, then the
torque is limited to ±100% of the rated torque.
n.0
Do not use T-REF.
(default setting)
n.1 Use T-REF as an external torque limit input.
n.2 Use T-REF as a torque feedback input.
Use T-REF as an external torque limit input
n.3
when /P-CL or /N-CL is active.

10 to 100 0.1 V/rated torque 30 Immediately Setup
Torque feedforward average movement time Speed Position
Note: 1. Overshooting will occur if you set the torque feedforward too high. Set the optimum value while monitoring
the response.
2. You cannot use the torque feedforward function together with torque limiting with an analog voltage refer-
ence.
 Speed Feedforward
You set the speed feedforward function with the position control option (Pn207 = n.X)
and the speed reference input gain (Pn300).
The default setting of Pn300 is 600. Therefore, if the speed feedforward value is ±6 V, then it
will indicate the rated speed.
n.0
Do not use V-REF.
n.1 Use V-REF as a speed feedback input.

Pn300
0.01 V/Rated
150 to 3,000 600 Immediately Setup
motor speed
Speed Reference Filter Time Constant Speed Position
Speed Feedforward Average Movement Time Position
Note: Overshooting will occur if you set the feedforward too high. Set the optimum value while monitoring the
response.
8-88
8.13 Manual Tuning
Mode Switching (Changing between Proportional and PI

Control)
You can use mode switching to automatically change between proportional control and PI con-
trol.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time
can be reduced by setting the switching condition and switching levels.
Without Mode Switching With Mode Switching
Motor Motor
speed Overshooting speed
Actual Servomotor
operation
Reference
Time
Time Settling time
Overshooting
Settling time
Select the switching condition for mode switching with Pn10B = n.X.
Parameter That Sets the
Mode Switching Level When
Parameter Classification
Selection Rotary Linear Enabled
Servomotor Servomotor
Use the internal
n.0
torque reference as Pn10C
(default setting) the condition.
Use the speed ref-

n.1 erence as the con- Pn10D Pn181
dition.
Use the accelera-
Pn10B Immediately Setup
n.2 tion reference as Pn10E Pn182
the condition.
Use the position
n.3 deviation as the Pn10F
condition.
Do not use mode
n.4 −
switching.
Tuning
 Parameters That Set the Switching Levels
Mode Switching Level for Torque Reference Speed Position 8
Mode Switching Level for Speed Reference Speed Position
1 min
Mode Switching Level for Acceleration Speed Position
1 min /s
Mode Switching Level for Position Deviation Position
0 to 10,000 1 reference unit 0 Immediately Tuning
8-89
8.13 Manual Tuning
Mode Switching Level for Force Reference Speed Position
Mode Switching Level for Speed Reference Speed Position
0 to 10,000 1 mm/s 0 Immediately Tuning
Mode Switching Level for Acceleration Speed Position
0 to 30,000 2 0 Immediately Tuning
1 mm/s
Mode Switching Level for Position Deviation Position
0 to 10,000 1 reference unit 0 Immediately Tuning
 Using the Internal Torque Reference as the Mode Switching Condition (Default Set-
ting)
When the Internal torque reference equals or exceeds the torque set for the mode switching
level for torque reference (Pn10C), the speed loop is changed to P control.
The default setting for the torque reference level is 200%.
Speed reference Motor speed
Speed
Time
Internal torque reference
+Pn10C
Torque reference 0
- Pn10C
PI P PI control P PI control
 Using the Speed Reference as the Mode Switching Condition

When the speed reference equals or exceeds the speed set for the mode switching level for a
speed reference (Pn10D), the speed loop is changed to P control.
Speed
Pn10D Time
PI P control PI control
When the speed reference equals or exceeds the speed set for the mode switching level for a
speed reference (Pn181), the speed loop is changed to P control.
Speed
Pn181 Time
8-90
8.13 Manual Tuning
 Using the Acceleration as the Mode Switching Condition

When the speed reference equals or exceeds the acceleration rate set for the mode switching
level for acceleration (Pn10E), the speed loop is changed to P control.
Speed reference
Speed Motor speed
Time
Motor acceleration
+Pn10E
Speed 0
- Pn10E
When the speed reference equals or exceeds the acceleration rate set for the mode switching
level for acceleration (Pn182), the speed loop is changed to P control.
Speed reference
Speed Motor speed
Time
Motor acceleration
+Pn182
Acceleration 0
- Pn182
 Using the Position Deviation as the Mode Switching Condition

When the position deviation equals or exceeds the value set for the mode switching level for
position deviation (Pn10F), the speed loop is changed to P control.
This setting is enabled only for position control.
Speed reference
Speed Motor speed
Position deviation
Time
Tuning
Pn10F
8
Position Integral
The position integral is the integral function of the position loop. It is used for the electronic
cams and electronic shafts when using the SERVOPACK with a Yaskawa MP3000-Series
Machine Controller.
Position Integral Time Constant Position
8-91
8.14 Diagnostic Tools
8.14.1 Mechanical Analysis
Overview
You can connect the SERVOPACK to a computer to measure the frequency characteristics of
the machine. This allows you to measure the frequency characteristics of the machine without
using a measuring instrument.
SERVOPACK
Motor speed Motor speed Computer

Servomotor
Support
Software
Reference that Reference that

causes vibration causes vibration
The Servomotor is used to cause machine vibration and then the speed frequency characteris-
tics for the motor torque are measured. The measured frequency characteristics can be used
to determine the machine resonance.
You determine the machine resonance for use in servo tuning and as reference for considering
changes to the machine. The performance of the servo cannot be completely utilized depend-
ing on the rigidity of the machine. You may need to consider making changes to the machine.
The information can also be used as reference for servo tuning to help you adjust parameters,
such as the servo rigidity and torque filter time constant.
You can also use the information to set parameters, such as the notch filters.
WARNING
 Mechanical analysis requires operating the Servomotor and therefore presents hazards.
Before you execute mechanical analysis, check the information provided in the SigmaWin+
operating manual.
8-92
Frequency Characteristics
The Servomotor is used to cause the machine to vibrate and the frequency characteristics from
the torque to the motor speed are measured to determine the machine characteristics. For a
normal machine, the resonance frequencies are clear when the frequency characteristics are
plotted on graphs with the gain and phase (Bode plots). The Bode plots show the size (gain) of
the response of the machine to which the torque is applied, and the phase delay (phase) in the
response for each frequency. Also, the machine resonance frequency can be determined from
the maximum frequency of the valleys (anti-resonance) and peaks (resonance) of the gain and
the phase delay.
For a Servomotor without a load or for a rigid mechanism, the gain and phase change gradually
in the Bode plots.
Estimated Estimated Estimated Resonance
Anti-Resonance Resonance Frequency
Frequency Frequency Second Candidate


 Toolbar
 START Button
Tuning
Click the START Button to start analysis.
 Measurement and Notch Filter Setting Tab Pages
Measurement Tab Page: Displays detailed information on the results of analysis.
Notch Filter Setting Tab Page: Displays the notch filter frequencies. You can set these values in the parameters. 8
8-93
8.14.2 Easy FFT
8.14.2 Easy FFT

The machine is made to vibrate and a resonance frequency is detected from the generated
vibration to set notch filters according to the detected resonance frequencies. This is used to
eliminate high-frequency vibration and noise.
During execution of Easy FFT, a frequency waveform reference is sent from the SERVOPACK to
the Servomotor to automatically cause the shaft to rotate multiple times within 1/4th of a rota-
tion, thus causing the machine to vibrate.
Execute Easy FFT after the servo is turned OFF if operation of the SERVOPACK results in high-
frequency noise and vibration.
WARNING
 Never touch the Servomotor or machine during execution of Easy FFT. Doing so may result
in injury.
CAUTION
 Use Easy FFT when the servo gain is low, such as in the initial stage of servo tuning. If you
execute Easy FFT after you increase the gain, the machine may vibrate depending on the
machine characteristics or gain balance.
Frequency
waveform Travel
reference D istance
Response
Travel Distance
SERVOPACK Servomotor
Easy FFT is built into the SERVOPACK for compatibility with previous products. Normally use
autotuning without a host reference for tuning.
Preparations
Always check the following before you execute Easy FFT.
• An external reference must not be input.
8-94
8.14.2 Easy FFT
Operating Procedure
Use the following procedure for Easy FFT.
maWin+.
2. Select Easy FFT in the Menu Dialog Box.

The Easy FFT Dialog Box will be displayed.
Click the Cancel Button to cancel Easy FFT. You will return to the main window.
Tuning
8-95
8.14.2 Easy FFT
5. Select the instruction (reference) amplitude and the rotation direction in the Measure-
ment condition Area, and then click the Start Button.
The Servomotor shaft will rotate and measurements will start.
When measurements have been completed, the measurement results will be displayed.
6. Check the results in the Measurement result Area and then click the Measurement
complete Button.
8-96
8.14.2 Easy FFT
7. Click the Result Writing Button if you want to set the measurement results in the param-
eters.
This concludes the procedure to set up Easy FFT.
Related Parameters
Easy FFT.
Do not change the settings of these parameters during execution of Easy FFT.
Pn40A First Stage Notch Filter Q Value No
Pn40D Second Stage Notch Filter Q Value No
Pn456 Sweep Torque Reference Amplitude No
Tuning
8-97
Monitoring
9
This chapter provides information on monitoring SERVO-
PACK product information and SERVOPACK status.
9.1 Monitoring Product Information . . . . . . . . . 9-2

9.1.1 Items That You Can Monitor . . . . . . . . . . . . . . . . 9-2
9.1.2 Operating Procedures . . . . . . . . . . . . . . . . . . . . . 9-3
9.2 Monitoring SERVOPACK Status . . . . . . . . . 9-4

9.2.1 Servo Drive Status . . . . . . . . . . . . . . . . . . . . . . . 9-4
9.2.2 Monitoring Operation, Status, and I/O . . . . . . . . 9-5
9.2.3 I/O Signals Status Monitor . . . . . . . . . . . . . . . . . 9-7
9.3 Monitoring Machine Operation Status and Signal Waveforms . . 9-9

9.3.1 Items That You Can Monitor . . . . . . . . . . . . . . . . 9-9
9.3.2 Using the SigmaWin+ . . . . . . . . . . . . . . . . . . . . 9-10
9.3.3 Using the Analog Monitors . . . . . . . . . . . . . . . . 9-11
9.4 Monitoring Product Life . . . . . . . . . . . . . . 9-16

9.4.1 Items That You Can Monitor . . . . . . . . . . . . . . . 9-16
9.4.3 Preventative Maintenance . . . . . . . . . . . . . . . . . 9-18
9.5 Alarm Tracing . . . . . . . . . . . . . . . . . . . . . . 9-19

9.5.1 Data for Which Alarm Tracing Is Performed . . . . 9-19
9.1 Monitoring Product Information
9.1.1 Items That You Can Monitor

The items that you can monitor in the SigmaWin+ Product Information Window are listed
below.
Monitor Items
• Model/Type
• Serial Number
Information on SERVOPACKs • Manufacturing Date
• Software version (SW Ver.)
• Remarks
• Model/Type
• Serial Number
Information on Servomotors
• Manufacturing Date
• Remarks
• Model/Type
• Serial Number
Information on Encoders • Manufacturing Date
• Remarks
• Model/Type
• Serial Number
Information on Option Modules • Manufacturing Date
• Remarks
9-2
9.1.2 Operating Procedures
9.1.2 Operating Procedures

Use the following procedure to display the Servo Drive product information.
• Select Read Product Information in the Menu Dialog Box of the SigmaWin+. The Read
Product Information Window will be displayed.
• With the Panel Operator, you can use Fn011 and Fn012 to monitor this information.
Information
Refer to the following sections for the differences in the monitor items compared with the
SigmaWin+.
13.4.16 Display Servomotor Model (Fn011) on page 13-24
13.4.17 Display Software Version (Fn012) on page 13-25
• With the Digital Operator, you can use Fn011, Fn012, and Fn01E to monitor this informa-
tion.
Refer to the following manual for the differences in the monitor items compared with the
SigmaWin+.
Monitoring
9-3
9.2 Monitoring SERVOPACK Status
9.2.1 Servo Drive Status
9.2.1 Servo Drive Status

Use the following procedure to display the Servo Drive status.
• Start the SigmaWin+. The Servo Drive status will be automatically displayed when you go
online with a SERVOPACK.
The Servo Drive status is displayed.
The Servomotor type is displayed.
9-4
9.2.2 Monitoring Operation, Status, and I/O
Items That You Can Monitor

The items that you can monitor on the Operation Pane, Status Pane, and I/O Pane are listed
below.
• Operation Pane
Monitor Items
• Motor Speed
• Speed Reference • Consumed Power
• Internal Torque Reference • Cumulative Power Consumption
• Angle of Rotation 1 • DB Resistor Consumption Power
(Number of encoder pulses from origin within one • Absolute Encoder Multiturn Data
encoder rotation) • Absolute Encoder Position within One Rotation
• Angle of Rotation 2 • Absolute Encoder (Lower)
(angle from origin within one encoder rotation) • Absolute Encoder (Upper)
• Input Reference Pulse Speed • Input Reference Pulse Counter
• Deviation Counter (Position Deviation) • Feedback Pulse Counter
• Cumulative Load • Fully Closed Feedback Pulse Counter
• Regenerative Load • Total Operating Time
• Power Consumption
• Status Pane
Monitor Items
• Main Circuit • Position Reference (PULS)
• Encoder (PGRDY) • Position Reference Direction
• Motor Power (Request) • Clear Signal (CLR)
• Motor Power ON • Surge Current Limiting Resistor Short Relay
• Dynamic Brake (DB) • Regenerative Transistor
• Rotation (Movement) Direction • Regenerative Error Detection
• Mode Switch • AC Power ON
• Speed Reference (V-Ref) • Overcurrent
• Torque Reference (T-Ref) • Origin Not Passed
• I/O Pane
Monitor Items
• /S-ON (Servo ON Input Signal)
• ALM (Servo Alarm Output Signal)
• /P-CON (Proportional Control Input Signal)
• /COIN (Positioning Completion Output Signal)
• P-OT (Forward Drive Prohibit Input Signal)
• /V-CMP (Speed Coincidence Detection Output
• N-OT (Reverse Drive Prohibit Input Signal)
Signal)
• /P-CL (Forward External Torque Limit Signal)
• /TGON (Rotation Detection Output Signal)
• /N-CL (Reverse External Torque Limit Signal)
• /S-RDY (Servo Ready Output Signal)
Monitoring
• /ALM-RST (Alarm Reset Input Signal)
• /CLT (Torque Limit Detection) Signal
• SEN (Absolute Data Request Input Signal)
• /VLT (Speed Limit Detection Output Signal)
Output Signal Status
•
Input Signal Status
/SPD-D (Motor Direction Signal)

• /BK (Brake Output Signal)
• /SPD-A (Internal Set Speed Selection Input
• /WARN (Warning Output Signal)
Signal)
• /NEAR (Near Output Signal)
• /SPD-B (Internal Set Speed Selection Input
Signal)
• ALO1 (Alarm Code Output Signal) 9
• ALO2 (Alarm Code Output Signal)
• /C-SEL (Control Selection Input Signal)
• ALO3 (Alarm Code Output Signal)
• /ZCLAMP (Zero Clamping Input Signal)
• PAO (Encoder Divided Pulse Output Phase A
• /INHIBIT (Reference Pulse Inhibit Input Signal)
Signal)
• /G-SEL (Gain Selection Input Signal)
• PBO (Encoder Divided Pulse Output Phase B
• /P-DET (Polarity Detection Input Signal)
Signal)
• PULS (Pulse Reference Input Signal)
• PCO (Encoder Divided Pulse Output Phase C
• SIGN (Sign Reference Input Signal)
Signal)
• CLR (Position Deviation Clear Input Signal)
• /PSELA (Reference Pulse Input Multiplication
• /PSEL (Reference Pulse Input Multiplication
Switching Output Signal)
Input Signal)
• /PM (Preventative Maintenance Output Signal)
• FSTP (Forced Stop Input Signal)
9-5
Operating Procedure
Use the following procedure to display the Operation Monitor, Status Monitor, and I/O Monitor
for the SERVOPACK.
• Select Monitor in the SigmaWin+ Menu Dialog Box.
The Operation Pane, Status Pane, and I/O Pane will be displayed in the Monitor Window.
You can flexibly change the contents that are displayed in the Monitor Window. Refer to the
Information
following manual for details.
Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34)
9-6
9.2.3 I/O Signals Status Monitor

Use the following procedure to check the status of the I/O signals.
maWin+.
2. Select I/O Signal Allocation in the Menu Dialog Box.

The I/O Signal Allocation Window will be displayed.
3. Click the Input Signal Tab.
Check the status of the input signals.
4. Click the Output Signal Tab.
Monitoring
Check the status of the output signals.
9-7
You can also use the above window to check wiring.

Information
• Checking Input Signal Wiring
Change the signal status at the host controller. If the input signal status on the window
changes accordingly, then the wiring is correct.
• Checking Output Signal Wiring
Click the Force Output Mode Button. This will force the output signal status to change. If
the signal status at the host controller changes accordingly, then the wiring is correct.
You cannot use the Force Output Mode Button while the servo is ON.
For details, refer to the following manual.
AC Servo Drive Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34)
9-8
9.3 Monitoring Machine Operation Status and Signal Waveforms

To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a
memory recorder.

You can use the SigmaWin+ or a measuring instrument to monitor the shaded items in the fol-
lowing block diagram.
SERVOPACK
CN１ Speed feedforward Torque feedforward

T-REF
Position command speed Speed reference
V-REF
Speed Position amplifier
Active gain Torque reference
conversion deviation
Position loop
PULS
SIGN Reference + + + + +
pulse input Electronic Deviation Speed Current
gear counter Kp
K loop loop M Load
multiplier  n - -
External encoder speed * (U/V/W)
+
1 *
- CN2 External
Electronic Motor speed
encoder
gear Speed
conversion ENC
Deviation
counter *
+ 1
1 Speed
Position deviation Deviation Motor - load
Electronic counter position deviation conversion CN31
Positioning completion - gear
Completion of position
reference distribution
Fully closed*
* This speed is available when fully-closed loop control is being used.

SERVOPACK
CN1 Speed feedforward Force feedforward

T-REF
Position command speed Speed reference
Monitoring
V-REF
Speed Position amplifier deviation Active gain Force reference

conversion
PULS Position loop

Reference + +
SIGN Electronic + Deviation + Speed + Current
pulse input
multiplier × n gear

counter
Kp

loop loop
M Load
9
(U/V/W)
+  1
Electronic Motor speed
ENC
gear
Deviation Speed
counter conversion
CN2
Position deviation
Positioning completion
Completion of position
reference distribution
9-9
9.3.2 Using the SigmaWin+
9.3.2 Using the SigmaWin+

This section describes how to trace data and I/O with the SigmaWin+.
Refer to the following manual for detailed operating procedures for the SigmaWin+.
Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34)
Operating Procedure
maWin+.
2. Select Trace in the Menu Dialog Box.

The Trace Dialog Box will be displayed.
Click this button to display the Trace Setting

Dialog Box shown below, and set the data to
trace and the trace conditions.
Trace Objects
You can trace the following items.
• Data Tracing
Trace Objects
• Torque Reference • Motor - Load Position Deviation
• Feedback Speed • Speed Feedforward
• Reference Speed • Torque Feedforward
• Position Reference Speed • Effective (Active) Gain
• Position Error (Deviation) • Main Circuit DC Voltage
• Position Amplifier Error (Deviation) • External Encoder Speed
• Control Mode
9-10
9.3.3 Using the Analog Monitors
• I/O Tracing
Trace Objects
• /S-ON (Servo ON Input Signal) • ALM (Servo Alarm Output Signal)
• /P-CON (Proportional Control Input Sig- • /COIN (Positioning Completion Output
nal) Signal)
• P-OT (Forward Drive Prohibit Input Signal) • /V-CMP (Speed Coincidence Detection
• N-OT (Reverse Drive Prohibit Input Signal) Output Signal)
• /ALM-RST (Alarm Reset Input Signal) • /TGON (Rotation Detection Output Sig-
• /P-CL (Forward External Torque/Force nal)
Limit Input Signal) • /S-RDY (Servo Ready Output Signal)
• /N-CL (Reverse External Torque/Force • /CLT (Torque Limit Detection Output Sig-
Limit Input Signal) nal)
• /SPD-D (Internal Set Speed Selection • /VLT (Speed Limit Detection Output Sig-
Input Signal) nal)
• /SPD-A (Internal Set Speed Selection • /BK (Brake Output Signal)
Output
Input Signal) • /WARN (Warning Output Signal)
• /SPD-B (Internal Set Speed Selection Signals • /NEAR (Near Output Signal)
Input Signal) • ALO1 (Alarm Code Output Signal)
Input • /C-SEL (Control Selection Input Signal) • ALO2 (Alarm Code Output Signal)
Signals • /ZCLAMP (Zero Clamping Input Signal) • ALO3 (Alarm Code Output Signal)
• /INHIBIT (Reference Pulse Inhibit Input • PAO (Encoder Divided Pulse Output
Signal) Phase A Signal)
• /G-SEL (Gain Selection Input Signal) • PBO (Encoder Divided Pulse Output
• /P-DET (Polarity Detection Input Signal) Phase B Signal)
• FSTP (Forced Stop Input Signal) • PCO (Encoder Divided Pulse Output
• SEN (Absolute Data Request Input Signal) Phase C Signal)
• PULS (Pulse Reference Input Signal) • /PSELA (Reference Pulse Input Multipli-
• SIGN (Sign Reference Input Signal) cation Switching Output Signal)
• CLR (Position Deviation Clear Input Sig-
nal) • ACON (Main Circuit ON Signal)
• /PSEL (Reference Pulse Input Multiplica- • PDETCMP (Polarity Detection Com-
tion Input Signal) pleted Signal)
• /HWBB1 (Hard Wire Base Block Input 1 Internal • DEN (Position Reference Distribution
Signal) Status
Completed Signal)
• /HWBB2 (Hard Wire Base Block Input 2
Signal)

Connect a measuring instrument, such as a memory recorder, to the analog monitor connector
(CN5) on the SERVOPACK to monitor analog signal waveforms. The measuring instrument is
not provided by Yaskawa.
Refer to the following section for details on the connection.
Monitoring
4.7.3 Analog Monitor Connector (CN5) on page 4-51
Setting the Monitor Object

Use Pn006 = n.XX and Pn007 = n.XX (Analog Monitor 1 and 2 Signal Selections) to set
the items to monitor. 9
Line Color Signal Parameter Setting
White Analog monitor 1 Pn006 = n.XX
Red Analog monitor 2 Pn007 = n.XX
Black (2
GND –
lines)
9-11
Description
Parameter
Monitor Signal Output Unit Remarks
n.00
(default
Motor Speed • Rotary Servomotor: 1 V/1,000 min-1 –
setting of • Linear Servomotor: 1 V/1,000 mm/s
Pn007)
n.01 Speed Reference • Rotary Servomotor:1 V/1,000 min-1 –

• Linear Servomotor:1 V/1,000 mm/s
n.02
(default
Torque Reference 1 V/100% rated torque –
setting of
Pn006)
0 V for speed or
n.03 Position Deviation 0.05 V/Reference unit
torque control
Position deviation
Position Amplifier Devi-
n.04 0.05 V/encoder pulse unit after electronic gear
ation
conversion
The input reference
pulses will be multi-
n.05
Position Command • Rotary Servomotor:1 V/1,000 min-1 plied by n to output
Speed • Linear Servomotor:1 V/1,000 mm/s the position com-
Pn006 mand speed.
or
Reserved parameter
Pn007 n.06 – –
(Do not change.)
Motor - Load Position
n.07 0.01 V/Reference unit –
Deviation
Completion is indi-
Positioning completed: 5 V
n.08 Positioning Completion cated by the output
Positioning not completed: 0 V
voltage.
n.09 Speed Feedforward • Rotary Servomotor:1 V/1,000 min-1 –

• Linear Servomotor:1 V/1,000 mm/s
n.0A Torque Feedforward 1 V/100% rated torque –
The gain that is
1st gain: 1 V active is indicated
n.0B Active Gain* 2nd gain: 2 V by the output volt-
age.
Completion is indi-
Completion of Position Distribution completed: 5 V
n.0C cated by the output
Reference Distribution Distribution not completed: 0 V
voltage.
External Encoder Value calculated at
n.0D 1 V/1,000 min-1
Speed the motor shaft
n.10 Main Circuit DC Voltage 1 V/100 V (main circuit DC voltage) –
* Refer to the following section for details.
8.12.1 Gain Switching on page 8-66
9-12
Changing the Monitor Factor and Offset

You can change the monitor factors and offsets for the output voltages for analog monitor 1
and analog monitor 2. The relationships to the output voltages are as follows:
Analog monitor 1 Analog Monitor 1 Signal Analog Monitor 1 Analog Monitor 1

output voltage
= (-1) × Selection (Pn006 = n.XX) × Magnification (Pn552)+ Offset Voltage (Pn550)
Analog monitor 2 = (-1) × Analog Monitor 2 Signal  Analog Monitor 2 + Analog Monitor 2
output voltage Selection (Pn007 = n.XX) Magnification (Pn553) Offset Voltage (Pn551)
The following parameters are set.

Analog Monitor 1 Offset Voltage Speed Position Torque
-10,000 to 10,000 0.1 V 0 Immediately Setup
Analog Monitor 2 Offset Voltage Speed Position Torque
-10,000 to 10,000 0.1 V 0 Immediately Setup
Analog Monitor 1 Magnification Speed Position Torque
-10,000 to 10,000 ×0.01 100 Immediately Setup
Analog Monitor 2 Magnification Speed Position Torque
-10,000 to 10,000 ×0.01 100 Immediately Setup
• Example for Setting the Item to Monitor to the Motor Speed (Pn006 = n.00)
Example
When Pn552 = 100 (Setting Unit: ×0.01) When Pn552 = 1,000 (Setting Unit: ×0.01)
Analog monitor output voltage (V)

Analog monitor output voltage (V)
Approx. +10 V
+8 V
+6 V
+6 V
+ 6000 Motor speed +6 00 +800

Motor speed
-6000 (min-1) -800 -600 (min-1)
-6 V -6 V
Monitoring
-8 V
Approx. -10 V
Note: The effective linearity range is ±8 V.

The resolution is 16 bits.
9
Adjusting the Analog Monitor Output
You can manually adjust the offset and gain for the analog monitor outputs for the torque refer-
ence monitor and motor speed monitor.
The offset is adjusted to compensate for offset in the zero point caused by output voltage drift
or noise in the monitoring system.
The gain is adjusted to match the sensitivity of the measuring system.
The offset and gain are adjusted at the factory. You normally do not need to adjust them.
9-13
 Adjustment Example
An example of adjusting the output of the motor speed monitor is provided below.
Offset Adjustment Gain Adjustment
Analog monitor output voltage Analog monitor output voltage
1 [V] Gain
adjustment
Offset adjustment
Motor speed
Motor speed
1000 [min-1]
Item Specification Item Specification

Offset Adjustment Range -2.4 V to 2.4 V Gain Adjustment Range 100 ±50%
Adjustment Unit 18.9 mV/LSB Adjustment Unit 0.4%/LSB
The gain adjustment range is made using a 100% out-
put value (gain adjustment of 0) as the reference value
with an adjustment range of 50% to 150%.
A setting example is given below.
• Setting the Adjustment Value to -125
100 + (-125 × 0.4) = 50 [%]
Therefore, the monitor output voltage goes to 50%
of the original value.
• Setting the Adjustment Value to 125
100 + (125 × 0.4) = 150 [%]
Therefore, the monitor output voltage goes to 150%
of the original value.
• The adjustment values do not use parameters, so they will not change even if the parame-
Information
ter settings are initialized.
• Adjust the offset with the measuring instrument connected so that the analog monitor out-
put value goes to zero. The following setting example achieves a zero output.
• While power is not supplied to the Servomotor, set the monitor signal to the torque ref-
erence.
• In speed control, set the monitor signal to the position deviation.
 Preparations
Always check the following before you adjust the analog monitor output.
 Applicable Tools
You can use the following tools to adjust analog monitor outputs. The function that is used is
given for each tool.
• Offset Adjustment
13.4.11 Adjust Analog Monitor Output Offset
Panel Operator Fn00C (Fn00C) on page 13-20
Digital Operator Fn00C (Manual No.: SIEP S800001 33)
Others - Adjust the Analog
Monitor Output
9-14
• Gain Adjustment
13.4.12 Adjust Analog Monitor Output Gain
Panel Operator Fn00D (Fn00D) on page 13-20
Digital Operator Fn00D (Manual No.: SIEP S800001 33)
Others - Adjust the Analog
Monitor Output
Use the following procedure to adjust the analog monitor output.
maWin+.
2. Select Adjust the Analog Monitor Output in the Menu Dialog Box.
The Adjust the Analog Monitor Output Dialog Box will be displayed.
3. Click the Zero Adjustment or Gain Adjustment Tab.
4. While watching the analog monitor, use the +1 and -1 Buttons to adjust the offset.
There are two channels: CH1 and CH2. If necessary, click the down arrow on the Channel Box and
select the channel.
Monitoring
This concludes adjusting the analog monitor output.
9-15
9.4 Monitoring Product Life

Monitor Item Description
The operating status of the SERVOPACK in terms of the installation envi-
ronment is displayed. Implement one or more of the following actions if the
SERVOPACK Installation Envi-
monitor value exceeds 100%.
ronment
The operating status of the SERVOPACK in terms of the installation envi-
ronment is displayed. Implement one or more of the following actions if the
Servomotor Installation Environ-
monitor value exceeds 100%.
ment
The unused status of the SERVOPACK is treated as the 100% value. The
value decreases each time the main circuit power supply is turned ON and
Built-in Fan Service Life Predic- each time the servo is turned OFF. Use a monitor value of 0% as a guideline
tion for the replacement period. Refer to the following section for part replace-
ment guidelines.
12.1.2 Guidelines for Part Replacement on page 12-2
Capacitor Service Life Predic- each time the servo is turned OFF. Use a monitor value of 0% as a guideline
tion for the replacement period. Refer to the following section for part replace-
ment guidelines.
Surge Prevention Circuit Ser- each time the servo is turned OFF. Use a monitor value of 0% as a guideline
vice Life Prediction for the replacement period. Refer to the following section for part replace-
ment guidelines.
Dynamic Brake Circuit Service each time the servo is turned OFF. Use a monitor value of 0% as a guideline
Life Prediction for the replacement period. Refer to the following section for part replace-
ment guidelines.
9-16

Use the following procedure to display the installation environment and service life prediction
monitor dialog boxes.
maWin+.
2. Select Life Monitor in the Menu Dialog Box.

The Life Monitor Dialog Box will be displayed.
Information With the Panel Operator or Digital Operator, you can use Un025 to Un02A to monitor this
information.
A value of 100% indicates that the SERVOPACK has

not yet been used. The percentage decreases as the
SERVOPACK is used and reaches 0% when it is time
to replace the SERVOPACK.
Monitoring
9-17
9.4.3 Preventative Maintenance
9.4.3 Preventative Maintenance

You can use the following functions for preventative maintenance.
• Preventative maintenance warnings
• /PM (Preventative Maintenance Output) signal
The SERVOPACK can notify the host controller when it is time to replace any of the main parts.
Preventative Maintenance Warning

An A.9b0 warning (Preventative Maintenance Warning) is detected when any of the following
service life prediction values drops to 10% or less: SERVOPACK built-in fan life, capacitor life,
inrush current limiting circuit life, and dynamic brake circuit life. You can change the setting of
Pn00F = n.X to enable or disable these warnings.
When Classifi-
Enabled cation
n.0
Do not detect preventative maintenance warnings. After
Pn00F (default setting) Setup
restart
n.1 Detect preventative maintenance warnings.
/PM (Preventative Maintenance Output) Signal

The /PM (Preventative Maintenance Output) signal is output when any of the following service
life prediction values reaches 10% or less: SERVOPACK built-in fan life, capacitor life, inrush
current limiting circuit life, and dynamic brake circuit life. The /PM (Preventative Maintenance
Output) signal must be allocated.
Even if detection of preventive maintenance warnings is disabled (Pn00F = n.0), the /PM
signal will still be output as long as it is allocated.
Classifi- Signal
Signal Connector Pin No. Description
cation Status
One of the following service life prediction values
reached 10% or less: SERVOPACK built-in fan
ON (closed)
life, capacitor life, inrush current limiting circuit
life, and dynamic brake circuit life.
Output /PM Must be allocated.
All of the following service life prediction values
are greater than 10%: SERVOPACK built-in fan
OFF (open)
life, capacitor life, inrush current limiting circuit
life, and dynamic brake circuit life.
Note: You must allocate the /PM signal to use it. Use Pn514 = n.X (/PM (Preventative Maintenance Output)
Signal Allocation) to allocate the signal to connector pins. Refer to the following section for details.
9-18
9.5 Alarm Tracing
9.5.1 Data for Which Alarm Tracing Is Performed
9.5 Alarm Tracing

Alarm tracing records data in the SERVOPACK from before and after an alarm occurs. This
data helps you to isolate the cause of the alarm.
You can display the data recorded in the SERVOPACK as a trace waveform on the SigmaWin+.
• Alarms that occur when the power supply is turned ON are not recorded.
Information
• Alarms that occur during the recording of alarm trace data are not recorded.
• Alarms that occur while utility functions are being executed are not recorded.
9.5.1 Data for Which Alarm Tracing Is Performed

Two types of data are recorded for alarm tracing: numeric data and I/O signal ON/OFF data.
Numeric Data ON/OFF Data
Torque reference ALM
Feedback speed Servo ON command (/S-ON)
Reference speed Proportional control command (/P-CON)
Position reference speed Forward torque command (/P-CL)
Position deviation Reverse torque command (/N-CL)
Motor-load position deviation G-SEL1 signal (/G-SEL1)
Main circuit bus voltage ACON

The following table lists the tools that you can use to perform alarm tracing and the applicable
tool functions.
Panel Operator You cannot display alarm tracing data from the Panel Operator.
Digital Operator You cannot display alarm tracing data from the Digital Operator.
Troubleshooting - Engineering Tool SigmaWin+ Operation Manual
SigmaWin+ (Manual No.: SIET S800001 34)
Alarm Trace
Monitoring
9-19
Fully-Closed Loop
Control
10
This chapter provides detailed information on performing
fully-closed loop control with the SERVOPACK.
10.1 Fully-Closed System . . . . . . . . . . . . . . . . . 10-2
10.2 SERVOPACK Commissioning Procedure . . 10-3
10.3 Parameter Settings for Fully-Closed Loop Control . . 10-5

10.3.1 Control Block Diagram for Fully-Closed
Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10.3.2 Setting the Motor Direction and the Machine
Movement Direction . . . . . . . . . . . . . . . . . . . . . 10-6
10.3.3 Setting the Number of External Encoder Scale
Pitches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10.3.4 Setting the PAO, PBO, and PCO
(Encoder Divided Pulse Output) Signals . . . . . . 10-7
10.3.5 External Absolute Encoder Data Reception
Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.3.6 Electronic Gear Setting . . . . . . . . . . . . . . . . . . . 10-8
10.3.7 Alarm Detection Settings . . . . . . . . . . . . . . . . . 10-8
10.3.8 Analog Monitor Signal Settings . . . . . . . . . . . . 10-10
10.3.9 Setting to Use an External Encoder
for Speed Feedback . . . . . . . . . . . . . . . . . . . . 10-10
10.1 Fully-Closed System
10.1 Fully-Closed System

With a fully-closed system, an externally installed encoder is used to detect the position of the
controlled machine and the machine’s position information is fed back to the SERVOPACK.
High-precision positioning is possible because the actual machine position is fed back directly.
With a fully-closed system, looseness or twisting of mechanical parts may cause vibration or
oscillation, resulting in unstable positioning.
Refer to the following manual for details on Fully-closed Modules.
The following figure shows an example of the system configuration.
SERVOPACK
Fully-closed Module
Servomotor Main
Circuit Cable
Serial Converter
Unit Cable*
Serial Converter
Unit*
External
Encoder Cable*
External encoder (Not

provided by Yaskawa.)
* The connected devices and cables depend on the type of external linear encoder that is used.
Note: Refer to the following section for details on connections that are not shown above, such as connections to
power supplies and peripheral devices.
2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices on page 2-26
10-2
10.2 SERVOPACK Commissioning Procedure

First, confirm that the SERVOPACK operates correctly with semi-closed loop control, and then
confirm that it operates correctly with fully-closed loop control.
The commissioning procedure for the SERVOPACK for fully-closed loop control is given below.
Con-
Required Parameter
Step Description Operation trolling
Settings
Device
Set the parameters so that the
Check operation of the
SERVOPACK operates correctly in
entire sequence with • Pn000 (Basic Function
semi-closed loop control without a
semi-closed loop control Selections 0)
load and check the following
and without a load. • Pn001 (Application
points. Set Pn002 to n.0 to
Items to Check Function Selections 1)
specify semi-closed loop control.
• Power supply circuit • Pn002 = n.X
• Are there any errors in the
wiring (External Encoder
SERVOPACK?
• Servomotor wiring Usage)
• Does jogging function correctly SERVO-
• Encoder wiring • Pn20E (Electronic Gear
when you operate the SERVO- PACK or
1 • Wiring of I/O signal Ratio (Numerator))
PACK without a load? host con-
lines from the host con- • Pn210 (Electronic Gear
• Do the I/O signals turn ON and troller
troller Ratio (Denominator))
OFF correctly?
• Servomotor rotation • Pn50A, Pn50B, Pn511,
• Is power supplied to the Servo-
direction, motor speed, Pn515, and Pn516
motor when the /S-ON (Servo
and multiturn data (Input Signal Selections)
ON) signal is input?
• Operation of safety • Pn50E, Pn50F, Pn510,
• Does the Servomotor operate
mechanisms, such as Pn514, and Pn517 (Out-
correctly when a position refer-
the brakes and the put Signal Selections)
ence is input by the host control-
overtravel mechanisms
ler?
Check operation with the
Servomotor connected
to the machine with
semi-closed loop control. Connect the Servomotor to the
Items to Check machine. Set the moment of inertia
• Initial response of the ratio in Pn103 using autotuning
system connected to without a host reference. Pn103 (Moment of Inertia Host con-
2
the machine Check that the machine’s move- Ratio) troller
• Movement direction, ment direction, travel distance, and
travel distance, and movement speed agree with the
movement speed as references from the host controller.
specified by the refer-
ences from the host

controller
Set the parameters related to fully- • Pn002 = n.X
closed loop control and move the (External Encoder
machine with your hand without Usage)
turning ON the power supply to the • Pn20A (Number of
Servomotor. Check the following External Encoder Scale
status with the Panel Operator, Pitches)
Digital Operator, or SigmaWin+. • Pn20E (Electronic Gear
Check the external • Does the fully-closed feedback Ratio (Numerator))
encoder. pulse counter count up when the • Pn210 (Electronic Gear
Items to Check Servomotor moves in the forward
3 Ratio (Denominator)) –
Is the signal from the
external encoder
direction? • Pn281 (Encoder Output 10
• Is the travel distance of the Resolution)
received correctly? machine visually about the same • Pn51B (Motor-Load
as the amount counted by the Position Deviation Over-
fully-closed feedback pulse flow Detection Level)
counter? • Pn522 (Positioning
Note: The unit for the fully-closed feed- Completed Width)
back pulse counter is pulses,
which is equivalent to the exter-
• Pn52A (Multiplier per
nal encoder sine wave pitch. Fully-closed Rotation)
10-3

Con-
Required Parameter
Step Description Operation trolling
Settings
Device
Perform a program jog- Perform a program jogging opera-
ging operation. tion and confirm that the travel dis-
Items to Check tance is the same as the reference Pn530 to Pn536 (program
SERVO-
4 Does the fully-closed value in Pn531. jogging-related parame-
PACK
system operate correctly When you perform program jog- ters)
for the SERVOPACK ging, start from a low speed and
without a load? gradually increase the speed.
Operate the SERVO-
PACK. Input a position reference and con-
Items to Check firm that the SERVOPACK oper-
Host con-
5 Does the fully-closed ates correctly. –
troller
system operate correctly, Start from a low speed and gradu-
including the host con- ally increase the speed.
troller?
10-4
10.3 Parameter Settings for Fully-Closed Loop Control
10.3.1 Control Block Diagram for Fully-Closed Loop Control

This section describes the parameter settings that are related to fully-closed loop control.
Position Speed Torque
Parameter to Set Setting Reference
Control Control Control
Pn000 = n.X Motor direction √ √ √
page 10-6
Pn002 = n.X External encoder usage method √ √ √
Pn20A Number of external encoder scale pitches √ √ √ page 10-7
Encoder divided pulse output signals
Pn281 (PAO, PBO, and PCO) from the SERVO- √ √ √ page 10-7
PACK
External absolute encoder data reception
– √ √ √ page 6-89
sequence
Pn20E and Pn210 Electronic gear ratio √ − − page 5-47
Motor-load position deviation overflow
Pn51B √ − −
detection level page 10-8
Pn52A Multiplier per fully-closed rotation √ − −
Pn006/Pn007 Analog monitor signal √ √ √ page 10-10
Speed feedback method during fully-
Pn22A = n.X √ − − page 10-10
closed loop control
10.3.1 Control Block Diagram for Fully-Closed Loop Control

The control block diagram for fully-closed loop control is provided below.
SERVOPACK
Torque
reference
Speed
reference
Position Electronic
reference gear Deviation Position Unit conversion 㧗 Speed Motor Machine
B counter control loop Pn20A 㧙 loop
A
Pn20E Speed Pn22A
Pn210 feedback Speed conversion ENC
External
Alarm encoder

detection A.d10
Unit conversion
Pn20A
Encoder
divided Speed conversion *
pulse output Serial
Divider
conversion
Pn281
* The connected device depends on the type of external encoder.

Note: You can use either an incremental or an absolute encoder. If you use an absolute encoder, set Pn002 to
n.1 (Use the absolute encoder as an incremental encoder).
10
10-5
10.3.2 Setting the Motor Direction and the Machine Movement Direction
10.3.2 Setting the Motor Direction and the Machine Movement

Direction
You must set the motor direction and the machine movement direction. To perform fully-closed
loop control, you must set the motor rotation direction with both Pn000 = n.X (Direction
Selection) and Pn002 = n.X (External Encoder Usage).
Pn002 = n.X (External Encoder Usage)
Parameter
n.1 n.3
Reference Forward Reverse Forward Reverse
direction reference reference reference reference
n.0 Motor direction CCW CW CCW CW
Pn000 External Forward Reverse Reverse Forward
=n.X encoder movement movement movement movement
(Direction Reference Forward Reverse Forward Reverse
Selection) direction reference reference reference reference
n.1 Motor direction CW CCW CW CCW
External Reverse Forward Forward Reverse
encoder movement movement movement movement
• Phase B leads in the divided pulses for a forward reference regardless of the setting of Pn000
= n.X.
• Forward direction: The direction in which the pulses are counted up.
• Reverse direction: The direction in which the pulses are counted down.
Related Parameters
 Pn000 = n.X
 Pn002 = n.X
When you perform fully-closed loop control, set Pn002 to n.1 or n.3.
When Classifi-
Parameter Name Meaning
Enabled cation
n.0
(default set- Do not use an external encoder.
ting)
External encoder moves in forward
n.1 External
Pn002 direction for CCW motor rotation. After restart Setup
Encoder Usage
n.2 Reserved setting (Do not use.)
External encoder moves in reverse direc-
n.3
tion for CCW motor rotation.
n.4 Reserved setting (Do not use.)
Information Determine the setting of Pn002 = n.X as described below.

• Set Pn000 to n.0 (Use the direction in which the linear encoder counts up as the for-
ward direction) and set Pn002 to n.1 (The external encoder moves in the forward
direction for CCW motor rotation).
• Manually rotate the motor shaft counterclockwise.
• If the fully-closed feedback pulse counter counts up, do not change the setting of Pn002
(Pn002 = n.1).
• If the fully-closed feedback pulse counter counts down, set Pn002 to n.3.
10-6
10.3.3 Setting the Number of External Encoder Scale Pitches
10.3.3 Setting the Number of External Encoder Scale Pitches

Set the number of external encoder scale pitches per Servomotor rotation in Pn20A.
Number of external encoder
Setting Example pitches per Servomotor rotation
External encoder
Specifications (scale pitch: 20 m)
External encoder scale pitch: 20 μm Workpiece position Workpiece position
Ball screw lead: 30 mm before movement after movement

If the external encoder is connected directly to the Servomotor, the setting will be 1,500
(30 mm/0.02 mm = 1,500).
Note: 1. If there is a fraction, round off the digits below the decimal point.
2. If the number of external encoder scale pitches per Servomotor rotation is not an integer, there will be devi-
ation in the position loop gain (Kp), feedforward, and position reference speed monitor. This is not relevant
for the position loop and it therefore does not interfere with the position accuracy.
Related Parameters
Number of External Encoder Scale Pitches Position

Pn20A
1 scale pitch/revo-
4 to 1,048,576 32,768 After restart Setup
lution
10.3.4 Setting the PAO, PBO, and PCO (Encoder Divided Pulse
Output) Signals
Set the position resolution in Pn281 (Encoder Output Resolution).
Enter the number of phase A and phase B edges for the setting.
Setting Example
Specifications

External encoder scale pitch: 20 μm
Speed:1,600 mm/s
If a single pulse (multiplied by 4) is output for 1 μm, the setting would be 20.
If a single pulse (multiplied by 4) is output for 0.5 μm, the setting would be 40.
The encoder divided pulse output would have the following waveform if the setting is 20.
Phase A
10
Phase B
Sine wave pitch
“↑” indicates the edge positions. In this example, the set value is 20 and therefore the number
of edges is 20.
Note: The upper limit of the encoder signal output frequency (multiplied by 4) is 6.4 Mpps. Do not set a value that
would cause the output to exceed 6.4 Mpps.
If the output exceeds the upper limit, an A.511 alarm (Encoder Output Pulse Overspeed) will be output.
10-7
10.3.5 External Absolute Encoder Data Reception Sequence
Example If the setting is 20 and the speed is 1,600 mm/s, the output frequency would be 1.6 Mpps
1600 mm/s
= 1,600,000 = 1.6 Mpps
0.001 mm
Because 1.6 Mpps is less than 6.4 Mpps, this setting can be used.
Related Parameters
Encoder Output Resolution Position　
1 to 4,096 1 edge/pitch 20 After restart Setup
Note: The maximum setting for the encoder output resolution is 4,096.
If the resolution of the external encoder exceeds 4,096, pulse output will no longer be possible at the resolu-
tion given in  Feedback Resolution of Linear Encoder on page 5-50.
10.3.5 External Absolute Encoder Data Reception Sequence

6.13.4 Reading the Position Data from the Absolute Linear Encoder on page 6-89
With fully-closed loop control, the same sequence as for a Linear Servomotor is used.
10.3.6 Electronic Gear Setting

5.16 Electronic Gear Settings on page 5-47
With fully-closed loop control, the same setting as for a Linear Servomotor is used.
10.3.7 Alarm Detection Settings

This section describes the alarm detection settings (Pn51B and Pn52A).
Pn51B (Motor-Load Position Deviation Overflow Detection

Level)
This setting is used to detect the difference between the feedback position of the Servomotor
encoder and the feedback load position of the external encoder for fully-closed loop control. If
the detected difference exceeds the setting, an A.d10 alarm (Motor-Load Position Deviation
Overflow) will be output.
Motor-Load Position Deviation Overflow Detection Level Position
Classifica-
Setting Range Setting Unit Default Setting When Enabled
Pn51B tion
0 to
1 reference unit 1000 Immediately Setup
1,073,741,824
Note: If you set this parameter to 0, A.d10 alarms will not be output and the machine may be damaged.
10-8
10.3.7 Alarm Detection Settings
Pn52A (Multiplier per Fully-closed Rotation)

Set the coefficient of the deviation between the Servomotor and the external encoder per Ser-
vomotor rotation. This setting can be used to prevent the Servomotor from running out of con-
trol due to damage to the external encoder or to detect belt slippage.
 Setting Example
Increase the value if the belt slips or is twisted excessively.
If this parameter is set to 0, the external encoder value will be read as it is.
If you use the default setting of 20, the second rotation will start with the deviation for the first
Servomotor rotation multiplied by 0.8.
Deviation between Servomotor and external encoder
Large Pn52A = 0
Pn52A = 20
Small
Pn52A = 100
Number of Servomotor rotations
1st rotation 2nd rotation 3rd rotation 4th rotation
Multiplier per Fully-closed Rotation Position
10
10-9
10.3.8 Analog Monitor Signal Settings
10.3.8 Analog Monitor Signal Settings

You can monitor the position deviation between the Servomotor and load with an analog moni-
tor.
When Classifi-
Parameter Name Meaning
Enabled cation
Analog Monitor 1 Position deviation between motor and load
Pn006 n.07
Signal Selection (output unit: 0.01 V/reference unit). Immedi-
Setup
Analog Monitor 2 Position deviation between motor and load ately
Pn007 n.07
Signal Selection (output unit: 0.01 V/reference unit).
10.3.9 Setting to Use an External Encoder for Speed Feedback

For fully-closed loop control, you normally set a parameter to specify using the motor encoder
speed (Pn22A = n.0).
If you will use a Direct Drive Servomotor and a high-resolution external encoder, set the param-
eter to specify using the speed of the external encoder (Pn22A = n.1).
When
Enabled
n.0
(default set- Use motor encoder speed.
Pn22A ting) After restart Setup
n.1 Use external encoder speed.
Note: This parameter cannot be used if Pn002 is set to n.0 (Do not use external encoder).
10-10
Safety Functions
11
This chapter provides detailed information on the safety
functions of the SERVOPACK.
11.1 Introduction to the Safety Functions . . . . 11-2

11.1.1 Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.2 Precautions for Safety Functions . . . . . . . . . . . 11-2
11.2 Hard Wire Base Block (HWBB) . . . . . . . . . 11-3

11.2.1 Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.2.2 Hard Wire Base Block (HWBB) State . . . . . . . . . 11-4
11.2.3 Resetting the HWBB State . . . . . . . . . . . . . . . . 11-4
11.2.4 Detecting Errors in HWBB Signal . . . . . . . . . . . 11-5
11.2.5 HWBB Input Signal Specifications . . . . . . . . . . 11-5
11.2.6 Operation without a Host Controller . . . . . . . . . 11-5
11.2.7 /S-RDY (Servo Ready Output) Signal . . . . . . . . 11-6
11.2.8 /BK (Brake Output) Signal . . . . . . . . . . . . . . . . . 11-6
11.2.9 Stopping Methods . . . . . . . . . . . . . . . . . . . . . . 11-6
11.2.10 Settings to Clear the Position Deviation . . . . . . 11-7
11.2.11 ALM (Servo Alarm) Signal and ALO1, ALO2, and
ALO3 (Alarm Code Output) Signals . . . . . . . . . . 11-7
11.3 EDM1 (External Device Monitor) . . . . . . . . 11-8

11.3.1 EDM1 Output Signal Specifications . . . . . . . . . 11-8
11.4 Applications Examples for Safety Functions . . . 11-9

11.4.1 Connection Example . . . . . . . . . . . . . . . . . . . . . 11-9
11.4.2 Failure Detection Method . . . . . . . . . . . . . . . . . 11-9
11.4.3 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.5 Validating Safety Functions . . . . . . . . . . . 11-11
11.6 Connecting a Safety Function Device . . . 11-12

11.1 Introduction to the Safety Functions
11.1.1 Safety Functions
11.1 Introduction to the Safety Functions
11.1.1 Safety Functions

Safety functions are built into the SERVOPACK to reduce the risks associated with using the
machine by protecting workers from the hazards of moving machine parts and otherwise
increasing the safety of machine operation.
Especially when working in hazardous areas inside guards, such as for machine maintenance,
the safety function can be used to avoid hazardous moving machine parts.
Refer to the following section for information on the safety function and safety parameters.
Compliance with UL Standards, EU Directives, and Other Safety Standards on page xxvi
Products that display the TÜV mark on the nameplate have met the safety standards.
Important
11.1.2 Precautions for Safety Functions
WARNING
 To confirm that the HWBB function satisfies the safety requirements of the system, you
must conduct a risk assessment of the system.
Incorrect use of the safety function may cause injury.
 The Servomotor will move if there is an external force (e.g., gravity on a vertical axis) even
when the HWBB function is operating. Use a separate means, such as a mechanical brake,
that satisfies the safety requirements.
 While the HWBB function is operating, the Servomotor may move within an electric angle of
180° or less as a result of a SERVOPACK failure. Use the HWBB function for an application
only after confirming that movement of the Servomotor will not result in a hazardous condi-
tion.
 The dynamic brake and the brake signal are not safety-related elements. You must design
the system so that SERVOPACK failures will not cause a hazardous condition while the
HWBB function is operating.
 Connect devices that satisfy the safety standards for the signals for safety functions.
 The HWBB function does not shut OFF the power to the SERVOPACK or electrically isolate
it. Implement measures to shut OFF the power supply to the SERVOPACK before you per-
form maintenance on it.
11-2
11.2 Hard Wire Base Block (HWBB)
11.2.1 Risk Assessment

A hard wire base block (abbreviated as HWBB) is a safety function that is designed to shut OFF
the current to the Servomotor with a hardwired circuit.
The drive signals to the Power Module that controls the motor current are controlled by the cir-
cuits that are independently connected to the two input signal channels to turn OFF the Power
Module and shut OFF the motor current.
For safety function signal connections, the input signal is the 0-V common and the output signal
is a source output.
This is opposite to other signals described in this manual.
Important To avoid confusion, the ON and OFF status of signals for the safety function are defined as fol-
lows:
ON: The state in which the relay contacts are closed or the transistor is ON and current flows
into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no current
flows into the signal line.
The input signal uses the 0-V common. The following figure shows a connection example.
Power supply
SERVOPACK
Control circuit
CN8
24-V power supply
Drive signal
Switch
/HWBB1+ 4
Fuse
/HWBB1- 3 Stopped.
/HWBB2+ 6
/HWBB2- 5 Stopped.
0V
Power Module
Servomotor
11.2.1 Risk Assessment

Safety Functions
When using the HWBB, you must perform a risk assessment of the servo system in advance to
confirm that the safety level of the standards is satisfied. Refer to the following section for
details on the standards.
Compliance with UL Standards, EU Directives, and Other Safety Standards on page xxvi
Note: To meet performance level e (PLe) in EN ISO 13849-1 and SIL3 in IEC 61508, the EDM1 signal must be mon-
itored by the host controller. If the EDM1 signal is not monitored by the host controller, the level will be safety
performance level c (PLc) and SIL1.
11
The following hazards exist even when the HWBB is operating. These hazards must be
included in the risk assessment.
• The Servomotor will move if an external force is applied to it (for example, gravity on a vertical
axis). Implement measures to hold the Servomotor, such as installing a separate mechanical
brake.
11-3
11.2.2 Hard Wire Base Block (HWBB) State
• If a failure occurs such as a Power Module failure, the Servomotor may move within an elec-
tric angle of 180°. Ensure safety even if the Servomotor moves.
The rotational angle or travel distance depends on the type of Servomotor as follows:
• Rotary Servomotor: 1/6 rotation max. (rotational angle calculated at the motor shaft)
• Direct Drive Servomotor: 1/20 rotation max. (rotational angle calculated at the motor shaft)
• Linear Servomotor: 50 mm max.
• The HWBB does not shut OFF the power to the SERVOPACK or electrically isolate it. Imple-
ment measures to shut OFF the power supply to the SERVOPACK before you perform main-
tenance on it.
11.2.2 Hard Wire Base Block (HWBB) State

The SERVOPACK will be in the following state if the HWBB operates. If the /HWBB1 or
/HWBB2 signal turns OFF, the HWBB will operate and the SERVOPACK will enter a HWBB
state.
/HWBB1
ON (normal operation)
/HWBB2 OFF (motor current shut-OFF request)
/S-ON OFF
(Servo ON ON
Input Signal)
SERVOPACK
Status Operating state BB state HWBB state
11.2.3 Resetting the HWBB State

Normally, after the /S-ON (Servo ON) signal is turned OFF and power is no longer supplied to
the Servomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVOPACK will
enter the HWBB state. If you turn ON the /HWBB1 and /HWBB2 signals in this state, the
SERVOPACK will enter a base block (BB) state and will be ready to acknowledge the /S-ON
signal.
/HWBB1 OFF (motor current ON (normal operation)
/HWBB2 shut-OFF request)
/S-ON (Servo OFF

ON Input Signal) ON
SERVOPACK BB state Operating Status

HWBB state
Status
If the /HWBB1 and /HWBB2 signals are OFF and the /S-ON (Servo ON Input) signal is input,
the HWBB state will be maintained even after the /HWBB1 and /HWBB2 signals are turned
ON. Turn OFF the /S-ON signal to place the SERVOPACK in the BB state and then turn ON the
/S-ON signal again.
/HWBB1 OFF (motor current ON (normal operation)
/HWBB2 shut-OFF request)
/S-ON (Servo OFF

ON ON
ON Input Signal)
SERVOPACK Operating
HWBB state BB state
Status Status
Note: 1. If the SERVOPACK is placed in the BB state while the main circuit power supply is OFF, the HWBB state
will be maintained until the /S-ON (Servo ON) signal is turned OFF.
2. If the /S-ON (Servo ON) signal is set to be always active (Pn50A = n.7), you cannot reset the HWBB
state.
Do not set this value if you are using the HWBB.
11-4
11.2.4 Detecting Errors in HWBB Signal
11.2.4 Detecting Errors in HWBB Signal

If only the /HWBB1 or the /HWBB2 signal is input, an A.Eb1 alarm (Safety Function Signal Input
Timing Error) will occur unless the other signal is input within 10 seconds. This makes it possi-
ble to detect failures, such as disconnection of an HWBB signal.
CAUTION
 The A.Eb1 alarm (Safety Function Signal Input Timing Error) is not a safety-related element.
Keep this in mind when you design the system.
11.2.5 HWBB Input Signal Specifications

If an HWBB is requested by turning OFF the two HWBB input signal channels (/HWBB1 and /
HWBB2), the power supply to the Servomotor will be turned OFF within 8 ms.
8 ms max.
/HWBB1
ON (normal OFF (motor current
/HWBB2
operation) shut-OFF request)
SERVO-
PACK Status Normal operating status HWBB state
Note: 1. The OFF status is not recognized if the OFF interval of the /HWBB1 or /HWBB2 signal is 0.5 ms or shorter.
2. You can check the status of the input signals by using monitor displays.
11.2.6 Operation without a Host Controller

The HWBB will operate even for operation without a host controller.
However, if the HWBB operates during execution of the following functions, leave the execution
mode for the function and then enter it again to restart operation. Operation will not be
restarted simply by turning OFF the /HWBB1 and /HWBB2 signals.
Applicable Functions Resetting the HWBB State
After you turn ON the /HWBB1 and

/HWBB2 signals, leave the execution mode
for the function and then enter it again.
• Jogging Safety Functions
• Origin search Function
• Program jogging Function Not function Function
execution
execution mode execution mode execution mode
• Automatic adjustment without status OFF (motor
host reference current
• Easy FFT /HWBB1 ON (normal shut-OFF ON (normal
• Adjustment of motor current /HWBB2 operation) request) operation)
detection signal offset
SERVOPACK
Status
Operating
Status
HWBB state BB state
Operating
Status
11
11-5
11.2.7 /S-RDY (Servo Ready Output) Signal
11.2.7 /S-RDY (Servo Ready Output) Signal

The /S-ON (Servo ON) signal will not be acknowledged in the HWBB state. Therefore, the
Servo Ready Output Signal will turn OFF. The Servo Ready Output Signal will turn ON if both
the /HWBB1 and /HWBB2 signals are ON and the /S-ON signal is turned OFF (BB state).
An example is provided below for when the main circuit power supply is ON and the SEN signal
turns ON when there is no servo alarm. (An absolute encoder is used in this example.)
/HWBB1 ON (normal OFF (motor current ON (normal

/HWBB2 operation) shut-OFF request) operation)
/S-ON
OFF
(Servo ON ON
Input Signal)
SERVOPACK Operating
Status HWBB state BB state
Status
/S-RDY
(Servo Ready OFF
ON ON
Output Signal)
11.2.8 /BK (Brake Output) Signal

If the HWBB operates when the /HWBB1 or /HWBB2 signal is OFF, the /BK (Brake) signal will
turn OFF. At that time, the setting in Pn506 (Brake Reference - Servo OFF Delay Time) will be
disabled. Therefore, the Servomotor may be moved by external force until the actual brake
becomes effective after the /BK signal turns OFF.
CAUTION
 The brake signal is not a safety-related element. You must design the system so that a haz-
ardous condition does not occur even if the brake signal fails in the HWBB state. Also, if a
Servomotor with a Brake is used, keep in mind that the brake in the Servomotor is used only
to prevent the moving part from being moved by gravity or an external force and it cannot
be used to stop the Servomotor.
11.2.9 Stopping Methods

If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, the Servomotor will stop
according to the stop mode that is set for stopping the Servomotor when the servo turns OFF
(Pn001 = n.X). However, if the dynamic brake is enabled (Pn001 = n.0 or
n.1), observe the following precautions.
CAUTION
 The dynamic brake is not a safety-related element. You must design the system so that a
hazardous condition does not occur even if the Servomotor coasts to a stop in the HWBB
state. Normally, we recommend that you use a sequence that returns to the HWBB state
after stopping for a reference.
 If the application frequently uses the HWBB, stopping with the dynamic brake may result in
the deterioration of elements in the SERVOPACK. To prevent internal elements from deterio-
rating, use a sequence in which the HWBB state is returned to after the Servomotor has
come to a stop.
11-6
11.2.10 Settings to Clear the Position Deviation
11.2.10 Settings to Clear the Position Deviation

A position deviation in the HWBB state is cleared according to the setting of Pn200 = n.X
(Clear Operation). If you specify not clearing the position deviation during position control
(Pn200 = n.1), the position deviation will accumulate unless the position reference from
the host controller is canceled in the HWBB state. The following conditions may result.
• An A.d00 alarm (Position Deviation Overflow) may occur.
• If you turn ON the servo after changing from HWBB state to BB state, the Servomotor may
move for the accumulated position deviation.
Therefore, stop the position reference from the host controller while in the HWBB state. If you
specify not clearing the position deviation during position control (Pn200 = n.1), input the
CLR (Position Deviation Clear) signal during the HWBB or BB state to clear the position devia-
tion.
11.2.11 ALM (Servo Alarm) Signal and ALO1, ALO2, and ALO3
(Alarm Code Output) Signals
The ALM (Servo Alarm) signal is not output in the HWBB state. The ALO1, ALO2, and ALO3
(Alarm Code Output) signals are not output in the HWBB state.
Safety Functions
11
11-7
11.3 EDM1 (External Device Monitor)
11.3.1 EDM1 Output Signal Specifications
11.3 EDM1 (External Device Monitor)

The EDM1 (External Device Monitor) signal is used to monitor failures in the HWBB. Connect
the monitor signal as a feedback signal, e.g., to the Safety Unit.
Note: To meet performance level e (PLe) in EN ISO 13849-1 and SIL3 in IEC 61508, the EDM1 signal must be mon-
itored by the host controller. If the EDM1 signal is not monitored by the host controller, the level will be safety
performance level c (PLc) and SIL1.
• Failure Detection Signal for EDM1 Signal
The relationship between the EDM1, /HWBB1, and /HWBB2 signals is shown below.
Detection of failures in the EDM1 signal circuit can be achieved by using the status of the
/HWBB1, /HWBB2, and EDM1 signals in the following table. A failure can be detected by
checking the failure status, e.g., when the power supply is turned ON.
Signal Logic
/HWBB1 ON ON OFF OFF
/HWBB2 ON OFF ON OFF
EDM1 OFF OFF OFF ON
WARNING
 The EDM1 signal is not a safety output. Use it only for monitoring for failures.
11.3.1 EDM1 Output Signal Specifications

If an HWBB is requested by turning OFF the two HWBB input signal channels (/HWBB1 and /HWBB2)
when the safety function is operating normally, the EDM1 output signal will be turned ON within 8 ms.
8 ms max.
/HWBB1
/HWBB2 ON
(normal operation) OFF (motor current shut-OFF request)
EDM1 OFF ON
11-8
11.4 Applications Examples for Safety Functions
11.4.1 Connection Example

This section provides examples of using the safety functions.
11.4.1 Connection Example

In the following example, a Safety Unit is used and the HWBB operates when the guard is
opened.
Close
Guard Limit switch
24-V power
supply Open G9SX-BC202 Safety
Unit manufactured by
OMRON Corporation
Fuse
A1 T11 T12 T21 T22
Power Inputs
supply Reset/feedback
input Outputs
inputs SERVOPACK
A2 T31 T32 T33 S24 S14
CN8
/HWBB1+ 4
0V
/HWBB1- 3
/HWBB2+ 6
/HWBB2- 5
EDM1+ 8
EDM1- 7
When the guard is opened, both the /HWBB1 and the /HWBB2 signals turn OFF, and the
EDM1 signal turns ON. Because the feedback circuit is ON while the guard is closed, the
Safety Unit is reset, the /HWBB1 and the / HWBB2 signals turn ON, and the operation is
enabled.
Note: The EDM1 signal is used as a source output. Connect the EDM1 so that the current flows from EMD1+ to
EMD1-.
11.4.2 Failure Detection Method

Safety Functions
If a failure occurs (e.g., the /HWBB1 or the /HWBB2 signal remains ON), the Safety Unit is not
reset when the guard is closed because the EDM1 signal remains OFF. Therefore starting is not
possible and a failure is detected.
In this case the following must be considered: an error in the external device, disconnection of
the external wiring, short-circuiting in the external wiring, or a failure in the SERVOPACK. Find
the cause and correct the problem. 11
11-9
11.4.3 Procedure
11.4.3 Procedure
1 Request is received to open the guard.
If the Servomotor is operating, a stop command is received from the

2
host controller, the Servomotor stops, and the servo is turned OFF.
3 The guard is opened.
The /HWBB1 and /HWBB2 signals turn OFF and the HWBB
4
operates. (Working inside the guard is enabled.)
5 The worker leaves the guarded area after completing work.
6 The guard is closed.
7 The servo is turned ON by the host controller.
11-10
11.5 Validating Safety Functions
11.5 Validating Safety Functions

When you commission the system or perform maintenance or SERVOPACK replacement, you
must always perform the following validation test on the HWBB function after completing the
wiring. (It is recommended that you keep the confirmation results as a record.)
• When the /HWBB1 and /HWBB2 signals turn OFF, confirm that the Panel Operator or Digital
Operator displays Hbb and that the Servomotor does not operate.
• Monitor the ON/OFF status of the /HWBB1 and /HWBB2 signals.
If the ON/OFF status of the signals do not coincide with the display, the following must be
considered: an error in the external device, disconnection of the external wiring, short-circuit-
ing in the external wiring, or a failure in the SERVOPACK. Find the cause and correct the
problem.
Refer to the following sections for details on the monitor.
13.3.4 Safety Input Signal Monitor (Un015) on page 13-10
• Confirm that the EDM1 signal is OFF while in normal operation by using the feedback circuit
input display of the connected device.
Safety Functions
11
11-11
11.6 Connecting a Safety Function Device
11.6 Connecting a Safety Function Device

Use the following procedure to connect a safety function device.
1. Remove the Safety Jumper Connector from the connector for the safety function device
(CN8).
Enlarged
View
Hold the Safety Jumper

Safety Jumper Connector between your
Connector fingers and remove it.
2. Connect the safety function device to the connector for the safety function device
(CN8).
Note: If you do not connect a safety function device, leave the Safety Jumper Connector connected to the connec-
tor for the safety function device (CN8). If the SERVOPACK is used without the Safety Jumper Connector
connected to CN8, no current will be supplied to the Servomotor and no motor torque will be output. In this
case, Hbb will be displayed on the Digital Operator.
11-12
Maintenance
12
This chapter provides information on the meaning of,
causes of, and corrections for alarms and warnings.
12.1 Inspections and Part Replacement . . . . . . 12-2

12.1.1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
12.1.2 Guidelines for Part Replacement . . . . . . . . . . . . 12-2
12.1.3 Replacing the Battery . . . . . . . . . . . . . . . . . . . . 12-3
12.2 Alarm Displays . . . . . . . . . . . . . . . . . . . . . 12-5

12.2.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5
12.2.2 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . 12-12
12.2.3 Resetting Alarms . . . . . . . . . . . . . . . . . . . . . . . 12-41
12.2.4 Displaying the Alarm History . . . . . . . . . . . . . . 12-42
12.2.5 Clearing the Alarm History . . . . . . . . . . . . . . . 12-43
12.2.6 Resetting Alarms Detected in Option
Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-44
12.2.7 Resetting Motor Type Alarms . . . . . . . . . . . . . 12-46
12.3 Warning Displays . . . . . . . . . . . . . . . . . . . 12-48

12.3.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . 12-48
12.3.2 Troubleshooting Warnings . . . . . . . . . . . . . . . . 12-50
12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor . .12-56
12.1 Inspections and Part Replacement
12.1.1 Inspections

This section describes inspections and part replacement for SERVOPACKs.
12.1.1 Inspections
Perform the inspections given in the following table at least once every year for the SERVO-
PACK. Daily inspections are not required.
Item Frequency Inspection Correction
Check for dust, dirt, and oil on the Clean with compressed air or a
Exterior
surfaces. cloth.
At least once a
year Check for loose terminal block
Tighten any loose screws or other
Loose Screws and connector screws and for
loose parts.
other loose parts.
12.1.2 Guidelines for Part Replacement

The following electric or electronic parts are subject to mechanical wear or deterioration over
time. Use one of the following methods to check the standard replacement period.
• Use the service life prediction function of the SERVOPACK.
Refer to the following section for information on service life predictions.
9.4 Monitoring Product Life on page 9-16
• Use the following table.
Standard Replace-
Part Remarks
ment Period
Cooling Fan 4 years to 5 years The standard replacement periods given on the left are for
the following operating conditions.
• Surrounding air temperature: Annual average of 30°C
Electrolytic Capacitor 10 years • Load factor: 80% max.
• Operation rate: 20 hours/day max.
100,000 power ON
Relays Power ON frequency: Once an hour
operations
3 years without power
Battery Surrounding temperature without power supplied: 20°C
supplied
When any standard replacement period is close to expiring, contact your Yaskawa representa-
tive. After an examination of the part in question, we will determine whether the part should be
replaced.
The parameters of any SERVOPACKs that are sent to Yaskawa for part replacement are reset to
the factory settings before they are returned to you. Always keep a record of the parameter set-
Important
tings. And, always confirm that the parameters are properly set before starting operation.
12-2
12.1.3 Replacing the Battery

If the battery voltage drops to approximately 2.7 V or less, an A.830 alarm (Encoder Battery
Alarm) or an A.930 warning (Absolute Encoder Battery Error) will be displayed.
If this alarm or warning is displayed, the battery must be replaced.
Refer to the following section for the battery replacement procedure.
Battery Replacement Procedure on page 12-3
Battery Alarm/Warning Selection

Whether to display an alarm or a warning is determined by the setting of Pn008 = n.X
(Low Battery Voltage Alarm/Warning Selection).
n.0
Output alarm (A.830) for low battery voltage.
n.1 Output warning (A.930) for low battery voltage.
• Pn008 = n.0
The ALM (Servo Alarm) signal is output for up to five seconds when the control power supply
is turned ON, and then the battery voltage is monitored for four seconds.
No alarm will be displayed even if the battery voltage drops below the specified value after
these four seconds.
• Pn008 = n.1
The ALM (Servo Alarm) signal is output for up to five seconds when the control power supply
is turned ON, and then the battery voltage is monitored continuously.
ON
OFF
ALM Normal status
Alarm
5 s max. 4s
When displaying an alarm is specified: Battery voltage

Pn008 = n.0 monitored
When displaying a warning is specified: Battery voltage monitored

Pn008 = n.1
Battery Replacement Procedure

 When Installing a Battery on the Host Controller
1. Turn ON only the control power supply to the SERVOPACK.
Maintenance
2. Remove the old battery and mount a new battery.

3. Turn OFF the control power supply to the SERVOPACK to clear the A.830 alarm
(Encoder Battery Alarm).
4. Turn ON the control power supply to the SERVOPACK again.
12
5. Make sure that the alarm has been cleared and that the SERVOPACK operates normally.
12-3
 When Using an Encoder Cable with a Battery Case

1. Turn ON only the control power supply to the SERVOPACK.
If you remove the Battery or disconnect the Encoder Cable while the control power supply to
the SERVOPACK is OFF, the absolute encoder data will be lost.
Important
2. Open the cover of the Battery Case.
3. Remove the old Battery and mount a new Battery.

Absolute Encoder Cable
SERVOPACK connector
Mount a Lithium Battery.
Battery Case Lithium Battery

(JUSP-BA01-E) (JZSP-BA01)
4. Close the cover of the Battery Case.
5. Turn OFF the power supply to the SERVOPACK to clear the A.830 alarm (Encoder Bat-
tery Alarm).
6. Turn ON the power supply to the SERVOPACK.
7. Make sure that the alarm has been cleared and that the SERVOPACK operates normally.
12-4
12.2 Alarm Displays
12.2.1 List of Alarms
12.2 Alarm Displays

If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display.
However, if - appears on the panel display, the display will indicate a SERVOPACK sys-
tem error. Replace the SERVOPACK.
Example: If an A.020 alarm occurs,

“020” will flash on the display.
This section provides a list of the alarms that may occur and the causes of and corrections for
those alarms.

The list of alarms gives the alarm name, alarm meaning, alarm stopping method, alarm reset
possibility, and alarm code output in order of the alarm numbers.
Servomotor Stopping Method for Alarms

Refer to the following section for information on the stopping method for alarms.
5.14.2 Servomotor Stopping Method for Alarms on page 5-43
Alarm Reset Possibility

Yes: You can use an alarm reset to clear the alarm. However, this assumes that the cause of
the alarm has been removed.
No: You cannot clear the alarm.
List of Alarms
Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Alarm Name Alarm Meaning Stop-
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
There is an error in the
Parameter Checksum
A.020 parameter data in the Gr.1 No H H H
Error SERVOPACK.
A.021 Parameter Format Error parameter data format in the Gr.1 No H H H
SERVOPACK.
A.022 System Checksum Error parameter data in the Gr.1 No H H H
Maintenance
SERVOPACK.
An internal program error
A.024 System Alarm occurred in the SERVO- Gr.1 No H H H
PACK.
An internal program error
A.025 System Alarm occurred in the SERVO-
PACK.
Gr.1 No H H H
12
Main Circuit Detector There is an error in the detec-
A.030 Gr.1 Yes H H H
Error tion data for the main circuit.
A parameter setting is out-
A.040 Parameter Setting Error Gr.1 No H H H
side of the setting range.
12-5
12.2 Alarm Displays

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
The setting of Pn212 (Num-
ber of Encoder Output
Pulses) or Pn281 (Encoder
Encoder Output Pulse
A.041 Output Resolution) is outside Gr.1 No H H H
Setting Error of the setting range or does
not satisfy the setting condi-
tions.
The combination of some
Parameter Combination
A.042 parameters exceeds the set- Gr.1 No H H H
Error ting range.
Semi-Closed/Fully-Closed The settings of the Option
Module and Pn002 =
A.044 Loop Control Parameter Gr.1 No H H H
n.X (External Encoder
Setting Error Usage) do not match.
The capacities of the
A.050 Combination Error SERVOPACK and Servomo- Gr.1 Yes H H H
tor do not match.
Unsupported Device An unsupported device was
A.051 Gr.1 No H H H
Alarm connected.
The connected motor is a dif-
Motor Type Change
A.070 ferent type of motor from the Gr.1 No H H H
Detected previously connected motor.
The setting of Pn282 (Linear
Linear Encoder Pitch Set- Encoder Scale Pitch) has not
A.080 Gr.1 No H H H
ting Error been changed from the
default setting.
The /S-ON (Servo ON) signal
was input from the host con-
Invalid Servo ON Com-
A.0b0 troller after a utility function Gr.1 Yes H H H
mand Alarm that turns ON the Servomo-
tor was executed.
An overcurrent flowed
A.100 Overcurrent Detected through the power transistor Gr.1 No L H H
or the heat sink overheated.
The current to the motor
Motor Overcurrent
A.101 exceeded the allowable cur- Gr.1 No L H H
Detected rent.
There is an error related to
A.300 Regeneration Error Gr.1 Yes L L H
regeneration.
A regenerative overload
A.320 Regenerative Overload Gr.2 Yes L L H
occurred.
• The AC power supply input
Main Circuit Power Supply setting or DC power supply
A.330 input setting is not correct. Gr.1 Yes L L H
Wiring Error • The power supply wiring is
not correct.
The main circuit DC voltage
A.400 Overvoltage Gr.1 Yes H H L
is too high.
The main circuit DC voltage
A.410 Undervoltage Gr.2 Yes H H L
is too low.
The motor exceeded the
A.510 Overspeed Gr.1 Yes L H L
maximum speed.
12-6
12.2 Alarm Displays

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
• Rotary Servomotor: The
pulse output speed for the
setting of Pn212 (Number
of Encoder Output Pulses)
Encoder Output Pulse was exceeded.
A.511 Gr.1 Yes L H L
Overspeed • Linear Servomotor: The
motor speed upper limit for
the setting of Pn281
(Encoder Output Resolu-
tion) was exceeded.
Abnormal oscillation was
A.520 Vibration Alarm Gr.1 Yes L H L
detected in the motor speed.
Vibration was detected
A.521 Autotuning Alarm during autotuning for the tun- Gr.1 Yes L H L
ing-less function.
The setting of Pn385 (Maxi-
Maximum Speed Setting mum Motor Speed) is greater
A.550 Gr.1 Yes L H L
Error than the maximum motor
speed.
The Servomotor was operat-
ing for several seconds to
A.710 Instantaneous Overload several tens of seconds Gr.2 Yes L L L
under a torque that largely
exceeded the rating.
The Servomotor was operat-
ing continuously under a
A.720 Continuous Overload Gr.1 Yes L L L
torque that exceeded the rat-
ing.
When the dynamic brake was
A.730 applied, the rotational or lin-
Dynamic Brake Overload ear kinetic energy exceeded Gr.1 Yes L L L
A.731 the capacity of the dynamic
brake resistor.
The main circuit power sup-
Inrush Current Limiting
A.740 ply was frequently turned ON Gr.1 Yes L L L
Resistor Overload and OFF.
Internal Temperature Error The surrounding tempera-
A.7A1 1 (Control Board Tempera- ture of the control PCB is Gr.2 Yes L L L
ture Error) abnormal.
Internal Temperature Error The surrounding tempera-
A.7A2 2 (Power Board Tempera- ture of the power PCB is Gr.2 Yes L L L
ture Error) abnormal.
Internal Temperature Sen- An error occurred in the tem-
A.7A3 Gr.2 No L L L
Maintenance
sor Error perature sensor circuit.

SERVOPACK Built-in Fan The fan inside the SERVO-
A.7Ab Gr.1 Yes L L L
Stopped PACK stopped.
The power supplies to the
A.810 Encoder Backup Alarm encoder all failed and the Gr.1 No H H H
position data was lost.
There is an error in the 12
A.820 Encoder Checksum Alarm checksum results for Gr.1 No H H H
encoder memory.
The battery voltage was
lower than the specified level
A.830 Encoder Battery Alarm Gr.1 Yes H H H
after the control power sup-
ply was turned ON.
12-7
12.2 Alarm Displays

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
There is an internal data error
A.840 Encoder Data Alarm Gr.1 No H H H
in the encoder.
The encoder was operating
A.850 Encoder Overspeed at high speed when the Gr.1 No H H H
power was turned ON.
The internal temperature of
A.860 Encoder Overheated the rotary encoder or linear Gr.1 No H H H
encoder is too high.
The internal temperature of
A.861 Motor Overheated Gr.1 No H H H
motor is too high.
The input voltage (tempera-
ture) for the overheat protec-
tion input (TH) signal
A.862 Overheat Alarm Gr.1 Yes H H H
exceeded the setting of
Pn61B (Overheat Alarm
Level).
A failure occurred in the lin-
A.890 Encoder Scale Error Gr.1 No H H H
ear encoder.
An error occurred in the lin-
A.891 Encoder Module Error Gr.1 No H H H
ear encoder.
An error occurred in the
A.8A0 External Encoder Error Gr.1 Yes H H H
external encoder.
External Encoder Module An error occurred in the
A.8A1 Gr.1 Yes H H H
Error Serial Converter Unit.
External Incremental An error occurred in the
Encoder Sensor Error external encoder.
External Absolute Encoder An error occurred in the posi-

A.8A3 tion data of the external Gr.1 Yes H H H
Position Error encoder.
External Encoder Over- An overspeed error occurred
speed in the external encoder.
An overheating error
External Encoder Over-
A.8A6 occurred in the external Gr.1 Yes H H H
heated encoder.
An error occurred in the A/D
Speed Reference A/D
A.b10 converter for the speed refer- Gr.2 Yes H H H
Error ence input.
Speed Reference A/D
A.b11 conversion data for the Gr.2 Yes H H H
Data Error speed reference.
Torque Reference A/D
A.b20 converter for the torque ref- Gr.2 Yes H H H
Error erence input.
An error occurred in the cur-
A.b33 Current Detection Error 3 Gr.1 No H H H
rent detection circuit.
Internal program error 0
A.bF0 System Alarm 0 occurred in the SERVO- Gr.1 No H H H
PACK.
PACK.
PACK.
12-8
12.2 Alarm Displays

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
PACK.
PACK.
PACK.
PACK.
PACK.
PACK.
The Servomotor ran out of
A.C10 Servomotor Out of Control Gr.1 Yes L H L
control.
The detection of the phase is
A.C20 Phase Detection Error Gr.1 No L H L
not correct.
An error occurred in the
A.C21 Polarity Sensor Error Gr.1 No L H L
polarity sensor.
Phase Information Dis- The phase information does
A.C22 Gr.1 No L H L
agreement not match.
A.C50 Polarity Detection Failure The polarity detection failed. Gr.1 No L H L
The overtravel signal was
Overtravel Detected
A.C51 detected during polarity Gr.1 Yes L H L
during Polarity Detection detection.
The servo was turned ON
Polarity Detection Not
A.C52 before the polarity was Gr.1 Yes L H L
Completed detected.
The travel distance exceeded
Out of Range of Motion for
A.C53 the setting of Pn48E (Polarity Gr.1 No L H L
Polarity Detection Detection Range).
Polarity Detection Failure
A.C54 The polarity detection failed. Gr.1 No L H L
2
Encoder Clear Error or The multiturn data for the
A.C80 Multiturn Limit Setting absolute encoder was not Gr.1 No L H L
Error correctly cleared or set.
Communications between
Maintenance
Encoder Communications
A.C90 the encoder and SERVO- Gr.1 No L H L
Error PACK is not possible.
Encoder Communications An error occurred in calculat-
A.C91 Position Data Acceleration ing the position data of the Gr.1 No L H L
Rate Error encoder.
An error occurred in the com- 12
Encoder Communications munications timer between
A.C92 Gr.1 No L H L
Timer Error the encoder and SERVO-
PACK.
The parameters in the
A.CA0 Encoder Parameter Error Gr.1 No L H L
encoder are corrupted.
12-9
12.2 Alarm Displays

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
The contents of communica-
A.Cb0 Encoder Echoback Error tions with the encoder are Gr.1 No L H L
incorrect.
Different multiturn limits have
Multiturn Limit Disagree-
A.CC0 been set in the encoder and Gr.1 No L H L
ment the SERVOPACK.
Reception Failed Error in Receiving data from the
A.CF1 Feedback Option Module Feedback Option Module Gr.1 No L H L
Communications failed.
Timer Stopped Error in An error occurred in the timer
A.CF2 Feedback Option Module for communications with the Gr.1 No L H L
Communications Feedback Option Module.
The setting of Pn520 (Posi-
tion Deviation Overflow Alarm
Position Deviation Over-
A.d00 Level) was exceeded by the Gr.1 Yes L L H
flow
position deviation while the
servo was ON.
The servo was turned ON
after the position deviation
exceeded the setting of
A.d01 Pn526 (Position Deviation Gr.1 Yes L L H
flow Alarm at Servo ON Overflow Alarm Level at
Servo ON) while the servo
was OFF.
If position deviation remains
in the deviation counter, the
setting of Pn529 or Pn584
(Speed Limit Level at Servo
Position Deviation Over- ON) limits the speed when
the servo is turned ON. This
A.d02 flow Alarm for Speed Limit Gr.2 Yes L L H
alarm occurs if reference
at Servo ON pulses are input and the set-
ting of Pn520 (Position Devi-
ation Overflow Alarm Level) is
exceeded before the limit is
cleared.
There was too much position
Motor-Load Position Devi- deviation between the motor
A.d10 Gr.2 Yes L L H
ation Overflow and load during fully-closed
loop control.
The position feedback data
A.d30 Position Data Overflow Gr.1 No L L H
exceeded ±1,879,048,192.
Safety Option Module Detection of the Safety
A.E71 Gr.1 No H L L
Detection Failure Option Module failed.
Feedback Option Module Detection of the Feedback
A.E72 Gr.1 No H L L
Detection Failure Option Module failed.
An unsupported Safety
Unsupported Safety
A.E74 Option Module was con- Gr.1 No H L L
Option Module nected.
An error occurred in the input
Safety Function Signal
A.Eb1 timing of the safety function Gr.1 No H L L
Input Timing Error signal.
An error occurred in the gate
A.EC8 Gate Drive Error 1 Gr.1 No H L L
drive circuit.
An error occurred in the gate
A.EC9 Gate Drive Error 2 Gr.1 No H L L
drive circuit.
12-10
12.2 Alarm Displays

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
The voltage was low for more
Power Supply Line Open than one second for phase
A.F10 Gr.2 Yes H L H
Phase R, S, or T when the main
power supply was ON.
FL-1*
FL-2*
FL-3* An internal program error
System Alarm occurred in the SERVO- – No Undefined.
FL-4* PACK.
FL-5*
FL-6*
Digital Operator Commu- Communications were not
CPF00
nications Error 1 possible between the Digital
Operator (model: JUSP-
– No Undefined.
Digital Operator Commu- OP05A-1-E) and the SERVO-
CPF01 PACK (e.g., a CPU error
nications Error 2
occurred).
* These alarms are not stored in the alarm history. They are only displayed on the panel display.
Note: The A.Eb0, A.Eb2 to A.Eb9, and A.EC0 to A.EC2 alarms can occur when a Safety Module is connected.
Refer to the following manual for details.
Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module (Manual No.: SIEP
C720829 06)
Maintenance
12
12-11
12.2 Alarm Displays

The causes of and corrections for the alarms are given in the following table. Contact your
Yaskawa representative if you cannot solve a problem with the correction given in the table.
Alarm Number:
Possible Cause Confirmation Correction Reference
Alarm Name
Set the power supply volt-
The power supply
Measure the power age within the specified
voltage suddenly
supply voltage. range, and initialize the
dropped.
parameter settings.
page 5-12
The power supply
Check the timing of Initialize the parameter
was shut OFF while
shutting OFF the power settings and then set the
writing parameter set-
supply. parameters again.
tings.
The SERVOPACK may be
The number of times Check to see if the faulty. Replace the
that parameters were parameters were fre- SERVOPACK.
–
written exceeded the quently changed from Reconsider the method
A.020: limit. the host controller. for writing the parame-
Parameter ters.
Checksum Error Turn the power supply
(There is an error A malfunction was
to the SERVOPACK
in the parameter caused by noise from
OFF and ON again. If Implement countermea-
data in the the AC power supply, page 4-5
the alarm still occurs, sures against noise.
SERVOPACK.) ground, static elec-
noise may be the
tricity, or other source.
cause.
Gas, water drops, or
cutting oil entered the The SERVOPACK may be
Check the installation
SERVOPACK and faulty. Replace the –
conditions.
caused failure of the SERVOPACK.
internal components.
Turn the power supply
to the SERVOPACK
A failure occurred in OFF and ON again. If
faulty. Replace the –
the SERVOPACK. the alarm still occurs,
SERVOPACK.
the SERVOPACK may
have failed.
The software version
Read the product infor- Write the parameters from
of the SERVOPACK
A.021: mation to see if the soft- another SERVOPACK with
that caused the alarm
Parameter For- ware versions are the the same model and the
is older than the soft- page 9-2
mat Error same. If they are differ- same software version,
ware version of the
(There is an error ent, it could be the and then turn the power
parameters specified
in the parameter cause of the alarm. OFF and ON again.
to write.
data format in the
SERVOPACK.) The SERVOPACK may be
A failure occurred in
– faulty. Replace the –
the SERVOPACK.
SERVOPACK.
The power supply The SERVOPACK may be
Measure the power
voltage suddenly faulty. Replace the –
supply voltage.
dropped. SERVOPACK.
A.022: The power supply
Check the timing of The SERVOPACK may be
System Check- was shut OFF while
shutting OFF the power faulty. Replace the –
sum Error setting a utility func-
supply. SERVOPACK.
(There is an error tion.
in the parameter Turn the power supply
data in the to the SERVOPACK
SERVOPACK.) The SERVOPACK may be
A failure occurred in OFF and ON again. If
faulty. Replace the –
the SERVOPACK. the alarm still occurs,
SERVOPACK.
the SERVOPACK may
have failed.
12-12
12.2 Alarm Displays

Alarm Number:
Alarm Name
A.024:
System Alarm The SERVOPACK may be
(An internal pro- A failure occurred in
gram error the SERVOPACK.
SERVOPACK.
occurred in the
SERVOPACK.)
A.025:
System Alarm The SERVOPACK may be
(An internal pro- A failure occurred in
gram error the SERVOPACK.
SERVOPACK.
occurred in the
SERVOPACK.)
A.030: The SERVOPACK may be
Main Circuit – faulty. Replace the –
the SERVOPACK.
Detector Error SERVOPACK.
The SERVOPACK and
Check the combination Select a proper combina-
Servomotor capaci-
of the SERVOPACK and tion of SERVOPACK and page 1-9
ties do not match
Servomotor capacities. Servomotor capacities.
each other.
The motor parameter
file was not written to Check to see if the
Write the motor parame-
the linear encoder. motor parameter file
ter file to the linear page 5-21
(This applies only was written to the lin-
encoder.
A.040: when not using a ear encoder.
Parameter Set- Serial Converter Unit.)
ting Error The SERVOPACK may be
(A parameter set- – faulty. Replace the –
the SERVOPACK.
ting is outside of SERVOPACK.
the setting Check the setting
range.) A parameter setting is Set the parameters to val-
ranges of the parame-
outside of the setting ues within the setting –
ters that have been
range. ranges.
changed.
Check the electronic
gear ratio. The ratio Set the electronic gear
The electronic gear
must be within the fol- ratio in the following
ratio is outside of the page 5-48
lowing range: 0.001 < range: 0.001 < (Pn20E/
setting range.
(Pn20E/Pn210) < Pn210) < 64,000.
64,000.
The setting of Pn212
(Number of Encoder
Output Pulses) or
A.041:
Pn281 (Encoder Out-
Encoder Output Check the setting of Set Pn212 or Pn281 to an
put Resolution) is out- page 6-47
Pulse Setting Pn212 or Pn281. appropriate value.
side of the setting
Error range or does not sat-
isfy the setting condi-
tions.
Maintenance
12
12-13
12.2 Alarm Displays

Alarm Number:
Alarm Name
The speed of program
jogging went below
the setting range Check to see if the Decrease the setting of
when the electronic detection conditions*1 the electronic gear ratio page 5-48
gear ratio (Pn20E/ are satisfied. (Pn20E/Pn210).
Pn210) or the Servo-
motor was changed.
The speed of program
jogging went below
the setting range Check to see if the
A.042: Increase the setting of
when Pn533 or Pn585 detection conditions*1 page 7-20
Parameter Com- Pn533 or Pn585.
(Program Jogging are satisfied.
bination Error Movement Speed)
was changed.
The movement speed
of advanced autotun-
ing went below the Check to see if the Decrease the setting of
setting range when
the electronic gear detection conditions*2 the electronic gear ratio page 5-48
are satisfied. (Pn20E/Pn210).
ratio (Pn20E/ Pn210)
or the Servomotor
was changed.
A.044: The setting of the
Semi-Closed/ Fully-closed Module Make sure that the setting
Fully-Closed does not match the Check the setting of of the Fully-closed Mod-
page 10-6
Loop Control setting of Pn002 = Pn002 = n.X. ule agrees with the setting
Parameter n.X (External of Pn002 = n.X.
Setting Error Encoder Usage).
The SERVOPACK and Confirm that the follow- Select a proper combina-
Servomotor capaci- ing condition is met: tion of the SERVOPACK
A.050: 1/4 ≤ (Servomotor page 1-9
ties do not match capacity/SERVOPACK and Servomotor capaci-
Combination each other. capacity) ≤ 4 ties.
Error
(The capacities of Replace the encoder
A failure occurred in Replace the Servomotor
the SERVOPACK and check to see if the –
the encoder. or encoder.
and Servomotor alarm still occurs.
do not match.) The SERVOPACK may be
the SERVOPACK.
SERVOPACK.
The motor parameter
file was not written to Check to see if the
Write the motor parame-
the linear encoder. motor parameter file
ter file to the linear page 5-21
(This applies only was written to the lin-
encoder.
when not using a ear encoder.
A.051: Serial Converter Unit.)
Unsupported
Device Alarm An unsupported Serial
Converter Unit or
Check the product
encoder (e.g., an Change to a correct com-
combination specifica- –
external encoder) is bination of models.
tions.
connected to the
SERVOPACK.
12-14
12.2 Alarm Displays

Alarm Number:
Alarm Name
Set the parameters for a
Linear Servomotor and
A Rotary Servomotor
reset the motor type
A.070: was removed and a
– alarm. Then, turn the page 12-46
Motor Type Linear Servomotor
power supply to the
Change Detected was connected.
SERVOPACK OFF and
(The connected ON again.
motor is a differ-
ent type of motor Set the parameters for a
from the previ- Rotary Servomotor and
A Linear Servomotor
ously connected reset the motor type
was removed and a
motor.) – alarm. Then, turn the page 12-46
Rotary Servomotor
power supply to the
was connected.
SERVOPACK OFF and
ON again.
A.080:
(Linear Encoder Scale
Linear Encoder Check the setting of Correct the setting of
Pitch) has not been page 5-20
Pitch Setting Pn282. Pn282.
changed from the
Error default setting.
The /S-ON (Servo ON)
signal was input from
A.0b0: the host controller Turn the power supply to
after a utility function the SERVOPACK OFF and
Invalid Servo ON – page 6-96
that turns ON the Ser- ON again. Or, execute a
Command Alarm vomotor was exe- software reset.
cuted.
The Main Circuit

Cable is not wired
Check the wiring. Correct the wiring.
correctly or there is
faulty contact.
Check for short-circuits
across Servomotor
There is a short-circuit The cable may be short-
phases U, V, and W, or
or ground fault in a circuited. Replace the
between the ground
Main Circuit Cable. cable.
and Servomotor phases
U, V, and W.
A.100: Check for short-circuits
Overcurrent across Servomotor page 4-25
There is a short-circuit The Servomotor may be
Detected phases U, V, and W, or
or ground fault inside faulty. Replace the Servo-
(An overcurrent between the ground
the Servomotor. motor.
flowed through and Servomotor phases
the power tran- U, V, or W.
sistor or the heat Check for short-circuits
sink overheated.) across the Servomotor
connection terminals U,
There is a short-circuit The SERVOPACK may be
V, and W on the
or ground fault inside faulty. Replace the
SERVOPACK, or
the SERVOPACK. SERVOPACK.
between the ground
Maintenance
and terminals U, V, or
W.
The regenerative
resistor is not wired
Check the wiring. Correct the wiring. page 4-21
faulty contact.
12
12-15
12.2 Alarm Displays

Alarm Number:
Alarm Name
Check the power con-
The dynamic brake sumed by the DB resis-
Change the SERVOPACK
(DB, emergency stop tor to see how
model, operating meth-
executed from the frequently the DB is
ods, or the mechanisms
SERVOPACK) was being used. Or, check –
so that the dynamic brake
frequently activated, the alarm display to see
does not need to be used
or a DB overload if a DB overload alarm
so frequently.
alarm occurred. (A.730 or A.731) has
occurred.
Check the regenerative
load ratio in the Sig-
The regenerative pro- maWin+ Motion Monitor
Recheck the operating
cessing capacity was Tab Page to see how
conditions and load.
exceeded. frequently the regenera-
tive resistor is being
used.
*3
A.100: load ratio in the Sig- Change the regenerative
Overcurrent The SERVOPACK maWin+ Motion Monitor resistance to a value
Detected regenerative resis- Tab Page to see how larger than the SERVO-
(An overcurrent tance is too small. frequently the regenera- PACK minimum allowable
flowed through tive resistor is being resistance.
the power tran- used.
sistor or the heat
sink overheated.) A heavy load was
Check to see if the Reduce the load applied
applied while the Ser-
operating conditions to the Servomotor. Or,
vomotor was stopped –
exceed Servo Drive increase the operating
or running at a low
specifications. speed.
speed.
Implement countermea-
Improve the noise envi-
sures against noise, such
ronment, e.g. by
as correct wiring of the
A malfunction was improving the wiring or
FG. Use an FG wire size –
caused by noise. installation conditions,
equivalent to the SERVO-
and check to see if the
PACK’s main circuit wire
alarm still occurs.
size.
Turn the power supply to
the SERVOPACK OFF and
A failure occurred in ON again. If the alarm still
– –
the SERVOPACK. occurs, the SERVOPACK
may be faulty. Replace the
SERVOPACK.
12-16
12.2 Alarm Displays

Alarm Number:
Alarm Name
The Main Circuit
Cable is not wired
Check the wiring. Correct the wiring.
faulty contact.
There is a short-circuit across cable phases U, The cable may be short-
or ground fault in a V, and W, or between circuited. Replace the
Main Circuit Cable. the ground and cable cable.
phases U, V, and W.
across Servomotor
There is a short-circuit The Servomotor may be page 4-25
phases U, V, and W, or
or ground fault inside faulty. Replace the Servo-
between the ground
the Servomotor. motor.
and Servomotor phases
U, V, or W.
across the Servomotor
A.101:
connection terminals U,
Motor Overcur- There is a short-circuit The SERVOPACK may be
V, and W on the
rent Detected or ground fault inside faulty. Replace the
SERVOPACK, or
(The current to the SERVOPACK. SERVOPACK.
between the ground
the motor and terminals U, V, or
exceeded the W.
allowable cur-
rent.) A heavy load was
Check to see if the Reduce the load applied
applied while the Ser-
operating conditions to the Servomotor. Or,
vomotor was stopped –
exceed Servo Drive increase the operating
or running at a low
specifications. speed.
speed.
Improve the noise envi-
sures against noise, such
ronment, e.g. by
as correct wiring of the
A malfunction was improving the wiring or
FG. Use an FG wire size –
caused by noise. installation conditions,
equivalent to the SERVO-
and check to see if the
PACK’s main circuit wire
alarm still occurs.
size.
– –
SERVOPACK.
Maintenance
12
12-17
12.2 Alarm Displays

Alarm Number:
Alarm Name
When using the built-
in regenerative resis-
tor, the jumper
between the regener-
ative resistor terminals Check to see if the
(B2 and B3) was jumper is connected Correctly connect a
removed from one of between power supply jumper.
the following SERVO- terminals B2 and B3.*4
PACKs: SGD7S-
3R8A, -5R5A, -7R6A, page 4-21
-120A, -180A, -200A,
or -330A.
The External Regener-
ative Resistor or Check the wiring of the Correct the wiring of the
Regenerative Resis- External Regenerative External Regenerative
tor Unit is not wired Resistor or Regenera- Resistor or Regenerative
correctly, or was
removed or discon- tive Resistor Unit.*4 Resistor Unit.
nected.
Pn600 (Regenerative
Resistor Capacity) is
not set to 0 and an Connect an External
A.300:
External Regenerative Check to see if an Regenerative Resistor, or
Regeneration Resistor is not con- External Regenerative set Pn600 (Regenerative
Error nected to one of the Resistor is connected Resistor Capacity) to 0
following SERVO- and check the setting of (setting unit: ×10 W) if no
PACKs: SGD7S- Pn600. Regenerative Resistor is
R70A, -R90A,-1R6A, required.
-2R8A, -R70F, -R90F, page 5-59
-2R1F, or -2R8F.
An External Regener-
Check to see if an Connect an External
ative Resistor is not
External Regenerative Regenerative Resistor and
connected to one of
Resistor or a Regenera- set Pn600 to an appropri-
the following SERVO-
tive Resistor Unit is con- ate value, or connect a
PACKs: SGD7S-
nected and check the Regenerative Resistor
470A, -550A, -590A,
setting of Pn600. Unit and set Pn600 to 0.
or -780A.
While the main circuit
power supply is OFF, turn
the control power supply
to the SERVOPACK OFF
– and ON again. If the alarm –
the SERVOPACK.
still occurs, the SERVO-
PACK may be faulty.
Replace the SERVO-
PACK.
12-18
12.2 Alarm Displays

Alarm Number:
Alarm Name
The power supply Set the power supply volt-
Measure the power
voltage exceeded the age within the specified –
supply voltage.
specified range. range.
Change the regenerative
The external regener-
Check the operating resistance value or capac-
ative resistance value
conditions or the ity.
or regenerative resis-
capacity using the Sig- Reconsider the operating
tor capacity is too *3
maJunmaSize+ Capac- conditions using the Sig-
small, or there has
ity Selection Software or maJunmaSize+ Capacity
been a continuous
other means. Selection Software or
regeneration state.
other means.
There was a continu-
Reconsider the system
ous regeneration state Check the load applied
including the servo,
because a negative to the Servomotor –
machine, and operating
load was continu- during operation.
conditions.
ously applied.
A.320: (Regenerative Resis-
Check to see if a
Regenerative tor Capacity) is
Regenerative Resistor is Correct the setting of
Overload smaller than the page 5-59
connected and check Pn600.
capacity of the Exter-
the setting of Pn600.
nal Regenerative
Resistor.
(Regenerative Resis- Check to see if a
tance) is smaller than Regenerative Resistor is Correct the setting of
page 5-59
the capacity of the connected and check Pn603.
External Regenerative the setting of Pn603.
Resistor.
Change the regenerative
The external regener- resistance to a correct
ative resistance is too value or use an External *3
resistance.
high. Regenerative Resistor of
an appropriate capacity.
the SERVOPACK.
SERVOPACK.
Maintenance
12
12-19
12.2 Alarm Displays

Alarm Number:
Alarm Name
If you are using the regen-
The regenerative erative resistor built into
resistor was discon- Measure the resistance the SERVOPACK, replace
nected when the of the regenerative the SERVOPACK.
–
SERVOPACK power resistor using a measur- If you are using an Exter-
supply voltage was ing instrument. nal Regenerative Resis-
high. tor, replace the External
Regenerative Resistor.
DC power was sup-
plied when an AC Check the power sup- Correct the power supply
power supply input ply to see if it is a DC setting to match the
was specified in the power supply. actual power supply.
settings.
A.330: page 5-15
AC power was sup-
Main Circuit
plied when a DC Check the power sup- Correct the power supply
Power Supply
power supply input ply to see if it is an AC setting to match the
Wiring Error
was specified in the power supply. actual power supply.
(Detected when
settings.
the main circuit
power supply is Pn600 (Regenerative
turned ON.) Resistor Capacity) is
not set to 0 and an
Check to see if an Connect an External
Resistor is not con-
External Regenerative Regenerative Resistor, or
nected to one of the page 4-21,
Resistor is connected if an External Regenera- page 5-59
following
and check the setting of tive Resistor is not
SERVOPACKs:
Pn600. required, set Pn600 to 0.
SGD7S-R70A, -R90A,
-1R6A, -2R8A, -R70F,
-R90F, -2R1F, or
-2R8F.
the SERVOPACK.
SERVOPACK.
12-20
12.2 Alarm Displays

Alarm Number:
Alarm Name
The power supply Set the AC/DC power
Measure the power
voltage exceeded the supply voltage within the –
supply voltage.
specified range. specified range.
Improve the power sup-
ply conditions, install a
surge absorber, and then
The power supply is
turn the power supply
not stable or was Measure the power
OFF and ON again. If the –
influenced by a light- supply voltage.
alarm still occurs, the
ning surge.
SERVOPACK may be
faulty. Replace the SER-
VOPACK.
The voltage for AC Check the power sup-
Set the AC power supply
A.400: power supply was too ply voltage and the
voltage within the speci- –
Overvoltage high during accelera- speed and torque
fied range.
(Detected in the tion or deceleration. during operation.
main circuit The external regener- Select a regenerative
power supply Check the operating
ative resistance is too resistance value that is
section of the conditions and the *3
high for the operating appropriate for the oper-
SERVOPACK.) regenerative resistance.
conditions. ating conditions and load.
The moment of inertia Check to see if the
ratio or mass ratio moment of inertia ratio Increase the deceleration
–
exceeded the allow- or mass ratio is within time, or reduce the load.
able value. the allowable range.
While the main circuit
power supply is OFF, turn
the control power supply
to the SERVOPACK OFF
– and ON again. If the alarm –
the SERVOPACK.
still occurs, the SERVO-
PACK may be faulty.
Replace the SERVO-
PACK.
The power supply Set the power supply volt-
Measure the power
voltage went below age within the specified –
supply voltage.
the specified range. range.
The power supply
Measure the power Increase the power supply
voltage dropped –
supply voltage. capacity.
during operation.
A.410: If you have changed the
Undervoltage setting of Pn509 (Momen-
A momentary power Measure the power
(Detected in the tary Power Interruption page 6-13
interruption occurred. supply voltage.
main circuit Hold Time), decrease the
power supply setting.
section of the Replace the SERVO-
SERVOPACK.) PACK and connect a
The SERVOPACK
– reactor to the DC reactor –
fuse is blown out.
terminals ( 1 and 2) on
Maintenance
the SERVOPACK.
the SERVOPACK.
SERVOPACK.
12
12-21
12.2 Alarm Displays

Alarm Number:
Alarm Name
The order of phases
U, V, and W in the Check the wiring of the Make sure that the Servo-
–
motor wiring is not Servomotor. motor is correctly wired.
correct.
A reference value that
exceeded the over- Check the input refer- Reduce the reference
A.510: speed detection level ence. value. Or, adjust the gain.
Overspeed was input.
(The motor page 6-17
exceeded the Reduce the speed refer-
maximum speed.) The motor exceeded ence input gain and
Check the waveform of
adjust the servo gain. Or,
the maximum speed. the motor speed.
reconsider the operating
conditions.
the SERVOPACK.
SERVOPACK.
Decrease the setting of
The encoder output Pn212 (Number of
Check the encoder out-
pulse frequency Encoder Output Pulses) page 6-52
put pulse setting.
exceeded the limit. or Pn281 (Encoder Out-
A.511: put Resolution).
Encoder Output
Pulse Overspeed The encoder output
pulse frequency Check the encoder out-
exceeded the limit put pulse setting and Reduce the motor speed. –
because the motor the motor speed.
speed was too high.
Check for abnormal
Reduce the motor speed.
Abnormal oscillation motor noise, and check
Or, reduce the setting of
was detected in the the speed and torque page 8-76
Pn100 (Speed Loop
motor speed. waveforms during oper-
Gain).
ation.
A.520: (Moment of Inertia
Check the moment of Set Pn103 (Moment of
Ratio) is greater than
Vibration Alarm inertia ratio or mass Inertia Ratio) to an appro- page 8-16
the actual moment of
ratio. priate value.
inertia or was greatly
changed.
Check that the vibra-
The vibration detec- Set a suitable vibration
tion detection level
tion level (Pn312 or detection level (Pn312 or page 6-98
(Pn312 or Pn384) is
Pn384) is not suitable. Pn384).
suitable.
Reduce the load so that
the moment of inertia ratio
A.521: The Servomotor
is within the allowable
Autotuning Alarm vibrated considerably Check the waveform of
value. Or increase the page 8-13
(Vibration was while performing the the motor speed.
load level or reduce the
detected while tuning-less function.
rigidity level in the tuning-
executing the less level settings.
custom tuning,
Easy FFT, or the The Servomotor
Check the operating pro-
tuning-less func- vibrated considerably
Check the waveform of cedure of corresponding page 8-42,
tion.) while performing cus- page 8-94
the motor speed. function and implement
tom tuning or Easy
corrections.
FFT.
Check the setting of
A.550: The setting of Pn385 Pn385, and the upper
Set Pn385 to a value that
(Maximum Motor limits of the maximum
Maximum Speed does not exceed the max- page 6-16
Speed) is greater than motor speed setting
Setting Error imum motor speed.
the maximum speed. and the encoder output
resolution setting.
12-22
12.2 Alarm Displays

Alarm Number:
Alarm Name
The wiring is not cor-
rect or there is a faulty Make sure that the Servo-
connection in the Check the wiring. motor and encoder are page 4-25
motor or encoder wir- correctly wired.
ing.
Operation was per- Reconsider the load and
Check the motor over-
formed that exceeded operating conditions. Or,
load characteristics and –
the overload protec- increase the motor
Run command.
tion characteristics. capacity.
An excessive load
was applied during
A.710: Check the operation
operation because the Correct the mechanical
Instantaneous reference and motor –
Servomotor was not problem.
Overload speed.
driven due to
A.720: mechanical problems.
Continuous
Overload There is an error in the
setting of Pn282 (Lin- Check the setting of Correct the setting of
page 5-20
ear Encoder Scale Pn282. Pn282.
Pitch).
setting of Pn080 =
Check the setting of Set Pn080 = n.X to
n.X (Motor page 5-25
Pn080 = n.X. an appropriate value.
Phase Sequence
Selection).
the SERVOPACK.
SERVOPACK.
Implement measures to
The Servomotor was
Check the operation ensure that the motor will
rotated by an external –
status. not be rotated by an
force.
external force.
A.730 and
Reconsider the following:
A.731: When the Servomo-
• Reduce the Servomotor
Dynamic Brake tor was stopped with
Check the power con- command speed.
Overload the dynamic brake,
sumed by the DB resis- • Decrease the moment
(An excessive the rotational or linear
tor to see how of inertia ratio or mass –
power consump- kinetic energy
frequently the DB is ratio.
tion by the exceeded the capac-
being used. • Reduce the frequency of
dynamic brake ity of the dynamic
stopping with the
was detected.) brake resistor.
dynamic brake.
the SERVOPACK.
SERVOPACK.
The allowable fre-
A.740: quency of the inrush
Inrush Current Reduce the frequency of
current limiting resis-
Limiting Resistor turning the main circuit
tor was exceeded – –
Overload power supply ON and
when the main circuit
Maintenance
(The main circuit OFF.

power supply was
power supply turned ON and OFF.
was frequently
turned ON and The SERVOPACK may be
OFF.) – faulty. Replace the –
the SERVOPACK.
SERVOPACK.
12
12-23
12.2 Alarm Displays

Alarm Number:
Alarm Name
Check the surrounding
air temperature using a Decrease the surround-
The surrounding air thermometer. Or, check ing temperature by
temperature is too the operating status improving the SERVO- page 3-7
high. with the SERVOPACK PACK installation condi-
installation environment tions.
monitor.
An overload alarm
Check the alarm display
was reset by turning Change the method for
to see if there is an –
OFF the power sup- resetting the alarm.
overload alarm.
ply too many times.
A.7A1:
Use the accumulated
Internal Tempera- There was an exces-
load ratio to check the
ture Error 1 sive load or operation
load during operation,
(Control Board was performed that Reconsider the load and
and use the regenera- –
Temperature exceeded the regen- operating conditions.
tive load ratio to check
Error) erative processing
the regenerative pro-
capacity.
cessing capacity.
The SERVOPACK
installation orientation
Install the SERVOPACK
is not correct or there Check the SERVOPACK page 3-3,
according to specifica- page 3-6
is insufficient space installation conditions.
tions.
around the SERVO-
PACK.
the SERVOPACK.
SERVOPACK.
air temperature using a Decrease the surround-
The surrounding air thermometer. Or, check ing temperature by
temperature is too the operating status improving the SERVO- page 3-7
high. with the SERVOPACK PACK installation condi-
installation environment tions.
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A2:
Use the accumulated
Internal Tempera- There was an exces-
load ratio to check the
ture Error 2 sive load or operation
load during operation,
(Power Board was performed that Reconsider the load and
and use the regenera- –
Temperature exceeded the regen- operating conditions.
tive load ratio to check
Error) erative processing
the regenerative pro-
capacity.
cessing capacity.
The SERVOPACK
installation orientation
Install the SERVOPACK
is not correct or there Check the SERVOPACK page 3-3,
according to specifica- page 3-6
is insufficient space installation conditions.
tions.
around the SERVO-
PACK.
the SERVOPACK.
SERVOPACK.
A.7A3:
Internal Tempera-
ture Sensor Error A failure occurred in The SERVOPACK may be
(An error – faulty. Replace the –
the SERVOPACK.
occurred in the SERVOPACK.
temperature sen-
sor circuit.)
12-24
12.2 Alarm Displays

Alarm Number:
Alarm Name
Remove foreign matter
A.7Ab: from the SERVOPACK. If
The fan inside the
SERVOPACK Check for foreign matter the alarm still occurs, the
SERVOPACK –
Built-in Fan inside the SERVOPACK. SERVOPACK may be
stopped.
Stopped faulty. Replace the
SERVOPACK.
The power to the Check to see if the
absolute encoder was power supply was
Set up the encoder.
turned ON for the first turned ON for the first
time. time.
The Encoder Cable Check to see if the
Check the encoder con-
was disconnected power supply was
nection and set up the
and then connected turned ON for the first
encoder.
A.810: again. time. page 5-53
Encoder Backup Power is not being
Alarm supplied both from Replace the battery or
(Detected at the the control power Check the encoder implement similar mea-
encoder, but only supply (+5 V) from the connector battery and sures to supply power to
when an abso- SERVOPACK and the connector status. the encoder, and set up
lute encoder is from the battery the encoder.
used.) power supply.
If the alarm still occurs
A failure occurred in after setting up the
– –
the absolute encoder. encoder again, replace
the Servomotor.
the SERVOPACK.
SERVOPACK.
 When Using an Abso-
lute Encoder
Set up the encoder again.
If the alarm still occurs,
the Servomotor may be
faulty. Replace the Servo-
motor.
A.820: A failure occurred in  When Using a Single-
– page 5-53
Encoder Check- the encoder. turn Absolute Encoder
sum Alarm or Incremental Encoder
(Detected at the • The Servomotor may be
encoder.) faulty. Replace the Ser-
vomotor.
• The linear encoder may
be faulty. Replace the
linear encoder.
the SERVOPACK.
SERVOPACK.
The battery connec-
Check the battery con- Correct the battery con-
Maintenance
A.830: tion is faulty or a bat- page 4-26

Encoder Battery nection. nection.
tery is not connected.
Alarm
The battery voltage is
(The absolute Measure the battery
lower than the speci- Replace the battery. page 12-3
encoder battery voltage.
fied value (2.7 V).
voltage was lower
than the speci- The SERVOPACK may be
fied level.)
the SERVOPACK.
– faulty. Replace the – 12
SERVOPACK.
12-25
12.2 Alarm Displays

Alarm Number:
Alarm Name
ON again. If the alarm still
The encoder malfunc-
– occurs, the Servomotor or –
tioned.
linear encoder may be
motor or linear encoder.
The linear encoder is not
An error occurred in mounted within an appro-
reading data from the – priate tolerance. Correct –
linear encoder. the mounting of the linear
encoder.
A.840: Control the motor speed
Encoder Data within the range specified
Alarm Excessive speed
by the linear encoder
(Detected at the occurred in the linear – –
manufacturer and then
encoder.) encoder.
turn ON the control power
supply.
Correct the wiring around
the encoder by separating
The encoder malfunc- the Encoder Cable from
– –
tioned due to noise. the Servomotor Main Cir-
cuit Cable or by ground-
ing the encoder.
The polarity sensor is Check the wiring of the Correct the wiring of the
–
not wired correctly. polarity sensor. polarity sensor.
The polarity sensor Replace the polarity sen-
– –
failed. sor.
Rotary Servomotor:
The Servomotor Reduce the Servomotor
Check the motor speed speed to a value less than
speed was 200 min-1 when the power supply –
or higher when the is turned ON. 200 min-1, and turn ON
control power supply the control power supply.
was turned ON.
Linear Servomotor: Control the motor speed
The Servomotor within the range specified
Check the motor speed
exceeded the speci- by the linear encoder
A.850: when the power supply –
fied speed when the manufacturer and then
Encoder Over- is turned ON.
control power supply turn ON the control power
speed was turned ON. supply.
(Detected at the
encoder when Turn the power supply to
the control power the SERVOPACK OFF and
supply is turned ON again. If the alarm still
ON.) – occurs, the Servomotor or –
the encoder.
– –
SERVOPACK.
12-26
12.2 Alarm Displays

Alarm Number:
Alarm Name
The surrounding air Reduce the surrounding
Measure the surround-
temperature around air temperature of the
ing air temperature –
the Servomotor is too Servomotor to 40°C or
A.860: around the Servomotor.
high. less.
Encoder Over-
heated Operate the Servo Drive
The Servomotor load Use the accumulated
(Detected when a so that the motor load
is greater than the load ratio to check the page 9-4
Rotary Servomo- remains within the speci-
rated load. load.
tor, Absolute Lin- fied range.
ear Encoder, or Turn the power supply to
Direct Drive Ser- the SERVOPACK OFF and
vomotor is con- ON again. If the alarm still
nected. However, A failure occurred in occurs, the Servomotor or
this alarm is not – –
the encoder. absolute linear encoder
detected for may be faulty. Replace the
SGMCS Servomotor or absolute
Servomotors with linear encoder.
Incremental
Encoders.)
(Detected at the
encoder.) – –
SERVOPACK.
The surrounding tem- Reduce the surrounding
Measure the surround-
perature around the air temperature of the
ing temperature around –
Servomotor is too Servomotor to 40°C or
the Servomotor.
high. less.
Check the load with the
Operate the Servo Drive
The motor load is accumulated load ratio
so that the motor load
greater than the rated on the Motion Monitor page 9-4
remains within the speci-
load. Tab Page on the Sig-
fied range.
maWin+.
A.861: Turn the power supply to
Motor Over- the SERVOPACK OFF and
heated A failure occurred in ON again. If the alarm still
the Serial Converter – occurs, the Serial Con- –
Unit. verter Unit may be faulty.
Replace the Serial Con-
verter Unit.
– –
SERVOPACK.
Maintenance
12
12-27
12.2 Alarm Displays

Alarm Number:
Alarm Name
Lower the surrounding
Check the surrounding temperature by improving
The surrounding tem-
temperature using a the installation conditions –
perature is too high.
thermometer. of the Linear Servomotor
or the machine.
Check the input voltage
The overheat protec- with the overheat pro-
Repair the line for the
tion input signal line is tection input information
overheat protection input –
disconnected or on the Motion Monitor
signal.
short-circuited. Tab Page on the Sig-
maWin+.
An overload alarm
overload alarm.
A.862: ply too many times.
Overheat Alarm Operation was per- Use the accumulated
Reconsider the load and
formed under an load ratio to check the –
operating conditions.
excessive load. load during operation.
the SERVOPACK.
SERVOPACK.
The temperature detec-
tion circuit in the Linear
The temperature
Servomotor may be faulty
detection circuit in the
or the sensor attached to
Linear Servomotor is
– the machine may be –
faulty or the sensor
faulty. Replace the Linear
attached to the
Servomotor or repair the
machine is faulty.
sensor attached to the
machine.
A.890: The linear encoder may
Encoder Scale – be faulty. Replace the lin- –
the linear encoder.
Error ear encoder.
A.891: the SERVOPACK OFF and
Encoder Module – –
the linear encoder. occurs, the linear encoder
Error may be faulty. Replace the
linear encoder.
Setting the origin of Before you set the ori-
the absolute linear gin, use the fully-closed The motor must be
A.8A0: encoder failed feedback pulse counter stopped while setting the page 5-56
External Encoder because the motor to confirm that the origin position.
Error moved. motor is not moving.
A failure occurred in Replace the external
– –
the external encoder. encoder.
A failure occurred in Replace the external
– –
A.8A1: the external encoder. encoder.
External Encoder A failure occurred in
Module Error Replace the Serial Con-
the Serial Converter – –
verter Unit.
Unit.
A.8A2:
External Incre- A failure occurred in Replace the external
– –
mental Encoder the external encoder. encoder.
Sensor Error
The external absolute
A.8A3: encoder may be faulty.
External Abso- Refer to the encoder
the external absolute – –
lute Encoder manufacturer’s instruc-
encoder.
Position Error tion manual for correc-
tions.
12-28
12.2 Alarm Displays

Alarm Number:
Alarm Name
A.8A5: An overspeed error Check the maximum Keep the external
External Encoder was detected in the speed of the external encoder below its maxi- –
Overspeed external encoder. encoder. mum speed.
A.8A6: An overheating error
Replace the external
External Encoder was detected in the – –
encoder.
Overheated external encoder.
A malfunction
occurred in the speed Reset the alarm and
– page 12-41
A.b10: reference input sec- restart operation.
Speed Reference tion.
A/D Error Turn the power supply to
(Detected when the SERVOPACK OFF and
the servo is A failure occurred in ON again. If the alarm still
turned ON.) – –
SERVOPACK.
A malfunction
occurred in the speed Reset the alarm and
– page 12-41
reference input sec- restart operation.
tion.
A.b11:
Speed Reference Turn the power supply to
A/D Data Error the SERVOPACK OFF and
– –
SERVOPACK.
A malfunction
occurred in the read-
Reset the alarm and
ing section for the – page 12-41
A.b20: restart operation.
torque reference
Torque Refer- input.
ence A/D Error
(Detected when Turn the power supply to
the servo is the SERVOPACK OFF and
turned ON.) A failure occurred in ON again. If the alarm still
– –
SERVOPACK.
A.b33: A failure occurred in
Current Detec- the current detection – –
occurs, the SERVOPACK
tion Error 3 circuit.
SERVOPACK.
A.bF0: A failure occurred in ON again. If the alarm still
– –
System Alarm 0 the SERVOPACK. occurs, the SERVOPACK
Maintenance
SERVOPACK.
– –
SERVOPACK. 12
– –
SERVOPACK.
12-29
12.2 Alarm Displays

Alarm Number:
Alarm Name
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
The order of phases
U, V, and W in the Check the Servomotor Make sure that the Servo-
–
motor wiring is not wiring. motor is correctly wired.
correct.
setting of Pn080 =
Check the setting of Set Pn080 = n.X to
n.X (Motor page 5-25
Pn080 = n.X. an appropriate value.
Phase Sequence
Selection).
A.C10:
Servomotor Out If the motor wiring is cor-
of Control rect and the alarm still
(Detected when occurs after turning the
the servo is A failure occurred in power supply OFF and
– –
turned ON.) the encoder. ON again, the Servomotor
or linear encoder may be
– –
SERVOPACK.
12-30
12.2 Alarm Displays

Alarm Number:
Alarm Name
Fine-tune the mounting of
Check the voltage of
The linear encoder the scale head. Or,
the linear encoder sig- –
signal level is too low. replace the linear
nal.
encoder.
The count-up direc-
Pn080 = n.X Change the setting of
tion of the linear
(Motor Phase Sequence Pn080 = n.X.
encoder does not
Selection). Check the Correctly reinstall the lin- page 5-25
A.C20: match the forward
installation orientation ear encoder or Moving
Phase Detection direction of the Mov-
for the linear encoder Coil.
Error ing Coil in the motor.
and Moving Coil.
Correct the FG wiring.
The polarity sensor
signal is being – –
sures against noise for the
affected by noise.
polarity sensor wiring.
The setting of Pn282 Check the setting of Check the specifications
(Linear Encoder Scale Pn282 (Linear Encoder of the linear encoder and page 5-20
Pitch) is not correct. Scale Pitch). set a correct value.
The polarity sensor is
Correctly reinstall the
protruding from the Check the polarity sen-
Moving Coil or Magnetic –
Magnetic Way of the sor.
A.C21: Way of the motor.
motor.
Polarity Sensor The polarity sensor is Check the wiring of the Correct the wiring of the
Error not wired correctly. polarity sensor. polarity sensor.
–
The polarity sensor Replace the polarity sen-

– –
failed. sor.
The SERVOPACK
A.C22:
phase information is
Phase Informa- Perform polarity detec-
different from the lin- – page 5-31
tion Disagree- tion.
ear encoder phase
ment information.
Maintenance
12
12-31
12.2 Alarm Displays

Alarm Number:
Alarm Name
The settings of Pn282
(Linear Encoder Scale
Check the linear Pitch) and Pn080 =
The parameter set- encoder specifications n.X (Motor Phase page 5-20,
tings are not correct. and feedback signal Sequence Selection) may page 5-25
status. not match the installa-
tion. Set the parameters
to correct values.
Check to make sure
that the frame grounds
of the Serial Converter
Unit and Servomotor
are connected to the
FG terminal on the SER-
VOPACK and that the
FG terminal on the SER- Implement appropriate
There is noise on the VOPACK is connected countermeasures against
–
scale signal. to the frame ground on noise for the Linear
the power supply. Encoder Cable.
And, confirm that the
shield is properly pro-
cessed on the Linear
Encoder Cable. Check
to see if the detection
reference is repeatedly
output in one direction.
The polarity cannot be
properly detected if the
A.C50: detection reference is 0
Polarity Detec- and the speed feedback
tion Failure is not 0 because of an
external force, such as
cable tension, applied to
An external force was
the Moving Coil. Imple-
applied to the Moving – –
ment measures to reduce
Coil of the motor.
the external force so that
the speed feedback goes
to 0. If the external force
cannot be reduced,
increase the setting of
Pn481 (Polarity Detection
Speed Loop Gain).
If the linear encoder scale
pitch is 100 μm or higher,
the SERVOPACK cannot
detect the correct speed
feedback. Use a linear
encoder scale pitch with
higher resolution. (We rec-
Check the linear
ommend a pitch of 40 μm
The linear encoder encoder scale pitch to
or less.) Or, increase the –
resolution is too low. see if it is within 100
setting of Pn485 (Polarity
μm.
Detection Reference
Speed). However,
increasing the setting of
Pn485 will increase the
Servomotor movement
range that is required for
polarity detection.
12-32
12.2 Alarm Displays

Alarm Number:
Alarm Name
Wire the overtravel sig-
A.C51: nals. Execute polarity
The overtravel signal
Overtravel Check the overtravel detection at a position
was detected during page 4-38
Detected during position. where an overtravel sig-
polarity detection.
Polarity Detection nal would not be
detected.
The servo was turned
ON under the follow-
A.C52: ing circumstances.
Polarity Detec- • Before polarity
– Input the /P-DET signal. page 5-30
tion Not Com- detection was com-
pleted pleted
• Before /P-DET was
input
The travel distance Increase the setting of
A.C53: exceeded the setting Pn48E (Polarity Detection
Out of Range of of Pn48E (Polarity Range). Or, increase the
– –
Motion for Polar- Detection Range) in setting of Pn481 (Polarity
ity Detection the middle of detec- Detection Speed Loop
tion. Gain).
Increase the setting of
Pn495 (Polarity Detection
Confirmation Force Refer-
ence). Increase the setting
A.C54: An external force was
of Pn498 (Polarity Detec-
Polarity Detec- applied to the Servo- – –
tion Allowable Error
tion Failure 2 motor.
Range). Increasing the
allowable error will also
increase the motor tem-
perature.
the encoder.
A.C80: faulty. Replace the Servo-
Encoder Clear motor or linear encoder.
Error or Multiturn
Limit Setting Error Turn the power supply to
– –
SERVOPACK.
Continued on next page. Maintenance
12
12-33
12.2 Alarm Displays

Alarm Number:
Alarm Name
There is a faulty con-
tact in the connector Reconnect the encoder
Check the condition of
or the connector is connector and check the page 4-25
the encoder connector.
not wired correctly for encoder wiring.
the encoder.
There is a cable dis-
connection or short-
Use the Encoder Cable
circuit in the encoder. Check the condition of
within the specified speci- –
Or, the cable imped- the Encoder Cable.
fications.
ance is outside the
specified values.
One of the following
has occurred: corro-
sion caused by
improper tempera- Improve the operating
ture, humidity, or gas, environment, and replace
Check the operating
A.C90: a short-circuit caused the cable. If the alarm still page 3-2
environment.
Encoder Commu- by entry of water occurs, replace the SER-
nications Error drops or cutting oil, or VOPACK.
faulty contact in con-
nector caused by
vibration.
the encoder by separating
A malfunction was the Encoder Cable from
– page 4-5
caused by noise. the Servomotor Main Cir-
cuit Cable or by ground-
ing the encoder.
Connect the Servomotor
to another SERVOPACK,
and turn ON the control
– power supply. If no alarm –
the SERVOPACK.
SERVOPACK.
Noise entered on the
signal lines because Check the condition of Check the Encoder Cable
the Encoder Cable is the Encoder Cable and to see if it is installed cor- page 4-8
bent or the sheath is connectors. rectly.
damaged.
A.C91: The Encoder Cable is
Encoder Commu- bundled with a high- Check the installation Confirm that there is no
nications Posi- current line or condition of the surge voltage on the –
tion Data installed near a high- Encoder Cable. Encoder Cable.
Acceleration Rate current line.
Error There is variation in
the FG potential Properly ground the
Check the installation
because of the influ- machine to separate it
condition of the –
ence of machines on from the FG of the
Encoder Cable.
the Servomotor side, encoder.
such as a welder.
12-34
12.2 Alarm Displays

Alarm Number:
Alarm Name
Noise entered on the Implement countermea-
signal line from the – sures against noise for the page 4-5
encoder. encoder wiring.
Reduce machine vibra-
Excessive vibration or
Check the operating tion.
shock was applied to –
conditions. Correctly install the Ser-
the encoder.
vomotor or linear encoder.
A.C92: the SERVOPACK OFF and
Encoder Commu- ON again. If the alarm still
nications Timer A failure occurred in
Error the encoder.
– –
SERVOPACK.
the encoder.
A.CA0: faulty. Replace the Servo-
Encoder Parame- motor or linear encoder.
ter Error Turn the power supply to
– –
SERVOPACK.
Maintenance
12
12-35
12.2 Alarm Displays

Alarm Number:
Alarm Name
The encoder is wired Make sure that the
Check the wiring of the
incorrectly or there is encoder is correctly page 4-25
encoder.
faulty contact. wired.
Use a shielded twisted-
The specifications of pair wire cable or a
the Encoder Cable are screened twisted-pair
– –
not correct and noise cable with conductors of
entered on it.
at least 0.12 mm2.
• Rotary Servomotors:
The Encoder Cable wir-
ing distance must be 50
The Encoder Cable is
m max.
too long and noise – –
• Linear Servomotors:
entered on it.
The Encoder Cable wir-
ing distance must be 20
m max.
There is variation in
the FG potential Properly ground the
A.Cb0: Check the condition of
because of the influ- machine to separate it
the Encoder Cable and –
Encoder Echo- ence of machines on from the FG of the
connectors.
back Error the Servomotor side, encoder.
such as a welder.
Reduce machine vibra-
Excessive vibration or
Check the operating tion.
shock was applied to –
conditions. Correctly install the Ser-
the encoder.
vomotor or linear encoder.
the encoder.
– –
SERVOPACK.
When using a Direct
Drive Servomotor, the
setting of Pn205 (Mul- Check the setting of Correct the setting of
page 6-84
titurn Limit) does not Pn205. Pn205 (0 to 65,535).
agree with the
encoder.
The multiturn limit of
the encoder is differ-
A.CC0: ent from that of the Check the setting of
Change the setting if the
Multiturn Limit SERVOPACK. Or, the Pn205 in the SERVO- page 6-84
alarm occurs.
Disagreement multiturn limit of the PACK.
SERVOPACK has
been changed.
– –
SERVOPACK.
12-36
12.2 Alarm Displays

Alarm Number:
Alarm Name
The cable between
the Serial Converter Correctly wire the cable
Unit and SERVOPACK Check the wiring of the between the Serial Con-
page 4-27
is not wired correctly external encoder. verter Unit and SERVO-
or there is a faulty PACK.
contact.
A specified cable is
not being used Check the wiring speci-
A.CF1: between Serial Con- fications of the external Use a specified cable. –
Reception Failed verter Unit and SER- encoder.
Error in Feed- VOPACK.
back Option
Module Commu- The length of the cable
The cable between Measure the length of
nications between the Serial Con-
the Serial Converter the cable that connects
verter Unit and SERVO- –
Unit and SERVOPACK the Serial Converter
PACK must be 20 m or
is too long. Unit.
less.
The sheath on cable
Replace the cable
between the Serial Check the cable that
between the Serial Con-
Converter Unit and connects the Serial –
verter Unit and SERVO-
SERVOPACK is bro- Converter Unit.
PACK.
ken.
Noise entered the
the Serial Converter Unit,
cable between the
A.CF2: – e.g., separate I/O signal –
Serial Converter Unit
Timer Stopped lines from the Main Circuit
and SERVOPACK.
Error in Feed- Cables or ground.
back Option A failure occurred in
Module Commu- the Serial Converter – –
verter Unit.
nications Unit.
A failure occurred in Replace the SERVO-
– –
the SERVOPACK. PACK.
Make sure that there are
The Servomotor U, V, Check the wiring of the
no faulty contacts in the
and W wiring is not Servomotor’s Main Cir- –
wiring for the Servomotor
correct. cuit Cables.
and encoder.
Reduce the position refer-
Reduce the reference
The frequency of the ence pulse frequency or
pulse frequency and try
position reference the reference accelera-
operating the SERVO- page 5-48
pulse is too high. tion rate, or reconsider
PACK.
A.d00: the electronic gear ratio.
Position Devia-
tion Overflow Apply smoothing, i.e., by
(The setting of Reduce the reference using Pn216 (Position
The acceleration of
Pn520 (Position acceleration and try Reference Acceleration/
the position reference page 6-36
Deviation Over- operating the SERVO- Deceleration Time Con-
is too high.
flow Alarm Level) PACK. stant).
was exceeded by
the position devi-
Maintenance
The setting of Pn520 Check Pn520 (Position

ation while the (Position Deviation Deviation Overflow
servo was ON.) Optimize the setting of
Overflow Alarm Level) Alarm Level) to see if it page 8-8
Pn520.
is too low for the is set to an appropriate
operating conditions. value.
A failure occurred in ON again. If the alarm still 12
– –
SERVOPACK.
12-37
12.2 Alarm Displays

Alarm Number:
Alarm Name
The servo was turned
Set the position deviation
ON after the position
A.d01: to be cleared while the
deviation exceeded
Position Devia- Check the position servo is OFF.
the setting of Pn526
tion Overflow deviation while the Optimize the setting of
(Position Deviation
Alarm at Servo servo is OFF. Pn526 (Position Deviation
Overflow Alarm Level
ON Overflow Alarm Level at
at Servo ON) while the
Servo ON).
servo was OFF.
If position deviation
remains in the devia-
tion counter, the set-
ting of Pn529 or Set the position deviation page 8-8
Pn584 (Speed Limit to be cleared while the
A.d02: Level at Servo ON) servo is OFF.
Position Devia- limits the speed when Optimize the setting of
tion Overflow the servo is turned – Pn520 (Position Deviation
Alarm for Speed ON. This alarm occurs Overflow Alarm Level). Or,
Limit at Servo ON if reference pulses are adjust the setting of
input and the setting Pn529 or Pn584 (Speed
of Pn520 (Position Limit Level at Servo ON).
Deviation Overflow
Alarm Level) is
exceeded.
Install the external
encoder in the opposite
The motor direction Check the motor direc-
direction, or change the
and external encoder tion and the external
setting of Pn002 = page 10-6
installation orientation encoder installation ori-
A.d10: n.X (External
are backward. entation.
Motor-Load Posi- Encoder Usage) to
tion Deviation reverse the direction.
Overflow There is an error in the
connection between
Check the coupling of Check the mechanical
the load (e.g., stage) –
the external encoder. coupling.
and external encoder
coupling.
A.d30: The position data
Check the input refer- Reconsider the operating
Position Data exceeded –
ence pulse counter. specifications.
Overflow ±1,879,048,192.
There is a faulty con- Check the connection
nection between the between the SERVO- Correctly connect the
–
SERVOPACK and the PACK and the Safety Safety Option Module.
Safety Option Module. Option Module.
Execute Fn014 (Reset
Option Module Configura-
A.E71: The Safety Option tion Error) from the Digital
Safety Option Module was discon- – Operator or SigmaWin+ page 12-44
Module Detec- nected. and then turn the power
tion Failure supply to the SERVO-
PACK OFF and ON again.
Replace the Safety Option
the Safety Option – –
Module.
Module.
– –
12-38
12.2 Alarm Displays

Alarm Number:
Alarm Name
Check the connection
nection between the
between the SERVO- Correctly connect the
SERVOPACK and the –
PACK and the Feed- Feedback Option Module.
Feedback Option
back Option Module.
Module.
Reset the Option Module
A.E72: The Feedback Option configuration error and
Feedback Option Module was discon- – turn the power supply to page 12-44
Module Detec- nected. the SERVOPACK OFF and
tion Failure ON again.
Replace the Feedback
the Feedback Option – –
Option Module.
Module.
– –
Replace the Safety Option
A.E74: the Safety Option – –
Module.
Unsupported Module.
Safety Option An unsupported Refer to the catalog of
Module Connect a compatible
Safety Option Module the connected Safety –
Safety Option Module.
was connected. Option Module.
The output signal circuits
or devices for /HWBB1
The delay between and /HWBB2 or the SER-
activation of the VOPACK input signal cir-
/HWBB1 and Measure the time delay cuits may be faulty.
A.Eb1: /HWBB2 input sig- between the /HWBB1 Alternatively, the input sig- –
Safety Function nals for the HWBB and /HWBB2 signals. nal cables may be discon-
Signal Input Tim- was ten second or nected. Check to see if
ing Error longer. any of these items are
faulty or have been dis-
connected.
– –
A.EC8:
Gate Drive Error 1
(An error Turn the power supply to
occurred in the the SERVOPACK OFF and
gate drive circuit.) A failure occurred in ON again. If the alarm still
– –
A.EC9: the SERVOPACK. occurs, the SERVOPACK
Gate Drive Error 2 may be faulty. Replace the
(An error SERVOPACK.
occurred in the
gate drive circuit.)
Maintenance
12
12-39
12.2 Alarm Displays

Alarm Number:
Alarm Name
The three-phase
Check the power sup- Make sure that the power
power supply wiring is page 4-11
ply wiring. supply is correctly wired.
not correct.
Measure the voltage for
The three-phase
each phase of the Balance the power sup-
A.F10: power supply is –
three-phase power supply by changing phases.
Power Supply unbalanced.
ply.
Line Open Phase
(The voltage was A single-phase power
low for more than supply was input with-
Check the power sup-
one second for out specifying a sin- Match the parameter set-
ply and the parameter page 4-11
phase R, S, or T gle-phase AC power ting to the power supply.
setting.
when the main supply input (Pn00B =
power supply n.1).
was ON.) Turn the power supply to
– –
SERVOPACK.
FL-1*5:
System Alarm
FL-2*5:
System Alarm
FL-3*5: the SERVOPACK OFF and
System Alarm A failure occurred in ON again. If the alarm still
– –
FL-4*5: the SERVOPACK. occurs, the SERVOPACK
System Alarm may be faulty. Replace the
SERVOPACK.
FL-5*5:
System Alarm
FL-6*5:
System Alarm
Disconnect the connec-
nection between the Check the connector
CPF00: tor and insert it again. Or, –
Digital Operator and contact.
Digital Operator replace the cable.
the SERVOPACK.
Communications
Error 1 Keep the Digital Operator
A malfunction was
– or the cable away from –
caused by noise.
sources of noise.
Disconnect the Digital
Operator and then con-
nect it again. If the alarm
– still occurs, the Digital –
the Digital Operator.
Operator may be faulty.
CPF01: Replace the Digital Oper-
Digital Operator ator.
Communications
Error 2 Turn the power supply to
– –
SERVOPACK.
*1. Detection Conditions
If either of the following conditions is detected, an alarm will occur.
Encoder resolution Pn20E
Pn533 [min-1]  
6 105 Pn210

Maximum motor speed [min-1]  
Approx. 3.66  10 12
Pn210
12-40
12.2 Alarm Displays
12.2.3 Resetting Alarms
Pn585 [mm/s] Resolution of Serial Converter Unit Pn20E
 
Linear encoder pitch [m] 10 Pn210
Pn385 [100 mm/s] Resolution of Serial Converter Unit Pn20E

 
Linear encoder pitch [m] Approx. 6.10 105 Pn210
*2. Detection Conditions

Rated motor speed [min-1]  1/3  
6105 Pn210

・Maximum motor speed [min-1]  
Approx. 3.66  1012 Pn210
Rated motor speed [mm/s]  1/3 Resolution of Serial Converter Unit Pn20E
  Pn210
Linear encoder pitch [m] 10
Pn385 [100 mm/s] Resolution of Serial Converter Unit Pn20E

  Pn210
Linear encoder pitch [m] Approx. 6.10 105
*3. Refer to the following manual for details.

*4. The SERVOPACK will fail if the External Regenerative Resistor or Regenerative Resistor Unit is connected while
the jumper is connected between the B2 and B3 terminals.
*5. These alarms are not stored in the alarm history. They are only displayed on the panel display.
12.2.3 Resetting Alarms

If there is an ALM (Servo Alarm) signal, use one of the following methods to reset the alarm
after eliminating the cause of the alarm.
The /ALM-RST (Alarm Reset) signal will not always reset encoder-related alarms. If you cannot
reset an alarm with the /ALM-RST signal, turn OFF the control power supply to reset it.
Be sure to eliminate the cause of an alarm before you reset the alarm.
If you reset the alarm and continue operation without eliminating the cause of the alarm, it may
Important result in damage to the equipment or fire.
Resetting Alarms with the /ALM-RST (Alarm Reset Input)

Signal
Maintenance
Input /ALM-RST CN1-44 Alarm Reset

Note: Use Pn50B = n.X (/ALM-RST (Alarm Reset) Signal Allocation) to allocate the /ALM-RST signal to other
connector pins. Refer to the following section for details.
Resetting Alarms with the SigmaWin+ 12

Use the following procedure to reset alarms with the SigmaWin+.
maWin+.
2. Select Display Alarm in the Menu Dialog Box.

The Alarm Display Dialog Box will be displayed.
12-41
12.2 Alarm Displays
12.2.4 Displaying the Alarm History
3. Click the Reset axes Button.
The alarm will be reset, and the alarm display will be cleared.
This concludes the procedure to reset alarms.
Resetting Alarms Using the Panel Operator

Simultaneously press the UP and the DOWN Keys on the Panel Operator.
Resetting Alarms Using the Digital Operator

Press the ALARM RESET Key on the Digital Operator. Refer to the following manual for details
on resetting alarms.
12.2.4 Displaying the Alarm History

The alarm history displays up to the last ten alarms that have occurred in the SERVOPACK.
Preparations
No preparations are required.
Applicable Tools
The following table lists the tools that you can use to display the alarm history and the applica-
ble tool functions.
Panel Operator Fn000 13.4.1 Display Alarm History (Fn000) on page 13-12
Troubleshooting - Display
Alarm
Operating Procedure
Use the following procedure to display the alarm history.
maWin+.
12-42
12.2 Alarm Displays
12.2.5 Clearing the Alarm History

3. Click the Alarm History Tab.

The following display will appear and you can check the alarms that occurred in the past.
Accumulated operation time

Total operation time to the point at which the alarm
occurred is displayed in increments of 100 ms
from when the control power supply and main cir-
cuit power supply turned ON.
For 24-hour, 365-day operation, measurements
are possible for approximately 13 years.
Alarm number: Alarm name
Alarms in order of occurrence
(Older alarms have higher numbers.)
Information 1. If the same alarm occurs consecutively within one hour, it is not saved in the alarm history.
If it occurs after an hour or more, it is saved.
2. You can clear the alarm history by clicking the Clear Button. The alarm history is not
cleared when alarms are reset or when the SERVOPACK main circuit power is turned OFF.
This concludes the procedure to display the alarm history.
12.2.5 Clearing the Alarm History

You can clear the alarm history that is recorded in the SERVOPACK.
The alarm history is not cleared when alarms are reset or when the SERVOPACK main circuit
power is turned OFF. You must perform the following procedure.
Preparations
Always check the following before you clear the alarm history.
Applicable Tools
The following table lists the tools that you can use to clear the alarm history and the applicable
tool functions.
Panel Operator Fn006 13.4.6 Clear Alarm History (Fn006) on page 13-16
Troubleshooting - Display
Alarm
Maintenance
Operating Procedure
Use the following procedure to reset the alarm history.
1. Click the Servo Drive Button in the workspace of the Main Window of the Sig- 12
maWin+.

3. Click the Alarm History Tab.
12-43
12.2 Alarm Displays
12.2.6 Resetting Alarms Detected in Option Modules
4. Click the Clear Button.

The alarm history will be cleared.
This concludes the procedure to reset the alarm history.

If any Option Modules are attached to the SERVOPACK, the SERVOPACK detects the pres-
ence and models of the connected Option Modules. If it finds any errors, it outputs alarms.
You can delete those alarms with this operation.
Information • This operation is the only way to reset alarms for Option Modules. The alarms are not reset
when you reset other alarms or when you turn OFF the power supply to the SERVOPACK.
• Always remove the cause of an alarm before you reset the alarm.
Preparations
Always check the following before you clear an alarm detected in an Option Module.
Applicable Tools
The following table lists the tools that you can use to reset Option Module configuration errors
13.4.19 Reset Option Module Configuration Error
SigmaWin+ Troubleshooting - Display Alarm Operating Procedure on page 12-44
Operating Procedure
Use the following procedure to reset alarms detected in Option Modules.
maWin+.

The Display Alarm Dialog Box will be displayed.
12-44
12.2 Alarm Displays
3. Click the Reset axes Button.
The Reset Option Module Configuration Error Dialog Box will be displayed.
4. Select the Clear Check Box for the Option Module for which to reset the alarm and then
click the Execute Button.
5. Read the precaution and then click the OK Button.

Maintenance
12
12-45
12.2 Alarm Displays
12.2.7 Resetting Motor Type Alarms

This concludes the procedure to reset alarms detected in Option Modules.

The SERVOPACK automatically determines the type of Servomotor that is connected to it. If
the type of Servomotor that is connected is changed, an A.070 alarm (Motor Type Change
Detected) will occur the next time the SERVOPACK is started. If an A.070 alarm occurs, you
must set the parameters to match the new type of Servomotor.
An A.070 alarm is reset by executing the Reset Motor Type Alarm utility function.
Information 1. This utility function is the only way to reset an A.070 alarm (Motor Type Change Detected).
The errors are not reset when you reset alarms or turn OFF the power supply to the
SERVOPACK.
2. If an A.070 alarm occurs, first set the parameters according to the newly connected Ser-
vomotor type and then execute the Reset Motor Type Alarm utility function.
Preparations
Always check the following before you reset a motor type alarm.
Applicable Tools
The following table lists the tools that you can use to clear the motor type alarm and the appli-
13.4.24 Resetting Motor Type Alarms (Fn021) on page
Panel Operator Fn021 13-29
Troubleshooting - Reset Motor
Type Alarm
Operating Procedure
Use the following procedure to reset Motor Type alarm.
maWin+.
2. Select Reset Motor Type Alarm in the Menu Dialog Box.

The Reset Motor Type Alarm Dialog Box will be displayed.
12-46
12.2 Alarm Displays
3. Click the Reset Button.
This concludes the procedure to reset Motor Type alarms.
Maintenance
12
12-47
12.3 Warning Displays
12.3.1 List of Warnings

If a warning occurs in the SERVOPACK, a warning number will be displayed on the panel dis-
play. Warnings are displayed to warn you before an alarm occurs.
This section provides a list of warnings and the causes of and corrections for warnings.

The list of warnings gives the warning name, warning meaning, and warning code output in
order of the warning numbers.
Warning Code
Warning Output
Warning Name Meaning
Number
ALO1 ALO2 ALO3
The position deviation exceeded the percentage
Position Deviation
A.900 set with the following formula: H H H
Overflow (Pn520 × Pn51E/100)
Position Deviation The position deviation when the servo was turned
A.901 Overflow Alarm at ON exceeded the percentage set with the follow- H H H
Servo ON ing formula: (Pn526 × Pn528/100)
This warning occurs before an overload alarm
A.910 Overload (A.710 or A.720) occurs. If the warning is ignored L H H
and operation is continued, an alarm may occur.
Abnormal vibration was detected during motor
operation. The detection level is the same as
A.911 Vibration A.520. Set whether to output an alarm or a warn- L H H
ing by setting Pn310 (Vibration Detection Selec-
tion).
Internal Temperature
Warning 1 (Control The surrounding air temperature of the control
A.912 H L H
Board Temperature PCB is abnormal.
Error)
Internal Temperature
Warning 2 (Power The surrounding air temperature of the power PCB
A.913 H L H
Board Temperature is abnormal.
Error)
This warning occurs before an A.320 alarm
(Regenerative Overload) occurs. If the warning is
A.920 Regenerative Overload H L H
ignored and operation is continued, an alarm may
occur.
Dynamic Brake Over- (Dynamic Brake Overload) occurs. If the warning is
A.921 H L H
load ignored and operation is continued, an alarm may
occur.
SERVOPACK Built-in
A.923 The fan inside the SERVOPACK stopped. H L H
Fan Stopped
Absolute Encoder Bat- This warning occurs when the voltage of absolute
A.930 L L H
tery Error encoder’s battery is low.
The input voltage (temperature) for the overheat
A.93B Overheat Warning protection input (TH) signal exceeded the setting of L L H
Pn61C (Overheat Warning Level).
Change of Parameters Parameters have been changed that require the
A.941 H H L
Requires Restart power supply to be turned OFF and ON again.
Speed Ripple Com- The speed ripple compensation information stored

in the encoder does not agree with the speed rip-
A.942 pensation Information H H L
ple compensation information stored in the SER-
Disagreement VOPACK.
12-48

Warning Code
Warning Output
Warning Name Meaning
Number
ALO1 ALO2 ALO3
A.971 Undervoltage (Undervoltage) occurs. If the warning is ignored L L L
and operation is continued, an alarm may occur.
A.9A0 Overtravel Overtravel was detected while the servo was ON. H L L
Preventative Mainte- One of the consumable parts has reached the end
A.9b0 H L H
nance Warning of its service life.
Note: 1. A warning code is not output unless you set Pn001 to n.1 (Output both alarm codes and warning
codes).
2. Use Pn008 = n.X (Warning Detection Selection) to control warning detection.
However, the following warnings are not affected by the setting of Pn008 = n.X and other parameter
settings are required in addition to Pn008 = n.X.
Warning Parameters That Must Be Set to Select Warning Detection Reference
A.911 Pn310 = n.X (Vibration Detection Selection) page 6-98
–
A.923 –
(Not affected by the setting of Pn008 = n.X.)
A.930 Pn008 = n.X (Low Battery Voltage Alarm/Warning Selection) page 12-3
Pn423 = n.X (Speed Ripple Compensation Information Dis-
A.942 page 8-60
agreement Warning Detection Selection)
Pn008 = n.X (Function Selection for Undervoltage)
A.971 page 6-14
Pn00D = n.X (Overtravel Warning Detection Selection)
A.9A0 page 5-35
A.9b0 Pn00F = n.X (Preventative Maintenance Warning Selection) page 9-18
Maintenance
12
12-49
12.3.2 Troubleshooting Warnings

The causes of and corrections for the warnings are given in the following table. Contact your
Yaskawa representative if you cannot solve a problem with the correction given in the table.
Warning Number:
Warning Name
Make sure that there are no
The Servomotor Check the wiring of the
faulty connections in the
U, V, and W wiring Servomotor’s Main Cir- –
wiring for the Servomotor
is not correct. cuit Cables.
and encoder.
Increase the servo gain,
A SERVOPACK Check the SERVO-
e.g., by using autotuning page 8-24
gain is too low. PACK gains.
without a host reference.
Reduce the position refer-
The frequency of Reduce the reference
ence pulse frequency or the
the position refer- pulse frequency and try
reference acceleration rate, page 5-48
ence pulse is too operating the SERVO-
or reconsider the electronic
high. PACK.
gear ratio.
Reduce the reference Apply smoothing, i.e., by
A.900: The acceleration
acceleration and try using Pn216 (Position Ref-
Position Deviation of the position ref- page 6-30
operating the SERVO- erence Acceleration/ Decel-
Overflow erence is too high.
PACK. eration Time Constant).
The excessive
position deviation Check excessive posi-
alarm level (Pn520 tion deviation alarm
Optimize the settings of
× Pn51E/100) is level (Pn520 × Pn51E/ page 8-8
Pn520 and Pn51E.
too low for the 100) to see if it is set to
operating condi- an appropriate value.
tions.
A failure occurred
in the SERVO- – –
PACK.
SERVOPACK.
The position devi-
ation when the Set the position deviation to
servo was turned be cleared while the servo is
A.901:
ON exceeded the OFF.
Position Deviation percentage set – Optimize the setting of page 8-10
Overflow Alarm at with the following Pn528 (Position Deviation
Servo ON formula: Overflow Warning Level at
(Pn526 × Pn528/ Servo ON).
100)
12-50

Warning Number:
Warning Name
The wiring is not
correct or there is Make sure that the Servo-
a faulty connec- Check the wiring. motor and encoder are cor- –
tion in the motor rectly wired.
or encoder wiring.
Operation was
performed that
Check the motor over- Reconsider the load and
exceeded the
load characteristics and operating conditions. Or, –
overload protec-
Run command. increase the motor capacity.
tion characteris-
tics.
A.910: An excessive load
Overload (warning was applied
before an A.710 or during operation
Check the operation
A.720 alarm occurs) because the Ser- Remove the mechanical
reference and motor –
vomotor was not problem.
speed.
driven because of
mechanical prob-
lems.
The overload
Check that the overload
warning level Set a suitable overload
warning level (Pn52B) is page 5-45
(Pn52B) is not warning level (Pn52B).
suitable.
suitable.
A failure occurred The SERVOPACK may be
in the SERVO- – faulty. Replace the SERVO- –
PACK. PACK.
Check for abnormal
Abnormal vibra-
motor noise, and check Reduce the motor speed.
tion was detected
the speed and torque Or, reduce the servo gain page 8-42
during motor
waveforms during oper- with custom tuning.
operation.
ation.
The setting of
Pn103 (Moment of
A.911: Inertia Ratio) is Check the moment of Set Pn103 (Moment of Iner-
Vibration greater than the inertia ratio or mass tia Ratio) to an appropriate page 8-16
actual moment of ratio. value.
inertia or was
greatly changed.
The vibration
Check that the vibration Set a suitable vibration
detection level
detection level (Pn312 detection level (Pn312 or page 6-98
(Pn312 or Pn384)
or Pn384) is suitable. Pn384).
is not suitable.
Maintenance
12
12-51

Warning Number:
Warning Name
temperature using a
Decrease the surrounding
The surrounding thermometer. Or, check
temperature by improving
temperature is too the operating status page 3-7
the SERVOPACK installa-
high. with the SERVOPACK
tion conditions.
installation environ-
ment monitor.
An overload alarm
was reset by turn- Check the alarm display
Change the method for
ing OFF the power to see if there is an –
resetting the alarm.
supply too many overload alarm.
times.
A.912: There was an Use the accumulated
Internal Tempera- excessive load or load ratio to check the
ture Warning 1 (Con- operation was load during operation,
trol Board performed that and use the regenera- –
Temperature Error) exceeded the tive load ratio to check
regenerative pro- the regenerative pro-
cessing capacity. cessing capacity.
The SERVOPACK
installation orien-
tation is not cor- Check the SERVO-
Install the SERVOPACK page 3-3,
rect or there is PACK installation condi- page 3-6
according to specifications.
insufficient space tions.
around the SER-
VOPACK.
PACK. PACK.
temperature using a
Decrease the surrounding
The surrounding thermometer. Or, check
temperature by improving
temperature is too the operating status page 3-7
the SERVOPACK installa-
high. with the SERVOPACK
tion conditions.
installation environ-
ment monitor.
An overload alarm
was reset by turn- Check the alarm display
Change the method for
ing OFF the power to see if there is an –
resetting the alarm.
supply too many overload alarm.
times.
A.913: There was an Use the accumulated
Internal Tempera- excessive load or load ratio to check the
ture Warning 2 operation was load during operation,
(Power Board Tem- performed that and use the regenera- –
perature Error) exceeded the tive load ratio to check
regenerative pro- the regenerative pro-
cessing capacity. cessing capacity.
The SERVOPACK
installation orien-
tation is not cor- Check the SERVO-
Install the SERVOPACK page 3-3,
rect or there is PACK installation condi- page 3-6
according to specifications.
insufficient space tions.
around the
SERVOPACK.
PACK. PACK.
12-52

Warning Number:
Warning Name
The power supply
Set the power supply volt-
voltage exceeded Measure the power
age within the specified –
the specified supply voltage.
range.
range.
There is insuffi-
cient external Change the regenerative
regenerative resis- resistance value, regenera-
Check the operating
tance, regenerative resistance capacity, or
conditions or the
A.920: tive resistor SERVOPACK capacity.
capacity using the Sig-
Regenerative Over- capacity, or Reconsider the operating –
maJunmaSize+ Capac-
load (warning before SERVOPACK conditions using the Sigma-
ity Selection Software
an A.320 alarm capacity, or there JunmaSize+ Capacity
or another means.
occurs) has been a con- Selection Software or other
tinuous regenera- means.
tion state.
There was a con-
tinuous regenera- Reconsider the system
Check the load applied
tion state because including the servo,
to the Servomotor –
a negative load machine, and operating
during operation.
was continuously conditions.
applied.
Implement measures to
The Servomotor
Check the operation ensure that the motor will
was rotated by an –
status. not be rotated by an exter-
external force.
nal force.
When the Servo-
motor was Reconsider the following:
A.921: stopped with the • Reduce the Servomotor
Check the power con-
Dynamic Brake dynamic brake, command speed.
sumed by the DB resis-
Overload (warning the rotational or • Decrease the moment of
tor to see how –
before an A.731 linear kinetic inertia or mass.
frequently the DB is
alarm occurs) energy exceeded • Reduce the frequency of
being used.
the capacity of the stopping with the dynamic
dynamic brake brake.
resistor.
PACK. PACK.
Remove foreign matter from
A.923: The fan inside the Check for foreign mat- the SERVOPACK. If the
SERVOPACK Built- SERVOPACK ter inside the SERVO- alarm still occurs, the –
in Fan Stopped stopped. PACK. SERVOPACK may be faulty.
Replace the SERVOPACK.
The battery con-
A.930: nection is faulty or Check the battery con- Correct the battery connec-
page 4-26
Absolute Encoder a battery is not nection. tion.
Battery Error (The connected.
absolute encoder
The battery volt-
battery voltage was
Maintenance
age is lower than Measure the battery

lower than the spec- Replace the battery. page 12-3
the specified value voltage.
ified level.) (Detected
(2.7 V).
only when an abso-
lute encoder is con- A failure occurred The SERVOPACK may be
nected.) in the SERVO- – faulty. Replace the SERVO- –
PACK. PACK.
Continued on next page. 12
12-53

Warning Number:
Warning Name
Lower the surrounding tem-
The surrounding Check the surrounding perature by improving the
temperature is too temperature using a installation conditions of the –
high. thermometer. Linear Servomotor or the
machine.
Operation was Use the accumulated
performed under load ratio to check the –
an excessive load. load during operation.
A.93B: A failure occurred The SERVOPACK may be
Overheat Warning in the SERVO- – faulty. Replace the SERVO- –
PACK. PACK.
The temperature detection
The temperature
circuit in the Linear Servo-
detection circuit in
motor may be faulty or the
the Linear Servo-
sensor attached to the
motor is faulty or – –
machine may be faulty.
the sensor
Replace the Linear Servo-
attached to the
motor or repair the sensor
machine is faulty.
attached to the machine.
Parameters have
A.941: been changed
Change of Parame- that require the
– the SERVOPACK OFF and –
ters Requires power supply to
ON again.
Restart be turned OFF
and ON again.
Reset the speed ripple
– compensation value on the page 8-60
The speed ripple SigmaWin+.
compensation
Set Pn423 to n.1 (Do
information stored
not detect A.942 alarms).
A.942: in the encoder
– However, changing the set- page 8-60
Speed Ripple Com- does not agree
ting may increase the speed
pensation Informa- with the speed
ripple.
tion Disagreement ripple compensa-
tion information Set Pn423 to n.0
stored in the (Disable speed ripple com-
SERVOPACK. – pensation). However, page 8-60
changing the setting may
increase the speed ripple.
For a 200-V
SERVOPACK, the Set the power supply volt-
Measure the power
AC power supply age within the specified –
supply voltage.
voltage dropped range.
below 140 V.
For a 100-V
SERVOPACK, the Set the power supply volt-
Measure the power
AC power supply age within the specified –
supply voltage.
voltage dropped range.
below 60 V.
A.971: The power supply
Measure the power Increase the power supply
Undervoltage voltage dropped –
supply voltage. capacity.
during operation.
If you have changed the
A momentary
Measure the power setting of Pn509 (Momen-
power interrup- page 6-13
supply voltage. tary Power Interruption Hold
tion occurred.
Time), decrease the setting.
The SERVOPACK Replace the SERVOPACK
– page 4-24
fuse is blown out. and connect a reactor.
PACK. PACK.
12-54

Warning Number:
Warning Name
Even if an overtravel signal
is not shown by the input
signal monitor, momentary
overtravel may have been
detected. Take the following
A.9A0: precautions.
Overtravel was Check the status of the
Overtravel (Over- • Do not specify move-
detected while the overtravel signals on page 5-35
travel status was ments that would cause
servo was ON. the input signal monitor.
detected.) overtravel from the host
controller.
• Check the wiring of the
overtravel signals.
• Implement countermea-
sures against noise.
One of the con-
A.9b0: Replace the part. Contact
sumable parts has
Preventative Mainte- – your Yaskawa representa- page 9-18
reached the end
nance Warning tive for replacement.
of its service life.
Maintenance
12
12-55
12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor

This section provides troubleshooting based on the operation and conditions of the Servomo-
tor, including causes and corrections.
Problem Possible Cause Confirmation Correction Reference
Turn OFF the power
supply to the servo
Measure the voltage
The control power supply is system.
between control power –
not turned ON. Correct the wiring so
supply terminals.
that the control power
supply is turned ON.
Turn OFF the power
supply to the servo
Measure the voltage system.
The main circuit power sup-
between the main circuit Correct the wiring so –
ply is not turned ON.
power input terminals. that the main circuit
power supply is turned
ON.
Turn OFF the power sup-
The I/O signal connector ply to the servo system. Correct the wiring of
page 4-34,
(CN1) pins are not wired cor- Check the wiring condi- the I/O signal connec- page 9-7
rectly or are disconnected. tion of the I/O signal con- tor (CN1) pins.
nector (CN1) pins.
Turn OFF the power
The wiring for the Servomo-
supply to the servo
tor Main Circuit Cables or Check the wiring condi-
system. –
Encoder Cable is discon- tions.
Wire the cable cor-
nected.
rectly.
Turn OFF the power
supply to the servo
Operate the Servomotor system.
There is an overload on the
with no load and check Reduce the load or –
Servomotor.
the load status. replace the Servomo-
Servomotor tor with a Servomotor
Does Not with a larger capacity.
Start The type of encoder that is Check the type of the Set Pn002 = n.X
being used does not agree encoder that is being according to the type of
page 6-73
with the setting of Pn002 = used and the setting of the encoder that is
n.X (Encoder Usage). Pn002 = n.X. being used.
Turn OFF the power sup- Allocate an input signal
No speed or position refer- ply to the servo system. so that the speed and page 4-34,
ence is input. Check the allocation sta- position references are page 9-7
tus of the input signals. input correctly.
There is a mistake in the Check the input signal Correctly allocate the
input signal allocations allocations (Pn50A to input signals (Pn50A to page 6-5,
(Pn50A to Pn50D, Pn515, Pn50D, Pn515, and Pn50D, Pn515, and page 9-7
and Pn516). Pn516). Pn516).
Check the settings of
Pn50A = n.X (Input
Set Pn50A = n.XX
The /S-ON (Servo ON) signal Signal Allocation Mode) page 5-18,
correctly and turn ON page 9-7
is OFF. and Pn50A =n.X
the /S-ON signal.
(/S-ON (Servo ON) Signal
Allocation).
The function setting of the / Check the setting of
Set the parameter to
P-CON (Proportional Con- Pn000 = n.X (Con- page 5-14
match the application.
trol) signal is not correct. trol Method Selection).
If you are using an
Check the ON/OFF status page 6-73,
The SEN input is OFF. absolute encoder, turn page 9-7
of the SEN input.
ON the SEN signal.
Check the setting of Set Pn200 =n.X
The reference pulse mode Pn200 =n.X (Refer- so that is agrees with
page 6-31
selection is not correct. ence Pulse Form) and the the reference pulse
reference pulse form. form.
12-56

Check between the
speed reference input (V-
Speed control: The speed Correctly set the con-
REF) and signal ground
reference input is not appro- trol method and input page 9-7
(SG) to see if the control
priate. method.
method and the input
agree.
Check between the
torque reference input (T-
Torque control: The torque Correctly set the con-
priate. method.
agree.
Position control: The refer- Correctly set the con-
Pn200 =n.X (Refer-
ence pulse input is not trol method and input page 6-31
ence Pulse Form) and the
appropriate. method.
sign and pulse signals.
The /CLR (Position Deviation
Check the /CLR signal Turn OFF the /CLR sig-
Clear) input signal has not page 9-7
(CN1-14 and CN1-15). nal.
been turned OFF.
The P-OT (Forward Drive
Prohibit) or N-OT (Reverse Check the P-OT and N- Turn ON the P-OT and
page 9-7
Drive Prohibit) signal is still OT signals. N-OT signals.
OFF.
Turn ON the /HWBB1
and /HWBB2 input sig-
nals.
The safety input signals
Check the /HWBB1 and If you are not using the
(/HWBB1 or /HWBB2) were page 9-7
/HWBB2 input signals. safety function, con-
not turned ON.
Servomotor nect the Safety Jumper
Does Not Connector (provided as
Start an accessory) to CN8.
• Turn ON the FSTP
signal.
• If you will not use the
function to force the
The FSTP (Forced Stop motor to stop, set
Check the FSTP signal. page 9-7
Input) signal is still OFF. Pn516 = n.X
(FSTP (Forced Stop
Input) Signal Alloca-
tion) to disable the
signal.
Turn OFF the power
supply to the servo
A failure occurred in the
– system. –
SERVOPACK.
Replace the SERVO-
PACK.
Correct the parameter
Pn080 =n.X (Polar- page 5-27
setting.
ity Sensor Selection).
Maintenance
• If you are using an

incremental linear
encoder, turn ON the
The polarity detection was /S-ON or /P-DET sig-
not executed. Check the /S-ON (Servo nal.
ON) or /P-DET (Polarity • If you are using an page 5-28
Detection) input signal. absolute linear
encoder, turn OFF the
12
external /S-ON signal
and execute polarity
detection.
12-57

There is a mistake in the Ser- Wire the Servomotor
ply to the servo system. –
vomotor wiring. correctly.
Check the wiring.
There is a mistake in the wir- Turn OFF the power sup-
Wire the Serial Con-
ing of the encoder or Serial ply to the servo system. –
verter Unit correctly.
Converter Unit. Check the wiring.
There is a mistake in the lin- Wire the cable cor-
ply to the servo system. –
ear encoder wiring. rectly.
Servomotor Check the wiring.
Moves The setting of Pn282 (Linear
Check the setting of Correct the setting of
Instanta- Encoder Scale Pitch) is not page 5-20
Pn282. Pn282.
neously, correct.
and Then Change the setting of
Stops The count-up direction of the Pn080 = n.X
linear encoder does not (Motor Phase
match the forward direction Check the directions. Sequence Selection). page 5-25
of the Moving Coil in the Place the linear
motor. encoder and motor in
the same direction.
Check to see if electrical
Correct the settings for
Polarity detection was not angle 2 (electrical angle
the polarity detection- –
performed correctly. from polarity origin) at any
related parameters.
position is between ±10°.
The connector connec-
tions for the power line
(U, V, and W phases) and
Servomotor the encoder or Serial Tighten any loose ter-
There is a faulty connection
Speed Is Converter Unit may be minals or connectors –
in the Servomotor wiring.
Unstable unstable. and correct the wiring.
ply to the servo system.
Check the wiring.
Check between the
speed reference input (V-
Speed control: The speed Correctly set the con-
priate. method.
agree.
Check between the
torque reference input (T-
Torque control: The torque Correctly set the con-
priate. method.
agree.
The speed reference offset is The SERVOPACK offset Adjust the SERVO-
page 6-19
Servomotor not correct. is adjusted incorrectly. PACK offset.
Moves with- Check the setting of
out a Refer- Position control: The refer- Pn200 =n.X (Refer-
Correctly set the con-
ence pulse input is not trol method and input –
ence Input ence Pulse Form) and the
appropriate. method.
sign and pulse signals.
Turn OFF the power
supply to the servo
– system. –
SERVOPACK.
Replace the SERVO-
PACK.
Change the setting of
The count-up direction of the Pn080 = n.X
linear encoder does not (Motor Phase
match the forward direction Check the directions. Sequence Selection). page 5-25
of the Moving Coil in the Match the linear
motor. encoder direction and
Servomotor direction.
12-58

Servomotor Check to see if electrical
Moves with- Polarity detection was not angle 2 (electrical angle
out a Refer- performed correctly. from polarity origin) at any
related parameters.
ence Input position is between ±10°.
The setting of Pn001 =
n.X (Motor Stopping
Check the setting of Set Pn001 = n.X
Method for Servo OFF and –
Pn001 = n.X. correctly.
Group 1 Alarms) is not suit-
able.
Check the moment of
inertia, motor speed, and
Turn OFF the power
dynamic brake frequency
supply to the servo
of use. If the moment of
system.
The dynamic brake resistor is inertia, motor speed, or
Dynamic Replace the SERVO- –
disconnected. dynamic brake frequency
PACK. To prevent dis-
Brake Does of use is excessive, the
connection, reduce the
Not Operate dynamic brake resis-
load.
tance may be discon-
nected.
There is a defective
component in the
dynamic brake circuit.
There was a failure in the Turn OFF the power
– –
dynamic brake drive circuit. supply to the servo
system.
Replace the SERVO-
PACK.
Reduce the load so
that the moment of
inertia ratio or mass
ratio is within the allow-
able value, or increase
the load level or reduce
the rigidity level in the
The Servomotor vibrated
tuning-less level set-
considerably while perform- Check the waveform of
tings. page 8-12
ing the tuning-less function the motor speed.
If the situation is not
with the default settings.
improved, disable the
tuning-less function
(i.e., set Pn170 to
n.0) and execute
autotuning either with
or without a host refer-
ence.
Abnormal Turn OFF the power sup-
Noise from ply to the servo system.
Tighten the mounting
Servomotor Check to see if there are –
screws.
any loose mounting
screws.
Maintenance
The machine mounting is not ply to the servo system.

secure. Check to see if there is Align the coupling. –
misalignment in the cou-
pling.
Check to see if the cou-
Balance the coupling. – 12
pling is balanced.
Replace the Servomo-
The bearings are defective. Check for noise and –
tor.
vibration around the bear-
ings.
12-59

There is a vibration source at Check for any foreign Consult with the
–
the driven machine. matter, damage, or defor- machine manufacturer.
mation in the machine’s
moving parts.
Check the I/O signal
cables to see if they sat-
Noise interference occurred isfy specifications. Use Use cables that satisfy
because of incorrect I/O sig- shielded twisted-pair –
the specifications.
nal cable specifications. cables or screened
twisted-pair cables with
conductors of at least
0.12 mm 2 (stranded wire).
Noise interference occurred The I/O signal cables
because an I/O signal cable must be no longer than –
Check the lengths of the
is too long. 3 m.
I/O signal cables.
Check the Encoder Cable
to see if it satisfies speci-
Noise interference occurred fications. Use shielded Use cables that satisfy
because of incorrect Encoder twisted-pair cables or –
the specifications.
Cable specifications. screened twisted-pair
cables with conductors of
Abnormal at least 0.12 mm2
(stranded wire).
Noise from
Servomotor • Rotary Servomotors:
The Encoder Cable
length must be 50 m
max.
Noise interference occurred Make sure that the
because the Encoder Cable Serial Converter Unit –
Check the length of the
is too long. cable is no longer
Encoder Cable.
than 20 m and that
the Linear Encoder
Cable and the Sensor
Cable are no longer
than 15 m each.
Replace the Encoder
Noise interference occurred ply to the servo system.
Cable and correct the
because the Encoder Cable Check the Encoder Cable –
cable installation envi-
is damaged. to see if it is pinched or
ronment.
the sheath is damaged.
Correct the cable lay-
The Encoder Cable was sub- Check to see if the
out so that no surge is
jected to excessive noise Encoder Cable is bundled –
applied by high-current
interference. with a high-current line or
lines.
installed near a high-cur-
rent line.
There is variation in the FG Turn OFF the power sup-
Properly ground the
potential because of the ply to the servo system.
machines to separate
influence of machines on the Check to see if the –
them from the FG of
Servomotor side, such as a machines are correctly
the encoder.
welder. grounded.
12-60

Turn OFF the power
Check to see if there is supply to the servo
There is a SERVOPACK
noise interference on the system.
pulse counting error due to –
signal line from the Implement counter-
noise.
encoder. measures against noise
for the encoder wiring.
Check to see if vibration
from the machine
occurred. Check the Ser- Reduce machine vibra-
The encoder was subjected vomotor installation tion. Improve the
to excessive vibration or (mounting surface preci- mounting state of the –
shock. sion, securing state, and Servomotor or linear
alignment). encoder.
Check the linear encoder
Abnormal installation (mounting sur-
Noise from face precision and secur-
Servomotor ing method).
Turn OFF the power
supply to the servo
– system. –
encoder.
tor.
Turn OFF the power
supply to the servo
– system. –
Serial Converter Unit.
verter Unit.
Turn OFF the power
supply to the servo
A failure occurred in the linear
– system. –
encoder.
Replace the linear
encoder.
Check to see if the servo Perform autotuning
The servo gains are not bal-
gains have been cor- without a host refer- page 8-24
anced.
rectly tuned. ence.
The setting of Pn100 (Speed Pn100. Set Pn100 to an appro-
–
Loop Gain) is too high. The default setting is Kv = priate value.
40.0 Hz.
Servomotor
Vibrates at Check the setting of
The setting of Pn102 (Posi- Pn102. Set Pn102 to an appro-
Frequency –
tion Loop Gain) is too high. The default setting is Kp priate value.
of Approx. = 40.0/s.
200 to 400
Hz. Check the setting of
The setting of Pn101 (Speed
Pn101. Set Pn101 to an appro-
Loop Integral Time Con- –
The default setting is Ti = priate value.
stant) is not appropriate.
20.0 ms.
Maintenance

(Moment of Inertia Ratio or Check the setting of Set Pn103 to an appro-
–
Mass Ratio) is not appropri- Pn103. priate value.
ate.
12
12-61

Check to see if the servo Perform autotuning
The servo gains are not bal-
gains have been cor- without a host refer- page 8-24
anced.
rectly tuned. ence.
The setting of Pn100 (Speed Pn100. Set Pn100 to an appro-
–
Loop Gain) is too high. The default setting is Kv = priate value.
40.0 Hz.
The setting of Pn102 (Posi- Pn102. Set Pn102 to an appro-
–
Large Motor tion Loop Gain) is too high. The default setting is Kp priate value.
Speed = 40.0/s.
Overshoot Check the setting of
The setting of Pn101 (Speed
on Starting Loop Integral Time Con- Pn101. Set Pn101 to an appro-
–
and Stop- The default setting is Ti = priate value.
stant) is not appropriate.
ping 20.0 ms.
(Moment of Inertia Ratio or Check the setting of Set Pn103 to an appro-
–
Mass Ratio) is not appropri- Pn103. priate value.
ate.
The torque reference is satu- Check the waveform of
Use the mode switch. –
rated. the torque reference.
The force limits (Pn483 and The default values of the
Set Pn483 and Pn484
Pn484) are set to the default force limits are Pn483 = page 6-63
to appropriate values.
values. 30% and Pn484 = 30%.
Noise interference occurred fications. Use shielded Use cables that satisfy
because of incorrect Encoder twisted-pair cables or –
the specifications.
Cable specifications. screened twisted-pair
cables with conductors of
Absolute
at least 0.12 mm2
Encoder (stranded wire).
Position
Deviation
The Encoder Cable
Error (The length must be 50 m
position max.
that was • Linear Servomotors:
saved in the Turn OFF the power sup-
host con- because the Encoder Cable Serial Converter Unit –
troller when is too long. cable is no longer
Encoder Cable.
the power than 20 m and that
was turned the Linear Encoder
OFF is dif- Cable and the Sensor
Cable are no longer
ferent from
than 15 m each.
the posi-
tion when Turn OFF the power sup-
Replace the Encoder
the power Noise interference occurred ply to the servo system.
was next cable installation envi-
turned ON.) ronment.
ject to excessive noise inter- Encoder Cable is bundled –
applied by high-current
ference. with a high-current line or
lines.
installed near a high-cur-
rent line.
12-62

There is variation in the FG Turn OFF the power sup-
Properly ground the
them from the FG of
the encoder.
welder. grounded.
ply to the servo system. Implement counter-
There is a SERVOPACK Check to see if there is measures against noise
pulse counting error due to noise interference on the for the encoder or –
noise. I/O signal line from the Serial Converter Unit
encoder or Serial Con- wiring.
verter Unit.
Absolute from the machine
Encoder occurred. Reduce machine vibra-
Position The encoder was subjected Check the Servomotor tion. Improve the
Deviation to excessive vibration or installation (mounting sur- mounting state of the –
Error (The shock. face precision, securing Servomotor or linear
position state, and alignment). encoder.
that was Check the linear encoder
saved in the installation (mounting sur-
host con- face precision and secur-
ing method).
troller when
the power Turn OFF the power
was turned supply to the servo
– system. –
OFF is dif- encoder.
ferent from tor or linear encoder.
the posi-
tion when Turn OFF the power
supply to the servo
the power A failure occurred in the
– system. –
was next SERVOPACK.
Replace the SERVO-
turned ON.) PACK.
Check the error detec- Correct the error detec-
tion section of the host tion section of the host –
controller. controller.
Perform parity checks
Check to see if the host
for the multiturn data or
controller is executing –
absolute encoder posi-
Host Controller Multiturn data parity checks.
tion data.
Data or Absolute Encoder
Position Data Reading Error Implement counter-
Check for noise interfer- measures against noise
ence in the cable and then perform parity
between the SERVO- checks again for the –
PACK and the host con- multiturn data or abso-
troller. lute encoder position
data.
Maintenance
12
12-63

Correct the external
Check the external power
power supply (+24 V)
supply (+24 V) voltage for –
voltage for the input
the input signals.
signals.
Check the operating con- Make sure that the
The P-OT/N-OT (Forward dition of the overtravel overtravel limit switches –
Drive Prohibit or Reverse limit switches. operate correctly.
Drive Prohibit) signal was Correct the wiring of
input. Check the wiring of the
the overtravel limit page 5-32
overtravel limit switches.
switches.
Check the settings of the
overtravel input signal Set the parameters to
page 5-32
allocations (Pn50A/ correct values.
Pn50B).
Check for fluctuation in Eliminate fluctuation
the external power supply from the external power
–
Overtravel (+24 V) voltage for the supply (+24 V) voltage
Occurred input signals. for the input signals.
The P-OT/N-OT (Forward Check to see if the opera- Stabilize the operating
Drive Prohibit or Reverse tion of the overtravel limit condition of the over- –
Drive Prohibit) signal mal- switches is unstable. travel limit switches.
functioned. Check the wiring of the
overtravel limit switches Correct the wiring of
(e.g., check for cable the overtravel limit –
damage and loose switches.
screws).
If another signal is allo-
Check to see if the P-OT
There is a mistake in the allocated in Pn50A
signal is allocated in
cation of the P-OT or N-OT =n.X, allocate the
Pn50A = n.X.
(Forward Drive Prohibit or P-OT signal instead.
page 5-32
Reverse Drive Prohibit) sig- If another signal is allo-
nal in Pn50A = n.X or Check to see if the N-OT
cated in Pn50B
Pn50B = n.X. signal is allocated in
=n.X, allocate the
Pn50B = n.X.
N-OT signal instead.
Check the servo OFF
Select a Servomotor
stopping method set in
stopping method other
Pn001 = n.X or
The selection of the Servo- than coasting to a stop.
Overtravel Pn001 = n.X.
motor stopping method is page 5-34
Occurred Check the torque control
not correct. Select a Servomotor
stopping method set in
stopping method other
Pn001 = n.X or
than coasting to a stop.
Pn001 = n.X.
The limit switch position and Install the limit switch at
Improper
dog length are not appropri- – the appropriate posi- –
Stop Posi- ate. tion.
tion for
Overtravel The overtravel limit switch Install the overtravel
position is too close for the – limit switch at the –
(OT) Signal
coasting distance. appropriate position.
12-64

fications. Use shielded
Noise interference occurred twisted-pair cables or Use cables that satisfy
because of incorrect Encoder screened twisted-pair –
the specifications.
Cable specifications. cables with conductors of
at least 0.12 mm2
(stranded wire).
The Encoder Cable
length must be 50 m
max.
because the Encoder Cable Serial Converter Unit –
is too long. cable is no longer
Encoder Cable.
than 20 m and that
the Linear Encoder
Cable and the Sensor
Cable are no longer
than 15 m each.
Replace the Encoder
Noise interference occurredply to the servo system.
cable installation envi-
ronment.
jected to excessive noise Encoder Cable is bundled –
Position applied by high-current
interference. with a high-current line or
lines.
Deviation installed near a high-cur-
(without rent line.
Alarm) There is variation in the FG Turn OFF the power sup-
Properly ground the
them from the FG of
the encoder.
welder. grounded.
ply to the servo system. Implement counter-
There is a SERVOPACK Check to see if there is measures against noise
pulse counting error due to noise interference on the for the encoder wiring –
noise. I/O signal line from the or Serial Converter Unit
encoder or Serial Con- wiring.
verter Unit.
from the machine
occurred. Reduce machine vibra-
Maintenance
The encoder was subjected Check the Servomotor tion. Improve the
to excessive vibration or installation (mounting sur- mounting state of the –
shock. face precision, securing Servomotor or linear
state, and alignment). encoder.
Check the linear encoder
installation (mounting sur-
face precision and secur- 12
ing method).
ply to the servo system. Correctly secure the
The coupling between the
Check to see if position coupling between the
machine and Servomotor is –
offset occurs at the cou- machine and Servomo-
not suitable.
pling between machine tor.
and Servomotor.
12-65

Check the I/O signal
cables to see if they sat-
Noise interference occurred isfy specifications. Use Use cables that satisfy
because of incorrect I/O sig- shielded twisted-pair –
the specifications.
nal cable specifications. cables or screened
twisted-pair cables with
0.12 mm 2 (stranded wire).
If reference pulse input multi- Check the I/O signal
plication switching is being cables to see if they sat-
used, noise may be causing isfy specifications. Use Use cables that satisfy
–
the I/O signals used for this shielded twisted-pair the specifications.
function (/PSEL and /PSELA) cables or screened
Position to be falsely detected. twisted-pair cables with
Deviation
(without 0.12 mm 2 (stranded wire).
Alarm) Pulses are being lost
because the filter for the ref- Set the parameters to
Pn200=n.X(Filter page 6-31
erence pulse input is not correct values.
Selection).
appropriate.
Noise interference occurred The I/O signal cables
because an I/O signal cable must be no longer than –
Check the lengths of the
is too long. 3 m.
I/O signal cables.
Turn OFF the power
An encoder fault occurred. supply to the servo
(The pulse count does not – system. –
change.) Replace the Servomo-
tor or linear encoder.
Turn OFF the power
supply to the servo
– system. –
SERVOPACK.
Replace the SERVO-
PACK.
Measure the surrounding Reduce the surround-
The surrounding air tempera-
air temperature around ing air temperature to –
ture is too high.
the Servomotor. 40°C or less.
The surface of the Servomo- ply to the servo system. Clean dirt, dust, and oil
–
tor is dirty. Visually check the surface from the surface.
for dirt.
If the Servomotor is
Servomotor overloaded, reduce the
Overheated load or replace the
There is an overload on the Check the load status
Servo Drive with a –
Servomotor. with a monitor.
SERVOPACK and Ser-
vomotor with larger
capacities.
Check to see if electrical
Polarity detection was not angle 2 (electrical angle
performed correctly. from polarity origin) at any
related parameters.
position is between ±10°.
12-66
Panel Displays and
Panel Operator
Procedures
13
This chapter describes how to interpret panel displays and
the operation of the Panel Operator.
13.1 Panel Operator . . . . . . . . . . . . . . . . . . . . . 13-3

13.1.1 Panel Operator Key Names and Functions . . . . 13-3
13.1.2 Changing Modes . . . . . . . . . . . . . . . . . . . . . . . . 13-3
13.1.3 Status Displays . . . . . . . . . . . . . . . . . . . . . . . . . 13-4
13.2 Parameter (Pn) Operations on the Panel Operator . . 13-6

13.2.1 Setting Parameters That Require Numeric
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6
13.2.2 Setting Parameters That Require Selection
of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-7
13.3 Monitor Display (Un) Operations on the Panel Operator . . 13-8

13.3.1 Basic Monitor Display Operations . . . . . . . . . . . 13-8
13.3.2 Input Signal Monitor (Un005) . . . . . . . . . . . . . . . 13-8
13.3.3 Output Signal Monitor (Un006) . . . . . . . . . . . . . 13-9
13.3.4 Safety Input Signal Monitor (Un015) . . . . . . . . 13-10
13.3.5 Upper Limit Setting Monitor for Maximum Motor
Speed/Upper Limit Setting for Encoder Output
Resolution (Un010) . . . . . . . . . . . . . . . . . . . . . 13-11
13.3.6 Polarity Sensor Signal Monitor (Un011) . . . . . . 13-11
13.4 Utility Function (Fn) Operations on the Panel Operator . .13-12
13.4.1 Display Alarm History (Fn000) . . . . . . . . . . . . . 13-12
13.4.2 Jog (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-13
13.4.3 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . 13-14
13.4.4 Jog Program (Fn004) . . . . . . . . . . . . . . . . . . . . 13-15
13.4.5 Initialize Parameters (Fn005) . . . . . . . . . . . . . . 13-16
13.4.6 Clear Alarm History (Fn006) . . . . . . . . . . . . . . . 13-16
13.4.7 Reset Absolute Encoder (Fn008) . . . . . . . . . . . 13-17
13.4.8 Autotune Analog (Speed/Torque) Reference
Offset (Fn009) . . . . . . . . . . . . . . . . . . . . . . . . . 13-18
13.4.9 Manually Adjust Speed Reference Offset
(Fn00A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-18
13.4.10 Manually Adjust Torque Reference Offset
(Fn00B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19
13.4.11 Adjust Analog Monitor Output Offset
(Fn00C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-20
13.4.12 Adjust Analog Monitor Output Gain (Fn00D) . . 13-20
13.4.13 Autotune Motor Current Detection Signal Offset
(Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-21
13.4.14 Manually Adjust Motor Current Detection Signal
Offset (Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . 13-22
13.4.15 Write Prohibition Setting (Fn010) . . . . . . . . . . . 13-23
13.4.16 Display Servomotor Model (Fn011) . . . . . . . . . 13-24
13.4.17 Display Software Version (Fn012) . . . . . . . . . . . 13-25
13.4.18 Multiturn Limit Setting after Multiturn Limit
Disagreement Alarm (Fn013) . . . . . . . . . . . . . . 13-26
13.4.19 Reset Option Module Configuration Error
(Fn014) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-27
13.4.20 Initialize Vibration Detection Level (Fn01B) . . . 13-27
13.4.21 Display SERVOPACK and Servomotor IDs
(Fn01E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-28
13.4.22 Display Servomotor ID from Feedback Option
Module (Fn01F) . . . . . . . . . . . . . . . . . . . . . . . . 13-28
13.4.23 Set Absolute Linear Encoder Origin (Fn020) . . . 13-28
13.4.24 Resetting Motor Type Alarms (Fn021) . . . . . . . 13-29
13.4.25 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . 13-29
13.4.26 Polarity Detection (Fn080) . . . . . . . . . . . . . . . . 13-29
13.4.27 Tuning-less Level Setting (Fn200) . . . . . . . . . . 13-30
13.4.28 Advanced Autotuning without Reference
(Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-31
13.4.29 Advanced Autotuning with Reference
(Fn202) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-31
13.4.30 One-Parameter Tuning (Fn203) . . . . . . . . . . . . 13-31
13.4.31 Adjust Anti-resonance Control (Fn204) . . . . . . . 13-32
13.4.32 Vibration Suppression (Fn205) . . . . . . . . . . . . . 13-32
13.4.33 Easy FFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . 13-32
13.1 Panel Operator
13.1.1 Panel Operator Key Names and Functions
13.1 Panel Operator
13.1.1 Panel Operator Key Names and Functions

The Panel Operator consists of a panel display and Panel Operator keys.
You can use the Panel Operator to set parameters, display status, execute utility functions, and
monitor SERVOPACK operation.
The Panel Operator key names and functions are given below.
Key
Key Name Function
No.
MODE/SET • Changes the display.

Key • Confirms settings.
 UP Key Increases the setting.
 DOWN Key Decreases the setting.
Panel display • Displays the setting. To display the
setting, press the DATA/SHIFT Key
DATA/SHIFT
 for approximately one second.
Key
• Moves to the next digit on the left
c d e f when a digit is flashing.
Panel Operator
13.1.2 Changing Modes

Press the MODE/SET Key to change between the modes as shown below.
Refer to the reference pages for the operating procedures in each function mode.
Power ON
Status Display Mode page 13-4

Press the MODE/SET Key.
Press the DATA/SHIFT Key

for approx. 1 second.
Utility Function Mode (Fn) page 13-12
Press the DATA/SHIFT Key Parameter Setting Mode (Pn) page 13-6
Press the DATA/SHIFT Key

Monitor Display Mode (Un) page 13-8
13
13-3
13.1 Panel Operator
13.1.3 Status Displays
You can change the setting of Pn52F (Monitor Display at Startup) to display the Monitor Dis-
Information
play Mode instead of the Status Display Mode after the power supply is turned ON.
Set Pn52F to the Un number of the monitor display to display after the power supply is
turned ON.
Monitor Display at Startup Speed Position Torque

Setting Default When
Pn52F Setting Unit Classification
Range Setting Enabled
0000 to 0FFF – 0FFF Immediately Setup
If 0FFF is set (default setting), the SERVOPACK will enter the Status Display Mode after the
power supply is turned ON.

The status is displayed as described below.
Bit data
Code
• Interpreting Bit Data

Display Meaning
Control Power ON Display
Lit while the SERVOPACK control power is ON.
Not lit if the SERVOPACK control power is OFF.
Base Block Display
Lit if the servo is OFF.
Not lit while the servo is ON.
During Speed Control: /V-CMP (Speed Coincidence Detection) Signal Display
Lit if the difference between the Servomotor speed and the reference speed is the same as
or less than the setting of Pn503 or Pn582. (The default setting is 10 min-1 or 10 mm/s.)
Always lit during torque control.
If there is noise in the reference voltage during speed control, the horizontal segment (-) on
the top of the leftmost digit on the Panel Operator display may flash. Refer to the following
section and implement countermeasures against noise.
4.1.2 Countermeasures against Noise on page 4-5
During Position Control: /COIN (Positioning Completion) Signal Display
Lit if the deviation between the position reference and actual motor position is equal to or
less than the setting of Pn522. (The default setting is 7 reference units.) Not lit it the devia-
tion exceeds the setting.
/TGON (Rotation Detection) Signal Display
Lit if the Servomotor speed is higher than the setting of Pn502 or Pn581 and not lit if the
speed is lower than the setting. (The default setting is 20 min -1 or 20 mm/s.)
During Speed Control: Speed Reference Input Display
Lit if the current input reference is larger than the setting of Pn502 or Pn581 and not lit if the
reference is smaller than the setting. (The default setting is 20 min-1 or 20 mm/s.)
During Position Control: Reference Pulse Input Display
Lit while reference pulses are being input. Not lit if reference pulses are not being input.
During Torque Control: Torque Reference Input Display
Lit if the current input torque reference is larger than the specified value (10% of the rated
torque) and not lit if the reference is smaller than the specified value.
During Position Control: Clear Signal Input Display
Lit while the clear signal is being input. Not lit if the clear signal is not being input.
Power Ready Display
Lit while the main circuit power supply is ON. Not lit if the main circuit power supply is OFF.
13-4
13.1 Panel Operator
• Interpreting Codes
Display Meaning Display Meaning
Base Block Active
Indicates that the servo is Safety Function
OFF. Indicates that the SERVOPACK is in
Operation in Progress the hard wire base block state due to a
Indicates that the servo is safety function.
ON.
Forward Drive Prohibited (Example: Operation Test without Motor in Progress
Indicates that the P-OT in Progress Status) Indicates that the test without a motor
(Forward Drive Prohibit) is in progress.
signal is open. The status display changes according
Reverse Drive Prohibited (Displayed alternately.)
to the status of Servomotor and
Indicates that the N-OT SERVOPACK. However, tSt will not be
(Reverse Drive Prohibit) displayed during a test without a motor
signal is open. even if an alarm occurs.
Forced Stop Status
Indicates that the FSTP Alarm Status
(Force Stop Input) signal
Flashes the alarm number.
forced the Servomotor to
stop.
13
13-5
13.2 Parameter (Pn) Operations on the Panel Operator
13.2.1 Setting Parameters That Require Numeric Settings

This section describes the procedures for setting the parameters that are used in this manual.
Refer to the following sections for details on parameter classifications and notation.
5.1.1 Parameter Classification on page 5-4
5.1.2 Notation for Parameters on page 5-5
13.2.1 Setting Parameters That Require Numeric Settings

The following procedure shows how to change the setting of Pn100 (Speed Loop Gain) from
40.0 to 100.0 as an example of a parameter that requires a numeric setting.
Panel Display after
Step Keys Operation
Operation
Press the MODE/SET Key to enter Parameter Setting
1 Mode. If Pn100 is not displayed, press the UP Key or
MODE/SET DATA/ DOWN Key to display Pn100.
Press the DATA/SHIFT Key for approximately one
2 second. The current setting of Pn100 will be dis-
MODE/SET DATA/ played.
Press the DATA/SHIFT Key to move the digit that is
3 flashing to “4”. (You can change the value of the digit
MODE/SET DATA/ that is flashing.)
Press the UP Key six times to change the setting to
100.0.
4 Refer to the following section for the operating proce-
MODE/SET DATA/ dure for settings with more than five digits.
 Parameters with Settings of More Than Five Digits
on page 13-7
Press the MODE/SET Key. The display will flash. The

5
MODE/SET DATA/ setting has now been changed from 40.0 to 100.0.
(Flashing)
6
MODE/SET DATA/
second to return the display to Pn100.
Information Setting Negative Numbers

• For parameters that accept a negative setting, display 00000 and then press the DOWN
Key to set a negative number.
• For a negative number, the value increases when the DOWN Key is pressed and decreases
when the UP Key is pressed.
13-6
13.2.2 Setting Parameters That Require Selection of Functions

The Panel Operator displays five digits. Settings of more than five digits are displayed as shown
in the following figure.
The segment on the far left flashes to show the digits
that are currently being displayed.
The setting of the parameter is indicated by indicating
Upper the digits that are displayed and their numeric values.
two digits Press the DATA/SHIFT Key. Press the DATA/SHIFT Key. Press the DATA/SHIFT Key.
Middle Lower
four digits four digits
Displayed for a negative number.
13.2.2 Setting Parameters That Require Selection of Functions

For parameters that require selection of functions, you can select the individual digits of the
numbers displayed on the Panel Operator to set the functions assigned to them.
The following example shows how to change the setting of Pn000 = n.X (Control Method
Selection) in Pn000 (Basic Function Selections 0) from speed control to position control.
Panel Display after
Step Keys Operation
Operation
Press the MODE/SET Key to enter Parameter Setting
Mode.
1
MODE/SET DATA/
If Pn000 is not displayed, press the UP Key or
DOWN Key to display Pn000.
2 second. The current setting of Pn000 will be dis-

MODE/SET DATA/ played.
Press the DATA/SHIFT Key to move the digit that is
flashing.
3
MODE/SET DATA/
(You can change the value of the digit that is flash-
ing.)
Press the UP Key once to change the display to
n.0010.
4
MODE/SET DATA/
(This changes the control method from speed control
to position control.)
Press the MODE/SET Key. The display will flash.

5 The control method has now been changed from
MODE/SET DATA/
speed control to position control.
(Flashing)

6
MODE/SET DATA/
second. Pn000 is displayed again.
7 To enable the change to the setting, turn the power supply to the SERVOPACK OFF and ON again.
13
13-7
13.3 Monitor Display (Un) Operations on the Panel Operator
13.3.1 Basic Monitor Display Operations

You can monitor the status of the reference values and I/O signals that are set in the SERVO-
PACK and the internal status of the SERVOPACK with monitor displays.
The Panel Operator displays numbers beginning with “Un.”
Display Example for Motor Speed
This section describes the basic operations for monitor displays and how to interpret some
special monitor displays.
Refer to the following section for details on the contents of the monitor display.
15.2.2 Corresponding SERVOPACK Monitor Display Function Names on page 15-9
13.3.1 Basic Monitor Display Operations

The procedure for Un000 (Motor Speed) is described here as an example.
Panel Display after
Step Keys Operation
Operation
Press the MODE/SET Key to enter Monitor Display

1
MODE/SET DATA/ Mode.
Press the UP Key or DOWN Key to select the Un

2
MODE/SET DATA/
number of the item that you want to monitor.

second. The contents of the monitor display for the
specified Un number will appear.
3 Refer to the following section for the operating proce-
MODE/SET DATA/ dure for displays with more than five digits.
on page 13-7
4 second. The display shown for step 1 will appear
MODE/SET DATA/ again.
13.3.2 Input Signal Monitor (Un005)

You can use Un005 to display the status of allocated signals on the LED segments of the Panel
Operator.
 Interpreting the Display

LED Segments
Top: OFF
Bottom: ON
87 6 5 4 3 2 1 LED number
• If the input signal that corresponds to the LED number is OFF, the top LED segment will be lit.
• If the input signal that corresponds to the LED number is ON, the bottom LED segment will
be lit.
13-8
13.3.3 Output Signal Monitor (Un006)
The allocations are given in the following table.

LED number Input Pin Number Signal Name (Default Setting)
1 CN1-40 /SI0 (/S-ON)
2 CN1-41 /SI3 (/P-CON)
3 CN1-42 /SI1 (P-OT)
4 CN1-43 /SI2 (N-OT)
5 CN1-44 /SI4 (/ALM-RST)
6 CN1-45 /SI5 (/P-CL)
7 CN1-46 /SI6 (/N-CL)
8 CN1-4 SEN
The configuration of the input circuits is shown below.

Information
OFF: Open
ON: Closed
Example:
SERVOPACK
OFF (open)
 Display Examples
Display examples for input signals are shown below.
• When the /S-ON (Servo ON) Signal Is ON
The bottom segment of digit 1 is lit.
87 6 5 4 3 2 1
• When the /S-ON (Servo ON) Signal Is OFF
The top segment of digit 1 is lit.
87 6 5 4 3 2 1

• When the P-OT (Forward Drive Prohibit) Signal Is Active
87 6 5 4 3 2 1
13.3.3 Output Signal Monitor (Un006)

You can use Un006 to display the status of allocated signals on the LED segments of the Panel
Operator.

LED Segments
Top: OFF
Bottom: ON 13
87 6 5 4 3 2 1 LED number
• If the output signal that corresponds to the LED number is OFF, the top LED segment will be
lit.
13-9
13.3.4 Safety Input Signal Monitor (Un015)
• If the output signal that corresponds to the LED number is ON, the bottom LED segment will
be lit.
LED number Output Pin Numbers Signal Name (Default Setting)
1 CN1-31and CN1-32 ALM+, CALM-
/SO1+ (/COIN+ or /V-CMP+) and /SO1- (/COIN- or
2 CN1-25 and CN1-26
/V-CMP-)
3 CN1-27 and CN1-28 /SO2+ (/TGON+) /SO2- (/TGON-)
4 CN1-29 and CN1-30 /SO3+ (/S-RDY+) /SO3- (/S-RDY-)
5 CN1-37 ALO1
6 CN1-38 ALO2
7 CN1-39 ALO3
8 – Reserved.
Information The configuration of the output circuits is shown below.

OFF: Transistor OFF
ON: Transistor ON
Example:
SERVOPACK
ON (transistor ON)
 Display Examples
A display example for output signals is shown below.
• When the ALM (Servo Alarm) Signal Is OFF
8 7 6 5 4 3 2 1
13.3.4 Safety Input Signal Monitor (Un015)

You can display the status of allocated signals on the LED segments of the Panel Operator.
LED Segments
Top: ON
Bottom: OFF
87 6 5 4 3 2 1 LED number
• If the signal that corresponds to the LED number is ON, the top LED segment will be lit.
• If the signal that corresponds to the LED number is OFF, the bottom LED segment will be lit.
LED number Input Pin Numbers Signal
1 CN8-3 and CN8-4 /HWBB1
2 CN8-5 and CN8-6 /HWBB2
3 – Reserved.
4 – Reserved.
5 – Reserved.
6 – Reserved.
7 – Reserved.
8 – Reserved.
13-10
13.3.5 Upper Limit Setting Monitor for Maximum Motor Speed/Upper Limit Setting for Encoder Output Resolution (Un010)
The configuration of the input circuits is shown below.

Information
OFF: Open
ON: Closed
Example:
SERVOPACK
ON (closed)
 Display Example
A display example for safety input signals is shown below.
• When the /HWBB1 Signal Turns OFF to Activate a HWBB
The bottom segment of digit 1 is lit.
87 654 3 2 1
13.3.5 Upper Limit Setting Monitor for Maximum Motor Speed/

Upper Limit Setting for Encoder Output Resolution
(Un010)
You can use Un010 to monitor the upper limit setting for the maximum motor speed or the
upper limit setting for the encoder output resolution.
You can monitor the upper limit of the encoder output resolution setting (Pn281) for the current
maximum motor speed setting (Pn385), or you can monitor the upper limit of the maximum
motor speed setting for the current encoder output resolution setting.
Select which signal to monitor with Pn080 = n.X (Calculation Method for Maximum
Speed or Encoder Output Pulses).
• If Pn080 = n.0, the encoder output resolution (Pn281) that can be set is displayed.
• If Pn080 = n.1, the maximum motor speed (Pn385) that can be set is displayed in mm/
s.

13.3.6 Polarity Sensor Signal Monitor (Un011)
You can use Un011 to monitor the signal pattern of the polarity sensor.
Press the DATA/SHIFT Key for approximately one second to display the polarity sensor signal
pattern.
Top segment: ON (high level)

Bottom segment: OFF (low level)
Phase-W signal monitor
Phase-V signal monitor
Phase-U signal monitor
Polarity Sensor Signal Monitor
Signal Pattern Phase U Phase V Phase W
0 L L L
1 L L H
2 L H L
3 L H H
4
5
H
H
L
L
L
H
13
6 H H L
7 H H H
13-11
13.4 Utility Function (Fn) Operations on the Panel Operator
13.4.1 Display Alarm History (Fn000)

Utility functions are used to set up and tune the SERVOPACK.
The Panel Operator displays numbers beginning with “Fn.”
Display Example: Origin Search
The operating procedures from the Panel Operator are described here. Refer to the descrip-
tions of individual utility functions for preparations and related parameters.
Refer to the following section for details on utility functions.
15.2.1 Corresponding SERVOPACK Utility Function Names on page 15-7
13.4.1 Display Alarm History (Fn000)

Refer to the following section for information on this utility function other than the procedure.
12.2.4 Displaying the Alarm History on page 12-42
Panel Display after

Step Keys Operation
Operation
MODE/SET DATA/
Press the MODE/SET Key to enter Utility Function
1 Mode. If Fn000 is not displayed, press the UP Key or
DOWN Key to display Fn000.
MODE/SET DATA/
Press the DATA/SHIFT Key for approximately one sec-

2
ond. The most recent alarm will be displayed.
MODE/SET DATA/
Press the DOWN Key to display the next older alarm.

Press the UP Key to display the next newer alarm. The
higher the far-left segment is, the older the alarm is.
3
Refer to the following section for information on
MODE/SET DATA/
Alarm number alarms.
Press the DATA/SHIFT Key. The lower four digits of

4
the time stamp will be displayed.
MODE/SET DATA/
Press the DATA/SHIFT Key. The middle four digits of

5
MODE/SET DATA/
Press the DATA/SHIFT Key. The upper two digits of

6
MODE/SET DATA/
Press the DATA/SHIFT Key. The alarm number will

7
flash on the display.
MODE/SET DATA/
Press the DATA/SHIFT Key again for approximately

8
one second to return the display to Fn000.
MODE/SET DATA/
Time Stamp
A time stamp gives the total operation time to the point at which the alarm occurred in incre-
ments of 100 ms from when the control power supply and main circuit power supply were turned
Term ON. For 24-hour, 365-day operation, measurements are possible for approximately 13 years.
Example Time Stamp Display Example

If 36000 is displayed, 3,600,000 ms = 3,600 s = 60 min = 1 h
Therefore, the total operation time in hours is 1 hour.
13-12
13.4.2 Jog (Fn002)
13.4.2 Jog (Fn002)

7.3 Trial Operation for the Servomotor without a Load on page 7-7
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/
2 Press the UP Key or DOWN Key to display Fn002.

MODE/SET DATA/

3
MODE/SET DATA/
ond. The display shown at the left will appear.
4 Press the MODE/SET Key to turn ON the servo.

MODE/SET DATA/
The Servomotor will operate at the speed set in Pn304

5 or Pn383 while the UP Key (for forward operation) or
MODE/SET DATA/ DOWN Key (for reverse operation) is pressed.
Press the MODE/SET Key to turn OFF the servo.
6
MODE/SET DATA/ You can turn OFF the servo by pressing the DATA/
SHIFT Key for approximately one second.

7
MODE/SET DATA/
ond to return the display to Fn002.
8 Turn the power supply to the SERVOPACK OFF and ON again after you finish jogging.
13
13-13
13.4.3 Origin Search (Fn003)
13.4.3 Origin Search (Fn003)

7.6.2 Origin Search on page 7-25
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
ond. The display shown on the left will appear.
Press the MODE/SET Key to turn ON the servo. The

4
display shown on the left will appear.
MODE/SET DATA/
Press the UP Key to operate the Servomotor in the for-

ward direction.
Press the DOWN Key to operate the Servomotor in the
reverse direction.
The rotation direction of the Servomotor changes
according to the setting of Pn000 = n.X as
shown in the following table.
Parameter UP Key DOWN Key
n.0 CCW CW
Pn000
n.1 CW CCW
5 Note: This is the direction when viewed from the

MODE/SET DATA/
load side of the Servomotor.
Parameter UP Key DOWN Key
Linear encoder Linear encoder
n.0
counts up. counts down.
Pn000
Linear encoder Linear encoder
n.1
counts down. counts up.
Note: The direction in which the linear encoder counts up is

the forward direction. Refer to the following section
for details.
When the Servomotor origin search has been com-
pleted, the display will flash. At this time, the Servomo-
6 –
tor is servo-locked at the origin within one rotation of
(Flashing) the encoder.

7
MODE/SET DATA/
8 Turn the power supply to the SERVOPACK OFF and ON again after you finish the origin search.
13-14
13.4.4 Jog Program (Fn004)
13.4.4 Jog Program (Fn004)

7.6.1 Program Jogging on page 7-20
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
ond. The display shown on the left will appear.
Press the MODE/SET Key to turn ON the servo. The

4
display shown on the left will appear.
MODE/SET DATA/
Press the UP Key or DOWN Key according to the initial

movement direction of the operation pattern. The
operation will start after the preset waiting time.
5 • Press the MODE/SET Key during operation. The
MODE/SET DATA/ servo will turn OFF and the Servomotor will stop.
• Press the DATA/SHIFT Key for approximately one
second during operation. The display shown for step
2 will appear again.
When program jogging has been completed, End will
flash on the display, and then the display shown on the
left will appear again.
• Press the MODE/SET Key during operation to turn
6 –
OFF the servo and return to the display shown for
step 3.
• Press the DATA/SHIFT Key for approximately one
second during operation to return to the display
shown for step 2.

7 Turn the power supply to the SERVOPACK OFF and ON again after you finish program jogging.
13
13-15
13.4.5 Initialize Parameters (Fn005)
13.4.5 Initialize Parameters (Fn005)

5.1.5 Initializing Parameter Settings on page 5-12
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key to initialize the parameters.

When the initialization has been completed, donE will
4
flash on the display, and then the display shown on the
MODE/SET DATA/
To enable the change to the setting, turn the power supply to the SERVOPACK OFF and ON again
5
after the initialization of the parameter settings has been completed.
13.4.6 Clear Alarm History (Fn006)

12.2.5 Clearing the Alarm History on page 12-43
Panel Display after

Step Keys Operation
Operation

1
MODE/SET DATA/
Mode.

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key to clear the alarm history.

When deleting the alarms has been completed, donE
4
MODE/SET DATA/
will flash on the display, and then the display shown on
the left will appear again.

5
MODE/SET DATA/
13-16
13.4.7 Reset Absolute Encoder (Fn008)
13.4.7 Reset Absolute Encoder (Fn008)

5.17 Resetting the Absolute Encoder on page 5-53
Panel Display after

Step Keys Operation
Operation
1
MODE/SET DATA/
Mode.

MODE/SET DATA/

3
second. PGCL1 will be displayed.
MODE/SET
Continue pressing the UP Key until PGCL5 is dis-

played.
Note: If you press the wrong key, no-oP will flash
4 on the display for approximately one second
MODE/SET DATA/ and the display will return to the original Util-
ity Function Mode display. Repeat the opera-
tion from the beginning.
The absolute encoder will be initialized.
5
MODE/SET DATA/
When initialization has been completed, donE will
flash on the display for approximately one second.
After displaying donE, the display will return to the
6 –
PGCL5 display.

7
second to return the display to Fn008.
MODE/SET
8 To enable the change to the settings, turn the power supply to the SERVOPACK OFF and ON again.
13
13-17
13.4.8 Autotune Analog (Speed/Torque) Reference Offset (Fn009)
13.4.8 Autotune Analog (Speed/Torque) Reference Offset

(Fn009)
 Automatically Adjusting the Speed Reference Offset on page 6-20
Automatically Adjusting the Torque Reference Offset on page 6-41
Panel Display after

Step Keys Operation
Operation
Turn OFF the servo, and input a 0-V reference voltage
1 – –
from the host controller or an external circuit.

2
MODE/SET DATA/
Mode.

MODE/SET DATA/

4
second. rEF_o will be displayed.
MODE/SET
Press the MODE/SET Key. donE will flash on the dis-

5 play for approximately one second, and then the dis-
MODE/SET DATA/ play shown on the left will appear.

6
MODE/SET
13.4.9 Manually Adjust Speed Reference Offset (Fn00A)

 Manually Adjusting the Speed Reference Offset on page 6-22
Panel Display after

Step Keys Operation
Operation
1
MODE/SET DATA/
Mode.
2 Press the UP Key or DOWN Key to display Fn00A.

MODE/SET DATA/

second. The display shown on the left will appear.
3 Note: If write protection is set, no_oP will flash on
MODE/SET
the display for approximately one second.
Change the setting of Fn010 to enable writ-
ing.
Turn ON the servo from an external device. The dis-

4 –
play shown on the left will appear.

5 second. The current amount of offset will be dis-
MODE/SET played.
Press the UP Key or DOWN Key to adjust the offset
6 until the Servomotor stops. The displayed value is the
Example: MODE/SET DATA/ amount of the offset.
7 play, and then the display shown on the left will
MODE/SET DATA/ appear.
13-18
13.4.10 Manually Adjust Torque Reference Offset (Fn00B)

Panel Display after
Step Keys Operation
Operation

8
second to return the display to Fn00A.
MODE/SET
13.4.10 Manually Adjust Torque Reference Offset (Fn00B)

Manually Adjusting the Torque Reference Offset on page 6-43
Panel Display after

Step Keys Operation
Operation
1
MODE/SET DATA/
Mode.
2 Press the UP Key or DOWN Key to display Fn00b.

MODE/SET DATA/

second. The display shown on the left will appear.
3 Note: If write protection is set, no_oP will flash on
MODE/SET
the display for approximately one second.
Change the setting of Fn010 to enable writ-
ing.
Turn ON the servo. The display shown on the left will

4 –
appear.
5 second. The current amount of offset will be dis-
MODE/SET played.
Press the UP Key or DOWN Key to adjust the

6
amount of offset.
MODE/SET DATA/
Example:

7 play, and then the display shown on the left will

8
second to return the display to Fn00b.
MODE/SET
13
13-19
13.4.11 Adjust Analog Monitor Output Offset (Fn00C)
13.4.11 Adjust Analog Monitor Output Offset (Fn00C)

Adjusting the Analog Monitor Output on page 9-13
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/
2 Press the UP Key or DOWN Key to display Fn00C.

MODE/SET DATA/

3
MODE/SET DATA/
Press the DATA/SHIFT Key. The offset will be dis-

4
MODE/SET DATA/
played as shown on the left.
5 Press the UP Key or DOWN Key to adjust the offset.

MODE/SET DATA/
Press the DATA/SHIFT Key. The display shown on the

6
MODE/SET DATA/
Press the MODE/SET Key. The display will change to

7 the monitor output for channel 2 (analog monitor 2 out-
MODE/SET DATA/ put).
Press the DATA/SHIFT Key. The offset will be dis-

8
MODE/SET DATA/
played as shown on the left.
9 Press the UP Key or DOWN Key to adjust the offset.

MODE/SET DATA/

10 ond. Ch2-o will be displayed, and then Fn00C will be
MODE/SET DATA/ displayed again.
13.4.12 Adjust Analog Monitor Output Gain (Fn00D)

Adjusting the Analog Monitor Output on page 9-13
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/
2 Press the UP Key or DOWN Key to display Fn00D.

MODE/SET DATA/

3
MODE/SET DATA/
Press the DATA/SHIFT Key. The gain adjustment will

4
MODE/SET DATA/
be displayed as shown on the left.
13-20
13.4.13 Autotune Motor Current Detection Signal Offset (Fn00E)

Panel Display after
Step Keys Operation
Operation
5 Press the UP Key or DOWN Key to adjust the gain.

MODE/SET DATA/

6
MODE/SET DATA/
Press the MODE/SET Key. The display will change

7 from the monitor output for channel 1 to the monitor
MODE/SET DATA/ output for channel 2.
Press the DATA/SHIFT Key. The gain adjustment will

8
MODE/SET DATA/
be displayed as shown on the left.
9 Press the UP Key or DOWN Key to adjust the gain.

MODE/SET DATA/

10 ond. Ch2-G will be displayed, and then Fn00D will be
13.4.13 Autotune Motor Current Detection Signal Offset (Fn00E)

6.16.1 Automatic Adjustment on page 6-102
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/
2 Press the UP Key or DOWN Key to display Fn00E.

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key to perform automatic off-

set-signal adjustment. When the adjustment has been
4
completed, donE will flash on the display, and then the
MODE/SET DATA/
display shown on the left will appear again.

5
MODE/SET DATA/
ond to return the display to Fn00E.
13
13-21
13.4.14 Manually Adjust Motor Current Detection Signal Offset (Fn00F)
13.4.14 Manually Adjust Motor Current Detection Signal Offset

(Fn00F)
6.16.2 Manual Adjustment on page 6-104
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/
2 Press the UP Key or DOWN Key to display Fn00F.

MODE/SET DATA/
First you adjust the offset for phase U (Cu1-o). Press

3 the DATA/SHIFT Key for approximately one second.
MODE/SET DATA/ The display shown at the left will appear.
Press the DATA/SHIFT Key. The amount of offset for

4
MODE/SET DATA/
phase U will be displayed.
Press the UP Key or DOWN Key to change the

amount of offset. Change the setting by approximately
10 units at a time in the direction that reduces the
5
torque ripple to find the value that minimizes the torque
MODE/SET DATA/
ripple, and set that value.

6
MODE/SET DATA/
Next you adjust the offset for phase V (Cu2-o). Press

7 the MODE/SET Key for approximately one second.
MODE/SET DATA/ The display shown at the left will appear.
Press the DATA/SHIFT Key. The amount of offset for

8
MODE/SET DATA/
phase V will be displayed.
Press the UP Key or DOWN Key to change the

amount of offset. In the same way as for the phase-U
adjustment, change the setting by approximately 10
9 units at a time in the direction that reduces the torque
MODE/SET DATA/ ripple to find the value that minimizes the torque ripple,
and set that value.
10 ond. Cu2-o will be displayed, and then Fn00F will be
Reduce the amount by which you change the offsets each time and repeat steps 3 to 10* to fine-tune
11
the amounts of offset.
* Examples of the Amount of Change to Adjust Offsets
• First time: 10 units at a time
• Second time: 5 units at a time
• Third time: 1 unit at a time
The above values are guidelines. Vary the amount of change and the number of repetitions according to your sys-
tem.
13-22
13.4.15 Write Prohibition Setting (Fn010)
13.4.15 Write Prohibition Setting (Fn010)

5.1.4 Write Prohibition Setting for Parameters on page 5-8
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
Press the UP Key or DOWN Key and set one of the fol-
lowing.
4
MODE/SET DATA/
P.0000: Write permitted (default setting)
P.0001: Write prohibited
Press the MODE/SET Key to enter the value. When
the setting has been completed, donE will flash on the
5 display, and then the display shown on the left will
MODE/SET DATA/
appear again.
Note: If you set any value other than P.0000 or P.0001, Error
will be displayed.
6
after write protection has been set or cleared.
13
13-23
13.4.16 Display Servomotor Model (Fn011)
13.4.16 Display Servomotor Model (Fn011)

Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

second to display the Servomotor voltage and model
codes.
Servomotor Voltage Servomotor Model

No. Type No. Type
01 200 VAC A0 SGM7A
A1 SGM7P
A3 SGM7G
A7 SGM7M
AD SGM7J
Example AE SGM7E
AF SGM7F
3 32 SGMCS-C
MODE/SET DATA/
33 SGMCS-D
34 SGMCS-B
35 SGMCS-E
36 SGMCS-L
37 SGMCS-M
38 SGMCS-N
39 SGMCS-R
40 Linear Servomotor
72 SGMCV-C
73 SGMCV-D
74 SGMCV-B
75 SGMCV-E
76 SGMCV-L
77 SGMCV-M
78 SGMCV-N
79 SGMCV-R
Press the MODE/SET Key. The Servomotor capacity

will be displayed.
Example
4
MODE/SET DATA/
Servomotor capacity ( 10 W)
The above example indicates 100 W.
13-24
13.4.17 Display Software Version (Fn012)

Panel Display after
Step Keys Operation
Operation
Press the MODE/SET Key. The encoder type
and resolution codes will be displayed.
Encoder Type Encoder Resolution

No. Type No. Resolution
00 Incremental 20 20 bits
01 Multiturn absolute 22 22 bits
02 Single-turn absolute* 24 24 bits
Example
*A single-turn absolute encoder is used only for
5 a Direct Drive Servomotor.
MODE/SET DATA/
Press the MODE/SET Key. The encoder type and
linear encoder scale pitch resolution codes will be
displayed.
Encoder Type Linear Encoder Scale Pitch Resolution

No. Type No. Resolution
00 Incremental 8 256
01 Absolute 12 4096
Press the MODE/SET Key. The code for custom

SERVOPACK specifications will be displayed. y.0000
indicates a standard model. If anything other than
y.0000 is displayed, a customized SERVOPACK is
being used.
6
MODE/SET DATA/

Specifications code

7
MODE/SET DATA/
13.4.17 Display Software Version (Fn012)

Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

13
3 second. The software version of the SERVOPACK will
MODE/SET DATA/ be displayed.
13-25
13.4.18 Multiturn Limit Setting after Multiturn Limit Disagreement Alarm (Fn013)

Panel Display after
Step Keys Operation
Operation
Press the MODE/SET Key. The software version of
the encoder will be displayed.
4
If you press the MODE/SET Key again, a pre-pro-
MODE/SET DATA/
grammed display will appear. The display will change
as follows: 0.0000 → S.FFFF → F.FFFF.

5
MODE/SET DATA/
13.4.18 Multiturn Limit Setting after Multiturn Limit Disagree-

ment Alarm (Fn013)
6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) on page 6-84
Panel Display after

Step Keys Operation
Operation
1
MODE/SET DATA/
Mode.

MODE/SET DATA/

3
second. PGSEt will be displayed.
MODE/SET

The value of the multiturn limit setting in the absolute
encoder will be made the same as the setting of
4 Pn205.
MODE/SET DATA/ When unifying the values has been completed, donE
will flash on the display for approximately one sec-
ond.
After displaying donE, the display will return to the
5 –
PGSEt display.

6
MODE/SET
13-26
13.4.19 Reset Option Module Configuration Error (Fn014)
13.4.19 Reset Option Module Configuration Error (Fn014)

12.2.6 Resetting Alarms Detected in Option Modules on page 12-44
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
Press the UP Key or DOWN Key to select the Option

4
MODE/SET DATA/
Module to be cleared.
Press the MODE/SET Key for approximately one sec-

5
MODE/SET DATA/
Press the MODE/SET Key again. The alarms in the

Option Module will be cleared.
6
donE will flash on the display and the display shown
MODE/SET DATA/
on the left will appear again.

7
MODE/SET DATA/
8
after clearing detected Option Module alarms has been completed.
13.4.20 Initialize Vibration Detection Level (Fn01B)

Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/
2 Press the UP Key or DOWN Key to display Fn01b.

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key for approximately one sec-

ond. The display shown on the left will flash and the
vibration level will be detected and updated.
4 Note: 1. Operate the SERVOPACK with the references that
MODE/SET DATA/ will be used for actual operation.
(Flashing) 2. If the Servomotor operates at 10% or less of the
maximum speed, Error will be displayed.
13-27
13.4.21 Display SERVOPACK and Servomotor IDs (Fn01E)

Panel Display after
Step Keys Operation
Operation
Wait for a period of time and then press the MODE/
SET Key again to complete vibration detection and
updating the setting. This will enable the setting. If the
5
MODE/SET DATA/
setting is completed normally, donE will be displayed.
If there was an error in making the setting, Error will be
displayed.

6
MODE/SET DATA/
ond to return the display to Fn01b.
13.4.21 Display SERVOPACK and Servomotor IDs (Fn01E)

This function cannot be executed from the Panel Operator on the SERVOPACK.
13.4.22 Display Servomotor ID from Feedback Option Module

(Fn01F)
13.4.23 Set Absolute Linear Encoder Origin (Fn020)

5.18.1 Setting the Origin of the Absolute Linear Encoder on page 5-56
Panel Display after

Step Keys Operation
Operation

1
MODE/SET DATA/
Mode.

MODE/SET DATA/

3
MODE/SET DATA/ ond. The display shown at the left will appear.
Continue pressing the UP Key until 0SET5 is dis-

played.
4 Note: If you make a mistake during key operations, no_oP will
MODE/SET DATA/ flash on the display for approximately one second and
then Fn000 will be displayed again.
Press the MODE/SET Key to set the origin of the
absolute linear encoder.
5 When the setting has been completed, donE will flash
MODE/SET DATA/
on the display, and then the display shown on the left
will appear again.

6
MODE/SET DATA/ ond to return the display to Fn020.
13-28
13.4.24 Resetting Motor Type Alarms (Fn021)
13.4.24 Resetting Motor Type Alarms (Fn021)

12.2.7 Resetting Motor Type Alarms on page 12-46
Panel Display after

Step Keys Operation
Operation

1

MODE/SET DATA/

3
MODE/SET DATA/ second. The display shown at the left will appear.
Press the MODE/SET Key to reset the motor type

4 alarm. donE will flash on the display and the display
MODE/SET DATA/
shown on the left will appear again.

5
MODE/SET DATA/ second to return the display to Fn021.
13.4.25 Software Reset (Fn030)

6.14 Software Reset on page 6-96
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
Continue pressing the UP Key until the display shown

4 on the left appears.
MODE/SET DATA/ Note: If you make a mistake during key operations, no_oP will
flash on the display for approximately one second.
Press the MODE/SET Key. The panel display will go
5 blank and then will change to the same initial status
MODE/SET DATA/ display as when the power supply is turned ON.
13.4.26 Polarity Detection (Fn080)

5.11 Polarity Detection on page 5-28
Panel Display after

13
Step Keys Operation
Operation

1
13-29
13.4.27 Tuning-less Level Setting (Fn200)

Panel Display after
Step Keys Operation
Operation

MODE/SET DATA/

3
MODE/SET
4 Press the MODE/SET Key to start polarity detection.

MODE/SET DATA/
After polarity detection has been completed, the dis-

5 – play shown on the left will appear.
The Servomotor will enter the servo OFF state.

6
MODE/SET
13.4.27 Tuning-less Level Setting (Fn200)

8.4 Tuning-less Function on page 8-12
Panel Display after Oper-

Step Keys Operation
ation
1
MODE/SET DATA/
Mode.

MODE/SET DATA/

second. The load level setting display for the tun-
ing-less levels will appear.
Note: If the response waveform shows overshooting, if
3 the load moment of inertia exceeds the allowable
MODE/SET DATA/ level (i.e., outside the scope of product warranty),
or if the mass ratio is 30 or higher (i.e., outside the
Load level scope of product warranty), press the UP Key and
change the load level to 2.
Press the MODE/SET Key to display. The rigidity

4 level setting display for the tuning-less levels will
Press the UP Key or DOWN Key to set the rigidity

level. Set the rigidity level to between 0 and 7. The
larger the value is, the higher the gain is and the
better response performance will be. (The default
5 setting is 4.)
Note: Vibration may occur if the rigidity level is too high.
Rigidity level MODE/SET DATA/ Lower the rigidity level if vibration occurs. If high-
frequency noise is generated, press the DATA/
SHIFT Key to automatically set a notch filter for
the vibration frequency.
Press the MODE/SET Key. “donE” will flash for
approximately one second and then L0004 will be
6
MODE/SET DATA/
displayed.
The settings will be saved in the SERVOPACK.

7
MODE/SET DATA/
13-30
13.4.28 Advanced Autotuning without Reference (Fn201)
13.4.28 Advanced Autotuning without Reference (Fn201)

13.4.29 Advanced Autotuning with Reference (Fn202)

13.4.30 One-Parameter Tuning (Fn203)

Panel Display after

Step Keys Operation
Operation

1
MODE/SET DATA/
Mode.

MODE/SET DATA/

3
MODE/SET DATA/
second. The display shown at the left will appear.
Press the UP Key or DOWN Key to enter Tuning

Mode.
Tuning Mode (Strength of Tuning Setting)
4
MODE/SET DATA/
0: Performs tuning giving priority to stability.
1: Performs tuning giving priority to response.
Note: The rigidity type is always 2.
If the servo is OFF (i.e., if power is not supplied to the

Servomotor), input the /S-ON (Servo ON) from the
5 –
host controller.
If the servo is ON, go to step 6.
Press the DATA/SHIFT Key for less than one sec-
6 ond. The one-parameter gain will be displayed as
MODE/SET DATA/ shown on the left.
Press the UP Key or DOWN Key to change the one-
parameter gain value and change the actual servo
gains (Pn100, Pn101, Pn102, and Pn401) at the
7
same time.
MODE/SET DATA/
You end this tuning function when you decide that
the response is satisfactory.
Press the MODE/SET Key to save the four calcu-
lated gains to the parameters. When tuning has been
8 completed, donE will flash on the display, and then
MODE/SET DATA/ the display shown on the left will appear again.
Note: To end operation without saving the calculated gains,
go to step 9.

9
MODE/SET DATA/
13
13-31
13.4.31 Adjust Anti-resonance Control (Fn204)
13.4.31 Adjust Anti-resonance Control (Fn204)

13.4.32 Vibration Suppression (Fn205)

13.4.33 Easy FFT (Fn206)

8.14.2 Easy FFT on page 8-94
Panel Display after

Step Keys Operation
Operation

1
Mode.
MODE/SET DATA/

MODE/SET DATA/

ond. The display shown on the left will appear and the
3
MODE/SET DATA/
Panel Operator will enter Reference Amplitude Setting
(Reference amplitude Mode.
setting)
Press the UP Key or DOWN Key to set the reference
amplitude. Reference amplitude setting range: 1 to 800
Note: 1. If you are setting Easy FFT for the first time, do not
change the reference amplitude setting, but rather
4 start from the default value of 15. Although increasing
MODE/SET DATA/
the reference amplitude will increase the detection
accuracy, the vibration and noise in the machine will
increase momentarily. Increase the reference ampli-
tude a little at a time and observe the results.
2. The set reference amplitude will be stored in Pn456.

5
MODE/SET DATA/
ond. The ready to operate status will be entered.
(Ready to operate sta-
tus)
Press the MODE/SET Key to turn ON the servo.
6
Press the MODE/SET Key again to turn OFF the servo.
MODE/SET DATA/
Return to step 5.
While the servo is ON, press the UP Key (forward) or
the DOWN Key (reverse). The Servomotor will auto-
matically perform round-trip operation, moving in for-
ward and reverse several times for 1/4th of a rotation
(Flashing) for a Rotary Servomotor and 10 mm or less for a Linear
Servomotor. The Servomotor performs this operation
7 for approximately 2 seconds. During this operation, the
MODE/SET DATA/ display shown on the left will flash.
Note: 1. Press the MODE/SET Key to cancel the operation.
Return to step 5.
2. The Servomotor will move slightly. Also at the same
Slight movement in time, the Servomotor will emit noise. To ensure
safety, do not approach or enter the range of
Servomotor machine motion.
13-32
13.4.33 Easy FFT (Fn206)

Panel Display after
Step Keys Operation
Operation
If detection is completed normally, E_FFt will stop
flashing and the detected resonance frequency will be
displayed. If detection fails, F---- will be displayed.
To check the results, go to step 9. To monitor the reso-
nance frequency without setting the detection result,
press the DATA/SHIFT Key for approximately one sec-
ond and return to step 2.
 IMPORTANT
8 – If the operation ended normally but it took two sec-
(Detection result dis- onds or longer, the detection accuracy may not be suf-
play example) ficient. Increase the reference amplitude to a value
higher than 15 to increase the detection accuracy.
Although increasing the reference amplitude will
increase the detection accuracy, the vibration and
noise in the machine will increase momentarily.
Increase the reference amplitude a little at a time and
observe the results.
Press the MODE/SET Key. The optimum notch filter
for the detected resonance frequency will automatically
be set. If the notch filter is set correctly, donE will flash
on the display, and then the display shown on the left
will appear.
If the 1st notch filter frequency is already set (Pn408 =
9 n.1), the 2nd notch filter frequency will be auto-
MODE/SET DATA/ matically set (Pn40C).
Press the MODE/SET Key to return to step 5.
Note: 1. If both the 1st and 2nd notch filter frequencies are
already set (Pn408 = n.11), no more notch filter
frequencies can be set.
2. If the frequency detected by this function is not to be
used, set Pn408 to n.0 (Disable notch filter).

10
MODE/SET DATA/
11 Turn the power supply to the SERVOPACK OFF and ON again after you finish executing Easy FFT.
13
13-33
Parameter Lists
14
This chapter provides information on the parameters.
14.1 List of Parameters . . . . . . . . . . . . . . . . . . . 14-2

14.1.1 Interpreting the Parameter Lists . . . . . . . . . . . . 14-2
14.1.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . 14-3
14.2 Parameter Recording Table . . . . . . . . . . . 14-34

14.1 List of Parameters
14.1.1 Interpreting the Parameter Lists
14.1.1 Interpreting the Parameter Lists

The types of Servomotors to which the parameter applies.
All: The parameter is used for both Rotary Servomotors and Linear Servomotors.
Rotary: The parameter is used for only Rotary Servomotors.
Linear: The parameter is used for only Linear Servomotors.
Rotary Servomotor terms are used for parameters that are applicable
to all Servomotors. If you are using a Linear Servomotor, you need to
interpret the terms accordingly. Refer to the following section for
details. Indicates when a change to the
 Differences in Terms for Rotary Servomotors and parameter will be effective.
Linear Servomotors on page xi
Parameter Setting Setting Default Applica- When Classi- Refer-

Size
Name
No. Range Unit Setting ble Motors Enabled fication ence
0000h to
2 Basic Function Selections 0
10B1h – 0000h All After restart Setup –
There are the following two classifications.

If there are differences in the parameters for Rotary Setup
Servomotor and Linear Servomotor, information is
provided for both. Tuning
Top row: For Rotary Servomotors Refer to the following section for details.
Bottom row: For Linear Servomotors 5.1.1 Parameter Classification on page 5-4
Rotation Direction Selection

Reference
Movement Direction Selection
Use CCW as the forward direction.
0 Use the direction in which the linear encoder counts up as the for-
n.X
ward direction.
page 5-19
Use CW as the forward direction. (Reverse Rotation Mode)
1 Use the direction in which the linear encoder counts down as the
forward direction. (Reverse Movement Mode)
Control Method Selection Reference

0 Speed control with analog references
1 Position control with pulse train references
2 Torque control with analog references
3 Internal set speed control with contact commands
Pn000 Switching between internal set speed control with contact refer-
4
ences and speed control with analog references
Switching between internal set speed control with contact refer-
5
ences and position control with pulse train references
n.X 6
ences and torque control with analog references page 5-14
Switching between position control with pulse train references and
7
speed control with analog references
8
torque control with analog references
Switching between torque control with analog references and
9
Switching between speed control with analog references and
A
speed control with zero clamping
B
position control with reference pulse inhibition
n.X Reserved parameter (Do not change.)
Rotary/Linear Servomotor Startup Selection When Encoder Is Not Connected Reference

When an encoder is not connected, start as SERVOPACK for
0
n.X Rotary Servomotor.
page 5-17
When an encoder is not connected, start as SERVOPACK for Lin-
1
ear Servomotor.
14-2
14.1.2 List of Parameters

The following table lists the parameters.
Note: Do not change the following parameters from their default settings.
• Reserved parameters
• Parameters not given in this manual
• Parameters that are not valid for the Servomotor that you are using, as given in the parameter table
Parameter Setting Setting Default Applicable When Classi- Refer-

Size
Name
No. Range Unit Setting Motors Enabled fication ence
2 Basic Function Selec- 0000h to – 0000h All After Setup –

tions 0 10B1h restart
Rotation Direction Selection

Reference
Movement Direction Selection
Use CCW as the forward direction.
0 Use the direction in which the linear encoder counts up as the for-
n. X
ward direction.
page 5-19
Use CW as the forward direction. (Reverse Rotation Mode)
1 Use the direction in which the linear encoder counts down as the
forward direction. (Reverse Movement Mode)
Control Method Selection Reference

0 Speed control with analog references
1 Position control with pulse train references
2 Torque control with analog references
3 Internal set speed control with contact commands
4
ences and speed control with analog references
5
Pn000 ences and position control with pulse train references
n. X 6
ences and torque control with analog references page 5-14
7
8
torque control with analog references
Switching between torque control with analog references and
9
Switching between speed control with analog references and
A
speed control with zero clamping
B
position control with reference pulse inhibition
n. X Reserved parameter (Do not change.)
Rotary/Linear Servomotor Startup Selection When Encoder Is Not Con-

Reference
nected
When an encoder is not connected, start as SERVOPACK for
n.X 0
Rotary Servomotor.
page 5-17
When an encoder is not connected, start as SERVOPACK for Lin-
1
ear Servomotor.

Parameter Lists
14
14-3

Size
Name
Application Function 0000h to After
2 Selections 1 1142h – 0000h All restart Setup –
Motor Stopping Method for Servo OFF and Group 1 Alarms Reference
0 Stop the motor by applying the dynamic brake.
n.X Stop the motor by the applying dynamic brake and then release
1 page 5-42
the dynamic brake.
2 Coast the motor to a stop without the dynamic brake.
Overtravel Stopping Method Reference

Apply the dynamic brake or coast the motor to a stop (use the
0
stopping method set in Pn001 = n.X).
Decelerate the motor to a stop using the torque set in Pn406 as
1
the maximum torque and then servo-lock the motor.
n.X Decelerate the motor to a stop using the torque set in Pn406 as
2 page 5-34
the maximum torque and then let the motor coast.
Decelerate the motor to a stop using the deceleration time set in
3
Pn001 Pn30A and then servo-lock the motor.
4
Pn30A and then let the motor coast.
Main Circuit Power Supply AC/DC Input Selection Reference

Input AC power as the main circuit power supply using the L1, L2,
0
and L3 terminals (do not use shared converter).
n.X
Input DC power as the main circuit power supply using the B1/ page 5-15
1 and 2 terminals or the B1 and 2 terminals (use an external
converter or the shared converter).
Warning Code Output Selection Reference

Output only alarm codes on the ALO1, ALO2, and ALO3 termi-
0
nals.
n.X Output both warning codes and alarm codes on the ALO1, ALO2, page 6-11
and ALO3 terminals. However, while an warning code is being
1
output, the ALM (Servo Alarm) output signal will remain ON (nor-
mal state).
14-4

Size
Name
2 Selections 2 4213h – 0000h – restart Setup –
Applicable
Speed/Position Control Option (T-REF Input Allocation) Reference
Motors
0 Do not use T-REF. –
n. X 1 Use T-REF as an external torque limit input. page 6-68
2 Use T-REF as a torque feedback input. All page 8-87
Use T-REF as an external torque limit input when
3 page 6-70
/P-CL or /N-CL is ON.
Applicable
Torque Control Option (V-REF Input Allocation) Reference
Motors
n. X
0 Do not use V-REF.
All page 6-45
1 Use V-REF as an external speed limit input.
Applicable
Pn002 Encoder Usage Reference
Motors
Use the encoder according to encoder specifica-
0
n. X tions. All
1 Use the encoder as an incremental encoder. page 6-73
Use the encoder as a single-turn absolute
2 Rotary
encoder.
Applicable
External Encoder Usage Reference
Motors
0 Do not use an external encoder.
The external encoder moves in the forward direc-
1
n.X tion for CCW motor rotation.
2 Reserved setting (Do not use.) Rotary page 10-6
The external encoder moves in the reverse direc-
3
tion for CCW motor rotation.
4 Reserved setting (Do not use.)
Parameter Lists
14
14-5

Size
Name
Application Function 0000h to Immedi- page
2 Selections 6 105Fh – 0002h All ately Setup 9-11
Analog Monitor 1 Signal Selection

Motor speed (1 V/1,000 min-1)
00
Motor speed (1 V/1,000 mm/s)
Speed reference (1 V/1,000 min-1)
01
Speed reference (1 V/1,000 mm/s)
Torque reference (1 V/100% rated torque)
02
Force reference (1 V/100% rated force)
03 Position deviation (0.05 V/reference unit)
Position amplifier deviation (after electronic gear) (0.05 V/encoder pulse unit)
04 Position amplifier deviation (after electronic gear) (0.05 V/linear encoder
pulse unit)
Position reference speed (1 V/1,000 min-1)
05
Position reference speed (1 V/1,000 mm/s)
n.XX 07 Load-motor position deviation (0.01 V/reference unit)
Pn006
Positioning completion (positioning completed: 5 V, positioning not com-
08
pleted: 0 V)
Speed feedforward (1 V/1,000 min-1)
09
Speed feedforward (1 V/1,000 mm/s)
Torque feedforward (1 V/100% rated torque)
0A
Force feedforward (1 V/100% rated force)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
Completion of position reference distribution (completed: 5 V, not com-
0C
pleted: 0 V)
0D External encoder speed (1 V/1,000 min-1: value at the motor shaft)
0E Reserved setting (Do not use.)
0F Reserved setting (Do not use.)
10 Main circuit DC voltage
11 to 5F Reserved settings (Do not use.)
n.X Reserved parameter (Do not change.)
14-6

Size
Name
Application Function 0000h to Immedi- page
2 Selections 7 105Fh – 0000h All ately Setup 9-11
Analog Monitor 2 Signal Selection

Motor speed (1 V/1,000 min-1)
00
Motor speed (1 V/1,000 mm/s)
Speed reference (1 V/1,000 min-1)
01
Speed reference (1 V/1,000 mm/s)
Torque reference (1 V/100% rated torque)
02
Force reference (1 V/100% rated force)
03 Position deviation (0.05 V/reference unit)
Position amplifier deviation (after electronic gear) (0.05 V/encoder pulse unit)
04 Position amplifier deviation (after electronic gear) (0.05 V/linear encoder
pulse unit)
Position reference speed (1 V/1,000 min-1)
05
Position reference speed (1 V/1,000 mm/s)
n. XX 07 Load-motor position deviation (0.01 V/reference unit)
Pn007
Positioning completion (positioning completed: 5 V, positioning not com-
08
pleted: 0 V)
Speed feedforward (1 V/1,000 min-1)
09
Speed feedforward (1 V/1,000 mm/s)
Torque feedforward (1 V/100% rated torque)
0A
Force feedforward (1 V/100% rated force)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
Completion of position reference distribution (completed: 5 V, not com-
0C
pleted: 0 V)
0D External encoder speed (1 V/1,000 min-1: value at the motor shaft)
0E Reserved setting (Do not use.)
0F Reserved setting (Do not use.)
10 Main circuit DC voltage
11 to 5F Reserved settings (Do not use.)

2 – 0000h Rotary Setup –
Selections 8 7121h restart
Low Battery Voltage Alarm/Warning Selection Reference

n. X 0 Output alarm (A.830) for low battery voltage.
page 12-2
1 Output warning (A.930) for low battery voltage.
Function Selection for Undervoltage Reference

0 Do not detect undervoltage.
Parameter Lists
Pn008 n. X 1 Detect undervoltage warning and limit torque at host controller.
page 6-14
Detect undervoltage warning and limit torque with Pn424 and
2
Pn425 (i.e., only in SERVOPACK).
Warning Detection Selection Reference

n. X 0 Detect warnings. page 12-
1 Do not detect warnings except for A.971. 48
14
14-7

Size
Name
2 Selections 9 0121h – 0010h All restart Tuning –
n. X Reserved parameter (Do not change.)
Current Control Mode Selection Reference

0 Use current control mode 1.
• SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A, -
n. X 3R8A, -5R5A, and -7R6A: Use current control mode 1.
1 page 8-73
Pn009 • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -
470A, -550A, -590A, and -780A: Use current control mode 2.
2 Use current control mode 2.
Speed Detection Method Selection Reference

n. X 0 Use speed detection 1.
page 8-74
1 Use speed detection 2.

2 – 0001h All Setup –
Selections A 1044h restart
Motor Stopping Method for Group 2 Alarms Reference

0
1 the maximum torque. Use the setting of Pn001 = n.X for the
status after stopping.
n.X Decelerate the motor to a stop using the torque set in Pn406 as
2 page 5-43
3 Pn30A. Use the setting of Pn001 = n.X for the status after
stopping.
4
Pn00A Stopping Method for Forced Stops Reference

0
1 the maximum torque. Use the setting of Pn001 = n.X for the
status after stopping.
n.X Decelerate the motor to a stop using the torque set in Pn406 as
2 page 6-106
3 Pn30A. Use the setting of Pn001 = n.X for the status after
stopping.
4
14-8

Size
Name
2 Selections B 1121h – 0000h All restart Setup –
Operator Parameter Display Selection Reference

n. X 0 Display only setup parameters.
page 5-4
1 Display all parameters.
Motor Stopping Method for Group 2 Alarms Reference

0 Stop the motor by setting the speed reference to 0.
n. X Apply the dynamic brake or coast the motor to a stop (use the
Pn00B 1 page 5-43
2 Set the stopping method with Pn00A = n.X.
Power Input Selection for Three-phase SERVOPACK Reference

0 Use a three-phase power supply input.
n. X
Use a three-phase power supply input as a single-phase power page 5-16
1
supply input.
Application Function 0000h to After page

2 – 0000h – Setup
Selections C 0131h restart 7-27
Applicable
Function Selection for Test without a Motor
Motors
n. X
0 Disable tests without a motor.
All
1 Enable tests without a motor.
Applicable
Encoder Resolution for Tests without a Motor
Motors
0 Use 13 bits.
Pn00C n.X 1 Use 20 bits.
Rotary
2 Use 22 bits.
3 Use 24 bits.
Applicable
Encoder Type Selection for Tests without a Motor
Motors
n. X
0 Use an incremental encoder.
All
1 Use an absolute encoder.

2 Selections D 1001h – 0000h All restart Setup 5-35
n. X Reserved parameter (Do not change.)

Pn00D
Parameter Lists
Overtravel Warning Detection Selection

n.X 0 Do not detect overtravel warnings.
1 Detect overtravel warnings.
14-9

Size
Name
2 Selections F 2011h – 0000h All restart Setup –
Preventative Maintenance Warning Selection Reference

n.X 0 Do not detect preventative maintenance warnings.
page 9-18
1 Detect preventative maintenance warnings.
Pn00F
n.X Reserved parameter (Do not change.)
Axis Address Selection

0000h to After
Pn010 2 for UART/USB Commu- 007Fh – 0001h All restart Setup –
nications
Reserved parameter (Do
Pn021 2 – – 0000h All – – –
not change.)
Reserved parameter (Do
Pn022 2 not change.) – – 0000h All – – –
2 Σ-V Compatible Func- 0000h to 0000h After Setup

tion Switch 2111h – – restart –
Applicable
Encoder Resolution Compatibility Selection
Motors
Pn040 n. X 0 Use the encoder resolution of the Servomotor.
Use a resolution of 20 bits when connected to an SGM7J, Rotary
1
SGM7A, SGM7P, SGM7G, SGM7E, or SGM7F Servomotor.
2 Application Function 0000h to – 0000h Linear After Setup –

Selections 80 1111h restart
Polarity Sensor Selection Reference

n. X 0 Use polarity sensor.
page 5-27
1 Do not use polarity sensor.
Motor Phase Sequence Selection Reference

n. X 0 Set a phase-A lead as a phase sequence of U, V, and W.
Pn080 page 5-25
1 Set a phase-B lead as a phase sequence of U, V, and W.
Calculation Method for Maximum Speed or Encoder Output Pulses Reference

Calculate the encoder output pulse setting for a fixed maximum
0
n.X speed.
page 15-9
Calculate the maximum speed for a fixed encoder output pulse
1
setting.
14-10

Size
Name
2 Selections 81 1111h – 0000h All restart Setup 6-49
Phase-C Pulse Output Selection

n. X 0 Output phase-C pulses only in the forward direction.
1 Output phase-C pulses in both the forward and reverse directions.
Pn081
Pn100 2 Speed Loop Gain 10 to 20,000 0.1 Hz 400 All Immedi- Tuning page
ately 8-76
Speed Loop Integral Immedi- page
Pn101 2 15 to 51,200 0.01 ms 2000 All Tuning
Time Constant ately 8-76
Immedi- page
Pn102 2 Position Loop Gain 10 to 20,000 0.1/s 400 All ately Tuning 8-76
Pn103 2 Moment of Inertia Ratio 0 to 20,000 1% 100 All Immedi- Tuning page
ately 8-76
Second Speed Loop Immedi- page
Pn104 2 10 to 20,000 0.1 Hz 400 All Tuning
Gain ately 8-66
Second Speed Loop Immedi- page
Pn105 2 Integral Time Constant 15 to 51,200 0.01 ms 2000 All ately Tuning 8-66
Pn106 2 Second Position Loop 10 to 20,000 0.1/s 400 All Immedi- Tuning page
Gain ately 8-66
Pn109 2 Feedforward 0 to 100 1% 0 All Immedi- Tuning page

ately 8-86
Feedforward Filter Time Immedi- page
Pn10A 2 0 to 6,400 0.01 ms 0 All Tuning
Constant ately 8-86
Gain Application Selec- 0000h to
2 tions 5334h – 0000h All – Setup –
When
Mode Switching Selection Reference
Enabled
Use the internal torque reference as the condition
0
(level setting: Pn10C).
Use the speed reference as the condition (level set-
ting: Pn10D).
1
Use the speed reference as the condition (level set-
n. X ting: Pn181).
Use the acceleration reference as the condition (level Immedi- page 8-89
ately
setting: Pn10E).
2
Use the acceleration reference as the condition (level
Pn10B setting: Pn182).
Use the position deviation as the condition (level set-
3
ting: Pn10F).
4 Do not use mode switching.
When
Speed Loop Control Method Reference
Enabled
Parameter Lists
n. X 0 PI control
1 I-P control After page 8-82
restart
2 and 3 Reserved settings (Do not use.)

14
Pn10C 2 Mode Switching Level 0 to 800 1% 200 All Immedi- Tuning page
for Torque Reference ately 8-89
14-11

Size
Name
Mode Switching Level Immedi- page
Pn10D 2 for Speed Reference 0 to 10,000 1 min-1 0 Rotary ately Tuning 8-89
Pn10E 2 0 to 30,000 1 min-1/s 0 Rotary Tuning
for Acceleration ately 8-89
1 refer-
Pn10F 2 for Position Deviation 0 to 10,000 ence 0 All ately Tuning 8-89
unit
Position Integral Time Immedi- page
Pn11F 2 0 to 50,000 0.1 ms 0 All Tuning
Constant ately 8-91
page
Friction Compensation Immedi- 8-66,
Pn121 2 10 to 1,000 1% 100 All Tuning
Gain ately page
8-70
page
Pn122 2 Second Friction Com- 10 to 1,000 1% 100 All Immedi- Tuning 8-66,
pensation Gain ately page
8-70
Pn123 2 Friction Compensation 0 to 100 1% 0 All Immedi- Tuning page

Coefficient ately 8-70
Friction Compensation -10,000 to Immedi- page
Pn124 2 0.1 Hz 0 All Tuning
Frequency Correction 10,000 ately 8-70
Friction Compensation Immedi- page
Pn125 2 Gain Correction 1 to 1,000 1% 100 All ately Tuning 8-70
Pn131 2 Gain Switching Time 1 0 to 65,535 1 ms 0 All Immedi- Tuning page

ately 8-66
Immedi- page
Pn132 2 Gain Switching Time 2 0 to 65,535 1 ms 0 All Tuning
ately 8-66
Gain Switching Waiting Immedi- page
Pn135 2 Time 1 0 to 65,535 1 ms 0 All ately Tuning 8-66
Pn136 2 Gain Switching Waiting 0 to 65,535 1 ms 0 All Immedi- Tuning page

Time 2 ately 8-66
Automatic Gain Switch- 0000h to Immedi- page
2 – 0000h All Tuning
ing Selections 1 0052h ately 8-66
Gain Switching Selection

Use manual gain switching.
0
The gain is switched manually with the /G-SEL (Gain Selection) signal.
n.X 1 Reserved setting (Do not use.)
Use automatic gain switching pattern 1.
The gain is switched automatically from the first gain to the second gain when
2
switching condition A is satisfied. The gain is switched automatically from the
second gain to the first gain when switching condition A is not satisfied.
Pn139 Gain Switching Condition A

0 /COIN (Positioning Completion Output) signal turns ON.
1 /COIN (Positioning Completion Output) signal turns OFF.
n.X 2 /NEAR (Near Output) signal turns ON.
3 /NEAR (Near Output) signal turns OFF.
4 Position reference filter output is 0 and reference pulse input is OFF.
5 Position reference pulse input is ON.
Immedi- page
Pn13D 2 Current Gain Level 100 to 2,000 1% 2000 All Tuning
ately 8-73
14-12

Size
Name
Model Following Con- 0000h to Immedi-
2 trol-Related Selections 1121h – 0100h All ately Tuning –
Model Following Control Selection Reference

n. X 0 Do not use model following control.
page 8-83
1 Use model following control.
Vibration Suppression Selection Reference

0 Do not perform vibration suppression.
n. X
1 Perform vibration suppression for a specific frequency. page 8-83
2 Perform vibration suppression for two specific frequencies.
Pn140 Vibration Suppression Adjustment Selection Reference

Do not adjust vibration suppression automatically during execu-
0 tion of autotuning without a host reference, autotuning with a
n. X host reference, and custom tuning.
page 8-33
Adjust vibration suppression automatically during execution of
1 autotuning without a host reference, autotuning with a host ref-
erence, and custom tuning.
Speed Feedforward (VFF)/Torque Feedforward (TFF) Selection Reference

Do not use model following control and speed/torque feedfor-
0
n.X ward together. page 8-33,
Use model following control and speed/torque feedforward page 8-59
1
together.
Model Following Con- Immedi- page

Pn141 2 trol Gain 10 to 20,000 0.1/s 500 All ately Tuning 8-83
Pn142 2 Model Following Con- 500 to 2,000 0.1% 1000 All Immedi- Tuning page
trol Gain Correction ately 8-66
Model Following Con-
Immedi- page
Pn143 2 trol Bias in the Forward 0 to 10,000 0.1% 1000 All ately Tuning 8-83
Direction
Model Following Con-
Immedi- page
Pn144 2 trol Bias in the Reverse 0 to 10,000 0.1% 1000 All ately Tuning 8-83
Direction
Vibration Suppression 1 Immedi- page
Pn145 2 10 to 2,500 0.1 Hz 500 All Tuning
Frequency A ately 8-59
Pn146 2 Frequency B 10 to 2,500 0.1 Hz 700 All ately Tuning 8-59
Model Following Con- Immedi- page
Pn147 2 trol Speed Feedforward 0 to 10,000 0.1% 1000 All Tuning
Compensation ately 8-83
Pn148 2 Second Model Follow- 10 to 20,000 0.1/s 500 All Immedi- Tuning page
ing Control Gain ately 8-66
Second Model Follow-
Immedi- page
Pn149 2 ing Control Gain Correc- 500 to 2,000 0.1% 1000 All ately Tuning 8-66
tion
Pn14A 2 10 to 2,000 0.1 Hz 800 All Tuning
Frequency ately 8-59
Pn14B 2 10 to 1,000 1% 100 All Tuning
Correction ately 8-59
Parameter Lists
14
14-13

Size
Name
Control-Related Selec- 0000h to After
2 tions 0021h – 0021h All restart Tuning –
Model Following Control Type Selection Reference

n.X 0 Use model following control type 1.
page 8-86
1 Use model following control type 2.
Tuning-less Type Selection Reference

Pn14F
0 Use tuning-less type 1.
n.X
1 Use tuning-less type 2. page 8-13
2 Use tuning-less type 3.
Anti-Resonance Con- 0000h to Immedi-

2 – 0010h All Tuning –
trol-Related Selections 0011h ately
Anti-Resonance Control Selection Reference

n.X 0 Do not use anti-resonance control.
page 8-51
1 Use anti-resonance control.
Anti-Resonance Control Adjustment Selection Reference
Pn160 Do not adjust anti-resonance control automatically during execu-

0 tion of autotuning without a host reference, autotuning with a host
n.X reference, and custom tuning.
page 8-32
Adjust anti-resonance control automatically during execution of
1 autotuning without a host reference, autotuning with a host refer-
Pn161 2 Anti-Resonance Fre- 10 to 20,000 0.1 Hz 1000 All Immedi- Tuning page
quency ately 8-51
Anti-Resonance Gain Immedi- page
Pn162 2 1 to 1,000 1% 100 All Tuning
Correction ately 8-51
Anti-Resonance Damp- Immedi- page
Pn163 2 ing Gain 0 to 300 1% 0 All ately Tuning 8-51
Anti-Resonance Filter -1,000 to Immedi- page
Pn164 2 Time Constant 1 Cor- 0.01 ms 0 All Tuning
rection 1,000 ately 8-51
Anti-Resonance Filter -1,000 to Immedi- page

Pn165 2 Time Constant 2 Cor- 0.01 ms 0 All Tuning
rection 1,000 ately 8-51
Pn166 2 Anti-Resonance Damp- 0 to 1,000 1% 0 All Immedi- Tuning page

ing Gain 2 ately 8-54
14-14

Size
Name
Tuning-less Function- 0000h to page
2 Related Selections 2711h – 1401h All – Setup 8-12
When
Tuning-less Selection
Enabled
n. X
0 Disable tuning-less function. After
1 Enable tuning-less function. restart
When
Speed Control Method
Enabled
n. X
0 Use for speed control. After
Pn170
1 Use for speed control and use host controller for position control. restart
When
Rigidity Level
Enabled
n. X
0 to 7 Set the rigidity level. Immedi-
ately
When
Tuning-less Load Level
Enabled
n.X
Immedi-
0 to 2 Set the load level for the tuning-less function. ately
Pn181 2 Mode Switching Level 0 to 10,000 1 mm/s 0 Linear Immedi- Tuning page
for Speed Reference ately 8-89
Pn182 2 0 to 30,000 1 mm/s2 0 Linear Tuning
for Acceleration ately 8-89
Position Control Refer- 0000h to After
2 ence Form Selections 2236h – 0000h All restart Setup –
Reference Pulse Form Reference

0 Sign and pulse train, positive logic.
1 CW and CCW pulse trains, positive logic
Two-phase pulse trains with 90° phase differential (phase A and
2
phase B) ×1, positive logic
n. X Two-phase pulse trains with 90° phase differential (phase A and
3 page 6-31
Two-phase pulse trains with 90° phase differential (phase A and
4
5 Sign and pulse train, negative logic.
6 CW and CCW pulse trains, negative logic
Clear Signal Form Reference

Pn200 0 Clear position deviation when the signal is at high level.
n. X 1 Clear position deviation on the rising edge of the signal.
page 6-33
2 Clear position deviation when the signal is at low level.
3 Clear position deviation on the falling edge of the signal.
Clear Operation Reference

Clear position deviation at a base block (at servo OFF or when
0
alarm occurs).
Parameter Lists
n. X
Do not clear position error (cleared only with CLR (Clear Position page 6-33
1
Deviation) signal).
2 Clear position deviation when an alarm occurs.
Filter Selection Reference

0 Use the reference input filter for a line-driver signal. (1 Mpps max.)
n.X Use the reference input filter for an open-collector signal. (200
1
kpps max.)
page 6-31
14
2 Use reference input filter 2 for a line-driver signal. (1 to 4 Mpps)
14-15

Size
Name
After page
Pn205 2 Multiturn Limit 0 to 65,535 1 rev 65535 Rotary restart Setup 6-82
2 Position Control Func- 0000h to – 0000h All After Setup –

tion Selections 2210h restart
n.X Reserved parameter (Do not change.)
Position Control Option Reference

n.X 0 Do not use V-REF.
page 8-88
1 Use V-REF as a speed feedback input.
Pn207 Refer-
/COIN (Positioning Completion Output) Signal Output Timing
ence
Output when the absolute value of the position deviation is the
0 same or less than the setting of Pn522 (Positioning Completed
Width).
n.X Output when the absolute value of the position error is the same
1 or less than the setting of Pn522 (Positioning Completed Width) page 6-37
and the reference after the position reference filter is 0.
Output when the absolute value of the position error is the same
2 or less than the setting of Pn522 (Positioning Completed Width)
and the reference input is 0.
1 scale
Number of External 4 to pitch/ After page
Pn20A 4 32768 Rotary Setup
Encoder Scale Pitches 1,048,576 revolu- restart 10-7
tion
Electronic Gear Ratio 1 to After page
Pn20E 4 1 64 All Setup
(Numerator) 1,073,741,824 restart 5-48
Electronic Gear Ratio 1 to After page
Pn210 4 (Denominator) 1,073,741,824 1 1 All restart Setup 5-48
Pn212 4 Number of Encoder 16 to 1 P/Rev 2048 Rotary After Setup page

Output Pulses 1,073,741,824 restart 6-52
Immedi-
Position Reference
Pn216 2 Acceleration/Decelera- 0 to 65,535 0.1 ms 0 All ately after Setup page
the motor 6-36
tion Time Constant stops
Immedi-
Average Position Refer- ately after page
Pn217 2 ence Movement Time 0 to 10,000 0.1 ms 0 All the motor Setup 6-36
stops
Reference Pulse Input Immedi- page
Pn218 2 Multiplier 1 to 100 ×1 1 All ately Setup 6-34
2 Fully-closed Control 0000h to – 0000h Rotary After Setup page

Selections 1003h restart 10-10

Pn22A
Fully-closed Control Speed Feedback Selection

n.X 0 Use motor encoder speed.
1 Use external encoder speed.
Pn281 2 Encoder Output Resolu- 1 to 4,096 1 edge/ 20 All After Setup page
tion pitch restart 6-53
Linear Encoder Scale 0 to 0.01 After page
Pn282 4 0 Linear Setup
Pitch 6,553,600 μm restart 5-20
14-16

Size
Name
page
0.01 V/ 6-19,
Pn300 2 Speed Reference Input 150 to 3,000 Rated 600 All Immedi- Setup page
Gain motor ately 6-46,
speed page
8-88
Rotary: 1
min-1
Pn301 2 Internal Set Speed 1 0 to 10,000 Direct 100 Rotary Immedi- Setup page
ately 6-54
Drive:
0.1 min-1
Rotary: 1
min-1
ately 6-54
Drive:
0.1 min-1
Rotary: 1
min-1
ately 6-54
Drive:
0.1 min-1
Rotary: 1
min-1
Pn304 2 Jogging Speed 0 to 10,000 Direct 500 Rotary Immedi- Setup page
ately 7-7
Drive:
0.1 min-1
Soft Start Acceleration Immedi- page
Pn305 2 0 to 10,000 1 ms 0 All Setup
Time ately 6-24
Soft Start Deceleration Immedi- page
Pn306 2 0 to 10,000 1 ms 0 All Setup
Time ately 6-24
Pn307 2 Speed Reference Filter 0 to 65,535 0.01 ms 40 All Immedi- Setup page
Speed Feedback Filter Immedi- page
Pn308 2 0 to 65,535 0.01 ms 0 All Setup
Deceleration Time for
Pn30A 2 Servo OFF and Forced 0 to 10,000 1 ms 0 All Immedi- Setup page
ately 5-34
Stops
Speed Feedforward page
Pn30C 2 Average Movement 0 to 5,100 0.1 ms 0 All Immedi- Setup 8-88
ately
Time
Vibration Detection 0000h to Immedi- page
2 Selections 0002h – 0000h All ately Setup 6-98
Vibration Detection Selection

0 Do not detect vibration.
n. X
1 Output a warning (A.911) if vibration is detected.
Pn310 2 Output an alarm (A.520) if vibration is detected.
Vibration Detection Sen- Immedi- page

Parameter Lists
Pn311 2 50 to 500 1% 100 All Tuning

sitivity ately 6-98
Vibration Detection Immedi- page
Pn312 2
Level
0 to 5,000 1 min-1 50 Rotary
ately
Tuning
6-98
After page
Pn316 2 Maximum Motor Speed 0 to 65,535 1 min-1 10000 Rotary restart Setup 6-16
Pn324 2 Moment of Inertia Cal- 0 to 20,000 1% 300 All Immedi- Setup page
culation Starting Level ately 8-31
Pn380 2 Internal Set Speed 1 0 to 10,000 1 mm/s 10 Linear

Immedi-
Setup
page 14
ately 6-54
14-17

Size
Name
Immedi- page
Pn381 2 Internal Set Speed 2 0 to 10,000 1 mm/s 20 Linear ately Setup 6-54
Pn382 2 Internal Set Speed 3 0 to 10,000 1 mm/s 30 Linear Immedi- Setup page
ately 6-54
Immedi- page
Pn383 2 Jogging Speed 0 to 10,000 1 mm/s 50 Linear Setup
ately 7-7
Vibration Detection Immedi- page
Pn384 2 Level 0 to 5,000 1 mm/s 10 Linear ately Tuning 6-98
Pn385 2 Maximum Motor Speed 1 to 100 100 50 Linear After Setup page
mm/s restart 6-16
page
0.1 V/
Pn400 2 Torque Reference Input 10 to 100 rated 30 All Immedi- Setup 6-40,
Gain ately page
torque 8-88
First Stage First Torque Immedi- page
Pn401 2 Reference Filter Time 0 to 65,535 0.01 ms 100 All Tuning
Constant ately 8-79
Immedi- page
Pn402 2 Forward Torque Limit 0 to 800 1%*1 800 Rotary
ately
Setup
6-63
Immedi- page
Pn403 2 Reverse Torque Limit 0 to 800 1%*1 800 Rotary
ately
Setup
6-63
page
Forward External Torque *1 Immedi- 6-64,
Pn404 2 0 to 800 1% 100 All Setup
Limit ately page
6-69
page
Reverse External Torque Immedi- 6-64,
Pn405 2
Limit
0 to 800 1%*1 100 All
ately
Setup
page
6-69
Immedi- page
Pn406 2 Emergency Stop Torque 0 to 800 1%*1 800 All
ately
Setup
5-34
Speed Limit during Immedi- page
Pn407 2
Torque Control
0 to 10,000 1 min-1 10000 Rotary
ately
Setup
6-45
Torque-Related Func- 0000h to
2 tion Selections 1111h – 0000h All – Setup –
When
Notch Filter Selection 1 Reference
Enabled
n.X
0 Disable first stage notch filter. Immedi-
ately page 8-79
1 Enable first stage notch filter.
When
Speed Limit Selection Reference
Enabled
Use the smaller of the maximum motor speed and the
setting of Pn407 as the speed limit.
0
Use the smaller of the maximum motor speed and the
n.X
setting of Pn480 as the speed limit. After page 6-46
Pn408 Use the smaller of the overspeed alarm detection restart
speed and the setting of Pn407 as the speed limit.
1
Use the smaller of the overspeed alarm detection
speed and the setting of Pn480 as the speed limit.
When
Notch Filter Selection 2 Reference
Enabled
n.X
0 Disable second stage notch filter. Immedi-
page 8-79
1 Enable second stage notch filter. ately
When
Friction Compensation Function Selection Reference
Enabled
n.X
0 Disable friction compensation. Immedi-
page 8-70
1 Enable friction compensation. ately
First Stage Notch Filter Immedi- page

Pn409 2 Frequency 50 to 5,000 1 Hz 5000 All ately Tuning 8-79
14-18

Size
Name
First Stage Notch Filter Immedi- page
Pn40A 2 Q Value 50 to 1,000 0.01 70 All ately Tuning 8-79
Pn40B 2 First Stage Notch Filter 0 to 1,000 0.001 0 All Immedi- Tuning page
Depth ately 8-79
Second Stage Notch Fil- Immedi- page
Pn40C 2 50 to 5,000 1 Hz 5000 All Tuning
ter Frequency ately 8-79
Second Stage Notch Fil- Immedi- page
Pn40D 2 ter Q Value 50 to 1,000 0.01 70 All ately Tuning 8-79
Pn40E 2 Second Stage Notch Fil- 0 to 1,000 0.001 0 All Immedi- Tuning page
ter Depth ately 8-79
Second Stage Second
Immedi- page
Pn40F 2 Torque Reference Filter 100 to 5,000 1 Hz 5000 All ately Tuning 8-79
Frequency
Second Stage Second
Immedi- page
Pn410 2 Torque Reference Filter 50 to 100 0.01 50 All ately Tuning 8-79
Q Value
First Stage Second
Immedi- page
Pn412 2 Torque Reference Filter 0 to 65,535 0.01 ms 100 All ately Tuning 8-66
Time Constant
T-REF Filter Time Con- Immedi- page
Pn415 2 0 to 65,535 0.01 ms 0 All Setup
stant ately 6-45
Torque-Related Func- 0000h to Immedi- page
2 tion Selections 2 1111h – 0000h All ately Setup 8-81
Notch Filter Selection 3

n. X 0 Disable third stage notch filter.
1 Enable third stage notch filter.

Pn416 n. X 0 Disable fourth stage notch filter.
1 Enable fourth stage notch filter.

n. X 0 Disable fifth stage notch filter.
1 Enable fifth stage notch filter.
Third Stage Notch Filter Immedi- page

Pn417 2 Frequency 50 to 5,000 1 Hz 5000 All ately Tuning 8-81
Pn418 2 Third Stage Notch Filter 50 to 1,000 0.01 70 All Immedi- Tuning page
Q Value ately 8-81
Third Stage Notch Filter Immedi- page
Pn419 2 0 to 1,000 0.001 0 All Tuning
Depth ately 8-81
Fourth Stage Notch Fil- Immedi- page
Pn41A 2 ter Frequency 50 to 5,000 1 Hz 5000 All ately Tuning 8-81
Pn41B 2 Fourth Stage Notch Fil- 50 to 1,000 0.01 70 All Immedi- Tuning page
ter Q Value ately 8-81
Fourth Stage Notch Fil- Immedi- page
Pn41C 2 0 to 1,000 0.001 0 All Tuning
ter Depth ately 8-81
Fifth Stage Notch Filter Immedi- page
Pn41D 2 Frequency 50 to 5,000 1 Hz 5000 All ately Tuning 8-81
Parameter Lists
Pn41E 2 Fifth Stage Notch Filter 50 to 1,000 0.01 70 All Immedi- Tuning page
Q Value ately 8-81
Fifth Stage Notch Filter Immedi- page
Pn41F 2 0 to 1,000 0.001 0 All Tuning
Depth ately 8-80
14
14-19

Size
Name
Speed Ripple Compen- 0000h to page
2 sation Selections 1111h – 0000h Rotary – Setup 8-64
When
Speed Ripple Compensation Function Selection
Enabled
n.X
0 Disable speed ripple compensation. Immedi-
1 Enable speed ripple compensation. ately
Speed Ripple Compensation Information Disagreement Warning Detec- When

tion Selection Enabled
Pn423 n.X
0 Detect A.942 alarms. After
1 Do not detect A.942 alarms. restart
When
Speed Ripple Compensation Enable Condition Selection
Enabled
n.X
0 Speed reference After
1 Motor speed restart
Torque Limit at Main Cir- Immedi- page

Pn424 2 cuit Voltage Drop 0 to 100 1%*1 50 All ately Setup 6-15
Release Time for Torque Immedi- page
Pn425 2 Limit at Main Circuit 0 to 1,000 1 ms 100 All Setup
ately 6-15
Voltage Drop
Torque Feedforward page
Pn426 2 Average Movement 0 to 5,100 0.1 ms 0 All Immedi- Setup 8-88
ately
Time
Speed Ripple Compen- Immedi- page
Pn427 2 sation Enable Speed 0 to 10,000 1 min-1 0 Rotary ately Tuning 8-64
Pn456 2 Sweep Torque Refer- 1 to 800 1% 15 All Immedi- Tuning page

ence Amplitude ately 8-97
page
2 Notch Filter Adjustment 0000h to – 0101h All Immedi- Tuning 8-15,
Selections 1 0101h ately page
8-32
Notch Filter Adjustment Selection 1

Do not adjust the first stage notch filter automatically during execution of auto-
0 tuning without a host reference, autotuning with a host reference, and custom
n.X
tuning.
Adjust the first stage notch filter automatically during execution of autotuning
1
without a host reference, autotuning with a host reference, and custom tuning.
Pn460
Notch Filter Adjustment Selection 2

Do not adjust the second stage notch filter automatically when the tuning-less
0 function is enabled or during execution of autotuning without a host reference,
n.X autotuning with a host reference, and custom tuning.
Adjust the second stage notch filter automatically when the tuning-less func-
1 tion is enabled or during execution of autotuning without a host reference,
autotuning with a host reference, and custom tuning.
14-20

Size
Name
Gravity Compensation- 0000h to After page
2 Related Selections 0001h – 0000h All restart Setup 8-71
n.X Gravity Compensation Selection

0 Disable gravity compensation.
1 Enable gravity compensation.
Pn475
Pn476 2 Gravity Compensation -1,000 to 0.1% 0 All Immedi- Tuning page

Torque 1,000 ately 8-71
Speed Limit during Immedi- page
Pn480 2 0 to 10,000 1 mm/s 10000 Linear Setup
Force Control ately 6-45
Polarity Detection Immedi-
Pn481 2 Speed Loop Gain 10 to 20,000 0.1 Hz 400 Linear ately Tuning –
Polarity Detection Immedi-

Pn482 2 Speed Loop Integral 15 to 51,200 0.01 ms 3000 Linear Tuning –
Time Constant ately
Immedi- page
Pn483 2 Forward Force Limit 0 to 800 1%*1 30 Linear
ately
Setup
6-63
Immedi- page
Pn484 2 Reverse Force Limit 0 to 800 1%*1 30 Linear
ately
Setup
6-63
Polarity Detection Refer- Immedi-
Pn485 2 ence Speed 0 to 100 1 mm/s 20 Linear ately Tuning –
Polarity Detection Refer- Immedi-

Pn486 2 ence Acceleration/ 0 to 100 1 ms 25 Linear Tuning –
Deceleration Time ately
Pn487 2 Polarity Detection Con- 0 to 300 1 ms 0 Linear Immedi- Tuning –

stant Speed Time ately
Polarity Detection Refer- Immedi- −
Pn488 2 50 to 500 1 ms 100 Linear Tuning
ence Waiting Time ately
Polarity Detection Immedi- −
Pn48E 2 Range 1 to 65,535 1 mm 10 Linear ately Tuning
Pn490 2 Polarity Detection Load 0 to 20,000 1% 100 Linear Immedi- Tuning −

Level ately
Polarity Detection Con-
Immedi- −
Pn495 2 firmation Force Refer- 0 to 200 1% 100 Linear ately Tuning
ence
Polarity Detection Allow- Immedi- −
Pn498 2 0 to 30 1 deg 10 Linear Tuning
able Error Range ately
Speed Ripple Compen- Immedi- page
Pn49F 2 sation Enable Speed 0 to 10,000 1 mm/s 0 Linear ately Tuning 8-64
Immedi- page
Pn501 2 Zero Clamping Level 0 to 10,000 1 min-1 10 Rotary
ately
Setup
6-25
Immedi- page
Pn502 2 Rotation Detection Level 1 to 10,000 1 min-1 20 Rotary
ately
Setup
6-11
Speed Coincidence
Immedi- page
Pn503 2 Detection Signal Output 0 to 100 1 min-1 10 Rotary
ately
Setup
6-27
Width
Brake Reference-Servo Immedi- page
Parameter Lists
Pn506 2 0 to 50 10 ms 0 All Setup

OFF Delay Time ately 5-37
Brake Reference Out- Immedi- page
Pn507 2 put Speed Level 0 to 10,000 1 min-1 100 Rotary ately Setup 5-37
Pn508 2 Servo OFF-Brake Com- 10 to 100 10 ms 50 All Immedi- Setup page

mand Waiting Time ately 5-37
Momentary Power Inter- Immedi- page
Pn509 2 20 to 50,000 1 ms 20 All Setup
ruption Hold Time ately 6-13
14-21

Size
Name
Input Signal Selections 0000h to After
2 1 FFF2h – 2100h All restart Setup –
Input Signal Allocation Mode Reference

Use the sequence input signal terminals with the default alloca-
0
n.X tions.
page 6-5
1 Change the sequence input signal allocations.
/S-ON (Servo ON) Signal Allocation Reference

0 Active when CN1-40 input signal is ON (closed).
n.X 7 The signal is always active.
page 5-18
8 The signal is always inactive.
9 Active when CN1-40 input signal is OFF (open).
A Active when CN1-41 input signal is OFF (open).
B Active when CN1-42 input signal is OFF (open).
C Active when CN1-43 input signal is OFF (open).
D Active when CN1-44 input signal is OFF (open).
Pn50A E Active when CN1-45 input signal is OFF (open).
F Active when CN1-46 input signal is OFF (open).
/P-CON (Proportional Control) Signal Allocation Reference

n.X The allocations are the same as the /S-ON (Servo ON) signal allo-
0 to F page 8-74
cations.
P-OT (Forward Drive Prohibit) Signal Allocation Reference

0 Enable forward drive when CN1-40 input signal is ON (closed).
n.X 7 Set the signal to always prohibit forward drive.
page 5-33
8 Set the signal to always enable forward drive.
9 Enable forward drive when CN1-40 input signal is OFF (open).
A Enable forward drive when CN1-41 input signal is OFF (open).
B Enable forward drive when CN1-42 input signal is OFF (open).
C Enable forward drive when CN1-43 input signal is OFF (open).
D Enable forward drive when CN1-44 input signal is OFF (open).
E Enable forward drive when CN1-45 input signal is OFF (open).
F Enable forward drive when CN1-46 input signal is OFF (open).
14-22

Size
Name
2 2 FFFFh – 6543h All restart Setup –
N-OT (Reverse Drive Prohibit) Signal Allocation Reference

0 Enable reverse drive when CN1-40 input signal is ON (closed).
n. X 7 Set the signal to always prohibit reverse drive.
page 5-33
8 Set the signal to always enable reverse drive.
9 Enable reverse drive when CN1-40 input signal is OFF (open).
A Enable reverse drive when CN1-41 input signal is OFF (open).
B Enable reverse drive when CN1-42 input signal is OFF (open).
C Enable reverse drive when CN1-43 input signal is OFF (open).
D Enable reverse drive when CN1-44 input signal is OFF (open).
E Enable reverse drive when CN1-45 input signal is OFF (open).
F Enable reverse drive when CN1-46 input signal is OFF (open).
/ALM-RST (Alarm Reset) Signal Allocation Reference

Active on signal edge when CN1-40 input signal changes from
0
OFF (open) to ON (closed).
1
2
Pn50B
3
4
5
6
n. X 7 Reserved setting (Do not use.) page 12-
8 The signal is always inactive. 41
Active on signal edge when CN1-40 input signal changes from ON
9
(closed) to OFF (open).
A
B
C
D
Parameter Lists
E
F
/P-CL (Forward External Torque Limit Input) Signal Allocation Reference

n. X
0 to F The allocations are the same as the /S-ON (Servo ON) signal allocations. page 6-64
n.X
/N-CL (Reverse External Torque Limit Input) Signal Allocation Reference 14
0 to F The allocations are the same as the /S-ON (Servo ON) signal allocations. page 6-64
14-23

Size
Name
/SPD-D (Motor Direction) Signal Allocation Reference

n.X 7 The signal is always active.
page 6-54
Pn50C B Active when CN1-42 input signal is OFF (open).
E Active when CN1-45 input signal is OFF (open).
/SPD-A (Internal Set Speed Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F page 6-54
nal allocations.
/SPD-B (Internal Set Speed Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F page 6-54
nal allocations.
/C-SEL (Control Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F page 6-60
nal allocations.
14-24

Size
Name
2 4 FFFFh – 8888h – restart Setup –
Applicable
/ZCLAMP (Zero Clamping Input) Signal Allocation Reference
Motors
n. X
7 The signal is always active.
All page 6-26
Pn50D
Applicable
/INHIBIT (Reference Pulse Inhibit Input) Signal Allocation Reference
Motors
n. X
The allocations are the same as the /ZCLAMP
0 to F All page 6-39
(Zero Clamping Input) signal allocations.
Applicable
/G-SEL (Gain Selection Input) Signal Allocation Reference
Motors
n. X
0 to F All page 8-67
Applicable
/P-DET (Polarity Detection Input) Signal Allocation Reference
Motors
n.X
0 to F Linear page 5-30
Parameter Lists
14
14-25

Size
Name
Output Signal Selec- 0000h to After
2 tions 1 6666h – 3211h All restart Setup –
/COIN (Positioning Completion Output) Signal Allocation Reference

0 Disabled (the above signal output is not used).
1 Output the signal from the CN1-25 or CN1-26 output terminal.
n.X 2 Output the signal from the CN1-27 or CN1-28 output terminal.
3 Output the signal from the CN1-29 or CN1-30 output terminal. page 6-37
4 Output the signal from the CN1-37 output terminal.
Pn50E
/V-CMP (Speed Coincidence Detection Output) Signal Allocation Reference
n.X The allocations are the same as the /COIN (Positioning Comple-
0 to 6 page 6-27
tion) signal allocations.
/TGON (Rotation Detection Output) Signal Allocation Reference

n.X The allocations are the same as the /COIN (Positioning Comple-
0 to 6 page 6-11
/S-RDY (Servo Ready) Signal Allocation Reference

n.X The allocations are the same as the /COIN (Positioning Comple-
0 to 6 page 6-12

/CLT (Torque Limit Detection Output) Signal Allocation Reference

n.X
Pn50F
/VLT (Speed Limit Detection) Signal Allocation Reference
n.X The allocations are the same as the /CLT (Torque Limit Detection
0 to 6 page 6-45
Output) signal allocations.
/BK (Brake Output) Signal Allocation Reference

n.X The allocations are the same as the /CLT (Torque Limit Detection
0 to 6 page 5-38
/WARN (Warning Output) Signal Allocation Reference

n.X The allocations are the same as the /CLT (Torque Limit Detection
0 to 6 page 6-11
14-26

Size
Name
2 tions 3 – 0000h All restart Setup –
0666h
/NEAR (Near Output) Signal Allocation Reference

n. X
Pn510 5 Output the signal from the CN1-38 output terminal.
/PSELA (Reference Pulse Input Multiplication Switching Output) Signal

Reference
Allocation
n. X
The allocations are the same as the /NEAR (Near) signal alloca-
0 to 6 page 6-34
tions.
Output Signal Inverse 0000h to After page

2 Settings 1111h – 0000h All restart Setup 6-8
Output Signal Inversion for CN1-25 and CN1-26 Terminals

n. X 0 The signal is not inverted.
1 The signal is inverted.

n. X 0 The signal is not inverted.
Pn512 1 The signal is inverted.

n. X 0 The signal is not inverted.
Output Signal Inversion for CN1-37 Terminal

n.X 0 The signal is not inverted.
Output Signal Inverse 0000h to After page

2 – 0000h All Setup
Settings 2 0011h restart 6-8
Output Signal Inversion for CN1-38 Terminal

n. X 0 The signal is not inverted.
Pn513 Output Signal Inversion for CN1-39 Terminal

Parameter Lists
n. X 0 The signal is not inverted.

14
14-27

Size
Name
/PM (Preventative Maintenance Output) Signal Allocation Reference

Pn514 1 Output the signal from the CN1-25 or CN1-26 output terminal.
n.X
14-28

Size
Name
SEN (Absolute Data Request Input) Signal Allocation Reference

n. X 7 The signal is always active. page 6-76,
8 Enable when 5 V is input to CN1-4. page 6-89
/PSEL (Reference Pulse Input Multiplication Switching Input) Signal Allo-

Pn515 Reference
cation
n.X
7 The signal is always enabled.
page 6-34

Parameter Lists
14
14-29

Size
Name
FSTP (Forced Stop Input) Signal Allocation Reference

0 Enable drive when CN1-40 input signal is ON (closed).
Set the signal to always prohibit drive (always force the motor to
7
n.X stop).
page 6-106
Set the signal to always enable drive (always disable forcing the
Pn516 8
motor to stop).
9 Enable drive when CN1-40 input signal is OFF (open).
A Enable drive when CN1-41 input signal is OFF (open).
B Enable drive when CN1-42 input signal is OFF (open).
C Enable drive when CN1-43 input signal is OFF (open).
D Enable drive when CN1-44 input signal is OFF (open).
E Enable drive when CN1-45 input signal is OFF (open).
F Enable drive when CN1-46 input signal is OFF (open).
Output Signal Selec- 0000h to After page

2 – 0654h All Setup
tions 5 0666h restart 6-8
ALO1 (Alarm Code Output) Signal Allocation

n.X
Pn517

n.X The allocations are the same as the ALO1 (Alarm Code Output) signal alloca-
0 to 6
tions.

n.X The allocations are the same as the ALO1 (Alarm Code Output) signal alloca-
0 to 6
tions.
Safety Module-Related
Pn518*2 – Parameters – – – All – – –
Motor-Load Position 1 refer-

0 to Immedi- page
Pn51B 4 Deviation Overflow 1,073,741,824 ence 1000 Rotary ately Setup 10-8
Detection Level unit
14-30

Size
Name
Position Deviation Over- Immedi- page
Pn51E 2 flow Warning Level 10 to 100 1% 100 All ately Setup 8-9
1 refer- page
Position Deviation Over- 1 to 524288 Immedi- 8-8,
Pn520 4 flow Alarm Level 1,073,741,823 ence 0 All ately Setup page
unit
8-85
1 refer-
Pn522 4 Positioning Completed 0 to ence 7 All Immedi- Setup page
Width 1,073,741,824 ately 6-37
unit
1 refer-
Pn524 4 Near Signal Width 1 to ence 107374 All Immedi- Setup page
1,073,741,824 1824 ately 6-38
unit
Position Deviation Over- 1 refer-
Pn526 4 flow Alarm Level at 1 to ence 524288 All Immedi- Setup page
1,073,741,823 0 ately 8-10
Servo ON unit
Pn528 2 flow Warning Level at 10 to 100 1% 100 All Immedi- Setup page
ately 8-10
Servo ON
Speed Limit Level at Immedi- page
Pn529 2 Servo ON 0 to 10,000 1 min-1 10000 Rotary ately Setup 8-10
Pn52A 2 Multiplier per Fully- 0 to 100 1% 20 Rotary Immedi- Tuning page

closed Rotation ately 10-8
Immedi- page
Pn52B 2 Overload Warning Level 1 to 100 1% 20 All Setup
ately 5-45
Base Current Derating
Pn52C 2 at Motor Overload 10 to 100 1% 100 All After Setup page
restart 5-46
Detection
Monitor Display at 0000h to Immedi- page
Pn52F 2 Startup 0FFFh – 0FFFh All ately Setup 13-4
2 Program Jogging- 0000h to – 0000h All Immedi- Setup page

Related Selections 0005h ately 7-20
Program Jogging Operation Pattern

(Waiting time in Pn535 → Forward by travel distance in Pn531) × Number of
0
movements in Pn536
(Waiting time in Pn535 → Reverse by travel distance in Pn531) × Number of
1
movements in Pn536
movements in Pn536
2
movements in Pn536
n. X
movements in Pn536
Pn530 3
movements in Pn536
(Waiting time in Pn535 → Forward by travel distance in Pn531 → Waiting time
4 in Pn535 → Reverse by travel distance in Pn531) × Number of movements in
Pn536
(Waiting time in Pn535 → Reverse by travel distance in Pn531 → Waiting time
5 in Pn535 → Forward by travel distance in Pn531) × Number of movements in
Pn536

Parameter Lists
1 refer-
Pn531 4 Program Jogging Travel 1 to ence 32768 All Immedi- Setup page
Distance 1,073,741,824 ately 7-20
unit
Rotary:
1 min-1
Pn533 2 Program Jogging Move-
ment Speed
1 to 10,000 Direct
Drive:
500 Rotary Immedi-
ately
Setup page
7-20 14
0.1 min-1
14-31

Size
Name
Program Jogging Accel-
Pn534 2 eration/Deceleration 2 to 10,000 1 ms 100 All Immedi- Setup page
ately 7-20
Time
Program Jogging Wait- Immedi- page
Pn535 2 ing Time 0 to 10,000 1 ms 100 All ately Setup 7-20
Pn536 2 Program Jogging Num- 0 to 1,000 1 time 1 All Immedi- Setup page
ber of Movements ately 7-20
Analog Monitor 1 Offset -10,000 to Immedi- page
Pn550 2 0.1 V 0 All Setup
Voltage 10,000 ately 9-13
Analog Monitor 2 Offset -10,000 to Immedi- page
Pn551 2 Voltage 10,000 0.1 V 0 All ately Setup 9-13
Pn552 2 Analog Monitor 1 Mag- -10,000 to × 0.01 100 All Immedi- Setup page
nification 10,000 ately 9-13
Analog Monitor 2 Mag- -10,000 to Immedi- page
Pn553 2 × 0.01 100 All Setup
nification 10,000 ately 9-13
Power Consumption Immedi-
Pn55A 2 Monitor Unit Time 1 to 1,440 1 min 1 All ately Setup –
Pn560 2 Residual Vibration 1 to 3,000 0.1% 400 All Immedi- Setup page
Detection Width ately 8-56
page
Pn561 2 Overshoot Detection 0 to 100 1% 100 All Immedi- Setup 8-32,
Level ately page
8-40
Pn580 2 Zero Clamping Level 0 to 10,000 1 mm/s 10 Linear Immedi- Setup page
ately 6-25
Immedi- page
Pn581 2 Zero Speed Level 1 to 10,000 1 mm/s 20 Linear Setup
ately 6-11
Speed Coincidence
Pn582 2 Detection Signal Output 0 to 100 1 mm/s 10 Linear Immedi- Setup page
ately 6-27
Width
Brake Reference Out- Immedi- page
Pn583 2 put Speed Level 0 to 10,000 1 mm/s 10 Linear ately Setup 5-37
Pn584 2 Speed Limit Level at 0 to 10,000 1 mm/s 10000 Linear Immedi- Setup page
Servo ON ately 8-10
Program Jogging Move- Immedi- page
Pn585 2 1 to 10,000 1 mm/s 50 Linear Setup
ment Speed ately 7-20
1%/
Pn586 2 Motor Running Cooling 0 to 100 Max. 0 Linear Immedi- Setup –
Ratio ately
speed
Regenerative Resistor Depends on Immedi- page
Pn600 2 10 W 0 All Setup
Capacity*3 model.*4 ately 5-59
Dynamic Brake Resis-
After *5
Pn601 2 tor Allowable Energy 0 to 65,535 10 J 0 All restart Setup
Consumption
Regenerative Resis- Immedi- page
Pn603 2 0 to 65,535 10 mΩ 0 All Setup
tance ately 5-59
Dynamic Brake Resis- After *5
Pn604 2 tance 0 to 65,535 10 mΩ 0 All restart Setup
2 Overheat Protection 0000h to – 0000h All After Setup page

Selections 0003h restart 6-109
n.X Overheat Protection Selection

0 Disable overheat protection.
1 Use overheat protection in the Yaskawa Linear Servomotor.*6
Monitor a negative voltage input from a sensor attached to the machine and
2
Pn61A use overheat protection.
Monitor a positive voltage input from a sensor attached to the machine and
3
use overheat protection.
14-32

Size
Name
Pn61B Immedi- page
*7 2 Overheat Alarm Level 0 to 500 0.01 V 250 All Setup
ately 6-110
Pn61C Immedi- page
*7 2 Overheat Warning Level 0 to 100 1% 100 All Setup
ately 6-110
Pn61D Overheat Alarm Filter Immedi- page
*7 2 0 to 65,535 1s 0 All Setup
Time ately 6-110
Pn621 to Safety Module-Related

– – – – All – – –
Pn628*2 Parameters
*1. Set a percentage of the motor rated torque.

*2. These parameters are for SERVOPACKs with a Safety Module. Refer to the following manual for details.
Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module (Manual No.: SIEP
C720829 06)
*3. Normally set this parameter to 0. If you use an External Regenerative Resistor, set the capacity (W) of the Exter-
nal Regenerative Resistor.
*4. The upper limit is the maximum output capacity (W) of the SERVOPACK.
*5. These parameters are for SERVOPACKs with the dynamic brake option. Refer to the following manual for details.
Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Prod-
uct Manual (Manual No.: SIEP S800001 73)
*6. The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function.
*7. Enabled only when Pn61A is set to n.2 or n.3.
Parameter Lists
14
14-33
14.2 Parameter Recording Table

Use the following table to record the settings of the parameters.
Parameter When
Default Setting Name
No. Enabled
Pn000 0000h Basic Function Selections 0 After restart
Application Function Selec-
Pn001 0000h After restart
tions 1
tions 2
Pn006 0002h Immediately
tions 6
tions 7
tions 8
tions 9
Pn00A 0001h After restart
tions A
Pn00B 0000h After restart
tions B
Pn00C 0000h After restart
tions C
Pn00D 0000h After restart
tions D
Pn00F 0000h After restart
tions F
Axis Address Selection for
Pn010 0001h UART/USB Communica- After restart
tions
Pn021 0000h Reserved parameter −
Pn022 0000h Reserved parameter −
Σ-V Compatible Function
Switch
tions 80
tions 81
Pn100 400 Speed Loop Gain Immediately
Speed Loop Integral Time
Pn101 2000 Immediately
Constant
Pn102 400 Position Loop Gain Immediately
Pn103 100 Moment of Inertia Ratio Immediately
Pn104 400 Second Speed Loop Gain Immediately
Second Speed Loop Inte-
gral Time Constant
Pn106 400 Second Position Loop Gain Immediately
Pn109 0 Feedforward Immediately
Feedforward Filter Time
Pn10A 0 Immediately
Constant
Pn10B 0000h Gain Application Selections *
Mode Switching Level for
Pn10C 200 Immediately
Torque Reference
Pn10D 0 Immediately
Speed Reference
14-34

Parameter When
No. Enabled
Pn10E 0 Immediately
Acceleration
Pn10F 0 Immediately
Position Deviation
Position Integral Time Con-
Pn11F 0 Immediately
stant
Pn121 100 Friction Compensation Gain Immediately
Second Friction Compen-
sation Gain
Friction Compensation
Pn123 0 Immediately
Coefficient
Friction Compensation Fre-
Pn124 0 Immediately
quency Correction
Friction Compensation Gain
Correction
Pn131 0 Gain Switching Time 1 Immediately
Pn132 0 Gain Switching Time 2 Immediately
Gain Switching Waiting
Pn135 0 Immediately
Time 1
Gain Switching Waiting
Pn136 0 Immediately
Time 2
Automatic Gain Switching
Selections 1
Pn13D 2000 Current Gain Level Immediately
Model Following Control-
Related Selections
Gain
Gain Correction
Pn143 1000 Bias in the Forward Direc- Immediately
tion
Pn144 1000 Bias in the Reverse Direc- Immediately
tion
Vibration Suppression 1
Frequency A
Frequency B
Pn147 1000 Speed Feedforward Com- Immediately
pensation
Second Model Following
Control Gain
Second Model Following
Control Gain Correction
Parameter Lists
Pn14A 800 Immediately
Frequency
Pn14B 100 Immediately
Correction
Pn14F 0021h Control-Related Selections After restart
Anti-Resonance Control-
Related Selections 14
Pn161 1000 Anti-Resonance Frequency Immediately
14-35

Parameter When
No. Enabled
Anti-Resonance Gain Cor-
rection
Anti-Resonance Damping
Pn163 0 Immediately
Gain
Anti-Resonance Filter Time
Pn164 0 Immediately
Constant 1 Correction
Anti-Resonance Filter Time
Pn165 0 Immediately
Constant 2 Correction
Anti-Resonance Damping
Pn166 0 Immediately
Gain 2
Tuning-less Function-
Pn170 1401h
Related Selections *
Pn181 0 Immediately
Speed Reference
Pn182 0 Immediately
Acceleration
Position Control Reference
Form Selections
Pn205 65535 Multiturn Limit After restart
Position Control Function
Selections
Number of External
Pn20A 32768 After restart
Encoder Scale Pitches
Electronic Gear Ratio
Pn20E 64 After restart
(Numerator)
Electronic Gear Ratio
Pn210 1 After restart
(Denominator)
Number of Encoder Output
Pn212 2048 After restart
Pulses
Position Reference Acceler- Immediately
Pn216 0 ation/Deceleration Time after the
Constant motor stops
Immediately
Average Position Refer-
Pn217 0 after the
ence Movement Time
motor stops
Reference Pulse Input Mul-
Pn218 1 Immediately
tiplier
Fully-closed Control Selec-
tions
Pn281 20 Encoder Output Resolution After restart
Pn282 0 Linear Encoder Scale Pitch After restart
Speed Reference Input
Gain
Pn301 100 Internal Set Speed 1 Immediately
Pn304 500 Jogging Speed Immediately
Soft Start Acceleration
Pn305 0 Immediately
Time
Soft Start Deceleration
Pn306 0 Immediately
Time
Speed Reference Filter
Time Constant
Speed Feedback Filter
Pn308 0 Immediately
Time Constant
14-36

Parameter When
No. Enabled
Deceleration Time for Servo
Pn30A 0 Immediately
OFF and Forced Stops
Speed Feedforward Aver-
Pn30C 0 Immediately
age Movement Time
Vibration Detection Selec-
tions
Vibration Detection Sensi-
tivity
Pn312 50 Vibration Detection Level Immediately
Pn316 10000 Maximum Motor Speed After restart
Moment of Inertia Calcula-
tion Starting Level
Pn383 50 Jogging Speed Immediately
Pn384 10 Vibration Detection Level Immediately
Pn385 50 Maximum Motor Speed After restart
Torque Reference Input
Gain
First Stage First Torque
Pn401 100 Reference Filter Time Con- Immediately
stant
Pn402 800 Forward Torque Limit Immediately
Pn403 800 Reverse Torque Limit Immediately
Forward External Torque
Limit
Reverse External Torque
Limit
Pn406 800 Emergency Stop Torque Immediately
Speed Limit during Torque
Control
Torque-Related Function
Pn408 0000h
Selections *
First Stage Notch Filter Fre-
quency
First Stage Notch Filter Q
Value
First Stage Notch Filter
Pn40B 0 Immediately
Depth
Second Stage Notch Filter
Pn40C 5000 Immediately
Frequency
Pn40D 70 Immediately
Q Value
Pn40E 0 Immediately
Depth
Parameter Lists
Second Stage Second

Pn40F 5000 Torque Reference Filter Fre- Immediately
quency
Second Stage Second
Pn410 50 Torque Reference Filter Q Immediately
Value
First Stage Second Torque 14
Pn412 100 Reference Filter Time Con- Immediately
stant
14-37

Parameter When
No. Enabled
Pn415 0 T-REF Filter Time Constant Immediately
Torque-Related Function
Selections 2
Third Stage Notch Filter
Frequency
Third Stage Notch Filter Q
Value
Third Stage Notch Filter
Pn419 0 Immediately
Depth
Fourth Stage Notch Filter
Frequency
Fourth Stage Notch Filter Q
Pn41B 70 Immediately
Value
Fourth Stage Notch Filter
Pn41C 0 Immediately
Depth
Fifth Stage Notch Filter Fre-
Pn41D 5000 Immediately
quency
Fifth Stage Notch Filter Q
Pn41E 70 Immediately
Value
Fifth Stage Notch Filter
Pn41F 0 Immediately
Depth
Speed Ripple Compensa-
Pn423 0000h
tion Selections *
Torque Limit at Main Circuit
Voltage Drop
Release Time for Torque
Pn425 100 Limit at Main Circuit Voltage Immediately
Drop
Torque Feedforward Aver-
Pn426 0 Immediately
age Movement Time
Pn427 0 Immediately
tion Enable Speed
Sweep Torque Reference
Amplitude
Notch Filter Adjustment
Selections 1
Gravity Compensation-
Related Selections
Gravity Compensation
Pn476 0 Immediately
Torque
Speed Limit during Force
Control
Polarity Detection Speed
Loop Gain
Polarity Detection Speed
Pn482 3000 Loop Integral Time Con- Immediately
stant
Pn483 30 Forward Force Limit Immediately
Pn484 30 Reverse Force Limit Immediately
Polarity Detection Refer-
ence Speed
Pn486 25 ence Acceleration/Deceler- Immediately
ation Time
Polarity Detection Con-
Pn487 0 Immediately
stant Speed Time
14-38

Parameter When
No. Enabled
ence Waiting Time
Pn48E 10 Polarity Detection Range Immediately
Polarity Detection Load
Level
Polarity Detection Confir-
mation Force Reference
Polarity Detection Allowable
Error Range
Pn49F 0 Immediately
tion Enable Speed
Pn501 10 Zero Clamping Level Immediately
Pn502 20 Rotation Detection Level Immediately
Speed Coincidence Detec-
tion Signal Output Width
Brake Reference-Servo
Pn506 0 Immediately
OFF Delay Time
Brake Reference Output
Speed Level
Servo OFF-Brake Com-
mand Waiting Time
Momentary Power Interrup-
tion Hold Time
Pn50A 2100h Input Signal Selections 1 After restart
Pn50B 6543h Input Signal Selections 2 After restart
Pn50C 8888h Input Signal Selections 3 After restart
Pn50D 8888h Input Signal Selections 4 After restart
Pn50E 3211h Output Signal Selections 1 After restart
Pn50F 0000h Output Signal Selections 2 After restart
Pn510 0000h Output Signal Selections 3 After restart
Output Signal Inverse Set-
tings
Output Signal Inverse Set-
tings 2
Pn515 8888h Input Signal Selections 6 After restart
Pn516 8888h Input Signal Selections 7 After restart
Motor-Load Position Devia-
Pn51B 1000 tion Overflow Detection Immediately
Level
Pn51E 100 Immediately
flow Warning Level
flow Alarm Level
Parameter Lists
Positioning Completed
Pn522 7 Immediately
Width
Pn524 1073741824 Near Signal Width Immediately
Pn526 5242880 flow Alarm Level at Servo Immediately
ON
Pn528 100
flow Warning Level at Servo Immediately
14
ON
14-39

Parameter When
No. Enabled
Speed Limit Level at Servo
ON
Multiplier per Fully-closed
Rotation
Pn52B 20 Overload Warning Level Immediately
Base Current Derating at
Pn52C 100 After restart
Motor Overload Detection
Pn52F 0FFFh Monitor Display at Startup Immediately
Program Jogging-Related
Selections
Program Jogging Travel
Distance
Program Jogging Move-
ment Speed
Program Jogging Accelera-
tion/Deceleration Time
Program Jogging Waiting
Time
Program Jogging Number
Pn536 1 Immediately
of Movements
Analog Monitor 1 Offset
Pn550 0 Immediately
Voltage
Analog Monitor 2 Offset
Pn551 0 Immediately
Voltage
Analog Monitor 1 Magnifi-
cation
Analog Monitor 2 Magnifi-
cation
Power Consumption Moni-
Pn55A 1 Immediately
tor Unit Time
Residual Vibration Detec-
tion Width
Pn561 100 Overshoot Detection Level Immediately
Pn580 10 Zero Clamping Level Immediately
Pn581 20 Zero Speed Level Immediately
Speed Coincidence Detec-
tion Signal Output Width
Brake Reference Output
Speed Level
Speed Limit Level at Servo
ON
Program Jogging Move-
ment Speed
Motor Running Cooling
Pn586 0 Immediately
Ratio
Regenerative Resistor
Pn600 0 Immediately
Capacity
Dynamic Brake Resistor
Pn601 0 Allowable Energy Con- After restart
sumption
Pn603 0 Regenerative Resistance Immediately
Pn604 0 Dynamic Brake Resistance After restart
Overheat Protection Selec-
tions
Pn61B 250 Overheat Alarm Level Immediately
14-40

Parameter When
No. Enabled
Pn61C 100 Overheat Warning Level Immediately
Pn61D 0 Overheat Alarm Filter Time Immediately
* The enable timing depends on the digit that is changed. Refer to the following section for details.
Parameter Lists
14
14-41
Appendices
15
The appendix provides host controller connection exam-
ples, and tables of corresponding SERVOPACK and Sig-
maWin+ function names.
15.1 Examples of Connections to Host Controllers . . 15-2

15.1.1 Example of Connections to MP2000/MP3000-
Series SVA-01 Motion Module . . . . . . . . . . . . . 15-2
15.1.2 Example of Connections to Yokogawa
Electric’s F3YP2-0P Positioning Module
for Position Control . . . . . . . . . . . . . . . . . . . . . . 15-3
15.1.3 Example of Connections to Yokogawa
Electric’s F3NC3-0N Positioning Module
for Position Control . . . . . . . . . . . . . . . . . . . . . . 15-4
15.1.4 Example of Connections to an OMRON
Position Control Unit . . . . . . . . . . . . . . . . . . . . . 15-5
15.1.5 Example of Connection to Mitsubishi’s QD75D
Positioning Module for Position Control . . . . . . 15-6
15.2 Corresponding SERVOPACK and SigmaWin+ Function Names . . . 15-7

15.2.1 Corresponding SERVOPACK Utility Function
Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-7
15.2.2 Corresponding SERVOPACK Monitor Display
Function Names . . . . . . . . . . . . . . . . . . . . . . . . 15-9
15.1 Examples of Connections to Host Controllers
15.1.1 Example of Connections to MP2000/MP3000-Series SVA-01 Motion Module

This section provides examples of connections to host controllers.
15.1.1 Example of Connections to MP2000/MP3000-Series SVA-01 Motion Module

Analog Monitor Cable SERVOPACK
(model: JZSP-CA01-E) CN5
AI-GND Black 4 GND
Black 3 GND
MP2000/MP3000 Series TMON White 2 Analog monitor 1
(torque reference monitor)
SVA-01 VTG Red 1 Analog monitor 2
(speed monitor)
CN1/CN2 CN1
1 SG SG 2
2 AO_0 (NREF) V-REF 5
3 PA PA 33
4 PAL /PA 34
5 PC PC 19
6 PCL /PC 20
7 SG SG 6
8 AI_0 (VTG)
9 AO_1 (TREF) T-REF 9
10 0 V (for 24 V) ALM 32
11 0 V (for 24 V)
12 DO_2 (PCON) /C-SEL (Control Selection) 41
13 DO_4 /P-CL (Set by user.) 45
14 DO_3 /N-CL (Set by user.) 46
15 DI_3 (P-OT) P-OT 42
16 +24V +24VIN 47
17 DI_0 (SVALM) ALM+ 31
18 DI_2 (ZERO/HOME LS)
19 SG SG 10
20 SEN (5 V) SEN 4
21 AI_1 (TMON)
22 
23 PB PB 35
24 PBL /PB 36
25 SG TGON- (/BRK-) 28
26 AI-GND TGON+ (/BRK+) 27
27 AO-GND SG 1
28 0 V (for 24 V) /S-RDY- 30
29 0 V (for 24 V)
30 DO_1 (ALMRST) /ALM RST 44
31 DO_0 (SV ON) /S-ON 40
32 DO_5 (SEN for VS866)
33 DI_4 (N-OT) N-OT 43
34 +24V
35 DI_1 (SRDY) /S-RDY+ 29
36 DI_5 (EXT/DEC) BAT- 22
BAT+ 21
Hood FG Connector shell
EXT/DEC input Battery for absolute encoder (3.6 V)

A battery is
ZERO/HOME limit switch input Battery for absolute encoder (0 V) used only for
a Rotary
P-OT input Servomotor.
Brake interlock output (+)
N-OT input
Brake interlock output (-)
Note: 1. Cables to connect the SERVOPACK to the MP2000/MP3000 are available from Yaskawa.
For details, refer to the manual for the Machine Controller.
2. Only signals that are applicable to the MP2000/MP3000-Series SVA-01 Motion Module and the SERVO-
PACK are shown in the diagram.
3. The main circuit power supply for the SERVOPACK in this connection example is three-phase 200 VAC.
4. Incorrect wiring may damage the Machine Controller or SERVOPACK. Wire all connections carefully.
5. Do not wire any unused signal lines (i.e., leave them open).
6. The above wiring diagram shows the connections for only one axis. If you will use other axes, make con-
nections to the SERVOPACK in the same way.
7. All normally closed input terminals that are not used at the Machine Controller’s I/O connector section must
be connected at the connector.
8. Set the parameters so that the servo can be turned ON and OFF with the /S-ON (Servo ON) signal.
15-2
15.1.2 Example of Connections to Yokogawa Electric’s F3YP2-0P Positioning Module for Position Control
9. The SERVOPACK provides safety functions to protect people from the hazardous operation of the moving
parts of the machine. In order to use the safety functions, the required circuits must be configured for CN8.
If the safety functions will not be used, leave the enclosed Safety Jumper Connector connected to the
SERVOPACK (CN8). Refer to the following chapter for details.
15.1.2 Example of Connections to Yokogawa Electric’s

F3YP2-0P Positioning Module for Position Control
Yokogawa Electric’s F3YP22-0P,
F3YP24-0P, or F3YP28-0P SERVOPACK
Positioning Module
*1 CN1
Pulse output A  (forward)*2 13a PULS (CW) 7
Pulse output A + (forward)*2 14a /PULS (CW) 8

Pulse output B  (reverse)*2 11a SIGN (CCW) 11
Pulse output B + (reverse)*2 12a /SIGN (CCW) 12
Pulse output GND 17a
Phase-Z input  16a /PCO 20

Phase-Z input + 15a PCO 19
Connector shell
CLR 15
2.2 k (1/2 W)
10a /CLR 14
Deviation pulse clear
Deviation pulse clear GND 9a
Origin switch +24 V 47
4a /S-ON 40
Origin input
P-OT 42
024 V N-OT 43
3a Forward limit switch
Forward limit input
2a Reverse limit switch

Reverse limit input
Contact input common 1a

24 VDC
External power supply 8b ＋－
24-V Input
External power supply 8a
24-V Input GND
*1. Indicates shielded twisted-pair cable.

*2. The pulse output from Yokogawa Electric’s F3YP2-0P Positioning Module uses negative logic, so the positive
and negative connections are reversed.
Note: 1. Only signals that are applicable to the SERVOPACK and Yokogawa Electric’s F3YP2-0P Positioning
Module are shown in the diagram.
2. Incorrect wiring may damage the Positioning Module or SERVOPACK. Wire all connections carefully.
4. The above wiring diagram shows the connections for only one axis. If you will use other axes, performing
wiring to the SERVOPACK in the same way.
Appendices
15
15-3
15.1.3 Example of Connections to Yokogawa Electric’s F3NC3-0N Positioning Module for Position Control
15.1.3 Example of Connections to Yokogawa Electric’s

F3NC3-0N Positioning Module for Position Control
Yokogawa Electric
Positioning Module SERVOPACK
F3NC32-0N or F3NC34-0N
*1 CN1
Pulse output A  (forward)*2 4a PULS (CW) 7
Pulse output A + (forward)*2 3a /PULS (CW) 8
6a SIGN (CCW) 11
Pulse output B  (reverse)*2
5a /SIGN (CCW) 12
Pulse output B + (reverse)*2
Encoder phase-Z input  20a /PCO 20
Encoder phase-Z input + 19a PCO 19
Counter phase-A input  22a /PAO 34

Counter phase-A input + 21a PAO 33
Counter phase-B input  24a /PBO 36
Counter phase-B input + 23a PBO 35
SEN signal output 18a SEN *3 4
SEN signal output GND 17a SG *3 2
Connector shell
CLR 15
2.2 k (1/2 W)
Deviation pulse clear output 14a /CLR 14
(general-purpose output 1)
General-purpose output 2 15a
General-purpose output 3 16a
Origin switch
Origin input 7a
(general-purpose input 1)
Forward limit input 8a Forward limit switch
Reverse limit input 9a Reverse limit switch

Drive alarm input 10a ALM＋ 31

ALM－ 32
External trigger input 11a
12a BAT (＋) *3 21
＋
General-purpose input 6 Lithium

Contact input COM 13a battery
3.6 VDC
－ 22
BAT (－) *3
Emergency stop input 2a
Emergency stop switch
Emergency stop input GND 2b +24 V 47
/S-ON 40
24 VDC
P-OT 42
External power supply 1a ＋－ 024 V
24-V input N-OT 43
External power supply 1b
24-V input GND
*1. Indicates shielded twisted-pair cable.

*2. The pulse output from Yokogawa Electric’s F3NC3-0N Positioning Module uses negative logic, so the positive
and negative connections are reversed.
*3. Connect these when using an absolute encoder.
Note: 1. Only signals that are applicable to the SERVOPACK and Yokogawa Electric’s F3NC3-0N Positioning
4. The above wiring diagram shows the connections for only one axis. If you will use other axes, performing
wiring to the SERVOPACK in the same way.
15-4
15.1.4 Example of Connections to an OMRON Position Control Unit
15.1.4 Example of Connections to an OMRON Position Control

Unit
OMRON Position Control Unit I/O power supply
CS1W-NC133, CS1W-NC233, +24 V + +24 V
or CS1W-NC433
-
024 V SERVOPACK*2
5-V power supply for pulse output A4 +5V

5-V GND for pulse output A3
CN1
*4
CW (+) output A5 PULS 7
CW () output A6 /PULS 8
CCW (+) output A7 SIGN 11
CCW () output A8 /SIGN 12
CLR 15
Deviation counter reset output A11 /CLR 14
Origin input signal (5V) A16 PCO 19
Origin common A14 /PCO 20
COIN+ 25
24-V power supply for outputs A1 /COIN- 26
24-V GND for outputs A2
+24V-IN 47
/S-ON 40
P-OT 42
Input common A24 N-OT 43
/ALM-RST 44
ALM- 32
1Ry *1 ALM+ 31
Interrupt input A19
Origin proximity input A21
CCW limit input A23
CW limit input A22 Connector shell*3
Immediate stop input A20
FG
*1. The ALM (Servo Alarm) signal is output for approximately five seconds when the power supply is turned ON.
Take this into consideration when designing the power ON sequence. Also, use the ALM signal to actuate the
alarm detection relay (1Ry) to stop the main circuit power supply to the SERVOPACK.
*2. Set Pn200 to n.1 (CW and CCW pulse trains with positive logic).
*3. Connect the shielded wire to the connector shell.

Note: 1. Only the signals that are applicable to the SERVOPACK and the OMRON Position Control Unit are shown
in the diagram.
3. Incorrect wiring may damage the Position Control Unit or SERVOPACK. Wire all connections carefully.
5. The above wiring diagram shows the connections for only the X axis. If you will use other axes, make con-
6. All normally closed input terminals that are not used at the Position Control Unit’s I/O connector section
must be connected at the connector.
Appendices
15
15-5
15.1.5 Example of Connection to Mitsubishi’s QD75D Positioning Module for Position Control
15.1.5 Example of Connection to Mitsubishi’s QD75D Posi-

tioning Module for Position Control
Mitsubishi Electric’s
QD75D SERVOPACK
3 DOG ON when proximity

is detected
1 FLS
2 RLS
4 STOP ON when positioning
1Ry is canceled
11 READY
12 READY COM
6 COM
7 COM
*2 CN1
17 PULSE R+ SIGN 11
18 PULSE R- /SIGN 12
15 PULSE F+ PULS 7
16 PULSE F- /PULS 8
9 PG05 PCO 19
10 PG COM /PCO 20
2.2 kΩ CLR 15
13 CLEAR /CLR 14
14 CLEAR COM 1Ry*1
ALM+ 31
ALM- 32
Connector shell*3
+24 V
+
- +24 V I/O power supply
024 V
+24 V 47
/S-ON 40
P-OT 42
024 V
N-OT 43
*1. The ALM (Servo Alarm) signal is output for up to five seconds when the power supply is turned ON. Take this
into consideration when designing the power ON sequence. Also, use the ALM signal to actuate the alarm
detection relay (1Ry) to stop the main circuit power supply to the SERVOPACK.

*3. Connect the shielded wire to the connector shell.
Note: 1. Only the signals that are applicable to the SERVOPACK and Mitsubishi Electric’s QD75D Positioning
5. The above wiring diagram shows the connections for only one axis. If you will use other axes, make con-
6. All normally closed input terminals that are not used at the Positioning Module’s I/O connector section
must be connected at the connector.
15-6
15.2 Corresponding SERVOPACK and SigmaWin+ Function Names
15.2.1 Corresponding SERVOPACK Utility Function Names

This section gives the names and numbers of the utility functions and monitor display functions
used by the SERVOPACKs and the names used by the SigmaWin+.

SigmaWin+ SERVOPACK
Button in
Menu Dia- Function Name Fn No. Function Name
log Box
Initialize Fn005 Initializing Parameters
Software Reset Fn030 Software Reset
Setup Wizard – –
I/O Signal Allocation – –
Basic Func-
tions Fn011 Display Servomotor Model
Fn012 Display Software Version
Product Information Fn01E Display SERVOPACK and Servomotor IDs
Display Servomotor ID from Feedback Option
Fn01F
Module
Reset Absolute Encoder Fn008 Reset Absolute Encoder
Multiturn Limit Setting after Multiturn Limit Dis-
Multi-turn Limit Setup Fn013
agreement Alarm
Encoder Search Origin Fn003 Origin Search
Setting
Zero Point Position Setting Fn020 Set Absolute Linear Encoder Origin
Polarity Detection Fn080 Polarity Detection
Motor Parameter Scale Write – –
Fn000 Display Alarm History
Display Alarm Fn006 Clear Alarm History
Trouble-
Fn014 Reset Option Module Configuration Error
shooting
Alarm Trace – –
Reset Motor Type Alarm Fn021 Reset Motor Type Alarm
Jog Fn002 Jog
Operation
Program JOG Operation Fn004 Jog Program
Trace – –
Real Time Trace – –
Monitor
Monitor – –
Life Monitor – –
Appendices
15
15-7

SigmaWin+ SERVOPACK
Button in
Menu Dia- Function Name Fn No. Function Name
log Box
Tuning -
Autotuning without Host Refer- Fn201 Advanced Autotuning without Reference
ence
Tuning -
Fn202 Advanced Autotuning with Reference
Autotuning with Host Reference
Tuning -
Fn203 One-Parameter Tuning
Custom Tuning
Tuning -
Tuning Custom Tuning - Fn204 Adjust Anti-resonance Control
Adjust Anti-resonance Control
Tuning -
Custom Tuning - Fn205 Vibration Suppression
Vibration Suppression
System Tuning – –
Response Level Setting Fn200 Tuning-less Level Setting
Edit Online Parameters – –
Mechanical Analysis – –
Easy FFT Fn206 Easy FFT
Diagnostic
Ripple Compensation – –
Online Vibration Monitor – –
Autotune Analog (Speed/ Torque) Reference Off-
Fn009
Adjust the Speed and Torque Ref- set
erence Offset Fn00A Manually Adjust Speed Reference Offset
Fn00B Manually Adjust Torque Reference Offset
Fn00C Adjust Analog Monitor Output Offset
Adjust the Analog Monitor Output
Fn00D Adjust Analog Monitor Output Gain
Fn00E Autotune Motor Current Detection Signal Offset
Adjust the Motor Current Detec-
Others Manually Adjust Motor Current Detection Signal
tion Offsets Fn00F
Offset
Initialize Vibration Detection Level Fn01B Initialize Vibration Detection Level
Parameter Converter – –
SERVOPACK Axis Name Setting – –
Write Prohibited Setting Fn010 Write Prohibition Setting
Motor Parameter SERVOPACK
– –
Write
15-8
15.2.2 Corresponding SERVOPACK Monitor Display Function Names
15.2.2 Corresponding SERVOPACK Monitor Display Function

Names
SigmaWin+ SERVOPACK
Button in
Menu Name [Unit] Un No. Name [Unit]
Dialog Box
Motor Speed [min-1] Un000 Motor Speed [min-1]
Speed Reference [min-1] Un001 Speed Reference [min-1]
Torque Reference [%]
Torque Reference [%] Un002
(percentage of rated torque)
Rotational Angle 1 [encoder • Rotary Servomotors:
pulses] Rotational Angle 1 [encoder pulses]
(number of encoder pulses from (number of encoder pulses from origin within
origin within one encoder rotation) one encoder rotation displayed in decimal)
Un003
• Linear Servomotors: • Linear Servomotors:
Electrical Angle 1 [linear encoder Electrical Angle 1 [linear encoder pulses]
pulses] (linear encoder pulses from the polarity origin
(linear encoder pulses from the displayed in decimal)
polarity origin)
Rotational Angle 2 [deg] • Rotary Servomotors:
(electrical angle from origin within Rotational Angle 2 [deg]
one encoder rotation) (electrical angle from polarity origin)
Un004
• Linear Servomotors: • Linear Servomotors:
Electrical Angle 2 [deg] Electrical Angle 2 [deg]
(electrical angle from polarity ori- (electrical angle from polarity origin)
gin)
Input Reference Pulse Speed [min -1]
Input Reference Pulse Speed [min-1] Un007
(displayed only during position control)
Position Error Amount [reference units]
Position Deviation [reference units] Un008
(displayed only during position control)
Motion
Monitor Accumulated Load Ratio [%]
Accumulated Load Ratio [%] Un009 (percentage of rated torque: effective torque in
cycles of 10 seconds)
Regenerative Load Ratio [%]
(percentage of processable regenerative
Regenerative Load Ratio [%] Un00A
power: regenerative power consumption in
cycles of 10 seconds)
Power Consumed by DB Resistance [%]
Dynamic Brake Resistor Power Con-
Un00B (percentage of processable power at DB acti-
sumption [%]
vation: displayed in cycles of 10 seconds)
Input Reference Pulse Counter [ref-
Un00C Input Reference Pulse Counter [reference units]
erence units]
Feedback Pulse Counter [encoder
Un00D Feedback Pulse Counter [encoder pulses]
pulses]
Fully-closed Loop Feedback Pulse
Fully-closed Loop Feedback Pulse Counter
Counter [external encoder resolu- Un00E
[external encoder resolution]
tion]
Upper Limit Setting of Motor Maxi- Upper Limit Setting of Motor Maximum Speed/
mum Speed/Upper Limit Setting of Un010*1 Upper Limit Setting of Encoder Output Resolu-
Encoder Output Resolution tion
Total Operation Time [100 ms] Un012 Total Operation Time [100 ms]
Appendices
Feedback Pulse Counter [reference

Un013 Feedback Pulse Counter [reference units]
units]
Overheat Protection Input [0.01 V] Un02F Overheat Protection Input [0.01 V]
Power Consumption [W] Un032 Power Consumption [W]
Consumed Power [0.001 Wh] Un033 Consumed Power [0.001 Wh]
15
15-9
15.2.2 Corresponding SERVOPACK Monitor Display Function Names

SigmaWin+ SERVOPACK
Button in
Menu Name [Unit] Un No. Name [Unit]
Dialog Box
Cumulative Power Consumption
Un034 Cumulative Power Consumption [Wh]
[Wh]
Absolute Encoder Multiturn Data Un040 Absolute Encoder Multiturn Data
Motion Position within One Rotation of Position within One Rotation of Absolute
Un041
Absolute Encoder [encoder pulses] Encoder [encoder pulses]
Monitor
Lower Bits of Absolute Encoder Lower Bits of Absolute Encoder Position
Un042
Position [encoder pulses] [encoder pulses]
Upper Bits of Absolute Encoder Upper Bits of Absolute Encoder Position
Un043
Position [encoder pulses] [encoder pulses]
Polarity Sensor Signal Monitor Un011 Polarity Sensor Signal Monitor
Status Effective Gain Monitor (gain settings 1 = 1, gain
Active Gain Monitor Un014
Monitor settings 2 = 2)
Safety I/O Signal Monitor Un015 Safety I/O Signal Monitor
Input Sig-
nal Moni- Input Signal Monitor Un005 Input Signal Monitor
tor
Output
Signal Output Signal Monitor Un006 Output Signal Monitor
Monitor
Installation Environment Monitor − SERVOPACK Installation Environment Monitor
Un025
SERVOPACK [%]
Installation Environment Monitor − Servomotor Installation Environment Monitor
Un026*2
Servomotor*2 [%]
Service Life Prediction Monitor −
Service Un027 Built-in Fan Remaining Life Ratio [%]
Built-in Fan
Life Moni-
tor Service Life Prediction Monitor −
Un028 Capacitor Remaining Life Ratio [%]
Capacitor
Service Life Prediction Monitor − Surge Prevention Circuit Remaining Life Ratio
Un029
Surge Prevention Circuit [%]
Service Life Prediction Monitor −
Un02A Dynamic Brake Circuit Remaining Life Ratio [%]
Dynamic Brake Circuit
Linear Encoder Pitch (Scale pitch = Un084 ×
Product Un084
10Un085 [pm])
Informa- Motor − Resolution
tion Linear Encoder Pitch Exponent (Scale pitch =
Un085
Un084 × 10Un085 [pm])
– Un020 Rated Motor Speed [min-1]
–
– Un021 Maximum Motor Speed [min-1]
*1. You can use Un010 to monitor the upper limit setting for the maximum motor speed or the upper limit setting for
the encoder output resolution.
You can monitor the upper limit of the encoder output resolution setting (Pn281) for the current maximum motor
speed setting (Pn385), or you can monitor the upper limit of the maximum motor speed setting for the current
encoder output resolution setting.
Select which signal to monitor with Pn080 = n.X (Calculation Method for Maximum Speed or Encoder
Output Pulses).
• If Pn080 = n.0, the encoder output resolution (Pn281) that can be set is displayed.
• If Pn080 = n.1, the maximum motor speed (Pn385) that can be set is displayed in mm/s.
*2. This applies to the following motors. The display will show 0 for all other models.
SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, SGM7E, SGM7F, and SGMCV
15-10
Index
Index AC reactor
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
additional adjustment functions - - - - - - - - - - - - - - 8-66
alarm code output - - - - - - - - - - - - - - - - - - - - - - 12-5
Symbols alarm reset possibility - - - - - - - - - - - - - - - - - - - - 12-5
/ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - 12-41 alarm tracing - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
/ALM-RST (Alarm Reset Input) signal - - - - - - - - - - 12-41 ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-38 ALM (Servo Alarm) signal - - - - - - - - - - - - - - - - - - 6-10
/BK (Brake) signal - - - - - - - - - - - - - - - - - - - - - -5-38 ALO1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
/CLT (Torque Limit Detection) signal - - - - - - - - - - - -6-72 ALO2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
/COIN (Positioning Completion) signal - - - - - - - - - - -6-37 ALO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
/C-SEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-60 analog input circuits - - - - - - - - - - - - - - - - - - - - - 4-44
/CSEL(Control Selection) signal - - - - - - - - - - - - - - -6-60 Analog Monitor Connector - - - - - - - - - - - - - - - - - 4-51
/G-SEL - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-67 analog monitor factors - - - - - - - - - - - - - - - - - - - 9-13
/HWBB1 - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-50 anti-resonance control - - - - - - - - - - - - - - - - - - - 8-51
/HWBB2 - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-50 automatic detection of connected motor - - - - - - - - - 5-17
/INHIBIT - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-39 automatic gain switching - - - - - - - - - - - - - - - - - - 8-67
/N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-64 automatic notch filters - - - - - - - - - - - - - - - - - - - - 8-32
/N-CL (Reverse External Torque Limit) signal - - - - - - -6-64 autotuning with a host reference - - - - - - - - - - - - - - 8-35
/NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-38 autotuning without a host reference - - - - - - - - - - - - 8-24
/NEAR (Near) signal - - - - - - - - - - - - - - - - - - - - -6-38
/P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-64 B
/P-CL (Forward External Torque Limit) signal - - - - - - -6-64 base block (BB) - - - - - - - - - - - - - - - - - - - - - - - - - xi
/P-CON - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-75 battery
/P-CON (Proportional Control) signal - - - - - - - - - - - -8-75 replacement - - - - - - - - - - - - - - - - - - - - - - - 12-3
/PSEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-34 block diagram - - - - - - - - - - - - - - - - - - - - - - - - 2-11
/PSELA - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-34 brake operation delay time - - - - - - - - - - - - - - - - - 5-37
/S-ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-18 brake release delay time - - - - - - - - - - - - - - - - - - 5-37
/S-ON (Servo ON) signal - - - - - - - - - - - - - - - - - - -5-18

/SPD-A - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-54
C
CCW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19
/SPD-B - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-54
clearing alarm history - - - - - - - - - - - - - - - - - - - 12-43
/SPD-D - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-54
CLR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
/S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-12
CLR (Position Deviation Clear) signal - - - - - - - - - - - 6-33
/S-RDY (Servo Ready) signal - - - - - - - - - - - - - - - -6-12
CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34
/TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-11
CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
/TGON (Rotation Detection) signal - - - - - - - - - - - - -6-11
CN3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51
/V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-27
CN5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51
/V-CMP (Speed Coincidence Detection) signal - - - - - -6-27
CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51
/VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-45
CN8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49
/VLT (Speed Limit Detection) signal - - - - - - - - - - - -6-45
coasting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
/WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-11
coasting to a stop - - - - - - - - - - - - - - - - - - - - - - 5-42
/WARN (Warning) signal - - - - - - - - - - - - - - - - - - -6-11
coefficient of speed fluctuation - - - - - - - - - - - - - - - 2-10
/ZCLAMP - - - - - - - - - - - - - - - - - - - - - - - - - - -6-25
compatible adjustment functions- - - - - - - - - - - - - - 8-86
Computer Connector - - - - - - - - - - - - - - - - - - - - 4-51
A
A.CC0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-84 connecting a safety function device - - - - - - - - - - - 11-12
absolute encoder - - - - - - - - - - - - - - - - - - - - - - -6-73 control method selection - - - - - - - - - - - - - - - - - - 5-14

resetting - - - - - - - - - - - - - - - - - - - - - - - - - -5-53 countermeasures against noise - - - - - - - - - - - - - - - 4-5
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - -4-26 current control mode selection - - - - - - - - - - - - - - - 8-73
AC power supply input current gain level setting - - - - - - - - - - - - - - - - - - 8-73
setting - - - - - - - - - - - - - - - - - - - - - - - - - - -5-15 custom tuning - - - - - - - - - - - - - - - - - - - - - - - - 8-42
CW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19
Index-1
Index
D H
DATA/SHIFT Key - - - - - - - - - - - - - - - - - - - - - - 13-3 hard wire base block (HWBB) - - - - - - - - - - - - - - - - 11-3
DC power supply input - - - - - - - - - - - - - - - - - - - 4-12 HWBB input signal specifications - - - - - - - - - - - 11-5
setting - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15 hard wire base block (HWBB) state - - - - - - - - - - - - 11-4
DC Reactor detecting errors in HWBB signal - - - - - - - - - - - - 11-5
terminals - - - - - - - - - - - - - - - - - - - - - - - - - 4-11 resetting- - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24 holding brake - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
DC reactor HWBB - - - - - - - - - - - - - - - - - - - - - - - - - 11-3, 11-4
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24 detecting errors in HWBB signal - - - - - - - - - - - - 11-5
decelerating to a stop - - - - - - - - - - - - - - - - - - - 5-42 HWBB input signal specifications - - - - - - - - - - - 11-5
detection timing for Overload Alarms (A.720) - - - - - - 5-46 HWBB state
detection timing for Overload Warnings (A.910) - - - - - 5-45 resetting- - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
deviation counter - - - - - - - - - - - - - - - - - - - - - - 6-33
diagnostic output circuits - - - - - - - - - - - - - - - - - 4-50 I
I/O signals
diagnostic tools - - - - - - - - - - - - - - - - - - - - - - - 8-92
allocations - - - - - - - - - - - - - - - - - - - - - - - - -6-5
displaying alarm history - - - - - - - - - - - - - - - - - -12-42
functions - - - - - - - - - - - - - - - - - - - - - - - - - 4-34
DOWN Key - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
monitoring - - - - - - - - - - - - - - - - - - - - - 9-5, 9-7
dynamic brake applied - - - - - - - - - - - - - - - - - - - 5-42 names - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34
dynamic brake stopping - - - - - - - - - - - - - - - - - - 5-42 wiring example - - - - - - - - - - - - - - - - - - - - - - 4-38
initializing the vibration detection level - - - - - - - - - - - 6-98
E input signals
EasyFFT - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-94
allocations - - - - - - - - - - - - - - - - - - - - - - - - -6-5
EDM1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-8
internal set speed - - - - - - - - - - - - - - - - - - - - - - 6-56
EDM1 (External Device Monitor) signal - - - - - - - - - - 11-8
internal set speed control - - - - - - - - - - - - - - 6-54, 6-58
electronic gear - - - - - - - - - - - - - - - - - - - - - - - 5-47
internal torque limits - - - - - - - - - - - - - - - - - - - - - 6-63
encoder divided pulse output - - - - - - - - - - - 6-47, 10-7
I-P control - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-83
setting - - - - - - - - - - - - - - - - - - - - - - - - - - 6-52
signals - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47 J
encoder resolution - - - - - - - - - - - - - - - - - 5-49, 6-52 jogging - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-7
estimating the moment of inertia - - - - - - - - - - - - - 8-16
examples of connections to host controllers - - - - - - 15-2 L
External Regenerative Resistor - - - - - - - - - - - - - - 5-59 limiting torque - - - - - - - - - - - - - - - - - - - - - - - - 6-63
external torque limits - - - - - - - - - - - - - - - - - - - - 6-64 limiting torque with an analog reference - - - - - - - - - - 6-67
limiting torque with an external torque limit and an - - - - 6-69
F Linear Encoder
feedforward - - - - - - - - - - - - - - - - - - - - - 8-33, 8-86 wiring example - - - - - - - - - - - - - - - - - - - - - - 4-26
feedforward compensation - - - - - - - - - - - - - - - - 8-86 linear encoder
FG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 feedback resolution - - - - - - - - - - - - - - - - - - - 5-50
forcing the motor to stop - - - - - - - - - - - - - - - - -6-106 scale pitch setting - - - - - - - - - - - - - - - - - - - - 5-20
forward direction - - - - - - - - - - - - - - - - - - - - - - 10-6 Linear Servomotor - - - - - - - - - - - - - - - - - - - - - - - - xi
forward rotation - - - - - - - - - - - - - - - - - - - - - - - 5-19 line-driver output circuits - - - - - - - - - - - - - - - - - - 4-48
friction compensation - - - - - - - - - - - - - - - 8-33, 8-70 list of alarms - - - - - - - - - - - - - - - - - - - - - - - - - 12-5
fully-closed system - - - - - - - - - - - - - - - - - - - - - 10-2 list of parameters - - - - - - - - - - - - - - - - - - - - - - - 14-2

list of warnings - - - - - - - - - - - - - - - - - - - - - - - 12-48
G
gain switching - - - - - - - - - - - - - - - - - - - - - - - - 8-66 M
gravity compensation- - - - - - - - - - - - - - - - - - - - 8-71 Main Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - - xi
grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8 manual gain switching - - - - - - - - - - - - - - - - - - - - 8-67
group 1 alarms - - - - - - - - - - - - - - - - - - - - - - - 5-43 mechanical analysis - - - - - - - - - - - - - - - - - - - - - 8-92

mode switching
group 2 alarms - - - - - - - - - - - - - - - - - - - - - - - 5-43
(changing between proportional and PI control) - - - - - 8-89
MODE/SET Key - - - - - - - - - - - - - - - - - - - - - - - 13-3
Momentary Power Interruption Hold Time - - - - - - - - - 6-13
Index-2
Index
monitor display (Un) operations - - - - - - - - - - -13-8 position control - - - - - - - - - - - - - - - - - - - - - - - - 6-30

monitor factors - - - - - - - - - - - - - - - - - - - - - - - -9-13 position integral - - - - - - - - - - - - - - - - - - - - - - - 8-91
Motion Monitor - - - - - - - - - - - - - - - - - - - - - - - - 9-5 position loop gain - - - - - - - - - - - - - - - - - - - - - - 8-77
motor current detection signal position reference input circuits - - - - - - - - - - - - - - 4-44
automatic adjustment - - - - - - - - - - - - - - - - - 6-102 positioning completed width - - - - - - - - - - - - - - - - 6-37
manual adjustment - - - - - - - - - - - - - - - - - - - 6-104 P-OT - - - - - - - - - - - - - - - - - - - - - - - - - 5-32, 5-33
offset - - - - - - - - - - - - - - - - - - - - - - - - - - 6-102
P-OT (Forward Drive Prohibit) signal - - - - - - - - - - - - 5-33
motor direction setting - - - - - - - - - - - - - - - - - - - -5-19
program jogging - - - - - - - - - - - - - - - - - - - - - - - 7-20
motor maximum speed - - - - - - - - - - - - - - - - - - -6-16 operation pattern - - - - - - - - - - - - - - - - - - - - 7-20
motor overload detection level - - - - - - - - - - - - - - -5-45 proportional control (P control) - - - - - - - - - - - - - - - 8-74
multiturn limit - - - - - - - - - - - - - - - - - - - - - - - - -6-82 PULS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35
Multiturn Limit Disagreement - - - - - - - - - - - - - - - -6-84 Pulse Reference Input - - - - - - - - - - - - - - - - - - - - 4-35
N R
Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 reactors
Noise Filter connection precautions - - - - - - - - - - - - 4-7 AC reactor wiring - - - - - - - - - - - - - - - - - - - - 4-24
N-OT - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32, 5-33 DC reactor connection terminal - - - - - - - - - - - - 4-11
N-OT (Reverse Drive Prohibit) signal - - - - - - - - - - - -5-33 DC reactor wiring - - - - - - - - - - - - - - - - - - - - 4-24
notch filters - - - - - - - - - - - - - - - - - - - - - - 8-79, 8-81 reference pulse form - - - - - - - - - - - - - - - - - - - - - 6-31
reference pulse inhibition function - - - - - - - - - - - - - 6-39
O reference pulse input multiplication switching - - - - - - 6-34
offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-19 reference pulse input multiplier - - - - - - - - - - - - - - - 6-34
open-collector output circuits - - - - - - - - - - - - - - - -4-47 reference unit - - - - - - - - - - - - - - - - - - - - - - - - - 5-47
operation for momentary power interruptions - - - - - - -6-13 Regenerative Resistor
origin search - - - - - - - - - - - - - - - - - - - - - - - - -7-25 connection - - - - - - - - - - - - - - - - - - - - - - - - 4-22
output phase form - - - - - - - - - - - - - - - - - - - - - -6-48 regenerative resistor - - - - - - - - - - - - - - - - - - - - - 5-59
overheat protection - - - - - - - - - - - - - - - - - - - - 6-109 regenerative resistor capacity - - - - - - - - - - - - - - - 5-59
Overheat Protection Input - - - - - - - - - - - - - - - - - -4-34 resetting alarms - - - - - - - - - - - - - - - - - - - - - - 12-41
overload warnings - - - - - - - - - - - - - - - - - - - - - -5-45 resetting alarms detected in Option Modules - - - - - - 12-44
overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - -5-32 reverse direction - - - - - - - - - - - - - - - - - - - - - - - 10-6
warnings - - - - - - - - - - - - - - - - - - - - - - - - -5-35 risk assessment - - - - - - - - - - - - - - - - - - - - - - - 11-3
Rotary Servomotor- - - - - - - - - - - - - - - - - - - - - - - - xi
P
Panel Operator - - - - - - - - - - - - - - - - - - - - - - - -13-3 S
key names and functions - - - - - - - - - - - - - - - -13-3 Safety Function Signals - - - - - - - - - - - - - - - - - - - 4-49
status display - - - - - - - - - - - - - - - - - - - - - - -13-4 safety functions - - - - - - - - - - - - - - - - - - - - - - - 11-2
PAO - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47, 10-7 application examples - - - - - - - - - - - - - - - - - - 11-9
parameter settings recording table - - - - - - - - - - - - 14-34 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
parameters precautions - - - - - - - - - - - - - - - - - - - - - - - - 11-2
classification - - - - - - - - - - - - - - - - - - - - - - - 5-4 verification test - - - - - - - - - - - - - - - - - - - - - 11-11
initializing parameter settings - - - - - - - - - - - - - -5-12 safety input circuits - - - - - - - - - - - - - - - - - - - - - 4-49
notation (numeric settings) - - - - - - - - - - - - - xii, 5-5
scale pitch - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
notation (selecting functions) - - - - - - - - - - - - xii, 5-5
selecting combined control methods - - - - - - - - - - - 6-58
setting methods - - - - - - - - - - - - - - - - - - - - - 5-6
selecting the phase sequence
write prohibition setting - - - - - - - - - - - - - - - - - 5-8 for a Linear Servomotor - - - - - - - - - - - - - - - - - - - 5-25
PBO - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47, 10-7 selecting torque limits - - - - - - - - - - - - - - - - - - - - 6-63
PCO - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47, 10-7 SEMI F47 function - - - - - - - - - - - - - - - - - - - - - - 6-14
photocoupler input circuits - - - - - - - - - - - - - - - - -4-46 Serial Communications Connector - - - - - - - - - - - - - 4-51
photocoupler output circuits - - - - - - - - - - - - - - - -4-47 Serial Converter Unit - - - - - - - - - - - - - - - - - - - - 5-20
PI control - - - - - - - - - - - - - - - - - - - - - - - - - - -8-83 Servo Drive - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi
PLUS - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-31 servo gains - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
polarity detection - - - - - - - - - - - - - - - - - - - - - - -5-28 servo lock - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi
polarity sensor - - - - - - - - - - - - - - - - - - - - - - - -5-27 servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi
Index-3
Index
servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi T
Servo System - - - - - - - - - - - - - - - - - - - - - - - - - - xi test without a motor - - - - - - - - - - - - - - - - - - - - - 7-27
Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - xi TH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34
Servomotor stopping method for alarms - - - - - - - - - 5-43 three-phase AC power supply input
SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - xi setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
inspections and part replacement - - - - - - - - - - 12-2 three-phase, 200-VAC power supply input - - - - - - - - 4-11
part names - - - - - - - - - - - - - - - - - - - - - - - - 1-4 torque control - - - - - - - - - - - - - - - - - - - - - - - - - 6-40
ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 automatic offset adjustment - - - - - - - - - - - - - - 6-41
specifications - - - - - - - - - - - - - - - - - - - - - - - 2-6 manual offset adjustment - - - - - - - - - - - - - - - - 6-43
status display - - - - - - - - - - - - - - - - - - - - - - 13-4 torque feedforward - - - - - - - - - - - - - - - - - - - - - - 8-87
status displays - - - - - - - - - - - - - - - - - - - - - 13-4 torque reference
setting the origin - - - - - - - - - - - - - - - - - - - - - - 5-56 input filter - - - - - - - - - - - - - - - - - - - - - - - - - 6-45
setting the position deviation overflow alarm level - - - - 8-8 torque reference filter - - - - - - - - - - - - - - - - - - - - 8-79
setting the position deviation overflow alarm level Torque Reference Input - - - - - - - - - - - - - - - - - - - 4-35
at servo ON - - - - - - - - - - - - - - - - - - - - - - - - - 8-10 Torque Reference Input Gain - - - - - - - - - - - - - - - - 6-40
setting the vibration detection level - - - - - - - - - - - - 8-10 T-REF - - - - - - - - - - - - - - - - - - - - - 4-35, 6-40, 6-67
setting the warning code output - - - - - - - - - - - - - 6-11 T-REF (Torque Reference Input) signal - - - - - - - - - - - 6-40
setup parameters - - - - - - - - - - - - - - - - - - - - - - - 5-4 trial operation
SG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 position control - - - - - - - - - - - - - - - - - - - - - - 7-15
SigmaWin+ - - - - - - - - - - - - - - - - - - - - - - - - - - - xi position control from the host controller with the
SERVOPACK used for speed control - - - - - - - - - 7-14
SIGN - - - - - - - - - - - - - - - - - - - - - - - - - 4-35, 6-31
speed control - - - - - - - - - - - - - - - - - - - - - - - 7-13
Sign of Reference Input - - - - - - - - - - - - - - - - - - 4-35
troubleshooting alarms - - - - - - - - - - - - - - - - - - 12-12
signal allocations - - - - - - - - - - - - - - - - - - - - - - - 6-5
troubleshooting warnings - - - - - - - - - - - - - - - - - 12-50
single-phase AC power supply input
setting - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16 tuning parameters - - - - - - - - - - - - - - - - - - - - - - -5-5
single-phase, 200-VAC power supply input tuning-less
wiring example - - - - - - - - - - - - - - - - - - - - - 4-17 load level - - - - - - - - - - - - - - - - - - - - - - - - - 8-14
rigidity level - - - - - - - - - - - - - - - - - - - - - - - - 8-14
sink circuits - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
tuning-less function - - - - - - - - - - - - - - - - - - - - - 8-12
smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36
soft start - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
U
software reset - - - - - - - - - - - - - - - - - - - - - - - - 6-96
UP Key - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
source circuits - - - - - - - - - - - - - - - - - - - - - - - - 4-46
utility function (Fn) operations - - - - - - - - - - - - 13-8
speed control - - - - - - - - - - - - - - - - - - - - - - - - 6-17
speed detection method selection - - - - - - - - - - - - 8-74 V
speed feedforward - - - - - - - - - - - - - - - - - - - - - 8-87 vibration suppression - - - - - - - - - - - - - - - - - - - - 8-56
speed limit during torque control - - - - - - - - - - - - - 6-45 V-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
speed loop gain - - - - - - - - - - - - - - - - - - - - - - - 8-78 V-REF (Speed Reference Input) signal - - - - - - - - - - - 6-17
speed loop integral time constant - - - - - - - - - - - - 8-78
speed reference W
automatic offset adjustment - - - - - - - - - - - - - - 6-20 warning code output - - - - - - - - - - - - - - - - - - - - 12-48
filter - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24 writing parameters - - - - - - - - - - - - - - - - - - - - - - 5-21
manual offset adjustment - - - - - - - - - - - - - - - 6-22
Speed Reference Input Gain - - - - - - - - - - - - - - - 6-19 Z
Spring Opener - - - - - - - - - - - - - - - - - - - - - - - 4-14 zero clamping - - - - - - - - - - - - - - - - - - - - - 5-42, 6-25
Status Monitor - - - - - - - - - - - - - - - - - - - - - - - - 9-5 zero clamping level - - - - - - - - - - - - - - - - - - - - - - 6-26
stopping by applying the dynamic brake - - - - - - - - - 5-42 zero-speed stopping - - - - - - - - - - - - - - - - - - - - - 5-42
stopping method for servo OFF - - - - - - - - - - - - - - 5-43

storage humidity - - - - - - - - - - - - - - - - - - - - - - - 2-6
storage temperature - - - - - - - - - - - - - - - - - - - - - 2-6
surrounding air humidity - - - - - - - - - - - - - - - - - - - 2-6
surrounding air temperature - - - - - - - - - - - - - - - - - 2-6
switching condition A- - - - - - - - - - - - - - - - - - - - 8-67
Index-4
Revision History
The date of publication, revision number, and web revision number are given at the bottom right of the
back cover. Refer to the following example.
MANUAL NO. SIEP S800001 26C <2>-1

Web revision number
Revision number
Published in Japan September 2014
Date of publication
Web
Date of Rev.
Rev. Section Revised Contents
Publication No.
No.
January 2019 <16> 0 5.1.4, 7.6.3 Revision: Information in table of restrictions
9.2.2, 9.2.3, Partly revised.
12.2.6, 12.2.7,
15.1.4, 15.2.1
12.2.3 Addition: Reset procedure with the SigmaWin+
December 2018 <15> 0 Back cover Revision: Address
September 2018 <14> 0 Preface Partly revised.
2.1.1 Revision: Information on built-in regenerative resistor power loss [W] for SGD7S-
120A, -180A, -200A of three-phase, 200 VAC input
Revision: Information on built-in regenerative resistor power loss [W] for SGD7S-
120A of single-phase, 200 VAC input
4.4.3, 5.16.1 Addition: Absolute linear encoder from Fagor Automation S. Coop.
12.2.1, 12.2.2 Deletion: A.F50
Back cover Revision: Address
December 2017 <13> 0 Preface Partly revised.
Preface, 1.4.2, Addition: Information on Rotary Servomotors (SGM7M)
1.5.1, 5.13.1,
5.16.1, 13.4.16
1.2 Revision: Information on nameplate
1.5.3 Addition: Information on SGLFW2-90A200AL, SGLFW2-90A560A,
and SGLFW2-1DA560A
July 2017 <12> 0 Back cover Revision: Address
March 2017 <11> 0 Preface, 6.1.2, Partly revised.
12.4
4.4.3, 5.16.1 Addition: Information on SQ47 and SQ57 Linear Encoders from
Magnescale Co., Ltd.
5.16.1 Addition: Information on LIC2100-Series and LC415 Linear Encoders from
Heidenhain Corporation.
5.16.1, 5.18.1 Addition: Information on RESOLUTE Linear Encoders from Renishaw PLC.
12.2.2, 14.1.2 Revisions: Reference information
December 2016 <10> 0 Preface Partly revised.
1.4.2, 4.4.2, Addition: Information on Rotary Servomotors with 24-bit batteryless absolute
4.4.3, 5.16.1, encoders.
5.17, 6.12
November 2016 <9> 0 Preface Partly revised.
1.5.2 Addition: Information on Direct Drive Servomotors (SGM7F-A, -M,
-N)
4.4.3, 5.16.1, Addition: Information on Renishaw PLC EVOLUTE linear scales
5.18.1
September 2016 <8> 0 All chapters Addition: Information on Direct Drive Servomotors (SGM7E)
Preface Partly revised.
2.1.3, 4.2, 4.5 Revision: “Linear Servomotor overheat protection signal input” changed to
“overheat protection input.”
3.7 Addition: EMC installations for single-phase 200-VAC and single-phase 100-
VAC models
6.18, 8.12.3 Newly added.
Chapter 12 Addition: A.862 and A.93B
Chapter 14 Addition: Pn022, Pn475, Pn476, Pn61A, Pn61B, Pn61C, and Pn61D
15.2.2 Addition: Un02F
Revision History-1
Web
Date of Rev.
Rev. Section Revised Contents
Publication No.
No.
April 2016 <7> 0 All chapters Addition: Information on SGM7F Direct Drive Servomotors
Deletion: Information on SGLC Linear Servomotors
Preface, 9.1, 9.2 Partly revised.
2.1.1. Addition: Information on input current of control power supply
Chapter 14 Deletion: Pn52D
November 2015 <6> 0 All chapters Addition: Information on SERVOPACKs with single-phase, 100-VAC power sup-
ply inputs
Preface Revision: Information on certification for standards
4.4.3, 5.16.1, Addition: Information on SQ10 Linear Encoder from Magnescale Co., Ltd.
6.8.1
October 2015 <5> 0 All chapters Revision: Information on SigmaWin+ procedures
Preface, Addition: Information on SGMMV Rotary Servomotors
Chapter 1
Preface, 9.4.1 Partly revised.
1.5.2 Addition: Information on Direct Drive Servomotors (SGMCV-16D and -35D)
9.5 Newly added.
Chapter 12 Addition: A.bF5, A.bF6, A.bF7, A.bF8, and FL-6
April 2015 <4> 0 All chapters Addition: Information on dynamic brake option
Preface, 7.6.3, Partly revised.
8.3.3, 8.3.5,
12.3.2
12.2.2, 12.4, Revision: Reference information
14.1.2
14.1.2 Revision: Information on Pn601 and Pn604
Front cover, back Revision: Format
cover, spine
March 2015 <3> 0 All chapters Addition: Information on SERVOPACKs with single-phase, 200-VAC power sup-
ply input
Addition: Information on BTO specification
Addition: Information on Safety Modules
Partly revised.
Preface Addition: Information on dynamic brake
Revision: Information on certification for standards
2.1.1 Revision: Power loss
2.3.2 Addition: Information on duct-ventilated SERVOPACKs
Revision: External dimensions of the following three-phase, 200-VAC SERVO-
PACKs: SGD7S-470A, -550A, -590A, and -780A
4.3.5 Revision: Illustration of SGD7S-470A, -550A, -590A, and -780A SERVOPACKs
4.2, 4.4.3, 4.5.3, Addition: Information on Battery for absolute encoder
6.12.1
5.16.1, 5.18.1 Addition: Information on Linear Encoders (ST1381 and ST1382) from Mitutoyo
Corporation
8.12.3, 14.1.2 Revision: Information on Current Control Mode Selection
September 2014 <2> 1 12.4 Partly revised.
July 2014 0 − Based on Japanese user’s manual, SIJP S800001 26C<2> printed in July 2014.
All chapters Addition: Information on SGD7S-330A, -470A, -550A, -590A, and -780A
Addition: Information on supplementary document
(Manual No.: SIEP S800001 50)
May 2014 <1> 0 Preface Revision: Safety Parameters
3.7 Newly added.
Chapter 12 Addition: A.EC8 and A.EC9
April 2014 − − − First edition
Revision History-2
-7-Series AC Servo Drive
-7S SERVOPACK with
Analog Voltage/Pulse Train References
Product Manual
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone: +81-4-2962-5151 Fax: +81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310
http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil
Phone: +55-11-3585-1100 Fax: +55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone: +49-6196-569-300 Fax: +49-6196-569-398
http://www.yaskawa.eu.com E-mail: [email protected]
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ASIA PACIFIC PTE. LTD.
30A, Kallang Place, #06-01, 339213, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.

59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0799
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, 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
12F, No. 207, Sec. 3, Beishin Rd., Shindian Dist., New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519
http://www.yaskawa.com.tw
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.
© 2014 YASKAWA ELECTRIC CORPORATION
MANUAL NO. SIEP S800001 26N <16>-0

Published in Japan January 2019
18-10-15
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-7-Series AC Servo Drive

-7S SERVOPACK with

MANUAL NO. SIEP S800001 26N

Enclosed Σ-7-Series Built-in Σ-7-Series

(such as this manual) Product Manuals Product Manuals

Σ-7-Series Σ-7-Series Programming Σ-7-Series Distributed

Σ-7-Series AC Servo Drive

Σ-7-Series AC Servo Drive

Σ-7-Series AC Servo Drive

Σ-7-Series AC Servo Drive

AC Servo Drive Provides detailed information for

Σ-7-Series AC Servo Drive

Σ-7-Series AC Servo Drive Provide detailed information on

Σ-7-Series AC Servo Drive

Provides the following information

Σ-7-Series AC Servo Drive Provides detailed information on

Provides detailed information on

Σ-7-Series AC Servo Drive Describes the operating proce-

AC Servo Drive Provides detailed operating proce-

Describes the functions, specifica-

 Differences in Terms for Rotary Servomotors and Linear Servomotors

 Notation for Parameters

Speed Loop Gain Speed Position

• Parameters for Selecting Functions

Pn002 n. 1 Use the encoder as an incremental encoder. After restart Setup

n. 2 Use the encoder as a single-turn absolute encoder.

Digit Notation Numeric Value Notation

 Engineering Tools Used in This Manual

Indicates precautions or restrictions that must be observed.

Example Indicates operating or setting examples.

Information Indicates supplemental information to deepen understanding or useful information.

 Maintenance and Inspection Precautions

 North American Safety Standards (UL)

Product Model North American Safety Standards (UL File No.)

Product Model EU Directives Harmonized Standards

Product Model Safety Standards Standards

Basic Information on SERVOPACKs

1.2 Interpreting the Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.4 Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.5 Combinations of SERVOPACKs and Servomotors . . . . . . . . . . . 1-9

1.6 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

2.2 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2.3 External Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

3.2 Mounting Types and Orientation . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.3 Mounting Hole Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.4 Mounting Interval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3.5 Monitoring the Installation Environment . . . . . . . . . . . . . . . . . . 3-7

3.6 Derating Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3.7 EMC Installation Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

Wiring and Connecting SERVOPACKs

4.2 Basic Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.3 Wiring the Power Supply to the SERVOPACK . . . . . . . . . . . . . 4-11

4.4 Wiring Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.5 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34

4.6 Connecting Safety Function Signals . . . . . . . . . . . . . . . . . . . . 4-49

Basic Functions That Require Setting before Operation

5.2 Control Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5.4 Automatic Detection of Connected Motor . . . . . . . . . . . . . . . . 5-17

Pn002 n.1 Use the encoder as an incremental encoder. After restart Setup

n.2 Use the encoder as a single-turn absolute encoder.