Linear User Manual PDF

Σ-II Series
SGDH User’s Manual Supplement for

Linear Sigma Series
Upon receipt of the product and prior to initial operation, read these instructions
thoroughly, and retain for future reference.
Copyright © 2004 YASKAWA ELECTRIC AMERICA
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
WARNING
YASKAWA manufactures component parts that can be used in a wide variety of industrial applications.
The selection and application of YASKAWA products remain the responsibility of the equipment
designer or end user. YASKAWA accepts no responsibility for the way its products are incorporated into
the final system design.
Under no circumstances should any YASKAWA product be incorporated into any product or design as
the exclusive or sole safety control. Without exception, all controls should be designed to detect faults
dynamically and fail safely under all circumstances. All products designed to incorporate a component
part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and
instructions as to that part’s safe use and operation. Any warnings provided by YASKAWA must be
promptly provided to the end user.
YASKAWA offers an express warranty only as to the quality of its products in conforming to standards
and specifications published in YASKAWA’s manual. NO OTHER WARRANTY, EXPRESS OR
IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal injury, property damage,
losses, or claims arising from misapplication of its products.
This manual deals with the stand-alone installation, wiring, test run, etc.,
of a unified linear/rotary-type AC servomotor. See the following manual for
other items.
• Sigma II Series Servo System Users Manual (YEA-SIA-S800-32.2)
About this Manual
Intended Audience
This manual is intended for the following users.
• Those selecting Σ-II Series servodrives or peripheral devices for Σ-II Series servodrives.
• Those wanting to know about the ratings and characteristics of Σ-II Series servodrives.
• Those designing Σ-II Series servodrive systems.
• Those installing or wiring Σ-II Series servodrives.
• Those performing trial operation or adjustments of Σ-II Series servodrives.
• Those maintaining or inspecting Σ-II Series servodrives.
Description of Technical Terms

The terms in this manual are defined as follows:
• Servomotor or motor = Linear Σ Series SGLGW, SGLFW and SGLTW linear servomotor
• SERVOPACK = Σ-II Series SGDH amplifier.
• Servodrive = A set including a servomotor and servo amplifier.
• Servo System = A servo control system that includes the combination of a servodrive with a host
computer and peripheral devices.
• Parameter number = Numbers that the user inputs toward the SERVOPACK.
Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
• S-ON　=　/S-ON
• P-CON　=　/P-CON
iii
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.
WARNING Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious consequences if not heeded.
PROHIBITED Indicates prohibited actions that must not be performed. For example, this symbol
would be used as follows to indicate that fire is prohibited: .
MANDATORY Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory: .
The warning symbols for ISO and JIS standards are different, as shown below.
ISO JIS
The ISO symbol is used in this manual.

Both of these symbols appear on warning labels on Yaskawa products. Please abide by these warning labels
regardless of which symbol is used.
iii
Notes for Safe Operation
Read this manual thoroughly before checking products on delivery, storage and transportation, installation,
wiring, operation and inspection, and disposal of the AC servodrive.
WARNING
• If you have a pacemaker or any other electronic medical device, do not go near the magnetic
way of the linear servomotor.
Failure to observe this warning may result in the malfunction of the medical device.
• Be sure to use nonmagnetic tools when installing or working close to the linear servomotor.
(Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)
• If starting an operation with the linear servomotor in a machine, set the linear servomotor to
always allow emergency stops.
Failure to observe this warning may result in injury.
• Never touch the linear servomotor or machinery during operation.
• Before wiring, install the SERVOPACK and the linear servomotor.
Failure to observe this warning may result in electric shock.
• Do not operate switches with wet hands.
• Never touch the inside of the SERVOPACKs.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Make sure that the main circuit power cable, the control power cable, and the linear
servomotor main circuit cable are wired correctly.
Failure to observe this warning may result in damage to the SERVOPACK.
• Follow the procedures and instructions for trial operation precisely as described in this man-
ual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• The SGDH SERVOPACK supports both AC and DC power. If DC power is supplied to the
SERVOPACK without setting Pn001=n1 (DC power input), the internal components of
the SERVOPACK will burn and may result in fire or serious damage.
Before using a DC power supply, be sure to check the parameter Pn001 setting.
• Do not remove the front cover, cables, connectors, or optional items while the power is ON.
• Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
iv
WARNING
• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a
servomotor with brake is not a stopping device for ensuring safety.
• Do not come close to the machine immediately after resetting momentary power loss to avoid an
unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
Checking on Delivery
CAUTION
• Always use the linear servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
Storage and Transportation
CAUTION
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Do not carry the linear servomotor by its cables.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
v
Installation
CAUTION
• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near
the stator because they may be affected by the magnetic attraction of the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way's magnets.
• Do not use the magnetic way near metal or other magnetized objects.
Failure to observe this caution may result in injury.
• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic way.
Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.
• Securely mount the linear servomotor on to the machine.
If the linear servomotor is not mounted securely, it may loosen during operation.
• Do not carry the magnetic way by its antimagnetic cover.
Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become dis-
torted.
Cover
Magnetic way
• Install SERVOPACKs, linear servomotors, and regenerative resistors on nonflammable objects.

Mounting directly onto or near flammable objects may result in fire.
• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
• Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
vi
Wiring
CAUTION
• Securely tighten the cable connector screws and securing mechanism.
If the connector screws and securing mechanism are not secure, they may loosen during operation.
• Use power lines and cables with a radius, heat resistance, and flexibility suitable for the system.
• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply of the SERVOPACK.
The continuous flow of a large current may cause fire.
• Use a noise filter to minimize the effects of electromagnetic damage.
Failure to observe this caution may result in electromagnetic damage to electronic devices used near the
SERVOPACK.
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminals and motor output terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm (11.81 in).
• Use shielded twisted-pair wire or shielded multi-core twisted-pair wire for the signal lines and feedback lines
of the serial converter unit (SC).
The maximum wiring length is 3 m for the reference input line and 20 m for the SC feedback line.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses
to deteriorate, resulting in unexpected problems.
• Observe the following precautions when wiring main circuit terminal blocks.
• Remove the terminal block from the SERVOPACK prior to wiring.
• Insert only one wire per terminal on the terminal block.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
vii
CAUTION
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies including power supply lines.
Failure to observe this caution may result in damage to the product.
Operation
CAUTION
• Do not stand within the machine's range of motion during operation.
• Before operation, install a limit switch or stopper on the end of the slider to prevent unexpected movement.
• Before starting operation with a machine connected, change the settings to match the parameters of the
machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point
search mode using parameter Fn003.
• If using the linear servomotor on a vertical axis, install a safety device such as a counterbalance so that the
workpiece does not fall if an alarm or overtravel occurs.
The workpiece may fall during overtraveling.
• When not using the normal autotuning, set to the correct mass ratio.
Setting to an incorrect moment of inertia ratio may cause vibration.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
viii
Maintenance and Inspection
CAUTION
• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new
SERVOPACK before resuming operation.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble the linear servomotor.
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
General Precautions
Note the following to ensure safe application.
• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace
the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as a next
edition.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall
not be liable for any damages or troubles resulting from unauthorized modification.
ix
CONTENTS
About this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
1 Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.2 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.1.4 Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4
1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.1 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5
1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6
1.3 Examples of Servo System Configurations - - - - - - - - - - - - - 1-8

1.3.1 Single-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - -1-8
1.3.2 Three-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - -1-9
1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.1 North American Safety Standards (UL, CSA)- - - - - - - - - - - - - - - - - - 1-11
1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
2 Selections
2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - 2-2
2.1.1 Coil Assembly - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2
2.1.2 Magnetic Way - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2
2.2 SERVOPACK Model Designation- - - - - - - - - - - - - - - - - - - - 2-3

2.3 Σ-II Series SERVOPACKs and Applicable Linear
Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.4 Serial Converter Units Models - - - - - - - - - - - - - - - - - - - - - 2-6
2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.6 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.6.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-9
2.6.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - 2-11
2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors
and DC Reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.6.4 Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
2.6.5 Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
x
3 Digital Operator/Panel Operator
3.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - 3-2
3.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2
3.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3
3.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - -3-4
3.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6
3.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - 3-8

3.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8
3.2.2 Alarm Traceback Data Display (Fn000)- - - - - - - - - - - - - - - - - - - - - - -3-9
3.2.3 JOG Mode Operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.4 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2.5 Parameter Settings Initialization (Fn005)- - - - - - - - - - - - - - - - - - - - - 3-12
3.2.6 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal
(Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.2.8 Manual Offset-adjustment of Motor Current Detection Signal
(Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
3.2.9 Password Setting (Protects Parameters from Being Changed)
(Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
3.2.10 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
3.2.11 Software Version Display (Fn012)- - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.2.12 Application Module Detection Results Clear (Fn014) - - - - - - - - - - - 3-19
3.3 Operation in Parameter Setting Mode (Pn)- - - - - - - - 3-20

3.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20
3.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
3.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28
3.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - 3-30

3.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
3.4.2 Sequence I/O Signal Monitor Display- - - - - - - - - - - - - - - - - - - - - - - 3-31
3.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32
3.4.4 Monitor Display of Reference Pulse Counter
and Feedback Pulse Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor
(For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - - 3-34
3.4.6 Hall Sensor Signal Monitor
4 Operation
4.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2 Trial Operation Using SERVOPACK Internal References - - - 4-5
4.2.1 SERVOPACK Setup Procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors- - - - - - 4-5
4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors - - 4-11
xvi
xi
4.3 Trial Operation for Linear Servomotor without Load
from Host Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) - - 4-23
4.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1) - 4-25
4.4 Trial Operation with the Linear Servomotor Connected

to the Machine- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
4.5 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
4.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - 4-29
4.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29
4.6.2 Switching the Linear Servomotor Movement Direction - - - - - - - - - - - 4-30
4.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - 4-31
4.6.4 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - 4-33
4.6.5 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - 4-34
4.6.6 Motor Maximum Speed (For the software version 32 or later)- - - - - - 4-34
4.7 Operating Using Speed Control with Analog Reference - - - 4-35

4.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35
4.7.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
4.7.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37
4.7.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
4.7.5 Speed Reference Filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
4.7.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
4.7.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
4.7.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
4.8 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 4-45

4.8.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47
4.8.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50
4.8.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54
4.8.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - 4-55
4.8.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56
4.8.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - 4-57
4.9 Operating Using Force Control - - - - - - - - - - - - - - - - - - - - 4-58

4.9.2 Force Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4 -58
4.9.3 Adjusting the Force Reference Offset - - - - - - - - - - - - - - - - - - - - - - - 4-59
4.9.4 Limiting Linear Servomotor Speed during Force Control - - - - - - - - - - 4-61
4.10 Operating Using Speed Control

with an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - 4-63
4.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4 -64
4.10.3 Operating Using an Internally Set Speed- - - - - - - - - - - - - - - - - - - - 4 -64
xv xii
4.11 Limiting Force- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67
4.11.1 Internal Force Limit (Limiting Maximum Output Force) - - - - - - - - - - 4-67
4.11.2 External Force Limit (Output Force Limiting by Input Signals) - - - - - 4-68
4.11.3 Force Limiting Using an Analog Voltage Reference - - - - - - - - - - - - 4-70
4.11.4 Force Limiting Using an External Force Limit
and Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-71
4.11.5 Checking Output Force Limiting during Operation - - - - - - - - - - - - - 4-72
4.12 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - 4-73

4.12.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-73
4.13 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75

4.13.1 Servo Alarm Output (ALM) and Alarm Code Output
(ALO1, ALO2, ALO3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75
4.13.2 Warning Output (/WARN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-76
4.13.3 Running Output Signal (/TGON)- - - - - - - - - - - - - - - - - - - - - - - - - - 4-76
4.13.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-77
5 Adjustments
5.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 List of Servo Adjustment Functions- - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.3 Selecting the Online Autotuning Execution Method - - - - - - - - - - - - 5-7
5.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - - 5-8
5.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - 5-9
5.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - 5-10
5.2.7 Procedure for Saving the Results of Online Autotuning- - - - - - - - - 5-11
5.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.3.3 Position Loop Gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
5.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - 5-14
5.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - 5-15

5.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.4.2 Force Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
5.4.3 Speed Feed-forward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.4.4 Proportional Control Operation
(Proportional Operation Reference) - - - - - - - - - - - - - - - - - - - - - - 5-18
5.4.5 Using the Mode Switch (P/PI Switching)- - - - - - - - - - - - - - - - - - - 5-19
5.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
5.4.10 Force Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
5.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
xiii xvi
6 Inspection, Maintenance, and Troubleshooting
6.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.1.3 Alarm Display Table when the Application Module is Used - - - - - - - 6-5
6.1.4 Warning Display Table when the Application Module is Used - - - - - 6-6
6.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - 6-7
6.1.6 Troubleshooting for Malfunction without Alarm Display- - - - - - - - - 6-17
6.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - 6-22

6.2.1 Linear Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.2.2 SERVOPACK Inspection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - 6-23
7 Appendix
7.1 Linear Servomotor Capacity Selection Examples- - - - - - - 7-2
7.2 Calculating the Required Capacity
of Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2.1 Simple Calculation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2.2 Calculating the Regenerative Energy - - - - - - - - - - - - - - - - - - - - - - 7-6
7.3 Connection to Host Controller - - - - - - - - - - - - - - - - - - - 7-13

73.1 Example of Connection to MP920 4-axes Analog Module
SVA-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
7.3.2 Example of Connection to CP-9200SH Servo Controller Module
SVA (SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - 7-14
7.3.3 Example of Connection to MEMOCON GL120/130 Series
Motion Module MC20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Positioning Module B2813 (SERVOPACK in Position Control Mode) 7-16
7.3.5 Example of Connection to OMRON’s Motion Control Unit - - - - - - - 7-17
7.3.6 Example of Connection to OMRON’s Position Control Unit - - - - - - 7-18
7.3.7 Example of Connection to OMRON’s Position Control Unit
C500-NC221 (SERVOPACK in Speed Control Mode)- - - - - - - - - -7-19
C500-NC112 (SERVOPACK in Position Control Mode)- - - - - - - - -7-20
7.3.9 Example of Connection to Mitsubishi’s AD72 Positioning Unit
(SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - - - - -7-21
(SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - -7-22
7.4 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23

7.4.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23
7.4.2 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
7.4.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-40
7.5 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - 7-41
xiv
xvii
1
Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.1.4 Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.1 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.1 Single-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.3.2 Three-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.3.3 Three-phase, 400 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1-1
1 Outline
1.1.1 Check Items
1.1 Checking Products

1.1.1 Check Items
Check the following items when the products are delivered.
Check Items Comments
Are the delivered products the ones Check the model numbers marked on the nameplates on the linear
that were ordered? servomotor and SERVOPACK. (Refer to the descriptions of model
numbers in the following section.)
Is there any damage? Check the overall appearance, and check for damage or scratches that
may have occurred during shipping.
If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.
1.1.2 Linear Servomotors

The location of the nameplate varies depending on the model of the linear servomotor. The nameplate is affixed
on both the coil assembly and the magnetic way.
(1) Coreless SGLGW and SGLGM Linear Servomotors
Coil assembly and Magnetic way
Nameplate
CORELESS LINEAR SERVO MOTOR
Servomotor
SGLGW-40A140B
model W
94 A
0.8
Ratings Ins.
N
47 B
Order No. O/N
Serial No. S/N
YASKAWA ELECTRIC CORPORATION JAPAN
1-2
1.1 Checking Products
(2) SGLFW and SGLFM Linear Servomotors with F-type Iron Core and
SGLTW and SGLTM Linear Servomotors with T-type Iron Core
SGLFW and SGLFM Coil assembly
Nameplate
Linear SERVO MOTOR
Servomotor TYPE SGLFW-35A120A
model
200 W 80 N 2.5 m/s
Ratings
1.3 A 200 V ins.B
Order No. O/N 1
Serial No. S/N DATE
YASKAWA ELECTRIC MADE IN JAPAN
SGLTW and SGLTM Magnetic way
Nameplate
YASKAWA
TYPE:
Servomotor SGLFM-20756A
model
O/N
Order No.
S/N
Serial No.
MADE IN JAPAN DATE
Note: The location of the nameplate varies depending on the model and capacity of the linear servomotor.
1.1.3 SERVOPACKs
SGDH for 30 W to 5.0 kW SGDH for 7.5 kW
SERVOPACK
SERVOPACK MODEL SGDH-30AE
model AC-INPUT AC-OUTPUT
VOLTS 200-230 VOLTS 0-230 Applicable
Hz 60/60 PHASE 3 motor
Applicable PHASE 3 AMPS 24.8
power supply capacity
AMPS 18.6 KU (MP) 3.0 (4.0)
Serial S/N 412808-15-1
number
YASKAWA ELECTRIC
MADE IN JAPAN
1-3
1 Outline
1.1.4 Serial Converter Units
1.1.4 Serial Converter Units

Nameplate
Serial SERIAL CONVERTER
converter MODEL JZDP-A006-156
model
For : -
Order No. O/N - -
Serial No. S/N
YASKAWA ELECTRIC CORPORATION
JAPAN
1-4
1.2 Product Part Names

1.2.1 Linear Servomotors
(1) Coreless SGLGW and SGLGM
Magnetic way
1
Coil assembly
Hall sensor cable
Hall sensor unit
Main circuit cable for linear servomotor
(2) SGLFW and SGLFM With F-type Iron Core

Coil assembly
Hall sensor cable
Hall sensor
unit
Magnetic way
Main circuit cable for
linear servomotor
(3) SGLTW and SGLTM With T-type Iron Core

Coil assembly
Spacer for
installation
Hall sensor cable
Hall sensor unit Magnetic way
linear servomotor
1-5
1 Outline
1.2.2 SERVOPACKs
1.2.2 SERVOPACKs
(1) SGDH for 50 W to 5.0 kW
With the front cover open
CN5 Analog monitor connector
Used to monitor motor speed, force
reference, and other values through
a special cable.
Refer to 5.5 Analog Monitor
MODE/SET DATA/
CHARGE POWER
Panel display
YASKAWA SERVOPACK Front cover
5-digit, 7-segment LED used to display
SERVOPACK status, alarm status, and other YASKAWA SGDH- SERVOPACK model
Refer to 2.3 SERVOPACK Model
values when parameters are input.
Designations.
Refer to 3.1.2 Key Names and Functions.
Panel keys
Panel operator Used to set parameters.
Charge indicator
MODE/SET DATA/
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit power CHARGE POWER Power ON indicator
supply capacitor remains charged. Therefore, Lights when the control power supply is ON.
do not touch the SERVOPACK even after the power
supply is turned OFF if the indicator is lit.
CN3 Connector for personal computer monitoring
Main circuit power and digital operator
supply terminals Used to communicate with a personal computer
Used for main circuit power supply input. or to connect a digital operator.
CN1 I/O signal connector
Control power supply terminals Used for reference input signals and
Used for control power supply input. sequence I/O signals.
Regenerative
resistor connecting terminals Nameplate (side view)
Used to connect external regenerative resistors. Indicates the SERVOPACK model and ratings.
Refer to 1.1.3 SERVOPACKs.
Servomotor terminals
Connects to the servomotor power line.
CN2 Encoder connector
Connects to the encoder in the servomotor.
Ground terminal
Be sure to connect to protect against electrical shock.
1-6
(2) SGDH for 7.5 kW

Power indicator Panel operator
SERVOPACK 200V Panel display

SERVOPACK model SGDH-
Ver.
CN3 Connector for
YASKAWA
POWER
CN8 1
personal computer
monitoring and CN3
MODE/SET DATA/ CN5 BATTERY
digital operator CN5 Analog
monitor connector
Panel switch
Charge indicator
CHARGE
! WARNING
Control circuit
terminal∗
L1C L2C CN1 CN2
CN2 Encoder connector
CN1 I/O signal connector
Nameplate (side view)
L1 L2 L3 + B1 B2 U V W
Main circuit power supply Servomotor terminals: U, V, W
terminals: L1, L2, L3 Ground terminal
Regenerative resistor
connecting terminals: B1, B2 ∗
* Control circuit terminal and regenerative resistor connecting terminals differ the position of the termi-
nal block by the SERVOPACK model.
1-7
1 Outline
1.3.1 Single-phase, 200 V Main Circuit
1.3 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.
1.3.1 Single-phase, 200 V Main Circuit

Power supply
Single-phase 200 VAC
R T
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the circuit
OFF when an overcurrent
is detected.
SGDH- AE
SERVOPACK
Magnetic
Noise filter contactor
Eliminates external Turns the servo ON
noise from the power and OFF.
line. Install a surge YASKAWA 200V
suppressor. SERVOPACK
SGDH- Digital
operator
MODE/SET DATA/ Connection cable

CHARGE POWER
for digital operator Personal computer
L1 C
N
L2 3
Connection cable
+ 1
for personal computer
+ 2
-
C
Host controller
L1C N I/O signal cable
L2C 1
B1
B2
Regenerative U
resistor
Connect an external V
regenerative resistor C
to terminals B1 and B2 W N
if the regenerative
capacity is insufficient.
Connection cable
for serial converter unit
Serial converter unit
Connection cable
linear servomotor
for hall sensor
Encoder
cable
Linear scale
(To be provided by
users.)
Hall sensor unit
Coreless Linear Servomotor
1-8
1.3 Examples of Servo System Configurations
1.3.2 Three-phase, 200 V Main Circuit

Power supply
Three-phase 200 VAC
R S T *1: The positive terminal for the main circuit is only available for use
Molded-case in the three-phase (200 VAC, 7.5 kW or more) SERVOPACKs.
circuit breaker Do not use the positive terminals 1 or 2.
(MCCB)
Protects the power *2: Before connecting an external regenerative resistor to
supply line by shutting the SERVOPACK, be sure to disconnect the lead between terminals
the circuit OFF when
an overcurrent is B2 and B3.
1
detected.
Noise filter
Eliminates external noise
from the power line.
Magnetic SGDH- AE Digital

operator
contactor SERVOPACK
Turns the servo
ON and OFF.
Install a surge Connection cable for
suppressor.
YASKAWA 200V digital operator
SERVOPACK Personal computer
SGDH-
Connection cable for

MODE/SET
CHARGE
DATA/
POWER personal computer
L1 C
N
L2 3
L3
1 Host controller
*1 2 I/O signal cable
C
N
1
L1C
L2C
B1
B2
B3
Regenerative *2 U
C
N
2
resistor V
Connect an external W
regenerative resistor
to terminals B1 and B2 Connection cable for
if the regenerative
capacity is insufficient. serial converter unit
(Refer to 2.6.)
Serial converter unit

linear servomotor Encoder
Connection cable
cable
for hall sensor
Linear scale
(To be provided by
users)
Linear servomotor with core
1-9
1.4 Applicable Standards
1.4 Applicable Standards

Σ-II Series servodrives conform to the following overseas standards.
1.4.1 North American Safety Standards (UL, CSA)
C UL
R US
R
C US 1
LISTED
Model UL∗1 Standards (UL File No.) CSA∗2 Standards Certifications
CSA C22.2
SERVOPACK • SGDH UL508C(E147823) UL
No.14
* 1. Underwriters Laboratories Inc.
* 2. Canadian Standards Association.
1.4.2 CE Marking
Low Voltage EMC Directive

Model Certifications
Directive EMI EMS
EN50082-2
EN55011
SERVOPACK • SGDH EN50178
class A group 1
or TÜV PS∗
EN61000-6-2
* TÜV Product Services GmbH
Because SERVOPACKs and linear servomotors are built-in type, reconfirmation is

required after being installed in the final product.
1-10
2
Selections
2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Coil Assembly - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Magnetic Way - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 SERVOPACK Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors - - - - - - - - - 2-4
2.4 Serial Converter Units Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.6 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.6.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.6.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors - - - - - - - - 2-12
2.6.4 Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
2.6.5 Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
2-1
2 Selections
2.1.1 Coil Assembly
2.1 Linear Servomotor Model Designation

This section describes how to check the model and ratings of the linear servomotor. The alphanumeric codes
after SGL¨¨ - indicate the specifications.
2.1.1 Coil Assembly
SGL G W 40 A 140 A P
Linear Σ Series
Linear servomotor
Servomotor Model
Code Specifications
G Coreless
F F-type iron core Options
T T-type iron core Code Specifications
P With hall sensor
W : Coil assembly With hall sensor & serial
W
converter
Magnet height
Design revision order
Voltage A,B,C
A 200 VAC Length of coil assembly
2.1.2 Magnetic Way
SGL G M 40 225 A C
Linear Σ Series
Linear servomotor
Model Options
Code Specifications Code Specifications Remarks
G Coreless
C With magnet cover Only for linear servomotors
F F-type iron core with F-type iron core
T T-type iron core
Y With base and Only for linear servomotors
M : Magnetic way magnet covers with T-type iron core
Design revision order

Magnet width
A,B,C
Length of magnetic way
2-2
2.2 SERVOPACK Model Designation
2.2 SERVOPACK Model Designation

Select the SERVOPACK according to the applied linear servomotor.
SGDH - 10 A E
Rated Output of Applicable Servomotor (kW) Mounting Method
Code Rated Output Code Rated Output Rated Output of

Code Specifications
Applicable Servomotor (kW)
A5 0.05 10 1.0
- Base-mounted 0.05 to 7.5
01 0.10 15 1.5
02 0.20 20 2.0
04 0.40 30 3.0
05 0.45 50 5.0
08 0.75 75 7.5
Model (Fixed)
Power Supply Voltage
Code Remarks
Code Voltage
Single/Three-phase, 200V For force, speed, and position control
A
E
Three-phase, 400V Applicable for various application modules
D
2-3
2 Selections
2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors

Σ-II Series SGDH SERVOPACK
Linear Series Linear Servomotor Single-phase Three-phase
200 VAC 200 VAC
SGLGW 40A140B 01AE
(Coreless) 02AE
40A253B
40A365B 04AE
60A140B 02AE
60A253B 04AE
6 models
60A365B 08AE-S 08AE
SGLFW 20A090A 02AE

(With F-type iron core) 20A120A 02AE
35A120A 02AE
35A230A 05AE
50A200A 08AE-S 08AE
50A380A 15AE-S 15AE
8 models 1ZA200A 15AE-S 15AE
1ZA380A 20AE
2-4
2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors
Σ-II Series SGDH SERVOPACK

Linear Σ Series Linear Servomotor Single-phase Three-phase
200 VAC 200 VAC
20A170A 05AE
20A320A 10AE
SGLTW
20A460A 15AE
(With T-type iron core)
35A170A 08AE-S 08AE
35A320A 15AE-S 15AE
35A460A 20AE
40A400A 20AE
40A600A 30AE
80A400A 50AE
10 models
80A600A 75AE 2
Note: The model combinations shown in this table are used when the maximum rated force of the appli-
cable linear servomoter is required. To suppress rises in temperature, larger linear servomotors are
used in some cases. If so, the SERVOPACK capacity can be lowered if using a motor at a lower
force than the rated force. Calculate the required current and select a model with a margin of
approximately 20%. An allowance can be made for up to 1/3 of the combined capacity of the linear
servomotor and SERVOPACK in the table.
2-5
2 Selections
2.4 Serial Converter Units Models

JZDP A004 001
Serial Converter Unit Model Applicable Linear Servomotor

Servomotor Model Symbol Servomotor Model Symbol
Applicable
Symbol Appearance Linear Scale Hall Sensor 20A170A
40A140B 001 011
40A253B 002 20A320A 012
Made by
Renishaw SGLGW 40A365B 003 20A460A 013
A004 Yes
(Coreless) 60A140B 004 35A170A 014
60A253B SGLTW 35A320A 015
005
(Iron core,
60A365B 006 T-type) 35A460A 016
20A090A 017 40A400A 007
20A120A 018 40A600A 008
35A120A 019 80A400A 009
SGLFW 35A230A 020 80A600A 010
(Iron core,
F-type) 50A200A 021
50A380A 022
1ZA200A 023
1ZA380A 024
2-6
2.5 Selecting Cables
2.5 Selecting Cables

YASKAWA
SERVOPACK
SGDH-
200V
SERVOPACK
MODE/SET DATA/
CHARGE POWER
L1 C
N
L2 3
L3
1
2
C
N
1
L1C
L2
B1
B2
B3
C
U N
2
V
W
CN2

Serial converter
unit

Linear scale
(To be provided
by users.)
Hall sensor
unit
Linear servomotor
Applicable
Cable
Name Connection Linear Servo- Cable Type Specifications
Length
motor Model
1m JZSP-CLN11-01
SGLGW-40
3m JZSP-CLN11-03 SERVOPACK Linear servomotor
end end
and -60 5m JZSP-CLN11-05
SGLFW-20 10 m JZSP-CLN11-10
SGLFW-35
15 m JZSP-CLN11-15
1m JZSP-CLN21-01
3m JZSP-CLN21-03 SERVOPACK Linear servomotor
end end
5m JZSP-CLN21-05
Between SERVOPACK SGLFW-50,-1Z
Linear Servo-
and linear SGLTW-20,-35 10 m JZSP-CLN21-10
motor Main
servomotor 15 m JZSP-CLN21-15
Circuit Cables
1m JZSP-CLN39-01
SERVOPACK Linear servomotor
3m JZSP-CLN39-03 end end
5m JZSP-CLN39-05
SGLTW-40,-80
10 m JZSP-CLN39-10
15 m JZSP-CLN39-15
Note: A connector is not provided on the linear servomotor end of the main circuit cable, type JZSP-CLN39-_ _.
The user must provide the connector on the linear servomotor end.
2-7
2 Selections
Applicable
Cable
Name Connection Linear Servo- Cable Type Specifications
Length
motor Model
1m JZSP-CLL00-01
Cable Extension
Between serial convert- 3 m JZSP-CLL00-03
er unit and linear scale All models 5m JZSP-CLL00-05
for Renishaw 15-pin
10 m JZSP-CLL00-10
Serial converter unit Linear scale
connector
Encoder 15 m JZSP-CLL00-15 end end
Cables
Cable Extension 1m JZSP-CLL20-01
Between serial convert-
er unit and linear scale All models 3m JZSP-CLL20-03
(Heidenhain). See
Section 2.6.5 5m JZSP-CLL20-05
3m JZSP-CLP20-03
SERVOPACK Serial converter unit

5m JZSP-CLP20-05 end
Connection Between SERVOPACK end
cables for seri- connector CN2 and All models
al converter serial converter unit 10 m JZSP-CLP20-10
unit
15 m JZSP-CLP20-15
1m JZSP-CLL10-01
Between serial convert- 3m JZSP-CLL10-03 Serial converter unit Hall sensor unit
Connection end end
er unit and hall sensor All models 5m JZSP-CLL10-05
cables for hall
unit 10 m JZSP-CLL10-10
sensor
15 m JZSP-CLL10-15
2-8
2.6 Selecting Peripheral Devices

2.6.1 Special Options
Digital operator
Connection cable
for digital operator Personal
computer
YASKAWA 200V
2
SERVOPACK
SGDH- Connection cable
for personal computer
MODE/SET DATA/
CHARGE POWER
L1
L2
C
N CN3
3
L3
Host controller
1
2
C
I/O signal cable
N
L1C
1
CN1
L2
B1
B2
B3
C
U N
2
V
Analog monitor cable
CN5
CN8
CN10
NS500 NS600
NS100 NS300
CN7
7
8
6
9
S X
0 1
5
10
W
4
CN11 CN11
3
2
1
7
8
6
9 X
YASKAWA 200V
0 1
5
4 1
SERVOPACK
3
A
2
7
8
6
9 D
SGDH-
Connector
R
0 1
R
5
4
3
2
CN6A
S C
N
W 11
2 6
M
S
C
CN4
N
MODE/SET DATA/ N S
CN6 CN6
POWER
CHARGE
6
L1 C A
N
CN6B
L2 3
L3
1
C
2 N
C 6
N B
L1C
L2
1
CN4 CN4 CN4 CN6

B1
B2
B3 C
C N
U N 4
2
V
MECHATROLINK-I DeviceNet PROFIBUS-DP INDEXER

I/F Unit I/F Unit I/F Unit Module
(NS100) (NS300) (NS500) (NS600)
2-9
2 Selections
2.6.1 Special Options
Name Length Type Specifications
Terminal block and 0.5 m connection

cable
Connector terminal block
JUSP-TA50P
converter unit
CN1
I/O Signal
Cables 1m JZSP-CKI01-1 Loose wires at host controller end
Cable with
loose wires at 2m JZSP-CKI01-2
one end 3m JZSP-CKI01-3
With connection cable (1 m)
Digital Operator JUSP-OP02A-2
Only required when using Σ-II series

Digital Operator JUSP-OP02A-1.
CN3
Connection Cable SERVOPACK Operator
1m JZSP-CMS00-1 end end
for Digital Operator
D-Sub 9-pin (For DOS/V)

CN3 SERVOPACK Personal
Connection Cable for Personal 2m YS-12 end computer end
Computer
CN5 JZSP-CA01 or SERVOPACK end Monitor end

1m
Analog Monitor Cable DE9404559
Name Type
MECHATROLINK-I I/F Unit (NS100) JUSP-NS100

DeviceNet I/F Unit (NS300) JUSP-NS300
Application Module
PROFIBUS-DP I/F Unit (NS500) JUSP-NS500
INDEXER Module (NS600) JUSP-NS600
* For details, refer to the manuals of each application module.
2-10
2.6.2 Molded-case Circuit Breaker and Fuse Capacity

Current Capacity of the
SERVOPACK Molded-case Circuit Breaker
Main Power Supply Inrush Current
Model and the Fuse (Arms) *1 *2
Circuit Capacity per
Power SERVOPACK
Supply (kVA) Control Cir- Control Cir-
Capacity Main Circuit Main Circuit
SGDH- cuit Power cuit Power
(kW) Power Supply Power Supply
Supply Supply
0.05 A5AE 0.25
Single- 0.10 01AE 0.40 4
phase 0.13 63A 60A
0.20 02AE 0.75
200 V
0.40 04AE 1.2 8
0.45 05AE 1.4 4
0.75 08AE 1.9
7 118A
1.0 10AE 2.3
Three- 1.5 15AE 3.2 10 0.15 *3
phase 60A
2.0 20AE 4.3 13
200 V 63A
3.0 30AE 5.9 17
5.0 50AE 7.5 28 67A
7.5 75AE 15.5 41 0.27 *3 40A
*1. Nominal value at the rated load. The specified derating is required to select an appropriate
fuse capacity.
* 2. Cutoff characteristics (25°C): 300% five seconds min. and inrush current of 20ms.
* 3. Make sure the current capacity is accurate. For the SERVOPACK with the cooling fan built-
in, an inrush current flows; 200 % of the current capacity in the table above for two seconds,
when turning ON the control circuit power supply to start the fan working.
Note: Do not use a fast-acting fuse. Because the SERVOPACK’s power supply is a capacitor
input type, a fast-acting fuse may blow when the power is turned ON.
2-11
2 Selections
2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors
IMPORTANT The SGDH SERVOPACK does not include a protective grounding circuit. Install a ground-fault protector
to protect the system against overload and short-circuit or protective grounding combined with the molded-
case circuit breaker.
2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors

Recommended Noise Filter Surge DC
Main Circuit SERVOPACK Model Magnetic
Suppressor Reactor
Power Contactor
Supply Capacity
SGDH- Type Specifications
(kW)
0.05 A5AE
Single-phase
0.10 01AE FN2070-6/07 X5071
Single-phase 250 VAC, 6 A
0.20 02AE HI-11J (20 A) X5070
200 V
Single-phase
0.40 04AE FN2070-10/07 X5069
250 VAC, 10 A
Three-phase
0.45 05AE FN258L-7/07 HI-11J (20 A)
480 VAC, 7 A TU-25C240
X5061
0.75 08AE
1.0 10AE Three-phase HI-15J (35 A)
FN258L-16/07
1.5 15AE 480 VAC, 16 A
X5060
Three-phase 2.0 20AE
200 V Three-phase HI-20J (35 A)
3.0 30AE FN258L-30/07 X5059
480 VAC, 30 A
Three-phase X5068
5.0 50AE FMAC-0934-5010 HI-25J (50 A)
440 VAC, 50 A
TU-65C240
Three-phase
7.5 75AE FMAC-0953-6410 HI-35J (65 A)
440 VAC, 64 A
Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors accord-
ing to the total capacity.
2. The following table shows the manufacturers of each device.
Peripheral Device Manufacturer

FN, FS type: Schaffner Electronic
Noise Filter
FMAC type: Timonta AG
Magnetic Contactor Yaskawa Controls Co., Ltd.
Surge Suppressor Yaskawa Controls Co., Ltd.
DC Reactor Yaskawa Controls Co., Ltd.
2-12
2.6.4 Regenerative Resistors

Regenerative Resistor
SERVOPACK Model
Main Circuit
Built-in
Power Supply Capacity Externally
SGDH- Resistance Capacity
(kW) connected
(Ω ) (W)
0.05 A5AE
Single-phase 0.10 01AE
200 V 0.20 02AE
0.40 04AE
0.45 05AE
0.75 08AE 50 60
1.0 10AE
Three-phase 1.5 15AE 30 70
200 V 2.0 20AE 25 140
3.0 30AE 12.5 140
5.0 50AE 8 280
7.5 75AE (3.13) *1 (1760) *1 JUSP-RA05
* 1. For the optional JUSP-RA05 Regenerative Resistor Unit.
Note: 1. If the SERVOPACK cannot process the regenerative power, an external regenerative resistor is
required.
2. The following table shows the manufacturers of each device.
Peripheral Device Manufacturer

External Regenerative Resistor Iwaki Wireless Research Institute
External Regenerative Unit Yaskawa Electric Corporation
2-13
2 Selections
2.6.5 Linear Scales
2.6.5 Linear Scales

Encoder Max. Speed of
Resolution Scale Pitch Output Applicable Linear
Manufacturer Type Output Signal Servomotor
µm/pulse µm Resolution
Pn281 m/s
1 to 31 5
RGH22B
32 to 63 4
Renishaw Inc. RGH24B 0.078 20
64 to 127 2
RGH25B
128 to 255 1
1 to 63 5
LIDA187 0.156 40 64 to 127 4
128 to 255 2
1Vpp
1 to 31 5
Analog voltage
LIDA487 32 to 63 4
Heidenhain 0.078 20
LIDA489 64 to 127 2
Corp.
128 to 255 1
1 to 31 1.0
32 to 63 0.8
LIF181 0.016 4
64 to 127 0.4
128 to 255 0.2
Note: 1. The linear scale signal is multiplied by eight bits (256 segmentation) inside the serial converter
unit.
2. Using the zero-point signal with a linear scale made by Renishaw Inc. may cause a deviation in
the home position. If so, adjust the setting so that the zero-point is output only in one direction
by using BID/DIR signal.
3. This list does not cover all the applicable types of linear scales. And, the linear scales listed in
the table may not be applicable or available if their specifications have been modified or their
production has been stopped.
Check the most recent catalog of the linear scale manufacturer to select a linear scale that meets
the specifications.
4. Select a linear scale so that the total current consumption of the linear scale, serial converter unit,
and hall sensor is 190 mA max.
5. At parameter (Pn280), set the scale pitch of the linear scale so that it satisfies the following con-
dition. Otherwise, satisfactory control cannot be obtained.
64000
must result in an integer number
Pn280(Scale pitch (µm))
Examples
Correct: 1,2,4,8,10,16,20,40
Incorrect: 3,5,12,18
2-14
3
Digital Operator/Panel Operator
3.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - 3-2

3.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - 3-8

3.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.3 JOG Mode Operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.4 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2.5 Parameter Settings Initialization (Fn005) - - - - - - - - - - - - - - - - - - - - 3-12
3.2.6 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal
(Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) 3-15
3.2.9 Password Setting (Protects Parameters from Being Changed)
(Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
3.2.10 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
3.2.11 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - 3-18
3.2.12 Application Module Detection Results Clear (Fn014) - - - - - - - - - - - 3-19
3.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - 3-20

3.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
3.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28
3.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - 3-30

3.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
3.4.2 Sequence I/O Signal Monitor Display - - - - - - - - - - - - - - - - - - - - - - - 3-31
3.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32
3.4.4 Monitor Display of Reference Pulse Counter and
Feedback Pulse Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor
3.4.6 Hall Sensor Signal Monitor (For the software version 32 or later) - - - 3-34
3-1
3.1.1 Connecting the Digital Operator
3.1 Functions on Digital Operator/Panel Operator

This section describes the basic operations of the digital operator (hereinafter called the digital operator) and the
panel operator (hereinafter called the panel operator) for setting the operating conditions. Set parameters and
JOG operation, and display status using these operators.
3.1.1 Connecting the Digital Operator

Two types of digital operators are available. One is a built-in operator that has a panel indicator and switches
located on the front panel of the SERVOPACK. This type of digital operator is also called a panel operator. The
other one is a hand-held operator (JUSP-OP02A-2 digital operator), which can be connected to the SERVO-
PACK with connector CN3 of the SERVOPACK.
There is no need to turn OFF the SERVOPACK to connect this hand-held operator to the SERVOPACK. Refer to
the following illustrations to connect the digital operator to the SERVOPACK.
Digital Operator
JUSP-OP02A-2 Panel Operator
YASKAWA 200V
SERVOPACK
SGDH-
. . . . .
DIGITAL
SERVOPACK OPERATOR MODE/SET DATA/
JUSP-OP02A
ALARM DSPL
RESET SET
JOG DATA
SVON ENTER
YASKAWA
CN3
A dedicated cable is used to SERVOPACK

connect the digital operator
to the SERVOPACK.
IMPORTANT If the digital operator is connected to the SERVOPACK, the panel operator does not display anything.
3-2
3.1.2 Key Names and Functions

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

For JOG operation, this key is used as Forward Run Start Key.
(UP Key)
(UP Key)
SERVOPACK Press the DOWN Key to decrease the set value.

For JOG operation, this key is used as Reserve Run Start Key.
(DOWN Key)
(DOWN Key)
− Press the RIGHT Key to shift to the next digit on the right.
(RIGHT Key)
Press the LEFT or DATA/SHIFT Key to shift to the next digit on

Panel Operator the left.
(LEFT Key) DATA/
(DATA/SHIFT Key)
JOG
Press the SVON or MODE/SET Key to perform servo ON/OFF
SVON in the JOG operation with the operator.
(SVON Key) MODE/SET
(MODE/SET Key)
IMPORTANT When an alarm occurs, remove the cause, and then reset the alarm. Refer to 6.1 Troubleshooting.
3
3-3
3.1.3 Basic Mode Selection and Operation
3.1.3 Basic Mode Selection and Operation

The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor
Mode.
Select a basic mode to display the operation status, set parameters and operation references.
The basic mode is selected in the following order.
(1) Using the Digital Operator
Turn ON the power
Press DSPL/SET Key.
A basic mode is selected in the following order.
Status Display Mode (Refer to 3.1.4.)
DSPL
Press SET
.
DATA
Press ENTER . Fn : Utility Function Mode
(Refer to 3.2)
DSPL
Repeat Press SET
.
DATA
Press ENTER . Pn : Parameter Setting Mode
(Refer to 3.3)
DSPL
Press SET
.
Press DATA
ENTER . Pn : Monitor Mode
(Refer to 3.4)
DSPL
Press SET
.
Press DSPL/SET Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/ENTER Key to display the contents of selected parameter number
in the selected mode. (Refer to each operation instruction described later.)
3-4
(2) Using the Panel Operator
Turn ON the power

Press DSPL/SET Key.
A basic mode is selected in the following order.
Status Display Mode (Refer to 3.1.4)
Press .
MODE/SET
Press for more than one second. Fn : Utility Function Mode (Refer to 3.2)
DATA/
(DATA/SHIFT)
Repeat Press .
MODE/SET
Press for more than one second. Pn : Parameter Setting Mode (Refer to 3.3)
DATA/
(DATA/SHIFT Key)
Press .
MODE/SET
Press for more than one second. Un : Monitor Mode (Refer to 3.4)
DATA/
(DATA/SHIFT Key)
Press .
MODE/SET
Press MODE/SET Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/SHIFT Key for more than one second to display the contents of selected
parameter number in the selected mode. (Refer to each operation instruction described later.)
3-5
3.1.4 Status Display
3.1.4 Status Display

Bit data Code
(1) Bit Data and Meanings

Speed or Force Control Mode Position Control Mode
Item
Bit Data Meaning Bit Data Meaning
c Control Lit when SERVOPACK control power is Control Lit when SERVOPACK control power sup-
Power ON ON. Power ON ply is ON.
d Baseblock Lit for baseblock. Not lit when servo is ON. Baseblock Lit for baseblock. Not lit when servo is ON.
e Speed Lit when the difference between the motor Positioning Lit if error between position reference and
Coincidence speed and reference speed is the same as or Completion actual motor position is below preset value.
(/V-CMP) less than the value set in Pn582. (Factory (/COIN) Not lit if error between position reference
setting is 10 mm/s.) and actual motor position exceeds preset
∗ Always lit in force control mode. value.
Preset value: Set in Pn500 (Factory setting
is 7 pulses.)
f Movement Lit if motor speed exceeds preset value. Movement Lit if motor speed exceeds preset value.
Detection Not lit if motor speed is below preset value. Detection Not lit if motor speed is below preset value.
(/TGON) Preset value: Set in Pn581 (Factory setting (/TGON) Preset value: Set in Pn581 (Factory setting
is 20 mm/s.) is 20 mm/s.)
g Speed Lit if input speed reference exceeds preset Reference Lit if reference pulse is input.
Reference value. Pulse Input Not lit if no reference pulse is input.
Input Not lit if input speed reference is below pre-
set value.
Preset value: Set in Pn581 (Factory setting
is 20 mm/s.)
h Force Lit if input force reference exceeds preset Error Counter Lit when error counter clear signal is input.
Reference value. Clear Signal Not lit when error counter clear signal is not
Input Not lit if input force reference is below pre- Input input.
set value.
Preset value: 10% of rated force
i Power Ready Lit when main circuit power supply is ON Power Ready Lit when main circuit power supply is ON
and normal. and normal.
Not lit when main circuit power supply Not lit when main circuit power supply
power is OFF. power is OFF.
3-6
(2) Codes and Meanings
Code Meaning
Baseblock
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
CN1-42 (P-OT) is OFF.
Reverse Run Prohibited
CN1-43 (N-OT) is OFF.
Alarm Status
Displays the alarm number.
3-7
3.2.1 List of Utility Function Modes
3.2 Operation in Utility Function Mode (Fn)

3.2.1 List of Utility Function Modes
This section describes how to apply the basic operations using the panel operator to run and adjust the motor.
The following table shows the parameters in the utility function mode.
Parameter Reference
Function Remarks
No. Section
Fn000 Alarm traceback data display − 3.2.2
Fn001 Rigidity setting during online autotuning { 5.2.5
Fn002 JOG mode operation { 3.2.3
Fn003 Zero-point search mode { 3.2.4
Fn005 Parameter setting initialization { 3.2.5
Fn006 Alarm traceback data clear { 3.2.6
Fn007 Writing to EEPROM mass ratio data obtained from online autotuning { 5.2.7
Fn008 Fixed parameter { −
Fn009 Automatic tuning of analog (speed, force) reference offset { 4.7.3
4.9.3
Fn00A Manual adjustment of speed reference offset { 4.7.3
Fn00B Manual adjustment of force reference offset { 4.9.3
Fn00C Manual zero-adjustment of analog monitor output { −
Fn00D Manual gain-adjustment of analog monitor output { −
Fn00E Automatic offset-adjustment of motor current detection signal { 3.2.7
Fn00F Manual offset-adjustment of motor current detection signal { 3.2.8
Fn010 Password setting (protects parameters from being changed) − 3.2.9
Fn011 Motor models display − 3.2.10
Fn012 Software version display − 3.2.11
Fn014 Application module detection results clear { 3.2.12
Note: When the parameters marked with “{” in remarks column or in Pn are set for Password Set-
ting (Fn010), the indication shown below appears and such parameters cannot be changed.
Blinks for
one second
3-8
3.2.2 Alarm Traceback Data Display (Fn000)

The alarm traceback display can display up to 10 previously occurred alarms. The alarm data is displayed on
Fn000, which is stocked in the alarm traceback data. The data can be cleared using an utility function mode
“Alarm Traceback Data Clear.” For details, refer to 3.2.6 Alarm Traceback Data Clear (Fn006).
The alarm traceback data is not cleared on alarm reset or when the SERVOPACK power is turned OFF. This does
not adversely affect operation.
Alarm Sequence Number Alarm Code

The higher the number, See the alarm
the older the alarm data is. table.
The following alarm are operator-related alarms which are not recorded in the traceback data.
Display Description
Digital operator transmission error 1
Digital operator transmission error 2
Refer to 6.1 Troubleshooting for alarm number and contents.
INFO 1. Alarm traceback data will not be updated when the same alarm occurs repetitively.
2. The display “A.--” means no alarm occurs.
Follow the procedure below to confirm alarms which have been generated.
Display after
Step Digital Operator Panel Operator Description
Operation
1 Press the DSPL/SET or MODE/SET Key to select “Alarm
DSPL
Traceback Data Display (Fn000).” If a number other than
SET
Fn000 is displayed, press UP Key or DOWN Key to set
(DSPL/SET Key) MODE/SET
Fn000.
(MODE/SET Key)
Note: The enabled digit blinks.
3
2 Press the DATA/ENTER Key once, or DATA/SHIFT Key
DATA
ENTER for more than one second.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) The latest alarm data is displayed.
(Press at least 1 s.)
3 Press the UP Key to display the data for a previous alarm.

(To display one newer alarm data, press DOWN Key.)
(UP Key)
(UP Key) Note: The higher the digit on the far left, the older the
alarm data is.
4 Press the UP Key to display value in order.
Note: “A.--” means no alarm occurs.
(UP Key)
(UP Key)
5 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key
ENTER for more than one second. The display will return to
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Fn000.
3-9
3.2.3 JOG Mode Operation (Fn002)
3.2.3 JOG Mode Operation (Fn002)
CAUTION
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during JOG mode
operation.
The JOG mode operation is designed to move a linear servomotor without connecting to the host controller when
performing the trial operation. The JOG mode operation is used to confirm the movement direction and motor
speed setting.
(1) Precautions
Observe the following precautions when performing JOG mode operation.
• The SERVOPACK must be in servo ready state. The JOG mode operation cannot be performed while the
SERVOPACK is in servo ON state.
• The servo ON (/S-ON) input signal must be OFF.
• If the parameter Pn50A.1 (/S-ON Signal Mapping) is set to “7 (Sets signal ON),” change the setting to “8
(Sets signal OFF).”
(2) Related Parameter

Pn383 JOG Speed Speed Position Force
Setting Range Setting Unit Factory Setting Setting Validation
0 to 10000 mm/s 1 mm/s 50 mm/s Immediately
Sets the motor speed reference value of the utility function Fn002 “JOG Mode Operation.”
(3) Operation Procedure

Use the following procedure to execute the JOG mode operation.
Display after
Operation
1 DSPL Press the DSPL/SET or MODE/SET Key to select the util-
SET
ity function mode.
(MODE/SET Key)
2 Press the UP or DOWN Key to select the Fn002.
Note: The enabled digit binks.
3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT Key at
ENTER
DATA
least one second, and the display will be as shown on the
(DATA/ENTER Key) (DATA/SHIFT Key) left. The operator enters JOG operation mode.
4 DSPL Press the DSPL/SET or MODE/SET Key. The servo turns

SET
ON.
(MODE/SET Key)
5 Press the UP Key for the forward direction or DOWN Key
Forward direction
for the reverse direction. The linear servomotor moves as
long as the key is pressed.
Reverse direction
6 DSPL Press the DSPL/SET or MODE/SET Key. The servo turns

SET
OFF. Or, press the DATA/SHIFT Key at least one second to
(MODE/SET Key) turn the servo OFF.
7 DATA
Press the DATA/ENTER once or DATA/SHIFT Key at least
ENTER
DATA
one second to return to the utility function mode display
(DATA/ENTER Key) (DATA/SHIFT Key) Fn002.
3-10
INFO The linear servomotor movement direction differs depending on the setting of parameter Pn000.0 “Direction
Selection.” The above example shows the case of factory setting.
3.2.4 Zero-point Search Mode (Fn003)
CAUTION
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point
search mode operations using Fn003.
The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the
linear scale that outputs the zero-point signal and to clamp at the position.
This mode is used to confirm that the linear scale outputs the zero-point signal correctly.
When the maximum speed is set to 5 m/s, the movement speed for executing the zero-point search is 60 mm/s.
The following conditions must be met to perform the zero-point search operation.
• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
• Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the servo has been set to
always be ON.
Follow the procedure below to execute the zero-point search.
Display after
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select
SET the utility function mode.
MODE/SET
(DSPL/SET Key)
(MODE/SET Key)
3 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA
ENTER
DATA
Key for more than one second, and the display will
(DATA/ENTER Key) (DATA/SHIFT Key) be as shown on the left.
4 JOG
Press the SVON or MODE/SET Key.
SVON
The servo turns ON.
MODE/SET
(SVON Key) (MODE/SET Key)
5 When the parameter is set to Pn000.0 = 0 (default),

pressing the UP Key will run the motor in the for-
ward direction. Pressing the DOWN Key will run the
motor in the reverse direction. When the parameter
is set to Pn000.0 = 1, the movement direction of the
motor is reversed.
6 When the motor zero-point search is completed, the
display blinks.
Display blinks.
At this moment, the motor is servo-locked at the
zero-point pulse position.
DATA
ENTER
Key for more than one second.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Fn003 display appears again.
The motor will be servo OFF status.
3-11
3.2.5 Parameter Settings Initialization (Fn005)
3.2.5 Parameter Settings Initialization (Fn005)

This function is used when returning to the factory settings after changing parameter settings.
Pressing the DSPL/SET or MODE/SET Key during servo ON does not initialize the parameter settings.
After initialization, turn OFF the power supply and then turn ON again.
IMPORTANT Initialize the parameter settings with the servo OFF.
Display after
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the
SET utility function mode.
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn005.


DATA
ENTER Key for more than one second, and the display will be
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left.
4 Press the DSPL/SET or MODE/SET Key. Then, the

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

DATA
ENTER Key for more than one second to return to the utility
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn005.
3-12
3.2.6 Alarm Traceback Data Clear (Fn006)

This function clears the alarm traceback data, which stores the alarms generated in the SERVOPACK.
After having cleared data, “A.--” (No alarm) is set to all the alarm traceback data.
Display after
Operation
1 DSPL
SET
utility function mode.
(MODE/SET Key)
3 DATA
Press the DATA/ENTER Key once, or DATA/SHIFT
ENTER
Key for more than one second, and the display will be
DATA
4 DSPL
Press the DSPL/SET or MODE/SET Key to clear the
SET
alarm traceback data.
(MODE/SET Key)
The display shown on the left blinks for about one sec-
ond when the data is cleared.
5 After about one second The display changes from “donE” to the display
shown on the left.
6 DATA
ENTER
Key for more than one second to return to the utility
DATA
3-13
3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)
3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)

Automatic motor current detection offset adjustment has performed at Yaskawa before shipping. Basically, the
user need not perform this adjustment.
Perform this adjustment only if highly accurate adjustment is required for reducing force ripple caused by current
offset. Automatic adjustment is possible only with power supplied to the main circuit power supply and with the
servo OFF.
IMPORTANT Execute the automatic offset adjustment if the force ripple is too big when compared with that of other SER-
VOPACKs.
Display after
Operation
1 DSPL
SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn00E.

3 DATA
ENTER
DATA
4 DSPL
Press the DSPL/SET or MODE/SET Key.
SET
The offset will be automatically adjusted.
(MODE/SET Key) When the adjustment completes, the display shown on
the left blinks for about one second.
5 After about one second The display changes from “donE” to the display shown
on the left.
6 DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode display Fn00E.
3-14
3.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F)

The adjusting range of the motor current detection offset is -512 to +511.
To adjust the offset, perform the automatic adjustment (Fn00E) first.
And if the force ripple is still big after the automatic adjustment, perform the manual adjustment.
IMPORTANT If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
When performing manual adjustments, run the motor at a speed of approximately 100 mm/s, and adjust the
operator until the force monitor ripple is minimized. (Refer to 5.5 Analog Monitor.) Adjust the phase-U
and phase-V offsets alternately several times until these offsets are well balanced.
Display after
Operation
1 DSPL
SET
(MODE/SET Key)
2 Press the UP or DOWN Key to select Fn00F.

3 DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) as shown on the left (phase U).
4 Press the LEFT or RIGHT or DATA/SHIFT Key for

less than one second to display the phase-U offset
DATA
(DATA/SHIFT Key) amount.
5 Press the UP or DOWN Key to adjust the offset. Care-

fully adjust the offset while monitoring the force refer-
ence monitor signal.
6 Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second.
DATA
(DATA/SHIFT Key) The display shown on the left appears.
7 DSPL
SET
The display shown on the left appears (phase V).
8
(MODE/SET Key)
Press the LEFT or RIGHT or DATA/SHIFT Key for

3
less than one second to display the phase-V offset
DATA
(DATA/SHIFT Key) amount.
9 Press the UP or DOWN Key to adjust the offset. Care-

fully adjust the offset while monitoring the force refer-
ence monitor signal.
10 Press the LEFT or RIGHT Key or DATA/SHIFT Key
for less than one second.
DATA
(DATA/SHIFT Key) The display shown on the left appears.
11 DATA
When the offset adjustment completes, press the
ENTER
DATA/ENTER Key once, or DATA/SHIFT Key for
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) more than one second.
The display returns to the utility function mode dis-
play Fn00F.
3-15
3.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010)
3.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010)

The write prohibited setting is used for preventing accidental changes of the parameter. All the parameters
Pn and some of Fn become write prohibited by setting values. Refer to 3.2.1 List of Utility Function
Modes for details.
Setting values are as follows:

• “0000”: Write permitted (Releases write prohibited mode.)
• “0001”: Write prohibited (Parameters become write prohibited from the next power ON.)
Display after
Operation
1 DSPL
SET
(MODE/SET Key)

3 DATA
ENTER
DATA
4 Press the UP or DOWN Key to set a value:

“0000”: Write permitted, “0001”: Write prohibited
5 DSPL
Press the DSPL/SET or MODE/SET Key to register
SET
the value.
(MODE/SET Key) When the value is registered, the display shown on the
left blinks for about one second.
Note: If a value other than “0000” and “0001” is
set, “Error” blinks for about one second,
and the previous setting is displayed.
6 After about one second The display changes from “donE” to “P.000.”
7 DATA
ENTER
DATA
3-16
3.2.10 Motor Models Display (Fn011)

This mode is used for motor maintenance, set the parameter Fn011 to select the motor model check mode. If the
SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.
Display after
Operation
1 DSPL
SET
(MODE/SET Key)

Key for more than one second to display the linear ser-
vomotor model and voltage code.
DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key)
Linear Servomotor Voltage Linear Servomotor Type
Data Model Data Type
01 200 VAC or 280 VDC 40 Linear servomotor
02 400 VAC or 560 VDC
4 Press the DSPL/SET or MODE/SET Key to display the

servomotor capacity.
DSPL
SET

(MODE/SET Key)
Motor capacity in units of 10 W

The above example indicates 100 W.
5 Press the DSPL/SET or MODE/SET Key, and the linear
scale type and resolution code will be displayed.
DSPL
SET

(MODE/SET Key)
Linear Scale Type Scale Pitch Multiplication
Data Type Data Resolution
00 Incremental 8 8-bit
6 Press the DSPL/SET or MODE/SET Key to display the

SERVOPACK’s code for custom orders.
3
DSPL
Note: The display “y.0000” means standard model.
SET

(MODE/SET Key)
Code for custom orders

DATA
ENTER
DATA
3-17
3.2.11 Software Version Display (Fn012)
3.2.11 Software Version Display (Fn012)

Set the Fn012 to select the software-version check mode to check the SERVOPACK and encoder software ver-
sion numbers.
Display after
Operation
1 DSPL
SET
(MODE/SET Key)

DATA
ENTER
Key for more than one second to display the
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) SERVOPACK software version number.
4 DSPL
Press the DSPL/SET or MODE/SET Key to display the
SET encoder software version number.
(MODE/SET Key)

DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) function mode Fn012.
3-18
3.2.12 Application Module Detection Results Clear (Fn014)

The alarm A.E7 (application module detection error) occurs when turning ON the power for the first time when
the SERVOPACK is used without application module after the SERVOPACK has been used with application
module.
Clearing application module detection results is performed as using the SERVOPACK individually without
operating the application module detection.
Restarting again after performing the following operation will clear and reset the alarm A.E7. Then, the opera-
tion of SERVOPACK without application module is enabled.
IMPORTANT Because the parameter is set for the SERVOPACK with an application module, change the setting or initial-
ize the parameter value (Fn005 of utility function mode) as required.
Display after
Operation
1 DSPL
SET
the utility function mode.
(MODE/SET Key)

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

DATA
ENTER
SHIFT Key for more than one second, and the dis-
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) play will be as shown on the left.
4 Press the DSPL/SET or MODE/SET Key, and the

display will be as shown on the left to clear the
application module detection.
DSPL
Blinks
SET

(MODE/SET Key)
5 The display changes from “donE” to the display

After about one second shown on the left.
6 Press the DATA/ENTER Key once, or DATA/ 3

DATA
ENTER
SHIFT Key for more than one second to return to
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) the utility function mode.
3-19
3.3.1 Setting Parameters
3.3 Operation in Parameter Setting Mode (Pn)

Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires
value setting and the other requires function selection. These two types use different setting methods.
With value setting, a parameter is set to a value within the specified range of the parameter. With function selec-
tion, the functions allocated to each digit of the seven-segment LED panel indicator (five digits) can be selected.

(1) Value Setting Parameters
(a) Types of Value Setting Parameters
Refer to 7.4.2 List of Parameters.
(b) Example of Changing Value Setting Parameter

The parameter settings can be used for changing parameter data. Before changing the data, check the permit-
ted range of the parameter.
EXAMPLE The example below shows how to change parameter Pn100 (speed loop gain) from “40” to “100.”
Display after
Operation
1 DSPL
SET
parameter setting mode. If a parameter other than
(DSPL/SET Key) Pn100 is displayed, press the UP or DOWN Key to
MODE/SET
(MODE/SET Key) select Pn100.
DATA
ENTER
Key for more than one second. The current data of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn100 is displayed.
3 Press the LEFT or RIGHT Key or DATA/SHIFT Key to

select the digit to be set.
DATA/
(DATA/SHIFT Key)
4 Press the UP or DOWN Key to change the data.

Keep pressing UP or DOWN Key until “00100” is dis-
played.
DATA
ENTER
Key for more than one second. The value blinks and is
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) saved.

DATA
ENTER
Key for more than one second to return to the display of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn100. The data for the speed loop gain (Pn100) is
(Press at least 1 s.) changed from “40” to “100.”
3-20
(c) Parameter Indications

In this manual, the parameter is explained with using the following format.
Applicable control mode for the parameter
Speed : Speed control, internal set speed control
Positoin : Position control
The number of the The name of the Force : Force control

parameter parameter
Pn406 Emergency Stop Force Speed Position Force

0 to 800 1% 800 Immediately
This section shows the This section shows the This section shows the This section shows if
range of the parameter minimum setting unit SERVOPACK's parameter the setting is validated
settings. The maximum (the setting value). with factory setting. "immediately" or "after
value can be set even if restart" when changing
the parameter is combined the parameter.
with the other sepecified
motor.
The following alarm shows the setting value of the parameter.
Decimal display in five digits
3-21
(2) Function Selection Parameters

(a) Types of Function Selection Parameters
IMPORTANT If the parameters with “After restart” in “Setting Validation” column in the table are changed, turn OFF the
main circuit and control power supply and ON again to validate new setting.
• Pn10B.1 and Pn110.0 require the power to be reset as mentioned above.
• Pn10B.0, Pn110.1, and Pn110.2 are enabled with the off-line, so the power does not have to be reset.
Parameter Factory Setting

Category Name
No. Setting Validation
Function Selection Pn000 Function Selection Basic Switch 0000 After restart
Parameter Pn001 Function Selection Application Switch 1 0000 After restart
Pn002 Function Selection Application Switch 2 0000 After restart
Pn003 Function Selection Application Switch 3 0002 Immediately
Pn080 Function Selection Application Switch 80 0000 After restart
Servo Gain Related Pn10B Gain Application Switches 0000 After restart/
Parameter Immediately
Pn110 Online Autotuning Switches 0010 After restart/
Immediately
Position Control Related Pn200 Position Control References Selection Switches 0000 After restart
Parameter Pn207 Position Control Function Switches 0000 After restart
Pn218 Reference Pulse Multiplication Function 0000 After restart
Selection
(For the software version 32 or later)
Force Control Related Pa- Pn408 Force Function Switches 0000 Immediately
rameter
Sequence Related Pn50A Input Signal Selection 1 2100 After restart
Parameter Pn50B Input Signal Selection 2 6543 After restart
(Input Signal Selection) 8888 After restart
Pn50C Input Signal Selection 3
Pn50D Input Signal Selection 4 8888 After restart
Pn513 Input Signal Selection 5 0088 After restart
Sequence Related Pn50E Output Signal Selection 1 3211 After restart
Parameter Pn50F Output Signal Selection 2 0000 After restart
(Output Signal Selection) Pn510 Output Signal Selection 3 0000 After restart
Pn512 Output Signal Reversal Setting 0000 After restart
3-22
(b) Example of Changing Function Selection

The procedure to change the setting of control method selection (Pn000.1) of the function selection basic
switches (Pn000) from speed control to position control is shown below.
Display after Digital
Step Panel Operator Description
Operation Operator
1 DSPL
SET
parameter setting mode. If a parameter other than Pn000
(DSPL/SET Key) is displayed, press the UP or DOWN Key to select the
MODE/SET
(MODE/SET Key) Pn100.
Note: The enable digit blinks.
DATA
ENTER
Key for more than one second. The current data of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn000 is displayed.
3 Press the LEFT or RIGHT or DATA/SHIFT Key to

select the first digit of current data.
DATA/
(DATA/SHIFT Key)
4 Press the UP Key once to change to “n.0010.”

(Set the control method to position control.)
(UP Key)

DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) saved.

DATA
ENTER
Key for more than one second to return to the display
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Pn000. The control method is changed to position con-
(Press at least 1 s.) trol.
7 To enable the change in the setting of function selection basic switches (Pn000), turn OFF the power and ON again.
(c) Parameter Indications

Each digit of the function selection parameters is defined as the hexadecimal display. The parameter display
example shows how parameters are displayed in digits for set values.
1st digit
3
2nd digit
3rd digit
4th digit
For the hexadecimal display only
• Pn000.0 or n.xxx: Indicates the value for the 1st digit of parameter Pn000.
• Pn000.1 or n.xxx: Indicates the value for the 2nd digit of parameter Pn000.
• Pn000.2 or n.xxx: Indicates the value for the 3rd digit of parameter Pn000.
• Pn000.3 or n.xxx: Indicates the value for the 4th digit of parameter Pn000.
3-23
3.3.2 Input Circuit Signal Allocation
Parameter Meaning
Pn50A n.2 Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting).
n.8 Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed).
The number of the This blank shows the setting

parameter value of the function selection,
as well as the state condition This section explains the
on the panel operator and the details of the function selection.
digital operator (JUSP-OP02A-2).

Each input signal is allocated to a pin of the input connector CN1 by setting the parameter.
The following table shows detailed allocation.
(1) Factory Setting (Pn50A.0 = 0)
The factory setting for the input signal allocation is as follows.
means factory setting.
Pn50A:
Pn50B:
3-24
(2) Changing the Allocation (Pn50A.0 = 1)

Set the parameter in accordance with the relation between the signal to be used and the input connector pin.
After having changed the parameter, turn OFF the power and ON again to enable the parameters.
Connection Not
Required
Signal Name Valid- CN1 Input Pin Allocation
Input (SERVOPACK judges
ity the connection)
Signal
Level
Parameter Setting Always Always
40 41 42 43 44 45 46
Allocation ON OFF
Servo ON L /S-ON 0 1 2 3 4 5 6
7 8
Pn50A.1 = n.xxx H S-ON 9 A B C D E F
Proportional Operation L /P-CON 0 1 2 3 4 5 6
Reference 7 8
Pn50A.2 = n.xxx H P-CON 9 A B C D E F
Forward Run H P-OT 0 1 2 3 4 5 6
Prohibited 7 8
Pn50A.3 = n.xxx L /P-OT 9 A B C D E F
Reverse Run H N-OT 0 1 2 3 4 5 6
Prohibited 7 8
Pn50B.0 = n.xxx L /N-OT 9 A B C D E F
Alarm Reset L /ARM-RST 0 1 2 3 4 5 6

− 8
Pn50B.1 = n.xxx H ARM-RST 9 A B C D E F
Forward External L /P-CL 0 1 2 3 4 5 6
Force Limit 7 8
Pn50B.2 = n.xxx H P-CL 9 A B C D E F
Reserve External L /N-CL 0 1 2 3 4 5 6
Force Limit 7 8
Pn50B.3 = n.xxx H N-CL 9 A B C D E F
Internal Set Speed L /SPD-D 0 1 2 3 4 5 6
Selection 7 8
Pn50C.0 = n.xxx H SPD-D 9 A B C D E F
Internal Set Speed L /SPD-A 0 1 2 3 4 5 6
Selection 7 8
Pn50C.1 = n.xxx H SPD-A 9 A B C D E F
Internal Set Speed L /SPD-B 0 1 2 3 4 5 6
Selection 7 8
Pn50C.2 = n.xxx H SPD-B 9 A B C D E F
Control Method L /C-SEL 0 1 2 3 4 5 6 3
Selection 7 8
Pn50C.3 = n.xxx H C-SEL 9 A B C D E F
Zero Clamp L /ZCLAMP 0 1 2 3 4 5 6

7 8
Pn50D.0 = n.xxx H ZCLAMP 9 A B C D E F
Reference Pulse Inhibit L /INHIBIT 0 1 2 3 4 5 6
7 8
Pn50D.1 = n.xxx H INHIBIT 9 A B C D E F
Gain Changeover L /G-SEL 0 1 2 3 4 5 6
7 8
Pn50D.2 = n.xxx H G-SEL 9 A B C D E F
Polarity Detection L /P-DET 0 1 2 3 4 5 6
7 8
Pn50D.3 = n.xxx H P-DET 9 A B C D E F
Reference Pulse Input L /P-SEL 0 1 2 3 4 5 6
Multiplication* 7 8
H P-SEL 9 A B C D E F
Pn513.0 = n.xxx
* This function is valid for the software version 32 or later.
3-25
IMPORTANT 1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting
“Polarity Reversal,” the machine may not move to the specified safe direction at occurrence of failure
such as signal line disconnection. If such setting is absolutely necessary, confirm the operation and
observe safety precautions.
2. When two or more signals are allocated to the same input circuit, the input signal level will be applied to
all the allocated signal.
3-26
(3) Allocating Input Signals

EXAMPLE The procedure to replace Servo ON (/S-ON) signal allocated to CN1-40 and Forward External Force Limit
(/P-CL) allocated to CN1-45 is shown below.
Before After
Pn50A:
Pn50B:
Display after Digital
Step Panel Operator Description
Operation Operator
1 DSPL
SET “value setting parameter” mode. If a parameter other
(DSPL/SET Key) MODE/SET than Pn50A is displayed, press the UP or DOWN Key to
(MODE/SET Key)
set Pn50A.
DATA
ENTER
Key for more than one second to display the current data
DATA
(DATA/SHIFT Key) of Pn50A.
(DATA/ENTER Key)
(Press at least 1 s.) (/S-ON is allocated to CN1-40.)
3 Press the UP Key to set to “1.”
(Sequence input signals can be freely set.)
DATA/
(UP Key)
(DATA/SHIFT Key)
select the second digit from the right. Press the UP key
DATA/ to set to “5.”
(DATA/SHIFT Key)
(Changes the allocation of /S-ON from CN1-40 to CN1-
45.)
DATA
DATA
ENTER
(DATA/SHIFT Key) saved.
(DATA/ENTER Key) (Press at least 1 s.) At the moment, the CN1-45 operates with OR logic for
/S-ON and /P-CL.
DATA
ENTER
DATA
(DATA/SHIFT Key) Pn50A.
(DATA/ENTER Key)
7 Press the UP Key to set Pn50B.

(UP Key)
8
(UP Key)
8
DATA Key for more than one second to display the current data
ENTER
DATA
(DATA/SHIFT Key) of Pn50B.
(DATA/ENTER Key) (Press at least 1 s.)
(/P-CL is allocated to CN1-45.)
select the third digit from the right. Press the DOWN
DATA/
(DATA/SHIFT Key)
Key to set to “0.”
(Changes the allocation of /P-CL from CN1-45 to CN1-
40.)
DATA
ENTER
DATA
(DATA/SHIFT Key) saved.
(DATA/ENTER Key)

DATA
ENTER
DATA/ Pn50B. /S-ON is allocation to CN1-45, and /P-CL is
allocated to CN1-40.
12 Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B).
3-27
3.3.3 Output Circuit Signal Allocation
3.3.3 Output Circuit Signal Allocation

Functions can be allocated to the following sequence output signals. After having changed the parameter, turn
OFF the power and ON again to enable the parameters.
CN1 Pin No. 25/(26) 27/(28) 29/(30)
Parameter Setting Pn512=n.xxx Pn512=n.xxx Pn512=n.xxx Remark
Allocation 0 1 0 1 0 1
Positioning 0 Invalid L:
Completion 1 L H Valid output signal: Low level
(/COIN) 2 L H H:
Pn50E.0 = n.xxx 3 L H Valid output signal: High level
Speed Coinci- 0 Invalid Invalid:
dence Detection 1 L H Do not use the output signal.
(/V-CMP) 2 L H
Pn50E.1 = n.xxx 3 L H
Movement Detec- 0 Invalid Factory Setting
tion 1 L H
Pn50E:
(/TGON) 2 L H
Pn50E.2 = n.xxx 3 L H Pn50F:
Servo Ready 0 Invalid Pn510:
(/S-RDY) 1 L H
Pn512:
Pn50E.3 = n.xxx 2 L H
3 L H Note:
Force Limit 0 Invalid The output signals for Positioning
Detection 1 L H Completion Signal and Speed Coinci-
(/CLT) dence Detection Signal differ depend-
2 L H
ing on the control method.
Pn50F.0 = n.xxx 3 L H
Speed Limit 0 Invalid
Detection 1 L H
(/VLT) 2 L H
Brake 0 Invalid
(/BK) 1 L H
3 L H
Warning 0 Invalid
(/WARN) 1 L H
3 L H
Near 0 Invalid
(/NEAR) 1 L H
Pn510.0 = n.xxx 2 L H
3 L H
Reference Pulse 0 Invalid
Input Multiplication 1 L H
(/PSELA)* 2 L H
Pn510.2 = n.xxx 3 L H
* This function is valid for the software version 32 or later.
3-28
IMPORTANT 1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic.
2. The signals not detected are considered as “Invalid.” For example, Positioning Completion (/COIN) Sig-
nal in speed control mode is “Invalid.”
• Allocating Output Signals

EXAMPLE The procedure to replace Movement Detection (/TGON) signal allocated to CN1-27 (28) with factory set-
ting to “Invalid” and allocate Brake Interlock (/BK) signal to CN1-27 (28) is shown below.
Before After
Pn50E:
Display after Digital Panel

Step Description
Operation Operator Operator
1 DSPL
SET
“value setting parameter” mode. If a parameter other than
(DSPL/SET Key) MODE/SET Pn50E is displayed, press the UP or DOWN Key to select
(MODE/SET Key)
Pn50E.
DATA
ENTER
for more than one second to display the current data of
DATA/
(DATA/SHIFT Key)
Pn50E.
(DATA/ENTER Key)
(/TGON is allocated to CN1-27 (28).)
3 Press the LEFT Key or RIGHT or DATA/SHIFT Key to
select the third digit from the right. Press the DOWN Key
DATA/
(DATA/SHIFT Key)
to set “0.”
(Sets /TGON “Invalid.”)
DATA
ENTER
DATA for more than one second.
(DATA/ENTER Key) (DATA/SHIFT Key) The value blinks and is saved.
5 DATA
ENTER
DATA for more than one second to return to the display Pn50E.
6 Press the UP Key to set Pn50F.

(UP Key) (UP Key)
7 DATA
ENTER
DATA for more than one second to display the current data of
(DATA/ENTER Key) (DATA/SHIFT Key) Pn50F.
(/BK is set to “Invalid.”)
select the third digit from the right. Press the UP Key to set
DATA/
(DATA/SHIFT Key)
“2.”
(Allocates /BK to CN1-27 (28).)
9 DATA
ENTER
DATA for more than one second. The value blinks and is saved.
10 DATA
ENTER
DATA for more than one second to return to the display Pn50F.
(DATA/ENTER Key) (DATA/SHIFT Key)/TGON is set as “Invalid” and /BK is allocated to CN1-27
(28).
11 Turn OFF the power and ON again to enable the changes of output signal selection (Pn50E and Pn50F).
3-29
3.4.1 List of Monitor Modes
3.4 Operation in Monitor Mode (Un)

The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal
status.
The monitor mode can be selected during motor operation.
3.4.1 List of Monitor Modes

Parameter
Content of Display Unit
No.
Un000 Actual motor speed mm/s
Un001 Input speed reference (Valid only in speed control mode) mm/s
Un002 Internal force reference ( in percentage to the rated force) %
Un003 *1 Electrical angle 1 (32-bit decimal code) Number of pulses
from the phase-C
(zero-point)
Un004 Electrical angle 2 (Angle from 0 (zero) degree of phase-U)) deg
Un005 *2
Input signal monitor −
Un006 *2 Output signal monitor −

Un007 Input reference pulse speed (valid only in position control mode) mm/s
Un008 Error counter value (amount of position error) (valid only in position control mode) reference unit
Un009 Accumulated load rate (value for the rated force as 100 %. Displays effective force in 10-s %
cycle.)
Un00A Regenerative load rate (value for the processable regenerative power as 100 %. Displays regen- %
erative power consumption in 10-s cycle.)
Un00B Power consumed by DB resistance %
(Value for the processable power when dynamic brake is applied as 100 %. Displays power
consumed by DB resistance in 10-s cycle.)
Un00C *3 Input reference pulse counter (32-bit hexadecimal code) −
(valid only in position control mode)
Un00D *3 Feedback pulse counter (32-bit hexadecimal code) −
Un010 Allowable maximum motor speed and dividing ratio monitor 100 mm/s or pulse/
(For the software version 32 or later) scale pitch (Pn280)
Un011 Hall sensor signal monitor −
* 1. This parameter can not be used when the linear scale does not have zero point.
* 2. Refer to 3.4.2 Sequence I/O Signal Monitor Display.
* 3. Refer to 3.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter.
3-30
3.4.2 Sequence I/O Signal Monitor Display

The following section describes the monitor display for sequence I/O signals.
(1) Input Signal Monitor Display
The status of input signal allocated to each input terminal is displayed:
When the input is in OFF (open) status, the top segment (LED) is lit.
when the input is in ON (short-circuited) status, the bottom segment (LED) is lit.
Top: OFF (H level)

Bottom: ON (L level)
87 6 54 3 2 1 Number
Refer to 3.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals.
Display LED
Input Terminal Name Factory Setting
Number
1 CN1-40 /S-ON
2 CN1-41 /P-CON
3 CN1-42 P-OT
4 CN1-43 N-OT
5 CN1-44 /ALM-RST
6 CN1-45 /P-CL
7 CN1-46 /N-CL
EXAMPLE • When /S-ON signal is ON (Servo ON at L level)
The bottom segment

of number 1 is lit.
87 6 5 4 3 2 1
• When /S-ON signal is OFF
The top segment of

number 1 is lit.
87 6 5 4 3 2 1
• When P-OT signal operates (Operates at H level)

The top segment of
number 3 is lit. 3
87 6 5 4 3 2 1
3-31
3.4.3 Operation in Monitor Mode
(2) Output Signal Monitor Display

The status of output signal allocated to each output terminal is displayed:
When the output is in OFF (open) status, the top segment (LED) is lit.
When the output is in ON (short-circuited) status, the bottom segment is lit.
Top: OFF (H level)

Bottom: ON (L level)
7 6 5 4 3 2 1 Number
Refer to 3.3.3 Output Circuit Signal Allocation for the relation between output terminals and signals.
Display LED Output Terminal

Factory Setting
Number Name
1 CN1-31, -32 ALM
2 CN1-25, -26 /COIN or /V-CMP
3 CN1-27, -28 /TGON
4 CN1-29, -30 /S-RDY
5 CN1-37 AL01
6 CN1-38 AL02
7 CN1-39 AL03
Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indi-
cate various output signals.
These segments ON for L level and OFF for H level.
EXAMPLE • When ALM signal operates (alarm at H level.)

The top segment of
number 1 is lit.
765 4 321
3.4.3 Operation in Monitor Mode

The example below shows how to display the contents of monitor number Un000 when the linear servomotor
runs at 1500 mm/s.
Step Description
1 DSPL
SET
monitor mode.
(MODE/SET Key)
2 Press the UP or DOWN Key to select the monitor num-

ber to be displayed. The display shows the example of
the data of Un000.
DATA
ENTER
Key for more than one second to display the data of
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Un000.

DATA
ENTER
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) of monitor number.
3-32
3.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter
The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal.
Step Description
1 DSPL
SET
the monitor mode.
(MODE/SET Key)
2 Press the UP or DOWN Key to select “Un00C” or

“Un00D.”

DATA
ENTER
SHIFT Key for more than one second to display the
DATA data of the selected monitor number.
The upper 16-bit data (Press at least 1 s.)
4 Press the UP or DOWN Key to display the lower

16-bit data.
The lower 16-bit data
5 Press both UP and DOWN Keys simultaneously

while the display on the left appears to clear the 32-
+
bit counter data.
(Press simultaneouly) Press simultaneously (The display shown on the left is of the lower 16-bit
data.)
DATA
ENTER
SHIFT Key for more than one second to return to
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) the display of monitor number.
When the control power supply is turned ON, reference pulse and feedback pulse will be “0.” The counter
value increases by forward references, and decreases by reverse references.
Displays the pulse number from 0 to FFFFFFFF (4294967295) in sequence. If one pulse is decreased from
0, the digital operator and the panel operator display FFFFFFFF (4294967295) and then decrease from this
pulse number. Also, if one pulse in increased from FFFFFFFF (4294967295), the digital operator and the
panel operator display 0 and increase from this pulse number.
When using the 8-bit serial converter unit, the feedback pulse will be 256 pulses/scale pitch.
3
3-33
3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later)
3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software
version 32 or later)
Encoder resolution defines another speed limit (input sinusoidal frequency).
Display after
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the mon-
SET
itor mode.
(MODE/SET Key)
2 Press the UP or DOWN Key to select “Un010.”
3 Press the DATA/ENTER Key once or DATA/SHIFT Key

DATA
ENTER
for more than one second to display the motor maximum
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) speed that can be set.
4 DSPL
Press the DSPL/SET or MODE/SET Key to display the
SET
maximum dividing ratio that can be set.
(MODE/SET Key)
5 DATA
Press the DATA/ENTER Key once or DATA/SHIFT Key
ENTER
for more than one second to return to the display of monitor
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) number.
3.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)
Display after
Operation
1 DSPL
Press the DSPL/SET or MODE/SET Key to select the mon-
SET itor mode.
(MODE/SET Key)
2 Press the UP or DOWN Key to select “Un011.”
3 Prss the DATA/ENTER Key once or DATA/SHIFT Key for

more than one second to display the hall sensor signal pat-
tern.
Phase-W signal monitor

Phase-V signal monitor
Phase-U signal monitor
DATA
ENTER Hall sensor signal pattern
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) Signal Monitor
(Press at least 1 s.) Hall Sensor
Signal Pattern Phase-U Phase-V Phase-W
1 L L H
2 L H L
3 L H H
4 H L L
5 H L H
6 H H L
4 Press the DATA/ENTER Key once or DATA/SHIFT Key

DATA
ENTER
for more than one second to return to the display of monitor
DATA
(DATA/SHIFT Key) number.
(DATA/ENTER Key)
3-34
4
Operation
4.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.2 Trial Operation Using SERVOPACK Internal References - - - 4-5
4.2.1 SERVOPACK Setup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors - - - - - - 4-5
4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors - - 4-11
4.3 Trial Operation for Linear Servomotor without Load

from Host Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - 4-21
4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) - - 4-23
4.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1) - 4-25
4.4 Trial Operation with the Linear Servomotor Connected to the

Machine - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
4.5 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
4.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - 4-29
4.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29
4.6.2 Switching the Linear Servomotor Movement Direction - - - - - - - - - - - 4-30
4.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - 4-31
4.6.4 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - 4-33
4.6.5 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - 4-34
4.6.6 Motor Maximum Speed (For the software version 32 or later) - - - - - - 4-34
4.7 Operating Using Speed Control with Analog Reference - - - 4-35

4.7.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
4.7.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37
4.7.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38
4.7.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38
4.7.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38
4.7.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
4.7.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
4-1
4 Operation
4.8 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 4-45

4.8.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47
4.8.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50
4.8.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54
4.8.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - 4-55
4.8.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56
4.8.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - 4-57
4.9 Operating Using Force Control - - - - - - - - - - - - - - - - - - - - 4-58

4.9.2 Force Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58
4.9.3 Adjusting the Force Reference Offset - - - - - - - - - - - - - - - - - - - - - - - 4-59
4.9.4 Limiting Linear Servomotor Speed during Force Control - - - - - - - - - - 4-61
4.10 Operating Using Speed Control

with an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - 4-63
4.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64
4.10.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - 4-64
4.11 Limiting Force - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-66

4.11.1 Internal Force Limit (Limiting Maximum Output Force) - - - - - - - - - - 4-66
4.11.2 External Force Limit (Output Force Limiting by Input Signals) - - - - - 4-67
4.11.3 Force Limiting Using an Analog Voltage Reference - - - - - - - - - - - - 4-69
4.11.4 Force Limiting Using an External Force Limit and
Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-70
4.11.5 Checking Output Force Limiting during Operation - - - - - - - - - - - - - 4-71
4.12 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - 4-72

4.12.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-72
4.13 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 4-74

4.13.1 Servo Alarm Output (ALM) and Alarm Code Output
(ALO1, ALO2, ALO3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-74
4.13.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75
4.13.3 Running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75
4.13.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-76
4-2
4 Operation
4.1 Trial Operation

Perform a trial operation after wiring is completed.
Use the following procedure to perform a trial operation. The procedures for Speed Control Mode (standard set-
ting) and Position Control Mode are described in this chapter. When a specific explanation is not provided, use
the default parameters.
(1) Trial Operation Using SERVOPACK Internal References
(Refer to 4.2 Trial Operation Using SERVOPACK Internal References.)
Purpose
YASKAWA
SERVOPACK
SGDH-
200V
Run the linear servomotor without host reference input.

MODE/SET DATA/
Check that the following wiring and settings are correct.
• Power supply circuit wiring
CHARGE POWER
L1 C
To power supply
N
L2 3
• Linear servomotor wiring

+1
+2
-
C
L1C N
• Serial converter unit wiring

L2C 1
B1
B2
W
C
N
2
• Linear scale wiring
• Hall sensor wiring
• Scale pitch setting
• Scale signal count direction and count quantity
• Motor movement direction and movement speed
• Force limit parameter setting
• Polarity detection operation (only if polarity detection is
used.)
(2) Trial Operation Using Host References

(Refer to 4.3 Trial Operation for Linear Servomotor without Load from Host Reference.)
Purpose
YASKAWA
SERVOPACK
SGDH-
200V
Run the linear servomotor with host reference input.

Check that the following wiring and settings are correct.
• I/O signal wiring with the host controller
MODE/SET DATA/
CHARGE POWER
L1 C
To power supply
N
L2 3
+1
+2
-
• Linear servomotor movement direction, movement speed,
and movement distance
C
L1C N
L2C 1
B1
B2 To host controller
• Operation of brake, overtravel, and other protective func-
U
V
C
W N
tions
2
• Required parameter settings
4-3
4.1 Trial Operation
Step Item Description Reference

Installation and Install the linear servomotor and SERVOPACK according to the installation condi-
1 −
mounting tions.
Wiring and Wire and connect the power supply circuit (L1, L2, or L1, L2, L3), linear servomotor
connections (U, V, W), input signal (CN1), and serial converter unit (CN2). Disconnect the CN1
2 −
connector during trial operation using SERVOPACK internal references (Refer to 4.2
Trial Operation Using SERVOPACK Internal References).
Turn ON the Turn ON the power. Check the panel operator to make sure that the SERVOPACK is
3 −
power. running normally. The alarm A.08 does not indicate an error.
Linear scale Set the linear scale pitch (Pn280). After setting validation, check the linear scale sta-
4 −
check tus using the panel operator.
Polarity Check whether the polarity is being correctly detected.

detection
5 operation check −
(only for
detection)
6 Jog operation After setting the mass ratio (Pn103), perform jog operation. Jog operation
Connect input Connect I/O signals (CN1) necessary for the trial operation to the SERVOPACK.
7 −
signals.
Check input Check the input signals using the internal monitor function.
8 signals. Turn ON the power, and check that the emergency stop, brake, overtravel, and other −
protective functions are operating correctly.
Input servo ON Input the servo ON signal, and turn ON the linear servomotor. Host
9
signal. reference 4
Input reference Input the reference for the control mode being used, and check that the linear servo- Host
10
motor is operating normally. reference
Set necessary Run the linear servomotor from the host controller in the same way as in step 10, and Host
11 parameters. set the required parameters so that the machine movement direction, movement dis- reference
tance, and movement speed are the same as the references.
Operation The linear servomotor can now be run. Adjust the servo gain if necessary. Refer to
Host
12 5.1 Autotuning. If an error occurs, refer to Section 6 Inspection, Maintenance, and
reference
Troubleshooting.
4-4
4 Operation
4.2.1 SERVOPACK Setup Procedure
4.2 Trial Operation Using SERVOPACK Internal References

4.2.1 SERVOPACK Setup Procedure
The setup procedures for combinations of a linear servomotor with hall sensor and those for combinations of a
linear servomotor without a hall sensor are different. Use the setup procedure appropriate for the system being
used.
Cate- Setup procedure for linear servomotors Setup procedure for linear servomotors
gory with hall sensors without hall sensors
Proce- 1. Install and wire the linear servomotor and linear 1. Install and wire the linear servomotor and linear
dure scale. scale.
2. Adjust the linear scale. 2. Adjust the linear scale.
3. Connect the cables. 3. Connect the cables.
4. Set the linear scale pitch. 4. Set the linear scale pitch.
5. Check the feedback signal. 5. Select No Hall Sensor in the parameters.
6. Perform jog operation from the panel operator. 6. Check the feedback signal.
7. Set the force limit. 7. Assign polarity detection start input (/P-DET).
8. Set the mass ratio.
9. Set the overtravel signal.
10. Set the force limit.
11. Check the polarity detection operation.
12. Adjust the polarity detection.
13. Perform a jog operation from the panel operator.
4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors

Perform the following steps 1 to 7 in order.
(1) Installation and Wiring of the Linear Servomotor and Linear Scale
Install the coil assembly and linear scale so that the motor forward direction and linear scale count up direction
are the same.
IMPORTANT If the motor forward direction and linear scale count up direction do not match and the linear servomotor is
run in this state, the linear servomotor may not operate or overrun may occur.
When using linear Σ-series servomotors, the motor forward direction (coil assembly’s movement direction when
current flows through phases U, V, and W, in that order) is toward the side from which the motor cable is
extended.
The analog 1-V p-p voltage input from the linear scale to the serial converter unit is counted during phase A (cos
signal) progression.
)
to W
oV Coil assembly cable
n (U t
tio
direc
ard
or forw
Mot
+
Phase A progression
− (pulse increase)
Phase B progression
(pulse decrease)
4-5
INFO Motor Forward Direction and Linear Scale Count Direction Do Not Match
If the motor forward direction and linear scale count direction are opposite due to wiring or other factors, set the parameter
Pn080.1=1 (B-phase progression, U, V, W-phase in order).
Linear Scale Count Direction
The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to the side attached the signal
cable. However, the direction in which the signal cable is extended is different, so the count direction is different. (Viewed
from above).
• Heidenhain linear scale
Reverse direction Forward direction
When installed as shown in the diagram on the left, operation is
performed in the forward direction when the sensor head is
LIDA 48
moved to the right.
HEIDENHAIN
Sensor head Signal cable
• Renishaw linear scale

Forward direction Reverse direction
RENISHAW moved to the left.
RGH22
Signal cable Sensor head
(2) Adjusting the Linear Scale

When the linear scale is an open type, adjust the head installation. For details on the adjustment method, contact
the manufacturer of the scales.
When the linear scale is a sealed type, adjustment is not required. But the dimensional tolerances for installation
must be maintained.
(3) Connecting the Cables

Check the power supply circuit, linear servomotor and encoder wirings. Do not connect the I/O signal connector
(CN1).
For details on the linear servomotor’s main circuit cable and encoder cable, refer to 2.6 Selecting Peripheral
Devices.
YASKAWA 200V
SERVOPACK
SGDH-
MODE/SET DATA/
CHARGE POWER
L1 C
To power supply
N
L2 3
+1
+2
-
C
L1C N
L2C 1
B1
B2
V
C
W N
2
Encoder cable
4-6
4 Operation
(4) Setting the Linear Scale Pitch (Grating)

Turn ON the control power supply.
When the power is supplied normally, the panel operator on the front panel of the SERVOPACK will show the
following display. A linear scale pitch setting error (A.08) will be displayed, but does not indicate an error. Set
the scale pitch (Pn280) according to the scale being used. After setting validation of the control power, the A.08
alarm will be cleared, and the settings will be enabled.
Normal status
If an alarm other than A.08 is displayed, as shown in the following diagram, the power supply circuit, linear ser-
vomotor main circuit cable or encoder cable wiring is the probable cause. Shut down the power supply, specify
the location causing the alarm, and take corrective measures so that the display returns to the above normal sta-
tus. For details on alarms, refer to 6.1 Troubleshooting.
Example of alarm display
Pn280 Linear Scale Pitch Speed Position Force

0 to 65535 1 µm 0 µm After restart
If the linear scale pitch (Pn280) is not set correctly, the linear servomotor cannot be controlled. Make sure that the correct
value is set before operating the linear servomotor.
When using a SERVOPACK right after factory shipment, the alarm A.08 (Linear Scale Pitch Setting Error) will be dis-
played but does not indicate an error. This alarm is generated to remind the user to set Pn280. After setting the correct value
and setting validation, the alarm A.08 is cleared.
Control is performed the SERVOPACK using 1/256 the distance of the scale pitch as a minimum feedback pulse. The count
is performed in the serial converter unit using 1/256 of the linear scale pitch.
Make sure that the scale pitch satisfies the following conditions.
64000
Value of = Integer
Scale pitch (µm)
Examples
Corrent: 1, 2, 4, 8, 10 ,16, 40
Incorrect: 3, 5, 12, 18
Linear scale pitch (Pn280) =

Distance of one cycle of the analog voltage feedback signal.
Linear scale pitch
4-7
(5) Checking the Feedback Signal

Check the following feedback signals to the SERVOPACK.
• Check whether the signals from the linear scale are correctly received.
• Check whether the motor forward direction and linear scale count direction are the same.
IMPORTANT Be sure to check the feedback signals before operating the linear servomotor. If the linear servomotor is
operated without checking the feedback signals, the linear servomotor may not run, or overrun may occur.
(a) Checking the Signals from the Linear Scale

1. Turn ON the control power to the SERVOPACK and set to servo OFF status.
2. Displays the monitor mode parameter Un00D (Feedback Pulse Counter) on the panel operator or digital
operator.
3. Move the linear servomotor from end to end of the stroke by hand, and check whether the correct number
of feedback pulses is returned.
EXAMPLE
Using a linear scale with a scale pitch of 20 µm, if the linear servomotor is moved only 1 cm by hand in the
linear scale’s count direction, the number of feedback pulses will be as follows:
1 cm/ (20 µm/256) = 12,800 pulses
Linear servomotor cable

attached to coil assembly
When the linear servomotor is moved by hand to the side with the cable and
the value of Un00D is 1F400 or FFFE0C00, confirmation is completed.
Note: The actual monitor display will deviate by the error in movement distance only, so a value that is
close to the above value is acceptable.
INFO When the Value of the Un00D is incorrect

• If the Un00D value is not displayed correctly, the following conditions may be present. Check the conditions and take
appropriate countermeasures.
• The scale pitch of the linear scale does not match.
If the scale pitch set in Pn280 is different from the actual scale pitch, the assumed number of feedback pulses will not be
returned. Check the specifications of the linear scale.
• The linear scale has not been adjusted.
If the linear scale is not adjusted, the linear scale’s output signal level will drop and the count will not be correct. Check
that the linear scale is correctly adjusted. For details, contact the scale’s manufacturer.
• The wiring between the linear scale and serial converter unit is not correct.
If the wiring is not correct, a normal count will not be performed. Rewire the devices correctly. 4
4-8
4 Operation
(b) Checking the Concurrence between the Linear Scale Count Direction and the Linear Ser-
vomotor Forward Direction
Next, move the coil assembly by hand in the direction of the side with the cable, and check that the Un00D
monitor is counting up.

When the linear servomotor is moved by hand to the side with the cable,
if the value of Un00D is a countup value, confirmation is completed.
INFO When the Value of the Un00D is counted down

When the value of the Un00D is a counted down, set the parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in
order). Enable the setting by setting validation.
With this setting, the SERVOPACK performs current control by treating the linear scale countup direction as the motor
forward direction.
(c) Related Parameters

Pn080.1 is available for software version 32 or later.
Parameter Description
Pn080 n.0 Phase-A progression, phase-U, V, W order (factory setting)
n.1 Phase-B progression, phase-U, V, W order
(6) Jog Operation from the Panel Operator
IMPORTANT When turning ON the servo for the first time after installation and wiring, stand away from the motor mov-
ing part as overrun may occur.
1. To perform a trial operation with a load attached, set mass ratio (Pn103) before running.
When the calculated mass ratio exceeds 20000%, set 20000 in the parameter and adjust loop gains.
Pn103 Mass Ratio Speed Position Force
0 to 20000 % ∗ 1% 0% Immediately
Use the following formula to obtain the mass ratio.
Load mass (including mass of coil assembly)
Mass ratio (Pn103) = −1 × 100 [%]
Coil assembly mass
* This setting range is applicable for software version 32 or later. The range for software earlier than ver-
sion 32 is 0% to 10,000%.
INFO Perform trial operations without a load attached, where possible.
2. Turn ON the control power supply and main circuit power supply.
3. Operate the panel operator or digital operator and move the linear servomotor using jog operation. For
details on jog operation, refer to 3.2.3 JOG Mode Operation (Fn002).
4. Check that the linear servomotor moves normally from end to end of the stroke.
4-9
INFO Unsuccessful Trial Operations

An unsuccessful trial operation could be attributed to the following conditions. Check the conditions and take appropriate
measures.
• The load is too heavy, or the jog speed is too fast, resulting in force reference saturation.
Set the force limit referring to (7) Setting Force Limit. If the force reference remains saturated, lighten the load or lower
the jog speed.
• The linear servomotor is moving slightly and then stops.
The linear servomotor, hall sensor, and linear scale are out of alignment. Check the wiring, scale pitch setting, linear
scale count, and whether the motor forward direction matches the scale countup direction.
• The alarm A.C2 (phase error detection) occurs when the linear servomotor moves.
The count direction of the linear scale signal is not correct, or the count may not be normal. Perform (5) Checking the
Feedback Signal again.
• If the count is normal, the malfunction may be caused by noise. Check the wiring and ground conditions of the
SERVOPACK, serial converter unit, and linear servomotor.
(7) Setting Force Limit

To prevent danger during setup of the linear servomotor, the factory settings for the forward force limit
(Pn483) and reverse force limit (Pn484) parameters are set to small value (factory setting: 30%).
When the linear servomotor moves normally in jog operation mode, increase the value set for parameters
Pn483 and Pn484 to the force required. Set the value to the maximum value if no particular restricting condi-
tions apply.
Pn483 Forward Force Limit Speed Position Force
0 to 800 % 1% 30 % Immediately
Pn484 Reverse Force Limit Speed Position Force
4-10
4 Operation
4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors

Perform the following steps 1 to 13.
(1) Checking Operating Conditions
Make sure that the following conditions are satisfied when performing polarity detection.
• No problems when linear servomotor is moved approximately 2 mm.
• Scale pitch must be within 100 µm (within 40 µm recommended).
• Minimum unequal external force on the linear servomotor (5% max. of rated force is recommended).
• Mass ratio less than 30 times.
• On a horizontal axis.
• Friction on the guide is a percentage of the rated force (air slide not used).
(2) Installation and Wiring the Linear Servomotor and Linear Scale
Install the coil assembly and linear scale so that the motor forward direction and linear scale count direction are
the same.
IMPORTANT If the motor forward direction and linear scale count directions do not match and the linear servomotor is
run in this state, the linear servomotor may not operate or overrun may occur.
When using linear Σ-series servomotors, the motor forward direction (coil assembly’s direction of progression
when current flows in phase order U, V, and W) is toward the side from which the cable is extended. The analog
1-V p-p voltage input from the linear scale to the serial converter unit is counted up during phase A (cos signal)
progression.
)
to W Coil assembly cable
Ut oV
ction (
or dire
Mot
+
Phase A progression
− (pulse increase)
Phase B progression
(pulse decrease)
4-11
INFO When Motor Forward Direction and Linear Scale Count Direction Do Not Match
When the motor forward direction and linear scale count direction are reversed due to wiring or other factors, set so that
parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in order).
Linear Scale Count Direction
The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to the side attached the signal
cable. However, the direction in which the signal cable is extended is different, so the count direction is different. (Viewed
from above).
• Heidenhain linear scale
Reverse direction Forward direction
LIDA 48
moved to the right.
HEIDENHAIN
Sensor head Signal cable
• Renishaw linear scale

RENISHAW moved to the left.
RGH22
Signal cable Sensor head
(3) Adjusting the Linear Scale

When the linear scale is an open type, adjust the head installation. For details on the adjustment method, contact
the manufacturer of the scales.
When the linear scale is a sealed type, adjustment is not required. But the dimensional tolerances for installation
must be maintained.
(4) Connecting the Cables

Check the power supply circuit, linear servomotor and encoder wirings. Do not connect the I/O signal connector
(CN1).
For details on the linear servomotor’s main circuit cable and encoder cable, refer to 2.6 Selecting Peripheral
Devices.
YASKAWA 200V
SERVOPACK
SGDH-
MODE/SET DATA/
CHARGE POWER
L1 C
To power supply
N
L2 3
+1
+2
-
C
L1C N
L2C 1
B1
B2
V
C
W N
2
Encoder cable
4-12
4 Operation
(5) Setting the Linear Scale Pitch

Turn ON the control power supply.
When the power is supplied normally, the panel operator on the front panel of the SERVOPACK will show the
following display. A linear scale pitch setting error (A.08) will be displayed, but does not indicate an error. Set
the scale pitch (Pn280) according to the scale being used. After setting validation of the control power, the A.08
alarm will be cleared, and the settings will be enabled.
Normal status
If an alarm other than A.08 is displayed, as shown in the following diagram, the power supply circuit, linear ser-
vomotor main circuit cable or encoder cable wiring is the probable cause. Shut down the power supply, specify
the location causing the alarm, and take corrective measures so that the display returns to the above normal sta-
tus. For details on alarms, refer to 6.1 Troubleshooting.
Example of alarm display
Pn280 Linear Scale Pitch Speed Position Force

0 to 65535 1 µm 0 µm After restart
If the linear scale pitch (Pn280) is not set correctly, the linear servomotor cannot be controlled. Make sure that the correct
value is set before operating the linear servomotor.
When using a SERVOPACK right after factory shipment, the alarm A.08 (Linear Scale Pitch Setting Error) will be dis-
played but does not indicate an error. This alarm is generated to remind the user to set Pn280. After setting the correct value
and setting validation, the alarm A.08 is cleared.
Control is performed the SERVOPACK using 1/256 the distance of the scale pitch as a minimum feedback pulse. The count
is performed in the serial converter unit using 1/256 of the linear scale pitch.
Make sure that the scale pitch satisfies the following conditions.
64000
Value of = Integer
Scale pitch (µm)
Examples
Corrent: 1, 2, 4, 8, 10 ,16, 40
Incorrect: 3, 5, 12, 18
Linear scale pitch (Pn280) =

Distance of one cycle of the analog voltage feedback signal.
Linear scale pitch
(6) Selecting No Hall Sensor

Select No Hall Sensor for the parameter Pn080.0. The factory setting is Pn080.0 = 0 (With hall sensor), so
the setting will change to Pn080.0 = 1 (No hall sensor). The setting validation is required to enable the set-
tings.
Pn080 n.0 With hall sensor (factory setting)
n.1 No hall sensor
When Pn080.0 = 0 is set without connecting a hall sensor, the alarm A.C2 (phase error detection) alarm will occur when the
power is turned ON.
4-13
(7) Checking the Feedback Signal

Check the following feedback signals to the SERVOPACK.
• Check whether the signals from the linear scale are correctly received.
• Check whether the motor forward direction and linear scale count direction are the same.
IMPORTANT Be sure to check the feedback signals before operating the linear servomotor. If the linear servomotor is
operated without checking the feedback signals, the linear servomotor may not run, or overrun may occur.
(a) Checking the Signals from the Linear Scale

1. Turn ON the control power to the SERVOPACK and set to servo OFF status.
2. Displays the monitor mode parameter Un00D (Feedback Pulse Counter) on the panel operator or digital
operator.
3. Move the linear servomotor from end to end of the stroke by hand, and check whether the correct number
of feedback pulses is returned.
EXAMPLE
Using a linear scale with a scale pitch of 20 µm, if the linear servomotor is moved only 1 cm by hand in the
linear scale’s count direction, the number of feedback pulses will be as follows:
1 cm/ (20 µm/256) = 12,800 pulses

When the linear servomotor is moved by hand to the side with the cable and
the value of Un00D is 1F400 or FFFE0C00, confirmation is completed.
Note: The actual monitor display will deviate by the error in movement distance only, so a value that is
close to the above value is acceptable.
INFO When the Value of the Un00D is incorrect

• If the Un00D value is not displayed correctly, the following conditions may be present. Check the conditions and take
appropriate countermeasures.
• The scale pitch of the linear scale does not match.
If the scale pitch set in Pn280 is different from the actual scale pitch, the assumed number of feedback pulses will not be
returned. Check the specifications of the linear scale.
• The linear scale has not been adjusted.
If the linear scale is not adjusted, the linear scale’s output signal level will drop and the count will not be correct. Check
that the linear scale is correctly adjusted. For details, contact the scale’s manufacturer.
• The wiring between the linear scale and serial converter unit is not correct.
If the wiring is not correct, a normal count will not be performed. Rewire the devices correctly. 4
(b) Checking the Concurrence between the Linear Scale Count Direction and the Linear Ser-
vomotor Forward Direction
Next, move the coil assembly by hand in the direction of the side with the cable, and check that the Un00D
monitor is counting up.

When the linear servomotor is moved by hand to the side with the cable,
if the value of Un00D is a countup value, confirmation is completed.
4-14
4 Operation
INFO When the Value of the Un00D is counted down

When the value of the Un00D is a counted down, set the parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in
order). Enable the setting by setting validation.
With this setting, the SERVOPACK performs current control by treating the linear scale countup direction as the motor
forward direction.
(c) Related Parameters

Pn080 n.0 Phase-A progression, phase-U, V, W order (factory setting)
n.1 Phase-B progression, phase-U, V, W order
(8) Assigning Polarity Detection Start Input (/P-DET)

When using a linear servomotor without a hall sensor, polarity detection must be performed after turning ON the
power. When the input signal assignment mode is set to the factory setting (Pn50A.0=0), polarity detection starts
at the same time as the Servo ON (/S-ON) signal, and when the polarity detection is completed, the Servo Ready
(/S-RDY) signal turns ON.
To incorporate a sequence at the host controller that monitors the Servo Ready signal and outputs servo ON sig-
nals or to perform polarity detection using different timing from the servo ON signal, the polarity detection start
signal (/P-DET) must be assigned to a user-set input.
After setting the parameter Pn50A.0 to 1 (the input signal assignments can be changed for each signal), set
Pn50D.3 (/P-DET signal mapping) and assign the /P-DET signal to any input terminal. The setting validation is
required to enable the settings.
Type Name Connector Pin Setting Meaning

Number
Input /S-ON CN1-40 ON (low level) Turning the servo ON and the polarity detection function
ON (enabled).
OFF (high level) Turning the servo ON and the polarity detection function
OFF (disabled).
/P-DET Must be allocated ON (low level) Turning the polarity detection function ON (enabled).
OFF (high level) Turning the polarity detection function OFF (disabled).
This input signal is used to start polarity detection.
Either the /S-ON or /P-DET signal can be used to start polarity detection.
When the /P-DET signal is used, input signal must be allocated. For details on assignment methods, refer to 3.3.2 Input Cir-
cuit Signal Allocation.
(9) Setting the mass ratio

Set the mass ratio (Pn103) before starting the polarity detection.
0 to 20000 %∗ 1% 0% Immediately
Use the following formula to obtain the mass ratio.
Load mass (including mass of coil assembly)
Mass ratio (Pn103) = −1 × 100 [%]
Coil assembly mass
* This setting range is applicable for software version 32 or later. The range for software earlier than ver-
sion 32 is 0% to 10,000%.
4-15
(10) Setting the Overtravel Signal

Polarity detection cannot start in overtravel state.
When using the overtravel function, connect the signal wires and use in base block status.
When not using the overtravel function, set the parameters Pn50A.3 to 8 and Pn50B.0 to 8 (OT signal disabled).
The setting validation is required to enable the settings. For details, refer to 4.6.3 Setting the Overtravel Limit
Function.
(11) Setting Force Limit

To prevent danger during setup of the linear servomotor, the factory settings for the forward force limit (Pn483)
and reverse force limit (Pn484) parameters are set to small value (factory setting: 30%).
If the force limit is set after (5) Setting the Linear Scale Pitch and (7) Checking the Feedback Signal, overrun will
not occur. Increase the value in the parameters up to the required force. Set the value to the maximum value if no
particular restricting conditions apply.
INFO If the force limit is set too high, polarity detection may not operate normally.
(12) Checking or Adjusting Polarity Detection

Check whether the polarity detection is operating normally.
IMPORTANT 1. The linear servomotor is turned ON during polarity detection, so take measures to avoid electric shock.
The linear servomotor will make large movements during detection, so do not stand near the coil assem-
bly.
2. Polarity detetion depends on many factors, such as mass ratio, friction, and cable tension. If any error
occurs because of one of these factors, the setting may be incorrect.
(a) Polarity Detection Completion Timing

Polarity detection is performed when the /S-ON signal (/P-DET signal for /P-DET signal assignment) is
input after turning ON the control power and main circuit power. During detection, the status display is P-dt,
and the /S-RDY signal turns ON when completed.
/S-ON input
4
(/P-DET)
/S-RDY output
Polarity detection Polarity detection completed

→Status display: P-dt →Normal operation possible
4-16
4 Operation
(b) Checking whether Detection is Normal

• Simple Confirmation
After turning ON both the control power and main circuit power, input the /S-ON signal (Use /P-DET signal
when using the polarity detection start signal) and perform polarity detection. When the display on the panel
operator or digital operator is bb when the power is turned ON, the display will change to P-dt during polar-
ity detection, and return to bb after completion.
After detection is completed, push the linear servomotor down on the stroke end and check the electrical
angle in monitor mode parameter Un004 (electrical angle 2: Phase U, angle from 0°). After confirmation,
remove the linear servomotor from the stroke end (10 mm min.) Then execute the setting validation, and
restart polarity detection. Repeat this procedure three times. If the deviation of the electrical angle is within
±10°, the polarity detection is normal. However, the polarity detection operation will change slightly depend-
ing on the detection location, perform the following detailed check at the end.
• Detailed Confirmation
Based on the user-set position, measure the electrical angles using monitor mode parameter Un004 (electrical
angle 2: Phase U, angle from 0) when polarity detection is performed at 30 points each 1.5 mm apart. If the
electrical angles are in the relationship 12° ±10, the measurement results indicate the normal polarity detec-
tion.
4-17
(c) Detection Waveforms

The Sigma Win+ trace function can be used to check whether detection is normal.
• Normal Detection
The detection result is normal if the speed feedback for the speed reference for the last detection waveform
(unspecified number of detections) is traced. The following criteria are used to determine whether a trace is
being performed.
• The feedback polarity is not inverse to the reference (speed is in same direction).
• The feedback speed range is 2 mm/s up to the maximum reference speed.
Speed reference Speed reference

(mm/s) (mm/s)
Enlarged
Speed feedback Speed feedback

(mm/s) (mm/s)
Time (ms) Time (ms)
• Detection Error
The detection result is an error if the speed feedback for speed reference for the last detection waveform
(unspecified number of detections) is not traced.
Speed reference Speed reference

(mm/s) (mm/s)
Enlarged
Speed Speed
feedback (mm/s) feedback (mm/s)
Time (ms) Time (ms) 4

INFO The detection waveform is not always the same, so the waveform may be different from those shown above even though
the detection has completed normally.
4-18
4 Operation
(d) Troubleshooting for Polarity Detection Errors

Refer to the following table for troubleshooting if polarity detection is not completed normally.
No. Problem Cause Countermeasure
The linear Polarity Check whether the status display is P-dt when the /S-ON (/P-DET) signal is input.
servomotor detection is not If P-dt is not displayed, check whether the parameters for input signal selection Pn50A
does not move being and Pn50D are set correctly, and check whether signal input is being performed cor-
during polarity performed. rectly.
detection A force limit is To prevent danger during setup, the SGDH SERVOPACK’s factory settings for the
(speed activated. force limit parameters are 30%.
feedback is 0). Check the set values for Pn483 and Pn484, and change to a user-set value if the setting
is initial value. Increase the value to the maximum value if no particular restrictions are
required.
The mechanical When the mechanical friction is relatively larger than the linear servomotor’s rated
friction is large. force (10% or more), the linear servomotor may stop operating during polarity detec-
tion if factory settings are used.
1
First, check whether the mass ratio (Pn103) is set correctly.
If Pn103 is set correctly, increase the value set for polarity detection speed loop gain
(Pn481).
When the load is heavy, a large gain will cause an alarm. The gain cannot be increased
under this condition, so reduce the mechanical friction.
If the mechanical friction cannot be reduced without difficulty, consider using the hall
sensor for polarity detection.
Overtravel If the OT signal is detected during polarity detection, polarity detection will be ended
signal is and the status will be returned to previous status.
detected during Before performing polarity detection, move the linear servomotor to a position where
polarity the OT signal is not detected.
detection.
Polarity Parameter The settings for scale pitch (Pn280) and motor phase selection (Pn080.1) may not be
detection error settings are appropriate for the device. Check the linear scale specifications and feedback signal
alarm (A.C5) incorrect. conditions.
has occurred. Noise is present When the detection reference is repeatedly output several times in the same direction,
in the scale noise may occur in the scale signal, resulting in malfunction. Check that the FG of the
signal. serial converter unit and linear servomotor is connected to FG of the SERVOPACK,
and that FG of the SERVOPACK is connected to the power supply FG.
Also check that the encoder cable is securely sealed.
The coil If the coil assembly is subjected to an external force such as cable tension, and the
assembly is speed feedback is not 0 regardless of a 0 detection reference, polarity detection will be
being subjected poor. Reduce the external force and make the speed feedback 0.
to an external
force.
The linear scale When the linear scale pitch is 100 µm min, the SERVOPACK cannot detect correct
precision is speed feedback.
2 rough. Use a linear scale with good scale pitch precision (within 40 µm is recommended).
Linear When the size of the speed feedback for the polarity detection reference is 2 mm/s max,
servomotor detection may be poor.
traceability for First, check that the mass ratio (Pn103) is set correctly.
the polarity If Pn103 is set correctly, increase the value of polarity detection speed loop gain
detection (Pn481).
reference is When the load is heavy, a large gain will cause an alarm. The gain cannot be increased
poor. under this condition, so reduce the mechanical friction.
If the mechanical friction cannot be reduced without difficulty, consider using the hall
sensor for polarity detection.
The travel An alarm will occur if the linear servomotor movement distance exceeds 10 mm during
distance during polarity detection. The linear servomotor may have moved during detection for some
polarity reason, so check other causes and take appropriate countermeasures.
detection has
exceeded 10
mm.
4-19
(e) Related Parameters

Parameters Description
Pn481 Polarity Detection Speed Loop Gain Speed Position Force
1 to 2000 1 Hz 40 Hz Immediately
Pn482 Polarity Detection Speed Loop Time Constant Speed Position Force
0.15 to 512.00 ms 0.01 ms 30.00 ms Immediately
(13) Jog Operation from the Panel Operator

After checking steps (1) to (12), perform a trial operation as follows:
Note: Perform trial operations without a load attached, if possible.
1. Turn ON the control power and main circuit power.
2. Operate the panel operator or digital operator and move the linear servomotor using jog operation. For
details on jog operation, refer to 3.2.3 JOG Mode Operation (Fn002).
IMPORTANT When turning ON the servo for the first time after installation and wiring, stand away from the linear servo-
motor as overrun may occur.
3. Check that the linear servomotor is moving normally from end to end of the stroke.
INFO Unsuccessful Trial Operations

An unsuccessful trial operation could be attributed to the following conditions. Check the conditions and take appropriate
measures.
• The force reference is saturated because the load is too heavy, or the jog speed is too fast.
Lower the jog speed or lighten the load.
• The linear servomotor is moving slightly and then stops.
The linear servomotor and linear scale are out of alignment. Check the wiring, scale pitch setting, linear scale count,
and whether the motor forward direction matches the scale count direction.
• Polarity detection is not being performed normally.
Perform step (12) Checking or Adjusting Polarity Detection.
Setup is finished when all these checks have been completed.
4-20
4 Operation
4.3.1 Servo ON Command from the Host
4.3 Trial Operation for Linear Servomotor without Load from Host
Reference
Check that the linear servomotor move reference or I/O signals are correctly set from the host controller to the
SERVOPACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the
SERVOPACK operation settings are correct. This is final check before connecting the linear servomotor to the
machine.
4.3.1 Servo ON Command from the Host

The following circuits are required: External input signal circuit or equivalent.
Speed Control Position Control
(Standard Setting) [Pn000=n.1]
[Pn000=n.0]
CN1 CN1
47 47
+24V +24V
/S-ON /S-ON 40
40
P-OT 42 P-OT 42
N-OT 43 N-OT 43
V-REF 5 PULS 7
SIGN 11
0V
0V
4-21
4.3 Trial Operation for Linear Servomotor without Load from Host Reference
Step Description Check Method and Remarks

1 Configure an input signal circuit necessary for servo ON. Satisfy the following conditions:
Connect the I/O signal connectors (CN1) in the circuit on 1. Servo ON (/S-ON) input signal can be input.
the previous page or equivalent to input the signal neces- 2. Forward Run Prohibited (P-OT) and Reverse Run Prohibited
sary for servo ON. Then turn OFF the power and connect (N-OT) input signals are turned ON (L level). (Forward run
the CN1 to the SERVOPACK. and reverse run are prohibited.)
YASKAWA
SERVOPACK
200V
3. Reference input (0V reference or 0 pulse) is not input.
SGDH-
To omit the external wiring, the input terminal function can be set
MODE/SET
CHARGE
L1
DATA/
POWER
C
to “Always ON” or “Always OFF” using the input signal allocation
function of parameter. Refer to 3.3.2 Input Circuit Signal Alloca-
N
L2 3
+1
+2
tion.
-
C
L1C N
1
CN1
L2C
B1
B2
V
C
W N
2
2 Turn ON the power and make sure that the panel operator The input signal setting is not correct if the display is not the same
display is as shown below. as on the left. Check the input signal using the Un005 (input signal
monitor) from the panel operator.

Check input signal wiring in monitor mode using the digital opera-
tor or panel operator. Refer to 3.4.1 List of Monitor Modes.
Turn ON and OFF each signal line to see if the LED monitor bit
display on the digital operator changes as shown below.
Input signal LED display
P-OT /P-CON
N-OT /S-ON
Top lights when input
signal is OFF (high level).
Un005 =
Bottom lights when input
signal is ON (low level).
/ALM-RST
/P-CL
/N-CL
SEN
3 Input the /S-ON signal, then make sure that the display of If an alarm display appears, correct it according to 6.1 Trouble-
the panel operator is as shown below. shooting. If there is noise in the reference voltage during speed
control, the horizontal line (−) at the far left edge of the panel oper-
ator display may blink. Also the linear servomotor may run very
slowly.
4
4-22
4 Operation
4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0)
4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0)

The following circuit is required: External input signal circuit or equivalent.
SERVOPACK
CN1
47
+24V
/S-ON
40
P-OT 42
N-OT 43
+ V-REF
0V 5
VE
− 6
VE Max. voltage 12V

1 Check the power and input signal circuits again, and Refer to the above figure for input signal circuit.
check that the speed reference input (voltage
between the V-REF and SG) is 0 V.
2 Turn ON the servo ON (/S-ON) input signal. If the linear servomotor moves with the speed refer-
ence input 0V, refer to 4.7.3 Adjusting Offset, and use
the reference voltage offset to keep the linear servomo-
tor from moving.
3 Generally increase the speed reference input voltage The factory setting is 6 V/rated speed.
between V-REF and SG from 0 V.
4 Check the speed reference input to the Refer to 3.1.3 Basic Mode Selection and Operation for
SERVOPACK (Un000 [mm/s]). how it is displayed.
5 Check the Un000 (motor speed [mm/s]. Refer to 3.1.3 Basic Mode Selection and Operation for
how it is displayed.
6 Check that the Un001 and Un000 values in steps 4 Change the speed reference input voltage and check
and 5 are equal. that Un001 and Un000 values are equal for multiple
speed references.
7 Check the speed reference input gain and motor Refer to the following equation to change the Pn300
movement direction. (speed reference input gain).
Un001=(voltage between V-REF) [V] × Pn300 [rated
speed/6V]
To change the motor movement direction without
changing polarity for speed reference input gain, refer
to 4.6.2 Switching the Linear Servomotor Movement
Direction.
Perform the operation from step 2 again after the
motor rotation direction is changed.
8 When the speed reference input is set to 0 V and −
servo OFF status enters, the trial operation for ser-
vomotor without load is completed.
4-23
When Position Control is configured at the Host

INFO
Analog speed
reference
Host SERVOPACK M
Position control Speed control
When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the oper-
ations below, following the operations in 4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) on the
previous page.

9 Check the input signal circuit again, and check that Refer to the above figure for input signal circuit.
the speed reference input (voltage between the V-
REF and SG) is 0 V.
10 Turn ON the servo ON (/S-ON) input signal. If the linear servomotor moves at extremely slow
speed, refer to 4.7.3 Adjusting Offset, and use the ref-
erence voltage offset to keep the servomotor from
moving.
11 Send the command for the movement amount easy Refer to 3.1.3 Basic Mode Selection and Operation for
to check (for example, 1 cm) from the host control- how it is displayed.
ler in advance, and check the sent movement Un00D (feedback pulse counter) [pulse]
amount and actual movement distance by visual
inspection and the Un00D (feedback pulse
counter)[pulse].
12 If the sent movement amount and actual movement Refer to 4.7.7 Encoder Signal Output for how to set.
distance in step 11 are not equal, correctly set the Encoder output resolution (Pn281 [P/Pn280]):
Pn281 (PG divider) outputting the encoder pulse The number of encoder pulses per scale pitch
from the SERVOPACK.
13 When the speed reference input is set to 0 V and −
servo OFF status enters, the trial operation for posi-
tion control with the host controller is completed.
4-24
4 Operation
4.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1)
4.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1)

The following circuit is required: External input signal circuit or equivalent.
SERVOPACK
CN1
47
+24V
/S-ON 40
P-OT 42
N-OT 43
CLR 15
PULS 7
Pulse reference
Reference pulse /PULS 8

according to SIGN 11
parameter
/SIGN 12
Pn200.0 setting

1 Match the reference pulse form with the pulse out- Set the reference pulse with Pn200=n.×. Refer
put form from the host controller. to 4.8.1 (2) Setting a Reference Pulse Form.
2 Set the reference unit and electronic gear ration so Set the electronic gear ratio with Pn202/Pn203. Refer
that it coincides with the host controller setting. to 4.8.2 Setting the Electronic Gear.
3 Turn ON the power and the servo ON (/S-ON) input −
signal.
4 Send the pulse reference for the motor movement Set the motor speed of several 10 mm/s for the refer-
amount easy to check (for example, 1 cm) and with ence pulse speed because such speed is safe.
slow speed from the host controller in advance.
5 Check the number of reference pulses input to the Refer to 3.1.3 Basic Mode Selection and Operation
SERVOPACK by the changed amount before and for how it is displayed.
after the Un00C (input reference pulse counter) Un00C (input reference pulse counter) [pulse]
[pulse] was executed.
6 Check the actual motor movement amount [pulse] Refer to 3.1.3 Basic Mode Selection and Operation for
by the change in Un00D (feedback pulse counter) how it is displayed.
[pulse] before and after executing the sent pulse ref- Un00D (feedback pulse counter) [pulse]
erence.
7 Check that steps 5 and 6 satisfy the following equa- −
tion:
Un00D=Un00C × (Pn202/Pn203)
8 Check that the motor movement direction is the Check the input pulse polarity and input reference
same as the reference. pulse form. Refer to 4.8.1 (2) Setting a Reference
Pulse Form.
9 Input the pulse reference with the bigger motor Set the motor speed of several 10 mm/s for the refer-
movement amount from the host controller to obtain ence pulse speed because such speed is safe.
the constant speed.
10 Check the reference pulse speed input to the Refer to 3.1.3 Basic Mode Selection and Operation for
SERVOPACK using the Un007 (input reference how it is displayed.
pulse speed) [mm/s]. Un007 (input reference pulse speed) [mm/s]
The number of input reference pulses (Un00C) can be obtained from the following equation.
Pn202 Pn280 1
Un007 (Input reference pulse) = Input reference pulse [pulse/s] × × ×
Pn203 103(1000) 28(256)
Reference input pps Electronic Encoder pulse
gear ratio
* The encoder pulse differs depending on the model of the servomotor used.
4-25
(cont’d)
11 Check the motor speed using the Un000 (motor Refer to3.1.3 Basic Mode Selection and Operation for
speed) [mm/s]. how it is displayed.
Un000 (motor speed) [mm/s]
12 Check that the Un007 and Un000 values in steps 9 −
and 10 are equal.
13 Check the motor movement direction. To change the motor movement direction without
changing input reference pulse form, refer to 4.6.2
Switching the Linear Servomotor Movement Direction.
Perform the operation from step 9 again after the
motor movement direction is changed.
14 When the pulse reference input is stopped and servo −
OFF status enters, the trial operation for servomotor
without load and using position control with the host
controller is completed.
4-26
4 Operation
4.4 Trial Operation with the Linear Servomotor Connected to the

Machine
WARNING
• Follow the procedure below for trial operation precisely as given.
Malfunctions that occur after the linear servomotor is connected to the machine not only damage the machine, but may
also cause an accident resulting death or injury.
Follow the procedures below to perform the trial operation.
1. Set the necessary parameters according to the machine configuration.
2. Match the direction of movement and speed to equipment specifications.
YASKAWA 200V
SERVOPACK
SGDH-
MODE/SET DATA/
CHARGE POWER
L1 C
To power L2
+ 1
N
3
CN1
supply + 2
-
L1C
L2C
To host controller
B1
B2

1 Turn ON the power and make the settings for Refer to 4.6 Setting Common Basic Functions.
mechanical configuration related to protective func-
tion such as overtravel and brake.
2 Set the necessary parameters for control mode used. Refer to 4.7 Operating Using Speed Control with Ana-
log Reference, 4.8 Operating Using Position Control,
and 4.9 Operating Using Force Control for control
mode used.
3 Check that the SERVOPACK is servo OFF status Refer to 4.6 Setting Common Basic Functions.
and then turn ON the power to the machine (host For steps 3 to 8, take advance measures for emergency
controller). Check again that the protective function stop so that the servomotor can stop safely when an
in step 1 operates normally. error occurs during operation.
4 Adjust the servo gain and improve the linear servo- Refer to 5.1 Autotuning.
motor response characteristics, if necessary. The servomotor will not be broken in completely dur-
ing the trial operation. Therefore, let the system run
for a sufficient amount of additional time to ensure that
it is properly broken in.
5 Write the parameters set for maintenance in 7.5 The servodrive supporting tool “Sigma Win+” serves
Parameter Recording Table. for the file management of parameters.
4-27
4.5 Control Mode Selection

The control modes supported by the SGDH SERVOPACK are described below.
Parameter Control Mode Reference
Section
Pn000 n.0 Speed Control (Analog voltage speed reference) 4.7
(Factory Controls servomotor speed by means of an analog voltage speed reference. Use
setting) in the following instances.
• To control speed
• For position control using the encoder feedback division output from the
SERVOPACK to form a position loop in the host controller.
n.1 Position Control (Pulse train position reference) 4.8
Controls the position of the machine by means of a pulse train position refer-
ence.
Controls the position with the number of input pulses, and controls the speed
with the input pulse frequency. Use when positioning is required.
n.2 Force Control (Analog voltage speed reference) 4.9
Controls the linear servomotor’s output force by means of an analog voltage
force reference. Use to output the required amount of force for operations such
as pressing.
n.3 Speed Control (Contact input speed control) 4.10
Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL
(/SPD-B) to control the speed as set in advance in the SERVOPACK. Three oper-
ating speeds can be set in the SERVOPACK. (In this case, an analog reference is
not necessary.)
n.4 These are switching modes for using the four control methods described above 4.12
　　x in combination. Select the control method switching mode that best suits the
　　x application.
　　x
n.B
4-28
4 Operation
4.6.1 Setting the Servo ON Signal
4.6 Setting Common Basic Functions

4.6.1 Setting the Servo ON Signal
This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
(1) Servo ON signal (/S-ON)
Number
Input /S-ON CN1-40 ON (low level) Linear servomotor power ON. Linear servomotor can be
(Factory setting) operated.
OFF (high Linear servomotor power OFF. Linear servomotor cannot be
level) operated.
IMPORTANT
Always input the servo ON signal before inputting the input reference to start or stop the linear servomotor. Do not input the
input reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal elements and lead to mal-
function.
Note: A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to
3.3.2 Input Circuit Signal Allocation.
(2) Enabling/Disabling the Servo ON Signal

A parameter can be always used to set a parameter servo ON condition. This eliminates the need to wire /S-ON,
but care must be taken because the SERVOPACK can operate as soon as the power is turned ON.
Parameter Meaning
Pn50A n.0 Inputs the /S-ON signal from the input terminal CN1-40. (Factory setting)
n.7 Constantly enables the /S-ON signal.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
• When the parameter is set to constantly “enable” the signal, resetting an alarm can only be done by turning the power
OFF and ON. (Alarm reset is disabled.)
4-29
4.6.2 Switching the Linear Servomotor Movement Direction

The movement direction of the linear servomotor can be switched without changing the reference pulse to the
SERVOPACK or the reference voltage polarity.
This causes the travel direction (+, -) of the shaft reverse. The output signal polarity such as encoder pulse output
and analog monitor signal from the SERVOPACK does not change.
The standard setting for “forward movement” is the linear scale counting up direction.
Parameter Name Reference
Forward Reference Reverse Reference
Pn000 n.0 Standard setting Analog monitor Analog monitor
(CCW = For- Force reference
ward) Moves
Moves
in reverse
(Factory setting) in forward
direction
direction
(CW)
(CCW) Motor movement speed
Encoder pulse divided output Encoder pulse devided output
PAO PAO Phase A progression
PBO Phase B progression PBO
n.1 Reverse Analog monitor Analog monitor

Direction Mode
(CW = Reverse)
Moves in Move in
reverse forward
direction direction
(CCW)
(CW)
Encoder pulse divided output Encoder pulse divided output
PAO PAO Phase A progression
PBO Phase B progression PBO

The direction of P-OT and N-OT change. For Pn000 = n.0 (standard setting), counterclockwise is P-OT. For Pn000
= n.1 (Reverse Direction Mode), clockwise is P-OT.
4-30
4 Operation
4.6.3 Setting the Overtravel Limit Function
4.6.3 Setting the Overtravel Limit Function

The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion
and turn ON a limit switch.
(1) Connecting the Overtravel Signal
To use the overtravel function, connect the following overtravel limit switch input signal terminals.
Number
Input P-OT CN1-42 ON (low level) Forward run allowed. Normal operation status.
(Factory setting) OFF (high level) Forward run prohibited. Forward overtravel.
Input N-OT CN1-43 ON (low level) Reverse run allowed. Normal operation status.
(Factory setting) OFF (high level) Reverse run prohibited. Reverse overtravel.
Connect limit switches as shown below to prevent damage to the devices dur- Linear servomotor
ing linear motion. Forward
Movement in the opposite direction is possible during overtravel. For example,
SERVOPACK
reverse run is possible during forward overtravel
Limit Limit CN1
P-OT
switch switch 42
N-OT
43
IMPORTANT
When the linear servomotor stops due to overtravel during position control, the position error pulses are held. A clear sig-
nal
(/CLR) input is required to clear the error pulses.
(2) Enabling/Disabling the Overtravel Signal

A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the over-
travel input signal.
Parameter Meaning
Pn50A n.2 Inputs the Forward Run Prohibited (P-OT) signal from CN1-42. (Factory setting)
n.8 Disables the Forward Run Prohibited (P-OT) signal. (Allows constant forward run.)
Pn50B n.3 Inputs the Reverse Run Prohibited (N-OT) signal from CN1-43. (Factory setting)
n.8 Disables the Reverse Run Prohibited (N-OT) signal. (Allows constant reverse run.)
• Applicable control methods: Speed control, position control, and force control
* A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.3.2 Input Cir-
4-31
(3) Selecting the Motor Stop Method When Overtravel is Used

This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the motor is operating.
Parameter Stop Mode Mode After Meaning
Stopping
Pn001 n.00 Stop by dynamic Dynamic Brake Stops the linear servomotor by applying dynamic
brake brake (DB), then holds it in Dynamic Brake Mode.
(Factory setting)
n.01 Coast Stops the linear motor by applying dynamic brake,
then places it into Coast (power OFF) Mode.
n.02 Coast to a stop Coasts the linear motor to a stop, then places it into
Coast (power OFF) Mode.
n.1 Decelerate to stop Zero Clamp Decelerates the linear servomotor with emergency
stop force (Pn406), then places it into Zero Clamp
(Servolock) Mode.
n.2 Coast Decelerates the linear servomotor with emergency
stop force (Pn406), then places it into Coast (power
OFF) Mode.
• During force control, linear servomotor will be placed in Coast Mode after stopping regardless of the setting of Pn001.1.
• During n.02 Coast Mode, SERVOPACK can be resumed using the servo ON signal.
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting by a circuit of SERVOPACK).
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
• Decelerate to stop: Stops by using deceleration (braking) force.
• Zero Clamp Mode: A mode forms a position loop by using the position reference zero.
* For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 4.6.4 Selecting the Stopping
Method After Servo OFF.
(4) Setting the Stop Force for Overtravel

Pn406 Emergency Stop Force Speed Position Force

0 to 800 % 800 Immediately
• This sets the stop force for when the overtravel signal (P-OT, N-OT) is input.
• The setting unit is a percentage of the rated force (i.e., the rated force is 100%).
• The value large enough to be the motor maximum force, 800% is set as the factory setting for emergency stop force.
However, the actual output emergency stop force is determined by motor ratings. 4
4-32
4 Operation
4.6.4 Selecting the Stopping Method After Servo OFF
4.6.4 Selecting the Stopping Method After Servo OFF

The stopping method when the power to the SERVOPACK turns OFF can be selected.
Parameter Stop Mode Mode After Meaning
Stopping
Pn001 n.0 Stop by dynamic Dynamic Brake Stops the linear servomotor by dynamic braking
brake (DB), then holds it in Dynamic Brake Mode. (Fac-
tory setting)
n.1 Coast Stops the servomotor by dynamic braking (DB),
then places it into Coast (power OFF) Mode.
n.2 Coast to a stop Coast Stops the servomotor by coasting, then places it
into Coast (power OFF) Mode.
These parameters are valid under the following conditions:
• When the /S-ON input signal is OFF (Servo OFF).
• When an alarm occurs.
• When main circuit power supply (L1, L2, L3) is OFF. (Some linear servomotor models are forcibly stopped by dynamic
braking.)
Similar to the Coast Mode, the n.0 setting (which stops the servomotor by dynamic braking and then holds it in
Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it runs at very low speed.
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting by a circuit of SERVOPACK).
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
IMPORTANT
The linear servomotor is forced to stop by dynamic braking, regardless of the settings of this parameter, when the main
circuit power supply (L1, L2, L3) or control power supply (L1C, L2C) turns OFF.
• SGDH-A5AE to -15AE (50 W to 1.5 kW for 200 V)
• SGDH-10DE to -75DE (1.0 kw to 7.5 kW for 400 V)
If the linear servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply
(L1, L2, L3) or the control power supply (L1C, L2C) turns OFF, arrange the sequence externally so the linear servomotor
wiring (U, V, W) will be interrupted.
IMPORTANT The dynamic brake (DB)1 is an emergency stop function.

If the servomotor is frequently started and stopped by turning the power ON/OFF or using the servo ON sig-
nal (/S-ON), the DB circuit will also be repeatedly operated, degrading the SERVOPACK’s internal ele-
ments. Use the speed input reference and position reference to control the starting and stopping of the
servomotor.
1
Dynamic brake (DB) SERVOPACK Servomotor
TERMS
A common method for quickly stopping a servomotor. The servomotor is stopped
by short-circuiting the servomotor circuit. This circuit is built into the
SERVOPACK.
4-33
4.6.5 Instantaneous Power Loss Settings

Determines whether to continue operation or turn the servo OFF when the power supply voltage to the SERVO-
PACK main circuit is instantaneously interrupted.
Pn509 Instantaneous Power Cut Hold Time Speed Position Force
20 to 1000 ms 20 Immediately
In power loss detection, the status of the main circuit power supply is detected and OFF status is ignored so servomotor
operation will continue if the servomotor turns back ON within the time set in parameter Pn509.
Instantaneous power interruption

In the following instances, however, the parameter setting
will be invalid. Power
• If an insufficient voltage alarm (A.41) occurs during a supply OFF time t
power loss with a large servomotor load. voltage
• When control is lost (equivalent to normal power OFF Operation
operation) with loss of the control power supply. continued
Pn509 > t Servo ON
IMPORTANT
The maximum setting for the hold time during a power
loss is 1,000 ms, but the hold time for the SERVOPACK Pn509 < t Servo ON Servo OFF
control power supply is about 100 ms. The hold time for
the main circuit power supply depends on the
SERVOPACK output.
To continue SERVOPACK operation for a power loss that is longer than this, provide an uninterruptible power supply.
4.6.6 Motor Maximum Speed (For the software version 32 or later)

Sets the linear servomotor maximum speed.
Setting a lower speed realizes more delicate speed control and more strict protection by generating the overspeed
alarm (A.51.) Also, setting a lower speed allows the upper limit of PG divider (Pn281) to be set higher. Refer to
4.7.7 Encoder Signal Output for details.
Pn384 Motor Maximum Speed Speed Position Force
1 to 50 0.1 m/s 50 After Restart
(0.1 to 5.0 m/s)
• If a value lower than the rated speed is set for Pn384, the rated speed becomes the same value as the setting of Pn384.
• The detection level for the overspeed alarm A.51 is “the set value of Pn384 × 1.1.”
4-34
4 Operation
4.7 Operating Using Speed Control with Analog Reference

Pn000 n.0 Control mode selection: Speed control (analog reference) (factory setting)
Pn300 Speed Reference Input Gain Speed Position Force

1.50 to 30.00 V/Rated 0.01 V/Rated 6.00 V/Rated speed Immediately
speed) speed
Sets the analog voltage level for the speed reference (V-REF) necessary to operate the
Reference
linear servomotor at the rated speed.
Speed Set this
(mm/s) slope.
EXAMPLE
Pn300=6.00: 6-V input is equivalent to the rated speed of the servomotor Reference
(factory setting). Voltage (V)
Pn300=10.00: 10-V input is equivalent to the rated speed of the servomotor.

Pn300=2.00: 2-V input is equivalent to the rated speed of the servomotor.
4-35
4.7.2 Setting Input Signals

(1) Speed Reference Input
Input the speed reference to the SERVOPACK using the analog voltage reference to control the linear servomotor
speed in proportion to the input voltage.
Type Signal Connector Pin Name
Name Number
Input V-REF CN1-5 Speed Reference Input
SG CN1-6 Signal Ground for Speed Reference Input
The above inputs are used for speed control (analog voltage reference). (Pn000.1 = 0, 4, 7, 9, or A)
Pn300 is used to set the speed reference input gain. Refer to 4.7.1 Setting Parameters.
Input Specifications
• Input range: ±2 VDC to ±10 VDC/rated speed
• Maximum allowable input voltage: ±12 VDC
• Setting Example
Pn300 = 600: Rated speed at ±6 V
Rated motor speed Actual examples are shown below.
Factory setting
-12 -8 -4 Speed Reference Movement SGLGW Linear
Motor Speed
4 8 12 Input Direction Servomotor
Input voltage (V)
+6 V Forward Rated motor speed 1500 mm/s
Rated motor speed
+1 V Forward (1/6) rated motor speed 250 mm/s
The slope is set in Pn300.
-3 V Reverse (1/2) rated motor speed 750 mm/s
Parameter Pn300 can be used to change the voltage input range.

Input Circuit Example Connect V-REF and SG to the speed reference output terminals on
• Always use twisted-pair wire to control noise. the host controller when using a host controller, such as a program-
• Recommended variable resistor: Model 25HP- mable controller, for position control.
10B manufactured by Sakae Tsushin Kogyo Co., SERVOPACK
Ltd. Host controller
CN1
V-REF 5
SERVOPACK Speed reference
1.8 kΩ 1/2 W min. output terminals SG 6
CN1
V-REF 5
+12 V 2 kΩ
Feedback PAO 33
SG 6 /PAO 34
pulse input PBO 35
terminals /PBO 36
: represents twisted-pair wires.
(2) Proportional Control Reference (/P-CON) 4

Type Signal Connector Setting Description
Name Pin Number
Input /P-CON CN1-41 ON (low level) Operates the SERVOPACK with proportional control.
OFF (high level) Operates the SERVOPACK with proportional integral
control.
/P-CON signal selects either the PI (proportional integral) or P (proportional) Speed Control Mode.
Switching to P control reduces linear servomotor movement and minute vibrations due to speed reference input drift.
Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops
when the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 3.3.2 Input Circuit
Signal Allocation.
4-36
4 Operation
4.7.3 Adjusting Offset

When using the speed control, the servomotor may run slowly even if 0 V is specified as the analog voltage ref-
erence. This happens if the host controller or external circuit has a slight offset (in the units of mV) in the refer-
ence voltage. Adjustments can be done manually or automatically by using the panel operator or digital operator.
Refer to 3.2 Operation in Utility Function Mode (Fn).
The automatic adjustment of the analog (speed, force) reference offset (Fn009) automatically measures the
amount of the offset and adjusts the reference voltage.
The SERVOPACK automatically adjusts the offset when the host controller or external circuit has the offset in
the reference voltage.
Reference Reference
voltage voltage Offset automatically
adjusted in SERVOPACK.
Offset
Speed Speed
reference reference
Automatic
offset
adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the speed reference offset manual adjustment mode (Fn00A).
4-37
(1) Automatic Adjustment of the Speed Reference Offset

The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with
a host controller. Use the speed reference offset manual adjustment (Fn00A) described in the next section for a
position loop.
The zero-clamp speed control function can be used to force the motor to stop while the zero speed reference is
given. Refer to 4.7.6 Using the Zero Clamp Function.
The speed reference offset must be automatically adjusted with the servo OFF.
IMPORTANT
Adjust the speed reference offset automatically in the following procedure.

Step Display after Digital Panel Description
1 SERVOPACK Linear servomotor
Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
0-V force
Host
reference
controller
Servo OFF
Slow movement
(Servo ON)
2 DSPL
Press the DSPL/SET or MODE/SET Key to select the utility
SET function mode.
(MODE/SET Key)
3 Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWN

Key to select parameter Fn009.
*The digit that can be set will blink.
4 Press the DATA/ENTER Key once, or DATA/SHIFT Key for
DATA
ENTER more than one second. “rEF_o” will be displayed.
DATA
5 DSPL
SET
The reference offset will be automatically adjusted.
(MODE/SET Key) When completed, “donE” will blink for about one second.
6 After “donE” is displayed, “rEF_o” will be displayed again.
About one second later

DATA
ENTER
DATA
more than one second to return to the Fn009 display of the utility
(DATA/ENTER Key) (DATA/SHIFT Key) function mode.
4-38
4 Operation
(2) Manual Adjustment of the Speed Reference Offset

Use the speed reference offset manual adjustment (Fn00A) in the following situations:
• If a loop is formed with the host controller and the position error pulse is to be zero when servolock is
stopped.
• To deliberately set the offset to some value.
• To check the offset data set in the speed reference offset automatic adjustment mode.
This function operates in the same way as the reference offset automatic adjustment mode (Fn009), except that
the amount of offset is directly input during the adjustment.
The offset setting range and setting units are as follows:
Speed Reference
Offset adjustment
range Offset Adjustment Range: ±15000
(Speed Reference: ±750 mV)
Offset setting unit Analog

Offset Setting Unit
Input
Speed Reference: 1 = 0.05 mV
Voltage
Adjust the speed reference offset manually in the following procedure.

1 DSPL
SET function mode.
(MODE/SET Key
2 Press the UP or DOWN Key to select parameter Fn00A.

DATA
ENTER more than one second. The display will be as shown at the left.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) The manual adjustment mode for the speed reference offset will
be entered.
4 Turn ON the servo ON (/S-ON) signal. The display will be as
Servo ON shown at the left.
5 Press the LEFT or RIGHT Key or DATA/SHIFT Key for less

DATA/
than one second to display the speed reference offset amount.
(DATA/SHIFT Key)
(Less than 1 s.)
6 Press the UP or DOWN Key to adjust the amount of offset.
7 Press the LEFT or RIGHT Key or MODE/SET Key for less than
one second. The display will appear momentarily as shown at the
MODE/SET left, and “donE” will blink and the offset will be set. After the
(MODE/SET Key)
(Less than 1 s.) setting is completed, the display will return to the display as
shown at the left.
DATA
ENTER more than one second to return to the Fn00A display of the utility
DATA
4-39
4.7.4 Soft Start

The soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent rate of
acceleration and deceleration.
Pn305 Soft Start Acceleration Time Speed
Pn306 Soft Start Deceleration Time Speed
The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally
set speeds. Set both Pn305 and Pn306 to “0” for normal speed control.
Set these parameters as follows:
• Pn305: The time interval from the time the motor starts until the motor maximum speed is reached.
• Pn306: The time interval from the time the motor is operating at the motor maximum speed until it stops.
Maximum speed of Servomotor
After soft start

Before soft start
Pn305 Pn306
4.7.5 Speed Reference Filter

Pn307 Speed Reference Filter Time Constant Speed
0 to 65535 0.01 ms 40 Immediately
This smoothens the speed reference by applying a 1st-order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will slow down response.
4.7.6 Using the Zero Clamp Function

(1) Zero Clamp Function
The zero clamp function is used for systems where the host controller does not form a position loop for the speed
reference input. When the zero clamp signal (/ZCLAMP) is ON, a position loop is formed inside the SERVO-
PACK as soon as the input voltage of the speed reference (V-REF) drops below the motor speed level in the zero
clamp level (Pn580). The servomotor ignores the speed reference and then quickly stops and locks the servomo-
tor.
The servomotor is clamped within ±1 pulse of when the zero clamp function is turned ON, and will still return to
the zero clamp position even if it is forcibly moved by external force. 4
When the /ZCLAMP signal is turned ON, a
speed reference below the Pn580 setting is
detected
YASKAWA SERVOPACK
YASKAWA SGDH-
Speed reference
Host V-REF
MODE/SET
CHARGE
DATA/
POWER
controller
Stops
Zero clamp precisely!
/P-CON
(/ZCLAMP)
4-40
4 Operation
4.7.6 Using the Zero Clamp Function
(2) Parameter Setting

Parameter Meaning
Pn000 n.A Control mode selection: Speed control (analog voltage reference) ⇔ Zero clamp
Zero Clamp Conditions
Zero clamp is performed with Pn000 = n.A when the following two conditions are satisfied:
• /P-CON (/ZCLAMP) is ON (low level).
• Speed reference (V-REF) drops below the setting of Pn580.
SERVOPACK V-REF speed reference
Speed
CN1
V-REF 5 Preset value
Speed reference
for zero clamping
Zero clamp
/P-CON 41 Pn580
(/ZCLAMP)
Time
Closed (ON)
/P-CON (/ZCLAMP) input Open (OFF)
Zero clamp is performed. OFF OFF
ON ON ON
Pn580 Zero Clamp Level Speed

0 to 10000 1 mm/s 10 Immediately
Sets the motor speed at which the zero clamp is performed if zero clamp speed control (Pn000 = n.A) is selected.
Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used.
(3) Input Signal Setting

Type Signal Name Connector Pin Setting Meaning
Number
Input /P-CON CN1-41 ON (low level) Zero clamp function ON (enabled)
OFF (high level) Zero clamp function OFF (disabled)
/ZCLAMP Must be allocated ON (low level) Zero clamp function ON (enabled)
OFF (high level) Zero clamp function OFF (disabled)
This is the input signal for the zero clamp operation.
Either /P-CON or /ZCLAMP can be used to switch the zero clamp.
To use the /ZCLAMP signal, an input signal must be allocated. Refer to 4.3.2 Input Circuit Signal Allocation for more
details.
IMPORTANT
When the /ZCLAMP signal is allocated, the zero clamp operation will be used even for speed control Pn000 = n.0.
4-41
4.7.7 Encoder Signal Output

Encoder feedback pulses processed inside the SERVOPACK can be output externally.
Type Signal Connector Name
Name Pin Number
Output PAO CN1-33 Encoder output phase A
/PAO CN1-34 Encoder output phase /A
Output PBO CN1-35 Encoder output phase B
/PBO CN1-36 Encoder output phase /B
Output PCO CN1-19 Encoder output phase C (zero-point pulse)
/PCO CN1-20 Encoder output phase /C (zero-point pulse)
Outputs are explained here.
SERVOPACK Host controller

Linear
scale CN1
CN2 ∗ Phase A (PAO)
Analog signal Serial DATA Fre-
PG converter quency Phase B (PBO) Note: The zero-point pulse width will
unit dividing Phase C (PCO) be the same as the phase A
circuit
pulse width accoding to the
dividing ratio.
* Even in reverse movement mode (Pn000.0 = 1), the dividing output phase form is the same as that for the standard setting
(Pn000.0 = 0).
Output Phase Form
Forward movement (phase B leads by 90°) Reverse movement (phase A leads by 90°)
90° 90°
Phase A Phase A
Phase B Phase B
Phase C Phase C
t t
• When returning the machine to its home position by using the zero-point signal of linear scale, the home
IMPORTANT
return speed should be 50 mm/s or less. If the speed is higher than 50 mm/s, the phase C pulse may not be
output correctly.
• When using a linear scale with more than one zero-point signal, the phase C pulse width of 2nd and onward
zero-point signal will be half of the phase A pulse width. 4
• When using the zero-point signal of linear scale manufacture by RENISHAW, the phase C pulse is output at
two positions after passing the first zero-point. This is not an error. And, the phase C pulse width of 2nd
zero-point will be half of the phase A pulse width.
Dividing
TERMS The dividing means that the divider converts data into the pulse density set in th parameter Pn281, on the base of the scale
pitch of linear scale installed on the linear servomotor, and outputs it. The setting unit is the number of edges/scale pitch.
4-42
4 Operation
4.7.7 Encoder Signal Output
• Pulse Dividing Ratio Setting

Pn281 Encoder Output Resolution
Speed Position Force

1 to 225P/{Pn280)×4} 1P/{(Pn280)×4} 20P/{(Pn280)×4} After restart
Set the output pulse resolution for PG output signals (PAO, /PAO, PBO, /PBO) externally from the SERVOPACK.
Feedback pulses per linear scale pitch (Pn280) are divided inside the SERVOPACK by the value set in Pn281 before being
output. (Set according to the system specifications of the machine or host controller.)
The setting range varies with the linear servomotor maximum speed (Pn384) and linear scale pitch (Pn280). Refer to the
table below for details.
Scale Pitch Motor Max. Speed Encoder Output
Pn280 µm Pn384 m/s Resolution Pn281
5 1 to 63
40 4 64 to 127
2 128 to 255
5 1 to 31
4 32 to 63
20 2 64 to 127
1 128 to 255
1 1 to 31
0.8 32 to 63
4 0.4 64 to 127
0.2 128 to 255
Note: 1. When the scale pitch is 4 µm, the motor maximum speed is limited to 1 m/s because of the max-
imum response frequency of serial converter unit.
2. The SERVOPACK with the software version 32 or higher outputs the alarm “Dividing Pulse
Output Setting Error (A.09)” if the set value does not satisfy the above setting range or the set-
ting conditions.
The SERVOPACK with the sofware version before 32 cannot output correctly the divided
pulses if the set value does not satisfy the above setting range or the setting condition.
3. The upper limit of encoder output resolution is limited by the frequency dividing specification
of serial converter unit.
Setting Example
When the linear scale pitch = 20 µm and the motor maximum speed = 5 m/s,
Pn281 = 31 is accepted, but Pn281 = 32 is not accepted and A.09 is output.
Output Example
When Pn281 = 20 (20-edge output (5-pulse output) per linear scale pitch),
Preset value 20
PAO
PBO
Linear scale
pitch Pn280
4-43
4.7.8 Speed Coincidence Output

The speed coincidence (/V-CMP) output signal is output when the actual motor speed during speed control is the
same as the speed reference input. The host controller uses the signal as an interlock.
Type Signal Connector Setting Meaning
Name Pin Number
Output /V-CMP CN1-25, 26 ON (low level) Speed coincides.
(Factory setting) OFF (high level) Speed does not coincide.
This output signal can be allocated to another output terminal with parameter Pn50E.
Refer to 3.3.3 Output Circuit Signal Allocation for details.
Pn582 Speed Coincidence Signal Output Width Speed

The /V-CMP signal is output when the difference between the speed
reference and actual motor speed is the same as the pn582 setting or Motor speed
less.
EXAMPLE Pn503
The /V-CMP signal turns ON at 1900 to 2100 mm/s if the Pn582 is set
to 100 and the reference speed is 2000 mm/s.
Reference speed
/V-CMP is output in
this range.
/V-CMP is a speed control output signal. When the factory setting is used and the output terminal allocation is not per-
formed with the Pn50E, this signal is automatically used as the positioning completed signal /COIN for position control,
and it is always OFF (high level) for torque control.
4-44
4 Operation
4.8 Operating Using Position Control

Set the following parameters for position control using pulse trains.
(1) Control Mode Selection
Parameter Meaning
Pn000 n.1 Control mode selection: Position control (pulse train reference)
(2) Setting a Reference Pulse Form

Name Pin Number
Input PULS CN1-7 Reference Pulse Input
/PULS CN1-8 Reference Pulse Input
SIGN CN1-11 Reference Code Input
/SIGN CN1-12 Reference Code Input
Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.
Parameter Reference Pulse Input Forward Movement Reverse Movement
Form Pulse Reference Reference
Multiplier
Pn200 n.0 Sign + pulse train −
PULS PULS
(Positive logic) (CN1-7) (CN1-7)
(Factory setting) SIGN H SIGN

L
(CN1-11) (CN1-11)
n.1 CW pulse + CCW −

PULS PULS
pulse (CN1-7) L (CN1-7)
(Positive logic) SIGN SIGN
(CN1-11) (CN1-11) L
n.2 Two-phase pulse ×1 90° 90°
n.3 train with 90° phase ×2 PULS PULS

(CN1-7) (CN1-7)
differential
n.4 ×4 SIGN SIGN
(Positive logic) (CN1-11) (CN1-11)
n.5 Sign + pulse train − PULS PULS

(Negative logic) (CN1-7) (CN1-7)
SIGN L SIGN
H
(CN1-11) (CN1-11)
n.6 CW pulse + CCW − PULS PULS

pulse (CN1-7) H (CN1-7)
SIGN SIGN
H
n.7 Two-phase pulse ×1 90 90
n.8 train with 90° phase ×2 PULS PULS

(CN1-7) (CN1-7)
differential
n.9 ×4 SIGN SIGN
The input pulse multiplier can be set for the

2-phase pulse train with 90° phase differen-
tial reference pulse form. PULS
(CN1-7)
SIGN
(CN1-11)
×1
Internal Motor movement
×2 reference pulses
processing
×4
4-45
(3) Clear Signal Form Selection

Name Pin Number
Input CLR CN1-15 Clear Input
/CLR CN1-14 Clear Input
The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter
Pn200.1. Select according to the specifications of the machine or host controller.
Parameter Description Timing
Pn200 n.0 Clears at high level. Clears at
CLR
Position error pulses do not accumulate while the (CN1-15) high level
signal is at high level.
(Factory setting)
n.1 Clears at the rising edge.
CLR High
(CN1-15)
Clears here just once.
n.2 Clears at low level. CLR
Position error pulses do not accumulate while the (CN1-15) Clears at low level
signal is at low level.
n.3 Clears at the falling edge.

CLR Low
(CN1-15)
Clears here just once.

The following are executed when the clear operation is enabled.
• The SERVOPACK error counter is set to 0.
• Position loop operation is disabled.
→ Holding the clear status may cause the servo clamp to stop functioning and the linear servomotor to move slowly due
to drift in the speed loop.
When the clear signal (CLR) is not wired, the signal is always at low level (does not clear) and the position error pulses will
not be cleared.
(4) Clear Operation Selection

This parameter determines when the error pulse should be cleared according to the condition of the SERVO-
PACK, in addition to the clearing operation of the clear signal (/CLR). Either of three clearing modes can be
selected with Pn200.2
Pn200 n.0 Clear the error pulse during the baseblock. (Factory setting)
“During the baseblock” means when the SVON signal or the main circuit power supply is
OFF, or an alarm occurs. 4
n.1 Do not clear the error pulse. Clear only with the /CLR signal.
n.2 Clear the error pulse when an alarm occurs.
4-46
4 Operation
4.8.2 Setting the Electronic Gear

(1) Scale Feedback Resolution
The scale feedback resolution from the SERVOPACK is 1/256 of the scale pitch (Pn280).
Scale Pitch Pulse Resolution
40 µm 0.156 µm
20 µm 0.078 µm
4 µm 0.016 µm
(2) Electronic Gear

The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be
set to any value. One reference pulse from the host controller, i.e., the minimum position data unit, is called a ref-
erence unit.
When the Electronic Gear When the Electronic Gear

is Not Used is Used
Linear scale Linear scale

Reference unit 1µm
To move a workpiece 10 mm (0.39 in.) To move a workpiece 10 mm using reference units
The scale pitch is 20 µm. Therefore, 1 reference unit is 1 µm.
10 1000 20 256=128000 pulses To move a workpiece 10 mm (10000 µm),
128000 pulses are input as reference 1 pulse = 1 µm,
pulses. 10000/1=10000 pulses.
The equation must be calculated at Input 10000 pulses as reference input.
the host controller.
4-47
(3) Related Parameters

Pn202 Electronic Gear Ratio (Numerator) Position

1 to 65535 − 4 After restart
Pn203 Electronic Gear Ratio (Denominator) Position

1 to 65535 − 1 After restart
The electronic gear ratio to be set can be calculated by the following equation:
B Pn202 Workpiece travel distance per reference u
Electronic gear ratio: = =
A Pn203 Scale pitch
* If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range. Be careful not to change the electronic gear ratio (B/A).
IMPORTANT
Electronic gear ratio setting range: 0.01 ≤ Electronic gear ratio (B/A) ≤ 100
If the electronic gear ratio is outside this range, the SERVOPACK will not operate properly. In this case, modify the load
configuration or reference unit.
(4) Procedure for Setting the Electronic Gear Ratio

Use the following procedure to set the electronic gear ratio.
Step Operation Description
1 Check the scale pitch. Check the scale pitch of linear scale used.
2 Determine the reference unit used. Determine the reference unit from the host controller, considering the
machine specifications and positioning accuracy.
3 Calculate the electronic gear ratio. Use the electronic gear ratio equation to calculate the ratio (B/A).
4 Set parameters. Set parameters using the calculated values.
4-48
4 Operation
(5) Electronic Gear Ratio Setting Example

An example of electronic gear ratio setting is given below.
Step Operation Load Configuration
1 Check the scale pitch. 0.02 mm (20 µm)
2 Determine the reference 1 reference unit: 0.001 mm (1 µm)
unit.
3 Calculate the electronic B 1(µm)
gear ratio. = × 256
A 20(µm)
4 Set parameters. Pn202 256
Pn203 20
(6) Electronic Gear Ratio Equation　
Reference pulse B + Posi- Speed

Linear servomotor
tion loop
A − loop
∆ mm/P
Movement distance L mm
×256
∆ mm/P Reference unit L
mm/scale pitch
L mm Movement distance Ps
Ps mm Scale pitch
L B ) L
× ( = 256 ×
∆ A Ps
( B ) = 256 × L × ∆ 256 × ∆ Set A and B with the following parameters.

=
A Ps × L Ps A Pn203 B Pn202
4-49
4.8.3 Position Reference

The servomotor positioning is controlled by inputting a pulse train reference.
The pulse train output form from the host controller corresponds to the following:
• Line-driver Output
• +24V Open-collector output
Precautions for Open-collector Output

IMPORTANT
When the open-collector output is used, input signal noise margin lowers. Change the parameter as follows:
Pn200 n.1 Reference input filter for open-collector signal
(1) Input/Output Signal Timing Example

Servo ON ON
Release
t1 ≤ 30 ms
Baseblock t1 t2
t2 ≤ 6 ms
H
(When parameter Pn506 is set to 0.)
CN1-11
H t3 ≥ 40 ms
Sign + pulse train t3
L
CN1-7
H
L
PAO
H t4, t5, t6 ≤ 2 ms
Encoder pulses L t7 ≥ 20 µs
PBO
t5
/COIN t4 t6
ON ON
CLR
t7
Note: 1. The interval from the time the servo ON signal is turned ON until a reference pulse is input must
be at least 40 ms, otherwise the reference pulse may not be received by the SERVOPACK.
2. The error counter clear signal must be ON for at least 20 µs.
4-50
4 Operation
(2) Reference Pulse Input Signal Timing

The reference pulse input signal timing is shown below.
Table 4.1 Reference Pulse Input Signal Timing

Reference Pulse Signal Form Electrical Specifications Remarks
Sign and pulse train input t1 t2
t1，t2 ≤ 0.1 ms Sign (SIGN)
(SIGN and PULS signal) SIGN H = Forward
t3
t7 t3，t7 ≤ 0.1 ms
Maximum reference frequency: reference
PULS t4 t4，t5，t6 ＞ 3 µs
500 kpps τ t5 t6 L = Reverse
(For open-collector output: 200 kpps)
T τ ≥ 1.0 µs reference
Forward Reverse
reference reference (τ/T) × 100 ≤ 50%
CW pulse and CCW pulse t1 t1，t2 ≤ 0.1 ms −

Maximum reference frequency: T
t3 ＞ 3 µs
500 kpps
CCW τ ≥ 1.0 µs
(For open-collector output: 200 kpps) t2
τ
(τ/T) × 100 ≤ 50%
CW Forward t3 Reverse
reference reference
Two-phase pulse train with 90° t1 t2 t1，t2 ≤ 0.1 ms Switching of

phase differential (phase A and τ ≥ 1.0 µs the input pulse
phase B) Phase A multiplier
(τ/T) × 100 = 50%
Maximum reference frequency Phase B mode is done
τ
×1 input pulse multiplier: 500 kpps with parameter
T
Pn200.0 set-
×2 input pulse multiplier: 400 kpps
Forward reference Reverse reference ting.
×4 input pulse multiplier: 200 kpps Phase B leads Phase B lags
phase A by 90 ° phase A by 90 °
4-51
(3) Connection Example

(a) Connection Example for Line-driver Output
Applicable line driver: SN75174 manufactured by Texas Instruments Inc., or MC3487 or equivalent
Host controller SERVOPACK
Line CN1
driver
∗ Photocoupler
PULS 7
150Ω
/PULS 8
SIGN 11
150Ω
/SIGN 12
CLR 15
150Ω
/CLR 14
* : Represents twisted-pair wires.
(b) Connection Example for Open-collector Output

Select the limit resistance R1 value so that the input current i will be within 7 to 15 mA.

Vcc CN1 Example
R1 i ∗ Photocoupler
PULS 7 When Vcc is +24V: R1=2.2 kΩ
When Vcc is +12V: R1=1 kΩ
150Ω When Vcc is +5V: R1=180 Ω
/PULS 8
Note: When the open-collector output is used,
the signal logic is as follows:
R1 i
SIGN 11 When Tr1 is ON High level input or equivalent
150Ω When Tr1 is OFF Low level input or equivalent
/SIGN 12
R1 i CLR 15
150Ω
/CLR 14
4-52
4 Operation
When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVO-
PACK internal power supply is used, the circuit will not be isolated.

CN1
+12V
PL1 3 1kΩ
Photocoupler
7
PULS 150Ω
∗ /PULS 8
Tr1
PL2 13
11
SIGN
1.5 V max. at ON /SIGN 12
PL3 18
15
CLR
/CLR 14
When the open-collector output is used, input signal noise margin lowers. Set the parameter Pn200.3 to 1.
IMPORTANT
(4) Position Control Block Diagram

A block diagram for position control is shown below.
SERVOPACK (in position control)
Pn10A
Pn109 Pn202
Feed- Pn180
Feed- B forward
Differ- forward
ential A filter time Bias
gain constant Pn108
Pn203
Bias width
Pn200.0 addition
Reference Pn204 Pn202
pulse ×1 B + Pn102
+ +
Linear servomotor
×2 Smoothing
A Error + Speed Current
×4 Kp M
Pn203 - counter loop loot
PG signal × 256 Serial PG

Pn281 converter unit
output
Dividing Linear scale
4-53
4.8.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
(1) Selecting a Position Reference Filter
Pn207 n.0 Acceleration/deceleration filter
n.1 Average movement filter
* After resetting the parameter, turn OFF the power once and turn it ON again.
(2) Filter-related Parameters

Pn204 Position Reference Acceleration/Deceleration Time Constant Position

Pn208 Average Movement Time of Position Reference Position

IMPORTANT
When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulse input
and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulse from the
host controller and input the clear signal (/CLR), or turn the servo OFF to clear the error.
This function provides smooth motor operating in the following cases. The function does not affect the travel distance (i.e., the
number of pulses).
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10× or more).
The difference between the position reference acceleration/deceleration time constant (Pn204) and the position reference
movement averaging time (Pn208) is shown below.
Acceleration/Deceleration Filter Average Movement Time Filter
Pn207=n.0 Pn207=n.1
Before filter applied
After filter applied
100%
Before filter applied

100% t 4
63.2% Pn208 Pn208
36.8% Response waveform for stepwise input
Pn208 Before filter applied

t
Pn204 Pn204
Response waveform for stepwise input

Pn208
t
Response waveform for ramp reference input
4-54
4 Operation
4.8.5 Positioning Completed Output Signal
4.8.5 Positioning Completed Output Signal

This signal indicates that servomotor movement has been completed during position control. Use the signal as an
interlock to confirm at the host controller that positioning has been completed.
Name Pin Number
Output /COIN CN1-25, 26 ON (low level) Positioning has been completed.
(Factory setting) OFF (high level) Positioning is not completed.
This output signal can be allocated to an output terminal with parameter Pn50E. The factory setting is allocated to CN1-25,
26.
Pn500 Positioning Completed Width Position

0 to 250 Reference units 7 Immediately
The positioning completed (/COIN) signal is output when the difference
Reference
(position error pulse) between the number of reference pulses output by Motor speed
the host controller and the travel distance of the servomotor is less than Speed
the value set in this parameter.
Set the number of error pulses in reference units (the number of input Pn500
pulses defined using the electronic gear.) Error pulse
(Un008)
Too large a value at this parameter may output only a small error during
low-speed operation that will cause the /COIN signal to be output con-
tinuously. /COIN
(CN1-25)
If a servo gain is set that keeps the position error small even when the
positioning completed width is large, use Pn207 = n.1 to enable correct output timing for the COIN signal.
The positioning completed width setting has no effect on final positioning accuracy.
/COIN is a position control signal.

When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is used for
the speed coincidence output /V-CMP for speed control, and it is always OFF (high level) for force control.
4-55
4.8.6 Positioning Near Signal

This signal indicates that the positioning of the linear servomotor is near to completion, and is generally used in
combination with the positioning completed (/COIN) output signal.
The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and
performs the following operating sequence after positioning has been completed to shorten the time required for
operation.
Name Pin Number
Output /NEAR Must be allocated ON (low level) The servomotor has reached a point near to positioning
completed.
OFF (high level) The servomotor has not reached a point near to posi-
tioning completed.
The output terminal must be allocated with parameter Pn510 in order to use positioning near signal. Refer to 3.3.3 Output
Circuit Signal Allocation for details.
Pn504 NEAR Signal Width Position

The positioning near (/NEAR) signal is output when the differ- Reference
ence (error) between the number of reference pulses output by Motor speed
the host controller and the travel distance of the servomotor is Speed
less than the value set in Pn504.
Set the number of error pulses in reference units (the number of Pn504 Pn500
input pulses defined using the electronic gear.) Error pulse
Normally, the setting should be larger than that for the position- 0
ing completed width (Pn500).
/NEAR
/COIN
4-56
4 Operation
4.8.7 Reference Pulse Inhibit Function (INHIBIT)
4.8.7 Reference Pulse Inhibit Function (INHIBIT)

(1) Description
This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor
remains locked (clamped) while pulse are inhibited.
SERVOPACK
Pn000.1
Pn000=n. 1
Reference pulse OFF +
Pn000=n. B Error
ON - counter
/P-CON /P-CON (/INHIBIT)

(/INHIBIT)
Feedback pulse
(2) Setting Parameters

Parameter Meaning
Pn000 n.B Control mode selection: Position control (pulse train reference) ⇔ Inhibit
Inhibit (INHIBIT) switching condition ON ON
/INHIBIT signal OFF
x /P-CON (/INHIBIT) signal ON (low level) (/P-CON)
Reference pulse
t1 t2
t1, t2 ≤ 0.5 ms
Input reference pulses
are not counted
during this period.
(3) Setting Input Signals

Type Signal Name Connector Pin Setting Meaning
Number
Input /P-CON CN1-41 ON (low level) Turns the INHIBIT function ON.
(Factory setting) (Inhibits the SERVOPACK from counting refer-
ence pulses.)
OFF (high level) Turns the INHIBIT function OFF.
(Counts reference pulses.)
(Input) (/INHIBIT) Must be allocated ON (low level) Turns the INHIBIT function ON.
CN1- (Inhibits the SERVOPACK from counting refer-
ence pulses.)
OFF (high level) Turns the INHIBIT function OFF.
(Counts reference pulses.)
These input signals enable the inhibit function.
Either the /P-CON or the /INHIBIT signal can be used to switch the inhibit signal. The input signal must be allocated in
order to use the /INHIBIT signal. Refer to 3.3.2 Input Circuit Signal Allocation.
4-57
4.9 Operating Using Force Control

The following parameters must be set for force control operation with analog voltage reference.
Parameter Meaning
Pn000 n.2 Control mode selection: Force control (analog voltage reference)
Pn400 Force Reference Input Gain Speed Position Force

10 to 100 0.1V/rated force 30 Immediately
(1.0 to 10.0 V/rated force)
This sets the analog voltage level for the force reference (T-REF) that is
Reference force
necessary to operate the linear servomotor at the rated force.
Rated force
EXAMPLE
Reference voltage (V)
Pn400 = 30: The linear servomotor operates at the rated force with 3-V
input (factory setting). This reference voltage is set.
Pn400 = 1000: The linear servomotor operates at the rated force with 10-V
input.
Pn400 = 200: The linear servomotor operates at the rated force with 2-V input.
4.9.2 Force Reference Input

By applying a force reference determined by the analog voltage reference to the SERVOPACK, the linear servo-
motor force can be controlled in proportion with the input voltage.
Name Pin Number
Input T-REF CN1-9 Force Reference Input
SG CN1-10 Signal Ground for Force Reference Input
Used during force control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The force reference gain is set in Pn400. For setting details, refer to 4.9.1 Setting Parameters.
300
• Input range: ±1 to ±10 VDC/rated force Reference force (%)
200
• Max. allowable input voltage: ±12 VDC
100
• Factory setting - 12 - 8 -4
Pn400 = 30: Rated force at 3 V Factory setting 0 34 8 12
+3-V input: Rated force in forward direction - 100
Input voltage (V)
+9-V input: 300% rated force in forward direction

- 200
-0.3-V input: 10% rated force in reverse direction
- 300
Set the slope 4
The voltage input range can be changed with parameter Pn400. with Pn400.
Input Circuit Example SERVOPACK

470 Ω 1/2 W min.
Use twisted-pair wires as a countermeasure against noise.
Variable resistor example: Model 25HP-10B manufactured by Sakae +12 V
CN1
T-REF 9
Tsushin Kogyo Co., Ltd. 2 kΩ
SG 10
4-58
4 Operation
4.9.3 Adjusting the Force Reference Offset
INFO Checking the Internal Force Reference

1. Checking the internal force reference with the panel operator:
Use the Monitor Mode (Un-002). Refer to 3.4 Operation in Monitor Mode (Un).
2. Checking the internal force reference with an analog monitor:
The internal force reference can also be checked with an analog monitor. Refer to 5.5 Analog Monitor.
4.9.3 Adjusting the Force Reference Offset

When using force control, the linear servomotor may move slowly even when 0 V is specified as the analog ref-
erence voltage. This occurs when the host controller or external circuit has a slight offset (measured in mV) in the
reference voltage. In this case, the reference offset can be adjusted automatically and manually using the panel
operator or digital operator.
The automatic adjustment of analog (speed, force) reference offset (Fn009) automatically measures the offset and
adjusts the reference voltage.
The SERVOPACK performs the following automatic adjustment when the host controller or external circuit has
an offset in the reference voltage.
Reference voltage Reference voltage

Offset automatically
adjusted in SERVOPACK.
Offset
Force
Automatic reference
Force offset
reference adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the manual adjustment of force reference offset (Fn00B).
(1) Automatic Adjustment of the Force Reference Offset
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller. Use the force reference offset manual adjustment (Fn00B).
IMPORTANT The analog reference offset must be automatically adjusted with the servo OFF.
4-59
Use the following procedure for automatic adjustment of the force reference offset.
1 SERVOPACK Linear servomotor
Turn OFF the SERVOPACK, and input the 0-V reference volt-
age from the host controller or external circuit.
0-V force
Host
reference
controller
Servo OFF
Slow movement
(Servo ON)
2 DSPL
SET function mode.
MODE/SET
(DSPL/SET Key)
(MODE/SET Key)
3 Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWN

Key to select parameter Fn009.
DATA
ENTER more than one second. “rEF_o” will be displayed.
DATA
5 DSPL
SET
The reference offset will be automatically adjusted.
MODE/SET
(DSPL/SET Key)
(MODE/SET Key) When completed, “donE” will blink for about one second.
6 After “donE” is displayed, “rEF_o” will be displayed again.
About one second later

DATA
ENTER more than one second to return to the Fn009 display of the util-
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) ity function mode.
(2) Manual Adjustment of the Force Reference Offset

Manual adjustment of the force reference offset (Fn00B) is used in the following cases.
• If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.
• To deliberately set the offset to some value.
• Use this mode to check the offset data that was set in the automatic adjustment mode of the force reference
offset.
This mode operates in the same way as the automatic adjustment mode (Fn009), except that the amount of offset
is directly input during the adjustment.
The offset adjustment range and setting units are as follows:
Force Reference
4
Offset Adjustment
Range
Offset Adjustment Range: -128 to +127
(Force reference: -1881.6 mV to +1866.9 mV)
Offset Setting Unit Analog
Offset Setting Unit
Input
Voltage Force reference: 1 = 14.7 mV
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4 Operation
4.9.4 Limiting Linear Servomotor Speed during Force Control
Use the following procedure to manually adjust the force reference offset.
1 DSPL
SET function mode.
(MODE/SET Key)
2 Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key
to select parameter Fn00B.
DATA
ENTER more than one second. The display will be as shown at the left.
DATA
(DATA/ENTER Key) (DATA/SHIFT Key) The manual adjustment mode for the force reference offset will be
entered.
4 Turn ON the servo ON (/S-ON) signal. The display will be as
Servo ON shown at the left.
5 Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
DATA/
one second to display the force reference offset amount.
(DATA/SHIFT Key)
(Less than 1 s.)
6 Press the UP or DOWN Key to adjust the amount of offset.
7 Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
DATA/
one second to return to the display shown on the left.
(DATA/SHIFT Key)
(Less than 1 s.)

DATA
ENTER more than one second to return to the Fn00B display of the utility
DATA
4.9.4 Limiting Linear Servomotor Speed during Force Control

During force control, the linear servomotor is controlled to output the specified force, which means that the linear
servomotor speed is not controlled. Accordingly, when an excessive reference force is set for the mechanical load
force, it will prevail over the mechanical load force and the linear servomotor speed will greatly increase.
This function serves to limit the linear servomotor speed during force control to protect the machine.
With No Speed Limit With Speed Limit
Danger of damage due to
Motor speed Motor speed
excessive machine speed.
Maximum speed Safe operation with
speed limit.
Speed limit
(1) Speed Limit Mode Selection (Force Limit Option)

Pn002 n.0 Uses the value set in Pn480 as the speed limit (internal speed limit function).
n.1 Uses V-REF (CN1-5, 6) as an external speed limit input. Applies a speed limit using the input
voltage of V-REF and the setting in Pn300 (external speed limit function).
4-61
(2) Internal Speed Limit Function

Pn480 Speed Limit During Force Control Force

Sets the linear servomotor speed limit value during force control.
The setting in this parameter is enabled when Pn002 = n.0.
The servomotor’s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the ser-
vomotor used.
(3) External Speed Limit Function

Name Pin Number
Input V-REF CN1-5 External Speed Limit Input
SG CN1-6 Signal Ground
Inputs an analog voltage reference as the linear servomotor speed limit value during force control.
The smaller value is enabled, the speed limit input from V-REF or the Pn480 (Speed Limit during Force Control) when
Pn002 = n.1.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.

150 to 3000 0.01 V/rated speed 600 Immediately
(1.50 to 30.0 V/rated speed) (6.00 V/rated speed)
Sets the voltage level for the speed that is to be externally limited during force control.
With Pn300 = 600 (factory setting) and 6 V input from V-REF (CN1-5, 6), the actual motor speed is limited to the rated
speed of the servomotor used.
INFO The Principle of Speed Limiting

When the speed is outside of the allowable range, a force that is proportional to the difference between the actual speed
and the speed limit is used as negative feedback to bring the speed back within the speed limit range. Accordingly, there is
a margin generated by the load conditions in the actual motor speed limit value.
(4) Signals Output during Servomotor Speed Limit

Name Pin Number
Output /VLT Must be allocated ON (low level) Servomotor speed limit being applied.
CN1- OFF (high level) Servomotor speed limit not being applied.
4
This signal is output when the linear servomotor speed reaches the speed limit value set in Pn480 or set by the analog volt-
age reference.
For use, this output signal must be allocated with parameter Pn50F. For details, refer to 3.3.3 Output Circuit Signal Alloca-
tion.
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4 Operation
4.10 Operating Using Speed Control with an Internally Set Speed

• Internally Set Speed Selection
This function allows speed control operation by externally selecting an input signal from among three servo-
motor speed settings made in advance with parameters in the SERVOPACK. The speed control operations
within the three settings are valid. There is no need for an external speed or pulse generator.
SERVOPACK
Internally set speed
CN1 parameters Linear
/P-CON (/SPD-D) 41 Servomotor
SPEED1 Pn380 Speed
(/SPD-A) 45 reference
Contact inputs /P-CL SPEED2 Pn381 M
SPEED3 Pn382
/N-CL (/SPD-B) 46

Parameter Meaning
Pn000 n.3 Control mode selection: Internally set speed control (contact reference)
Pn380 Internally set speed 1 (SPEED1) Speed

Note: The maximum speed of linear servomotor is used whenever a speed settings for the Pn380 to
Pn382 exceed the maximum speed.
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4.10 Operating Using Speed Control with an Internally Set Speed
4.10.2 Input Signal Settings

The following input signals are used to switch the operating speed.
Type Signal Connector Pin Meaning
Name Number
Input /P-CON CN1-41 Switches the linear servomotor movement direction.
(/SPD-D) Must be allocated
Input /P-CL CN1-45 Selects the internally set speed.
(/SPD-A) Must be allocated
Input /N-CL CN1-46 Selects the internally set speed.
(/SPD-B) Must be allocated
Input Signal Selection
The following two types of operation can be performed using the internally set speeds:
• Operation with the /P-CON, /P-CL, and /N-CL input signals (pins allocated in factory setting)
• Operation with the /SPD-D, /SPD-A, and /SPD-B input signals
/SPD-D, /SPD-A, and /SPD-B input signals must be allocated with parameter Pn50C. Refer to 3.3.2 Input Circuit Signal
Allocation.
4.10.3 Operating Using an Internally Set Speed

Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
Input Signal Motor Speed
/P-CON /P-CL /N-CL Movement
(/SPD-D) (/SPD-A) (/SPD-B) Direction
OFF (high) OFF (high) Forward Stop at 0 of the internally set speed
OFF (high) ON (low) Pn380: Internally Set Speed 1 (SPEED1)
OFF (high)
ON (low) ON (low) Pn381: Internally Set Speed 2 (SPEED2)
ON (low) OFF (high) Pn382: Internally Set Speed 3 (SPEED3)
OFF (high) OFF (high) Reverse Stop at 0 of the internally set speed
ON (low)
Note: Signal OFF = High level; Signal ON = Low level
IMPORTANT Control Mode Switching

When Pn000.1 = 4, 5, or 6, and either /P-CL (/SPD-A) or /N-CL (SPD-B) is OFF (high level), the control
mode will switch.
Example:
When Pn000.1=5: Internally set speed selection ⇔ Position control (pulse train)
4
Input Signal Speed
/P-CL (/SPD-A) /N-CL (/SPD-B)
OFF (high) OFF (high) Pulse train reference input (position control)
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4 Operation
4.10.3 Operating Using an Internally Set Speed
• Example of Operating with Internally Set Speed Selection

The shock that results when the speed is changed can be reduced by using the soft start function.
For details on the soft start function, refer to 4.7.4 Soft Start.
Example: Operation with an Internally Set Speed and Soft Start

Servomotor speed
3rd speed
+SPEED3
Acceleration/deceleration are
2nd speed done for the soft start times set in
+SPEED2
Pn305 and Pn306.
1st speed
+SPEED1
Stop Stop
0
Stop
- SPEED1 1st speed
- SPEED2
2nd speed
- SPEED3
3rd speed
/P-CL (/SPD-A)
OFF OFF ON ON OFF OFF ON ON OFF
/N-CL (/SPD-B)
OFF ON ON OFF OFF ON ON OFF OFF
ON ON ON OFF OFF OFF OFF OFF

/P-CON( /SPD-D)
IMPORTANT When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start function will operate only
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output of the pulse reference from the host controller after the
positioning completed (/COIN) signal is output from the SERVOPACK.
Example: Operation with an Internally Set Speed and Soft Start ⇔ Position Control (Pulse Train Reference)
Signal Timing in Position Control
Motor speed
0 mm/s
/COIN
Pulse reference
t1 t1
/P-CL (/SPD-A) OFF ON ON OFF OFF
/N-CL (/SPD-B) ON ON OFF OFF ON
Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed
t1 2 ms
Note: 1. The soft start function is used in the above figure.

2. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL (/SPD-A) and /N-CL (/SPD-B).
4-65
4.11 Limiting Force
4.11 Limiting Force

The SERVOPACK provides the following four methods for limiting output force to protect the machine.
Setting Limiting Method Reference Section
Level
1 Internal force limit 4.11.1
2 External force limit 4.11.2
3 Force limiting by analog voltage reference 4.11.3
4 External force limit + Force limiting by analog voltage reference 4.11.4
4.11.1 Internal Force Limit (Limiting Maximum Output Force)

Maximum force is always limited to the values set in the following parameters.


The settings in these parameters are constantly enabled. The setting unit is a percentage of rated force.
If the force limit is set higher than the maximum force of the linear servomotor, the maximum force of the linear servomotor
is used.
No Internal Force Limit Internal Force Limit
(Maximum force can be output.)
Pn484
t
Pn483
Speed Speed
Maximum force Limiting force
Too small a force limit setting will result in insufficient force during acceleration and deceleration.
IMPORTANT For safe operation at setup of linear servomotor, the factory setting of Pn483 and Pn484 are 30%, which are
relatively low. After having set up the linear servomotor, increase the settings of Pn483 and Pn484 to the
desired level. (Set to 800% if there is no restriction.)
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4 Operation
4.11.2 External Force Limit (Output Force Limiting by Input Signals)
4.11.2 External Force Limit (Output Force Limiting by Input Signals)

This function allows the force to be limited at specific times during machine operation, for example, during press
stops and hold operations for robot workpieces.
An input signal is used to enable the force limits previously set in parameters.

Pn404 Forward External Force Limit Speed Position Force

Pn405 Reverse External Force Limit Speed Position Force

Note: The setting unit is a percentage of rated force (i.e., the rated force is 100%).
(2) Input Signals

Type Signal Connector Pin Setting Meaning Limit Value
Name Number
Input /P-CL CN1-45 ON (low level) Forward external force limit The value set in Pn483 or
(Factory Setting) ON Pn404 (whichever is smaller)
OFF (high level) Forward external force limit Pn483
OFF
Input /N-CL CN1-46 ON (low level) Reverse external force limit The value set in Pn484 or
(Factory Setting) ON Pn405 (whichever is smaller)
OFF (high level) Reverse external force limit Pn484
OFF
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.
When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/OFF
state of the other signals. Refer to 3.3.2 Input Circuit Signal Allocation.
4-67
4.11 Limiting Force
(3) Changes in Output Force during External Force Limit

Example: External force limit (Pn483, Pn484) set to 800%
/P-CL (Forward External Force Limit Input)
High level Low level
High Pn484
Pn484
level
Force Force
0 0
Pn404
/N-CL Speed Speed
(Reverse Pn483 Pn483
External
Force Limit Low Pn484 Pn484
Input) level
Force Force
Pn405 Pn405
0 0
Pn404
Speed Speed
Pn483 Pn483
Note: In this example, the linear servomotor movement direction is Pn000 = n.0 (standard setting,
CCW = forward).
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4 Operation
4.11.3 Force Limiting Using an Analog Voltage Reference
4.11.3 Force Limiting Using an Analog Voltage Reference

Force limiting by analog voltage reference limits force by assigning a force limit in an analog voltage to the T-
REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during force
control.
Refer to the following block diagram when the force limit with an analog voltage reference is used for speed con-
trol.
SERVOPACK
Force limit T-REF

Pn400 Forward force
value
limit value (Pn483)
Speed loop
V-REF Pn300 + gain +
Speed (Pn100) Force
- + reference
reference
Speed loop
integral
time
constant Reverse force
(Pn101) limit value (Pn484)
Speed feedback
There is no polarity in the input voltage of the analog voltage reference for force limiting. The absolute values of both +
INFO and - voltages are input, and a force limit value corresponding to that absolute value is applied in the forward or reverse
direction.

Parameter Meaning
Pn002 n.1 Speed control option: Uses the T-REF terminal to be used as an external force limit input.
When n.2 is set, the T-REF terminal is used for force feed-forward input, but the functions cannot be used together.
(2) Input Signals

Name Pin Number
Input T-REF CN1-9 Force reference input
SG CN1-10 Signal ground for force reference input
The force limit input gain is set at parameter Pn400. Refer to 4.9.1 Setting Parameters.
• Input range: ±1 VDC to ±10 VDC/rated force
4-69
4.11 Limiting Force
4.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
This function can be used to combine force limiting by an external input signal and by analog voltage reference.
Because the force limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be
used during force control. Use /P-CL (CN1-45) or /N-CL (CN1-46) for force limiting by external input signal.
When /P-CL (or /N-CL) is ON, either the force limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the force limit, whichever is smaller.
SERVOPACK
/P-CL
/N-CL
Force limit T-REF Forward torque

Pn400
value limit value (Pn483)
Pn404
Speed loop ( /P-CL: ON )
Speed V-REF Pn300 + +
gain Force
reference - (Pn100) +
reference
Speed loop
integral
time Reverse torque
constant Pn405
limit value (Pn484)
(Pn101) ( /N-CL : ON)
Speed feedback

Parameter Meaning
Pn002 n.3 Speed control option: When /P-CL or /N-CL is enabled, the T-REF terminal is used as the
external torque limit input.
When n.2 is set, T-REF is used for force feed-forward input, but the functions cannot be used together.
Pn404 Forward External Force Limit Speed Position Force

Pn405 Reverse External Force Limit
* The setting unit is a percentage of rated force (i.e., the rated force is 100%).
4
4-70
4 Operation
4.11.5 Checking Output Force Limiting during Operation
(2) Input Signals

Type Signal Connector Pin Name
Name Number
Input T-REF CN1-9 Force reference input
SG CN1-10 Signal ground for force reference input
The force limit input gain is set in parameter Pn400. Refer to 4.9.1 Setting Parameters.
• Input range: ±1 VDC to ±10 VDC/rated force
Type Signal Connector Pin Setting Meaning Limit Value

Name Number
Input /P-CL CN1-45 ON (low level) Forward external force limit The analog voltage reference
(Factory setting) ON limit or the value set in Pn483 or
Pn404 (whichever is smaller)
OFF (high level) Forward external force limit Pn483
OFF
Input /N-CL CN1-46 ON (low level) Reverse external force limit The analog voltage reference
(Factory setting) ON limit or the value set in Pn484 or
Pn405 (whichever is smaller)
OFF (high level) Reverse external force limit Pn484
OFF
When using the force limiting with the external force limit and analog voltage reference, make sure that there are no other
signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same terminal, the
signals are handled with OR logic, which affects the ON/OFF state of the other signals. Refer to 3.3.2 Input Circuit Signal
Allocation.
4.11.5 Checking Output Force Limiting during Operation

The following signal can be output to indicate that the servomotor output force is being limited.
Type Signal Connector Pin Setting Meaning
Name Number
Output /CLT Must be allocated ON (low level) Servomotor output force is being limited.
OFF (high level) Force is not being limited.
The output terminal must be allocated with parameter Pn50F to use this output signal. Refer to 3.3.3 Output Circuit Signal
Allocation for details.
4-71

The methods and conditions for switching SERVOPACK control modes are described below.

The following combinations of control modes can be selected according to the application at hand.
Parameter Control Method
Pn000 n.4 Internally set speed control (contact reference) ⇔ Speed control (analog voltage reference)
n.5 Internally set speed control (contact reference) ⇔ Position control (pulse train reference)
n.6 Internally set speed control (contact reference) ⇔ Force control (analog voltage reference)
n.7 Position control (pulse train reference) ⇔ Speed control (analog voltage reference)
n.8 Position control (pulse train reference) ⇔ Force control (analog voltage reference)
n.9 Force control (analog voltage reference) ⇔ Speed control (analog voltage reference)
n.A Speed control (analog voltage reference) ⇔ Zero clamp
n.B Position control (pulse train reference) ⇔ Position control (inhibit)
4.12.2 Switching the Control Mode

(1) Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6)
With the sequence input signals in the factory setting (Pn50A = n.0), the control mode will switch when
both /P-CL (/SPD-A) and /N-CL (/SPD-B) signals are OFF (high level).
Name Pin Number
Input /P-CL CN1-45 OFF (high level) Switches control mode.
(Factory setting)
(/SPD-A) Must be allocated
Input /N-CL CN1-46 OFF (high level)
(Factory setting)
(/SPD-B) Must be allocated
Input Signal Selection
The following two types of control mode selection are available for switching from internally set speed control:
• Switching with the /P-CL and /N-CL input signals (pins allocated in factory setting)
• Switching with the /SPD-A and /SPD-B input signals
When using /SPD-A and /SPD-B, they must be allocated with parameter Pn50C. Refer to 3.3.2 Input Circuit Signal Alloca-
tion.
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4 Operation
4.12.2 Switching the Control Mode
(2) Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B)

Use the following signals to switch control modes. The control modes switch as shown below for each of the sig-
nal states indicated.
When changing the sequence input signal from the factory setting (Pn50A = n.1), allocate the /C-SEL to
an input terminal and change modes with the /C-SEL signal. In this case, input a speed reference (analog voltage
reference) for speed control, and a position reference (pulse train reference) for position control.
Type Signal Connector Setting Pn000 Setting
Name Pin Number n.7 n.8 n.9 n.A n.B
Input /P-CON CN1-41 ON (low level) Speed Force Speed Zero Inhibit
(Factory setting) clamp
OFF (high level) Position Position Force Speed Position
(Input) (/C-SEL) Must be allocated ON (low level) Speed Force Speed Zero Inhibit
clamp
OFF (high level) Position Position Force Speed Position
The control mode can be switched with either /P-CON or /C-SEL.
When using the /C-SEL signal, the input signal must be allocated. Refer to 3.3.2 Input Circuit Signal Allocation.
4-73
4.13 Other Output Signals

The following output signals, which have no direct connection with the control modes, are used for machine pro-
tection.
4.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
(1) Servo Alarm Output (ALM)
This signal is output when an error is detected in the SERVOPACK.
Name Pin Number
Output ALM CN1-31, 32 ON (low level) Normal SERVOPACK condition
(Factory setting) OFF (high level) SERVOPACK alarm condition
IMPORTANT
Always form an external circuit so this alarm output turns OFF the main circuit power supply to the SERVOPACK.
(2) Alarm Reset

Name Pin Number
Input /ALM- CN1-44 Alarm Reset
RST
When a servo alarm (ALM) has occurred and the cause of the alarm has been eliminated, the alarm can be reset by turning
this signal (/ALM-RST) from OFF (high level) to ON (low level).
This signal can be allocated to other pin numbers with Pn50B.
For details on the procedure, refer to 3.3.2 Input Circuit Signal Allocation.
The /ALM-RST signal cannot be constantly enabled by the allocation of an external input signal. Reset the alarm by chang-
ing the signal from high level to low level. The alarm can also be reset from the panel operator or digital operator. Refer to
3.1.2 Key Names and Functions for details.
IMPORTANT 1. Some encoder-related alarms cannot be reset with the /ALM-RST signal input. To reset these alarms,
turn OFF the control power supply.
2. When an alarm occurs, always eliminate the cause before resetting the alarm. The methods for trouble-
shooting alarms are described in 6.1.5 Troubleshooting of Alarm and Warning.
(3) Alarm Code Output
Type Signal Connector Meaning

Name Pin Number
Output ALO1 CN1-37 Alarm code output 4
Output ALO2 CN1-38 Alarm code output
Output ALO3 CN1-39 Alarm code output
Output SG CN1-1 Signal ground for alarm code output
These open-collector signals output alarm codes. The ON/OFF combination of these output signals indicates the type of
alarm detected by the servomotor.
Use these signals to display alarm codes at the host controller. Refer to 6.1.1 Alarm Display Table for details on alarm
code output.
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4 Operation
4.13.2 Warning Output (/WARN)
4.13.2 Warning Output (/WARN)

Name Pin Number
Output /WARN Must be allocated ON (high level) Normal state
OFF (low level) Warning state
This output signal displays warnings before an overload (A.710) or regenerative overload (A.320) alarm is output.
For use, the /WARN signal must be allocated with parameter Pn50F. For details, refer to 3.3.3 Output Circuit Signal Allo-
cation.
• Related Parameters
The following parameter is used to select the alarm code output.
Pn001 n.0 Outputs alarm codes alone for alarm codes ALO1, ALO2, and ALO3.
n.1 Outputs both alarm and warning codes for alarm codes ALO1, ALO2, and ALO3, and out-
puts an alarm code when an alarm occurs.
• Refer to 4.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) for alarm code descriptions.
• Refer to 6.1.2 Warning Display for the ON/OFF combinations of ALO1, ALO2, and ALO3 when a warning code is out-
put.
4.13.3 Running Output Signal (/TGON)

Name Pin Number
Output /TGON CN1-27, 28 ON (low level) Linear servomotor is operating (Motor speed is above
(Factory setting) the setting in Pn581).
OFF (high level) Linear servomotor is not operating (Motor speed is
below the setting in Pn581).
This signal is output to indicate that the linear servomotor is currently operating above the setting in parameter Pn581.
The /TGON signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 3.3.3 Output Cir-
• Related Parameter
Pn581 Zero-Speed Level Speed Position Force

Set the range in which the running output signal (/TGON) is output in this parameter.
When the linear servomotor movement speed is above the value set in the Pn581, it is judged to be linear servomotor mov-
ing and the running output signal (/TGON) is output. The movement detection signal can also be checked on the digital
operator. For details, refer to 3.1.4 Status Display and 3.4.1 List of Monitor Modes.
4-75
4.13.4 Servo Ready (/S-RDY) Output

Type Signal Connector Pin Setting Meaning
Name Number
Output /S-RDY CN1-29, 30 ON (low level) Servo is ready.
(Factory setting) OFF (high level) Servo is not ready.
This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations.
It is output when there are no servo alarms and the main circuit power supply is turned ON.
If no hall sensor is set, the polarity detection must be completed.
The servo ready signal condition can also be checked on the digital operator. For details, refer to 3.1.4 Status Display and
3.4.1 List of Monitor Modes.
The /S-RDY signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 3.3.3 Output Cir-
4-76
5
Adjustments
5.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.3 Selecting the Online Autotuning Execution Method - - - - - - - - - - - - 5-7
5.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - - 5-8
5.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - 5-9
5.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - 5-10
5.2.7 Procedure for Saving the Results of Online Autotuning - - - - - - - - 5-11
5.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
5.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - 5-14
5.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - 5-15

5.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.4.2 Force Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
5.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.4.4 Proportional Control Operation (Proportional Operation Reference) 5-18
5.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - 5-19
5.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
5.4.10 Force Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
5.5 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5-1
5 Adjustments
5.1.1 Servo Gain Adjustment Methods
5.1 Autotuning
5.1.1 Servo Gain Adjustment Methods
The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in
the parameters. The parameters are designated for each function as shown in 5.1.2 List of Servo Adjustment
Functions.
The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actual
machine conditions. The following flowchart shows an overview procedure for adjusting the servo gains to
reduce the positioning time for position control. Follow this flowchart to effectively adjust the servo gains. For
functions in bold lines in the flowchart, select the adjustment method according to the client’s intent using 5.1.2
List of Servo Adjustment Functions.
Start adjusting servo gain.
Adjust using (1) Autotuning Functions.
Results OK.
Results OK?
Results insufficient.
Adjust using (2) Positioning Time Reduction Functions.
Results OK. Results OK?

Vibration resulted
Adjust using (3) Vibration Reduction Functions.
Results OK?
Results OK.
End servo gain adjustment.
If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods, con-
sider the following possible causes.
• Autotuning does not suit the operating conditions.
Adjust the servo gains manually. Refer to 5.3 Manual Tuning.
• The selection of settings for the positioning time reduction functions or vibration reduction functions are
not appropriate.
Each function may not be effective for all machines due to machine characteristics or operating condi-
tions.
Use other positioning time reduction function or vibration reduction function.
5-2
5.1 Autotuning
5.1.2 List of Servo Adjustment Functions

(1) Autotuning Functions
Autotuning calculates the load mass, which determines the servo responsiveness, and automatically adjusts
parameters, such as the Speed Loop Gain Kv (Pn100), Speed Loop Integral Time Constant Ti (Pn101), Position
Loop Gain Kp (Pn102), and Force Reference Filter Time Constant Tf (Pn401). Refer to the following table to
select the appropriate autotuning function for your desired purpose and adjust the servo gains.
Function Name and Description Guidelines for Selection Refer-
Related Parameters ence
Section
Online Autotuning This function automatically measures the machine char- Only the minimum number of parameters 5.2
Pn110.0 acteristics and sets the required servo gains accordingly. must be set for autotuning using a normal
Fn001 This function allows beginners to adjust the servo gains operation reference.
easily.
Fn007
The load mass is calculated during operation for a user
reference, and the servo gains (Kv, Ti, Kp, and Tf) are
set according to the Machine Rigidity Setting (Fn001).
(2) Positioning Time Reduction Functions

Function Name and Description Features Valid Refer-
Related Parameters Control ence
Modes Section
Feed-forward Feed-forward compensation for the posi- Adjustment is easy. Position 5.4.1
Pn109 tion reference is added to the speed refer- The system will be unstable if a large
Pn10A ence. value is set, possibly resulting in over-
Force feed-forward Inputs force feed-forward to the force ref- shooting or vibration. Speed 5.4.2
Pn002 erence input terminal and adds to the
Pn400 internal force reference at the speed con-
trol.
Speed feed-forward Inputs speed feed-forward to the speed Position 5.4.3
Pn207 reference input terminal and adds to the
Pn300 internal speed reference at the position
control.
Mode Switch Switches from PI control to P control The setting for automatic switching Position 5.4.5
(P/PI Switching) using the value of an internal servo vari- between PI and P control is easy. Speed
Pn10B able in a parameter (force, speed, accelera-
Pn10C tion, or position error) as a threshold
value.
Pn10D
Pn10E
Pn10F
Speed Feedback Compensates the motor speed using an Adjustment is easy because the compensa- Position 5.4.8
Compensation observer. tion can be set as a percentage. If the Speed
Pn110 speed loop gain increases, the position
Pn111 loop gain also increases, however some-
times the servo rigidity decreases.
Gain Switching Uses the external signals to change each − Position 5.4.9 5
Pn100 parameter for speed loop gain (Kv), speed Speed
Pn101 loop integral time constant (Ti), and posi-
Pn102 tion loop gain (Kp.)
Pn104
Pn105
Pn106
5-3
5 Adjustments
5.1.2 List of Servo Adjustment Functions
(3) Vibration Reduction Functions

Function Name and Description Features Valid Refer-
Related Parameters Control ence
Modes Section
Soft Start Converts a stepwise speed reference to a A constant acceleration/deceleration is Speed 4.7.4
Pn305 constant acceleration or deceleration for achieved for smoother operation. The
Pn306 the specified time interval. operation time is increased for the speci-
fied time.
Acceleration/ A 1st-order delay filter for the position Enables smooth operation. Position 4.8.4
Deceleration Filters reference input. The reference time increases by the filter
Pn204 delay time even after the reference input
Pn207 has been completed.
Movement Average A movement averaging filter for the posi- Enables smooth operation. Position 4.8.4
Filter tion reference input. The reference time increases by the filter
Pn207 delay time even after the reference input
Pn208 has been completed.
Speed Feedback A standard 1st-order delay filter for the The feedback speed is smoother. Position 5.4.7
Filter speed feedback. The response is delayed if a large value is Speed
Pn308 set.
Speed Reference A 1st-order delay filter for the speed refer- The speed reference is smoother. Speed 4.7.5
Filter ence. The response is delayed if a large value is
Pn307 set.
Force Reference A 1st-order delay filter for the force refer- This filter is effective in essentially all Position 5.4.10
Filter ence. frequency bands. Speed
Pn401 The response is delayed if a large value Force
(low frequency) is set.
Notch Filter Notch filters can be set for the force refer- Mainly effective for vibration between Position 5.4.10
Pn409 ence. 500 and 2,000 Hz. Speed
Pn40B* Instability will result if the setting is not Force
correct.
* Pn40B is valid for the software version 32 or later.
5-4
5.2 Online Autotuning

5.2.1 Online Autotuning
Online autotuning calculates the load mass during operation of the SERVOPACK and sets parameters so that the
servo gains consistent with the Machine Rigidity (Fn001) are achieved.
Online autotuning may not be effective in the following cases.
• The load mass varies in less than 200 ms.
• The motor speed is lower than 100 mm/s or the acceleration reference is very even.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
• The speed reference is a stepwise reference.
If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotun-
ing, calculate the load mass on the basis of the machine specifications or using the mass detection function of
Yaskawa’s servodrive supporting tool “SigmaWin+.” Set the value in Pn103 and perform the adjustment manu-
ally.
The following utility function is also available for the online autotuning.
Fn007: Writes the load mass calculated by the online autotuning in Pn103 and uses as the default value for the
next calculation.
5-5
5 Adjustments
10.2.2 Online Autotuning Procedure
5.2.2 Online Autotuning Procedure
WARNING
• Do not perform extreme adjustment or setting changes causing unstable servo operation.
Failure to observe this warning may result in injury and damages to the machine.
• Adjust the gains slowly while confirming motor operation.
Start
Operate with factory setting.

(Set Pn110.0 = 0.)
Yes
Operation OK?
No
No
Load mass varies?
Yes
Continuous online autotuning.
(Set Pn110.0 = 1.)
Yes
Operation OK?
No
Ajust the machine rigidity setting.

(Set at Fn001.)
Operation OK? Yes
No
Adjust the friction compensation.
(Set Pn110.2.)
Yes
Operation OK?
No
Do not perform online autotuning. Write the result of autotuning
(Set Pn110.0 = 2.) in the parameter.
The result will be used as the
default vaue for next autotuning.
(Utility function Fn007)
End
5-6
5.2.3 Selecting the Online Autotuning Execution Method

There are three methods that can be used for online autotuning: At start of operation, constantly, and none. The
selection method is described next.
Pn110 Online Autotuning Switches Speed Position

− − 0010 After restart
Parameter Meaning
Pn110 n.0 Online autotuning is performed only after the first time power is turned ON. (Factory Setting)
n.1 Online autotuning (mass calculations) is performed continuously.
n.2 Online autotuning is not performed.
The factory setting is n.0. This setting is recommended for applications in which the load mass does not change
much or if the load mass is not known. The mass calculated at the beginning of operation is used continously. In this case,
differences in machine status and operation references at the beginning of operation may cause minor differences in the cal-
culation results of the load mass, causing differences in the servo responsiveness each time the power supply is turned ON.
If this occurs, overwrite the mass ratio in Pn103 using the utility function Fn007 (Writing to EEPROM mass ratio data
obtained from online autotuning), and set Pn110 to n.2 to disable online autotuning.
The setting n.1 is used when the load mass varies constantly. This setting enables a consistent responsiveness even
when the load mass changes. If the load mass changes in less than 200 ms, however, the autotuning accuracy will deterio-
rate, in which case Pn110.0 should be set to 0 or 2.
The setting n.2 is used when online autotuning is not possible, when the load mass is known and the mass ratio is set
in Pn103 to perform the adjustment manually, or any other time the online autotuning function is not going to be used.
5-7
5 Adjustments
5.2.4 Machine Rigidity Setting for Online Autotuning
5.2.4 Machine Rigidity Setting for Online Autotuning

There are ten machine rigidity settings for online autotuning. When the machine rigidity setting is selected, the
servo gains (Speed Loop Gain, Speed Loop Integral Time Constant, Position Loop Gain, and Force Reference
Filter Time Constant) are determined automatically. The factory setting for the machine rigidity setting is 4. The
speed loop is suitable for PI or I-P control.
When parameter Pn10B.1 is 0, PI control will be used and when Pn10B.1 is 1, I-P control will be used. To vali-
date the setting, however, the power supply must be turned OFF and then back ON.
After having validated the setting, always set the machine rigidity setting.
When setting the machine rigidity after having changed the position loop gain (Pn102), the value closest to the
set position loop gain is displayed as the initial value of machine rigidity.
• Speed Loop PI Control
Machine Rigidity Position Loop Gain Speed Loop Gain Speed Loop Integral Force Reference Fil-
Setting [s-1] [Hz] Time Constant ter Time Constant
Fn001 Pn102 Pn100 [0.01 ms] [0.01 ms]
Pn101 Pn401
1 15 15 6000 250
2 20 20 4500 200
3 30 30 3000 130
4 40 40 2000 100
5 60 60 1500 70
6 85 85 1000 50
7 120 120 800 30
8 160 160 600 20
9 200 200 500 15
10 250 250 400 10
If the machine rigidity setting is greater, the servo gain will increase and positioning time will decrease. If the
setting is too large, however, vibration may result depending on the machine configuration. Set the machine
rigidity starting at a low value and increasing it within the range where vibration does not occur.
5-8
5.2.5 Method for Changing the Machine Rigidity Setting

The machine rigidity setting is changed in utility function mode using parameter Fn001. The procedure is given
below.
Step Display after Operation Digital Operator Panel Description
Operator
1 DSPL
SET
MODE/SET
function mode.
2 Press the Up or Down Cursor Key to select Fn001.

3 Press the DATA/ENTER or DATA/SHIFT Key for one second

DATA
ENTER or more.
DATA/
(DATA/SHIFT Key)
(DATA/ENTER Key) (Press The display shown at the left will appear and the rigidity for
at least 1 s.)
online autotuning can be set.
4 Press the Up or Down Cursor Key to select the machine rigidity
setting.
UP DOWN
5 DSPL
SET
MODE/SET The rigidity setting will be changed and “donE” will blink on
(DSPL/SET Key) (MODE/SET Key) the display for about one second.
6 About one second later After “donE” is displayed, the setting will be displayed again.
7 Press the DATA/ENTER or DATA/SHIFT Key for more than

DATA
ENTER one second to return to the Fn001 display of the utility function
DATA/
(DATA/ENTER Key) (DATA/SHIFT Key) mode.
This completes changing the machine rigidity setting for online autotuning.
5-9
5 Adjustments
5.2.6 Saving the Results of Online Autotuning
5.2.6 Saving the Results of Online Autotuning
CAUTION
• Always set the correct mass ratio when online autotuning is not used.
If the mass ratio is set incorrectly, vibration may occur.
For online autotuning, the most recent load mass is calculated and the control parameters are adjusted to achieve
response suitable for the machine rigidity setting. When online autotuning is performed, the Position Loop Gain
(Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) are saved. When the power
supply to the SERVOPACK is turned OFF, however, the calculated load mass is lost and the factory setting is
used as the default value to start autotuning the next time the power supply is turned ON.
To use the calculated load mass as the default value the next time the power supply is turned ON, the utility func-
tion mode parameter Fn007 (Writing to EEPROM mass ratio data obtained from online autotuning) can be used
to save the most recent value in parameter Pn103 (Mass Ratio). The mass ratio is given as the mass ratio (%) of
the coil assembly mass of the linear servomotor.

0 to 10,000 1% 0 Immediately
(0 to 20,000)*
Load mass (ML) (includes coil assembly)

Mass ratio= − 1 × 100 (%)
Linear servomotor coil assembly mass (MM)
The factory setting for the mass ratio is 0% (no-load operation of linear servomotor without connecting a machine).
5-10
5.2.7 Procedure for Saving the Results of Online Autotuning

The following procedure is used to save the results of online autotuning.
Step Display after Operation Digital Operator Panel Opera- Description
tor
1 DSPL
SET
MODE/SET
function mode.
2 Press the Up or Down Cursor Key to select parameter Fn007.


DATA
ENTER or more.
DATA/
(DATA/ENTER Key) (DATA/SHIFT Key) The display at the left will appear for a mass ratio of 200%.
4 DSPL
SET
MODE/SET The mass ratio will be saved.
When completed, “donE” will blink for about one second.
5 About one second later After “donE” is displayed, the mass ratio will be displayed
again.

DATA
ENTER or more to return to the Fn007 display of the utility function
DATA/
(DATA/ENTER Key) (DATA/SHIFT Key) mode.
This completes saving the default value for the mass ratio for online autotuning. The next time the power supply
is turned ON, the value that was saved for the Mass Ratio (Pn103) will be used to start online autotuning.
5-11
5 Adjustments
5.3.1 Explanation of Servo Gain
5.3 Manual Tuning

5.3.1 Explanation of Servo Gain
The block diagram for position control is as follows:
Position control loop
Speed control loop
Speed
Linear
Move Speed servomotor
Speed pattern reference
+ Position reference + + Current Electric
Error Speed Kv Tf M
- counter
loop - control - control power
Time
gain Kp section Ti section converting
Speed loop Current loop

PG
Position loop
Linear
scale
SERVOPACK
Host controller Kp Position Loop Gain (Pn102
(provided by user) Kv Speed Loop Gain Pn100
Ti Speed Loop Integral Time
Constant (Pn101)
Tf Force Reference Filter Time
Constant (Pn401)
To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and
adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust
the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to
monitor the output waveform from the analog monitor.
The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermost
loop must have the highest response and the middle loop must have higher response than the outermost. If this
principle is not followed, it will result in vibration or responsiveness decreases.
The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to
adjust only position loop gain and speed loop gain.
5-12
5.3 Manual Tuning
5.3.2 Servo Gain Manual Tuning

The SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameters
can adjust the servo responsiveness.
• Pn100: Speed loop gain (Kv)
• Pn101: Speed loop integral time constant (Ti)
• Pn102: Position loop gain (Kp)
• Pn401: Force reference filter time constant (Tf)
For the position and speed control, the adjustment in the following procedure can increase the responsiveness.
The positioning time in position control can be reduced.
Step Explanation
1 Set correctly the mass ratio (Pn103). The utility function Fn007 can be used after the online autotuning.
2 Increase the speed loop gain (Pn100) to within the range so that the machine does not vibrate. At the
same time, decrease the speed loop integral time constant (Pn101).
3 Adjust the force reference filter time constant (Pn401) so that no vibration occurs.
4 Repeat the steps 1 and 2. Then reduce the value for 10 to 20%.
5 For the position control, increase the position loop gain (Pn102) to within the range so that the machine
does not vibrate.
Perform the manual tuning in the following cases.
• To increase the servo gains more than the values set by the online autotuning.
• To determine the servo gains and mass ratio by the user.
Start the manual tuning from the factory setting or the values set by the online autotuning. Prepare measuring
instruments such as memory recorder so that the signals can be observed from the analog monitor (CN5) such as
“Force Reference” and “Motor Speed,” and “Position Error Monitor” for the position control. (Refer to 5.5 Ana-
log Monitor.) The servodrive supporting tool “SigmaWin+” allows you to observe such signals. Prepare either
of them.
5.3.3 Position Loop Gain

Pn102 Position Loop Gain (Kp) Position

1 to 2,000 1/s 40 Immediately
The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the posi-
tioning time decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be set
higher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid to
increase its natural vibrating frequency and allow the position loop gain to be set to a high value.
If the position loop gain (Pn102) cannot be set high in the mechanical system, an overflow alarm may occur during high
INFO
speed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.
Pn505 Overflow Level Position
Setting Range Setting Unit Factory Setting Setting Validation 5

1 to 32,767 256 reference units 1,024 Immediately
This parameter’s new setting must satisfy the following condition.
Max. feed speed (reference units/s) × 2.0
Pn505 ≥
Pn102
5-13
5 Adjustments
5.3.4 Speed Loop Gain
5.3.4 Speed Loop Gain

Pn100 Speed Loop Gain (Kv) Speed Position

1 to 2,000 Hz 40 Immediately
This parameter determines the responsiveness of the speed loop. If the speed loop’s responsiveness is too low, it will delay
the outer position loop and cause overshooting and vibration of the speed reference. The SERVOPACK will be most stable
and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the
mechanical system. The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in
Pn103 has been set correctly.

0 to 10,000 % 0 Immediately
(0 to 20,000)*
Load mass (ML) (includes coil assembly)

Pn103 set value = − 1 × 100 (%)
Linear servomotor coil assembly mass (MM)
The factory setting is Pn103=0. Before adjusting the servo, determine the mass ratio with the equation above and set param-
eter Pn103.
* The setting range for the software version 32 or later
5.3.5 Speed Loop Integral Time Constant

Pn101 Speed Loop Integral Time Constant (Ti) Speed Position

15 to 51,200 0.01 ms 2,000 Immediately
(0.15 to 512.00 ms) (20.00 ms)
The speed loop has an integral element so that the speed loop can respond to minute inputs. This integral element causes a
delay in the SERVOPACK. If the time constant is set too long, overshooting will occur, which results in a longer position-
ing settling time or responsiveness decreases.
The estimated set value for Pn101 depends on the speed loop control method with Pn10B.1, as shown below.
Selecting the Speed Loop Control Method (PI Control or I-P Control)
INFO
Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. The
position loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can be
achieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch or
other method.
5-14
5.4 Servo Gain Adjustment Functions

5.4.1 Feed-forward Reference
Pn109 Feed-forward Position
Pn10A Feed-forward Filter Time Constant Position
0 to 6,400 0.01ms 0 Immediately
(0.00 to 64.00 ms)
Applies feed-forward compensation in position control inside
the SERVOPACK. Use this parameter to shorten positioning Differ-
ential
Pn109 Pn10A
time. Too high value may cause the machine to vibrate. For Position
ordinary machines, set 80% or less in this parameter. reference pulse + + +
Position loop
gain Kp
-
Feedback pulse
5-15
5 Adjustments
5.4.2 Force Feed-forward
5.4.2 Force Feed-forward
Parameter Meaning
Pn002 n.0 Disabled
n.2 Uses T-REF terminal for force feed-forward input.
Pn400 Force Reference Input Gain Speed Position Force

10 to 100 0.1V/Rated force 30 Immediately
(1.0 to 10.0V/Rated force)
The force feed-forward function is valid only in speed control (analog reference).
The force feed-forward function shortens positioning time, differentiates a speed reference at the host controller to generate
a force feed-forward reference, and inputs the force feed-forward reference together with the speed reference to the SER-
VOPACK.
Too high a force feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti-
mum value while observing the system responsiveness.
Connect a speed reference signal line to V-REF (CN1-5 and -6) and a force forward-feed reference to T-REF (CN1-9 and -
10) from the host controller.
T-REF (CN1-9)
Differ- KFF Pn400 Linear
ential V-REF (CN1-5) + servomotor
+ + +
+
Kp Pn300 Pn100 Current loop M
Position - + +
reference
- Integration
(Pn101)
Speed PG
calculation
Linear
Divider scale
Kp: Position loop gain

KFF: Feed-forward gain
Force feed-forward is set using the parameter Pn400.

The factory setting is Pn400 = 30. If, for example, the force feed-forward value is ±3V, then, the force is limited to ±100%
of the rated force.
The force feed-forward function cannot be used with force limiting by analog voltage reference described in 4.11.3 Force
Limiting Using an Analog Voltage Reference.
5-16
5.4.3 Speed Feed-forward
Parameter Meaning
Pn207 n.0 Disabled
n.1 Uses V-REF terminal for speed feed-forward input.

150 to 3,000 0.01 V/Rated 600 Immediately
(1.50 to 30.00 V/Rated speed
speed)
The speed feed-forward function uses analog voltages and is valid only in position control.
The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position refer-
ence to generate the feed-forward reference, and inputs the feed-forward reference together with the position reference to
the SERVOPACK.
Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti-
mum value while observing the system responsiveness.
Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference
signal line to V-REF (CN1-5 and -6) from the host controller.
Differ- V-REF (CN1-5 and -6)

ential KFF Pn300 Linear
servomotor
+ + +
Position + Current loop
Kp ( Pn102 ) Pn100 M
reference PULS - - +
SIGN Integration
(Pn101)
Speed PG
calculation
Linear
scale
Kp: Position loop gain

KFF: Feed-forward gain
Speed feed-forward value is set using the parameter Pn300.

The factory setting is Pn300 = 600. If, for example, the speed feed-forward value is ±6V, then the speed is limited to the
rated speed.
5-17
5 Adjustments
5.4.4 Proportional Control Operation (Proportional Operation Reference)
5.4.4 Proportional Control Operation (Proportional Operation Reference)

If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change between
PI control and P control.
• PI control: Proportional/Integral control
• P control: Proportional control
Parameter Control Mode

Pn000 n.0 Speed Effective in speed control or position
SERVOPACK
Control control.
CN1
Input signal /P-CON (CN1-41) is used
to select PI control or P control.
n.1 Position CN1-41 is OFF PI control P/PI /P-CON 41
Switching
Control (H level).
CN1-41 is ON P control
(L level).
• When sending references from the host controller to the SERVOPACK, P control mode can be selected from the host
controller for particular operating conditions. This mode switching method can be used to suppress overshooting and
shorten the settling time. Refer to 5.4.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /P-
CON signal and switching the control mode for particular operating conditions.
• If PI control mode is being used and the speed reference has a reference offset, the linear servomotor may move very
slowly and fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the linear ser-
vomotor.
5-18
5.4.5 Using the Mode Switch (P/PI Switching)

Use the mode switch (P/PI switching) function in the following cases:
• To suppress overshooting during acceleration or deceleration (for speed control)
• To suppress undershooting during positioning and reduce the settling time (for position control)
Speed Overshoot
Actual motor operation

Reference
Time
Undershoot
Settling time
The mode switch function automatically switches the speed control mode from PI control mode to P control1
mode based on a comparison between the servo’s internal value and a user-set detection level.
IMPORTANT 1. The mode switch function is used in very high-speed positioning when it is necessary to use the servo-
drive near the limits of its capabilities. The speed response waveform must be observed to adjust the
mode switch.
2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/
position control. Even if overshooting or undershooting occur, they can be suppressed by setting the host
controller’s acceleration/deceleration time constant, the SERVOPACK’s Soft Start Acceleration/Deceler-
ation Time (Pn305, Pn306), or Position Reference Acceleration/Deceleration Time Constant (Pn204).
(1) Selecting the Mode Switch Setting

The SERVOPACK provides the following four mode switch settings (0 to 3). Select the appropriate mode switch
setting with parameter Pn10B.0.
Parameter
Containing
Parameter Mode Switch Selection Setting Unit
Detection
Point Setting
Pn10B n.0 Use a force reference level for detec- Percentage to the rated force
tion point. Pn10C
(Factory Setting)
n.1 Use a speed reference level for Servomotor speed: mm/s
Pn181
detection point.
n.2 Use an acceleration level for detec- Servomotor acceleration: 10 mm/s2
Pn182
tion point.
n.3 Use a position error pulse for detec- Reference unit
Pn10F
tion point.
n.4 Do not use the mode switch function. − −
Select a condition to execute the mode switch (P/PI switching). (Setting is validated immediately.)
5
1
From PI control to P control
TERMS
PI control means proportional/integral control and P control means proportional control. In short, switching “from PI
control to P control” reduces effective servo gain, making the SERVOPACK more stable.
5-19
5 Adjustments
5.4.5 Using the Mode Switch (P/PI Switching)
Using the Force Reference Level to Switch Modes (Factory Setting)

With this setting, the speed loop is switched to P control when the
Reference speed
value of force reference input exceeds the force set in parameter Speed Motor speed
Pn10C. The factory default setting for the force reference detection
point is 200% of the rated force (Pn10C = 200).
+Pn10C Force reference

Force
reference 0
- Pn10C
PI P PI control P PI control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to force saturation during acceleration or deceleration. The mode switch function
suppresses force saturation and eliminates the overshooting or undershooting of the motor speed.
Without Mode Switching With Mode Switching

Overshoot
Motor Motor
speed speed
Undershoot
Time Time
Using the Speed Reference Level to Switch Modes

With this setting, the speed loop is switched to P control when the value
Speed reference Motor
of speed reference input exceeds the speed set in parameter Pn181. Speed speed
Pn181 Time
PI P control PI control
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.

Speed
reference Motor speed
Motor
speed
Long settling time
Increase speed loop gain.
Overshoot
Motor Motor
speed speed
Undershoot
Time Settling time
5-20
Using the Acceleration Level to Switch Modes

With this setting, the speed loop is switched to P control when the
motor’s acceleration rate exceeds the acceleration rate set in param- Reference speed
Speed Motor speed
eter Pn182.
+Pn182 Motor acceleration

Acceler-
ation 0
- Pn182
PI P PI control P PI control
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to force saturation during acceleration or deceleration. The mode switch function
suppresses force saturation and eliminates the overshooting or undershooting of the motor speed.

Overshoot
Motor Motor
speed speed
Undershoot
Time Time
Using the Error Pulse Level to Switch Modes

This setting is effective with position control only.
With this setting, the speed loop is switched to P control when

the error pulse exceeds the value set in parameter Pn10F.

Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.

Speed
reference Motor speed
Motor
speed
Long settling time 5

Increase speed loop gain.
Overshoot
Motor Motor
speed speed
Undershoot
Time Settling time
5-21
5 Adjustments
5.4.6 Setting the Speed Bias
5.4.6 Setting the Speed Bias

The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref-
erence block in the SERVOPACK.
Pn180 Bias Position

Pn108 Bias Width Addition Position

To reduce the positioning time, set these parameters Speed reference

based on the machine’s characteristics.
The Bias Width Addition (Pn108) specifies when the Bias set
Bias (Pn180) is added and the width is expressed in
error pulse units. The bias input will be added when No bias
Bias width addition
the error pulse value exceeds the width set in Pn108. (Pn108) Bias (Pn180)
Error pulse
Bias (Pn180)
Bias width addition
(Pn108)
Pn108
5.4.7 Speed Feedback Filter

Pn308 Speed Feedback Filter Time Constant Speed Position

0 to 65,535 0.01 ms 0 Immediately
(0.00 to 655.35 ms)
Sets the 1st-order filter for the speed loop’s speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.
5-22
5.4.8 Speed Feedback Compensation

The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set. In
the end, the speed feedback compensation allows the positioning settling time to be reduced because the position
loop gain can also be increased if the speed loop gain can be increased.
Pn110 Online Autotuning Switches Speed Position

− − 0010 After restart
Pn111 Speed Feedback Compensation Speed Position

Parameter Function
Pn110 n.0 Speed feedback compensation is used.
n.1 Speed feedback compensation is not used. (Standard speed feedback)
IMPORTANT When this function is used, it is assumed that the mass ratio set in Pn103 is correct. Verify that the mass
ratio has been set correctly.
Speed
Error counter
reference Speed loop Force reference Force reference
output Position loop gain
(Pn102) + PI control filter time constant
- (Pn100,Pn101) (Pn401)
Speed feedback
Speed feedback
compensation
(Pn111)
Speed feedback
compensation selection
(Pn110.1)
Speed feedback compensation function
5-23
5 Adjustments
5.4.8 Speed Feedback Compensation
(1) Adjustment Procedure

The following procedure explains how to adjust when the speed loop gain cannot be increased due to vibrations
in the mechanical system. When adding a speed feedback compensation, observe the position error and force
reference with the analog monitor while adjusting the servo gain. Refer to 5.5 Analog Monitor on monitoring
the position error and force reference.
1. Set parameter Pn110 to “0002” so that the following conditions are satisfied.
• To use the speed feedback compensation
• Not to use the online autotuning function
2. With PI control, gradually increase the Speed Loop Gain in Pn100 and reduce the Speed Loop Integral
Time Constant Pn101, so that the setting the Position Loop Gain in Pn102 to the same value as that of the
Speed Loop Gain in Pn100.
Use the result from the following equation as an initial estimate when setting the Speed Loop Integral
Time Constant in Pn101.
4000
Speed loop integral time constant (Pn101)
2 Pn100
Speed loop gain units: Hz
Check the units when setting the Speed Loop Integral Time Constant in Pn101. The value in Pn101 is set
in units of 0.01 ms.
Set the same value for the speed loop gain and position loop gain even though the speed loop gain units
(Hz) are different form the position loop gain units (1/s).
3. Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor’s
position error and checking whether vibration occurs in the force reference. If there is any vibrating noise
or noticeable vibration, gradually increase the Force Reference Filter Time Constant in Pn401.
4. Gradually increase only the position loop gain. When it has been increased about as far as possible, then
decrease the Speed Feedback Compensation in Pn111 from 100% to 90%. Then repeat steps 2 and 3.
5. Decrease the speed feedback compensation to a value lower than 90%. Then repeat steps 2 through 4 to
shorten the settling time. If the speed feedback compensation is too low, however, the response waveform
will oscillate.
6. Find the parameter settings that yield the shortest settling time without causing vibration or instability in
the position error or force reference waveform being observed with the analog monitor.
7. The servo gain adjustment procedure is complete when the positioning time cannot be reduced any more.
IMPORTANT The speed feedback compensation usually makes it possible to increase the speed loop gain and position
loop gain. Once the speed loop gain and position loop gain have been increased, the machine may vibrate
significantly and may even be damaged if the compensation value is changed significantly or Pn110.1 is set
to “1” (i.e., speed feedback compensation disabled).
5-24
5.4.9 Switching Gain Settings

Gain switching by the external signal is possible with the SGDH SERVOPACK. For example, to use different
gains while the servomotor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains
by the external signal.
(1) Gain Switching Input Signal

Type Signal Connector Pin No. Setting Meaning
OFF: H (high)
Signal allocation Gain settings 1
Input /G-SEL level
required
ON: L (low) level Gain settings 2
To use the input signal, the input terminal must be allocated in the parameter Pn50D. Refer to 3.3.2 Input Circuit Signal
Allocation.
(2) Switchable Gain Combinations

Turning ON and OFF the gain switching signal /G-SEL switches the gains as follows.
Gain Switching Signal (/G-SEL) OFF (H Level) ON (L Level)
Speed loop gain Pn100 Pn104
Speed loop integral time constant Pn101 Pn105
Position loop gain Pn102 Pn106

Parameter Function
Pn50A n.1 Enables the input signal allocation for the sequence.
Set to allocate the gain switching signal (/G-SEL) to an input terminal.
Pn100 Speed Loop Gain Speed Position Force

Pn101 Speed Loop Integral Time Constant Speed Position Force
Pn102 Position Loop Gain Speed Position Force
Pn104 2nd Speed Loop Gain Speed Position Force
Pn105 2nd Speed Loop Integral Time Constant Speed Position Force
Setting Range Setting Unit Factory Setting Setting Validation 5
Pn106 2nd Position Loop Gain Speed Position Force
5-25
5 Adjustments
5.4.10 Force Reference Filter

As shown in the following diagram, the force reference filter contains one force reference filter and two notch fil-
ters arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled using
the parameters.
Force related
function switch
Pn408
Second First
Force reference Force stage stage Force reference
befor filtering reference notch notch after filtering
filter filter filter
Pn401 Pn40B Pn409
Pn40C Pn40A
1st-order delay filter Notch filter Notch filter
IMPORTANT Software version earlier than 32 does not have the parameters for the First Stage Notch Filter Q Value
(Pn40A) and the Second Stage Notch Filter (Pn40B and Pn40C).
(1) Force Reference Filter

If you suspect that machine vibration is being caused by the servodrive, try adjusting the force reference filter
time constant. This may stop the vibration. The lower the value, the better the speed control response, but there is
a lower limit that depends on the machine conditions.
Pn401 Force Reference Filter Time Constant Speed Position Force

0 to 65,535 0.01 ms 100 Immediately
(0.00 to 655.35 ms)
5-26
(2) Notch Filter

The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw
axes. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency compo-
nents near the notch frequency can be eliminated with this characteristics. A higher notch filter Q value produces
a sharper notch and phase delay.
Q value ＝ 0.7 Q value ＝ 1.0

Notch filter Notch filter
100 100
0 0
Gain Gain
-100 -100
db db
-200 -200
-300 -300 2 3 4
10
2
10 3 10 4 10 10 10
Frequency Hz Frequency Hz
Notch filter Notch filter
0 0
-100 -100
Phase -200 Phase -200
deg deg
-300 -300
-400 -400 2
10
2
10 3 10 4 10 10
3
10
4
Frequency Hz Frequency Hz
Parameter Meaning
Pn408 n.0 Disables the first stage notch filter.
n.1 Enables the first stage notch filter.
n.0 Disables the second stage notch filter.*
n.1 Enables the second stage notch filter.*
Enables the notch filter to be used. (The setting is validated immediately.)
* Used for software version 32 or later.
Set the machine’s vibration frequency in the parameter of a notch filter to be used.
Pn409 First Stage Notch Filter Frequency Speed Position Force

50 to 2,000 Hz 2,000 Immediately 5
Pn40B Second Stage Notch Filter Frequency * Speed Position Force

50 to 2,000 Hz 2,000 Immediately
5-27
5 Adjustments
When the vibration is suppressed but overshooting occurs, increase the Q value and check whether the over-
shooting is corrected.
Pn40A First Stage Notch Filter Q Value * Speed Position

0.50 to 4.00 0.01 0.70 Immediately
Pn40C Second Stage Notch Filter Q Value * Speed Position

0.50 to 4.00 0.01 0.70 Immediately
IMPORTANT 1. Sufficient precautions must be taken when setting the notch frequencies. Do not set the notch frequen-
cies (Pn409 or Pn40B) that is close to the speed loop’s response frequency. Set the frequencies at least
four times higher than the speed loop’s response frequency. Setting the notch frequency too close to the
response frequncy may cause vibration and damage the machine. The speed loop response frequency is
the value of the Speed Loop Gain (Pn100) when the Mass Ratio (Pn103) is set to the correct value.
2. Change the Notch Filter Frequency (Pn409 or Pn40B) only when the linear servomotor is stopped.
Vibration may occur if the notch filter frequency is changed when the linear servomotor is moving.
5-28
5.5 Analog Monitor
5.5 Analog Monitor

Signals for analog voltage references can be monitored.
To monitor analog signals, connect the analog monitor cable to the connector CN5.
The analog monitor signals can be selected by setting parameters Pn003.0 and Pn003.1.
SERVOPARK 200V
CN5 SGDH-
Ver.
YASKAWA POWER
MODE/SET DATA/ BATTERY
Cable Type: CN5

JZSP-CA01
or DE9404559
Black
Black
For 50W to 5.0 kW SERVOPACK White For 7.5 kW SERVOPACK
Red
Pin Number Line Color Signal Name Monitoring Item with Factory Setting
1 Red Analog monitor 2 Motor speed: 1 V/1000 mm/s
2 White Analog monitor 1 Force reference: 1 V/100% rated force
3, 4 Black (2 lines) GND (0 V) −
5-29
5 Adjustments
• Related Parameters
The following signals can be monitored.
Parameter Function
Monitor 1 Monitor 2 Monitor Signal Observation Gain Remarks
Pn003 n.0 n.0 Motor speed 1 V / 1000 mm/s Factory setting for Monitor 1
n.1 n.1 Speed reference 1 V / 1000 mm/s −
n.2 n.2 Internal force reference 1 V / 100% rated force Factory setting for Monitor 2
n.3 n.3 Position error ∗ 0.05 V / 1 reference unit −
n.4 n.4 Position error ∗ 0.05 V / 100 reference units −
n.5 n.5 Position reference speed 1 V / 1000 mm/s −
(converted to motor speed)
n.6 n.6 Motor speed 1 V / 250 mm/s −
n.7 n.7 Motor speed 1 V / 125 mm/s −
n.8 n.8 −
n.9 n.9 −
n.A n.A −
n.B n.B −
Reserved. Do not set. −
n.C n.C −
n.D n.D −
n.E n.E −
n.F n.F −
* When using speed control or force control, the position error monitor signal is not specified.
The analog monitor output voltage is ±8 V (maximum). The output will be limited to ±8 V even if this value is exceeded
INFO in the above calculations.
5 -30
6
Inspection, Maintenance, and
Troubleshooting
6.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.1.3 Alarm Display Table when the Application Module is Used - - - - - - - 6-5
6.1.4 Warning Display Table when the Application Module is Used - - - - - 6-6
6.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - 6-7
6.1.6 Troubleshooting for Malfunction without Alarm Display - - - - - - - - 6-17
6.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - 6-22

6.2.1 Linear Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - 6-23
6-1
6.1.1 Alarm Display Table
6.1 Troubleshooting
6.1.1 Alarm Display Table
The relation between alarm displays and alarm code outputs is shown in Table 11.1.
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
• DB STOP: Stops the servomotor immediately using the dynamic brake.
• ZERO-SPEED STOP: Stops the servomotor by setting the speed reference to “0.”
Table 6.1 Alarm Displays and Outputs
Alarm Alarm Code Output Servo
Alarm Reset Alarm
Alarm Name Meaning
Display ALO1 ALO2 ALO3 (ALM)
Output
A.02 Parameter Breakdown EEPROM data of SERVOPACK is N/A
abnormal.
A.03 Main Circuit Encoder Error Detection data for power circuit is Available
(Not detected for the SERVOPACKs abnormal.
with the capacity of 7.5 kW or more.)
A.04 Parameter Setting Error • The parameter setting is outside the N/A
allowable setting range.
• Pn080.0=1 was set though a hall
sensor was connected.
A.05 Combination Error • SERVOPACK and servomotor Available
capacities do not match each other.
• The linear servomotor and
SERVOPACK voltage specifica-
tions do not correspond to each H H H H
other.
A.08 Linear Scale Pitch Setting Error The initial value (0 µm) is set for the N/A
linear scale pitch (Pn280).
A.09 • A value higher than the motor peak N/A
Dividing Ratio Setting Error *1
speed that can be obtained from the
dividing ratio was set for Pn384.
• When connecting the linear servo-
motor, a value higher than the maxi-
mum dividing ratio that can be
obtained from the linear servomotor
peak speed was set for Pn281.
A.0A The mounted serial encoder is not sup- N/A
Encoder Type Mismatching *1
ported by Σ-II series.
A.10 Overcurrent or Heat Sink Overheated An overcurrent flowed through the N/A
IGBT.
L H H H
Heat sink of SERVOPACK was over-
heated.
A.30 Regeneration Error Detected Regenerative transistor or regenerative Available
resistor is faulty.
A.32 Regenerative Overload Regenerative energy exceeds regener- Available
ative resistor capacity. L L H H
A.33 Main Circuit Power The power supply to the main circuit Available
Supply Wiring Error does not match the parameter Pn001
setting.
A.40 Overvoltage *2 Main circuit DC voltage is excessively Available
high.
H H L H
A.41 Undervoltage *2 Main circuit DC voltage is excessively Available
low.
6-2
6.1 Troubleshooting
Table 6.1 Alarm Displays and Outputs (Cont’d)

Alarm Reset Alarm
Alarm Name Meaning
Output
A.51 Overspeed • The motor speed is excessively Available
high.
• The divided output frequency
exceeds 15 MHz.
L H L H
A.55 Linear Servomotor Peak Speed Setting When connecting the linear servomo- Available
Error*1 tor, a value higher than the linear ser-

vomotor peak speed was set for
Pn384.
A.71 Overload: High Load The motor was operating for several Available
seconds to several tens of seconds
under a force largely exceeding rat-
ings.
A.72 Overload: Low Load The motor was operating continuously Available
under a force largely exceeding rat-
ings.
A.73 Dynamic Brake Overload When the dynamic brake was applied, Available L L L H
(Not detected for the SERVOPACKs kinetic energy exceeded the capacity
with the capacity of 50 W to 1.0 kW.) of dynamic brake resistor.
A.74 Overload of Surge The main circuit power was frequently Available
Current Limit Resistor turned ON and OFF.
A.7A Heat Sink Overheated The heat sink of SERVOPACK over- Available
(Not detected for the SERVOPACKs heated.
with the capacity of 50 W to 1.0 kW.)
A.82 Encoder Checksum Error The checksum results of encoder N/A
memory is abnormal.
A.84 Encoder Data Error Data in the encoder is abnormal. N/A
A.b1 Reference Speed Input Read Error The A/D converter for reference speed Available
input is faulty.
A.b2 Reference Force Input Read Error The A/D converter for reference force Available
H H H H
input is faulty.
A.b3 Current sensor error was detected or Available
Current Detection Error *1
linear servomotor line was discon-
nected.
A.bF System Alarm A system error occurred in the N/A
SERVOPACK.
A.C1 Servo Overrun Detected The servomotor ran out of control. Available
A.C2 Phase Faulty Detection Alarm • The electrical angle at the hall sen- N/A
sor phase-U edge deviated for ±40
degrees or more.
• Hall sensor signal error was
detected.
A.C5 Linear Servomotor Pole Detection The polarity of linear servomotor can −
L H L H
Error not be detected.
A.C9 Encoder Communications Error Communications between N/A
SERVOPACK and encoder is not pos-
sible.
A.CA Encoder Parameter Error Encoder parameters are faulty. N/A
A.Cb Encoder Echoback Error Contents of communications with N/A

encoder is incorrect.
6-3
6.1.2 Warning Display
Table 6.1 Alarm Displays and Outputs (Cont’d)

Alarm Reset Alarm
Alarm Name Meaning
Output
A.d0 Position Error Pulse Overflow Position error pulse exceeded parame- Available
ter (Pn505). L L H H
A.d3 Exceeded Position Data Position data is 32-bit or more. −
A.F1 Power Line Open Phase One phase is not connected in the Available
main power supply.
A.F6 Servomotor Line Disconnection *1 The power is not supplied to the linear Available H L H H
servomotor while the SERVOPACK
received a servo ON command.
CPF00 Digital Operator Digital operator (JUSP-OP02A-2) N/A
CPF01 Transmission Error fails to communicate with N/A Not decided

SERVOPACK (e.g., CPU error).
A.− − Not an error Normal operation status − H H H L
* 1. These alarm occur only for the software version 32 or later.
* 2. For the SERVOPACK with a capacity of 7.5 kW:
A.40: Alarm detecting excessively high/low voltage in the main circuit
A.41: Not used
6.1.2 Warning Display

The relation between warning displays and warning code outputs is shown in table 6.2.
Table 6.2 Warning Displays and Outputs
Warning Warning Code Output
Display Warning Name Meaning
ALO1 ALO2 ALO3
A.90 Excessive Position Deviation * The position deviation exceeds the value of Pn51E. H H H
A.91 Overload This warning occurs before the overload alarms (A.71 or
A.72) occur. If the warning is ignored and operation con- L H H
tinues, an overload alarm may occur.
A.92 Regenerative Overload This warning occurs before the regenerative overload
alarm (A.32) occurs. If the warning is ignored and opera- H L H
tion continues, a regenerative overload alarm may occur.
* The warning occurs only for the software version 32 or higher.
Note: Warning code is not output without setting Pn001 = n.1 (Outputs both Alarm Codes and
Warning Codes.)
6-4
6.1 Troubleshooting
6.1.3 Alarm Display Table when the Application Module is Used

The following special alarms will occur when the SGDH SERVOPACK and an application module are used
together. The relation between alarm displays and alarm code outputs is shown in Table 6.3.
Table 6.3 Alarm Displays and Outputs when the SERVOPACK and an Application Module Is Used Together
Alarm Application Mod- Alarm Name Meaning Alarm Code Servo
Display ule which Detects Output Alarm
Alarms (ALM)
NS NS NS NS ALO1 ALO2 ALO3 Output
100 300 500 600
A.E0 { { { { No Application Module No application module installed.
A.E1 { { { { Application Module Time- No response from the application
out module.
A.E2 { { { { Watchdog Counter Error of WDC error in the application mod-
Application Module ule
A.E5 { − − − Watchdog Timer Error MECHATROLINK synchroniza-
tion error
A.E6 { { − − NS100 Communications MECHATROLINK communica-
Error tions error
NS300 Duplicate MAC ID Same node address already exists
Error on the DeviceNet network.
A.E7 { { { { Application Module No application module was
Detection Error detected. H L L H
A.E9 − { − − BUS-OFF Error Fatal communications error has
occurred in DeviceNet communi-
cations.
A.EA { { { − SERVOPACK Malfunc- SERVOPACK is defective.
tion
A.EB { { { − SERVOPACK Initial Initial processing failed.
Access Error
A.EC { { { − SERVOPACK WDC Error SERVOPACK WDC error
A.ED { { { − Command Execution Command was interrupted.
Incomplete
A.EF − − − { Application Module Error Some kind of alarm occurred in the
NS600.
Note: 1. The following types of application modules are available:
NS100 (JUSP-NS100): MECHATROLINK I/F application module
NS300 (JUSP-NS300): Device Net I/F application module
NS500 (JUSP-NS500): PROFIBUS-DP I/F application module
NS600 (JUSP-NS600): INDEXER application module
2. For troubleshooting application module alarms, refer to relevant application module manual.
Manual numbers are described in Related Manuals on page v.
6-5
6.1.4 Warning Display Table when the Application Module is Used
6.1.4 Warning Display Table when the Application Module is Used

The following special warnings will occur when the SGDH SERVOPACK and an application module are used
together. The relation between warning displays and warning code outputs is shown in Table 6.4.
Table 6.4 Warning Displays and Outputs when the SERVOPACK and an Application Module Is Used Together
Warning Application Mod- Warning Name Meaning Warning Code Servo
Display ule which Detects Output Alarm
Warnings (ALM)
NS NS NS NS ALO1 ALO2 ALO3 Output
100 300 500 600
A.94 { { { − Data Setting Warning A value outside the setting range
L L H L
was set using communications.
A.95 { { { − Command Warning A command not supported in the
product specifications was issued.
H L H L
The command reception condi-
tions were not met.
A.96 { { − − Communications A communications error occurred
L H H L
Warning (once).
A.98 − { { − Main Power OFF The main power supply is not
L L L L
being supplied.
A.9A − { { − Not Completed within Positioning was not completed
L H L L
the Set Time within the set time.
A.9F − − − { NS600 Error Some error occurred in the NS600.
Check the NS600 Error Display L L L L
for details.
Note: 1. The following types of application modules are available:
NS100 (JUSP-NS100): MECHATROLINK I/F module
NS300 (JUSP-NS300): DeviceNet I/F module
NS500 (JUSP-NS500): PROFIBUS-DP I/F module
NS600 (JUSP-NS600): INDEXER application module
2. For troubleshooting application module alarms, refer to relevant application module manual.
Manual numbers are described in Related Manuals on page v.
6-6
6.1 Troubleshooting
6.1.5 Troubleshooting of Alarm and Warning

When an error occurs in servodrive, an alarm display such as A. and CPF or warning display such as
A.9 appears on the panel operator. However, the display “A.--” is not an alarm. Refer to the following sec-
tions to identify the cause of an alarm and the action to be taken.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.
(1) Alarm Display and Troubleshooting

Table 6.5 Alarm Display and Troubleshooting
Alarm Alarm Name Situation at Alarm Cause Corrective Actions
Display Occurrence
A.02 Parameter Occurred when the The control power supply ranged from 30 VAC to Correct the power supply, and set Fn005 to initial-
Breakdown control power sup- 60 VAC. ize the parameter.
(The EEPROM ply was turned ON. The power supply was turned OFF while changing Set Fn005 to initialize the parameter and input the
data storing the the parameter setting. parameter again.
parameter is The power supply was turned OFF while an alarm
incorrect.) was being written.
The number of times that parameters were written Replace the SERVOPACK.
exceeded the limit. For example, the parameter was (Recheck the parameter writing method.)
changed every scan through the host controller.
The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK.
are faulty.
A.03 Main Circuit Occurred when the The control power supply ranged from 30 VAC to Correct the power supply.
Encoder Error control power sup- 60 VAC. Replace the SERVOPACK.
(Not detected for ply was turned ON A SERVOPACK fault occurred.
the SERVOPACK or during operation
with the capacity
of 7.5 kW)
A.04 Parameter Occurred when the The incorrect parameter was being loaded. (The Set Fn005 to initialize the parameter.
Setting Error control power sup- incorrect value was rejected as an error at the digital
(The parameter ply was turned ON. operator.)
setting was out of Pn080.0 = 1 was set though a hall sensor was con- Check and correct the hall sensor wiring.
the allowable set- nected. Correct the set value of parameter Pn080.0.
ting range.)
The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK.
are faulty.
A.05 Combination Occurred when the The SERVOPACK and servomotor capacities do not Select the proper combination of SERVOPACK
Error control power sup- correspond to each other. and servomotor capacities.
(The ply was turned ON. Servomotor capacity / SERVOPACK capacity ≤ 1/4
SERVOPACK
or servomotor capacity / SERVOPACK capacity ≥ 4
and servomotor
capacities do not The linear servomotor and SERVOPACK voltage Select the proper combination of SERVOPACK
correspond.) specifications do not correspond to each other. and linear servomotor voltages.
The parameter that is written in the serial converter Replace the serial converter unit.
unit is incorrect.
A SERVOPACK board fault occurred. Replace the SERVOPACK.
A.08 Linear Scale Occurred when the The initial value is set for Pn280. Correct the set value of parameter Pn280.
Pitch Setting control power sup-
Error ply was turned ON.
A.09 Dividing Ratio Occurred when the A value higher than the motor peak speed that can be Change the set value to a value within the allow-
Setting Error control power sup- obtained from the dividing ratio was set for Pn384. able peak speed, referring to Un010.
(For the software ply was turned ON. A value higher than the maximum dividing ratio that Change the set value to a value within the allow-
version 32 or
later)
can be obtained from the linear servomotor peak able dividing ratio, referring to Un010. 6
speed was set for Pn281.
A.0A Encoder Type Occurred when the The mounted serial encoder is not supported by ∑-II Replace the linear servomotor with the ∑-II series
Mismatching control power sup- series. supported model.
(For the software ply was turned ON.
version 32 or
later)
6-7
Table 6.5 Alarm Display and Troubleshooting (Cont’d)

Display Occurrence
A.10 Overcurrent Occurred when the The overload alarm has been reset by turning OFF Change the method to reset the alarm.
(An overcurrent control power sup- the power too many times.
flowed through ply was turned ON. The connection is faulty between the SERVOPACK Replace the SERVOPACK.
the IGBT) or Heat board and the thermostat switch.
Sink Overheated
The SERVOPACK board fault occurred.
Occurred when the The connection between grounding and U, V, or W Check and then correct the wiring.
main circuit power is incorrect.
supply was turned The grounding line has contact with other terminals.
ON or when an
A short circuit occurred between the grounding and Repair or replace the servomotor main circuit
overcurrent
U, V, or W of the servomotor cable. cable.
occurred while the
servomotor was A short circuit occurred between phases U, V, and W
running. of the servomotor.
The wiring of the regenerative resistor is incorrect. Check and then correct the wiring.
A short circuit occurred between the grounding and Replace the SERVOPACK.
U, V, or W of the SERVOPACK.
A SERVOPACK fault occurred (current feedback
circuit, power transistor or board fault).
A short circuit occurred between the grounding and Replace the servomotor.
U, V, W of the servomotor.
A short circuit occurred between phases U, V, and W
of the servomotor.
The dynamic brake was activated too frequently, so Replace the SERVOPACK, and reduce the DB
a DB overload alarm occurred. operation frequency.
The overload alarm has been reset by turning OFF Change the method to reset the alarm.
the power too many times.
The excessive change was given to the position/ Recheck the reference value.
speed reference.
The overload or regenerative power exceeds the Reconsider the load and operation conditions.
regenerative resistor’s capacity.
The direction or the distance of the SERVOPACK to The ambient temperature for the SERVOPACK
other devices is incorrect. must be 55°C or less.
Heat radiation of the panel or heat around the panel
occurred.
A SERVOPACK fan fault occurred. Replace the SERVOPACK.
A SERVOPACK fault occurred.
A.30 Regeneration Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Error Detected control power sup-
(Detected when ply was turned ON.
the power to the Occurred when the An external regenerative resistor is not connected Connect an external regenerative resistor.
main circuit was main circuit power for a servomotor of 7.5 kW.
turned ON.) supply was turned Pn600 is set to a value other than 0 for a servomotor Connect an external regenerative resistor, or set
ON. of 400 W or less, and an external regenerative resis- Pn600 to 0 if an external regenerative resistor is
tor is not connected. not connected.
Check for incorrect wiring or a disconnected wire in Correct the wiring for the external regenerative
the regenerative resistor. resistor.
A SERVOPACK fault occurred, such as regenerative Replace the SERVOPACK.
transistor or a voltage sensor fault.
The jumper between B2 and B3 is removed for a ser- Correct the wiring.
vomotor of 500 W or more, and 5.0 kW or less.
Occurred during Check for incorrect wiring and disconnection of the Correct the wiring for the external regenerative
normal operation. regenerative resistor. resistor.
The regenerative resistor is disconnected, so the Replace the regenerative resistor or replace the
regenerative energy became excessive. SERVOPACK. Reconsider the load and operation
conditions.
A SERVOPACK fault, such as regenerative transis- Replace the SERVOPACK.
tor and voltage sensor fault, occurred.
6-8
6.1 Troubleshooting

Display Occurrence
A.32 Regenerative Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Overload control power sup-
the power to the Occurred when the The power supply voltage is 270 V or more. Correct the input voltage.
main circuit is main circuit power
turned ON.) supply was turned
ON.
Occurred during The regenerative energy is excessive. Select a proper regenerative resistance capacity, or
normal operation The regenerating state continued. reconsider the load and operation conditions.
(large increase of
temperature).
Occurred during The setting of parameter Pn600 is smaller than the Correct the set value of parameter Pn600.
normal operation external regenerative resistor’s capacity.
(small increase of A SERVOPACK fault occurred. Replace the SERVOPACK.
temperature).
Occurred at servo- The regenerative energy is excessive. Select a proper regenerative resistance capacity, or
motor deceleration. reconsider the load and operation conditions.
A.33 Main Circuit Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Wiring Error control power sup-
the power to the Occurred when the In the DC power input mode, AC power is supplied For AC power input, Pn001.2=0.
main circuit is main circuit power through L1 and L2 or L1, L2, and L3. For DC power input, Pn001.2=1.
turned ON.) supply was turned In the AC power input mode, DC power is supplied
ON.
through 1 and terminals.
Pn600 is set to 0 if the regenerative resistance is dis- Set Pn600 to 0.
connected.
A.40 Overvoltage Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
(Detected when control power sup-
the ply was turned ON.
SERVOPACK’s Occurred when the The AC power voltage is too high. The AC power voltage must be within the speci-
main circuit DC main circuit power fied range.
voltage is 420 V supply was turned A SERVOPACK fault occurred. Replace the SERVOPACK.
or more.) ON.
(Detected when
Occurred during Check the AC power voltage (check if there is no The AC power voltage must be within the speci-
the power to the
normal operation. excessive voltage change.) fied range.
main circuit is
turned ON.) The motor speed is high and load mass is excessive, Check the load mass and minus load specifica-
resulting in insufficient regenerative capacity. tions. Reconsider the load and operation condi-
tions.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred at servo- The motor speed is high, and the load mass is exces- Reconsider the load and operation conditions.
motor deceleration. sive.
6-9

Display Occurrence
A.41 Undervoltage Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
the ply was turned ON.
SERVOPACK’s Occurred when the The AC power supply voltage is low. The AC power supply voltage must be within the
main circuit DC main circuit power specified range.
voltage is 170 V supply was turned The fuse of the SERVOPACK is blown out. Replace the SERVOPACK.
or less.) ON.
(Detected when The surge current limit resistor is disconnected, Replace the SERVOPACK. Check the power sup-
the power to the resulting in an abnormal power supply voltage or in ply voltage, and reduce the number of times that
main circuit is an overload of the surge current limit resistor. the main circuit is turned ON or OFF.)
turned ON.) A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred during The AC power supply voltage was lowered, and The AC power supply voltage must be within the
normal operation. large voltage drop occurred. specified range.
A temporary power failure occurred. Clear and reset the alarm, and restart the opera-
tion.
The servomotor main circuit cable is short-circuited. Repair or replace the servomotor main circuit
cable.
The servomotor is short-circuited. Replace the servomotor.
A.51 Overspeed Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
the feedback ply was turned ON.
speed is the maxi- Occurred when The order of phases U, V, and W in the servomotor Correct the servomotor wiring.
mum motor servo was ON. wiring is incorrect.
speed)
The encoder wiring is incorrect. Correct the encoder wiring.
Malfunction occurred due to noise interference in Take measures against noise for the encoder wir-
the encoder wiring. ing.
Occurred when the The order of phases U, V, and W in the servomotor Correct the servomotor wiring.
servomotor started wiring is incorrect.
running or in a The encoder wiring is incorrect. Correct the encoder wiring.
high-speed move-
Malfunction occurred due to noise interference in Take measures against noise for the encoder wir-
ment.
the encoder wiring. ing.
The position or speed reference input is too large. Reduce the reference value.
The setting of the reference input gain is incorrect. Correct the reference input gain setting.
The divided output frequency exceeds 15 MHz. Correct the setting for dividing output.
Decrease the maximum speed.
A.55 Linear Servomo- Occurred when the When connecting the linear servomotor, a value Set a value lower than the maximum speed of the
tor Maximum control power sup- higher than the linear servomotor peak speed was set linear servomotor for Pn384.
Speed Setting ply was turned ON. for Pn384.
Error
(For the software
version 32 or
later)
6-10
6.1 Troubleshooting

Display Occurrence
A.71 Overload Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
A.71: High Load control power sup-
A.72
A.72: Low Load ply was turned ON.
Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring.
servo was ON. is faulty.
The encoder wiring is incorrect or the connection is Correct the encoder wiring.
faulty.
Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring.
servomotor did not is faulty.
run by the refer- The encoder wiring is incorrect or the connection is Correct the encoder wiring.
ence input. faulty.
The starting force exceeds the maximum force. Reconsider the load and operation conditions, or
reconsider the servomotor capacity.
The polarity detection is not performed properly Correct the settings for the polarity detection
(when Pn080.0 = 1 is set.) related parameter.
Wrong value in Pn 280 Correct the set value of Pn 280
Wrong serial converter number Check the number and motor model
A linear scale fault occurred Replace the linear scale
A SERVOPACK fault occurred Replace the SERVOPACK
The actual force exceeds the rated force or the start- Reconsider the load and operation conditions, or
ing force largely exceeds the rated force. reconsider the linear servomotor capacity.
Occurred during
normal operation.
Temperature in the SERVOPACK panel is high. Reduce the in-panel temperature to 55° or less.
A.73 Dynamic Brake Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Overload control power sup-
ply was turned ON.
Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
servomotor was
running and in a sta-
tus other than servo
OFF.
Occurred when the The kinetic energy at a DB stop exceeds the DB Reduce the motor speed,
servomotor was resistance capacity. Reduce the load mass, or
running in servo Reduce the number of times of the DB stop
OFF status. operation.
A.74 Overload of Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Surge Current control power sup-
Limit Resistor ply was turned ON.
(Detected when Occurred during A SERVOPACK board fault occurred. Replace the SERVOPACK.
the number of operations other
times that the than the turning
main circuit’s ON/OFF of the
power is turned main circuit.
ON or OFF more
Occurred at the The surge current limit resistor operation frequency Reduce the number of times that main circuit’s
than 10 times/2
main circuit power at the main circuit power supply ON/OF operation power supply can be turned ON/OFF to 5 times/
seconds.)
supply ON/OFF exceeds the allowable range. min. or less.
operation. A SERVOPACK fault occurred. Replace the SERVOPACK.
A.7A Heat Sink Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Overheated control power sup- The overload alarm has been reset by turning OFF Change the method to reset the alarm.
(Detected when ply was turned ON. the power too many times.
the heat sink tem-
Occurred when the The load exceeds the rated load. Reconsider the load and operation conditions, or
perature exceeds
main circuit power reconsider the servomotor capacity.
100 ⋅ °C.)
supply was turned The SERVOPACK ambient temperature exceeds The ambient temperature must be 55°C or less.
ON or while the ser- 55°C.
vomotor was run-
ning.
6-11

Display Occurrence
A.82 Encoder Occurred when the A fault occurred in the serial converter unit and was If this alarm occurs frequently, replace the serial
Checksum Error control power sup- detected by the serial converter unit self-diagnosis. converter unit.
(Detected on the ply was turned ON A SERVOPACK fault occurred. Replace the SERVOPACK.
encoder side.) or during an opera-
tion.
A.84 Encoder Data Occurred when the A malfunction occurred in the serial converter unit. Turn the control power supply OFF and then ON
Error control power sup- again. If this alarm occurs frequently, replace the
(Detected on the ply was turned ON. serial converter unit.
encoder side.) A SERVOPACK board fault occurred. Replace the SERVOPACK.
Occurred during A malfunction occurred in the serial converter unit Correct the wiring around the serial converter unit
normal operation. due to external noise. by separating the serial converter unit cable from
the power line, or by checking the grounding and
other wiring.)
A serial converter unit fault occurred. If this alarm occurs frequently, replace the serial
converter unit.
A.b1 Reference Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Speed Input control power sup-
Read Error ply was turned ON.
(Detected when Occurred during A malfunction occurred in reading section of the Clear and reset the alarm and restart the operation.
the Servo is ON.) normal operation. speed reference input.
A.b2 Reference Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Force Input control power sup- A malfunction occurred in the reading section of the Clear and reset the alarm and restart the operation.
Read Error ply was turned ON. force reference input.
(Detected when
Occurred during A SERVOPACK board fault occurred. Replace the SERVOPACK.
the servo is ON.)
normal operation.
A.b3 Current Occurred during Current sensor error is detected or servomotor line is Check and correct the servomotor power line, or
Detection Error normal operation. disconnected. replace the SERVOPACK.
(For the software
version 32 or
later)
A.bF System Alarm Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
(Program error) control power sup-
• Software ply was turned ON.
operation time Occurred during A program is incorrect. Replace the SERVOPACK. (Contact your
exceeded normal operation. Yaskawa representative.)
• Stack overflow
• Micro program
error
A.C1 Servo Overrun Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Detected control power sup-
the servo is ON.) Occurred when the The order of phase U, V, and W in the servomotor Correct the servomotor wiring.
servo was ON or a wiring is incorrect.
reference was input. The encoder wiring in incorrect or the connection Correct the encoder wiring
is faulty
The polarity detection is not performed properly Correct the settings for the polarity detection
(When Pn080.0 = 1 is set). related parameter.
A serial converter unit fault occurred. Replace the serial converter unit.
6-12
6.1 Troubleshooting

Display Occurrence
A.C2 Phase Faulty Occurred when the When Pn080.0 = 0 is set though no hall sensor is Connect correctly the hall sensor cable to the
Detection control power sup- mounted. serial converter unit.
(Occurs when ply was turned ON. Correct the setting of parameter Pn080.0.
using a hall The hall sensor is protruding from the linear servo- Reconsider the linear servomotor installation.
sensor.) motor magnetic way.
A hall sensor fault occurred. Replace the linear servomotor coil assembly.
Occurred when the The linear servomotor coil assembly direction and Correct the setting of parameter Pn080.1.
servo is turned ON linear scale direction do not match.
or during operation. The hall sensor is protruding from the linear servo- Reconsider the linear servomotor installation.
motor magnetic way.
Noise interference on the hall sensor signals Take a noise prevention measure for the hall sen-
sor wiring.
Connect the case of serial converter unit to FG.
Wrong value in Pn280 Correct the set value of Pn280.
(Pn280: linear pitch scale)
The linear scale installation does not meet the Reconsider the installation.
requirements of the scale specifications.
Dust and dirt accumulate on the linear scale. Remove dust and dirt on the linear scale.
A linear scale fault occurred. Replace the linear scale.
A.C5 Polarity Occurred during The polarity detection failed. Refer to 9.2.3 (d) Troubleshooting for Polarity
Detection Faulty polarity detection. Detection Errors.
A.C9 Encoder Occurred when the The serial converter unit wiring and the contact are Correct the serial converter unit wiring.
Communica- control power sup- incorrect.
tions Error ply was turned ON Noise interference occurred due to incorrect serial Use tinned annealed copper twisted-pair or
or during operation. converter unit cable specifications. twisted-pair shielded wire with a core of at least
0.12 mm2 (0.0002 in2).
Noise interference occurred because the wiring dis- The wiring distance must be 20m (65.6 ft) max.
tance for the serial converter unit cable is too long.
The noise interference occurred on the signal line Correct the serial converter unit cable layout.
because the serial converter unit cable is bent and
the sheath is damaged.
The serial converter unit cable is bundled with a Correct the serial converter unit cable layout so
high-current line or near a high-current line. that no surge is applied.
The FG electrical potential varies because of the Ground the machine separately from PG side FG.
influence from such machines on the servomotor
side as welders.
Noise interference occurred on the signal line from Take a measure against noise for the serial con-
the serial converter unit. verter unit wiring.
Excessive vibration and shocks were applied to the Reduce the machine vibration or mount the serial
serial converter unit. converter unit securely.
A.CA Encoder Occurred when the A serial converter unit fault occurred. Replace the serial converter unit.
Parameter Error control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
ply was turned ON.
6-13

Display Occurrence
A.Cb Encoder Occurred when the The serial converter unit wiring and contact are Correct the serial converter unit wiring.
Echoback Error control power sup- incorrect.
ply was turned ON Noise interference occurred due to incorrect serial Use tinned annealed copper twisted-pair or
or during operation. converter unit cable specifications. twisted-pair shielded wire with a core of at least
0.12 mm2 (0.0002 in2).
Noise interference occurred because the wiring dis- The wiring distance must be 20m (65.6 ft) max.
tance for the serial converter unit cable is too long.
Noise interference occurred on the signal line, Correct the serial converter unit cable layout.
because the serial converter unit cable is bent and
the sheath is damaged.
The serial converter unit cable is bundled with a Correct the serial converter unit cable layout so
high-current line or near a high-current line. that no surge is applied.
The FG electrical potential varies because of the Ground the machine separately from PG side FG.
influence from such machines on the servomotor
side as welders.
Noise interference occurred on the signal line from Take measures against noise for the serial con-
the serial converter unit. verter unit wiring.
Excessive vibration and shocks to the serial con- Reduce the machine vibration or mount the serial
verter unit was applied. converter unit securely.
A.d0 Position Error Occurred when the The overflow level (Pn505) is incorrect. Make the value set in the Pn505 to other than 0.
Pulse Overflow control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
(In servo ON ply was turned ON.
status, the Occurred at the ser- The contact in the servomotor U, V, and W wirings Correct the servomotor wiring.
position error vomotor high-speed is faulty. Correct the encoder wiring.
pulses exceed the movement.
overflow level set A SERVOPACK board fault occurred. Replace the SERVOPACK.
in the parameter The servomotor did Wirings of the servomotor U, V, and W are incorrect. Correct the servomotor wiring.
Pn505.) not run with posi- A SERVOPACK board fault occurred. Replace the SERVOPACK.
tion reference input.
Normal movement, The SERVOPACK gain adjustment is improper. Increase the speed loop gain (Pn100) and position
but occurred with a loop gain (Pn102).
long distance refer- The V-REF input voltage and the Pn300 setting are Lower the reference speed to the speed limit
ence input. incorrect. value.
The position reference pulse frequency is too high. Adjust slowly the position reference pulse fre-
quency.
Apply the smoothing function.
Correct the electronic gear ratio.
Setting of the position error pulse overflow alarm Set the parameter Pn505 to proper value.
level (Pn505) is incorrect.
The servomotor specifications do not meet the load Reconsider and correct the load and servomotor
conditions such as force and mass. capacity.
A.d3 Exceeded Occurred when the Position data is 32-bit or more. Narrow the movable range of the linear servomo-
Position Data control power sup- tor.
ply was turned ON
or during operation.
A.F1 Power Line Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Open Phase control power sup-
(In the main ply was turned ON.
power supply ON Occurred when the The three-phase power supply wiring is incorrect. Correct the power supply wiring.
status, the voltage main circuit power The three-phase power supply is unbalanced. Balance the power supply by changing phases.
stays low for 1 supply was turned
second or more at A SERVOPACK fault occurred. Replace the SERVOPACK.
ON.
one of the phases
Occurred when the The contact in three-phase power supply wiring is Correct the power supply wiring.
R, S, and T.)
servomotor was faulty.
(Detected when
running. Three-phase power supply is unbalanced. Balance the power supply.
the main circuit
power supply A SERVOPACK fault occurred. Replace the SERVOPACK.
turns ON.)
6-14
6.1 Troubleshooting

Display Occurrence
A.F6 Servomotor Line Occurred when the The power is not supplied to the linear servomotor Check and then correct the linear servomotor
Disconnection servo was turned while the SERVOPACK received a servo ON com- power line wiring, or replace the SERVOPACK.
(For the software ON. mand.
version 32 or
later)
CPF00 Digital Operator Occurred when the The contact between the digital operator and the Insert securely the connector, or replace the cable.
Transmission power supply was SERVOPACK is faulty.
Error 1 *1 turned ON with dig- The external noise interference occurred to the digi- Do not lay the cable near noise source.
ital operator con- tal operator or cable. Install digital operator far from noise source.
nected or (The digital operator cable is near noise source.)
when connecting
CPF01 Digital Operator
digital operator with
A digital operator fault occurred. Replace the digital operator.
Transmission A SERVOPACK fault occurred. Replace the SERVOPACK.
the power supply
Error 2 *2 was turned ON.
* 1. This alarm occurs when the communications is still disabled five seconds after digital opera-
tor power supply is ON, or when digital operator communications disabled status stays while
an application module is connected.
* 2. This alarm occurs when digital operator received data error occurs consecutively five times,
or when the state that digital operator receives no data from SERVOPACK for one second or
more occurs consecutively three times.
6-15
(2) Warning Display and Troubleshooting

Table 6.6 Warning Display and Troubleshooting
Warning Warning Name Situation at Warning Cause Corrective Actions
Display Occurrence
A.90 Excessive Position Occurred during nor- The position error exceeded the setting of param- When the position error becomes within
Error mal operation. eter Pn51E. the setting of Pn51E, the SERVOPACK
will be automatically restored.
A.91 Overload: Occurs when the servo Wiring is incorrect and the contact in servomotor Correct the servomotor wiring.
Warning for the was ON. wiring is faulty.
alarms A71 and Wiring is incorrect and the contact in encoder Correct the encoder wiring.
A72 wiring is faulty.
In either of the fol-
lowing cases:
1. 20% of the The servomotor did not Servomotor wiring is incorrect and the contact is Correct the servomotor wiring.
overload detection run with a reference faulty.
level of A71 input. Encoder wiring is incorrect and the contact is Correct the encoder wiring.
2. 20% of the faulty.
overload detection The starting force exceeds the maximum force. Reconsider the load and operation condi-
level of A72. tions. Or, check the servomotor capacity.
The polarity detection is not performed properly. Correct the settings for the polarity detec-
(When Pn080.0 = 1 is set.) tion related parameter.
Occurred during nor- The effective force exceeds the rated force. Reconsider the load and operation condi-
mal operation. tions. Or, check the servomotor capacity.
Temperature in the SERVOPACK panel is high. Reduce the in-panel temperature to 55°C
or less.
A.92 Regenerative Occurred when the con- A SERVOPACK fault occurred. Replace the SERVOPACK.
Overload: trol power supply was
Warning for the turned ON.
alarm A320 Occurred during nor- Regenerative energy is excessive. Check the regenerative resistor capacity,
mal operation Regenerative status continues. or reconsider the load and operation con-
(Large increase of ditions.
temperature.)
Occurred during nor- The setting of parameter Pn600 is smaller than Correct the setting of parameter Pn600.
mal operation the external regenerative resistor capacity.
(Small increase of A SERVOPACK fault occurred. Replace the SERVOPACK.
temperature).
Occurred at servomo- Regenerative energy is excessive. Check the regenerative resistor capacity,
tor deceleration. or reconsider the load and operation con-
ditions.
6-16
6.1 Troubleshooting
6.1.6 Troubleshooting for Malfunction without Alarm Display

The troubleshooting for the malfunctions that causes no alarm display is listed below.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective actions.
Table 6.7 Troubleshooting for Malfunction without Alarm Display
Inspection Corrective Actions
Symptom Cause
: Turn OFF the servo system before executing operations.
Linear Servo- The control power supply is not ON. Check voltage between control power sup- Correct the control power circuit.
motor Does ply terminals.
Not Start The main circuit power supply is not Check the voltage between power supply Correct the power circuit.
ON. terminals.
Wrong wiring or disconnection of Check if the connector CN1 is properly Correct the connector CN1 connection.
I/O signal connector CN1 inserted and connected.
Linear servomotor or serial converter Check the wiring. Correct the wiring.
unit wiring disconnected.
Overloaded Run under no load. Reduce load or replace with larger capacity servomotor.
Speed/position references not input Check reference input pins. Input speed/position references correctly.
Setting for Pn50A to Pn50D “Input Check settings of parameters Pn50A to Correct the settings for Pn50A to Pn50D “Input Signal
Signal Selection” is incorrect. Pn50D. Selection.”
/S-ON input signal stays OFF. Check settings of parameters Pn50A.0 and Correct the parameter setting and turn ON /S-ON input
Pn50A.1. signal.
Control method selection is incor- Check parameter Pn000.1. Set parameters to match the application.
rect.
Reference pulse mode selection is Check the parameter setting for the refer- Correct setting of parameter Pn200.0.
incorrect. ence pulse mode (Pn200.0).
Speed control: Speed reference input Check V-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
is incorrect. trol method and the input are agreed. input.
Force control: Force reference input Check T-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
is incorrect. trol method and the input are agreed. input.
Position control: Reference pulse Check Pn200.0 reference pulse form or sign Correct the setting of Pn200.0 or the input.
input is incorrect. + pulse signal.
The error clear counter (CLR) input Check CLR or /CLR input pins (CN1-14 Turn CLR or /CLR input signal OFF.
is turned ON. and -15).
The forward run prohibited (P-OT) Check P-OT or N-OT input signal. Turn P-OT or N-OT input signal ON.
or reverse run prohibited (N-OT)
input signal is turned OFF.
The polarity detection is not exe- Check the parameter Pn080. Correct the setting of Pn080.
cuted. Check /S-ON or /P-DET input signal. Turn /S-ON or /P-DET input signal ON.
A SERVOPACK fault occurred. A SERVOPACK board fault occurred. Replace the SERVOPACK.
Linear Servo- Servomotor wiring is incorrect. Check the servomotor wiring. Correct the servomotor wiring.
motor Moves Serial converter unit wiring is incor- Check the serial converter unit wiring. Correct the serial converter unit wiring.
Instanta- rect.
neously, and Linear scale wiring is incorrect. Check the linear scale wiring. Correct the linear scale wiring.
then Stops
Linear scale pitch (Pn280) is incor- Check the setting of Pn280. Correct the setting of Pn280.
rect.
Linear scale counting up direction Check the directions. Change the setting of Pn080.1 (Servomotor Phase Order
and linear servomotor coil assembly Selection).
forward direction are not agreed. Match the linear scale direction and coil assembly direc-
tion.
Polarity detection is not performed
correctly.
Check if the value of Un004 (Electrical
Angle 2) at an arbitrary position is between
Correct the settings for the polarity detection related
parameter.
6
±10 degrees.
Linear Servo- Wiring connection to servomotor is Check connection of power lead (phases U, Tighten any loose terminals or connectors.
motor Speed defective. V, and W) and encoder connectors.
Unstable
6-17
Table 11.7 Troubleshooting for Malfunction without Alarm Display (Cont’d)

Symptom Cause
Linear Speed control: Speed reference input Check V-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
Servomotor is incorrect. trol method and the input are agreed. input correctly.
Moves Force control: Force reference input Check T-REF and SG to confirm if the con- Correct the control mode selection parameter, or the
Without is incorrect. trol method and the input are agreed. input correctly.
Reference Speed reference offset is error. The SERVOPACK offset is adjusted incor- Adjust the SERVOPACK offset correctly.
Input rectly.
Position control: Reference pulse Check Pn200.0 reference pulse form or sign Correct the control mode selection parameter, or the
input is incorrect. + pulse signal. input correctly.
A SERVOPACK fault occurred. A SERVOPACK board fault occurred. Replace the SERVOPACK.
Linear scale counting up direction Check the directions. Change the setting of Pn080.1 (Motor Phase Order
and linear servomotor coil assembly Selection).
forward direction do not agree. Match the linear scale direction and servomotor direc-
tion.
Polarity detection is not performed Check if the value of Un004 (Electrical Correct the polarity detection related parameter settings.
correctly. Angle 2) at an arbitrary position is between
±10 degrees.
DB (dynamic Improper parameter setting Check the setting of parameter Pn001.0 Correct the setting of parameter Pn001.1.
brake) Does (Servo OFF or Alarm Stop Mode).
Not Operate DB resistor disconnected Check if excessive mass, motor overspeed, Replace the SERVOPACK, and reconsider the load.
or DB frequently activated occurred.
DB drive circuit fault DB circuit parts are faulty. Replace the SERVOPACK.
Abnormal Mounting not secured Check if there are any loosen mounting Tighten the mounting screws.
Noise from screws.
Servomotor Vibration source on the driven Any foreign matter, damages, or deforma- Contact the machine manufacturer.
machine tion on the machine movable section.
Noise interference due to incorrect The specifications of input signal wires Use the specified input signal wires.
input signal wire specifications must be:
Twisted-pair or twisted-pair shielded wire
with core 0.12 mm2 (0.0002 in2) min. and
tinned annealed copper twisted wire.
Noise interference due to long dis- The wiring distance must be 3 m (9.84 ft) Shorten the wiring distance for input signal line to the
tance of input signal line max. and the impedance a few hundreds specified value.
ohm max.
Noise interference due to incorrect The specifications of encoder cable must Use the specified serial converter unit cable.
serial converter unit cable specifica- be:
tions Twisted-pair or twisted-pair shielded wire
Noise interference due to long serial The wiring distance must be 20 m(65.6 ft) Shorten the serial converter unit cable wiring distance to
converter unit cable wiring distance max. the specified value.
Noise due to damaged serial con- Check if the serial converter unit cable is Modify the serial converter unit cable layout.
verter unit cable not damaged or bent.
Excessive noise to the serial con- Check if the serial converter unit cable is Install a surge suppressor to the serial converter unit
verter unit cable bundled with high-current line or near the cable.
high-current line.
FG electrical potential varies by Check if the machine is correctly grounded. Ground the machine separately from PG side FG.
influence of such machines on the
servomotor side as welders.
SERVOPACK pulse counting error Check if there is noise interference on the Take measure against noise for the serial converter unit
due to noise signal line from the serial converter unit. wiring.
Excessive vibration and shock to the Vibration from the machine occurred or ser- Reduce vibration from the machine, or correct the linear
serial converter unit vomotor installation is incorrect. servomotor installation.
(Mounting surface accuracy, fixing, or
alignment.)
Serial converter unit fault − Replace the serial converter unit.
Linear scale fault − Replace the linear scale.
6-18
6.1 Troubleshooting

Symptom Cause
Servomotor Speed loop gain value (Pn100) too Factory setting: Kv=40.0 Hz Reduce speed loop gain (Pn100) preset value.
Vibrates at high. Refer to 4.3.2 Operating Procedure in
about 200 to Speed Control Mode (Pn000 = n.0).
400 Hz Position loop gain value (Pn102) too Factory setting: Kp=40.0/s Reduce position loop gain (Pn102) preset value.
high Refer to 4.3.2 Operating Procedure in
Speed Control Mode (Pn000 = n.0).
Incorrect speed loop integral time Factory setting: Ti=20.00 ms Correct the speed loop integral time constant (Pn101)
constant (Pn101) setting Refer to 4.3.2 Operating Procedure in setting.
Speed Control Mode (Pn000 = n.0).
Mass ratio data is incorrect. Check the setting of Pn103 (Mass Ratio). Correct the setting of Pn103 (Mass Ratio).
When the autotuning is used: Incor- Check the setting of Pn103 (Mass Ratio). Correct the setting of Pn103 (Mass Ratio).
rect mass ratio data setting
When the autotuning is used: Incor- Check the setting of Fn001 (Machine Ridig- Correct the setting of Fn001 (Machine Ridigity Setting).
rect machine rigidity setting ity Setting).
High Speed loop gain value (Pn100) too Factory setting: Kv=40.0 Hz Reduce the speed loop gain (Pn100) preset value.
Speed low Refer to the gain adjustment in User’s Man-
Overshoot on ual.
Starting and Position loop gain value (Pn102) too Factory setting: Kp=40.0/s Reduce the position loop gain (Pn102) preset value.
Stopping. high Refer to the gain adjustment in User’s Man-
ual.
Incorrect speed loop integral time Factory setting: Ti=20.00 ms Correct the speed loop integral time constant (Pn101)
constant (Pn101) setting Refer to the gain adjustment in User’s Man- setting.
ual.
When the autotuning is used: Incor- Check the setting of Pn103 (Mass Ratio). Correct the setting of Pn103 (Mass Ratio).
rect mass ratio data
When the autotuning is not used: Check the setting of Fn001 (Machine Ridig- Correct the setting of Fn001 (Machine Ridigity Setting).
Incorrect machine rigidity setting ity Setting).
Mass ratio data is incorrect. Check the setting of Pn103 (Mass Ratio). Correct the setting of Pn103 (Mass Ratio).
The force reference is saturated. Check the force reference wave form. Use the mode switch function.
The force limit (Pn483, Pn484) is set Initial value of force limit: Set a appropriate value for Pn483 and Pn484 (Force
to the initial value. Pn483 = 30% Limit).
Pn484 = 30%
6-19

Symptom Cause
Overtravel An overtravel signal is output (P-OT Check if the voltage of input signal external Connect to the external +24 V power supply.
(OT) (CN1-42) or N-OT (CN1-43)) is at power supply (+24 V) is correct.
(Movement H. Check if the overtravel limit switch (SW) Correct the overtravel limit SW.
over the zone operates properly.
specified by Check if the overtravel limit switch (SW) is Correct the overtravel limit SW wiring.
the host con- connected correctly.
troller)
The overtravel signal does not oper- Check the fluctuation of the input signal Stabilize the external +24 V power supply voltage.
ate normally (P-OT or N-OT signal external power supply (+24 V) voltage.
sometimes changes). Check if the overtravel limit switch (SW) Adjust the overtravel limit SW so that it operates cor-
activate correctly. rectly.
Check if the overtravel limit switch wiring Correct the overtravel limit SW wiring.
is correct. (check for damaged cables or
loosen screws.)
Incorrect P-OT/N-OT signal selec- Check the P-OT signal selection (Pn50A.3). Correct the setting of P-OT signal selection (Pn50A.3).
tion Check the N-OT signal selection Correct the setting of N-OT signal selection (Pn50B.0).
(Pn50B.0).
Incorrect servomotor stop method Check if “coast to stop” in servo OFF status Check Pn001.0 and Pn001.1.
selection is selected.
Check if “coast to stop” in force control Check Pn001.0 and Pn001.1.
mode is selected.
Improper overtravel position setting The distance to the position of OT (over- Correct the OT position.
travel) is too short considering the coasting
distance.
Noise interference due to improper The serial converter unit cable specifica- Use serial converter unit cable with the specified specifi-
serial converter unit cable specifications must be: cations.
tions Twisted-pair or twisted-pair shielded wire
Noise interference because the serial The wiring distance must be 20 m (65.6 ft) The serial converter unit cable distance must be within
converter unit cable distance is too max. the specified range.
long.
Noise influence due to damaged Check if the serial converter unit cable is Correct the serial converter unit cable layout.
serial converter unit cable bent or its sheath is damaged.
Excessive noise interference to serial Check if the serial converter unit cable is Change the serial converter unit cable layout so that no
converter unit cable bundled with a high-current line or near surge is applied.
high-current line.
FG electrical potential varies by Check if the machine is correctly grounded. Ground the machine separately from PG side FG.
influence of such machines on the
servomotor side as welders.
SERVOPACK pulse count error due Check if the signal line from the serial con- Take a measure against noise for the serial converter unit
to noise verter unit is influenced by noise. wiring.
Excessive vibration and shock to the Machine vibration occurred or servomotor Reduce the machine vibration or mount the servomotor
serial converter unit mounting such as mounting surface preci- securely.
sion, fixing, alignment is incorrect.
Serial converter unit fault − Replace the serial converter unit.
SERVOPACK fault − Replace the SERVOPACK.
Position error Noise interference due to improper The input signal cable specifications must Use input signal cable with the specified specifications.
(without input signal cable specifications be:
alarm) Twisted-pair or twisted-pair shielded wire
Noise interference because the input The wiring distance must be 3 m (9.84 ft) The input signal cable distance must be within the speci-
signal cable distance is too long. max. and the impedance several hundreds fied range.
ohm max.
Reference pulse frequency is too Check Un00C (Reference Pulse Counter.) Reduce the reference pulse frequency to a value within
high. the specification.
Serial converter unit fault (pulse − Replace the serial converter unit.
count does not change)
6-20
6.1 Troubleshooting

Symptom Cause
Servomotor Ambient temperature too high Measure servomotor ambient temperature. Reduce ambient temperature to 40°C (104 °F) max.
Overheated Servomotor surface dirty Check visually. Clean dust and oil from servomotor surface.
Overloaded Run under no load. Reconsider load and operation conditions or replace with
larger capacity servomotor.
6-21
6.2.1 Linear Servomotor Inspection
6.2 Inspection and Maintenance

6.2.1 Linear Servomotor Inspection
CAUTION
• Do not disassemble the linear servomotor.
Simple, daily inspection is sufficient. The inspection and maintenance frequencies in Table 6.8 are only guide-
lines. Increase or decrease the frequency to suit the operating conditions and environment.
If disassembly of the linear servomotor is required because of the linear servomotor failure, contact your
Yaskawa representative.
Table 6.8 Linear Servomotor Inspections

Item Frequency Procedure Comments
Vibration and Noise Daily Touch and listen from safe posi- Levels higher than normal?
tion.
Exterior According to degree Clean with cloth or compressed Use alcohol solvent.
of contamination air.
Insulation Resistance At least once a year Disconnect SERVOPACK and Contact your Yaskawa repre-
Measurement test insulation resistance sentative if the insulation
at 500 V. Must exceed 10 MΩ .∗ resistance is below 10 MΩ.
Do not perform insulation
resistance measurement and
withstand voltage test for the
sensors.
GAP between At least once a year Disconnect the linear servomotor The GAP dimension stays
Coil Assembly and from the SERVOPACK, and then unchanged from its initial
Magnetic Way check the gap. value.
Overhaul At least once every 5 Contact your Yaskawa represen- The user should not disassem-
years tative. ble and clean the servomotor.
* Measure across the servomotor FG and the phase-U, phase-V, or phase-W power line.
6.2.2 SERVOPACK Inspection

For inspection and maintenance of the SERVOPACK, follow the inspection procedures in Table 6.9 at least
once every year. Other routine inspections are not required.
Table 6.9 SERVOPACK Inspections
Item Frequency Procedure Comments

Clean Interior and At least once a year Check for dust, dirt, and oil Clean with cloth or compressed air.
Circuit Boards on the surfaces.
Loose Screws Check for loose terminal Tighten any loose screws.
block and connector
screws.
Defective Parts in Check for discoloration, Contact your Yaskawa representative.
Unit or on damage, or discontinuities
Circuit Boards due to heating.
6-22
6.2 Inspection and Maintenance
6.2.3 SERVOPACK’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid
failure, replace these parts at the frequency indicated.
The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship-
ping. Be sure to confirm that the parameters are properly set before starting operation.
Table 6.10 Periodical Part Replacement
Standard
Part Replacement Replacement Method Operating Conditions
Period
Cooling Fan 4 to 5 years Replace with new part. • Ambient Temperature: Annual
Smoothing Capacitor 7 to 8 years Test. Replace with new part if nec- average of 30°C
essary. • Load Factor: 80% max.
Relays − Test. Replace if necessary. • Operation Rate: 20 hours/day
10 years max.
Fuses Replace with new part.
Aluminum 5 years Test. Replace with new circuit
Electrolytic board if necessary.
Capacitor on Circuit
Board
6-23
7
Appendix
7.1 Linear Servomotor Capacity Selection Examples - - - - - - - 7-2

7.2 Calculating the Required Capacity of Regenerative
Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2.1 Simple Calculation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.2.2 Calculating the Regenerative Energy - - - - - - - - - - - - - - - - - - - - - - 7-6
7.3 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - 7-13

7.3.1 Example of Connection to MP920 4-axes Analog Module SVA-01 7-13
7.3.2 Example of Connection to CP-9200SH Servo Controller Module
SVA (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - 7-14
Motion Module MC20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.3.4 Example of Connection to MEMOCON GL60/70 Series Positioning
Module B2813 (SERVOPACK in Position Control Mode) - - - - - - - 7-16
7.3.5 Example of Connection to OMRON’s Motion Control Unit - - - - - - 7-17
7.3.6 Example of Connection to OMRON’s Position Control Unit - - - - - 7-18
7.3.7 Example of Connection to OMRON's Position Control Unit
C500-NC221 (SERVOPACK in Speed Control Mode) - - - - - - - - - 7-19
7.3.8 Example of Connection to OMRON's Position Control Unit
C500-NC112 (SERVOPACK in Position Control Mode) - - - - - - - - 7-20
(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - 7-21
(SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - 7-22
7.4 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23

7.4.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23
7.4.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
77.4.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-40
7.5 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - 7-41
7-1
7 Appendix
7.1 Linear Servomotor Capacity Selection Examples
• Load speed: υL =120 m/min • Feeding distance: = 0.76 m

• Workpiece mass: WW = 1 kg • Feeding time: tm = 0.4 s max.
• Table mass: WT = 2 kg • Acceleration time: ta = 0.02 s
• Feeding times: n = 120 times/min • Friction coefficiency: µ = 0.2
(1) Speed Diagram
15
υL
60 60
t = n = 120 =0.5 (s)
Speed
(m/min)
ta tc td Time (s) where ta = td
0.4 tc = 0.4 − (0.02 × 2) = 0.36 (s)
t
(2) Force Under Constant Load
FL = 9.8 µ (WW + WT) = 9.8 × 0.2 × (1+2) = 5.88 (N)
(3) Force at Load Acceleration
FP = (WM + WT)
υL + FL = (1+2) × 120 + 5.88 = 305.88 (N)
60 ta 60 × 0.02
(4) Linear Servomotor Provisional Selection

(a) Selecting Conditions
FP ≤ Linear servomotor maximum force

The following models satisfy the conditions.
SGLGW-60A253BP linear servomotor coil assembly
SGDH-04AE SERVOPACK
(b) Specifications of the Provisionally Selected Linear Servomotor and SERVOPACK

• Rated output: 400 (W)
• Rated speed: 1500 (mm/s)
• Rated force: 147 (N)
• Instantaneous peak force: 440 (N)
• Linear servomotor coil assembly mass: WM = 0.82（kg）
7-2
7.1 Linear Servomotor Capacity Selection Examples
(5) Verification on the Provisionally Selected Linear Servomotor

• Force under constant load
FL = 9.8 µ (WW + WT + WM) = 9.8 × 0.2 × (1 + 2 + 0.82) = 7.5 (N)
• Force at load acceleration
υ L (WW + WT + WM) 120 × (1 + 2 + 0.92)

FP = + FL = 60 × 0.02 + 7.5
60ta
= 389.5 (N) < Instantaneous peak force × 0.9 Satisfactory
• Force at load deceleration
υ L (WW + WT + WM) 120 × (1 + 2 + 0.82)

FS = − FL = 60 × 0.02 − 7.
60ta
= 374.5 (N) < Instantaneous peak force × 0.9 Satisfactory
• Effective force
FP 2 ta + FL 2 tc + FS 2 td (389.5) 2 × 0.02 + (7.5) 2 × 0.36 + (374.5) 2 × 0.02

Frms = t =
0.5
108.3 (N) < Rated force × 0.9 Satisfactory
(6) Result
The provisionally selected linear servomotor and SERVOPACK are confirmed to be applicable.
The force diagram is shown below.
(N) Force
Speed
489.5
7.5
0
-374.53
0.02 0.36 0.02
0.5
7-3
7 Appendix
7.2.1 Simple Calculation
7.2 Calculating the Required Capacity of Regenerative Resistors

7.2.1 Simple Calculation
When driving a linear servomotor with the horizontal axis, check the external regenerative resistor requirements
using the calculation method shown below.
(1) SERVOPACKs with Capacities of 400 W or Less
SERVOPACKs with capacities of 400 W or less do not have built-in regenerative resistors. The energy that
can be charged with capacitors is shown in the following table. If the kinetic energy in the linear servomotor
exceeds these values, then connect an external regenerative resistor.
Voltage Applicable Regenerative Remarks
SERVOPACKs Energy that Can
be Processed
(joules)
200 V SGDH -A5AE 18.5 Value when main circuit input voltage is 200 VAC
SGDH-01AE to -04AE 37.1
Calculate the kinetic energy ES) in the linear servomotor from the following equation.
ES = MVM 2 / 2
M Load mass kg
VM Speed used by linear servomotor m/s
(2) SERVOPACKs with Capacities of 500 W to 5.0 kW

SERVOPACKs with capacities of 500 W to 5.0 kW have built-in regenerative resistors. The allowable fre-
quencies for just the servomotor in acceleration and deceleration operation, during the motor speed cycle
from 0 (m/s) to the maximum speed to 0, are summarized in the following table.
Convert the data into the values obtained with actual rotation speed and load mass to determine whether an
external regenerative resistor is needed.
Linear Servomotor Allowable Frequencies in

Load Condition
Model Regenerative Mode (times/min.)
SGLGW- 60A365B 6 × 15
35A230A 11
50A200A 2
SGLFW- 50A380A 1 ×3
1ZA200A 1
1ZA380A 1
20A170A 10
20A320A 2
20A460A 1
×3
35A170A 4
SGLTW- 35A320A 1
35A460A 1
40A400A 2
Linear servomotor
40A600A 1
only
80A400A 3
7-4
Speed reference 0 t
Maximum speed
Servomotor speed 0 t
Regene-
ration
mode Maximum force
Servomotor-generated force 0 t
Maximum force
T
(Operating cycle)
Allowable frequency = 1/T (times/min)
Fig. 7.1 Operating Conditions for Allowable Regenerative Frequency Calculation

Use the following equation to calculate the allowable frequency for regenerative mode operation.
2
Allowable frequency in regenerative mode (times) Peak speed
Allowable frequency = n × times/min
Used speed
n For SGLGW, W n= / 15
WM
For SGLTW and SGLFW, W
n= /3
WM
excluding SGLTW-40 and -80)
W
For SGLTW-40 and -80, n=
WM
WM Linear servomotor coil assembly mass

W Load mass (including coil assembly)
(3) SERVOPACKs with Capacity of 7.5 kW

SERVOPACKs with capacity of 7.5 kW do not have built-in regenerative resistors. The following table
shows the allowable regenerative frequencies when the JUSP-RA05 regenerative resistor is used together
with an applicable SERVOPACK.
The linear servomotor driven conditions and the conversion equation of the allowable regenerative
frequencies to the speed and load mass are the same as (2) SERVOPACKs with Capacities of 500 W to 5.0
kW.
Linear Servomotor Allowable Frequencies in

Load Condition
Model Regenerative Mode (times/min.)
17 Linear servomotor
SGLTW-80A600A
only
7-5
7 Appendix
7.2.2 Calculating the Regenerative Energy

This section shows the procedure for calculating the regenerative resistor capacity when acceleration and decel-
eration operation is as shown in the following diagram.
V M: Motor speed
Motor speed
0
tD
FL: Load force
Motor force
Regenerative
force
T
(1) Calculation Procedure

The procedure for calculating the regenerative capacity is as follows:
Step Item Symbol Equation

1 Calculate the kinetic energy of the linear ser- ES ES = MVM2/2
vomotor.
2 Calculate the energy consumed by friction EL EL = VMFLtD/2
loss during the deceleration period.
3 Calculate the energy lost from linear servo- EM (Value calculated from “(2) Servo-
motor winding resistance. motor Winding Resistance Loss”
diagrams) × tD
4 Calculate the SERVOPACK energy that can EC Calculate from “(3)
be absorbed. SERVOPACK’s Absorbable
Energy” diagrams.
5 Calculate the energy consumed by the regen- EK EK = ES − (EL+EM+EC)
erative resistor.
6 Calculate the required regenerative resistor WK WK = EK/ (0.2 × T)
capacity (W).
Note: 1. The “0.2” in the equation for calculating WK is the value for when the regenerative resis-
tor’s utilized load ratio is 20%.
2. The units for the various symbols are as follows:
Symbol Units Meanings
ES J Kinetic energy of linear servomotor
EL Energy consumed by friction loss during the deceleration period
EM Energy consumed by linear servomotor winding resistance loss
EC Energy that can be absorbed by SERVOPACK
EK Energy consumed by regenerative resistor
WK W Required capacity of regenerative resistor
M(=MM+ML) kg Load mass including linear servomotor
VM m/s Linear servomotor movement speed
FL N Load force
tD sec Period to decelerate to a stop
T Repeated operation cycle of linear servomotor
If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in
resistor is not exceeded, then an external regenerative resistor is not required.
7-6
If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an
external regenerative resistor for the capacity obtained from the above calculation.
If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using EL = 0.
When the operation period in regeneration mode is continuous, add the following items to the above calcula-
tion procedure in order to find the required capacity (W) for the regenerative resistor.
• Energy for continuous regeneration mode operation period: EG (joules)
Here, EG = VMGTGtG
• VMG: Linear servomotor speed (m/s) for same operation period as above
• TG: Linear servomotor’s generated force (N) in continuous regenerative mode operation period
• tG: Same operation periods as above
• Energy consumed by a regenerative resistor: EK = ES - (EL + EM + EC) + EG
• Required capacity of regenerative resistor: WK = EK / (0.2 × T)
7-7
7 Appendix
(2) Servomotor Winding Resistance Loss

The following diagrams show the relationship, for each servomotor, between the servomotor’s generated
force and the winding resistance loss.
(a) SGLGW Linear Servomotors
Model SGLGW-
1500
60A365B
40A365B
60A253B
40A253B
60A140B
1000 40A140B
Loss
(W)
500
0
0% 50% 100% 150% 200% 250% 300%
Force (%)
(b) SGLFW Linear Servomotors

Model SGLFW-
1200
1000 35A230A
35A120A
20A120A
800 20A090A
Loss
(W) 600
400
200
0
0% 100% 200% 300%
Force (%)
7-8
(c) SGLTW Linear Servomotors

Model SGLTW-
4000
3500 35A460A
35A320A
35A170A
3000 20A460A
20A320A
2500 20A170A
Loss
(W) 2000
1500
1000
500
0
0% 100% 200% 300%
Force (%)
7-9
7 Appendix
(3) SERVOPACK’s Absorbable Energy

The following diagrams show the relationship between the SERVOPACK’s input power supply voltage and its
absorbable energy.
(a) 200-V SERVOPACKs
120 Model: SGDH- Model: SGDH-

700
100 600
30AE
Absorbable Energy (J)

20AE
Absorbable Energy (J)
01AE to 04AE 500

80 75AE
05AE to 10AE
15AE 400
A5AE 50AE
60
300
40
200
20 100
0 0
180 200 220 240 260 180 200 220 240 260
AC Input Power Supply Voltage (Vrms) AC Input Power Supply Voltage (Vrms)
7-10
7.3 Connection to Host Controller

7.3.1 Example of Connection to MP920 4-axes Analog Module SVA-01
MP920 Series SVA-01

manufactured by Yaskawa SGDH SERVOPACK
CN1 CN4 ∗ CN1

2 NREF V-REF 5 L1C
1 SG SG 2 L2C
Control power supply
3 PA PAO 33 L1
4 PAL /PAO 34 L2
23 PB PBO 35 Main circuit power supply
L3
24 PBL /PBO 36
5 PC PCO 19
6 PCL /PCO 20
7 SG SG 6 Linear servomotor
U
16 +24V OUT +24V-IN 47
V M
34 W
31 SVON /S-ON 40
30 ALMRST /ALM-RST 44 Linear scale
12 PCON /P-CON 41 Serial
CN2 converter PG
13 OTR N-OT 43
unit
14 OTF P-OT 42
Properly treat the ends of shielded wires.
32 DOSEN
11 0V
28 0V /S-RDY+ 30
29 0V
17 SVALM ALM+ 31
10 0V ALM- 32
35 SVRDY /S-RDY+ 29
18 BRK /TGON+ 27
FG
* represents twisted-pair wires.
Note: Connection cables (model: JEPMC-W6050-) to connect the SERVOPACK to the MP920 are
provided by Yaskawa. For details, refer to Machine Controller MP920 User’s Manual design and
maintenance (manual no. SIEZ-C887-2.1).
7-11
7 Appendix
7.3.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)
7.3.2 Example of Connection to CP-9200SH Servo Controller Module SVA

(SERVOPACK in Speed Control Mode)
CP-9200SH SVA
manufactured by Yaskawa SGDH SERVOPACK
CN CN1
17 +24V +24V-IN 47
L1C
22 DO0 /S-ON 40 L2C
47 DO1 /P-CON 41 L1
23 DO2 N-OT 43 L2
Main circuit power supply
48 DO3 P-OT 42 L3
24 DO4 /ALM-RST 44
19 DI2 /TGON+ 27 Linear servomotor
/TGON- 28
U
43 DI1 /V-CMP+ 25 V M
/V-CMP- 26 W
18 DI0 /S-RDY+ 29
/S-RDY- 30 Linear scale
44 DI3 ALM+ 31
Serial
45 0 24 V ALM- 32 CN2 converter PG
unit
3 IN-A V-REF 5
4 0V SG 6
7 TLIMP T-REF 9
8 TLIMPG SG 10
10 PA PAO 33
11 PAL /PAO 34
12 PB PBO 35
13 PBL /PBO 36
14 PC PCO 19
15 PCL /PCO 20
9 PG0V SG 1
Connector shell
7-12
7.3.3 Example of Connection to MEMOCON GL120/130 Series Motion Module

MC20
MEMOCON GL120 / 130 Series

MC20 manufactured by Yaskawa SGDH SERVOPACK
∗1
SV1 ∗2
CN1
1 PA PAO 33 L1C
2 /PA /PAO 34
L2C
3 PB PBO 35
L1
4 /PB /PBO 36
L2
5 PC PCO 19
6 /PC /PCO 20 L3
7 VREF V-REF 5
8 SG SG 6
Linear servomotor
U
19 +24V +24VIN 47 V M
13 SVON /S-ON 40 W
14 PCON /P-CON 41
11 Linear scale
SEN SEN 4
12 2 Serial
0SEN SG CN2 converter PG
15 ALM-RST /ALM-RST 44 unit
16 ALM ALM+ 31 Properly treat the ends of shielded wires.

17 ALM0 ALM - 32
FG (Connector frame)
* 1. Pin numbers are the same for SV2 to SV4.
* 2. represents twisted-pair wires.
7-13
7 Appendix
7.3.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode)
7.3.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module

B2813 (SERVOPACK in Position Control Mode)
MEMOCON GL60/70 Series
JAMSC-B2813
024V +24V manufactured by Yaskawa SGDH SERVOPACK
∗2
CN2
1 L1C
L2C
33 L1
1Ry SERVO CN2 ∗4
CN1 L2
NORMAL 20 24 PULSE PULSE 7 L3
Deceleration
LS 35 23 /PULSE /PULSE 8 Linear servomotor
22 SIGN SIGN 11 U
START 3
21 /SIGN /SIGN 12 V M
STOP 2 38 CLR W
CLR 15
45 5 /CLR /CLR 14
Linear scale
46 6 0V SG 2
+12V 47 Serial
CN2 converter PG
Connector shell ∗3 unit
CN1
16 PA PAO 33 Properly treat the ends of shielded wired.
17 /PA /PAO 34
18 PB PBO 35 024V +24V
CN1
19 /PB /PBO 36
47 +24VIN
14 PC PCO 19
/PC /PCO 40 /S-ON
48 15 20
1 0V SG 42 P-OT 3Ry
49
+5V 50 2 0V 43 N-OT 4Ry
10 3 0V
20 FG 1Ry ∗1
11 31 ALM+
CN2 2Ry +12V
0V 12 ERROR
36 32 ALM -
* 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this
into consideration when designing the power ON sequence. The ALM signal actuates the alarm
detection relay 1Ry to stop main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Connect the shield wire to the connector shell.
7-14
7.3.5 Example of Connection to OMRON’s Motion Control Unit

MC unit manufactured
by OMRON
C200H-MC221
(CS1W-MC221 / MC421)
(CV500-MC221 / MC421)
SGDH SERVOPACK
DRV connector
24VDC
24V input 1 L1C
24V input ground 2 CN1 L2C
X-axis alarm input 3 ALM+ 31 L1
X-axis run reference output 4 /S-ON 40 L2
X-axis alarm reset output 5 /ALM-RST 44 Main circuit power supply
L3
∗
X-axis feedback ground 10 SG 1 Linear servomotor
X-axis phase-A input 11 PAO 33
X-axis phase-/A input 12 /PAO 34 U
X-axis phase-B input 13 PBO 35 V M
X-axis phase-/B input 14 /PBO 36 W
X-axis phase-Z input 15 PCO 19
X-axis phase-/Z input 16 /PCO 20
X-axis speed reference 17 V-REF 5 Linear scale
Axis speed reference ground 18 SG 6 Serial
CN2 converter PG
FG Shell unit
24V output 19 +24V-IN 47
24V output ground 20 ALM- 32 Properly treat the ends of shielded wired.
I/O connector
24VDC
24V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6
X-axis origin proximity input 10
24V input ground 14
Note: 1. Only signals applicable to OMRON’s MC unit and Yaskawa’s SGDH SERVOPACK are shown
in the diagram.
2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
The power supply and wiring must be in accordance with the power supply specifications of the
SERVOPACK to be used.
3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
4. Open the signal lines not to be used.
5. The above connection diagram shows only X-axis connection. When using another axes, make
connection to the SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connec-
tor section must be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.
7-15
7 Appendix

I/O power supply
Position control unit +24 V
+24V +
CS1W-NC133 / 233 / 433 -
manufactured by OMRON 0 24
5V power supply for pulse output A4 +5V SGDH SERVOPACK

5V GND for pulse output A3 2
4 CN1
CW(+) output A5 PULS 7 L1C
CW(-) output A6 /PULS 8 L2C
CCW(+) output A7 SIGN 11 L1
CCW(-) output A8 /SIGN 12 L2
CLR 15 Main circuit power supply
L3
Error counter reset output A11 /CLR 14
Origin input signal A16 PCO 19
Origin input common A14 /PCO 20 Linear servomotor
COIN+ 25
U
24V power supply for output A1 /COIN- 26
24V GND for output A2
V M
+24V-IN 47 W
/S-ON 40
P-OT 42 Linear scale
Input common A24 N-OT 43
/ALM-RST 44 Serial
CN2 converter PG
ALM- 31
unit
1Ry 1 ALM+ 32
X-axis external interrupt input A19 Properly treat the ends of shielded wired.
X-axis origin proximity input A21
X-axis CCW limit input A23
X-axis CW limit input Connector
A22 shell 3
X-axis immediate stop input A20
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consid-
eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 3. Connect the shield wire to the connector shell.
Note: Only signals applicable to OMRON’s MC unit (positioning unit) and Yaskawa’s SGDS
SERVOPACK are shown in the diagram.
7-16
7.3.7 Example of Connection to OMRON’s Position Control Unit C500-NC221

SGDH SERVOPACK ∗2
Position control unit I/O power supply L1C

C500-NC221 +24V L2C
manufactured by +24V +-
024V L1
OMRON
L2
X-axis (Y-axis) L3
EXT IN
8
ON when Linear servomotor
9 +24V positioning
2(12) CCWLX 3Ry is cancelled. U
3(13) STPX ON when
V M
proximity W
4(14) ORGX
is detected.
5(15) EMGX
CN1 Linear scale
6(16) CWLX 4Ry 1Ry ∗1
1 DC GND ALM+ 31 Serial
CN2 converter PG
11 DC GND ALM - 32 unit
M/D
11 +24VIN 47 Properly treat the ends of shielded wires.
12 +24V
3(19) OUT-1X /S-ON 40
9(25) X-OUT V-REF(T-REF) 5(9)
8(24) X-AG SG 6(10) 42 P-OT
7(23) X-A ∗3 PAO 33
X-/A 3Ry
6(22) /PAO 34
X-B 43 N-OT 024V
5(21) PBO 35
4(20) X-/B /PBO 36 4Ry
16(14) X-C PCO 19
15(13) X-/C /PCO 20
1(17) 0V SG 1
Connector ∗2
shell
* 2. Connect the I/O cable’s shield wire to the connector shell.
Note: Only signals applicable to OMRON’s C500-NC221 position control unit and Yaskawa’s SGDH
7-17
7 Appendix
7.3.8 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)
7.3.8 Example of Connection to OMRON’s Position Control Unit C500-NC112

(SERVOPACK in Position Control Mode)
SGDH SERVOPACK ∗2
L1C
L2C
L1
Position control L2
I/O power supply
unit C500-NC112 L3
manufactured by +12V +-
012V Linear servomotor
OMRON
1A U
+12V 1B V M
2A 4Ry Encoder signal W
CW LIMIT
2B 3Ry conversion unit
CCW LIMIT ∗3
3A LRX-01/A2 Linear scale
EMERGENCY STOP
EXTERNAL 3B 6 10 PCO 19 Serial
INTERRUPT CN2 converter PG
4A 9 /PCO 20 unit
ORIGIN 12V 0V
4B
ORIGIN PROXIMITY 8 7 1Ry Properly treat the ends of shielded wired.
5A ALM+ 31
LOCAL
1Ry +24V ALM - 32
5B
READY
8A +5 V 47 +24VIN
+5V 8B External
9A PULSE 7 40 /S-ON power supply
+24V
PULSE OUTPUT 9B /PULSE 8 42 P-OT 3Ry +24V
10A SIGN 11 43 N-OT 4Ry
10B /SIGN 12
CLR 15 012V
/CLR 14
* 3. Manufactured by Yaskawa Controls Co., Ltd.
Note: Only signals applicable to OMRON’s C500-NC112 position control unit and Yaskawa’s SGDH
7-18

SGDH SERVOPACK
I/O power supply
+24V + +24 V
Positioning unit -
0 24 V L1C
AD72 manufactured Control power supply
L2C
by Mitsubishi ∗2 L1
CONT L2
Main circuit power supply
1 ON when L3
positioning
2 STOP is cancelled.
3 DOG ON when Linear servomotor
proximity CN1
is detected.
SERVO +24V-IN 47 U
1 /S-ON 40 V M
2 SV-ON 1Ry 1 W
3 ALM+ 31
READY 1Ry Linear scale
4 ALM- 32
5 V-REF (T-REF) 5(9) Serial
6 Speed reference SG 6(10) CN2 converter PG
unit
ENCO ∗4
4 PBO 35 Properly treat the ends of shielded wires.
5 PULSE A /PBO 36
7 PAO 33
8 PULSE B /PAO 34 CN1
10 PCO 19 42 P-OT
11 PULSE C /PCO 20
3 0V SG 1 43 N-OT 024 V
6 0V
9 0V
Connector
shell ∗3
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consid-
eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Pin numbers are the same both for X-axis and Y-axis.
* 3. Connect the connector wire to the connector shell.
Note: Only signals applicable to Mitsubishi’s AD72 Positioning Unit and Yaskawa’s SGDH
7-19
7 Appendix
7.3.10 Example of Connection to Mitsubishi’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)

(SERVOPACK in Position Control Mode)
I/O power supply SGDH SERVOPACK
Positioning unit +24V + +24 V
AD75 -
manufactured by 0 24V
Mitsubishi L1C
L2C
X-axis (Y-axis) L1
26 L2
1Ry Main circuit power supply
7 READY L3
ON when
14 STOP positioning
is cancelled. Linear servomotor
11 DOG ON when CN1 U
proximity
is detected. PCO 19
V M
24 W
25 PGO /PCO 20
Linear scale
1Ry ∗ CN2
Serial
ALM+ 31 converter PG
unit
ALM - 32
3 PULS 7
21 PULSE /PULS 8 CN1
47 +24V
4 SIGN 11
22 SIGN /SIGN 12 40 /S-ON
2.2KΩ CLR 15 42 P-OT
5 /CLR 14 43 N-OT 0 24V
23 CLEAR
* The ALM signal is output for about two seconds when the power is turned ON. Take this into consider-
ation when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry
to stop the main circuit power supply to the SERVOPACK.
Note: Only signals applicable to Mitsubishi’s AD75 Positioning Unit and Yaskawa’s SGDH
7-20
7.4 List of Parameters

7.4.1 Utility Functions List
The following list shows the available utility functions.
Refer-
Parame- Rem
Function ence
ter No. arks
Section
Fn000 Alarm traceback data display 3.2.2
Fn001 Rigidity setting during online autotuning { 5.2.5
Fn002 JOG mode operation { 3.2.3
Fn003 Zero-point search mode { 3.2.4
Fn005 Parameter setting initialization { 3.2.5
Fn006 Alarm traceback data clear { 3.2.6
Fn007 Writing to EEPROM mass ratio data obtained from online autotuning { 5.2.7
Automatic tuning of analog (speed, force) reference offset { 4.7.3
Fn009
4.9.3
Fn00A Manual adjustment of speed reference offset { 4.7.3
Fn00B Manual adjustment of force reference offset { 4.9.3
Fn00C Manual zero-adjustment of analog monitor output { −
Fn00D Manual gain-adjustment of analog monitor output { −
Fn00E Automatic offset-adjustment of motor current detection signal { 3.2.7
Fn00F Manual offset-adjustment of motor current detection signal { 3.2.8
Fn010 Password setting (protects parameters from being changed) 3.2.9
Fn011 Motor models display 3.2.10
Fn012 Software version display 3.2.11
Fn014 Application module detection results clear { 3.2.12
Note: When the parameters marked with “{” in remarks column are set for Password Setting
(Fn010), the indication shown below appears and such parameters cannot be changed.
Blinks for
one second
7-21
7 Appendix
7.4.2 List of Parameters
Parameter Name Setting Range Unit Factory Setting Reference

No. Setting Validation Section
Pn000 Function Selection Basic Switches − − 0000 After −
restart
4th 3rd 2nd 1st
digit digit digit digit
n.
Direction Selection
(Refer to 4.6.2 Switching the Linear Servomotor Movement Direction.)
0 Sets the linear counting up (phase-A advance) direction as forward direction.
Sets the linear counting down (phase-B advance) direction as forward direction.
1 (Movement direction reversal mode)
Control Method Selection
(Refer to 4.5, 4.12)
0 Speed control (analog reference)
1 Position control (pulse train reference)
2 Force control (analog reference)
3 Internal set speed control (contact reference)
4 Internal set speed control (contact reference) Speed control (analog referene)
5 Internal set speed control (contact reference) Position control (pulse train reference)
6 Internal set speed control (contact reference) Force control (analog reference)
7 Position control (pulse train reference) Speed control (analog reference)
8 Position control (pulse train reference) Force control (analog reference)
9 Force control (analog reference) Speed control (analog reference)
A Speed control (analog reference) Zero clamp
B Position control (pulse train reference) Position control (INHIBIT)
Axis Address
0 to F Sets SERVOPACK axis address.
Rotation Type/Linear Type Selection (When the Encoder is not Connected)

0 Starts up as rotation type.
1 Starts up as linear type.
7-22

Pn001 Function Selection Application Switches 1 − − 0000 After −
restart
4th 3rd 2nd 1st
n.
Servo OFF or Alarm Stop Mode
(Refer to 4.6.4 Selecting the Stopping Method After Servo OFF.)
0 Stops the linear servomotor by applying dynamic brake (DB).
1 Stops the linear servomotor by applying dynamic brake (DB) and then releases DB.
2 Makes the linear servomotor coast to a stop state without using the dynamic brake (DB).
Overtravel (OT) Stop Mode

(Refer to 4.6.3 Selecting the Overtravel Limit Function.)
0 Same setting as Pn001.0 (Stops the linear servomotor by applying DB or by coasting).
Sets the emergency stop force of Pn406 to the maximum value, decelerate the linear servo-
1
motor to a stop, and then sets it to servolock state.
Sets the emergency stop force of Pn406 to the maximum value, decelerate the linear servo-
2
motor to a stop, and then sets it to coasting state.
AC/DC Power Input Selection
0 Not applicable to DC power input: Input AC power supply through L1, L2 (, and L3) terminals.
1 Applicable to DC power input: Input DC power supply between + 1 and –
Warning Code Output Selection

(Refer to 4.13.2 Warning Display.)
0 ALO1, ALO2, and ALO3 output only alarm codes.
ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning codes
1
are output, ALM signal output remains ON (normal state).
Pn002 Function Selection Application Switches 2 − − 0000 After −

restart
4th 3rd 2nd 1st
n.
Speed Control Option (T-REF Terminal Allocation)
0 N/A
1 Uses T-REF as an external force limit input. (Refer to 4.11.3)
2 Uses T-REF as a force feed forward input. (Refer to 5.4.2)
3 Use T-REF as an external force limit input when P-CL and N-CL are ON. (Refer to 4.11.4)
Force Control Option (V-REF Terminal Allocation)
(Refer to 4.9.4)
0 N/A
1 Uses V-REF as an external speed limit input.
Reserved (Do not change)
7-23
7 Appendix

Pn003 Function Selection Application Switches 3 − − 0002 Immedi- −
ately
4th 3rd 2nd 1st
n.
Analog Monitor 1 / Analog Monitor 2 Signals
(Refer to 5.5 Analog Monitor.)
00 Motor speed: 1V/1000 mm/s
01 Speed reference: 1V/1000 mm/s
02 Force reference: 1V/100%
03 Position error: 0.05V/1 reference unit
04 Position error: 0.05V/100 reference units
05 Reference pulse frequency: 1V/1000 mm/s
06 Motor speed × 4: 1V/250 mm/s
07 Motor speed × 8: 1V/125 mm/s
(Refer to 5.5 Analog Monitor.)
Pn004 Reserved (Do not change) − − 0000 Immedi- −

ately
Pn005 Reserved (Do not change) − − 0000 Immedi- −
ately
Pn080 Function Selection Application Switches − − 0000 After −
80 restart
4th 3rd 2nd 1st

n.
Hall Sensor Selection
(Refer to 4.2.3 )
0 With hall sensor
1 Without hall sensor
Motor Phase Order Selection∗1
(Refer to 4.2.2, 4.2.3)
0 Phase A progression in order of phase U, V, and W
1 Phase B progression in order of phase U, V, and W
Calculation of Motor Max. Speed and Encoder Output Resolution Max. Value Selection∗2
0 Calculates the encoder output resolution max. value by fixing the motor max. speed.
1 Calculates the motor max. speed by fixing the encoder output resolution max. value.
* 1. If the linear servomotor with a hall sensor is used, software version 32 or later can be used.
If software version earlier than 32 is used, set to zero.
* 2. Available only for the software version 32 or later.
7-24

Pn100 Speed Loop Gain 1 to 2000 1 Hz 40 Immedi- 5.3.4
ately
Pn101 Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immedi- 5.3.5
ately
Pn102 Position Loop Gain 1 to 2000 1/s 40 Immedi- 5.3.3
ately
Pn103 Mass Ratio 0 to 10000 1% 0 Immedi- 4.2.2
(0 to 20000)∗1 ately 4.2.3
5.2.6
Pn104 2nd Speed Loop Gain 1 to 2000 1 Hz 40 Immedi- 5.4.9
ately
Pn105 2nd Speed Loop Integral Time Constant 15 to 51200 0.01 ms 20.00 Immedi- 5.4.9
ately
Pn106 2nd Position Loop Gain 1 to 2000 1/s 40 Immedi- 5.4.9
ately
Pn108 Bias Width Addition 0 to 250 1 reference 7 Immedi- 5.4.6
unit ately
Pn109 Feed-forward 0 to 100 1% 0 Immedi- 5.4.1
ately
Pn10A Feed-forward Filter Time Constant 0 to 6400 0.01 ms 0 Immedi- 5.4.1
ately
Pn10B Gain-related Application Switches − − 0000 After −
restart /
Immedi-
ately
4th 3rd 2nd 1st
n.
Mode Switch Selection Setting
(Refer to 5.4.5 Using the Mode Switch (P/PI Switching.)) Validation
0 Use internal force reference as the condition. (Level setting: Pn10C)
1 Use speed reference as the condition. (Level setting: Pn181)
2 Use acceleration as the condition. (Level setting: Pn182) Immediately
3 Use position error pulse as the condition. (Level setting: Pn10F)
4 No mode switch function available
Speed Loop Control Method Setting

(Refer to 5.3.5 Speed Loop Integral Time Constant. Validation
0 PI control
After restart
1 I-P control
Automatic Gain Switching Selection ∗2 Setting

(Refer to 5.4.11)∗2 Validation
0 No automatic gain switching available
1 Position reference
After restart
2 Position error
3 Both position reference and position error
Pn10C Mode Switch Force Reference 0 to 800 1% 200 Immedi- 5.4.5

7
ately
* 1. The setting range for the software version 32 or later
* 2. Available only for the software version 32 or later
7-25
7 Appendix

Pn10F Mode Switch Position Error Pulse 0 to 10000 1 reference 0 Immedi- 5.4.5
unit ately
Pn110 Online Autotuning Switches − − 0010 After −
restart
4th 3rd 2nd 1st
n.
Online Autotuning Selection
0 Tunes only at the beginning of operation.
1 Always tunes.
2 Does not perform autotuning.
Speed Feedback Compensation Selection
(Refer to 5.4.8 Speed Feedback Compensation.)
0 Uses speed feedback compensation.
1 Does not use speed feedback compensation. (Standard speed feedback)
Friction Compensation Selection

0 Disabled
1 Friction compensation: Small
2 Friction compensation: Large
Speed Feedback Compensation *1 1 to 500 1% 100 Immedi- 5.4.8

Pn111
ately
Automatic Gain Switching Timer ∗2 1 to 10000 1 ms 100 Immedi- −
Pn124
ately
Automatic Gain Switching Width ∗2 1 to 250 1 reference 7 Immedi- −
Pn125
unit ately
Bias 0 to 450 1 mm/s 0 Immedi- 5.4.6
Pn180
ately
Mode Switch Speed Reference 0 to 5000 1 mm/s 0 Immedi- 5.4.5
Pn181
ately
Mode Switch Acceleration 0 to 30000 1 mm/s2 0 Immedi- 5.4.5
Pn182
ately
* 1. Pn111 will be effective when Pn110.1 is set “0.”
* 2. Available for the software version 32 or later
7-26
Parameter Factory Setting Reference

Name Setting Range Unit
Pn200 Position Control Reference Form − − 0000 After 4.8.1
Selection Switch restart
4th 3rd 2nd 1st
n.
Reference Pulse Form
0 Sign + Pulse, positive logic
1 CW + CCW, positive logic
2 Phase A + Phase B (×1), positive logic
5 Sign + Pulse, negative logic
6 CW + CCW, negative logic
7 Phase A + Phase B (×1), negative logic
Position Error Counter Clear Signal Form

0 Clears position error counter when the signal is at H level.
1 Clears position error counter at the rising edge of the signal.
2 Clears position error counter when the signal is at L level.
3 Clears position error counter at the falling edge of the signal.
Clear Operation
0 Clear error counter at the baseblock.
1 Does not clear error counter. (Possible to clear error counter only with CLR signal.)
2 Clear error counter when an alarm occurs.
Filter Selection
0 Reference input filter for line driver signals
1 Reference input filter for open collector signals
Pn202 Electronic Gear Ratio (Numerator) 1 to 65535 − 4 After 4.8.2

restart
Pn203 Electronic Gear Ratio (Denominator) 1 to 65535 − 1 After 4.8.2
restart
Pn204 Position Reference Accel/Decel Time 0 to 6400 0.01 ms 0 Immedi- 4.8.4
Constant ately
7-27
7 Appendix

Pn207 Position Control Function Switches − − 0000 After −
restart
4th 3rd 2nd 1st
n.
Position Reference Filter Selection
(Refer to 4.8.4 Smoothing.)
0 Acceleration/deceleration filter
1 Average movement filter
Position Control Option

(Refer to 5.4.3 Speed Fed-forward.)
0 N/A
1 Uses V-REF as a speed feed-forward input.
Dividing Ratio Parameter Selection ∗

0 Uses Pn201 (16-bit or less).
1 Uses Pn212 (17-bit or more).
Pulse Reference Input Terminal Selection

0 Inputs pulse reference from CN1.
1 Inputs pulse reference from CN8 when an application module JUSP-LD001A is mounted.
Pn208 Position Reference Movement Averaging 0 to 6400 0.01 ms 0 After 4.8.4

Time restart
* Available only for the software version 32 or later
7-28

Pn217 Reference Pulse Input Multiplication * 1 to 99 ×1 1 Immedi- −
ately
Pn218 Reference Pulse Input Multiplication − − 0000 After −
Function Selection * restart
4th 3rd 2nd 1st
n.
Reference Pulse Multiplication Function Selection∗
0 Disabled
1 Enabled
Pn280 Linear Scale Pitch 0 to 65535 1 µm 0 After 4.2.2

restart 4.2.3
4.7.7
4.8.2
Pn281 PG Divider 1 to 255 1P/(scale 20 After 4.7.7
pitch) restart
Pn300 Speed Reference Input Gain 150 to 3000 0.01V 600 Immeci- 4.7.1
/ rated ately 4.9.4
speed
Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immedi- 4.7.4
ately
Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immedi- 4.7.4
ately
Pn307 Speed Reference Filter Time Constant 0 to 65535 0.01 ms 40 Immedi- 4.7.5
ately
Pn308 Speed Feedback Filter Time Constant 0 to 65535 0.01 ms 0 Immedi- 5.4.7
ately
Internal Set Speed 1 0 to 5000 1 mm/s 10 Immedi- 4.10.1
Pn380
ately
Pn381
ately
Pn382
ately
JOG Speed 0 to 5000 1 mm/s 50 Immedi- −
Pn383
ately
Motor Maximum Speed * 1 to 100 0.1 m/s 50 After 4.6.6
Pn384
restart
Pn400 Force Reference Input Gain 10 to 50 0.1 V/ 30 Immedi- 4.9.1
rated force ately 4.9.2
5.4.2
Force Reference Filter Time Constant 0 to 65535 0.01 ms 100 Immedi- 5.4.10
Pn401
ately 7
Forward External Force Limit 0 to 800 1% 100 Immedi- 4.11.2
Pn404
ately 4.11.4
Reverse External Force Limit 0 to 800 1% 100 Immedi- −
Pn405
ately
* Available for the software version 32 or later
7-29
7 Appendix

Emergency Stop Force 0 to 800 1% 800 Immedi- 4.6.3
Pn406
ately
Pn408 Force Function Switches − − 0000 Immedi- −
ately
4th 3rd 2nd 1st
n.
Notch Filter Selection 1
(Refer to 5.4.12)
0 N/A
1 Uses a notch filter for force reference.
Notch Filter Selection 2 ∗1

(Refer to 5.4.12)
0 N/A
1 Uses the notch filter 2 for force reference.
Notch Filter Frequency 50 to 2000 1 Hz 2000 Immedi- 5.4.10

Pn409
ately
Notch Filter Q Value *1 50 to 400 0.01 70 Immedi- 5.4.10
Pn40A
ately
Notch Filter 2 Frequency *1 50 to 2000 1 Hz 2000 Immedi- 5.4.10
Pn40B
ately
Notch Filter 2 Q Value *1 50 to 400 0.01 70 Immedi- 5.4.10
Pn40C
ately
Speed Limit during Force Control 0 to 5000 1 mm/s 5000 Immedi- 4.9.4
Pn480
ately
Polarity Detection Speed Loop Gain 1 to 2000 1 Hz 40 Immedi- 4.2.3
Pn481
ately
Polarity Detection Speed Loop Integral 15 to 51200 0.01 ms 3000 Immedi- 4.2.3
Pn482
Time Constant ately
Forward Force Limit *2 0 to 800 1% 30 Immedi- 4.2.3
Pn483
ately 4.11.1
Reverse Force Limit *2 0 to 800 1% 30 Immedi-
Pn484
ately
Pn500 Positioning Completed Width 0 to 250 1 reference 7 Immedi- 4.8.5
unit ately
Pn504 NEAR Signal Width 1 to 250 1 reference 7 Immedi- 4.8.6
unit ately
Pn505 Overflow Level 256 to 8388352 256 refer- 262144 Immedi- 5.3.3
ence units ately
Brake Reference - Servo OFF Delay Time 0 to 50 10 ms 0 Immedi- −
Pn506
ately
Servo OFF - Brake Reference Waiting 10 to 100 10 ms 500 Immedi- −
Pn508
Time ately
Momentary Hold Time 20 to 1000 1 ms 20 Immedi- 4.6.5
Pn509
ately
* 2. To reduce any danger while setting up the linear servomotor, the factory settings are set to low values
(factory setting: 30%). After the servomotor has been set up, increase the settings of the parameters to the
required force. For details, refer to 4.2 Trial Operation Using SERVOPACK Internal References.
7-30

Pn50A Input Signal Selection 1 − − 2100 After −
restart
4th 3rd 2nd 1st
n.
Input Signal Allocation Mode
(Refer to 3.3.2 Input Circuit Signal Allocation.)
0 Uses the sequence input signal terminals with standard allocation.
1 Changes the sequence input signal allocation for each signal.
/S-ON Signal Mapping

Signal Polarity: Normal: Servo ON when ON (L-level)
Signal Polarity: Reverse: Servo ON when OFF (H-level)
(Refer to 4.6.1 Setting the Servo ON Signal.)
0 ON when CN1-40 input signal is ON (L-level)
7 Sets signal ON.
8 Sets signal OFF.
9 OFF when CN1-40 input signal is OFF (H-level)
A OFF when CN1-41 input signal is OFF (H-level)
B OFF when CN1-42 input signal is OFF (H-level)
C OFF when CN1-43 input signal is OFF (H-level)
D OFF when CN1-44 input signal is OFF (H-level)
E OFF when CN1-45 input signal is OFF (H-level)
F OFF when CN1-46 input signal is OFF (H-level)
/P-CON Signal Mapping (P control when ON (L-level))

Refer to 5.4.4 Proportional Control Operation (Proportional Operation Reference).)
0 to F Same as /S-ON
P-OT Signal Mapping (Forward run prohibited when OFF (H-level))

Refer to 4.6.3 Setting the Overtravel Limit Function.)
0 Forward run allowed when CN1-40 input signal is ON (L-level)
7 Forward run prohibited
8 Forward run allowed
9 Forward run allowed when CN1-40 input signal is OFF (H-level)
A Forward run allowed when CN1-41 input signal is OFF (H-level)
B Forward run allowed when CN1-42 input signal is OFF (H-level)
C Forward run allowed when CN1-43 input signal is OFF (H-level)
D Forward run allowed when CN1-44 input signal is OFF (H-level)
E Forward run allowed when CN1-45 input signal is OFF (H-level)
7
F Forward run allowed when CN1-46 input signal is OFF (H-level)
7-31
7 Appendix

Pn50B Input Signal Selection 2 − − 6543 After −
restart
4th 3rd 2nd 1st
n.
N-OT Signal Mapping (Reverse run prohibited when OFF (H-level)
Refer to 4.6.3 Setting the Overtravel Limit Function.)
0 Reverse run allowed when CN1-40 input signal is ON (L-level)
7 Reverse run prohibited
8 Reverse run allowed
9 Reverse run allowed when CN1-40 input signal is OFF (H-level)
A Reverse run allowed when CN1-41 input signal is OFF (H-level)
B Reverse run allowed when CN1-42 input signal is OFF (H-level)
C Reverse run allowed when CN1-43 input signal is OFF (H-level)
D Reverse run allowed when CN1-44 input signal is OFF (H-level)
E Reverse run allowed when CN1-45 input signal is OFF (H-level)
F Reverse run allowed when CN1-46 input signal is OFF (H-level)
/ALM-RST Signal Mapping (Alarm Reset when ON (L-level)

(Refer to 4.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3).)
0 to 6 Same as /S-ON, the setting of 2nd digit of Pn50.A
7 Reserved (Do not change)
8 to F Same as /S-ON, the setting of 2nd digit of Pn50.A
/P-CL Signal Mapping (Force Limit when ON (L-level))

(Refer to 4.10.2, 4.10.3, 4.11.2, and 4.11.4.)
/N-CL Signal Mapping (Force Limit when ON (L-level))

Refer to 4.10.2, 4.10.3, 4.11.2, and 4.11.4.)
INFO ■ Input signal polarities
Signal Effective Voltage Contact

Level Level
ON Low (L) level 0V Close
OFF High (H) level 24 V Open
7-32

Pn50C Input Signal Selection 3 − − 8888 After −
restart
4th 3rd 2nd 1st
n.
/SPD-D Signal Mapping
(Refer to 4.10 Operating Using Speed Control with an Internally Set Speed.)
7 Sets signal ON.
8 Sets signal OFF.
9 ON when CN1-40 input signal is OFF (H-level)
A ON when CN1-41 input signal is OFF (H-level)
B ON when CN1-42 input signal is OFF (H-level)
C ON when CN1-43 input signal is OFF (H-level)
D ON when CN1-44 input signal is OFF (H-level)
E ON when CN1-45 input signal is OFF (H-level)
F ON when CN1-46 input signal is OFF (H-level)
/SPD-A Signal Mapping

(Refer to 4.10 Operating Using Speed Control with an Internally Set Speed.)
0 to F Same as /SPD-D
/SPD-B Signal Mapping

(Refer to 4.10 Operating Using Speed Conttol with an Internally Set Speed.)
/C-SEL Signal Mapping (Control mode change when ON (L-level))

(Refer to 4.12.2 Switching the Control Mode.)
7-33
7 Appendix

Pn50D Input Signal Selection 4 − − 8888 After −
restart
4th 3rd 2nd 1st
n.
/ZCLAMP Signal Mapping (Zero clamp when ON (L-level))
(Refer to 4.7.6 Using the Zero Camp Function.)

7 Sets signal ON.

8 Sets signal OFF.

/INHIBIT Signal Mapping (Reference pulse inhibit when ON (L-level))

(Refer to 4.8.7 Reference Pulse Inhibit function (INHIBIT).)
0 to F Same as /ZCLAMP
/G-SEL1 Signal Mapping (Gain change when ON (L-level))

(Refer to 5.4.9 Switching Gain Settings.)
/P-DET Signal Mapping (Polarity detection when ON (L-level))

(Refer to 4.2.3)
7-34

Pn50E Output Signal Selection 1 − − 3211 After −
restart
4th 3rd 2nd 1st
n.
Positioning Completion Signal Mapping (/COIN)
(Refer to 4.8.5 Positioning Completed Output Signal.)
0 Disabled (the above signal is not used.)
1 Outputs the signal from CN1-25, -26 output terminal.
Speed Coincidence Detection Signal Mapping (/V-CMP)

(Refer to 4.7.8 Speed Coincidence Output.)
0 to 3 Same as /COIN
Movement Detection Signal Mapping (/TGON) (Refer to 4.13.3)

Servo Ready Signal Mapping (/S-RDY)

(Refer to 4.13.4 Servo Ready (/S-RDY) Output.)
Pn50F Output Signal Selection 2 − − 0000 After −

restart
4th 3rd 2nd 1st
n.
Force Limit Detection Signal Mapping (/CLT)
(Refer to 4.11.5 Checking Output Force Limiting during Operation.)
Speed Limit Detection Signal Mapping (/VLT)

(Refer to 4.9.4 Limiting Linear Servomotor Speed during Force Control.)
0 to 3 Same as /CLT
Brake Interlock Signal Mapping (/BK)

(Refer to 3.3.3 Setting for Holding Brakes.)
0 to 3 Same as /CLT
Warning Signal Mapping (/WARN)

(Refer to 4.13.2 Warning Output (/WARN).)
0 to 3 Same as /CLT
7-35
7 Appendix

Pn510 Output Signal Selection 3 − − 0000 After 4.8.6
restart
4th 3rd 2nd 1st
n.
Near Signal Mapping (/NEAR)
1 Outputs the signal from CN1-25, -26 terminal.
Reference Pulse Input Switch Signal Mapping (/P-SELA)∗

0 to 3 Same as /NEAR
Pn512 Output Signal Reverse Settings − − 0000 After 3.3.3

restart
4th 3rd 2nd 1st
n.
Output Signal Reverse for CN1-25 or -26 Terminals
0 Output signal is not reversed.
1 Output signal is reversed.


* Available for the software version 32 or later
7-36

Pn513 Input Signal Selection 5 ∗1 − − 0000 After 3.3.2
restart
4th 3rd 2nd 1st
n.
/P-SEL2 Signal Mapping (Gain change when ON (L-level))

7 Sets signal ON.

8 Sets signal OFF.

Pn51E Excessive Position Error Warning Level ∗1 0 to 100 1% 0 Immedi- 6.1.2

ately
Zero Clamp Level 0 to 5000 1 mm/s 10 Immedi- 4.7.6
Pn580
ately
Zero Speed Level 1 to 5000 1 mm/s 20 Immedi- 4.13.3
Pn581
ately
Speed Coincidence Signal Output Width 0 to 100 1 mm/s 10 Immedi- 4.7.8
Pn582
ately
Brake Reference Output Speed Level 0 to 5000 1 mm/s 100 Immedi- −
Pn583
ately
Pn584 Motor Self-cooling Ratio∗1 0 to 100 1% / peak 0 Immedi- −
speed ately
External Regenerative Resistor Capacity∗2 Depending on 10 W 0 Immedi-
Pn600 ately
model∗3
* 1. Avaiable for the software version 32 or later
* 2. Normally set to “0.” When an external regenerative resistor is mounted, set the value of external 7
regenerative resistor capacity (W).
* 3. The upper limit value is the maximum output capacity (W) of applied SERVOPACK.
7-37
7 Appendix
7.4.3 Monitor Modes
7.4.3 Monitor Modes

The following list shows available monitor modes.
Parame-
Content of Display Unit
ter No.
Un000 Actual motor speed mm/s
Un001 Input speed reference mm/s
Un002 Internal force reference (Value for rated force) %
Un003∗1 Electrical angle 1 (32-bit decimal code) number of pulses from the
phase-C (zero point)
Un004 Electrical angle 2 (Angle from 0 (zero) degree of phase-U) deg
Un005 Input signal monitor −
Un006 Output signal monitor −
Un007 Input reference pulse speed (displayed only in position control mode) mm/s
Un008 Error counter (amount of position error) (displayed only in position control reference unit
mode)
Un009 Accumulated load rate (Value for the rated force as 100%: Displays effective %
force in 10 s cycle.)
Un00A Regenerative load rate (Value for the processable regenerative power as 100%: %
Displays regenerative power consumption in 10 s cycle.)
Un00B Power consumed by DB resistance %
(Value for the processable power when dynamic brake is applied as 100%: Dis-
plays DB power consumption in 10 s cycle.)
Un00C Input reference pulse counter (32-bit decimal code) −
(displayed only in position control mode)
Un00D Feedback pulse counter (32-bit decimal code) −
Un010∗2 Motor maximum speed setting upper limit or encoder output resolution setting 100mm/s or
upper limit Pulse/scale pitch (Pn280)
Un011∗2 Hall sensor signal monitor −
* 1. Cannot be used if there is no zero point on the linear scale.

7-38
7.5 Parameter Recording Table

Use the following table for recording parameters.
Note: Setting validation (“immediately” or “after restart”) for Pn10B and Pn110 differs depending on the
digit. The digits validated after restart are underlined in “Factory Setting” column.
Factory Setting
Parame-
ter
Name Valida-
Setting tion
Function Selection Basic Switches 0 After

Pn000 0000
restart
Function Selection Application Switches 1 After
Pn001 0000
restart
Function Selection Application Switches 2 After
Pn002 0000
restart
Pn003 0002
Function Selection Application Switches 3 Imme-
diately
Function Selection Application Switches After
Pn080 0000 restart
80
Speed Loop Gain Imme-
Pn100 40 Hz
diately
Speed Loop Integral Time Constant Imme-
Pn101 20.00 ms
diately
Position Loop Gain Imme-
Pn102 40/s
diately
Mass Ratio Imme-
Pn103 0%
diately
2nd Speed Loop Gain Imme-
Pn104 40 Hz
diately
2nd Speed Loop Integral Time Constant Imme-
Pn105 20.00 ms
diately
2nd Position Loop Gain Imme-
Pn106 40/s
diately
7 reference Bias Width Addition Imme-
Pn108 units diately
Feed-forward Imme-
Pn109 0%
diately
Feed-forward Filter Time Constant Imme-
Pn10A 0.00 ms
diately
Gain-related Application Switches After
Pn10B 0000
restart
Mode Switch Force Reference Imme-
Pn10C 200 %
diately
0 reference Mode Switch Error Pulse Imme-
Pn10F unit diately
Online Autotuning Switches After
Pn110 0010
restart
Speed Feedback Compensation Imme-
Pn111 100 %
diately
Automatic Gain Change Timer Imme-
Pn124 100 ms
diately
Automatic Gain Change Width Imme-
Pn125 7
diately
Bias Imme-
Pn180 0 mm/s
diately
Mode Switch Speed Reference Imme-
Pn181 0 mm/s
Mode Switch Acceleration

diately
Imme-
7
Pn182 0 mm/s2
diately
Position Control References Form After
Pn200 0000 restart
Selection Switches
7-39
7 Appendix
Factory Setting
Parame-
ter
Name Valida-
Setting tion
Electronic Gear Ratio (Numerator) After

Pn202 4
restart
Electronic Gear Raio (Denominator) After
Pn203 1
restart
Position Reference Accel/Decel Time Imme-
Pn204 0 ms diately
Constant
Position Control Function Switches After
Pn207 0000
restart
Position Reference Movement Average Imme-
Pn208 0 ms diately
Time
Reference Pulse Input Multiplication Imme-
Pn217 1
diately
Reference Pulse Input Multiplication After
Pn218 0000 restart
Function Selection
Linear Scale Pitch After
Pn280 0 µm
restart
PG Divider After
Pn281 20
restart
6.00 V/rated Speed Reference Input Gain Imme-
Pn300 speed diately
Soft Start Acceleration Time Imme-
Pn305 0 ms
diately
Soft Start Deceleration Time Imme-
Pn306 0 ms
diately
Speed Reference Filter Time Constant Imme-
Pn307 0.40 ms
diately
Speed Feedback Filter Time Constant Imme-
Pn308 0.00 ms
diately
Internal Set Speed 1 Imme-
Pn380 10 mm/s
diately
Pn381 20 mm/s
diately
Pn382 30 mm/s
diately
JOG Speed Imme-
Pn383 50 mm/s
diately
Motor Maximum Speed After
Pn384 5.0m/s
restart
Force Reference Input Gain Imme-
Pn400 3.0 V/rated force
diately
Force Reference Filter Time Constant Imme-
Pn401 1.00 ms
diately
Forward External Force Limit Imme-
Pn404 100 %
diately
Reverse External Force Limit Imme-
Pn405 100 %
diately
Emergency Stop Force Imme-
Pn406 800 %
diately
Force Function Switches Imme-
Pn408 0000
diately
Notch Filter Frequency Imme-
Pn409 2000 Hz
diately
Notch Filter Q Value Imme-
Pn40A 0.70
diately
Notch Filter 2 Frequency Imme-
Pn40B 2000 Hz
diately
Notch Filter 2 Q Value Imme-
Pn40C 0.70
diately
Speed Limit in Force Control Imme-
Pn480 5000mm/s
diately
7-40
Factory Setting
Parame-
ter
Name Valida-
Setting tion
Polarity Detection Speed Loop Gain Imme-

Pn481 40 Hz
diately
Polarity Detection Speed Loop Integral Imme-
Pn482 30.00 ms diately
Time Constant
Forward Force Limit Imme-
Pn483 30 %
diately
Reverse Force Limit Imme-
Pn484 30 %
diately
Position Completion Width Imme-
Pn500 7
diately
Near Signal Width Imme-
Pn504 7
diately
Pn505 262144 Overflow Level
Pn506 0 ms
Brake Reference - Servo OFF Delay Time Imme-
diately
Servo OFF - Brake Reference Waiting Imme-
Pn508 500 ms diately
Time
Momentary Hold Time Imme-
Pn509 20 ms
diately
Input Signal Selection 1 After
Pn50A 2100
restart
Pn50B 6543
restart
Pn50C 8888
restart
Pn50D 8888
restart
Output Signal Selection 1 After
Pn50E 3211
restart
Pn50F 0000
restart
Pn510 0000
restart
Output Signal Reverse Settings After
Pn512 0000
restart
Pn513 8888
restart
Excessive Position Error Warning Level Imme-
Pn51E 0%
diately
Zero Clamp Level Imme-
Pn580 10 mm/s
diately
Zero Speed Level Imme-
Pn581 20 mm/s
diately
Speed Coincidence Signal Output Width Imme-
Pn582 10 mm/s
diately
Brake Reference Output Speed Level Imme-
Pn583 100mm/s
diately
0% Motor Self-cooling Ratio Imme-
Pn584 /max. speed diately
External Regenrative Resistor Capacity Imme-
Pn600 0W
diately
7-41

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Σ-II Series

SGDH User’s Manual Supplement for

 Description of Technical Terms

 Indication of Reverse Signals

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

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

The ISO symbol is used in this manual.

 Storage and Transportation

• Install SERVOPACKs, linear servomotors, and regenerative resistors on nonflammable objects.

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - 1-8

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

2.2 SERVOPACK Model Designation- - - - - - - - - - - - - - - - - - - - 2-3

3.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - 3-8

3.3 Operation in Parameter Setting Mode (Pn)- - - - - - - - 3-20

3.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - 3-30

4.4 Trial Operation with the Linear Servomotor Connected

4.7 Operating Using Speed Control with Analog Reference - - - 4-35

4.8 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 4-45

4.9 Operating Using Force Control - - - - - - - - - - - - - - - - - - - - 4-58

4.10 Operating Using Speed Control

4.12 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - 4-73

4.13 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75

5.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - 5-15

5.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29

6.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - 6-22

7.3 Connection to Host Controller - - - - - - - - - - - - - - - - - - - 7-13

7.4 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23

7.5 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - 7-41

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

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.1 Checking Products

1.1.2 Linear Servomotors

1.1.4 Serial Converter Units

1.2 Product Part Names

(2) SGLFW and SGLFM With F-type Iron Core

(3) SGLTW and SGLTM With T-type Iron Core

(2) SGDH for 7.5 kW

SERVOPACK 200V Panel display

1.3 Examples of Servo System Configurations

1.3.1 Single-phase, 200 V Main Circuit

MODE/SET DATA/ Connection cable

1.3.2 Three-phase, 200 V Main Circuit

Magnetic SGDH- AE Digital

Connection cable for

Serial converter unit

Main circuit cable for

Linear servomotor with core

1.4 Applicable Standards

1.4.1 North American Safety Standards (UL, CSA)

Low Voltage EMC Directive

Because SERVOPACKs and linear servomotors are built-in type, reconfirmation is

2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 SERVOPACK Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.1 Linear Servomotor Model Designation

Description of Technical Terms

Indication of Reverse Signals

Storage and Transportation

3.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - 3-8

3.3 Operation in Parameter Setting Mode (Pn)- - - - - - - - 3-20

3.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - 3-30

3.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - 3-8

3.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - 3-20

3.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - 3-30

3.2 Operation in Utility Function Mode (Fn)