Yaskawa SGDV-OCA03A User Manual

AC Servo Drives
Σ -V Series
USER'S MANUAL
INDEXER Module
Model: SGDV-OCA03A
Overview 1
Specifications 2
SERVOPACK Installation 3
Wiring and Connection 4
Parameter Setting and Functions 5
Program Table 6
Serial Command Communications 7
Operation of Digital Operator 8
Troubleshooting 9
Appendix 10
MANUAL NO. SIEP C720829 02D

Copyright © 2009 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
About this Manual
This manual describes information required for designing, trial operating, adjusting and maintaining the
INDEXER Module for Σ-V Series SERVOPACKs.
Be sure to refer to this manual and perform design and maintenance to select devices correctly.
Keep this manual in a location where it can be accessed for reference whenever required.
Description of Technical Terms

The following table shows the meanings of terms used in this manual.
Term Meaning
INDEXER Module INDEXER Module for Σ-V Series SERVOPACKs
Cursor A mark that indicates the input position of data displayed on the digital operator
Σ-V Series SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, or SGMCS (Direct Drive) servomotor
Servomotor
Linear Σ Series SGLGW, SGLFW, SGLTW, or SGLC servomotor
SERVOPACK Σ-V Series SGDV SERVOPACK
Servo drive A set including a servomotor and SERVOPACK (i.e., a servo amplifier)
A servo control system that includes the combination of a servo drive with a host controller and
Servo System
peripheral devices
Analog/pulse type Interface specifications for SERVOPACK : Analog voltage and pulse train reference type
Servo ON When power is being supplied to the servomotor
Servo OFF When power is not being supplied to the servomotor
Base block Turning OFF the power by shutting OFF the base current of the IGBT for the current amplifier
Servo lock Motor status where motor is stopped with a position loop established by a position reference of 0
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
• Indicates important information that should be memorized, as well as precautions, such as

alarm displays, that do not involve potential damage to equipment.
Notation Used in this Manual

• Reverse Symbol Notation
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:
Example
The notation for BK is /BK.
iii
• Parameter Notation
The following two types of notations are used for parameter digit places and settings.
Example
Notation Example for Pn000
Pn000㧩㨚㧜㧜㧜㧜 Digit Notation Set Value Notation
Notation Method Meaning Notation Method Meaning
Digit 1 Indicates digit 1 Pn000.0 = x Indicates that digit 1 of the
Pn000.0
of the parameter (Pn000). or n.x parameter (Pn000) is x.

Pn000.1
Indicates digit 3 Pn000.2 = x Indicates that digit 3 of the
Digit 3 Pn000.2

Pn000.3
Manuals Related to the Σ-V Series

Refer to the following manuals as required.
Selecting Trial
Maintenance
Models and Ratings and Designing Panels and Trial Operation
Name and
Peripheral Specifications Systems Wiring Operation and Servo
Inspection
Devices Adjustment
Σ-V Series User's Manual
Design and Maintenance
Rotational Motor
9 9 9 9
Command Option
Attachable Type
(SIEP S800000 60)
Design and Maintenance
Linear Motor
9 9 9 9
Command Option
Attachable Type
(SIEP S800000 66)
Σ-V Series INDEXER
Module
9
Installation Guide
(TOBP C720829 02)
Setup Rotational Motor 9 9
(SIEP S800000 43)
Σ-V Series
Product Catalog 9 9 9
(KAEP S800000 42)
Σ-V Series User’s Manual
Operation of Digital
9 9 9
Operator
(SIEP S800000 55)
Σ-V Series
AC SERVOPACK SGDV
9 9 9
Safety Precautions
(TOBP C710800 10)
Σ Series Digital Operator
Safety Precautions 9
(TOBP C730800 00)
AC SERVOMOTOR
Safety Precautions 9 9
(TOBP C230200 00)
iv
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-
vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.
Indicates precautions that, if not heeded, could possibly result in loss of

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

CAUTION or minor injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious
consequences if not heeded.
Indicates prohibited actions that must not be performed. For example,

PROHIBITED this symbol would be used to indicate that fire is prohibited as follows:
Indicates compulsory actions that must be performed. For example, this

MANDATORY symbol would be used as follows to indicate that grounding is
compulsory:
v
Safety Precautions
These safety precautions are very important. Read them before performing any procedures such as checking
products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be
sure to always observe these precautions thoroughly.
WARNING
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Failure to observe this warning may result in injury or damage to the product.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not remove the cover of the power supply terminal block while the power is ON.
• After the power is turned OFF or after a voltage resistance test, do not touch terminals while the
charge indicator is ON.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in the user's manual for the relevant products for
trial operation.
Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.
• The multi-turn serial data output range for the Σ-V Series absolute position detecting system is dif-
ferent from that of earlier systems with 15-bit and 12-bit encoders. In particular, change the system
to configure the Σ Series infinite-length positioning system with the Σ-V Series.
• The multi-turn limit value need not be changed except for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER-
VOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect parameter value is set, an incorrect value will be set in the encoder.
The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in
a dangerous situation where the machine will move to unexpected positions.
• Do not remove the front cover, cables, connectors, or optional items from the upper front of the
SERVOPACK while the power is ON.
• Do not damage, press, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.
• Do not modify products.
Failure to observe this warning may result in injury, damage to products or fire.
• Provide an appropriate stopping device on the machine side to ensure safety.
The holding brake on a servomotor with a brake is not a stopping device for ensuring safety.
• Do not approach the machine when an instantaneous power interruption has occurred because the
machine may restart suddenly when the power is recovered. Secure the safety of people around
the machine when the machine restarts.
• Connect the ground terminal according to local electrical codes (100 Ω or less for a SERVOPACK
with a 100 V, 200 V power supply, 10 Ω or less for a SERVOPACK with a 400 V power supply).
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.
• The person who designs a system using the safety function (Hard Wire Baseblock function) must
have full knowledge of the related safety standards and full understanding of the instructions in this
manual.
Failure to observe this warning may result in injury or damage to the product.
vi
Storage and Transportation
CAUTION
• Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Locations subject to direct sunlight
• Locations subject to ambient operating temperatures outside the range specified in the storage/installation
temperature conditions
• Locations subject to humidity outside the range specified in the storage/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
• Do not hold the product by the cables, motor shaft or detector while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pal-
lets, or plywood, the packing materials must be treated before the product is packaged, and meth-
ods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed
with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes
resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlo-
rine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.
Installation
CAUTION
• Never use the product 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 ports 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.
vii
Wiring
CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec-
tion.
Failure to observe this caution may result in injury or fire.
• Securely connect the main circuit power supply terminal screws, control power supply terminal
screws, and servomotor connection terminal screws.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the input/output signal cables or the
encoder cables in the same duct. Keep them separated by at least 30 cm.
Failure to do so may result in malfunction.
• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for input/output signal
cables and the encoder cables.
• I/O signal cables must be no longer than 3 m, encoder cables must be no longer than 50 m, and
control power supply cables for the SERVOPACK with a 400 V power supply (+24 V, 0 V) must be
no longer than 10 m.
• Do not touch the power terminals while the charge indicator is ON after turning power OFF because
high voltage may still remain in the SERVOPACK.
Make sure the charge indicator is OFF first before starting an inspection.
• Observe the following precautions when wiring main circuit terminal blocks of the SERVOPACK.
• Do not turn ON the power to the SERVOPACK until all the wiring including that to the main circuit termi-
nal blocks has been completed.
• When the main circuit terminal blocks are connectors, remove the connectors from the SERVOPACK and
connect the wires to the connectors.
• Insert only one main power line per opening in the main circuit terminals.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuit) adjacent wires.
• Install a battery at either the host controller or the SERVOPACK, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the
batteries.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
• Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential interference 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
Failure to observe this caution may result in damage to the product.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, the SERVOPACK, the servomotor, or cause an explo-
sion.
Wiring or inspection must be performed by a technical expert.
• Use a 24-VDC power supply with double insulation or reinforced insulation.
viii
Operation
CAUTION
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from the
machine to avoid accidents.
Failure to observe this caution may result in injury.
• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system
safety against problems such as signal line disconnection.
• 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 mal-
function.
• Do not frequently turn power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows when power is
turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to
deteriorate, resulting in unexpected problems.
• When using JOG operations (Fn002), origin search (Fn003), or EasyFFT operations (Fn206), the
dynamic brake function does not work for reverse overtravel or forward overtravel. Take necessary
precautions.
• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from fall-
ing due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when
overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
• When not using tuning-less function, set to the correct moment of inertia ratio (Pn103).
Setting to an incorrect moment of inertia ratio may cause machine 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 or damage to the product due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in damage to the product, fire, or injury.
• Do not use the holding brake of the servomotor for braking.
• An alarm or warning may be generated if communications are executed with the host controller dur-
ing operation using SigmaWin+ or the digital operator.
If an alarm or warning is generated, the process currently being executed may be aborted and the system may
stop.
Maintenance and Inspection
CAUTION
• Do not disassemble the SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
• Do not change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK
parameters to the new SERVOPACK.
ix
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
General Precautions
Observe the following general precautions

to ensure safe application.
• The products shown in illustrations 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.
• 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.
x
Warranty
(1) Details of Warranty

Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from
the time of delivery to the location specified by the customer or 18 months from the time of shipment from the
Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product reach-
ing the end of its service life and replacement of parts that require replacement or that have a limited service
life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cata-
logs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-
ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
(2) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program
execution of the programs provided by the user or by a third party for use with programmable Yaskawa
products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer pur-
chasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,
nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights
or other proprietary rights of third parties as a result of using the information described in catalogs or man-
uals.
xi
(3) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that
apply if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment
used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide
safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in condi-
tions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys-
tems, medical equipment, amusement machines, and installations subject to separate industry or gov-
ernment regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or
systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
4. Never use the product for an application involving serious risk to life or property without first ensuring that
the system is designed to secure the required level of safety with risk warnings and redundancy, and that the
Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for ref-
erence. Check the functionality and safety of the actual devices and equipment to be used before using the
product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.
(4) Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.
xii
Applicable Standards
North American Safety Standards (UL)
Model UL∗ Standards

(UL File No.)
SERVOPACK • SGDV UL508C (E147823)
• SGMJV
• SGMAV
Servomotor • SGMPS UL1004 (E165827)
• SGMGV
• SGMSV
∗ Underwriters Laboratories Inc.
Note: Applicable when the INDEXER Module is attached to the SERVOPACKs for the command option attachable type.
European Standards
Low Voltage EMC Directive Safety

Model
Directive EMI EMS Standards
EN55011/A2
EN50178 EN61800-3 EN954-1
SERVOPACK • SGDV group 1 class A
EN61800-5-1 EN61000-6-2 IEC61508-1 to 4
EN61800-3
• SGMJV
• SGMAV IEC60034-1
EN55011/A2
IEC60034-5 EN61800-3
Servomotor • SGMPS group 1 class A –
IEC60034-8 EN61000-6-2
• SGMGV EN61800-3
IEC60034-9
• SGMSV
Note 1. Because SERVOPACKs and servomotors are built into machines, certification is required after installation in the
final product.
2. Applicable when the INDEXER Module is attached to SERVOPACKs for the command option attachable type.
xiii
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Chapter 1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 Checking Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Nameplate and Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3 Nameplate Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Chapter 2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Main Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 Features of Firmware Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.3 Part Names of the INDEXER Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4 LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Chapter 3 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.1 SERVOPACK Installation Environment and Applicable Standards . . . . . . . . 3-2
3.1.1 Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.2 Installation Conditions for Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Chapter 4 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.1 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.1 Connecting to SGDV-FE1A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.2 Connecting to SGDV-AE1A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.3 Connecting to SGDV-DE1A SERVOPACK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.1.4 Connecting to SGDV-FE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.1.5 Connecting to SGDV-AE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.1.6 Connecting to SGDV-DE5A SERVOPACK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.2 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.2.1 I/O Signal Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.2.2 Interface Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.2.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.3 Serial Command Communications Connector (CN12). . . . . . . . . . . . . . . . . 4-18
4.3.1 Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.3.2 Communications Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.3.3 Connector Signal Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.3.4 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.3.5 RS-422/RS-485 Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.4 Power Loss in the INDEXER Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
xiv
Chapter 5 Parameter Setting and Functions . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.1 Parameter Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2 Restrictions on SGDV SERVOPACK Parameters . . . . . . . . . . . . . . . . . . . . . 5-3
5.3 Sequence I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3.1 Servo ON Signal (/S-ON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3.2 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3.3 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals
(/ALO1, /ALO2, and /ALO3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.3.4 Braking Signal (/BK). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.3.5 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.6 Error/Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.7 Positioning Completed Output Signal (/INPOSITION) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.3.8 Programmable Output Signals (/POUT0 to /POUT7). . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.3.9 Encoder Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.4 Settings According to Device Characteristics . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.4.1 Setting Reference Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.4.2 Moving Mode and Coordinate Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.4.3 Setting Home Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.4.4 Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.4.5 Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.4.6 Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
Chapter 6 Program Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1 Program Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1 Mode Switch Signal (/MODE 0/1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.2 Input Signals for Program Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.3 Program Table Step Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.1.4 Program Table Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.5 Examples of EVENT Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.1.6 Program Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.1.7 Status Changes in Program Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.1.8 Input Signal Timing Specifications for Program Table Operation . . . . . . . . . . . . . . . . . . . 6-11
6.1.9 Response Times after Turning ON the /START-STOP Signal . . . . . . . . . . . . . . . . . . . . . 6-12
6.1.10 Program Table Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.2 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
6.2.1 Registration Timing Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
6.2.2 Registration Input Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.2.3 Registration Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.3 ZONE Table Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22
6.4 Homing/JOG Speed Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4.1 Mode Switch Input Signal (/MODE 0/1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4.2 Homing/JOG Speed Table Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4.3 Parameters Related to Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
6.5 Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
6.6 JOG Speed Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.6.1 Example of JOG Speed Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.6.2 JOG Speed Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29
6.6.3 Input Conditions for Homing and JOG Speed Table Operation . . . . . . . . . . . . . . . . . . . . 6-30
6.6.4 Input Signal Timing Specifications for Homing and JOG Speed Table Operation . . . . . . 6-30
xv
Chapter 7 Serial Command Communications . . . . . . . . . . . . . . . . . . . . . . .7-1
7.1 CN12 Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.2 Setting the Axis Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.3 Parameters Related to Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 Command/Response Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.4 Global Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.5 Echoback Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.6 Response Data Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.6.1 Positive Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.6.2 Negative Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.7 Serial Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.7.1 Basic Operation Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.7.2 Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
7.7.3 Parameter Edit Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.7.4 Program Table Setup Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
7.7.5 Program Table Operation Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
7.7.6 Zone Table Setup Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
7.7.7 JOG Speed Table Setup Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
7.7.8 Monitor and Utility Function Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
Chapter 8 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.1 Functions List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Changing the Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.3 Reading the Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2 Operation of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.2.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.2.2 Program Table Edit/Save (FnB03) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.2.3 ZONE Table Edit/Save (FnB04) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
8.2.4 JOG Speed Table Edit/Save (FnB05). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14
8.2.5 Program Table Initialization (FnB06) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16
8.2.6 ZONE Table Initialization (FnB07) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.2.7 JOG Speed Table Initialization (FnB08) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.2.8 Absolute Encoder Origin Setting (FnB09) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19
8.2.9 INDEXER Status Monitor (FnB0A). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
8.2.10 INDEXER Parameter Setting Initialization (FnB0B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.2.11 INDEXER Alarm Reset (FnB0C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.2.12 INDEXER Alarm History Display (FnB0D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

9.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 List of Alarms for Command Option Attachable Type SERVOPACKs . . . . . . . . . . . . . . . . 9-2
9.1.2 INDEXER Module Alarm Displays and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
9.2.1 List of Warnings for Command Option Attachable Type SERVOPACKs . . . . . . . . . . . . . 9-12
9.2.2 INDEXER Module Error Displays and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.3 Troubleshooting Malfunction Based on Operation and Conditions . . . . . . . 9-19
xvi
Chapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1
10.1 Parameter List for INDEXER Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2 Parameter List for Command Option Attachable Type SERVOPACKs . . . 10-9
10.3 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-26
10.4 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-27
10.5 Alphabetical List of Serial Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-29
10.6 Parameter Equivalence List for INDEXER Modules for SGDV SERVOPACKs
and INDEXER Modules for SGDH SERVOPACKs . . . . . . . . . . . . . . . . . . 10-32
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
Revision History
xvii
1
Overview
This chapter gives an overview of the INDEXER Module and describes how to check parts
upon delivery.
1.1 Checking Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2 Nameplate and Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3 Nameplate Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Overview
1
1-1
1 Overview
1.1 Checking Products on Delivery

(1) When the INDEXER Module is Not Connected to the SERVOPACK
1. Mount the INDEXER Module to the SERVOPACK as described in the enclosed Σ-V Series
INDEXER Module Installation Guide (TOBP C720829 02).
For the location of the nameplate, refer to 1.3 Nameplate Location.
2. Check the nameplate to confirm that the product is the one that was ordered.
For the nameplate, refer to 1.2 Nameplate and Model Designation.
(2) When the INDEXER Module is Connected to the SERVOPACK
Check the nameplate to confirm that the Module that is mounted is the INDEXER Module.
The nameplate is located in the following position.
1-2
1.2 Nameplate and Model Designation
1.2 Nameplate and Model Designation

Nameplate Example
Option Module model number
Name
OPTION MODULE
MODEL SGDV-OCA03A
840204-9-1
D0093A102110001
SGDV
YASKAWA ELECTRIC CORPORATION
Manufacturing number
Nameplate
Model Designation
SGDV – OC A03 A
6th digit: Design Revision Order
Series
SGDV Σ-V Series
3rd + 4th + 5th digits: Interface Specifications
1st + 2nd digits: Module Type Code Interface
Code Module A03 INDEXER
OC Command option module
Overview
1
1-3
1 Overview
1.3 Nameplate Location
Nameplate (Model no.)
Nameplate (Ratings)
1-4
2
Specifications
This chapter gives an overview and describes the specifications of the INDEXER Module.
2.1 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Main Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 Features of Firmware Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.3 Part Names of the INDEXER Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4 LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Specifications
2
2-1
2 Specifications
2.1.1 Main Functions
2.1 Product Overview

The INDEXER Module is a single-axis positioning device that is equipped with a program table operation
function. The INDEXER Module is mounted to the side of the SERVOPACK.
The INDEXER Module has two reference methods: digital I/O and serial commands.
Digital I/O is structured as a program table (Mode 0) or homing/JOG speed table (Mode 1). If the program
table (Mode 0) is being used, the program step selected with the input signal pattern (binary format) can be
executed. If the JOG speed table (Mode 1) is being used, the JOG speed selected with the input signal pattern
(binary format) can be executed.
With serial commands, ASCII command strings are sent to the INDEXER Module through RS-422 or RS-485
communications and these commands are interpreted and executed immediately.
The support software tool, SigmaWin+, can be used to easily set program tables and parameters or to perform
monitoring operations.
These same operations can also be performed using serial commands.
INDEXER Module
Mounted on Σ-V Series SGDV SERVOPACK
2.1.1 Main Functions

Main functions of the INDEXER Module are listed below.
Function Description
The program step selection input signals (binary format) are used to select the desired
Digital I/O positioning data from the program table stored in the INDEXER Module. The
Program Table (Mode 0) INDEXER Module can store up to 256 program steps. The program steps can be
linked to create combinations that perform more complex motions.
Digital I/O Homing/JOG Speed Homing using an incremental encoder and operation using a JOG speed table with up
Table (Mode 1) to 16 speed levels can be performed.
Positioning can be controlled by ASCII command strings received through RS-422
Serial Commands or RS-485 communications. Up to 16 axes can be connected. ASCII commands can
also be used to operate using a program table.
Both the program table and serial commands are equipped with registration functions
Registration
for external positioning.
There are 8 output signals (/POUT0 to /POUT7) for which the output status can be
Programmable Output Signals
specified.
The programmable output signals (/POUT0 to /POUT4) can also be used as zone sig-
Zone Signals and Zone Table
nals. Up to 32 zones can be specified in the zone table.
2-2
2.1 Product Overview
INDEXER Module SGDV SERVOPACK
DI
Speed control
operation
Position control
Current control
Profiler
DO Local
Dual-port RAM
CPU M
I/O
Serial
Counter ENC
RS422/485
Block Diagram
2.1.2 Features of Firmware Versions

The table below lists the differences between firmware versions for the INDEXER Module.
Some functions are included in every version, and have upward compatibility.
Firmware
Features
Version 1 Version 3
Cannot be supported.
Can be supported when the INDEXER
The fully-closed loop control option is Module is used with the option module
Fully-closed loop control
not provided in the parameter Pn002 for fully-closed loop control.
(External Encoder Usage).
Use with a linear SERVOPACK Cannot be supported. Can be supported.
Serial commands
• RES command
Not supported Supported
• IN3 command
• HBB response of ALM command
Specifications
Version mismatch alarms (E13A,
Not supported Supported
E15A, E1AA, E1DA, and E21A)
View status of overtravel and software
Not supported Supported*
limit functions on digital operator
Utility functions of digital operator
Not supported Supported*
(FnB03 to FnB0D)
2
Version number display
• Serial command VER
Displays 0001. Displays 0003.
• Digital operator Fn12
• SigmaWin+ product information
Full support for SigmaWin+ version Full support for SigmaWin+ version
SigmaWin+
5.30 or later 5.33 or later
∗ These functions are supported by SERVOPACK software version 001B or later.
2-3
2 Specifications
2.2 General Specifications

This table lists the general specifications of the INDEXER Module.
Applicable SERVOPACK Σ-V Series SGDV-E SERVOPACK, all models

Placement Attached to the SERVOPACK
Power
Power Supply Method Supplied from the control power supply of the SGDV SERVOPACK.
Specifications
Surrounding Air/Storage
0°C to +55°C/ -20°C to +85°C
Temperature
Ambient/Storage
90% RH or less (with no condensation)
Humidity
Vibration/Shock
Resistance 4.9 m/s2 / 19.6 m/s2
Operating Protection class: IP10, Pollution degree: 2

Conditions An environment that satisfies the following conditions.
Protection Class/
• Free of corrosive or explosive gases
Pollution Degree
• Free of exposure to water, oil or chemicals
• Free of dust, salts or iron dust
Altitude 1000 m or less
Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to
Others
radioactivity
Program table positioning in which steps are executed sequentially by commands given
through contact input or serial communications
Program Table Method
Positioning in which station numbers are specified by commands given through contact
input or serial communications
Max.
Number of 256
Steps
Max.
Control Number of 256
Method Tables
Max.
Number of 256
Stations
Serial command by 1-channel ASCII code
Serial Communications Communications specifications: RS-422/485 (50 m max.)
Method Connection topology: Multi-drop connection (16 axes max.)
Baud rate: 9600, 19200, 38400 bps
Other
Registration (positioning by external signals), homing
Functions
Display Function LED Lit during parameter setting, monitoring, executing utility functions, etc.
UL508C,
EN50178, EN61800-5-1,
Applicable Standards*
EN55011 group 1 class A
EN61800-3, EN61000-6-2
∗ Applicable when the INDEXER Module is attached to the command option attachable type SERVOPACKs.
2-4
2.3 Part Names of the INDEXER Module
2.3 Part Names of the INDEXER Module

The following figure shows the part names of the INDEXER Module.
With front cover open
Reserved (Do not use.)

Reserved (Do not use.)
LED (red)
LED (green)
I/O signal connector (CN11)

for sequence I/O signals
Specifications
Serial command communications
connector (CN12)
2-5
2 Specifications
2.4 LED Indicators

The following table shows the meaning of the LED indicators.
Status Red LED Green LED

Control Power Supply OFF Not lit Not lit
Control Power Supply ON Not lit Flashing
Normal
Not lit Lit
Overtravel/Software Limit Activated
Resetting
Saving a Table
– Flashing
Initializing a Table
Initializing Parameters
Error Flashing (2 seconds) –
Warning Flashing –
Alarm Lit Not lit
2-6
3
SERVOPACK Installation
This chapter describes how to install the SERVOPACK.
3.1 SERVOPACK Installation Environment and Applicable Standards . . . . . . 3-2

3.1.1 Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.2 Installation Conditions for Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3-1
3 SERVOPACK Installation
3.1.1 Installation Environment
3.1 SERVOPACK Installation Environment and Applicable

Standards
SERVOPACK installation environment and applicable standards are as follows.
3.1.1 Installation Environment

Surrounding air temperature: 0°C to 55°C
Ambient humidity: 90% RH or less (with no condensation)
Altitude: 1,000 m or less
Vibration resistance: 4.9 m/s2
Shock resistance: 19.6 m/s2
Installation Precautions
• Mounting in a Control Panel
To prevent the temperature around the SERVOPACK from exceeding 55°C, take into account the size of the
control panel, the layout of the SERVOPACK, and the cooling method. For details, refer to 3.2 SERVOPACK
Installation.
• Mounting Near a Heating Unit

To prevent the temperature around the SERVOPACK from exceeding 55°C, suppress radiant heat from the
heating unit and temperature rise due to convection.
• Mounting Near a Vibration Source

To prevent vibration from being transmitted to the SERVOPACK, install a vibration isolator underneath the
SERVOPACK.
• Mounting to a Location Exposed to Corrosive Gas

Take measures to prevent exposure to corrosive gas. Corrosive gases will not immediately affect the SERVO-
PACK, but will eventually cause electronic components and contactor-related devices to malfunction.
• Other Locations
Do not mount the SERVOPACK in locations subject to high temperatures, high humidity, dripping water, cut-
ting oil, dust, iron filings, or radiation.
<Note>
When storing the SERVOPACK with the power OFF, store it in an environment with the following tempera-
ture and humidity:
• -20°C to +85°C, 90% RH or less (with no condensation)
3.1.2 Installation Conditions for Applicable Standards

UL508C
Applicable
EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, EN61800-5-1, EN954-1,
Standards
IEC61508-1 to 4
Overvoltage category:III
Operating
Pollution degree: 2
Conditions
Protection class: IP10
UL Standard and Low Voltage Directive:
Satisfy the conditions outlined in Σ-V Series AC SERVOPACK SGDV Safety Precautions (TOBP
Installation C710800 10)
Conditions EMC Directive:
Certification is required after installation in the user’s machine under the conditions outlined in
3.3 EMC Installation Conditions.
3-2
3.2 SERVOPACK Installation
3.2 SERVOPACK Installation

3.2.1 Orientation
The SERVOPACK is available in models that are base-mounted, models that are rack-mounted, and models
that are duct-ventilated. In any case, mount the SERVOPACK with a vertical orientation.
Firmly secure the SERVOPACK to the mounting surface, using either two to four mounting holes depending
on the SERVOPACK capacity.
• Base-mounted
Base
Air flow
• Rack-mounted
Rack
Air flow
• Duct-ventilated 3
Duct
Air flow
3-3
3.2.2 Installation Standards
3.2.2 Installation Standards

Observe the standards for mounting SERVOPACKs in control panels, including those for the mounting SER-
VOPACKs side by side in one control panel as shown in the following illustration.
• SERVOPACK Mounting Orientation

Mount the SERVOPACK vertically to the base, with the front panel (the side with the panel operator display)
facing out.
• Cooling
Refer to the following diagram and leave sufficient space for cooling by fans and natural convection.
• Mounting SERVOPACKs Side by Side in a Control Panel
Fan Fan
40 mm or more
30 mm or more 40 mm or more
Width varies with SERVOPACK model.
Leave sufficient space on each side and at the top and the bottom of each SERVOPACK. The width on each
side varies in accordance with the models of the SERVOPACKs used.
Side
SERVOPACK Model SGDV- Top and Bottom
Left Right
R70F, R90F, 2R1F, R70A, R90A, 1R6A, 2R8A 1 mm or more
2R8F, 3R8A, 5R5A, 7R6A 1 mm or more 10 mm or more
40 mm or more
120A, 180A, 200A, 330A, 470A, 550A, 590A, 780A,
1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D, 210D, 260D, 10 mm or more
280D, 370D
Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVO-
PACKs.
• Inside the Control Panel

The conditions inside the control panel should be the same as the environmental conditions of the SERVO-
PACK. Refer to 3.1.1 Installation Environment.
3-4
3.3 EMC Installation Conditions

This section describes the recommended installation conditions that satisfy EMC guidelines for each model of
the SGDV SERVOPACK. The conditions required for the standard type (base-mounted) of SERVOPACK are
described. Refer to this section for other SERVOPACK models such as the rack-mounted types as well.
This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa.
The actual EMC level may differ depending on the actual system’s configuration, wiring, and other condi-
tions. However, because this product is built into machines, check that the following conditions are still met
after being installed in the user’s product.
The applicable standards are EN55011/A2 group 1 class A, EN61800-3, and EN61000-6-2.
Single-phase 100 V
• SGDV-FE1A ( = R70, R90, 2R1, 2R8) + SGDV-OCA03A
• SGDV-FE5A ( = R70, R90, 2R1, 2R8) + SGDV-OCA03A
Shield box
Brake power supply
One turn
One turn SERVOPACK
Clamp
Clamp
Brake
Core
U, V, W
Core
Core
Clamp
Power supply: Noise

Single-phase L1, L2
filter
100 VAC 5 3 Servomotor
Core
Surge L1C, L2C One turn

absorber
Clamp
Two turn
Core
Core
CN2 Encoder
4
CN1 CN8
INDEXER
Core Core Module One turn
PE
Two turn CN11 CN12
Clamp
1 2
Host Safety Host Host PE
controller unit controller controller
Symbol Cable Name Specifications

c I/O signal cable Shielded cable
d Safety signal cable Shielded cable
e Motor main circuit cable Shielded cable
f Encoder cable Shielded cable
g Main circuit cable Shielded cable
3
3-5
Three-phase 200 V
• SGDV-AE1A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OCA03A
• SGDV-AE5A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OCA03A
Shield box
Brake power supply
One turn
SERVOPACK
Clamp
Clamp
Brake
Core
U, V, W
Core
Core
Clamp
Power supply: Noise
L1, L2, L3
Three-phase 200 VAC 5 filter
3 Servomotor
Core
absorber
Clamp
One turn
Core
Core
CN2 Encoder
4
CN1 CN8
INDEXER One turn
Core Core Module
PE
Two turn CN11 CN12
Clamp
1 2
Host Safety Host Host
PE

3-6
Three-phase 200 V
• SGDV-AE1A ( = 120) + SGDV-OCA03A
• SGDV-AE5A ( = 120) + SGDV-OCA03A
Shield box
Brake power supply
One turn
SERVOPACK
Clamp
Clamp
Brake
Core
U, V, W
Core
Clamp
Power supply: Noise
L1, L2, L3
3 Servomotor
absorber
Clamp
Core
Core
CN2 Encoder
4
CN1 CN8
INDEXER
Core Core One turn
Module
PE
Two turn CN11 CN12
Clamp
1 2
PE

3-7
Three-phase 200 V
• SGDV-AE1A ( = 180, 200, 330) + SGDV-OCA03A
• SGDV-AE5A ( = 180, 200, 330) + SGDV-OCA03A
Shield box
Brake power supply
One turn
SERVOPACK
Clamp
Clamp
Brake
Core
Clamp U, V, W
Power supply: Noise
L1, L2, L3
3 Servomotor
absorber
Clamp
Core
Core
CN2 Encoder
4
CN1 CN8
INDEXER
Core Core Module One turn
PE
Two turn CN11 CN12
Clamp
1 2

PE

3-8
Three-phase 200 V
• SGDV-AE1A ( = 470, 550, 590, 780) + SGDV-OCA03A
• SGDV-AE5A ( = 470, 550, 590, 780) + SGDV-OCA03A
Shield box
Clamp
7
Brake power supply Fan

One turn
SERVOPACK
Clamp
Clamp
Brake
Core
Clamp U, V, W
Power supply: Noise
L1, L2, L3
3 Servomotor
Surge L1C, L2C
absorber
Clamp
Core
CN2 Encoder
4
Regenerative B1, B2
resistor unit 6 CN1 CN8
INDEXER One turn
PE Core Core Module
Two turn CN11 CN12
Clamp
1 2
PE

h Regenerative resistor unit cable Non-shielded cable
i Cooling fan cable Shielded cable
3-9
Three-phase 400 V
• SGDV-DE1A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OCA03A
• SGDV-DE5A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OCA03A
Clamp Shield box
5 Noise
Power supply: Brake power supply
Single-phase 200 VAC filter*2
One turn
Surge
absorber SERVOPACK
Control Brake
Clamp
Clamp
Core
Core
power U, V, W
24 V, 0 V
Core
supply
24 VDC*1 3 Servo-
motor
6
Clamp
One turn
Core
Power supply: Noise
L1, L2, L3
Three-phase 400 VAC filter*3
Clamp
Core
Core
CN2 Encoder
Surge 4
absorber One turn
One turn
CN1 CN8
INDEXER
PE Core Core Module
Two turn CN11 CN12
Clamp
PE
1 2


g Control power cable Shielded cable
h Main circuit cable Shielded cable
∗1. Products that have received CE marking are recommended for the 24 VDC power supply.
∗2. Install the following noise filter on the power line between the single-phase 200 V power supply and the 24 VDC
power supply.
Model number: FN2070-6/07 (SCHAFFNER)
∗3. For more information on this filter, refer to Σ-V Series Product Catalog (KAEP S800000 42).
3-10
Three-phase 400 V
• SGDV-DE1A ( = 210, 260, 280, 370) + SGDV-OCA03A
• SGDV-DE5A ( = 210, 260, 280, 370) + SGDV-OCA03A
Shield box
Clamp
5 Noise
Power supply: Brake power supply
Single-phase 200 VAC filter*2
Surge One turn

absorber SERVOPACK
Control Brake
Clamp
Clamp
Core
power U, V, W
supply 24 V, 0 V
24 VDC*1 3 Servo-
motor
6
Clamp
Power supply: Noise

L1, L2, L3
Three-phase 400 VAC filter*3
Core
Clamp
CN2 Encoder
Surge 4
absorber
One turn
Regenerative B1, B2
resistor unit 7
PE CN1 CN8
INDEXER
Core Core Module
PE
Two turn CN11 CN12
Clamp
1 2

g Control power cable Shielded cable
h Main circuit cable Shielded cable
i Regenerative resistor unit cable Non-shielded cable
∗1. Products that have received CE marking are recommended for the 24 VDC power supply.
∗2. Install the following noise filter on the power line between the single-phase 200 V power supply and the 24 VDC
power supply.
Model number: FN2070-6/07 (SCHAFFNER)
∗3. For more information on this filter, refer to Σ-V Series Product Catalog (KAEP S800000 42).
3
3-11
4
Wiring and Connection
This chapter describes examples of how a system is configured using the INDEXER Module
and how the I/O signals are connected.
For details on the main circuit, encoders, safety devices, and regenerative resistors, refer to
the following manual.
For more information on safe and stable usage of the servo system, be sure to read the
precautions in the section labeled, " IMPORTANT," in the following manuals.
• Σ-V Series User's Manual Design and Maintenance
Rotational Motor/ Command Option Attachable Type
Chapter 3 Wiring and Connection (SIEP S800000 60)
• Σ-V Series User's Manual Design and Maintenance
Linear Motor/ Command Option Attachable Type
Chapter 3 Wiring and Connection (SIEP S800000 66)
4.1 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.1.1 Connecting to SGDV-FE1A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.2 Connecting to SGDV-AE1A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.3 Connecting to SGDV-DE1A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.1.4 Connecting to SGDV-FE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.1.5 Connecting to SGDV-AE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.1.6 Connecting to SGDV-DE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.2.1 I/O Signal Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.2.2 Interface Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.2.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.3 Serial Command Communications Connector (CN12) . . . . . . . . . . . . . . 4-18

4.3.1 Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18 4
4.3.2 Communications Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.3.3 Connector Signal Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.3.4 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.3.5 RS-422/RS-485 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.4 Power Loss in the INDEXER Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4-1
4 Wiring and Connection
4.1.1 Connecting to SGDV-FE1A SERVOPACK
4.1 System Configuration Diagram

Examples of basic servo system configurations are shown for each SERVOPACK type.

Power supply:
Single-phase 100 VAC
R T
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by shutting
the circuit OFF when
overcurrent is detected. Digital operator
Noise filter INDEXER Module

Used to eliminate
SGDV-FE1A
external noise from SERVOPACK
the power line.
Sequence I/O
signal cable
Magnetic contactor
Host controller
Turns the servo
ON and OFF.
Install a surge
Connection cable
absorber. for digital operator
Connection cable
for personal computer
Serial command
communications cable Personal computer
I/O signal cable

Regenerative
resistor*2
When not using the safety function,
use the SERVOPACK with the safety function
100 VAC jumper connector (JZSP-CVH05-E,
provided as an accessory) inserted.
DC brake power supply*1
Used for a servomotor
with a brake.
When using the safety function, insert a
connection cable specifically for the safety function.
Battery case
Magnetic contactor (when an absolute
Turns the brake power encoder is used.) Safety unit
supply ON and OFF.
Install a surge absorber.
Encoder cable
Motor main circuit cable
SGMJV/SGMAV/SGMPS/SGMCS
Servomotor
∗1. Use a 24-VDC power supply. (not included.)

∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to Σ-V Series User's Manual Design
and Maintenance Rotational Motor/Command Option Attachable Type (SIEP S800000 60).
Note: The connections and wiring of the power supply of the main circuit and that of the controls differ in accordance with
the SERVOPACK to be used. For details, refer to Σ-V Series User's Manual Design and Maintenance Rotational
Motor/Command Option Attachable Type (SIEP S800000 60).
4-2
4.1.2 Connecting to SGDV-AE1A SERVOPACK

(1) Using a Three-phase, 200 V Power Supply
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power
the circuit OFF when Digital operator
overcurrent is detected.

Used to eliminate
SGDV-AE1A
the power line. Sequence I/O
signal cable
Magnetic contactor Host controller

Turns the servo
ON and OFF. Connection cable
Install a surge for digital operator
absorber.
Connection cable
Serial command
I/O signal cable
Regenerative
resistor*2 When not using the safety function, use the
SERVOPACK with the safety function jumper
connector (JZSP-CVH05-E, provided as an
200 VAC accessory) inserted.
Used for a servomotor with
a brake. When using the safety function, insert a connection
cable specifically for the safety function.
Battery case
Magnetic contactor (when an absolute Safety unit

Turns the brake power
supply ON and OFF. encoder is used.)
Encoder cable
SGMJV/SGMAV/SGMPS/
SGMGV/SGMSV/SGMCS
Servomotor
4

4-3
(2) Using a Single-phase, 200 V Power Supply

The Σ-V Series SERVOPACK for a 200-V power supply input has input specifications for a three-phase
power supply, but some models can also be used with a single-phase 200-V power supply. For details, refer to
Σ-V Series User's Manual Design and Maintenance Rotational Motor/Command Option Attachable Type
(SIEP S800000 60).
Power supply:
R T
Molded-case
circuit breaker
(MCCB)
Protects the power Digital operator
INDEXER Module
SGDV-AE1A
Noise filter SERVOPACK
Used to eliminate Sequence I/O
external noise from signal cable
the power line.

Turns the servo
absorber.
Connection cable
Serial command
I/O signal cable

Regenerative
resistor*2 When not using the safety function, use the
200 VAC accessory) inserted.
Used for a servomotor with
a brake. When using the safety function, insert a connection
cable specifically for the safety function.
Battery case
Magnetic contactor (when an absolute Safety unit
Turns the brake power
supply ON and OFF. encoder is used.)
Encoder cable
SGMJV/SGMAV/
SGMPS/SGMCS
Servomotor

4-4
4.1.3 Connecting to SGDV-DE1A SERVOPACK

Power supply
Three-phase 400 VAC
RST
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by shutting Digital operator
INDEXER Module
SGDV-DE1A
the power line.
Host controller
Magnetic contactor Connection cable
for digital operator
Turns the servo ON
and OFF.
Install a surge absorber. Connection cable
Serial command Personal computer

100/200 VAC communications cable
DC power supply*1
(24 VDC) I/O signal cable

use the SERVOPACK with the safety
function jumper connector
(JZSP-CVH05-E, provided as an
accessory) inserted.
Regenerative
resistor*2
When using the safety function,
insert a connection cable specifically
Brake power for the safety function.
supply*3
Used for
a servomotor Safety unit
with a 90-V brake Battery case
Magnetic contactor (when an absolute
Turns the brake power encoder is used.)
supply ON and OFF.

Encoder cable
SGMGV/SGMSV
Servomotor
∗1. Use a 24-VDC power supply with double insulation or reinforced insulation. (The power supply is not included.)
∗3. Use a following power supply for 90-V brake. For details, refer to Σ-V Series Product Catalog (KAEP S800000 42).
• For 200-V input voltage: LPSE-2H01-E
• For 100-V input voltage: LPDE-1H01-E
4-5

Power supply:
R T
Molded-case
circuit breaker
(MCCB)
Protects the power
overcurrent is detected. Digital operator

Used to eliminate
SGDV-FE5A
the power line.
Sequence I/O
signal cable
Magnetic contactor
Host controller
Turns the servo
ON and OFF.
Install a surge
Connection cable
absorber. for digital operator
Connection cable
Serial command
I/O signal cable

Regenerative
resistor*
use the SERVOPACK with the safety function
jumper connector (JZSP-CVH05-E,
provided as an accessory) inserted.
Cable for connecting

When using the safety function, insert a
serial converter unit connection cable specifically for the safety function.
Serial converter unit Safety unit
Cable for connecting Cable for connecting

linear scale hall sensor
Main circuit cable

for linear servomotor Linear scale
(not included)
Linear servomotor
with core
∗ Before connecting an external regenerative resistor to the SERVOPACK, refer to Σ-V Series User's Manual Design
and Maintenance Linear Motor/Command Option Attachable Type (SIEP S800000 66).
the SERVOPACK to be used. For details, refer to Σ-V Series User's Manual Design and Maintenance Linear Motor/
Command Option Attachable Type (SIEP S800000 66).
4-6

(1) Using a Three-phase, 200 V Power Supply
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power
the circuit OFF when Digital operator

Used to eliminate
SGDV-AE5A
the power line. Sequence I/O
signal cable

Turns the servo
absorber.
Connection cable
Serial command
I/O signal cable
Regenerative
resistor* When not using the safety function, use the
Cable for connecting When using the safety function, insert a connection
serial converter unit cable specifically for the safety function.
Serial converter unit Safety unit

Main circuit cable

(not included)
4
Linear servomotor
with core
4-7
(2) Using a Single-phase, 200 V Power Supply

The Σ-V Series SERVOPACK for a 200-V power supply input has input specifications for a three-phase
power supply, but some models can also be used with a single-phase 200-V power supply. For details, refer to
Σ-V Series User's Manual Design and Maintenance Linear Motor/Command Option Attachable Type (SIEP
S800000 66).
Power supply:
R T
Molded-case
circuit breaker
(MCCB)
Protects the power Digital operator
INDEXER Module
SGDV-AE5A
the power line.

Turns the servo
ON and OFF.
Connection cable
absorber.
Connection cable

communications cable
I/O signal cable

Regenerative use the SERVOPACK with the safety
resistor* (JZSP-CVH05-E, provided as an

Cable for connecting insert a connection cable specifically
for the safety function.
serial converter unit
Safety unit
Serial converter unit

Main circuit cable

(not included)
Linear servomotor
with core
4-8
4.1.6 Connecting to SGDV-DE5A SERVOPACK

Power supply
Three-phase 400 VAC
RST
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by shutting Digital operator
INDEXER Module
SGDV-DE5A
the power line.
Host controller
Magnetic contactor Connection cable
for digital operator
Turns the servo ON
and OFF.
Install a surge absorber. Connection cable

communications cable
24-VDC I/O signal cable

power supply*1
use the SERVOPACK with the safety
(JZSP-CVH05-E, provided as an

Regenerative insert a connection cable specifically
resistor *2 for the safety function.
Safety unit

serial converter unit

Serial converter unit
Main circuit cable for linear servomotor

hall sensor
linear scale
4
Linear scale
(not included)
Linear servomotor
with core
∗1. Use a 24-VDC power supply with double insulation or reinforced insulation. (The power supply is not included.)
4-9
4.2.1 I/O Signal Names and Functions
4.2 I/O Signal Connections

This section describes the names and functions of I/O signals. Also terminal layout and connection examples
by control method are shown.

The following table shows the names and functions of I/O signals.
Provide an external power supply; the SERVOPACK and INDEXER Module do not have
an internal 24-V power supply.
Yaskawa recommends using the same external power supply as that used for output cir-
cuits. Confirm the characteristics of relays and other mechanical contacts before using a
power supply.
(1) Input Signals

Signal
Pin No. Name Function
Name
Overtravel prohibited:
N-OT 9 Reverse Run Prohibited Stops servomotor when movable part travels beyond the
allowable range of motion.
/ALM-RST 7 Alarm Reset Input –
Overtravel prohibited:
P-OT 8 Forward Run Prohibited Stops servomotor when movable part travels beyond the
allowable range of motion.
Homing Deceleration Homing Deceleration Limit Switch:
/DEC 10
Limit Switch Input Connects to the deceleration limit switch for homing.
Not used 11 – –
Registration Latch:
/RGRT 12 Registration This is a latch signal used for registration (external position-
ing).
Used to input control power supply for sequence signals.
Control Power Input for Operable range: +11 V to +25 V
+24VIN 6
Sequence Signals Note: The +24-V power supply must be prepared by the
customer.
BAT(+) 14 Battery (+) Input Used to connect an absolute encoder’s backup battery.
BAT(-) 15 Battery (-) Input Connect to CN8 or pins 14 and 15 of CN1.
Servo ON:
/S-ON 13 Servo ON Input When ON, power is supplied to the motor.
When OFF, power is not supplied to the motor.
Note: With the Reverse Run Prohibited and Forward Run Prohibited functions, the processing required to stop the SER-
VOPACK is executed by the software. In some cases, the safety specifications of an application may not fulfill the
safety standards. Add external safety circuits as necessary.
4-10
(2) Output Signals

Signal
Pin No. Name Function
Name
ALM+ 3 Servo Alarm:
Servo Alarm Output
ALM- 4 Turns OFF when an error is detected.
/WARN+
1 Error/Warning:
(/SO1+)
Warning Signal Output ON for 2 seconds when an error has occurred.
/WARN- ON continuously while a warning is being detected.
2
(/SO1-)
/BK+
23
(/SO2+) Brake interlock (controls the brake):
Brake Signal Output
/BK- ON when the brake is released.
24
(/SO2-)
/S-RDY+
25 Servo Ready:
(/SO3+)
Servo Ready Output ON when the control and main circuit power supplies are
/S-RDY- ON and a Servo Alarm has not occurred.
26
(/SO3-)
By connecting the shielded wire of the I/O signal cable to
Connector
FG Frame Ground the connector shell, it will be connected to the frame ground
Shell
(earth).
Note: The allocation of /SO1, /SO2, and /SO3 can be changed to /ALO1, /ALO2, and /ALO3 by using PnB51. For details,
refer to 5.3.3 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (/ALO1, /ALO2, and /ALO3).
(3) CN11 Input Signals

Ensure that the following condition does not last longer than 5 minutes. Otherwise the
product life may be shortened.
• The ambient temperature is high, and,
• There is a high ratio of CN11 input signal contacts that are ON (closed)*1 (contact ON
ratio*2).
The allowable ranges for ambient temperature and contact ON ratio are shown below.
Ambient temperature and input signal contact ON ratio
100

90
80
Contact ON ratio [%]
70
If values in this range continue for
60 5 minutes or longer, the product
life may be shortened.
50
40
30
20
10
4
0
0 10 20 30 40 50
Ambient temperature [°C]
∗1. The state that a contact is ON (closed) indicates, regardless of the logic of the
input signal, that the contact is closed and that current is flowing in the input
circuit.
∗2. For example, a contact ON ratio of 100% indicates that 11 out of the 11 con-
tacts are ON.
4-11
Signal Name Pin No. Function

+24V/COM 1 Power Supply for Sequence Signals. Voltage range: 24 VDC ± 10%
This pin switches between Mode 0 and Mode 1.
/MODE 0/1 3 ON: Mode 0 (program table operation)
OFF: Mode 1 (JOG speed table operation or homing)
Mode 0: When ON, starts or restarts program table operation. Refers to signals /SEL0
through /SEL7 when starting operation.
/START-STOP;
5 When OFF, interrupts program table operation.
/HOME
Mode 1: When ON, starts or restarts homing.
When OFF, interrupts homing.
Mode 0: When ON while program table operation is interrupted, resets program table
/PGMRES; operation.
7
/JOGP Mode 1: When ON, causes forward JOG operation.
When OFF, stops forward JOG operation.
Mode 0: Program table 0
/SEL0; /JOGN 9 Mode 1: When ON, causes reverse JOG operation.
When OFF, stops reverse JOG operation.
Mode 0: Program table selection 1
/SEL1; /JOG0 11
Mode 1: JOG speed table selection 0
/SEL2; /JOG1 13
/SEL3; /JOG2 15
/SEL4; /JOG3 17
/SEL5 14
Mode 1: –
/SEL6 16
Mode 1: –
/SEL7 18
Mode 1: –
4-12
(4) CN11 Output Signals

Signal Name Pin No. Function
/INPOSITION+ 19
Positioning complete
/INPOSITION- 20
/POUT0+ 21
/POUT0- 22
/POUT1+ 23
/POUT1- 24
/POUT2+ 25
/POUT2- 26
/POUT3+ 27
/POUT3- 28
Programmable outputs
/POUT4+ 29
/POUT4- 30
/POUT5+ 31
/POUT5- 32
/POUT6+ 33
/POUT6- 34
/POUT7+ 35
/POUT7- 36
4-13
4.2.2 Interface Circuits
4.2.2 Interface Circuits

This section shows examples of SERVOPACK I/O signal connection to the host controller.
(1) Interfaces with Sequence Input Circuits

The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low-
current relay otherwise a faulty contact will result.
INDEXER Module and INDEXER Module and

SERVOPACK SERVOPACK
24 VDC +24 V/COM 24 VDC +24 V/COM

50 mA min. 3.3 k Ω 50 mA min. 3.3 k Ω
-
- +
CN1- CN1-
CN11- CN11- START-STOP,
START-STOP,
HOME, etc. HOME, etc.
Alternative configurations
INDEXER Module and INDEXER Module and
SERVOPACK SERVOPACK
24 VDC +24 V/COM +24 V/COM
50 mA min. 3.3 k Ω 3.3 k Ω
CN1- CN1-
CN11- CN11-
+
-
START-STOP, START-STOP,
-
HOME, etc. HOME, etc.
+
24 VDC
50 mA min.
4-14
(2) Interfaces with Output Circuits

The SERVOPACK signals use the following types of output circuits. Construct an input circuit on the host
controller side to match the output circuit.
• Connecting to a Photocoupler Output Circuit

Connect a photocoupler output circuit through a relay or line receiver circuit.
5 to 24 VDC Relay 5 to 12 VDC
SERVOPACK SERVOPACK
end end
0V
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits are as follows:
• Voltage: 30 VDC max.
• Current: 50 mA DC max.
4-15
4.2.3 Example of I/O Signal Connections
4.2.3 Example of I/O Signal Connections

The following diagram shows a typical connection example.
Photocoupler output
Max. operating voltage: 30 VDC
Max. operating current: 50 mA DC
SGDV SERVOPACK
CN1
Control power supply *3
for sequence signal +24 VIN +24 V 6 3.3 kΩ
3 ALM+
Servo alarm output
/SI1 7 4 ALM- (OFF for an alarm)
/ALM-RST
1 SO1+ /WARN+
Warning
Forward run prohibited P-OT /SI2 8 2 SO1- /WARN-
(Prohibited when OFF) 23 /SO2+ /BK+
Brake output
N-OT /SI3 9 24 /SO2- /BK-
Reverse run prohibited
25 /SO3+ /S-RDY+
Deceleration limit switch Servo ready signal output
/DEC /SI4 10 26 /SO3- /S-RDY-
for homing
17 PAO Encoder output Applicable line
/SI5 11 pulses phase A receiver
Not used 18 /PAO SN75175
19 PBO Encoder output manufactured
20 /PBO pulses phase B by Texas
/RGRT /SI6 12 Instruments or
Registration 21 PCO Encoder output an MC3486
22 /PCO pulses phase C equivalent
/S-ON /SI0 13 16 SG Signal ground
Servo ON
BAT+
14
Backup battery *2
(2.8 to 4.5 V) BAT- 15
*1
Switch CN8
/HWBB1+ 4
24 V
Fuse
/HWBB1- 3 8 EDM1+
Safety function signal*4 /HWBB2+ 7 EDM1-

6
/HWBB2- 5
0V
SERVOPACK
Connector
shell
FG Connect shielded cable to
connector shell.
∗1. represents twisted-pair wires.

∗2. Connect when using an absolute encoder. When the encoder cable for the battery case is connected, do not connect a
backup battery.
∗3. The 24-VDC power supply is not included. Use a power supply with double insulation or reinforced insulation.
∗4. To turn the servomotor power ON, a safety unit must be connected and the wiring to activate the safety function must
be done. When not using the safety function, use the SERVOPACK with the safety jumper connector (JZSP-CVH05-
E, provided as an accessory) inserted into the CN8.
Example Connections to I/O Signal Connector CN1
4-16
SGDV SERVOPACK
CN10
CN11
(Sinking or sourcing) 1
3.3 kΩ
CN11
ON: Mode 0 19 /INPOSITION+
OFF: Mode 1
/MODE 0/1
3 20 /INPOSITION-
21 /POUT0+
/START-STOP ;
/HOME
5 22 /POUT0-
23 /POUT1+
/PGMRES ; /JOGP
7 24 /POUT1-
25 /POUT2+
/SEL0 ; /JOGN
26 /POUT2-
9
27 /POUT3+
/SEL1 ; /JOG0
11 28 /POUT3-
29 /POUT4+
/SEL2 ; /JOG1 /POUT4-

30
13
31 /POUT5+
/SEL3 ; /JOG2
32

15 /POUT5-
33 /POUT6+
/SEL4 ; /JOG3
17 34 /POUT6-
35 /POUT7+
/SEL5
36 /POUT7-
14
Photocoupler output:
Max. operating voltage: 30 VDC
4
Max. operating current: 50 mA DC
/SEL6
16
CN12
Serial command
communications
/SEL7
18
INDEXER Module
Note: /START-STOP, /PGMRES, /SEL0, /SEL1, /SEL2, /SEL3, /SEL4, /SEL5, /SEL6, and SEL7 signals are valid when
Mode 0 is set. /HOME, /JOGP, /JOGN, /JOG0, /JOG1, /JOG2, and /JOG3 signals are valid when Mode 1 is set.
Example Connections to I/O Signal Connector CN11
4-17
4.3.1 Communications Specifications
4.3 Serial Command Communications Connector (CN12)

Serial commands can be used to perform operations such as positioning, setting parameters and program
tables, monitoring, and other operations.
RS-422 or RS-485
Host controller
4.3.1 Communications Specifications

The following table shows the communications specifications of the CN12 connector.
Item Specifications
Full duplex (RS-422) or half duplex (RS-485)
Interface
(Selectable with parameter PnB00.)
Max. Number of Axes 16 axes
Total Cable Length RS-422/RS-485: 50 m max.
9600, 19200, or 38400 bps
Bit Rate
(Selectable with parameter PnB01. Factory setting: 9600 bps)
Synchronization Start-stop synchronization
Start bits: 1 bit
Data bits: 7 bits, ASCII
Data Format
Parity: 1 bit, even parity
Stop bits: 1 bit
Flow Control None
Shift Control None
4-18
4.3.2 Communications Connector

(1) Connector Model
INDEXER Applicable Receptacles
Module-end
Connector Solder Type Case Manufacturer
10214-52A2PL
10114-3000PE 10314-52A0-008 Sumitomo 3M Limited
14P
4.3.3 Connector Signal Names

Pin No. Signal Name Signal Circuit Name Signal Direction
1 TXD Transmit data (not inverted) Host controller ← INDEXER Module
2 /TXD Transmit data (inverted) Host controller ← INDEXER Module
3 RXD Receive data (not inverted) Host controller → INDEXER Module
4 /RXD Receive data (inverted) Host controller → INDEXER Module
5 GND Signal ground (0 V) –
6 /RXD Receive data (inverted) –
If RT and /RXD are connected (shorted), the built-in terminator (120 Ω) will be connected
7 RT
between RXD and /RXD.
8 TXD Transmit data (not inverted) Host controller ← INDEXER Module
9 /TXD Transmit data (inverted) Host controller ← INDEXER Module
10 RXD Receive data (not inverted) Host controller → INDEXER Module
11 Reserved Reserved pin –
14 GND Signal ground (0 V) –
4-19
4.3.4 Connection Examples
4.3.4 Connection Examples

(1) Full-duplex Wiring
RS-422 or RS-485 port INDEXER Module
Signal Signal
Name Name Pin No.
RXD TXD 1
/RXD /TXD 2
TXD RXD 3
/TXD /RXD 4
0V GND 5
FG /RXD 6
* 7
RT
TXD 8
/TXD 9
RXD 10
GND 14
Case FG
To next axis
Pin No. 1 2 3 4 14 FG
Full-duplex Wiring
∗ Connect (short) the RT and /RXD pins in the last axis.
Note: Cable length: 50 m max.
(2) Half-duplex Wiring
RS-485 port INDEXER Module
Signal Signal
Name Name Pin No.
TXD RXD 3
/TXD /RXD 4
0V GND 5
FG /RXD 6
*
RT 7
RXD 10
GND 14
Case FG
To next axis
Pin No. 3 4 14 FG
Half-duplex Wiring
∗ Connect (short) the RT and /RXD pins in the last axis.
4-20
4.3.5 RS-422/RS-485 Interface

The maximum total length for RS-422 or RS-485 cable is 50 m. Use the minimum length of cable that is
needed.
The INDEXER Module’s communications circuits are not insulated. If communications errors occur because
of noise, use noise suppression methods such as shielded cable or ferrite cores.
When using full-duplex wiring, connect a terminator in the host controller’s reception circuit and the reception
circuit of the last INDEXER Module in the line. The INDEXER Module has a built-in terminator (120 Ω) that
is connected between the RXD and /RXD pins when the RT and /RXD pins are shorted.
When using half-duplex wiring, connect a terminator at both ends of the communications cable. The
INDEXER Module has a built-in terminator (120 Ω) that is connected between the RXD and /RXD pins when
the RT and /RXD pins are shorted.
The INDEXER Module’s transmission circuit is high-impedance when it is not transmitting. Pull-up or pull-
down the host controller’s reception circuit.
4-21
4.4 Power Loss in the INDEXER Module

Power loss in the INDEXER Module is shown below.
The INDEXER Module’s power is supplied from the SERVOPACK.
INDEXER Module Specifications
Item Specifications
Min. operating voltage 5.05 V
Max. operating voltage 5.25 V
Max. operating current 500 mA
Max. power loss 2.6 W
For the SERVOPACK power losses at the rated output, refer to the following manuals.
• 3.1 Main Circuit Wiring in the Σ-V Series User’s Manual Design and Maintenance Rotational Motor/Com-
mand Option Attachable Type (SIEP S800000 60)
• 3.1 Main Circuit Wiring in the Σ-V Series User’s Manual Design and Maintenance Linear Motor/Command
Option Attachable Type (SIEP S800000 66)
4-22
5
Parameter Setting and Functions
This chapter describes the use of the I/O signals in the SGDV SERVOPACK and INDEXER
Module (I/O signals in the CN1 and CN11 connectors) as well as the procedure for setting
the related parameters for the intended purposes.
The following sections can be used as references for this chapter.
• Lists of CN1 and CN11 I/O signals: Refer to 4.2.1 I/O Signal Names and Functions.
• List of parameters: Refer to 10.1 Parameter List for INDEXER Module.
5.1 Parameter Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2 Restrictions on SGDV SERVOPACK Parameters . . . . . . . . . . . . . . . . . . 5-3
5.3 Sequence I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3.1 Servo ON Signal (/S-ON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
(/ALO1, /ALO2, and /ALO3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

5.3.4 Braking Signal (/BK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.3.5 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.6 Error/Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.7 Positioning Completed Output Signal (/INPOSITION) . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.3.8 Programmable Output Signals (/POUT0 to /POUT7) . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.3.9 Encoder Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.4 Settings According to Device Characteristics . . . . . . . . . . . . . . . . . . . . . 5-13

5.4.1 Setting Reference Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.4.2 Moving Mode and Coordinate Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.4.3 Setting Home Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.4.4 Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.4.5 Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19 5
5.4.6 Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5-1
5 Parameter Setting and Functions
5.1 Parameter Configurations

Parameters are comprised of the types shown in the following table. Refer to Chapter 10.
Type Parameter No. Description

Select basic and application functions such as the
Function Selection Pn000 to Pn010
type of control mode or the stop method when an
Parameters PnB1F
alarm occurs.
Servo Gain and Set numerical values such as speed and position
Pn100 to Pn170
Other Parameters loop gains.
Position Control Set position control parameters such as average
Pn205 to Pn217
Parameters movement time.
Speed Control Set speed control parameters such as the speed
Pn304 to Pn324
Parameters feedback filter.
Torque Control Set torque control parameters such as the torque
Pn401 to Pn460
Parameters limit values.
Pn506 to Pn561
Sequence PnB03 to PnB1E
Set conditions for the sequence I/O signals.
Parameters PnB4F
PnB51 to PnB52
Positioning PnB20 to PnB2F
Set parameters related to positioning.
Parameters PnB50
Homing Parameters PnB31 to PnB39 Set parameters related to homing.
Others Pn600 to Pn601 Set other parameters.
Serial
Set parameters related to serial communications
Communications PnB00 to PnB02
through CN6.
Parameters
Setup Information Do not change these parameters.
PnB3B to PnB4D
Parameters These are reserved parameters.
Pn20A, Pn22A,
Fully-closed Loop Pn281 Set parameters related to fully-closed loop control.
Control Parameters
Pn51B, Pn52A
Pn080
Pn181 to Pn182
Linear Servomotor Pn281 to Pn282
Set parameters related to linear servomotors.
Parameters Pn380 to Pn385
Pn480 to Pn498
Pn581 to Pn587
5-2
5.2 Restrictions on SGDV SERVOPACK Parameters
5.2 Restrictions on SGDV SERVOPACK Parameters

The following parameters are set automatically when an INDEXER Module is installed on an SGDV SERVO-
PACK. Do not change these parameters because they are reserved for system use. Also, the SGDV SERVO-
PACK will be set for position control. It is not necessary to set parameters related to speed control or torque
control, so those parameters should not be changed.
After the INDEXER Module is installed, it will take up to 10 seconds before the SERVOPACK starts up for
the first time because the parameters are set automatically the first time that the power is turned ON.
Parameter
Digit Description Setting Description
No.
Torque Limit Reference Selection for Com- Torque limit references from command option
Pn002 0 0
mand Option Module modules are not used.
When the encoder being used is a single-turn
Pn205 – Multi-turn Limit 0 absolute encoder and also Pn002.2 = 0, zero is
automatically set.
Pn207 3 COIN Output Timing 1 –
0 Reserved (Do not change.) 1 –
Pn50A
3 P-OT Signal Mapping 8 Not used*
0 N-OT Signal Mapping 8 Not used*
Pn50B
2 /P-CL Signal Mapping 8 Not used
3 /N-CL Signal Mapping 8 Not used
Positioning Completion Signal Mapping
0 0 Not used
(/COIN)
Speed Coincidence Detection Signal
1 0 Not used
Mapping (/V-CMP)
Pn50E
Servomotor Rotation Detection Signal
2 0 Not used
Mapping (/TGON)

The INDEXER Module sets a value matched to
3 Servo Ready Signal Mapping (/S-RDY) 0 or 3
PnB51.
Torque Limit Detection Signal Mapping
0 0 Not used
(/CLT)
Speed Limit Detection Signal Mapping
1 0 Not used
(/VLT)
Pn50F
2 Brake Signal Mapping (/BK) 0 or 2
PnB51.
3 Warning Signal Mapping (/WARN) 0 or 1
PnB51.
0 Near Signal Mapping (/NEAR) 0 Not used
Pn510 5
Input Signal 3 Mapping for Command Option
0 8 Not used
Module (/SI3)
Input Signal 4 Mapping for Command Option The INDEXER Module sets a value matched to
1 6 or 8 or F
Module (/S14) PnB12.*
Pn511
Input Signal 5 Mapping for Command Option The INDEXER Module sets a value matched to
2 4 or 8 or D
Module (/S15) PnB11.*
Input Signal 6 Mapping for Command Option
3 8 Not used
Module (/S16)
5-3
Parameter
Digit Description Setting Description
No.
Output Signal Inversion for CN1-1 or -2 The INDEXER Module sets a value matched to
0 0 or 1
Terminals PnB1C and PnB51.
1 0 or 1
Pn512 Terminals PnB1D and PnB51.
2 0 or 1
Terminals PnB1E and PnB51.
0 ALO1 Output Signal Mapping 0 or 1
1 ALO2 Output Signal Mapping 0 or 2 The INDEXER Module sets a value matched to
Pn517
2 ALO3 Output Signal Mapping 0 or 3 PnB51.
3 Reserved (Do not change.) 0
Pn522 – Positioning Completed Width 0 to 99999
PnB2D.
∗ /S-ON, P-OT, N-OT, /ALM-RST, /DEC, /RGRT are allocated to each terminal in a fixed manner.
For the connector terminal layout, refer to Chapter 3.
5-4
5.3 Sequence I/O Signals

This section explains sequence I/O signals.
In this section, the word “open” or “close” shown in parentheses in parameter descriptions indicates that
the contact is open or closed.
5.3.1 Servo ON Signal (/S-ON)

This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
Connector
Type Name Setting Meaning
Pin No.
Servomotor power is ON. Servomotor
ON
can be operated.
Input /S-ON CN1-13
Servomotor power is OFF. Servomo-
OFF
tor cannot be operated.
The setting of the /S-ON signal can be changed with the parameter below.
Parameter Meaning When Enabled

0 When input signal is ON (close), servomotor power is ON. Servo-
[Factory setting] motor can be operated.
When input signal is OFF (open), servomotor power is ON. Servo-
PnB0E 1 After restart
motor can be operated.
2 Servomotor power is always ON.
3 Servomotor power is always OFF.
5.3.2 Overtravel
The overtravel limit function forces movable machine parts to stop by turning ON a limit switch if they exceed
the allowable range of motion.
For rotating applications such as rotary tables and conveyors, an overtravel function is not always necessary,
and in this case no wiring for overtravel input signals is required.

(1) Signal Specifications
Connector
Pin No.
Forward run allowed. Normal operation sta-
ON (close)
P-OT CN1-8 tus.
Input OFF (open) Forward run prohibited. Forward overtravel.
ON (close) Reverse run allowed. Normal operation status.
N-OT CN1-9
OFF (open) Reverse run prohibited. Reverse overtravel.
Rotation in the opposite direction is possible during overtravel by inputting the reference.
5-5
5.3.2 Overtravel
(2) Changing Input Signal Settings

The settings of the input signals for overtravel can be changed with the parameters below.

0 When input signal is OFF (open), forward run is prohibited (forward
[Factory setting] overtravel).
When input signal is ON (close), forward run is prohibited (forward
PnB0F 1
overtravel).
2 Forward run is always prohibited (forward overtravel).
3 Forward run is always enabled. (P-OT signal is not used.)
After restart
0 When input signal is OFF (open), reverse run is prohibited (reverse
[Factory setting] overtravel).
When input signal is ON (close), reverse run is prohibited (reverse
PnB10 1
overtravel).
2 Reverse run is always prohibited (reverse overtravel).
3 Reverse run is always enabled. (N-OT signal is not used.)
Note: During the overtravel state or software limit state, the servomotor is not positioned to the target position specified by
the controller. Check the current position to confirm that the axis is stopped at a safe position.
(3) Motor Stopping Method When Overtravel is Used

Set the following parameter to specify the motor stopping method when overtravel is used.
Overtravel Stopping Method After stopping

Pn001.0 = 0 or 1 Stop by
dynamic brake Coast status
PnB1F = 0
Coast to a
stop Coast status
Pn001.0 = 2
PnB1F = 1 Emergency
Servo lock
stop
PnB1F = 2 Decelerate to
a stop Servo lock

0 Stops motor by the same method as when servo is turned OFF
[Factory setting] according to Pn001.0 setting.
PnB1F 1 Stops motor immediately, and then changes motor state to servo lock. After restart
Decelerates motor to a stop at deceleration rate set with PnB2B, and
2
then changes motor state to servo lock.
Set the deceleration rate when decelerating to a stop in PnB2B.
Deceleration
Setting Range Setting Unit Factory Setting When Enabled
PnB2B
1000
1 to 99999999 (Reference units/min) 1000 Immediately
/ms
If the servo turns OFF due to overtravel, the servo will not turn ON even if the overtravel
is released. To turn ON the servo, turn the /S-ON signal OFF and then ON or send the
SVON serial command. If parameter PnB0E is set to 2 to keep the /S-ON signal always
ON, turn the power supply OFF and then ON again.
5-6
(/ALO1, /ALO2, and /ALO3)
This section describes signals that are output when the SERVOPACK detects errors and resetting methods.
(1) Servo Alarm Output Signal (ALM)

This signal is output when the SERVOPACK detects an error.
Configure an external circuit so that this alarm output turns OFF the main circuit power
supply for the SERVOPACK whenever an error occurs.
Signal Connector
Type Setting Meaning
Name Pin No.
ON (close) Normal SERVOPACK status
Output ALM CN1-3, 4
OFF (open) SERVOPACK alarm status
(2) Alarm Code Output Signals (/ALO1, /ALO2, and /ALO3)

The ON/OFF combination of these signals specifies the type of alarm detected by the SERVOPACK.
Use these signals as required to display the contents of the alarm at the host controller.
For details, refer to 9.1.1 List of Alarms for Command Option Attachable Type SERVOPACKs.
Connector
Type Signal Name Description
Pin No.
/ALO1 CN1-1, 2 Alarm code output
Output /ALO2 CN1-23, 24 Alarm code output
/ALO3 CN1-25, 26 Alarm code output
Select whether /ALO1 to /ALO3 are used or /WARN, /BK and /S-RDY are used with the parameter below.

0 Does not output /ALO1 to /ALO3. (/WARN, /BK, and /S-RDY are
[Factory setting] output.)
PnB51 After restart
Outputs /ALO1 to /ALO3. (/WARN, /BK, and /S-RDY are not out-
1
put.)
(3) Alarm Reset Method

If a servo alarm (ALM) occurs, first eliminate the cause of that alarm, then reset the alarm.
It is sometimes not possible to reset encoder-related alarms with the /ALM-RST signal. In such cases, shut off the control
power and then reset the alarm.
Be sure to eliminate the cause of an alarm before resetting the alarm.

5
Resetting an alarm without eliminating its cause and then continuing operation may
result in damage to the product or fire.
Connector
Type Signal Name Description
Pin No.
Input /ALM-RST CN1-7 Alarm reset
5-7
5.3.4 Braking Signal (/BK)
The setting of the /ALM-RST signal can be changed with the parameter below.

0 Resets alarms by switching input signal from OFF (open) to ON
[Factory setting] (close).
Resets alarms by switching input signal from ON (close) to OFF
PnB52 1 After restart
(open).
2
Does not reset alarms. (Signal is ignored.)
3
5.3.4 Braking Signal (/BK)

• Inverting the polarity of the brake output signal (/BK), i.e. positive logic, will prevent
the holding brake from working in case of its signal line disconnection.
If this setting is absolutely necessary, check the operation and confirm that there are
no safety problems.
• Configure the relay circuit to apply the holding brake by the emergency stop.
Relay Circuit Example
SERVOPACK
5 to 24 VDC
Emergency stop
Photocoupler
0V
• Failures caused by incorrect wiring or wrong voltage application in the brake circuit
may damage the equipment or cause an accident resulting in death or injury.
Follow the procedures and instructions for wiring and trial operation precisely as
described in the manual.
This output signal controls the brake.

The /BK signal turns OFF when an alarm is detected or the servomotor power is OFF. The brake OFF timing
can be adjusted with Pn506.
Connector
Pin No.
ON (close) Releases the brake.
Output /BK CN1-23, CN1-24
OFF (open) Applies the brake.
The setting of the /BK signal can be changed with the parameters below.

0
When the /BK signal is ON (close), the brake is released.
PnB1D [Factory setting] After restart
1 When the /BK signal is OFF (open), the brake is released.
PnB51 After restart
1
put.)
5-8
5.3.5 Servo Ready Output Signal (/S-RDY)

This signal is turned ON when the SERVOPACK is ready to accept the servo ON (/S-ON) signal.
The /S-RDY signal is turned ON under the following conditions.
• The main circuit power supply is ON.

• No hard wire base block state
• No servo alarms
Signal Connector
Name Pin No.
SERVOPACK is ready to accept the servo ON
ON (close)
signal (/S-ON).
Output /S-RDY CN1-25, 26
SERVOPACK is not ready to accept the servo ON
OFF (open)
signal (/S-ON).
The setting of the /S-RDY signal can be changed with the parameters below.

0
When SERVOPACK is ready, photocoupler becomes ON (close).
PnB1E [Factory setting] After restart
1 When SERVOPACK is ready, photocoupler becomes OFF (open).
PnB51 After restart
1
put.)
5.3.6 Error/Warning Output Signal (/WARN)

This is the error or warning signal before an alarm occurs. An error signal is output for only 2 seconds. A
warning signal is output continuously until the cause of the warning is eliminated. Refer to 9.2.1 List of Warn-
ings for Command Option Attachable Type SERVOPACKs.
Signal Connector
Name Pin No.

ON (close) Warning status (Error/warning status)
Output /WARN CN1-1, 2
OFF (open) Normal status
The /WARN output status can be set with the parameters below.

0
When an error/warning occurs, photocoupler becomes ON (close).
PnB1C [Factory setting] After restart
1 When an error/warning occurs, photocoupler becomes OFF (open).
PnB51 After restart 5
1
put.)
5-9
5.3.7 Positioning Completed Output Signal (/INPOSITION)
5.3.7 Positioning Completed Output Signal (/INPOSITION)

This signal indicates that servomotor positioning has been completed.
The signal is output when the motor stops, even if the current position has not reached the target position.
If the difference between the reference from the INDEXER Module and the movement of the servomotor (the
number of position error pulses) drops below the value set for this parameter, the positioning completed signal
will be output.
Signal Connector
Type Output Status Meaning
Name Pin No.
/INPOSI- ON (close) Positioning has been completed.
Output CN11-19, 20
TION OFF (open) Positioning is not completed.

0 When positioning has been completed, photocoupler becomes ON
PnB13 After restart
When positioning has been completed, photocoupler becomes OFF
1
(open).
/INPOSITION width
PnB2D Setting Range Setting Unit Factory Setting When Enabled
0 to 99999 Reference unit 1 Immediately
• The inposition width setting has no effect on final positioning accuracy.
Reference speed
Motor speed
Speed
PnB2D
Position error
/INPOSITION
Notes when the Positioning Completed State is Established while Canceling a Motion
Command
When the SERVOPACK enters any of the following states during execution of a motion command, it may
cancel the execution of the motion command and establish the positioning completed state.
• The servo OFF state has been established due to an alarm.

• The servo OFF state has been established because the main power supply was turned OFF.
• The motor has stopped due to overtravel or a software limit.
In this case, the motor has not reached the target position specified by the host controller. Check the current
position to confirm that the axis is stopped at a safe position.
If the state of an OT signal varies over a short time (in a pulsing manner for example),
the host controller may not be able to monitor the variation of the OT signal properly.
Take due care about the selection of limit switches and their mounting and wiring to
avoid chattering of OT signals and malfunctioning.
5-10
5.3.8 Programmable Output Signals (/POUT0 to /POUT7)

The basic use and wiring procedure for the programmable outputs (/POUT0 to /POUT7) are given below. The
programmable output signals can be changed by the user through the program table’s POUT bits or the POUT
serial command.

Type Signal Name Connector Pin No. Name
/POUT0 CN11-21, 22 Programmable output 0
Output
(2) Related Parameters

The output statuses of /POUT0 to /POUT7 can be set with the parameters below.
Parameter Signal Name Setting Factory Setting When Enabled

PnB14 /POUT0
PnB15 /POUT1
PnB16 /POUT2 0: When programmable output
signal is active, photocoupler
PnB17 /POUT3 becomes ON (close).
0 After restart
PnB18 /POUT4 1: When programmable output
signal is active, photocoupler
PnB19 /POUT5 becomes OFF (open).
PnB1A /POUT6
PnB1B /POUT7
(3) Setting the Initial Status of Programmable Output Signals (/POUT0 to /POUT7)

With the following parameter, the initial status* of the programmable output signals (/POUT0 to /POUT7) can
be set to inactive or to ZONE signals.
∗ The initial status indicates the status when the control power supply is turned ON or after resetting the SERVOPACK.

0 When control power is turned ON or SERVOPACK is reset, signals
[Factory setting] /POUT0 to 7 are inactive.
PnB4F After restart
When control power is turned ON or SERVOPACK is reset, signals
1
/POUT0 to 7 are ZONE signals.
5-11
5.3.9 Encoder Signal Outputs
5.3.9 Encoder Signal Outputs

The encoder signals can be used to monitor the servomotor’s speed and position. However, the INDEXER
Module manages the servomotor’s speed and position so it is not necessary to use the encoder signals to mon-
itor the speed and position from the host controller.
If an absolute encoder is used, the absolute position data is sent only once when the power is turned ON. Nor-
mally, do not use this signal.
For details, refer to the following manuals.
• Σ-V Series User's Manual Design and Maintenance Rotational Motor/Command Option Attachable Type
(SIEP S800000 60)
• Σ-V Series User's Manual Design and Maintenance Linear Motor/Command Option Attachable Type
(SIEP S800000 66)
5-12
5.4 Settings According to Device Characteristics

This section describes the procedure for setting parameters according to the dimensions and performance of
the equipment used.
5.4.1 Setting Reference Units

Reference units are the position and distance units that are used between the host controller and INDEXER
Module. A reference unit is the minimum unit for positioning. The electronic gear ratio converts encoder pulse
units into reference units.
When the Electronic Gear When the Electronic Gear
Function is Not Used Function is Used
Workpiece Workpiece
Encoder resolution: No. of encoder

1048576 Ball screw pitch: Ball screw pitch:
6 mm pulses: 2048
6 mm
To move a workpiece 10 mm: To move a workpiece 10 mm:

One revolution is 6 mm. Therefore,
10 ÷ 6 = 1.6666 revolutions.
1048576 pulses make one revolution.
Therefore,
1.6666 × 1048576 = 1746928 pulses.
1746928 pulses are input as references. 10 mm
= 10000 reference units
The equation must be calculated at the host 1
controller.
(1) Setting Reference Units

Determine the reference unit to be used.
To move table in 0.001-mm unit
Reference unit: 0.001 mm

Determine the reference unit according to
equipment specifications and positioning accuracy.
<Example>
• 0.01 mm, 0.001 mm, 0.1°, or 0.01 inch.
A reference input of one pulse moves the table by one reference unit.
• When the reference unit is 1 μm
If a reference of 50000 pulses is input, the table moves 50 mm (50000 × 1 μm).
(2) Setting Electronic Gear Ratio
5
After deciding the reference unit, set the electronic gear ratio.
For details on the setting method, refer to the following manuals.
(SIEP S800000 60)
(SIEP S800000 66)
Electronic gear ratio setting range: 1 ≤ Electronic gear ratio (B/A) ≤ 4000
If a value smaller than 1 is set, the motor may not rotate at its maximum speed.
And if a value larger than 4000 is set, a “parameter setting error (A.040) alarm” occurs.
5-13
5.4.1 Setting Reference Units
(3) Setting Speeds in Reference Units

Calculate the positioning speed.
<Example>
Desired positioning speed: 15 m/min
15000 mm/min
= 1500000 reference units/min
0.01 mm
Thus, the positioning speed setting is 1500 [1000 reference units/min].
Specify the positioning speed and registration speed in the program table in SPD and RSPD.
Specify the JOG speed in the JOG speed table in JSPD.
Specify the positioning speed and registration speed with the SPD and RSPD serial commands. The SPD and
RSPD commands can be omitted; in this case, the setting in the following parameter will be used.
Positioning/Registration Speed
PnB27
1000
1 to 99999999 1000 After restart
Reference units/min
(4) Setting Reference Unit Acceleration/Deceleration, and Average Movement Time of

Position References
Calculate the acceleration/deceleration.
<Example>
Acceleration time from 0 m/min to 15 m/min: 100 ms
15000 mm/min
= 1500000 reference units/min
0.01 mm
1500000 reference units/min
= 15000 [(reference units/min)/ms]
100 ms
Thus, the acceleration setting is 15 [1000 (reference units/min)/ms].
5-14
Using the parameters below, set the acceleration and deceleration, and set the average movement time of posi-
tion references.
Acceleration rate
PnB29
1000
1 to 99999999 (Reference units/min)/ 1000 Immediately
ms
Deceleration rate
PnB2B
1000
1 to 99999999 (Reference units/min)/ 1000 Immediately
ms
Average Movement Time of Position Reference
Pn217
After the change and also
0 to 10000 0.1 ms 1000 after the motor has
stopped
Set the acceleration and deceleration so that the values of the two settings do not differ
greatly.
If they differ greatly, the machine will not accelerate in accordance with the settings.
For example, if PnB29 is set to 99999999 and PnB2B is set to 1, then the machine’s per-
formance will be unpredictable.
Speed reference
(Before average movement time filter)
Speed Speed
reference reference
Speed reference
V (After average movement
time filter)
Time t1 t2 t5 t3 t4 t6 Time

V [× 1000 reference units/min]
Acceleration
[ms]

Deceleration
[ms]
Average movement time of position reference = t5 - t2 = t6 - t4
5-15
5.4.2 Moving Mode and Coordinate Settings
5.4.2 Moving Mode and Coordinate Settings

Use the following parameters to set the moving mode and coordinates.

0
Sets coordinates to linear type.
[Factory setting]
1 Sets coordinates to rotary type. Moving mode is set as shortest path.
PnB20 Sets coordinates to rotary type. Moving mode is set as always for- After restart
2
ward.
Sets coordinates to rotary type. Moving mode is set as always
3
reverse.
Linear Type (PnB20 = 0): Forward Software Limit (P-LS)

Rotary Type (PnB20 ≠ 0): End Point of Rotational Coordinates
PnB21
-99999999 to 99999999 Reference unit 99999999 After restart
Linear Type (PnB20 = 0): Reverse Software Limit (N-LS)
Rotary Type (PnB20 ≠ 0): Starting Point of the Rotational Coordinates
PnB23
-99999999 to 99999999 Reference unit -99999999 After restart
Origin (Incremental Encoder)
Absolute Encoder Offset (Absolute Encoder)
PnB25
(1) When the Coordinates are the Linear Type

When using the linear type coordinates such as with a ball screw, set PnB20 to 0 and set the forward software
limit (P-LS) in PnB21and the reverse software limit (N-LS) in PnB23.
An error will occur if the positioning target position exceeds one of the software limits. An error will also
occur if +/−INFINITE is set for the target position (POS) in the program table.
If the workpiece reaches a software limit during the JOG command or JOG speed table operation, the motor
will stop at the deceleration set in PnB2B.
If both PnB21 and PnB23 are set to 0, the software limit function will be disabled.
The software limit function is enabled after completion of homing. If, however, PnB31 is set to 0 (no homing),
the software limit function will be enabled when the control power supply is turned ON. The software limit
function will also be enabled as soon as the ZSET serial command is executed.
Reverse Software Limit Workpiece Forward Software Limit
(N-LS): PnB23 (P-LS): PnB21
5-16
(2) When the Coordinates are the Rotary Type

When using a rotary type coordinates such as with a rotary table, set PnB20 to 1 (shortest path), to 2 (forward),
or to 3 (reverse). Then set the end point of rotational coordinates in PnB21 and the starting point of rotational
coordinates in PnB23.
The software limit function will be disabled.
If PnB20 is set to 1 (shortest path), the motor will rotate in the shortest direction (forward or reverse) when the
target position is specified as an absolute position.
If PnB20 is set to 2 (forward), the motor will always rotate in the forward direction when the target position is
specified as an absolute position.
If PnB20 is set to 3 (reverse), the motor will always rotate in the reverse direction when the target position is
specified as an absolute position.
If the target position is specified as an relative position, the motor will rotate in the specified direction regard-
less of the setting of PnB20.
<Example>
• PnB21 = +3599, PnB23 = 0 • PnB21 = +4999, PnB23 = −5000
PnB21 = +3599 PnB23 = 0 PnB21 = +4999 PnB23 = −5000
Starting Starting
point point
Even when equipment like a rotary table is used, if multiple turns cannot be performed set the coordinate as
linear type (PnB20 = 0).
In this case, the values set in PnB21 and PnB23 are the values of the soft limits.

When using rotary type coordinates and an absolute encoder, set the multi-turn limit
(Pn205).
For details on setting the multi-turn limit, refer to Σ-V Series User's Manual Design and
Maintenance Rotational Motor/Command Option Attachable Type (SIEP S800000 60).
5-17
5.4.3 Setting Home Position
5.4.3 Setting Home Position

Set the origin or the difference between the reference coordinates and absolute encoder position (the absolute
encoder offset) for parameter PnB25.

PnB25
(1) When Using an Incremental Encoder

When the power is turned ON and when homing is completed, the setting for PnB25 is set as the current value.
(2) When Using an Absolute Encoder

Use one of the following methods to set the home position.
• Execute the ZSET serial command.

• Use the FnB09 utility function.*
*The function FnB09 is available for the following software versions.
INDEXER module: Version 3 or later
SERVOPACK: Version 001B or later
• Set PnB25 to the value calculated with the equation explained in the following section.
The value for PnB25 can be calculated from the following equation.
PnB25 = Current setting of PnB25 + nnnnnnnn - Position reference current position
PnB25: Absolute encoder offset

nnnnnnnn: Desired position (Usually zero)
Position reference current position: Can be monitored with the serial command “PON” or “MON1.”
When using the linear type coordinate (PnB20 = 0), set the calculated value in PnB25.
When using a rotary type coordinate (PnB20 ≠ 0), set the results in PnB25 after performing the following cal-
culations so that the following relationships are satisfied: PnB23 ≤ PnB25 ≤ PnB21.
• If the results is smaller than PnB23 (the starting point of the rotational coordinates) add the width of the
coordinates (PnB21 − PnB23 + 1).
• If the results is larger than PnB21 (the end point of the rotational coordinates) subtract the width of the coor-
dinates (PnB21 − PnB23 + 1).
Making the above setting will change the current position of the machine to nnnnnnnn.
After changing parameter Pn20E, Pn210, Pn205 or PnB20 to PnB25, turn the control
power OFF and then ON again to enable the new setting.
5-18
5.4.4 Backlash Compensation

This parameter can be set to compensate for positioning offset caused by the backlash of gears.
Backlash Compensation
PnB50 Setting Range Setting Unit Factory Setting When Enabled
-1000 to 1000 Reference unit 0 Immediately
Specify the direction for compensation with the sign and the quantity of the compensation with a numeric
value. If the sign is positive, compensation will be applied for forward positioning. If the sign is negative,
compensation will be applied for reverse positioning. If the setting is changed, the new setting will be enabled
from the next positioning.
When using an incremental encoder, the final direction used in homing generally serves as the reference direc-
tion and backlash compensation is applied in the opposite direction.
When using an absolute encoder, the initial direction of movement generally serves as the reference direction
and backlash compensation is applied in the opposite direction.
Even when compensation is applied, the compensation will not be indicated in the target position monitor or
any other monitor values. Only the actual motor positions will be subject to compensation.
PnB50 > 0 PnB50 < 0
Reverse Machine Forward Reverse Machine Forward
Positioning
in Forward
Direction Motor Motor
Reference position position Reference
side side
Compensation Compensation
applied. not applied.

Reverse Machine Forward Reverse Machine Forward
Positioning
in Reverse
Direction Motor Motor
Reference position position Reference
side side
Compensation Compensation
not applied. applied.
5.4.5 Torque Limit 5

Only the internal torque limit can be used.
For details, refer to the following manuals.
(SIEP S800000 60)
(SIEP S800000 66)
5-19
5.4.6 Fully-closed Loop Control
5.4.6 Fully-closed Loop Control

For more information on the settings for fully-closed loop control, refer to Σ-V Series User’s Manual Design
When using the fully-closed loop control with an INDEXER Module, some restrictions apply to the setting
for parameter Pn20A (External Encoder Pitches.)
Set parameter Pn20A (External Encoder Pitches) to a value within the recommended
range. If a value outside of this range is set, the speed reference may be limited to a
value lower than the maximum speed of the motor.
Pn20A Setting
Scale Type PGTYPE Response
Range
8-bit serial converter unit
PGTYPE = 0000xx08 Pn20A ≤ 65103
8-bit scale
9-bit scale PGTYPE = 0000xx09 Pn20A ≤ 32551
10-bit scale PGTYPE = 0000xx0A Pn20A ≤ 16275
13-bit scale PGTYPE = 0000xx0D Pn20A ≤ 2034
5-20
6
Program Table
The chapter describes how to set and operate a program table.
6.1 Program Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.1 Mode Switch Signal (/MODE 0/1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.2 Input Signals for Program Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.3 Program Table Step Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.1.4 Program Table Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.5 Examples of EVENT Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.1.6 Program Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.1.7 Status Changes in Program Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.1.8 Input Signal Timing Specifications for Program Table Operation . . . . . . . . . . . . . . . 6-11
6.1.9 Response Times after Turning ON the /START-STOP Signal . . . . . . . . . . . . . . . . . . 6-12
6.1.10 Program Table Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.2 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.2.1 Registration Timing Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
6.2.2 Registration Input Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.2.3 Registration Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.3 ZONE Table Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22

6.4 Homing/JOG Speed Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4.1 Mode Switch Input Signal (/MODE 0/1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4.2 Homing/JOG Speed Table Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4.3 Parameters Related to Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
Program Table
6.5 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

6.6 JOG Speed Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.6.1 Example of JOG Speed Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.6.2 JOG Speed Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29
6.6.3 Input Conditions for Homing and JOG Speed Table Operation . . . . . . . . . . . . . . . . . 6-30
6.6.4 Input Signal Timing Specifications for Homing and JOG Speed Table Operation . . . 6-30 6
6-1
6 Program Table
6.1.1 Mode Switch Signal (/MODE 0/1)
6.1 Program Table

This section explains program table.
In this section, the word “open” or “close” shown in parentheses in parameter descriptions indicates that the
contact is open or closed.
6.1.1 Mode Switch Signal (/MODE 0/1)

If the /MODE 0/1 input signal is active, the mode is set to program table operation mode (Mode 0).

Connector
Type Signal Name Setting Meaning
Pin No.
ON (close) Mode 0 (program table operation mode)
Input /MODE 0/1 CN11-3 Mode 1 (homing/JOG speed table operation
OFF (open)
mode)

The relationship between the ON/OFF and active/inactive statuses of signals can be set with the parameter
below.

0
When input signal is ON (close), mode is set to Mode 0.
[Factory setting]
PnB03 1 When input signal is OFF (open), mode is set to Mode 0. After restart
2 Always Mode 0
3 Always Mode 1
6.1.2 Input Signals for Program Table Operation

Connector
Pin No.
/START ON (close) Starts program table operation.
CN11-5
-STOP OFF (open) Stops program table operation.
Input
OFF (open) → Resets program table operation. Program table
/PGMRES CN11-7
ON (close) operation is canceled.
Connector
Type Signal Name Name
Pin No.
/SEL0 CN11-9 Program table selection 0
Input
6-2
6.1 Program Table

Make the settings for program table operation with the parameters below.

Starts program table operation when /START-STOP signal is ON
0 (close).
[Factory setting] Stops program table operation when /START-STOP signal is OFF
(open).
Starts program table operation when /START-STOP signal is OFF
PnB04 (open).
1
Stops program table operation when /START-STOP signal is ON
(close).
2 After restart
Does not start program table operation.
3
0 Resets program table operation by switching /PGMRES signal from
[Factory setting] OFF (open) to ON (close). Program table operation is canceled.
Resets program table operation by switching /PGMRES signal from
PnB05 1
ON (close) to OFF (open). Program table operation is canceled.
2
Does not reset program table operation.
3
Parameter Signal name Setting Factory Setting When Enabled

PnB06 /SEL0
PnB07 /SEL1 0: When input signal is ON
PnB08 /SEL2 (close), program table selection
signal becomes active.
PnB09 /SEL3 1: When input signal is OFF
0 After restart
PnB0A /SEL4 (open), program table selec-
tion signal becomes active.
PnB0B /SEL5 2: Signal is always active.
PnB0C /SEL6 3: Signal is always inactive.
PnB0D /SEL7
<Notes>
The wiring for the signals, and the parameter settings, described in the table above are not necessary when
program table operations are performed with serial commands. The following table shows which serial com-
mands correspond to the various input signals.
Signal Corresponding Serial Command

/MODE 0/1 None (Mode switching is not necessary.)
Program Table
/START-STOP Start: START command ( = 000 to 255)

Stop: STOP command
/SEL0 to /SEL7 Restart: START command
/PGMRES PGMRES command
6-3
6 Program Table
6.1.3 Program Table Step Selection
6.1.3 Program Table Step Selection

Use the 8-bit selection signals (/SEL0 to /SEL7) to specify PGMSTEP 0 to 255.
Selection Signal Status

PGMSTEP
/SEL7 /SEL6 /SEL5 /SEL4 /SEL3 /SEL2 /SEL1 /SEL0
0 --- --- --- --- --- --- --- ---
1 --- --- --- --- --- --- --- Active
2 --- --- --- --- --- --- Active ---
3 --- --- --- --- --- --- Active Active
4 --- --- --- --- --- Active --- ---
5 --- --- --- --- --- Active --- Active
6 --- --- --- --- --- Active Active ---
7 --- --- --- --- --- Active Active Active
8 --- --- --- --- Active --- --- ---
9 --- --- --- --- Active --- --- Active
10 --- --- --- --- Active --- Active ---
11 --- --- --- --- Active --- Active Active
12 --- --- --- --- Active Active --- ---
13 --- --- --- --- Active Active --- Active
14 --- --- --- --- Active Active Active ---
15 --- --- --- --- Active Active Active Active
16 --- --- --- Active --- --- --- ---
:
:
254 Active Active Active Active Active Active Active ---

255 Active Active Active Active Active Active Active Active
Note: The “---” symbols indicate an inactive input status.
6-4
6.1 Program Table
6.1.4 Program Table Settings

This section explains the program table settings.
If the edited program table is saved to flash memory, it will be saved even after the control power supply is
turned OFF. Use one of the following methods to save the program table to flash memory.
• Execute the PGMSTORE serial command

• Select “Save Program Table” from SigmaWin+
• Use the FnB03 utility function* to save program tables
Program Table
PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT
0
1
2
: : : : : : : : : : :
: : : : : : : : : : :
255
(1) Program Table Functions

The following table shows the various program table functions.
Item Function Description

Number of usable program steps: 256 (0 to 255)
PGMSTEP Program step
The program step can be specified in NEXT.
I +/−99999999: Relative position (travel distance) specification [reference units]
A +/−99999999: Absolute position specification [reference units]
+INFINITE: JOG forward operation
-INFINITE: JOG reverse operation
STOP: Stop (for use with +/-INFINITE operation)
S +/−99999999: Continuous stop (Absolute position specification)
– : No positioning specified (for POUT only)
The factory setting is STOP.
POS Target position Note 1. The +INFINITE and -INFINITE settings can be used only when the rotary
type coordinates have been set (PnB20 = 1, 2, or 3) or software limits are
not being used (PnB21 = PnB23 = 0). An error will occur if linear type
Program Table
coordinates are being used and a software limit is enabled.

2. Continuous stop can be used when the rotary type coordinates have been
set (PnB20 = 1, 2, or 3) and the target position specification of the most
previous table is +INFINITE or -INFINITE.
If the coordinates are the linear type or the target position specification of
the most previous table is not +INFINITE or -INFINITE, attempting a con-
tinuous stop causes an error.
If the speed is changed using the +INFINITE and -INFINITE settings, con-
tinuous stop cannot be done.
6
1 to 99999999: Positioning speed [1000 reference units/min]
SPD Positioning speed
The factory setting is 1000.
0 to 99999999: Registration distance [reference units]
– : No registration
Registration The factory setting is “-” for no registration.
RDST
distance Note 1. If the change of speed is performed using the +INFINITE and -INFINITE
settings, registration cannot be done.
2. If a continuous stop is performed, registration cannot be done.
6-5
6 Program Table
6.1.4 Program Table Settings

1 to 99999999: Registration speed [1000 reference units/min]
RSPD Registration speed
The factory setting is 1000.
1 to 99999999: Acceleration [1000 (reference units/min)/ms]
“:”: Continues with acceleration specified in the most previously executed program
step.
ACC Acceleration If “:” is set for the first step in program operation, the last acceleration enabled
before the start of program operation (e.g., the acceleration in PnB29 or the
acceleration set with the ACC serial command) will be used.
The factory setting is “:”.
1 to 99999999: Deceleration [1000 (reference units/min)/ms]
“:”: Continues with deceleration specified in the most previously executed program
step.
DEC Deceleration If “:” is set for the first step in program operation, the last deceleration enabled
before the start of program operation (e.g., the deceleration in PnB2B or the
deceleration set with the DEC serial command) will be used.
The factory setting is “:”.
nnnnnnnn n = N, A, Z,㧦
/POUT0 N: Inactive
/POUT1 A: Active
/POUT2 Z: ZONE signal (Refer to ZONE table.)*
/POUT3
Programmable /POUT4 “:”: Continues specification used in the most
POUT previously executed program step.
output signals /POUT5
/POUT6
/POUT7
When execution of a step is started, the corresponding output signal (/POUT0 to

/POUT7) is output. If you want to output the signal at the end of the step, specify
POUT as POS = “-” in the next step.
∗ It is possible to set a ZONE signal for /POUT5 to 7, but the output is always inactive.
6-6
6.1 Program Table

Set the condition to use to determine when the program step has been completed.
For example, with the factory setting of IT0, the pass condition is met 0 ms after
/INPOSITION becomes active.
When the pass condition is met, the PGMSTEP that was specified for NEXT will be
executed if the number of execution times specified for LOOP has been reached. If
the number of execution times specified for LOOP has not been reached, execution is
repeated again.
<Settings>
I: /INPOSITION*1
N: NEAR*1
D: Position reference distribution completed (DEN)*1
SELx: Input signal (/SEL0 to /SEL7) active.*1, *2
Note: Level detection is used, not edge detection.
Tn: Time elapsed (ms) since the program step started.*3
“:”: Continues the previously executed program step’s specification.
ITn: Waits for n ms after INPOSITION becomes active.*3
NTn: Waits for n ms after NEAR becomes active.*3
DTn: Waits for n ms after DEN becomes active.*3
EVENT Pass condition
SELxTn: Waits for n ms after SELx becomes active.*2, *3
The factory setting is IT0.
∗1. The I, N, D, and SELx parameters can be combined with Tn.
If n = 0, then including Tn will not change the results.
∗2. x = 0 to 7
∗3. n = 0 to 99999
Refer to 6.1.5 Examples of EVENT Conditions if necessary.
The following parameters set the INPOSITION and NEAR detection widths.
/INPOSITION Width
Setting Factory
Setting Unit When Enabled
PnB2D Range Setting
Reference
0 to 99999 1 Immediately
unit
/NEAR Width
Setting Factory
Setting Unit When Enabled
PnB2F Range Setting
Reference
unit
Program Table
Specifies the number of execution of the program step.

Setting range: 1 to 99999
Number of The factory setting is 1.
LOOP
executions Note: The NEXT parameter is referenced after the number of LOOP repetitions are
completed. The LOOP specification cannot apply to more than one
PGMSTEP.
0 to 255: Jump to the specified PGMSTEP. 6
PGMSTEP to be
NEXT END: Ends program table operation. (Program table operation will be canceled.)
executed next
The factory setting is END.
6-7
6 Program Table
6.1.5 Examples of EVENT Conditions
Note 1. An error (E53E) will occur and program table operation will be stopped if a new positioning command is
received during positioning. To restart, turn the /START-STOP signal OFF and then ON again. The execution
will be started from the next step when restarting.
2. When the target position (POS) is +INFINITE or -INFINITE and the registration distance (RDST) is “-”, the
Speed can be changed by executing the next PGMSTEP. In this case, the motor speed will shift to the new speed.
In all other cases, the speed cannot be changed by executing the next PGMSTEP and an error will occur (E53E)
if an attempt is made to do so.
3. Program table settings can be changed only when program table operation is canceled. Program table settings
cannot be changed during program table operating or stopping even if the PGMSTEP has not been executed and
an error will occur (E5EE).
6.1.5 Examples of EVENT Conditions

The following figures show examples of EVENT conditions.
࡮I ࡮IT2000
Reference speed Motor speed
Speed Speed
࡮N Reference speed ࡮NT2000 t = 2000 ms

Motor speed
Speed Speed
࡮D ࡮DT2000 t = 2000 ms
Speed Speed
࡮SEL0 ࡮SEL0T2000
t = 2000 ms
Speed Speed
/SEL0 /SEL0
t = 2000 ms
࡮T2000
Speed
t = 2000 ms
Note: If t < t1, an error (E53E) will occur and program table operation will be stopped.
6-8
6.1 Program Table
6.1.6 Program Table Operation

(1) Starting and Stopping the Program
If the /START-STOP signal becomes active when program table operation has been canceled, /SEL0 to /SEL7
will be latched and the program will be executed from the PGMSTEP specified with /SEL0 to /SEL7.
Speed
/START-STOP Canceled Operating
Latched
/SEL0 to /SEL7
If the /START-STOP returns to inactive state, the program will be stopped and the motor will stop (positioning
will be stopped).
Speed
Canceled Operating Stopped

/START-STOP
If the /START-STOP becomes active again while the program is stopped, the program (positioning) will be
restarted. /SEL0 to /SEL7 will not be latched at this time.
Speed
/START-STOP Canceled Opera- Stopped Operating

Program Table
ting
Latched Not latched
/SEL0 to /SEL7
The program will be restarted even if the motor is decelerating.

Speed 6
/START-STOP Canceled Operat- Stopped Operating

ing
6-9
6 Program Table
6.1.7 Status Changes in Program Table Operation
(2) Resetting the Program

The program will be canceled if the /PGMRES signal becomes active while the program is stopped (when the
/PGMRES signal is on the rising edge and the /START-STOP signal is inactive.)
/START-STOP Canceled Operating Stopped Canceled
/PGMRES
Rising edge
6.1.7 Status Changes in Program Table Operation

There are three different statuses for program table operation. The initial status is “canceled.”
Canceled
/PGMRES /START-STOP
rising edge with active (start)
/START-STOP When NEXT
inactive is "END"
/START-STOP inactive
Stopped Error Operating
/START-STOP active (restart)
The following table shows the status changes that can occur during program table operation.
Status /START-STOP /PGMRES Operation
Active Active Start

Canceled or (Latch specified signal
Inactive Inactive between /SEL0 and /SEL7.)
Operating Active Active

(Started or or
Stop
restarted) Inactive Inactive
Active
Inactive Cancel
Inactive
Stopped
Active Active
or
Restart
Inactive Inactive
Note: If the program table operation is restarted after it stopped because of an error, the PGMSTEP in which the error
occurred will be skipped and execution will be restarted from the PGMSTEP specified by NEXT. (If the operation
has not been executed for the number of times specified in the LOOP, the next LOOP will be executed.)
6-10
6.1 Program Table
6.1.8 Input Signal Timing Specifications for Program Table Operation

The following figures show the timing specifications of program table input signals.
/MODE 0/1
/START-STOP
4 ms min. 0 ms min.
/PGMRES
/START-STOP
4 ms min. 4 ms min.
/START-STOP
/SEL0 to /SEL7
2 ms min. 4 ms min.
• When /SEL0 to /SEL7 are specified in EVENT
/SEL0 to /SEL7
/START-STOP
0 ms min.
4 ms min., EVENT time max.
Program Table
6-11
6 Program Table
6.1.9 Response Times after Turning ON the /START-STOP Signal
6.1.9 Response Times after Turning ON the /START-STOP Signal

The response times after turning ON the /START-STOP signal are shown below.
/START-STOP
Motor movement
/INPOSITION
/POUT0 to 7
tM
tI
tP
Time Normal Under Special Conditions*

tM 2 ms to 6 ms 2 ms to 16 ms
tI 2 ms to 8 ms 2 ms to 14 ms
tp 2 ms to 6 ms 2 ms to 10 ms
∗ Special Conditions
• Program is stopped due to error.
• Previous positioning was stopped.
• Previous external latch is on standby.
• Overtravel status exists.
6-12
6.1 Program Table
6.1.10 Program Table Examples

This section provides examples of program tables.
(1) Simple Round-trip Operation

0 I+200000 15000 – 1000 : : NNNNNNNA IT2000 1 1
1 I−200000 30000 – 1000 : : NNNNNNAN IT2000 2 0
PGMSTEP 0 PGMSTEP 1 PGMSTEP 1 PGMSTEP 0

LOOP = 1 LOOP = 2
2s 2s 2s
Speed
/START-STOP
/INPOSITION
/POUT0
/POUT1
(2) Output /POUTx Signal for the Specified Time after Positioning Completed
0 I+200000 15000 – 1000 : : NNNNNNNN IT0 1 1
1 – 15000 – 1000 : : :::::::A T2000 1 2
2 I−200000 30000 – 1000 : : NNNNNNNN IT0 1 3
3 – 30000 – 1000 : : ::::::A: T2000 1 4
4 I−200000 30000 – 1000 : : NNNNNNNN IT0 1 5
5 – 30000 – 1000 : : :::::A:: T2000 1 0
PGMSTEP 1 PGMSTEP 3 PGMSTEP 5
2s 2s 2s
Program Table
Speed
/START-STOP
/INPOSITION 6
/POUT0
/POUT1
/POUT2
6-13
6 Program Table
(3) Using /SELx Signal with EVENT Function

0 I+200000 15000 – 1000 : : NNNNNNNA SEL0T2000 1 1
1 I−200000 30000 – 1000 : : NNNNNNAN SEL1T2000 2 0

LOOP = 1 LOOP = 1 LOOP = 2
2s 2s 2s
Speed
/START-STOP
SEL0
SEL1
INPOSITION
POUT0
POUT1
6-14
6.1 Program Table
(4) Using ZONE Table

0 A+500000 30000 – 1000 : : NNNZZZZZ IT0 1 1
1 A+000000 30000 – 1000 : : NNNZZZZZ IT0 1 0
PGMSTEP 0 PGMSTEP 1 PGMSTEP 0 PGMSTEP 1 PGMSTEP 0
Speed
/START-STOP
/INPOSITION
/POUT0
/POUT1
/POUT2
/POUT3
/POUT4
ZONE Table
ZONEN ZONEP ZONEN ZONEP
0 0 0 16 +499995 +500004
1 +099995 +100004 17 0 0
2 +199995 +200004 18 0 0
3 0 0 19 0 0
4 +299995 +300004 20 0 0
5 0 0 21 0 0
6 0 0 22 0 0
7 0 0 23 0 0
8 +399995 +400004 24 0 0
9 0 0 25 0 0
10 0 0 26 0 0
11 0 0 27 0 0
12 0 0 28 0 0
Program Table
13 0 0 29 0 0
14 0 0 30 0 0
15 0 0 31 0 0
6-15
6 Program Table
(5) Using as Positioning Table

0 A+000000 30000 – 1000 : : NNNAZZZZ IT0 1 END
1 A+100000 30000 – 1000 : : NNNNZZZZ IT0 1 END
2 A+200000 30000 – 1000 : : NNNAZZZZ IT0 1 END
3 A+300000 30000 – 1000 : : NNNNZZZZ IT0 1 END
4 A+400000 30000 – 1000 : : NNNAZZZZ IT0 1 END
PGMSTEP 0 PGMSTEP 1 PGMSTEP 2 PGMSTEP 3 PGMSTEP 4
Speed
/START-STOP
/SEL0
/SEL1
/SEL2
/INPOSITION
/POUT0
/POUT1
/POUT2
/POUT3
/POUT4
Zone Table
ZONEN ZONEP ZONEN ZONEP
0 0 0 16 +399000 +401000
1 −001000 +001000 17 0 0
2 +099000 +101000 18 0 0
3 0 0 19 0 0
4 +199000 +201000 20 0 0
5 0 0 21 0 0
6 0 0 22 0 0
7 0 0 23 0 0
8 +299000 +301000 24 0 0
9 0 0 25 0 0
10 0 0 26 0 0
11 0 0 27 0 0
12 0 0 28 0 0
13 0 0 29 0 0
14 0 0 30 0 0
15 0 0 31 0 0
6-16
6.1 Program Table
(6) Using INFINITE

0 +INFINITE 15000 – 1000 : : NNNNNNNN T2000 1 1
1 +INFINITE 30000 – 1000 : : :::::::: SEL0TO 1 2
2 STOP 30000 – 1000 : : :::::::: IT0 1 3
3 A+400000 30000 – 1000 : : :::::::: SEL1TO 1 0

2s 2s
Speed
/START-STOP
/SEL0
/SEL1
/INPOSITION
(7) Using Registration

Refer to 6.2 Registration for details on the Registration function.
0 I+200000 30000 100000 15000 : : NNNNNNNN IT0 1 1
1 I−200000 30000 100000 15000 : : :::::::: IT0 1 0
PGMSTEP 0 PGMSTEP 1 PGMSTEP 0
Speed
/START-STOP
/RGRT
Program Table
/INPOSITION
6-17
6 Program Table
(8) Using Continuous Stop Function

0 +INFINITE 1080000 – – 1080 1080*1 NNNNNNNA T2000 1*2 1
1 S+45000 1000*3 – – 1080*4 1080 NNNNNNAN SEL5T0 1*2 END
∗1. When using the continuous stop function, the Deceleration (DEC) specified in the preceding program step is dis-
abled. The servomotor decelerates at the set rate in the program step specified by the continuous stop function.
∗2. Can only be set to 1.
∗3. When using the continuous stop function, the Positioning Speed (SPD) is disabled. The servomotor moves at the set
rate specified in the preceding program step.
∗4. When using the continuous stop function, the Acceleration (ACC) is disabled. The servomotor accelerates at the set
rate specified in the preceding program step.
PGMSTEP 0 PGMSTEP 1
2s 1s
Speed
/START-STOP
/INPOSITION
/POUT0
/POUT1
Continuous Stop Function

With the continuous stop function, the servomotor decelerates to a stop at the specified position (absolute
position specification) in rotational coordinates after a step has been finished when a ±INFINITE command is
used to jog forward or to jog reverse in operations using a program table.
The servomotor rotates at the positioning speed (SPD) set in the preceding program step until the point where
deceleration starts. The servomotor stops at the target point in rotational coordinates without rotating in
reverse.
The figure shows an example where the servomotor runs at a constant speed in program step 0 for two seconds
and positions the servomotor at a 45 degree (reference unit = 0.001 degree) in program step 1.
Note: To use the continuous stop function, the following conditions must be met.
• A rotational coordinate must be used. (PnB20 = 1, 2, or 3)

• The target position of the preceding program step must be ±INFINITE.
• The ±INFINITE (POS) setting must not be used in two consecutive steps.
• The Registration function must not be used in the preceding program step.
If these conditions are not met, one of the following errors will occur.
• Move Reference Duplication Error (E53E)

• Continuous Stop Execution Disabled Error (E63E)
6-18
6.2 Registration
6.2 Registration
Positioning is performed for the specified distance and specified speed from the position where the /RGRT
signal is latched.
Speed
Registration
Registration speed
distance
t
/RGRT
6.2.1 Registration Timing Specifications

The following figure shows the latch timing specifications.
/RGRT
Latch operation
• Shifting to registration operation

8 ms max.
Speed
/RGRT
Program Table
6-19
6 Program Table
6.2.2 Registration Input Setting
6.2.2 Registration Input Setting

Parameter PnB12 sets the logic for the /RGRT Registration Latch Signal.

Connector
Pin No.
The current position has reached the latch posi-
ON (close)
tion.
Input /RGRT CN1-12
The current position has not reached the latch
OFF (open)
position, or has passed the latch position.

The /RGRT signal can be set with the parameter below.

0 Starts registration by switching input signal from OFF (open) to ON
Starts registration by switching input signal from ON (close) to OFF
PnB12 1 After restart
(open).
2
Does not start registration.
3
6.2.3 Registration Operation

If the /RGRT signal becomes active (latches) during positioning, operation will proceed from the latch posi-
tion to the registration distance only. The registration distance is specified in RDST.
Speed
t
/START-STOP
/RGRT
Alarm E23A will occur when the registration distance is too short, i.e., when positioning will go too far even
if deceleration begins immediately. When alarm E23A occurs, the servo will go OFF and the program will
stop.
Speed
Servo turned
OFF by alarm
t
/START-STOP
/RGRT
ALM
6-20
6.2 Registration
The second and later latch signals are ignored.

Speed
t
/START-STOP
/RGRT
The /RGRT latch signal can also be input while the program is stopped.
Speed
Registration
target position
/START
-STOP
/RGRT
Even if the program is stopped during registration operation, the registration operation will be restarted if the
program is restarted.
Speed
Registration
target position
/START
-STOP
/RGRT
Program Table
6-21
6 Program Table
6.3 ZONE Table Settings

ZONE signals indicate regions defined in the ZONE table. ZONE signals are allocated to the regions using the
ZONE table.
Outputs /POUT0 to /POUT4 must be specified as ZONE signals in order to use ZONE signals.
If the edited ZONE table is saved to flash memory, it will be saved even after the control power supply is
turned OFF. Use one of the following methods to save the ZONE table to flash memory.
• Execute the ZONESTORE serial command

• Select “Save ZONE Table” from SigmaWin+
• Use the FnB04 utility function* to save ZONE tables
ZONE Table
ZONE ID ZONE N ZONE P Z4 Z3 Z2 Z1 Z0

0 ±nnnnnnnn ±nnnnnnnn --- --- --- --- ---
1 ±nnnnnnnn ±nnnnnnnn --- --- --- --- Active
2 ±nnnnnnnn ±nnnnnnnn --- --- --- Active ---
3 ±nnnnnnnn ±nnnnnnnn --- --- --- Active Active
4 ±nnnnnnnn ±nnnnnnnn --- --- Active --- ---
5 ±nnnnnnnn ±nnnnnnnn --- --- Active --- Active
6 ±nnnnnnnn ±nnnnnnnn --- --- Active Active ---
7 ±nnnnnnnn ±nnnnnnnn --- --- Active Active Active
8 ±nnnnnnnn ±nnnnnnnn --- Active --- --- ---
9 ±nnnnnnnn ±nnnnnnnn --- Active --- --- Active
10 ±nnnnnnnn ±nnnnnnnn --- Active --- Active ---
11 ±nnnnnnnn ±nnnnnnnn --- Active --- Active Active
12 ±nnnnnnnn ±nnnnnnnn --- Active Active --- ---
13 ±nnnnnnnn ±nnnnnnnn --- Active Active --- Active
14 ±nnnnnnnn ±nnnnnnnn --- Active Active Active ---
15 ±nnnnnnnn ±nnnnnnnn --- Active Active Active Active
16 ±nnnnnnnn ±nnnnnnnn Active --- --- --- ---
17 ±nnnnnnnn ±nnnnnnnn Active --- --- --- Active
18 ±nnnnnnnn ±nnnnnnnn Active --- --- Active ---
19 ±nnnnnnnn ±nnnnnnnn Active --- --- Active Active
20 ±nnnnnnnn ±nnnnnnnn Active --- Active --- ---
21 ±nnnnnnnn ±nnnnnnnn Active --- Active --- Active
22 ±nnnnnnnn ±nnnnnnnn Active --- Active Active ---
23 ±nnnnnnnn ±nnnnnnnn Active --- Active Active Active
24 ±nnnnnnnn ±nnnnnnnn Active Active --- --- ---
25 ±nnnnnnnn ±nnnnnnnn Active Active --- --- Active
26 ±nnnnnnnn ±nnnnnnnn Active Active --- Active ---
27 ±nnnnnnnn ±nnnnnnnn Active Active --- Active Active
28 ±nnnnnnnn ±nnnnnnnn Active Active Active --- ---
29 ±nnnnnnnn ±nnnnnnnn Active Active Active --- Active
30 ±nnnnnnnn ±nnnnnnnn Active Active Active Active ---
31 ±nnnnnnnn ±nnnnnnnn Active Active Active Active Active
6-22
6.3 ZONE Table Settings
Note 1. The “---” symbols indicate an inactive signal status.

2. ZONE ID: ZONE Number
ZONE N: Negative side ZONE boundary position
ZONE P: Positive side ZONE boundary position
Z0 to Z4: If the programmable output signals (/POUT0 to /POUT4) are specified as ZONE signals,
/POUT0 = Z0, /POUT1 = Z1, /POUT2 = Z2, /POUT3 = Z3, and /POUT4 = Z4.
3. The status of outputs Z0 to Z4 is defined for each ZONE ID.
4. The programmable output signals (/POUT0 to /POUT4) must be specified as ZONE signals (“Z”). For example
if POUT = ZAZZN, then signals Z1, Z2, and Z4 will be output from programmable outputs /POUT1, /POUT2,
and /POUT4.
ZONE Signal Conditions
• When ZONEN ≤ ZONEP, the motor position is within range when ZONEN ≤ motor position ≤ ZONEP.
• When ZONEN > ZONEP, the motor position is within range when the motor position ≥ ZONEN or the
motor position ≤ ZONEP.
<Example>
ZONEN = +11000 0 ZONEP = +1000
• When the motor position is within range for two or more zones, only the lowest ZONE ID will be effective.
• If the motor position is not within range of any zones, signals Z0 to Z4 will all be inactive.
• A ZONE ID will be disabled if ZONEN = ZONEP = 0 is set for that zone.
(1) Setting the Initial Status of Programmable Output Signals (/POUT0 to /POUT7)
With the following parameter, the initial status* of the programmable output signals (/POUT0 to /POUT7) can
be set to ZONE signals.
∗ The initial status indicates the status when the control power supply is turned ON or after resetting the SERVOPACK.

0 When control power is turned ON or SERVOPACK is reset, signals
[Factory setting] /POUT0 to 7 are inactive.
PnB4F After restart
When control power is turned ON or SERVOPACK is reset, signals
1
/POUT0 to 7 are ZONE signals.
Note: It is possible to set a ZONE signal for /POUT5 to 7, but the output is always inactive. Program Table
6-23
6 Program Table
6.4.1 Mode Switch Input Signal (/MODE 0/1)
6.4 Homing/JOG Speed Table

6.4.1 Mode Switch Input Signal (/MODE 0/1)
If the /MODE 0/1 input signal is inactive, the mode is set to Mode 1 (homing/JOG speed table operation
mode).

Connector
Pin No.
ON (close) Mode 0 (program table operation mode)
Input /MODE 0/1 CN11-3 Mode 1 (homing/JOG speed table operation
OFF (open)
mode)

The relationship between the ON/OFF and active/inactive statuses of signals can be set with the parameter
below.

0
When input signal is ON (close), mode is set to Mode 0.
[Factory setting]
PnB03 1 When input signal is OFF (open), mode is set to Mode 0. After restart
2 Always Mode 0
3 Always Mode 1
6.4.2 Homing/JOG Speed Table Input Signals

Connector
Pin No.
ON (close) Starts homing.
/HOME CN11-5
OFF (open) Stops homing.
ON (close) The deceleration point has been detected.
/DEC CN1-10 The current position has not reached, or passed
OFF (open)
Input the deceleration point.
ON (close) Starts forward JOG operation.
/JOGP CN11-7
OFF (open) Stops JOG operation.
ON (close) Starts reverse JOG operation.
/JOGN CN11-9
OFF (open) Stops JOG operation.
Connector
Type Signal Name Name
Pin No.
/JOG0 CN11-11 JOG speed table selection 0
Input
6-24
6.4 Homing/JOG Speed Table

The homing/JOG speed table operation signal can be set with the following parameters.

0
Starts homing when input signal is ON (close).
[Factory setting]
PnB04
1 Starts homing when input signal is OFF (open).
2, 3 Does not start homing.
0 Executes JOG operation in forward direction when input signal is ON
PnB05 Executes JOG operation in forward direction when input signal is
1
OFF (open).
2, 3 Does not execute JOG operation.
0 Executes JOG operation in reverse direction when input signal is ON After restart
PnB06 Executes JOG operation in reverse direction when input signal is
1
OFF (open).
2, 3 Does not execute JOG operation.
0
Starts deceleration in homing when input signal is ON (close).
[Factory setting]
PnB11 1 Starts deceleration in homing when input signal is OFF (open).
2 Sets homing limit switch always ON.
3 Sets homing limit switch OFF.
Parameter Signal Name Setting Factory Setting When Enabled

PnB07 /JOG0 0: When input signal is ON
(close), JOG speed table selec-
PnB08 /JOG1
PnB09 /JOG2 1: When input signal is OFF
(open), JOG speed table selec-
0 After restart
2: JOG speed table selection sig-
PnB0A /JOG3 nal is always active.
3: JOG speed table selection sig-
nal is always inactive.
Program Table
6-25
6 Program Table
6.4.3 Parameters Related to Homing
6.4.3 Parameters Related to Homing

Set the homing parameters with the parameters listed in the following table.

PnB25
Homing Moving Speed
PnB33
1000
Reference units/min
Homing Approach Speed
PnB35
1000
Reference units/min
Homing Creep Speed
PnB37
1000
Reference units/min
Homing Final Move Distance
-99999999 to 99999999 Reference unit 0 Immediately

0
Does not execute homing.
[Factory setting]
PnB31 1 /DEC and phase C are used for homing. After restart
2 Only /DEC is used for homing.
3 Only phase C is used for homing.
0
/HOME or ZRN command is used for homing in forward direction.
PnB32 [Factory setting] Immediately
1 /HOME or ZRN command is used for homing in reverse direction.
Note: After having completed homing, the current position where homing stopped will be switched to the setting of
PnB25.
6-26
6.5 Homing
6.5 Homing
Homing starts when the /HOME signal becomes active.
Homing stops if the /HOME signal becomes inactive again.
If the /HOME signal becomes active again while the homing is stopped, homing will be restarted from the
point where it was interrupted.
The homing will be canceled if operation is switched to JOG speed table mode with the /JOGP signal or /
JOGN signal, or the mode is switched with the /MODE 0/1 signal while the homing is stopped.
When parameter PnB31 = 0 (No homing), homing will end as soon as the control power supply is turned ON.
The smaller of the settings in parameter PnB29 (Acceleration) and PnB2B (Deceleration) will be used as the
homing acceleration and deceleration rate.
Note 1. When PnB31 is set to 0, homing cannot be done by the /HOME signal. If so, an E5DE error will occur.
2. Homing is available when an incremental encoder is used. When an absolute encoder is used, an E61E error will
occur if the /HOME signal is active.
/DEC and phase C of the encoder are used for homing (PnB31 = 1).
PnB33 Homing Moving Speed
PnB32 = 0: Forward PnB35 Homing Approach Speed

PnB37 Homing Creep Speed
PnB39 Homing Final Move
Distance
Encoder's phase C
(First phase-C input after /DEC signal
went from active to inactive)
4 ms min.
Only /DEC is used for homing (PnB31 = 2).

PnB35 Homing Approach Speed

PnB32 = 0: Forward PnB39 Homing Final Move
Distance
Encoder’s phase C
Only phase C of the encoder is used for homing (PnB31 = 3).

PnB35 Homing Approach Speed

PnB39 Homing Final Move
Program Table
PnB32 = 0: Forward
Distance
Encoder’s phase C
6-27
6 Program Table
6.6.1 Example of JOG Speed Table Operation
6.6 JOG Speed Table Operation

The /JOGP signal executes forward operation and the /JOGN signal executes reverse operation.
The /JOG0 to /JOG3 signals select the speed.
6.6.1 Example of JOG Speed Table Operation

The following diagram shows an example of JOG Speed Table operation.
JSPD4
JSPD12
JSPD5
JSPD13
JSPD7
JSPD15
Speed JSPD6
JSPD1
JSPD2
JSPD10
JSPD3
JSPD11
JSPD1
JSPD9
JSPD0
JSPD8
JSPD8
/JOGP
/JOGN
/JOG0
/JOG1
/JOG2
/JOG3
JOG Speed Table Operation
6-28
6.6 JOG Speed Table Operation
6.6.2 JOG Speed Table

A total of 16 speeds can be set for JSPD0 to JSPD15.
If the edited JOG speed table is saved to flash memory, it will be saved even after the control power supply is
turned OFF. Use one of the following methods to save the JOG speed table to flash memory.
• Execute the JSPDSTORE serial command

• Select “Save JOG Speed Table” from SigmaWin+
• Use the FnB05 utility function* to save JOG speed tables
Selection Signals
JSPD JOG Speed
/JOG3 /JOG2 /JOG1 /JOG0
0 nnnnnnnn --- --- --- ---
1 nnnnnnnn --- --- --- Active
2 nnnnnnnn --- --- Active ---
3 nnnnnnnn --- --- Active Active
4 nnnnnnnn --- Active --- ---
5 nnnnnnnn --- Active --- Active
6 nnnnnnnn --- Active Active ---
7 nnnnnnnn --- Active Active Active
8 nnnnnnnn Active --- --- ---
9 nnnnnnnn Active --- --- Active
10 nnnnnnnn Active --- Active ---
11 nnnnnnnn Active --- Active Active
12 nnnnnnnn Active Active --- ---
13 nnnnnnnn Active Active --- Active
14 nnnnnnnn Active Active Active ---
15 nnnnnnnn Active Active Active Active
Note 1. The “---” symbols indicate an inactive signal status.
2. JSPD: JOG speed number
/JOG0 to /JOG3: Selection signals
JOG speed: Speed setting
Setting range: 1 to 99999999 (1000 Reference units/min)
Factory setting: 1000 Program Table
6-29
6 Program Table
6.6.3 Input Conditions for Homing and JOG Speed Table Operation
6.6.3 Input Conditions for Homing and JOG Speed Table Operation
The following table shows the functions of the signals related to homing and JOG speed table operation.
/HOME /JOGP /JOGN Operation
Active Start or restart

Inactive Inactive homing
Inactive
Active Forward JOG

Inactive Inactive operation
Inactive
Active Reverse JOG

Inactive Inactive operation
Inactive
Inactive Inactive Inactive Stop
Active Active
Inactive Stop
Active Active
Inactive Stop
Active Active
Inactive Stop
Active Active Active

Stop
6.6.4 Input Signal Timing Specifications for Homing and JOG Speed Table
Operation
The following figures show the timing specifications of input signals for homing and JOG speed table opera-
tion.
/MODE 0/1
/HOME
4 ms min. 0 ms min.
/MODE 0/1
/JOGP
4 ms min. 0 ms min.
/MODE 0/1
/JOGN
4 ms min. 0 ms min.
/HOME
/JOGP
/JOGN
4 ms min. 4 ms min.
6-30
7
Serial Command Communications
This chapter describes the INDEXER Module’s serial command communications.
7.1 CN12 Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.2 Setting the Axis Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.3 Parameters Related to Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 Command/Response Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.4 Global Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.5 Echoback Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.6 Response Data Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.6.1 Positive Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.6.2 Negative Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.7 Serial Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

7.7.1 Basic Operation Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.7.2 Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

7.7.3 Parameter Edit Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.7.4 Program Table Setup Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
7.7.5 Program Table Operation Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
7.7.6 Zone Table Setup Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
7.7.7 JOG Speed Table Setup Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
7.7.8 Monitor and Utility Function Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
7-1
7 Serial Command Communications
7.1 CN12 Connector Specifications

The following table shows the specifications of the CN12 connector.
Item Specifications
Full duplex (RS-422 or RS-485) or half duplex (RS-485)
Interface
(Set the appropriate wiring method with parameter PnB00.)
Synchronization Start-stop synchronization (ASYNC)
9600, 19200, or 38400 bps
Bit Rate
Start Bits 1 bit
Data Bits 7 bits, ASCII code
Parity Bits 1 bit, even parity
Stop Bits 1 bit
X-ON/X-OFF Control No
DTR/DSR Control No
RTS/CTS Control No
Each character, Each command, or None
Echoback
Data structure
Character string
Stop bit
Start bit Even parity
Data
7-2
7.2 Settings
7.2 Settings
This section explains the settings for the INDEXER Module’s serial commands.
7.2.1 Block Diagram

The following block diagram shows the basic connections for multi-axis control.
Host
controller
#1 #2
SGDV SGDV
CN12 CN12
M M
Up to 16 axes can be connected.
For details on wiring, refer to 4.3 Serial Command Communications Connector (CN12).
7.2.2 Setting the Axis Address

Axis addresses can be set with parameter Pn010 (axis address selection). Set an axis address in the range 1 to
F. If an address outside this range is set, serial command communications will not be performed. For details on
the parameter setting method, refer to Σ-V Series User's Manual Design and Maintenance Rotational Motor/
Note: With the INDEXER Module (NS600) for SGDH SERVOPACKs, axis addresses were set with rotary switches, but
with INDEXER Modules (SGDV-OCA03A) for SGDV SERVOPACKs, axis addresses are set in the parameters.
7.2.3 Parameters Related to Serial Communications

The following table shows the parameters that set the communications protocol, bit rate, and “OK” response.

0 Full-duplex wiring is used for communications method.
[Factory setting] Echoback is performed for each character.
Half-duplex wiring is used for communications method.
2
CR is used as the delimiter.

3 CR is used as the delimiter.
Echoback is performed for each character.
4 CR is used as the delimiter.
PnB00 After restart
Echoback is performed for each command.
5
CRLF is used as the delimiter.
6 CRLF is used as the delimiter.
7 CRLF is used as the delimiter.
Echoback is performed for each command. 7
8, 9 Reserved parameter
0
Sets bit rate at 9600 bps.
[Factory setting]
PnB01 After restart
1 Sets bit rate at 19200 bps.
7-3
(cont’d)

0 Does not return OK response.
PnB02 1 Immediately
Returns OK response.
[Factory setting]
7.3 Command/Response Format

The following diagram shows the command/response format.
Command (Host controller → INDEXER Module) Response (Host controller ← INDEXER Module)
Axis no. Command character string Delimiter Axis no. Response character string Delimiter
Example: 1SVON [CR] Example: 1OK [CR] [LF]

2SVON [CR] 2OK [CR] [LF]
1POS10000 [CR] 1OK [CR] [LF]
2POS10000 [CR] 2OK [CR] [LF]
1ST [CR] 1OK [CR] [LF]
2ST [CR] 2OK [CR] [LF]
1PUN [CR] 1PUN = +00004567 [CR] [LF]
2PUN [CR] 2PUN = -00002345 [CR] [LF]
Note: When full-duplex wiring is being used, either [CR] or [CR] Note: The response’s delimiter is always [CR] [LF].
[LF] can be used as the delimiter. Alphabetical characters in the response are always upper-
When half-duplex wiring is being used, set the delimiter to case.
either [CR] or [CR] [LF] with parameter PnB00.
In both cases, [CR] [LF] will be returned as the echoback.
Upper-case and lower-case characters can be used in the
command (including the axis number) and are treated the
same.
Note: In ASCII, the [CR] character is 0D Hex and the [LF] character is 0A Hex.
To maximize communications reliability, confirm the echoback and responses to each com-
mand while communicating with the INDEXER Module. When the echoback and responses
are not being confirmed, improve the communications reliability by reading the status when
appropriate.
7-4
7.4 Global Commands
7.4 Global Commands

Global commands are commands that are sent to all axes at the same time.
Command (Host controller → INDEXER Module) Response (Host controller ← INDEXER Module)
“*” Command character string Delimiter
Example: *SVON [CR]

*ST [CR]
*PUN [CR] No response returned.
The axis number setting “*” is the global address and addresses all
axes.
No echoback or response is returned when the global address is
used.
When global commands are used, improve the communications reliability by reading the status when
appropriate.
7-5
7.5 Echoback Response Time

The following diagram shows the response time from the command transmission until the echoback.
Stop bit
Command
tE
High impedance High impedance
Echoback
Start bit
PnB00 (Protocol) Settings tE Min. tE Max.
1: Full-duplex wiring is used for communications 1

− 1
method. Bit rate × 2 100 μs +
Bit rate × 2
(Centered at the command stop bit)
3: Half-duplex wiring is used for communications
method.
method.
Echoback is performed for each command. 1 1
250 μs − 600 μs +
6: Half-duplex wiring is used for communications Bit rate × 2 Bit rate × 2
method.
method.
Echoback is performed for each command.
<Example>
• Echoback response time when PnB00 = 1 (9600 bps):
tE min. = − 1 = − 1 = −52 μs
Bit rate × 2 9600 × 2
When using half-duplex wiring, the host controller must set the line driver to high impedance within the
tE min. response time.
7-6
7.6 Response Data Details
7.6 Response Data Details

There are positive responses and negative responses.
The positive response indicates normal operation and the negative response indicates an error.
7.6.1 Positive Responses

There two kinds of positive responses, responses that return data (for commands such as PRM) and responses
that do not return data (for commands such as SVON).
For commands that require data to be returned, refer to the description of the individual command for details
on the structure of the response’s character string.
For commands that do not require data to be returned, the positive response is “OK” unless parameter PnB02
is set to 0. If PnB02 = 0, there is no response.
Structure of the Response “OK”

OK [SP] [SP] [SP] [SP] [SP] [SP] [SP] [SP] [SP] [CR] [LF]
Note: In ASCII, the [SP] character is 20 Hex, the [CR] character is 0D Hex, and the [LF] character is 0A Hex.
7.6.2 Negative Responses

There will be no response if one of the following errors is detected: a parity error (E48E), framing error
(E49E), or overrun error (E4AE). There will be no response to a global command or a command with an
incorrect axis number.
In all other cases, a negative response will be returned if an error is detected.
Structure of the Negative Response

Undefined Command Error E56E [SP] ERR [SP] SN [CR] [LF]
Address Out-of-range Error E57E [SP] ERR [SP] PN [CR] [LF]
Data Out-of-range Error E58E [SP] ERR [SP] OV [CR] [LF]
ExxE [SP] [SP] [SP] [SP] [SP] [SP] [SP] [CR] [LF]
Other Errors
The xx is the error number.
Note: In ASCII, the [SP] character is 20 Hex, the [CR] character is 0D Hex, and the [LF] character is 0A Hex.
7-7
7.7.1 Basic Operation Commands
7.7 Serial Commands

The axis number and delimiter are attached to actual serial commands, but are omitted here.
Some data in responses (such as parameters, table numbers, and monitored data) is expressed numerically. The
presence/absence of the sign and the number of digits are correct in the numerical data shown in these exam-
ples, but the sign and numerical value will vary in actual applications.
7.7.1 Basic Operation Commands

The following table shows the basic operation commands.
Basic Operation Commands
Serial Command Function/Description Positive Response (Normal Response)

Servo ON
Supplies power to the motor.
SVON OK
This command is the same as turning ON
the /S-ON signal.
Servo OFF
Stops the power supply to the motor.
SVOFF OK
This command is the same as turning
OFF the /S-ON signal.
The response “OK” will be returned when the alarm has
been cleared. The alarm code will be returned if the
alarm remains uncleared.
Alarm Reset
ARES ALM [SP] A. xxx [SP] [CR] [LF]
Clears the alarm. (The xxx is the SGDV alarm code.)
ALM [SP] E xxA [SP] [CR] [LF]
(The xx is the INDEXER Module alarm code.)
None (No response)
Note: If the RES command has been successfully exe-
cuted, no response will be returned. Because the
Reset execution of the RES command resets all status
RES * This command is the same as turning in the same way that restarting the control power
OFF/ON the control power supply. supply will, serial communications will be unsta-
ble for a maximum of 5 seconds after the RES
command is used. Wait at least 5 seconds before
sending the next command.
∗ RES command is available for firmware version 3 or later.
7-8
7.7 Serial Commands
7.7.2 Control Commands

The following table shows the control commands.
Control Commands
Positive
Serial Command Function/Description
Response
Target Position Specification (Absolute Position)
Setting range: −99999999 ≤ nnnnnnnn ≤ +99999999 [Reference units]

Specifies the target position as an absolute position.
Speed SPDx
POSy or POSz or
POSAy POSAz
ST ST ST
POS (±) nnnnnnnn * When the target position is an

POSA (±) nnnnnnnn absolute position, the axis will not
OK
(The + sign can be move if the same positioning is
omitted.) X repeated with ST.
Position coordinate
Note: If a new target position is specified during positioning, the new target position will be
used in the next ST command.
Target Position Specification (Relative Distance)

Specifies the target position as a relative distance.
Speed
SPDx
POSIy
ST ST ST
POSI (±) nnnnnnnn * The same positioning is

(The + sign can be repeated with ST. OK
omitted.) X
(y) (y) (y)

0 t
b b+y b+2y b+3y Position coordinate

Note: If a new target position is specified during positioning, the new target position will be
used in the next ST command.
Positioning Speed Specification
Setting range: 1 ≤ nnnnnnnn ≤ +99999999 [1000 reference units/min]

Specifies the positioning speed.
After the control power supply is turned ON, the positioning speed set in parameter PnB27 will
be used until the SPD command is executed.
SPDnnnnnnnn For example, when the reference unit is 0.01 mm and the desired speed is 15 m/min: OK 7
15 m/min = 15000 mm/min
= 15000 × 100 reference unit/min
= 1500 [1000 reference unit/min]
SPD1500
Note: If a new positioning speed is specified during positioning, the new speed will become
effective from the next positioning.
7-9
Control Commands (cont’d)
Positive
Response
Acceleration Specification
Setting range: 1 ≤ nnnnnnnn ≤ +99999999 [1000 (reference units/min)/ms]

Speed
reference
V
ACCnnnnnnnn Time OK
t1 t2 t3 t4

Acceleration =
t2 - t1 [ms]

Deceleration =
t4 - t3 [ms]
Note: The acceleration setting in parameter PnB29 can also be used. Executing the command
ACCnnnnnnnn is the same as executing TRMB29 = nnnnnnnn.
Deceleration Specification
Setting range: 1 ≤ nnnnnnnn ≤ +99999999 [1000 (reference units/min)/ms]

DECnnnnnnnn OK
Note: The deceleration setting in parameter PnB2B can also be used. Executing the command
DECnnnnnnnn is the same as executing TRMB2B = nnnnnnnn.
Positioning Start
Starts positioning with the speed specified by the SPD command and the target position speci-
fied by the POS, POSA, or POSI command.
The target position specification and speed specification can be omitted. In this case, the previ-
ous positioning will be repeated.
Error E51E will occur if the ST command is executed but the target position hasn’t been speci-
fied even once. If the ST command is executed but the speed hasn’t been specified even once,
the speed specified in parameter PnB27 will be used.
When positioning has been stopped with the HOLD command, the positioning will be restarted
(the hold will be cleared) if the ST command is executed.
Example 1:
POSI + nnnnnnnn: Target Position Specification
SPDnnnnnnnn: Positioning Speed Specification
ST: Positioning Start
ST ST: Repeat OK
Example 2:
ST: Positioning Start (using the speed specified in PnB27)
Example 3:
ST: Positioning Start
HOLD: Positioning Interruption
ST: Positioning Restart (Clear Hold)
Note: An E53E error will occur if a new move command such as the ST command is received
while the motor is already moving (positioning or other moving operation). Execute a
move command such as the ST command only after the previous moving operation has
been completed.
7-10
7.7 Serial Commands
Positive
Response
Positioning Start (Absolute Position)
Specifies the absolute position nnnnnnnn as the target position and starts positioning at the same
time. This command is equivalent to the following combination:
POSA + nnnnnnnn → ST
Example:
ST (±) nnnnnnnn STA + nnnnnnnn: Target Position Specification and Positioning Start
STA (±) nnnnnnnn Speed SPDx (Disabled) OK
(The + sign can be STy or STAy STz or STAz
ST *
omitted.)
X
(y-a) (z-y)
0 t
a y z Position
coordinate
∗ When the target position is an absolute position, the axis will not move if the same position-
ing is repeated with ST.
Positioning Start (Relative Position)
Specifies the relative distance nnnnnnnn as the target position and starts positioning at the same
time. This command is equivalent to the following combination:
POSI + nnnnnnnn → ST
Example:
STI (±) nnnnnnnn SPDnnnnnnnn: Positioning Speed Specification
STI + nnnnnnnn: Target Position Specification and Positioning Start
(The + sign can be OK
omitted.) Speed
SPDx
STIy ST * The same position-
ing is repeated with

X ST.
(y) (y)
0 t
a a+y a+2y Position coordinate
7-11
Positive
Response
Registration Distance Specification
Setting range: 0 ≤ nnnnnnnn ≤ 99999999 [Reference units]
Specifies the registration distance that is used in the RS, RSnnnnnnnn, RSAnnnnnnnn, and
RSInnnnnnnn commands.
POSa
RDSTb
RDSTnnnnnnnn SPDx OK
Speed RSPDy
x
y
b
/RGRT
Note: Alarm E23A will occur (the motor will become servo OFF state) if the /RGRT signal
latched but the registration distance is longer than the deceleration distance.
Registration Speed Specification
Setting range: 1 ≤ nnnnnnnn ≤ 99999999 [1000 reference units/min]
Specifies the registration speed.

RSPDnnnnnnnn OK
After the control power supply is turned ON, the registration speed set in parameter PnB27 will
be used until the speed is specified with this command.
Note: If a new registration speed is specified during registration operation, the new speed will
become effective from the next registration operation.
7-12
7.7 Serial Commands
Positive
Response
Positioning Start with Registration
Starts positioning with the speed specified by the SPD command and the target position speci-
fied by the POS, POSA, or POSI command.
If the /RGRT signal goes ON during positioning, that position is latched and the motor will
move the specified relative distance from the latched position. The registration operation uses
the registration distance specified by the RDST command and the registration speed specified
by the RSPD command.
The target position specification, positioning speed specification, registration distance specifica-
tion, and registration speed specification can be omitted. In this case, the positioning performed
in the previous registration operation will be repeated.
Error E51E will occur if the RS command is executed but the target position hasn’t been speci-
fied even once. Error E52E will occur if the RS command is executed but the registration dis-
tance hasn’t been specified even once. If the RS command is executed but the positioning speed
and registration speed haven’t been specified even once, the speed specified in parameter
PnB27 will be used either as the positioning speed or the registration speed.
When registration positioning has been stopped with the HOLD command, the registration posi-
tioning will be restarted (the hold will be cleared) if the RS command is executed.
Example 1:
RS SPDnnnnnnnn: Positioning Speed Specification OK
RDSTnnnnnnnn: Registration Distance Specification
RSPDnnnnnnnn: Registration Speed Specification
RS: Positioning Start with Registration
RS: Repeat
Example 2:
POSI + nnnnnnnn:Target Position Specification
RS: Positioning Start with Registration (using the speed specified in PnB27
for both the positioning and registration speeds)
Example 3:
RS: Positioning Start with Registration
HOLD: Positioning Interruption
RS: Positioning Restart (Clear Hold)

Note: Error E53E will occur if a new move command such as the RS command is received
while the motor is already moving (positioning or other moving operation). Execute a
move command such as the RS command only after the previous moving operation has
been completed.
Positioning Start with Registration (Absolute Position)
RS (±) nnnnnnnn Specifies the absolute position nnnnnnnn as the target position and starts registration position-
RSA (±) nnnnnnnn ing at the same time. This command is equivalent to the following combination:
POSA + nnnnnnnn → RS OK
(The + sign can be
omitted.)
Example: 7
RSA +nnnnnnnn: Target Position Specification and Positioning Start with Registration
7-13

Positive
Response
Positioning Start with Registration (Relative Distance)
Specifies the relative distance nnnnnnnn as the target position and starts registration positioning
RSI (±) nnnnnnnn at the same time. This command is equivalent to the following combination:
(The + sign can be POSI + nnnnnnnn → RS OK
omitted.)
Example:
RDSTnnnnnnnn: Registration Distance
RSI +nnnnnnnn: Target Position Specification and Positioning Start with Registration
JOG Forward/Reverse
Starts JOG forward or JOG reverse operation at the speed specified in nnnnnnnn.
JOGPnnnnnnnn: Forward
JOGNnnnnnnnn: Reverse
The specified speed and JOG direction can be changed while jogging is in progress.
JOGPnnnnnnnn
Speed SKIP OK
JOGNnnnnnnnn
JOGPx JOGNy JOGNz JOGPx
0 t
z
7-14
7.7 Serial Commands
Positive
Response
JOG Forward/Reverse with Registration
Starts JOG forward or JOG reverse operation at the speed specified in nnnnnnnn.
RJOGPnnnnnnnn: Forward
RJOGNnnnnnnnn: Reverse
If the /RGRT signal goes ON during forward/reverse jogging, that position is latched and the
motor will move the specified relative distance from the latched position. The registration oper-
ation uses the registration distance specified by the RDST command and the registration speed
specified by the RSPD command.
Error E52E will occur if the RJOGP/RJOGNnnnnnnnn command is executed but the registra-
tion distance hasn’t been specified even once. If the RJOGP/RJOGNnnnnnnnn command is exe-
cuted but the registration speed hasn’t been specified even once, the speed specified in
parameter PnB27 will be used for the registration speed.
When registration jogging has been stopped with the HOLD command, forward registration
RJOGPnnnnnnnn jogging will be restarted (the hold will be cleared) when the RJOGPnnnnnnnn command is exe-
cuted again. Reverse registration jogging will be restarted when the RJOGNnnnnnnnn com- OK
RJOGNnnnnnnnn
mand is executed again.
The specified speed and direction cannot be changed while jogging is in progress. Error E53E
will occur if the speed or direction is changed during operation.
Speed RDSTa
RSPDb
RJOGPx RJOGNy
x
b
a
0 t
a
-b
-y
/RGRT
7-15

Positive
Response
Homing Start
Starts homing.
When homing has been stopped with the HOLD command, homing will be restarted (the hold
will be cleared) when the ZRN command is executed again.
The parameters for homing are specified in parameters PnB31 to PnB39.
PnB31 PnB32
PnB33 to PnB39
Homing Method Homing Direction
PnB31 = 0:
No homing.
Homing ends when – –
the control power
supply is turned ON.
ZRN
Moving
speed
(PnB33) Approach Creep
speed speed
PnB31 = 1: (PnB35) (PnB37)
Uses the /DEC signal Final Move
ZRN and the encoder’s Distance
OK
(PnB39)
phase C. /DEC
Encoder phase C
First encoder phase-C signal after the

/DEC signal went from OFF to ON.
ZRN
PnB32 = 0: Forward Approach
PnB31 = 2: PnB32 = 1: Reverse speed Creep
(PnB35) speed
Uses the /DEC signal (PnB37)
only.
Final Move Dis-
tance (PnB39)
/DEC
ZRN Approach
speed
(PnB35) Creep
PnB31 = 3: speed
(PnB37)
Uses the encoder’s
phase C only. Final Move Dis-
Encoder tance (PnB39)
phase C
The current position when homing is completed is specified in PnB25.

When the control power supply is turned ON and homing is completed, the value of the current
position is replaced with the value in PnB25.
7-16
7.7 Serial Commands
Positive
Response

-99999999 to
Reference unit 0 After restart
+99999999

0
[Factory Does not execute homing.
setting]
PnB31 1 /DEC and phase C are used for homing. After restart

0
/HOME or ZRN command is used for
[Factory
homing in forward direction.
PnB32 setting] Immediately
/HOME or ZRN command is used for
1
homing in reverse direction.
Homing Moving Speed

PnB33
1000
ZRN 1 to 99999999 Reference units/ 1000 Immediately
min
Homing Approach Speed
PnB35
1000
1 to 99999999 Reference units/ 1000 Immediately
min
Homing Creep Speed

PnB37
1000
1 to 99999999 Reference units/ 1000 Immediately
min
Homing Final Move Distance
PnB39
-99999999 to
Reference unit 0 Immediately
+99999999
Note: 1.The software limits (PnB21 and PnB23) are disabled until homing is completed.
They are enabled after homing is completed. On the other hand, the overtravel sig-
nals (P-OT and N-OT signals) are enabled before homing is completed.
2. When an incremental encoder is being used, homing will be completed if the ZSET
command (coordinates setting) is executed instead of homing. 7
3. Error E5DE will occur if the ZRN command is executed while PnB31 = 0.
4. Homing can be performed only when an incremental encoder is being used. Error
E61E will occur if the ZRN command is executed and an absolute encoder is being
used.
7-17
Positive
Response
Coordinates Setting
Note: It can be dangerous to execute this command carelessly to switch the coordinates of the
reference position. After executing this command, confirm that the reference position
and the new coordinates are in agreement before starting operation.
• With an Incremental Encoder

Replaces the current position with nnnnnnnn.
Homing will be completed and the software limits (PnB21 and PnB23) will be enabled.
This coordinates setting will be cleared when the control power supply is turned OFF.
ZSET (±) nnnnnnnn Note: Parameter PnB25 will not be refreshed. PnB25 will be used as the current position OK
when the control power supply is turned ON and homing is completed.
• With an Absolute Encoder

Switches the current position to nnnnnnnn and refreshes PnB25 with the absolute position
offset so that the current position becomes nnnnnnnn.
The coordinates setting will remain effective after the control power supply is turned OFF.
Normally, this command is executed once during system setup and it is not necessary to exe-
cute it again. Each time that the command is executed, the content of PnB25 is refreshed and
stored in EEPROM, so this command must not be executed repeatedly or too frequently.
Note: When one of the Pn20E to Pn210, Pn205, or PnB20 to PnB25 parameters has been
changed, enable the new setting by turning the control power supply OFF and then ON
again before executing the command.
7-18
7.7 Serial Commands
Positive
Response
Positioning Interruption
Interrupts the current positioning.

The remainder of the positioning is put on hold.
When the HOLD command has interrupted a positioning initiated by an ST, STnnnnnnnn,
STAnnnnnnnn, or STInnnnnnnn command, the positioning can be restarted by executing the ST
command.
When the HOLD command has interrupted registration positioning initiated by an RS,
RSnnnnnnnn, RSAnnnnnnnn, or RSInnnnnnnn command, the registration positioning can be
restarted by executing the RS command.
When the HOLD command has interrupted a “forward jogging with registration” operation that
was initiated by the RJOGPnnnnnnnn command, the operation can be restarted by executing the
RJOGPnnnnnnnn command again.
When the HOLD command has interrupted a “reverse jogging with registration” operation that
was initiated by the RJOGNnnnnnnnn command, the operation can be restarted by executing the
RJOGNnnnnnnnn command again.
When the HOLD command has interrupted a homing initiated by the ZRN command, homing
can be restarted by executing the ZRN command.
When the HOLD command is executed during a JOG forward operation initiated by JOGP-
nnnnnnnn or a JOG reverse operation initiated by JOGNnnnnnnnn, the JOG operation will be
stopped.
SPDx
Speed POSIy
ST HOLD ST
x
(y1) (y2)
HOLD OK
0 t
(y1+y2 = y)
Remaining dis-
tance put on hold
When the HOLD command is executed after positioning is completed, a remaining distance of
zero is put on hold.
Speed SPDx
POSIy HOLD
ST ST ST
x
(y) (y)

0 t
If a new target position is specified while a positioning has been put on hold by the HOLD com-
mand, the remaining distance is canceled and the new target position is used instead.
Speed POSIz
SPDx HOLD ST
POSIy
ST
x
(y1) (z)
Remaining
distance
cancelled
7
7-19
Positive
Response
Even if a new target position is specified before the HOLD command is executed, the remaining
distance will be canceled and the new target position will be used instead.
Speed POSIz
SPDx HOLD ST
POSIy
ST
x
(y1) (z)
t
Remaining
distance
cancelled
When the speed setting has been changed, the new setting will be used when positioning is
restarted.
Example 1:
HOLD OK
Speed SPDx SPDz
POSIy ST
ST HOLD
x (y1+y2 = y)
z
(y1) (y2)
t
Example 2:
Speed SPDx
POSIy SPDz
ST HOLD
x ST
z
(y1)
(y2)
t
Positioning Stop
Stops the current positioning.

The remaining distance will be canceled.
SPDx
POSIy
ST SKIP Remaining
JOGPx SKIP
SKIP Speed distance OK
cancelled
x
0 t
7-20
7.7 Serial Commands
Positive
Response
POUT Specification
Specifies the operation of programmable output signals /POUT0 to /POUT7.
Settings:
N: Inactive
A: Active
Z: Zone table
POUTnnnnnnnn “:”: Continue OK
POUT n n n n n n n n
/POUT0
/POUT1
/POUT2
/POUT3
/POUT4
/POUT5
/POUT6
/POUT7
7-21
7.7.3 Parameter Edit Commands
7.7.3 Parameter Edit Commands

The following table shows the Parameter Edit Commands.
Parameter Edit Commands
Serial Command Function/Description Positive Response

Parameter Read An 8-digit signed decimal value is returned for
commands PRM124, PRM164, PRM165, PRM550
Reads a parameter. to PRM553, PRMB21, PRMB23, PRMB25,
ppp: Parameter number (Pn number) PRMB39, and PRMB50.
Example: PRMB21 = +12345678 [CR] [LF]
Example: Reading PnB00
Command: 1PRMB00 [CR] An 8-digit hexadecimal value is returned for com-
Response: 1PRMB00 = 00000001 [CR] [LF] mands PRM000 to PRM002, PRM006 to PRM
009, PRM00B to PRM00D, PRM010, PRM10B,
PRM139, PRM140, PRM160, RPM170, PRM310,
PRMppp PRM408, PRM460, PRM530, PRM587.
Example: PRM000 = 00001234 [CR] [LF]
A 10-digit unsigned decimal value is returned for

commands PRM20E, PRM210, PRM212,
PRM520, PRM526, and PRM531.
Example: PRM20E=1234567890 [CR] [LF]
An 8-digit unsigned decimal value is returned for

all other parameters.
Example: PRMB00 = 12345678 [CR] [LF]
Parameter Write
Sets a parameter.
ppp: Parameter number (Pn number)
Parameters are stored in EEPROM, so the settings

will be retained after the control power supply is
turned OFF. Because the value is stored in EEPROM,
PRMppp = (±) nnnnnnnn this command must not be used if the setting needs to OK
be changed frequently. In such a case, use the TRM-
ppp = (±) nnnnnnnn command.
Note: Parameter settings are either enabled immedi-

ately or after restarting the power supply. For
details, refer to 10.1 Parameter List for
INDEXER Module.
Temporary Parameter Write
Sets a parameter.
ppp: Parameter number (Pn number)
The PRMppp = (±) nnnnnnnn command stores the

parameter setting in EEPROM, but the TRMppp =
(±) nnnnnnnn command does not. Because this com-
mand does not write the setting in EEPROM, it can
TRMppp = (±) nnnnnnnn be used to change settings frequently. OK
Note: Parameter settings are either enabled immedi-

ately or after restarting the power supply.
To edit parameters that are enabled after
restarting, use the PRMppp = (±) nnnnnnnn
command instead of the TRMppp = (±)
nnnnnnnn command. For details, refer to 10.1
Parameter List for INDEXER Module.
7-22
7.7 Serial Commands
Parameter Edit Commands (cont’d)

Parameter Initialization
PRMINIT Resets all parameters to their factory settings. OK

After executing PRMINIT, turn the control power
supply OFF and ON.
7-23
7.7.4 Program Table Setup Commands

The following table shows the Program Table Setup Commands.
Program Table Setup Commands

Program Table Save
Saves the program table in flash memory.

Once PGMSTORE is executed, the program table will be
retained after the control power supply is turned OFF. Because
the program table is stored in flash memory, this command must
PGMSTORE not be executed frequently. OK
Note: Do not turn OFF the control power supply while PGM-
STORE is being executed.
Execution can take a few seconds to slightly longer than
10 seconds. The green LED will flash during execution.
Program Table Initialization
Resets all values in the program table to their factory settings.
PGMINIT Note: Do not turn OFF the control power supply while OK
PGMINIT is being executed.
Execution can take a few seconds to slightly longer than
10 seconds. The green LED will flash during execution.
Program Table POS Read POST123 = A+12345678 [CR] [LF]
POST123 = I+12345678 [CR] [LF]
Reads the POS value (positioning target position). POST123 = S+12345678 [CR] [LF]
sss: Program step (PGMSTEP) POST123 = +INFINITE [SP] [CR] [LF]
POSTsss
POST123 = STOP [SP] [SP] [SP] [SP]
[SP] [SP] [CR] [LF]
POST123 = -[SP] [SP] [SP] [SP] [SP]
[SP] [SP] [SP] [SP] [CR] [LF]
Program Table POS Write
Sets the POS value (positioning target position).

sss: Program step (PGMSTEP)
Settings:
Annnnnnnn: Absolute position [Reference units]
(−99999999 ≤ nnnnnnnn ≤ +99999999)
POSTsss = nnnnnnnn OK
Innnnnnnn: Relative distance [Reference units]
(−99999999 ≤ nnnnnnnn ≤ +99999999)
Snnnnnnnn: Continuous stop [Reference units]
(−99999999 ≤ nnnnnnnn ≤ +99999999)
+INFINITE or -INFINITE:
JOG forward or JOG reverse
STOP: Stop
–: No specification
Program Table SPD Read
SPDTsss SPDT123 = 12345678 [CR] [LF]
Reads the SPD value (positioning speed).
Program Table SPD Write
Sets the SPD value (positioning speed).

SPDTsss = nnnnnnnn sss: Program step (PGMSTEP) OK
Settings:
1 ≤ nnnnnnnn ≤ +99999999 [1000 reference units/min]
7-24
7.7 Serial Commands
Program Table Setup Commands (cont’d)

Program Table RDST Read
RDSTT123 = 12345678 [CR] [LF]
RDSTTsss RDSTT123 = -[SP] [SP] [SP] [SP] [SP]
Reads the RDST value (registration distance).
[SP] [SP] [CR] [LF]
Program Table RDST Write
Sets the RDST value (registration distance).

RDSTTsss = nnnnnnnn OK
Settings:
0 ≤ nnnnnnnn ≤ 99999999:
Registration distance [Reference units]
-: No registration
Program Table RSPD Read
RSPDTsss RSPDT123 = 12345678 [CR] [LF]
Reads the RSPD value (registration speed).
Program Table RSPD Write
Sets the RSPD value (registration speed).

RSPDTsss = nnnnnnnn sss: Program step (PGMSTEP) OK
Settings:
1 ≤ nnnnnnnn ≤ +99999999 [1000 reference units/min]
Program Table ACC Read
ACCTsss = 12345678 [CR] [LF]
ACCTsss ACCTsss = :[SP] [SP] [SP] [SP] [SP]
Reads the ACC value (acceleration).
[SP] [SP] [CR] [LF]
Program Table ACC Write
Sets the ACC value (acceleration).

ACCTsss = nnnnnnnn OK
Settings:
1 ≤ nnnnnnnn ≤ +99999999: Acceleration [1000 (reference
units/min)/ms]
“:”: Continues the previously executed program step’s specifi-

cation.
Program Table DEC Read
DECTsss = 12345678 [CR] [LF]
DECTsss DECTsss = :[SP] [SP] [SP] [SP] [SP]
Reads the DEC value (deceleration).
[SP] [SP] [CR] [LF]
Program Table DEC Write
Sets the DEC value (deceleration).

DECTsss = nnnnnnnn OK
Settings:
1 ≤ nnnnnnnn ≤ +99999999: Deceleration [1000 (reference
units/min)/ms]
cation.
7
Program Table POUT Read
POUTTsss POUTT123 = NANANANZ [CR] [LF]
Reads the POUT value (programmable output signal).
7-25

Program Table POUT Write
Sets the POUT value (programmable output signal).

Settings:
N: Inactive
A: Active
Z: Zone table
POUTTsss = nnnnnnnn “:”: Continues the previously executed program step’s specifi- OK
cation.
POUT n n n n n n n n
/POUT0
/POUT1
/POUT2
/POUT3
/POUT4
/POUT5
/POUT6
/POUT7
Program Table EVENT Read EVENTT123 = T12345 [SP] [SP] [SP]
[SP] [CR] [LF]
Reads the EVENT value (pass condition). EVENTT123 = IT12345 [SP] [SP] [SP]
sss: Program step (PGMSTEP) [CR] [LF]
EVENTT123 = NT12345 [SP] [SP] [SP]
EVENTTsss [CR] [LF]
EVENTT123 = DT12345 [SP] [SP] [SP]
[CR] [LF]
EVENTT123 = SEL1T12345 [CR] [LF]
EVENTT123 =:[SP] [SP] [SP] [SP] [SP]
[SP] [SP] [SP] [SP] [CR] [LF]
Program Table EVENT Write
Sets the EVENT value (pass condition).

Settings:
I: INPOSITION (positioning completed) active
N: NEAR (near position) active
D: DEN (positioning reference distribution completed) active
SELx: SEL input signal active (x = 0 to 7)
Tnnnnn: Time elapsed (ms) since the program step started.
EVENTTsss = nnnnnnnn (0 ≤ nnnnn ≤ 99999) OK
ITnnnnn: Time elapsed (ms) after the INPOSITION signal
became active. (0 ≤ nnnnn ≤ 99999)
NTnnnnn: Time elapsed (ms) after the NEAR signal became
active. (0 ≤ nnnnn ≤ 99999)
DTnnnnn: Time elapsed (ms) after the DEN signal became
active. (0 ≤ nnnnn ≤ 99999)
SELxnnnnn: Time elapsed (ms) after the SEL input signal
became active.
(x = 0 to 7, 0 ≤ nnnnn ≤ 99999)
cation.
Program Table LOOP Read
LOOPTsss LOOPT123 = 12345 [CR] [LF]
Reads the LOOP value (number of repetitions).
7-26
7.7 Serial Commands

Program Table LOOP Write
Sets the LOOP value (number of repetitions).

LOOPTsss = nnnnn sss: Program step (PGMSTEP) OK
Setting:
1 ≤ nnnnn ≤ 99999
Program Table NEXT Read
NEXTT123 = 12345 [CR] [LF]
NEXTTsss
Reads the NEXT value (link destination). NEXTT123 = END [SP] [SP] [CR] [LF]
Program Table NEXT Write
Sets the NEXT value (link destination).

NEXTTsss = nnn OK
Settings:
0 ≤ nnn ≤ 255: Program step (PGMSTEP)
END: End
7-27
7.7.5 Program Table Operation Commands
7.7.5 Program Table Operation Commands

The following table shows the Program Table Operation Commands.
Program Table Operation Commands

Program Table Operation Start
Starts program table operation from program step sss.

STARTsss OK
When program table operation has been interrupted by the
STOP command or other method, the STARTsss command can
be executed to cancel that operation and simultaneously start a
new program table operation from program step sss.
Program Table Operation Restart
When program table operation has been interrupted by the

STOP command or other method, the START command can be
START executed to restart that operation (clearing the hold state). OK
If program table operation was canceled or ended, the START
command will start a new program table operation from the pro-
gram step (sss) that was specified in the last STARTsss com-
mand.
Program Table Operation Interruption
STOP Interrupts a program table operation. OK

When a positioning is in progress, the remainder of the opera-
tion (remaining distance) is put on hold.
Program Table Operation Reset
PGMRES When program table operation has been interrupted by the OK

STOP command or other method, the PGMRES command can
be executed to cancel that operation (reset program table opera-
tion.)
7-28
7.7 Serial Commands
7.7.6 Zone Table Setup Commands

The following table shows the Zone Table Setup Commands.
Zone Table Setup Commands

Zone Table Save
Saves the zone table in flash memory.

ZONESTORE Once ZONESTORE is executed, the zone table will be retained OK
after the control power supply is turned OFF. Because the zone
table is stored in flash memory, this command must not be exe-
cuted frequently.
Zone Table Initialization
ZONEINIT OK
Resets all values in the zone table to their factory settings.
Zone Table ZONEP Read
ZONEPTzz ZONEPT123 = +12345678 [CR] [LF]
Reads the ZONEP value (positive side zone boundary position.)
zz: Zone number (ZONE ID)
Zone Table ZONEP Write
Sets the ZONEP value (positive side zone boundary position).

ZONEPTzz = nnnnnnnn OK
Settings: −99999999 ≤ nnnnnnnn ≤ +99999999

Zone Table ZONEN Read
ZONENTzz Reads the ZONEN value (negative side zone boundary posi- ZONENT123 = +12345678 [CR] [LF]
tion.)
Zone Table ZONEN Write
Sets the ZONEN value (negative side zone boundary position).

ZONENTzz = nnnnnnnn OK
Settings: −99999999 ≤ nnnnnnnn ≤ +99999999
7-29
7.7.7 JOG Speed Table Setup Commands
7.7.7 JOG Speed Table Setup Commands

The following table shows the JOG Speed Table Setup Commands.
JOG Speed Table Setup Commands

JOG Speed Table Save
Saves the JOG speed table in flash memory.

JSPDSTORE Once JSPDSTORE is executed, the jog speed table will be OK
retained after the control power supply is turned OFF. Because
the JOG speed table is stored in flash memory, this command
must not be executed frequently.
JOG Speed Table Initialization
JSPDINIT OK
Resets all values in the JOG speed table to their factory settings.
JOG Speed Table Read
JSPDTdd JSPDT123 = 12345678 [CR] [LF]
Reads the JOG speed table setting for the specified number.
dd: JOG speed number
JOG Speed Table Write
Sets the JOG speed table setting for the specified number.
JSPDTdd = nnnnnnnn OK
dd: JOG speed number
Settings: 1 ≤ nnnnnnnn ≤ 99999999
7-30
7.7 Serial Commands
7.7.8 Monitor and Utility Function Commands

The following table shows the Monitor and Utility Function Commands.
Monitor and Utility Function Commands

One of the following responses is returned depend-
ing on the status.
• ALM [SP] A.xxx [SP] [CR] [LF]
(The “xxx” is the SERVOPACK’s alarm/warning
code.)
• ALM [SP] ExxA [SP] [CR] [LF]
(ExxA is the INDEXER Module’s alarm code.)
• ALM [SP] HBB [SP] [CR] [LF] *1
• ALM [SP] P-OT [SP] [CR] [LF]
ALM Alarm or Warning Read
• ALM [SP] N-OT [SP] [CR] [LF]
• ALM [SP] P-LS [SP] [CR] [LF]
• ALM [SP] N-LS [SP] [CR] [LF]
• ALM [SP] BB [SP] [SP] [SP] [CR] [LF]
• ALM [SP] HOLD [SP] [CR] [LF]
• ALM [SP] INPOS [CR] [LF]
• ALM [SP] NEAR [SP] [CR] [LF]
• ALM [SP] RUN [SP] [SP] [CR] [LF]
• ALM [SP] . [SP] [SP] [SP] [SP] [CR] [LF]
One of the following responses is returned depend-
ing on the status:
No alarm, SERVOPACK alarm, or INDEXER Mod-
Alarm History Read ule alarm.
ALMn
(0 ≤ n ≤ 9) • ALM1 = NONE [CR] [LF]
• ALM1 = A.xxx [CR] [LF]
• ALM1 = ExxA [CR] [LF]
One of the following responses is returned. A
response of “NONE” indicates that no errors have
ERR Most Recent Error Read occurred.
• ERR [SP] NONE [SP] [CR] [LF]
• ERR [SP] ExxE [SP] [CR] [LF]
IN1 = 01010101 [CR] [LF]
0: Photocoupler OFF
1: Photocoupler ON

Bit 0: /S-ON
IN1 SERVOPACK Input Signal Monitor Bit 1: /ALM-RST
Bit 2: P-OT
Bit 3: N-OT
Bit 4: /DEC
Bit 5: Not used (Invalid)
Bit 6: /RGRT
Bit 7: Not use (Always 0)
* 1. HBB response is available for firmware version 3 and later.
7-31
Monitor and Utility Function Commands (cont’d)

IN2 = 10101010101 [CR] [LF]
0: Photocoupler OFF
1: Photocoupler ON
Bit 0: /MODE 0/1

Bit 1: /START-STOP; /HOME
Bit 2: /PGMRES; /JOGP
IN2 INDEXER Module Input Signal Monitor
Bit 3: /SEL0; /JOGN
Bit 4: /SEL1; /JOG0
Bit 5: /SEL2; /JOG1
Bit 6: /SEL3; /JOG2
Bit 7: /SEL4; /JOG3
Bit 8: /SEL5
Bit 9: /SEL6
Bit 10: /SEL7
INDEXER Module Input Signal Specification
The actual signal is ignored and the input signal is

forcibly set to the specified status.
This command is used to test operation when the
actual signal line is not connected.
b = 0: Photocoupler OFF
b = 1: Photocoupler ON
Bit 0: /MODE 0/1

Bit 1: /START-STOP; /HOME
Bit 2: /PGMRES; /JOGP
Bit 3: /SEL0; /JOGN
Bit 4: /SEL1; /JOG0
Bit 5: /SEL2; /JOG1
Bit 6: /SEL3; /JOG2
Bit 7: /SEL4; /JOG3
IN2TESTbbbbbbbbbbb OK
Bit 8: /SEL5
Bit 9: /SEL6
Bit 10: /SEL7
IN2TESTEND: Return to actual signal status.
Note: 1. Error E56E will occur if fewer than 11 digits

(bbbbbbbbbbb) are specified in the com-
mand.
2. If operation is being performed in Mode 0
(program table operation mode), /MODE0/1
must be set to 1 before /START-STOP is set
to 1. If operation is being performed in Mode
1 (homing or JOG speed table operation
mode), /MODE0/1 must be set to 0 before
/HOME, /JOGP, or /JOGN is set to 1.
IN3 = 01010101 [CR] [LF]
0: Photocoupler OFF
*2 1: Photocoupler ON
IN3 Safety Input Signal Monitor
Bit 0: /HWBB1
Bit 1: /HWBB2
Bit 2 to Bit 7: Not used (indefinite)
* 2. IN3 command is available for firmware version 3 and later.
7-32
7.7 Serial Commands

OUT1 = 01010101 [CR] [LF]
0: Photocoupler OFF
1: Photocoupler ON
Bit 0: ALM
OUT1 SERVOPACK Output Signal Monitor Bit 1: /WRN
Bit 2: /BK
Bit 3: /S-RDY
Bit 4: ALO1
Bit 5: ALO2
Bit 6: ALO3
Bit 7: Not used (Always 0)
OUT2 = 101010101 [CR] [LF]
0: Photocoupler OFF
1: Photocoupler ON
Bit 0: /INPOSITION
OUT2 INDEXER Module Output Signal Monitor Bit 1: /POUT0
Bit 2: /POUT1
Bit 3: /POUT2
Bit 4: /POUT3
Bit 5: /POUT4
Bit 6: /POUT5
Bit 7: /POUT6
Bit 8: /POUT7
INDEXER Module Output Signal Specification
Forcibly sets the output signals to the specified status.

This command is used to check wiring.
b = 0: Photocoupler OFF
b = 1: Photocoupler ON
Bit 0: /INPOSITION
Bit 1: /POUT0
Bit 2: /POUT1
OUT2TESTbbbbbbbbb OK
Bit 3: /POUT2
Bit 4: /POUT3

Bit 5: /POUT4
Bit 6: /POUT5
Bit 7: /POUT6
Bit 8: /POUT7
OUT2TESTEND: Clears the forced signal status.
Note: Error E56E will occur if fewer than 9 digits

(bbbbbbbbb) are specified in the command.
POUT [SP] NNNAZZZZ [CR] [LF]
Bit 0: /POUT0
Bit 1: /POUT1
POUT POUT Monitor Bit 2: /POUT2
Bit 3: /POUT3 7
Bit 4: /POUT4
Bit 5: /POUT5
Bit 6: /POUT6
Bit 7: /POUT7
PGMSTEP Program Step (PGMSTEP) Monitor PGMSTEP = 12345 [CR] [LF]
Program EVENT Elapsed Time Monitor
EVTIME Monitors time elapsed (ms) for the EVENT function EVTIME = 12345 [CR] [LF]
in program table operation.
7-33

Program Table Operation LOOP Pass Through
LOOP LOOP = 12345 [CR] [LF]
Monitor
Monitor Read
(1 ≤ n ≤ 11) See following description of the responses for STS
MONn
to RDST.
See following description of STS to RDST.
STS = 1010101 [CR] [LF]
Bit 0: ON (1) when the /INPOSITION (positioning

completed) signal is active.
Bit 1: ON (1) when the NEAR (near position) signal
is active.
Bit 2: ON (1) when the DEN (positioning reference
STS or MON6 Status Flag Monitor
distribution completed) signal is active.
Bit 3: ON (1) when positioning or program opera-
tion is interrupted (on hold).
Bit 4: ON (1) during program operation.
Bit 5: ON (1) when the current (torque) is being
limited.
Bit 6: ON (1) when the main power supply is ON.
PUN or MON1 Current Distributed Position Monitor PUN = +12345678 [CR] [LF]
PFB or MON7 Current (Actual) Motor Position Monitor PFB = +12345678 [CR] [LF]
POS or MON8 Target Position Monitor POS = +12345678 [CR] [LF]
DST or MON9 Target Distance Monitor DST = +12345678 [CR] [LF]
RPOS or MON10 Registration Target Position Monitor RPOS = +12345678 [CR] [LF]
RDST or MON11 Registration Target Distance Monitor RDST = 12345678 [CR] [LF]
NFB or MON3 Motor Speed Monitor [min-1] (rotational motor) NFB = +12345678 [CR] [LF]
Motor Speed Monitor [mm/s] (linear motor)
TREF or MON5 Internal Torque Reference Monitor [%] TREF = +12345678 [CR] [LF]
NREF or MON4 Speed Reference Monitor [min-1] (rotational motor) NREF = +12345678 [CR] [LF]
Speed Reference Monitor [mm/s] (linear motor)
PER or MON2 Position Error Monitor [Reference units] PER = +12345678 [CR] [LF]
TRMS Cumulative Load Ratio Monitor [%] TRMS = 12345678 [CR] [LF]
RGRMS Regeneration Load Ratio Monitor [%] RGRMS = 12345678 [CR] [LF]
DBRMS Dynamic-Brake Load Ratio Monitor [%] DBRMS = 12345678 [CR] [LF]
HALLSENS = 1 [SP] LLH [CR] [LF]
HALLSENS Hall Sensor Monitor for Linear Motor A number Status of phase W [H or L]
between 0 and 7 Status of phase V [H or L]
Status of phase U [H or L]
INDEXER Module Model Code Display
TYPE = 00000A03 [CR] [LF]
TYPE
(Displayed in hexadecimal)
INDEXER Module Model Code = 0A03
INDEXER Module Special Specification No. Dis-
YSPEC YSPEC = 12345678 [CR] [LF]
play
VER = 00001234 [CR] [LF]
VER INDEXER Module Firmware Version Display
SERVOPACK Model Code Display
SVTYPE = 0000002A [CR] [LF]
SVTYPE
SGDV-E1A = 2A (Displayed in hexadecimal)
SGDV-E5A = 2D
SVYSPEC SERVOPACK Special Specification No. Display SVYSPEC = 12345678 [CR] [LF]
SVVER = 12345678 [CR] [LF]
SVVER SERVOPACK Firmware Version Display
7-34
7.7 Serial Commands

Motor Model Code Display
0111
Voltage Motor model
00 = 100 VAC 11 = SGMMJ
01 = 200 VAC 32 to 39 = SGMCS
02 = 400 VAC 40 = linear motor MTTYPE = 00001234 [CR] [LF]
MTTYPE
60 = SGMAV
62 = SGMSV
63 = SGMGV
6D = SGMJV
6E = SGMEV
FF = Undefined motor
MTSIZE Motor Capacity Display [10 W] MTSIZE = 12345678 [CR] [LF]
Encoder Model Code Display
000D: 13-bit incremental encoder

0011: 17-bit incremental encoder
0014: 20-bit incremental encoder
0110: 16-bit absolute encoder
0111: 17-bit absolute encoder
0114: 20-bit absolute encoder (multi-turn)
0214: 20-bit absolute encoder (within one rotation)
When fully-closed loop control is selected and linear
PGTYPE = 00001234 [CR] [LF]
PGTYPE motor is used:
0008: 8-bit serial converter unit
000C: 12-bit serial converter unit
0008: 8-bit incremental scale
0009: 9-bit incremental scale
000A: 10-bit incremental scale
000D: 13-bit incremental scale
0109: 9-bit absolute scale
010A: 10-bit absolute scale
Note: When fully-closed loop control is selected, the
external encoder’s information is displayed.
Encoder Firmware Version Display
PGVER = 00001234 [CR] [LF]
PGVER Note: When fully-closed loop control is selected, the (Displayed in hexadecimal)
external encoder’s information is displayed.

ABSPGRES Absolute Encoder Reset OK
MLTLIMSET Multi-turn Limit Setting OK
ALMTRCCLR Alarm Trace Clear OK
CURZERO Motor Current Zero Adjustment OK
7-35
8
Operation of Digital Operator
This chapter describes how to operate the digital operator when an INDEXER Module is
installed. For details on the basic operation of the digital operator, refer to the following
manuals.
• Σ-V Series User’s Manual Design and Maintenance Rotational Motor Command Option
Attachable Type (SIEP S800000 60)
• Σ-V Series User’s Manual Design and Maintenance Linear Motor Command Option Attach-
able Type (SIEP S800000 66)
• Σ-V Series User’s Manual Operation of Digital Operator (SIEP S800000 55)
The information given in this chapter applies to the following software versions.
INDEXER Module:Version 3 or later
8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 Functions List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Changing the Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.3 Reading the Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2 Operation of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

8.2.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.2.2 Program Table Edit/Save (FnB03) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.2.3 ZONE Table Edit/Save (FnB04) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
8.2.4 JOG Speed Table Edit/Save (FnB05) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14
8.2.5 Program Table Initialization (FnB06) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16

8.2.6 ZONE Table Initialization (FnB07) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.2.7 JOG Speed Table Initialization (FnB08) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.2.8 Absolute Encoder Origin Setting (FnB09) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19
8.2.9 INDEXER Status Monitor (FnB0A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
8.2.10 INDEXER Parameter Setting Initialization (FnB0B) . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.2.11 INDEXER Alarm Reset (FnB0C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.2.12 INDEXER Alarm History Display (FnB0D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8-1
8 Operation of Digital Operator
8.1.1 Functions List
8.1 Overview
8.1.1 Functions List
The table below shows whether functions of the digital operator can or cannot be used when an INDEXER
Module is installed.
This chapter describes the operating procedures for the functions indicated with the thick-bordered frame in
the table below. For details on functions other than those indicated by the thick-bordered frame, refer to Σ-V
Series User’s Manual Operation of Digital Operator (SIEP S800000 55).
Parameters/Monitoring Functions Utility Functions Parameter Copy Functions

SERVOPACK INDEXER INDEXER INDEXER
SERVOPACK SERVOPACK SERVOPACK
Monitor Module Module Utility Module
Parameters Utility Functions Parameters
Display Parameters Functions Parameters
Pn000 to Un000 to PnB00 to Fn000 to FnB03 to Pn000 to PnB00 to
Pn95F Un085 PnB52 Fn207 FnB0D Pn95F PnB52
When an
INDEXER
Module is
{ { { { { { ×*
installed
When no
INDEXER
{ { × { × { ×
Module is
installed
∗ To copy the INDEXER Module parameters (PnB00 to PnB52), use the SigmaWin+ parameter editing function.
8.1.2 Changing the Function

Connect the digital operator to the SERVOPACK, and turn ON the power to the SERVOPACK. The initial dis-
play appears, and then the Parameter/Monitoring Function screen appears. Press the key to change the
function.
Power ON
[Initial Display]
File list loading Displayed for two seconds
Please wait....
[Parameter/Monitoring Functions]
B B −PRM/MON−
Parameter Functions
U n 0 0 0= 0 0 0000
Sets and displays the internal parameters of the SERVOPACK
U n 0 0 2= 0 0 0000
U n 0 0 8= 0 0 000000000
and the INDEXER Module.
U n 0 0 D= 0 0 000000000 Monitoring Functions
Shows the numerical values and signal statuses that indicate
the internal data (speed, position and torque) of the SERVOPACK.
The figure to the left shows the Monitoring Function screen.
B B −FUNCTION− [Utility Functions]
F n0 1 E: V−Monitor Sets up the SERVOPACK, adjusts the servo gains, and maintains
F n0 0 0 : Alm History the SERVOPACK.
F n0 0 2 : JOG Edits the tables of the INDEXER Module, and performs
F n0 0 3 : Z−Search
INDEXER Module setting, monitoring and maintenance.
BB −COPY− [Parameter Copy Functions]

1:SERVO→OP Copies and stores the SERVOPACK parameters settings to the digital
2:OP→SERVO operator, or writes them into the SERVOPACK.
3:VERIFY
4:LIST
8-2
8.1 Overview
8.1.3 Reading the Screen
㧮㧮‫ޓޓޓޓޓ‬㧙㧼㧳㧹‫ޓ‬㧱㨐㨕㨠㧙
㧼㧻㧿㧜㧜㧜㧩㧵㧗㧝㧞㧟㧠㧡㧢㧣㧤
㧼㧻㧿㧜㧜㧝㧩㧭㧗㧝㧞㧟㧠㧡㧢㧣㧤
㧼㧻㧿㧜㧜㧞㧩㧗㧵㧺㧲㧵㧺㧵㨀㧱
㧼㧻㧿㧜㧜㧟㧩㧿㨀㧻㧼

• The SERVOPACK status is always displayed at the top left of the screen ( c ).
BB: Base blocked
RUN: Servomotor is ON
A. : Alarm/warning is in effect ( is the alarm/warning code).
PT NT: Forward run and reverse run prohibited (Over travel)*
P-OT: Forward run prohibited (Over travel)*
N-OT: Reverse run prohibited (Over travel)*
P-LS: Forward software limit*
N-LS: Reverse software limit*
NO-OP: Setting disabled or setting error
HBB: During hard wire base block
∗ Overtravel and software limit indications are supported by the following software version.
INDEXER Module: Version 3 or later
SERVOPACK: Version 001B or later.
• The figure of editing screen used in the program tables, ZONE tables and JOG speed tables has the follow-
ing elements.
d : The article and table number currently selected
e : The article of the table
f : The table number
g : The table settings
Note: The line beneath POS000 shows that this indication is flashing. This line does not appear on the actual screen. Note
also that the part that flashes is referred to as the cursor in this document.
8-3
8.2.1 Utility Functions
8.2 Operation of Utility Functions

8.2.1 Utility Functions
The following table shows whether utility functions can be set or not with the digital operator.
Possible/
Fn No. Function Not Remarks and Reference
Possible
This utility function cannot be used. Exe-
Fn000 Alarm history display ×
cute FnB0D instead.
• Σ-V Series User’s Manual Design and
Fn002 JOG operation {
Maintenance Rotational Motor Com-
mand Option Attachable Type (SIEP
Fn003 Origin search { S800000 60)
Maintenance Linear Motor Command
Fn004 Program JOG operation { Option Attachable Type (SIEP S800000
66)
Fn005 Initializing parameter settings ×
cute FnB0B instead.
Fn006 Clearing alarm history ×
cute FnB0C instead.
Absolute encoder multiturn reset and encoder alarm
Fn008 {
reset
Fn00C Offset adjustment of analog monitor output {
Fn00D Gain adjustment of analog monitor output {
Automatic offset-signal adjustment of motor current
Fn00E {
detection signal
Manual offset-signal adjustment of motor current
Fn00F {
detection signal
Fn010 Write prohibited setting {
Fn011 Servomotor model display {
Fn012 SERVOPACK software version display {
Multiturn limit value setting change when a multi-
Fn013 { • Σ-V Series User’s Manual Design and
turn limit disagreement alarm (A.CC0) occurs
Maintenance Rotational Motor Com-
Fn014 Resetting configuration error in option module { mand Option Attachable Type (SIEP
Fn01B Vibration detection level initialization { S800000 60)
Fn01E Display of SERVOPACK and servomotor ID { Maintenance Linear Motor Command
Fn01F Display of servomotor ID in feedback option module { Option Attachable Type (SIEP S800000
66)
Fn020 Origin setting {
Fn030 Software reset {
Fn080 Polarity detection {
Fn200 Tuning-less levels setting {
Fn201 Advanced autotuning {
Fn202 Advanced autotuning by reference {
Fn203 One-parameter tuning {
Fn204 Anti-resonance control adjustment function {
Fn205 Vibration suppression function {
Fn206 EasyFFT {
Fn207 Online vibration monitor {
FnB03 Program table edit/save { 8.2.2
{: Possible ×: Not possible
8-4
(cont’d)
Possible/
Fn No. Function Not Remarks and Reference
Possible
FnB04 ZONE table edit/save { 8.2.3
FnB05 JOG speed table edit/save { 8.2.4
FnB06 Program table initialization { 8.2.5
FnB07 ZONE table initialization { 8.2.6
FnB08 JOG speed table initialization { 8.2.7
FnB09 Absolute encoder origin setting { 8.2.8
FnB0A INDEXER status monitor { 8.2.9
FnB0B INDEXER parameter setting initialization { 8.2.10
FnB0C INDEXER alarm reset { 8.2.11
FnB0D INDEXER alarm history display { 8.2.12
{: Possible ×: Not possible
8-5
8.2.2 Program Table Edit/Save (FnB03)

This function edits and saves program tables. Saving a program table to flash memory after editing it ensures
that the data will be retained even after the control power has been turned off.
Codes Displayed on the Program Table Editing Screen

For details on how to read the screen, refer to 8.1.3 Reading the Screen.
0 POS000 SPD000 RDST000 RSPD000 ACC000 DEC000 POUT000 EVT000 LOOP000 NEXT000
…
…
(1) Preparation
The following conditions must be met to edit and save program tables.
• The write-prohibited setting (Fn010) must not be set to write-protect parameters.

• The program must not be running or on hold.
• The program tables must not being saved by any other means than using the digital operator.
• The RES command must not being executed.
(2) Editing Program Table
The operating procedure when setting the acceleration (ACC) in program step 5 is explained here.
Step Display after Operation Keys Operation
㧮㧮‫ޓޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧞㧜㧣‫ޓ‬㨂㧙㧹㨛㨚㨕㨠㨛㨞 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧟‫ޓ‬㧼㧳㧹‫ޓ‬㧱㨐㨕㨠 main menu, and move the cursor with the
㧲㨚㧮㧜㧠‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧱㨐㨕㨠
keys to select FnB03.
㧲㨚㧮㧜㧡‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧱㨐㨕㨠
㧮㧮‫ޓޓޓޓޓޓ‬㧙㧼㧳㧹‫ޓ‬㧱㨐㨕㨠㧙
㧼㧻㧿㧜㧜㧜㧩㧿㨀㧻㧼
2 㧼㧻㧿㧜㧜㧝㧩㧿㨀㧻㧼 Press the key to view the FnB03 operation screen.
㧼㧻㧿㧜㧜㧞㧩㧿㨀㧻㧼
Move the cursor using the keys and
㧭㧯㧯㧜㧜㧞㧩㧦 keys (or the + and + keys) to
3 㧭㧯㧯㧜㧜㧟㧩㧦 select the article and program step of the program table
㧭㧯㧯㧜㧜㧠㧩㧦
to be edited. For details on how to move the cursor,
㧭㧯㧯㧜㧜㧡㧩㧦
refer to Method for Moving the Cursor.

㧭㧯㧯㧜㧜㧞㧩㧦
4 Press the key to move the cursor to the setting side
㧭㧯㧯㧜㧜㧟㧩㧦
㧭㧯㧯㧜㧜㧠㧩㧦
of the table.
㧭㧯㧯㧜㧜㧡㧩㧦
㧮㧮‫ޓޓޓޓޓ‬㧙㧼㧳㧹‫ޓ‬㧱㨐㨕㨠㧙 Move the cursor with the keys, and change the
keys.*
㧭㧯㧯㧜㧜㧞㧩㧦
5 㧭㧯㧯㧜㧜㧟㧩㧦
table settings with the
㧭㧯㧯㧜㧜㧠㧩㧦 For details on how to set each field, refer to (3) Details
㧭㧯㧯㧜㧜㧡㧩㧜㧜㧜㧜㧝㧜㧜㧜 on How to Set Table Settings.
∗ If setting is attempted in an operation prohibited state, it will not be possible to change the setting. In this case, make
the setting again by referring to (1) Preparation.
8-6
(cont’d)
㧭㧯㧯㧜㧜㧞㧩㧦 On pressing the key, the setting is entered and the
6 㧭㧯㧯㧜㧜㧟㧩㧦 cursor returns to the program table article and program
㧭㧯㧯㧜㧜㧠㧩㧦 step side.
㧭㧯㧯㧜㧜㧡㧩㧜㧜㧜㧜㧝㧜㧜㧜
Repeat steps 3 to 6 to set the program table. On completing the setting of all the program tables to be used, save
7
the program tables to flash memory by following the procedure in (4) Saving Program Tables.
Method for Moving the Cursor

The values within the frames in the figure below are the articles and steps of the program table displayed at the
digital operator.
PGMSTEP POS SPD RDST RSPD POUT PGMSTEP POS SPD RDST RSPD
0 POS000 SPD000 RDST000 RSPD000 POUT000 0 POS000 SPD000 RDST000 RSPD000
Moves the displayed
column one column at a
time to the left or right.
On reaching the edge of
the table, movement
stops.
Moves the displayed rows up or down one row at a time.*

On reaching step 0, the next movement is to step 255.
PGMSTEP POS SPD RDST RSPD POUT

0 POS000 SPD000 RDST000 RSPD000 POUT000
∗ You can move 4 rows at a time by holding down the or key. By using the key at the same time as these
keys, you can move 30 rows at a time.
8-7
(3) Details on How to Set Table Settings

Details on the setting method for step 5 in 8.2.2 (2) Editing Program Table are shown below.
POS: Target Position
Change positioning
type Move cursor Change target position
㧼㧻㧿㧜㧜㧜㧩㧭㧗㧝㧞㧟㧠㧡㧢㧣㧤㧼㧻㧿㧜㧜㧜㧩㧭㧗㧝㧞㧟㧠㧡㧢㧣㧤㧼㧻㧿㧜㧜㧜㧩㧭㧗㧞㧞㧟㧠㧡㧢㧣㧤
Change positioning
type Move cursor Change target position
㧼㧻㧿㧜㧜㧜㧩㧵㧗㧝㧞㧟㧠㧡㧢㧣㧤㧼㧻㧿㧜㧜㧜㧩㧵㧗㧝㧞㧟㧠㧡㧢㧣㧤㧼㧻㧿㧜㧜㧜㧩㧵㧗㧞㧞㧟㧠㧡㧢㧣㧤
Change positioning
type
㧼㧻㧿㧜㧜㧜㧩㧗㧵㧺㧲㧵㧺㧵㨀㧱
Change positioning
type
㧼㧻㧿㧜㧜㧜㧩㧙㧵㧺㧲㧵㧺㧵㨀㧱
Change positioning
type
㧼㧻㧿㧜㧜㧜㧩㧙㧙㧙
Change positioning Change target position

type Move cursor
㧼㧻㧿㧜㧜㧜㧩㧿㧗㧝㧞㧟㧠㧡㧢㧣㧤㧼㧻㧿㧜㧜㧜㧩㧿㧗㧝㧞㧟㧠㧡㧢㧣㧤㧼㧻㧿㧜㧜㧜㧩㧿㧗㧞㧞㧟㧠㧡㧢㧣㧤
Note: For details on the positioning type and target position, refer to 6.1.4 (1) Program Table Functions.
SPD: Positioning Speed

Move cursor Change positioning speed
㧿㧼㧰㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧿㧼㧰㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧿㧼㧰㧜㧜㧜㧩㧝㧟㧟㧠㧡㧢㧣㧤
Note: For details on the positioning speed, refer to 6.1.4 (1) Program Table Functions.
RDST: Registration Distance

Move cursor Change registration distance
㧾㧰㧿㨀㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧾㧰㧿㨀㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧾㧰㧿㨀㧜㧜㧜㧩㧝㧟㧟㧠㧡㧢㧣㧤

If the value becomes less than 0,
“−” is displayed.
Note: For details on the registration distance, refer to 6.1.4 (1) Program Table Functions.
RSPD: Registration Speed

Move cursor Change registration speed
㧾㧿㧼㧰㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧾㧿㧼㧰㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧾㧿㧼㧰㧜㧜㧜㧩㧝㧟㧟㧠㧡㧢㧣㧤
Note: For details on the registration speed, refer to 6.1.4 (1) Program Table Functions.
8-8
ACC: Acceleration
Move cursor Change acceleration
㧭㧯㧯㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧭㧯㧯㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧭㧯㧯㧜㧜㧜㧩㧝㧟㧟㧠㧡㧢㧣㧤
“:” is displayed.
Note: For details on the acceleration, refer to 6.1.4 (1) Program Table Functions.
DEC: Deceleration
Move cursor Change deceleration
㧰㧱㧯㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧰㧱㧯㧜㧜㧜㧩㧝㧞㧟㧠㧡㧢㧣㧤㧰㧱㧯㧜㧜㧜㧩㧝㧟㧟㧠㧡㧢㧣㧤

“:” is displayed.
Note: For details on the deceleration, refer to 6.1.4 (1) Program Table Functions.
POUT: Programmable Output Signals

Move cursor Change programmable output signal
㧼㧻㨁㨀㧜㧜㧜㧩㧺㧭㨆㧦㧺㧭㨆㧦㧼㧻㨁㨀㧜㧜㧜㧩㧺㧭㨆㧦㧺㧭㨆㧦㧼㧻㨁㨀㧜㧜㧜㧩㧺㧺㨆㧦㧺㧭㨆㧦
Pressing the key changes the display

in the following order.
‫ޓޓ‬㧺ψ㧭ψ㨆ψ㧦
Pressing the key changes the display
in the reverse order.
Note: For details on the programmable output signal, refer to 6.1.4 (1) Program Table Functions.
EVENT: Pass Condition

Move cursor Change elapsed time
㧱㨂㨀㧜㧜㧜㧩㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㨀㧞㧞㧟㧠㧡
Change pass Move cursor Change elapsed time

condition
㧱㨂㨀㧜㧜㧜㧩㧵㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧵㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧵㨀㧞㧞㧟㧠㧡
Change pass Move cursor

condition Change elapsed time
㧱㨂㨀㧜㧜㧜㧩㧺㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧺㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧺㨀㧞㧞㧟㧠㧡

Change pass Move cursor

condition Change elapsed time
㧱㨂㨀㧜㧜㧜㧩㧰㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧰㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧰㨀㧞㧞㧟㧠㧡

Change pass
condition Move cursor Change elapsed time
㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧜㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧜㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧜㨀㧞㧞㧟㧠㧡
Change pass Move cursor Change elapsed time

condition
㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧝㨀㧝㧞㧟㧠㧡

㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧝㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧝㨀㧞㧞㧟㧠㧡

Change pass
condition
̖
Move cursor Change elapsed time
㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧣㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧣㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㧿㧱㧸㧣㨀㧞㧞㧟㧠㧡
Change pass condition 8

㧱㨂㨀㧜㧜㧜㧩㧦
Note: For details on the pass condition and elapsed time, refer to 6.1.4 (1) Program Table Functions.
8-9
LOOP: Number of Executions
Move cursor Change number of executions

㧸㧻㧻㧼㧜㧜㧜㧩㧜㧜㧜㧜㧝㧸㧻㧻㧼㧜㧜㧜㧩㧜㧜㧜㧜㧝㧸㧻㧻㧼㧜㧜㧜㧩㧜㧝㧜㧜㧝
Note: For details on the number of executions, refer to 6.1.4 (1) Program Table Functions.
NEXT: PGMSTEP to be Executed Next
Move cursor Change next PGMSTEP to be executed
㧺㧱㨄㨀㧜㧜㧜㧩㧜㧜㧜㧜㧜㧺㧱㨄㨀㧜㧜㧜㧩㧜㧜㧜㧜㧜㧺㧱㨄㨀㧜㧜㧜㧩㧜㧜㧞㧡㧡

“END” is displayed.
Note: For details on the PGMSTEP to be executed next, refer to 6.1.4 (1) Program Table Functions.
(4) Saving Program Tables

The operating procedure for saving program tables is shown below.
1 㧼㧻㧿㧜㧜㧝㧩㧿㨀㧻㧼 Display the program table editing screen.
㧼㧻㧿㧜㧜㧞㧩㧿㨀㧻㧼
2 Press the key to view the program table save

㧿㨀㧻㧾㧱‫ޓ‬㧼㧳㧹‫ޓ‬㨀㧭㧮㧸㧱㧫
operation screen.
‫ޓޓ‬㧯㧭㧺㧯㧱㧸‫ޓ‬㧿㨀㧻㧾㧱
Move the cursor with the keys to select

㧮㧮‫ޓޓޓޓޓ‬㧙㧼㧳㧹‫ޓ‬㧱㨐㨕㨠㧙 “STORE”.
3 㧿㨀㧻㧾㧱‫ޓ‬㧼㧳㧹‫ޓ‬㨀㧭㧮㧸㧱㧫
Note: Selecting “CANCEL” and pressing the key
‫ޓޓ‬㧯㧭㧺㧯㧱㧸‫ޓ‬㧿㨀㧻㧾㧱 will return the display to the program table edit-
ing screen.
㧮㧮‫ޓޓޓޓޓ‬㧙㧼㧳㧹‫ޓ‬㧱㨐㨕㨠㧙 Press the key to start saving the program table to

4 㧿㨠㨛㨞㨕㨚㨓‫ޓ‬㨚㨛㨣㧚㧚㧚
flash memory.*
Do not turn off the control power supply until saving
㧼㨘㨑㨍㨟㨑‫ޓ‬㨣㨍㨕㨠㧚 has been completed normally.
㧼㧻㧿㧜㧜㧜㧩㧿㨀㧻㧼 When saving to flash memory has been completed nor-
5 㧼㧻㧿㧜㧜㧝㧩㧿㨀㧻㧼 mally, the display returns to the program table editing
㧼㧻㧿㧜㧜㧞㧩㧿㨀㧻㧼 screen.
㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧞㧜㧣‫ޓ‬㨂㧙㧹㨛㨚㨕㨠㨛㨞
6 Press the key to return to the Utility Function
㧲㨚㧮㧜㧟‫ޓ‬㧼㧳㧹‫ޓ‬㧱㨐㨕㨠
Mode main menu.
∗ If the key is pressed in an operation prohibited state, “Error.” is displayed for approximately 2 seconds and then
the display returns to the program table editing screen. In this case, make the setting again by referring to (1) Prepara-
tion.
8-10
8.2.3 ZONE Table Edit/Save (FnB04)

This function edits and saves ZONE tables. Saving a ZONE table to flash memory after editing it ensures that
the data will be retained even after the control power has been turned off.
Codes Displayed on the ZONE Table Editing Screen

ZONE
ZONEP ZONEN
Number
0 ZP000 ZN000
1 ZP001 ZN001
…
31 ZP031 …
ZN031
(1) Preparation
The following conditions must be met to edit and save ZONE tables.

• The ZONE tables must not being saved by any other means than using the digital operator.
(2) Editing ZONE Tables
The operating procedure when setting ZONEN in ZONE number 5 is explained here.
㧲㨚㧮㧜㧟‫ޓ‬㧼㧳㧹‫ޓ‬㧱㨐㨕㨠 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧠‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧱㨐㨕㨠 main menu, and move the cursor with the
㧲㨚㧮㧜㧢‫ޓ‬㧼㧳㧹‫ޓ‬㧵㨚㨕㨠
㧮㧮‫ޓޓޓޓ‬㧙㨆㧻㧺㧱‫ޓ‬㧱㨐㨕㨠㧙
㨆㧼㧜㧜㧜㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
2 㨆㧼㧜㧜㧝㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 Press the key to view the FnB04 operation screen.
㨆㧼㧜㧜㧞㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
㨆㧼㧜㧜㧟㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
㧮㧮‫ޓޓޓޓ‬㧙㨆㧻㧺㧱‫ޓ‬㧱㨐㨕㨠㧙 Move the cursor using the keys and

㨆㧺㧜㧜㧞㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
3 keys to select the ZONE table number to be edited. For
㨆㧺㧜㧜㧟㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
㨆㧺㧜㧜㧠㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
details on how to move the cursor, refer to Method
㨆㧺㧜㧜㧡㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 for Moving the Cursor. Operation of Digital Operator
4 Press the key to move the cursor to the setting side
㨆㧺㧜㧜㧟㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
㨆㧺㧜㧜㧠㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
of the table.
㨆㧺㧜㧜㧡㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
㨆㧺㧜㧜㧞㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 Move the cursor using the keys and change
5 㨆㧺㧜㧜㧟㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
㨆㧺㧜㧜㧠㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 the ZONE boundary values using the keys.*
㨆㧺㧜㧜㧡㧩㧗㧝㧞㧟㧠㧡㧢㧣㧤
8
6 㨆㧺㧜㧜㧟㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
On pressing the key, the setting is entered and the
㨆㧺㧜㧜㧠㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 cursor returns to the ZONE table number side.
㨆㧺㧜㧜㧡㧩㧗㧝㧞㧟㧠㧡㧢㧣㧤
8-11
8.2.3 ZONE Table Edit/Save (FnB04)
(cont’d)
Repeat steps 3 to 6 to set the ZONE table. On completing the setting of all the ZONE tables to be used, save the
7
ZONE tables to flash memory by following the procedure in (3) Saving ZONE Tables.
Method for Moving the Cursor

The values within the frames in the figure below are the ZONE table numbers displayed at the digital operator.
㪱㪦㪥㪜⇟ภ ZONEP 㪱㪦㪥㪜㪥㪱㪦㪥㪜⇟ภ ZONEP 㪱㪦㪥㪜㪥

0 ZP000 ZN000 0 ZP000 ZN000
1 ZP001 ZN001 1 ZP001 ZN001
2 ZP002 ZN002 Moves the displayed 2 ZP002 ZN002
3 ZP003 ZN003 column one column 3 ZP003 ZN003
at a time to the left or
4 ZP004 ZN004 4 ZP004 ZN004
right.
5 ZP005 ZN005 On reaching the 5 ZP005 ZN005
6 ZP006 ZN006 edge of the table, 6 ZP006 ZN006
movement stops.
31 ZP031 ZN031 31 ZP031 ZN031
Moves the displayed rows up or down one row at a time.*

㪱㪦㪥㪜⇟ภ ZONEP 㪱㪦㪥㪜㪥

0 ZP000 ZN000
1 ZP001 ZN001
2 ZP002 ZN002
3 ZP003 ZN003
4 ZP004 ZN004
5 ZP005 ZN005
6 ZP006 ZN006
31 ZP031 ZN031
∗ You can move 3 rows at a time by holding down the or key.
(3) Saving ZONE Tables

The operating procedure for saving ZONE tables is shown below.
㨆㧼㧜㧜㧜㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
1 㨆㧼㧜㧜㧝㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 Display the ZONE table editing screen.
㨆㧼㧜㧜㧞㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
2 㧿㨀㧻㧾㧱‫ޓ‬㨆㧻㧺㧱‫ޓ‬㨀㧭㧮㧸㧱㧫
Press the key to view the ZONE table save
screen.

㧮㧮‫ޓޓޓޓ‬㧙㨆㧻㧺㧱‫ޓ‬㧱㨐㨕㨠㧙 “STORE”.
3 㧿㨀㧻㧾㧱‫ޓ‬㨆㧻㧺㧱‫ޓ‬㨀㧭㧮㧸㧱㧫
‫ޓޓ‬㧯㧭㧺㧯㧱㧸‫ޓ‬㧿㨀㧻㧾㧱 will return the display to the ZONE table editing
screen.
8-12
(cont’d)
㧮㧮‫ޓޓޓޓ‬㧙㨆㧻㧺㧱‫ޓ‬㧱㨐㨕㨠㧙 Press the key to start saving the ZONE table to

flash memory.*
㨆㧼㧜㧜㧜㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 When saving to flash memory has been completed nor-
5 㨆㧼㧜㧜㧝㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 mally, the display returns to the ZONE table editing
㨆㧼㧜㧜㧞㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜 screen.
㧲㨚㧮㧜㧟‫ޓ‬㧼㧳㧹‫ޓ‬㧱㨐㨕㨠
6 㧲㨚㧮㧜㧠‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧱㨐㨕㨠
Press the key to return to the Utility Function
㧲㨚㧮㧜㧡‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧱㨐㨕㨠 Mode main menu.
the display returns to the ZONE table editing screen. In this case, make the setting again by referring to (1) Prepara-
tion.
8-13
8.2.4 JOG Speed Table Edit/Save (FnB05)
8.2.4 JOG Speed Table Edit/Save (FnB05)

This function edits and saves JOG speed tables. Saving a JOG speed table to flash memory after editing it
ensures that the data will be retained even after the control power has been turned off.
(1) Preparation
The following conditions must be met to save and edit JOG speed tables.

• The JOG speed tables must not being saved by any other means than using the digital operator.
(2) Editing JOG Speed Tables
The operating procedure when setting the value for JOG speed table number 5 is explained here.
㧲㨚㧮㧜㧠‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧱㨐㨕㨠 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧡‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧱㨐㨕㨠 main menu, and move the cursor with the
㧲㨚㧮㧜㧣‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧵㨚㨕㨠
㧮㧮‫ޓޓޓޓ‬㧙㧶㧿㧼㧰‫ޓ‬㧱㨐㨕㨠㧙
㧶㧿㧼㧰㧜㧜㧜㧩㧜㧜㧜㧜㧝㧜㧜㧜
2 㧶㧿㧼㧰㧜㧜㧝㧩㧜㧜㧜㧜㧝㧜㧜㧜 Press the key to view the FnB05 operation screen.
㧶㧿㧼㧰㧜㧜㧞㧩㧜㧜㧜㧜㧝㧜㧜㧜
㧶㧿㧼㧰㧜㧜㧟㧩㧜㧜㧜㧜㧝㧜㧜㧜
Move the cursor using the keys to select the

JOG speed table number to be edited.
3 㧶㧿㧼㧰㧜㧜㧟㧩㧜㧜㧜㧜㧝㧜㧜㧜 Note: Pressing the key when the cursor is on JOG
㧶㧿㧼㧰㧜㧜㧠㧩㧜㧜㧜㧜㧝㧜㧜㧜 speed table number 0 moves it to number 15.
㧶㧿㧼㧰㧜㧜㧡㧩㧜㧜㧜㧜㧝㧜㧜㧜
Pressing the key when the cursor is on JOG
speed table number 15 moves it to number 0.
4 㧶㧿㧼㧰㧜㧜㧟㧩㧜㧜㧜㧜㧝㧜㧜㧜
Press the key to move the cursor to the setting side
㧶㧿㧼㧰㧜㧜㧠㧩㧜㧜㧜㧜㧝㧜㧜㧜 of the table.
㧶㧿㧼㧰㧜㧜㧡㧩㧜㧜㧜㧜㧝㧜㧜㧜
㧶㧿㧼㧰㧜㧜㧞㧩㧜㧜㧜㧜㧝㧜㧜㧜 Move the cursor with the keys, and change the
㧶㧿㧼㧰㧜㧜㧠㧩㧜㧜㧜㧜㧝㧜㧜㧜 JOG speed setting with the keys.*
㧶㧿㧼㧰㧜㧜㧡㧩㧝㧞㧟㧠㧡㧢㧣㧤
On pressing the key, the setting is entered and the
㧶㧿㧼㧰㧜㧜㧠㧩㧜㧜㧜㧜㧝㧜㧜㧜 cursor returns to the JOG speed table number side.
㧶㧿㧼㧰㧜㧜㧡㧩㧝㧞㧟㧠㧡㧢㧣㧤
Repeat steps 3 to 6 to set the JOG speed table. On completing the setting of all the JOG speed tables to be used,
7
save the JOG speed tables to flash memory by following the procedure in (3) Saving JOG Speed Tables.
8-14
(3) Saving JOG Speed Tables

The operating procedure for saving JOG speed tables is shown below.
㧶㧿㧼㧰㧜㧜㧜㧩㧜㧜㧜㧜㧝㧜㧜㧜
1 㧶㧿㧼㧰㧜㧜㧝㧩㧜㧜㧜㧜㧝㧜㧜㧜 Display the JOG speed table editing screen.
2 㧿㨀㧻㧾㧱‫ޓ‬㧶㧿㧼㧰‫ޓ‬㨀㧭㧮㧸㧱㧫
Press the key to view the JOG speed table save
screen.

㧮㧮‫ޓޓޓޓ‬㧙㧶㧿㧼㧰‫ޓ‬㧱㨐㨕㨠㧙 “STORE”.
3 㧿㨀㧻㧾㧱‫ޓ‬㧶㧿㧼㧰‫ޓ‬㨀㧭㧮㧸㧱㧫
‫ޓޓ‬㧯㧭㧺㧯㧱㧸‫ޓ‬㧿㨀㧻㧾㧱 will return the display to the JOG speed table
editing screen.
㧮㧮‫ޓޓޓޓ‬㧙㧶㧿㧼㧰‫ޓ‬㧱㨐㨕㨠㧙 Press the key to start saving the JOG speed table
to flash memory.*
㧶㧿㧼㧰㧜㧜㧜㧩㧜㧜㧜㧜㧝㧜㧜㧜 When saving to flash memory has been completed nor-
5 㧶㧿㧼㧰㧜㧜㧝㧩㧜㧜㧜㧜㧝㧜㧜㧜 mally, the display returns to the JOG speed table edit-
㧶㧿㧼㧰㧜㧜㧞㧩㧜㧜㧜㧜㧝㧜㧜㧜 ing screen.
6 㧲㨚㧮㧜㧡‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧱㨐㨕㨠
㧲㨚㧮㧜㧢‫ޓ‬㧼㧳㧹‫ޓ‬㧵㨚㨕㨠 Mode main menu.
the display returns to the JOG speed table editing screen. In this case, make the setting again by referring to (1) Prepa-
ration.
8-15
8.2.5 Program Table Initialization (FnB06)
8.2.5 Program Table Initialization (FnB06)

This function initializes the program tables and restores the settings on shipment from the factory.
(1) Preparation
The following conditions must be met to initialize the program table.

• The program must not be running or on hold.
• The program tables must not being saved by any other means than using the digital operator.
(2) Operating Procedure
㧲㨚㧮㧜㧡‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧱㨐㨕㨠 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧢‫ޓ‬㧼㧳㧹‫ޓ‬㧵㨚㨕㨠 main menu, and move the cursor with the
㧲㨚㧮㧜㧤‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧵㨚㨕㨠
㧮㧮‫ޓޓޓޓޓ‬㧙㧼㧳㧹‫ޓ‬㧵㨚㨕㨠㧙
2 ‫ޓ‬㧿㨠㨍㨞㨠‫ޓ‬㧦㨇㧰㧭㨀㧭㨉 Press the key to view the FnB06 operation screen.

‫ޓ‬㧾㨑㨠㨡㨞㨚㧦㨇㧿㧱㨀㨉
Press the key to start program table initialization.*

Do not turn off the control power supply until initial-
㧮㧮‫ޓޓޓޓޓ‬㧙㧼㧳㧹‫ޓ‬㧵㨚㨕㨠㧙 ization has been completed normally.
3 㧾㨑㨟㨠㨛㨞㨕㨚㨓‫ޓ‬㨚㨛㨣㧚㧚㧚
To cancel the FnB06 operation, press the key
㧼㨘㨑㨍㨟㨑‫ޓ‬㨣㨍㨕㨠㧚 before pressing the key. The display returns to the
Utility Function Mode main menu without executing
the operation.
㧮㧮‫ޓޓޓޓޓ‬㧙㧼㧳㧹‫ޓ‬㧵㨚㨕㨠㧙
When program table initialization has been completed

4 㧰㨛㨚㨑㧚
normally, “Done.” is displayed.
㧼㨞㨑㨟㨟‫ޓ‬㨇㧿㧱㨀㨉‫ޓ‬㨗㨑㨥㧚
5 㧲㨚㧮㧜㧢‫ޓ‬㧼㧳㧹‫ޓ‬㧵㨚㨕㨠
㧲㨚㧮㧜㧣‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧵㨚㨕㨠 Mode main menu.
the display returns to the FnB06 operation screen. In this case, make the setting again by referring to (1) Preparation.
8-16
8.2.6 ZONE Table Initialization (FnB07)

This function initializes ZONE tables and restores the settings on shipment from the factory.
(1) Preparation
The following conditions must be met to initialize ZONE tables.

• The ZONE tables must not being saved by any other means than using the digital operator.
㧲㨚㧮㧜㧢‫ޓ‬㧼㧳㧹‫ޓ‬㧵㨚㨕㨠 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧣‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧵㨚㨕㨠 main menu, and move the cursor with the
㧲㨚㧮㧜㧥‫ޓ‬㨆㧿㧱㨀
㧮㧮‫ޓޓޓޓ‬㧙㨆㧻㧺㧱‫ޓ‬㧵㨚㨕㨠㧙

Press the key to start ZONE table initialization.*

㧮㧮‫ޓޓޓޓ‬㧙㨆㧻㧺㧱‫ޓ‬㧵㨚㨕㨠㧙 ization has been completed normally.
㧼㨘㨑㨍㨟㨑‫ޓ‬㨣㨍㨕㨠㧚 before pressing the key. The display returns to the
the operation.
㧮㧮‫ޓޓޓޓ‬㧙㨆㧻㧺㧱‫ޓ‬㧵㨚㨕㨠㧙
When ZONE table initialization has been completed

4 㧰㨛㨚㨑㧚
normally, “Done.” is displayed.
5 㧲㨚㧮㧜㧣‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧵㨚㨕㨠
㧲㨚㧮㧜㧤‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧵㨚㨕㨠 Mode main menu.
8-17
8.2.7 JOG Speed Table Initialization (FnB08)
8.2.7 JOG Speed Table Initialization (FnB08)

This function initializes JOG speed tables and restores the factory settings.
(1) Preparation
The following conditions must be met to initialize JOG speed tables.

• The JOG speed tables must not being saved by any other means than using the digital operator.
㧲㨚㧮㧜㧣‫ޓ‬㨆㧻㧺㧱‫ޓ‬㧵㨚㨕㨠 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧤‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧵㨚㨕㨠 main menu, and move the cursor with the
㧲㨚㧮㧜㧭‫ޓ‬㧹㨛㨚㨕㨠㨛㨞
㧮㧮‫ޓޓޓޓ‬㧙㧶㧿㧼㧰‫ޓ‬㧵㨚㨕㨠㧙

Press the key to start JOG speed table initializa-

tion. *
ization has been completed normally.
㧼㨘㨑㨍㨟㨑‫ޓ‬㨣㨍㨕㨠㧚
before pressing the key. The display returns to the
the operation.
When JOG speed table initialization has been com-

4 㧰㨛㨚㨑㧚
pleted normally, “Done.” is displayed.
5 㧲㨚㧮㧜㧤‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧵㨚㨕㨠
Mode main menu.
8-18
8.2.8 Absolute Encoder Origin Setting (FnB09)

This utility function replaces the current position with a specified position. Also updates PnB25 with the abso-
lute position offset value to achieve the position specified by this utility function.
DANGER
• This function replaces the coordinates of the reference position and is therefore very dangerous. After exe-
cuting this function, check that the new coordinates match the reference position before starting operation.
• If the settings for any of parameters Pn20E to Pn210, Pn205, or PnB20 to PnB25 have been changed,
turn the control power supply off and back on to bring the settings into effect before executing operation.
• The absolute position offset value is saved in parameter PnB25, so do not rewrite this value.
(1) Preparation
The following conditions must be met to perform the absolute encoder origin setting.

• Position references must not being distributed.
• The absolute position offset value must not be outside the range for PnB25.
• The absolute encoder must be connected and the setting for Pn002.2 must be 0.
㧲㨚㧮㧜㧤‫ޓ‬㧶㧿㧼㧰‫ޓ‬㧵㨚㨕㨠 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧥‫ޓ‬㨆㧿㧱㨀 main menu, and move the cursor with the
㧲㨚㧮㧜㧮‫ޓ‬㧼㨞㨙‫ޓ‬㧵㨚㨕㨠
㧮㧮‫ޓޓޓޓޓޓޓޓޓ‬㧙㨆㧿㧱㨀㧙
㧼㨛㨟㧩㧗㧜㧜㧜㧜㧜㧜㧜㧜
2 Press the key to view the FnB09 operation screen.
‫ޓ‬㧿㨠㨍㨞㨠‫ޓ‬㧦㨇㧰㧭㨀㧭㨉
㧼㨛㨟㧩㧗㧜㧜㧜㧜㧝㧜㧜㧜 Move the cursor with the keys, and change the
3 setting for the position whose current position is to be
‫ޓ‬㧿㨠㨍㨞㨠‫ޓ‬㧦㨇㧰㧭㨀㧭㨉 replaced with the keys.
Press the key to start origin setting.*

Do not turn off the control power supply until origin
㧮㧮‫ޓޓޓޓޓޓޓޓޓ‬㧙㨆㧿㧱㨀㧙 setting has been completed normally.
the operation.
When origin setting has been completed normally,

5
8
㧰㨛㨚㨑㧚
“Done.” is displayed.
8-19
8.2.8 Absolute Encoder Origin Setting (FnB09)
(cont’d)
6 㧲㨚㧮㧜㧥‫ޓ‬㨆㧿㧱㨀
Mode main menu.
Check that the current distributed position (PUN) and the current (actual) motor position (PFB) have changed to
7
the specified positions by executing FnB0A.
8-20
8.2.9 INDEXER Status Monitor (FnB0A)

This function shows the internal status of the INDEXER Module, such as the current position and input/output
signals.
(1) Preparation
None

㧲㨚㧮㧜㧥‫ޓ‬㨆㧿㧱㨀 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧭‫ޓ‬㧹㨛㨚㨕㨠㨛㨞 main menu, and move the cursor with the
keys to select FnB0A.
㧲㨚㧮㧜㧯‫ޓ‬㧭㧸㧹‫ޓ‬㧾㨑㨟㨑㨠
㧮㧮‫ޓޓޓޓޓޓ‬㧙㧹㧻㧺㧵㨀㧻㧾㧙
㧭㧸㧹㧩㧮㧮
2 㧱㧾㧾㧩㧺㧻㧺㧱 Press the key to view the FnB0A operation screen.
㧼㧲㧮㧩㧗㧝㧞㧟㧠㧡㧢㧣㧤
㧼㧳㧹㧿㨀㧱㧼㧩㧝㧞㧟㧠㧡
Use the keys to change the monitor display

content.
㧮㧮㧙㧹㧻㧺㧵㨀㧻㧾㧙
㧿㨀㧿㧩
Note: Press the key to change the content being
3 㧼㨁㧺㧩㧗㧝㧞㧟㧠㧡㧢㧣㧤
displayed in the following order.
㧼㧲㧮㧩㧗㧝㧞㧟㧠㧡㧢㧣㧤 ALM → ERR → IN2 → OUT2 → STS → PUN
㧼㧻㧿㧩㧗㧝㧞㧟㧠㧡㧢㧣㧤 → PFB → POS → DST → RPOS → RDST →
PGMSTEP → EVTIME → LOOP
Press the key to change the content being
displayed in the reverse order.
4 㧲㨚㧮㧜㧭‫ޓ‬㧹㨛㨚㨕㨠㨛㨞
㧲㨚㧮㧜㧮‫ޓ‬㧼㨞㨙‫ޓ‬㧵㨚㨕㨠 Mode main menu.
Monitor Display Content List
Display Serial
Display Content Display Example Units
Code Command
• ALM = A.xxx : A SERVOPACK alarm/warn-
ing is in effect (xxx is the

alarm/warning code).
• ALM = ExxA : An INDEXER Module alarm
is in effect (ExxA is the
alarm code).
• ALM = HBB : During hard wire base block
• ALM = P-OT : Forward run prohibited (Over
travel)
• ALM = N-OT : Reverse run prohibited (Over
ALM Alarm or Warning – ALM
travel)
• ALM = P-LS : Forward software limit
• ALM = N-LS : Reverse software limit
• ALM = BB : Base blocked
• ALM = HOLD : Positioning interrupted
• ALM = INPOS : Positioning completed 8
• ALM = NEAR : Near position status reached
in positioning
• ALM = RUN : Motor running
• ALM = . : Status other than above
8-21
8.2.9 INDEXER Status Monitor (FnB0A)
(cont’d)
Display Serial
Code Command
Most Recent (Closest) • ERR = NONE: No error
ERR – ERR
Error • ERR = ExxE: Error code
IN2 =
1110 9 8 7 6 5 4 3 2 1 digit
Upper level: Photocoupler ON

Lower level: Photocoupler OFF
Display Digit
Signal Name
Number
1 /MODE0/1
2 /START-STOP; /HOME
INDEXER Module Input
IN2 3 /PGMRES; /JOGP – IN2
Signal
4 /SEL0; /JOGN
5 /SEL1; /JOG0
6 /SEL2; /JOG1
7 /SEL3; /JOG2
8 /SEL4; /JOG3
9 /SEL5
10 /SEL6
11 /SEL7
OUT2 =
9 8 7 6 5 4 3 2 1 digit
Upper level: Photocoupler ON

Lower level: Photocoupler OFF
Display Digit
Signal Name
Number
1 /INPOSITION
INDEXER Module Output
OUT2 2 /POUT0 – OUT2
Signal
3 /POUT1
4 /POUT2
5 /POUT3
6 /POUT4
7 /POUT5
8 /POUT6
9 /POUT7
8-22
(cont’d)
Display Serial
Code Command
STS =
7 6 5 4 3 2 1 digit
Upper level: ON
Lower level: OFF
Display Digit
Status Flag
Number
INPOSITION (Positioning
1
complete)
STS Status Flag 2 NEAR (Near position) – STS

DEN (positioning reference
3
distribution completed)
When positioning or pro-
4 gram operation is interrupted
(on hold)
5 During program operation
When the current (torque) is
6
being limited
When the main power supply
7
is ON
Position Reference Reference

PUN PUN = +12345678 PUN
Current Position unit
Current (Actual) Motor Reference
PFB PFB = +12345678 PFB
Position unit
Reference
POS Target Position POS = +12345678 POS
unit
Reference
DST Target Distance DST = +12345678 DST
unit
Registration Target Reference
RPOS RPOS = +12345678 RPOS
Position unit
Registration Target Reference
RDST RDST = 12345678 RDST
Distance unit
PGMSTEP = End: When the program is not
Program Step running
PGMSTEP – PGMSTEP
(PGMSTEP) PGMSTEP = 12345: The program step being
executed
Program EVENT Elapsed

EVTIME EVTIME = 12345 ms EVTIME
Time
LOOP Loop Pass Through LOOP = 12345 Times LOOP
8-23
8.2.10 INDEXER Parameter Setting Initialization (FnB0B)
8.2.10 INDEXER Parameter Setting Initialization (FnB0B)

This function restores the factory settings and initializes the parameters of both the SERVOPACK and the
INDEXER Module.
• Always carry out initialization of the parameter settings in the servo OFF status. It cannot be done in the
servo ON status.
• To bring the settings into effect, always turn the SERVOPACK power supply off and back on after this
operation.
• The parameters of the INDEXER Module are not initialized with Fn005. To initialize these parameters,
execute FnB0B.
(1) Preparation
The following conditions must be met to initialize INDEXER parameter settings.

• The servo OFF status must be established.
• The parameter settings must be not being initialized by any other means than using the digital operator.
㧲㨚㧮㧜㧭‫ޓ‬㧹㨛㨚㨕㨠㨛㨞 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧮‫ޓ‬㧼㨞㨙‫ޓ‬㧵㨚㨕㨠 main menu, and move the cursor with the
keys to select FnB0B.
㧲㨚㧮㧜㧰‫ޓ‬㧵㨚㨐㨑㨤㨑㨞‫ޓ‬㧭㧸㧹
㧮㧮‫ޓޓޓޓޓ‬㧙㧼㨞㨙‫ޓ‬㧵㨚㨕㨠㧙
2 ‫ޓ‬㧿㨠㨍㨞㨠‫ޓ‬㧦㨇㧰㧭㨀㧭㨉 Press the key to view the FnB0B operation screen.

Press the key to start initialization of the parame-

ters.*
ization has been completed normally.
㧼㨘㨑㨍㨟㨑‫ޓ‬㨣㨍㨕㨠㧚
To cancel the FnB0B operation, press the key
the operation.
When parameter initialization has been completed nor-

4 㧰㨛㨚㨑㧚
mally, “Done.” is displayed.
5 㧲㨚㧮㧜㧮‫ޓ‬㧼㨞㨙‫ޓ‬㧵㨚㨕㨠
Mode main menu.
6 To bring the settings into effect, turn the SERVOPACK power supply off and back on.
the display returns to the FnB0B operation screen. In this case, make the setting again by referring to (1) Preparation.
8-24
8.2.11 INDEXER Alarm Reset (FnB0C)

This function resets alarms at both the SERVOPACK and INDEXER Module, and clears the alarm history at
the INDEXER Module.
• INDEXER Module alarms are not reset by the “ALARM RESET” button of the digital operator. To reset
INDEXER Module alarms, execute alarm resetting with FnB0C.
• Eliminate the causes of alarms before resetting them.
• The INDEXER Module alarm history is not cleared with Fn006. To clear it, execute alarm history clear-
ance with FnB0C.
(1) Preparation
When Resetting Alarms
None
When Clearing the Alarm History

The following conditions must be met to reset INDEXER alarms.

• The ALMTRCCLR command must not being executed.

㧭㧚㧭㧱㧲‫ޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧮㧜㧮‫ޓ‬㧼㨞㨙‫ޓ‬㧵㨚㨕㨠 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧯‫ޓ‬㧭㧸㧹‫ޓ‬㧾㨑㨟㨑㨠 main menu, and move the cursor with the
keys to select FnB0C.
㧲㨚㧜㧜㧜‫ޓ‬㧭㨘㨙‫ޓ‬㧴㨕㨟㨠㨛㨞㨥
㧭㧚㧭㧱㧲‫ޓ‬㧙㧭㧸㧹‫ޓ‬㧾㨑㨟㨑㨠㧙
㧹㨛㨐㨑㧩㧭㧸㧹‫ޓ‬㨟㨠㨍㨠㨑
2 Press the key to view the FnB0C operation screen.
㧹㨛㨐㨑㧩㧭㧸㧹‫ޓ‬㨟㨠㨍㨠㨑 When Resetting Alarms
3-1
Use the keys to select “ALM state”.
㧹㨛㨐㨑㧩㧭㧸㧹‫ޓ‬㧴㨕㨟㨠㨛㨞㨥 When Clearing the Alarm History
3-2
Use the keys to select “ALM History”.
Press the key to reset the alarms or clear the alarm

history.*
4 㧾㨑㨟㨑㨠㨠㨕㨚㨓㧚㧚㧚 To cancel the FnB0C operation, press the key

the operation.
㧮㧮‫ޓޓޓޓ‬㧙㧭㧸㧹‫ޓ‬㧾㨑㨟㨑㨠㧙
㧹㨛㨐㨑㧩㧭㧸㧹‫ޓ‬㨟㨠㨍㨠㨑 When alarm resetting or alarm history clearance is 8
5 completed, the display returns to the Mode selection
‫ޓ‬㧿㨠㨍㨞㨠‫ޓ‬㧦㨇㧰㧭㨀㧭㨉 screen.
the display returns to the FnB0C operation screen. In this case, make the setting again by referring to (1) Preparation.
8-25
8.2.11 INDEXER Alarm Reset (FnB0C)
(cont’d)
6 Press the key to return to the Utility Function
Mode main menu.
8-26
8.2.12 INDEXER Alarm History Display (FnB0D)

This function displays the history of alarms that have occurred at the SERVOPACK and INDEXER Module.
(1) Preparation
None

㧲㨚㧮㧜㧯‫ޓ‬㧭㧸㧹‫ޓ‬㧾㨑㨟㨑㨠 Press the key to open the Utility Function Mode
1 㧲㨚㧮㧜㧰‫ޓ‬㧵㨚㨐㨑㨤㨑㨞‫ޓ‬㧭㧸㧹 main menu, and move the cursor with the
keys to select FnB0D.
㧲㨚㧜㧜㧞‫ޓ‬㧶㧻㧳
㧮㧮‫ޓޓޓޓ‬㧙㧭㧸㧹‫ޓ‬㨀㨞㨍㨏㨑㧙
㧭㧸㧹㧜㧩㧭㧚㧲㧝㧜 Press the key to view the alarm history.
2 㧭㧸㧹㧝㧩㧱㧝㧥㧭
㧭㧸㧹㧞㧩㧺㧻㧺㧱 Note: If no alarms occur, “NONE” is displayed.
㧭㧸㧹㧟㧩㧺㧻㧺㧱
㧭㧸㧹㧜㧩㧭㧚㧲㧝㧜
㧭㧸㧹㧝㧩㧱㧝㧥㧭
㧭㧸㧹㧞㧩㧺㧻㧺㧱
㧭㧸㧹㧝㧩㧱㧝㧥㧭
3 㧭㧸㧹㧞㧩㧺㧻㧺㧱 Use the keys to scroll the alarm history.
㧭㧸㧹㧠㧩㧺㧻㧺㧱
㧭㧸㧹㧢㧩㧺㧻㧺㧱
㧭㧸㧹㧣㧩㧺㧻㧺㧱
㧭㧸㧹㧤㧩㧺㧻㧺㧱
㧭㧸㧹㧥㧩㧺㧻㧺㧱
6 㧲㨚㧮㧜㧰‫ޓ‬㧵㨚㨐㨑㨤㨑㨞‫ޓ‬㧭㧸㧹
Mode main menu.
㧲㨚㧜㧜㧞‫ޓ‬㧶㧻㧳
<Note>
The alarm history can be cleared by executing the alarm history clearance (FnB0C with mode set at ALM His-
tory) described in 8.2.11 INDEXER Alarm Reset (FnB0C). The alarm history is not cleared by either resetting
the alarms (FnB0C with mode set at ALM state) or by turning the SERVOPACK’s control power supply off.
8-27
9
Troubleshooting
This chapter describes troubleshooting.
9.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 List of Alarms for Command Option Attachable Type SERVOPACKs . . . . . . . . . . . . 9-2
9.1.2 INDEXER Module Alarm Displays and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12

9.2.1 List of Warnings for Command Option Attachable Type SERVOPACKs . . . . . . . . . . 9-12
9.2.2 INDEXER Module Error Displays and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . 9-14
9.3 Troubleshooting Malfunction Based on Operation and Conditions . . . . . 9-19
Troubleshooting
9-1
9 Troubleshooting
9.1.1 List of Alarms for Command Option Attachable Type SERVOPACKs
9.1 Troubleshooting
When an alarm has been detected, the SERVOPACK stops the servomotor, and suspends motor operation.
When the SERVOPACK detects an alarm, the motor is stopped in accordance with the “alarm stopping
method” described below, and the alarm status is displayed.
Status Displays
SERVOPACK Panel Display The SERVOPACK alarm code is displayed.
Green LED: Remains unlit
LED
Red LED: Remains lit
Digital Operator The alarm code is displayed at the top left of the screen.
Response to the Alarm or Warning Read
Alarm code
Command (ALM)
Response to the Most Recent Error Read
No change
Command (ERR)
ALM Signal Becomes active (photocoupler OFF).
/WARN Signal No change
Alarm Stopping Method

Gr.1: The servomotor is stopped according to the settings in Pn001.0 if an alarm occurs. Pn001.0 is factory-set
to stop the servomotor by applying the dynamic brake (DB).
Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set
to stop the servomotor by setting the speed reference to “0.” The servomotor under torque control will
always use the Gr.1 method to stop. By setting Pn00B.1 to 1, the servomotor stops using the same
method as Gr.1. When coordinating a number of servomotors, use this alarm stop method to prevent
machine damage that may result due to differences in the stop method.
Alarm Reset Capability

Available: Removing the cause of alarm and then executing the alarm reset can clear the alarm.
N/A: Executing the alarm reset cannot clear the alarm.

The SERVOPACK alarm list is shown below.
For details on the causes of SERVOPACK alarms and the corrective action to take in response to them, refer to
the following manuals.
(SIEP S800000 60).
(SIEP S800000 66).
Servomotor Alarm Code Output
Alarm Alarm
Alarm Name Meaning Stop
Display Reset /ALO1 /ALO2 /ALO3
Method
Parameter Checksum The data of the parameter in the SERVOPACK
A.020 Gr.1 N/A
Error is incorrect.
The data format of the parameter in the SER-
A.021 Parameter Format Error Gr.1 N/A
VOPACK is incorrect.
System Checksum The data of the parameter in the SERVOPACK OFF OFF OFF
A.022 Gr.1 N/A
Error is incorrect. (open) (open) (open)
Main Circuit Detector Avail-
A.030 Detection data for the main circuit is incorrect. Gr.1
Error able
The parameter setting is outside the allowable
A.040 Parameter Setting Error Gr.1 N/A
setting range.
9-2
9.1 Troubleshooting

Alarm Alarm
Method
The encoder output pulse setting
Rotational (pulse unit) (Pn212) is outside the
motors allowable setting range or does not
Encoder Output Pulse satisfy the setting conditions.
A.041 Gr.1 N/A
Setting Error The encoder output resolution set-
Linear ting (Pn281) is outside the allow-
motors able setting range or does not
satisfy the setting conditions.
Parameter Combination Combination of some parameters exceeds the
A.042 Gr.1 N/A
Error setting range.
Semi-closed/Fully-
The settings of the feedback option module and
A.044 closed Loop Control Gr.1 N/A
Pn00B.3, Pn002.3 do not match. OFF OFF OFF
Parameter Setting Error
(open) (open) (open)
Parameter Setting Error There is an error in settings of parameters
A.04A Gr.1 N/A
2 reserved by the system.
The SERVOPACK and the servomotor capaci- Avail-
A.050 Combination Error Gr.1
ties do not match each other. able
Unsupported Device
A.051 The unsupported device unit was connected. Gr.1 N/A
Alarm
Linear Scale Pitch The setting of the linear scale pitch (Pn282) has
A.080 Gr.1 N/A
Setting Error not been changed from the default setting.
The host controller reference was sent to turn
Canceled Servo ON Avail-
A.0b0 the Servo ON after the Servo ON function was Gr.1
Command Alarm able
used with the utility function.
Overcurrent or Heat An overcurrent flowed through the IGBT. ON OFF OFF
A.100 Gr.1 N/A
Sink Overheated Heat sink of the SERVOPACK was overheated. (close) (open) (open)
Regenerative circuit or regenerative resistor is Avail-
A.300 Regeneration Error Gr.1
faulty. able
Regenerative energy exceeds regenerative Avail- ON ON OFF
A.320 Regenerative Overload Gr.2
resistor capacity. able (close) (close) (open)
Main Circuit Power • Setting of AC input/DC input is incorrect. Avail-
A.330 Gr.1
Supply Wiring Error • Power supply wiring is incorrect. able
Avail-
A.400 Overvoltage Main circuit DC voltage is excessively high. Gr.1
able
Avail- OFF OFF ON
A.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2
able (open) (open) (close)
Main-Circuit The capacitor of the main circuit has deterio-
A.450 Gr.1 N/A
Capacitor Overvoltage rated or is faulty.
The servomotor speed is over the maximum Avail-
A.510 Overspeed Gr.1
allowable speed. able
The set value of the encoder output
Rotational
pulse (Pn212) exceeds the speed
motors
Overspeed of Encoder limit. Avail-
A.511 Gr.1
Output Pulse Rate The set value of the encoder output able
Linear
resolution (Pn281) exceeds the
motors
speed limit.
ON OFF ON
Troubleshooting
Rotational Vibration at the motor speed was (close) (open) (close)

motors detected. Avail-
A.520 Vibration Alarm Gr.1
Linear Vibration at the motor speed was able
motors detected.
Vibration was detected while performing tun- Avail-
A.521 Autotuning Alarm Gr.1
ing-less function. able
A.550
Maximum Speed The Pn385 setting is greater than the maximum
Gr.1
Avail- 9
Setting Error speed. able
9-3
9 Troubleshooting

Alarm Alarm
Method
The motor was operating for sev-
Rotational eral seconds to several tens of sec-
motors onds under a torque largely
Overload: exceeding ratings. Avail-
A.710 Gr.2
High Load The linear servomotor was operat- able
Linear ing for several seconds to several
motors tens of seconds under a force
largely exceeding ratings.
The motor was operating continu-
Rotational
ously under a torque largely
motors
Overload: exceeding ratings. Avail-
A.720 Gr.1
Low Load The linear servomotor was operat- able
Linear
ing continuously under a force
motors
largely exceeding ratings.
ON ON ON
When the dynamic brake was (close) (close) (close)
Rotational applied, rotational energy exceeded
motors the capacity of dynamic brake
A.730 Dynamic Brake resistor. Avail-
Gr.1
A.731 Overload When the dynamic brake was able
Linear applied, moving energy exceeded
motors the capacity of dynamic brake
resistor.
Overload of Surge The main circuit power was frequently turned Avail-
A.740 Gr.1
Current Limit Resistor ON and OFF. able
The temperature of the SERVOPACK heat sink Avail-
A.7A0 Heat Sink Overheated Gr.2
exceeded 100°C. able
Built-in Fan in Avail-
A.7AB The fan inside the SERVOPACK stopped. Gr.1
SERVOPACK Stopped able
All the power supplies for the absolute encoder
A.810 Encoder Backup Error Gr.1 N/A
have failed and position data was cleared.
Rotational The checksum results of encoder
Encoder Checksum motors memory is incorrect.
A.820 Gr.1 N/A
Error Linear The checksum results of linear
motors scale memory is incorrect.
The battery voltage is lower than the specified
Absolute Encoder Avail-
A.830 value after the control power supply is turned Gr.1
Battery Error able
ON.
Rotational
Data in the encoder is incorrect.
motors
A.840 Encoder Data Error Gr.1 N/A
Linear
Data in the linear scale is incorrect.
motors
OFF OFF OFF
The encoder was rotating at high
Rotational (open) (open) (open)
speed when the power was turned
motors
ON.
A.850 Encoder Overspeed Gr.1 N/A
The linear scale was operating at
Linear
high speed when the power was
motors
turned ON.
Rotational The internal temperature of
motors encoder is too high.
A.860 Encoder Overheated Gr.1 N/A
Linear The internal temperature of linear
motors scale is too high.
A.890 Encoder Scale Error A linear scale fault occurred. Gr.1 N/A
A.891 Encoder Module Error Linear scale is faulty. Gr.1 N/A
Avail-
A.8A0* External Encoder Error External encoder is faulty. Gr.1
able
∗ Alarm occurs when an Option Module for Fully-closed Loop Control is mounted.
9-4
9.1 Troubleshooting

Alarm Alarm
Method
External Encoder Error Avail-
A.8A1* of Module Serial converter unit is faulty. Gr.1
able
External Encoder Error Avail-
A.8A2* of Sensor (Incremental) External encoder is faulty. Gr.1
able
External Encoder Error Avail- OFF OFF OFF
A.8A3* of Position (Absolute) The external encoder position data is incorrect. Gr.1
able (open) (open) (open)
The overspeed from the external encoder Avail-
A.8A5* Encoder Overspeed occurred.
Gr.1
able
The overheat from the external encoder Avail-
A.8A6* Encoder Overheated occurred.
Gr.1
able
Refer
INDEXER Module Some kind of alarm has occurred at the OFF ON ON
A.AEF Gr.1 to
Alarm INDEXER Module. (open) (close) (close)
9.1.2
Current Detection Error The current detection circuit for phase-U is
A.b31 Gr.1 N/A
1 (Phase-U) faulty.
Current Detection Error The current detection circuit for phase-V is
A.b32 Gr.1 N/A
2 (Phase-V) faulty.
Current Detection Error
A.b33 The detection circuit for the current is faulty. Gr.1 N/A
3 (Current detector)
“Internal program error 0” occurred in the
A.bF0 System Alarm 0 Gr.1 N/A
SERVOPACK. OFF OFF OFF
“Internal program error 1” occurred in the (open) (open) (open)
SERVOPACK.
SERVOPACK.
SERVOPACK.
SERVOPACK.
Servo Overrun Avail-
A.C10 The servomotor ran out of control. Gr.1
Detected able
A.C20 Phase Detection Error The detection of the phase is incorrect. Gr.1 N/A
A.C21 Hall Sensor Error The hall sensor is faulty. Gr.1 N/A
Phase Information
A.C22 The phase information does not match. Gr.1 N/A
Disagreement
A.C50 Polarity Detection Error The polarity detection failed. Gr.1 N/A
Overtravel Detection at The overtravel signal was detected at polarity Avail-
A.C51 Gr.1
Polarity Detection detection. able
Polarity Detection The linear servomotor was turned ON under the Avail-
A.C52 Gr.1
Uncompleted condition of polarity detection uncompleted. able
ON OFF ON
Out of Range for The movement distance exceeded the set value (close) (open) (close)
A.C53 Gr.1 N/A
Polarity Detection of Pn48E during polarity detection.
Polarity Detection Error
A.C54 The polarity detection failed. Gr.1 N/A
2
Troubleshooting
Absolute
Encoder
Rotational Clear Error The multi-turn for the absolute encoder was not
motors and Multi- properly cleared or set.
A.C80 turn Limit Gr.1 N/A
Setting Error
Absolute
Linear The data of the absolute linear scale was not
motors
Encoder
Clear Error
properly cleared or set. 9
9-5
9 Troubleshooting

Alarm Alarm
Method
Communications between the
Rotational
SERVOPACK and the encoder is
motors
Encoder not possible.
A.C90 Gr.1 N/A
Communications Error Communications between the
Linear
SERVOPACK and the linear scale
motors
is not possible.
Rotational An encoder position data calcula-
Encoder motors tion error occurred.
A.C91 Communications Gr.1 N/A
Position Data Error Linear A linear scale position data calcu-
motors lation error occurred.
An error occurs in the communica-
Rotational
tions timer between the encoder
Encoder motors
and the SERVOPACK.
A.C92 Communications Timer Gr.1 N/A
Error An error occurs in the communica-
Linear
tions timer between the linear scale
motors
and the SERVOPACK.
Rotational ON OFF ON
Encoder parameters are faulty.
Encoder Parameter motors (close) (open) (close)
A.CA0 Gr.1 N/A
Error Linear
Linear scale parameters are faulty.
motors
Rotational Contents of communications with
Encoder Echoback motors encoder is incorrect.
A.Cb0 Gr.1 N/A
Error Linear Contents of communications with
motors linear scale is incorrect.
Multi-turn Limit Different multi-turn limits have been set in the
A.CC0 Gr.1 N/A
Disagreement encoder and the SERVOPACK.
Feedback Option
Module Reception from the feedback option module is
A.CF1* Communications Error faulty.
Gr.1 N/A
(Reception error)
Feedback Option
Module Timer for communications with the feedback
A.CF2* Communications Error option module is faulty.
Gr.1 N/A
(Timer stop)
Position error pulses exceeded the value set for
Position Error Pulse Avail-
A.d00 parameter (Pn520) (Excessive Position Error Gr.1
Overflow able
Alarm Level).
Position Error Pulse
Avail-
A.d01 Overflow Alarm at Position error pulses accumulated too much. Gr.1
able
Servo ON
After a position error pulse has
been input, Pn529 limits the speed
if the servo ON command is
received. If Pn529 limits the speed
Rotational in such a state, this alarm occurs
motors when the position references are ON ON OFF
input and the number of position
error pulses exceeds the value set (close) (close) (open)
Position Error Pulse for parameter Pn520 (Excessive
Overflow Alarm by Position Error Alarm Level). Avail-
A.d02 Gr.2
Speed Limit at Servo After a position error pulse has able
ON been input, Pn584 limits the speed
if the servo ON command is
received. If Pn584 limits the speed
Linear in such a state, this alarm occurs
motors when the position references are
input and the number of position
error pulses exceeds the value set
for parameter Pn520 (Excessive
Position Error Alarm Level).
9-6
9.1 Troubleshooting

Alarm Alarm
Method
Motor-load Position Position error between motor and load is exces- Avail-
A.d10* Error Pulse Overflow sive when fully-closed position control is used.
Gr.2
able ON ON OFF
The position feedback data exceeded (close) (close) (open)
A.d30 Position Data Overflow Gr.1 N/A
±1879048192.
Command Option Communications initialization failed between
Avail-
A.E00 Module IF Initialization the SERVOPACK and the command option Gr.2
able
Timeout Error module.
Command Option An synchronization error occurred between the
Avail-
A.E02 Module IF SERVOPACK and the command option mod- Gr.1
able
Synchronization Error 1 ule.
Command Option
An error occurred in the data of communica-
Module IF Avail-
A.E03 tions between the SERVOPACK and the com- Gr.1
Communications Data able
mand option module.
Error
Command Option
An error occurred in establishing communica-
Module IF Avail-
A.E40 tions (settings) between the SERVOPACK and Gr.2
Communications able
the command option module.
Setting Error
Command Option An error occurred in synchronization between
Avail-
A.E50 Module IF the SERVOPACK and the command option Gr.2
able
Synchronization Error 2 module.
Command Option
An error occurred in establishing communica-
Module IF Avail-
A.E51 tions between the SERVOPACK and the com- Gr.2
Synchronization able
mand option module.
Establishment Error
Command Option An error occurred in communications between
Avail-
A.E60 Module IF Data the SERVOPACK and the command option Gr.2
able
Communications Error module.
Command Option There was a change in timing of synchroniza-
Avail-
A.E61 Module IF tion between the SERVOPACK and the com- Gr.2
able
Synchronization Error 3 mand option module.
OFF ON ON
Command Option (open) (close) (close)
Detection of the command option module
A.E70 Module Detection Gr.1 N/A
failed.
Failure
Safety Option Module
A.E71 Detection of the safety option module failed. Gr.1 N/A
Detection Failure
Feedback Option
A.E72* Module Detection Detection of the feedback option module failed. Gr.1 N/A
Failure
Unsupported Command An unsupported command option module was
A.E73 Gr.1 N/A
Option Module connected.
Unsupported Safety An unsupported safety option module was con-
A.E74 Gr.1 N/A
Option Module nected.
Unsupported Feedback An unsupported feedback option module was
A.E75* Option Module connected.
Gr.1 N/A
Command Option
The command option module was replaced
A.E80 Module Unmatched Gr.1 N/A
with a different model.
Troubleshooting
Error
Alarm in Current
Communications An error has occurred in communications
Avail-
A.EA2 between the INDEXER between the INDEXER Module and SERVO- Gr.1
able
Module and PACK during operation.
SERVOPACK 1
Alarm in Current
Communications An error has occurred in communications
Avail- 9
A.EA3 between the INDEXER between the INDEXER Module and SERVO- Gr.1
able
Module and PACK during operation.
SERVOPACK 2
9-7
9 Troubleshooting

Alarm Alarm
Method
Safety Device Signal There is an error in the timing of the safety
A.Eb1 Gr.1 N/A
Input Timing Error function input signal.
OFF ON ON
Command Option
Processing of reference from the command Avail- (open) (close) (close)
A.ED1 Module IF Command Gr.2
option module was not completed. able
Timeout Error
With the main power supply ON, voltage was
Main Circuit Cable Avail- OFF ON OFF
A.F10 low for more than 1 second in phase-R, -S or Gr.2
Open Phase able (open) (close) (open)
-T.
Digital Operator
CPF00 Digital operator (JUSP-OP05A) fails to com- − N/A
Transmission Error 1
municate with the SERVOPACK (e.g., CPU Invalid
Digital Operator error).
CPF01 − N/A
Transmission Error 2
OFF OFF OFF
A.− − Not an error Normal operation status − −
(open) (open) (open)
9-8
9.1 Troubleshooting
9.1.2 INDEXER Module Alarm Displays and Troubleshooting

The INDEXER Module alarm list and the corresponding corrective actions are shown below.
Serial
Servomotor
Command Panel Alarm
Alarm Name Meaning Corrective Action Stop
Negative Display Reset
Method
Response
SERVOPACK Alarm A SERVOPACK alarm Refer to Refer to
A.
Activation Alarm occurred. 9.1.1. 9.1.1.
• Upgrade the firmware
Firmware Execution The firmware processing version.
E12A A.AEF Gr.1 N/A
Alarm time was too long. • Reduce the number of
functions being used.
• Upgrade the SERVO-
PACK software ver-
sion.
The SERVOPACK does
not supported this func- • Use the SERVOPACK
Firmware Version
E13A A.AEF tion, because the software that supports the corre- Gr.1 N/A
Unmatched
sponding function.
version do not match.*1
• Use the SERVOPACK
with the function set
disabled.
Incorrect or corrupted
parameters are stored in • Initialize the parame-
Parameter Checksum ters with the PRMINIT
EEPROM.
Alarm
E14A A.AEF (This alarm can occur if command or FnB0B*2. Gr.1 N/A
(Detected only when
the control power supply • If the problem is not
control power supply is
is turned OFF while the solved, correct the
turned ON.)
parameters are being ini- parameters.
tialized or changed.)
Parameter Version • Change the firmware
The combination of the
Unmatched (Detected version.
firmware version number
E15A A.AEF only when the control • Change the parameter Gr.1 N/A
and the parameter version
power supply is turned version to match the
number is wrong.
ON.) firmware version.
The moving method is set
Parameter Out-of- to a rotary method
Correct the home position
range Alarm (PnB20 = 1, 2, or 3), but
setting (PnB25) or the
E16A A.AEF (Detected only when the home position set in Gr.1 N/A
software limits (PnB21
control power supply is PnB25 exceeds the soft-
and PnB23).
turned ON.) ware limits set in PnB21
and PnB23.
∗1. The following function cannot be used with the SERVOPACK software version 0016 or earlier.
SERVOPACK Software
Version Number Related
Function Name Remarks
Parameter
0016 or earlier 0017 or later
Alarm Code Output For the SERVOPACK whose soft-
Signals Not supported Supported PnB51 ware version number is 0016 or
(/ALO1, /ALO2, /ALO3) earlier, set PnB51 to 0 (PnB51 = 0).
∗2. This function is available for the following software versions.

Troubleshooting

9-9
9 Troubleshooting
9.1.2 INDEXER Module Alarm Displays and Troubleshooting
Serial
Servomotor
Command Panel Alarm
Method
Response
The INDEXER Module
failed in initialization of Take steps to reduce
communications with the noise in the system such
A.E00
SERVOPACK when the as improving frame
control power was turned ground.
ON.
• Upgrade the SERVO-
PACK's software ver-
sion.
The SERVOPACK is not
• Replace the SERVO-
A.AEF compatible with the
PACK with a SERVO-
INDEXER Module.
PACK that is
compatible with the
Initial Communication
INDEXER Module.
Alarm between
INDEXER Module and • The INDEXER Mod-
E17A SERVOPACK ule failed in parameter Gr.1 N/A
(Detected only when calculation during ini-
control power supply is tial communications
• Connect the encoder
turned ON.) with the SERVO-
and then change the
PACK when the con-
parameter.
trol power was turned
ON. • Cancel the A.040 alarm
This can happen in the and then change the
A.C90 or
following cases: parameter.
A.040
(If the alarm display is
• When a parameter
other than A.E00, it
has been changed
can be reset by turning
while the encoder is
the power OFF and
not connected
back ON.)
• When a parameter
has been changed
during occurrence of
A.040 alarm
An error occurred in
Communication Alarm Take steps to reduce
communications between
A.EA2, between INDEXER noise in the system such
E18A the INDEXER Module Gr.1 Available
A.EA3 Module and as improving frame
and SERVOPACK during
SERVOPACK ground.
operation.
The program table stored • Initialize the program
in flash memory was not table with the
Program Table
recorded properly. PGMINIT command or
Checksum Alarm
(This alarm can occur if
E19A A.AEF (Detected only when FnB06.*2 Gr.1 Available*3
the control power supply
control power supply is • If the problem is not
is turned OFF while the
turned ON.) solved, correct the pro-
program table is being
saved or initialized.) gram table.
• Change the firmware
Program Table Version The combination of the version.
Unmatched (Detected firmware version and the
E1AA A.AEF
only when the control program table version is
• Change the program Gr.1 Available*3
table version to match
power is ON.) wrong.
the firmware version.
Program Out-of-range • Change the firmware
Alarm A value set in the pro- version.
E1BA A.AEF (Detected only when gram table is not within • Change the program Gr.1 Available*3
control power supply is the allowed setting range. table version to match
turned ON.) the firmware version.
∗3. These alarms can be reset, but a Canceled Program Table Error (E44E) will occur the next time you attempt to start
program table operation, so program table operation will not be possible.
9-10
9.1 Troubleshooting
Serial
Servomotor
Command Panel Alarm
Method
Response
The zone table stored in
flash memory was not • Initialize the zone table
Zone Table Checksum with the ZONEINIT
recorded properly.
Alarm
(This alarm can occur if command or FnB07.*2
E1CA A.AEF (Detected only when
the control power supply
Gr.1 Available*4
control power supply is • If the problem is not
is turned OFF while the solved, correct the zone
turned ON.)
zone table is being saved table.
or initialized.)
ZONE Table Version • Change the firmware
The combination of the version.
Unmatched (Detected
firmware version and the
E1DA A.AEF only when the control
ZONE table version is
• Change the ZONE Gr.1 Available*4
power supply is turned table version to match
wrong.
ON.) the firmware version.
Zone Table Out-of- • Change the firmware
range Alarm A value set in the zone version.
E1EA A.AEF (Detected only when table is not within the • Change the ZONE Gr.1 Available*4
control power supply is allowed setting range. table version to match
The JOG speed table
stored in flash memory • Initialize the JOG
JOG Speed Table was not recorded prop- speed table with the
Checksum Alarm erly. JSPDINIT command
E1FA A.AEF (Detected only when (This alarm can occur if or FnB08.*2 Gr.1 Available*5
control power supply is the control power supply • If the problem is not
turned ON.) is turned OFF while the solved, correct the JOG
JOG speed table is being speed table.
saved or initialized.)
JOG Speed Table • Change the firmware
The combination of the version.
Version Unmatched
firmware version and the
E21A A.AEF (Detected only when
JOG speed table version
• Change the JOG speed Gr.1 Available*5
the control power table version to match
is wrong
supply is turned ON.) the firmware version.
JOG Speed Table Out- • Change the firmware
of-range Alarm A value set in the JOG version.
E22A A.AEF (Detected only when speed table is not within • Change the JOG speed Gr.1 Available*5
control power supply is the allowed setting range. table version to match
Either increase the regis-
tration distance or reduce
the deceleration distance
(increase the decelera-
The registration distance tion rate).
was shorter than the The registration distance
deceleration distance can be set by executing
when the /RGRT signal the RDST command or
Insufficient Registration
E23A A.AEF went ON to start registra- changing the RDST Gr.1 Available
Distance Alarm
tion operation. (The cur- parameter in the pro-
rent position will exceed
gram table.
the position specified by
registration.) The deceleration rate can
be changed by executing
Troubleshooting
the DEC command or

changing parameter
PnB2B.
∗4. These alarms can be reset, but it is possible that the zone signals (POUT0 to POUT7) will be output incorrectly. 9
When using the zone table, correct the zone table without resetting.
∗5. These alarms can be reset, but a Canceled JOG Speed Table Error (E46E) will occur the next time you attempt to start
JOG speed table operation, so JOG speed table operation will not be possible.
9-11
9 Troubleshooting
9.2.1 List of Warnings for Command Option Attachable Type SERVOPACKs
9.2 Warning Displays

When a warning has been detected, the SERVOPACK displays the warning status as shown below, and contin-
ues motor operation.
Status Displays
SERVOPACK Panel Display The SERVOPACK's warning code is displayed.
LED Red LED: Flashing
When a warning occurs, the warning code is displayed at the top
Digital Operator
left of the screen.
Warning code
Command (ALM)
No change
Command (ERR)
ALM Signal No change
/WARN Signal Becomes active.
9.2.1 List of Warnings for Command Option Attachable Type SERVOPACKs

The relation between warning displays and warning code outputs are shown below.
For details on the causes of warnings and the corrective action to take in response to them, refer to the follow-
ing manuals.
(SIEP S800000 60).
• Σ-V Series User's Manual Design and Maintenance Linear Motor/Command Option Attachable Type (SIEP
S800000 66).
Warning Warning Code Output

Warning Name Meaning
Display /ALO1 /ALO2 /ALO3
Position error pulse exceeded the parameter set-
A.900 Position Error Pulse Overflow
tings (Pn520×Pn51E/100).
OFF OFF OFF
When the servo turns ON, the position error pulses (open) (open) (open)
Position Error Pulse Overflow
A.901 exceeded the parameter setting (Pn526×Pn528/
Alarm at Servo ON
100).
This warning occurs before the overload alarms
(A.710 or A.720) occur. If the warning is ignored
A.910 Overload
and operation continues, an overload alarm may
occur. ON OFF OFF
Abnormal vibration at the motor speed was (close) (open) (open)
detected. The detection level is the same as A.520.
A.911 Vibration
Set whether to output an alarm or warning by
“Vibration Detection Switch” of Pn310.
This warning occurs before the regenerative over-
load alarm (A.320) occurs. If the warning is
A.920 Regenerative Overload
ignored and operation continues, a regenerative
overload alarm may occur. OFF ON OFF
This warning occurs before the dynamic brake (open) (close) (open)
overload alarm (A.731) occurs. If the warning is
A.921 Dynamic Brake Overload
ignored and operation continues, a dynamic brake
overload alarm may occur.
This warning occurs when the absolute encoder ON ON OFF
A.930 Absolute Encoder Battery Error
battery voltage is lowered. (close) (close) (open)
9-12
(cont’d)
Warning Warning Code Output

Warning Name Meaning
Display /ALO1 /ALO2 /ALO3
This warning occurs when there is an error in a
Command Option Module IF
A.94A parameter number sent to the SERVOPACK from
Data Setting Warning 1
the host controller or command option module.
This warning occurs when out-of-range data is sent
A.94B to the SERVOPACK from the host controller or
command option module.
This warning occurs when there is an error in the
Command Option Module IF OFF OFF ON
A.94C parameter data sent to the SERVOPACK from the
Data Setting Warning 3 (open) (open) (close)
host controller or command option module.
A.94D data size sent to the SERVOPACK from the host
controller or command option module.
A.94E latch mode settings sent to the SERVOPACK from
the host controller or command option module.
This warning occurs when the host controller or
Command Option Module IF command option module outputs an operating
A.95A
Command Warning 1 command when the operation execution conditions
in the SERVOPACK have not been met.
A.95B command output from the command option mod-
Command Warning 2
ule to the SERVOPACK.
This warning occurs when a latch command is out- ON OFF ON
A.95D put from the command option module to the SER- (close) (open) (close)
Command Warning 4
VOPACK during latch operation.
This warning occurs when an unallowed command
A.95E combination is output to the SERVOPACK from
Command Warning 5
the command option module.
A.95F command output to the SERVOPACK from the
Command Warning 6
Command Option Module IF This warning occurs when an error occurred in
OFF ON ON
A.960 Communications Warning communications between the SERVOPACK and
(open) (close) (close)
This warning occurs before the undervoltage alarm
ON ON ON
A.971 Undervoltage (A.410) occurs. If the warning is ignored and oper-
(close) (close) (close)
ation continues, an undervoltage alarm may occur.
Some kind of error has occurred at the INDEXER
Module. ON OFF OFF
A.A9F Error
Refer to 9.2.2 INDEXER Module Error Displays (close) (open) (open)
and Troubleshooting.
Note 1. Set Pn001.3 =1 (Outputs both Alarm Codes and Warning Codes) to output warning codes.
2. If Pn008.2 = 1 (Does not detect warning) is selected, warnings other than the undervoltage warning (A.971) will
not be detected.
Troubleshooting
9-13
9 Troubleshooting
9.2.2 INDEXER Module Error Displays and Troubleshooting

Negative responses (error responses) to input signals, serial commands, or operations from the Digital Opera-
tor are known as errors.
When an error occurs, the display and signal output will remain for 2 seconds.
The servo will not be turned OFF when an error occurs.
Status Displays
SERVOPACK Panel Display “A.A9F” is displayed for 2 seconds.
LED The red LED flashes for 2 seconds.
Digital Operator “A.A9F” is displayed for 2 seconds at the top left of the screen.
No change
Command (ALM)
Error code (the most recent (closest) error code)
Command (ERR)
ALM Signal No change
/WARN Signal Becomes active for 2 seconds.
The INDEXER Module error displays and the corrective actions are shown below.
Serial
Command Panel
Error Name Meaning Corrective Action
Negative Display
Response
While writing data to the flash memory, a fail-
ure occurred during one of the following oper-
ation.
• While saving a program table by using a
PGMSTORE command
Program Table Save
E41E A.A9F • While saving a program table by using Repair the hardware.
Failure Error
FnB03*
• While initializing a program table by using a
PGMINIT command
• While initializing a program table by using
FnB06*
ation.
• While saving a zone table by using a ZON-
Zone Table Save ESTORE command
E42E A.A9F Repair the hardware.
Failure Error • While saving a zone table by using FnB04*
• While initializing a zone table by using a
ZONEINIT command
• While initializing a zone table by using
FnB07*
ation.
• While saving a JOG speed table by using a
JSPDSTORE command
JOG Speed Table Save
E43E A.A9F • While saving a JOG speed table by using Repair the hardware.
Failure Error
FnB05*
• While initializing a JOG speed table by
using a JSPDINIT command
• While initializing a JOG speed table by
using FnB08*
∗ This function is available for the following software versions.
9-14
(cont’d)
Serial
Command Panel
Negative Display
Response
There was a request to start program table
Canceled Program operation even though an E19A or E1BA
E44E A.A9F Eliminate the cause of the alarm.
Table Error alarm occurred when the control power supply
was turned ON.
There was a request to start JOG speed table
Canceled JOG Speed operation even though an E1FA or E22A alarm
E46E A.A9F Eliminate the cause of the alarm.
Table Error occurred when the control power supply was
turned ON.
There was an overflow in the reception buffer
used for serial commands.
• An error will occur if too many serial com-
mands are sent consecutively without wait- Wait for a response to be received
ing for the responses. before sending the next com-
Serial Communications
(Normally, the reception buffer will not mand.
E47E A.A9F Receiving Buffer
overflow if there is command/response
Overflow Error The reception buffer can contain
handshaking.)
up to 100 commands.
• When an overflow has occurred, error code
E47E will be returned and all of the data that
has accumulated in the reception buffer will
be discarded.
A parity check error occurred with the serial • Check the serial communica-
command. tions protocol (PnB00) and bit
• This error will occur if even parity is not rate (PnB01) settings.
being used. • Check the wiring.
E48E A.A9F • The command that caused this error will be • If noise may be causing the
Parity Error
discarded and no response will be returned. problem, take steps to reduce
• There will be no response, but the noise such as using communi-
/WARN output and LED indicators will indications cables with ferrite
cate that an error has occurred. cores.
• Check the serial communica-
A stop bit detection error occurred with the tions protocol (PnB00) and bit
serial command. rate (PnB01) settings.
• The command that caused this error will be • Check the wiring.
E49E A.A9F discarded and no response will be returned. • If noise may be causing the
Framing Error
• There will be no response, but the problem, take steps to reduce
/WARN output and LED indicators will indi- noise such as using communi-
cate that an error has occurred. cations cables with ferrite
cores.
Serial command reception failed.
Serial Communications • The hardware’s reception buffer was over-
E4AE A.A9F written with the subsequent data. Repair the hardware.
Overrun Error
(Normally, data is read before it is overwrit-
ten, so this error does not occur.)
• When P-OT is being used,
Travel in the forward direction was requested move to a position where the P-
Moving Disabled Error when P-OT was in effect. (Forward movement OT is not in effect.
E4BE A.A9F
due to P-OT is disabled when P-OT (forward overtravel) is • When P-OT is not being used,
in effect.) disable P-OT in the parameter
(PnB0F = 3).
Troubleshooting
• When N-OT is being used,

Travel in the reverse direction was requested move to a position where the
Moving Disabled Error when N-OT was in effect. (Reverse movement N-OT is not in effect.
E4CE A.A9F
due to N-OT is disabled when N-OT (reverse overtravel) is • When N-OT is not being used,
in effect.) disable N-OT in the parameter
(PnB10 = 3).
9-15
9 Troubleshooting
(cont’d)
Serial
Command Panel
Negative Display
Response
• Check the target position speci-
fication.
• Check the forward software
limit in PnB21.
The specified target position exceeds the posi- • Check the moving mode
Moving Disabled Error
E4DE A.A9F tion reference of forward software limit set in (rotary or linear) set in PnB20.
due to P-LS
PnB21. • If software limits are not being
used, either select a rotary
moving mode in PnB20 or dis-
able the software limits by set-
ting PnB21 = PnB23 = 0.
fication.
• Check the reverse software
limit in PnB23.
The specified target position exceeds the posi- • Check the moving mode
Moving Disabled Error
E4EE A.A9F tion reference of reverse software limit set in (rotary or linear) set in PnB20.
due to N-LS
PnB23. • If software limits are not being
used, either select a rotary
moving mode in PnB20 or dis-
able the software limits by set-
ting PnB21 = PnB23 = 0.
The moving method is set to rotary (PnB20 = fication.
Position Reference 1, 2, or 3) and the target position specification • Check the positioning range set
E4FE A.A9F
Out-of-range Error exceeds the position reference limits in PnB21 with PnB21 and PnB23.
and PnB23. • Check the moving method
(rotary or linear) set in PnB20.
Even though the target position was not speci-
Specify a target position with a
fied even once, there was a request by the ST
Target Position command such as the POS com-
E51E A.A9F command to start positioning or a request by
Unspecified Error mand, STnnnnnnnn command, or
the RS command to start registration position-
RSnnnnnnnn command.
ing.
Even though the registration distance was not
Registration Distance Specify a registration distance
E52E A.A9F specified even once, there was a request by the
Unspecified Error with the RDST command.
RS command to start registration positioning.
• Send the next move reference
request only after the current
movement is completed (Posi-
tion reference distribution is
There was a new move reference requested completed).
Move Reference
E53E A.A9F even though the system was already moving in • A movement can be interrupted
Duplication Error
a positioning or other travelling operation. or canceled with the HOLD or
SKIP commands. Also, STOP
can be specified in the target
position specification (POS)
with the program table.
9-16
(cont’d)
Serial
Command Panel
Negative Display
Response
Send the move reference request
only after turning the servo ON
by turning ON the /S-ON signal,
The servo is not ON. setting PnB0E = 2 so that the
• There was a positioning request or other /S-ON signal is always ON, or
move reference request in servo OFF status. executing the SVON command.
The servo went OFF during program table There are two possibilities.
Servo ON Incomplete
E54E A.A9F operation. • The program can be canceled
Error
(Program table operation will be interrupted with the /PGMRES signal or
while just the step that was being executed is PGMRES command.
canceled (If LOOP ≠ 1, the first LOOP is can- • The servo can be turned ON
celed.)) and the program can be
restarted with the /START-
STOP signal or the START
command.
The servo could not be turned ON within 2 s
after turning ON the /S-ON signal or executing
the SVON command. • Turn the servo ON when the
motor is stopped.
• The motor is rotating during servo ON exe-
cution. • Check the main power supply.
• The main power supply went OFF during • Turn ON signals /HWBB1,
E55E A.A9F Servo ON Failure Error servo ON execution. /HWBB2. After that, tempo-
rarily establish the servo OFF
• Hard wire base block status (HWBB status)
status by turning the /S-ON
Error E5BE will occur if there was an alarm signal OFF or sending the
when the servo ON request was sent using the SVOFF command, then turn
SVON command. Error E5CE will occur if the the servo ON again.
main power supply was OFF when the servo
ON request was sent.
• There was a syntax error in the serial com-
Undefined Serial mand. Check the serial command’s char-
E56E A.A9F
Command Error • There was a number in the serial command acter string.
longer than 8 digits or 10 digits.
The specified address was incorrect for a
Address Out-of-range parameter, program table, zone table, JOG
E57E A.A9F Check the address.
Error speed table, alarm history, or monitor read/
write command.
Data Out-of-range The specified setting was incorrect in a param-
E58E A.A9F Check the setting.
Error eter or program table write command.
Communication Failure
Error between Communications between the INDEXER Check the version of the SERVO-
E59E A.A9F
INDEXER Module and Module and the SERVOPACK have failed. PACK.
SERVOPACK
Some of the utility functions, such as parame-
ter initialization, has been requested while still
in the servo ON status. For safety, the follow-
ing functions cannot be executed in the servo
Execution Disabled ON status. Execute these functions after
E5AE A.A9F
while Servo ON Error • Serial commands: Parameter initialization, turning the servo OFF.
absolute encoder reset,
Troubleshooting
motor current zero adjust-

ment
• SigmaWin+: Parameter initialization
Execution Disabled Turn the servo ON after eliminat-
Servo ON was requested (the SVON command
E5BE A.A9F while Alarm Activated ing the cause of the alarm and
was executed) while there was an alarm.
Error clearing the alarm.
Execution Disabled Servo ON was requested (the SVON command 9
Turn the servo ON after turning
E5CE A.A9F while Main Power OFF was executed) while the main power supply
ON the main power supply.
Error was OFF.
9-17
9 Troubleshooting
(cont’d)
Serial
Command Panel
Negative Display
Response
The homing method is not specified.
Homing Method • Homing Start was requested (/HOME signal Specify the homing method in
E5DE A.A9F
Unspecified Error was turned ON or ZRN command was exe- PnB31.
cuted) without setting the homing method.
• There was a request to execute a process that
is not allowed during program table opera-
tion while program table operation was in
progress or on hold. Request execution of the process
Execution Disabled
• There was an attempt to change the program again after cancelling program
E5EE A.A9F during Program Table
table while program table operation was in table operation by turning the
Operation Error
progress or on hold. /PGMRES signal ON.
• There was a request to start positioning by a
serial command while program table opera-
tion was in progress or on hold.
There was a request that could not be executed
at the same time as the function that was being
executed. Execute the operation again after
E5FE A.A9F Session Conflict Error Example: the execution of the current func-
There was a request to start program table tion is completed.
operation while the program table was being
initialized.
There was a request that was incompatible with
the connected encoder.
Examples:
• An Absolute Encoder Reset (ABSPGRES
command) was requested when an incre-
mental encoder is connected.
Encoder Mismatch
E61E A.A9F • Homing Start was requested (/HOME signal Check the encoder.
Error
was turned ON or ZRN command was exe-
cuted) when an absolute encoder is con-
nected.
(An absolute encoder can be used as an
incremental encoder if parameter Pn002.2 =
1.)
A Multi-turn Limit Setting (MLTLIMSET
command) was requested even though alarm
A.CC0 has not occurred. Use the Multi-turn Limit Setting
No A.CC0 Alarm (Alarm A.CC0 indicates that Pn205 does not operation to adjust the setting in
E62E A.A9F
Occurred Error match the setting in the encoder after the multi- the encoder to match Pn205 only
turn limit setting in Pn205 was changed and the after alarm A.CC0 has occurred.
control power supply was turned OFF and
ON.)
An attempt was made to execute a continuous
stop under conditions where it could not be
executed.
Examples:
• The coordinates have been set to linear mov-
Continuous Stop ing method. Execute a continuous stop under
E63E A.A9F Execution Disabled • The immediately-preceding table target posi- conditions where it can be exe-
Error tion is not ±INFINITE. cuted.
• The immediately-preceding table target posi-
tion is ±INFINITE, but the registration dis-
tance is set.
• A value other than 1 has been set for the exe-
cution count.
9-18
9.3 Troubleshooting Malfunction Based on Operation and Conditions
9.3 Troubleshooting Malfunction Based on Operation and

Conditions
Troubleshooting for the malfunctions based on operation and condition is provided in this section.
Be sure to turn OFF the servo system before troubleshooting items outlined in bold in the table.
(1) Rotational Servomotors
Problem Probable Cause Investigative Actions Corrective Actions

The control power supply is not Check the voltage between control Correct the wiring so that the con-
ON. power supply terminals. trol power supply comes ON.
The main circuit power supply is Check the voltage between main Correct the wiring so that the con-
not ON. circuit power supply terminals. trol power supply comes ON.
Wiring of I/O signal connector CN1 Check if the connector CN1 is prop- Correct the connector CN1 connec-
is faulty or disconnected. erly inserted and connected. tion.
Servomotor or encoder wiring is
Check the wiring. Correct the wiring.
disconnected.
Run under no load and check the Reduce load or replace with larger
The servomotor is overloaded.
load status. capacity servomotor.
Settings for input signals PnB03 to Check settings of input signals Correct the settings of input signals
PnB12 are incorrect. PnB03 to PnB12. PnB03 to PnB12.
A servo ON command was not Check the command sent from the
Send a servo ON command.
input. host controller.
Servomotor Does
Not Start The forward run prohibited (P-OT)
Turn P-OT or N-OT input signal
and reverse run prohibited (N-OT) Check P-OT or N-OT input signal.
ON.
input signals are turned OFF.
Check the motor position and soft-
The current position of the servo-
Check the error at the INDEXER ware limit setting (PnB21, PnB23),
motor is outside the software limit
Module. then move the servomotor into the
setting range.
software limit setting range.
There is no position reference, or it Check the error at the INDEXER
Set the program table correctly.
is incorrect. Module.
Set the /HWBB1 or /HWBB2 input
signal to ON.
The safety input signal (/HWBB1 or Check the /HWBB1 or /HWBB2 When not using the safety function,
/HWBB2) remains OFF. input signal. mount the safety function jumper
connector (provided as an acces-
sory) on the CN8.
A SERVOPACK fault occurred. – Replace the SERVOPACK.
Servomotor Servomotor wiring is incorrect. Check the servomotor wiring. Correct the wiring.
Moves
Instantaneously, Encoder wiring is incorrect. Check the encoder wiring. Correct the wiring.
and then Stops
Check connections of main circuit
Servomotor Wiring connection to servomotor is Tighten any loose terminals or con-
cable (phases-U, -V, and -W) and
Speed Unstable defective. nectors.
encoder connectors.
Servomotor
Troubleshooting
Rotates without A SERVOPACK fault occurred. – Replace the SERVOPACK.

Reference Input
Setting for parameter Pn001.0 is Check the setting of parameter
Correct the parameter setting.
incorrect. Pn001.0.
Check if excessive moment of iner-
Dynamic Brake tia, motor overspeed, or Dynamic
Does Not Operate Dynamic brake resistor is Brake frequently activated. Replace the SERVOPACK, and
If moment of inertia exceeds, motor reduce the load to avoid disconnec- 9
disconnected.
overspeeds, or Dynamic Brake is tion.
frequently activated, Dynamic
Brake resistor may be disconnected.
9-19
9 Troubleshooting
(cont’d)
Dynamic Brake There is a defective component in
Does Not Operate Dynamic brake drive circuit fault – the dynamic brake circuit. Replace
(cont’d) the SERVOPACK.
Reduce the load so that the moment
of inertia ratio becomes within the
The servomotor largely vibrated
Check the servomotor speed wave- allowable value, or increase the
during execution of tuning-less
form. load level or lower the tuning level
function (factory setting).
for the tuning-less level setting
(Fn200).
Check the mounting status of the
Tighten the mounting screws.
servomotor.
Check if there is misalignment of
Mounting is not secured. Align the couplings.
couplings.
Check if there are unbalanced cou-
Balance the couplings.
plings.
Check for noise and vibration
Bearings are defective. Replace the servomotor.
around the bearings.
Check for any foreign matter, dam-
Vibration source at the driven
age, or deformations on the machin- Contact the machine manufacturer.
machine
ery's movable parts.
The I/O signal cables must be
Noise interference due to incorrect tinned annealed copper shielded
input/output signal cable specifica- twisted-pair or shielded multi-core Use the specified I/O signal wires.
tions twisted-pair cables with a core of
0.12 mm2 min.
Noise interference due to length of Check the length of the input/output The input/output cable must be no
Abnormal Noise input/output signal cable cable. longer than 3 m.
from Servomotor
The encoder cable must be tinned
annealed copper shielded twisted-
Noise interference due to incorrect pair or shielded multi-core twisted- Use the specified encoder cable.
encoder cable specifications
pair cables with a core of 0.12 mm2
min.
Noise interference due to length of Check the length of the encoder The encoder cable must be no
encoder cable wiring cable. longer than 20 m.
Noise interference due to damaged Check if the encoder cable is bent or Replace the encoder cable and mod-
encoder cable if its sheath is damaged. ify the encoder cable layout.
Check if the encoder cable is bun- Correct the encoder cable layout so
Excessive noise to the encoder
dled with high-current line or near a that no surge from high-current
cable
high-current line. lines is applied.
FG potential varies because of Ground machines correctly, and
Check if the machines are correctly
influence of machines such as weld- prevent diversion to the FG at the
grounded.
ers at the servomotor. PG side.
Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
on the input/output signal line from
due to noise interference encoder wiring.
the encoder.
Check if vibration from the machine
Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation
or secure the servomotor installa-
the encoder is incorrect (mounting surface accu-
tion.
racy, fixing, alignment, etc.).
An encoder fault occurred. – Replace the servomotor.
Check to see if the servo gains have
Unbalanced servo gains Execute the advanced autotuning.
been correctly adjusted.
Servomotor Check the speed loop gain value
Vibrates at Speed loop gain value (Pn100) too (Pn100). Reduce the speed loop gain value
Frequency of high (Pn100).
Factory setting: Kv = 40.0 Hz
Approx. 200 to
400 Hz Check the position loop gain value
Position loop gain value (Pn102) (Pn102). Reduce the position loop gain value
too high (Pn102).
Factory setting: Kp = 40.0/s
9-20
(cont’d)
Servomotor Check the speed loop integral time
Vibrates at Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101).
Frequency of constant value (Pn101) constant value (Pn101).
Factory setting: Ti = 20.0 ms
Approx. 200 to
400 Hz Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
(cont’d) value (Pn103) value (Pn103). value (Pn103).

Check the speed loop gain value
Speed loop gain value (Pn100) too Reduce the speed loop gain value
(Pn100).
high (Pn100).
High Rotation Check the position loop gain value
Speed Overshoot Position loop gain value (Pn102) (Pn102). Reduce the position loop gain value
on Starting and too high (Pn102).
Stopping Factory setting: Kp = 40.0/s
Check the speed loop integral time
Incorrect speed loop integral time Correct the speed loop integral time
constant value (Pn101).
constant value (Pn101) constant value (Pn101).
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
value (Pn103) value (Pn103). value (Pn103).
Noise interference due to improper pair or shielded multi-core twisted- Use the specified encoder cable.
min.
Noise interference due to length of The encoder cable must be no
Check the encoder cable length.
encoder cable longer than 20 m.
Noise interference due to damaged Check if the encoder cable is bent or Replace the encoder cable and cor-
encoder cable if its sheath is damaged. rect the encoder cable layout.
Excessive noise interference at the
dled with a high-current line or near that no surge from high-current
encoder cable
Absolute Encoder high-current line. lines is applied.
Position FG potential varies because of Ground machines correctly, and
Difference Error Check if the machines are correctly
(The position grounded.
saved in the host
controller when Check if there is noise interference
the power was on the input/output signal line from
due to noise interference encoder wiring.
turned OFF is the encoder.
different from the Check if vibration from the machine
position when the Reduce vibration from the machine,
power is next or secure the servomotor installa-
turned ON.) tion.
An encoder fault occurred. – Replace the servomotor.
A SERVOPACK fault occurred.
– Replace the SERVOPACK.
(The pulse count does not change.)
Check the error detection section at Correct the error detection section
the host controller. of the host controller.
Check if the host controller is exe- Execute a multi-turn data parity
Troubleshooting
Host controller multi-turn data read-

cuting data parity checks. check.
ing error
Check noise in the input/output sig- Take measures against noise, and
nal line between the SERVOPACK again execute a multi-turn data par-
and the host controller. ity check.
9-21
9 Troubleshooting
(cont’d)
Check the external power supply Correct the external power supply
(+24 V) voltage for the input signal. (+24 V) voltage.
Check if the overtravel limit switch
Correct the overtravel limit switch.
Forward or reverse run prohibited operates properly.
signal is input. Check if the overtravel limit switch Correct the overtravel limit switch
is wired correctly. wiring.
Check the settings for PnB0F and
Set the parameters correctly.
PnB10.
Check the fluctuation of external
Stabilize the external power supply
power supply (+24 V) voltage for
Overtravel (OT) (+24 V) voltage.
the input signal.
Forward or reverse run prohibited Check if the overtravel limit switch Stabilize the operation of the over-
signal is malfunctioning. operates correctly. travel limit switch.
Correct the overtravel limit switch
wiring is correct. (Check for dam-
wiring.
aged cables or loose screws.)
Check Pn001.0 and PnB1F when Select a servomotor stop method
Incorrect servomotor stop method the servomotor power is OFF. other than “coast to stop.”
selection Check Pn001.0 and PnB1F in Select a servomotor stop method
torque control. other than “coast to stop.”
Improper limit switch position and Install the limit switch at the appro-
Improper Position dog length −
priate position.
to Stop by
Overtravel (OT) The overtravel limit switch position
Install the overtravel limit switch at
Signal is too close for the coasting dis- −
the appropriate position.
tance.
9-22
(cont’d)
Noise interference due to improper pair or shielded multi-core twisted- Use the specified encoder cable.
pair cable with a core of 0.12 mm2
min.
Noise interference due to length of The encoder cable must be no
Check the encoder cable length.
encoder cable longer than 20 m.
Noise influence due to damaged Check if the encoder cable is bent or Replace the encoder cable and cor-
encoder cable if its sheath is damaged. rect the encoder cable layout.
Excessive noise interference to
dled with a high-current line or near that no surge from high-current
encoder cable
a high-current line. lines is applied.
FG potential varies because of Ground machines correctly, and
Check if the machines are correctly
grounded.
Check if there is noise interference
on the I/O signal line from the
Position Error due to noise interference encoder wiring.
encoder.
(Without Alarm)
or secure the servomotor installa-
tion.
Check if a position error occurs at
Unsecured coupling between Secure the coupling between the
the coupling between machine and
machine and servomotor machine and servomotor.
servomotor.
The I/O signal cable must be tinned
Noise interference due to improper pair or shielded multi-core twisted- Use the specified I/O signal cable.
I/O signal cable specifications
min.
Noise interference due to length of The I/O signal cable must be no
Check the I/O signal cable length.
I/O signal cable longer than 3 m.
An encoder fault occurred. (The
– Replace the servomotor.
pulse count does not change.)
Measure the servomotor ambient Lower the ambient temperature to
Ambient temperature too high
temperature. 40°C or less.
Servomotor Servomotor surface dirty Visually check the surface. Clean dust and oil from the surface.
Overheated
If overloaded, reduce load or
Servomotor overloaded Check the load status with monitor. replace with larger capacity SER-
VOPACK and servomotor.
Troubleshooting
9-23
9 Troubleshooting
(2) Linear Servomotors

The control power supply is not Check voltage between control
Correct the control power circuit.
ON. power supply terminals.
The main circuit power supply is Check the voltage between power
Correct the power circuit.
not ON. supply terminals.
Wrong wiring or disconnection of I/ Check if the connector CN1 is prop- Correct the connector CN1 connec-
O signal connector CN1 erly inserted and connected. tion.
Linear servomotor cable or linear
Check the wiring. Correct the wiring.
connection cables disconnected.
The linear servomotor is over- Run under no load and check the Reduce load or replace with larger
loaded. load status. capacity linear servomotor.
Settings for input signals PnB03 to Check settings of input signals Correct the settings of input signals
PnB12 are incorrect. PnB03 to PnB12. PnB03 to PnB12.
A servo ON command was not Check the command sent from the
Send a servo ON command.
input. host controller.
Linear The forward run prohibited (P-OT)

Turn P-OT or N-OT input signal
Servomotor Does and reverse run prohibited (N-OT) Check P-OT or N-OT input signal.
ON.
Not Start When input signals are turned OFF.
Using JOG Check the motor position and soft-
Operation or Host The current position of the servo-
Check the error at the INDEXER ware limit setting (PnB21, PnB23),
Controller motor is outside the software limit
Module. then move the servomotor into the
Reference. setting range.
software limit setting range.
There is not position reference, or it Check the error at the INDEXER
Set the program table correctly.
is incorrect. Module.
Check the parameter Pn080. Correct the setting of Pn080.
When using an incremental linear
The polarity detection is not exe- scale, send the servo ON command.
cuted. Check the command sent from the
host controller. When using an absolute linear
scale, execute polarity detection
(Fn080).
Set the /HWBB1 or /HWBB2 input
signal to ON.
The safety input signal (/HWBB1 or Check the /HWBB1 or /HWBB2 When not using the safety function,
/HWBB2) remains OFF. input signal. mount the safety function jumper
connector (provided as an acces-
sory) on the CN8.
Linear servomotor wiring is incor- Correct the linear servomotor wir-
Check the linear servomotor wiring.
rect. ing.
Serial converter unit wiring is incor- Check the serial converter unit wir- Correct the serial converter unit
rect. ing. wiring.
Linear scale wiring is incorrect. Check the linear scale wiring. Correct the linear scale wiring.
Linear Linear scale pitch (Pn282) is incor-
Servomotor Check the setting of Pn282. Correct the setting of Pn282.
rect.
Moves
Instantaneously, Change the setting of Pn080.1
Linear scale counting up direction (Motor Phase Selection).
and then Stops and motor moving coil forward Check the directions.
Match the linear scale direction and
direction do not agree.
moving coil direction.
Check if the value of Un004 (Elec-
Polarity detection is not performed tric Angle 2, angle from polarity Correct the settings for the polarity
correctly. origin) at an arbitrary position is detection related parameter.
between ±10 degrees.
Check connection of power lead
Linear
Wiring connection to linear servo- (phases U, V, and W) and the con- Tighten any loose terminals or con-
Servomotor
motor is defective. nectors of serial converter unit connectors.
Speed Unstable
nection cables.
9-24
(cont’d)
Change the setting of Pn080.1
Linear Linear scale counting up direction (Motor Phase Selection).
Servomotor and motor moving coil forward Check the directions.
Match the linear scale direction and
Moves direction do not agree.
moving coil direction.
Without
Reference Check if the value of Un004 (Elec-
Input Polarity detection is not performed tric Angle 2, angle from polarity Correct the settings for the polarity
correctly. origin) at an arbitrary position is detection related parameter.
between ±10 degrees.
Improper setting of parameter Check the setting of parameter Correct the setting of parameter
Pn001.0 Pn001.0. Pn001.0.
DB (dynamic Check if excessive mass, motor
Replace the SERVOPACK, and
brake) Does Not DB resistor disconnected overspeed, or DB frequent activa-
reconsider the load.
Operate tion has occurred.
DB circuit parts are faulty.
DB drive circuit fault –
Replace the SERVOPACK.
Reduce the load so that the mass
The linear servomotor largely ratio becomes within the allowable
vibrated during execution of tuning- Check the motor speed waveform. value, or increase the load level or
less function (factory setting). lower the rigidity level for the tun-
ing-less level setting (Fn200).
Check if there are any loosen
Mounting not secured Tighten the mounting screws.
mounting screws.
Check the machine movable section
Vibration source on the driven
for foreign matter, damage or defor- Contact the machine manufacturer.
machine
mity.
The specifications of I/O signal
cables must be:
Noise interference due to incorrect Shielded twisted-pair or shielded
multi-core twisted-pair wire with Use the specified I/O signal cables.
I/O signal cable specifications
Abnormal Noise core 0.12 mm2 min. and tinned
from Linear annealed copper twisted wire.
Servomotor
Noise interference due to long dis- Shorten the I/O signal cable length
tance of I/O signal cable to 3 m or less.
The specifications of cable for con-
necting serial converter unit must
Noise interference due to incorrect be:
Shielded twisted-pair or shielded Use the specified linear scale con-
specifications of linear scale con-
multi-core twisted-pair wire with nection cables.
nection cables.
2
core 0.12 mm min. and tinned
annealed copper twisted wire.
The maximum length of linear scale
connection cables:
Noise interference because the lin-
Check the length of the linear scale 20 m for the cable for connecting a
ear scale connection cables is too
connection cables. serial converter unit
long
15 m for the cable for connecting a
linear scale/hall sensor
Troubleshooting
9-25
9 Troubleshooting
(cont’d)
Noise interference because the lin- Check the linear scale connection Replace the linear scale connection
ear scale connection cables are cables to see if they are not dam- cables, and reconsider the layout of
damaged aged or bent. the linear scale connection cables.
Check if the linear scale connection Modify the cable layout so that no
Excessive noise to the linear scale cables are not bundled with high- surge from high-current line is
connection cables. current line or not near the high-cur- applied to the linear scale connec-
rent line. tion cables.
FG electrical potential varies by
Check if the machine is correctly Ground the machine separately
influence of such machines on the
grounded. from linear scale side FG.
Abnormal Noise linear servomotor side as welders.
from Linear Check if there is noise interference
Servomotor SERVOPACK pulse counting error Take measure against noise for the
on the I/O signal cable from the
(cont’d) due to noise serial converter unit wiring.
serial converter unit.
occurred or serial converter unit Reduce vibration from the machine,
Excessive vibration and shock to installation is incorrect. or correct the serial converter unit
the serial converter unit
(Mounting surface accuracy, or fix- installation.
ing.)
A serial converter unit fault
− Replace the serial converter unit.
occurred.
A linear scale fault occurred. − Replace the linear scale.
Speed loop gain value (Pn100) is Reduce the speed loop gain
(Pn100).
too high. (Pn100).
Linear Check the position loop gain value
Servomotor Position loop gain value (Pn102) is Reduce the position loop gain
(Pn102).
Vibrates at about too high. (Pn102).
Factory setting: Kp = 40.0/s
200 to 400 Hz
Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101) setting.
constant (Pn101) setting constant (Pn101) setting.
Check the mass ratio (Pn103) set- Correct the mass ratio (Pn103) set-
Incorrect mass ratio (Pn103) setting
ting. ting.
Speed loop gain value (Pn100) is (Pn100). Reduce the speed loop gain
too high. (Pn100).
Check the position loop gain value
Position loop gain value (Pn102) is Reduce the position loop gain
(Pn102).
too high. (Pn102).
High Factory setting: Kp = 40.0/s
Speed
Overshoot on Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101) setting.
Starting and constant (Pn101) setting constant (Pn101) setting.
Stopping Factory setting: Ti = 20.0 ms
Check the mass ratio (Pn103) set- Correct the mass ratio (Pn103) set-
Incorrect mass ratio (Pn103) setting
ting. ting.
Check the force reference wave-
The force reference is saturated. Use the mode switch function.
form.
Initial value of force limit:
The force limit (Pn483, Pn484) is Set Pn483 and Pn484 (Force Limit)
Pn483 = 30%
set to the initial value. to an appropriate value.
Pn484 = 30%
9-26
(cont’d)
The specifications of linear scale
connection cables must be:
Noise interference due to improper Shielded twisted-pair or shielded
Use the specified linear scale con-
linear scale connection cable speci- multi-core twisted-pair wire with
nection cables.
fications
core 0.12 mm2 min. and tinned
The maximum length of linear scale
connection cables:
Noise interference due to length of Check the length of linear scale 20 m for the cable for connecting a
linear scale connection cables connection cables. serial converter unit
15 m for the cable for connecting a
linear scale/hall sensor
Check if any of the linear scale con-
Noise interference due to damaged Replace the linear scale connection
nection cables is bent or if its
linear scale connection cables cables and correct their layout.
sheaths are damaged.
Linear Scale Check if any of the linear scale con-
Correct the linear scale connection
Position Excessive noise interference at the nection cables is bundled with a
cable layout so that no surge from
Difference Error linear scale connection cables high-current line or near high-cur-
high-current lines is applied.
(The position rent line.
saved in the host FG potential varies because of Ground machines correctly, and
controller when Check if the machines are correctly
the power was grounded.
ers at the servomotor. linear scale side.
turned OFF is
different from the Check if there is noise interference
position when the on the input/output signal line from
due to noise interference serial converter unit wiring.
power is next the serial converter unit.
turned ON.) Check if vibration from the machine
Excessive vibration and shock to occurred or the serial converter unit
or secure the serial converter unit
the serial converter unit installation is incorrect (mounting
installation.
surface accuracy and fixing).
– Replace the serial converter unit.
occurred.
A linear scale fault occurred. – Replace the linear scale.
Check the error detection section at Correct the error detection section
the host controller. of the host controller.
Check if the host controller is exe-
Host controller serial data reading Execute a serial data parity check.
cuting data parity checks.
error
Check for noise in the input/output Take measures against noise, and
signal line between the SERVO- again execute a serial data parity
PACK and the host controller. check.
Check if the voltage of input signal
Correct external power supply (+24
external power supply (+24 V) is
V) voltage.
correct.
Forward or reverse run prohibited Correct the overtravel limit switch.
operates properly.
signal is input.
Check if the overtravel limit switch Correct the overtravel limit switch
is connected correctly. wiring.
Troubleshooting
Check the settings for PnB0F and

Set the parameters correctly.
Overtravel (OT) PnB10.
Check the fluctuation of the input
Stabilize the external power supply
signal external power supply (+24
(+24 V) voltage.
V) voltage.
Forward or reverse run prohibited Check if the overtravel limit switch Stabilize the operation of the over-
signal is malfunctioning. operates correctly. travel limit switch.
9
Correct the overtravel limit switch
wiring is correct. (check for dam-
wiring.
aged cables or loosen screws.)
9-27
9 Troubleshooting
(cont’d)
Check Pn001.0 and Pn001.1 when Select a linear servomotor stop
Overtravel (OT) Incorrect linear servomotor stop the linear servomotor power is OFF. method other than “coast to stop.”
(cont’d) method selection Check Pn001.0 and Pn001.1 when Select a linear servomotor stop
in force control. method other than “coast to stop.”
Improper limit switch position and Install the limit switch at the
Improper Position dog length −
appropriate position.
to Stop by
Overtravel (OT) The overtravel limit switch position
Install the overtravel limit switch at
Signal is too short for the coasting −
the appropriate position.
distance.
The specifications of the linear
scale connection cables must be:
Noise interference due to improper Shielded twisted-pair or shielded Use the linear scale connection
specifications of the linear scale multi-core twisted-pair wire with cables with the specified specifica-
connection cables. tions.
The maximum length of the linear
scale connection cables:
Noise interference because the
Check the length of the linear scale 20 m for the cable for connecting a
length of the linear scale connection
connection cables. serial converter unit 15 m for the
cables is too long.
cable for connecting a linear a linear
scale/hall sensor.
Check the linear scale connection
Noise influence due to damaged lin- If the cable is damaged, replace it
cables to see if any of them is bent
ear scale connection cables and correct the cable layout.
or its sheath is damaged.
Check if the any of the linear scale
Change the layout of the linear scale
Excessive noise interference to the connection cables is bundled with a
connection cables so that no surge
linear scale connection cables high-current line or near high-cur-
voltage is applied.
rent line.
FG electrical potential varies by
Check if the machine is correctly Ground the machine separately
Position Error influence of such machines on the
grounded. from linear scale side FG.
(without alarm) linear servomotor side as welders.
Check if the I/O signal cable from
SERVOPACK pulse counting error Take a measure against noise for the
the serial converter unit is influ-
due to noise serial converter unit wiring.
enced by noise.
Check if machine vibration
Reduce the machine vibration or
Excessive vibration and shock to occurred or serial converter unit
mount the serial converter unit
the serial converter unit mounting such as mounting surface
securely.
precision, fixing is incorrect.
The specifications of the I/O signal
cable must be:
Noise interference due to improper Shielded twisted-pair or shielded Use I/O signal cable with the speci-
I/O signal cable specifications multi-core twisted-pair wire with fied specifications.
Noise interference due to length of The I/O signal cable length must be
I/O signal cable less than 3 m.
− Replace the serial converter unit
occurred.
A linear scale fault occurred. − Replace the linear servomotor.
A SERVOPACK fault occurred. − Replace the SERVOPACK.
9-28
(cont’d)
Ambient operating temperature is Measure the linear servomotor Reduce the ambient operating tem-
too high. ambient operating temperature. perature to 40°C max.
Clean dust and oil from linear ser-
Linear servomotor surface is dirty. Check visually.
vomotor surface.
Servomotor If overloaded, reduce load or
Overheated Linear servomotor overloaded Check the load status with monitor. replace with larger capacity SER-
VOPACK and linear servomotor.
Check if the value of Un004 (Elec-
Polarity detection is not performed Correct the settings for the polarity
tric Angle 2) at an arbitrary position
correctly. detection related parameter.
is between ±10 degrees.
Troubleshooting
9-29
10
Appendix
This chapter presents the parameters, monitor mode, utility functions and serial command
list.
10.1 Parameter List for INDEXER Module . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.2 Parameter List for Command Option Attachable Type SERVOPACKs . 10-9
10.3 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-26
10.4 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-27
10.5 Alphabetical List of Serial Commands . . . . . . . . . . . . . . . . . . . . . . . . 10-29
10.6 Parameter Equivalence List for INDEXER Modules for SGDV
SERVOPACKs and INDEXER Modules for SGDH SERVOPACKs . . 10-32
Appendix
10
10-1
10 Appendix
10.1 Parameter List for INDEXER Module

The following table shows the INDEXER Module’s parameters.
In this section, the word “open” or “close” shown in parentheses in parameter descriptions indicates that the
contact is open or closed.
Parameter Setting Factory When

Name Setting Range Reference
No. Unit Setting Enabled
Serial Communication Protocol 0 to 9 – 1 After restart 7.2.3
Setting Meaning
1 Full-duplex wiring is used for communications method. Echoback is performed for each character.
2 Half-duplex wiring is used for communications method. CR is used as delimiter.
Half-duplex wiring is used for communications method. CR is used as delimiter. Echoback is performed for each char-
3
acter.
PnB00
Half-duplex wiring is used for communications method. CR is used as delimiter. Echoback is performed for each com-
4
mand.
5 Half-duplex wiring is used for communications method. CRLF is used as delimiter.
Half-duplex wiring is used for communications method. CRLF is used as delimiter. Echoback is performed for each
6
character.
Half-duplex wiring is used for communications method. CRLF is used as delimiter. Echoback is performed for each
7
command.
8, 9 Reserved parameter
Bit rate 0 to 2 – 0 After restart 7.2.3
Setting Meaning
PnB01 0 Sets bit rate at 9600 bps.
Response “OK” 0 to 1 – 1 Immediately 7.2.3
Setting Meaning
PnB02
0 Does not return OK response.
1 Returns OK response.
/MODE 0/1 0 to 3 – 0 After restart 6.1.1, 6.4.1
Setting Meaning
0 When input signal is ON (close), mode is set to Mode 0.
PnB03
1 When input signal is OFF (open), mode is set to Mode 0.
2 Always Mode 0
3 Always Mode 1
10-2
(cont’d)
/START-STOP; /HOME 0 to 3 – 0 After restart 6.1.2, 6.4.2
Meaning
Setting
Mode 0 Mode 1
Starts program table operation when /START-STOP signal
is ON (close).
0 Starts homing when input signal is ON (close).
PnB04 Stops program table operation when /START-STOP signal
is OFF (open).
Starts program table operation when /START-STOP signal
is OFF (open).
1 Starts homing when input signal is OFF (open).
Stops program table operation when /START-STOP signal
is ON (close).
2, 3 Does not start program table operation. Does not start homing.
/PGMRES; /JOGP 0 to 3 – 0 After restart 6.1.2, 6.4.2
Meaning
Setting
Mode 0 Mode 1
Resets program table operation by switching /PGMRES
Executes JOG operation in the forward direction when
PnB05 0 signal from OFF (open) to ON (close). Program table oper-
input signal is ON (close).
ation is canceled.
Resets program table operation by switching /PGMRES
Executes JOG operation in the forward direction when
1 signal from ON (close) to OFF (open). Program table oper-
input signal is OFF (open).
ation is canceled.
2, 3 Does not reset program table operation. Does not execute JOG operation.
/SEL0; /JOGN 0 to 3 – 0 After restart 6.1.2, 6.4.2
Meaning
Setting
Mode 0 Mode 1
When input signal is ON (close), program table selection Executes JOG operation in the reverse direction when input
0
PnB06 signal /SEL0 becomes active. signal is ON (close).
When input signal is OFF (open), program table selection Executes JOG operation in the reverse direction when input
1
signal /SEL0 becomes active. signal is OFF (open).
2 Program table selection signal /SEL0 is always active. Does not execute JOG operation.
3 Program table selection signal /SEL0 is always inactive. Does not execute JOG operation.
/SEL1; /JOG0 0 to 3 – 0 After restart 6.1.2, 6.4.2
Meaning
Setting
Mode 0 Mode 1
When input signal is ON (close), program table selection When input signal is ON (close), JOG speed table selection
0
PnB07 signal /SEL1 becomes active. signal /JOG0 becomes active.
When input signal is OFF (open), program table selection When input signal is OFF (open), JOG speed table selec-
1
signal /SEL1 becomes active. tion signal /JOG0 becomes active.
2 Program table selection signal /SEL1 is always active. JOG speed table selection signal /JOG0 is always active.
3 Program table selection signal /SEL1 is always inactive. JOG speed table selection signal /JOG0 is always inactive.
Appendix
10
10-3
10 Appendix
(cont’d)
Meaning
Setting
Mode 0 Mode 1
0
1
Meaning
Setting
Mode 0 Mode 1
0
1
Meaning
Setting
Mode 0 Mode 1
0
PnB0A signal /SEL4 becomes active. signal /JOG3 becomes active.
1
/SEL5 0 to 3 – 0 After restart 6.1.2
Setting Meaning
0 When input signal is ON (close), program table selection signal /SEL5 becomes active.
PnB0B 1 When input signal is OFF (open), program table selection signal /SEL5 becomes active.
2 Program table selection signal /SEL5 is always active.
3 Program table selection signal /SEL5 is always inactive.
Setting Meaning
PnB0C 1 When input signal is OFF (open), program table selection signal /SEL6 becomes active.
10-4
(cont’d)
Setting Meaning
PnB0D 1 When input signal is OFF (open), program table selection signal /SEL7 becomes active.
/S-ON 0 to 3 – 0 After restart 5.3.1
Setting Meaning
0 When input signal is ON (close), servomotor power is ON. Servomotor can be operated.
PnB0E
1 When input signal is OFF (open), servomotor power is ON. Servomotor can be operated.
2 Always servo ON
3 Always servo OFF
P-OT 0 to 3 – 0 After restart 5.3.2
Setting Meaning
0 When input signal is OFF (open), forward run is prohibited (forward overtravel).
PnB0F
1 When input signal is ON (close), forward run is prohibited (forward overtravel).
2 Forward run is always prohibited (forward overtravel).
3 Forward run is always enabled. (P-OT signal is not used.)
N-OT 0 to 3 – 0 After restart 5.3.2
Setting Meaning
0 When input signal is OFF (open), reverse run is prohibited (reverse overtravel).
PnB10
1 When input signal is ON (close), reverse run is prohibited (reverse overtravel).
2 Reverse run is always prohibited (reverse overtravel).
3 Reverse run is always enabled. (N-OT signal is not used.)
/DEC 0 to 3 – 0 After restart 6.4.2
Setting Meaning
0 Starts deceleration in homing when input signal is ON (close).
PnB11
1 Starts deceleration in homing when input signal is OFF (open).
2 Sets homing limit switch always ON.
3 Sets homing limit switch always OFF.
/RGRT 0 to 3 – 0 After restart 6.2.2
Setting Meaning
PnB12 0 Starts registration by switching input signal from OFF (open) to ON (close).
1 Starts registration by switching input signal from ON (close) to OFF (open).
Appendix
2, 3 Does not start registration.
10
10-5
10 Appendix
(cont’d)
/INPOSITION 0 to 3 – 0 After restart 5.3.7
Setting Meaning
PnB13
0 When positioning has been completed, photocoupler becomes ON (close).
1 When positioning has been completed, photocoupler becomes OFF (open).
/POUT0 0 to 1 – 0 After restart 5.3.8
Setting Meaning
PnB14
0 When programmable output signal /POUT0 is active, photocoupler becomes ON (close).
1 When programmable output signal /POUT0 is active, photocoupler becomes OFF (open).
Setting Meaning
PnB15
Setting Meaning
PnB16
Setting Meaning
PnB17
Setting Meaning
PnB18
Setting Meaning
PnB19
Setting Meaning
PnB1A
Setting Meaning
PnB1B
10-6
(cont’d)
/WARN 0 to 1 – 0 After restart 5.3.6
Setting Meaning
PnB1C
0 When an error/warning occurs, photocoupler becomes ON (close).
1 When an error/warning occurs, photocoupler becomes OFF (open).
/BK 0 to 1 – 0 After restart 5.3.4
Setting Meaning
PnB1D
0 When braking signal /BK is ON (close), brake is released.
1 When braking signal /BK is OFF (open), brake is released.
/S-RDY 0 to 1 – 0 After restart 5.3.5
Setting Meaning
PnB1E
0 When SERVOPACK is ready, photocoupler becomes ON (close).
1 When SERVOPACK is ready, photocoupler becomes OFF (open).
Overtravel (OT) Stop Method 0 to 2 – 0 After restart 5.3.2
Setting Meaning
PnB1F 0 Stops motor by the same method as when servo is turned OFF according to Pn001.0 setting.
1 Stops motor immediately, and then changes motor state to servo lock.
2 Decelerates motor to a stop at deceleration rate set with PnB2B, and then changes motor state to servo lock.
Moving Mode 0 to 3 – 0 After restart 5.4.2
Setting Meaning
0 Sets coordinates to linear type.
PnB20
1 Sets coordinates to rotary type. Moving mode is set as shortest path.
2 Sets coordinates to rotary type. Moving mode is set as always forward.
3 Sets coordinates to rotary type. Moving mode is set as always reverse.
Linear Type (PnB20 = 0):

Forward Software Limit (P-LS) -99999999 to Reference
PnB21 +99999999 After restart 5.4.2
Rotary Type (PnB20 ≠ 0): +99999999 unit
End Point of Rotational Coordinates
Reverse Software Limit (N-LS)
-99999999 to Reference
PnB23 Rotary Type (PnB20 ≠ 0): -99999999 After restart 5.4.2
+99999999 unit
Starting Point of the Rotational
Coordinates
Origin (Incremental Encoder) 5.4.2, 5.4.3,
PnB25 Absolute Encoder Offset 0 After restart 6.4.3
+99999999 unit
(Absolute Encoder) 7.7.2
1000
PnB27 Positioning/Registration Speed 1 to 99999999 Reference 1000 After restart 5.4.1
units/min
1000
Appendix
(Reference
PnB29 Acceleration rate 1 to 99999999 1000 Immediately 5.4.1
units/min)
/ms
1000
(Reference
PnB2B Deceleration rate 1 to 99999999
units/min)
1000 Immediately 5.3.2, 5.4.1 10
/ms
10-7
10 Appendix
(cont’d)
Reference
PnB2D /INPOSITION Width 1 to 99999 1 Immediately 5.3.7, 6.1.4
unit
Reference
PnB2F /NEAR Width 1 to 99999 1 Immediately 6.1.4
unit
Homing Method 0 to 3 – 0 After restart 6.4.3, 7.7.2
Setting Meaning
0 Does not execute homing.
PnB31
1 /DEC and phase C are used for homing.
Homing Direction 0 to 1 – 0 Immediately 6.4.3, 7.7.2
Setting Meaning
PnB32
0 /HOME or ZRN command is used for homing in forward direction.
1 /HOME or ZRN command is used for homing in reverse direction.
1000
PnB33 Homing Moving Speed 1 to 99999999 Reference 1000 Immediately 6.4.3, 7.7.2
units/min
1000
PnB35 Homing Approach Speed 1 to 99999999 Reference 1000 Immediately 6.4.3, 7.7.2
units/min
1000
PnB37 Homing Creep Speed 1 to 99999999 Reference 1000 Immediately 6.4.3, 7.7.2
units/min
PnB39 Homing Final Move Distance 0 Immediately 6.4.3, 7.7.2
+99999999 unit
PnB3B to Do not change the
Reserved (setup information) – 0 – –
PnB4D setting.
ZONE Signal Setting 0 to 1 – 0 After restart 5.3.8, 6.3
Setting Meaning
PnB4F
0 When control power is turned ON or SERVOPACK is reset, signals /POUT0 to 7 are inactive.
1 When control power is turned ON or SERVOPACK is reset, signals /POUT0 to 7 are ZONE signals.
Reference
PnB50 Backlash Compensation -1000 to +1000 0 Immediately 5.4.4
unit
5.3.3, 5.3.5,
/ALO Output Selection 0 to 1 – 0 After restart
5.3.6
PnB51 Setting Meaning

0 Does not output /ALO1 to /ALO3. (/WARN, /BK, and /S-RDY are output.)
1 Outputs /ALO1 to /ALO3. (/WARN, /BK, and /S-RDY are not output.)
/ALM-RST 0 to 3 – 0 After restart 5.3.3
Setting Meaning
PnB52 0 Resets alarms by switching input signal from OFF (open) to ON (close).
1 Resets alarms by switching input signal from ON (close) to OFF (open).
2, 3 Does not reset alarms. (Signal is ignored.)
10-8
10.2 Parameter List for Command Option Attachable Type SERVOPACKs
10.2 Parameter List for Command Option Attachable Type

SERVOPACKs

Name Units Classification
No. Range Setting Enabled
Basic Function Select Switch 0 0000 to 00B3 − 0000 After restart Setup
4th 3rd 2nd 1st
digit digit digit digit
n.
Direction Selection (Rotational Servomotors)
0 Sets CCW as forward direction.
1 Sets CW as forward direction. (Reverse rotation mode)
2 to 3 Reserved (Do not change.)
Pn000 Direction Selection (Linear Servomotors)

0 Sets the linear scale counting up (phase-A lead) direction as forward direction.
1 Sets the linear scale counting down (phase-B lead) direction as forward direction.
(Reverse Movement Mode)
2 to 3 Reserved (Do not change.)
Reserved (Do not change.)
Application Function Select Switch 1 0000 to 1122 − 0000 After restart Setup
4th 3rd 2nd 1st

n.
Servomotor power OFF or Alarm Gr.1 Stop Mode
0 Stops the motor by applying DB (dynamic brake).
1 Stops the motor by applying dynamic brake (DB) and then releases DB.
2 Makes the motor coast to a stop state without using the dynamic brake (DB).

Pn001
AC/DC Power Input Selection
0 Applicable to AC power input: Input AC power supply through L1, L2, and L3 terminals.
1 Applicable to DC power input: Input DC power supply between B1/ + and -2, or input
DC power supply between B1 and -2.
Warning Code Output Selection

0 ALO1, ALO2, and ALO3 output only alarm codes.
1 ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning
codes are output, ALM signal output remains ON (normal state).
Appendix
10
10-9
10 Appendix
(cont’d)
4th 3rd 2nd 1st
n.
Absolute Encoder Usage (Rotational Servomotors)

0 Uses absolute encoder as an absolute encoder.
1 Uses absolute encoder as an incremental encoder.
Pn002
Absolute Linear Scale Usage (Linear Servomotors)
0 Uses absolute linear scale as an absolute linear scale.
1 Uses absolute linear scale as an incremental linear scale.
Extemal Encoder Usage (Rotational Servomotors)

0 Does not use external encoder.
1 Uses external encoder for forward rotation direction.
2 Reversed (Do not change.)
3 Uses external encoder for reverse rotation direction.
4 Reversed (Do not change.)
Reserved (Do not change.) (Linear Servomotors)
10-10
(cont’d)

Application Function Select Switch 6 0000 to 005F − 0002 Immediately Setup
4th 3rd 2nd 1st
n.
Analog Monitor 1 Signal Selection
Motor speed (1 V/1000 min-1) (Rotational servomotors)
00
Motor speed (1 V/1000 mm/s) (Linear servomotors)
01 Speed reference (1 V/1000 min-1) (Rotational servomotors)

Speed reference (1 V/1000 mm/s) (Linear servomotors)
02 Torque reference (1 V/100%) (Rotational servomotors)

Force reference (1 V/100%) (Linear servomotors)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)
05 Position reference speed (1 V/1000 min-1) (Rotational servomotors)

Position reference speed (1 V/1000 mm/s) (Linear servomotors)
Pn006 06 Reserved (Do not change.)
07 Motor-load position error (0.01 V/1 reference unit) (Rotational servomotors)

Reserved (Do not change.) (Linear servomotors)
08 Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)

Speed feedforward (1 V/1000 min-1) (Rotational servomotors)
09 Speed feedforward (1 V/1000 mm/s) (Linear servomotors)
0A Torque feedforward (1 V/100%) (Rotational servomotors)

Force feedforward (1 V/100%) (Linear servomotors)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)

0C Completion of position reference distribution (completed: 5 V, not completed: 0 V)
External encoder speed (1 V/1000 min-1) (Rotational servomotors)
0D
Appendix
10
10-11
10 Appendix
(cont’d)

Application Function Select Switch 7 0000 to 005F − 0000 Immediately Setup
4th 3rd 2nd 1st

n.
Analog Monitor 2 Signal Selection
00 Motor speed (1 V/1000 min-1) (Rotational servomotors)
Motor speed (1 V/1000 mm/s) (Linear servomotors)
01 Speed reference (1 V/1000 min-1) (Rotational servomotors)

Speed reference (1 V/1000 mm/s) (Linear servomotors)
02 Torque reference (1 V/100%) (Rotational servomotors)

Force reference (1 V/100%) (Linear servomotors)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)
05 Position reference speed (1 V/1000 min-1) (Rotational servomotors)

Position reference speed (1 V/1000 mm/s) (Linear servomotors)
Pn007
06 Reserved (Do not change.)
Motor-load position error (0.01 V/1 reference unit) (Rotational servomotors)
07 Reserved (Do not change.) (Linear servomotors)
08 Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)
09 Speed feedforward (1 V/1000 min-1) (Rotational servomotors)

Speed feedforward (1 V/1000 mm/s) (Linear servomotors)
0A Torque feedforward (1 V/100%) (Rotational servomotors)

Force feedforward (1 V/100%) (Linear servomotors)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
0C Completion of position reference distribution (completed: 5 V not completed: 0 V)
0D External encoder speed (1 V/1000 min-1) (Rotational servomotors)

10-12
(cont’d)

4th 3rd 2nd 1st
n.
Lowered Battery Voltage Alarm/Warning Selection (Rotational Servomotors)
0 Outputs alarm (A.830) for lowered battery voltage.
1 Outputs warning (A.930) for lowered battery voltage.
Function Selection for Insufficient voltage

Pn008
0 Disables detection of insufficient voltages.
1 Detects warning and limits torque by host controller. (Rotational servomotors)

Detects warning and limits force by host controller. (Linear servomotors)
Detects warning and limits torque by Pn424 and Pn425. (Execution by SERVOPACK alone)
2 (Rotational servomotors)
Detects warning and limits force by Pn424 and Pn425. (Execution by SERVOPACK alone)
(Linear servomotors)
Warning Detection Selection

0 Detects warning.
1 Does not detect any warnings except A.971.
Application Function Select Switch 9 0000 to 0111 − 0010 After restart Tuning
4th 3rd 2nd 1st

n.
Current Control Method Selection

Pn009 0 Current control method 1
1 Current control method 2
Speed Detection Method Selection

0 Speed detection 1
1 Speed detection 2

Appendix
10
10-13
10 Appendix
(cont’d)

Application Function Select Switch B 0000 to 1111 − 0000 After restart Setup
4th 3rd 2nd 1st
n.
Parameter Display Selection
0 Setup parameters
1 All parameters
Alarm Gr.2 Stop Method Selection

0 Stops the motor by setting the speed reference to "0".
Pn00B 1 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting)
Power Supply Method for Three-phase SERVOPACK

0 Three-phase power supply
1 Uses three-phase input specification as single-phase power supply.
Semi-closed Encoder Usage Method (Rotational servomotors)

Uses the encoder connected to the SERVOPACK.
0
1 Uses the encoder connected to the feedback option module.
Application Function Select Switch C 0000 to 0111 − 0000 After restart Setup
4th 3rd 2nd 1st

n.
Selection of Test without Motor
0 Disables test without motor.
1 Enables test without motor.
Encoder Resolution for Test without Motor (Rotational servomotors)

0 13 bits
Pn00C
1 20 bits
Encoder Type for Test without Motor

Incremental encoder (Rotational servomotors)
0 Incremental linear scale (Linear servomotors)
1 Absolute encoder (Rotational servomotors)

Absolute linear scale (Linear servomotors)
10-14
(cont’d)
Application Function Select Switch D 0000 to 0001 – 0000 After restart Setup
4th 3rd 2nd 1st

n.
Stand-alone Mode (Test Operation) Selection

0 Enables connection with the command option module.
Pn00D
1 Disables connection with the command option module.
Axis Address Selection

Pn010 0000 to 007F – 0001 After restart Setup
(For UART/USB communications)
Application Function Select Switch 80 0000 to 1111 – 0000 After restart Setup
4th 3rd 2nd 1st
n.
Hall Sensor Selection
0 Enables selection.
1 Disables selection.
Pn080 Motor Phase Selection

0 Sets phase A lead as phase sequence of U, V, W.
1 Sets phase B lead as phase sequence of U, V, W.
Calculation Method for Maximum Speed or Divided Output Pulses

0 Determines divided output pulses with fixed maximum speed.
1 Determines maximum speed with fixed divided output pulses.
Pn100 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning

Pn101 Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately Tuning
Pn102 Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning
Moment of Inertia Ratio (Rotational servomotors)
Pn103 0 to 20000 1% 100 Immediately Tuning
Mass Ratio (Linear servomotors)
Pn104 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning
Pn105 2nd Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately Tuning
Pn106 2nd Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning
Pn109 Feedforward Gain 0 to 100 1% 0 Immediately Tuning
Appendix
Pn10A Feedforward Filter Time Constant 0 to 6400 0.01 ms 0 Immediately Tuning
10
10-15
10 Appendix
(cont’d)
Application Function for Gain Select Switch 0000 to 5334 − 0000 − −
4th 3rd 2nd 1st
n.
When
Mode Switch Selection Classification
Enabled
Uses internal torque reference as the condition (Level setting: Pn10C).

(Rotational servomotors)
0 Uses internal force reference as the condition (Level setting: Pn10C).
(Linear servomoros)
Uses speed reference as the condition (Level setting: Pn10D).
1
Uses speed reference as the condition (Level setting: Pn181).
(Linear servomoros) Immediately Setup
Uses acceleration as the condition (Level setting: Pn10E).
Pn10B 2
Uses acceleration as the condition (Level setting: Pn182).
(Linear servomoros)
3 Uses position error pulse as the condition (Level setting: Pn10F).
4 No mode switch function available
When
Speed Loop Control Method Classification
Enabled
0 PI control
After
1 I-P control restart Setup
2 and 3 Reserved (Do not change.)
Mode Switch (Torque Reference)

Pn10C 0 to 800 1% 200 Immediately Tuning
Mode Switch (Force Reference)
Pn10D*1 Mode Switch (Speed Reference) 0 to 10000 1 min-1 0 Immediately Tuning
Pn10E*1 Mode Switch (Acceleration) 0 to 30000 1 min-1/ s 0 Immediately Tuning

1 refer-
Pn10F Mode Switch (Position Error Pulse) 0 to 10000 0 Immediately Tuning
ence unit
Pn11F Position Integral Time Constant 0 to 50000 0.1 ms 0 Immediately Tuning
Pn121 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning
Pn122 2nd Gain for Friction Compensation 10 to 1000 1% 100 Immediately Tuning
Pn123 Friction Compensation Coefficient 0 to 100 1% 0 Immediately Tuning
Friction Compensation Frequency -10000 to
Pn124 0.1 Hz 0 Immediately Tuning
Correction 10000
Pn125 Friction Compensation Gain Correction 1 to 1000 1% 100 Immediately Tuning
Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn132 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning
Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning
∗1. Parameter exclusive for rotational servomotors
10-16
(cont’d)

Automatic Gain Changeover Related Switch 1 0000 to 0052 − 0000 Immediately Tuning
4th 3rd 2nd 1st

n.
Gain Switching Selection Switch
0 Disables automatic gain selection.
1 Reserved (Do not change.)
2 Automatic gain switching pattern 1

Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Pn139
Gain Switching Condition A
0 Positioning completion signal (/COIN) ON
1 Positioning completion signal (/COIN) OFF
2 NEAR signal (/NEAR) ON
3 NEAR signal (/NEAR) OFF
4 Position reference filter output = 0 and reference input OFF
5 Position reference input ON
Pn13D Current Gain Level 100 to 2000 1% 2000 Immediately Tuning

Model Following Control Related Switch 0000 to 1121 − 0100 Immediately Tuning
4th 3rd 2nd 1st

n.
Model Following Control Selection
0 Does not use model following control.
1 Uses model following control.
Vibration Suppression Selection

Pn140
0 Does not perform vibration suppression.
1 Performs vibration suppression over the specified frequency.
2 Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Adjustment Selection

0 Does not adjust vibration suppression automatically using utility function.
1 Adjusts vibration suppression automatically using utility function.
Pn141 Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning
Pn142 Model Following Control Gain Compensation 500 to 2000 0.1% 1000 Immediately Tuning
Appendix
Model Following Control Bias

Pn143 0 to 10000 0.1% 1000 Immediately Tuning
(Forward Direction)
Model Following Control Bias
(Reverse Direction)
10
Pn145 Vibration Suppression 1 Frequency A 10 to 2500 0.1 Hz 500 Immediately Tuning
10-17
10 Appendix
(cont’d)
Pn146 Vibration Suppression 1 Frequency B 10 to 2500 0.1 Hz 700 Immediately Tuning
Model Following Control Speed Feedforward
Compensation
Pn148 2nd Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning
Pn149 2nd Model Following Control Gain Compensation 500 to 2000 0.1% 1000 Immediately Tuning
Pn14A Vibration Suppression 2 Frequency 10 to 2000 0.1 Hz 800 Immediately Tuning
Pn14B Vibration Suppression 2 Compensation 10 to 1000 1% 100 Immediately Tuning
Pn14F Reserved (Do not change.) − − 0011 − −
Anti-Resonance Control Related Switch 0000 to 0011 − 0010 Immediately Tuning
4th 3rd 2nd 1st
n.
Anti-Resonance Control Selection
0 Does not use anti-resonance control.
1 Uses anti-resonance control.
Pn160
Anti-Resonance Control Adjustment Selection
0 Does not adjust anti-resonance control automatically using utility function.
1 Adjusts anti-resonance control automatically using utility function.
Pn161 Anti-Resonance Frequency 10 to 20000 0.1 Hz 1000 Immediately Tuning

Pn162 Anti-Resonance Gain Compensation 1 to 1000 1% 100 Immediately Tuning
Pn163 Anti-Resonance Damping Gain 0 to 300 1% 0 Immediately Tuning
Anti-Resonance Filter Time Constant 1
Pn164 -1000 to 1000 0.01 ms 0 Immediately Tuning
Compensation
Anti-Resonance Filter Time Constant 2
Pn165 -1000 to 1000 0.01 ms 0 Immediately Tuning
Compensation
10-18
(cont’d)

Tuning-less Function Related Switch 0000 to 2411 − 1401 − −
4th 3rd 2nd 1st

n.
Tuning-less Function Selection When
Enabled Classification
0 Disables tuning-less function.

After Setup
Enables tuning-less function. restart
1
When
Control Method during Speed Control Classification
Pn170 Enabled
0 Uses as speed control. After Setup

Uses as speed control and uses the host controller for position control. restart
1
When
Tuning-less Tuning Level Classification
Enabled
0 to 4 Sets tuning-less tuning level. Immediately Setup
When
Tuning-less Load Level Classification
Enabled
0 to 2 Sets tuning-less load level. Immediately Setup
Pn181*2 Mode Switch (Speed Reference) 0 to 10000 1 mm/s 0 Immediately Tuning
Pn182*2 Mode Switch (Acceleration) 0 to 30000 1 mm/s2 0 Immediately Tuning

Pn190 Reserved (Do not change.) – – 0010 – –
Pn205*1 Multi-turn Limit 0 to 65535 1 rev 65535 After restart Setup
Pn207 Reserved (Do not change.) – − 1010 – Setup
*1 Number of External Encoder Pitch 4 to 1048576 Pitch/rev. 32768 After restart Setup
Pn20A
1 to
Pn20E Electronic Gear Ratio (Numerator) 1073741824 1 4 After restart Setup
(230)
1 to
Pn210 Electronic Gear Ratio (Denominator) 1073741824 1 1 After restart Setup
(230)
16 to
Pn212*1 Encoder Output Pulses 1073741824 1 P/rev 2048 After restart Setup
(230)
After the
change and
Pn217 Average Movement Time of Position Reference 0 to 10000 0.1 ms 0 also after the Setup
motor has
stopped
Appendix
∗2. Parameter exclusive for linear servomotors
10
10-19
10 Appendix
(cont’d)

4th 3rd 2nd 1st
n.

Pn22A*1
Speed Feedback Selection at Fully-closed Loop Control

0 Uses the motor encoder speed.
1 Uses external encoder speed.
Edge/
Pn281 Encoder Output Resolution 1 to 4096 20 After restart Setup
pitch
Pn282*2 Linear Scale Pitch 0 to 65536 0.01 μm 0 After restart Setup
Pn301*1 Reserved (Do not change.) – – 100 – –
Pn304*1 JOG Speed 0 to 10000 1 min-1 500 Immediately Setup

Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup
Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup
Vibration Detection Switch 0000 to 0002 − 0000 Immediately Setup
4th 3rd 2nd 1st
n.
Vibration Detection Selection
0 No detection
Pn310 1 Outputs warning (A.911) when vibration is detected.
2 Outputs alarm (A.520) when vibration is detected.
Pn311 Vibration Detection Sensibility 50 to 500 1% 100 Immediately Tuning

Pn312*1 Vibration Detection Level 0 to 5000 1 min-1 50 Immediately Tuning
Moment of Inertia Calculating Start Level
Pn324 (Rational servomotors) 0 to 20000 1% 300 Immediately Setup
Mass Calculating Start Level (Linear servomotors)

10-20
(cont’d)

Pn383*2 JOG Speed 0 to 10000 1 mm/s 50 Immediately Setup
Pn384*2 Vibration Detection Level 0 to 5000 1 mm/s 10 Immediately Tuning

*2 Motor Max. Speed 1 to 100 100 mm/s 50 After restart Setup
Pn385
1st Step 1st Torque Reference Filter Time Constant
Pn401 0 to 65535 0.01 ms 100 Immediately Tuning
1st Step 1st Force Reference Filter Time Constant
Pn402*1 Forward Torque Limit 0 to 800 1% 800 Immediately Setup
Pn403*1 Reverse Torque Limit 0 to 800 1% 800 Immediately Setup

Torque Related Function Switch
0000 to 1111 − 0000 − Setup
Force Related Function Switch
4th 3rd 2nd 1st

n.
When
1st Step Notch Filter Selection Enabled Classification
0 N/A
Immediately Setup
1 Uses 1st step notch filter for torque reference.
Pn408
When
2nd Step Notch Filter Selection Enabled Classification
0 N/A
Immediately Setup
1 Uses 2nd step notch filter for torque reference.
When
Friction Compensation Function Selection Enabled
Classification
0 Does not use friction compensation function.

Immediately Setup
1 Uses friction compensation function.
Pn409 1st Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning

Pn40A 1st Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning
Pn40B 1st Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning
Pn40C 2nd Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning
Appendix
Pn40D 2nd Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning

Pn40E 2nd Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning
∗2. Parameter exclusive for linear servomotors 10
10-21
10 Appendix
(cont’d)

2nd Step 2nd Torque Reference Filter Frequency
Pn40F 100 to 5000 1 Hz 5000 Immediately Tuning
2nd Step 2nd Force Reference Filter Frequency
2nd Step 2nd Torque Reference Filter Q Value
Pn410 50 to 100 0.01 50 Immediately Tuning
2nd Step 2nd Force Reference Filter Q Value
1st Step 2nd Torque Reference Filter Time Con-
stant (Rotational servomotors)
Pn412 0 to 65535 0.01 ms 100 Immediately Tuning
1st Step 2nd Force Reference Filter Time Constant
Torque Limit at Main Circuit Voltage Drop
Pn424 0 to 100 1% 50 Immediately Setup
Force Limit at Main Circuit Voltage Drop
Release Time for Torque Limit at Main Circuit
Voltage Drop (Rotational servomotors)
Pn425 0 to 1000 1 ms 100 Immediately Setup
Release Time for Force Limit at Main Circuit Volt-
age Drop (Linear servomotors)
Sweep Torque Reference Amplitude
Pn456 1 to 800 1% 15 Immediately Tuning
Sweep Force Reference Amplitude
Notch Filter Adjustment Switch 0000 to 0101 − 0101 Immediately Tuning
4th 3rd 2nd 1st

n.
Notch Filter Adjustment Selection 1
0 Does not adjust 1st step notch filter automatically with utility function.
1 Adjusts 1st step notch filter automatically with utility function.
Pn460
Notch Filter Adjustment Selection 2

0 Does not adjust 2nd step notch filter automatically with utility function.
1 Adjusts 2nd step notch filter automatically with utility function.
Pn481*2 Polarity Detection Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning
Polarity Detection Speed Loop Integral Time Con-
Pn482*2 stant
15 to 51200 0.01 ms 3000 Immediately Tuning
Pn483*2 Forward Force Limit 0 to 800 1% 30 Immediately Setup
Pn484*2 Reverse Force Limit 0 to 800 1% 30 Immediately Setup
Pn485*2 Polarity Detection Reference Speed 0 to 100 1 mm/s 20 Immediately Setup

10-22
(cont’d)

Pn486*2 Polarity Detection Reference Accel/Decel Time 0 to 100 1 ms 25 Immediately Tuning
Pn487*2 Polarity Detection Constant Speed Time 0 to 300 1 ms 0 Immediately Tuning
Pn488*2 Polarity Detection Reference Waiting Time 50 to 500 1 ms 100 Immediately Tuning
*2 Polarity Detection Range 1 to 65535 1 mm 10 Immediately Tuning
Pn48E
Pn490*2 Polarity Detection Load Level 0 to 20000 1% 100 Immediately Tuning
Pn495*2 Polarity Detection Confirmation Force Reference 0 to 200 1% 100 Immediately Tuning
Pn498*2 Polarity Detection Allowable Error Range 0 to 30 1 deg 10 Immediately Tuning

Pn506 Brake Reference - Servo OFF Delay Time 0 to 50 10 ms 0 Immediately Setup
Pn507*1 Brake Reference Output Speed Level 0 to 10000 1 min-1 100 Immediately Setup
Waiting Time for Brake Signal when Motor Run-
Pn508 10 to 100 10 ms 50 Immediately Setup
ning
Pn509 Instantaneous Power Cut Hold Time 20 to 1000 1 ms 20 Immediately Setup
Pn50A Reserved (Do not change.) – − 8881 – –
Pn50B Reserved (Do not change.) – − 8888 – –
Pn50E Reserved (Do not change.) – − 3000 – –
Pn50F Reserved (Do not change.) – − 1200 – –
Pn510 Reserved (Do not change.) – − 0000 – –
0 to 1
Excessive Error Detection Level Between Servo- 1073741824
Pn51B*1 motor and Load Position
reference 1000 Immediately Setup
(230) unit
Pn51E Excessive Position Error Warning Level 10 to 100 1% 100 Immediately Setup
1 to 1
Pn520 Excessive Position Error Alarm Level 1073741823 reference 5242880 Immediately Setup
(230-1) unit
1 to 1
Pn526 Excessive Position Error Alarm Level at Servo ON 1073741823 reference 5242880 Immediately Setup
(230-1) unit
Excessive Position Error Warning Level at Servo
Pn528 10 to 100 1% 100 Immediately Setup
ON
Pn529*1 Speed Limit Level at Servo ON 0 to 10000 1 min-1 10000 Immediately Setup
Pn52A*1 Multiplier per One Fully-closed Rotation 0 to 100 1% 20 Immediately Setup

Appendix
Pn52B Overload Warning Level 1 to 100 1% 20 Immediately Setup

Derating of Base Current at Detecting Overload of
Pn52C 10 to 100 1% 100 After restart Setup
Motor
∗1. Parameter exclusive for rotational servomotors 10
10-23
10 Appendix
(cont’d)
Pn52F Reserved (Do not change.) – − 0FFF – –
Program JOG Operation Related Switch 0000 to 0005 − 0000 Immediately Setup
4th 3rd 2nd 1st

n.
Program JOG Operation Related Switch
0 (Waiting time Pn535 → Forward movement Pn531) × Number of times of movement Pn536
1 (Waiting time Pn535 → Reverse movement Pn531) × Number of times of movements Pn536
2 (Waiting time Pn535 → Forward movement Pn531) × Number of times of movements Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number of times of movements Pn536
3 (Waiting time Pn535 → Reverse movement Pn531) × Number of times of movements Pn536
Pn530
(Waiting time Pn535 → Forward movement Pn531) × Number of times of movements Pn536
4 (Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 →
Reverse movement Pn531) × Number of times of movement Pn536
5 (Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 →
Forward movement Pn531) × Number of times of movement Pn536
1 to 1
Pn531 Program JOG Movement Distance 1073741824 reference 32768 Immediately Setup
(230) unit
Pn533*1 Program JOG Movement Speed 1 to 10000 1 min-1 500 Immediately Setup
Pn534 Program JOG Acceleration/Deceleration Time 2 to 10000 1 ms 100 Immediately Setup
Pn535 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup
Pn536 Number of Times of Program JOG Movement 0 to 1000 1 time 1 Immediately Setup
-10000 to
Pn550 Analog Monitor 1 Offset Voltage 0.1 V 0.0 Immediately Setup
10000
-10000 to
Pn551 Analog Monitor 2 Offset Voltage 0.1 V 0.0 Immediately Setup
10000
-10000 to
Pn552 Analog Monitor Magnification (×1) ×0.01 100 Immediately Setup
10000
-10000 to
Pn553 Analog Monitor Magnification (×2) ×0.01 100 Immediately Setup
10000
Pn560 Remained Vibration Detection Width 1 to 3000 0.1% 400 Immediately Setup
Pn561 Overshoot Detection Level 0 to 100 1% 100 Immediately Setup
Pn583*2 Brake Reference Output Speed Level 0 to 10000 1 mm/s 10 Immediately Setup
Pn584*2 Speed Limit Level at Servo ON 0 to 10000 1 mm/s 10000 Immediately Setup
Pn585*2 Program JOG Movement Speed 1 to 10000 1 mm/s 50 Immediately Setup

10-24
(cont’d)

1%/
Pn586*2 Motor Running Air-cooling Ratio 0 to 100
maxvel
0 Immediately Setup
Polarity Detection for Absolute Scale Selection 0000 to 0001 − 0000 Immediately Setup
4th 3rd 2nd 1st

n.
Polarity Detection for Absolute Scale Selection
0 Does not detect polarity.
Pn587*2 Detects polarity.
1
Depends on
Pn600 Regenerative Resistor Capacity ∗3 SERVOPACK 10 W 0 Immediately Setup
Capacity∗4
Pn800 to
Reserved (Do not change.) – – 0 – –
Pn95F
∗3. Normally set to “0.” When using an external regenerative resistor, set the capacity (W) of the regenerative resistor.
∗4. The upper limit is the maximum output capacity (W) of the SERVOPACK.
Appendix
10
10-25
10 Appendix
10.3 Monitor Modes

The following list shows monitor modes available.
Un No. Content of Display Unit Serial Command

Motor rotating speed (Rotation servomotors) min-1
Un000 NFB
Motor movement speed (Linear servomotors) mm/s
Un001 Not used − –
Internal torque reference (in percentage to the rated
Un002 % TREF
torque)
Un003 Electrical angle 1 pulse (encoder resolution)*1 –
Un004 Electrical angle 2 (electric angle from polarity origin) deg –
Un005*1 Input signal monitor − IN1
*1 Output signal monitor − OUT1
Un006
Input Reference speed (Rotational servomotors) min-1
Un007 NREF
Input Reference speed (Linear servomotors) mm/s
Un008 Position error amount reference unit PER
Accumulated load ratio (in percentage to the rated
Un009 % TRMS
torque: effective torque in cycle of 10 seconds)
Regenerative load ratio (in percentage to the process-
Un00A able regenerative power: regenerative power con- % RGRMS
sumption in cycle of 10 seconds)
Power consumed by DB resistance
Un00B (in percentage to the processable power at DB activa- % DBRMS
tion: display in cycle of 10 seconds)
Un00C Input Reference counter reference unit –
Un00D Feedback pulse counter *1 –
pulse (encoder resolution)
Un00E Fully-closed feedback pulse counter pulse (encoder resolution)*1 –
Un011 Hall sensor signal monitor – HALLSENS
Un012 Total operation time 100 ms –
Un013 Feedback pulse counter reference unit –
Effective gain monitor (gain setting 1 = 1, gain set-
Un014 − –
ting 2 = 2)
Un015 Safety I/O signal monitor − –
Motor rated rotational speed
(Rotational servomotors) min-1
Un020 –
Motor rated speed (Linear servomotors) mm/s
Motor maximum rotational speed
(Rotational servomotors) min-1
Un021 –
Motor maximum speed (Linear servomotors) mm/s
Un084 Linear scale pitch*2 pm –
Un085 Linear scale pitch index*2 − –
∗1. For details, refer to the following manuals.

• Σ-V Series User's Manual Design and Maintenance Rotational Motor/Command Option Attachable Type (SIEP
S800000 60).
S800000 66).
∗2. Scale pitch = Un084 × 10Un085 [pm]
10-26
10.4 Utility Functions
10.4 Utility Functions

The following table lists the available utility functions.
The following utility functions can be executed from a digital operator.
Operation from Operation

Operation from the
Fn No. Function the Digital from the
Serial Commands
Operator SigmaWin+
{
Fn000 Alarm history display × {
(ALMn)
Fn002 JOG operation { × {
Fn003 Origin search { × {
Fn004 Program JOG operation { × {
{
Fn005 Initializing parameter settings × {
(PRMINIT)
{
Fn006 Clearing alarm history × {
(ALMTRCCLR)
Absolute encoder multi-turn reset and encoder alarm {
Fn008 { {
reset (ABSPGRES)
Fn00C Offset adjustment of analog monitor output { × {
Fn00D Gain adjustment of analog monitor output { × {
Automatic offset-signal adjustment of motor current {
Fn00E { {
detection (CURZERO)
Manual offset-signal adjustment of motor current
Fn00F { × {
detection
Fn010 Write prohibited setting { × {
{
Fn011 Servomotor model display { (MTTYPE, MTSIZE, {
PGTYPE, SVYSPEC)
{
Fn012 Software version display { (SVVER, PGVER, {
VER)
Multi-turn limit value setting change when a multi- {
Fn013 { {
turn limit disagreement alarm (A.CC0) occurs (MLTLIMSET)
Fn014 Resetting configuration error of option module { × {
Fn01B Vibration detection level initialization { × {
{
Fn01E Display of SERVOPACK and servomotor ID { {
(TYPE)
Fn01F Display of servomotor ID in feedback option module × × ×
Fn020 Origin setting { × {
Fn030 Software reset { × {
Fn080 Polarity detection { × {
Fn200 Tuning-less level setting { × {
Fn201 Advanced autotuning { × {
Fn202 Advanced autotuning by reference { × {
Fn203 One-parameter tuning { × {
Fn204 Anti-resonance control adjustment function { × {
Fn205 Vibration suppression function { × {
Fn206 EasyFFT { × {
Fn207 Online vibration monitor { × {
Appendix
{
FnB03* Program table edit/save {
(PGMSTORE)
{
{
FnB04* ZONE table edit/save {
(ZONESTORE)
{
{ 10
FnB05* JOG speed table edit/save {
(JSPDSTORE)
{
10-27
10 Appendix
(cont’d)
Operation from Operation
Operation from the
Fn No. Function the Digital from the
Serial Commands
Operator SigmaWin+
{
FnB06* Program table initialization {
(PRMINIT)
{
{
FnB07* ZONE table initialization {
(ZONEINIT)
{
{
FnB08* JOG speed table initialization {
(JSPDINIT)
{
{
FnB09* Absolute encoder origin setting {
(ZSET)
×
{
(ALM, ERR, IN2,
OUT2, STS, PUN,
FnB0A* INDEXER status monitor { PFB, POS, DST, {
RPOS, RDST, PGM-
STEP, EVTIME,
LOOP)
{
FnB0B* INDEXER parameter setting initialization {
(PRMINIT)
{
{
FnB0C* INDEXER alarm reset { (ARES, ALMTRC- {
CLR)
{
FnB0D* INDEXER alarm history display {
(ALMn)
{
{: Available ×: Not available

∗ These functions are available for the following software versions.
Note: A setting may be write-prohibited if the digital operator displays “NO-OP” when any of the above utility function is
executed. For details, refer to the following manuals.
• Σ-V Series User's Manual Design and Maintenance Rotational Motor/Command Option Attachable Type (SIEP
S800000 60).
S800000 66).
10-28
10.5 Alphabetical List of Serial Commands

The following table lists the usable serial commands in alphabetical order.
For more details on the serial commands, refer to 7.7 Serial Commands.
Serial Command Function Reference

ABSPGRES Absolute Encoder Reset 7.7.8
ACCnnnnnnnn Acceleration Specification 7.7.2
ACCTsss Program Table ACC Read 7.7.4
ACCTsss= Program Table ACC Write 7.7.4
ALM Alarm or Warning Read 7.7.8
ALMn Alarm History Read 7.7.8
ALMTRCCLR Alarm Trace Clear 7.7.8
ARES Alarm Reset 7.7.1
CURZERO Motor Current Zero Adjustment 7.7.8
DBRMS Dynamic-Brake Load Ratio Monitor 7.7.8
DECnnnnnnnn Deceleration Specification 7.7.2
DECTsss Program Table DEC Read 7.7.4
DECTsss= Program Table DEC Write 7.7.4
DST or MON9 Target Distance Monitor 7.7.8
ERR Most Recent Error Read 7.7.8
EVENTTsss Program Table EVENT Read 7.7.4
EVENTTsss= Program Table EVENT Write 7.7.4
EVTIME Program EVENT Elapsed Time Monitor 7.7.8
HALLSENS Hall Sensor Monitor For Linear Servomotors 7.7.8
HOLD Positioning Interruption 7.7.2
IN1 SERVOPACK Input Signal Monitor (CN1) 7.7.8
IN2 INDEXER Module Input Signal Monitor (CN11) 7.7.8
IN2TESTbbbbbbbbbbb INDEXER Module Input Signal Specification (CN11) 7.7.8
IN3 Safety Function Input Signal Monitor 7.7.8
JOGPnnnnnnnn JOG Forward 7.7.2
JOGNnnnnnnnn JOG Reverse 7.7.2
JSPDINIT JOG Speed Table Initialization 7.7.7
JSPDSTORE JOG Speed Table Save 7.7.7
JSPDTdd JOG Speed Table Read 7.7.7
JSPDTdd= JOG Speed Table Write 7.7.7
LOOP Program Table LOOP Pass Through Monitor 7.7.8
LOOPTsss Program Table LOOP Read 7.7.4
LOOPTsss= Program Table LOOP Write 7.7.4
MLTLIMSET Multi-turn Limit Setting 7.7.8
MONn Monitor Read 7.7.8
MTSIZE Monitor Capacity Display 7.7.8
MTTYPE Motor Model Code Display 7.7.8
Appendix
NEXTTsss Program Table NEXT Read 7.7.4

NEXTTsss= Program Table NEXT Write 7.7.4
NFB or MON3 Motor Speed Monitor 7.7.8
NREF or MON4 Speed Reference Monitor 7.7.8
OUT1 SERVOPACK Output Signal Monitor (CN1) 7.7.8 10
10-29
10 Appendix

OUT2 INDEXER Module Output Signal Monitor (CN11) 7.7.8
OUT2TESTbbbbbbbbb INDEXER Module Output Signal Specification (CN11) 7.7.8
PER or MON2 Position Error Monitor 7.7.8
PFB or MON7 Current (Actual) Motor Position Monitor 7.7.8
PGMINIT Program Table Initialization 7.7.4
PGMRES Program Table Operation Reset 7.7.5
PGMSTEP Program Step (PGMSTEP) Monitor 7.7.8
PGMSTORE Program Table Save 7.7.4
PGTYPE Encoder Model Code Display 7.7.8
PGVER Encoder Firmware Version Display 7.7.8
POS (±) nnnnnnnn
Target Position Specification (Absolute Position) 7.7.2
POSA (±) nnnnnnnn
POS or MON8 Target Position Monitor 7.7.8
POSI (±) nnnnnnnn Target Position Specification (Relative Distance) 7.7.2
POSTsss Program Table POS Read 7.7.4
POSTsss= Program Table POS Write 7.7.4
POUT POUT Monitor 7.7.8
POUTnnnnnnnn POUT Specification 7.7.2
POUTTsss Program Table POUT Read 7.7.4
POUTTsss= Program Table POUT Write 7.7.4
PRMINIT Parameter Initialization 7.7.3
PRMppp Parameter Read 7.7.3
PRMppp= Parameter Write 7.7.3
PUN or MON1 Current Distributed Position Monitor 7.7.8
RDST or MON11 Registration Target Distance Monitor 7.7.8
RDSTnnnnnnnn Registration Distance Specification 7.7.2
RDSTTsss Program Table RDST Read 7.7.4
RDSTTsss= Program Table RDST Write 7.7.4
RES Reset 7.7.1
RGRMS Regeneration Load Ratio Monitor 7.7.8
RPOS or MON10 Registration Target Position Monitor 7.7.8
RS Positioning Start with Registration 7.7.2
RS (±) nnnnnnnn
Positioning Start with Registration (Absolute Position) 7.7.2
RSA (±) nnnnnnnn
RSI (±) nnnnnnnn Positioning Start with Registration (Relative Distance) 7.7.2
RSPDnnnnnnnn Registration Speed Specification 7.7.2
RSPDTsss Program Table RSPD Read 7.7.4
RSPDTsss= Program Table RSPD Write 7.7.4
SKIP Positioning Stop 7.7.2
SPDnnnnnnnn Positioning Speed Specification 7.7.2
SPDTsss Program Table SPD Read 7.7.4
SPDTsss= Program Table SPD Write 7.7.4
ST Positioning Start 7.7.2
ST (±) nnnnnnnn
Positioning Start (Absolute Position) 7.7.2
STA (±) nnnnnnnn
START Program Table Operation Restart 7.7.5
STARTsss Program Table Operation Start 7.7.5
10-30

STI (±) nnnnnnnn Positioning Start (Relative Position) 7.7.2
STOP Program Table Operation Interruption 7.7.5
STS or MON6 Status Flag Monitor 7.7.8
SVOFF Servo OFF 7.7.1
SVON Servo ON 7.7.1
SVTYPE SERVOPACK Model Code Display 7.7.8
SVVER SERVOPACK Firmware Version Display 7.7.8
SVYSPEC SERVOPACK Special Specification No. Display 7.7.8
TREF or MON5 Internal Torque Reference Monitor 7.7.8
TRMppp= Temporary Parameter Write 7.7.3
TRMS Cumulative Load Ratio Monitor 7.7.8
TYPE INDEXER Module Model Code Display 7.7.8
VER INDEXER Module Firmware Version Display 7.7.8
YSPEC INDEXER Module Special Specification No. Display 7.7.8
ZONEINIT Zone Table Initialization 7.7.6
ZONENTzz Zone Table ZONEN Read 7.7.6
ZONENTzz= Zone Table ZONEN Write 7.7.6
ZONEPTzz Zone table ZONEP Read 7.7.6
ZONEPTzz= Zone Table ZONEP Write 7.7.6
ZONESTORE Zone Table Save 7.7.6
ZRN Homing Start 7.7.2
ZSET (±) nnnnnnnn Coordinates Setting 7.7.2
Appendix
10
10-31
10 Appendix
10.6 Parameter Equivalence List for INDEXER Modules for SGDV

SERVOPACKs and INDEXER Modules for SGDH
SERVOPACKs
The equivalence list for INDEXER Modules (SGDV-OCA03A) for SGDV SERVOPACKs and INDEXER
Modules (NS600) for SGDH SERVOPACKs is presented below.
SGDV-OCA03A
Parameter Name NS600 Parameter No.
Parameter No.
Pn010
Axis Address Selection Rotary Switch (ADRS)
(setting range: 1 to F)
Serial Communication Protocol PnB00 Pn800
Bit rate PnB01 Pn801
Response “OK” PnB02 Pn802
/MODE 0/1 PnB03 Pn803
/START-STOP; /HOME PnB04 Pn804
/PGMRES; /JOGP PnB05 Pn805
/SEL0; /JOGN PnB06 Pn806
/SEL1; /JOG0 PnB07 Pn807
/SEL4; /JOG3 PnB0A Pn80A
/SEL5 PnB0B Pn833
/SEL6 PnB0C Pn834
/SEL7 PnB0D –
/S-ON PnB0E Pn80B
P-OT PnB0F Pn80C
N-OT PnB10 Pn80D
/DEC PnB11 Pn80E
/RGRT PnB12 Pn80F
/INPOSITION PnB13 Pn810
/POUT0 PnB14 Pn811
/POUT1 PnB15 Pn812
/POUT2 PnB16 Pn813
/POUT3 PnB17 Pn814
/POUT4 PnB18 Pn815
/POUT5 PnB19 –
/POUT6 PnB1A –
/POUT7 PnB1B –
/WARN PnB1C Pn816
/BK PnB1D Pn817
/S-RDY PnB1E Pn818
Overtravel (OT) Stop Method PnB1F Pn819
Moving Mode PnB20 Pn81A
Forward Software Limit (P-LS) PnB21
Pn81B
Rotary Type (PnB20 ≠ 0): (PnB22)
End Point of Rotational Coordinates
10-32
10.6 Parameter Equivalence List for INDEXER Modules for SGDV SERVOPACKs and INDEXER Modules for SGDH SERVOPACKs
(cont’d)
SGDV-OCA03A
Parameter Name NS600 Parameter No.
Parameter No.
Reverse Software Limit (N-LS) PnB23
Pn81C
Rotary Type (PnB20 ≠ 0): (PnB24)
Starting Point of the Rotational Coordinates
Origin (Incremental Encoder) PnB25
Pn81D
Absolute Encoder Offset (Absolute Encoder) (PnB26)
PnB27
Positioning/Registration Speed Pn81E
(PnB28)
PnB29
Acceleration rate Pn81F
(PnB2A)
PnB2B
Deceleration rate Pn820
(PnB2C)
PnB2D
/INPOSITION Width Pn821
(PnB2E)
PnB2F
/NEAR Width Pn822
(PnB30)
Homing Method PnB31 Pn823
Homing Direction PnB32 Pn824
PnB33
Homing Moving Speed Pn825
(PnB34)
PnB35
Homing Approach Speed Pn826
(PnB36)
PnB37
Homing Creep Speed Pn827
(PnB38)
PnB39
Homing Final Move Distance Pn828
(PnB3A)
PnB3B
Reserved (setup information) Pn829
(PnB3C)
PnB3D
Reserved (setup information) Pn82A
(PnB3E)
PnB3F
Reserved (setup information) Pn82B
(PnB40)
PnB41
Reserved (setup information) Pn82C
(PnB42)
PnB43
Reserved (setup information) Pn82D
(PnB44)
PnB45
Reserved (setup information) Pn82E
(PnB46)
PnB47
Reserved (setup information) Pn82F
(PnB48)
PnB49
(PnB4A)
PnB4B
(PnB4C)
PnB4D
(PnB4E)
ZONE Signal Setting PnB4F Pn835
Appendix
Backlash Compensation PnB50 Pn836

/ALO Output Selection PnB51 –
/ALM-RST PnB52 –
10
10-33
Index
Index cooling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

coordinates
coordinates setting - - - - - - - - - - - - - - - - - - - - - - - - 7-17, 7-18
moving mode and coordinate settings - - - - - - - - - - - - - - - - 5-16
corrosive gas - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
Symbols cursor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii, 8-3
* (global address) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5 D
+24V/COM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
/DEC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10, 6-27, 7-16
+24VIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
DEC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
A deceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14, 6-6, 7-10
delimiter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4, 7-5, 7-6, 7-8
absolute encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17, 7-18
offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18 DEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7, 6-8
digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1
origin setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19
DTR/DSR control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-35
ACC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 duct-ventilated - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
dynamic brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
acceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14, 6-6, 7-10
alarm code output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7 E
alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8, 8-25
echoback - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4, 7-6
alarm reset capability - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
echoback response time - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
alarm reset method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
alarm stopping method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
electronic gear ratio setting - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
EMC directive - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii, 3-2
INDEXER Module alarm displays and troubleshooting - - - - - 9-9
EMC installation conditions - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
list of alarms for SERVOPACKs - - - - - - - - - - - - - - - - - - - - 9-2
encoder signal outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
servo alarm output signal - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
error/warning output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
status displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
errors
ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11, 5-7
INDEXER Module error displays and troubleshooting - - - - 9-14
/ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10, 5-7
status displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
/ALO1 to /ALO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
European Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii
altitude - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4, 3-2
EVENT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7, 6-8, 6-11
ambient humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4, 3-2
EVENT condition examples - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
applicable SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
applicable standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - -xiii, 3-2 F
average movement time of position references - - - - - - - - - - - - - 5-14 FG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
axis address - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 framing error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 full-duplex wiring - - - - - - - - - - - - - - - - - - - - - - - 4-20, 7-2, 7-4, 7-6
axis address selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-32
axis number - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4, 7-5, 7-7, 7-8 G
global commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
B Gr.1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 Gr.2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
base-mounted - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
BAT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10 H
bit rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2, 7-3, 7-6 half-duplex wiring - - - - - - - - - - - - - - - - - - - - - - 4-20, 7-2, 7-4, 7-6
/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11, 5-8 hall sensor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-34
/HOME - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12, 4-17, 6-27, 6-30
C home position setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
clear hold - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10, 7-13, 7-15, 7-16 homing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24, 6-30
CN1 homing operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
I/O signal connector (CN1, CN8) connection example - - - - 4-16 homing start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
CN11 homing/JOG speed table input signals - - - - - - - - - - - - - - - 6-24
I/O signal connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 input conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
CN12 input signal timing specifications - - - - - - - - - - - - - - - - - - 6-30
serial command communications connector - - - - - - - - - 2-5, 4-18 parameters related to homing - - - - - - - - - - - - - - - - - - - - - 6-26
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
CN8 I
I/O signal connector (CN1, CN8) connection example - - - - 4-16 I/O signals
coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 connection example - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4, 7-6, 7-7 input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
command/response format - - - - - - - - - - - - - - - - - - - - - - - - 7-4 names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
connector output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
I/O signal connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 incremental encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
serial command communications connector CN12 - - - - - - - 4-18 INDEXER
continuous stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5, 6-18 alarm history display - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27
Index-1
Index
clearing the alarm history - - - - - - - - - - - - - - - - - - - - - - - - 8-25 P

parameter setting initialization - - - - - - - - - - - - - - - - - - - - 8-24
parameter setting and functions - - - - - - - - - - - - - - - - - - - - - - - 5-1
resetting alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-25
parameters
status monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21
parameter edit commands - - - - - - - - - - - - - - - - - - - - - - - 7-22
INDEXER Module
parameter equivalence list - - - - - - - - - - - - - - - - - - - - - - -10-32
general specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
parameter list for INDEXER Module - - - - - - - - - - - - - - - 10-2
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
parameter list for SERVOPACKs - - - - - - - - - - - - - - - - - - 10-9
part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
restrictions on SGDV SERVOPACK parameters - - - - - - - - - 5-3
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1
parity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
INFINITE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5, 6-17
parity error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
/INPOSITION - - - - - - - - - - - - - - - - - - - - 4-13, 4-16, 5-10, 6-7, 6-8
/PGMRES - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12, 4-16, 6-3, 6-11
installation conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
PGMSTEP - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4, 6-5, 6-7, 6-9
interfaces with output circuits - - - - - - - - - - - - - - - - - - - - - - - - 4-15
photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
interfaces with sequence input circuits - - - - - - - - - - - - - - - - - - 4-14
placement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
J pollution degree - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4, 3-2
POS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
JOG forward/reverse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
JOG speed table - - - - - - - - - - - - - - - - - - - - - 6-24, 6-28, 6-30, 7-30 position error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
homing/JOG speed table input signals - - - - - - - - - - - - - - - 6-24
positioning completed output - - - - - - - - - - - - - - - - - - - - - 5-10
input conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
input signal timing specifications - - - - - - - - - - - - - - - - - - 6-30 positioning completed output signal - - - - - - - - - - - - - - - - 5-10
positioning interruption - - - - - - - - - - - - - - - - - - - - - - - - - 7-19
JOG speed table edit - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-14
positioning speed - - - - - - - - - - - - - - - - - - - - - - - 5-14, 6-5, 7-9
JOG speed table initialization - - - - - - - - - - - - - - - - - - - - - 8-18
JOG speed table operation - - - - - - - - - - - - - - - - - - - 6-27, 6-28 positioning start - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10, 7-11
positioning stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
JOG speed table save - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-15
positioning table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16
JOG speed table setup commands - - - - - - - - - - - - - - - - - - 7-30
/JOG0 to /JOG3 - - - - - - - - - - - - - - - - - - - - - - - - - 4-12, 4-16, 6-28 target position - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5, 7-9
positioning start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10
/JOGN - - - - - - - - - - - - - - - - - - - - - - - 4-12, 4-16, 6-27, 6-28, 6-30
/JOGP - - - - - - - - - - - - - - - - - - - - - - - - 4-12, 4-16, 6-27, 6-28, 6-30 positioning start with registration - - - - - - - - - - - - - - - - - - - - - 7-14
positive responses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
L P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10, 5-5
latch - - - - - - - - - - - - - - - - - - - - - - - - - 6-19, 6-20, 6-21, 7-12, 7-15 POUT, POUT0 to POUT7 - - - - - - - - - - - - - - - - - - - - - - - 6-6, 7-21
latch signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21 /POUT0 to /POUT7 - - - - - - - - - - - 4-13, 4-16, 5-11, 6-6, 6-23, 7-21
latch timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19 power loss
LED indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5, 2-6 power loss in the INDEXER Module - - - - - - - - - - - - - - - - 4-22
LOOP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7 power specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
low voltage directive - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii, 3-2 power supply method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
product overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
M program - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 6-5, 6-9, 7-24, 7-28
Mode 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 input signal timing specifications for program table operation 6-11
/MODE 0/1 - - - - - - - - - - - - - - 4-12, 4-16, 6-2, 6-3, 6-11, 6-24, 6-30 input signals for program table operation - - - - - - - - - - - - - - 6-2
Mode 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24 program step - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
mode switch signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 program table - - - - - - - - - - - - - - - - - - - - - - - - - 5-11, 6-2, 6-5
model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 program table edit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
monitor program table examples - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
monitor and utility function commands - - - - - - - - - - - - - - 7-31 program table initialization - - - - - - - - - - - - - - - - - - - - - - 8-16
monitor modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-26 program table method - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
moving mode and coordinate settings - - - - - - - - - - - - - - - - - - - 5-16 program table operation - - - - - - - - - - - - - - - - - - - 6-8, 6-9, 6-10
multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-35 program table operation commands - - - - - - - - - - - - - - - - - 7-28
program table save - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
N program table settings - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7, 6-8 program table setup commands - - - - - - - - - - - - - - - - - - - - 7-24
negative responses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 program table step selection - - - - - - - - - - - - - - - - - - - - - - - 6-4
NEXT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5, 6-7 resetting the program - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
noise filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10, 3-11 restarting the program - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
North American Safety Standards - - - - - - - - - - - - - - - - - - - - - - xiii starting and stopping the program - - - - - - - - - - - - - - - - - - - 6-9
N-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10, 5-5 status changes in program table operation - - - - - - - - - - - - 6-10
number of executions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7 stopping the program - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
programmable output signal - - - - - - - - - - - - - - 5-11, 6-6, 6-23, 7-21
O
protection class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4, 3-2
OK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3, 7-7 protocol - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
structure of the response OK - - - - - - - - - - - - - - - - - - - - - - - 7-7
overrun error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 R
overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5, 7-17 rack-mounted - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
overtravel setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5 RDST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5, 6-20
reference units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
Index-2
Index
region indicating signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22 start bits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 7-6

registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17, 6-19, 6-20 /START-STOP - - - - - - - - - - - - - - - - - - - - 4-12, 4-16, 6-3, 6-9, 6-11
JOG forward/reverse with registration - - - - - - - - - - - - - - - 7-15 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
positioning start with registration - - - - - - - - - - - - - - - - - - - 7-13 stop bits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 7-6
registration distance - - - - - - - - - - - - - - - - - - - - - 6-5, 6-20, 7-12 storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
registration input setting - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
registration latch signal - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 surrounding air temperature - - - - - - - - - - - - - - - - - - - - - - - 2-4, 3-2
registration operation - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
registration speed - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6, 7-12
T
registration timing specifications - - - - - - - - - - - - - - - - - - - 6-19 torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19
response - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3, 7-4, 7-5, 7-7, 7-8 troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
command/response format - - - - - - - - - - - - - - - - - - - - - - - - 7-4 troubleshooting malfunction based on operation and conditions - 9-19
OK response - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
U
response data details - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
UL standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii, 3-2
/RGRT - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10, 6-20, 7-12, 7-15
utility function - - - - - - - - - - - - - - - - - - - - - - - - - - 7-31, 8-4, 10-27
RS-422 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18, 4-21, 7-2
RS-485 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18, 4-21, 7-2 V
RSPD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
vibration resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4, 3-2
RTS/CTS control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
vibration source - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
S W
/SEL0 to /SEL7 - - - - - - - - - - 4-12, 4-16, 6-3, 6-4, 6-7, 6-8, 6-9, 6-11
/WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11, 5-9
serial commands - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3, 7-1, 7-8
warning output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
alphabetical list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-29
warnings
command/response format - - - - - - - - - - - - - - - - - - - - - - - - 7-4
list of warnings for SERVOPACKs - - - - - - - - - - - - - - - - - 9-12
parameters related to serial communications - - - - - - - - - - - - 7-3
status displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
serial command communications - - - - - - - - - - - - - - - - - - - - 7-1
warning displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
serial communications method - - - - - - - - - - - - - - - - - - - - - - - - 2-4
wiring and connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1
servo alarm output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8 X
Servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8 X-ON/X-OFF control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
servo ON/OFF input signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9 Z
SERVOPACK ZONE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22, 7-29
EMC installation conditions - - - - - - - - - - - - - - - - - - - - - - - 3-5 ZONE signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6, 6-22
installation conditions for applicable standards - - - - - - - - - - - 3-2 ZONE table - - - - - - - - - - - - - - - - - - - - - - 6-6, 6-15, 6-22, 7-21
installation environment - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 ZONE table edit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-11
installation precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 ZONE table initialization - - - - - - - - - - - - - - - - - - - - - - - - 8-17
installation standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 ZONE table save - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-12
orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 ZONE table setup commands - - - - - - - - - - - - - - - - - - - - - 7-29
system configuration diagram
(SGDV-AE1A SERVOPACK) - - - - - - - - - - - - - - - - - 4-3
(SGDV-AE5A SERVOPACK) - - - - - - - - - - - - - - - - - 4-7
(SGDV-DE1A SERVOPACK) - - - - - - - - - - - - - - - - - 4-5
(SGDV-DE5A SERVOPACK) - - - - - - - - - - - - - - - - - 4-9
(SGDV-FE1A SERVOPACK) - - - - - - - - - - - - - - - - - 4-2
(SGDV-FE5A SERVOPACK) - - - - - - - - - - - - - - - - - 4-6
SERVOPACK orientation
base-mounted - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
duct-ventilated - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
rack-mounted - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
side by side mounting - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
setting reference units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
setting speeds in reference units - - - - - - - - - - - - - - - - - - - - - - - 5-14
shock resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4, 3-2
/SO1 to /SO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
software limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16, 6-5, 7-17
/S-ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10, 5-5
SPD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1
/S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11, 5-9
Index-3
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO. SIEP C720829 02C

Published in Japan September 2010 09-7 2 -1
WEB revision number
Revision number
Date of Date of original
publication publication
WEB
Date of Rev. Rev. Section Revised Content
Publication No.
No.
January 2012 3 0 – SIEP C720829 02C<2>-2, available on the Web.
Back cover Revision: Address
October 2010 2 2 Front cover, Revision: Format
back cover
2.3 Addition: Description of S1 and S2
4.2.3 Deletion: Earth symbol of CN8
9.2.1 Revision: Warning code output of A.A9F
10.1 Revision: Factory setting of PnB23
10.2 Revision: Description of Pn001.4
September 2010 1 6.5 Addition: Restrictions on encoder use
10.2 Revision: Descriptions of the first digit of Pn000
Back cover Revision: Address
June 2010 0 Addition: Information about the digital operator
All chapters
Revision: Slightly revised
6.1.10 (8) Addition: Information about the continuous stop function
Chapter 8 Addition: Entire chapter on the digital operator
December 2009 1 – All chapters Addition: Linear servomotors
2.1.2 Addition: Features of firmware versions
Addition: Parameter configuration – Fully-closed loop control parameters and linear servo-
Chapter 5
motor parameters
5.2.2 Addition: Note
Addition: Notes when the position completed state is established while canceling a motion
5.2.7
command
5.3.1(4) Addition: Important
5.3.6 Addition: Fully-closed loop control
6.2.2 (1) Revision: Connector pin number
7.7.1 Addition: Serial command RES
7.7.3 Revision: Positive response for PRMppp
7.7.8 Revision: Positive responses for ALM, TRMS, RGRMS, and DBRMS
Addition: Serial command IN3
July 2009 – – – First edition
AC Servo Drives
Σ-V Series
USER'S MANUAL
INDEXER Module
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5151 Fax 81-4-2962-6138
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7310
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA EUROPE GmbH
Hauptstraβe 185, Eschborn 65760, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
9F, Kyobo Securities Bldg. 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
12F, Carlton Bld., No.21 HuangHe Road, HuangPu District, Shanghai 200003, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2009-2012 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP C720829 02D

Published in Japan January 2012 09-7 3 -0
11-12-5
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AC Servo Drives

MANUAL NO. SIEP C720829 02D

 Description of Technical Terms

• Indicates important information that should be memorized, as well as precautions, such as

 Notation Used in this Manual

Digit 2 Indicates digit 2 Pn000.1 = x Indicates that digit 2 of the

Digit 4 Indicates digit 4 Pn000.3 = x Indicates that digit 4 of the

 Manuals Related to the Σ-V Series

Indicates precautions that, if not heeded, could possibly result in loss of

Indicates precautions that, if not heeded, could result in relatively serious

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

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

• Installation, disassembly, or repair must be performed only by authorized personnel.

 Maintenance and Inspection

Observe the following general precautions

(1) Details of Warranty

 North American Safety Standards (UL)

Model UL∗ Standards

Low Voltage EMC Directive Safety

Chapter 1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

Chapter 2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

Chapter 3 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

Chapter 4 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

Chapter 6 Program Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

Chapter 8 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

1.1 Checking Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1 Checking Products on Delivery

The nameplate is located in the following position.

1.2 Nameplate and Model Designation

YASKAWA ELECTRIC CORPORATION

1.3 Nameplate Location

Nameplate (Model no.)

2.1 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.1 Product Overview

These same operations can also be performed using serial commands.

2.1.1 Main Functions

INDEXER Module SGDV SERVOPACK

2.1.2 Features of Firmware Versions

2.2 General Specifications

Applicable SERVOPACK Σ-V Series SGDV- E SERVOPACK, all models

Operating Protection class: IP10, Pollution degree: 2

2.3 Part Names of the INDEXER Module

With front cover open

Reserved (Do not use.)

I/O signal connector (CN11)

2.4 LED Indicators

Status Red LED Green LED

This chapter describes how to install the SERVOPACK.

3.1 SERVOPACK Installation Environment and Applicable Standards . . . . . . 3-2

3.2 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.3 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1 SERVOPACK Installation Environment and Applicable

3.1.1 Installation Environment

• Mounting Near a Heating Unit

• Mounting Near a Vibration Source

• Mounting to a Location Exposed to Corrosive Gas

• -20°C to +85°C, 90% RH or less (with no condensation)

3.1.2 Installation Conditions for Applicable Standards

Description of Technical Terms

Notation Used in this Manual

Manuals Related to the Σ-V Series

Maintenance and Inspection

North American Safety Standards (UL)

Applicable SERVOPACK Σ-V Series SGDV-E SERVOPACK, all models

4.1.1 Connecting to SGDV-FE1A SERVOPACK

4.1.2 Connecting to SGDV-AE1A SERVOPACK

4.1.3 Connecting to SGDV-DE1A SERVOPACK

4.1.4 Connecting to SGDV-FE5A SERVOPACK

4.1.5 Connecting to SGDV-AE5A SERVOPACK