YASKAWA SGD7S-xxxDA0 series User manual

-7-Series AC Servo Drive
Model: SGD7S-DA0
-7S SERVOPACK with
400V-Input Power and
EtherCAT (CoE) Communications References
Product Manual
MANUAL NO. SIEP S800001 80H
Selecting a SERVOPACK
SERVOPACK Installation
Application Functions
Tuning
Monitoring
Fully-Closed Loop Control
Safety Functions
EtherCAT Communications
CiA402 Drive Profile
Object Dictionary
Maintenance
Parameter and Object Lists
Appendices
Basic Functions That Require
Setting before Operation
Wiring and Settings for the
Dynamic Brake
Wiring and Connecting
SERVOPACKs
Trial Operation and
Actual Operation
Basic Information on
SERVOPACKs 1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18

Copyright © 2015 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.

iii
About this Manual
This manual provides information required to select Σ-7S SERVOPACKs with EtherCAT Communi-
cations References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune,
operate, and maintain the Servo Drives.
Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Chapter Chapter Title Contents
1Basic Information on
SERVOPACKs
Provides information required to select SERVOPACKs, such as SER-
VOPACK models and combinations with Servomotors.
2 Selecting a SERVOPACK
Provides information required to select SERVOPACKs, such as specifi-
cations, block diagrams, dimensional drawings, and connection exam-
ples.
3 SERVOPACK Installation Provides information on installing SERVOPACKs in the required loca-
tions.
4Wiring and Connecting
SERVOPACKs
Provides information on wiring and connecting SERVOPACKs to power
supplies and peripheral devices.
5Wiring and Settings for the
Dynamic Brake
Provides information about selecting the resistor, wiring, and parameter
settings when using the dynamic brake.
6Basic Functions That Require Set-
ting before Operation
Describes the basic functions that must be set before you start Servo
System operation. It also describes the setting methods.
7 Application Functions Describes the application functions that you can set before you start
Servo System operation. It also describes the setting methods.
8Trial Operation and Actual
Operation
Provides information on the flow and procedures for trial operation and
convenient functions to use during trial operation.
9Tuning Provides information on the flow of tuning, details on tuning functions,
and related operating procedures.
10 Monitoring Provides information on monitoring SERVOPACK product information
and SERVOPACK status.
11 Fully-Closed Loop Control Provides detailed information on performing fully-closed loop control
with the SERVOPACK.
12 Safety Functions Provides detailed information on the safety functions of the SERVO-
PACK.
13 EtherCAT Communications Provides basic information on EtherCAT communications.
14 CiA402 Drive Profile Provides detailed information on the CiA402 drive profile.
15 Object Dictionary Provides an overview and details on the object dictionary.
16 Maintenance Provides information on the meaning of, causes of, and corrections for
alarms and warnings.
17 Parameter and Object Lists Provides information on parameters and objects.
18 Appendices Provides information on interpreting panel displays and tables of corre-
sponding SERVOPACK and SigmaWin+ function names.

iv
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following
figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer
to these documents as required.
Servo Drives
Σ-7-Series
Catalog
Servo Drives
Manuals Catalogs
Servomotors

Σ-7-Series
Rotary
Servomotor
Product
Manual

Σ-7-Series
Linear
Servomotor
Product
Manual

Σ-7-Series
Operation
Interface
Operating
Manuals

Enclosed
Documents

Enclosed
Document
SERVOPACKs
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manual
(this manual)


v
Classification Document Name Document No. Description

Enclosed Document
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
400 V-Input Power
Safety Precautions
TOMP C710828 02
Provides detailed information for
the safe usage of Σ-7-Series
SERVOPACKs.

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manual
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
400 V-Input Power and
EtherCAT (CoE) Communications
References
Product Manual
This manual
(SIEP S800001 80)
Provide detailed information on
selecting Σ-7-Series SERVOPACKs
and information on installing, con-
necting, setting, performing trial
operation for, tuning, monitoring, and
maintaining the Servo Drives.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
400-V Input Power and
MECHATROLINK-III
Communications References
RJ-45 Connectors
Product Manual
SIEP S8000002 14
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
400-V Input Power and
EtherCAT (CoE) Communications
References
Product Manual
SIEP S800002 19
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
400-V Input Power and
MECHATROLINK-III
Communications References
RJ-45 Connectors
Product Manual
SIEP S800002 20

Enclosed Documents
AC Servo Drive
Rotary Servomotor
Safety Precautions
TOBP C230260 00
Provides detailed information for
the safe usage of Σ-7-Series Rotary
Servomotors and Direct Drive Ser-
vomotors.
AC Servomotor
Linear ΣSeries
Safety Precautions
TOBP C230800 00
Provides detailed information for
the safe usage of Σ-7-Series Linear
Servomotors.

Σ-7-Series
Rotary Servomotor
Product Manual
Σ-7-Series AC Servo Drive
Rotary Servomotor with
400 V-Input Power
Product Manual
SIEP S800001 86
Provide detailed information on
selecting, installing, and connecting
the Σ-7-Series Servomotors.

Σ-7-Series
Linear Servomotor
Product Manual
Σ-7-Series AC Servo Drive
Linear Servomotor with
400 V-Input Power
Product Manual
SIEP S800001 81
Continued on next page.

vi

Σ-7-Series
Operation Interface
Operating Manuals
Σ-7-Series AC Servo Drive
Digital Operator
Operating Manual
SIEP S800001 33
Describes the operating proce-
dures for a Digital Operator for a
Σ-7-Series Servo System.
AC Servo Drive
Engineering Tool
SigmaWin+
Operation Manual
SIET S800001 34
Provides detailed operating proce-
dures for the SigmaWin+ Engineer-
ing Tool for a Σ-7-Series Servo
System.
Continued from previous page.
Classification Document Name Document No. Description

vii
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Differences in Terms for Rotary Servomotors and Linear Servomotors
There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.
This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you
need to interpret the terms as given in the following table.
Ter m Meaning
Servomotor A Σ-7-Series Rotary Servomotor or Linear Servomotor
Rotary Servomotor A Σ-7-Series Rotary Servomotor (SGM7J, SGM7A, or SGM7G).
Linear Servomotor A Σ-7-Series Linear Servomotor (SGLF or SGLT).
SERVOPACK A Σ-7-Series Σ-7S servo amplifier with EtherCAT Communications References.
Servo Drive The combination of a Servomotor and SERVOPACK.
Servo System A servo control system that includes the combination of a Servo Drive with a host controller
and peripheral devices.
servo ON Supplying power to the motor.
servo OFF Not supplying power to the motor.
Servo ON command
(Enable Operation
command)
A command that is used to turn ON the servo (i.e., supply power to the motor) when bit 3 of
controlword (6040h) is changed to 1 (ON) while the control power supply and main circuit
power supply are ON.
Refer to the following section for details.
14.1 Device Control (page 14-3)
Servo OFF command
(Disable Operation
command)
A command that is used to turn OFF the servo (i.e., power not supplied to the motor) when
bit 3 of controlword (6040h) is changed to 0 (OFF) while the control power supply and main
circuit power supply are ON.
Refer to the following section for details.
14.1 Device Control (page 14-3)
base block (BB) Shutting OFF the power supply to the motor by shutting OFF the base current to the power
transistor in the SERVOPACK.
servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0.
Main Circuit Cable One of the cables that connect to the main circuit terminals, including the Main Circuit Power
Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
SigmaWin+ The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engi-
neering Tool is installed.
Rotary Servomotors Linear Servomotors
torque force
moment of inertia mass
rotation movement
forward rotation and reverse rotation forward movement and reverse movement
CW and CCW pulse trains forward and reverse pulse trains
rotary encoder linear encoder
absolute rotary encoder absolute linear encoder
incremental rotary encoder incremental linear encoder
unit: min-1 unit: mm/s
unit: N·m unit: N

viii
Notation Used in this Manual
Notation for Reverse Signals
The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/)
before the signal abbreviation.
Notation Example
BK is written as /BK.
Notation for Parameters
The notation depends on whether the parameter requires a numeric setting (parameter for numeric
setting) or requires the selection of a function (parameter for selecting functions).
•Parameters for Numeric Settings
Notation Example
Engineering Tools Used in This Manual
This manual uses the interfaces of the SigmaWin+ for descriptions.
This column explains the
selections for the function.
The notation “n.” indicates a parameter for
selecting functions.
Each indicates the setting for one digit.
The notation shown here means that the third digit
from the right is set to 2.
Position Torque
The control methods for which the parameters apply are given.
Speed : Speed control : Position control : Torque control
Pn100
(2100h)
Pn002
(2002h)
Parameter number
This is the
parameter
setting before
shipment.
This is when any
change made to
the parameter will
become effective.
This is the parameter
classication.
This is the minimum
unit (setting increment)
that you can set for
the parameter.
This is the
setting range
for the
parameter.
Object index
number used to
access the
parameter with
EtherCAT (CoE)
communications
Object index number
used to access the
parameter with
EtherCAT (CoE)
communications
Position
Speed
Parameter number
Speed Loop Gain
Setting Range
10 to 20,000 0.1 Hz 400 Immediately
Setting Unit Default Setting When Enabled Classication
Tuning
Parameter Meaning When Enabled Classication
n.  0 
After startup Setup
n.  1 
n.  2 
(default setting)
Use the encoder according to encoder specications.
Use the encoder as an incremental encoder.
Use the encoder as a single-turn absolute encoder.
•Parameters for Selecting Functions
Notation Examples for Pn002
Pn002 =
n.X
Indicates the rst digit from
the right in Pn002.
Pn002 =
n.1
Indicates that the rst digit from
the right in Pn002 is set to 1.
Pn002 =
n.X
Indicates the second digit
from the right in Pn002.
Pn002 =
n.1
Indicates that the second digit from
the right in Pn002 is set to 1.
Pn002 =
n.X
Indicates the third digit from
the right in Pn002.
Pn002 =
n.1
Indicates that the third digit from
the right in Pn002 is set to 1.
Pn002 =
n.X
Indicates the fourth digit from
the right in Pn002.
Pn002 =
n.1
Indicates that the fourth digit from
the right in Pn002 is set to 1.
n.0 0 0 0 Notation
Digit Notation Numeric Value Notation
Meaning Notation Meaning

ix
Trademarks
•EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany.
•QR code is a trademark of Denso Wave Inc.
•Other product names and company names are the trademarks or registered trademarks of the
respective company. “TM” and the ®mark do not appear with product or company names in this
manual.
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed.
Also indicates alarm displays and other precautions that will not result in machine damage.
Indicates definitions of difficult terms or terms that have not been previously explained in this
manual.
Indicates operating or setting examples.
Indicates supplemental information to deepen understanding or useful information.
Important
Term
Example
Information

x
Safety Precautions
Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used
to indicate safety precautions in this document. The signal words are used to classify the hazards
and the degree of damage or injury that may occur if a product is used incorrectly. Information
marked as shown below is important for safety. Always read this information and heed the precau-
tions that are provided.
DANGER
Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in
fire.
NOTICE
Indicates precautions that, if not heeded, could result in property damage.

xi
Safety Precautions That Must Always Be Observed
General Precautions
DANGER
Read and understand this manual to ensure the safe usage of the product.
Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.
Make sure that it is delivered to the final user of the product.
Do not remove covers, cables, connectors, or optional devices while power is being supplied to
the SERVOPACK.
There is a risk of electric shock, operational failure of the product, or burning.
WARNING
Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC
type) that are appropriate for the product.
There is a risk of burning, electric shock, or fire.
Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according
to local electrical codes. (Connect to 10 Ωor less for the SERVOPACK.)
There is a risk of electric shock or fire.
Do not attempt to disassemble, repair, or modify the product.
There is a risk of fire or failure.
The warranty is void for the product if you disassemble, repair, or modify it.
CAUTION
The SERVOPACK heat sinks, Regenerative Resistors, Servomotors, and other components can
be very hot while power is ON or soon after the power is turned OFF. Implement safety mea-
sures, such as installing covers, so that hands and parts such as cables do not come into con-
tact with hot components.
There is a risk of burn injury.
For a 24-VDC power supply, use a power supply device with double insulation or reinforced
insulation.
There is a risk of electric shock.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of failure, damage, or electric shock.
The person who designs the system that uses the hard wire base block safety function must
have a complete knowledge of the related safety standards and a complete understanding of
the instructions in this document.
There is a risk of injury, product damage, or machine damage.
Do not use the product in an environment that is subject to water, corrosive gases, or flamma-
ble gases, or near flammable materials.
There is a risk of electric shock or fire.

xii
Storage Precautions
Transportation Precautions
NOTICE
Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.
Install external emergency stop circuits that shut OFF the power supply and stops operation
immediately when an error occurs.
In locations with poor power supply conditions, install the necessary protective devices (such as
AC Reactors) to ensure that the input power is supplied within the specified voltage range.
There is a risk of damage to the SERVOPACK.
Use a Noise Filter to minimize the effects of electromagnetic interference.
Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.
Always use a Servomotor and SERVOPACK in one of the specified combinations.
Do not touch a SERVOPACK or Servomotor with wet hands.
There is a risk of product failure.
CAUTION
Do not place an excessive load on the product during storage. (Follow all instructions on the
packages.)
There is a risk of injury or damage.
NOTICE
Do not install or store the product in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed product specifications
•Locations that are subject to relative humidities that exceed product specifications
•Locations that are subject to condensation as the result of extreme changes in temperature
•Locations that are subject to corrosive or flammable gases
•Locations that are near flammable materials
•Locations that are subject to dust, salts, or iron powder
•Locations that are subject to water, oil, or chemicals
•Locations that are subject to vibration or shock that exceeds product specifications
•Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
CAUTION
Transport the product in a way that is suitable to the mass of the product.
Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.
There is a risk of damage or injury.
When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners.
There is a risk of injury.
Do not place an excessive load on the product during transportation. (Follow all instructions on
the packages.)
There is a risk of injury or damage.

xiii
Installation Precautions
NOTICE
Do not hold onto the front cover or connectors when you move a SERVOPACK.
There is a risk of the SERVOPACK falling.
A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage.
Do not subject connectors to shock.
There is a risk of faulty connections or damage.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
plywood, or pallets, the packing materials must be treated before the product is packaged, and
methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines,
are packed with fumigated wooden materials, the electrical components may be greatly damaged
by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing
halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the
capacitors.
Do not overtighten the eyebolts on a SERVOPACK or Servomotor.
If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.
CAUTION
Install the Servomotor or SERVOPACK in a way that will support the mass given in technical
documents.
Install SERVOPACKs, Servomotors, and Regenerative Resistors on nonflammable materials.
Installation directly onto or near flammable materials may result in fire.
Provide the specified clearances between the SERVOPACK and the control panel as well as
with other devices.
There is a risk of fire or failure.
Install the SERVOPACK in the specified orientation.
There is a risk of fire or failure.
Do not step on or place a heavy object on the product.
There is a risk of failure, damage, or injury.
Do not allow any foreign matter to enter the SERVOPACK or Servomotor.
There is a risk of failure or fire.

xiv
Wiring Precautions
NOTICE
Do not install or store the product in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed product specifications
•Locations that are subject to relative humidities that exceed product specifications
•Locations that are subject to condensation as the result of extreme changes in temperature
•Locations that are subject to corrosive or flammable gases
•Locations that are near flammable materials
•Locations that are subject to dust, salts, or iron powder
•Locations that are subject to water, oil, or chemicals
•Locations that are subject to vibration or shock that exceeds product specifications
•Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
Use the product in an environment that is appropriate for the product specifications.
If you use the product in an environment that exceeds product specifications, the product may fail
or be damaged.
A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage.
Always install a SERVOPACK in a control panel.
Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and
do not cover the outlet from the Servomotor’s cooling fan.
There is a risk of failure.
DANGER
Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
Check all wiring and power supplies carefully.
Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail-
ures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not
work. This could damage the machine or cause an accident that may result in death or injury.
Connect the AC and DC power supplies to the specified SERVOPACK terminals.
•Connect an AC power supply to the L1, L2, and L3 terminals on the SERVOPACK.
•Connect a DC power supply to the B1 and 2 terminals and the 24 V and 0 V terminals on the SER-
VOPACK.
There is a risk of failure or fire.

xv
CAUTION
Wait for six minutes after turning OFF the power supply and then make sure that the CHARGE
indicator is not lit before starting wiring or inspection work. Do not touch the power supply ter-
minals while the CHARGE lamp is lit after turning OFF the power supply because high voltage
may still remain in the SERVOPACK.
There is a risk of electric shock.
Observe the precautions and instructions for wiring and trial operation precisely as described in
this document.
Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause
the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury.
Check the wiring to be sure it has been performed correctly.
Connectors and pin layouts are sometimes different for different models. Always confirm the pin
layouts in technical documents for your model before operation.
There is a risk of failure or malfunction.
Connect wires to power supply terminals and motor connection terminals securely with the
specified methods and tightening torque.
Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact,
possibly resulting in fire.
Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Sig-
nal Cables and Encoder Cables.
Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.
•Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit termi-
nals, has been completed.
•If a connector is used for the main circuit terminals, remove the main circuit connector from the SER-
VOPACK before you wire it.
•Insert only one wire per insertion hole in the main circuit terminals.
•When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into con-
tact with adjacent wires.
Install molded-case circuit breakers and other safety measures to provide protection against
short circuits in external wiring.
There is a risk of fire or failure.
NOTICE
Whenever possible, use the Cables specified by Yaskawa.
If you use any other cables, confirm the rated current and application environment of your model
and use the wiring materials specified by Yaskawa or equivalent materials.
Securely tighten cable connector screws and lock mechanisms.
Insufficient tightening may result in cable connectors falling off during operation.
Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Sig-
nal Cables or Encoder Cables) together or run them through the same duct. If you do not place
power lines and low-current lines in separate ducts, separate them by at least 30 cm.
If the cables are too close to each other, malfunctions may occur due to noise affecting the low-cur-
rent lines.
Install a battery at either the host controller or on the Encoder Cable.
If you install batteries both at the host controller and on the Encoder Cable at the same time, you
will create a loop circuit between the batteries, resulting in a risk of damage or burning.
When connecting a battery, connect the polarity correctly.
There is a risk of battery rupture or encoder failure.
If you use an External Regenerative Resistor or External Dynamic Brake Resistor, use cable ties,
clamps, or other means to secure the resistor so that the connectors or terminal blocks inside
the SERVOPACK will not be affected even if the resistor is subjected to vibration or shock.
There is a risk of SERVOPACK damage.

xvi
Operation Precautions
WARNING
Before starting operation with a machine connected, change the settings of the switches and
parameters to match the machine.
Unexpected machine operation, failure, or personal injury may occur if operation is started before
appropriate settings are made.
Do not radically change the settings of the parameters.
There is a risk of unstable operation, machine damage, or injury.
Install limit switches or stoppers at the ends of the moving parts of the machine to prevent
unexpected accidents.
There is a risk of machine damage or injury.
For trial operation, securely mount the Servomotor and disconnect it from the machine.
There is a risk of injury.
Forcing the motor to stop for overtravel is disabled when the Jog, Origin Search, or Easy FFT
utility function is executed. Take necessary precautions.
There is a risk of machine damage or injury.
When an alarm occurs, the motor will coast to a stop or stop with the dynamic brake according
to a setting in the SERVOPACK. The coasting distance will change with the moment of inertia of
the load. Check the coasting distance during trial operation and implement suitable safety mea-
sures on the machine.
Do not enter the machine’s range of motion during operation.
There is a risk of injury.
Do not touch the moving parts of the Servomotor or machine during operation.
There is a risk of injury.
CAUTION
Design the system to ensure safety even when problems, such as broken signal lines, occur.
For example, the P-OT and N-OT signals are set in the default settings to operate on the safe
side if a signal line breaks. Do not change the polarity of this type of signal.
When overtravel occurs, the power supply to the motor is turned OFF and the brake is released.
If you use the Servomotor to drive a vertical load, set the Servomotor to enter a zero-clamped
state after the Servomotor stops. Also, install safety devices (such as an external brake or
counterweight) to prevent the moving parts of the machine from falling.
Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main cir-
cuit power supply or control power supply during operation before you turn OFF the servo, the
Servomotor will stop as follows:
•If you turn OFF the main circuit power supply during operation without turning OFF the servo, the
Servomotor will stop abruptly with the dynamic brake or it will coast to a stop.
•If you turn OFF the control power supply during operation without turning OFF the servo, the Servo-
motor will stop abruptly with the dynamic brake or it will coast to a stop. For details, refer to the man-
ual for the SERVOPACK.
•If you use an External Dynamic Brake Resistor, the Servomotor stopping method will be different
from when the built-in dynamic brake resistor is used. For details, refer to the product manual for
your SERVOPACK.
Do not use the dynamic brake for any application other than an emergency stop.
There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of
unexpected operation, machine damage, burning, or injury.

xvii
Maintenance and Inspection Precautions
NOTICE
When you adjust the gain during system commissioning, use a measuring instrument to monitor
the torque waveform and speed waveform and confirm that there is no vibration.
If a high gain causes vibration, the Servomotor will be damaged quickly.
Do not frequently turn the power supply ON and OFF. After you have started actual operation,
allow at least one hour between turning the power supply ON and OFF (as a guideline).
Do not use the product in applications that require the power supply to be turned ON and OFF
frequently.
The elements in the SERVOPACK will deteriorate quickly.
An alarm or warning may occur if communications are performed with the host controller while
the SigmaWin+ or Digital Operator is operating.
If an alarm or warning occurs, it may interrupt the current process and stop the system.
After you complete trial operation of the machine and facilities, use the SigmaWin+ to back up
the settings of the SERVOPACK parameters. You can use them to reset the parameters after
SERVOPACK replacement.
If you do not copy backed up parameter settings, normal operation may not be possible after a
faulty SERVOPACK is replaced, possibly resulting in machine or equipment damage.
DANGER
Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
CAUTION
Wait for six minutes after turning OFF the power supply and then make sure that the CHARGE
indicator is not lit before starting wiring or inspection work. Do not touch the power supply ter-
minals while the CHARGE lamp is lit after turning OFF the power supply because high voltage
may still remain in the SERVOPACK.
There is a risk of electric shock.
Before you replace a SERVOPACK, back up the settings of the SERVOPACK parameters. Copy
the backed up parameter settings to the new SERVOPACK and confirm that they were copied
correctly.
If you do not copy backed up parameter settings or if the copy operation is not completed normally,
normal operation may not be possible, possibly resulting in machine or equipment damage.
NOTICE
Discharge all static electricity from your body before you operate any of the buttons or switches
inside the front cover of the SERVOPACK.
There is a risk of equipment damage.

xviii
Troubleshooting Precautions
Disposal Precautions
DANGER
If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper-
ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair
or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety
device to operate.
There is a risk of fire, electric shock, or injury.
WARNING
The product may suddenly start to operate when the power supply is recovered after a momen-
tary power interruption. Design the machine to ensure human safety when operation restarts.
There is a risk of injury.
CAUTION
When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm
or turn the power supply OFF and ON again to restart operation.
There is a risk of injury or machine damage.
If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may
suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an
alarm.
There is a risk of injury or machine damage.
Always insert a Magnetic Contactor in the line between the main circuit power supply and the
main circuit power supply terminals on the SERVOPACK so that the power supply can be shut
OFF at the main circuit power supply.
If a Magnetic Contactor is not connected when the SERVOPACK fails, a large current may flow,
possibly resulting in fire.
If an alarm occurs, shut OFF the main circuit power supply.
There is a risk of fire due to a Regenerative Resistor overheating as the result of regenerative tran-
sistor failure.
Install a ground fault detector against overloads and short-circuiting or install a molded-case
circuit breaker combined with a ground fault detector.
There is a risk of SERVOPACK failure or fire if a ground fault occurs.
The holding brake on a Servomotor will not ensure safety if there is the possibility that an exter-
nal force (including gravity) may move the current position and create a hazardous situation
when power is interrupted or an error occurs. If an external force may cause movement, install
an external braking mechanism that ensures safety.
When disposing of the product, treat it as ordinary industrial waste. However, local ordinances
and national laws must be observed. Implement all labeling and warnings as a final product as
required.

xix
General Precautions
Figures provided in this document are typical examples or conceptual representations. There
may be differences between them and actual wiring, circuits, and products.
The products shown in illustrations in this document are sometimes shown without covers or
protective guards. Always replace all covers and protective guards before you use the product.
If you need a new copy of this document because it has been lost or damaged, contact your
nearest Yaskawa representative or one of the offices listed on the back of this document.
This document is subject to change without notice for product improvements, specifications
changes, and improvements to the manual itself.
We will update the document number of the document and issue revisions when changes are
made.
Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies
the product in any way. Yaskawa disavows any responsibility for damages or losses that are
caused by modified products.

xx
Warranty
Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called the “delivered product”) is
one year from the time of delivery to the location specified by the customer or 18 months from the
time of shipment from the Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to
Yaskawa occurs during the above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its ser-
vice life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
•Improper handling, abuse, or use in unsuitable conditions or in environments not described in
product catalogs or manuals, or in any separately agreed-upon specifications
•Causes not attributable to the delivered product itself
•Modifications or repairs not performed by Yaskawa
•Use of the delivered product in a manner in which it was not originally intended
•Causes that were not foreseeable with the scientific and technological understanding at the time
of shipment from Yaskawa
•Events for which Yaskawa is not responsible, such as natural or human-made disasters
Limitations of Liability
•Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer
that arises due to failure of the delivered product.
•Yaskawa shall not be responsible for any programs (including parameter settings) or the results of
program execution of the programs provided by the user or by a third party for use with program-
mable Yaskawa products.
•The information described in product catalogs or manuals is provided for the purpose of the cus-
tomer purchasing the appropriate product for the intended application. The use thereof does not
guarantee that there are no infringements of intellectual property rights or other proprietary rights
of Yaskawa or third parties, nor does it construe a license.
•Yaskawa shall not be responsible for any damage arising from infringements of intellectual prop-
erty rights or other proprietary rights of third parties as a result of using the information described
in catalogs or manuals.